diff --git a/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_07_31-01_10_29--CLbest_g0_t135.txt b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_07_31-01_10_29--CLbest_g0_t135.txt
new file mode 100644
index 0000000000000000000000000000000000000000..37bef1743a3d086685e5207cf836fe4d92bba861
--- /dev/null
+++ b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_07_31-01_10_29--CLbest_g0_t135.txt
@@ -0,0 +1,10430 @@
+Eval config: PolicyEvalConfig(suite='libero', model_family='cosmos', config='cosmos_predict2_2b_480p_libero_cl_stage_inference_only', ckpt_path='/home/azureuser/REGEN-main/old/cosmos_policy/cosmos_v2_finetune/cosmos_predict2_2b_480p_libero_goal_task6_regen_cl_from40k_2gpu/best_action_l1/model', planning_model_config_name='', planning_model_ckpt_path='', config_file='cosmos_policy/config/config.py', packnet_mask_path='', packnet_first_cl_libero_task=6, use_third_person_image=True, num_third_person_images=1, use_wrist_image=True, num_wrist_images=1, use_proprio=True, flip_images=True, use_variance_scale=False, use_jpeg_compression=True, ar_future_prediction=False, ar_value_prediction=False, ar_qvalue_prediction=False, num_denoising_steps_action=5, num_denoising_steps_future_state=1, num_denoising_steps_value=1, unnormalize_actions=True, normalize_proprio=True, dataset_stats_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/libero_goal_regen/dataset_statistics.json', t5_text_embeddings_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/t5_embeddings.pkl', trained_with_image_aug=True, chunk_size=16, num_open_loop_steps=16, deterministic=True, deterministic_reset=False, deterministic_reset_seed=None, use_ensemble_future_state_predictions=False, num_future_state_predictions_in_ensemble=3, future_state_ensemble_aggregation_scheme='average', use_ensemble_value_predictions=False, num_value_predictions_in_ensemble=5, value_ensemble_aggregation_scheme='average', search_depth=1, mask_current_state_action_for_value_prediction=False, mask_future_state_for_qvalue_prediction=False, num_queries_best_of_n=1, use_parallel_inference=False, available_gpus='0', parallel_timeout=15, parallel_tasks_across_gpus=False, task_suite_name='libero_goal', num_trials_per_task=50, task_ids_to_run='1,3,5', initial_states_path='DEFAULT', env_img_res=256, local_log_dir='cosmos_policy/experiments/robot/libero/logs/libero_goal', run_id_note='CLbest_g0_t135', use_wandb=False, wandb_entity='YOUR_ENTITY', wandb_project='YOUR_PROJECT', seed=195, randomize_seed=False, data_collection=False, jpeg_compress=True, reward_stop_threshold=None, reward_stop_consecutive_steps=3, use_gpt_reward=False, gpt_reward_model='gpt-5.4-mini', gpt_reward_stop_threshold=4, gpt_reward_timeout_s=30.0, save_rollout_video=True, eval_hdf5_path='', eval_hdf5_demo_key='demo_0', data_gen_demo_ids='', replay_actions=False, replay_action_path_dir='', replay_hdf5_path='', data_generation=False, max_generation_steps=200)
+Using serial inference (parallel inference disabled)
+Task suite: libero_goal
+Number of tasks: 10
+Running only task IDs: [1, 3, 5]
+Using default initial states
+
+Task: put the bowl on the stove
+Starting episode 1...
+Query 1/1: Action query time = 1.527 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4688
+t=10: Selected seed 195 with value = 0.4688
+Query 1/1: Action query time = 1.016 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5659
+t=26: Selected seed 195 with value = 0.5659
+Query 1/1: Action query time = 0.963 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6629
+t=42: Selected seed 195 with value = 0.6629
+Query 1/1: Action query time = 0.973 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7197
+t=58: Selected seed 195 with value = 0.7197
+Query 1/1: Action query time = 0.972 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7827
+t=74: Selected seed 195 with value = 0.7827
+Query 1/1: Action query time = 0.966 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8260
+t=90: Selected seed 195 with value = 0.8260
+Query 1/1: Action query time = 0.967 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9135
+t=106: Selected seed 195 with value = 0.9135
+Query 1/1: Action query time = 0.962 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8320
+t=122: Selected seed 195 with value = 0.8320
+Query 1/1: Action query time = 0.954 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9498
+t=138: Selected seed 195 with value = 0.9498
+Query 1/1: Action query time = 0.960 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9950
+t=154: Selected seed 195 with value = 0.9950
+Query 1/1: Action query time = 0.962 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9939
+t=170: Selected seed 195 with value = 0.9939
+Query 1/1: Action query time = 0.965 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9958
+t=186: Selected seed 195 with value = 0.9958
+Query 1/1: Action query time = 0.950 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9807
+t=202: Selected seed 195 with value = 0.9807
+Query 1/1: Action query time = 0.947 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9692
+t=218: Selected seed 195 with value = 0.9692
+Query 1/1: Action query time = 0.965 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9575
+t=234: Selected seed 195 with value = 0.9575
+Query 1/1: Action query time = 0.949 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9440
+t=250: Selected seed 195 with value = 0.9440
+Query 1/1: Action query time = 0.958 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9044
+t=266: Selected seed 195 with value = 0.9044
+Query 1/1: Action query time = 0.951 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8542
+t=282: Selected seed 195 with value = 0.8542
+Query 1/1: Action query time = 0.967 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8075
+t=298: Selected seed 195 with value = 0.8075
+Saved rollout MP4 at path ./rollouts/CLbest_g0_t135/2026_07_31-01_10_29--episode=1--success=False--task=put_the_bowl_on_the_stove.mp4
+Saved rollout MP4 at path ./rollouts/CLbest_g0_t135/2026_07_31-01_10_29--with_future_img--episode=1--success=False--task=put_the_bowl_on_the_stove.mp4
+Success: False
+# episodes completed so far: 1
+# successes: 0 (0.0%)
+
+Task: put the bowl on the stove
+Starting episode 2...
+Query 1/1: Action query time = 1.163 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4694
+t=10: Selected seed 195 with value = 0.4694
+Query 1/1: Action query time = 1.115 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5672
+t=26: Selected seed 195 with value = 0.5672
+Query 1/1: Action query time = 0.969 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6219
+t=42: Selected seed 195 with value = 0.6219
+Query 1/1: Action query time = 0.973 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7376
+t=58: Selected seed 195 with value = 0.7376
+Query 1/1: Action query time = 0.956 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8125
+t=74: Selected seed 195 with value = 0.8125
+Query 1/1: Action query time = 1.070 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9171
+t=90: Selected seed 195 with value = 0.9171
+Query 1/1: Action query time = 1.025 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9959
+t=106: Selected seed 195 with value = 0.9959
+Query 1/1: Action query time = 1.015 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9883
+t=122: Selected seed 195 with value = 0.9883
+Query 1/1: Action query time = 1.062 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9879
+t=138: Selected seed 195 with value = 0.9879
+Query 1/1: Action query time = 1.087 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9743
+t=154: Selected seed 195 with value = 0.9743
+Query 1/1: Action query time = 1.186 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9642
+t=170: Selected seed 195 with value = 0.9642
+Query 1/1: Action query time = 0.955 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9502
+t=186: Selected seed 195 with value = 0.9502
+Query 1/1: Action query time = 0.967 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9357
+t=202: Selected seed 195 with value = 0.9357
+Query 1/1: Action query time = 0.975 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9197
+t=218: Selected seed 195 with value = 0.9197
+Query 1/1: Action query time = 0.957 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9026
+t=234: Selected seed 195 with value = 0.9026
+Query 1/1: Action query time = 0.951 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8678
+t=250: Selected seed 195 with value = 0.8678
+Query 1/1: Action query time = 0.970 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8711
+t=266: Selected seed 195 with value = 0.8711
+Query 1/1: Action query time = 0.964 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9009
+t=282: Selected seed 195 with value = 0.9009
+Query 1/1: Action query time = 0.954 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9026
+t=298: Selected seed 195 with value = 0.9026
+Saved rollout MP4 at path ./rollouts/CLbest_g0_t135/2026_07_31-01_10_29--episode=2--success=False--task=put_the_bowl_on_the_stove.mp4
+Saved rollout MP4 at path ./rollouts/CLbest_g0_t135/2026_07_31-01_10_29--with_future_img--episode=2--success=False--task=put_the_bowl_on_the_stove.mp4
+Success: False
+# episodes completed so far: 2
+# successes: 0 (0.0%)
+
+Task: put the bowl on the stove
+Starting episode 3...
+Query 1/1: Action query time = 0.969 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4812
+t=10: Selected seed 195 with value = 0.4812
+Query 1/1: Action query time = 0.980 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5827
+t=26: Selected seed 195 with value = 0.5827
+Query 1/1: Action query time = 0.976 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6445
+t=42: Selected seed 195 with value = 0.6445
+Query 1/1: Action query time = 0.967 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7414
+t=58: Selected seed 195 with value = 0.7414
+Query 1/1: Action query time = 0.964 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8086
+t=74: Selected seed 195 with value = 0.8086
+Query 1/1: Action query time = 0.963 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9357
+t=90: Selected seed 195 with value = 0.9357
+Query 1/1: Action query time = 0.969 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9912
+t=106: Selected seed 195 with value = 0.9912
+Query 1/1: Action query time = 0.964 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9957
+t=122: Selected seed 195 with value = 0.9957
+Query 1/1: Action query time = 0.960 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9966
+t=138: Selected seed 195 with value = 0.9966
+Query 1/1: Action query time = 0.963 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9896
+t=154: Selected seed 195 with value = 0.9896
+Query 1/1: Action query time = 0.966 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9826
+t=170: Selected seed 195 with value = 0.9826
+Query 1/1: Action query time = 0.967 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9772
+t=186: Selected seed 195 with value = 0.9772
+Query 1/1: Action query time = 0.974 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9673
+t=202: Selected seed 195 with value = 0.9673
+Query 1/1: Action query time = 0.960 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9404
+t=218: Selected seed 195 with value = 0.9404
+Query 1/1: Action query time = 0.980 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8992
+t=234: Selected seed 195 with value = 0.8992
+Query 1/1: Action query time = 0.973 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8356
+t=250: Selected seed 195 with value = 0.8356
+Query 1/1: Action query time = 0.974 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8055
+t=266: Selected seed 195 with value = 0.8055
+Query 1/1: Action query time = 0.976 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8770
+t=282: Selected seed 195 with value = 0.8770
+Query 1/1: Action query time = 0.968 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9191
+t=298: Selected seed 195 with value = 0.9191
+Saved rollout MP4 at path ./rollouts/CLbest_g0_t135/2026_07_31-01_10_29--episode=3--success=False--task=put_the_bowl_on_the_stove.mp4
+Saved rollout MP4 at path ./rollouts/CLbest_g0_t135/2026_07_31-01_10_29--with_future_img--episode=3--success=False--task=put_the_bowl_on_the_stove.mp4
+Success: False
+# episodes completed so far: 3
+# successes: 0 (0.0%)
+
+Task: put the bowl on the stove
+Starting episode 4...
+Query 1/1: Action query time = 1.126 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4863
+t=10: Selected seed 195 with value = 0.4863
+Query 1/1: Action query time = 0.970 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5931
+t=26: Selected seed 195 with value = 0.5931
+Query 1/1: Action query time = 0.964 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6666
+t=42: Selected seed 195 with value = 0.6666
+Query 1/1: Action query time = 1.017 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6734
+t=58: Selected seed 195 with value = 0.6734
+Query 1/1: Action query time = 1.278 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7042
+t=74: Selected seed 195 with value = 0.7042
+Query 1/1: Action query time = 1.190 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7524
+t=90: Selected seed 195 with value = 0.7524
+Query 1/1: Action query time = 1.259 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7994
+t=106: Selected seed 195 with value = 0.7994
+Query 1/1: Action query time = 1.263 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8640
+t=122: Selected seed 195 with value = 0.8640
+Query 1/1: Action query time = 1.155 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9057
+t=138: Selected seed 195 with value = 0.9057
+Query 1/1: Action query time = 1.189 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9250
+t=154: Selected seed 195 with value = 0.9250
+Query 1/1: Action query time = 1.172 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9907
+t=170: Selected seed 195 with value = 0.9907
+Query 1/1: Action query time = 1.204 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9901
+t=186: Selected seed 195 with value = 0.9901
+Query 1/1: Action query time = 1.190 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9982
+t=202: Selected seed 195 with value = 0.9982
+Query 1/1: Action query time = 1.205 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9956
+t=218: Selected seed 195 with value = 0.9956
+Query 1/1: Action query time = 1.221 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9900
+t=234: Selected seed 195 with value = 0.9900
+Query 1/1: Action query time = 0.958 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9854
+t=250: Selected seed 195 with value = 0.9854
+Query 1/1: Action query time = 0.977 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9660
+t=266: Selected seed 195 with value = 0.9660
+Query 1/1: Action query time = 0.956 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9504
+t=282: Selected seed 195 with value = 0.9504
+Query 1/1: Action query time = 0.975 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9258
+t=298: Selected seed 195 with value = 0.9258
+Saved rollout MP4 at path ./rollouts/CLbest_g0_t135/2026_07_31-01_10_29--episode=4--success=False--task=put_the_bowl_on_the_stove.mp4
+Saved rollout MP4 at path ./rollouts/CLbest_g0_t135/2026_07_31-01_10_29--with_future_img--episode=4--success=False--task=put_the_bowl_on_the_stove.mp4
+Success: False
+# episodes completed so far: 4
+# successes: 0 (0.0%)
+
+Task: put the bowl on the stove
+Starting episode 5...
+Query 1/1: Action query time = 0.970 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4905
+t=10: Selected seed 195 with value = 0.4905
+Query 1/1: Action query time = 0.982 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5462
+t=26: Selected seed 195 with value = 0.5462
+Query 1/1: Action query time = 0.960 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6197
+t=42: Selected seed 195 with value = 0.6197
+Query 1/1: Action query time = 0.960 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7273
+t=58: Selected seed 195 with value = 0.7273
+Query 1/1: Action query time = 0.971 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8420
+t=74: Selected seed 195 with value = 0.8420
+Query 1/1: Action query time = 0.964 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9977
+t=90: Selected seed 195 with value = 0.9977
+Query 1/1: Action query time = 0.986 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=106: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.976 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=122: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.966 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=138: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.962 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9997
+t=154: Selected seed 195 with value = 0.9997
+Query 1/1: Action query time = 0.974 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=170: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.976 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=186: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.966 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=202: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.966 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=218: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.964 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=234: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.972 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=250: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.963 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9996
+t=266: Selected seed 195 with value = 0.9996
+Query 1/1: Action query time = 0.979 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9979
+t=282: Selected seed 195 with value = 0.9979
+Query 1/1: Action query time = 0.972 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9942
+t=298: Selected seed 195 with value = 0.9942
+Saved rollout MP4 at path ./rollouts/CLbest_g0_t135/2026_07_31-01_10_29--episode=5--success=False--task=put_the_bowl_on_the_stove.mp4
+Saved rollout MP4 at path ./rollouts/CLbest_g0_t135/2026_07_31-01_10_29--with_future_img--episode=5--success=False--task=put_the_bowl_on_the_stove.mp4
+Success: False
+# episodes completed so far: 5
+# successes: 0 (0.0%)
+
+Task: put the bowl on the stove
+Starting episode 6...
+Query 1/1: Action query time = 0.978 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4945
+t=10: Selected seed 195 with value = 0.4945
+Query 1/1: Action query time = 0.970 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5148
+t=26: Selected seed 195 with value = 0.5148
+Query 1/1: Action query time = 1.019 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6251
+t=42: Selected seed 195 with value = 0.6251
+Query 1/1: Action query time = 0.985 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7487
+t=58: Selected seed 195 with value = 0.7487
+Query 1/1: Action query time = 0.997 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8375
+t=74: Selected seed 195 with value = 0.8375
+Query 1/1: Action query time = 0.980 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9891
+t=90: Selected seed 195 with value = 0.9891
+Query 1/1: Action query time = 0.974 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=106: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.963 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9998
+t=122: Selected seed 195 with value = 0.9998
+Query 1/1: Action query time = 0.982 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9999
+t=138: Selected seed 195 with value = 0.9999
+Query 1/1: Action query time = 0.987 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9988
+t=154: Selected seed 195 with value = 0.9988
+Query 1/1: Action query time = 0.963 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9955
+t=170: Selected seed 195 with value = 0.9955
+Query 1/1: Action query time = 0.958 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9930
+t=186: Selected seed 195 with value = 0.9930
+Query 1/1: Action query time = 0.964 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9878
+t=202: Selected seed 195 with value = 0.9878
+Query 1/1: Action query time = 0.966 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9855
+t=218: Selected seed 195 with value = 0.9855
+Query 1/1: Action query time = 0.966 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9890
+t=234: Selected seed 195 with value = 0.9890
+Query 1/1: Action query time = 0.968 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9882
+t=250: Selected seed 195 with value = 0.9882
+Query 1/1: Action query time = 0.977 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9858
+t=266: Selected seed 195 with value = 0.9858
+Query 1/1: Action query time = 0.973 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9888
+t=282: Selected seed 195 with value = 0.9888
+Query 1/1: Action query time = 0.967 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9849
+t=298: Selected seed 195 with value = 0.9849
+Saved rollout MP4 at path ./rollouts/CLbest_g0_t135/2026_07_31-01_10_29--episode=6--success=False--task=put_the_bowl_on_the_stove.mp4
+Saved rollout MP4 at path ./rollouts/CLbest_g0_t135/2026_07_31-01_10_29--with_future_img--episode=6--success=False--task=put_the_bowl_on_the_stove.mp4
+Success: False
+# episodes completed so far: 6
+# successes: 0 (0.0%)
+
+Task: put the bowl on the stove
+Starting episode 7...
+Query 1/1: Action query time = 1.138 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4754
+t=10: Selected seed 195 with value = 0.4754
+Query 1/1: Action query time = 0.960 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5437
+t=26: Selected seed 195 with value = 0.5437
+Query 1/1: Action query time = 0.971 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6059
+t=42: Selected seed 195 with value = 0.6059
+Query 1/1: Action query time = 0.973 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6838
+t=58: Selected seed 195 with value = 0.6838
+Query 1/1: Action query time = 0.977 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7938
+t=74: Selected seed 195 with value = 0.7938
+Query 1/1: Action query time = 0.966 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8971
+t=90: Selected seed 195 with value = 0.8971
+Query 1/1: Action query time = 0.963 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9632
+t=106: Selected seed 195 with value = 0.9632
+Query 1/1: Action query time = 0.963 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=122: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.952 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=138: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.971 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9984
+t=154: Selected seed 195 with value = 0.9984
+Query 1/1: Action query time = 0.965 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9983
+t=170: Selected seed 195 with value = 0.9983
+Query 1/1: Action query time = 0.969 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9994
+t=186: Selected seed 195 with value = 0.9994
+Query 1/1: Action query time = 0.981 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=202: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.976 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=218: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.958 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=234: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.959 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=250: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.967 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=266: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.964 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=282: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.963 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=298: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/CLbest_g0_t135/2026_07_31-01_10_29--episode=7--success=False--task=put_the_bowl_on_the_stove.mp4
+Saved rollout MP4 at path ./rollouts/CLbest_g0_t135/2026_07_31-01_10_29--with_future_img--episode=7--success=False--task=put_the_bowl_on_the_stove.mp4
+Success: False
+# episodes completed so far: 7
+# successes: 0 (0.0%)
+
+Task: put the bowl on the stove
+Starting episode 8...
+Query 1/1: Action query time = 0.997 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4617
+t=10: Selected seed 195 with value = 0.4617
+Query 1/1: Action query time = 0.985 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5974
+t=26: Selected seed 195 with value = 0.5974
+Query 1/1: Action query time = 0.997 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6683
+t=42: Selected seed 195 with value = 0.6683
+Query 1/1: Action query time = 0.998 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7326
+t=58: Selected seed 195 with value = 0.7326
+Query 1/1: Action query time = 0.992 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7731
+t=74: Selected seed 195 with value = 0.7731
+Query 1/1: Action query time = 1.118 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8094
+t=90: Selected seed 195 with value = 0.8094
+Query 1/1: Action query time = 1.180 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8771
+t=106: Selected seed 195 with value = 0.8771
+Query 1/1: Action query time = 1.100 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9024
+t=122: Selected seed 195 with value = 0.9024
+Query 1/1: Action query time = 0.971 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9154
+t=138: Selected seed 195 with value = 0.9154
+Query 1/1: Action query time = 0.956 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9454
+t=154: Selected seed 195 with value = 0.9454
+Query 1/1: Action query time = 0.964 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9754
+t=170: Selected seed 195 with value = 0.9754
+Query 1/1: Action query time = 1.142 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9745
+t=186: Selected seed 195 with value = 0.9745
+Query 1/1: Action query time = 1.135 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9601
+t=202: Selected seed 195 with value = 0.9601
+Query 1/1: Action query time = 1.147 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9319
+t=218: Selected seed 195 with value = 0.9319
+Query 1/1: Action query time = 1.101 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9105
+t=234: Selected seed 195 with value = 0.9105
+Query 1/1: Action query time = 1.036 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8944
+t=250: Selected seed 195 with value = 0.8944
+Query 1/1: Action query time = 0.969 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8857
+t=266: Selected seed 195 with value = 0.8857
+Query 1/1: Action query time = 0.981 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8735
+t=282: Selected seed 195 with value = 0.8735
+Query 1/1: Action query time = 0.966 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8589
+t=298: Selected seed 195 with value = 0.8589
+Saved rollout MP4 at path ./rollouts/CLbest_g0_t135/2026_07_31-01_10_29--episode=8--success=False--task=put_the_bowl_on_the_stove.mp4
+Saved rollout MP4 at path ./rollouts/CLbest_g0_t135/2026_07_31-01_10_29--with_future_img--episode=8--success=False--task=put_the_bowl_on_the_stove.mp4
+Success: False
+# episodes completed so far: 8
+# successes: 0 (0.0%)
+
+Task: put the bowl on the stove
+Starting episode 9...
+Query 1/1: Action query time = 1.023 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4651
+t=10: Selected seed 195 with value = 0.4651
+Query 1/1: Action query time = 1.018 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5376
+t=26: Selected seed 195 with value = 0.5376
+Query 1/1: Action query time = 1.023 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6187
+t=42: Selected seed 195 with value = 0.6187
+Query 1/1: Action query time = 0.991 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7199
+t=58: Selected seed 195 with value = 0.7199
+Query 1/1: Action query time = 0.976 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8356
+t=74: Selected seed 195 with value = 0.8356
+Query 1/1: Action query time = 0.960 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9794
+t=90: Selected seed 195 with value = 0.9794
+Query 1/1: Action query time = 0.968 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=106: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.966 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9978
+t=122: Selected seed 195 with value = 0.9978
+Query 1/1: Action query time = 0.974 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9906
+t=138: Selected seed 195 with value = 0.9906
+Query 1/1: Action query time = 0.982 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9885
+t=154: Selected seed 195 with value = 0.9885
+Query 1/1: Action query time = 0.968 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9898
+t=170: Selected seed 195 with value = 0.9898
+Query 1/1: Action query time = 0.958 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9905
+t=186: Selected seed 195 with value = 0.9905
+Query 1/1: Action query time = 0.962 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9901
+t=202: Selected seed 195 with value = 0.9901
+Query 1/1: Action query time = 0.966 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9913
+t=218: Selected seed 195 with value = 0.9913
+Query 1/1: Action query time = 0.974 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9928
+t=234: Selected seed 195 with value = 0.9928
+Query 1/1: Action query time = 0.957 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9941
+t=250: Selected seed 195 with value = 0.9941
+Query 1/1: Action query time = 0.965 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9944
+t=266: Selected seed 195 with value = 0.9944
+Query 1/1: Action query time = 0.982 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9932
+t=282: Selected seed 195 with value = 0.9932
+Query 1/1: Action query time = 0.980 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9910
+t=298: Selected seed 195 with value = 0.9910
+Saved rollout MP4 at path ./rollouts/CLbest_g0_t135/2026_07_31-01_10_29--episode=9--success=False--task=put_the_bowl_on_the_stove.mp4
+Saved rollout MP4 at path ./rollouts/CLbest_g0_t135/2026_07_31-01_10_29--with_future_img--episode=9--success=False--task=put_the_bowl_on_the_stove.mp4
+Success: False
+# episodes completed so far: 9
+# successes: 0 (0.0%)
+
+Task: put the bowl on the stove
+Starting episode 10...
+Query 1/1: Action query time = 0.979 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5102
+t=10: Selected seed 195 with value = 0.5102
+Query 1/1: Action query time = 0.967 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5502
+t=26: Selected seed 195 with value = 0.5502
+Query 1/1: Action query time = 0.979 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6215
+t=42: Selected seed 195 with value = 0.6215
+Query 1/1: Action query time = 0.964 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7597
+t=58: Selected seed 195 with value = 0.7597
+Query 1/1: Action query time = 0.959 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8459
+t=74: Selected seed 195 with value = 0.8459
+Query 1/1: Action query time = 0.975 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9886
+t=90: Selected seed 195 with value = 0.9886
+Query 1/1: Action query time = 0.965 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=106: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.965 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=122: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 1.041 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9998
+t=138: Selected seed 195 with value = 0.9998
+Query 1/1: Action query time = 1.082 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=154: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 1.046 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=170: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 1.079 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9995
+t=186: Selected seed 195 with value = 0.9995
+Query 1/1: Action query time = 1.161 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9984
+t=202: Selected seed 195 with value = 0.9984
+Query 1/1: Action query time = 1.146 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9968
+t=218: Selected seed 195 with value = 0.9968
+Query 1/1: Action query time = 0.968 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9776
+t=234: Selected seed 195 with value = 0.9776
+Query 1/1: Action query time = 0.972 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9866
+t=250: Selected seed 195 with value = 0.9866
+Query 1/1: Action query time = 0.976 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9622
+t=266: Selected seed 195 with value = 0.9622
+Query 1/1: Action query time = 1.138 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9036
+t=282: Selected seed 195 with value = 0.9036
+Query 1/1: Action query time = 1.163 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9483
+t=298: Selected seed 195 with value = 0.9483
+Saved rollout MP4 at path ./rollouts/CLbest_g0_t135/2026_07_31-01_10_29--episode=10--success=False--task=put_the_bowl_on_the_stove.mp4
+Saved rollout MP4 at path ./rollouts/CLbest_g0_t135/2026_07_31-01_10_29--with_future_img--episode=10--success=False--task=put_the_bowl_on_the_stove.mp4
+Success: False
+# episodes completed so far: 10
+# successes: 0 (0.0%)
+
+Task: put the bowl on the stove
+Starting episode 11...
+Query 1/1: Action query time = 0.995 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4734
+t=10: Selected seed 195 with value = 0.4734
+Query 1/1: Action query time = 0.976 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5736
+t=26: Selected seed 195 with value = 0.5736
+Query 1/1: Action query time = 0.960 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6606
+t=42: Selected seed 195 with value = 0.6606
+Query 1/1: Action query time = 0.973 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7187
+t=58: Selected seed 195 with value = 0.7187
+Query 1/1: Action query time = 0.963 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7456
+t=74: Selected seed 195 with value = 0.7456
+Query 1/1: Action query time = 0.980 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7882
+t=90: Selected seed 195 with value = 0.7882
+Query 1/1: Action query time = 0.962 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8381
+t=106: Selected seed 195 with value = 0.8381
+Query 1/1: Action query time = 0.973 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8849
+t=122: Selected seed 195 with value = 0.8849
+Query 1/1: Action query time = 0.985 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9808
+t=138: Selected seed 195 with value = 0.9808
+Query 1/1: Action query time = 0.981 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9890
+t=154: Selected seed 195 with value = 0.9890
+Query 1/1: Action query time = 0.981 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9997
+t=170: Selected seed 195 with value = 0.9997
+Query 1/1: Action query time = 0.982 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9972
+t=186: Selected seed 195 with value = 0.9972
+Query 1/1: Action query time = 0.983 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9977
+t=202: Selected seed 195 with value = 0.9977
+Query 1/1: Action query time = 0.967 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9975
+t=218: Selected seed 195 with value = 0.9975
+Query 1/1: Action query time = 0.978 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9993
+t=234: Selected seed 195 with value = 0.9993
+Query 1/1: Action query time = 1.006 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9990
+t=250: Selected seed 195 with value = 0.9990
+Query 1/1: Action query time = 1.059 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9963
+t=266: Selected seed 195 with value = 0.9963
+Query 1/1: Action query time = 1.091 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9886
+t=282: Selected seed 195 with value = 0.9886
+Query 1/1: Action query time = 1.138 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9758
+t=298: Selected seed 195 with value = 0.9758
+Saved rollout MP4 at path ./rollouts/CLbest_g0_t135/2026_07_31-01_10_29--episode=11--success=False--task=put_the_bowl_on_the_stove.mp4
+Saved rollout MP4 at path ./rollouts/CLbest_g0_t135/2026_07_31-01_10_29--with_future_img--episode=11--success=False--task=put_the_bowl_on_the_stove.mp4
+Success: False
+# episodes completed so far: 11
+# successes: 0 (0.0%)
+
+Task: put the bowl on the stove
+Starting episode 12...
+Query 1/1: Action query time = 0.986 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4934
+t=10: Selected seed 195 with value = 0.4934
+Query 1/1: Action query time = 0.990 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5411
+t=26: Selected seed 195 with value = 0.5411
+Query 1/1: Action query time = 0.990 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6307
+t=42: Selected seed 195 with value = 0.6307
+Query 1/1: Action query time = 0.976 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7443
+t=58: Selected seed 195 with value = 0.7443
+Query 1/1: Action query time = 0.979 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8606
+t=74: Selected seed 195 with value = 0.8606
+Query 1/1: Action query time = 0.961 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 1.011 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=106: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 1.062 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9961
+t=122: Selected seed 195 with value = 0.9961
+Query 1/1: Action query time = 0.961 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9881
+t=138: Selected seed 195 with value = 0.9881
+Query 1/1: Action query time = 0.978 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9905
+t=154: Selected seed 195 with value = 0.9905
+Query 1/1: Action query time = 0.979 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9821
+t=170: Selected seed 195 with value = 0.9821
+Query 1/1: Action query time = 1.047 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9804
+t=186: Selected seed 195 with value = 0.9804
+Query 1/1: Action query time = 1.067 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9768
+t=202: Selected seed 195 with value = 0.9768
+Query 1/1: Action query time = 1.090 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9688
+t=218: Selected seed 195 with value = 0.9688
+Query 1/1: Action query time = 1.159 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9736
+t=234: Selected seed 195 with value = 0.9736
+Query 1/1: Action query time = 1.103 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9765
+t=250: Selected seed 195 with value = 0.9765
+Query 1/1: Action query time = 1.015 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9630
+t=266: Selected seed 195 with value = 0.9630
+Query 1/1: Action query time = 0.963 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9208
+t=282: Selected seed 195 with value = 0.9208
+Query 1/1: Action query time = 0.966 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9607
+t=298: Selected seed 195 with value = 0.9607
+Saved rollout MP4 at path ./rollouts/CLbest_g0_t135/2026_07_31-01_10_29--episode=12--success=False--task=put_the_bowl_on_the_stove.mp4
+Saved rollout MP4 at path ./rollouts/CLbest_g0_t135/2026_07_31-01_10_29--with_future_img--episode=12--success=False--task=put_the_bowl_on_the_stove.mp4
+Success: False
+# episodes completed so far: 12
+# successes: 0 (0.0%)
+
+Task: put the bowl on the stove
+Starting episode 13...
+Query 1/1: Action query time = 1.004 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4933
+t=10: Selected seed 195 with value = 0.4933
+Query 1/1: Action query time = 1.017 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5339
+t=26: Selected seed 195 with value = 0.5339
+Query 1/1: Action query time = 1.050 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6353
+t=42: Selected seed 195 with value = 0.6353
+Query 1/1: Action query time = 1.075 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7365
+t=58: Selected seed 195 with value = 0.7365
+Query 1/1: Action query time = 1.119 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8786
+t=74: Selected seed 195 with value = 0.8786
+Query 1/1: Action query time = 1.073 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9766
+t=90: Selected seed 195 with value = 0.9766
+Query 1/1: Action query time = 1.096 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9970
+t=106: Selected seed 195 with value = 0.9970
+Query 1/1: Action query time = 1.153 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9964
+t=122: Selected seed 195 with value = 0.9964
+Query 1/1: Action query time = 1.201 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9959
+t=138: Selected seed 195 with value = 0.9959
+Query 1/1: Action query time = 1.186 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9973
+t=154: Selected seed 195 with value = 0.9973
+Query 1/1: Action query time = 1.169 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9979
+t=170: Selected seed 195 with value = 0.9979
+Query 1/1: Action query time = 1.153 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9970
+t=186: Selected seed 195 with value = 0.9970
+Query 1/1: Action query time = 1.153 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9776
+t=202: Selected seed 195 with value = 0.9776
+Query 1/1: Action query time = 1.088 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9899
+t=218: Selected seed 195 with value = 0.9899
+Query 1/1: Action query time = 1.054 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9677
+t=234: Selected seed 195 with value = 0.9677
+Query 1/1: Action query time = 0.977 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9959
+t=250: Selected seed 195 with value = 0.9959
+Query 1/1: Action query time = 0.972 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9977
+t=266: Selected seed 195 with value = 0.9977
+Query 1/1: Action query time = 0.973 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9993
+t=282: Selected seed 195 with value = 0.9993
+Query 1/1: Action query time = 0.974 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=298: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/CLbest_g0_t135/2026_07_31-01_10_29--episode=13--success=False--task=put_the_bowl_on_the_stove.mp4
+Saved rollout MP4 at path ./rollouts/CLbest_g0_t135/2026_07_31-01_10_29--with_future_img--episode=13--success=False--task=put_the_bowl_on_the_stove.mp4
+Success: False
+# episodes completed so far: 13
+# successes: 0 (0.0%)
+
+Task: put the bowl on the stove
+Starting episode 14...
+Query 1/1: Action query time = 0.974 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4722
+t=10: Selected seed 195 with value = 0.4722
+Query 1/1: Action query time = 0.972 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5596
+t=26: Selected seed 195 with value = 0.5596
+Query 1/1: Action query time = 0.975 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6479
+t=42: Selected seed 195 with value = 0.6479
+Query 1/1: Action query time = 0.974 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7264
+t=58: Selected seed 195 with value = 0.7264
+Query 1/1: Action query time = 0.972 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8522
+t=74: Selected seed 195 with value = 0.8522
+Query 1/1: Action query time = 1.019 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9910
+t=90: Selected seed 195 with value = 0.9910
+Query 1/1: Action query time = 1.061 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=106: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 1.063 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9988
+t=122: Selected seed 195 with value = 0.9988
+Query 1/1: Action query time = 1.042 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9936
+t=138: Selected seed 195 with value = 0.9936
+Query 1/1: Action query time = 1.029 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9926
+t=154: Selected seed 195 with value = 0.9926
+Query 1/1: Action query time = 1.005 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9922
+t=170: Selected seed 195 with value = 0.9922
+Query 1/1: Action query time = 0.973 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9921
+t=186: Selected seed 195 with value = 0.9921
+Query 1/1: Action query time = 0.976 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9915
+t=202: Selected seed 195 with value = 0.9915
+Query 1/1: Action query time = 0.973 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9913
+t=218: Selected seed 195 with value = 0.9913
+Query 1/1: Action query time = 0.966 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9921
+t=234: Selected seed 195 with value = 0.9921
+Query 1/1: Action query time = 0.970 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9933
+t=250: Selected seed 195 with value = 0.9933
+Query 1/1: Action query time = 0.980 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9943
+t=266: Selected seed 195 with value = 0.9943
+Query 1/1: Action query time = 0.984 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9959
+t=282: Selected seed 195 with value = 0.9959
+Query 1/1: Action query time = 0.982 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9968
+t=298: Selected seed 195 with value = 0.9968
+Saved rollout MP4 at path ./rollouts/CLbest_g0_t135/2026_07_31-01_10_29--episode=14--success=False--task=put_the_bowl_on_the_stove.mp4
+Saved rollout MP4 at path ./rollouts/CLbest_g0_t135/2026_07_31-01_10_29--with_future_img--episode=14--success=False--task=put_the_bowl_on_the_stove.mp4
+Success: False
+# episodes completed so far: 14
+# successes: 0 (0.0%)
+
+Task: put the bowl on the stove
+Starting episode 15...
+Query 1/1: Action query time = 0.992 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5121
+t=10: Selected seed 195 with value = 0.5121
+Query 1/1: Action query time = 0.986 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5734
+t=26: Selected seed 195 with value = 0.5734
+Query 1/1: Action query time = 0.966 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6500
+t=42: Selected seed 195 with value = 0.6500
+Query 1/1: Action query time = 0.985 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7479
+t=58: Selected seed 195 with value = 0.7479
+Query 1/1: Action query time = 0.967 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8687
+t=74: Selected seed 195 with value = 0.8687
+Query 1/1: Action query time = 0.977 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9976
+t=90: Selected seed 195 with value = 0.9976
+Query 1/1: Action query time = 0.974 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=106: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.979 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=122: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.979 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=138: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.990 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=154: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.960 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9984
+t=170: Selected seed 195 with value = 0.9984
+Query 1/1: Action query time = 0.978 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9957
+t=186: Selected seed 195 with value = 0.9957
+Query 1/1: Action query time = 0.969 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9874
+t=202: Selected seed 195 with value = 0.9874
+Query 1/1: Action query time = 0.970 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9636
+t=218: Selected seed 195 with value = 0.9636
+Query 1/1: Action query time = 1.177 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9713
+t=234: Selected seed 195 with value = 0.9713
+Query 1/1: Action query time = 1.150 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9579
+t=250: Selected seed 195 with value = 0.9579
+Query 1/1: Action query time = 1.186 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9902
+t=266: Selected seed 195 with value = 0.9902
+Query 1/1: Action query time = 1.163 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9926
+t=282: Selected seed 195 with value = 0.9926
+Query 1/1: Action query time = 1.127 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9949
+t=298: Selected seed 195 with value = 0.9949
+Saved rollout MP4 at path ./rollouts/CLbest_g0_t135/2026_07_31-01_10_29--episode=15--success=False--task=put_the_bowl_on_the_stove.mp4
+Saved rollout MP4 at path ./rollouts/CLbest_g0_t135/2026_07_31-01_10_29--with_future_img--episode=15--success=False--task=put_the_bowl_on_the_stove.mp4
+Success: False
+# episodes completed so far: 15
+# successes: 0 (0.0%)
+
+Task: put the bowl on the stove
+Starting episode 16...
+Query 1/1: Action query time = 0.980 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4653
+t=10: Selected seed 195 with value = 0.4653
+Query 1/1: Action query time = 0.964 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5278
+t=26: Selected seed 195 with value = 0.5278
+Query 1/1: Action query time = 0.970 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6008
+t=42: Selected seed 195 with value = 0.6008
+Query 1/1: Action query time = 0.968 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7004
+t=58: Selected seed 195 with value = 0.7004
+Query 1/1: Action query time = 0.986 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8183
+t=74: Selected seed 195 with value = 0.8183
+Query 1/1: Action query time = 0.979 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9394
+t=90: Selected seed 195 with value = 0.9394
+Query 1/1: Action query time = 0.961 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=106: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.966 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=122: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.978 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=138: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.953 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9985
+t=154: Selected seed 195 with value = 0.9985
+Query 1/1: Action query time = 0.979 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9983
+t=170: Selected seed 195 with value = 0.9983
+Query 1/1: Action query time = 0.981 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9987
+t=186: Selected seed 195 with value = 0.9987
+Query 1/1: Action query time = 0.977 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9984
+t=202: Selected seed 195 with value = 0.9984
+Query 1/1: Action query time = 0.984 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9979
+t=218: Selected seed 195 with value = 0.9979
+Query 1/1: Action query time = 0.987 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9973
+t=234: Selected seed 195 with value = 0.9973
+Query 1/1: Action query time = 0.989 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9597
+t=250: Selected seed 195 with value = 0.9597
+Query 1/1: Action query time = 0.959 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9811
+t=266: Selected seed 195 with value = 0.9811
+Query 1/1: Action query time = 0.975 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9950
+t=282: Selected seed 195 with value = 0.9950
+Query 1/1: Action query time = 0.968 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9881
+t=298: Selected seed 195 with value = 0.9881
+Saved rollout MP4 at path ./rollouts/CLbest_g0_t135/2026_07_31-01_10_29--episode=16--success=False--task=put_the_bowl_on_the_stove.mp4
+Saved rollout MP4 at path ./rollouts/CLbest_g0_t135/2026_07_31-01_10_29--with_future_img--episode=16--success=False--task=put_the_bowl_on_the_stove.mp4
+Success: False
+# episodes completed so far: 16
+# successes: 0 (0.0%)
+
+Task: put the bowl on the stove
+Starting episode 17...
+Query 1/1: Action query time = 0.998 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5034
+t=10: Selected seed 195 with value = 0.5034
+Query 1/1: Action query time = 0.975 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5681
+t=26: Selected seed 195 with value = 0.5681
+Query 1/1: Action query time = 0.971 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6441
+t=42: Selected seed 195 with value = 0.6441
+Query 1/1: Action query time = 0.969 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7339
+t=58: Selected seed 195 with value = 0.7339
+Query 1/1: Action query time = 0.977 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8571
+t=74: Selected seed 195 with value = 0.8571
+Query 1/1: Action query time = 1.023 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9877
+t=90: Selected seed 195 with value = 0.9877
+Query 1/1: Action query time = 0.991 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=106: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.972 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9973
+t=122: Selected seed 195 with value = 0.9973
+Query 1/1: Action query time = 0.967 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9951
+t=138: Selected seed 195 with value = 0.9951
+Query 1/1: Action query time = 0.983 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9966
+t=154: Selected seed 195 with value = 0.9966
+Query 1/1: Action query time = 0.979 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9971
+t=170: Selected seed 195 with value = 0.9971
+Query 1/1: Action query time = 0.981 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9966
+t=186: Selected seed 195 with value = 0.9966
+Query 1/1: Action query time = 0.964 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9953
+t=202: Selected seed 195 with value = 0.9953
+Query 1/1: Action query time = 0.987 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9951
+t=218: Selected seed 195 with value = 0.9951
+Query 1/1: Action query time = 0.970 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9950
+t=234: Selected seed 195 with value = 0.9950
+Query 1/1: Action query time = 0.990 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9948
+t=250: Selected seed 195 with value = 0.9948
+Query 1/1: Action query time = 1.012 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9952
+t=266: Selected seed 195 with value = 0.9952
+Query 1/1: Action query time = 1.004 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9956
+t=282: Selected seed 195 with value = 0.9956
+Query 1/1: Action query time = 0.985 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9958
+t=298: Selected seed 195 with value = 0.9958
+Saved rollout MP4 at path ./rollouts/CLbest_g0_t135/2026_07_31-01_10_29--episode=17--success=False--task=put_the_bowl_on_the_stove.mp4
+Saved rollout MP4 at path ./rollouts/CLbest_g0_t135/2026_07_31-01_10_29--with_future_img--episode=17--success=False--task=put_the_bowl_on_the_stove.mp4
+Success: False
+# episodes completed so far: 17
+# successes: 0 (0.0%)
+
+Task: put the bowl on the stove
+Starting episode 18...
+Query 1/1: Action query time = 1.198 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4879
+t=10: Selected seed 195 with value = 0.4879
+Query 1/1: Action query time = 1.176 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5552
+t=26: Selected seed 195 with value = 0.5552
+Query 1/1: Action query time = 1.165 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5984
+t=42: Selected seed 195 with value = 0.5984
+Query 1/1: Action query time = 1.098 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7053
+t=58: Selected seed 195 with value = 0.7053
+Query 1/1: Action query time = 1.112 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8543
+t=74: Selected seed 195 with value = 0.8543
+Query 1/1: Action query time = 0.984 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9658
+t=90: Selected seed 195 with value = 0.9658
+Query 1/1: Action query time = 0.987 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=106: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.974 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=122: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 1.170 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9976
+t=138: Selected seed 195 with value = 0.9976
+Query 1/1: Action query time = 1.191 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9959
+t=154: Selected seed 195 with value = 0.9959
+Query 1/1: Action query time = 1.191 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9938
+t=170: Selected seed 195 with value = 0.9938
+Query 1/1: Action query time = 1.198 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9953
+t=186: Selected seed 195 with value = 0.9953
+Query 1/1: Action query time = 1.181 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9959
+t=202: Selected seed 195 with value = 0.9959
+Query 1/1: Action query time = 1.171 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9950
+t=218: Selected seed 195 with value = 0.9950
+Query 1/1: Action query time = 1.136 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9927
+t=234: Selected seed 195 with value = 0.9927
+Query 1/1: Action query time = 1.104 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9973
+t=250: Selected seed 195 with value = 0.9973
+Query 1/1: Action query time = 1.083 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9938
+t=266: Selected seed 195 with value = 0.9938
+Query 1/1: Action query time = 1.076 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9881
+t=282: Selected seed 195 with value = 0.9881
+Query 1/1: Action query time = 1.099 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9806
+t=298: Selected seed 195 with value = 0.9806
+Saved rollout MP4 at path ./rollouts/CLbest_g0_t135/2026_07_31-01_10_29--episode=18--success=False--task=put_the_bowl_on_the_stove.mp4
+Saved rollout MP4 at path ./rollouts/CLbest_g0_t135/2026_07_31-01_10_29--with_future_img--episode=18--success=False--task=put_the_bowl_on_the_stove.mp4
+Success: False
+# episodes completed so far: 18
+# successes: 0 (0.0%)
+
+Task: put the bowl on the stove
+Starting episode 19...
+Query 1/1: Action query time = 1.112 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4941
+t=10: Selected seed 195 with value = 0.4941
+Query 1/1: Action query time = 1.146 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5521
+t=26: Selected seed 195 with value = 0.5521
+Query 1/1: Action query time = 1.141 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6080
+t=42: Selected seed 195 with value = 0.6080
+Query 1/1: Action query time = 0.991 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7293
+t=58: Selected seed 195 with value = 0.7293
+Query 1/1: Action query time = 0.978 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8374
+t=74: Selected seed 195 with value = 0.8374
+Query 1/1: Action query time = 0.991 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9649
+t=90: Selected seed 195 with value = 0.9649
+Query 1/1: Action query time = 0.981 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=106: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.975 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=122: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.970 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9979
+t=138: Selected seed 195 with value = 0.9979
+Query 1/1: Action query time = 0.972 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9975
+t=154: Selected seed 195 with value = 0.9975
+Query 1/1: Action query time = 0.972 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9935
+t=170: Selected seed 195 with value = 0.9935
+Query 1/1: Action query time = 0.976 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9789
+t=186: Selected seed 195 with value = 0.9789
+Query 1/1: Action query time = 1.007 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9923
+t=202: Selected seed 195 with value = 0.9923
+Query 1/1: Action query time = 0.983 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9679
+t=218: Selected seed 195 with value = 0.9679
+Query 1/1: Action query time = 0.984 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9851
+t=234: Selected seed 195 with value = 0.9851
+Query 1/1: Action query time = 0.979 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9393
+t=250: Selected seed 195 with value = 0.9393
+Query 1/1: Action query time = 0.979 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9788
+t=266: Selected seed 195 with value = 0.9788
+Query 1/1: Action query time = 0.959 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9862
+t=282: Selected seed 195 with value = 0.9862
+Query 1/1: Action query time = 0.983 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9877
+t=298: Selected seed 195 with value = 0.9877
+Saved rollout MP4 at path ./rollouts/CLbest_g0_t135/2026_07_31-01_10_29--episode=19--success=False--task=put_the_bowl_on_the_stove.mp4
+Saved rollout MP4 at path ./rollouts/CLbest_g0_t135/2026_07_31-01_10_29--with_future_img--episode=19--success=False--task=put_the_bowl_on_the_stove.mp4
+Success: False
+# episodes completed so far: 19
+# successes: 0 (0.0%)
+
+Task: put the bowl on the stove
+Starting episode 20...
+Query 1/1: Action query time = 0.992 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4691
+t=10: Selected seed 195 with value = 0.4691
+Query 1/1: Action query time = 0.990 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5731
+t=26: Selected seed 195 with value = 0.5731
+Query 1/1: Action query time = 0.968 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6527
+t=42: Selected seed 195 with value = 0.6527
+Query 1/1: Action query time = 0.967 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7326
+t=58: Selected seed 195 with value = 0.7326
+Query 1/1: Action query time = 0.971 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8530
+t=74: Selected seed 195 with value = 0.8530
+Query 1/1: Action query time = 0.979 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9670
+t=90: Selected seed 195 with value = 0.9670
+Query 1/1: Action query time = 0.972 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=106: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.980 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9962
+t=122: Selected seed 195 with value = 0.9962
+Query 1/1: Action query time = 0.962 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9937
+t=138: Selected seed 195 with value = 0.9937
+Query 1/1: Action query time = 1.087 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9922
+t=154: Selected seed 195 with value = 0.9922
+Query 1/1: Action query time = 1.067 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9897
+t=170: Selected seed 195 with value = 0.9897
+Query 1/1: Action query time = 1.118 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9937
+t=186: Selected seed 195 with value = 0.9937
+Query 1/1: Action query time = 1.160 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9980
+t=202: Selected seed 195 with value = 0.9980
+Query 1/1: Action query time = 1.185 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9987
+t=218: Selected seed 195 with value = 0.9987
+Query 1/1: Action query time = 1.134 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9980
+t=234: Selected seed 195 with value = 0.9980
+Query 1/1: Action query time = 0.975 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9977
+t=250: Selected seed 195 with value = 0.9977
+Query 1/1: Action query time = 0.989 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9975
+t=266: Selected seed 195 with value = 0.9975
+Query 1/1: Action query time = 0.970 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9973
+t=282: Selected seed 195 with value = 0.9973
+Query 1/1: Action query time = 1.076 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9973
+t=298: Selected seed 195 with value = 0.9973
+Saved rollout MP4 at path ./rollouts/CLbest_g0_t135/2026_07_31-01_10_29--episode=20--success=False--task=put_the_bowl_on_the_stove.mp4
+Saved rollout MP4 at path ./rollouts/CLbest_g0_t135/2026_07_31-01_10_29--with_future_img--episode=20--success=False--task=put_the_bowl_on_the_stove.mp4
+Success: False
+# episodes completed so far: 20
+# successes: 0 (0.0%)
+
+Task: put the bowl on the stove
+Starting episode 21...
+Query 1/1: Action query time = 1.004 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4534
+t=10: Selected seed 195 with value = 0.4534
+Query 1/1: Action query time = 0.988 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5401
+t=26: Selected seed 195 with value = 0.5401
+Query 1/1: Action query time = 0.986 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6304
+t=42: Selected seed 195 with value = 0.6304
+Query 1/1: Action query time = 0.979 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7168
+t=58: Selected seed 195 with value = 0.7168
+Query 1/1: Action query time = 0.982 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8386
+t=74: Selected seed 195 with value = 0.8386
+Query 1/1: Action query time = 0.972 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9505
+t=90: Selected seed 195 with value = 0.9505
+Query 1/1: Action query time = 0.977 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=106: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.987 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9926
+t=122: Selected seed 195 with value = 0.9926
+Query 1/1: Action query time = 0.972 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9877
+t=138: Selected seed 195 with value = 0.9877
+Query 1/1: Action query time = 0.967 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9972
+t=154: Selected seed 195 with value = 0.9972
+Query 1/1: Action query time = 0.971 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9990
+t=170: Selected seed 195 with value = 0.9990
+Query 1/1: Action query time = 0.973 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9970
+t=186: Selected seed 195 with value = 0.9970
+Query 1/1: Action query time = 0.976 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9993
+t=202: Selected seed 195 with value = 0.9993
+Query 1/1: Action query time = 0.985 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9958
+t=218: Selected seed 195 with value = 0.9958
+Query 1/1: Action query time = 0.983 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9935
+t=234: Selected seed 195 with value = 0.9935
+Query 1/1: Action query time = 0.983 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9908
+t=250: Selected seed 195 with value = 0.9908
+Query 1/1: Action query time = 0.969 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9911
+t=266: Selected seed 195 with value = 0.9911
+Query 1/1: Action query time = 1.006 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9903
+t=282: Selected seed 195 with value = 0.9903
+Query 1/1: Action query time = 1.134 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9865
+t=298: Selected seed 195 with value = 0.9865
+Saved rollout MP4 at path ./rollouts/CLbest_g0_t135/2026_07_31-01_10_29--episode=21--success=False--task=put_the_bowl_on_the_stove.mp4
+Saved rollout MP4 at path ./rollouts/CLbest_g0_t135/2026_07_31-01_10_29--with_future_img--episode=21--success=False--task=put_the_bowl_on_the_stove.mp4
+Success: False
+# episodes completed so far: 21
+# successes: 0 (0.0%)
+
+Task: put the bowl on the stove
+Starting episode 22...
+Query 1/1: Action query time = 1.020 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4906
+t=10: Selected seed 195 with value = 0.4906
+Query 1/1: Action query time = 0.984 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5363
+t=26: Selected seed 195 with value = 0.5363
+Query 1/1: Action query time = 0.993 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6365
+t=42: Selected seed 195 with value = 0.6365
+Query 1/1: Action query time = 0.982 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7447
+t=58: Selected seed 195 with value = 0.7447
+Query 1/1: Action query time = 0.981 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8562
+t=74: Selected seed 195 with value = 0.8562
+Query 1/1: Action query time = 0.974 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9919
+t=90: Selected seed 195 with value = 0.9919
+Query 1/1: Action query time = 0.976 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=106: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.971 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=122: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.976 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9992
+t=138: Selected seed 195 with value = 0.9992
+Query 1/1: Action query time = 0.976 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9885
+t=154: Selected seed 195 with value = 0.9885
+Query 1/1: Action query time = 0.987 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9867
+t=170: Selected seed 195 with value = 0.9867
+Query 1/1: Action query time = 0.973 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9807
+t=186: Selected seed 195 with value = 0.9807
+Query 1/1: Action query time = 0.975 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9688
+t=202: Selected seed 195 with value = 0.9688
+Query 1/1: Action query time = 0.974 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9851
+t=218: Selected seed 195 with value = 0.9851
+Query 1/1: Action query time = 0.978 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9477
+t=234: Selected seed 195 with value = 0.9477
+Query 1/1: Action query time = 0.986 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9926
+t=250: Selected seed 195 with value = 0.9926
+Query 1/1: Action query time = 0.972 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9821
+t=266: Selected seed 195 with value = 0.9821
+Query 1/1: Action query time = 0.976 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9769
+t=282: Selected seed 195 with value = 0.9769
+Query 1/1: Action query time = 0.977 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9979
+t=298: Selected seed 195 with value = 0.9979
+Saved rollout MP4 at path ./rollouts/CLbest_g0_t135/2026_07_31-01_10_29--episode=22--success=False--task=put_the_bowl_on_the_stove.mp4
+Saved rollout MP4 at path ./rollouts/CLbest_g0_t135/2026_07_31-01_10_29--with_future_img--episode=22--success=False--task=put_the_bowl_on_the_stove.mp4
+Success: False
+# episodes completed so far: 22
+# successes: 0 (0.0%)
+
+Task: put the bowl on the stove
+Starting episode 23...
+Query 1/1: Action query time = 0.990 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4760
+t=10: Selected seed 195 with value = 0.4760
+Query 1/1: Action query time = 0.991 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5525
+t=26: Selected seed 195 with value = 0.5525
+Query 1/1: Action query time = 0.977 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6021
+t=42: Selected seed 195 with value = 0.6021
+Query 1/1: Action query time = 0.970 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6991
+t=58: Selected seed 195 with value = 0.6991
+Query 1/1: Action query time = 0.978 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8407
+t=74: Selected seed 195 with value = 0.8407
+Query 1/1: Action query time = 0.988 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9587
+t=90: Selected seed 195 with value = 0.9587
+Query 1/1: Action query time = 0.984 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=106: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.990 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=122: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.972 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=138: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.979 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=154: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.981 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=170: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.978 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=186: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.979 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=202: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.972 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=218: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.976 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=234: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.998 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=250: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.986 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=266: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.987 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=282: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.980 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9993
+t=298: Selected seed 195 with value = 0.9993
+Saved rollout MP4 at path ./rollouts/CLbest_g0_t135/2026_07_31-01_10_29--episode=23--success=False--task=put_the_bowl_on_the_stove.mp4
+Saved rollout MP4 at path ./rollouts/CLbest_g0_t135/2026_07_31-01_10_29--with_future_img--episode=23--success=False--task=put_the_bowl_on_the_stove.mp4
+Success: False
+# episodes completed so far: 23
+# successes: 0 (0.0%)
+
+Task: put the bowl on the stove
+Starting episode 24...
+Query 1/1: Action query time = 1.165 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4794
+t=10: Selected seed 195 with value = 0.4794
+Query 1/1: Action query time = 1.007 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5269
+t=26: Selected seed 195 with value = 0.5269
+Query 1/1: Action query time = 0.972 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6288
+t=42: Selected seed 195 with value = 0.6288
+Query 1/1: Action query time = 0.982 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7002
+t=58: Selected seed 195 with value = 0.7002
+Query 1/1: Action query time = 1.002 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8130
+t=74: Selected seed 195 with value = 0.8130
+Query 1/1: Action query time = 0.967 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9212
+t=90: Selected seed 195 with value = 0.9212
+Query 1/1: Action query time = 0.990 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9887
+t=106: Selected seed 195 with value = 0.9887
+Query 1/1: Action query time = 0.983 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=122: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 1.012 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=138: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.991 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9978
+t=154: Selected seed 195 with value = 0.9978
+Query 1/1: Action query time = 0.992 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9958
+t=170: Selected seed 195 with value = 0.9958
+Query 1/1: Action query time = 0.980 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9937
+t=186: Selected seed 195 with value = 0.9937
+Query 1/1: Action query time = 0.994 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9929
+t=202: Selected seed 195 with value = 0.9929
+Query 1/1: Action query time = 1.001 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9924
+t=218: Selected seed 195 with value = 0.9924
+Query 1/1: Action query time = 0.969 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9923
+t=234: Selected seed 195 with value = 0.9923
+Query 1/1: Action query time = 0.980 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9920
+t=250: Selected seed 195 with value = 0.9920
+Query 1/1: Action query time = 0.987 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9911
+t=266: Selected seed 195 with value = 0.9911
+Query 1/1: Action query time = 0.977 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9879
+t=282: Selected seed 195 with value = 0.9879
+Query 1/1: Action query time = 0.987 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9857
+t=298: Selected seed 195 with value = 0.9857
+Saved rollout MP4 at path ./rollouts/CLbest_g0_t135/2026_07_31-01_10_29--episode=24--success=False--task=put_the_bowl_on_the_stove.mp4
+Saved rollout MP4 at path ./rollouts/CLbest_g0_t135/2026_07_31-01_10_29--with_future_img--episode=24--success=False--task=put_the_bowl_on_the_stove.mp4
+Success: False
+# episodes completed so far: 24
+# successes: 0 (0.0%)
+
+Task: put the bowl on the stove
+Starting episode 25...
+Query 1/1: Action query time = 0.983 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4622
+t=10: Selected seed 195 with value = 0.4622
+Query 1/1: Action query time = 0.976 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5328
+t=26: Selected seed 195 with value = 0.5328
+Query 1/1: Action query time = 0.982 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6076
+t=42: Selected seed 195 with value = 0.6076
+Query 1/1: Action query time = 0.985 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7174
+t=58: Selected seed 195 with value = 0.7174
+Query 1/1: Action query time = 0.966 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8292
+t=74: Selected seed 195 with value = 0.8292
+Query 1/1: Action query time = 0.982 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9387
+t=90: Selected seed 195 with value = 0.9387
+Query 1/1: Action query time = 0.979 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=106: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.977 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9990
+t=122: Selected seed 195 with value = 0.9990
+Query 1/1: Action query time = 0.975 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9960
+t=138: Selected seed 195 with value = 0.9960
+Query 1/1: Action query time = 1.027 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9963
+t=154: Selected seed 195 with value = 0.9963
+Query 1/1: Action query time = 1.100 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9946
+t=170: Selected seed 195 with value = 0.9946
+Query 1/1: Action query time = 1.207 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9919
+t=186: Selected seed 195 with value = 0.9919
+Query 1/1: Action query time = 1.122 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9896
+t=202: Selected seed 195 with value = 0.9896
+Query 1/1: Action query time = 1.076 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9880
+t=218: Selected seed 195 with value = 0.9880
+Query 1/1: Action query time = 1.002 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9873
+t=234: Selected seed 195 with value = 0.9873
+Query 1/1: Action query time = 0.983 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9883
+t=250: Selected seed 195 with value = 0.9883
+Query 1/1: Action query time = 0.993 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9893
+t=266: Selected seed 195 with value = 0.9893
+Query 1/1: Action query time = 0.989 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9915
+t=282: Selected seed 195 with value = 0.9915
+Query 1/1: Action query time = 0.971 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9943
+t=298: Selected seed 195 with value = 0.9943
+Saved rollout MP4 at path ./rollouts/CLbest_g0_t135/2026_07_31-01_10_29--episode=25--success=False--task=put_the_bowl_on_the_stove.mp4
+Saved rollout MP4 at path ./rollouts/CLbest_g0_t135/2026_07_31-01_10_29--with_future_img--episode=25--success=False--task=put_the_bowl_on_the_stove.mp4
+Success: False
+# episodes completed so far: 25
+# successes: 0 (0.0%)
+
+Task: put the bowl on the stove
+Starting episode 26...
+Query 1/1: Action query time = 1.030 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5059
+t=10: Selected seed 195 with value = 0.5059
+Query 1/1: Action query time = 1.005 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5565
+t=26: Selected seed 195 with value = 0.5565
+Query 1/1: Action query time = 0.979 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6156
+t=42: Selected seed 195 with value = 0.6156
+Query 1/1: Action query time = 0.982 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7205
+t=58: Selected seed 195 with value = 0.7205
+Query 1/1: Action query time = 0.975 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8401
+t=74: Selected seed 195 with value = 0.8401
+Query 1/1: Action query time = 0.979 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9514
+t=90: Selected seed 195 with value = 0.9514
+Query 1/1: Action query time = 0.979 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=106: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.982 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9971
+t=122: Selected seed 195 with value = 0.9971
+Query 1/1: Action query time = 1.008 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9963
+t=138: Selected seed 195 with value = 0.9963
+Query 1/1: Action query time = 0.974 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9990
+t=154: Selected seed 195 with value = 0.9990
+Query 1/1: Action query time = 0.993 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9986
+t=170: Selected seed 195 with value = 0.9986
+Query 1/1: Action query time = 0.990 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9979
+t=186: Selected seed 195 with value = 0.9979
+Query 1/1: Action query time = 0.984 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9970
+t=202: Selected seed 195 with value = 0.9970
+Query 1/1: Action query time = 0.969 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9959
+t=218: Selected seed 195 with value = 0.9959
+Query 1/1: Action query time = 0.986 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9945
+t=234: Selected seed 195 with value = 0.9945
+Query 1/1: Action query time = 0.985 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9931
+t=250: Selected seed 195 with value = 0.9931
+Query 1/1: Action query time = 0.972 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9925
+t=266: Selected seed 195 with value = 0.9925
+Query 1/1: Action query time = 0.974 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9920
+t=282: Selected seed 195 with value = 0.9920
+Query 1/1: Action query time = 0.968 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9919
+t=298: Selected seed 195 with value = 0.9919
+Saved rollout MP4 at path ./rollouts/CLbest_g0_t135/2026_07_31-01_10_29--episode=26--success=False--task=put_the_bowl_on_the_stove.mp4
+Saved rollout MP4 at path ./rollouts/CLbest_g0_t135/2026_07_31-01_10_29--with_future_img--episode=26--success=False--task=put_the_bowl_on_the_stove.mp4
+Success: False
+# episodes completed so far: 26
+# successes: 0 (0.0%)
+
+Task: put the bowl on the stove
+Starting episode 27...
+Query 1/1: Action query time = 1.004 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5115
+t=10: Selected seed 195 with value = 0.5115
+Query 1/1: Action query time = 0.983 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5876
+t=26: Selected seed 195 with value = 0.5876
+Query 1/1: Action query time = 0.981 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6114
+t=42: Selected seed 195 with value = 0.6114
+Query 1/1: Action query time = 0.996 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6283
+t=58: Selected seed 195 with value = 0.6283
+Query 1/1: Action query time = 0.977 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6596
+t=74: Selected seed 195 with value = 0.6596
+Query 1/1: Action query time = 0.983 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7099
+t=90: Selected seed 195 with value = 0.7099
+Query 1/1: Action query time = 0.980 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8219
+t=106: Selected seed 195 with value = 0.8219
+Query 1/1: Action query time = 0.989 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9648
+t=122: Selected seed 195 with value = 0.9648
+Query 1/1: Action query time = 0.970 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=138: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.972 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9979
+t=154: Selected seed 195 with value = 0.9979
+Query 1/1: Action query time = 0.979 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9896
+t=170: Selected seed 195 with value = 0.9896
+Query 1/1: Action query time = 0.974 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9905
+t=186: Selected seed 195 with value = 0.9905
+Query 1/1: Action query time = 0.982 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9868
+t=202: Selected seed 195 with value = 0.9868
+Query 1/1: Action query time = 0.976 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9934
+t=218: Selected seed 195 with value = 0.9934
+Query 1/1: Action query time = 0.976 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9912
+t=234: Selected seed 195 with value = 0.9912
+Query 1/1: Action query time = 0.985 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9905
+t=250: Selected seed 195 with value = 0.9905
+Query 1/1: Action query time = 0.981 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9950
+t=266: Selected seed 195 with value = 0.9950
+Query 1/1: Action query time = 0.976 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9943
+t=282: Selected seed 195 with value = 0.9943
+Query 1/1: Action query time = 0.973 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9937
+t=298: Selected seed 195 with value = 0.9937
+Saved rollout MP4 at path ./rollouts/CLbest_g0_t135/2026_07_31-01_10_29--episode=27--success=False--task=put_the_bowl_on_the_stove.mp4
+Saved rollout MP4 at path ./rollouts/CLbest_g0_t135/2026_07_31-01_10_29--with_future_img--episode=27--success=False--task=put_the_bowl_on_the_stove.mp4
+Success: False
+# episodes completed so far: 27
+# successes: 0 (0.0%)
+
+Task: put the bowl on the stove
+Starting episode 28...
+Query 1/1: Action query time = 0.981 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4612
+t=10: Selected seed 195 with value = 0.4612
+Query 1/1: Action query time = 0.994 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5753
+t=26: Selected seed 195 with value = 0.5753
+Query 1/1: Action query time = 0.971 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6621
+t=42: Selected seed 195 with value = 0.6621
+Query 1/1: Action query time = 0.993 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6346
+t=58: Selected seed 195 with value = 0.6346
+Query 1/1: Action query time = 0.995 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7584
+t=74: Selected seed 195 with value = 0.7584
+Query 1/1: Action query time = 0.971 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8042
+t=90: Selected seed 195 with value = 0.8042
+Query 1/1: Action query time = 1.079 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9258
+t=106: Selected seed 195 with value = 0.9258
+Query 1/1: Action query time = 1.083 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9514
+t=122: Selected seed 195 with value = 0.9514
+Query 1/1: Action query time = 1.076 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9558
+t=138: Selected seed 195 with value = 0.9558
+Query 1/1: Action query time = 1.074 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9581
+t=154: Selected seed 195 with value = 0.9581
+Query 1/1: Action query time = 0.985 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9958
+t=170: Selected seed 195 with value = 0.9958
+Query 1/1: Action query time = 0.985 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9936
+t=186: Selected seed 195 with value = 0.9936
+Query 1/1: Action query time = 0.984 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9874
+t=202: Selected seed 195 with value = 0.9874
+Query 1/1: Action query time = 0.987 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9773
+t=218: Selected seed 195 with value = 0.9773
+Query 1/1: Action query time = 0.992 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9673
+t=234: Selected seed 195 with value = 0.9673
+Query 1/1: Action query time = 0.993 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9452
+t=250: Selected seed 195 with value = 0.9452
+Query 1/1: Action query time = 0.994 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8925
+t=266: Selected seed 195 with value = 0.8925
+Query 1/1: Action query time = 0.986 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8202
+t=282: Selected seed 195 with value = 0.8202
+Query 1/1: Action query time = 0.988 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8023
+t=298: Selected seed 195 with value = 0.8023
+Saved rollout MP4 at path ./rollouts/CLbest_g0_t135/2026_07_31-01_10_29--episode=28--success=False--task=put_the_bowl_on_the_stove.mp4
+Saved rollout MP4 at path ./rollouts/CLbest_g0_t135/2026_07_31-01_10_29--with_future_img--episode=28--success=False--task=put_the_bowl_on_the_stove.mp4
+Success: False
+# episodes completed so far: 28
+# successes: 0 (0.0%)
+
+Task: put the bowl on the stove
+Starting episode 29...
+Query 1/1: Action query time = 0.993 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4854
+t=10: Selected seed 195 with value = 0.4854
+Query 1/1: Action query time = 0.988 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5600
+t=26: Selected seed 195 with value = 0.5600
+Query 1/1: Action query time = 0.989 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6390
+t=42: Selected seed 195 with value = 0.6390
+Query 1/1: Action query time = 0.992 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7204
+t=58: Selected seed 195 with value = 0.7204
+Query 1/1: Action query time = 0.985 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7251
+t=74: Selected seed 195 with value = 0.7251
+Query 1/1: Action query time = 0.971 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7920
+t=90: Selected seed 195 with value = 0.7920
+Query 1/1: Action query time = 0.973 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7472
+t=106: Selected seed 195 with value = 0.7472
+Query 1/1: Action query time = 0.986 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8812
+t=122: Selected seed 195 with value = 0.8812
+Query 1/1: Action query time = 0.976 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9771
+t=138: Selected seed 195 with value = 0.9771
+Query 1/1: Action query time = 0.975 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9842
+t=154: Selected seed 195 with value = 0.9842
+Query 1/1: Action query time = 0.989 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9959
+t=170: Selected seed 195 with value = 0.9959
+Query 1/1: Action query time = 0.980 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9950
+t=186: Selected seed 195 with value = 0.9950
+Query 1/1: Action query time = 0.980 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9847
+t=202: Selected seed 195 with value = 0.9847
+Query 1/1: Action query time = 0.978 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9758
+t=218: Selected seed 195 with value = 0.9758
+Query 1/1: Action query time = 0.977 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9614
+t=234: Selected seed 195 with value = 0.9614
+Query 1/1: Action query time = 0.978 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9429
+t=250: Selected seed 195 with value = 0.9429
+Query 1/1: Action query time = 1.130 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9243
+t=266: Selected seed 195 with value = 0.9243
+Query 1/1: Action query time = 1.184 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8914
+t=282: Selected seed 195 with value = 0.8914
+Query 1/1: Action query time = 1.217 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8457
+t=298: Selected seed 195 with value = 0.8457
+Saved rollout MP4 at path ./rollouts/CLbest_g0_t135/2026_07_31-01_10_29--episode=29--success=False--task=put_the_bowl_on_the_stove.mp4
+Saved rollout MP4 at path ./rollouts/CLbest_g0_t135/2026_07_31-01_10_29--with_future_img--episode=29--success=False--task=put_the_bowl_on_the_stove.mp4
+Success: False
+# episodes completed so far: 29
+# successes: 0 (0.0%)
+
+Task: put the bowl on the stove
+Starting episode 30...
+Query 1/1: Action query time = 0.984 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5195
+t=10: Selected seed 195 with value = 0.5195
+Query 1/1: Action query time = 1.059 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5866
+t=26: Selected seed 195 with value = 0.5866
+Query 1/1: Action query time = 1.196 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6687
+t=42: Selected seed 195 with value = 0.6687
+Query 1/1: Action query time = 1.190 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7121
+t=58: Selected seed 195 with value = 0.7121
+Query 1/1: Action query time = 1.194 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7769
+t=74: Selected seed 195 with value = 0.7769
+Query 1/1: Action query time = 1.148 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8110
+t=90: Selected seed 195 with value = 0.8110
+Query 1/1: Action query time = 1.143 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8873
+t=106: Selected seed 195 with value = 0.8873
+Query 1/1: Action query time = 1.174 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7860
+t=122: Selected seed 195 with value = 0.7860
+Query 1/1: Action query time = 1.125 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9114
+t=138: Selected seed 195 with value = 0.9114
+Query 1/1: Action query time = 1.175 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9867
+t=154: Selected seed 195 with value = 0.9867
+Query 1/1: Action query time = 1.177 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9897
+t=170: Selected seed 195 with value = 0.9897
+Query 1/1: Action query time = 0.992 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=186: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.983 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9950
+t=202: Selected seed 195 with value = 0.9950
+Query 1/1: Action query time = 0.997 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9945
+t=218: Selected seed 195 with value = 0.9945
+Query 1/1: Action query time = 0.982 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9948
+t=234: Selected seed 195 with value = 0.9948
+Query 1/1: Action query time = 0.987 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9922
+t=250: Selected seed 195 with value = 0.9922
+Query 1/1: Action query time = 0.998 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9854
+t=266: Selected seed 195 with value = 0.9854
+Query 1/1: Action query time = 0.975 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9743
+t=282: Selected seed 195 with value = 0.9743
+Query 1/1: Action query time = 0.986 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9557
+t=298: Selected seed 195 with value = 0.9557
+Saved rollout MP4 at path ./rollouts/CLbest_g0_t135/2026_07_31-01_10_29--episode=30--success=False--task=put_the_bowl_on_the_stove.mp4
+Saved rollout MP4 at path ./rollouts/CLbest_g0_t135/2026_07_31-01_10_29--with_future_img--episode=30--success=False--task=put_the_bowl_on_the_stove.mp4
+Success: False
+# episodes completed so far: 30
+# successes: 0 (0.0%)
+
+Task: put the bowl on the stove
+Starting episode 31...
+Query 1/1: Action query time = 0.981 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4821
+t=10: Selected seed 195 with value = 0.4821
+Query 1/1: Action query time = 0.965 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5467
+t=26: Selected seed 195 with value = 0.5467
+Query 1/1: Action query time = 0.983 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6263
+t=42: Selected seed 195 with value = 0.6263
+Query 1/1: Action query time = 1.009 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7134
+t=58: Selected seed 195 with value = 0.7134
+Query 1/1: Action query time = 1.070 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7938
+t=74: Selected seed 195 with value = 0.7938
+Query 1/1: Action query time = 1.113 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9228
+t=90: Selected seed 195 with value = 0.9228
+Query 1/1: Action query time = 1.160 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9895
+t=106: Selected seed 195 with value = 0.9895
+Query 1/1: Action query time = 1.165 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=122: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 1.187 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9997
+t=138: Selected seed 195 with value = 0.9997
+Query 1/1: Action query time = 1.159 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9990
+t=154: Selected seed 195 with value = 0.9990
+Query 1/1: Action query time = 1.145 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9891
+t=170: Selected seed 195 with value = 0.9891
+Query 1/1: Action query time = 0.985 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9763
+t=186: Selected seed 195 with value = 0.9763
+Query 1/1: Action query time = 0.978 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9958
+t=202: Selected seed 195 with value = 0.9958
+Query 1/1: Action query time = 0.973 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9864
+t=218: Selected seed 195 with value = 0.9864
+Query 1/1: Action query time = 0.980 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=234: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.989 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9937
+t=250: Selected seed 195 with value = 0.9937
+Query 1/1: Action query time = 0.991 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9801
+t=266: Selected seed 195 with value = 0.9801
+Query 1/1: Action query time = 0.979 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9920
+t=282: Selected seed 195 with value = 0.9920
+Query 1/1: Action query time = 0.973 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9809
+t=298: Selected seed 195 with value = 0.9809
+Saved rollout MP4 at path ./rollouts/CLbest_g0_t135/2026_07_31-01_10_29--episode=31--success=False--task=put_the_bowl_on_the_stove.mp4
+Saved rollout MP4 at path ./rollouts/CLbest_g0_t135/2026_07_31-01_10_29--with_future_img--episode=31--success=False--task=put_the_bowl_on_the_stove.mp4
+Success: False
+# episodes completed so far: 31
+# successes: 0 (0.0%)
+
+Task: put the bowl on the stove
+Starting episode 32...
+Query 1/1: Action query time = 0.994 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4816
+t=10: Selected seed 195 with value = 0.4816
+Query 1/1: Action query time = 0.984 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5581
+t=26: Selected seed 195 with value = 0.5581
+Query 1/1: Action query time = 0.989 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6139
+t=42: Selected seed 195 with value = 0.6139
+Query 1/1: Action query time = 0.983 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7082
+t=58: Selected seed 195 with value = 0.7082
+Query 1/1: Action query time = 0.972 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8242
+t=74: Selected seed 195 with value = 0.8242
+Query 1/1: Action query time = 0.983 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9383
+t=90: Selected seed 195 with value = 0.9383
+Query 1/1: Action query time = 0.984 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9990
+t=106: Selected seed 195 with value = 0.9990
+Query 1/1: Action query time = 0.979 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=122: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.986 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9919
+t=138: Selected seed 195 with value = 0.9919
+Query 1/1: Action query time = 0.987 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9964
+t=154: Selected seed 195 with value = 0.9964
+Query 1/1: Action query time = 1.001 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9988
+t=170: Selected seed 195 with value = 0.9988
+Query 1/1: Action query time = 0.987 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=186: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.982 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=202: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.988 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=218: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.987 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=234: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.978 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=250: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.986 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=266: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.986 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=282: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.989 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=298: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/CLbest_g0_t135/2026_07_31-01_10_29--episode=32--success=False--task=put_the_bowl_on_the_stove.mp4
+Saved rollout MP4 at path ./rollouts/CLbest_g0_t135/2026_07_31-01_10_29--with_future_img--episode=32--success=False--task=put_the_bowl_on_the_stove.mp4
+Success: False
+# episodes completed so far: 32
+# successes: 0 (0.0%)
+
+Task: put the bowl on the stove
+Starting episode 33...
+Query 1/1: Action query time = 1.003 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5030
+t=10: Selected seed 195 with value = 0.5030
+Query 1/1: Action query time = 1.005 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5410
+t=26: Selected seed 195 with value = 0.5410
+Query 1/1: Action query time = 0.998 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6253
+t=42: Selected seed 195 with value = 0.6253
+Query 1/1: Action query time = 1.055 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7030
+t=58: Selected seed 195 with value = 0.7030
+Query 1/1: Action query time = 1.067 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8159
+t=74: Selected seed 195 with value = 0.8159
+Query 1/1: Action query time = 1.100 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9313
+t=90: Selected seed 195 with value = 0.9313
+Query 1/1: Action query time = 1.106 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9978
+t=106: Selected seed 195 with value = 0.9978
+Query 1/1: Action query time = 1.078 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=122: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 1.092 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=138: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 1.136 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=154: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 1.152 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=170: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.972 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=186: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.988 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9994
+t=202: Selected seed 195 with value = 0.9994
+Query 1/1: Action query time = 0.983 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9991
+t=218: Selected seed 195 with value = 0.9991
+Query 1/1: Action query time = 0.975 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9991
+t=234: Selected seed 195 with value = 0.9991
+Query 1/1: Action query time = 0.976 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9996
+t=250: Selected seed 195 with value = 0.9996
+Query 1/1: Action query time = 0.974 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=266: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.982 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=282: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.993 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=298: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/CLbest_g0_t135/2026_07_31-01_10_29--episode=33--success=False--task=put_the_bowl_on_the_stove.mp4
+Saved rollout MP4 at path ./rollouts/CLbest_g0_t135/2026_07_31-01_10_29--with_future_img--episode=33--success=False--task=put_the_bowl_on_the_stove.mp4
+Success: False
+# episodes completed so far: 33
+# successes: 0 (0.0%)
+
+Task: put the bowl on the stove
+Starting episode 34...
+Query 1/1: Action query time = 0.977 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4659
+t=10: Selected seed 195 with value = 0.4659
+Query 1/1: Action query time = 0.986 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5362
+t=26: Selected seed 195 with value = 0.5362
+Query 1/1: Action query time = 0.974 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6155
+t=42: Selected seed 195 with value = 0.6155
+Query 1/1: Action query time = 0.982 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7149
+t=58: Selected seed 195 with value = 0.7149
+Query 1/1: Action query time = 0.995 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8334
+t=74: Selected seed 195 with value = 0.8334
+Query 1/1: Action query time = 0.981 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9709
+t=90: Selected seed 195 with value = 0.9709
+Query 1/1: Action query time = 0.975 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=106: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.973 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=122: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.968 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9961
+t=138: Selected seed 195 with value = 0.9961
+Query 1/1: Action query time = 0.980 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9944
+t=154: Selected seed 195 with value = 0.9944
+Query 1/1: Action query time = 0.975 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9876
+t=170: Selected seed 195 with value = 0.9876
+Query 1/1: Action query time = 0.975 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9471
+t=186: Selected seed 195 with value = 0.9471
+Query 1/1: Action query time = 0.990 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9727
+t=202: Selected seed 195 with value = 0.9727
+Query 1/1: Action query time = 0.969 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9774
+t=218: Selected seed 195 with value = 0.9774
+Query 1/1: Action query time = 0.984 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9878
+t=234: Selected seed 195 with value = 0.9878
+Query 1/1: Action query time = 0.980 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9851
+t=250: Selected seed 195 with value = 0.9851
+Query 1/1: Action query time = 0.981 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9894
+t=266: Selected seed 195 with value = 0.9894
+Query 1/1: Action query time = 0.991 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9936
+t=282: Selected seed 195 with value = 0.9936
+Query 1/1: Action query time = 0.987 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9957
+t=298: Selected seed 195 with value = 0.9957
+Saved rollout MP4 at path ./rollouts/CLbest_g0_t135/2026_07_31-01_10_29--episode=34--success=False--task=put_the_bowl_on_the_stove.mp4
+Saved rollout MP4 at path ./rollouts/CLbest_g0_t135/2026_07_31-01_10_29--with_future_img--episode=34--success=False--task=put_the_bowl_on_the_stove.mp4
+Success: False
+# episodes completed so far: 34
+# successes: 0 (0.0%)
+
+Task: put the bowl on the stove
+Starting episode 35...
+Query 1/1: Action query time = 1.177 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4986
+t=10: Selected seed 195 with value = 0.4986
+Query 1/1: Action query time = 1.126 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5461
+t=26: Selected seed 195 with value = 0.5461
+Query 1/1: Action query time = 1.114 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6319
+t=42: Selected seed 195 with value = 0.6319
+Query 1/1: Action query time = 1.225 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7148
+t=58: Selected seed 195 with value = 0.7148
+Query 1/1: Action query time = 1.180 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8272
+t=74: Selected seed 195 with value = 0.8272
+Query 1/1: Action query time = 1.149 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9411
+t=90: Selected seed 195 with value = 0.9411
+Query 1/1: Action query time = 1.170 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=106: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 1.202 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=122: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 1.171 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=138: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 1.190 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=154: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 1.176 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=170: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 1.241 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9977
+t=186: Selected seed 195 with value = 0.9977
+Query 1/1: Action query time = 1.117 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9931
+t=202: Selected seed 195 with value = 0.9931
+Query 1/1: Action query time = 1.108 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9826
+t=218: Selected seed 195 with value = 0.9826
+Query 1/1: Action query time = 1.119 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9930
+t=234: Selected seed 195 with value = 0.9930
+Query 1/1: Action query time = 1.177 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9862
+t=250: Selected seed 195 with value = 0.9862
+Query 1/1: Action query time = 1.111 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9641
+t=266: Selected seed 195 with value = 0.9641
+Query 1/1: Action query time = 1.074 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9690
+t=282: Selected seed 195 with value = 0.9690
+Query 1/1: Action query time = 1.077 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9197
+t=298: Selected seed 195 with value = 0.9197
+Saved rollout MP4 at path ./rollouts/CLbest_g0_t135/2026_07_31-01_10_29--episode=35--success=False--task=put_the_bowl_on_the_stove.mp4
+Saved rollout MP4 at path ./rollouts/CLbest_g0_t135/2026_07_31-01_10_29--with_future_img--episode=35--success=False--task=put_the_bowl_on_the_stove.mp4
+Success: False
+# episodes completed so far: 35
+# successes: 0 (0.0%)
+
+Task: put the bowl on the stove
+Starting episode 36...
+Query 1/1: Action query time = 1.067 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4724
+t=10: Selected seed 195 with value = 0.4724
+Query 1/1: Action query time = 1.052 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5628
+t=26: Selected seed 195 with value = 0.5628
+Query 1/1: Action query time = 1.086 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6211
+t=42: Selected seed 195 with value = 0.6211
+Query 1/1: Action query time = 1.143 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7421
+t=58: Selected seed 195 with value = 0.7421
+Query 1/1: Action query time = 1.148 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8217
+t=74: Selected seed 195 with value = 0.8217
+Query 1/1: Action query time = 1.149 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9446
+t=90: Selected seed 195 with value = 0.9446
+Query 1/1: Action query time = 1.158 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=106: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 1.167 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=122: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 1.180 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=138: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 1.165 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9996
+t=154: Selected seed 195 with value = 0.9996
+Query 1/1: Action query time = 1.166 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9992
+t=170: Selected seed 195 with value = 0.9992
+Query 1/1: Action query time = 1.154 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9987
+t=186: Selected seed 195 with value = 0.9987
+Query 1/1: Action query time = 1.181 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9983
+t=202: Selected seed 195 with value = 0.9983
+Query 1/1: Action query time = 1.162 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9980
+t=218: Selected seed 195 with value = 0.9980
+Query 1/1: Action query time = 1.163 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9978
+t=234: Selected seed 195 with value = 0.9978
+Query 1/1: Action query time = 1.115 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9977
+t=250: Selected seed 195 with value = 0.9977
+Query 1/1: Action query time = 1.206 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9977
+t=266: Selected seed 195 with value = 0.9977
+Query 1/1: Action query time = 1.014 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9977
+t=282: Selected seed 195 with value = 0.9977
+Query 1/1: Action query time = 1.000 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9975
+t=298: Selected seed 195 with value = 0.9975
+Saved rollout MP4 at path ./rollouts/CLbest_g0_t135/2026_07_31-01_10_29--episode=36--success=False--task=put_the_bowl_on_the_stove.mp4
+Saved rollout MP4 at path ./rollouts/CLbest_g0_t135/2026_07_31-01_10_29--with_future_img--episode=36--success=False--task=put_the_bowl_on_the_stove.mp4
+Success: False
+# episodes completed so far: 36
+# successes: 0 (0.0%)
+
+Task: put the bowl on the stove
+Starting episode 37...
+Query 1/1: Action query time = 1.036 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4638
+t=10: Selected seed 195 with value = 0.4638
+Query 1/1: Action query time = 1.021 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5672
+t=26: Selected seed 195 with value = 0.5672
+Query 1/1: Action query time = 0.993 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6477
+t=42: Selected seed 195 with value = 0.6477
+Query 1/1: Action query time = 1.002 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7032
+t=58: Selected seed 195 with value = 0.7032
+Query 1/1: Action query time = 1.019 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7858
+t=74: Selected seed 195 with value = 0.7858
+Query 1/1: Action query time = 1.010 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8198
+t=90: Selected seed 195 with value = 0.8198
+Query 1/1: Action query time = 0.994 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8936
+t=106: Selected seed 195 with value = 0.8936
+Query 1/1: Action query time = 1.006 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9047
+t=122: Selected seed 195 with value = 0.9047
+Query 1/1: Action query time = 1.015 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9447
+t=138: Selected seed 195 with value = 0.9447
+Query 1/1: Action query time = 1.045 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9148
+t=154: Selected seed 195 with value = 0.9148
+Query 1/1: Action query time = 1.059 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9703
+t=170: Selected seed 195 with value = 0.9703
+Query 1/1: Action query time = 1.034 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9782
+t=186: Selected seed 195 with value = 0.9782
+Query 1/1: Action query time = 1.019 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9560
+t=202: Selected seed 195 with value = 0.9560
+Query 1/1: Action query time = 0.978 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9564
+t=218: Selected seed 195 with value = 0.9564
+Query 1/1: Action query time = 1.001 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9429
+t=234: Selected seed 195 with value = 0.9429
+Query 1/1: Action query time = 0.992 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9536
+t=250: Selected seed 195 with value = 0.9536
+Query 1/1: Action query time = 1.135 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9497
+t=266: Selected seed 195 with value = 0.9497
+Query 1/1: Action query time = 0.996 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9515
+t=282: Selected seed 195 with value = 0.9515
+Query 1/1: Action query time = 1.179 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9573
+t=298: Selected seed 195 with value = 0.9573
+Saved rollout MP4 at path ./rollouts/CLbest_g0_t135/2026_07_31-01_10_29--episode=37--success=False--task=put_the_bowl_on_the_stove.mp4
+Saved rollout MP4 at path ./rollouts/CLbest_g0_t135/2026_07_31-01_10_29--with_future_img--episode=37--success=False--task=put_the_bowl_on_the_stove.mp4
+Success: False
+# episodes completed so far: 37
+# successes: 0 (0.0%)
+
+Task: put the bowl on the stove
+Starting episode 38...
+Query 1/1: Action query time = 1.017 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4756
+t=10: Selected seed 195 with value = 0.4756
+Query 1/1: Action query time = 1.022 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5805
+t=26: Selected seed 195 with value = 0.5805
+Query 1/1: Action query time = 0.992 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6478
+t=42: Selected seed 195 with value = 0.6478
+Query 1/1: Action query time = 0.994 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7029
+t=58: Selected seed 195 with value = 0.7029
+Query 1/1: Action query time = 1.013 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7781
+t=74: Selected seed 195 with value = 0.7781
+Query 1/1: Action query time = 1.003 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8118
+t=90: Selected seed 195 with value = 0.8118
+Query 1/1: Action query time = 1.001 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8914
+t=106: Selected seed 195 with value = 0.8914
+Query 1/1: Action query time = 0.963 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8182
+t=122: Selected seed 195 with value = 0.8182
+Query 1/1: Action query time = 0.968 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9524
+t=138: Selected seed 195 with value = 0.9524
+Query 1/1: Action query time = 0.957 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9953
+t=154: Selected seed 195 with value = 0.9953
+Query 1/1: Action query time = 0.963 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9954
+t=170: Selected seed 195 with value = 0.9954
+Query 1/1: Action query time = 0.986 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9997
+t=186: Selected seed 195 with value = 0.9997
+Query 1/1: Action query time = 0.999 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9923
+t=202: Selected seed 195 with value = 0.9923
+Query 1/1: Action query time = 0.974 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9821
+t=218: Selected seed 195 with value = 0.9821
+Query 1/1: Action query time = 0.989 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9676
+t=234: Selected seed 195 with value = 0.9676
+Query 1/1: Action query time = 0.992 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9372
+t=250: Selected seed 195 with value = 0.9372
+Query 1/1: Action query time = 0.990 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9192
+t=266: Selected seed 195 with value = 0.9192
+Query 1/1: Action query time = 0.976 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8967
+t=282: Selected seed 195 with value = 0.8967
+Query 1/1: Action query time = 0.966 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8675
+t=298: Selected seed 195 with value = 0.8675
+Saved rollout MP4 at path ./rollouts/CLbest_g0_t135/2026_07_31-01_10_29--episode=38--success=False--task=put_the_bowl_on_the_stove.mp4
+Saved rollout MP4 at path ./rollouts/CLbest_g0_t135/2026_07_31-01_10_29--with_future_img--episode=38--success=False--task=put_the_bowl_on_the_stove.mp4
+Success: False
+# episodes completed so far: 38
+# successes: 0 (0.0%)
+
+Task: put the bowl on the stove
+Starting episode 39...
+Query 1/1: Action query time = 0.977 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4793
+t=10: Selected seed 195 with value = 0.4793
+Query 1/1: Action query time = 0.969 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5084
+t=26: Selected seed 195 with value = 0.5084
+Query 1/1: Action query time = 0.965 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6209
+t=42: Selected seed 195 with value = 0.6209
+Query 1/1: Action query time = 0.985 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7308
+t=58: Selected seed 195 with value = 0.7308
+Query 1/1: Action query time = 1.095 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8133
+t=74: Selected seed 195 with value = 0.8133
+Query 1/1: Action query time = 1.005 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9373
+t=90: Selected seed 195 with value = 0.9373
+Query 1/1: Action query time = 0.984 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=106: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.960 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9990
+t=122: Selected seed 195 with value = 0.9990
+Query 1/1: Action query time = 0.965 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9962
+t=138: Selected seed 195 with value = 0.9962
+Query 1/1: Action query time = 0.959 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9946
+t=154: Selected seed 195 with value = 0.9946
+Query 1/1: Action query time = 0.982 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9926
+t=170: Selected seed 195 with value = 0.9926
+Query 1/1: Action query time = 0.994 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9957
+t=186: Selected seed 195 with value = 0.9957
+Query 1/1: Action query time = 1.041 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9973
+t=202: Selected seed 195 with value = 0.9973
+Query 1/1: Action query time = 1.016 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9966
+t=218: Selected seed 195 with value = 0.9966
+Query 1/1: Action query time = 1.043 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9968
+t=234: Selected seed 195 with value = 0.9968
+Query 1/1: Action query time = 1.090 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9970
+t=250: Selected seed 195 with value = 0.9970
+Query 1/1: Action query time = 1.160 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9970
+t=266: Selected seed 195 with value = 0.9970
+Query 1/1: Action query time = 1.144 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9971
+t=282: Selected seed 195 with value = 0.9971
+Query 1/1: Action query time = 1.191 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9971
+t=298: Selected seed 195 with value = 0.9971
+Saved rollout MP4 at path ./rollouts/CLbest_g0_t135/2026_07_31-01_10_29--episode=39--success=False--task=put_the_bowl_on_the_stove.mp4
+Saved rollout MP4 at path ./rollouts/CLbest_g0_t135/2026_07_31-01_10_29--with_future_img--episode=39--success=False--task=put_the_bowl_on_the_stove.mp4
+Success: False
+# episodes completed so far: 39
+# successes: 0 (0.0%)
+
+Task: put the bowl on the stove
+Starting episode 40...
+Query 1/1: Action query time = 1.208 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4997
+t=10: Selected seed 195 with value = 0.4997
+Query 1/1: Action query time = 1.072 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5318
+t=26: Selected seed 195 with value = 0.5318
+Query 1/1: Action query time = 1.096 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6217
+t=42: Selected seed 195 with value = 0.6217
+Query 1/1: Action query time = 1.159 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7317
+t=58: Selected seed 195 with value = 0.7317
+Query 1/1: Action query time = 1.217 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8395
+t=74: Selected seed 195 with value = 0.8395
+Query 1/1: Action query time = 1.189 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 1.204 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=106: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 1.185 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=122: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 1.182 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=138: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 1.191 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9960
+t=154: Selected seed 195 with value = 0.9960
+Query 1/1: Action query time = 1.188 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9867
+t=170: Selected seed 195 with value = 0.9867
+Query 1/1: Action query time = 1.222 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9518
+t=186: Selected seed 195 with value = 0.9518
+Query 1/1: Action query time = 1.158 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8752
+t=202: Selected seed 195 with value = 0.8752
+Query 1/1: Action query time = 1.147 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9727
+t=218: Selected seed 195 with value = 0.9727
+Query 1/1: Action query time = 1.189 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9982
+t=234: Selected seed 195 with value = 0.9982
+Query 1/1: Action query time = 1.214 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9902
+t=250: Selected seed 195 with value = 0.9902
+Query 1/1: Action query time = 1.152 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9740
+t=266: Selected seed 195 with value = 0.9740
+Query 1/1: Action query time = 1.149 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9275
+t=282: Selected seed 195 with value = 0.9275
+Query 1/1: Action query time = 1.158 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9937
+t=298: Selected seed 195 with value = 0.9937
+Saved rollout MP4 at path ./rollouts/CLbest_g0_t135/2026_07_31-01_10_29--episode=40--success=False--task=put_the_bowl_on_the_stove.mp4
+Saved rollout MP4 at path ./rollouts/CLbest_g0_t135/2026_07_31-01_10_29--with_future_img--episode=40--success=False--task=put_the_bowl_on_the_stove.mp4
+Success: False
+# episodes completed so far: 40
+# successes: 0 (0.0%)
+
+Task: put the bowl on the stove
+Starting episode 41...
+Query 1/1: Action query time = 1.217 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4760
+t=10: Selected seed 195 with value = 0.4760
+Query 1/1: Action query time = 1.150 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5263
+t=26: Selected seed 195 with value = 0.5263
+Query 1/1: Action query time = 1.155 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6050
+t=42: Selected seed 195 with value = 0.6050
+Query 1/1: Action query time = 1.187 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7026
+t=58: Selected seed 195 with value = 0.7026
+Query 1/1: Action query time = 1.154 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7972
+t=74: Selected seed 195 with value = 0.7972
+Query 1/1: Action query time = 1.121 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9163
+t=90: Selected seed 195 with value = 0.9163
+Query 1/1: Action query time = 1.161 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9847
+t=106: Selected seed 195 with value = 0.9847
+Query 1/1: Action query time = 1.214 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=122: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 1.190 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=138: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 1.166 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=154: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 1.210 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=170: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 1.216 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=186: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 1.207 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=202: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 1.192 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9982
+t=218: Selected seed 195 with value = 0.9982
+Query 1/1: Action query time = 1.183 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9998
+t=234: Selected seed 195 with value = 0.9998
+Query 1/1: Action query time = 1.194 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=250: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 1.187 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=266: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 1.175 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9977
+t=282: Selected seed 195 with value = 0.9977
+Query 1/1: Action query time = 1.170 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9964
+t=298: Selected seed 195 with value = 0.9964
+Saved rollout MP4 at path ./rollouts/CLbest_g0_t135/2026_07_31-01_10_29--episode=41--success=False--task=put_the_bowl_on_the_stove.mp4
+Saved rollout MP4 at path ./rollouts/CLbest_g0_t135/2026_07_31-01_10_29--with_future_img--episode=41--success=False--task=put_the_bowl_on_the_stove.mp4
+Success: False
+# episodes completed so far: 41
+# successes: 0 (0.0%)
+
+Task: put the bowl on the stove
+Starting episode 42...
+Query 1/1: Action query time = 1.132 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4818
+t=10: Selected seed 195 with value = 0.4818
+Query 1/1: Action query time = 1.116 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5815
+t=26: Selected seed 195 with value = 0.5815
+Query 1/1: Action query time = 1.062 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6339
+t=42: Selected seed 195 with value = 0.6339
+Query 1/1: Action query time = 0.973 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7354
+t=58: Selected seed 195 with value = 0.7354
+Query 1/1: Action query time = 0.961 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8424
+t=74: Selected seed 195 with value = 0.8424
+Query 1/1: Action query time = 0.984 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9799
+t=90: Selected seed 195 with value = 0.9799
+Query 1/1: Action query time = 0.983 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=106: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.995 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=122: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.972 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9959
+t=138: Selected seed 195 with value = 0.9959
+Query 1/1: Action query time = 0.966 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9979
+t=154: Selected seed 195 with value = 0.9979
+Query 1/1: Action query time = 0.973 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=170: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.964 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=186: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.983 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=202: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.982 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=218: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.966 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=234: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.971 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=250: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.983 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=266: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.978 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9997
+t=282: Selected seed 195 with value = 0.9997
+Query 1/1: Action query time = 0.976 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9992
+t=298: Selected seed 195 with value = 0.9992
+Saved rollout MP4 at path ./rollouts/CLbest_g0_t135/2026_07_31-01_10_29--episode=42--success=False--task=put_the_bowl_on_the_stove.mp4
+Saved rollout MP4 at path ./rollouts/CLbest_g0_t135/2026_07_31-01_10_29--with_future_img--episode=42--success=False--task=put_the_bowl_on_the_stove.mp4
+Success: False
+# episodes completed so far: 42
+# successes: 0 (0.0%)
+
+Task: put the bowl on the stove
+Starting episode 43...
+Query 1/1: Action query time = 0.983 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4561
+t=10: Selected seed 195 with value = 0.4561
+Query 1/1: Action query time = 0.988 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5541
+t=26: Selected seed 195 with value = 0.5541
+Query 1/1: Action query time = 0.977 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6186
+t=42: Selected seed 195 with value = 0.6186
+Query 1/1: Action query time = 0.974 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7375
+t=58: Selected seed 195 with value = 0.7375
+Query 1/1: Action query time = 0.975 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7640
+t=74: Selected seed 195 with value = 0.7640
+Query 1/1: Action query time = 0.968 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7589
+t=90: Selected seed 195 with value = 0.7589
+Query 1/1: Action query time = 0.971 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7900
+t=106: Selected seed 195 with value = 0.7900
+Query 1/1: Action query time = 0.971 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9230
+t=122: Selected seed 195 with value = 0.9230
+Query 1/1: Action query time = 0.993 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9986
+t=138: Selected seed 195 with value = 0.9986
+Query 1/1: Action query time = 0.985 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9921
+t=154: Selected seed 195 with value = 0.9921
+Query 1/1: Action query time = 0.984 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9931
+t=170: Selected seed 195 with value = 0.9931
+Query 1/1: Action query time = 0.971 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9870
+t=186: Selected seed 195 with value = 0.9870
+Query 1/1: Action query time = 0.980 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9754
+t=202: Selected seed 195 with value = 0.9754
+Query 1/1: Action query time = 0.973 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9633
+t=218: Selected seed 195 with value = 0.9633
+Query 1/1: Action query time = 0.981 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9522
+t=234: Selected seed 195 with value = 0.9522
+Query 1/1: Action query time = 0.969 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9397
+t=250: Selected seed 195 with value = 0.9397
+Query 1/1: Action query time = 0.989 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9148
+t=266: Selected seed 195 with value = 0.9148
+Query 1/1: Action query time = 0.963 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8806
+t=282: Selected seed 195 with value = 0.8806
+Query 1/1: Action query time = 0.979 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8473
+t=298: Selected seed 195 with value = 0.8473
+Saved rollout MP4 at path ./rollouts/CLbest_g0_t135/2026_07_31-01_10_29--episode=43--success=False--task=put_the_bowl_on_the_stove.mp4
+Saved rollout MP4 at path ./rollouts/CLbest_g0_t135/2026_07_31-01_10_29--with_future_img--episode=43--success=False--task=put_the_bowl_on_the_stove.mp4
+Success: False
+# episodes completed so far: 43
+# successes: 0 (0.0%)
+
+Task: put the bowl on the stove
+Starting episode 44...
+Query 1/1: Action query time = 0.991 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4783
+t=10: Selected seed 195 with value = 0.4783
+Query 1/1: Action query time = 0.987 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5567
+t=26: Selected seed 195 with value = 0.5567
+Query 1/1: Action query time = 0.981 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6131
+t=42: Selected seed 195 with value = 0.6131
+Query 1/1: Action query time = 0.972 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7265
+t=58: Selected seed 195 with value = 0.7265
+Query 1/1: Action query time = 0.986 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8358
+t=74: Selected seed 195 with value = 0.8358
+Query 1/1: Action query time = 0.969 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9630
+t=90: Selected seed 195 with value = 0.9630
+Query 1/1: Action query time = 0.973 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=106: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.985 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=122: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.986 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9979
+t=138: Selected seed 195 with value = 0.9979
+Query 1/1: Action query time = 0.969 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9995
+t=154: Selected seed 195 with value = 0.9995
+Query 1/1: Action query time = 0.973 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9992
+t=170: Selected seed 195 with value = 0.9992
+Query 1/1: Action query time = 0.970 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9971
+t=186: Selected seed 195 with value = 0.9971
+Query 1/1: Action query time = 0.980 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9965
+t=202: Selected seed 195 with value = 0.9965
+Query 1/1: Action query time = 0.988 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9949
+t=218: Selected seed 195 with value = 0.9949
+Query 1/1: Action query time = 0.985 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9928
+t=234: Selected seed 195 with value = 0.9928
+Query 1/1: Action query time = 0.985 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9931
+t=250: Selected seed 195 with value = 0.9931
+Query 1/1: Action query time = 0.990 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9936
+t=266: Selected seed 195 with value = 0.9936
+Query 1/1: Action query time = 1.121 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9939
+t=282: Selected seed 195 with value = 0.9939
+Query 1/1: Action query time = 1.033 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9936
+t=298: Selected seed 195 with value = 0.9936
+Saved rollout MP4 at path ./rollouts/CLbest_g0_t135/2026_07_31-01_10_29--episode=44--success=False--task=put_the_bowl_on_the_stove.mp4
+Saved rollout MP4 at path ./rollouts/CLbest_g0_t135/2026_07_31-01_10_29--with_future_img--episode=44--success=False--task=put_the_bowl_on_the_stove.mp4
+Success: False
+# episodes completed so far: 44
+# successes: 0 (0.0%)
+
+Task: put the bowl on the stove
+Starting episode 45...
+Query 1/1: Action query time = 0.991 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4884
+t=10: Selected seed 195 with value = 0.4884
+Query 1/1: Action query time = 0.995 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5372
+t=26: Selected seed 195 with value = 0.5372
+Query 1/1: Action query time = 0.993 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6279
+t=42: Selected seed 195 with value = 0.6279
+Query 1/1: Action query time = 0.969 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6941
+t=58: Selected seed 195 with value = 0.6941
+Query 1/1: Action query time = 0.968 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8019
+t=74: Selected seed 195 with value = 0.8019
+Query 1/1: Action query time = 0.980 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9127
+t=90: Selected seed 195 with value = 0.9127
+Query 1/1: Action query time = 0.991 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9920
+t=106: Selected seed 195 with value = 0.9920
+Query 1/1: Action query time = 0.983 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=122: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.980 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=138: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.995 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9984
+t=154: Selected seed 195 with value = 0.9984
+Query 1/1: Action query time = 0.971 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9974
+t=170: Selected seed 195 with value = 0.9974
+Query 1/1: Action query time = 0.986 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9964
+t=186: Selected seed 195 with value = 0.9964
+Query 1/1: Action query time = 0.980 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9954
+t=202: Selected seed 195 with value = 0.9954
+Query 1/1: Action query time = 0.982 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9924
+t=218: Selected seed 195 with value = 0.9924
+Query 1/1: Action query time = 0.984 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9834
+t=234: Selected seed 195 with value = 0.9834
+Query 1/1: Action query time = 0.977 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9744
+t=250: Selected seed 195 with value = 0.9744
+Query 1/1: Action query time = 0.979 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9644
+t=266: Selected seed 195 with value = 0.9644
+Query 1/1: Action query time = 1.069 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9596
+t=282: Selected seed 195 with value = 0.9596
+Query 1/1: Action query time = 1.045 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9371
+t=298: Selected seed 195 with value = 0.9371
+Saved rollout MP4 at path ./rollouts/CLbest_g0_t135/2026_07_31-01_10_29--episode=45--success=False--task=put_the_bowl_on_the_stove.mp4
+Saved rollout MP4 at path ./rollouts/CLbest_g0_t135/2026_07_31-01_10_29--with_future_img--episode=45--success=False--task=put_the_bowl_on_the_stove.mp4
+Success: False
+# episodes completed so far: 45
+# successes: 0 (0.0%)
+
+Task: put the bowl on the stove
+Starting episode 46...
+Query 1/1: Action query time = 1.071 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4728
+t=10: Selected seed 195 with value = 0.4728
+Query 1/1: Action query time = 1.119 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5389
+t=26: Selected seed 195 with value = 0.5389
+Query 1/1: Action query time = 1.121 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6168
+t=42: Selected seed 195 with value = 0.6168
+Query 1/1: Action query time = 1.097 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7099
+t=58: Selected seed 195 with value = 0.7099
+Query 1/1: Action query time = 1.053 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8479
+t=74: Selected seed 195 with value = 0.8479
+Query 1/1: Action query time = 1.079 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9654
+t=90: Selected seed 195 with value = 0.9654
+Query 1/1: Action query time = 1.002 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=106: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 1.039 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=122: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 1.038 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=138: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 1.111 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=154: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 1.229 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=170: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.973 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=186: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.979 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=202: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.976 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9998
+t=218: Selected seed 195 with value = 0.9998
+Query 1/1: Action query time = 0.985 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9988
+t=234: Selected seed 195 with value = 0.9988
+Query 1/1: Action query time = 0.985 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9986
+t=250: Selected seed 195 with value = 0.9986
+Query 1/1: Action query time = 0.987 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9990
+t=266: Selected seed 195 with value = 0.9990
+Query 1/1: Action query time = 0.978 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9999
+t=282: Selected seed 195 with value = 0.9999
+Query 1/1: Action query time = 0.978 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=298: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/CLbest_g0_t135/2026_07_31-01_10_29--episode=46--success=False--task=put_the_bowl_on_the_stove.mp4
+Saved rollout MP4 at path ./rollouts/CLbest_g0_t135/2026_07_31-01_10_29--with_future_img--episode=46--success=False--task=put_the_bowl_on_the_stove.mp4
+Success: False
+# episodes completed so far: 46
+# successes: 0 (0.0%)
+
+Task: put the bowl on the stove
+Starting episode 47...
+Query 1/1: Action query time = 0.989 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4908
+t=10: Selected seed 195 with value = 0.4908
+Query 1/1: Action query time = 0.968 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5114
+t=26: Selected seed 195 with value = 0.5114
+Query 1/1: Action query time = 0.985 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6122
+t=42: Selected seed 195 with value = 0.6122
+Query 1/1: Action query time = 0.983 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7167
+t=58: Selected seed 195 with value = 0.7167
+Query 1/1: Action query time = 0.985 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8332
+t=74: Selected seed 195 with value = 0.8332
+Query 1/1: Action query time = 0.982 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9687
+t=90: Selected seed 195 with value = 0.9687
+Query 1/1: Action query time = 0.969 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=106: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.969 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=122: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.970 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9990
+t=138: Selected seed 195 with value = 0.9990
+Query 1/1: Action query time = 0.970 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9879
+t=154: Selected seed 195 with value = 0.9879
+Query 1/1: Action query time = 0.969 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9527
+t=170: Selected seed 195 with value = 0.9527
+Query 1/1: Action query time = 0.975 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9729
+t=186: Selected seed 195 with value = 0.9729
+Query 1/1: Action query time = 0.972 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9253
+t=202: Selected seed 195 with value = 0.9253
+Query 1/1: Action query time = 0.969 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9921
+t=218: Selected seed 195 with value = 0.9921
+Query 1/1: Action query time = 0.983 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9856
+t=234: Selected seed 195 with value = 0.9856
+Query 1/1: Action query time = 0.979 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9802
+t=250: Selected seed 195 with value = 0.9802
+Query 1/1: Action query time = 0.981 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9891
+t=266: Selected seed 195 with value = 0.9891
+Query 1/1: Action query time = 0.970 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9850
+t=282: Selected seed 195 with value = 0.9850
+Query 1/1: Action query time = 0.988 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9824
+t=298: Selected seed 195 with value = 0.9824
+Saved rollout MP4 at path ./rollouts/CLbest_g0_t135/2026_07_31-01_10_29--episode=47--success=False--task=put_the_bowl_on_the_stove.mp4
+Saved rollout MP4 at path ./rollouts/CLbest_g0_t135/2026_07_31-01_10_29--with_future_img--episode=47--success=False--task=put_the_bowl_on_the_stove.mp4
+Success: False
+# episodes completed so far: 47
+# successes: 0 (0.0%)
+
+Task: put the bowl on the stove
+Starting episode 48...
+Query 1/1: Action query time = 0.975 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4895
+t=10: Selected seed 195 with value = 0.4895
+Query 1/1: Action query time = 0.986 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5531
+t=26: Selected seed 195 with value = 0.5531
+Query 1/1: Action query time = 0.971 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6100
+t=42: Selected seed 195 with value = 0.6100
+Query 1/1: Action query time = 0.977 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7275
+t=58: Selected seed 195 with value = 0.7275
+Query 1/1: Action query time = 0.972 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8555
+t=74: Selected seed 195 with value = 0.8555
+Query 1/1: Action query time = 0.976 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9902
+t=90: Selected seed 195 with value = 0.9902
+Query 1/1: Action query time = 0.984 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=106: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.968 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9906
+t=122: Selected seed 195 with value = 0.9906
+Query 1/1: Action query time = 0.970 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9920
+t=138: Selected seed 195 with value = 0.9920
+Query 1/1: Action query time = 0.974 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9958
+t=154: Selected seed 195 with value = 0.9958
+Query 1/1: Action query time = 0.981 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9922
+t=170: Selected seed 195 with value = 0.9922
+Query 1/1: Action query time = 0.975 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9869
+t=186: Selected seed 195 with value = 0.9869
+Query 1/1: Action query time = 0.969 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9874
+t=202: Selected seed 195 with value = 0.9874
+Query 1/1: Action query time = 0.978 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9880
+t=218: Selected seed 195 with value = 0.9880
+Query 1/1: Action query time = 0.988 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9905
+t=234: Selected seed 195 with value = 0.9905
+Query 1/1: Action query time = 0.968 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9833
+t=250: Selected seed 195 with value = 0.9833
+Query 1/1: Action query time = 0.981 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9598
+t=266: Selected seed 195 with value = 0.9598
+Query 1/1: Action query time = 0.960 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9923
+t=282: Selected seed 195 with value = 0.9923
+Query 1/1: Action query time = 0.982 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9953
+t=298: Selected seed 195 with value = 0.9953
+Saved rollout MP4 at path ./rollouts/CLbest_g0_t135/2026_07_31-01_10_29--episode=48--success=False--task=put_the_bowl_on_the_stove.mp4
+Saved rollout MP4 at path ./rollouts/CLbest_g0_t135/2026_07_31-01_10_29--with_future_img--episode=48--success=False--task=put_the_bowl_on_the_stove.mp4
+Success: False
+# episodes completed so far: 48
+# successes: 0 (0.0%)
+
+Task: put the bowl on the stove
+Starting episode 49...
+Query 1/1: Action query time = 1.088 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4582
+t=10: Selected seed 195 with value = 0.4582
+Query 1/1: Action query time = 1.046 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5456
+t=26: Selected seed 195 with value = 0.5456
+Query 1/1: Action query time = 0.976 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6527
+t=42: Selected seed 195 with value = 0.6527
+Query 1/1: Action query time = 0.966 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7080
+t=58: Selected seed 195 with value = 0.7080
+Query 1/1: Action query time = 0.965 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7953
+t=74: Selected seed 195 with value = 0.7953
+Query 1/1: Action query time = 0.981 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8582
+t=90: Selected seed 195 with value = 0.8582
+Query 1/1: Action query time = 0.984 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9510
+t=106: Selected seed 195 with value = 0.9510
+Query 1/1: Action query time = 0.964 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9899
+t=122: Selected seed 195 with value = 0.9899
+Query 1/1: Action query time = 0.972 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9857
+t=138: Selected seed 195 with value = 0.9857
+Query 1/1: Action query time = 0.968 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9671
+t=154: Selected seed 195 with value = 0.9671
+Query 1/1: Action query time = 0.981 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9150
+t=170: Selected seed 195 with value = 0.9150
+Query 1/1: Action query time = 0.978 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9035
+t=186: Selected seed 195 with value = 0.9035
+Query 1/1: Action query time = 0.967 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9132
+t=202: Selected seed 195 with value = 0.9132
+Query 1/1: Action query time = 0.993 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9126
+t=218: Selected seed 195 with value = 0.9126
+Query 1/1: Action query time = 0.976 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9120
+t=234: Selected seed 195 with value = 0.9120
+Query 1/1: Action query time = 0.965 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9169
+t=250: Selected seed 195 with value = 0.9169
+Query 1/1: Action query time = 0.961 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9141
+t=266: Selected seed 195 with value = 0.9141
+Query 1/1: Action query time = 0.988 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8993
+t=282: Selected seed 195 with value = 0.8993
+Query 1/1: Action query time = 0.983 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8936
+t=298: Selected seed 195 with value = 0.8936
+Saved rollout MP4 at path ./rollouts/CLbest_g0_t135/2026_07_31-01_10_29--episode=49--success=False--task=put_the_bowl_on_the_stove.mp4
+Saved rollout MP4 at path ./rollouts/CLbest_g0_t135/2026_07_31-01_10_29--with_future_img--episode=49--success=False--task=put_the_bowl_on_the_stove.mp4
+Success: False
+# episodes completed so far: 49
+# successes: 0 (0.0%)
+
+Task: put the bowl on the stove
+Starting episode 50...
+Query 1/1: Action query time = 0.979 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5302
+t=10: Selected seed 195 with value = 0.5302
+Query 1/1: Action query time = 0.969 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5444
+t=26: Selected seed 195 with value = 0.5444
+Query 1/1: Action query time = 0.959 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6554
+t=42: Selected seed 195 with value = 0.6554
+Query 1/1: Action query time = 0.983 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7482
+t=58: Selected seed 195 with value = 0.7482
+Query 1/1: Action query time = 0.982 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8492
+t=74: Selected seed 195 with value = 0.8492
+Query 1/1: Action query time = 0.965 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.973 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=106: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.962 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=122: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.981 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9988
+t=138: Selected seed 195 with value = 0.9988
+Query 1/1: Action query time = 0.968 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9871
+t=154: Selected seed 195 with value = 0.9871
+Query 1/1: Action query time = 0.967 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9454
+t=170: Selected seed 195 with value = 0.9454
+Query 1/1: Action query time = 0.979 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9439
+t=186: Selected seed 195 with value = 0.9439
+Query 1/1: Action query time = 0.989 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9942
+t=202: Selected seed 195 with value = 0.9942
+Query 1/1: Action query time = 0.992 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9892
+t=218: Selected seed 195 with value = 0.9892
+Query 1/1: Action query time = 0.981 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9851
+t=234: Selected seed 195 with value = 0.9851
+Query 1/1: Action query time = 0.976 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9873
+t=250: Selected seed 195 with value = 0.9873
+Query 1/1: Action query time = 0.982 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9849
+t=266: Selected seed 195 with value = 0.9849
+Query 1/1: Action query time = 0.971 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9771
+t=282: Selected seed 195 with value = 0.9771
+Query 1/1: Action query time = 0.982 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9932
+t=298: Selected seed 195 with value = 0.9932
+Saved rollout MP4 at path ./rollouts/CLbest_g0_t135/2026_07_31-01_10_29--episode=50--success=False--task=put_the_bowl_on_the_stove.mp4
+Saved rollout MP4 at path ./rollouts/CLbest_g0_t135/2026_07_31-01_10_29--with_future_img--episode=50--success=False--task=put_the_bowl_on_the_stove.mp4
+Success: False
+# episodes completed so far: 50
+# successes: 0 (0.0%)
+Current task success rate: 0.0
+Current total success rate: 0.0
+Using default initial states
+
+Task: open the top drawer and put the bowl inside
+Starting episode 1...
+Query 1/1: Action query time = 1.008 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4070
+t=10: Selected seed 195 with value = 0.4070
+Query 1/1: Action query time = 1.038 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4544
+t=26: Selected seed 195 with value = 0.4544
+Query 1/1: Action query time = 1.213 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5308
+t=42: Selected seed 195 with value = 0.5308
+Query 1/1: Action query time = 1.148 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5909
+t=58: Selected seed 195 with value = 0.5909
+Query 1/1: Action query time = 1.180 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7052
+t=74: Selected seed 195 with value = 0.7052
+Query 1/1: Action query time = 1.196 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5556
+t=90: Selected seed 195 with value = 0.5556
+Query 1/1: Action query time = 1.178 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5464
+t=106: Selected seed 195 with value = 0.5464
+Query 1/1: Action query time = 1.148 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6863
+t=122: Selected seed 195 with value = 0.6863
+Query 1/1: Action query time = 1.141 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8044
+t=138: Selected seed 195 with value = 0.8044
+Query 1/1: Action query time = 1.184 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8200
+t=154: Selected seed 195 with value = 0.8200
+Query 1/1: Action query time = 1.208 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9046
+t=170: Selected seed 195 with value = 0.9046
+Query 1/1: Action query time = 1.185 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9716
+t=186: Selected seed 195 with value = 0.9716
+Query 1/1: Action query time = 1.153 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9966
+t=202: Selected seed 195 with value = 0.9966
+Query 1/1: Action query time = 1.173 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=218: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 1.154 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=234: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 1.126 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=250: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 1.104 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9834
+t=266: Selected seed 195 with value = 0.9834
+Query 1/1: Action query time = 1.087 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9732
+t=282: Selected seed 195 with value = 0.9732
+Query 1/1: Action query time = 0.961 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9631
+t=298: Selected seed 195 with value = 0.9631
+Saved rollout MP4 at path ./rollouts/CLbest_g0_t135/2026_07_31-01_10_29--episode=51--success=False--task=open_the_top_drawer_and_put_the_bowl_ins.mp4
+Saved rollout MP4 at path ./rollouts/CLbest_g0_t135/2026_07_31-01_10_29--with_future_img--episode=51--success=False--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: False
+# episodes completed so far: 51
+# successes: 0 (0.0%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 2...
+Query 1/1: Action query time = 0.973 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3738
+t=10: Selected seed 195 with value = 0.3738
+Query 1/1: Action query time = 0.961 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4411
+t=26: Selected seed 195 with value = 0.4411
+Query 1/1: Action query time = 0.986 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5388
+t=42: Selected seed 195 with value = 0.5388
+Query 1/1: Action query time = 0.968 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5884
+t=58: Selected seed 195 with value = 0.5884
+Query 1/1: Action query time = 0.986 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6052
+t=74: Selected seed 195 with value = 0.6052
+Query 1/1: Action query time = 0.975 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6384
+t=90: Selected seed 195 with value = 0.6384
+Query 1/1: Action query time = 0.976 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4289
+t=106: Selected seed 195 with value = 0.4289
+Query 1/1: Action query time = 0.985 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5208
+t=122: Selected seed 195 with value = 0.5208
+Query 1/1: Action query time = 1.076 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5076
+t=138: Selected seed 195 with value = 0.5076
+Query 1/1: Action query time = 1.044 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5464
+t=154: Selected seed 195 with value = 0.5464
+Query 1/1: Action query time = 1.045 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5998
+t=170: Selected seed 195 with value = 0.5998
+Query 1/1: Action query time = 1.098 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7013
+t=186: Selected seed 195 with value = 0.7013
+Query 1/1: Action query time = 1.057 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8113
+t=202: Selected seed 195 with value = 0.8113
+Query 1/1: Action query time = 1.000 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6979
+t=218: Selected seed 195 with value = 0.6979
+Query 1/1: Action query time = 0.983 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8025
+t=234: Selected seed 195 with value = 0.8025
+Query 1/1: Action query time = 0.988 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6721
+t=250: Selected seed 195 with value = 0.6721
+Query 1/1: Action query time = 0.972 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7582
+t=266: Selected seed 195 with value = 0.7582
+Query 1/1: Action query time = 0.962 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6664
+t=282: Selected seed 195 with value = 0.6664
+Query 1/1: Action query time = 0.973 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8149
+t=298: Selected seed 195 with value = 0.8149
+Saved rollout MP4 at path ./rollouts/CLbest_g0_t135/2026_07_31-01_10_29--episode=52--success=False--task=open_the_top_drawer_and_put_the_bowl_ins.mp4
+Saved rollout MP4 at path ./rollouts/CLbest_g0_t135/2026_07_31-01_10_29--with_future_img--episode=52--success=False--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: False
+# episodes completed so far: 52
+# successes: 0 (0.0%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 3...
+Query 1/1: Action query time = 1.088 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3492
+t=10: Selected seed 195 with value = 0.3492
+Query 1/1: Action query time = 1.019 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4171
+t=26: Selected seed 195 with value = 0.4171
+Query 1/1: Action query time = 1.021 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5218
+t=42: Selected seed 195 with value = 0.5218
+Query 1/1: Action query time = 1.081 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6091
+t=58: Selected seed 195 with value = 0.6091
+Query 1/1: Action query time = 1.188 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5870
+t=74: Selected seed 195 with value = 0.5870
+Query 1/1: Action query time = 1.078 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5276
+t=90: Selected seed 195 with value = 0.5276
+Query 1/1: Action query time = 1.056 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3916
+t=106: Selected seed 195 with value = 0.3916
+Query 1/1: Action query time = 1.047 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4621
+t=122: Selected seed 195 with value = 0.4621
+Query 1/1: Action query time = 0.976 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4850
+t=138: Selected seed 195 with value = 0.4850
+Query 1/1: Action query time = 0.969 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5595
+t=154: Selected seed 195 with value = 0.5595
+Query 1/1: Action query time = 0.982 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7304
+t=170: Selected seed 195 with value = 0.7304
+Query 1/1: Action query time = 0.966 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8243
+t=186: Selected seed 195 with value = 0.8243
+Query 1/1: Action query time = 0.963 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9126
+t=202: Selected seed 195 with value = 0.9126
+Query 1/1: Action query time = 0.968 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9825
+t=218: Selected seed 195 with value = 0.9825
+Query 1/1: Action query time = 0.974 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9746
+t=234: Selected seed 195 with value = 0.9746
+Query 1/1: Action query time = 0.982 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9542
+t=250: Selected seed 195 with value = 0.9542
+Query 1/1: Action query time = 0.972 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9432
+t=266: Selected seed 195 with value = 0.9432
+Query 1/1: Action query time = 0.944 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9086
+t=282: Selected seed 195 with value = 0.9086
+Query 1/1: Action query time = 0.968 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8821
+t=298: Selected seed 195 with value = 0.8821
+Saved rollout MP4 at path ./rollouts/CLbest_g0_t135/2026_07_31-01_10_29--episode=53--success=False--task=open_the_top_drawer_and_put_the_bowl_ins.mp4
+Saved rollout MP4 at path ./rollouts/CLbest_g0_t135/2026_07_31-01_10_29--with_future_img--episode=53--success=False--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: False
+# episodes completed so far: 53
+# successes: 0 (0.0%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 4...
+Query 1/1: Action query time = 0.975 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3278
+t=10: Selected seed 195 with value = 0.3278
+Query 1/1: Action query time = 0.980 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4067
+t=26: Selected seed 195 with value = 0.4067
+Query 1/1: Action query time = 0.979 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5292
+t=42: Selected seed 195 with value = 0.5292
+Query 1/1: Action query time = 0.979 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5840
+t=58: Selected seed 195 with value = 0.5840
+Query 1/1: Action query time = 0.989 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5720
+t=74: Selected seed 195 with value = 0.5720
+Query 1/1: Action query time = 1.066 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5073
+t=90: Selected seed 195 with value = 0.5073
+Query 1/1: Action query time = 1.223 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3713
+t=106: Selected seed 195 with value = 0.3713
+Query 1/1: Action query time = 1.198 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4617
+t=122: Selected seed 195 with value = 0.4617
+Query 1/1: Action query time = 1.143 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4720
+t=138: Selected seed 195 with value = 0.4720
+Query 1/1: Action query time = 1.092 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5411
+t=154: Selected seed 195 with value = 0.5411
+Query 1/1: Action query time = 1.055 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6972
+t=170: Selected seed 195 with value = 0.6972
+Query 1/1: Action query time = 1.066 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7906
+t=186: Selected seed 195 with value = 0.7906
+Query 1/1: Action query time = 1.049 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7713
+t=202: Selected seed 195 with value = 0.7713
+Query 1/1: Action query time = 0.978 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9424
+t=218: Selected seed 195 with value = 0.9424
+Query 1/1: Action query time = 0.985 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9877
+t=234: Selected seed 195 with value = 0.9877
+Query 1/1: Action query time = 1.059 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9600
+t=250: Selected seed 195 with value = 0.9600
+Query 1/1: Action query time = 0.983 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9123
+t=266: Selected seed 195 with value = 0.9123
+Query 1/1: Action query time = 0.969 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9162
+t=282: Selected seed 195 with value = 0.9162
+Query 1/1: Action query time = 1.163 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9152
+t=298: Selected seed 195 with value = 0.9152
+Saved rollout MP4 at path ./rollouts/CLbest_g0_t135/2026_07_31-01_10_29--episode=54--success=False--task=open_the_top_drawer_and_put_the_bowl_ins.mp4
+Saved rollout MP4 at path ./rollouts/CLbest_g0_t135/2026_07_31-01_10_29--with_future_img--episode=54--success=False--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: False
+# episodes completed so far: 54
+# successes: 0 (0.0%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 5...
+Query 1/1: Action query time = 0.990 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3953
+t=10: Selected seed 195 with value = 0.3953
+Query 1/1: Action query time = 0.981 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4435
+t=26: Selected seed 195 with value = 0.4435
+Query 1/1: Action query time = 1.022 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5345
+t=42: Selected seed 195 with value = 0.5345
+Query 1/1: Action query time = 1.002 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5884
+t=58: Selected seed 195 with value = 0.5884
+Query 1/1: Action query time = 1.001 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7457
+t=74: Selected seed 195 with value = 0.7457
+Query 1/1: Action query time = 1.017 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8069
+t=90: Selected seed 195 with value = 0.8069
+Query 1/1: Action query time = 1.042 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9517
+t=106: Selected seed 195 with value = 0.9517
+Query 1/1: Action query time = 0.995 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9673
+t=122: Selected seed 195 with value = 0.9673
+Query 1/1: Action query time = 0.984 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9511
+t=138: Selected seed 195 with value = 0.9511
+Query 1/1: Action query time = 0.979 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7145
+t=154: Selected seed 195 with value = 0.7145
+Query 1/1: Action query time = 1.020 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8568
+t=170: Selected seed 195 with value = 0.8568
+Query 1/1: Action query time = 0.981 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9338
+t=186: Selected seed 195 with value = 0.9338
+Query 1/1: Action query time = 0.993 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9645
+t=202: Selected seed 195 with value = 0.9645
+Query 1/1: Action query time = 1.012 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9995
+t=218: Selected seed 195 with value = 0.9995
+Query 1/1: Action query time = 1.042 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=234: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.996 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9974
+t=250: Selected seed 195 with value = 0.9974
+Query 1/1: Action query time = 0.971 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9925
+t=266: Selected seed 195 with value = 0.9925
+Query 1/1: Action query time = 1.150 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9963
+t=282: Selected seed 195 with value = 0.9963
+Query 1/1: Action query time = 1.003 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9973
+t=298: Selected seed 195 with value = 0.9973
+Saved rollout MP4 at path ./rollouts/CLbest_g0_t135/2026_07_31-01_10_29--episode=55--success=False--task=open_the_top_drawer_and_put_the_bowl_ins.mp4
+Saved rollout MP4 at path ./rollouts/CLbest_g0_t135/2026_07_31-01_10_29--with_future_img--episode=55--success=False--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: False
+# episodes completed so far: 55
+# successes: 0 (0.0%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 6...
+Query 1/1: Action query time = 1.019 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3197
+t=10: Selected seed 195 with value = 0.3197
+Query 1/1: Action query time = 1.011 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4099
+t=26: Selected seed 195 with value = 0.4099
+Query 1/1: Action query time = 0.979 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4810
+t=42: Selected seed 195 with value = 0.4810
+Query 1/1: Action query time = 0.998 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5425
+t=58: Selected seed 195 with value = 0.5425
+Query 1/1: Action query time = 1.018 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6320
+t=74: Selected seed 195 with value = 0.6320
+Query 1/1: Action query time = 0.980 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5576
+t=90: Selected seed 195 with value = 0.5576
+Query 1/1: Action query time = 1.029 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4962
+t=106: Selected seed 195 with value = 0.4962
+Query 1/1: Action query time = 0.989 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4492
+t=122: Selected seed 195 with value = 0.4492
+Query 1/1: Action query time = 1.002 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4621
+t=138: Selected seed 195 with value = 0.4621
+Query 1/1: Action query time = 1.025 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5000
+t=154: Selected seed 195 with value = 0.5000
+Query 1/1: Action query time = 0.977 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5805
+t=170: Selected seed 195 with value = 0.5805
+Query 1/1: Action query time = 0.989 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6927
+t=186: Selected seed 195 with value = 0.6927
+Query 1/1: Action query time = 0.994 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7401
+t=202: Selected seed 195 with value = 0.7401
+Query 1/1: Action query time = 0.989 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7459
+t=218: Selected seed 195 with value = 0.7459
+Query 1/1: Action query time = 1.026 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8195
+t=234: Selected seed 195 with value = 0.8195
+Query 1/1: Action query time = 0.978 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8904
+t=250: Selected seed 195 with value = 0.8904
+Query 1/1: Action query time = 1.137 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9410
+t=266: Selected seed 195 with value = 0.9410
+Query 1/1: Action query time = 1.115 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9623
+t=282: Selected seed 195 with value = 0.9623
+Query 1/1: Action query time = 1.166 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9892
+t=298: Selected seed 195 with value = 0.9892
+Saved rollout MP4 at path ./rollouts/CLbest_g0_t135/2026_07_31-01_10_29--episode=56--success=False--task=open_the_top_drawer_and_put_the_bowl_ins.mp4
+Saved rollout MP4 at path ./rollouts/CLbest_g0_t135/2026_07_31-01_10_29--with_future_img--episode=56--success=False--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: False
+# episodes completed so far: 56
+# successes: 0 (0.0%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 7...
+Query 1/1: Action query time = 1.013 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3963
+t=10: Selected seed 195 with value = 0.3963
+Query 1/1: Action query time = 1.004 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4405
+t=26: Selected seed 195 with value = 0.4405
+Query 1/1: Action query time = 0.996 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4975
+t=42: Selected seed 195 with value = 0.4975
+Query 1/1: Action query time = 1.006 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6075
+t=58: Selected seed 195 with value = 0.6075
+Query 1/1: Action query time = 0.966 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6142
+t=74: Selected seed 195 with value = 0.6142
+Query 1/1: Action query time = 0.987 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6205
+t=90: Selected seed 195 with value = 0.6205
+Query 1/1: Action query time = 0.969 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4456
+t=106: Selected seed 195 with value = 0.4456
+Query 1/1: Action query time = 0.983 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4521
+t=122: Selected seed 195 with value = 0.4521
+Query 1/1: Action query time = 1.002 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4885
+t=138: Selected seed 195 with value = 0.4885
+Query 1/1: Action query time = 0.974 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4859
+t=154: Selected seed 195 with value = 0.4859
+Query 1/1: Action query time = 0.975 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5682
+t=170: Selected seed 195 with value = 0.5682
+Query 1/1: Action query time = 0.994 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7070
+t=186: Selected seed 195 with value = 0.7070
+Query 1/1: Action query time = 0.992 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8429
+t=202: Selected seed 195 with value = 0.8429
+Query 1/1: Action query time = 0.990 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8137
+t=218: Selected seed 195 with value = 0.8137
+Query 1/1: Action query time = 0.987 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9256
+t=234: Selected seed 195 with value = 0.9256
+Query 1/1: Action query time = 1.219 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8682
+t=250: Selected seed 195 with value = 0.8682
+Query 1/1: Action query time = 1.161 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7504
+t=266: Selected seed 195 with value = 0.7504
+Query 1/1: Action query time = 1.123 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6763
+t=282: Selected seed 195 with value = 0.6763
+Query 1/1: Action query time = 1.009 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6121
+t=298: Selected seed 195 with value = 0.6121
+Saved rollout MP4 at path ./rollouts/CLbest_g0_t135/2026_07_31-01_10_29--episode=57--success=False--task=open_the_top_drawer_and_put_the_bowl_ins.mp4
+Saved rollout MP4 at path ./rollouts/CLbest_g0_t135/2026_07_31-01_10_29--with_future_img--episode=57--success=False--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: False
+# episodes completed so far: 57
+# successes: 0 (0.0%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 8...
+Query 1/1: Action query time = 0.990 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3611
+t=10: Selected seed 195 with value = 0.3611
+Query 1/1: Action query time = 0.992 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3692
+t=26: Selected seed 195 with value = 0.3692
+Query 1/1: Action query time = 0.997 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5387
+t=42: Selected seed 195 with value = 0.5387
+Query 1/1: Action query time = 0.974 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5909
+t=58: Selected seed 195 with value = 0.5909
+Query 1/1: Action query time = 0.978 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5868
+t=74: Selected seed 195 with value = 0.5868
+Query 1/1: Action query time = 0.987 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3721
+t=90: Selected seed 195 with value = 0.3721
+Query 1/1: Action query time = 0.981 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4659
+t=106: Selected seed 195 with value = 0.4659
+Query 1/1: Action query time = 0.976 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5249
+t=122: Selected seed 195 with value = 0.5249
+Query 1/1: Action query time = 0.989 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5994
+t=138: Selected seed 195 with value = 0.5994
+Query 1/1: Action query time = 0.977 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8104
+t=154: Selected seed 195 with value = 0.8104
+Query 1/1: Action query time = 0.983 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8962
+t=170: Selected seed 195 with value = 0.8962
+Query 1/1: Action query time = 0.983 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9607
+t=186: Selected seed 195 with value = 0.9607
+Query 1/1: Action query time = 1.053 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9735
+t=202: Selected seed 195 with value = 0.9735
+Query 1/1: Action query time = 0.996 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9582
+t=218: Selected seed 195 with value = 0.9582
+Query 1/1: Action query time = 0.980 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9279
+t=234: Selected seed 195 with value = 0.9279
+Query 1/1: Action query time = 1.070 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9013
+t=250: Selected seed 195 with value = 0.9013
+Query 1/1: Action query time = 1.028 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9079
+t=266: Selected seed 195 with value = 0.9079
+Query 1/1: Action query time = 0.969 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9082
+t=282: Selected seed 195 with value = 0.9082
+Query 1/1: Action query time = 0.996 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9139
+t=298: Selected seed 195 with value = 0.9139
+Saved rollout MP4 at path ./rollouts/CLbest_g0_t135/2026_07_31-01_10_29--episode=58--success=False--task=open_the_top_drawer_and_put_the_bowl_ins.mp4
+Saved rollout MP4 at path ./rollouts/CLbest_g0_t135/2026_07_31-01_10_29--with_future_img--episode=58--success=False--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: False
+# episodes completed so far: 58
+# successes: 0 (0.0%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 9...
+Query 1/1: Action query time = 1.007 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3787
+t=10: Selected seed 195 with value = 0.3787
+Query 1/1: Action query time = 0.989 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4199
+t=26: Selected seed 195 with value = 0.4199
+Query 1/1: Action query time = 0.999 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5248
+t=42: Selected seed 195 with value = 0.5248
+Query 1/1: Action query time = 0.974 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5489
+t=58: Selected seed 195 with value = 0.5489
+Query 1/1: Action query time = 0.997 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5995
+t=74: Selected seed 195 with value = 0.5995
+Query 1/1: Action query time = 0.997 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4604
+t=90: Selected seed 195 with value = 0.4604
+Query 1/1: Action query time = 1.009 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9384
+t=106: Selected seed 195 with value = 0.9384
+Query 1/1: Action query time = 0.972 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9182
+t=122: Selected seed 195 with value = 0.9182
+Query 1/1: Action query time = 1.018 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7212
+t=138: Selected seed 195 with value = 0.7212
+Query 1/1: Action query time = 1.044 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8144
+t=154: Selected seed 195 with value = 0.8144
+Query 1/1: Action query time = 1.145 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8938
+t=170: Selected seed 195 with value = 0.8938
+Query 1/1: Action query time = 1.200 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9891
+t=186: Selected seed 195 with value = 0.9891
+Query 1/1: Action query time = 1.151 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9782
+t=202: Selected seed 195 with value = 0.9782
+Query 1/1: Action query time = 1.049 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9845
+t=218: Selected seed 195 with value = 0.9845
+Query 1/1: Action query time = 0.972 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9900
+t=234: Selected seed 195 with value = 0.9900
+Query 1/1: Action query time = 1.003 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9950
+t=250: Selected seed 195 with value = 0.9950
+Query 1/1: Action query time = 0.996 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9895
+t=266: Selected seed 195 with value = 0.9895
+Query 1/1: Action query time = 0.991 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9818
+t=282: Selected seed 195 with value = 0.9818
+Query 1/1: Action query time = 1.020 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9837
+t=298: Selected seed 195 with value = 0.9837
+Saved rollout MP4 at path ./rollouts/CLbest_g0_t135/2026_07_31-01_10_29--episode=59--success=False--task=open_the_top_drawer_and_put_the_bowl_ins.mp4
+Saved rollout MP4 at path ./rollouts/CLbest_g0_t135/2026_07_31-01_10_29--with_future_img--episode=59--success=False--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: False
+# episodes completed so far: 59
+# successes: 0 (0.0%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 10...
+Query 1/1: Action query time = 1.270 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3630
+t=10: Selected seed 195 with value = 0.3630
+Query 1/1: Action query time = 1.260 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3759
+t=26: Selected seed 195 with value = 0.3759
+Query 1/1: Action query time = 0.984 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5619
+t=42: Selected seed 195 with value = 0.5619
+Query 1/1: Action query time = 0.975 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5610
+t=58: Selected seed 195 with value = 0.5610
+Query 1/1: Action query time = 0.990 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4368
+t=74: Selected seed 195 with value = 0.4368
+Query 1/1: Action query time = 0.978 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4136
+t=90: Selected seed 195 with value = 0.4136
+Query 1/1: Action query time = 0.989 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4971
+t=106: Selected seed 195 with value = 0.4971
+Query 1/1: Action query time = 1.037 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5612
+t=122: Selected seed 195 with value = 0.5612
+Query 1/1: Action query time = 0.997 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7208
+t=138: Selected seed 195 with value = 0.7208
+Query 1/1: Action query time = 0.973 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8820
+t=154: Selected seed 195 with value = 0.8820
+Query 1/1: Action query time = 0.993 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9916
+t=170: Selected seed 195 with value = 0.9916
+Query 1/1: Action query time = 0.981 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9556
+t=186: Selected seed 195 with value = 0.9556
+Query 1/1: Action query time = 0.984 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9340
+t=202: Selected seed 195 with value = 0.9340
+Query 1/1: Action query time = 1.005 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9439
+t=218: Selected seed 195 with value = 0.9439
+Query 1/1: Action query time = 0.979 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9460
+t=234: Selected seed 195 with value = 0.9460
+Query 1/1: Action query time = 0.978 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9552
+t=250: Selected seed 195 with value = 0.9552
+Query 1/1: Action query time = 0.975 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9513
+t=266: Selected seed 195 with value = 0.9513
+Query 1/1: Action query time = 0.994 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9352
+t=282: Selected seed 195 with value = 0.9352
+Query 1/1: Action query time = 0.994 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9094
+t=298: Selected seed 195 with value = 0.9094
+Saved rollout MP4 at path ./rollouts/CLbest_g0_t135/2026_07_31-01_10_29--episode=60--success=False--task=open_the_top_drawer_and_put_the_bowl_ins.mp4
+Saved rollout MP4 at path ./rollouts/CLbest_g0_t135/2026_07_31-01_10_29--with_future_img--episode=60--success=False--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: False
+# episodes completed so far: 60
+# successes: 0 (0.0%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 11...
+Query 1/1: Action query time = 0.989 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4063
+t=10: Selected seed 195 with value = 0.4063
+Query 1/1: Action query time = 0.987 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4465
+t=26: Selected seed 195 with value = 0.4465
+Query 1/1: Action query time = 0.975 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5546
+t=42: Selected seed 195 with value = 0.5546
+Query 1/1: Action query time = 0.987 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5688
+t=58: Selected seed 195 with value = 0.5688
+Query 1/1: Action query time = 0.983 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5788
+t=74: Selected seed 195 with value = 0.5788
+Query 1/1: Action query time = 0.978 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7830
+t=90: Selected seed 195 with value = 0.7830
+Query 1/1: Action query time = 0.977 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5460
+t=106: Selected seed 195 with value = 0.5460
+Query 1/1: Action query time = 0.980 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6337
+t=122: Selected seed 195 with value = 0.6337
+Query 1/1: Action query time = 1.198 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7712
+t=138: Selected seed 195 with value = 0.7712
+Query 1/1: Action query time = 0.994 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8725
+t=154: Selected seed 195 with value = 0.8725
+Query 1/1: Action query time = 0.974 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9559
+t=170: Selected seed 195 with value = 0.9559
+Query 1/1: Action query time = 1.154 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9454
+t=186: Selected seed 195 with value = 0.9454
+Query 1/1: Action query time = 0.994 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9852
+t=202: Selected seed 195 with value = 0.9852
+Query 1/1: Action query time = 0.976 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9980
+t=218: Selected seed 195 with value = 0.9980
+Query 1/1: Action query time = 0.974 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=234: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.990 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9883
+t=250: Selected seed 195 with value = 0.9883
+Query 1/1: Action query time = 1.004 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9785
+t=266: Selected seed 195 with value = 0.9785
+Query 1/1: Action query time = 0.985 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9687
+t=282: Selected seed 195 with value = 0.9687
+Query 1/1: Action query time = 0.974 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9689
+t=298: Selected seed 195 with value = 0.9689
+Saved rollout MP4 at path ./rollouts/CLbest_g0_t135/2026_07_31-01_10_29--episode=61--success=False--task=open_the_top_drawer_and_put_the_bowl_ins.mp4
+Saved rollout MP4 at path ./rollouts/CLbest_g0_t135/2026_07_31-01_10_29--with_future_img--episode=61--success=False--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: False
+# episodes completed so far: 61
+# successes: 0 (0.0%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 12...
+Query 1/1: Action query time = 1.009 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3666
+t=10: Selected seed 195 with value = 0.3666
+Query 1/1: Action query time = 0.987 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4610
+t=26: Selected seed 195 with value = 0.4610
+Query 1/1: Action query time = 1.032 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5030
+t=42: Selected seed 195 with value = 0.5030
+Query 1/1: Action query time = 0.987 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6113
+t=58: Selected seed 195 with value = 0.6113
+Query 1/1: Action query time = 1.004 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6338
+t=74: Selected seed 195 with value = 0.6338
+Query 1/1: Action query time = 1.006 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6314
+t=90: Selected seed 195 with value = 0.6314
+Query 1/1: Action query time = 0.996 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4985
+t=106: Selected seed 195 with value = 0.4985
+Query 1/1: Action query time = 0.990 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4188
+t=122: Selected seed 195 with value = 0.4188
+Query 1/1: Action query time = 0.995 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5486
+t=138: Selected seed 195 with value = 0.5486
+Query 1/1: Action query time = 0.987 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6185
+t=154: Selected seed 195 with value = 0.6185
+Query 1/1: Action query time = 0.985 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7964
+t=170: Selected seed 195 with value = 0.7964
+Query 1/1: Action query time = 0.966 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8318
+t=186: Selected seed 195 with value = 0.8318
+Query 1/1: Action query time = 1.000 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7427
+t=202: Selected seed 195 with value = 0.7427
+Query 1/1: Action query time = 0.986 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8392
+t=218: Selected seed 195 with value = 0.8392
+Query 1/1: Action query time = 0.991 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8921
+t=234: Selected seed 195 with value = 0.8921
+Query 1/1: Action query time = 0.986 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9205
+t=250: Selected seed 195 with value = 0.9205
+Query 1/1: Action query time = 0.982 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8848
+t=266: Selected seed 195 with value = 0.8848
+Query 1/1: Action query time = 1.001 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8971
+t=282: Selected seed 195 with value = 0.8971
+Query 1/1: Action query time = 0.985 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7860
+t=298: Selected seed 195 with value = 0.7860
+Saved rollout MP4 at path ./rollouts/CLbest_g0_t135/2026_07_31-01_10_29--episode=62--success=False--task=open_the_top_drawer_and_put_the_bowl_ins.mp4
+Saved rollout MP4 at path ./rollouts/CLbest_g0_t135/2026_07_31-01_10_29--with_future_img--episode=62--success=False--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: False
+# episodes completed so far: 62
+# successes: 0 (0.0%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 13...
+Query 1/1: Action query time = 1.202 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3647
+t=10: Selected seed 195 with value = 0.3647
+Query 1/1: Action query time = 0.997 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3787
+t=26: Selected seed 195 with value = 0.3787
+Query 1/1: Action query time = 0.978 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6266
+t=42: Selected seed 195 with value = 0.6266
+Query 1/1: Action query time = 1.045 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6005
+t=58: Selected seed 195 with value = 0.6005
+Query 1/1: Action query time = 0.974 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4656
+t=74: Selected seed 195 with value = 0.4656
+Query 1/1: Action query time = 0.996 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4788
+t=90: Selected seed 195 with value = 0.4788
+Query 1/1: Action query time = 1.000 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5276
+t=106: Selected seed 195 with value = 0.5276
+Query 1/1: Action query time = 1.001 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6015
+t=122: Selected seed 195 with value = 0.6015
+Query 1/1: Action query time = 0.981 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8193
+t=138: Selected seed 195 with value = 0.8193
+Query 1/1: Action query time = 0.998 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7106
+t=154: Selected seed 195 with value = 0.7106
+Query 1/1: Action query time = 0.989 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8090
+t=170: Selected seed 195 with value = 0.8090
+Query 1/1: Action query time = 1.171 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8936
+t=186: Selected seed 195 with value = 0.8936
+Query 1/1: Action query time = 1.010 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9524
+t=202: Selected seed 195 with value = 0.9524
+Query 1/1: Action query time = 0.970 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9695
+t=218: Selected seed 195 with value = 0.9695
+Query 1/1: Action query time = 1.230 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9892
+t=234: Selected seed 195 with value = 0.9892
+Query 1/1: Action query time = 0.981 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9898
+t=250: Selected seed 195 with value = 0.9898
+Query 1/1: Action query time = 0.984 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9915
+t=266: Selected seed 195 with value = 0.9915
+Query 1/1: Action query time = 1.152 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9933
+t=282: Selected seed 195 with value = 0.9933
+Query 1/1: Action query time = 0.980 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9904
+t=298: Selected seed 195 with value = 0.9904
+Saved rollout MP4 at path ./rollouts/CLbest_g0_t135/2026_07_31-01_10_29--episode=63--success=False--task=open_the_top_drawer_and_put_the_bowl_ins.mp4
+Saved rollout MP4 at path ./rollouts/CLbest_g0_t135/2026_07_31-01_10_29--with_future_img--episode=63--success=False--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: False
+# episodes completed so far: 63
+# successes: 0 (0.0%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 14...
+Query 1/1: Action query time = 1.034 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3527
+t=10: Selected seed 195 with value = 0.3527
+Query 1/1: Action query time = 1.007 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3726
+t=26: Selected seed 195 with value = 0.3726
+Query 1/1: Action query time = 0.985 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4697
+t=42: Selected seed 195 with value = 0.4697
+Query 1/1: Action query time = 0.975 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6320
+t=58: Selected seed 195 with value = 0.6320
+Query 1/1: Action query time = 0.980 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6280
+t=74: Selected seed 195 with value = 0.6280
+Query 1/1: Action query time = 0.991 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6688
+t=90: Selected seed 195 with value = 0.6688
+Query 1/1: Action query time = 1.004 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6382
+t=106: Selected seed 195 with value = 0.6382
+Query 1/1: Action query time = 0.992 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5844
+t=122: Selected seed 195 with value = 0.5844
+Query 1/1: Action query time = 0.982 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4101
+t=138: Selected seed 195 with value = 0.4101
+Query 1/1: Action query time = 1.108 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4572
+t=154: Selected seed 195 with value = 0.4572
+Query 1/1: Action query time = 1.080 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4688
+t=170: Selected seed 195 with value = 0.4688
+Query 1/1: Action query time = 1.058 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4950
+t=186: Selected seed 195 with value = 0.4950
+Query 1/1: Action query time = 1.071 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5103
+t=202: Selected seed 195 with value = 0.5103
+Query 1/1: Action query time = 1.054 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5501
+t=218: Selected seed 195 with value = 0.5501
+Query 1/1: Action query time = 0.981 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6555
+t=234: Selected seed 195 with value = 0.6555
+Query 1/1: Action query time = 0.989 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6881
+t=250: Selected seed 195 with value = 0.6881
+Query 1/1: Action query time = 1.027 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8187
+t=266: Selected seed 195 with value = 0.8187
+Query 1/1: Action query time = 1.077 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8032
+t=282: Selected seed 195 with value = 0.8032
+Query 1/1: Action query time = 1.065 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9654
+t=298: Selected seed 195 with value = 0.9654
+Saved rollout MP4 at path ./rollouts/CLbest_g0_t135/2026_07_31-01_10_29--episode=64--success=False--task=open_the_top_drawer_and_put_the_bowl_ins.mp4
+Saved rollout MP4 at path ./rollouts/CLbest_g0_t135/2026_07_31-01_10_29--with_future_img--episode=64--success=False--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: False
+# episodes completed so far: 64
+# successes: 0 (0.0%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 15...
+Query 1/1: Action query time = 0.986 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3829
+t=10: Selected seed 195 with value = 0.3829
+Query 1/1: Action query time = 1.017 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4358
+t=26: Selected seed 195 with value = 0.4358
+Query 1/1: Action query time = 0.979 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5088
+t=42: Selected seed 195 with value = 0.5088
+Query 1/1: Action query time = 0.969 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6174
+t=58: Selected seed 195 with value = 0.6174
+Query 1/1: Action query time = 0.987 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6249
+t=74: Selected seed 195 with value = 0.6249
+Query 1/1: Action query time = 0.995 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5906
+t=90: Selected seed 195 with value = 0.5906
+Query 1/1: Action query time = 0.982 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3766
+t=106: Selected seed 195 with value = 0.3766
+Query 1/1: Action query time = 0.978 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4847
+t=122: Selected seed 195 with value = 0.4847
+Query 1/1: Action query time = 0.967 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4776
+t=138: Selected seed 195 with value = 0.4776
+Query 1/1: Action query time = 1.035 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4794
+t=154: Selected seed 195 with value = 0.4794
+Query 1/1: Action query time = 1.161 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5085
+t=170: Selected seed 195 with value = 0.5085
+Query 1/1: Action query time = 1.223 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5402
+t=186: Selected seed 195 with value = 0.5402
+Query 1/1: Action query time = 1.228 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6724
+t=202: Selected seed 195 with value = 0.6724
+Query 1/1: Action query time = 1.207 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6974
+t=218: Selected seed 195 with value = 0.6974
+Query 1/1: Action query time = 1.188 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6663
+t=234: Selected seed 195 with value = 0.6663
+Query 1/1: Action query time = 1.153 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7947
+t=250: Selected seed 195 with value = 0.7947
+Query 1/1: Action query time = 1.057 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6958
+t=266: Selected seed 195 with value = 0.6958
+Query 1/1: Action query time = 1.085 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8348
+t=282: Selected seed 195 with value = 0.8348
+Query 1/1: Action query time = 1.104 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7151
+t=298: Selected seed 195 with value = 0.7151
+Saved rollout MP4 at path ./rollouts/CLbest_g0_t135/2026_07_31-01_10_29--episode=65--success=False--task=open_the_top_drawer_and_put_the_bowl_ins.mp4
+Saved rollout MP4 at path ./rollouts/CLbest_g0_t135/2026_07_31-01_10_29--with_future_img--episode=65--success=False--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: False
+# episodes completed so far: 65
+# successes: 0 (0.0%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 16...
+Query 1/1: Action query time = 0.987 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3741
+t=10: Selected seed 195 with value = 0.3741
+Query 1/1: Action query time = 0.969 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4690
+t=26: Selected seed 195 with value = 0.4690
+Query 1/1: Action query time = 0.982 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5360
+t=42: Selected seed 195 with value = 0.5360
+Query 1/1: Action query time = 0.981 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6145
+t=58: Selected seed 195 with value = 0.6145
+Query 1/1: Action query time = 0.985 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6470
+t=74: Selected seed 195 with value = 0.6470
+Query 1/1: Action query time = 0.993 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5759
+t=90: Selected seed 195 with value = 0.5759
+Query 1/1: Action query time = 1.237 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5525
+t=106: Selected seed 195 with value = 0.5525
+Query 1/1: Action query time = 1.154 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5806
+t=122: Selected seed 195 with value = 0.5806
+Query 1/1: Action query time = 1.116 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7492
+t=138: Selected seed 195 with value = 0.7492
+Query 1/1: Action query time = 1.013 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5009
+t=154: Selected seed 195 with value = 0.5009
+Query 1/1: Action query time = 1.002 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5284
+t=170: Selected seed 195 with value = 0.5284
+Query 1/1: Action query time = 1.004 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5926
+t=186: Selected seed 195 with value = 0.5926
+Query 1/1: Action query time = 0.979 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5892
+t=202: Selected seed 195 with value = 0.5892
+Query 1/1: Action query time = 0.981 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6082
+t=218: Selected seed 195 with value = 0.6082
+Query 1/1: Action query time = 0.996 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7781
+t=234: Selected seed 195 with value = 0.7781
+Query 1/1: Action query time = 0.972 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9263
+t=250: Selected seed 195 with value = 0.9263
+Query 1/1: Action query time = 0.991 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9777
+t=266: Selected seed 195 with value = 0.9777
+Query 1/1: Action query time = 0.970 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9643
+t=282: Selected seed 195 with value = 0.9643
+Query 1/1: Action query time = 0.990 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9624
+t=298: Selected seed 195 with value = 0.9624
+Saved rollout MP4 at path ./rollouts/CLbest_g0_t135/2026_07_31-01_10_29--episode=66--success=False--task=open_the_top_drawer_and_put_the_bowl_ins.mp4
+Saved rollout MP4 at path ./rollouts/CLbest_g0_t135/2026_07_31-01_10_29--with_future_img--episode=66--success=False--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: False
+# episodes completed so far: 66
+# successes: 0 (0.0%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 17...
+Query 1/1: Action query time = 1.215 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3550
+t=10: Selected seed 195 with value = 0.3550
+Query 1/1: Action query time = 0.990 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4195
+t=26: Selected seed 195 with value = 0.4195
+Query 1/1: Action query time = 0.982 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5110
+t=42: Selected seed 195 with value = 0.5110
+Query 1/1: Action query time = 0.977 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6269
+t=58: Selected seed 195 with value = 0.6269
+Query 1/1: Action query time = 0.976 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5957
+t=74: Selected seed 195 with value = 0.5957
+Query 1/1: Action query time = 0.965 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4679
+t=90: Selected seed 195 with value = 0.4679
+Query 1/1: Action query time = 0.962 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3804
+t=106: Selected seed 195 with value = 0.3804
+Query 1/1: Action query time = 0.981 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4764
+t=122: Selected seed 195 with value = 0.4764
+Query 1/1: Action query time = 0.985 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4959
+t=138: Selected seed 195 with value = 0.4959
+Query 1/1: Action query time = 0.985 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6022
+t=154: Selected seed 195 with value = 0.6022
+Query 1/1: Action query time = 0.975 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7362
+t=170: Selected seed 195 with value = 0.7362
+Query 1/1: Action query time = 0.976 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8571
+t=186: Selected seed 195 with value = 0.8571
+Query 1/1: Action query time = 0.989 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9117
+t=202: Selected seed 195 with value = 0.9117
+Query 1/1: Action query time = 0.979 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9690
+t=218: Selected seed 195 with value = 0.9690
+Query 1/1: Action query time = 0.967 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9683
+t=234: Selected seed 195 with value = 0.9683
+Query 1/1: Action query time = 0.990 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9303
+t=250: Selected seed 195 with value = 0.9303
+Query 1/1: Action query time = 0.980 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9127
+t=266: Selected seed 195 with value = 0.9127
+Query 1/1: Action query time = 0.988 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9186
+t=282: Selected seed 195 with value = 0.9186
+Query 1/1: Action query time = 0.984 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9059
+t=298: Selected seed 195 with value = 0.9059
+Saved rollout MP4 at path ./rollouts/CLbest_g0_t135/2026_07_31-01_10_29--episode=67--success=False--task=open_the_top_drawer_and_put_the_bowl_ins.mp4
+Saved rollout MP4 at path ./rollouts/CLbest_g0_t135/2026_07_31-01_10_29--with_future_img--episode=67--success=False--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: False
+# episodes completed so far: 67
+# successes: 0 (0.0%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 18...
+Query 1/1: Action query time = 1.247 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3849
+t=10: Selected seed 195 with value = 0.3849
+Query 1/1: Action query time = 1.214 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4562
+t=26: Selected seed 195 with value = 0.4562
+Query 1/1: Action query time = 1.145 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5512
+t=42: Selected seed 195 with value = 0.5512
+Query 1/1: Action query time = 1.189 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6280
+t=58: Selected seed 195 with value = 0.6280
+Query 1/1: Action query time = 1.171 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5699
+t=74: Selected seed 195 with value = 0.5699
+Query 1/1: Action query time = 1.168 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4689
+t=90: Selected seed 195 with value = 0.4689
+Query 1/1: Action query time = 1.177 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4700
+t=106: Selected seed 195 with value = 0.4700
+Query 1/1: Action query time = 1.114 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4829
+t=122: Selected seed 195 with value = 0.4829
+Query 1/1: Action query time = 1.106 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5428
+t=138: Selected seed 195 with value = 0.5428
+Query 1/1: Action query time = 0.995 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5725
+t=154: Selected seed 195 with value = 0.5725
+Query 1/1: Action query time = 0.984 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5978
+t=170: Selected seed 195 with value = 0.5978
+Query 1/1: Action query time = 0.995 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6350
+t=186: Selected seed 195 with value = 0.6350
+Query 1/1: Action query time = 0.993 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7087
+t=202: Selected seed 195 with value = 0.7087
+Query 1/1: Action query time = 0.989 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8153
+t=218: Selected seed 195 with value = 0.8153
+Query 1/1: Action query time = 0.984 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9507
+t=234: Selected seed 195 with value = 0.9507
+Query 1/1: Action query time = 0.968 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9364
+t=250: Selected seed 195 with value = 0.9364
+Query 1/1: Action query time = 0.983 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9790
+t=266: Selected seed 195 with value = 0.9790
+Query 1/1: Action query time = 0.983 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9777
+t=282: Selected seed 195 with value = 0.9777
+Query 1/1: Action query time = 0.984 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9476
+t=298: Selected seed 195 with value = 0.9476
+Saved rollout MP4 at path ./rollouts/CLbest_g0_t135/2026_07_31-01_10_29--episode=68--success=False--task=open_the_top_drawer_and_put_the_bowl_ins.mp4
+Saved rollout MP4 at path ./rollouts/CLbest_g0_t135/2026_07_31-01_10_29--with_future_img--episode=68--success=False--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: False
+# episodes completed so far: 68
+# successes: 0 (0.0%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 19...
+Query 1/1: Action query time = 0.997 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3630
+t=10: Selected seed 195 with value = 0.3630
+Query 1/1: Action query time = 0.981 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4289
+t=26: Selected seed 195 with value = 0.4289
+Query 1/1: Action query time = 0.970 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4727
+t=42: Selected seed 195 with value = 0.4727
+Query 1/1: Action query time = 0.984 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6059
+t=58: Selected seed 195 with value = 0.6059
+Query 1/1: Action query time = 0.957 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6888
+t=74: Selected seed 195 with value = 0.6888
+Query 1/1: Action query time = 0.986 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4664
+t=90: Selected seed 195 with value = 0.4664
+Query 1/1: Action query time = 0.982 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5066
+t=106: Selected seed 195 with value = 0.5066
+Query 1/1: Action query time = 0.983 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8647
+t=122: Selected seed 195 with value = 0.8647
+Query 1/1: Action query time = 0.988 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7870
+t=138: Selected seed 195 with value = 0.7870
+Query 1/1: Action query time = 0.974 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8636
+t=154: Selected seed 195 with value = 0.8636
+Query 1/1: Action query time = 0.982 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9055
+t=170: Selected seed 195 with value = 0.9055
+Query 1/1: Action query time = 0.983 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9672
+t=186: Selected seed 195 with value = 0.9672
+Query 1/1: Action query time = 0.989 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9790
+t=202: Selected seed 195 with value = 0.9790
+Query 1/1: Action query time = 0.987 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9904
+t=218: Selected seed 195 with value = 0.9904
+Query 1/1: Action query time = 0.984 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9868
+t=234: Selected seed 195 with value = 0.9868
+Query 1/1: Action query time = 1.011 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9772
+t=250: Selected seed 195 with value = 0.9772
+Query 1/1: Action query time = 1.003 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9612
+t=266: Selected seed 195 with value = 0.9612
+Query 1/1: Action query time = 0.982 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9855
+t=282: Selected seed 195 with value = 0.9855
+Query 1/1: Action query time = 1.092 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9763
+t=298: Selected seed 195 with value = 0.9763
+Saved rollout MP4 at path ./rollouts/CLbest_g0_t135/2026_07_31-01_10_29--episode=69--success=False--task=open_the_top_drawer_and_put_the_bowl_ins.mp4
+Saved rollout MP4 at path ./rollouts/CLbest_g0_t135/2026_07_31-01_10_29--with_future_img--episode=69--success=False--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: False
+# episodes completed so far: 69
+# successes: 0 (0.0%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 20...
+Query 1/1: Action query time = 0.997 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3387
+t=10: Selected seed 195 with value = 0.3387
+Query 1/1: Action query time = 0.988 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3810
+t=26: Selected seed 195 with value = 0.3810
+Query 1/1: Action query time = 0.990 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4628
+t=42: Selected seed 195 with value = 0.4628
+Query 1/1: Action query time = 0.974 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6082
+t=58: Selected seed 195 with value = 0.6082
+Query 1/1: Action query time = 0.978 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6145
+t=74: Selected seed 195 with value = 0.6145
+Query 1/1: Action query time = 0.981 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5916
+t=90: Selected seed 195 with value = 0.5916
+Query 1/1: Action query time = 0.972 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3699
+t=106: Selected seed 195 with value = 0.3699
+Query 1/1: Action query time = 0.974 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4641
+t=122: Selected seed 195 with value = 0.4641
+Query 1/1: Action query time = 0.991 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4726
+t=138: Selected seed 195 with value = 0.4726
+Query 1/1: Action query time = 0.988 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5601
+t=154: Selected seed 195 with value = 0.5601
+Query 1/1: Action query time = 0.971 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6736
+t=170: Selected seed 195 with value = 0.6736
+Query 1/1: Action query time = 0.977 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8359
+t=186: Selected seed 195 with value = 0.8359
+Query 1/1: Action query time = 0.990 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9834
+t=202: Selected seed 195 with value = 0.9834
+Query 1/1: Action query time = 0.976 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9132
+t=218: Selected seed 195 with value = 0.9132
+Query 1/1: Action query time = 1.056 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7513
+t=234: Selected seed 195 with value = 0.7513
+Query 1/1: Action query time = 1.295 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7264
+t=250: Selected seed 195 with value = 0.7264
+Query 1/1: Action query time = 1.275 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6740
+t=266: Selected seed 195 with value = 0.6740
+Query 1/1: Action query time = 1.219 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4791
+t=282: Selected seed 195 with value = 0.4791
+Query 1/1: Action query time = 1.213 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4344
+t=298: Selected seed 195 with value = 0.4344
+Saved rollout MP4 at path ./rollouts/CLbest_g0_t135/2026_07_31-01_10_29--episode=70--success=False--task=open_the_top_drawer_and_put_the_bowl_ins.mp4
+Saved rollout MP4 at path ./rollouts/CLbest_g0_t135/2026_07_31-01_10_29--with_future_img--episode=70--success=False--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: False
+# episodes completed so far: 70
+# successes: 0 (0.0%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 21...
+Query 1/1: Action query time = 1.320 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3944
+t=10: Selected seed 195 with value = 0.3944
+Query 1/1: Action query time = 1.263 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4442
+t=26: Selected seed 195 with value = 0.4442
+Query 1/1: Action query time = 1.389 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5184
+t=42: Selected seed 195 with value = 0.5184
+Query 1/1: Action query time = 1.255 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5320
+t=58: Selected seed 195 with value = 0.5320
+Query 1/1: Action query time = 1.188 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7427
+t=74: Selected seed 195 with value = 0.7427
+Query 1/1: Action query time = 1.240 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7091
+t=90: Selected seed 195 with value = 0.7091
+Query 1/1: Action query time = 1.342 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9340
+t=106: Selected seed 195 with value = 0.9340
+Query 1/1: Action query time = 1.534 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9601
+t=122: Selected seed 195 with value = 0.9601
+Query 1/1: Action query time = 1.350 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9679
+t=138: Selected seed 195 with value = 0.9679
+Query 1/1: Action query time = 1.531 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9569
+t=154: Selected seed 195 with value = 0.9569
+Query 1/1: Action query time = 1.341 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5975
+t=170: Selected seed 195 with value = 0.5975
+Query 1/1: Action query time = 1.092 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7477
+t=186: Selected seed 195 with value = 0.7477
+Query 1/1: Action query time = 1.037 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9168
+t=202: Selected seed 195 with value = 0.9168
+Query 1/1: Action query time = 1.296 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9767
+t=218: Selected seed 195 with value = 0.9767
+Query 1/1: Action query time = 1.288 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9938
+t=234: Selected seed 195 with value = 0.9938
+Query 1/1: Action query time = 1.217 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=250: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 1.267 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=266: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.999 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=282: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 1.332 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9900
+t=298: Selected seed 195 with value = 0.9900
+Saved rollout MP4 at path ./rollouts/CLbest_g0_t135/2026_07_31-01_10_29--episode=71--success=False--task=open_the_top_drawer_and_put_the_bowl_ins.mp4
+Saved rollout MP4 at path ./rollouts/CLbest_g0_t135/2026_07_31-01_10_29--with_future_img--episode=71--success=False--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: False
+# episodes completed so far: 71
+# successes: 0 (0.0%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 22...
+Query 1/1: Action query time = 1.015 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3565
+t=10: Selected seed 195 with value = 0.3565
+Query 1/1: Action query time = 1.030 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3853
+t=26: Selected seed 195 with value = 0.3853
+Query 1/1: Action query time = 1.250 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4874
+t=42: Selected seed 195 with value = 0.4874
+Query 1/1: Action query time = 1.268 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6039
+t=58: Selected seed 195 with value = 0.6039
+Query 1/1: Action query time = 1.291 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6573
+t=74: Selected seed 195 with value = 0.6573
+Query 1/1: Action query time = 1.301 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4633
+t=90: Selected seed 195 with value = 0.4633
+Query 1/1: Action query time = 1.237 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5423
+t=106: Selected seed 195 with value = 0.5423
+Query 1/1: Action query time = 1.396 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6146
+t=122: Selected seed 195 with value = 0.6146
+Query 1/1: Action query time = 1.478 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7927
+t=138: Selected seed 195 with value = 0.7927
+Query 1/1: Action query time = 1.014 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8436
+t=154: Selected seed 195 with value = 0.8436
+Query 1/1: Action query time = 0.998 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8561
+t=170: Selected seed 195 with value = 0.8561
+Query 1/1: Action query time = 0.998 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9308
+t=186: Selected seed 195 with value = 0.9308
+Query 1/1: Action query time = 1.043 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9495
+t=202: Selected seed 195 with value = 0.9495
+Query 1/1: Action query time = 1.232 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9325
+t=218: Selected seed 195 with value = 0.9325
+Query 1/1: Action query time = 1.317 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9406
+t=234: Selected seed 195 with value = 0.9406
+Query 1/1: Action query time = 1.258 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9539
+t=250: Selected seed 195 with value = 0.9539
+Query 1/1: Action query time = 1.182 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9925
+t=266: Selected seed 195 with value = 0.9925
+Query 1/1: Action query time = 1.188 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9882
+t=282: Selected seed 195 with value = 0.9882
+Query 1/1: Action query time = 1.253 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9833
+t=298: Selected seed 195 with value = 0.9833
+Saved rollout MP4 at path ./rollouts/CLbest_g0_t135/2026_07_31-01_10_29--episode=72--success=False--task=open_the_top_drawer_and_put_the_bowl_ins.mp4
+Saved rollout MP4 at path ./rollouts/CLbest_g0_t135/2026_07_31-01_10_29--with_future_img--episode=72--success=False--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: False
+# episodes completed so far: 72
+# successes: 0 (0.0%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 23...
+Query 1/1: Action query time = 0.992 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3339
+t=10: Selected seed 195 with value = 0.3339
+Query 1/1: Action query time = 0.990 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4486
+t=26: Selected seed 195 with value = 0.4486
+Query 1/1: Action query time = 0.992 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5106
+t=42: Selected seed 195 with value = 0.5106
+Query 1/1: Action query time = 0.990 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6099
+t=58: Selected seed 195 with value = 0.6099
+Query 1/1: Action query time = 0.991 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5883
+t=74: Selected seed 195 with value = 0.5883
+Query 1/1: Action query time = 0.987 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6107
+t=90: Selected seed 195 with value = 0.6107
+Query 1/1: Action query time = 0.982 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4480
+t=106: Selected seed 195 with value = 0.4480
+Query 1/1: Action query time = 0.963 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4025
+t=122: Selected seed 195 with value = 0.4025
+Query 1/1: Action query time = 0.984 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4746
+t=138: Selected seed 195 with value = 0.4746
+Query 1/1: Action query time = 0.989 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4812
+t=154: Selected seed 195 with value = 0.4812
+Query 1/1: Action query time = 0.975 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5452
+t=170: Selected seed 195 with value = 0.5452
+Query 1/1: Action query time = 1.024 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7563
+t=186: Selected seed 195 with value = 0.7563
+Query 1/1: Action query time = 0.993 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8857
+t=202: Selected seed 195 with value = 0.8857
+Query 1/1: Action query time = 0.989 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8920
+t=218: Selected seed 195 with value = 0.8920
+Query 1/1: Action query time = 0.990 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9090
+t=234: Selected seed 195 with value = 0.9090
+Query 1/1: Action query time = 0.993 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9342
+t=250: Selected seed 195 with value = 0.9342
+Query 1/1: Action query time = 0.977 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9648
+t=266: Selected seed 195 with value = 0.9648
+Query 1/1: Action query time = 0.992 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9668
+t=282: Selected seed 195 with value = 0.9668
+Query 1/1: Action query time = 0.994 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7377
+t=298: Selected seed 195 with value = 0.7377
+Saved rollout MP4 at path ./rollouts/CLbest_g0_t135/2026_07_31-01_10_29--episode=73--success=False--task=open_the_top_drawer_and_put_the_bowl_ins.mp4
+Saved rollout MP4 at path ./rollouts/CLbest_g0_t135/2026_07_31-01_10_29--with_future_img--episode=73--success=False--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: False
+# episodes completed so far: 73
+# successes: 0 (0.0%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 24...
+Query 1/1: Action query time = 0.989 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3583
+t=10: Selected seed 195 with value = 0.3583
+Query 1/1: Action query time = 0.987 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4376
+t=26: Selected seed 195 with value = 0.4376
+Query 1/1: Action query time = 0.993 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4834
+t=42: Selected seed 195 with value = 0.4834
+Query 1/1: Action query time = 0.989 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5273
+t=58: Selected seed 195 with value = 0.5273
+Query 1/1: Action query time = 0.980 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6902
+t=74: Selected seed 195 with value = 0.6902
+Query 1/1: Action query time = 0.979 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4627
+t=90: Selected seed 195 with value = 0.4627
+Query 1/1: Action query time = 0.992 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8986
+t=106: Selected seed 195 with value = 0.8986
+Query 1/1: Action query time = 0.993 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8766
+t=122: Selected seed 195 with value = 0.8766
+Query 1/1: Action query time = 0.990 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6997
+t=138: Selected seed 195 with value = 0.6997
+Query 1/1: Action query time = 0.984 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8176
+t=154: Selected seed 195 with value = 0.8176
+Query 1/1: Action query time = 0.981 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6634
+t=170: Selected seed 195 with value = 0.6634
+Query 1/1: Action query time = 0.978 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8939
+t=186: Selected seed 195 with value = 0.8939
+Query 1/1: Action query time = 0.963 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8982
+t=202: Selected seed 195 with value = 0.8982
+Query 1/1: Action query time = 0.970 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9049
+t=218: Selected seed 195 with value = 0.9049
+Query 1/1: Action query time = 0.972 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9523
+t=234: Selected seed 195 with value = 0.9523
+Query 1/1: Action query time = 0.985 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9462
+t=250: Selected seed 195 with value = 0.9462
+Query 1/1: Action query time = 0.981 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9446
+t=266: Selected seed 195 with value = 0.9446
+Query 1/1: Action query time = 1.002 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9428
+t=282: Selected seed 195 with value = 0.9428
+Query 1/1: Action query time = 0.988 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9620
+t=298: Selected seed 195 with value = 0.9620
+Saved rollout MP4 at path ./rollouts/CLbest_g0_t135/2026_07_31-01_10_29--episode=74--success=False--task=open_the_top_drawer_and_put_the_bowl_ins.mp4
+Saved rollout MP4 at path ./rollouts/CLbest_g0_t135/2026_07_31-01_10_29--with_future_img--episode=74--success=False--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: False
+# episodes completed so far: 74
+# successes: 0 (0.0%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 25...
+Query 1/1: Action query time = 0.992 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3394
+t=10: Selected seed 195 with value = 0.3394
+Query 1/1: Action query time = 0.973 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3572
+t=26: Selected seed 195 with value = 0.3572
+Query 1/1: Action query time = 0.991 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4997
+t=42: Selected seed 195 with value = 0.4997
+Query 1/1: Action query time = 0.986 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5603
+t=58: Selected seed 195 with value = 0.5603
+Query 1/1: Action query time = 0.972 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5905
+t=74: Selected seed 195 with value = 0.5905
+Query 1/1: Action query time = 0.968 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3897
+t=90: Selected seed 195 with value = 0.3897
+Query 1/1: Action query time = 0.991 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3911
+t=106: Selected seed 195 with value = 0.3911
+Query 1/1: Action query time = 0.981 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4743
+t=122: Selected seed 195 with value = 0.4743
+Query 1/1: Action query time = 0.971 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4829
+t=138: Selected seed 195 with value = 0.4829
+Query 1/1: Action query time = 0.974 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5919
+t=154: Selected seed 195 with value = 0.5919
+Query 1/1: Action query time = 0.989 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7476
+t=170: Selected seed 195 with value = 0.7476
+Query 1/1: Action query time = 0.992 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8979
+t=186: Selected seed 195 with value = 0.8979
+Query 1/1: Action query time = 0.973 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9929
+t=202: Selected seed 195 with value = 0.9929
+Query 1/1: Action query time = 0.982 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7825
+t=218: Selected seed 195 with value = 0.7825
+Query 1/1: Action query time = 0.976 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7924
+t=234: Selected seed 195 with value = 0.7924
+Query 1/1: Action query time = 0.972 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7337
+t=250: Selected seed 195 with value = 0.7337
+Query 1/1: Action query time = 0.994 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6391
+t=266: Selected seed 195 with value = 0.6391
+Query 1/1: Action query time = 0.965 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4196
+t=282: Selected seed 195 with value = 0.4196
+Query 1/1: Action query time = 0.979 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4237
+t=298: Selected seed 195 with value = 0.4237
+Saved rollout MP4 at path ./rollouts/CLbest_g0_t135/2026_07_31-01_10_29--episode=75--success=False--task=open_the_top_drawer_and_put_the_bowl_ins.mp4
+Saved rollout MP4 at path ./rollouts/CLbest_g0_t135/2026_07_31-01_10_29--with_future_img--episode=75--success=False--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: False
+# episodes completed so far: 75
+# successes: 0 (0.0%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 26...
+Query 1/1: Action query time = 0.996 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3623
+t=10: Selected seed 195 with value = 0.3623
+Query 1/1: Action query time = 0.981 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3476
+t=26: Selected seed 195 with value = 0.3476
+Query 1/1: Action query time = 0.982 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5249
+t=42: Selected seed 195 with value = 0.5249
+Query 1/1: Action query time = 0.989 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5918
+t=58: Selected seed 195 with value = 0.5918
+Query 1/1: Action query time = 0.980 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3775
+t=74: Selected seed 195 with value = 0.3775
+Query 1/1: Action query time = 0.977 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4476
+t=90: Selected seed 195 with value = 0.4476
+Query 1/1: Action query time = 0.985 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5115
+t=106: Selected seed 195 with value = 0.5115
+Query 1/1: Action query time = 0.982 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5577
+t=122: Selected seed 195 with value = 0.5577
+Query 1/1: Action query time = 0.984 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7232
+t=138: Selected seed 195 with value = 0.7232
+Query 1/1: Action query time = 0.991 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8754
+t=154: Selected seed 195 with value = 0.8754
+Query 1/1: Action query time = 0.994 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9864
+t=170: Selected seed 195 with value = 0.9864
+Query 1/1: Action query time = 0.964 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9718
+t=186: Selected seed 195 with value = 0.9718
+Query 1/1: Action query time = 1.001 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9506
+t=202: Selected seed 195 with value = 0.9506
+Query 1/1: Action query time = 0.998 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9419
+t=218: Selected seed 195 with value = 0.9419
+Query 1/1: Action query time = 0.978 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9455
+t=234: Selected seed 195 with value = 0.9455
+Query 1/1: Action query time = 0.976 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9233
+t=250: Selected seed 195 with value = 0.9233
+Query 1/1: Action query time = 0.976 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8796
+t=266: Selected seed 195 with value = 0.8796
+Query 1/1: Action query time = 0.986 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8681
+t=282: Selected seed 195 with value = 0.8681
+Query 1/1: Action query time = 0.984 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8602
+t=298: Selected seed 195 with value = 0.8602
+Saved rollout MP4 at path ./rollouts/CLbest_g0_t135/2026_07_31-01_10_29--episode=76--success=False--task=open_the_top_drawer_and_put_the_bowl_ins.mp4
+Saved rollout MP4 at path ./rollouts/CLbest_g0_t135/2026_07_31-01_10_29--with_future_img--episode=76--success=False--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: False
+# episodes completed so far: 76
+# successes: 0 (0.0%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 27...
+Query 1/1: Action query time = 0.992 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3757
+t=10: Selected seed 195 with value = 0.3757
+Query 1/1: Action query time = 0.997 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4227
+t=26: Selected seed 195 with value = 0.4227
+Query 1/1: Action query time = 0.981 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4730
+t=42: Selected seed 195 with value = 0.4730
+Query 1/1: Action query time = 0.980 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5200
+t=58: Selected seed 195 with value = 0.5200
+Query 1/1: Action query time = 0.989 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6068
+t=74: Selected seed 195 with value = 0.6068
+Query 1/1: Action query time = 0.979 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6203
+t=90: Selected seed 195 with value = 0.6203
+Query 1/1: Action query time = 0.992 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6223
+t=106: Selected seed 195 with value = 0.6223
+Query 1/1: Action query time = 0.990 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4555
+t=122: Selected seed 195 with value = 0.4555
+Query 1/1: Action query time = 0.986 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4056
+t=138: Selected seed 195 with value = 0.4056
+Query 1/1: Action query time = 0.970 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4720
+t=154: Selected seed 195 with value = 0.4720
+Query 1/1: Action query time = 0.973 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5083
+t=170: Selected seed 195 with value = 0.5083
+Query 1/1: Action query time = 0.988 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5902
+t=186: Selected seed 195 with value = 0.5902
+Query 1/1: Action query time = 0.983 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9628
+t=202: Selected seed 195 with value = 0.9628
+Query 1/1: Action query time = 0.989 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7185
+t=218: Selected seed 195 with value = 0.7185
+Query 1/1: Action query time = 0.987 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9275
+t=234: Selected seed 195 with value = 0.9275
+Query 1/1: Action query time = 0.987 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9307
+t=250: Selected seed 195 with value = 0.9307
+Query 1/1: Action query time = 0.972 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9380
+t=266: Selected seed 195 with value = 0.9380
+Query 1/1: Action query time = 0.967 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9354
+t=282: Selected seed 195 with value = 0.9354
+Query 1/1: Action query time = 0.972 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9309
+t=298: Selected seed 195 with value = 0.9309
+Saved rollout MP4 at path ./rollouts/CLbest_g0_t135/2026_07_31-01_10_29--episode=77--success=False--task=open_the_top_drawer_and_put_the_bowl_ins.mp4
+Saved rollout MP4 at path ./rollouts/CLbest_g0_t135/2026_07_31-01_10_29--with_future_img--episode=77--success=False--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: False
+# episodes completed so far: 77
+# successes: 0 (0.0%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 28...
+Query 1/1: Action query time = 1.003 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3420
+t=10: Selected seed 195 with value = 0.3420
+Query 1/1: Action query time = 0.981 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3822
+t=26: Selected seed 195 with value = 0.3822
+Query 1/1: Action query time = 0.986 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4763
+t=42: Selected seed 195 with value = 0.4763
+Query 1/1: Action query time = 0.982 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6293
+t=58: Selected seed 195 with value = 0.6293
+Query 1/1: Action query time = 0.991 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6175
+t=74: Selected seed 195 with value = 0.6175
+Query 1/1: Action query time = 0.994 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5704
+t=90: Selected seed 195 with value = 0.5704
+Query 1/1: Action query time = 0.983 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3676
+t=106: Selected seed 195 with value = 0.3676
+Query 1/1: Action query time = 1.003 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4658
+t=122: Selected seed 195 with value = 0.4658
+Query 1/1: Action query time = 0.992 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4758
+t=138: Selected seed 195 with value = 0.4758
+Query 1/1: Action query time = 0.987 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5147
+t=154: Selected seed 195 with value = 0.5147
+Query 1/1: Action query time = 0.998 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6209
+t=170: Selected seed 195 with value = 0.6209
+Query 1/1: Action query time = 0.986 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7908
+t=186: Selected seed 195 with value = 0.7908
+Query 1/1: Action query time = 0.972 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9171
+t=202: Selected seed 195 with value = 0.9171
+Query 1/1: Action query time = 1.010 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9489
+t=218: Selected seed 195 with value = 0.9489
+Query 1/1: Action query time = 1.005 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9622
+t=234: Selected seed 195 with value = 0.9622
+Query 1/1: Action query time = 1.006 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8950
+t=250: Selected seed 195 with value = 0.8950
+Query 1/1: Action query time = 1.008 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8939
+t=266: Selected seed 195 with value = 0.8939
+Query 1/1: Action query time = 0.975 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8862
+t=282: Selected seed 195 with value = 0.8862
+Query 1/1: Action query time = 0.978 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8984
+t=298: Selected seed 195 with value = 0.8984
+Saved rollout MP4 at path ./rollouts/CLbest_g0_t135/2026_07_31-01_10_29--episode=78--success=False--task=open_the_top_drawer_and_put_the_bowl_ins.mp4
+Saved rollout MP4 at path ./rollouts/CLbest_g0_t135/2026_07_31-01_10_29--with_future_img--episode=78--success=False--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: False
+# episodes completed so far: 78
+# successes: 0 (0.0%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 29...
+Query 1/1: Action query time = 1.026 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3497
+t=10: Selected seed 195 with value = 0.3497
+Query 1/1: Action query time = 0.957 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3907
+t=26: Selected seed 195 with value = 0.3907
+Query 1/1: Action query time = 0.968 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5673
+t=42: Selected seed 195 with value = 0.5673
+Query 1/1: Action query time = 0.982 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5611
+t=58: Selected seed 195 with value = 0.5611
+Query 1/1: Action query time = 0.980 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5213
+t=74: Selected seed 195 with value = 0.5213
+Query 1/1: Action query time = 0.982 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3966
+t=90: Selected seed 195 with value = 0.3966
+Query 1/1: Action query time = 0.990 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4945
+t=106: Selected seed 195 with value = 0.4945
+Query 1/1: Action query time = 0.966 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5498
+t=122: Selected seed 195 with value = 0.5498
+Query 1/1: Action query time = 0.985 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5930
+t=138: Selected seed 195 with value = 0.5930
+Query 1/1: Action query time = 0.990 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9223
+t=154: Selected seed 195 with value = 0.9223
+Query 1/1: Action query time = 0.986 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8685
+t=170: Selected seed 195 with value = 0.8685
+Query 1/1: Action query time = 0.990 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9554
+t=186: Selected seed 195 with value = 0.9554
+Query 1/1: Action query time = 1.016 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9544
+t=202: Selected seed 195 with value = 0.9544
+Query 1/1: Action query time = 1.030 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9626
+t=218: Selected seed 195 with value = 0.9626
+Query 1/1: Action query time = 0.983 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9585
+t=234: Selected seed 195 with value = 0.9585
+Query 1/1: Action query time = 0.984 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8440
+t=250: Selected seed 195 with value = 0.8440
+Query 1/1: Action query time = 0.987 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7732
+t=266: Selected seed 195 with value = 0.7732
+Query 1/1: Action query time = 0.991 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6807
+t=282: Selected seed 195 with value = 0.6807
+Query 1/1: Action query time = 1.005 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6161
+t=298: Selected seed 195 with value = 0.6161
+Saved rollout MP4 at path ./rollouts/CLbest_g0_t135/2026_07_31-01_10_29--episode=79--success=False--task=open_the_top_drawer_and_put_the_bowl_ins.mp4
+Saved rollout MP4 at path ./rollouts/CLbest_g0_t135/2026_07_31-01_10_29--with_future_img--episode=79--success=False--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: False
+# episodes completed so far: 79
+# successes: 0 (0.0%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 30...
+Query 1/1: Action query time = 0.987 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3622
+t=10: Selected seed 195 with value = 0.3622
+Query 1/1: Action query time = 0.981 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4394
+t=26: Selected seed 195 with value = 0.4394
+Query 1/1: Action query time = 0.989 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5139
+t=42: Selected seed 195 with value = 0.5139
+Query 1/1: Action query time = 0.982 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5847
+t=58: Selected seed 195 with value = 0.5847
+Query 1/1: Action query time = 0.971 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6001
+t=74: Selected seed 195 with value = 0.6001
+Query 1/1: Action query time = 0.981 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6184
+t=90: Selected seed 195 with value = 0.6184
+Query 1/1: Action query time = 0.972 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4054
+t=106: Selected seed 195 with value = 0.4054
+Query 1/1: Action query time = 0.966 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5137
+t=122: Selected seed 195 with value = 0.5137
+Query 1/1: Action query time = 0.992 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5112
+t=138: Selected seed 195 with value = 0.5112
+Query 1/1: Action query time = 0.980 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7231
+t=154: Selected seed 195 with value = 0.7231
+Query 1/1: Action query time = 0.986 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7175
+t=170: Selected seed 195 with value = 0.7175
+Query 1/1: Action query time = 0.984 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7402
+t=186: Selected seed 195 with value = 0.7402
+Query 1/1: Action query time = 0.981 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8972
+t=202: Selected seed 195 with value = 0.8972
+Query 1/1: Action query time = 0.978 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7434
+t=218: Selected seed 195 with value = 0.7434
+Query 1/1: Action query time = 0.977 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7115
+t=234: Selected seed 195 with value = 0.7115
+Query 1/1: Action query time = 0.988 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5575
+t=250: Selected seed 195 with value = 0.5575
+Query 1/1: Action query time = 0.986 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3696
+t=266: Selected seed 195 with value = 0.3696
+Query 1/1: Action query time = 1.000 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4748
+t=282: Selected seed 195 with value = 0.4748
+Query 1/1: Action query time = 0.986 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6393
+t=298: Selected seed 195 with value = 0.6393
+Saved rollout MP4 at path ./rollouts/CLbest_g0_t135/2026_07_31-01_10_29--episode=80--success=False--task=open_the_top_drawer_and_put_the_bowl_ins.mp4
+Saved rollout MP4 at path ./rollouts/CLbest_g0_t135/2026_07_31-01_10_29--with_future_img--episode=80--success=False--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: False
+# episodes completed so far: 80
+# successes: 0 (0.0%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 31...
+Query 1/1: Action query time = 1.006 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3746
+t=10: Selected seed 195 with value = 0.3746
+Query 1/1: Action query time = 0.984 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4473
+t=26: Selected seed 195 with value = 0.4473
+Query 1/1: Action query time = 0.981 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4923
+t=42: Selected seed 195 with value = 0.4923
+Query 1/1: Action query time = 0.984 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4942
+t=58: Selected seed 195 with value = 0.4942
+Query 1/1: Action query time = 0.992 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6216
+t=74: Selected seed 195 with value = 0.6216
+Query 1/1: Action query time = 0.973 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6246
+t=90: Selected seed 195 with value = 0.6246
+Query 1/1: Action query time = 0.974 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7783
+t=106: Selected seed 195 with value = 0.7783
+Query 1/1: Action query time = 0.968 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7985
+t=122: Selected seed 195 with value = 0.7985
+Query 1/1: Action query time = 0.977 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8224
+t=138: Selected seed 195 with value = 0.8224
+Query 1/1: Action query time = 0.962 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7414
+t=154: Selected seed 195 with value = 0.7414
+Query 1/1: Action query time = 0.964 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7258
+t=170: Selected seed 195 with value = 0.7258
+Query 1/1: Action query time = 0.978 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7268
+t=186: Selected seed 195 with value = 0.7268
+Query 1/1: Action query time = 0.977 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7972
+t=202: Selected seed 195 with value = 0.7972
+Query 1/1: Action query time = 0.956 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7472
+t=218: Selected seed 195 with value = 0.7472
+Query 1/1: Action query time = 0.987 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7803
+t=234: Selected seed 195 with value = 0.7803
+Query 1/1: Action query time = 0.986 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9327
+t=250: Selected seed 195 with value = 0.9327
+Query 1/1: Action query time = 0.970 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9566
+t=266: Selected seed 195 with value = 0.9566
+Query 1/1: Action query time = 0.975 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7334
+t=282: Selected seed 195 with value = 0.7334
+Query 1/1: Action query time = 0.972 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6707
+t=298: Selected seed 195 with value = 0.6707
+Saved rollout MP4 at path ./rollouts/CLbest_g0_t135/2026_07_31-01_10_29--episode=81--success=False--task=open_the_top_drawer_and_put_the_bowl_ins.mp4
+Saved rollout MP4 at path ./rollouts/CLbest_g0_t135/2026_07_31-01_10_29--with_future_img--episode=81--success=False--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: False
+# episodes completed so far: 81
+# successes: 0 (0.0%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 32...
+Query 1/1: Action query time = 0.977 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3645
+t=10: Selected seed 195 with value = 0.3645
+Query 1/1: Action query time = 0.979 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4393
+t=26: Selected seed 195 with value = 0.4393
+Query 1/1: Action query time = 0.973 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5423
+t=42: Selected seed 195 with value = 0.5423
+Query 1/1: Action query time = 0.977 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5943
+t=58: Selected seed 195 with value = 0.5943
+Query 1/1: Action query time = 0.999 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6153
+t=74: Selected seed 195 with value = 0.6153
+Query 1/1: Action query time = 0.983 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5681
+t=90: Selected seed 195 with value = 0.5681
+Query 1/1: Action query time = 1.001 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3877
+t=106: Selected seed 195 with value = 0.3877
+Query 1/1: Action query time = 1.017 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4814
+t=122: Selected seed 195 with value = 0.4814
+Query 1/1: Action query time = 0.967 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5021
+t=138: Selected seed 195 with value = 0.5021
+Query 1/1: Action query time = 0.970 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6417
+t=154: Selected seed 195 with value = 0.6417
+Query 1/1: Action query time = 0.998 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6531
+t=170: Selected seed 195 with value = 0.6531
+Query 1/1: Action query time = 0.975 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8582
+t=186: Selected seed 195 with value = 0.8582
+Query 1/1: Action query time = 0.976 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8930
+t=202: Selected seed 195 with value = 0.8930
+Query 1/1: Action query time = 0.962 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9199
+t=218: Selected seed 195 with value = 0.9199
+Query 1/1: Action query time = 0.978 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9430
+t=234: Selected seed 195 with value = 0.9430
+Query 1/1: Action query time = 0.982 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9548
+t=250: Selected seed 195 with value = 0.9548
+Query 1/1: Action query time = 0.972 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7932
+t=266: Selected seed 195 with value = 0.7932
+Query 1/1: Action query time = 1.010 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7610
+t=282: Selected seed 195 with value = 0.7610
+Query 1/1: Action query time = 0.989 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7013
+t=298: Selected seed 195 with value = 0.7013
+Saved rollout MP4 at path ./rollouts/CLbest_g0_t135/2026_07_31-01_10_29--episode=82--success=False--task=open_the_top_drawer_and_put_the_bowl_ins.mp4
+Saved rollout MP4 at path ./rollouts/CLbest_g0_t135/2026_07_31-01_10_29--with_future_img--episode=82--success=False--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: False
+# episodes completed so far: 82
+# successes: 0 (0.0%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 33...
+Query 1/1: Action query time = 0.999 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3496
+t=10: Selected seed 195 with value = 0.3496
+Query 1/1: Action query time = 0.984 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3961
+t=26: Selected seed 195 with value = 0.3961
+Query 1/1: Action query time = 0.984 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4510
+t=42: Selected seed 195 with value = 0.4510
+Query 1/1: Action query time = 0.980 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5173
+t=58: Selected seed 195 with value = 0.5173
+Query 1/1: Action query time = 0.987 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6361
+t=74: Selected seed 195 with value = 0.6361
+Query 1/1: Action query time = 0.991 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5980
+t=90: Selected seed 195 with value = 0.5980
+Query 1/1: Action query time = 0.992 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5186
+t=106: Selected seed 195 with value = 0.5186
+Query 1/1: Action query time = 0.979 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3947
+t=122: Selected seed 195 with value = 0.3947
+Query 1/1: Action query time = 0.982 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4556
+t=138: Selected seed 195 with value = 0.4556
+Query 1/1: Action query time = 0.979 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4828
+t=154: Selected seed 195 with value = 0.4828
+Query 1/1: Action query time = 0.974 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5463
+t=170: Selected seed 195 with value = 0.5463
+Query 1/1: Action query time = 0.992 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5979
+t=186: Selected seed 195 with value = 0.5979
+Query 1/1: Action query time = 0.990 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6353
+t=202: Selected seed 195 with value = 0.6353
+Query 1/1: Action query time = 0.982 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7281
+t=218: Selected seed 195 with value = 0.7281
+Query 1/1: Action query time = 0.973 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8163
+t=234: Selected seed 195 with value = 0.8163
+Query 1/1: Action query time = 0.969 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9296
+t=250: Selected seed 195 with value = 0.9296
+Query 1/1: Action query time = 0.976 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9293
+t=266: Selected seed 195 with value = 0.9293
+Query 1/1: Action query time = 0.970 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9385
+t=282: Selected seed 195 with value = 0.9385
+Query 1/1: Action query time = 0.983 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9456
+t=298: Selected seed 195 with value = 0.9456
+Saved rollout MP4 at path ./rollouts/CLbest_g0_t135/2026_07_31-01_10_29--episode=83--success=False--task=open_the_top_drawer_and_put_the_bowl_ins.mp4
+Saved rollout MP4 at path ./rollouts/CLbest_g0_t135/2026_07_31-01_10_29--with_future_img--episode=83--success=False--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: False
+# episodes completed so far: 83
+# successes: 0 (0.0%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 34...
+Query 1/1: Action query time = 0.996 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3392
+t=10: Selected seed 195 with value = 0.3392
+Query 1/1: Action query time = 1.000 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3974
+t=26: Selected seed 195 with value = 0.3974
+Query 1/1: Action query time = 0.985 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4771
+t=42: Selected seed 195 with value = 0.4771
+Query 1/1: Action query time = 0.978 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5488
+t=58: Selected seed 195 with value = 0.5488
+Query 1/1: Action query time = 0.986 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6073
+t=74: Selected seed 195 with value = 0.6073
+Query 1/1: Action query time = 0.973 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6898
+t=90: Selected seed 195 with value = 0.6898
+Query 1/1: Action query time = 0.968 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6404
+t=106: Selected seed 195 with value = 0.6404
+Query 1/1: Action query time = 0.970 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5737
+t=122: Selected seed 195 with value = 0.5737
+Query 1/1: Action query time = 0.976 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6459
+t=138: Selected seed 195 with value = 0.6459
+Query 1/1: Action query time = 0.981 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7797
+t=154: Selected seed 195 with value = 0.7797
+Query 1/1: Action query time = 0.987 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9034
+t=170: Selected seed 195 with value = 0.9034
+Query 1/1: Action query time = 0.985 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9733
+t=186: Selected seed 195 with value = 0.9733
+Query 1/1: Action query time = 0.987 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9654
+t=202: Selected seed 195 with value = 0.9654
+Query 1/1: Action query time = 1.017 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9863
+t=218: Selected seed 195 with value = 0.9863
+Query 1/1: Action query time = 0.997 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9878
+t=234: Selected seed 195 with value = 0.9878
+Query 1/1: Action query time = 0.994 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9914
+t=250: Selected seed 195 with value = 0.9914
+Query 1/1: Action query time = 0.977 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9909
+t=266: Selected seed 195 with value = 0.9909
+Query 1/1: Action query time = 0.984 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9888
+t=282: Selected seed 195 with value = 0.9888
+Query 1/1: Action query time = 0.978 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9892
+t=298: Selected seed 195 with value = 0.9892
+Saved rollout MP4 at path ./rollouts/CLbest_g0_t135/2026_07_31-01_10_29--episode=84--success=False--task=open_the_top_drawer_and_put_the_bowl_ins.mp4
+Saved rollout MP4 at path ./rollouts/CLbest_g0_t135/2026_07_31-01_10_29--with_future_img--episode=84--success=False--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: False
+# episodes completed so far: 84
+# successes: 0 (0.0%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 35...
+Query 1/1: Action query time = 1.010 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3752
+t=10: Selected seed 195 with value = 0.3752
+Query 1/1: Action query time = 0.979 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4650
+t=26: Selected seed 195 with value = 0.4650
+Query 1/1: Action query time = 0.969 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5233
+t=42: Selected seed 195 with value = 0.5233
+Query 1/1: Action query time = 1.003 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6102
+t=58: Selected seed 195 with value = 0.6102
+Query 1/1: Action query time = 0.985 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5984
+t=74: Selected seed 195 with value = 0.5984
+Query 1/1: Action query time = 0.983 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6288
+t=90: Selected seed 195 with value = 0.6288
+Query 1/1: Action query time = 0.994 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4825
+t=106: Selected seed 195 with value = 0.4825
+Query 1/1: Action query time = 1.026 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6066
+t=122: Selected seed 195 with value = 0.6066
+Query 1/1: Action query time = 1.053 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6489
+t=138: Selected seed 195 with value = 0.6489
+Query 1/1: Action query time = 1.097 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7400
+t=154: Selected seed 195 with value = 0.7400
+Query 1/1: Action query time = 1.094 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7605
+t=170: Selected seed 195 with value = 0.7605
+Query 1/1: Action query time = 1.083 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7543
+t=186: Selected seed 195 with value = 0.7543
+Query 1/1: Action query time = 0.993 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7859
+t=202: Selected seed 195 with value = 0.7859
+Query 1/1: Action query time = 1.006 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6614
+t=218: Selected seed 195 with value = 0.6614
+Query 1/1: Action query time = 0.983 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7680
+t=234: Selected seed 195 with value = 0.7680
+Query 1/1: Action query time = 1.003 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6687
+t=250: Selected seed 195 with value = 0.6687
+Query 1/1: Action query time = 0.991 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8456
+t=266: Selected seed 195 with value = 0.8456
+Query 1/1: Action query time = 0.977 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7689
+t=282: Selected seed 195 with value = 0.7689
+Query 1/1: Action query time = 0.993 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7011
+t=298: Selected seed 195 with value = 0.7011
+Saved rollout MP4 at path ./rollouts/CLbest_g0_t135/2026_07_31-01_10_29--episode=85--success=False--task=open_the_top_drawer_and_put_the_bowl_ins.mp4
+Saved rollout MP4 at path ./rollouts/CLbest_g0_t135/2026_07_31-01_10_29--with_future_img--episode=85--success=False--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: False
+# episodes completed so far: 85
+# successes: 0 (0.0%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 36...
+Query 1/1: Action query time = 0.989 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3998
+t=10: Selected seed 195 with value = 0.3998
+Query 1/1: Action query time = 0.974 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4422
+t=26: Selected seed 195 with value = 0.4422
+Query 1/1: Action query time = 0.986 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5780
+t=42: Selected seed 195 with value = 0.5780
+Query 1/1: Action query time = 0.980 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6733
+t=58: Selected seed 195 with value = 0.6733
+Query 1/1: Action query time = 0.982 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6997
+t=74: Selected seed 195 with value = 0.6997
+Query 1/1: Action query time = 0.988 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4495
+t=90: Selected seed 195 with value = 0.4495
+Query 1/1: Action query time = 0.985 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4935
+t=106: Selected seed 195 with value = 0.4935
+Query 1/1: Action query time = 0.996 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5397
+t=122: Selected seed 195 with value = 0.5397
+Query 1/1: Action query time = 0.989 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6103
+t=138: Selected seed 195 with value = 0.6103
+Query 1/1: Action query time = 1.002 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6232
+t=154: Selected seed 195 with value = 0.6232
+Query 1/1: Action query time = 0.971 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6257
+t=170: Selected seed 195 with value = 0.6257
+Query 1/1: Action query time = 0.988 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6295
+t=186: Selected seed 195 with value = 0.6295
+Query 1/1: Action query time = 0.983 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6593
+t=202: Selected seed 195 with value = 0.6593
+Query 1/1: Action query time = 0.975 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6730
+t=218: Selected seed 195 with value = 0.6730
+Query 1/1: Action query time = 0.988 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6835
+t=234: Selected seed 195 with value = 0.6835
+Query 1/1: Action query time = 0.970 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7166
+t=250: Selected seed 195 with value = 0.7166
+Query 1/1: Action query time = 0.982 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6882
+t=266: Selected seed 195 with value = 0.6882
+Query 1/1: Action query time = 0.979 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7603
+t=282: Selected seed 195 with value = 0.7603
+Query 1/1: Action query time = 0.981 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6837
+t=298: Selected seed 195 with value = 0.6837
+Saved rollout MP4 at path ./rollouts/CLbest_g0_t135/2026_07_31-01_10_29--episode=86--success=False--task=open_the_top_drawer_and_put_the_bowl_ins.mp4
+Saved rollout MP4 at path ./rollouts/CLbest_g0_t135/2026_07_31-01_10_29--with_future_img--episode=86--success=False--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: False
+# episodes completed so far: 86
+# successes: 0 (0.0%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 37...
+Query 1/1: Action query time = 0.987 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3548
+t=10: Selected seed 195 with value = 0.3548
+Query 1/1: Action query time = 0.985 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4279
+t=26: Selected seed 195 with value = 0.4279
+Query 1/1: Action query time = 0.993 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5033
+t=42: Selected seed 195 with value = 0.5033
+Query 1/1: Action query time = 0.991 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5269
+t=58: Selected seed 195 with value = 0.5269
+Query 1/1: Action query time = 0.980 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6828
+t=74: Selected seed 195 with value = 0.6828
+Query 1/1: Action query time = 0.967 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4829
+t=90: Selected seed 195 with value = 0.4829
+Query 1/1: Action query time = 0.971 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9332
+t=106: Selected seed 195 with value = 0.9332
+Query 1/1: Action query time = 0.982 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8979
+t=122: Selected seed 195 with value = 0.8979
+Query 1/1: Action query time = 0.983 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6276
+t=138: Selected seed 195 with value = 0.6276
+Query 1/1: Action query time = 0.976 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6654
+t=154: Selected seed 195 with value = 0.6654
+Query 1/1: Action query time = 0.974 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6869
+t=170: Selected seed 195 with value = 0.6869
+Query 1/1: Action query time = 0.983 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8357
+t=186: Selected seed 195 with value = 0.8357
+Query 1/1: Action query time = 0.989 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9287
+t=202: Selected seed 195 with value = 0.9287
+Query 1/1: Action query time = 0.980 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9609
+t=218: Selected seed 195 with value = 0.9609
+Query 1/1: Action query time = 0.991 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9680
+t=234: Selected seed 195 with value = 0.9680
+Query 1/1: Action query time = 0.993 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9835
+t=250: Selected seed 195 with value = 0.9835
+Query 1/1: Action query time = 0.993 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9875
+t=266: Selected seed 195 with value = 0.9875
+Query 1/1: Action query time = 0.991 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9889
+t=282: Selected seed 195 with value = 0.9889
+Query 1/1: Action query time = 0.980 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9834
+t=298: Selected seed 195 with value = 0.9834
+Saved rollout MP4 at path ./rollouts/CLbest_g0_t135/2026_07_31-01_10_29--episode=87--success=False--task=open_the_top_drawer_and_put_the_bowl_ins.mp4
+Saved rollout MP4 at path ./rollouts/CLbest_g0_t135/2026_07_31-01_10_29--with_future_img--episode=87--success=False--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: False
+# episodes completed so far: 87
+# successes: 0 (0.0%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 38...
+Query 1/1: Action query time = 1.017 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3003
+t=10: Selected seed 195 with value = 0.3003
+Query 1/1: Action query time = 0.994 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4073
+t=26: Selected seed 195 with value = 0.4073
+Query 1/1: Action query time = 0.977 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4951
+t=42: Selected seed 195 with value = 0.4951
+Query 1/1: Action query time = 0.979 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5651
+t=58: Selected seed 195 with value = 0.5651
+Query 1/1: Action query time = 0.976 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6486
+t=74: Selected seed 195 with value = 0.6486
+Query 1/1: Action query time = 0.981 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6504
+t=90: Selected seed 195 with value = 0.6504
+Query 1/1: Action query time = 0.994 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4906
+t=106: Selected seed 195 with value = 0.4906
+Query 1/1: Action query time = 0.998 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3806
+t=122: Selected seed 195 with value = 0.3806
+Query 1/1: Action query time = 0.978 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4991
+t=138: Selected seed 195 with value = 0.4991
+Query 1/1: Action query time = 0.997 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5049
+t=154: Selected seed 195 with value = 0.5049
+Query 1/1: Action query time = 0.994 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6775
+t=170: Selected seed 195 with value = 0.6775
+Query 1/1: Action query time = 0.996 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7932
+t=186: Selected seed 195 with value = 0.7932
+Query 1/1: Action query time = 0.993 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8989
+t=202: Selected seed 195 with value = 0.8989
+Query 1/1: Action query time = 0.979 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8687
+t=218: Selected seed 195 with value = 0.8687
+Query 1/1: Action query time = 0.988 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9120
+t=234: Selected seed 195 with value = 0.9120
+Query 1/1: Action query time = 0.998 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9155
+t=250: Selected seed 195 with value = 0.9155
+Query 1/1: Action query time = 0.984 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7573
+t=266: Selected seed 195 with value = 0.7573
+Query 1/1: Action query time = 0.983 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6984
+t=282: Selected seed 195 with value = 0.6984
+Query 1/1: Action query time = 0.982 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6141
+t=298: Selected seed 195 with value = 0.6141
+Saved rollout MP4 at path ./rollouts/CLbest_g0_t135/2026_07_31-01_10_29--episode=88--success=False--task=open_the_top_drawer_and_put_the_bowl_ins.mp4
+Saved rollout MP4 at path ./rollouts/CLbest_g0_t135/2026_07_31-01_10_29--with_future_img--episode=88--success=False--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: False
+# episodes completed so far: 88
+# successes: 0 (0.0%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 39...
+Query 1/1: Action query time = 0.983 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3376
+t=10: Selected seed 195 with value = 0.3376
+Query 1/1: Action query time = 0.983 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4174
+t=26: Selected seed 195 with value = 0.4174
+Query 1/1: Action query time = 0.960 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5208
+t=42: Selected seed 195 with value = 0.5208
+Query 1/1: Action query time = 0.993 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6047
+t=58: Selected seed 195 with value = 0.6047
+Query 1/1: Action query time = 0.970 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5918
+t=74: Selected seed 195 with value = 0.5918
+Query 1/1: Action query time = 0.982 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6100
+t=90: Selected seed 195 with value = 0.6100
+Query 1/1: Action query time = 0.989 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4309
+t=106: Selected seed 195 with value = 0.4309
+Query 1/1: Action query time = 0.967 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4660
+t=122: Selected seed 195 with value = 0.4660
+Query 1/1: Action query time = 0.983 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4819
+t=138: Selected seed 195 with value = 0.4819
+Query 1/1: Action query time = 0.987 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5280
+t=154: Selected seed 195 with value = 0.5280
+Query 1/1: Action query time = 0.986 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5427
+t=170: Selected seed 195 with value = 0.5427
+Query 1/1: Action query time = 1.001 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6729
+t=186: Selected seed 195 with value = 0.6729
+Query 1/1: Action query time = 0.974 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6048
+t=202: Selected seed 195 with value = 0.6048
+Query 1/1: Action query time = 0.975 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6061
+t=218: Selected seed 195 with value = 0.6061
+Query 1/1: Action query time = 0.983 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7171
+t=234: Selected seed 195 with value = 0.7171
+Query 1/1: Action query time = 0.989 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6625
+t=250: Selected seed 195 with value = 0.6625
+Query 1/1: Action query time = 0.979 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8427
+t=266: Selected seed 195 with value = 0.8427
+Query 1/1: Action query time = 0.987 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8934
+t=282: Selected seed 195 with value = 0.8934
+Query 1/1: Action query time = 0.982 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9348
+t=298: Selected seed 195 with value = 0.9348
+Saved rollout MP4 at path ./rollouts/CLbest_g0_t135/2026_07_31-01_10_29--episode=89--success=False--task=open_the_top_drawer_and_put_the_bowl_ins.mp4
+Saved rollout MP4 at path ./rollouts/CLbest_g0_t135/2026_07_31-01_10_29--with_future_img--episode=89--success=False--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: False
+# episodes completed so far: 89
+# successes: 0 (0.0%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 40...
+Query 1/1: Action query time = 1.012 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3827
+t=10: Selected seed 195 with value = 0.3827
+Query 1/1: Action query time = 0.995 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4658
+t=26: Selected seed 195 with value = 0.4658
+Query 1/1: Action query time = 0.975 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5257
+t=42: Selected seed 195 with value = 0.5257
+Query 1/1: Action query time = 0.981 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6038
+t=58: Selected seed 195 with value = 0.6038
+Query 1/1: Action query time = 0.995 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6926
+t=74: Selected seed 195 with value = 0.6926
+Query 1/1: Action query time = 1.006 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5164
+t=90: Selected seed 195 with value = 0.5164
+Query 1/1: Action query time = 0.996 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5303
+t=106: Selected seed 195 with value = 0.5303
+Query 1/1: Action query time = 0.997 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6096
+t=122: Selected seed 195 with value = 0.6096
+Query 1/1: Action query time = 0.997 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7441
+t=138: Selected seed 195 with value = 0.7441
+Query 1/1: Action query time = 0.981 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8851
+t=154: Selected seed 195 with value = 0.8851
+Query 1/1: Action query time = 0.985 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9643
+t=170: Selected seed 195 with value = 0.9643
+Query 1/1: Action query time = 0.988 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9350
+t=186: Selected seed 195 with value = 0.9350
+Query 1/1: Action query time = 0.980 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9940
+t=202: Selected seed 195 with value = 0.9940
+Query 1/1: Action query time = 0.989 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=218: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.999 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=234: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.979 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=250: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.983 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=266: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.969 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=282: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.980 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9892
+t=298: Selected seed 195 with value = 0.9892
+Saved rollout MP4 at path ./rollouts/CLbest_g0_t135/2026_07_31-01_10_29--episode=90--success=False--task=open_the_top_drawer_and_put_the_bowl_ins.mp4
+Saved rollout MP4 at path ./rollouts/CLbest_g0_t135/2026_07_31-01_10_29--with_future_img--episode=90--success=False--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: False
+# episodes completed so far: 90
+# successes: 0 (0.0%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 41...
+Query 1/1: Action query time = 0.987 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3714
+t=10: Selected seed 195 with value = 0.3714
+Query 1/1: Action query time = 0.971 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4095
+t=26: Selected seed 195 with value = 0.4095
+Query 1/1: Action query time = 0.986 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4625
+t=42: Selected seed 195 with value = 0.4625
+Query 1/1: Action query time = 0.989 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5087
+t=58: Selected seed 195 with value = 0.5087
+Query 1/1: Action query time = 0.977 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6104
+t=74: Selected seed 195 with value = 0.6104
+Query 1/1: Action query time = 0.977 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6331
+t=90: Selected seed 195 with value = 0.6331
+Query 1/1: Action query time = 0.985 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6458
+t=106: Selected seed 195 with value = 0.6458
+Query 1/1: Action query time = 0.976 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5970
+t=122: Selected seed 195 with value = 0.5970
+Query 1/1: Action query time = 0.983 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4882
+t=138: Selected seed 195 with value = 0.4882
+Query 1/1: Action query time = 0.975 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4320
+t=154: Selected seed 195 with value = 0.4320
+Query 1/1: Action query time = 0.993 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5331
+t=170: Selected seed 195 with value = 0.5331
+Query 1/1: Action query time = 0.973 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5370
+t=186: Selected seed 195 with value = 0.5370
+Query 1/1: Action query time = 0.991 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5490
+t=202: Selected seed 195 with value = 0.5490
+Query 1/1: Action query time = 0.971 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5471
+t=218: Selected seed 195 with value = 0.5471
+Query 1/1: Action query time = 0.997 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5494
+t=234: Selected seed 195 with value = 0.5494
+Query 1/1: Action query time = 0.991 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5595
+t=250: Selected seed 195 with value = 0.5595
+Query 1/1: Action query time = 0.997 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5821
+t=266: Selected seed 195 with value = 0.5821
+Query 1/1: Action query time = 0.983 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6026
+t=282: Selected seed 195 with value = 0.6026
+Query 1/1: Action query time = 0.967 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6663
+t=298: Selected seed 195 with value = 0.6663
+Saved rollout MP4 at path ./rollouts/CLbest_g0_t135/2026_07_31-01_10_29--episode=91--success=False--task=open_the_top_drawer_and_put_the_bowl_ins.mp4
+Saved rollout MP4 at path ./rollouts/CLbest_g0_t135/2026_07_31-01_10_29--with_future_img--episode=91--success=False--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: False
+# episodes completed so far: 91
+# successes: 0 (0.0%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 42...
+Query 1/1: Action query time = 1.002 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3699
+t=10: Selected seed 195 with value = 0.3699
+Query 1/1: Action query time = 0.972 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4293
+t=26: Selected seed 195 with value = 0.4293
+Query 1/1: Action query time = 0.989 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5286
+t=42: Selected seed 195 with value = 0.5286
+Query 1/1: Action query time = 0.990 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5132
+t=58: Selected seed 195 with value = 0.5132
+Query 1/1: Action query time = 0.988 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6074
+t=74: Selected seed 195 with value = 0.6074
+Query 1/1: Action query time = 0.976 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6108
+t=90: Selected seed 195 with value = 0.6108
+Query 1/1: Action query time = 0.976 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5793
+t=106: Selected seed 195 with value = 0.5793
+Query 1/1: Action query time = 0.985 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3798
+t=122: Selected seed 195 with value = 0.3798
+Query 1/1: Action query time = 0.992 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4829
+t=138: Selected seed 195 with value = 0.4829
+Query 1/1: Action query time = 0.993 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4794
+t=154: Selected seed 195 with value = 0.4794
+Query 1/1: Action query time = 1.002 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5080
+t=170: Selected seed 195 with value = 0.5080
+Query 1/1: Action query time = 1.008 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6177
+t=186: Selected seed 195 with value = 0.6177
+Query 1/1: Action query time = 0.979 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6624
+t=202: Selected seed 195 with value = 0.6624
+Query 1/1: Action query time = 0.997 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7942
+t=218: Selected seed 195 with value = 0.7942
+Query 1/1: Action query time = 0.964 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6815
+t=234: Selected seed 195 with value = 0.6815
+Query 1/1: Action query time = 0.981 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8339
+t=250: Selected seed 195 with value = 0.8339
+Query 1/1: Action query time = 0.969 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6775
+t=266: Selected seed 195 with value = 0.6775
+Query 1/1: Action query time = 0.977 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8898
+t=282: Selected seed 195 with value = 0.8898
+Query 1/1: Action query time = 0.982 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7929
+t=298: Selected seed 195 with value = 0.7929
+Saved rollout MP4 at path ./rollouts/CLbest_g0_t135/2026_07_31-01_10_29--episode=92--success=False--task=open_the_top_drawer_and_put_the_bowl_ins.mp4
+Saved rollout MP4 at path ./rollouts/CLbest_g0_t135/2026_07_31-01_10_29--with_future_img--episode=92--success=False--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: False
+# episodes completed so far: 92
+# successes: 0 (0.0%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 43...
+Query 1/1: Action query time = 0.995 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3505
+t=10: Selected seed 195 with value = 0.3505
+Query 1/1: Action query time = 0.993 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3953
+t=26: Selected seed 195 with value = 0.3953
+Query 1/1: Action query time = 0.986 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5512
+t=42: Selected seed 195 with value = 0.5512
+Query 1/1: Action query time = 0.978 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6478
+t=58: Selected seed 195 with value = 0.6478
+Query 1/1: Action query time = 0.985 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6098
+t=74: Selected seed 195 with value = 0.6098
+Query 1/1: Action query time = 0.975 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4977
+t=90: Selected seed 195 with value = 0.4977
+Query 1/1: Action query time = 0.978 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4028
+t=106: Selected seed 195 with value = 0.4028
+Query 1/1: Action query time = 0.993 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4646
+t=122: Selected seed 195 with value = 0.4646
+Query 1/1: Action query time = 0.979 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4728
+t=138: Selected seed 195 with value = 0.4728
+Query 1/1: Action query time = 0.977 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4816
+t=154: Selected seed 195 with value = 0.4816
+Query 1/1: Action query time = 0.978 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5023
+t=170: Selected seed 195 with value = 0.5023
+Query 1/1: Action query time = 0.976 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5995
+t=186: Selected seed 195 with value = 0.5995
+Query 1/1: Action query time = 0.980 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7286
+t=202: Selected seed 195 with value = 0.7286
+Query 1/1: Action query time = 0.983 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8330
+t=218: Selected seed 195 with value = 0.8330
+Query 1/1: Action query time = 0.985 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9076
+t=234: Selected seed 195 with value = 0.9076
+Query 1/1: Action query time = 0.962 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9645
+t=250: Selected seed 195 with value = 0.9645
+Query 1/1: Action query time = 0.988 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8677
+t=266: Selected seed 195 with value = 0.8677
+Query 1/1: Action query time = 0.994 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6787
+t=282: Selected seed 195 with value = 0.6787
+Query 1/1: Action query time = 0.999 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5321
+t=298: Selected seed 195 with value = 0.5321
+Saved rollout MP4 at path ./rollouts/CLbest_g0_t135/2026_07_31-01_10_29--episode=93--success=False--task=open_the_top_drawer_and_put_the_bowl_ins.mp4
+Saved rollout MP4 at path ./rollouts/CLbest_g0_t135/2026_07_31-01_10_29--with_future_img--episode=93--success=False--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: False
+# episodes completed so far: 93
+# successes: 0 (0.0%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 44...
+Query 1/1: Action query time = 1.034 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3709
+t=10: Selected seed 195 with value = 0.3709
+Query 1/1: Action query time = 1.009 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4039
+t=26: Selected seed 195 with value = 0.4039
+Query 1/1: Action query time = 0.992 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5268
+t=42: Selected seed 195 with value = 0.5268
+Query 1/1: Action query time = 0.984 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6502
+t=58: Selected seed 195 with value = 0.6502
+Query 1/1: Action query time = 0.988 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6518
+t=74: Selected seed 195 with value = 0.6518
+Query 1/1: Action query time = 0.977 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4037
+t=90: Selected seed 195 with value = 0.4037
+Query 1/1: Action query time = 0.975 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4143
+t=106: Selected seed 195 with value = 0.4143
+Query 1/1: Action query time = 0.998 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4901
+t=122: Selected seed 195 with value = 0.4901
+Query 1/1: Action query time = 1.008 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5033
+t=138: Selected seed 195 with value = 0.5033
+Query 1/1: Action query time = 1.003 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6322
+t=154: Selected seed 195 with value = 0.6322
+Query 1/1: Action query time = 0.967 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7649
+t=170: Selected seed 195 with value = 0.7649
+Query 1/1: Action query time = 0.990 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9265
+t=186: Selected seed 195 with value = 0.9265
+Query 1/1: Action query time = 0.978 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9555
+t=202: Selected seed 195 with value = 0.9555
+Query 1/1: Action query time = 1.034 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8027
+t=218: Selected seed 195 with value = 0.8027
+Query 1/1: Action query time = 0.994 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8516
+t=234: Selected seed 195 with value = 0.8516
+Query 1/1: Action query time = 0.991 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8670
+t=250: Selected seed 195 with value = 0.8670
+Query 1/1: Action query time = 0.987 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8767
+t=266: Selected seed 195 with value = 0.8767
+Query 1/1: Action query time = 0.979 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8281
+t=282: Selected seed 195 with value = 0.8281
+Query 1/1: Action query time = 0.978 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7568
+t=298: Selected seed 195 with value = 0.7568
+Saved rollout MP4 at path ./rollouts/CLbest_g0_t135/2026_07_31-01_10_29--episode=94--success=False--task=open_the_top_drawer_and_put_the_bowl_ins.mp4
+Saved rollout MP4 at path ./rollouts/CLbest_g0_t135/2026_07_31-01_10_29--with_future_img--episode=94--success=False--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: False
+# episodes completed so far: 94
+# successes: 0 (0.0%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 45...
+Query 1/1: Action query time = 1.106 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3584
+t=10: Selected seed 195 with value = 0.3584
+Query 1/1: Action query time = 1.049 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4199
+t=26: Selected seed 195 with value = 0.4199
+Query 1/1: Action query time = 1.089 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5111
+t=42: Selected seed 195 with value = 0.5111
+Query 1/1: Action query time = 1.190 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6094
+t=58: Selected seed 195 with value = 0.6094
+Query 1/1: Action query time = 1.201 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6197
+t=74: Selected seed 195 with value = 0.6197
+Query 1/1: Action query time = 1.188 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4608
+t=90: Selected seed 195 with value = 0.4608
+Query 1/1: Action query time = 1.131 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5309
+t=106: Selected seed 195 with value = 0.5309
+Query 1/1: Action query time = 1.105 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5608
+t=122: Selected seed 195 with value = 0.5608
+Query 1/1: Action query time = 1.034 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7173
+t=138: Selected seed 195 with value = 0.7173
+Query 1/1: Action query time = 0.990 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7714
+t=154: Selected seed 195 with value = 0.7714
+Query 1/1: Action query time = 0.991 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8161
+t=170: Selected seed 195 with value = 0.8161
+Query 1/1: Action query time = 0.978 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9418
+t=186: Selected seed 195 with value = 0.9418
+Query 1/1: Action query time = 0.974 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9353
+t=202: Selected seed 195 with value = 0.9353
+Query 1/1: Action query time = 0.984 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9495
+t=218: Selected seed 195 with value = 0.9495
+Query 1/1: Action query time = 0.995 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9365
+t=234: Selected seed 195 with value = 0.9365
+Query 1/1: Action query time = 0.978 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8740
+t=250: Selected seed 195 with value = 0.8740
+Query 1/1: Action query time = 1.001 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7932
+t=266: Selected seed 195 with value = 0.7932
+Query 1/1: Action query time = 0.973 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7728
+t=282: Selected seed 195 with value = 0.7728
+Query 1/1: Action query time = 0.982 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6908
+t=298: Selected seed 195 with value = 0.6908
+Saved rollout MP4 at path ./rollouts/CLbest_g0_t135/2026_07_31-01_10_29--episode=95--success=False--task=open_the_top_drawer_and_put_the_bowl_ins.mp4
+Saved rollout MP4 at path ./rollouts/CLbest_g0_t135/2026_07_31-01_10_29--with_future_img--episode=95--success=False--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: False
+# episodes completed so far: 95
+# successes: 0 (0.0%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 46...
+Query 1/1: Action query time = 0.995 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3537
+t=10: Selected seed 195 with value = 0.3537
+Query 1/1: Action query time = 0.989 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3466
+t=26: Selected seed 195 with value = 0.3466
+Query 1/1: Action query time = 0.990 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4724
+t=42: Selected seed 195 with value = 0.4724
+Query 1/1: Action query time = 0.978 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5809
+t=58: Selected seed 195 with value = 0.5809
+Query 1/1: Action query time = 0.978 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5031
+t=74: Selected seed 195 with value = 0.5031
+Query 1/1: Action query time = 0.981 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4078
+t=90: Selected seed 195 with value = 0.4078
+Query 1/1: Action query time = 0.995 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4715
+t=106: Selected seed 195 with value = 0.4715
+Query 1/1: Action query time = 0.971 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4837
+t=122: Selected seed 195 with value = 0.4837
+Query 1/1: Action query time = 1.003 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5752
+t=138: Selected seed 195 with value = 0.5752
+Query 1/1: Action query time = 0.992 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7462
+t=154: Selected seed 195 with value = 0.7462
+Query 1/1: Action query time = 0.978 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8977
+t=170: Selected seed 195 with value = 0.8977
+Query 1/1: Action query time = 0.978 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=186: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.969 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9460
+t=202: Selected seed 195 with value = 0.9460
+Query 1/1: Action query time = 0.980 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9376
+t=218: Selected seed 195 with value = 0.9376
+Query 1/1: Action query time = 0.969 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9510
+t=234: Selected seed 195 with value = 0.9510
+Query 1/1: Action query time = 0.981 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9641
+t=250: Selected seed 195 with value = 0.9641
+Query 1/1: Action query time = 0.975 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9661
+t=266: Selected seed 195 with value = 0.9661
+Query 1/1: Action query time = 0.984 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9625
+t=282: Selected seed 195 with value = 0.9625
+Query 1/1: Action query time = 0.987 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9550
+t=298: Selected seed 195 with value = 0.9550
+Saved rollout MP4 at path ./rollouts/CLbest_g0_t135/2026_07_31-01_10_29--episode=96--success=False--task=open_the_top_drawer_and_put_the_bowl_ins.mp4
+Saved rollout MP4 at path ./rollouts/CLbest_g0_t135/2026_07_31-01_10_29--with_future_img--episode=96--success=False--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: False
+# episodes completed so far: 96
+# successes: 0 (0.0%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 47...
+Query 1/1: Action query time = 1.042 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3522
+t=10: Selected seed 195 with value = 0.3522
+Query 1/1: Action query time = 1.020 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4258
+t=26: Selected seed 195 with value = 0.4258
+Query 1/1: Action query time = 0.997 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4968
+t=42: Selected seed 195 with value = 0.4968
+Query 1/1: Action query time = 0.995 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5143
+t=58: Selected seed 195 with value = 0.5143
+Query 1/1: Action query time = 0.989 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6154
+t=74: Selected seed 195 with value = 0.6154
+Query 1/1: Action query time = 0.984 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6497
+t=90: Selected seed 195 with value = 0.6497
+Query 1/1: Action query time = 1.198 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6010
+t=106: Selected seed 195 with value = 0.6010
+Query 1/1: Action query time = 1.220 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4678
+t=122: Selected seed 195 with value = 0.4678
+Query 1/1: Action query time = 1.189 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3717
+t=138: Selected seed 195 with value = 0.3717
+Query 1/1: Action query time = 1.184 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4663
+t=154: Selected seed 195 with value = 0.4663
+Query 1/1: Action query time = 1.164 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4795
+t=170: Selected seed 195 with value = 0.4795
+Query 1/1: Action query time = 1.127 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5403
+t=186: Selected seed 195 with value = 0.5403
+Query 1/1: Action query time = 0.986 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6151
+t=202: Selected seed 195 with value = 0.6151
+Query 1/1: Action query time = 1.006 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7317
+t=218: Selected seed 195 with value = 0.7317
+Query 1/1: Action query time = 0.989 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8005
+t=234: Selected seed 195 with value = 0.8005
+Query 1/1: Action query time = 0.987 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8875
+t=250: Selected seed 195 with value = 0.8875
+Query 1/1: Action query time = 0.990 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9101
+t=266: Selected seed 195 with value = 0.9101
+Query 1/1: Action query time = 0.965 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9630
+t=282: Selected seed 195 with value = 0.9630
+Query 1/1: Action query time = 0.992 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9361
+t=298: Selected seed 195 with value = 0.9361
+Saved rollout MP4 at path ./rollouts/CLbest_g0_t135/2026_07_31-01_10_29--episode=97--success=False--task=open_the_top_drawer_and_put_the_bowl_ins.mp4
+Saved rollout MP4 at path ./rollouts/CLbest_g0_t135/2026_07_31-01_10_29--with_future_img--episode=97--success=False--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: False
+# episodes completed so far: 97
+# successes: 0 (0.0%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 48...
+Query 1/1: Action query time = 1.015 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3313
+t=10: Selected seed 195 with value = 0.3313
+Query 1/1: Action query time = 1.018 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3925
+t=26: Selected seed 195 with value = 0.3925
+Query 1/1: Action query time = 1.022 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5220
+t=42: Selected seed 195 with value = 0.5220
+Query 1/1: Action query time = 0.989 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5741
+t=58: Selected seed 195 with value = 0.5741
+Query 1/1: Action query time = 0.985 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5922
+t=74: Selected seed 195 with value = 0.5922
+Query 1/1: Action query time = 0.988 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4741
+t=90: Selected seed 195 with value = 0.4741
+Query 1/1: Action query time = 1.010 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4105
+t=106: Selected seed 195 with value = 0.4105
+Query 1/1: Action query time = 0.993 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5030
+t=122: Selected seed 195 with value = 0.5030
+Query 1/1: Action query time = 0.980 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5130
+t=138: Selected seed 195 with value = 0.5130
+Query 1/1: Action query time = 1.012 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6082
+t=154: Selected seed 195 with value = 0.6082
+Query 1/1: Action query time = 1.003 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7022
+t=170: Selected seed 195 with value = 0.7022
+Query 1/1: Action query time = 0.992 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8884
+t=186: Selected seed 195 with value = 0.8884
+Query 1/1: Action query time = 0.977 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9881
+t=202: Selected seed 195 with value = 0.9881
+Query 1/1: Action query time = 0.971 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7440
+t=218: Selected seed 195 with value = 0.7440
+Query 1/1: Action query time = 0.990 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7228
+t=234: Selected seed 195 with value = 0.7228
+Query 1/1: Action query time = 0.972 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6853
+t=250: Selected seed 195 with value = 0.6853
+Query 1/1: Action query time = 0.998 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4944
+t=266: Selected seed 195 with value = 0.4944
+Query 1/1: Action query time = 0.970 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4858
+t=282: Selected seed 195 with value = 0.4858
+Query 1/1: Action query time = 0.978 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5879
+t=298: Selected seed 195 with value = 0.5879
+Saved rollout MP4 at path ./rollouts/CLbest_g0_t135/2026_07_31-01_10_29--episode=98--success=False--task=open_the_top_drawer_and_put_the_bowl_ins.mp4
+Saved rollout MP4 at path ./rollouts/CLbest_g0_t135/2026_07_31-01_10_29--with_future_img--episode=98--success=False--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: False
+# episodes completed so far: 98
+# successes: 0 (0.0%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 49...
+Query 1/1: Action query time = 1.002 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3806
+t=10: Selected seed 195 with value = 0.3806
+Query 1/1: Action query time = 0.990 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4311
+t=26: Selected seed 195 with value = 0.4311
+Query 1/1: Action query time = 0.968 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5170
+t=42: Selected seed 195 with value = 0.5170
+Query 1/1: Action query time = 0.981 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5544
+t=58: Selected seed 195 with value = 0.5544
+Query 1/1: Action query time = 0.978 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6477
+t=74: Selected seed 195 with value = 0.6477
+Query 1/1: Action query time = 0.981 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4635
+t=90: Selected seed 195 with value = 0.4635
+Query 1/1: Action query time = 0.994 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9292
+t=106: Selected seed 195 with value = 0.9292
+Query 1/1: Action query time = 0.994 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9188
+t=122: Selected seed 195 with value = 0.9188
+Query 1/1: Action query time = 0.981 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8292
+t=138: Selected seed 195 with value = 0.8292
+Query 1/1: Action query time = 0.990 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7819
+t=154: Selected seed 195 with value = 0.7819
+Query 1/1: Action query time = 0.977 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9004
+t=170: Selected seed 195 with value = 0.9004
+Query 1/1: Action query time = 1.119 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9483
+t=186: Selected seed 195 with value = 0.9483
+Query 1/1: Action query time = 1.037 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9907
+t=202: Selected seed 195 with value = 0.9907
+Query 1/1: Action query time = 1.112 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9891
+t=218: Selected seed 195 with value = 0.9891
+Query 1/1: Action query time = 1.129 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9901
+t=234: Selected seed 195 with value = 0.9901
+Query 1/1: Action query time = 1.061 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9892
+t=250: Selected seed 195 with value = 0.9892
+Query 1/1: Action query time = 1.024 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9908
+t=266: Selected seed 195 with value = 0.9908
+Query 1/1: Action query time = 1.011 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9914
+t=282: Selected seed 195 with value = 0.9914
+Query 1/1: Action query time = 1.001 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9915
+t=298: Selected seed 195 with value = 0.9915
+Saved rollout MP4 at path ./rollouts/CLbest_g0_t135/2026_07_31-01_10_29--episode=99--success=False--task=open_the_top_drawer_and_put_the_bowl_ins.mp4
+Saved rollout MP4 at path ./rollouts/CLbest_g0_t135/2026_07_31-01_10_29--with_future_img--episode=99--success=False--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: False
+# episodes completed so far: 99
+# successes: 0 (0.0%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 50...
+Query 1/1: Action query time = 1.172 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3918
+t=10: Selected seed 195 with value = 0.3918
+Query 1/1: Action query time = 0.991 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4388
+t=26: Selected seed 195 with value = 0.4388
+Query 1/1: Action query time = 0.990 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4741
+t=42: Selected seed 195 with value = 0.4741
+Query 1/1: Action query time = 1.191 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5185
+t=58: Selected seed 195 with value = 0.5185
+Query 1/1: Action query time = 0.991 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6311
+t=74: Selected seed 195 with value = 0.6311
+Query 1/1: Action query time = 0.998 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4522
+t=90: Selected seed 195 with value = 0.4522
+Query 1/1: Action query time = 1.290 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7529
+t=106: Selected seed 195 with value = 0.7529
+Query 1/1: Action query time = 0.991 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9078
+t=122: Selected seed 195 with value = 0.9078
+Query 1/1: Action query time = 0.998 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8158
+t=138: Selected seed 195 with value = 0.8158
+Query 1/1: Action query time = 1.179 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7807
+t=154: Selected seed 195 with value = 0.7807
+Query 1/1: Action query time = 1.040 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8974
+t=170: Selected seed 195 with value = 0.8974
+Query 1/1: Action query time = 0.990 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9647
+t=186: Selected seed 195 with value = 0.9647
+Query 1/1: Action query time = 1.215 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9254
+t=202: Selected seed 195 with value = 0.9254
+Query 1/1: Action query time = 0.990 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9854
+t=218: Selected seed 195 with value = 0.9854
+Query 1/1: Action query time = 0.997 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9926
+t=234: Selected seed 195 with value = 0.9926
+Query 1/1: Action query time = 1.167 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9948
+t=250: Selected seed 195 with value = 0.9948
+Query 1/1: Action query time = 1.019 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9929
+t=266: Selected seed 195 with value = 0.9929
+Query 1/1: Action query time = 1.003 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9875
+t=282: Selected seed 195 with value = 0.9875
+Query 1/1: Action query time = 1.247 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9853
+t=298: Selected seed 195 with value = 0.9853
+Saved rollout MP4 at path ./rollouts/CLbest_g0_t135/2026_07_31-01_10_29--episode=100--success=False--task=open_the_top_drawer_and_put_the_bowl_ins.mp4
+Saved rollout MP4 at path ./rollouts/CLbest_g0_t135/2026_07_31-01_10_29--with_future_img--episode=100--success=False--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: False
+# episodes completed so far: 100
+# successes: 0 (0.0%)
+Current task success rate: 0.0
+Current total success rate: 0.0
+Using default initial states
+
+Task: push the plate to the front of the stove
+Starting episode 1...
+Query 1/1: Action query time = 0.998 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3298
+t=10: Selected seed 195 with value = 0.3298
+Query 1/1: Action query time = 0.977 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3923
+t=26: Selected seed 195 with value = 0.3923
+Query 1/1: Action query time = 0.974 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4068
+t=42: Selected seed 195 with value = 0.4068
+Query 1/1: Action query time = 1.112 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5260
+t=58: Selected seed 195 with value = 0.5260
+Query 1/1: Action query time = 0.983 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5652
+t=74: Selected seed 195 with value = 0.5652
+Query 1/1: Action query time = 0.974 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7694
+t=90: Selected seed 195 with value = 0.7694
+Query 1/1: Action query time = 1.012 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9285
+t=106: Selected seed 195 with value = 0.9285
+Query 1/1: Action query time = 0.995 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9907
+t=122: Selected seed 195 with value = 0.9907
+Saved rollout MP4 at path ./rollouts/CLbest_g0_t135/2026_07_31-01_10_29--episode=101--success=True--task=push_the_plate_to_the_front_of_the_stove.mp4
+Saved rollout MP4 at path ./rollouts/CLbest_g0_t135/2026_07_31-01_10_29--with_future_img--episode=101--success=True--task=push_the_plate_to_the_front_of_the_.mp4
+Success: True
+# episodes completed so far: 101
+# successes: 1 (1.0%)
+
+Task: push the plate to the front of the stove
+Starting episode 2...
+Query 1/1: Action query time = 0.999 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3254
+t=10: Selected seed 195 with value = 0.3254
+Query 1/1: Action query time = 0.996 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3826
+t=26: Selected seed 195 with value = 0.3826
+Query 1/1: Action query time = 0.983 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4221
+t=42: Selected seed 195 with value = 0.4221
+Query 1/1: Action query time = 0.985 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5246
+t=58: Selected seed 195 with value = 0.5246
+Query 1/1: Action query time = 0.984 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6194
+t=74: Selected seed 195 with value = 0.6194
+Query 1/1: Action query time = 0.977 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8215
+t=90: Selected seed 195 with value = 0.8215
+Query 1/1: Action query time = 1.015 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9670
+t=106: Selected seed 195 with value = 0.9670
+Saved rollout MP4 at path ./rollouts/CLbest_g0_t135/2026_07_31-01_10_29--episode=102--success=True--task=push_the_plate_to_the_front_of_the_stove.mp4
+Saved rollout MP4 at path ./rollouts/CLbest_g0_t135/2026_07_31-01_10_29--with_future_img--episode=102--success=True--task=push_the_plate_to_the_front_of_the_.mp4
+Success: True
+# episodes completed so far: 102
+# successes: 2 (2.0%)
+
+Task: push the plate to the front of the stove
+Starting episode 3...
+Query 1/1: Action query time = 1.065 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3521
+t=10: Selected seed 195 with value = 0.3521
+Query 1/1: Action query time = 1.029 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3881
+t=26: Selected seed 195 with value = 0.3881
+Query 1/1: Action query time = 1.000 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4692
+t=42: Selected seed 195 with value = 0.4692
+Query 1/1: Action query time = 0.996 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5506
+t=58: Selected seed 195 with value = 0.5506
+Query 1/1: Action query time = 0.996 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7178
+t=74: Selected seed 195 with value = 0.7178
+Query 1/1: Action query time = 0.973 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8417
+t=90: Selected seed 195 with value = 0.8417
+Query 1/1: Action query time = 0.975 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9855
+t=106: Selected seed 195 with value = 0.9855
+Saved rollout MP4 at path ./rollouts/CLbest_g0_t135/2026_07_31-01_10_29--episode=103--success=True--task=push_the_plate_to_the_front_of_the_stove.mp4
+Saved rollout MP4 at path ./rollouts/CLbest_g0_t135/2026_07_31-01_10_29--with_future_img--episode=103--success=True--task=push_the_plate_to_the_front_of_the_.mp4
+Success: True
+# episodes completed so far: 103
+# successes: 3 (2.9%)
+
+Task: push the plate to the front of the stove
+Starting episode 4...
+Query 1/1: Action query time = 1.142 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3347
+t=10: Selected seed 195 with value = 0.3347
+Query 1/1: Action query time = 0.981 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3693
+t=26: Selected seed 195 with value = 0.3693
+Query 1/1: Action query time = 1.007 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4661
+t=42: Selected seed 195 with value = 0.4661
+Query 1/1: Action query time = 1.171 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5252
+t=58: Selected seed 195 with value = 0.5252
+Query 1/1: Action query time = 0.973 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5852
+t=74: Selected seed 195 with value = 0.5852
+Query 1/1: Action query time = 1.006 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7865
+t=90: Selected seed 195 with value = 0.7865
+Query 1/1: Action query time = 0.979 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9501
+t=106: Selected seed 195 with value = 0.9501
+Query 1/1: Action query time = 1.209 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9901
+t=122: Selected seed 195 with value = 0.9901
+Saved rollout MP4 at path ./rollouts/CLbest_g0_t135/2026_07_31-01_10_29--episode=104--success=True--task=push_the_plate_to_the_front_of_the_stove.mp4
+Saved rollout MP4 at path ./rollouts/CLbest_g0_t135/2026_07_31-01_10_29--with_future_img--episode=104--success=True--task=push_the_plate_to_the_front_of_the_.mp4
+Success: True
+# episodes completed so far: 104
+# successes: 4 (3.8%)
+
+Task: push the plate to the front of the stove
+Starting episode 5...
+Query 1/1: Action query time = 1.029 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3346
+t=10: Selected seed 195 with value = 0.3346
+Query 1/1: Action query time = 0.990 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3942
+t=26: Selected seed 195 with value = 0.3942
+Query 1/1: Action query time = 0.976 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4088
+t=42: Selected seed 195 with value = 0.4088
+Query 1/1: Action query time = 0.981 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5296
+t=58: Selected seed 195 with value = 0.5296
+Query 1/1: Action query time = 0.986 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5499
+t=74: Selected seed 195 with value = 0.5499
+Query 1/1: Action query time = 0.970 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7326
+t=90: Selected seed 195 with value = 0.7326
+Query 1/1: Action query time = 0.991 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8739
+t=106: Selected seed 195 with value = 0.8739
+Query 1/1: Action query time = 0.992 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9890
+t=122: Selected seed 195 with value = 0.9890
+Saved rollout MP4 at path ./rollouts/CLbest_g0_t135/2026_07_31-01_10_29--episode=105--success=True--task=push_the_plate_to_the_front_of_the_stove.mp4
+Saved rollout MP4 at path ./rollouts/CLbest_g0_t135/2026_07_31-01_10_29--with_future_img--episode=105--success=True--task=push_the_plate_to_the_front_of_the_.mp4
+Success: True
+# episodes completed so far: 105
+# successes: 5 (4.8%)
+
+Task: push the plate to the front of the stove
+Starting episode 6...
+Query 1/1: Action query time = 0.984 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3354
+t=10: Selected seed 195 with value = 0.3354
+Query 1/1: Action query time = 0.987 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3795
+t=26: Selected seed 195 with value = 0.3795
+Query 1/1: Action query time = 0.971 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4986
+t=42: Selected seed 195 with value = 0.4986
+Query 1/1: Action query time = 0.973 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5741
+t=58: Selected seed 195 with value = 0.5741
+Query 1/1: Action query time = 0.975 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7077
+t=74: Selected seed 195 with value = 0.7077
+Query 1/1: Action query time = 0.996 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6173
+t=90: Selected seed 195 with value = 0.6173
+Query 1/1: Action query time = 0.997 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6442
+t=106: Selected seed 195 with value = 0.6442
+Query 1/1: Action query time = 0.980 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8612
+t=122: Selected seed 195 with value = 0.8612
+Query 1/1: Action query time = 0.978 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9359
+t=138: Selected seed 195 with value = 0.9359
+Query 1/1: Action query time = 0.979 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9513
+t=154: Selected seed 195 with value = 0.9513
+Saved rollout MP4 at path ./rollouts/CLbest_g0_t135/2026_07_31-01_10_29--episode=106--success=True--task=push_the_plate_to_the_front_of_the_stove.mp4
+Saved rollout MP4 at path ./rollouts/CLbest_g0_t135/2026_07_31-01_10_29--with_future_img--episode=106--success=True--task=push_the_plate_to_the_front_of_the_.mp4
+Success: True
+# episodes completed so far: 106
+# successes: 6 (5.7%)
+
+Task: push the plate to the front of the stove
+Starting episode 7...
+Query 1/1: Action query time = 0.982 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3378
+t=10: Selected seed 195 with value = 0.3378
+Query 1/1: Action query time = 0.975 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3780
+t=26: Selected seed 195 with value = 0.3780
+Query 1/1: Action query time = 0.989 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4924
+t=42: Selected seed 195 with value = 0.4924
+Query 1/1: Action query time = 0.973 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5303
+t=58: Selected seed 195 with value = 0.5303
+Query 1/1: Action query time = 0.981 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5799
+t=74: Selected seed 195 with value = 0.5799
+Query 1/1: Action query time = 0.972 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7990
+t=90: Selected seed 195 with value = 0.7990
+Query 1/1: Action query time = 1.171 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9582
+t=106: Selected seed 195 with value = 0.9582
+Query 1/1: Action query time = 1.164 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9906
+t=122: Selected seed 195 with value = 0.9906
+Saved rollout MP4 at path ./rollouts/CLbest_g0_t135/2026_07_31-01_10_29--episode=107--success=True--task=push_the_plate_to_the_front_of_the_stove.mp4
+Saved rollout MP4 at path ./rollouts/CLbest_g0_t135/2026_07_31-01_10_29--with_future_img--episode=107--success=True--task=push_the_plate_to_the_front_of_the_.mp4
+Success: True
+# episodes completed so far: 107
+# successes: 7 (6.5%)
+
+Task: push the plate to the front of the stove
+Starting episode 8...
+Query 1/1: Action query time = 1.005 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3945
+t=10: Selected seed 195 with value = 0.3945
+Query 1/1: Action query time = 0.992 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3908
+t=26: Selected seed 195 with value = 0.3908
+Query 1/1: Action query time = 0.980 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4331
+t=42: Selected seed 195 with value = 0.4331
+Query 1/1: Action query time = 0.972 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5223
+t=58: Selected seed 195 with value = 0.5223
+Query 1/1: Action query time = 0.977 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5494
+t=74: Selected seed 195 with value = 0.5494
+Query 1/1: Action query time = 0.971 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7126
+t=90: Selected seed 195 with value = 0.7126
+Query 1/1: Action query time = 1.004 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8701
+t=106: Selected seed 195 with value = 0.8701
+Query 1/1: Action query time = 0.992 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9876
+t=122: Selected seed 195 with value = 0.9876
+Query 1/1: Action query time = 1.010 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9976
+t=138: Selected seed 195 with value = 0.9976
+Query 1/1: Action query time = 0.987 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9935
+t=154: Selected seed 195 with value = 0.9935
+Query 1/1: Action query time = 0.978 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9895
+t=170: Selected seed 195 with value = 0.9895
+Query 1/1: Action query time = 1.000 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9935
+t=186: Selected seed 195 with value = 0.9935
+Query 1/1: Action query time = 0.995 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9966
+t=202: Selected seed 195 with value = 0.9966
+Query 1/1: Action query time = 0.972 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=218: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.985 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=234: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.986 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=250: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.986 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=266: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.986 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=282: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.987 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9997
+t=298: Selected seed 195 with value = 0.9997
+Saved rollout MP4 at path ./rollouts/CLbest_g0_t135/2026_07_31-01_10_29--episode=108--success=False--task=push_the_plate_to_the_front_of_the_stove.mp4
+Saved rollout MP4 at path ./rollouts/CLbest_g0_t135/2026_07_31-01_10_29--with_future_img--episode=108--success=False--task=push_the_plate_to_the_front_of_the_.mp4
+Success: False
+# episodes completed so far: 108
+# successes: 7 (6.5%)
+
+Task: push the plate to the front of the stove
+Starting episode 9...
+Query 1/1: Action query time = 0.974 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3679
+t=10: Selected seed 195 with value = 0.3679
+Query 1/1: Action query time = 0.989 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3797
+t=26: Selected seed 195 with value = 0.3797
+Query 1/1: Action query time = 0.977 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4175
+t=42: Selected seed 195 with value = 0.4175
+Query 1/1: Action query time = 0.961 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6026
+t=58: Selected seed 195 with value = 0.6026
+Query 1/1: Action query time = 0.974 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7290
+t=74: Selected seed 195 with value = 0.7290
+Query 1/1: Action query time = 0.961 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9052
+t=90: Selected seed 195 with value = 0.9052
+Query 1/1: Action query time = 0.972 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9957
+t=106: Selected seed 195 with value = 0.9957
+Saved rollout MP4 at path ./rollouts/CLbest_g0_t135/2026_07_31-01_10_29--episode=109--success=True--task=push_the_plate_to_the_front_of_the_stove.mp4
+Saved rollout MP4 at path ./rollouts/CLbest_g0_t135/2026_07_31-01_10_29--with_future_img--episode=109--success=True--task=push_the_plate_to_the_front_of_the_.mp4
+Success: True
+# episodes completed so far: 109
+# successes: 8 (7.3%)
+
+Task: push the plate to the front of the stove
+Starting episode 10...
+Query 1/1: Action query time = 0.982 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3583
+t=10: Selected seed 195 with value = 0.3583
+Query 1/1: Action query time = 0.985 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3862
+t=26: Selected seed 195 with value = 0.3862
+Query 1/1: Action query time = 1.229 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4121
+t=42: Selected seed 195 with value = 0.4121
+Query 1/1: Action query time = 1.166 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5300
+t=58: Selected seed 195 with value = 0.5300
+Query 1/1: Action query time = 1.180 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5861
+t=74: Selected seed 195 with value = 0.5861
+Query 1/1: Action query time = 1.150 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8094
+t=90: Selected seed 195 with value = 0.8094
+Query 1/1: Action query time = 1.170 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9466
+t=106: Selected seed 195 with value = 0.9466
+Saved rollout MP4 at path ./rollouts/CLbest_g0_t135/2026_07_31-01_10_29--episode=110--success=True--task=push_the_plate_to_the_front_of_the_stove.mp4
+Saved rollout MP4 at path ./rollouts/CLbest_g0_t135/2026_07_31-01_10_29--with_future_img--episode=110--success=True--task=push_the_plate_to_the_front_of_the_.mp4
+Success: True
+# episodes completed so far: 110
+# successes: 9 (8.2%)
+
+Task: push the plate to the front of the stove
+Starting episode 11...
+Query 1/1: Action query time = 0.991 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3326
+t=10: Selected seed 195 with value = 0.3326
+Query 1/1: Action query time = 0.991 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3700
+t=26: Selected seed 195 with value = 0.3700
+Query 1/1: Action query time = 0.978 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4751
+t=42: Selected seed 195 with value = 0.4751
+Query 1/1: Action query time = 0.987 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7652
+t=58: Selected seed 195 with value = 0.7652
+Query 1/1: Action query time = 0.974 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8364
+t=74: Selected seed 195 with value = 0.8364
+Query 1/1: Action query time = 0.986 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9537
+t=90: Selected seed 195 with value = 0.9537
+Saved rollout MP4 at path ./rollouts/CLbest_g0_t135/2026_07_31-01_10_29--episode=111--success=True--task=push_the_plate_to_the_front_of_the_stove.mp4
+Saved rollout MP4 at path ./rollouts/CLbest_g0_t135/2026_07_31-01_10_29--with_future_img--episode=111--success=True--task=push_the_plate_to_the_front_of_the_.mp4
+Success: True
+# episodes completed so far: 111
+# successes: 10 (9.0%)
+
+Task: push the plate to the front of the stove
+Starting episode 12...
+Query 1/1: Action query time = 0.985 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3372
+t=10: Selected seed 195 with value = 0.3372
+Query 1/1: Action query time = 0.994 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3742
+t=26: Selected seed 195 with value = 0.3742
+Query 1/1: Action query time = 0.991 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5942
+t=42: Selected seed 195 with value = 0.5942
+Query 1/1: Action query time = 0.981 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6384
+t=58: Selected seed 195 with value = 0.6384
+Query 1/1: Action query time = 0.977 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7718
+t=74: Selected seed 195 with value = 0.7718
+Query 1/1: Action query time = 0.981 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9463
+t=90: Selected seed 195 with value = 0.9463
+Saved rollout MP4 at path ./rollouts/CLbest_g0_t135/2026_07_31-01_10_29--episode=112--success=True--task=push_the_plate_to_the_front_of_the_stove.mp4
+Saved rollout MP4 at path ./rollouts/CLbest_g0_t135/2026_07_31-01_10_29--with_future_img--episode=112--success=True--task=push_the_plate_to_the_front_of_the_.mp4
+Success: True
+# episodes completed so far: 112
+# successes: 11 (9.8%)
+
+Task: push the plate to the front of the stove
+Starting episode 13...
+Query 1/1: Action query time = 1.058 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3515
+t=10: Selected seed 195 with value = 0.3515
+Query 1/1: Action query time = 1.003 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3943
+t=26: Selected seed 195 with value = 0.3943
+Query 1/1: Action query time = 0.992 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4299
+t=42: Selected seed 195 with value = 0.4299
+Query 1/1: Action query time = 0.978 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5458
+t=58: Selected seed 195 with value = 0.5458
+Query 1/1: Action query time = 1.016 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6293
+t=74: Selected seed 195 with value = 0.6293
+Query 1/1: Action query time = 0.997 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8355
+t=90: Selected seed 195 with value = 0.8355
+Query 1/1: Action query time = 0.989 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9676
+t=106: Selected seed 195 with value = 0.9676
+Saved rollout MP4 at path ./rollouts/CLbest_g0_t135/2026_07_31-01_10_29--episode=113--success=True--task=push_the_plate_to_the_front_of_the_stove.mp4
+Saved rollout MP4 at path ./rollouts/CLbest_g0_t135/2026_07_31-01_10_29--with_future_img--episode=113--success=True--task=push_the_plate_to_the_front_of_the_.mp4
+Success: True
+# episodes completed so far: 113
+# successes: 12 (10.6%)
+
+Task: push the plate to the front of the stove
+Starting episode 14...
+Query 1/1: Action query time = 1.061 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3750
+t=10: Selected seed 195 with value = 0.3750
+Query 1/1: Action query time = 1.086 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3967
+t=26: Selected seed 195 with value = 0.3967
+Query 1/1: Action query time = 1.118 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4201
+t=42: Selected seed 195 with value = 0.4201
+Query 1/1: Action query time = 1.160 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5284
+t=58: Selected seed 195 with value = 0.5284
+Query 1/1: Action query time = 1.247 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5728
+t=74: Selected seed 195 with value = 0.5728
+Query 1/1: Action query time = 1.199 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7762
+t=90: Selected seed 195 with value = 0.7762
+Query 1/1: Action query time = 0.988 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8822
+t=106: Selected seed 195 with value = 0.8822
+Query 1/1: Action query time = 0.995 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9837
+t=122: Selected seed 195 with value = 0.9837
+Query 1/1: Action query time = 0.993 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9643
+t=138: Selected seed 195 with value = 0.9643
+Query 1/1: Action query time = 1.145 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8828
+t=154: Selected seed 195 with value = 0.8828
+Query 1/1: Action query time = 1.101 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9577
+t=170: Selected seed 195 with value = 0.9577
+Saved rollout MP4 at path ./rollouts/CLbest_g0_t135/2026_07_31-01_10_29--episode=114--success=True--task=push_the_plate_to_the_front_of_the_stove.mp4
+Saved rollout MP4 at path ./rollouts/CLbest_g0_t135/2026_07_31-01_10_29--with_future_img--episode=114--success=True--task=push_the_plate_to_the_front_of_the_.mp4
+Success: True
+# episodes completed so far: 114
+# successes: 13 (11.4%)
+
+Task: push the plate to the front of the stove
+Starting episode 15...
+Query 1/1: Action query time = 0.993 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3460
+t=10: Selected seed 195 with value = 0.3460
+Query 1/1: Action query time = 0.981 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3631
+t=26: Selected seed 195 with value = 0.3631
+Query 1/1: Action query time = 0.967 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4671
+t=42: Selected seed 195 with value = 0.4671
+Query 1/1: Action query time = 0.990 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5242
+t=58: Selected seed 195 with value = 0.5242
+Query 1/1: Action query time = 0.978 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5787
+t=74: Selected seed 195 with value = 0.5787
+Query 1/1: Action query time = 1.036 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8340
+t=90: Selected seed 195 with value = 0.8340
+Query 1/1: Action query time = 1.052 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9487
+t=106: Selected seed 195 with value = 0.9487
+Query 1/1: Action query time = 1.072 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9866
+t=122: Selected seed 195 with value = 0.9866
+Saved rollout MP4 at path ./rollouts/CLbest_g0_t135/2026_07_31-01_10_29--episode=115--success=True--task=push_the_plate_to_the_front_of_the_stove.mp4
+Saved rollout MP4 at path ./rollouts/CLbest_g0_t135/2026_07_31-01_10_29--with_future_img--episode=115--success=True--task=push_the_plate_to_the_front_of_the_.mp4
+Success: True
+# episodes completed so far: 115
+# successes: 14 (12.2%)
+
+Task: push the plate to the front of the stove
+Starting episode 16...
+Query 1/1: Action query time = 0.997 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3684
+t=10: Selected seed 195 with value = 0.3684
+Query 1/1: Action query time = 0.985 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3940
+t=26: Selected seed 195 with value = 0.3940
+Query 1/1: Action query time = 0.984 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4680
+t=42: Selected seed 195 with value = 0.4680
+Query 1/1: Action query time = 0.971 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5599
+t=58: Selected seed 195 with value = 0.5599
+Query 1/1: Action query time = 0.985 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7336
+t=74: Selected seed 195 with value = 0.7336
+Query 1/1: Action query time = 0.984 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9310
+t=90: Selected seed 195 with value = 0.9310
+Query 1/1: Action query time = 0.994 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9879
+t=106: Selected seed 195 with value = 0.9879
+Saved rollout MP4 at path ./rollouts/CLbest_g0_t135/2026_07_31-01_10_29--episode=116--success=True--task=push_the_plate_to_the_front_of_the_stove.mp4
+Saved rollout MP4 at path ./rollouts/CLbest_g0_t135/2026_07_31-01_10_29--with_future_img--episode=116--success=True--task=push_the_plate_to_the_front_of_the_.mp4
+Success: True
+# episodes completed so far: 116
+# successes: 15 (12.9%)
+
+Task: push the plate to the front of the stove
+Starting episode 17...
+Query 1/1: Action query time = 0.989 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3423
+t=10: Selected seed 195 with value = 0.3423
+Query 1/1: Action query time = 0.976 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3804
+t=26: Selected seed 195 with value = 0.3804
+Query 1/1: Action query time = 0.963 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4782
+t=42: Selected seed 195 with value = 0.4782
+Query 1/1: Action query time = 0.983 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5372
+t=58: Selected seed 195 with value = 0.5372
+Query 1/1: Action query time = 0.987 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5486
+t=74: Selected seed 195 with value = 0.5486
+Query 1/1: Action query time = 0.981 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7924
+t=90: Selected seed 195 with value = 0.7924
+Query 1/1: Action query time = 0.980 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9320
+t=106: Selected seed 195 with value = 0.9320
+Query 1/1: Action query time = 0.972 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9953
+t=122: Selected seed 195 with value = 0.9953
+Saved rollout MP4 at path ./rollouts/CLbest_g0_t135/2026_07_31-01_10_29--episode=117--success=True--task=push_the_plate_to_the_front_of_the_stove.mp4
+Saved rollout MP4 at path ./rollouts/CLbest_g0_t135/2026_07_31-01_10_29--with_future_img--episode=117--success=True--task=push_the_plate_to_the_front_of_the_.mp4
+Success: True
+# episodes completed so far: 117
+# successes: 16 (13.7%)
+
+Task: push the plate to the front of the stove
+Starting episode 18...
+Query 1/1: Action query time = 1.004 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3395
+t=10: Selected seed 195 with value = 0.3395
+Query 1/1: Action query time = 0.980 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3818
+t=26: Selected seed 195 with value = 0.3818
+Query 1/1: Action query time = 0.981 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4575
+t=42: Selected seed 195 with value = 0.4575
+Query 1/1: Action query time = 0.967 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5391
+t=58: Selected seed 195 with value = 0.5391
+Query 1/1: Action query time = 0.971 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6409
+t=74: Selected seed 195 with value = 0.6409
+Query 1/1: Action query time = 0.979 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8635
+t=90: Selected seed 195 with value = 0.8635
+Query 1/1: Action query time = 1.004 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9747
+t=106: Selected seed 195 with value = 0.9747
+Query 1/1: Action query time = 0.995 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9903
+t=122: Selected seed 195 with value = 0.9903
+Query 1/1: Action query time = 0.978 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9914
+t=138: Selected seed 195 with value = 0.9914
+Query 1/1: Action query time = 0.987 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9982
+t=154: Selected seed 195 with value = 0.9982
+Query 1/1: Action query time = 1.001 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=170: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.990 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9973
+t=186: Selected seed 195 with value = 0.9973
+Query 1/1: Action query time = 1.009 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=202: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.977 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9998
+t=218: Selected seed 195 with value = 0.9998
+Query 1/1: Action query time = 0.990 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9983
+t=234: Selected seed 195 with value = 0.9983
+Query 1/1: Action query time = 0.975 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=250: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 1.004 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=266: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.978 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=282: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 1.014 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9998
+t=298: Selected seed 195 with value = 0.9998
+Saved rollout MP4 at path ./rollouts/CLbest_g0_t135/2026_07_31-01_10_29--episode=118--success=False--task=push_the_plate_to_the_front_of_the_stove.mp4
+Saved rollout MP4 at path ./rollouts/CLbest_g0_t135/2026_07_31-01_10_29--with_future_img--episode=118--success=False--task=push_the_plate_to_the_front_of_the_.mp4
+Success: False
+# episodes completed so far: 118
+# successes: 16 (13.6%)
+
+Task: push the plate to the front of the stove
+Starting episode 19...
+Query 1/1: Action query time = 1.004 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3553
+t=10: Selected seed 195 with value = 0.3553
+Query 1/1: Action query time = 1.006 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3970
+t=26: Selected seed 195 with value = 0.3970
+Query 1/1: Action query time = 1.223 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4075
+t=42: Selected seed 195 with value = 0.4075
+Query 1/1: Action query time = 1.231 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5320
+t=58: Selected seed 195 with value = 0.5320
+Query 1/1: Action query time = 1.238 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5645
+t=74: Selected seed 195 with value = 0.5645
+Query 1/1: Action query time = 0.990 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7631
+t=90: Selected seed 195 with value = 0.7631
+Query 1/1: Action query time = 1.209 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9282
+t=106: Selected seed 195 with value = 0.9282
+Saved rollout MP4 at path ./rollouts/CLbest_g0_t135/2026_07_31-01_10_29--episode=119--success=True--task=push_the_plate_to_the_front_of_the_stove.mp4
+Saved rollout MP4 at path ./rollouts/CLbest_g0_t135/2026_07_31-01_10_29--with_future_img--episode=119--success=True--task=push_the_plate_to_the_front_of_the_.mp4
+Success: True
+# episodes completed so far: 119
+# successes: 17 (14.3%)
+
+Task: push the plate to the front of the stove
+Starting episode 20...
+Query 1/1: Action query time = 0.993 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3316
+t=10: Selected seed 195 with value = 0.3316
+Query 1/1: Action query time = 0.980 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3655
+t=26: Selected seed 195 with value = 0.3655
+Query 1/1: Action query time = 1.008 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5675
+t=42: Selected seed 195 with value = 0.5675
+Query 1/1: Action query time = 1.003 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7691
+t=58: Selected seed 195 with value = 0.7691
+Query 1/1: Action query time = 0.981 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8564
+t=74: Selected seed 195 with value = 0.8564
+Query 1/1: Action query time = 0.975 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9570
+t=90: Selected seed 195 with value = 0.9570
+Saved rollout MP4 at path ./rollouts/CLbest_g0_t135/2026_07_31-01_10_29--episode=120--success=True--task=push_the_plate_to_the_front_of_the_stove.mp4
+Saved rollout MP4 at path ./rollouts/CLbest_g0_t135/2026_07_31-01_10_29--with_future_img--episode=120--success=True--task=push_the_plate_to_the_front_of_the_.mp4
+Success: True
+# episodes completed so far: 120
+# successes: 18 (15.0%)
+
+Task: push the plate to the front of the stove
+Starting episode 21...
+Query 1/1: Action query time = 1.028 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3391
+t=10: Selected seed 195 with value = 0.3391
+Query 1/1: Action query time = 1.029 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3759
+t=26: Selected seed 195 with value = 0.3759
+Query 1/1: Action query time = 1.022 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4701
+t=42: Selected seed 195 with value = 0.4701
+Query 1/1: Action query time = 1.031 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6195
+t=58: Selected seed 195 with value = 0.6195
+Query 1/1: Action query time = 1.041 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7533
+t=74: Selected seed 195 with value = 0.7533
+Query 1/1: Action query time = 1.013 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9175
+t=90: Selected seed 195 with value = 0.9175
+Query 1/1: Action query time = 1.006 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9933
+t=106: Selected seed 195 with value = 0.9933
+Saved rollout MP4 at path ./rollouts/CLbest_g0_t135/2026_07_31-01_10_29--episode=121--success=True--task=push_the_plate_to_the_front_of_the_stove.mp4
+Saved rollout MP4 at path ./rollouts/CLbest_g0_t135/2026_07_31-01_10_29--with_future_img--episode=121--success=True--task=push_the_plate_to_the_front_of_the_.mp4
+Success: True
+# episodes completed so far: 121
+# successes: 19 (15.7%)
+
+Task: push the plate to the front of the stove
+Starting episode 22...
+Query 1/1: Action query time = 1.248 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3483
+t=10: Selected seed 195 with value = 0.3483
+Query 1/1: Action query time = 1.175 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3929
+t=26: Selected seed 195 with value = 0.3929
+Query 1/1: Action query time = 1.155 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4120
+t=42: Selected seed 195 with value = 0.4120
+Query 1/1: Action query time = 0.987 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5325
+t=58: Selected seed 195 with value = 0.5325
+Query 1/1: Action query time = 0.994 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5903
+t=74: Selected seed 195 with value = 0.5903
+Query 1/1: Action query time = 0.996 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7687
+t=90: Selected seed 195 with value = 0.7687
+Query 1/1: Action query time = 0.982 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9174
+t=106: Selected seed 195 with value = 0.9174
+Query 1/1: Action query time = 0.969 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9912
+t=122: Selected seed 195 with value = 0.9912
+Saved rollout MP4 at path ./rollouts/CLbest_g0_t135/2026_07_31-01_10_29--episode=122--success=True--task=push_the_plate_to_the_front_of_the_stove.mp4
+Saved rollout MP4 at path ./rollouts/CLbest_g0_t135/2026_07_31-01_10_29--with_future_img--episode=122--success=True--task=push_the_plate_to_the_front_of_the_.mp4
+Success: True
+# episodes completed so far: 122
+# successes: 20 (16.4%)
+
+Task: push the plate to the front of the stove
+Starting episode 23...
+Query 1/1: Action query time = 1.175 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3400
+t=10: Selected seed 195 with value = 0.3400
+Query 1/1: Action query time = 1.119 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3797
+t=26: Selected seed 195 with value = 0.3797
+Query 1/1: Action query time = 1.076 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4834
+t=42: Selected seed 195 with value = 0.4834
+Query 1/1: Action query time = 0.988 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5609
+t=58: Selected seed 195 with value = 0.5609
+Query 1/1: Action query time = 0.986 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7688
+t=74: Selected seed 195 with value = 0.7688
+Query 1/1: Action query time = 0.988 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9157
+t=90: Selected seed 195 with value = 0.9157
+Query 1/1: Action query time = 0.993 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9933
+t=106: Selected seed 195 with value = 0.9933
+Query 1/1: Action query time = 0.980 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9959
+t=122: Selected seed 195 with value = 0.9959
+Saved rollout MP4 at path ./rollouts/CLbest_g0_t135/2026_07_31-01_10_29--episode=123--success=True--task=push_the_plate_to_the_front_of_the_stove.mp4
+Saved rollout MP4 at path ./rollouts/CLbest_g0_t135/2026_07_31-01_10_29--with_future_img--episode=123--success=True--task=push_the_plate_to_the_front_of_the_.mp4
+Success: True
+# episodes completed so far: 123
+# successes: 21 (17.1%)
+
+Task: push the plate to the front of the stove
+Starting episode 24...
+Query 1/1: Action query time = 1.097 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3524
+t=10: Selected seed 195 with value = 0.3524
+Query 1/1: Action query time = 1.003 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3834
+t=26: Selected seed 195 with value = 0.3834
+Query 1/1: Action query time = 0.980 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4555
+t=42: Selected seed 195 with value = 0.4555
+Query 1/1: Action query time = 0.999 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5491
+t=58: Selected seed 195 with value = 0.5491
+Query 1/1: Action query time = 0.991 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7526
+t=74: Selected seed 195 with value = 0.7526
+Query 1/1: Action query time = 0.966 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9201
+t=90: Selected seed 195 with value = 0.9201
+Query 1/1: Action query time = 0.987 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9876
+t=106: Selected seed 195 with value = 0.9876
+Saved rollout MP4 at path ./rollouts/CLbest_g0_t135/2026_07_31-01_10_29--episode=124--success=True--task=push_the_plate_to_the_front_of_the_stove.mp4
+Saved rollout MP4 at path ./rollouts/CLbest_g0_t135/2026_07_31-01_10_29--with_future_img--episode=124--success=True--task=push_the_plate_to_the_front_of_the_.mp4
+Success: True
+# episodes completed so far: 124
+# successes: 22 (17.7%)
+
+Task: push the plate to the front of the stove
+Starting episode 25...
+Query 1/1: Action query time = 0.999 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3490
+t=10: Selected seed 195 with value = 0.3490
+Query 1/1: Action query time = 0.979 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3859
+t=26: Selected seed 195 with value = 0.3859
+Query 1/1: Action query time = 0.992 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4696
+t=42: Selected seed 195 with value = 0.4696
+Query 1/1: Action query time = 0.987 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5414
+t=58: Selected seed 195 with value = 0.5414
+Query 1/1: Action query time = 1.012 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5483
+t=74: Selected seed 195 with value = 0.5483
+Query 1/1: Action query time = 1.013 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7279
+t=90: Selected seed 195 with value = 0.7279
+Query 1/1: Action query time = 0.995 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8969
+t=106: Selected seed 195 with value = 0.8969
+Query 1/1: Action query time = 1.023 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9896
+t=122: Selected seed 195 with value = 0.9896
+Saved rollout MP4 at path ./rollouts/CLbest_g0_t135/2026_07_31-01_10_29--episode=125--success=True--task=push_the_plate_to_the_front_of_the_stove.mp4
+Saved rollout MP4 at path ./rollouts/CLbest_g0_t135/2026_07_31-01_10_29--with_future_img--episode=125--success=True--task=push_the_plate_to_the_front_of_the_.mp4
+Success: True
+# episodes completed so far: 125
+# successes: 23 (18.4%)
+
+Task: push the plate to the front of the stove
+Starting episode 26...
+Query 1/1: Action query time = 1.079 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3539
+t=10: Selected seed 195 with value = 0.3539
+Query 1/1: Action query time = 0.977 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3963
+t=26: Selected seed 195 with value = 0.3963
+Query 1/1: Action query time = 0.987 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4110
+t=42: Selected seed 195 with value = 0.4110
+Query 1/1: Action query time = 1.017 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5304
+t=58: Selected seed 195 with value = 0.5304
+Query 1/1: Action query time = 0.983 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6412
+t=74: Selected seed 195 with value = 0.6412
+Query 1/1: Action query time = 1.010 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8245
+t=90: Selected seed 195 with value = 0.8245
+Query 1/1: Action query time = 1.079 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9750
+t=106: Selected seed 195 with value = 0.9750
+Saved rollout MP4 at path ./rollouts/CLbest_g0_t135/2026_07_31-01_10_29--episode=126--success=True--task=push_the_plate_to_the_front_of_the_stove.mp4
+Saved rollout MP4 at path ./rollouts/CLbest_g0_t135/2026_07_31-01_10_29--with_future_img--episode=126--success=True--task=push_the_plate_to_the_front_of_the_.mp4
+Success: True
+# episodes completed so far: 126
+# successes: 24 (19.0%)
+
+Task: push the plate to the front of the stove
+Starting episode 27...
+Query 1/1: Action query time = 1.111 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3618
+t=10: Selected seed 195 with value = 0.3618
+Query 1/1: Action query time = 1.108 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3886
+t=26: Selected seed 195 with value = 0.3886
+Query 1/1: Action query time = 1.004 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4599
+t=42: Selected seed 195 with value = 0.4599
+Query 1/1: Action query time = 0.992 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5311
+t=58: Selected seed 195 with value = 0.5311
+Query 1/1: Action query time = 1.005 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5423
+t=74: Selected seed 195 with value = 0.5423
+Query 1/1: Action query time = 1.000 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7116
+t=90: Selected seed 195 with value = 0.7116
+Query 1/1: Action query time = 1.234 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8936
+t=106: Selected seed 195 with value = 0.8936
+Query 1/1: Action query time = 1.166 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9905
+t=122: Selected seed 195 with value = 0.9905
+Saved rollout MP4 at path ./rollouts/CLbest_g0_t135/2026_07_31-01_10_29--episode=127--success=True--task=push_the_plate_to_the_front_of_the_stove.mp4
+Saved rollout MP4 at path ./rollouts/CLbest_g0_t135/2026_07_31-01_10_29--with_future_img--episode=127--success=True--task=push_the_plate_to_the_front_of_the_.mp4
+Success: True
+# episodes completed so far: 127
+# successes: 25 (19.7%)
+
+Task: push the plate to the front of the stove
+Starting episode 28...
+Query 1/1: Action query time = 1.062 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3364
+t=10: Selected seed 195 with value = 0.3364
+Query 1/1: Action query time = 1.032 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3698
+t=26: Selected seed 195 with value = 0.3698
+Query 1/1: Action query time = 1.005 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5219
+t=42: Selected seed 195 with value = 0.5219
+Query 1/1: Action query time = 1.016 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7576
+t=58: Selected seed 195 with value = 0.7576
+Query 1/1: Action query time = 1.003 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8644
+t=74: Selected seed 195 with value = 0.8644
+Query 1/1: Action query time = 0.992 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9814
+t=90: Selected seed 195 with value = 0.9814
+Saved rollout MP4 at path ./rollouts/CLbest_g0_t135/2026_07_31-01_10_29--episode=128--success=True--task=push_the_plate_to_the_front_of_the_stove.mp4
+Saved rollout MP4 at path ./rollouts/CLbest_g0_t135/2026_07_31-01_10_29--with_future_img--episode=128--success=True--task=push_the_plate_to_the_front_of_the_.mp4
+Success: True
+# episodes completed so far: 128
+# successes: 26 (20.3%)
+
+Task: push the plate to the front of the stove
+Starting episode 29...
+Query 1/1: Action query time = 1.002 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3293
+t=10: Selected seed 195 with value = 0.3293
+Query 1/1: Action query time = 0.996 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3878
+t=26: Selected seed 195 with value = 0.3878
+Query 1/1: Action query time = 1.001 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4240
+t=42: Selected seed 195 with value = 0.4240
+Query 1/1: Action query time = 1.003 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5188
+t=58: Selected seed 195 with value = 0.5188
+Query 1/1: Action query time = 0.982 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5897
+t=74: Selected seed 195 with value = 0.5897
+Query 1/1: Action query time = 0.988 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8011
+t=90: Selected seed 195 with value = 0.8011
+Query 1/1: Action query time = 0.976 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9561
+t=106: Selected seed 195 with value = 0.9561
+Saved rollout MP4 at path ./rollouts/CLbest_g0_t135/2026_07_31-01_10_29--episode=129--success=True--task=push_the_plate_to_the_front_of_the_stove.mp4
+Saved rollout MP4 at path ./rollouts/CLbest_g0_t135/2026_07_31-01_10_29--with_future_img--episode=129--success=True--task=push_the_plate_to_the_front_of_the_.mp4
+Success: True
+# episodes completed so far: 129
+# successes: 27 (20.9%)
+
+Task: push the plate to the front of the stove
+Starting episode 30...
+Query 1/1: Action query time = 0.994 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3689
+t=10: Selected seed 195 with value = 0.3689
+Query 1/1: Action query time = 0.977 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4048
+t=26: Selected seed 195 with value = 0.4048
+Query 1/1: Action query time = 0.984 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5345
+t=42: Selected seed 195 with value = 0.5345
+Query 1/1: Action query time = 0.999 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5334
+t=58: Selected seed 195 with value = 0.5334
+Query 1/1: Action query time = 0.974 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5416
+t=74: Selected seed 195 with value = 0.5416
+Query 1/1: Action query time = 0.969 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6356
+t=90: Selected seed 195 with value = 0.6356
+Query 1/1: Action query time = 0.990 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8799
+t=106: Selected seed 195 with value = 0.8799
+Query 1/1: Action query time = 0.991 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9677
+t=122: Selected seed 195 with value = 0.9677
+Saved rollout MP4 at path ./rollouts/CLbest_g0_t135/2026_07_31-01_10_29--episode=130--success=True--task=push_the_plate_to_the_front_of_the_stove.mp4
+Saved rollout MP4 at path ./rollouts/CLbest_g0_t135/2026_07_31-01_10_29--with_future_img--episode=130--success=True--task=push_the_plate_to_the_front_of_the_.mp4
+Success: True
+# episodes completed so far: 130
+# successes: 28 (21.5%)
+
+Task: push the plate to the front of the stove
+Starting episode 31...
+Query 1/1: Action query time = 1.004 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3167
+t=10: Selected seed 195 with value = 0.3167
+Query 1/1: Action query time = 0.981 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3857
+t=26: Selected seed 195 with value = 0.3857
+Query 1/1: Action query time = 0.985 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4306
+t=42: Selected seed 195 with value = 0.4306
+Query 1/1: Action query time = 0.990 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5110
+t=58: Selected seed 195 with value = 0.5110
+Query 1/1: Action query time = 0.979 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5176
+t=74: Selected seed 195 with value = 0.5176
+Query 1/1: Action query time = 0.978 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6241
+t=90: Selected seed 195 with value = 0.6241
+Query 1/1: Action query time = 1.048 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8202
+t=106: Selected seed 195 with value = 0.8202
+Query 1/1: Action query time = 1.103 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9355
+t=122: Selected seed 195 with value = 0.9355
+Query 1/1: Action query time = 1.121 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9927
+t=138: Selected seed 195 with value = 0.9927
+Saved rollout MP4 at path ./rollouts/CLbest_g0_t135/2026_07_31-01_10_29--episode=131--success=True--task=push_the_plate_to_the_front_of_the_stove.mp4
+Saved rollout MP4 at path ./rollouts/CLbest_g0_t135/2026_07_31-01_10_29--with_future_img--episode=131--success=True--task=push_the_plate_to_the_front_of_the_.mp4
+Success: True
+# episodes completed so far: 131
+# successes: 29 (22.1%)
+
+Task: push the plate to the front of the stove
+Starting episode 32...
+Query 1/1: Action query time = 0.977 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3368
+t=10: Selected seed 195 with value = 0.3368
+Query 1/1: Action query time = 1.006 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3764
+t=26: Selected seed 195 with value = 0.3764
+Query 1/1: Action query time = 0.986 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4357
+t=42: Selected seed 195 with value = 0.4357
+Query 1/1: Action query time = 0.990 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5151
+t=58: Selected seed 195 with value = 0.5151
+Query 1/1: Action query time = 0.978 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5580
+t=74: Selected seed 195 with value = 0.5580
+Query 1/1: Action query time = 1.003 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7625
+t=90: Selected seed 195 with value = 0.7625
+Query 1/1: Action query time = 1.037 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9352
+t=106: Selected seed 195 with value = 0.9352
+Query 1/1: Action query time = 0.976 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9930
+t=122: Selected seed 195 with value = 0.9930
+Saved rollout MP4 at path ./rollouts/CLbest_g0_t135/2026_07_31-01_10_29--episode=132--success=True--task=push_the_plate_to_the_front_of_the_stove.mp4
+Saved rollout MP4 at path ./rollouts/CLbest_g0_t135/2026_07_31-01_10_29--with_future_img--episode=132--success=True--task=push_the_plate_to_the_front_of_the_.mp4
+Success: True
+# episodes completed so far: 132
+# successes: 30 (22.7%)
+
+Task: push the plate to the front of the stove
+Starting episode 33...
+Query 1/1: Action query time = 1.010 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3664
+t=10: Selected seed 195 with value = 0.3664
+Query 1/1: Action query time = 0.983 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3972
+t=26: Selected seed 195 with value = 0.3972
+Query 1/1: Action query time = 1.024 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4226
+t=42: Selected seed 195 with value = 0.4226
+Query 1/1: Action query time = 0.985 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5378
+t=58: Selected seed 195 with value = 0.5378
+Query 1/1: Action query time = 0.981 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6152
+t=74: Selected seed 195 with value = 0.6152
+Query 1/1: Action query time = 0.995 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7866
+t=90: Selected seed 195 with value = 0.7866
+Query 1/1: Action query time = 0.981 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9429
+t=106: Selected seed 195 with value = 0.9429
+Query 1/1: Action query time = 1.173 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9887
+t=122: Selected seed 195 with value = 0.9887
+Saved rollout MP4 at path ./rollouts/CLbest_g0_t135/2026_07_31-01_10_29--episode=133--success=True--task=push_the_plate_to_the_front_of_the_stove.mp4
+Saved rollout MP4 at path ./rollouts/CLbest_g0_t135/2026_07_31-01_10_29--with_future_img--episode=133--success=True--task=push_the_plate_to_the_front_of_the_.mp4
+Success: True
+# episodes completed so far: 133
+# successes: 31 (23.3%)
+
+Task: push the plate to the front of the stove
+Starting episode 34...
+Query 1/1: Action query time = 0.982 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3154
+t=10: Selected seed 195 with value = 0.3154
+Query 1/1: Action query time = 1.001 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3758
+t=26: Selected seed 195 with value = 0.3758
+Query 1/1: Action query time = 0.974 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4163
+t=42: Selected seed 195 with value = 0.4163
+Query 1/1: Action query time = 0.983 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5363
+t=58: Selected seed 195 with value = 0.5363
+Query 1/1: Action query time = 0.966 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5710
+t=74: Selected seed 195 with value = 0.5710
+Query 1/1: Action query time = 0.997 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7929
+t=90: Selected seed 195 with value = 0.7929
+Query 1/1: Action query time = 0.984 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9222
+t=106: Selected seed 195 with value = 0.9222
+Saved rollout MP4 at path ./rollouts/CLbest_g0_t135/2026_07_31-01_10_29--episode=134--success=True--task=push_the_plate_to_the_front_of_the_stove.mp4
+Saved rollout MP4 at path ./rollouts/CLbest_g0_t135/2026_07_31-01_10_29--with_future_img--episode=134--success=True--task=push_the_plate_to_the_front_of_the_.mp4
+Success: True
+# episodes completed so far: 134
+# successes: 32 (23.9%)
+
+Task: push the plate to the front of the stove
+Starting episode 35...
+Query 1/1: Action query time = 0.993 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3567
+t=10: Selected seed 195 with value = 0.3567
+Query 1/1: Action query time = 0.967 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3748
+t=26: Selected seed 195 with value = 0.3748
+Query 1/1: Action query time = 0.987 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4431
+t=42: Selected seed 195 with value = 0.4431
+Query 1/1: Action query time = 0.973 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5341
+t=58: Selected seed 195 with value = 0.5341
+Query 1/1: Action query time = 0.986 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5941
+t=74: Selected seed 195 with value = 0.5941
+Query 1/1: Action query time = 0.975 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8263
+t=90: Selected seed 195 with value = 0.8263
+Query 1/1: Action query time = 0.984 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9596
+t=106: Selected seed 195 with value = 0.9596
+Saved rollout MP4 at path ./rollouts/CLbest_g0_t135/2026_07_31-01_10_29--episode=135--success=True--task=push_the_plate_to_the_front_of_the_stove.mp4
+Saved rollout MP4 at path ./rollouts/CLbest_g0_t135/2026_07_31-01_10_29--with_future_img--episode=135--success=True--task=push_the_plate_to_the_front_of_the_.mp4
+Success: True
+# episodes completed so far: 135
+# successes: 33 (24.4%)
+
+Task: push the plate to the front of the stove
+Starting episode 36...
+Query 1/1: Action query time = 0.991 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3513
+t=10: Selected seed 195 with value = 0.3513
+Query 1/1: Action query time = 0.975 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3889
+t=26: Selected seed 195 with value = 0.3889
+Query 1/1: Action query time = 0.977 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4707
+t=42: Selected seed 195 with value = 0.4707
+Query 1/1: Action query time = 0.979 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5316
+t=58: Selected seed 195 with value = 0.5316
+Query 1/1: Action query time = 0.972 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5840
+t=74: Selected seed 195 with value = 0.5840
+Query 1/1: Action query time = 0.971 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8414
+t=90: Selected seed 195 with value = 0.8414
+Query 1/1: Action query time = 0.985 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9136
+t=106: Selected seed 195 with value = 0.9136
+Query 1/1: Action query time = 0.988 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9860
+t=122: Selected seed 195 with value = 0.9860
+Saved rollout MP4 at path ./rollouts/CLbest_g0_t135/2026_07_31-01_10_29--episode=136--success=True--task=push_the_plate_to_the_front_of_the_stove.mp4
+Saved rollout MP4 at path ./rollouts/CLbest_g0_t135/2026_07_31-01_10_29--with_future_img--episode=136--success=True--task=push_the_plate_to_the_front_of_the_.mp4
+Success: True
+# episodes completed so far: 136
+# successes: 34 (25.0%)
+
+Task: push the plate to the front of the stove
+Starting episode 37...
+Query 1/1: Action query time = 0.994 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3393
+t=10: Selected seed 195 with value = 0.3393
+Query 1/1: Action query time = 0.981 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3596
+t=26: Selected seed 195 with value = 0.3596
+Query 1/1: Action query time = 0.978 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4730
+t=42: Selected seed 195 with value = 0.4730
+Query 1/1: Action query time = 0.988 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5300
+t=58: Selected seed 195 with value = 0.5300
+Query 1/1: Action query time = 0.989 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5367
+t=74: Selected seed 195 with value = 0.5367
+Query 1/1: Action query time = 0.975 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6868
+t=90: Selected seed 195 with value = 0.6868
+Query 1/1: Action query time = 0.978 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8820
+t=106: Selected seed 195 with value = 0.8820
+Query 1/1: Action query time = 0.967 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9909
+t=122: Selected seed 195 with value = 0.9909
+Saved rollout MP4 at path ./rollouts/CLbest_g0_t135/2026_07_31-01_10_29--episode=137--success=True--task=push_the_plate_to_the_front_of_the_stove.mp4
+Saved rollout MP4 at path ./rollouts/CLbest_g0_t135/2026_07_31-01_10_29--with_future_img--episode=137--success=True--task=push_the_plate_to_the_front_of_the_.mp4
+Success: True
+# episodes completed so far: 137
+# successes: 35 (25.5%)
+
+Task: push the plate to the front of the stove
+Starting episode 38...
+Query 1/1: Action query time = 1.012 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3419
+t=10: Selected seed 195 with value = 0.3419
+Query 1/1: Action query time = 0.973 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3730
+t=26: Selected seed 195 with value = 0.3730
+Query 1/1: Action query time = 0.970 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4518
+t=42: Selected seed 195 with value = 0.4518
+Query 1/1: Action query time = 0.971 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5342
+t=58: Selected seed 195 with value = 0.5342
+Query 1/1: Action query time = 0.992 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5901
+t=74: Selected seed 195 with value = 0.5901
+Query 1/1: Action query time = 0.979 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8166
+t=90: Selected seed 195 with value = 0.8166
+Query 1/1: Action query time = 0.969 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9554
+t=106: Selected seed 195 with value = 0.9554
+Query 1/1: Action query time = 0.978 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9946
+t=122: Selected seed 195 with value = 0.9946
+Query 1/1: Action query time = 0.989 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9987
+t=138: Selected seed 195 with value = 0.9987
+Query 1/1: Action query time = 0.983 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9974
+t=154: Selected seed 195 with value = 0.9974
+Query 1/1: Action query time = 1.000 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9950
+t=170: Selected seed 195 with value = 0.9950
+Query 1/1: Action query time = 0.982 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8752
+t=186: Selected seed 195 with value = 0.8752
+Query 1/1: Action query time = 0.994 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9434
+t=202: Selected seed 195 with value = 0.9434
+Saved rollout MP4 at path ./rollouts/CLbest_g0_t135/2026_07_31-01_10_29--episode=138--success=True--task=push_the_plate_to_the_front_of_the_stove.mp4
+Saved rollout MP4 at path ./rollouts/CLbest_g0_t135/2026_07_31-01_10_29--with_future_img--episode=138--success=True--task=push_the_plate_to_the_front_of_the_.mp4
+Success: True
+# episodes completed so far: 138
+# successes: 36 (26.1%)
+
+Task: push the plate to the front of the stove
+Starting episode 39...
+Query 1/1: Action query time = 1.006 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3441
+t=10: Selected seed 195 with value = 0.3441
+Query 1/1: Action query time = 0.986 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3894
+t=26: Selected seed 195 with value = 0.3894
+Query 1/1: Action query time = 0.995 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4161
+t=42: Selected seed 195 with value = 0.4161
+Query 1/1: Action query time = 0.979 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6274
+t=58: Selected seed 195 with value = 0.6274
+Query 1/1: Action query time = 0.981 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7319
+t=74: Selected seed 195 with value = 0.7319
+Query 1/1: Action query time = 0.981 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9098
+t=90: Selected seed 195 with value = 0.9098
+Query 1/1: Action query time = 0.963 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9966
+t=106: Selected seed 195 with value = 0.9966
+Saved rollout MP4 at path ./rollouts/CLbest_g0_t135/2026_07_31-01_10_29--episode=139--success=True--task=push_the_plate_to_the_front_of_the_stove.mp4
+Saved rollout MP4 at path ./rollouts/CLbest_g0_t135/2026_07_31-01_10_29--with_future_img--episode=139--success=True--task=push_the_plate_to_the_front_of_the_.mp4
+Success: True
+# episodes completed so far: 139
+# successes: 37 (26.6%)
+
+Task: push the plate to the front of the stove
+Starting episode 40...
+Query 1/1: Action query time = 0.996 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3250
+t=10: Selected seed 195 with value = 0.3250
+Query 1/1: Action query time = 0.986 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3791
+t=26: Selected seed 195 with value = 0.3791
+Query 1/1: Action query time = 0.984 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5764
+t=42: Selected seed 195 with value = 0.5764
+Query 1/1: Action query time = 0.969 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7417
+t=58: Selected seed 195 with value = 0.7417
+Query 1/1: Action query time = 0.982 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8845
+t=74: Selected seed 195 with value = 0.8845
+Query 1/1: Action query time = 0.979 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9756
+t=90: Selected seed 195 with value = 0.9756
+Saved rollout MP4 at path ./rollouts/CLbest_g0_t135/2026_07_31-01_10_29--episode=140--success=True--task=push_the_plate_to_the_front_of_the_stove.mp4
+Saved rollout MP4 at path ./rollouts/CLbest_g0_t135/2026_07_31-01_10_29--with_future_img--episode=140--success=True--task=push_the_plate_to_the_front_of_the_.mp4
+Success: True
+# episodes completed so far: 140
+# successes: 38 (27.1%)
+
+Task: push the plate to the front of the stove
+Starting episode 41...
+Query 1/1: Action query time = 0.976 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3294
+t=10: Selected seed 195 with value = 0.3294
+Query 1/1: Action query time = 0.979 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3937
+t=26: Selected seed 195 with value = 0.3937
+Query 1/1: Action query time = 0.966 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4304
+t=42: Selected seed 195 with value = 0.4304
+Query 1/1: Action query time = 0.973 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5197
+t=58: Selected seed 195 with value = 0.5197
+Query 1/1: Action query time = 0.997 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5331
+t=74: Selected seed 195 with value = 0.5331
+Query 1/1: Action query time = 0.986 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6800
+t=90: Selected seed 195 with value = 0.6800
+Query 1/1: Action query time = 0.977 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8625
+t=106: Selected seed 195 with value = 0.8625
+Query 1/1: Action query time = 0.993 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9663
+t=122: Selected seed 195 with value = 0.9663
+Saved rollout MP4 at path ./rollouts/CLbest_g0_t135/2026_07_31-01_10_29--episode=141--success=True--task=push_the_plate_to_the_front_of_the_stove.mp4
+Saved rollout MP4 at path ./rollouts/CLbest_g0_t135/2026_07_31-01_10_29--with_future_img--episode=141--success=True--task=push_the_plate_to_the_front_of_the_.mp4
+Success: True
+# episodes completed so far: 141
+# successes: 39 (27.7%)
+
+Task: push the plate to the front of the stove
+Starting episode 42...
+Query 1/1: Action query time = 0.994 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3407
+t=10: Selected seed 195 with value = 0.3407
+Query 1/1: Action query time = 0.997 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3774
+t=26: Selected seed 195 with value = 0.3774
+Query 1/1: Action query time = 0.974 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4571
+t=42: Selected seed 195 with value = 0.4571
+Query 1/1: Action query time = 1.000 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5418
+t=58: Selected seed 195 with value = 0.5418
+Query 1/1: Action query time = 1.011 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7099
+t=74: Selected seed 195 with value = 0.7099
+Query 1/1: Action query time = 1.010 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8741
+t=90: Selected seed 195 with value = 0.8741
+Query 1/1: Action query time = 1.009 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9974
+t=106: Selected seed 195 with value = 0.9974
+Saved rollout MP4 at path ./rollouts/CLbest_g0_t135/2026_07_31-01_10_29--episode=142--success=True--task=push_the_plate_to_the_front_of_the_stove.mp4
+Saved rollout MP4 at path ./rollouts/CLbest_g0_t135/2026_07_31-01_10_29--with_future_img--episode=142--success=True--task=push_the_plate_to_the_front_of_the_.mp4
+Success: True
+# episodes completed so far: 142
+# successes: 40 (28.2%)
+
+Task: push the plate to the front of the stove
+Starting episode 43...
+Query 1/1: Action query time = 1.009 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3308
+t=10: Selected seed 195 with value = 0.3308
+Query 1/1: Action query time = 1.008 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3787
+t=26: Selected seed 195 with value = 0.3787
+Query 1/1: Action query time = 1.022 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4210
+t=42: Selected seed 195 with value = 0.4210
+Query 1/1: Action query time = 0.983 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5268
+t=58: Selected seed 195 with value = 0.5268
+Query 1/1: Action query time = 1.011 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5600
+t=74: Selected seed 195 with value = 0.5600
+Query 1/1: Action query time = 0.995 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7896
+t=90: Selected seed 195 with value = 0.7896
+Query 1/1: Action query time = 1.010 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9363
+t=106: Selected seed 195 with value = 0.9363
+Saved rollout MP4 at path ./rollouts/CLbest_g0_t135/2026_07_31-01_10_29--episode=143--success=True--task=push_the_plate_to_the_front_of_the_stove.mp4
+Saved rollout MP4 at path ./rollouts/CLbest_g0_t135/2026_07_31-01_10_29--with_future_img--episode=143--success=True--task=push_the_plate_to_the_front_of_the_.mp4
+Success: True
+# episodes completed so far: 143
+# successes: 41 (28.7%)
+
+Task: push the plate to the front of the stove
+Starting episode 44...
+Query 1/1: Action query time = 1.012 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3449
+t=10: Selected seed 195 with value = 0.3449
+Query 1/1: Action query time = 0.969 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3892
+t=26: Selected seed 195 with value = 0.3892
+Query 1/1: Action query time = 0.992 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4093
+t=42: Selected seed 195 with value = 0.4093
+Query 1/1: Action query time = 0.981 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5262
+t=58: Selected seed 195 with value = 0.5262
+Query 1/1: Action query time = 1.003 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5442
+t=74: Selected seed 195 with value = 0.5442
+Query 1/1: Action query time = 0.982 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7319
+t=90: Selected seed 195 with value = 0.7319
+Query 1/1: Action query time = 0.974 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8701
+t=106: Selected seed 195 with value = 0.8701
+Query 1/1: Action query time = 0.980 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9879
+t=122: Selected seed 195 with value = 0.9879
+Saved rollout MP4 at path ./rollouts/CLbest_g0_t135/2026_07_31-01_10_29--episode=144--success=True--task=push_the_plate_to_the_front_of_the_stove.mp4
+Saved rollout MP4 at path ./rollouts/CLbest_g0_t135/2026_07_31-01_10_29--with_future_img--episode=144--success=True--task=push_the_plate_to_the_front_of_the_.mp4
+Success: True
+# episodes completed so far: 144
+# successes: 42 (29.2%)
+
+Task: push the plate to the front of the stove
+Starting episode 45...
+Query 1/1: Action query time = 1.010 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3508
+t=10: Selected seed 195 with value = 0.3508
+Query 1/1: Action query time = 1.003 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3791
+t=26: Selected seed 195 with value = 0.3791
+Query 1/1: Action query time = 0.975 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4568
+t=42: Selected seed 195 with value = 0.4568
+Query 1/1: Action query time = 0.995 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6827
+t=58: Selected seed 195 with value = 0.6827
+Query 1/1: Action query time = 1.001 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7926
+t=74: Selected seed 195 with value = 0.7926
+Query 1/1: Action query time = 0.989 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9270
+t=90: Selected seed 195 with value = 0.9270
+Query 1/1: Action query time = 0.992 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9905
+t=106: Selected seed 195 with value = 0.9905
+Saved rollout MP4 at path ./rollouts/CLbest_g0_t135/2026_07_31-01_10_29--episode=145--success=True--task=push_the_plate_to_the_front_of_the_stove.mp4
+Saved rollout MP4 at path ./rollouts/CLbest_g0_t135/2026_07_31-01_10_29--with_future_img--episode=145--success=True--task=push_the_plate_to_the_front_of_the_.mp4
+Success: True
+# episodes completed so far: 145
+# successes: 43 (29.7%)
+
+Task: push the plate to the front of the stove
+Starting episode 46...
+Query 1/1: Action query time = 0.986 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3299
+t=10: Selected seed 195 with value = 0.3299
+Query 1/1: Action query time = 0.980 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3855
+t=26: Selected seed 195 with value = 0.3855
+Query 1/1: Action query time = 1.001 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4777
+t=42: Selected seed 195 with value = 0.4777
+Query 1/1: Action query time = 0.974 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5306
+t=58: Selected seed 195 with value = 0.5306
+Query 1/1: Action query time = 0.996 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6348
+t=74: Selected seed 195 with value = 0.6348
+Query 1/1: Action query time = 0.973 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8154
+t=90: Selected seed 195 with value = 0.8154
+Query 1/1: Action query time = 0.986 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9722
+t=106: Selected seed 195 with value = 0.9722
+Saved rollout MP4 at path ./rollouts/CLbest_g0_t135/2026_07_31-01_10_29--episode=146--success=True--task=push_the_plate_to_the_front_of_the_stove.mp4
+Saved rollout MP4 at path ./rollouts/CLbest_g0_t135/2026_07_31-01_10_29--with_future_img--episode=146--success=True--task=push_the_plate_to_the_front_of_the_.mp4
+Success: True
+# episodes completed so far: 146
+# successes: 44 (30.1%)
+
+Task: push the plate to the front of the stove
+Starting episode 47...
+Query 1/1: Action query time = 0.991 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3335
+t=10: Selected seed 195 with value = 0.3335
+Query 1/1: Action query time = 1.007 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3776
+t=26: Selected seed 195 with value = 0.3776
+Query 1/1: Action query time = 0.970 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4395
+t=42: Selected seed 195 with value = 0.4395
+Query 1/1: Action query time = 0.983 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5260
+t=58: Selected seed 195 with value = 0.5260
+Query 1/1: Action query time = 1.016 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5594
+t=74: Selected seed 195 with value = 0.5594
+Query 1/1: Action query time = 0.983 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7260
+t=90: Selected seed 195 with value = 0.7260
+Query 1/1: Action query time = 0.975 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9051
+t=106: Selected seed 195 with value = 0.9051
+Query 1/1: Action query time = 0.991 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9904
+t=122: Selected seed 195 with value = 0.9904
+Saved rollout MP4 at path ./rollouts/CLbest_g0_t135/2026_07_31-01_10_29--episode=147--success=True--task=push_the_plate_to_the_front_of_the_stove.mp4
+Saved rollout MP4 at path ./rollouts/CLbest_g0_t135/2026_07_31-01_10_29--with_future_img--episode=147--success=True--task=push_the_plate_to_the_front_of_the_.mp4
+Success: True
+# episodes completed so far: 147
+# successes: 45 (30.6%)
+
+Task: push the plate to the front of the stove
+Starting episode 48...
+Query 1/1: Action query time = 1.021 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3516
+t=10: Selected seed 195 with value = 0.3516
+Query 1/1: Action query time = 1.025 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4010
+t=26: Selected seed 195 with value = 0.4010
+Query 1/1: Action query time = 1.009 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4906
+t=42: Selected seed 195 with value = 0.4906
+Query 1/1: Action query time = 0.989 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5276
+t=58: Selected seed 195 with value = 0.5276
+Query 1/1: Action query time = 1.001 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5341
+t=74: Selected seed 195 with value = 0.5341
+Query 1/1: Action query time = 0.972 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6859
+t=90: Selected seed 195 with value = 0.6859
+Query 1/1: Action query time = 1.003 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8785
+t=106: Selected seed 195 with value = 0.8785
+Query 1/1: Action query time = 0.990 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9828
+t=122: Selected seed 195 with value = 0.9828
+Saved rollout MP4 at path ./rollouts/CLbest_g0_t135/2026_07_31-01_10_29--episode=148--success=True--task=push_the_plate_to_the_front_of_the_stove.mp4
+Saved rollout MP4 at path ./rollouts/CLbest_g0_t135/2026_07_31-01_10_29--with_future_img--episode=148--success=True--task=push_the_plate_to_the_front_of_the_.mp4
+Success: True
+# episodes completed so far: 148
+# successes: 46 (31.1%)
+
+Task: push the plate to the front of the stove
+Starting episode 49...
+Query 1/1: Action query time = 0.996 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3352
+t=10: Selected seed 195 with value = 0.3352
+Query 1/1: Action query time = 0.981 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3631
+t=26: Selected seed 195 with value = 0.3631
+Query 1/1: Action query time = 0.986 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4814
+t=42: Selected seed 195 with value = 0.4814
+Query 1/1: Action query time = 0.969 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7263
+t=58: Selected seed 195 with value = 0.7263
+Query 1/1: Action query time = 0.963 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8321
+t=74: Selected seed 195 with value = 0.8321
+Query 1/1: Action query time = 0.985 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9548
+t=90: Selected seed 195 with value = 0.9548
+Saved rollout MP4 at path ./rollouts/CLbest_g0_t135/2026_07_31-01_10_29--episode=149--success=True--task=push_the_plate_to_the_front_of_the_stove.mp4
+Saved rollout MP4 at path ./rollouts/CLbest_g0_t135/2026_07_31-01_10_29--with_future_img--episode=149--success=True--task=push_the_plate_to_the_front_of_the_.mp4
+Success: True
+# episodes completed so far: 149
+# successes: 47 (31.5%)
+
+Task: push the plate to the front of the stove
+Starting episode 50...
+Query 1/1: Action query time = 0.995 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3292
+t=10: Selected seed 195 with value = 0.3292
+Query 1/1: Action query time = 0.976 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3743
+t=26: Selected seed 195 with value = 0.3743
+Query 1/1: Action query time = 0.976 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4368
+t=42: Selected seed 195 with value = 0.4368
+Query 1/1: Action query time = 1.001 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5272
+t=58: Selected seed 195 with value = 0.5272
+Query 1/1: Action query time = 1.032 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5451
+t=74: Selected seed 195 with value = 0.5451
+Query 1/1: Action query time = 1.008 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7608
+t=90: Selected seed 195 with value = 0.7608
+Query 1/1: Action query time = 0.991 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9095
+t=106: Selected seed 195 with value = 0.9095
+Query 1/1: Action query time = 0.981 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9924
+t=122: Selected seed 195 with value = 0.9924
+Saved rollout MP4 at path ./rollouts/CLbest_g0_t135/2026_07_31-01_10_29--episode=150--success=True--task=push_the_plate_to_the_front_of_the_stove.mp4
+Saved rollout MP4 at path ./rollouts/CLbest_g0_t135/2026_07_31-01_10_29--with_future_img--episode=150--success=True--task=push_the_plate_to_the_front_of_the_.mp4
+Success: True
+# episodes completed so far: 150
+# successes: 48 (32.0%)
+Current task success rate: 0.96
+Current total success rate: 0.32
+Final results:
+Total episodes: 150
+Total successes: 48
+Overall success rate: 0.3200 (32.0%)
diff --git a/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_07_31-02_00_23--CLbest_t6.txt b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_07_31-02_00_23--CLbest_t6.txt
new file mode 100644
index 0000000000000000000000000000000000000000..6bd07ddecc8ff25edc4065093231633833b24b72
--- /dev/null
+++ b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_07_31-02_00_23--CLbest_t6.txt
@@ -0,0 +1,1896 @@
+Eval config: PolicyEvalConfig(suite='libero', model_family='cosmos', config='cosmos_predict2_2b_480p_libero_cl_stage_inference_only', ckpt_path='/home/azureuser/REGEN-main/old/cosmos_policy/cosmos_v2_finetune/cosmos_predict2_2b_480p_libero_goal_task6_regen_cl_from40k_2gpu/best_action_l1/model', planning_model_config_name='', planning_model_ckpt_path='', config_file='cosmos_policy/config/config.py', packnet_mask_path='', packnet_first_cl_libero_task=6, use_third_person_image=True, num_third_person_images=1, use_wrist_image=True, num_wrist_images=1, use_proprio=True, flip_images=True, use_variance_scale=False, use_jpeg_compression=True, ar_future_prediction=False, ar_value_prediction=False, ar_qvalue_prediction=False, num_denoising_steps_action=5, num_denoising_steps_future_state=1, num_denoising_steps_value=1, unnormalize_actions=True, normalize_proprio=True, dataset_stats_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/libero_goal_regen/dataset_statistics.json', t5_text_embeddings_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/t5_embeddings.pkl', trained_with_image_aug=True, chunk_size=16, num_open_loop_steps=16, deterministic=True, deterministic_reset=False, deterministic_reset_seed=None, use_ensemble_future_state_predictions=False, num_future_state_predictions_in_ensemble=3, future_state_ensemble_aggregation_scheme='average', use_ensemble_value_predictions=False, num_value_predictions_in_ensemble=5, value_ensemble_aggregation_scheme='average', search_depth=1, mask_current_state_action_for_value_prediction=False, mask_future_state_for_qvalue_prediction=False, num_queries_best_of_n=1, use_parallel_inference=False, available_gpus='0', parallel_timeout=15, parallel_tasks_across_gpus=False, task_suite_name='libero_goal', num_trials_per_task=50, task_ids_to_run='6', initial_states_path='DEFAULT', env_img_res=256, local_log_dir='cosmos_policy/experiments/robot/libero/logs/libero_goal', run_id_note='CLbest_t6', use_wandb=False, wandb_entity='YOUR_ENTITY', wandb_project='YOUR_PROJECT', seed=195, randomize_seed=False, data_collection=False, jpeg_compress=True, reward_stop_threshold=None, reward_stop_consecutive_steps=3, use_gpt_reward=False, gpt_reward_model='gpt-5.4-mini', gpt_reward_stop_threshold=4, gpt_reward_timeout_s=30.0, save_rollout_video=True, eval_hdf5_path='', eval_hdf5_demo_key='demo_0', data_gen_demo_ids='', replay_actions=False, replay_action_path_dir='', replay_hdf5_path='', data_generation=False, max_generation_steps=200)
+Using serial inference (parallel inference disabled)
+Task suite: libero_goal
+Number of tasks: 10
+Running only task IDs: [6]
+Using default initial states
+
+Task: put the cream cheese in the bowl
+Starting episode 1...
+Query 1/1: Action query time = 1.619 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4403
+t=10: Selected seed 195 with value = 0.4403
+Query 1/1: Action query time = 0.972 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5088
+t=26: Selected seed 195 with value = 0.5088
+Query 1/1: Action query time = 0.957 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5657
+t=42: Selected seed 195 with value = 0.5657
+Query 1/1: Action query time = 0.954 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6983
+t=58: Selected seed 195 with value = 0.6983
+Query 1/1: Action query time = 0.958 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8298
+t=74: Selected seed 195 with value = 0.8298
+Query 1/1: Action query time = 0.961 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9892
+t=90: Selected seed 195 with value = 0.9892
+Saved rollout MP4 at path ./rollouts/CLbest_t6/2026_07_31-02_00_23--episode=1--success=True--task=put_the_cream_cheese_in_the_bowl.mp4
+Saved rollout MP4 at path ./rollouts/CLbest_t6/2026_07_31-02_00_23--with_future_img--episode=1--success=True--task=put_the_cream_cheese_in_the_bowl.mp4
+Success: True
+# episodes completed so far: 1
+# successes: 1 (100.0%)
+
+Task: put the cream cheese in the bowl
+Starting episode 2...
+Query 1/1: Action query time = 0.976 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4335
+t=10: Selected seed 195 with value = 0.4335
+Query 1/1: Action query time = 0.960 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4999
+t=26: Selected seed 195 with value = 0.4999
+Query 1/1: Action query time = 1.050 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5599
+t=42: Selected seed 195 with value = 0.5599
+Query 1/1: Action query time = 1.031 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6529
+t=58: Selected seed 195 with value = 0.6529
+Query 1/1: Action query time = 1.106 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7958
+t=74: Selected seed 195 with value = 0.7958
+Query 1/1: Action query time = 1.180 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9179
+t=90: Selected seed 195 with value = 0.9179
+Query 1/1: Action query time = 1.175 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=106: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 1.162 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9974
+t=122: Selected seed 195 with value = 0.9974
+Query 1/1: Action query time = 1.100 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9927
+t=138: Selected seed 195 with value = 0.9927
+Query 1/1: Action query time = 1.056 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9725
+t=154: Selected seed 195 with value = 0.9725
+Query 1/1: Action query time = 1.009 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9782
+t=170: Selected seed 195 with value = 0.9782
+Query 1/1: Action query time = 0.961 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9129
+t=186: Selected seed 195 with value = 0.9129
+Query 1/1: Action query time = 0.979 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9945
+t=202: Selected seed 195 with value = 0.9945
+Query 1/1: Action query time = 0.974 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9965
+t=218: Selected seed 195 with value = 0.9965
+Query 1/1: Action query time = 0.965 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9935
+t=234: Selected seed 195 with value = 0.9935
+Query 1/1: Action query time = 0.953 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9915
+t=250: Selected seed 195 with value = 0.9915
+Query 1/1: Action query time = 0.973 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9907
+t=266: Selected seed 195 with value = 0.9907
+Query 1/1: Action query time = 0.967 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9794
+t=282: Selected seed 195 with value = 0.9794
+Query 1/1: Action query time = 0.974 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9731
+t=298: Selected seed 195 with value = 0.9731
+Saved rollout MP4 at path ./rollouts/CLbest_t6/2026_07_31-02_00_23--episode=2--success=False--task=put_the_cream_cheese_in_the_bowl.mp4
+Saved rollout MP4 at path ./rollouts/CLbest_t6/2026_07_31-02_00_23--with_future_img--episode=2--success=False--task=put_the_cream_cheese_in_the_bowl.mp4
+Success: False
+# episodes completed so far: 2
+# successes: 1 (50.0%)
+
+Task: put the cream cheese in the bowl
+Starting episode 3...
+Query 1/1: Action query time = 0.965 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4428
+t=10: Selected seed 195 with value = 0.4428
+Query 1/1: Action query time = 0.978 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4871
+t=26: Selected seed 195 with value = 0.4871
+Query 1/1: Action query time = 0.972 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5526
+t=42: Selected seed 195 with value = 0.5526
+Query 1/1: Action query time = 0.962 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6913
+t=58: Selected seed 195 with value = 0.6913
+Query 1/1: Action query time = 0.954 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8291
+t=74: Selected seed 195 with value = 0.8291
+Query 1/1: Action query time = 0.965 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9890
+t=90: Selected seed 195 with value = 0.9890
+Query 1/1: Action query time = 0.977 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9928
+t=106: Selected seed 195 with value = 0.9928
+Query 1/1: Action query time = 0.968 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9849
+t=122: Selected seed 195 with value = 0.9849
+Query 1/1: Action query time = 0.969 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9711
+t=138: Selected seed 195 with value = 0.9711
+Query 1/1: Action query time = 0.972 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9444
+t=154: Selected seed 195 with value = 0.9444
+Query 1/1: Action query time = 0.997 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9922
+t=170: Selected seed 195 with value = 0.9922
+Query 1/1: Action query time = 0.974 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9976
+t=186: Selected seed 195 with value = 0.9976
+Query 1/1: Action query time = 0.970 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9898
+t=202: Selected seed 195 with value = 0.9898
+Query 1/1: Action query time = 0.965 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9869
+t=218: Selected seed 195 with value = 0.9869
+Query 1/1: Action query time = 0.953 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9805
+t=234: Selected seed 195 with value = 0.9805
+Query 1/1: Action query time = 0.969 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9238
+t=250: Selected seed 195 with value = 0.9238
+Query 1/1: Action query time = 0.965 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9933
+t=266: Selected seed 195 with value = 0.9933
+Query 1/1: Action query time = 0.961 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9906
+t=282: Selected seed 195 with value = 0.9906
+Query 1/1: Action query time = 0.973 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9913
+t=298: Selected seed 195 with value = 0.9913
+Saved rollout MP4 at path ./rollouts/CLbest_t6/2026_07_31-02_00_23--episode=3--success=False--task=put_the_cream_cheese_in_the_bowl.mp4
+Saved rollout MP4 at path ./rollouts/CLbest_t6/2026_07_31-02_00_23--with_future_img--episode=3--success=False--task=put_the_cream_cheese_in_the_bowl.mp4
+Success: False
+# episodes completed so far: 3
+# successes: 1 (33.3%)
+
+Task: put the cream cheese in the bowl
+Starting episode 4...
+Query 1/1: Action query time = 0.976 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4027
+t=10: Selected seed 195 with value = 0.4027
+Query 1/1: Action query time = 0.955 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5178
+t=26: Selected seed 195 with value = 0.5178
+Query 1/1: Action query time = 0.970 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5895
+t=42: Selected seed 195 with value = 0.5895
+Query 1/1: Action query time = 1.003 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6867
+t=58: Selected seed 195 with value = 0.6867
+Query 1/1: Action query time = 0.999 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7994
+t=74: Selected seed 195 with value = 0.7994
+Query 1/1: Action query time = 0.979 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9471
+t=90: Selected seed 195 with value = 0.9471
+Saved rollout MP4 at path ./rollouts/CLbest_t6/2026_07_31-02_00_23--episode=4--success=True--task=put_the_cream_cheese_in_the_bowl.mp4
+Saved rollout MP4 at path ./rollouts/CLbest_t6/2026_07_31-02_00_23--with_future_img--episode=4--success=True--task=put_the_cream_cheese_in_the_bowl.mp4
+Success: True
+# episodes completed so far: 4
+# successes: 2 (50.0%)
+
+Task: put the cream cheese in the bowl
+Starting episode 5...
+Query 1/1: Action query time = 1.205 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4144
+t=10: Selected seed 195 with value = 0.4144
+Query 1/1: Action query time = 1.213 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5171
+t=26: Selected seed 195 with value = 0.5171
+Query 1/1: Action query time = 1.179 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5941
+t=42: Selected seed 195 with value = 0.5941
+Query 1/1: Action query time = 1.182 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6913
+t=58: Selected seed 195 with value = 0.6913
+Query 1/1: Action query time = 1.138 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8037
+t=74: Selected seed 195 with value = 0.8037
+Query 1/1: Action query time = 1.108 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9413
+t=90: Selected seed 195 with value = 0.9413
+Saved rollout MP4 at path ./rollouts/CLbest_t6/2026_07_31-02_00_23--episode=5--success=True--task=put_the_cream_cheese_in_the_bowl.mp4
+Saved rollout MP4 at path ./rollouts/CLbest_t6/2026_07_31-02_00_23--with_future_img--episode=5--success=True--task=put_the_cream_cheese_in_the_bowl.mp4
+Success: True
+# episodes completed so far: 5
+# successes: 3 (60.0%)
+
+Task: put the cream cheese in the bowl
+Starting episode 6...
+Query 1/1: Action query time = 0.973 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4374
+t=10: Selected seed 195 with value = 0.4374
+Query 1/1: Action query time = 0.958 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4835
+t=26: Selected seed 195 with value = 0.4835
+Query 1/1: Action query time = 0.962 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5504
+t=42: Selected seed 195 with value = 0.5504
+Query 1/1: Action query time = 0.955 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6820
+t=58: Selected seed 195 with value = 0.6820
+Query 1/1: Action query time = 0.962 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8245
+t=74: Selected seed 195 with value = 0.8245
+Query 1/1: Action query time = 0.955 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9654
+t=90: Selected seed 195 with value = 0.9654
+Saved rollout MP4 at path ./rollouts/CLbest_t6/2026_07_31-02_00_23--episode=6--success=True--task=put_the_cream_cheese_in_the_bowl.mp4
+Saved rollout MP4 at path ./rollouts/CLbest_t6/2026_07_31-02_00_23--with_future_img--episode=6--success=True--task=put_the_cream_cheese_in_the_bowl.mp4
+Success: True
+# episodes completed so far: 6
+# successes: 4 (66.7%)
+
+Task: put the cream cheese in the bowl
+Starting episode 7...
+Query 1/1: Action query time = 0.965 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4709
+t=10: Selected seed 195 with value = 0.4709
+Query 1/1: Action query time = 0.987 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5301
+t=26: Selected seed 195 with value = 0.5301
+Query 1/1: Action query time = 0.979 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5928
+t=42: Selected seed 195 with value = 0.5928
+Query 1/1: Action query time = 0.986 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7232
+t=58: Selected seed 195 with value = 0.7232
+Query 1/1: Action query time = 0.967 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8711
+t=74: Selected seed 195 with value = 0.8711
+Saved rollout MP4 at path ./rollouts/CLbest_t6/2026_07_31-02_00_23--episode=7--success=True--task=put_the_cream_cheese_in_the_bowl.mp4
+Saved rollout MP4 at path ./rollouts/CLbest_t6/2026_07_31-02_00_23--with_future_img--episode=7--success=True--task=put_the_cream_cheese_in_the_bowl.mp4
+Success: True
+# episodes completed so far: 7
+# successes: 5 (71.4%)
+
+Task: put the cream cheese in the bowl
+Starting episode 8...
+Query 1/1: Action query time = 0.988 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4117
+t=10: Selected seed 195 with value = 0.4117
+Query 1/1: Action query time = 0.970 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4830
+t=26: Selected seed 195 with value = 0.4830
+Query 1/1: Action query time = 0.964 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5699
+t=42: Selected seed 195 with value = 0.5699
+Query 1/1: Action query time = 0.960 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6550
+t=58: Selected seed 195 with value = 0.6550
+Query 1/1: Action query time = 0.963 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7484
+t=74: Selected seed 195 with value = 0.7484
+Query 1/1: Action query time = 0.966 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8711
+t=90: Selected seed 195 with value = 0.8711
+Query 1/1: Action query time = 0.955 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9530
+t=106: Selected seed 195 with value = 0.9530
+Saved rollout MP4 at path ./rollouts/CLbest_t6/2026_07_31-02_00_23--episode=8--success=True--task=put_the_cream_cheese_in_the_bowl.mp4
+Saved rollout MP4 at path ./rollouts/CLbest_t6/2026_07_31-02_00_23--with_future_img--episode=8--success=True--task=put_the_cream_cheese_in_the_bowl.mp4
+Success: True
+# episodes completed so far: 8
+# successes: 6 (75.0%)
+
+Task: put the cream cheese in the bowl
+Starting episode 9...
+Query 1/1: Action query time = 0.977 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4346
+t=10: Selected seed 195 with value = 0.4346
+Query 1/1: Action query time = 0.971 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5019
+t=26: Selected seed 195 with value = 0.5019
+Query 1/1: Action query time = 0.949 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5768
+t=42: Selected seed 195 with value = 0.5768
+Query 1/1: Action query time = 0.966 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6761
+t=58: Selected seed 195 with value = 0.6761
+Query 1/1: Action query time = 1.027 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8000
+t=74: Selected seed 195 with value = 0.8000
+Query 1/1: Action query time = 0.977 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9403
+t=90: Selected seed 195 with value = 0.9403
+Saved rollout MP4 at path ./rollouts/CLbest_t6/2026_07_31-02_00_23--episode=9--success=True--task=put_the_cream_cheese_in_the_bowl.mp4
+Saved rollout MP4 at path ./rollouts/CLbest_t6/2026_07_31-02_00_23--with_future_img--episode=9--success=True--task=put_the_cream_cheese_in_the_bowl.mp4
+Success: True
+# episodes completed so far: 9
+# successes: 7 (77.8%)
+
+Task: put the cream cheese in the bowl
+Starting episode 10...
+Query 1/1: Action query time = 0.976 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4144
+t=10: Selected seed 195 with value = 0.4144
+Query 1/1: Action query time = 0.997 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5354
+t=26: Selected seed 195 with value = 0.5354
+Query 1/1: Action query time = 0.956 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5832
+t=42: Selected seed 195 with value = 0.5832
+Query 1/1: Action query time = 0.952 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6596
+t=58: Selected seed 195 with value = 0.6596
+Query 1/1: Action query time = 0.953 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7708
+t=74: Selected seed 195 with value = 0.7708
+Query 1/1: Action query time = 0.958 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9241
+t=90: Selected seed 195 with value = 0.9241
+Saved rollout MP4 at path ./rollouts/CLbest_t6/2026_07_31-02_00_23--episode=10--success=True--task=put_the_cream_cheese_in_the_bowl.mp4
+Saved rollout MP4 at path ./rollouts/CLbest_t6/2026_07_31-02_00_23--with_future_img--episode=10--success=True--task=put_the_cream_cheese_in_the_bowl.mp4
+Success: True
+# episodes completed so far: 10
+# successes: 8 (80.0%)
+
+Task: put the cream cheese in the bowl
+Starting episode 11...
+Query 1/1: Action query time = 1.028 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4402
+t=10: Selected seed 195 with value = 0.4402
+Query 1/1: Action query time = 0.970 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4694
+t=26: Selected seed 195 with value = 0.4694
+Query 1/1: Action query time = 1.163 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5911
+t=42: Selected seed 195 with value = 0.5911
+Query 1/1: Action query time = 1.056 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6936
+t=58: Selected seed 195 with value = 0.6936
+Query 1/1: Action query time = 1.174 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8152
+t=74: Selected seed 195 with value = 0.8152
+Query 1/1: Action query time = 1.133 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9910
+t=90: Selected seed 195 with value = 0.9910
+Saved rollout MP4 at path ./rollouts/CLbest_t6/2026_07_31-02_00_23--episode=11--success=True--task=put_the_cream_cheese_in_the_bowl.mp4
+Saved rollout MP4 at path ./rollouts/CLbest_t6/2026_07_31-02_00_23--with_future_img--episode=11--success=True--task=put_the_cream_cheese_in_the_bowl.mp4
+Success: True
+# episodes completed so far: 11
+# successes: 9 (81.8%)
+
+Task: put the cream cheese in the bowl
+Starting episode 12...
+Query 1/1: Action query time = 1.599 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4819
+t=10: Selected seed 195 with value = 0.4819
+Query 1/1: Action query time = 1.594 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5134
+t=26: Selected seed 195 with value = 0.5134
+Query 1/1: Action query time = 1.616 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5842
+t=42: Selected seed 195 with value = 0.5842
+Query 1/1: Action query time = 1.614 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6672
+t=58: Selected seed 195 with value = 0.6672
+Query 1/1: Action query time = 1.755 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8582
+t=74: Selected seed 195 with value = 0.8582
+Query 1/1: Action query time = 1.598 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 1.814 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=106: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 1.588 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9975
+t=122: Selected seed 195 with value = 0.9975
+Query 1/1: Action query time = 1.861 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9954
+t=138: Selected seed 195 with value = 0.9954
+Query 1/1: Action query time = 1.587 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9892
+t=154: Selected seed 195 with value = 0.9892
+Query 1/1: Action query time = 1.791 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9819
+t=170: Selected seed 195 with value = 0.9819
+Query 1/1: Action query time = 1.618 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9884
+t=186: Selected seed 195 with value = 0.9884
+Query 1/1: Action query time = 1.838 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9850
+t=202: Selected seed 195 with value = 0.9850
+Query 1/1: Action query time = 1.619 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9826
+t=218: Selected seed 195 with value = 0.9826
+Query 1/1: Action query time = 1.737 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9845
+t=234: Selected seed 195 with value = 0.9845
+Query 1/1: Action query time = 1.599 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9819
+t=250: Selected seed 195 with value = 0.9819
+Query 1/1: Action query time = 1.789 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9777
+t=266: Selected seed 195 with value = 0.9777
+Query 1/1: Action query time = 1.590 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9769
+t=282: Selected seed 195 with value = 0.9769
+Query 1/1: Action query time = 1.625 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9775
+t=298: Selected seed 195 with value = 0.9775
+Saved rollout MP4 at path ./rollouts/CLbest_t6/2026_07_31-02_00_23--episode=12--success=False--task=put_the_cream_cheese_in_the_bowl.mp4
+Saved rollout MP4 at path ./rollouts/CLbest_t6/2026_07_31-02_00_23--with_future_img--episode=12--success=False--task=put_the_cream_cheese_in_the_bowl.mp4
+Success: False
+# episodes completed so far: 12
+# successes: 9 (75.0%)
+
+Task: put the cream cheese in the bowl
+Starting episode 13...
+Query 1/1: Action query time = 1.735 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4530
+t=10: Selected seed 195 with value = 0.4530
+Query 1/1: Action query time = 1.612 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4973
+t=26: Selected seed 195 with value = 0.4973
+Query 1/1: Action query time = 1.647 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6035
+t=42: Selected seed 195 with value = 0.6035
+Query 1/1: Action query time = 1.609 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6904
+t=58: Selected seed 195 with value = 0.6904
+Query 1/1: Action query time = 1.614 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8164
+t=74: Selected seed 195 with value = 0.8164
+Query 1/1: Action query time = 1.607 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9959
+t=90: Selected seed 195 with value = 0.9959
+Saved rollout MP4 at path ./rollouts/CLbest_t6/2026_07_31-02_00_23--episode=13--success=True--task=put_the_cream_cheese_in_the_bowl.mp4
+Saved rollout MP4 at path ./rollouts/CLbest_t6/2026_07_31-02_00_23--with_future_img--episode=13--success=True--task=put_the_cream_cheese_in_the_bowl.mp4
+Success: True
+# episodes completed so far: 13
+# successes: 10 (76.9%)
+
+Task: put the cream cheese in the bowl
+Starting episode 14...
+Query 1/1: Action query time = 1.615 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4250
+t=10: Selected seed 195 with value = 0.4250
+Query 1/1: Action query time = 1.621 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4395
+t=26: Selected seed 195 with value = 0.4395
+Query 1/1: Action query time = 1.650 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6046
+t=42: Selected seed 195 with value = 0.6046
+Query 1/1: Action query time = 1.617 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6897
+t=58: Selected seed 195 with value = 0.6897
+Query 1/1: Action query time = 1.723 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8410
+t=74: Selected seed 195 with value = 0.8410
+Query 1/1: Action query time = 1.608 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/CLbest_t6/2026_07_31-02_00_23--episode=14--success=True--task=put_the_cream_cheese_in_the_bowl.mp4
+Saved rollout MP4 at path ./rollouts/CLbest_t6/2026_07_31-02_00_23--with_future_img--episode=14--success=True--task=put_the_cream_cheese_in_the_bowl.mp4
+Success: True
+# episodes completed so far: 14
+# successes: 11 (78.6%)
+
+Task: put the cream cheese in the bowl
+Starting episode 15...
+Query 1/1: Action query time = 1.613 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4237
+t=10: Selected seed 195 with value = 0.4237
+Query 1/1: Action query time = 1.613 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4993
+t=26: Selected seed 195 with value = 0.4993
+Query 1/1: Action query time = 1.590 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5961
+t=42: Selected seed 195 with value = 0.5961
+Query 1/1: Action query time = 1.777 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7141
+t=58: Selected seed 195 with value = 0.7141
+Query 1/1: Action query time = 1.588 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8474
+t=74: Selected seed 195 with value = 0.8474
+Query 1/1: Action query time = 1.744 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9961
+t=90: Selected seed 195 with value = 0.9961
+Saved rollout MP4 at path ./rollouts/CLbest_t6/2026_07_31-02_00_23--episode=15--success=True--task=put_the_cream_cheese_in_the_bowl.mp4
+Saved rollout MP4 at path ./rollouts/CLbest_t6/2026_07_31-02_00_23--with_future_img--episode=15--success=True--task=put_the_cream_cheese_in_the_bowl.mp4
+Success: True
+# episodes completed so far: 15
+# successes: 12 (80.0%)
+
+Task: put the cream cheese in the bowl
+Starting episode 16...
+Query 1/1: Action query time = 1.866 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4293
+t=10: Selected seed 195 with value = 0.4293
+Query 1/1: Action query time = 1.606 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5161
+t=26: Selected seed 195 with value = 0.5161
+Query 1/1: Action query time = 0.978 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6203
+t=42: Selected seed 195 with value = 0.6203
+Query 1/1: Action query time = 0.966 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7216
+t=58: Selected seed 195 with value = 0.7216
+Query 1/1: Action query time = 0.978 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8525
+t=74: Selected seed 195 with value = 0.8525
+Query 1/1: Action query time = 0.974 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9899
+t=90: Selected seed 195 with value = 0.9899
+Saved rollout MP4 at path ./rollouts/CLbest_t6/2026_07_31-02_00_23--episode=16--success=True--task=put_the_cream_cheese_in_the_bowl.mp4
+Saved rollout MP4 at path ./rollouts/CLbest_t6/2026_07_31-02_00_23--with_future_img--episode=16--success=True--task=put_the_cream_cheese_in_the_bowl.mp4
+Success: True
+# episodes completed so far: 16
+# successes: 13 (81.2%)
+
+Task: put the cream cheese in the bowl
+Starting episode 17...
+Query 1/1: Action query time = 1.014 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4398
+t=10: Selected seed 195 with value = 0.4398
+Query 1/1: Action query time = 0.983 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4568
+t=26: Selected seed 195 with value = 0.4568
+Query 1/1: Action query time = 0.974 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5689
+t=42: Selected seed 195 with value = 0.5689
+Query 1/1: Action query time = 0.978 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7122
+t=58: Selected seed 195 with value = 0.7122
+Query 1/1: Action query time = 0.962 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8149
+t=74: Selected seed 195 with value = 0.8149
+Query 1/1: Action query time = 0.988 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9401
+t=90: Selected seed 195 with value = 0.9401
+Saved rollout MP4 at path ./rollouts/CLbest_t6/2026_07_31-02_00_23--episode=17--success=True--task=put_the_cream_cheese_in_the_bowl.mp4
+Saved rollout MP4 at path ./rollouts/CLbest_t6/2026_07_31-02_00_23--with_future_img--episode=17--success=True--task=put_the_cream_cheese_in_the_bowl.mp4
+Success: True
+# episodes completed so far: 17
+# successes: 14 (82.4%)
+
+Task: put the cream cheese in the bowl
+Starting episode 18...
+Query 1/1: Action query time = 0.985 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4320
+t=10: Selected seed 195 with value = 0.4320
+Query 1/1: Action query time = 0.970 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4916
+t=26: Selected seed 195 with value = 0.4916
+Query 1/1: Action query time = 0.957 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5828
+t=42: Selected seed 195 with value = 0.5828
+Query 1/1: Action query time = 0.970 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7012
+t=58: Selected seed 195 with value = 0.7012
+Query 1/1: Action query time = 0.962 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8380
+t=74: Selected seed 195 with value = 0.8380
+Query 1/1: Action query time = 0.972 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9890
+t=90: Selected seed 195 with value = 0.9890
+Saved rollout MP4 at path ./rollouts/CLbest_t6/2026_07_31-02_00_23--episode=18--success=True--task=put_the_cream_cheese_in_the_bowl.mp4
+Saved rollout MP4 at path ./rollouts/CLbest_t6/2026_07_31-02_00_23--with_future_img--episode=18--success=True--task=put_the_cream_cheese_in_the_bowl.mp4
+Success: True
+# episodes completed so far: 18
+# successes: 15 (83.3%)
+
+Task: put the cream cheese in the bowl
+Starting episode 19...
+Query 1/1: Action query time = 0.973 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4387
+t=10: Selected seed 195 with value = 0.4387
+Query 1/1: Action query time = 0.973 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4821
+t=26: Selected seed 195 with value = 0.4821
+Query 1/1: Action query time = 0.972 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5583
+t=42: Selected seed 195 with value = 0.5583
+Query 1/1: Action query time = 0.977 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6936
+t=58: Selected seed 195 with value = 0.6936
+Query 1/1: Action query time = 0.974 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8364
+t=74: Selected seed 195 with value = 0.8364
+Saved rollout MP4 at path ./rollouts/CLbest_t6/2026_07_31-02_00_23--episode=19--success=True--task=put_the_cream_cheese_in_the_bowl.mp4
+Saved rollout MP4 at path ./rollouts/CLbest_t6/2026_07_31-02_00_23--with_future_img--episode=19--success=True--task=put_the_cream_cheese_in_the_bowl.mp4
+Success: True
+# episodes completed so far: 19
+# successes: 16 (84.2%)
+
+Task: put the cream cheese in the bowl
+Starting episode 20...
+Query 1/1: Action query time = 1.210 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4552
+t=10: Selected seed 195 with value = 0.4552
+Query 1/1: Action query time = 1.144 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5058
+t=26: Selected seed 195 with value = 0.5058
+Query 1/1: Action query time = 0.979 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5741
+t=42: Selected seed 195 with value = 0.5741
+Query 1/1: Action query time = 0.974 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7026
+t=58: Selected seed 195 with value = 0.7026
+Query 1/1: Action query time = 0.980 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8214
+t=74: Selected seed 195 with value = 0.8214
+Query 1/1: Action query time = 0.975 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9934
+t=90: Selected seed 195 with value = 0.9934
+Saved rollout MP4 at path ./rollouts/CLbest_t6/2026_07_31-02_00_23--episode=20--success=True--task=put_the_cream_cheese_in_the_bowl.mp4
+Saved rollout MP4 at path ./rollouts/CLbest_t6/2026_07_31-02_00_23--with_future_img--episode=20--success=True--task=put_the_cream_cheese_in_the_bowl.mp4
+Success: True
+# episodes completed so far: 20
+# successes: 17 (85.0%)
+
+Task: put the cream cheese in the bowl
+Starting episode 21...
+Query 1/1: Action query time = 0.983 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4355
+t=10: Selected seed 195 with value = 0.4355
+Query 1/1: Action query time = 0.966 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4811
+t=26: Selected seed 195 with value = 0.4811
+Query 1/1: Action query time = 0.957 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5625
+t=42: Selected seed 195 with value = 0.5625
+Query 1/1: Action query time = 0.979 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6659
+t=58: Selected seed 195 with value = 0.6659
+Query 1/1: Action query time = 0.971 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8197
+t=74: Selected seed 195 with value = 0.8197
+Query 1/1: Action query time = 0.974 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9943
+t=90: Selected seed 195 with value = 0.9943
+Saved rollout MP4 at path ./rollouts/CLbest_t6/2026_07_31-02_00_23--episode=21--success=True--task=put_the_cream_cheese_in_the_bowl.mp4
+Saved rollout MP4 at path ./rollouts/CLbest_t6/2026_07_31-02_00_23--with_future_img--episode=21--success=True--task=put_the_cream_cheese_in_the_bowl.mp4
+Success: True
+# episodes completed so far: 21
+# successes: 18 (85.7%)
+
+Task: put the cream cheese in the bowl
+Starting episode 22...
+Query 1/1: Action query time = 0.973 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4398
+t=10: Selected seed 195 with value = 0.4398
+Query 1/1: Action query time = 0.969 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4903
+t=26: Selected seed 195 with value = 0.4903
+Query 1/1: Action query time = 0.964 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5677
+t=42: Selected seed 195 with value = 0.5677
+Query 1/1: Action query time = 0.968 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6493
+t=58: Selected seed 195 with value = 0.6493
+Query 1/1: Action query time = 0.972 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7691
+t=74: Selected seed 195 with value = 0.7691
+Query 1/1: Action query time = 0.963 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9383
+t=90: Selected seed 195 with value = 0.9383
+Saved rollout MP4 at path ./rollouts/CLbest_t6/2026_07_31-02_00_23--episode=22--success=True--task=put_the_cream_cheese_in_the_bowl.mp4
+Saved rollout MP4 at path ./rollouts/CLbest_t6/2026_07_31-02_00_23--with_future_img--episode=22--success=True--task=put_the_cream_cheese_in_the_bowl.mp4
+Success: True
+# episodes completed so far: 22
+# successes: 19 (86.4%)
+
+Task: put the cream cheese in the bowl
+Starting episode 23...
+Query 1/1: Action query time = 0.985 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4622
+t=10: Selected seed 195 with value = 0.4622
+Query 1/1: Action query time = 0.981 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4977
+t=26: Selected seed 195 with value = 0.4977
+Query 1/1: Action query time = 0.974 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6011
+t=42: Selected seed 195 with value = 0.6011
+Query 1/1: Action query time = 0.966 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7451
+t=58: Selected seed 195 with value = 0.7451
+Query 1/1: Action query time = 0.963 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8840
+t=74: Selected seed 195 with value = 0.8840
+Saved rollout MP4 at path ./rollouts/CLbest_t6/2026_07_31-02_00_23--episode=23--success=True--task=put_the_cream_cheese_in_the_bowl.mp4
+Saved rollout MP4 at path ./rollouts/CLbest_t6/2026_07_31-02_00_23--with_future_img--episode=23--success=True--task=put_the_cream_cheese_in_the_bowl.mp4
+Success: True
+# episodes completed so far: 23
+# successes: 20 (87.0%)
+
+Task: put the cream cheese in the bowl
+Starting episode 24...
+Query 1/1: Action query time = 0.982 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4548
+t=10: Selected seed 195 with value = 0.4548
+Query 1/1: Action query time = 0.981 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5035
+t=26: Selected seed 195 with value = 0.5035
+Query 1/1: Action query time = 0.966 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5780
+t=42: Selected seed 195 with value = 0.5780
+Query 1/1: Action query time = 0.969 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7039
+t=58: Selected seed 195 with value = 0.7039
+Query 1/1: Action query time = 0.960 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8360
+t=74: Selected seed 195 with value = 0.8360
+Saved rollout MP4 at path ./rollouts/CLbest_t6/2026_07_31-02_00_23--episode=24--success=True--task=put_the_cream_cheese_in_the_bowl.mp4
+Saved rollout MP4 at path ./rollouts/CLbest_t6/2026_07_31-02_00_23--with_future_img--episode=24--success=True--task=put_the_cream_cheese_in_the_bowl.mp4
+Success: True
+# episodes completed so far: 24
+# successes: 21 (87.5%)
+
+Task: put the cream cheese in the bowl
+Starting episode 25...
+Query 1/1: Action query time = 1.185 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4250
+t=10: Selected seed 195 with value = 0.4250
+Query 1/1: Action query time = 1.200 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5302
+t=26: Selected seed 195 with value = 0.5302
+Query 1/1: Action query time = 1.173 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5922
+t=42: Selected seed 195 with value = 0.5922
+Query 1/1: Action query time = 1.125 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6953
+t=58: Selected seed 195 with value = 0.6953
+Query 1/1: Action query time = 1.154 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8146
+t=74: Selected seed 195 with value = 0.8146
+Query 1/1: Action query time = 0.979 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9620
+t=90: Selected seed 195 with value = 0.9620
+Saved rollout MP4 at path ./rollouts/CLbest_t6/2026_07_31-02_00_23--episode=25--success=True--task=put_the_cream_cheese_in_the_bowl.mp4
+Saved rollout MP4 at path ./rollouts/CLbest_t6/2026_07_31-02_00_23--with_future_img--episode=25--success=True--task=put_the_cream_cheese_in_the_bowl.mp4
+Success: True
+# episodes completed so far: 25
+# successes: 22 (88.0%)
+
+Task: put the cream cheese in the bowl
+Starting episode 26...
+Query 1/1: Action query time = 0.996 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4140
+t=10: Selected seed 195 with value = 0.4140
+Query 1/1: Action query time = 0.988 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4228
+t=26: Selected seed 195 with value = 0.4228
+Query 1/1: Action query time = 0.979 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5779
+t=42: Selected seed 195 with value = 0.5779
+Query 1/1: Action query time = 0.985 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6569
+t=58: Selected seed 195 with value = 0.6569
+Query 1/1: Action query time = 0.986 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8010
+t=74: Selected seed 195 with value = 0.8010
+Query 1/1: Action query time = 0.976 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9450
+t=90: Selected seed 195 with value = 0.9450
+Saved rollout MP4 at path ./rollouts/CLbest_t6/2026_07_31-02_00_23--episode=26--success=True--task=put_the_cream_cheese_in_the_bowl.mp4
+Saved rollout MP4 at path ./rollouts/CLbest_t6/2026_07_31-02_00_23--with_future_img--episode=26--success=True--task=put_the_cream_cheese_in_the_bowl.mp4
+Success: True
+# episodes completed so far: 26
+# successes: 23 (88.5%)
+
+Task: put the cream cheese in the bowl
+Starting episode 27...
+Query 1/1: Action query time = 0.979 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4428
+t=10: Selected seed 195 with value = 0.4428
+Query 1/1: Action query time = 0.963 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5155
+t=26: Selected seed 195 with value = 0.5155
+Query 1/1: Action query time = 0.984 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5983
+t=42: Selected seed 195 with value = 0.5983
+Query 1/1: Action query time = 0.968 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6780
+t=58: Selected seed 195 with value = 0.6780
+Query 1/1: Action query time = 0.970 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7950
+t=74: Selected seed 195 with value = 0.7950
+Query 1/1: Action query time = 1.006 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9028
+t=90: Selected seed 195 with value = 0.9028
+Saved rollout MP4 at path ./rollouts/CLbest_t6/2026_07_31-02_00_23--episode=27--success=True--task=put_the_cream_cheese_in_the_bowl.mp4
+Saved rollout MP4 at path ./rollouts/CLbest_t6/2026_07_31-02_00_23--with_future_img--episode=27--success=True--task=put_the_cream_cheese_in_the_bowl.mp4
+Success: True
+# episodes completed so far: 27
+# successes: 24 (88.9%)
+
+Task: put the cream cheese in the bowl
+Starting episode 28...
+Query 1/1: Action query time = 0.999 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4183
+t=10: Selected seed 195 with value = 0.4183
+Query 1/1: Action query time = 0.962 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5003
+t=26: Selected seed 195 with value = 0.5003
+Query 1/1: Action query time = 0.971 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5746
+t=42: Selected seed 195 with value = 0.5746
+Query 1/1: Action query time = 0.971 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6731
+t=58: Selected seed 195 with value = 0.6731
+Query 1/1: Action query time = 0.970 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7908
+t=74: Selected seed 195 with value = 0.7908
+Query 1/1: Action query time = 0.963 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8815
+t=90: Selected seed 195 with value = 0.8815
+Query 1/1: Action query time = 0.976 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9637
+t=106: Selected seed 195 with value = 0.9637
+Saved rollout MP4 at path ./rollouts/CLbest_t6/2026_07_31-02_00_23--episode=28--success=True--task=put_the_cream_cheese_in_the_bowl.mp4
+Saved rollout MP4 at path ./rollouts/CLbest_t6/2026_07_31-02_00_23--with_future_img--episode=28--success=True--task=put_the_cream_cheese_in_the_bowl.mp4
+Success: True
+# episodes completed so far: 28
+# successes: 25 (89.3%)
+
+Task: put the cream cheese in the bowl
+Starting episode 29...
+Query 1/1: Action query time = 0.999 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4357
+t=10: Selected seed 195 with value = 0.4357
+Query 1/1: Action query time = 1.009 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4806
+t=26: Selected seed 195 with value = 0.4806
+Query 1/1: Action query time = 1.082 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5638
+t=42: Selected seed 195 with value = 0.5638
+Query 1/1: Action query time = 1.100 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6545
+t=58: Selected seed 195 with value = 0.6545
+Query 1/1: Action query time = 1.186 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7778
+t=74: Selected seed 195 with value = 0.7778
+Query 1/1: Action query time = 1.188 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9142
+t=90: Selected seed 195 with value = 0.9142
+Saved rollout MP4 at path ./rollouts/CLbest_t6/2026_07_31-02_00_23--episode=29--success=True--task=put_the_cream_cheese_in_the_bowl.mp4
+Saved rollout MP4 at path ./rollouts/CLbest_t6/2026_07_31-02_00_23--with_future_img--episode=29--success=True--task=put_the_cream_cheese_in_the_bowl.mp4
+Success: True
+# episodes completed so far: 29
+# successes: 26 (89.7%)
+
+Task: put the cream cheese in the bowl
+Starting episode 30...
+Query 1/1: Action query time = 1.110 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4252
+t=10: Selected seed 195 with value = 0.4252
+Query 1/1: Action query time = 1.099 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4562
+t=26: Selected seed 195 with value = 0.4562
+Query 1/1: Action query time = 0.959 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6085
+t=42: Selected seed 195 with value = 0.6085
+Query 1/1: Action query time = 0.985 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5352
+t=58: Selected seed 195 with value = 0.5352
+Query 1/1: Action query time = 0.991 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7879
+t=74: Selected seed 195 with value = 0.7879
+Query 1/1: Action query time = 0.980 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9100
+t=90: Selected seed 195 with value = 0.9100
+Saved rollout MP4 at path ./rollouts/CLbest_t6/2026_07_31-02_00_23--episode=30--success=True--task=put_the_cream_cheese_in_the_bowl.mp4
+Saved rollout MP4 at path ./rollouts/CLbest_t6/2026_07_31-02_00_23--with_future_img--episode=30--success=True--task=put_the_cream_cheese_in_the_bowl.mp4
+Success: True
+# episodes completed so far: 30
+# successes: 27 (90.0%)
+
+Task: put the cream cheese in the bowl
+Starting episode 31...
+Query 1/1: Action query time = 0.986 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4136
+t=10: Selected seed 195 with value = 0.4136
+Query 1/1: Action query time = 0.969 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4932
+t=26: Selected seed 195 with value = 0.4932
+Query 1/1: Action query time = 1.022 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5719
+t=42: Selected seed 195 with value = 0.5719
+Query 1/1: Action query time = 1.047 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6891
+t=58: Selected seed 195 with value = 0.6891
+Query 1/1: Action query time = 1.044 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8209
+t=74: Selected seed 195 with value = 0.8209
+Query 1/1: Action query time = 0.966 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9640
+t=90: Selected seed 195 with value = 0.9640
+Saved rollout MP4 at path ./rollouts/CLbest_t6/2026_07_31-02_00_23--episode=31--success=True--task=put_the_cream_cheese_in_the_bowl.mp4
+Saved rollout MP4 at path ./rollouts/CLbest_t6/2026_07_31-02_00_23--with_future_img--episode=31--success=True--task=put_the_cream_cheese_in_the_bowl.mp4
+Success: True
+# episodes completed so far: 31
+# successes: 28 (90.3%)
+
+Task: put the cream cheese in the bowl
+Starting episode 32...
+Query 1/1: Action query time = 0.964 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4421
+t=10: Selected seed 195 with value = 0.4421
+Query 1/1: Action query time = 0.973 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4562
+t=26: Selected seed 195 with value = 0.4562
+Query 1/1: Action query time = 0.957 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5683
+t=42: Selected seed 195 with value = 0.5683
+Query 1/1: Action query time = 0.971 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6769
+t=58: Selected seed 195 with value = 0.6769
+Query 1/1: Action query time = 0.965 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8367
+t=74: Selected seed 195 with value = 0.8367
+Saved rollout MP4 at path ./rollouts/CLbest_t6/2026_07_31-02_00_23--episode=32--success=True--task=put_the_cream_cheese_in_the_bowl.mp4
+Saved rollout MP4 at path ./rollouts/CLbest_t6/2026_07_31-02_00_23--with_future_img--episode=32--success=True--task=put_the_cream_cheese_in_the_bowl.mp4
+Success: True
+# episodes completed so far: 32
+# successes: 29 (90.6%)
+
+Task: put the cream cheese in the bowl
+Starting episode 33...
+Query 1/1: Action query time = 0.968 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4201
+t=10: Selected seed 195 with value = 0.4201
+Query 1/1: Action query time = 0.980 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5013
+t=26: Selected seed 195 with value = 0.5013
+Query 1/1: Action query time = 0.996 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5593
+t=42: Selected seed 195 with value = 0.5593
+Query 1/1: Action query time = 0.974 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6563
+t=58: Selected seed 195 with value = 0.6563
+Query 1/1: Action query time = 0.981 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7793
+t=74: Selected seed 195 with value = 0.7793
+Query 1/1: Action query time = 0.964 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9462
+t=90: Selected seed 195 with value = 0.9462
+Saved rollout MP4 at path ./rollouts/CLbest_t6/2026_07_31-02_00_23--episode=33--success=True--task=put_the_cream_cheese_in_the_bowl.mp4
+Saved rollout MP4 at path ./rollouts/CLbest_t6/2026_07_31-02_00_23--with_future_img--episode=33--success=True--task=put_the_cream_cheese_in_the_bowl.mp4
+Success: True
+# episodes completed so far: 33
+# successes: 30 (90.9%)
+
+Task: put the cream cheese in the bowl
+Starting episode 34...
+Query 1/1: Action query time = 0.972 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4447
+t=10: Selected seed 195 with value = 0.4447
+Query 1/1: Action query time = 0.980 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5018
+t=26: Selected seed 195 with value = 0.5018
+Query 1/1: Action query time = 0.961 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5061
+t=42: Selected seed 195 with value = 0.5061
+Query 1/1: Action query time = 0.980 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7062
+t=58: Selected seed 195 with value = 0.7062
+Query 1/1: Action query time = 0.986 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8188
+t=74: Selected seed 195 with value = 0.8188
+Query 1/1: Action query time = 0.984 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9826
+t=90: Selected seed 195 with value = 0.9826
+Query 1/1: Action query time = 0.979 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9978
+t=106: Selected seed 195 with value = 0.9978
+Query 1/1: Action query time = 0.978 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=122: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.968 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9999
+t=138: Selected seed 195 with value = 0.9999
+Query 1/1: Action query time = 0.982 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9971
+t=154: Selected seed 195 with value = 0.9971
+Query 1/1: Action query time = 0.970 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9938
+t=170: Selected seed 195 with value = 0.9938
+Query 1/1: Action query time = 0.990 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9820
+t=186: Selected seed 195 with value = 0.9820
+Query 1/1: Action query time = 0.961 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9535
+t=202: Selected seed 195 with value = 0.9535
+Query 1/1: Action query time = 0.979 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9723
+t=218: Selected seed 195 with value = 0.9723
+Query 1/1: Action query time = 0.984 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9784
+t=234: Selected seed 195 with value = 0.9784
+Query 1/1: Action query time = 0.962 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9231
+t=250: Selected seed 195 with value = 0.9231
+Query 1/1: Action query time = 0.975 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9771
+t=266: Selected seed 195 with value = 0.9771
+Query 1/1: Action query time = 0.976 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9777
+t=282: Selected seed 195 with value = 0.9777
+Query 1/1: Action query time = 0.972 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9258
+t=298: Selected seed 195 with value = 0.9258
+Saved rollout MP4 at path ./rollouts/CLbest_t6/2026_07_31-02_00_23--episode=34--success=False--task=put_the_cream_cheese_in_the_bowl.mp4
+Saved rollout MP4 at path ./rollouts/CLbest_t6/2026_07_31-02_00_23--with_future_img--episode=34--success=False--task=put_the_cream_cheese_in_the_bowl.mp4
+Success: False
+# episodes completed so far: 34
+# successes: 30 (88.2%)
+
+Task: put the cream cheese in the bowl
+Starting episode 35...
+Query 1/1: Action query time = 0.985 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4485
+t=10: Selected seed 195 with value = 0.4485
+Query 1/1: Action query time = 0.963 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4939
+t=26: Selected seed 195 with value = 0.4939
+Query 1/1: Action query time = 0.989 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5473
+t=42: Selected seed 195 with value = 0.5473
+Query 1/1: Action query time = 0.975 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6916
+t=58: Selected seed 195 with value = 0.6916
+Query 1/1: Action query time = 0.975 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8520
+t=74: Selected seed 195 with value = 0.8520
+Saved rollout MP4 at path ./rollouts/CLbest_t6/2026_07_31-02_00_23--episode=35--success=True--task=put_the_cream_cheese_in_the_bowl.mp4
+Saved rollout MP4 at path ./rollouts/CLbest_t6/2026_07_31-02_00_23--with_future_img--episode=35--success=True--task=put_the_cream_cheese_in_the_bowl.mp4
+Success: True
+# episodes completed so far: 35
+# successes: 31 (88.6%)
+
+Task: put the cream cheese in the bowl
+Starting episode 36...
+Query 1/1: Action query time = 1.178 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4236
+t=10: Selected seed 195 with value = 0.4236
+Query 1/1: Action query time = 1.204 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5184
+t=26: Selected seed 195 with value = 0.5184
+Query 1/1: Action query time = 1.307 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5966
+t=42: Selected seed 195 with value = 0.5966
+Query 1/1: Action query time = 1.239 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6566
+t=58: Selected seed 195 with value = 0.6566
+Query 1/1: Action query time = 1.206 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7669
+t=74: Selected seed 195 with value = 0.7669
+Query 1/1: Action query time = 1.096 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9279
+t=90: Selected seed 195 with value = 0.9279
+Saved rollout MP4 at path ./rollouts/CLbest_t6/2026_07_31-02_00_23--episode=36--success=True--task=put_the_cream_cheese_in_the_bowl.mp4
+Saved rollout MP4 at path ./rollouts/CLbest_t6/2026_07_31-02_00_23--with_future_img--episode=36--success=True--task=put_the_cream_cheese_in_the_bowl.mp4
+Success: True
+# episodes completed so far: 36
+# successes: 32 (88.9%)
+
+Task: put the cream cheese in the bowl
+Starting episode 37...
+Query 1/1: Action query time = 0.992 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4275
+t=10: Selected seed 195 with value = 0.4275
+Query 1/1: Action query time = 0.968 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4102
+t=26: Selected seed 195 with value = 0.4102
+Query 1/1: Action query time = 0.990 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6023
+t=42: Selected seed 195 with value = 0.6023
+Query 1/1: Action query time = 0.971 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7148
+t=58: Selected seed 195 with value = 0.7148
+Query 1/1: Action query time = 0.963 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8737
+t=74: Selected seed 195 with value = 0.8737
+Query 1/1: Action query time = 0.982 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9972
+t=90: Selected seed 195 with value = 0.9972
+Query 1/1: Action query time = 1.007 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9864
+t=106: Selected seed 195 with value = 0.9864
+Query 1/1: Action query time = 1.003 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9384
+t=122: Selected seed 195 with value = 0.9384
+Query 1/1: Action query time = 0.999 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9978
+t=138: Selected seed 195 with value = 0.9978
+Query 1/1: Action query time = 1.000 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9932
+t=154: Selected seed 195 with value = 0.9932
+Query 1/1: Action query time = 0.979 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9914
+t=170: Selected seed 195 with value = 0.9914
+Query 1/1: Action query time = 0.983 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9974
+t=186: Selected seed 195 with value = 0.9974
+Query 1/1: Action query time = 0.982 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9933
+t=202: Selected seed 195 with value = 0.9933
+Query 1/1: Action query time = 0.980 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9884
+t=218: Selected seed 195 with value = 0.9884
+Query 1/1: Action query time = 0.987 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9515
+t=234: Selected seed 195 with value = 0.9515
+Query 1/1: Action query time = 0.976 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8981
+t=250: Selected seed 195 with value = 0.8981
+Query 1/1: Action query time = 1.209 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9965
+t=266: Selected seed 195 with value = 0.9965
+Query 1/1: Action query time = 1.148 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9975
+t=282: Selected seed 195 with value = 0.9975
+Query 1/1: Action query time = 1.123 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9946
+t=298: Selected seed 195 with value = 0.9946
+Saved rollout MP4 at path ./rollouts/CLbest_t6/2026_07_31-02_00_23--episode=37--success=False--task=put_the_cream_cheese_in_the_bowl.mp4
+Saved rollout MP4 at path ./rollouts/CLbest_t6/2026_07_31-02_00_23--with_future_img--episode=37--success=False--task=put_the_cream_cheese_in_the_bowl.mp4
+Success: False
+# episodes completed so far: 37
+# successes: 32 (86.5%)
+
+Task: put the cream cheese in the bowl
+Starting episode 38...
+Query 1/1: Action query time = 0.985 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4156
+t=10: Selected seed 195 with value = 0.4156
+Query 1/1: Action query time = 0.978 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5228
+t=26: Selected seed 195 with value = 0.5228
+Query 1/1: Action query time = 0.983 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5843
+t=42: Selected seed 195 with value = 0.5843
+Query 1/1: Action query time = 1.143 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7013
+t=58: Selected seed 195 with value = 0.7013
+Query 1/1: Action query time = 1.102 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8364
+t=74: Selected seed 195 with value = 0.8364
+Query 1/1: Action query time = 1.056 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/CLbest_t6/2026_07_31-02_00_23--episode=38--success=True--task=put_the_cream_cheese_in_the_bowl.mp4
+Saved rollout MP4 at path ./rollouts/CLbest_t6/2026_07_31-02_00_23--with_future_img--episode=38--success=True--task=put_the_cream_cheese_in_the_bowl.mp4
+Success: True
+# episodes completed so far: 38
+# successes: 33 (86.8%)
+
+Task: put the cream cheese in the bowl
+Starting episode 39...
+Query 1/1: Action query time = 1.003 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4264
+t=10: Selected seed 195 with value = 0.4264
+Query 1/1: Action query time = 0.980 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4997
+t=26: Selected seed 195 with value = 0.4997
+Query 1/1: Action query time = 0.973 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5918
+t=42: Selected seed 195 with value = 0.5918
+Query 1/1: Action query time = 0.976 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6669
+t=58: Selected seed 195 with value = 0.6669
+Query 1/1: Action query time = 0.987 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7913
+t=74: Selected seed 195 with value = 0.7913
+Query 1/1: Action query time = 1.073 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9325
+t=90: Selected seed 195 with value = 0.9325
+Saved rollout MP4 at path ./rollouts/CLbest_t6/2026_07_31-02_00_23--episode=39--success=True--task=put_the_cream_cheese_in_the_bowl.mp4
+Saved rollout MP4 at path ./rollouts/CLbest_t6/2026_07_31-02_00_23--with_future_img--episode=39--success=True--task=put_the_cream_cheese_in_the_bowl.mp4
+Success: True
+# episodes completed so far: 39
+# successes: 34 (87.2%)
+
+Task: put the cream cheese in the bowl
+Starting episode 40...
+Query 1/1: Action query time = 0.978 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4506
+t=10: Selected seed 195 with value = 0.4506
+Query 1/1: Action query time = 0.982 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5362
+t=26: Selected seed 195 with value = 0.5362
+Query 1/1: Action query time = 0.968 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5778
+t=42: Selected seed 195 with value = 0.5778
+Query 1/1: Action query time = 0.994 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7208
+t=58: Selected seed 195 with value = 0.7208
+Query 1/1: Action query time = 0.991 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8341
+t=74: Selected seed 195 with value = 0.8341
+Query 1/1: Action query time = 0.968 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9859
+t=90: Selected seed 195 with value = 0.9859
+Saved rollout MP4 at path ./rollouts/CLbest_t6/2026_07_31-02_00_23--episode=40--success=True--task=put_the_cream_cheese_in_the_bowl.mp4
+Saved rollout MP4 at path ./rollouts/CLbest_t6/2026_07_31-02_00_23--with_future_img--episode=40--success=True--task=put_the_cream_cheese_in_the_bowl.mp4
+Success: True
+# episodes completed so far: 40
+# successes: 35 (87.5%)
+
+Task: put the cream cheese in the bowl
+Starting episode 41...
+Query 1/1: Action query time = 0.981 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4418
+t=10: Selected seed 195 with value = 0.4418
+Query 1/1: Action query time = 0.972 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4938
+t=26: Selected seed 195 with value = 0.4938
+Query 1/1: Action query time = 0.981 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5528
+t=42: Selected seed 195 with value = 0.5528
+Query 1/1: Action query time = 0.977 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6900
+t=58: Selected seed 195 with value = 0.6900
+Query 1/1: Action query time = 0.977 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8450
+t=74: Selected seed 195 with value = 0.8450
+Query 1/1: Action query time = 0.981 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9802
+t=90: Selected seed 195 with value = 0.9802
+Saved rollout MP4 at path ./rollouts/CLbest_t6/2026_07_31-02_00_23--episode=41--success=True--task=put_the_cream_cheese_in_the_bowl.mp4
+Saved rollout MP4 at path ./rollouts/CLbest_t6/2026_07_31-02_00_23--with_future_img--episode=41--success=True--task=put_the_cream_cheese_in_the_bowl.mp4
+Success: True
+# episodes completed so far: 41
+# successes: 36 (87.8%)
+
+Task: put the cream cheese in the bowl
+Starting episode 42...
+Query 1/1: Action query time = 1.012 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4166
+t=10: Selected seed 195 with value = 0.4166
+Query 1/1: Action query time = 0.975 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5317
+t=26: Selected seed 195 with value = 0.5317
+Query 1/1: Action query time = 0.978 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6093
+t=42: Selected seed 195 with value = 0.6093
+Query 1/1: Action query time = 1.013 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6805
+t=58: Selected seed 195 with value = 0.6805
+Query 1/1: Action query time = 0.999 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8264
+t=74: Selected seed 195 with value = 0.8264
+Query 1/1: Action query time = 1.018 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9585
+t=90: Selected seed 195 with value = 0.9585
+Saved rollout MP4 at path ./rollouts/CLbest_t6/2026_07_31-02_00_23--episode=42--success=True--task=put_the_cream_cheese_in_the_bowl.mp4
+Saved rollout MP4 at path ./rollouts/CLbest_t6/2026_07_31-02_00_23--with_future_img--episode=42--success=True--task=put_the_cream_cheese_in_the_bowl.mp4
+Success: True
+# episodes completed so far: 42
+# successes: 37 (88.1%)
+
+Task: put the cream cheese in the bowl
+Starting episode 43...
+Query 1/1: Action query time = 1.086 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4362
+t=10: Selected seed 195 with value = 0.4362
+Query 1/1: Action query time = 1.084 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4965
+t=26: Selected seed 195 with value = 0.4965
+Query 1/1: Action query time = 1.044 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5987
+t=42: Selected seed 195 with value = 0.5987
+Query 1/1: Action query time = 0.995 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7250
+t=58: Selected seed 195 with value = 0.7250
+Query 1/1: Action query time = 0.992 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8636
+t=74: Selected seed 195 with value = 0.8636
+Saved rollout MP4 at path ./rollouts/CLbest_t6/2026_07_31-02_00_23--episode=43--success=True--task=put_the_cream_cheese_in_the_bowl.mp4
+Saved rollout MP4 at path ./rollouts/CLbest_t6/2026_07_31-02_00_23--with_future_img--episode=43--success=True--task=put_the_cream_cheese_in_the_bowl.mp4
+Success: True
+# episodes completed so far: 43
+# successes: 38 (88.4%)
+
+Task: put the cream cheese in the bowl
+Starting episode 44...
+Query 1/1: Action query time = 1.208 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4433
+t=10: Selected seed 195 with value = 0.4433
+Query 1/1: Action query time = 1.175 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4881
+t=26: Selected seed 195 with value = 0.4881
+Query 1/1: Action query time = 0.988 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5601
+t=42: Selected seed 195 with value = 0.5601
+Query 1/1: Action query time = 0.971 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6779
+t=58: Selected seed 195 with value = 0.6779
+Query 1/1: Action query time = 0.965 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8533
+t=74: Selected seed 195 with value = 0.8533
+Saved rollout MP4 at path ./rollouts/CLbest_t6/2026_07_31-02_00_23--episode=44--success=True--task=put_the_cream_cheese_in_the_bowl.mp4
+Saved rollout MP4 at path ./rollouts/CLbest_t6/2026_07_31-02_00_23--with_future_img--episode=44--success=True--task=put_the_cream_cheese_in_the_bowl.mp4
+Success: True
+# episodes completed so far: 44
+# successes: 39 (88.6%)
+
+Task: put the cream cheese in the bowl
+Starting episode 45...
+Query 1/1: Action query time = 1.001 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4493
+t=10: Selected seed 195 with value = 0.4493
+Query 1/1: Action query time = 0.974 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5194
+t=26: Selected seed 195 with value = 0.5194
+Query 1/1: Action query time = 0.983 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5950
+t=42: Selected seed 195 with value = 0.5950
+Query 1/1: Action query time = 0.989 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7432
+t=58: Selected seed 195 with value = 0.7432
+Query 1/1: Action query time = 0.978 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8765
+t=74: Selected seed 195 with value = 0.8765
+Saved rollout MP4 at path ./rollouts/CLbest_t6/2026_07_31-02_00_23--episode=45--success=True--task=put_the_cream_cheese_in_the_bowl.mp4
+Saved rollout MP4 at path ./rollouts/CLbest_t6/2026_07_31-02_00_23--with_future_img--episode=45--success=True--task=put_the_cream_cheese_in_the_bowl.mp4
+Success: True
+# episodes completed so far: 45
+# successes: 40 (88.9%)
+
+Task: put the cream cheese in the bowl
+Starting episode 46...
+Query 1/1: Action query time = 0.985 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4736
+t=10: Selected seed 195 with value = 0.4736
+Query 1/1: Action query time = 0.983 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5481
+t=26: Selected seed 195 with value = 0.5481
+Query 1/1: Action query time = 0.980 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6104
+t=42: Selected seed 195 with value = 0.6104
+Query 1/1: Action query time = 0.976 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7787
+t=58: Selected seed 195 with value = 0.7787
+Query 1/1: Action query time = 0.967 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8924
+t=74: Selected seed 195 with value = 0.8924
+Query 1/1: Action query time = 0.971 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.993 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9977
+t=106: Selected seed 195 with value = 0.9977
+Query 1/1: Action query time = 0.976 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9929
+t=122: Selected seed 195 with value = 0.9929
+Query 1/1: Action query time = 0.969 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9755
+t=138: Selected seed 195 with value = 0.9755
+Query 1/1: Action query time = 0.978 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9069
+t=154: Selected seed 195 with value = 0.9069
+Query 1/1: Action query time = 0.973 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8767
+t=170: Selected seed 195 with value = 0.8767
+Query 1/1: Action query time = 0.977 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9885
+t=186: Selected seed 195 with value = 0.9885
+Query 1/1: Action query time = 0.980 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9936
+t=202: Selected seed 195 with value = 0.9936
+Query 1/1: Action query time = 0.962 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9932
+t=218: Selected seed 195 with value = 0.9932
+Query 1/1: Action query time = 1.018 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9830
+t=234: Selected seed 195 with value = 0.9830
+Query 1/1: Action query time = 0.975 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9497
+t=250: Selected seed 195 with value = 0.9497
+Query 1/1: Action query time = 0.980 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9867
+t=266: Selected seed 195 with value = 0.9867
+Query 1/1: Action query time = 0.983 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9845
+t=282: Selected seed 195 with value = 0.9845
+Query 1/1: Action query time = 0.979 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9980
+t=298: Selected seed 195 with value = 0.9980
+Saved rollout MP4 at path ./rollouts/CLbest_t6/2026_07_31-02_00_23--episode=46--success=False--task=put_the_cream_cheese_in_the_bowl.mp4
+Saved rollout MP4 at path ./rollouts/CLbest_t6/2026_07_31-02_00_23--with_future_img--episode=46--success=False--task=put_the_cream_cheese_in_the_bowl.mp4
+Success: False
+# episodes completed so far: 46
+# successes: 40 (87.0%)
+
+Task: put the cream cheese in the bowl
+Starting episode 47...
+Query 1/1: Action query time = 0.987 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4528
+t=10: Selected seed 195 with value = 0.4528
+Query 1/1: Action query time = 0.969 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4857
+t=26: Selected seed 195 with value = 0.4857
+Query 1/1: Action query time = 1.006 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5575
+t=42: Selected seed 195 with value = 0.5575
+Query 1/1: Action query time = 1.090 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6495
+t=58: Selected seed 195 with value = 0.6495
+Query 1/1: Action query time = 1.096 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8296
+t=74: Selected seed 195 with value = 0.8296
+Query 1/1: Action query time = 0.994 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9911
+t=90: Selected seed 195 with value = 0.9911
+Saved rollout MP4 at path ./rollouts/CLbest_t6/2026_07_31-02_00_23--episode=47--success=True--task=put_the_cream_cheese_in_the_bowl.mp4
+Saved rollout MP4 at path ./rollouts/CLbest_t6/2026_07_31-02_00_23--with_future_img--episode=47--success=True--task=put_the_cream_cheese_in_the_bowl.mp4
+Success: True
+# episodes completed so far: 47
+# successes: 41 (87.2%)
+
+Task: put the cream cheese in the bowl
+Starting episode 48...
+Query 1/1: Action query time = 0.993 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4308
+t=10: Selected seed 195 with value = 0.4308
+Query 1/1: Action query time = 0.982 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5098
+t=26: Selected seed 195 with value = 0.5098
+Query 1/1: Action query time = 0.979 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5896
+t=42: Selected seed 195 with value = 0.5896
+Query 1/1: Action query time = 0.978 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7125
+t=58: Selected seed 195 with value = 0.7125
+Query 1/1: Action query time = 0.981 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8107
+t=74: Selected seed 195 with value = 0.8107
+Query 1/1: Action query time = 0.960 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9233
+t=90: Selected seed 195 with value = 0.9233
+Saved rollout MP4 at path ./rollouts/CLbest_t6/2026_07_31-02_00_23--episode=48--success=True--task=put_the_cream_cheese_in_the_bowl.mp4
+Saved rollout MP4 at path ./rollouts/CLbest_t6/2026_07_31-02_00_23--with_future_img--episode=48--success=True--task=put_the_cream_cheese_in_the_bowl.mp4
+Success: True
+# episodes completed so far: 48
+# successes: 42 (87.5%)
+
+Task: put the cream cheese in the bowl
+Starting episode 49...
+Query 1/1: Action query time = 0.978 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4358
+t=10: Selected seed 195 with value = 0.4358
+Query 1/1: Action query time = 0.974 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5083
+t=26: Selected seed 195 with value = 0.5083
+Query 1/1: Action query time = 0.971 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5905
+t=42: Selected seed 195 with value = 0.5905
+Query 1/1: Action query time = 0.974 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6980
+t=58: Selected seed 195 with value = 0.6980
+Query 1/1: Action query time = 0.986 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7850
+t=74: Selected seed 195 with value = 0.7850
+Query 1/1: Action query time = 0.976 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9023
+t=90: Selected seed 195 with value = 0.9023
+Saved rollout MP4 at path ./rollouts/CLbest_t6/2026_07_31-02_00_23--episode=49--success=True--task=put_the_cream_cheese_in_the_bowl.mp4
+Saved rollout MP4 at path ./rollouts/CLbest_t6/2026_07_31-02_00_23--with_future_img--episode=49--success=True--task=put_the_cream_cheese_in_the_bowl.mp4
+Success: True
+# episodes completed so far: 49
+# successes: 43 (87.8%)
+
+Task: put the cream cheese in the bowl
+Starting episode 50...
+Query 1/1: Action query time = 1.161 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4235
+t=10: Selected seed 195 with value = 0.4235
+Query 1/1: Action query time = 0.982 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5143
+t=26: Selected seed 195 with value = 0.5143
+Query 1/1: Action query time = 0.979 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5861
+t=42: Selected seed 195 with value = 0.5861
+Query 1/1: Action query time = 0.978 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6920
+t=58: Selected seed 195 with value = 0.6920
+Query 1/1: Action query time = 0.990 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7879
+t=74: Selected seed 195 with value = 0.7879
+Query 1/1: Action query time = 0.984 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9191
+t=90: Selected seed 195 with value = 0.9191
+Saved rollout MP4 at path ./rollouts/CLbest_t6/2026_07_31-02_00_23--episode=50--success=True--task=put_the_cream_cheese_in_the_bowl.mp4
+Saved rollout MP4 at path ./rollouts/CLbest_t6/2026_07_31-02_00_23--with_future_img--episode=50--success=True--task=put_the_cream_cheese_in_the_bowl.mp4
+Success: True
+# episodes completed so far: 50
+# successes: 44 (88.0%)
+Current task success rate: 0.88
+Current total success rate: 0.88
+Final results:
+Total episodes: 50
+Total successes: 44
+Overall success rate: 0.8800 (88.0%)
diff --git a/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_07_31-13_58_05--BASE40k_t1.txt b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_07_31-13_58_05--BASE40k_t1.txt
new file mode 100644
index 0000000000000000000000000000000000000000..c4f92200b8ce9dd21871f8fbba07439e2be00f4b
--- /dev/null
+++ b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_07_31-13_58_05--BASE40k_t1.txt
@@ -0,0 +1,1728 @@
+Eval config: PolicyEvalConfig(suite='libero', model_family='cosmos', config='cosmos_predict2_2b_480p_libero_cl_stage_inference_only', ckpt_path='checkpoints/imaginaire4-output/cosmos_policy/cosmos_v2_finetune/cosmos_predict2_2b_480p_libero_goal_base_stage_3gpu_40k_save4k_20260726/checkpoints/iter_000040000/model', planning_model_config_name='', planning_model_ckpt_path='', config_file='cosmos_policy/config/config.py', packnet_mask_path='', packnet_first_cl_libero_task=6, use_third_person_image=True, num_third_person_images=1, use_wrist_image=True, num_wrist_images=1, use_proprio=True, flip_images=True, use_variance_scale=False, use_jpeg_compression=True, ar_future_prediction=False, ar_value_prediction=False, ar_qvalue_prediction=False, num_denoising_steps_action=5, num_denoising_steps_future_state=1, num_denoising_steps_value=1, unnormalize_actions=True, normalize_proprio=True, dataset_stats_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/libero_goal_regen/dataset_statistics.json', t5_text_embeddings_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/t5_embeddings.pkl', trained_with_image_aug=True, chunk_size=16, num_open_loop_steps=16, deterministic=True, deterministic_reset=False, deterministic_reset_seed=None, use_ensemble_future_state_predictions=False, num_future_state_predictions_in_ensemble=3, future_state_ensemble_aggregation_scheme='average', use_ensemble_value_predictions=False, num_value_predictions_in_ensemble=5, value_ensemble_aggregation_scheme='average', search_depth=1, mask_current_state_action_for_value_prediction=False, mask_future_state_for_qvalue_prediction=False, num_queries_best_of_n=1, use_parallel_inference=False, available_gpus='0', parallel_timeout=15, parallel_tasks_across_gpus=False, task_suite_name='libero_goal', num_trials_per_task=50, task_ids_to_run='1', initial_states_path='DEFAULT', env_img_res=256, local_log_dir='/home/azureuser/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal', run_id_note='BASE40k_t1', use_wandb=False, wandb_entity='YOUR_ENTITY', wandb_project='YOUR_PROJECT', seed=195, randomize_seed=False, data_collection=False, jpeg_compress=True, reward_stop_threshold=None, reward_stop_consecutive_steps=3, use_gpt_reward=False, gpt_reward_model='gpt-5.4-mini', gpt_reward_stop_threshold=4, gpt_reward_timeout_s=30.0, save_rollout_video=True, eval_hdf5_path='', eval_hdf5_demo_key='demo_0', data_gen_demo_ids='', replay_actions=False, replay_action_path_dir='', replay_hdf5_path='', data_generation=False, max_generation_steps=200, simple_task_max_steps=100, complex_task_max_steps=200)
+Using serial inference (parallel inference disabled)
+Task suite: libero_goal
+Number of tasks: 10
+Running only task IDs: [1]
+Using default initial states
+
+Task: put the bowl on the stove
+Starting episode 1...
+Query 1/1: Action query time = 1.428 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4285
+t=10: Selected seed 195 with value = 0.4285
+Query 1/1: Action query time = 0.956 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5211
+t=26: Selected seed 195 with value = 0.5211
+Query 1/1: Action query time = 0.952 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6238
+t=42: Selected seed 195 with value = 0.6238
+Query 1/1: Action query time = 0.937 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7349
+t=58: Selected seed 195 with value = 0.7349
+Query 1/1: Action query time = 0.961 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8572
+t=74: Selected seed 195 with value = 0.8572
+Query 1/1: Action query time = 0.942 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9946
+t=90: Selected seed 195 with value = 0.9946
+Saved rollout MP4 at path ./rollouts/BASE40k_t1/2026_07_31-13_58_05--episode=1--success=True--task=put_the_bowl_on_the_stove.mp4
+Saved rollout MP4 at path ./rollouts/BASE40k_t1/2026_07_31-13_58_05--with_future_img--episode=1--success=True--task=put_the_bowl_on_the_stove.mp4
+Success: True
+# episodes completed so far: 1
+# successes: 1 (100.0%)
+
+Task: put the bowl on the stove
+Starting episode 2...
+Query 1/1: Action query time = 0.948 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4491
+t=10: Selected seed 195 with value = 0.4491
+Query 1/1: Action query time = 0.951 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4941
+t=26: Selected seed 195 with value = 0.4941
+Query 1/1: Action query time = 0.949 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5857
+t=42: Selected seed 195 with value = 0.5857
+Query 1/1: Action query time = 0.959 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6347
+t=58: Selected seed 195 with value = 0.6347
+Query 1/1: Action query time = 0.951 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8274
+t=74: Selected seed 195 with value = 0.8274
+Query 1/1: Action query time = 0.950 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9862
+t=90: Selected seed 195 with value = 0.9862
+Saved rollout MP4 at path ./rollouts/BASE40k_t1/2026_07_31-13_58_05--episode=2--success=True--task=put_the_bowl_on_the_stove.mp4
+Saved rollout MP4 at path ./rollouts/BASE40k_t1/2026_07_31-13_58_05--with_future_img--episode=2--success=True--task=put_the_bowl_on_the_stove.mp4
+Success: True
+# episodes completed so far: 2
+# successes: 2 (100.0%)
+
+Task: put the bowl on the stove
+Starting episode 3...
+Query 1/1: Action query time = 0.957 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4441
+t=10: Selected seed 195 with value = 0.4441
+Query 1/1: Action query time = 0.947 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4837
+t=26: Selected seed 195 with value = 0.4837
+Query 1/1: Action query time = 0.956 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5511
+t=42: Selected seed 195 with value = 0.5511
+Query 1/1: Action query time = 0.953 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6978
+t=58: Selected seed 195 with value = 0.6978
+Query 1/1: Action query time = 0.970 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8252
+t=74: Selected seed 195 with value = 0.8252
+Query 1/1: Action query time = 0.944 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9817
+t=90: Selected seed 195 with value = 0.9817
+Saved rollout MP4 at path ./rollouts/BASE40k_t1/2026_07_31-13_58_05--episode=3--success=True--task=put_the_bowl_on_the_stove.mp4
+Saved rollout MP4 at path ./rollouts/BASE40k_t1/2026_07_31-13_58_05--with_future_img--episode=3--success=True--task=put_the_bowl_on_the_stove.mp4
+Success: True
+# episodes completed so far: 3
+# successes: 3 (100.0%)
+
+Task: put the bowl on the stove
+Starting episode 4...
+Query 1/1: Action query time = 0.967 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4280
+t=10: Selected seed 195 with value = 0.4280
+Query 1/1: Action query time = 0.959 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5331
+t=26: Selected seed 195 with value = 0.5331
+Query 1/1: Action query time = 0.961 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5924
+t=42: Selected seed 195 with value = 0.5924
+Query 1/1: Action query time = 0.944 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7253
+t=58: Selected seed 195 with value = 0.7253
+Query 1/1: Action query time = 0.944 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8306
+t=74: Selected seed 195 with value = 0.8306
+Query 1/1: Action query time = 0.968 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9767
+t=90: Selected seed 195 with value = 0.9767
+Saved rollout MP4 at path ./rollouts/BASE40k_t1/2026_07_31-13_58_05--episode=4--success=True--task=put_the_bowl_on_the_stove.mp4
+Saved rollout MP4 at path ./rollouts/BASE40k_t1/2026_07_31-13_58_05--with_future_img--episode=4--success=True--task=put_the_bowl_on_the_stove.mp4
+Success: True
+# episodes completed so far: 4
+# successes: 4 (100.0%)
+
+Task: put the bowl on the stove
+Starting episode 5...
+Query 1/1: Action query time = 1.167 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4379
+t=10: Selected seed 195 with value = 0.4379
+Query 1/1: Action query time = 1.122 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5211
+t=26: Selected seed 195 with value = 0.5211
+Query 1/1: Action query time = 0.983 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6076
+t=42: Selected seed 195 with value = 0.6076
+Query 1/1: Action query time = 0.983 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7102
+t=58: Selected seed 195 with value = 0.7102
+Query 1/1: Action query time = 1.011 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8128
+t=74: Selected seed 195 with value = 0.8128
+Query 1/1: Action query time = 0.952 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9503
+t=90: Selected seed 195 with value = 0.9503
+Query 1/1: Action query time = 0.955 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=106: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.964 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9958
+t=122: Selected seed 195 with value = 0.9958
+Query 1/1: Action query time = 0.953 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9546
+t=138: Selected seed 195 with value = 0.9546
+Query 1/1: Action query time = 0.974 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9507
+t=154: Selected seed 195 with value = 0.9507
+Query 1/1: Action query time = 0.958 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9539
+t=170: Selected seed 195 with value = 0.9539
+Query 1/1: Action query time = 0.951 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9548
+t=186: Selected seed 195 with value = 0.9548
+Query 1/1: Action query time = 0.969 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9558
+t=202: Selected seed 195 with value = 0.9558
+Query 1/1: Action query time = 0.963 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9558
+t=218: Selected seed 195 with value = 0.9558
+Query 1/1: Action query time = 0.959 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9533
+t=234: Selected seed 195 with value = 0.9533
+Query 1/1: Action query time = 0.961 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9518
+t=250: Selected seed 195 with value = 0.9518
+Query 1/1: Action query time = 0.954 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9482
+t=266: Selected seed 195 with value = 0.9482
+Query 1/1: Action query time = 0.946 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9457
+t=282: Selected seed 195 with value = 0.9457
+Query 1/1: Action query time = 0.947 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9467
+t=298: Selected seed 195 with value = 0.9467
+Saved rollout MP4 at path ./rollouts/BASE40k_t1/2026_07_31-13_58_05--episode=5--success=False--task=put_the_bowl_on_the_stove.mp4
+Saved rollout MP4 at path ./rollouts/BASE40k_t1/2026_07_31-13_58_05--with_future_img--episode=5--success=False--task=put_the_bowl_on_the_stove.mp4
+Success: False
+# episodes completed so far: 5
+# successes: 4 (80.0%)
+
+Task: put the bowl on the stove
+Starting episode 6...
+Query 1/1: Action query time = 0.981 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4206
+t=10: Selected seed 195 with value = 0.4206
+Query 1/1: Action query time = 1.010 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4954
+t=26: Selected seed 195 with value = 0.4954
+Query 1/1: Action query time = 1.070 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5887
+t=42: Selected seed 195 with value = 0.5887
+Query 1/1: Action query time = 0.956 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6662
+t=58: Selected seed 195 with value = 0.6662
+Query 1/1: Action query time = 0.959 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8029
+t=74: Selected seed 195 with value = 0.8029
+Query 1/1: Action query time = 0.950 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9489
+t=90: Selected seed 195 with value = 0.9489
+Saved rollout MP4 at path ./rollouts/BASE40k_t1/2026_07_31-13_58_05--episode=6--success=True--task=put_the_bowl_on_the_stove.mp4
+Saved rollout MP4 at path ./rollouts/BASE40k_t1/2026_07_31-13_58_05--with_future_img--episode=6--success=True--task=put_the_bowl_on_the_stove.mp4
+Success: True
+# episodes completed so far: 6
+# successes: 5 (83.3%)
+
+Task: put the bowl on the stove
+Starting episode 7...
+Query 1/1: Action query time = 1.012 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3566
+t=10: Selected seed 195 with value = 0.3566
+Query 1/1: Action query time = 0.943 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4238
+t=26: Selected seed 195 with value = 0.4238
+Query 1/1: Action query time = 0.943 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5063
+t=42: Selected seed 195 with value = 0.5063
+Query 1/1: Action query time = 0.937 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6466
+t=58: Selected seed 195 with value = 0.6466
+Query 1/1: Action query time = 0.956 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7676
+t=74: Selected seed 195 with value = 0.7676
+Query 1/1: Action query time = 0.936 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9026
+t=90: Selected seed 195 with value = 0.9026
+Query 1/1: Action query time = 0.948 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9991
+t=106: Selected seed 195 with value = 0.9991
+Saved rollout MP4 at path ./rollouts/BASE40k_t1/2026_07_31-13_58_05--episode=7--success=True--task=put_the_bowl_on_the_stove.mp4
+Saved rollout MP4 at path ./rollouts/BASE40k_t1/2026_07_31-13_58_05--with_future_img--episode=7--success=True--task=put_the_bowl_on_the_stove.mp4
+Success: True
+# episodes completed so far: 7
+# successes: 6 (85.7%)
+
+Task: put the bowl on the stove
+Starting episode 8...
+Query 1/1: Action query time = 0.945 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4298
+t=10: Selected seed 195 with value = 0.4298
+Query 1/1: Action query time = 0.943 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5082
+t=26: Selected seed 195 with value = 0.5082
+Query 1/1: Action query time = 0.945 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6193
+t=42: Selected seed 195 with value = 0.6193
+Query 1/1: Action query time = 0.939 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7224
+t=58: Selected seed 195 with value = 0.7224
+Query 1/1: Action query time = 0.948 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8632
+t=74: Selected seed 195 with value = 0.8632
+Query 1/1: Action query time = 0.948 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/BASE40k_t1/2026_07_31-13_58_05--episode=8--success=True--task=put_the_bowl_on_the_stove.mp4
+Saved rollout MP4 at path ./rollouts/BASE40k_t1/2026_07_31-13_58_05--with_future_img--episode=8--success=True--task=put_the_bowl_on_the_stove.mp4
+Success: True
+# episodes completed so far: 8
+# successes: 7 (87.5%)
+
+Task: put the bowl on the stove
+Starting episode 9...
+Query 1/1: Action query time = 0.949 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4450
+t=10: Selected seed 195 with value = 0.4450
+Query 1/1: Action query time = 0.943 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5060
+t=26: Selected seed 195 with value = 0.5060
+Query 1/1: Action query time = 0.946 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5843
+t=42: Selected seed 195 with value = 0.5843
+Query 1/1: Action query time = 0.937 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6981
+t=58: Selected seed 195 with value = 0.6981
+Query 1/1: Action query time = 0.957 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7956
+t=74: Selected seed 195 with value = 0.7956
+Query 1/1: Action query time = 0.947 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9639
+t=90: Selected seed 195 with value = 0.9639
+Saved rollout MP4 at path ./rollouts/BASE40k_t1/2026_07_31-13_58_05--episode=9--success=True--task=put_the_bowl_on_the_stove.mp4
+Saved rollout MP4 at path ./rollouts/BASE40k_t1/2026_07_31-13_58_05--with_future_img--episode=9--success=True--task=put_the_bowl_on_the_stove.mp4
+Success: True
+# episodes completed so far: 9
+# successes: 8 (88.9%)
+
+Task: put the bowl on the stove
+Starting episode 10...
+Query 1/1: Action query time = 0.959 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4414
+t=10: Selected seed 195 with value = 0.4414
+Query 1/1: Action query time = 0.959 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5339
+t=26: Selected seed 195 with value = 0.5339
+Query 1/1: Action query time = 0.934 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6296
+t=42: Selected seed 195 with value = 0.6296
+Query 1/1: Action query time = 0.959 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7258
+t=58: Selected seed 195 with value = 0.7258
+Query 1/1: Action query time = 0.943 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8581
+t=74: Selected seed 195 with value = 0.8581
+Query 1/1: Action query time = 0.932 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9987
+t=90: Selected seed 195 with value = 0.9987
+Saved rollout MP4 at path ./rollouts/BASE40k_t1/2026_07_31-13_58_05--episode=10--success=True--task=put_the_bowl_on_the_stove.mp4
+Saved rollout MP4 at path ./rollouts/BASE40k_t1/2026_07_31-13_58_05--with_future_img--episode=10--success=True--task=put_the_bowl_on_the_stove.mp4
+Success: True
+# episodes completed so far: 10
+# successes: 9 (90.0%)
+
+Task: put the bowl on the stove
+Starting episode 11...
+Query 1/1: Action query time = 0.941 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4035
+t=10: Selected seed 195 with value = 0.4035
+Query 1/1: Action query time = 0.941 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5165
+t=26: Selected seed 195 with value = 0.5165
+Query 1/1: Action query time = 0.952 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5881
+t=42: Selected seed 195 with value = 0.5881
+Query 1/1: Action query time = 0.957 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6980
+t=58: Selected seed 195 with value = 0.6980
+Query 1/1: Action query time = 0.948 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8085
+t=74: Selected seed 195 with value = 0.8085
+Query 1/1: Action query time = 0.937 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9522
+t=90: Selected seed 195 with value = 0.9522
+Saved rollout MP4 at path ./rollouts/BASE40k_t1/2026_07_31-13_58_05--episode=11--success=True--task=put_the_bowl_on_the_stove.mp4
+Saved rollout MP4 at path ./rollouts/BASE40k_t1/2026_07_31-13_58_05--with_future_img--episode=11--success=True--task=put_the_bowl_on_the_stove.mp4
+Success: True
+# episodes completed so far: 11
+# successes: 10 (90.9%)
+
+Task: put the bowl on the stove
+Starting episode 12...
+Query 1/1: Action query time = 1.078 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4470
+t=10: Selected seed 195 with value = 0.4470
+Query 1/1: Action query time = 0.959 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5144
+t=26: Selected seed 195 with value = 0.5144
+Query 1/1: Action query time = 0.941 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6030
+t=42: Selected seed 195 with value = 0.6030
+Query 1/1: Action query time = 0.950 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7023
+t=58: Selected seed 195 with value = 0.7023
+Query 1/1: Action query time = 0.952 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8242
+t=74: Selected seed 195 with value = 0.8242
+Query 1/1: Action query time = 0.951 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9636
+t=90: Selected seed 195 with value = 0.9636
+Saved rollout MP4 at path ./rollouts/BASE40k_t1/2026_07_31-13_58_05--episode=12--success=True--task=put_the_bowl_on_the_stove.mp4
+Saved rollout MP4 at path ./rollouts/BASE40k_t1/2026_07_31-13_58_05--with_future_img--episode=12--success=True--task=put_the_bowl_on_the_stove.mp4
+Success: True
+# episodes completed so far: 12
+# successes: 11 (91.7%)
+
+Task: put the bowl on the stove
+Starting episode 13...
+Query 1/1: Action query time = 1.143 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4574
+t=10: Selected seed 195 with value = 0.4574
+Query 1/1: Action query time = 1.117 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5080
+t=26: Selected seed 195 with value = 0.5080
+Query 1/1: Action query time = 1.031 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6137
+t=42: Selected seed 195 with value = 0.6137
+Query 1/1: Action query time = 0.993 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7211
+t=58: Selected seed 195 with value = 0.7211
+Query 1/1: Action query time = 1.036 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8172
+t=74: Selected seed 195 with value = 0.8172
+Query 1/1: Action query time = 1.031 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9856
+t=90: Selected seed 195 with value = 0.9856
+Saved rollout MP4 at path ./rollouts/BASE40k_t1/2026_07_31-13_58_05--episode=13--success=True--task=put_the_bowl_on_the_stove.mp4
+Saved rollout MP4 at path ./rollouts/BASE40k_t1/2026_07_31-13_58_05--with_future_img--episode=13--success=True--task=put_the_bowl_on_the_stove.mp4
+Success: True
+# episodes completed so far: 13
+# successes: 12 (92.3%)
+
+Task: put the bowl on the stove
+Starting episode 14...
+Query 1/1: Action query time = 1.038 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4613
+t=10: Selected seed 195 with value = 0.4613
+Query 1/1: Action query time = 1.113 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5274
+t=26: Selected seed 195 with value = 0.5274
+Query 1/1: Action query time = 1.173 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6086
+t=42: Selected seed 195 with value = 0.6086
+Query 1/1: Action query time = 1.166 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6798
+t=58: Selected seed 195 with value = 0.6798
+Query 1/1: Action query time = 1.157 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8070
+t=74: Selected seed 195 with value = 0.8070
+Query 1/1: Action query time = 1.174 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9681
+t=90: Selected seed 195 with value = 0.9681
+Saved rollout MP4 at path ./rollouts/BASE40k_t1/2026_07_31-13_58_05--episode=14--success=True--task=put_the_bowl_on_the_stove.mp4
+Saved rollout MP4 at path ./rollouts/BASE40k_t1/2026_07_31-13_58_05--with_future_img--episode=14--success=True--task=put_the_bowl_on_the_stove.mp4
+Success: True
+# episodes completed so far: 14
+# successes: 13 (92.9%)
+
+Task: put the bowl on the stove
+Starting episode 15...
+Query 1/1: Action query time = 0.972 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4173
+t=10: Selected seed 195 with value = 0.4173
+Query 1/1: Action query time = 0.963 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5281
+t=26: Selected seed 195 with value = 0.5281
+Query 1/1: Action query time = 0.948 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6555
+t=42: Selected seed 195 with value = 0.6555
+Query 1/1: Action query time = 0.942 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7498
+t=58: Selected seed 195 with value = 0.7498
+Query 1/1: Action query time = 0.957 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8801
+t=74: Selected seed 195 with value = 0.8801
+Query 1/1: Action query time = 0.957 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9994
+t=90: Selected seed 195 with value = 0.9994
+Saved rollout MP4 at path ./rollouts/BASE40k_t1/2026_07_31-13_58_05--episode=15--success=True--task=put_the_bowl_on_the_stove.mp4
+Saved rollout MP4 at path ./rollouts/BASE40k_t1/2026_07_31-13_58_05--with_future_img--episode=15--success=True--task=put_the_bowl_on_the_stove.mp4
+Success: True
+# episodes completed so far: 15
+# successes: 14 (93.3%)
+
+Task: put the bowl on the stove
+Starting episode 16...
+Query 1/1: Action query time = 1.183 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3644
+t=10: Selected seed 195 with value = 0.3644
+Query 1/1: Action query time = 1.145 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4191
+t=26: Selected seed 195 with value = 0.4191
+Query 1/1: Action query time = 1.101 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5009
+t=42: Selected seed 195 with value = 0.5009
+Query 1/1: Action query time = 1.042 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5921
+t=58: Selected seed 195 with value = 0.5921
+Query 1/1: Action query time = 1.080 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6976
+t=74: Selected seed 195 with value = 0.6976
+Query 1/1: Action query time = 1.131 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8497
+t=90: Selected seed 195 with value = 0.8497
+Query 1/1: Action query time = 1.142 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=106: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/BASE40k_t1/2026_07_31-13_58_05--episode=16--success=True--task=put_the_bowl_on_the_stove.mp4
+Saved rollout MP4 at path ./rollouts/BASE40k_t1/2026_07_31-13_58_05--with_future_img--episode=16--success=True--task=put_the_bowl_on_the_stove.mp4
+Success: True
+# episodes completed so far: 16
+# successes: 15 (93.8%)
+
+Task: put the bowl on the stove
+Starting episode 17...
+Query 1/1: Action query time = 0.950 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4093
+t=10: Selected seed 195 with value = 0.4093
+Query 1/1: Action query time = 0.952 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5205
+t=26: Selected seed 195 with value = 0.5205
+Query 1/1: Action query time = 0.954 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5985
+t=42: Selected seed 195 with value = 0.5985
+Query 1/1: Action query time = 0.943 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7129
+t=58: Selected seed 195 with value = 0.7129
+Query 1/1: Action query time = 0.953 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8645
+t=74: Selected seed 195 with value = 0.8645
+Query 1/1: Action query time = 0.966 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9941
+t=90: Selected seed 195 with value = 0.9941
+Saved rollout MP4 at path ./rollouts/BASE40k_t1/2026_07_31-13_58_05--episode=17--success=True--task=put_the_bowl_on_the_stove.mp4
+Saved rollout MP4 at path ./rollouts/BASE40k_t1/2026_07_31-13_58_05--with_future_img--episode=17--success=True--task=put_the_bowl_on_the_stove.mp4
+Success: True
+# episodes completed so far: 17
+# successes: 16 (94.1%)
+
+Task: put the bowl on the stove
+Starting episode 18...
+Query 1/1: Action query time = 0.956 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4304
+t=10: Selected seed 195 with value = 0.4304
+Query 1/1: Action query time = 0.954 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5138
+t=26: Selected seed 195 with value = 0.5138
+Query 1/1: Action query time = 0.966 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6020
+t=42: Selected seed 195 with value = 0.6020
+Query 1/1: Action query time = 0.954 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7325
+t=58: Selected seed 195 with value = 0.7325
+Query 1/1: Action query time = 0.948 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8386
+t=74: Selected seed 195 with value = 0.8386
+Query 1/1: Action query time = 0.938 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9865
+t=90: Selected seed 195 with value = 0.9865
+Saved rollout MP4 at path ./rollouts/BASE40k_t1/2026_07_31-13_58_05--episode=18--success=True--task=put_the_bowl_on_the_stove.mp4
+Saved rollout MP4 at path ./rollouts/BASE40k_t1/2026_07_31-13_58_05--with_future_img--episode=18--success=True--task=put_the_bowl_on_the_stove.mp4
+Success: True
+# episodes completed so far: 18
+# successes: 17 (94.4%)
+
+Task: put the bowl on the stove
+Starting episode 19...
+Query 1/1: Action query time = 0.965 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4200
+t=10: Selected seed 195 with value = 0.4200
+Query 1/1: Action query time = 0.954 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5174
+t=26: Selected seed 195 with value = 0.5174
+Query 1/1: Action query time = 0.959 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5970
+t=42: Selected seed 195 with value = 0.5970
+Query 1/1: Action query time = 0.969 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6796
+t=58: Selected seed 195 with value = 0.6796
+Query 1/1: Action query time = 0.973 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8276
+t=74: Selected seed 195 with value = 0.8276
+Query 1/1: Action query time = 0.958 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9876
+t=90: Selected seed 195 with value = 0.9876
+Saved rollout MP4 at path ./rollouts/BASE40k_t1/2026_07_31-13_58_05--episode=19--success=True--task=put_the_bowl_on_the_stove.mp4
+Saved rollout MP4 at path ./rollouts/BASE40k_t1/2026_07_31-13_58_05--with_future_img--episode=19--success=True--task=put_the_bowl_on_the_stove.mp4
+Success: True
+# episodes completed so far: 19
+# successes: 18 (94.7%)
+
+Task: put the bowl on the stove
+Starting episode 20...
+Query 1/1: Action query time = 1.103 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4623
+t=10: Selected seed 195 with value = 0.4623
+Query 1/1: Action query time = 1.143 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5314
+t=26: Selected seed 195 with value = 0.5314
+Query 1/1: Action query time = 1.120 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6073
+t=42: Selected seed 195 with value = 0.6073
+Query 1/1: Action query time = 1.076 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7138
+t=58: Selected seed 195 with value = 0.7138
+Query 1/1: Action query time = 1.018 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8468
+t=74: Selected seed 195 with value = 0.8468
+Query 1/1: Action query time = 1.078 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9699
+t=90: Selected seed 195 with value = 0.9699
+Saved rollout MP4 at path ./rollouts/BASE40k_t1/2026_07_31-13_58_05--episode=20--success=True--task=put_the_bowl_on_the_stove.mp4
+Saved rollout MP4 at path ./rollouts/BASE40k_t1/2026_07_31-13_58_05--with_future_img--episode=20--success=True--task=put_the_bowl_on_the_stove.mp4
+Success: True
+# episodes completed so far: 20
+# successes: 19 (95.0%)
+
+Task: put the bowl on the stove
+Starting episode 21...
+Query 1/1: Action query time = 0.951 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4160
+t=10: Selected seed 195 with value = 0.4160
+Query 1/1: Action query time = 0.958 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4960
+t=26: Selected seed 195 with value = 0.4960
+Query 1/1: Action query time = 0.953 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5820
+t=42: Selected seed 195 with value = 0.5820
+Query 1/1: Action query time = 0.951 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6167
+t=58: Selected seed 195 with value = 0.6167
+Query 1/1: Action query time = 1.198 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7975
+t=74: Selected seed 195 with value = 0.7975
+Query 1/1: Action query time = 1.135 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9407
+t=90: Selected seed 195 with value = 0.9407
+Saved rollout MP4 at path ./rollouts/BASE40k_t1/2026_07_31-13_58_05--episode=21--success=True--task=put_the_bowl_on_the_stove.mp4
+Saved rollout MP4 at path ./rollouts/BASE40k_t1/2026_07_31-13_58_05--with_future_img--episode=21--success=True--task=put_the_bowl_on_the_stove.mp4
+Success: True
+# episodes completed so far: 21
+# successes: 20 (95.2%)
+
+Task: put the bowl on the stove
+Starting episode 22...
+Query 1/1: Action query time = 0.975 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3707
+t=10: Selected seed 195 with value = 0.3707
+Query 1/1: Action query time = 0.943 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4212
+t=26: Selected seed 195 with value = 0.4212
+Query 1/1: Action query time = 0.954 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5104
+t=42: Selected seed 195 with value = 0.5104
+Query 1/1: Action query time = 0.952 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6009
+t=58: Selected seed 195 with value = 0.6009
+Query 1/1: Action query time = 0.951 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6967
+t=74: Selected seed 195 with value = 0.6967
+Query 1/1: Action query time = 0.943 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8829
+t=90: Selected seed 195 with value = 0.8829
+Query 1/1: Action query time = 0.952 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9994
+t=106: Selected seed 195 with value = 0.9994
+Saved rollout MP4 at path ./rollouts/BASE40k_t1/2026_07_31-13_58_05--episode=22--success=True--task=put_the_bowl_on_the_stove.mp4
+Saved rollout MP4 at path ./rollouts/BASE40k_t1/2026_07_31-13_58_05--with_future_img--episode=22--success=True--task=put_the_bowl_on_the_stove.mp4
+Success: True
+# episodes completed so far: 22
+# successes: 21 (95.5%)
+
+Task: put the bowl on the stove
+Starting episode 23...
+Query 1/1: Action query time = 1.120 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3970
+t=10: Selected seed 195 with value = 0.3970
+Query 1/1: Action query time = 1.084 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5054
+t=26: Selected seed 195 with value = 0.5054
+Query 1/1: Action query time = 1.035 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6098
+t=42: Selected seed 195 with value = 0.6098
+Query 1/1: Action query time = 1.041 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6954
+t=58: Selected seed 195 with value = 0.6954
+Query 1/1: Action query time = 1.109 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8268
+t=74: Selected seed 195 with value = 0.8268
+Query 1/1: Action query time = 0.954 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9561
+t=90: Selected seed 195 with value = 0.9561
+Saved rollout MP4 at path ./rollouts/BASE40k_t1/2026_07_31-13_58_05--episode=23--success=True--task=put_the_bowl_on_the_stove.mp4
+Saved rollout MP4 at path ./rollouts/BASE40k_t1/2026_07_31-13_58_05--with_future_img--episode=23--success=True--task=put_the_bowl_on_the_stove.mp4
+Success: True
+# episodes completed so far: 23
+# successes: 22 (95.7%)
+
+Task: put the bowl on the stove
+Starting episode 24...
+Query 1/1: Action query time = 0.963 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4549
+t=10: Selected seed 195 with value = 0.4549
+Query 1/1: Action query time = 0.959 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5286
+t=26: Selected seed 195 with value = 0.5286
+Query 1/1: Action query time = 1.205 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6127
+t=42: Selected seed 195 with value = 0.6127
+Query 1/1: Action query time = 1.173 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6937
+t=58: Selected seed 195 with value = 0.6937
+Query 1/1: Action query time = 1.133 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8161
+t=74: Selected seed 195 with value = 0.8161
+Query 1/1: Action query time = 1.154 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9480
+t=90: Selected seed 195 with value = 0.9480
+Saved rollout MP4 at path ./rollouts/BASE40k_t1/2026_07_31-13_58_05--episode=24--success=True--task=put_the_bowl_on_the_stove.mp4
+Saved rollout MP4 at path ./rollouts/BASE40k_t1/2026_07_31-13_58_05--with_future_img--episode=24--success=True--task=put_the_bowl_on_the_stove.mp4
+Success: True
+# episodes completed so far: 24
+# successes: 23 (95.8%)
+
+Task: put the bowl on the stove
+Starting episode 25...
+Query 1/1: Action query time = 0.971 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4244
+t=10: Selected seed 195 with value = 0.4244
+Query 1/1: Action query time = 0.968 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4908
+t=26: Selected seed 195 with value = 0.4908
+Query 1/1: Action query time = 0.946 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5865
+t=42: Selected seed 195 with value = 0.5865
+Query 1/1: Action query time = 0.937 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6805
+t=58: Selected seed 195 with value = 0.6805
+Query 1/1: Action query time = 0.951 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8001
+t=74: Selected seed 195 with value = 0.8001
+Query 1/1: Action query time = 0.952 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9426
+t=90: Selected seed 195 with value = 0.9426
+Saved rollout MP4 at path ./rollouts/BASE40k_t1/2026_07_31-13_58_05--episode=25--success=True--task=put_the_bowl_on_the_stove.mp4
+Saved rollout MP4 at path ./rollouts/BASE40k_t1/2026_07_31-13_58_05--with_future_img--episode=25--success=True--task=put_the_bowl_on_the_stove.mp4
+Success: True
+# episodes completed so far: 25
+# successes: 24 (96.0%)
+
+Task: put the bowl on the stove
+Starting episode 26...
+Query 1/1: Action query time = 0.948 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4466
+t=10: Selected seed 195 with value = 0.4466
+Query 1/1: Action query time = 0.948 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5353
+t=26: Selected seed 195 with value = 0.5353
+Query 1/1: Action query time = 0.951 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6252
+t=42: Selected seed 195 with value = 0.6252
+Query 1/1: Action query time = 0.995 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7147
+t=58: Selected seed 195 with value = 0.7147
+Query 1/1: Action query time = 0.967 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8423
+t=74: Selected seed 195 with value = 0.8423
+Query 1/1: Action query time = 0.957 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9957
+t=90: Selected seed 195 with value = 0.9957
+Saved rollout MP4 at path ./rollouts/BASE40k_t1/2026_07_31-13_58_05--episode=26--success=True--task=put_the_bowl_on_the_stove.mp4
+Saved rollout MP4 at path ./rollouts/BASE40k_t1/2026_07_31-13_58_05--with_future_img--episode=26--success=True--task=put_the_bowl_on_the_stove.mp4
+Success: True
+# episodes completed so far: 26
+# successes: 25 (96.2%)
+
+Task: put the bowl on the stove
+Starting episode 27...
+Query 1/1: Action query time = 0.960 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4496
+t=10: Selected seed 195 with value = 0.4496
+Query 1/1: Action query time = 0.961 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5358
+t=26: Selected seed 195 with value = 0.5358
+Query 1/1: Action query time = 0.939 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6155
+t=42: Selected seed 195 with value = 0.6155
+Query 1/1: Action query time = 0.946 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7464
+t=58: Selected seed 195 with value = 0.7464
+Query 1/1: Action query time = 0.946 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8695
+t=74: Selected seed 195 with value = 0.8695
+Query 1/1: Action query time = 0.961 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9979
+t=90: Selected seed 195 with value = 0.9979
+Saved rollout MP4 at path ./rollouts/BASE40k_t1/2026_07_31-13_58_05--episode=27--success=True--task=put_the_bowl_on_the_stove.mp4
+Saved rollout MP4 at path ./rollouts/BASE40k_t1/2026_07_31-13_58_05--with_future_img--episode=27--success=True--task=put_the_bowl_on_the_stove.mp4
+Success: True
+# episodes completed so far: 27
+# successes: 26 (96.3%)
+
+Task: put the bowl on the stove
+Starting episode 28...
+Query 1/1: Action query time = 0.962 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4086
+t=10: Selected seed 195 with value = 0.4086
+Query 1/1: Action query time = 0.971 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5212
+t=26: Selected seed 195 with value = 0.5212
+Query 1/1: Action query time = 0.953 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6055
+t=42: Selected seed 195 with value = 0.6055
+Query 1/1: Action query time = 0.971 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7015
+t=58: Selected seed 195 with value = 0.7015
+Query 1/1: Action query time = 0.965 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8452
+t=74: Selected seed 195 with value = 0.8452
+Query 1/1: Action query time = 0.945 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9771
+t=90: Selected seed 195 with value = 0.9771
+Saved rollout MP4 at path ./rollouts/BASE40k_t1/2026_07_31-13_58_05--episode=28--success=True--task=put_the_bowl_on_the_stove.mp4
+Saved rollout MP4 at path ./rollouts/BASE40k_t1/2026_07_31-13_58_05--with_future_img--episode=28--success=True--task=put_the_bowl_on_the_stove.mp4
+Success: True
+# episodes completed so far: 28
+# successes: 27 (96.4%)
+
+Task: put the bowl on the stove
+Starting episode 29...
+Query 1/1: Action query time = 1.149 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4247
+t=10: Selected seed 195 with value = 0.4247
+Query 1/1: Action query time = 1.139 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5153
+t=26: Selected seed 195 with value = 0.5153
+Query 1/1: Action query time = 1.104 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5894
+t=42: Selected seed 195 with value = 0.5894
+Query 1/1: Action query time = 1.071 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6945
+t=58: Selected seed 195 with value = 0.6945
+Query 1/1: Action query time = 0.955 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7960
+t=74: Selected seed 195 with value = 0.7960
+Query 1/1: Action query time = 0.966 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9723
+t=90: Selected seed 195 with value = 0.9723
+Saved rollout MP4 at path ./rollouts/BASE40k_t1/2026_07_31-13_58_05--episode=29--success=True--task=put_the_bowl_on_the_stove.mp4
+Saved rollout MP4 at path ./rollouts/BASE40k_t1/2026_07_31-13_58_05--with_future_img--episode=29--success=True--task=put_the_bowl_on_the_stove.mp4
+Success: True
+# episodes completed so far: 29
+# successes: 28 (96.6%)
+
+Task: put the bowl on the stove
+Starting episode 30...
+Query 1/1: Action query time = 0.964 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4704
+t=10: Selected seed 195 with value = 0.4704
+Query 1/1: Action query time = 1.106 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5320
+t=26: Selected seed 195 with value = 0.5320
+Query 1/1: Action query time = 1.197 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6071
+t=42: Selected seed 195 with value = 0.6071
+Query 1/1: Action query time = 1.163 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6941
+t=58: Selected seed 195 with value = 0.6941
+Query 1/1: Action query time = 1.097 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8217
+t=74: Selected seed 195 with value = 0.8217
+Query 1/1: Action query time = 1.096 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9847
+t=90: Selected seed 195 with value = 0.9847
+Saved rollout MP4 at path ./rollouts/BASE40k_t1/2026_07_31-13_58_05--episode=30--success=True--task=put_the_bowl_on_the_stove.mp4
+Saved rollout MP4 at path ./rollouts/BASE40k_t1/2026_07_31-13_58_05--with_future_img--episode=30--success=True--task=put_the_bowl_on_the_stove.mp4
+Success: True
+# episodes completed so far: 30
+# successes: 29 (96.7%)
+
+Task: put the bowl on the stove
+Starting episode 31...
+Query 1/1: Action query time = 0.964 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4421
+t=10: Selected seed 195 with value = 0.4421
+Query 1/1: Action query time = 0.957 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5223
+t=26: Selected seed 195 with value = 0.5223
+Query 1/1: Action query time = 0.951 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6186
+t=42: Selected seed 195 with value = 0.6186
+Query 1/1: Action query time = 0.963 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7190
+t=58: Selected seed 195 with value = 0.7190
+Query 1/1: Action query time = 0.963 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8472
+t=74: Selected seed 195 with value = 0.8472
+Query 1/1: Action query time = 0.940 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9916
+t=90: Selected seed 195 with value = 0.9916
+Saved rollout MP4 at path ./rollouts/BASE40k_t1/2026_07_31-13_58_05--episode=31--success=True--task=put_the_bowl_on_the_stove.mp4
+Saved rollout MP4 at path ./rollouts/BASE40k_t1/2026_07_31-13_58_05--with_future_img--episode=31--success=True--task=put_the_bowl_on_the_stove.mp4
+Success: True
+# episodes completed so far: 31
+# successes: 30 (96.8%)
+
+Task: put the bowl on the stove
+Starting episode 32...
+Query 1/1: Action query time = 0.948 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4365
+t=10: Selected seed 195 with value = 0.4365
+Query 1/1: Action query time = 0.948 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5122
+t=26: Selected seed 195 with value = 0.5122
+Query 1/1: Action query time = 0.955 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6022
+t=42: Selected seed 195 with value = 0.6022
+Query 1/1: Action query time = 0.962 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6810
+t=58: Selected seed 195 with value = 0.6810
+Query 1/1: Action query time = 0.959 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7883
+t=74: Selected seed 195 with value = 0.7883
+Query 1/1: Action query time = 0.948 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9482
+t=90: Selected seed 195 with value = 0.9482
+Saved rollout MP4 at path ./rollouts/BASE40k_t1/2026_07_31-13_58_05--episode=32--success=True--task=put_the_bowl_on_the_stove.mp4
+Saved rollout MP4 at path ./rollouts/BASE40k_t1/2026_07_31-13_58_05--with_future_img--episode=32--success=True--task=put_the_bowl_on_the_stove.mp4
+Success: True
+# episodes completed so far: 32
+# successes: 31 (96.9%)
+
+Task: put the bowl on the stove
+Starting episode 33...
+Query 1/1: Action query time = 0.968 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4573
+t=10: Selected seed 195 with value = 0.4573
+Query 1/1: Action query time = 0.949 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5215
+t=26: Selected seed 195 with value = 0.5215
+Query 1/1: Action query time = 0.947 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6381
+t=42: Selected seed 195 with value = 0.6381
+Query 1/1: Action query time = 0.947 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7428
+t=58: Selected seed 195 with value = 0.7428
+Query 1/1: Action query time = 0.955 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8701
+t=74: Selected seed 195 with value = 0.8701
+Query 1/1: Action query time = 0.952 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/BASE40k_t1/2026_07_31-13_58_05--episode=33--success=True--task=put_the_bowl_on_the_stove.mp4
+Saved rollout MP4 at path ./rollouts/BASE40k_t1/2026_07_31-13_58_05--with_future_img--episode=33--success=True--task=put_the_bowl_on_the_stove.mp4
+Success: True
+# episodes completed so far: 33
+# successes: 32 (97.0%)
+
+Task: put the bowl on the stove
+Starting episode 34...
+Query 1/1: Action query time = 1.059 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4092
+t=10: Selected seed 195 with value = 0.4092
+Query 1/1: Action query time = 1.013 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5086
+t=26: Selected seed 195 with value = 0.5086
+Query 1/1: Action query time = 0.980 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5936
+t=42: Selected seed 195 with value = 0.5936
+Query 1/1: Action query time = 0.983 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6873
+t=58: Selected seed 195 with value = 0.6873
+Query 1/1: Action query time = 0.996 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8059
+t=74: Selected seed 195 with value = 0.8059
+Query 1/1: Action query time = 1.001 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9595
+t=90: Selected seed 195 with value = 0.9595
+Saved rollout MP4 at path ./rollouts/BASE40k_t1/2026_07_31-13_58_05--episode=34--success=True--task=put_the_bowl_on_the_stove.mp4
+Saved rollout MP4 at path ./rollouts/BASE40k_t1/2026_07_31-13_58_05--with_future_img--episode=34--success=True--task=put_the_bowl_on_the_stove.mp4
+Success: True
+# episodes completed so far: 34
+# successes: 33 (97.1%)
+
+Task: put the bowl on the stove
+Starting episode 35...
+Query 1/1: Action query time = 0.964 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4381
+t=10: Selected seed 195 with value = 0.4381
+Query 1/1: Action query time = 0.959 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5240
+t=26: Selected seed 195 with value = 0.5240
+Query 1/1: Action query time = 0.975 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6172
+t=42: Selected seed 195 with value = 0.6172
+Query 1/1: Action query time = 0.952 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7123
+t=58: Selected seed 195 with value = 0.7123
+Query 1/1: Action query time = 0.964 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8538
+t=74: Selected seed 195 with value = 0.8538
+Query 1/1: Action query time = 0.940 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9995
+t=90: Selected seed 195 with value = 0.9995
+Saved rollout MP4 at path ./rollouts/BASE40k_t1/2026_07_31-13_58_05--episode=35--success=True--task=put_the_bowl_on_the_stove.mp4
+Saved rollout MP4 at path ./rollouts/BASE40k_t1/2026_07_31-13_58_05--with_future_img--episode=35--success=True--task=put_the_bowl_on_the_stove.mp4
+Success: True
+# episodes completed so far: 35
+# successes: 34 (97.1%)
+
+Task: put the bowl on the stove
+Starting episode 36...
+Query 1/1: Action query time = 1.166 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4126
+t=10: Selected seed 195 with value = 0.4126
+Query 1/1: Action query time = 1.142 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4916
+t=26: Selected seed 195 with value = 0.4916
+Query 1/1: Action query time = 1.061 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5902
+t=42: Selected seed 195 with value = 0.5902
+Query 1/1: Action query time = 0.993 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6922
+t=58: Selected seed 195 with value = 0.6922
+Query 1/1: Action query time = 1.016 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8030
+t=74: Selected seed 195 with value = 0.8030
+Query 1/1: Action query time = 1.087 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9652
+t=90: Selected seed 195 with value = 0.9652
+Saved rollout MP4 at path ./rollouts/BASE40k_t1/2026_07_31-13_58_05--episode=36--success=True--task=put_the_bowl_on_the_stove.mp4
+Saved rollout MP4 at path ./rollouts/BASE40k_t1/2026_07_31-13_58_05--with_future_img--episode=36--success=True--task=put_the_bowl_on_the_stove.mp4
+Success: True
+# episodes completed so far: 36
+# successes: 35 (97.2%)
+
+Task: put the bowl on the stove
+Starting episode 37...
+Query 1/1: Action query time = 0.989 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4447
+t=10: Selected seed 195 with value = 0.4447
+Query 1/1: Action query time = 0.983 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5306
+t=26: Selected seed 195 with value = 0.5306
+Query 1/1: Action query time = 0.953 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6289
+t=42: Selected seed 195 with value = 0.6289
+Query 1/1: Action query time = 0.941 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7371
+t=58: Selected seed 195 with value = 0.7371
+Query 1/1: Action query time = 0.961 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8604
+t=74: Selected seed 195 with value = 0.8604
+Query 1/1: Action query time = 0.945 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/BASE40k_t1/2026_07_31-13_58_05--episode=37--success=True--task=put_the_bowl_on_the_stove.mp4
+Saved rollout MP4 at path ./rollouts/BASE40k_t1/2026_07_31-13_58_05--with_future_img--episode=37--success=True--task=put_the_bowl_on_the_stove.mp4
+Success: True
+# episodes completed so far: 37
+# successes: 36 (97.3%)
+
+Task: put the bowl on the stove
+Starting episode 38...
+Query 1/1: Action query time = 0.964 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4519
+t=10: Selected seed 195 with value = 0.4519
+Query 1/1: Action query time = 0.942 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5231
+t=26: Selected seed 195 with value = 0.5231
+Query 1/1: Action query time = 0.958 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5966
+t=42: Selected seed 195 with value = 0.5966
+Query 1/1: Action query time = 0.949 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7065
+t=58: Selected seed 195 with value = 0.7065
+Query 1/1: Action query time = 0.984 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8360
+t=74: Selected seed 195 with value = 0.8360
+Query 1/1: Action query time = 1.008 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9658
+t=90: Selected seed 195 with value = 0.9658
+Saved rollout MP4 at path ./rollouts/BASE40k_t1/2026_07_31-13_58_05--episode=38--success=True--task=put_the_bowl_on_the_stove.mp4
+Saved rollout MP4 at path ./rollouts/BASE40k_t1/2026_07_31-13_58_05--with_future_img--episode=38--success=True--task=put_the_bowl_on_the_stove.mp4
+Success: True
+# episodes completed so far: 38
+# successes: 37 (97.4%)
+
+Task: put the bowl on the stove
+Starting episode 39...
+Query 1/1: Action query time = 1.008 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4168
+t=10: Selected seed 195 with value = 0.4168
+Query 1/1: Action query time = 0.972 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4758
+t=26: Selected seed 195 with value = 0.4758
+Query 1/1: Action query time = 0.962 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5923
+t=42: Selected seed 195 with value = 0.5923
+Query 1/1: Action query time = 0.966 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6855
+t=58: Selected seed 195 with value = 0.6855
+Query 1/1: Action query time = 0.955 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8141
+t=74: Selected seed 195 with value = 0.8141
+Query 1/1: Action query time = 0.954 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9459
+t=90: Selected seed 195 with value = 0.9459
+Saved rollout MP4 at path ./rollouts/BASE40k_t1/2026_07_31-13_58_05--episode=39--success=True--task=put_the_bowl_on_the_stove.mp4
+Saved rollout MP4 at path ./rollouts/BASE40k_t1/2026_07_31-13_58_05--with_future_img--episode=39--success=True--task=put_the_bowl_on_the_stove.mp4
+Success: True
+# episodes completed so far: 39
+# successes: 38 (97.4%)
+
+Task: put the bowl on the stove
+Starting episode 40...
+Query 1/1: Action query time = 0.961 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4563
+t=10: Selected seed 195 with value = 0.4563
+Query 1/1: Action query time = 0.965 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5169
+t=26: Selected seed 195 with value = 0.5169
+Query 1/1: Action query time = 1.018 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5970
+t=42: Selected seed 195 with value = 0.5970
+Query 1/1: Action query time = 0.986 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7252
+t=58: Selected seed 195 with value = 0.7252
+Query 1/1: Action query time = 0.972 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8266
+t=74: Selected seed 195 with value = 0.8266
+Query 1/1: Action query time = 0.953 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9702
+t=90: Selected seed 195 with value = 0.9702
+Saved rollout MP4 at path ./rollouts/BASE40k_t1/2026_07_31-13_58_05--episode=40--success=True--task=put_the_bowl_on_the_stove.mp4
+Saved rollout MP4 at path ./rollouts/BASE40k_t1/2026_07_31-13_58_05--with_future_img--episode=40--success=True--task=put_the_bowl_on_the_stove.mp4
+Success: True
+# episodes completed so far: 40
+# successes: 39 (97.5%)
+
+Task: put the bowl on the stove
+Starting episode 41...
+Query 1/1: Action query time = 0.968 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3858
+t=10: Selected seed 195 with value = 0.3858
+Query 1/1: Action query time = 0.958 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4452
+t=26: Selected seed 195 with value = 0.4452
+Query 1/1: Action query time = 0.962 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5350
+t=42: Selected seed 195 with value = 0.5350
+Query 1/1: Action query time = 0.948 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6000
+t=58: Selected seed 195 with value = 0.6000
+Query 1/1: Action query time = 0.958 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7259
+t=74: Selected seed 195 with value = 0.7259
+Query 1/1: Action query time = 0.963 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8770
+t=90: Selected seed 195 with value = 0.8770
+Query 1/1: Action query time = 0.985 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9991
+t=106: Selected seed 195 with value = 0.9991
+Saved rollout MP4 at path ./rollouts/BASE40k_t1/2026_07_31-13_58_05--episode=41--success=True--task=put_the_bowl_on_the_stove.mp4
+Saved rollout MP4 at path ./rollouts/BASE40k_t1/2026_07_31-13_58_05--with_future_img--episode=41--success=True--task=put_the_bowl_on_the_stove.mp4
+Success: True
+# episodes completed so far: 41
+# successes: 40 (97.6%)
+
+Task: put the bowl on the stove
+Starting episode 42...
+Query 1/1: Action query time = 1.378 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3962
+t=10: Selected seed 195 with value = 0.3962
+Query 1/1: Action query time = 1.375 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4447
+t=26: Selected seed 195 with value = 0.4447
+Query 1/1: Action query time = 1.236 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5401
+t=42: Selected seed 195 with value = 0.5401
+Query 1/1: Action query time = 1.228 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7076
+t=58: Selected seed 195 with value = 0.7076
+Query 1/1: Action query time = 1.186 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8498
+t=74: Selected seed 195 with value = 0.8498
+Query 1/1: Action query time = 1.138 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9907
+t=90: Selected seed 195 with value = 0.9907
+Saved rollout MP4 at path ./rollouts/BASE40k_t1/2026_07_31-13_58_05--episode=42--success=True--task=put_the_bowl_on_the_stove.mp4
+Saved rollout MP4 at path ./rollouts/BASE40k_t1/2026_07_31-13_58_05--with_future_img--episode=42--success=True--task=put_the_bowl_on_the_stove.mp4
+Success: True
+# episodes completed so far: 42
+# successes: 41 (97.6%)
+
+Task: put the bowl on the stove
+Starting episode 43...
+Query 1/1: Action query time = 0.972 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4283
+t=10: Selected seed 195 with value = 0.4283
+Query 1/1: Action query time = 0.962 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5174
+t=26: Selected seed 195 with value = 0.5174
+Query 1/1: Action query time = 0.972 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6021
+t=42: Selected seed 195 with value = 0.6021
+Query 1/1: Action query time = 0.960 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7015
+t=58: Selected seed 195 with value = 0.7015
+Query 1/1: Action query time = 0.950 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8328
+t=74: Selected seed 195 with value = 0.8328
+Query 1/1: Action query time = 0.956 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9971
+t=90: Selected seed 195 with value = 0.9971
+Saved rollout MP4 at path ./rollouts/BASE40k_t1/2026_07_31-13_58_05--episode=43--success=True--task=put_the_bowl_on_the_stove.mp4
+Saved rollout MP4 at path ./rollouts/BASE40k_t1/2026_07_31-13_58_05--with_future_img--episode=43--success=True--task=put_the_bowl_on_the_stove.mp4
+Success: True
+# episodes completed so far: 43
+# successes: 42 (97.7%)
+
+Task: put the bowl on the stove
+Starting episode 44...
+Query 1/1: Action query time = 0.981 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4677
+t=10: Selected seed 195 with value = 0.4677
+Query 1/1: Action query time = 0.990 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5312
+t=26: Selected seed 195 with value = 0.5312
+Query 1/1: Action query time = 0.964 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6227
+t=42: Selected seed 195 with value = 0.6227
+Query 1/1: Action query time = 0.960 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7076
+t=58: Selected seed 195 with value = 0.7076
+Query 1/1: Action query time = 0.964 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8037
+t=74: Selected seed 195 with value = 0.8037
+Query 1/1: Action query time = 0.957 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9803
+t=90: Selected seed 195 with value = 0.9803
+Query 1/1: Action query time = 0.954 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9987
+t=106: Selected seed 195 with value = 0.9987
+Query 1/1: Action query time = 0.980 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9924
+t=122: Selected seed 195 with value = 0.9924
+Query 1/1: Action query time = 0.979 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9854
+t=138: Selected seed 195 with value = 0.9854
+Query 1/1: Action query time = 0.961 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9844
+t=154: Selected seed 195 with value = 0.9844
+Query 1/1: Action query time = 0.970 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9829
+t=170: Selected seed 195 with value = 0.9829
+Query 1/1: Action query time = 0.972 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9832
+t=186: Selected seed 195 with value = 0.9832
+Query 1/1: Action query time = 0.967 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9840
+t=202: Selected seed 195 with value = 0.9840
+Query 1/1: Action query time = 0.961 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9848
+t=218: Selected seed 195 with value = 0.9848
+Query 1/1: Action query time = 0.950 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9847
+t=234: Selected seed 195 with value = 0.9847
+Query 1/1: Action query time = 0.958 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9848
+t=250: Selected seed 195 with value = 0.9848
+Query 1/1: Action query time = 0.965 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9829
+t=266: Selected seed 195 with value = 0.9829
+Query 1/1: Action query time = 0.959 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9796
+t=282: Selected seed 195 with value = 0.9796
+Query 1/1: Action query time = 0.969 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9761
+t=298: Selected seed 195 with value = 0.9761
+Saved rollout MP4 at path ./rollouts/BASE40k_t1/2026_07_31-13_58_05--episode=44--success=False--task=put_the_bowl_on_the_stove.mp4
+Saved rollout MP4 at path ./rollouts/BASE40k_t1/2026_07_31-13_58_05--with_future_img--episode=44--success=False--task=put_the_bowl_on_the_stove.mp4
+Success: False
+# episodes completed so far: 44
+# successes: 42 (95.5%)
+
+Task: put the bowl on the stove
+Starting episode 45...
+Query 1/1: Action query time = 0.970 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4186
+t=10: Selected seed 195 with value = 0.4186
+Query 1/1: Action query time = 0.945 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5138
+t=26: Selected seed 195 with value = 0.5138
+Query 1/1: Action query time = 0.960 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6026
+t=42: Selected seed 195 with value = 0.6026
+Query 1/1: Action query time = 0.969 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6389
+t=58: Selected seed 195 with value = 0.6389
+Query 1/1: Action query time = 0.971 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8040
+t=74: Selected seed 195 with value = 0.8040
+Query 1/1: Action query time = 0.978 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9893
+t=90: Selected seed 195 with value = 0.9893
+Saved rollout MP4 at path ./rollouts/BASE40k_t1/2026_07_31-13_58_05--episode=45--success=True--task=put_the_bowl_on_the_stove.mp4
+Saved rollout MP4 at path ./rollouts/BASE40k_t1/2026_07_31-13_58_05--with_future_img--episode=45--success=True--task=put_the_bowl_on_the_stove.mp4
+Success: True
+# episodes completed so far: 45
+# successes: 43 (95.6%)
+
+Task: put the bowl on the stove
+Starting episode 46...
+Query 1/1: Action query time = 0.978 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3699
+t=10: Selected seed 195 with value = 0.3699
+Query 1/1: Action query time = 0.953 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4708
+t=26: Selected seed 195 with value = 0.4708
+Query 1/1: Action query time = 0.950 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5427
+t=42: Selected seed 195 with value = 0.5427
+Query 1/1: Action query time = 0.944 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6317
+t=58: Selected seed 195 with value = 0.6317
+Query 1/1: Action query time = 0.950 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7188
+t=74: Selected seed 195 with value = 0.7188
+Query 1/1: Action query time = 0.996 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9128
+t=90: Selected seed 195 with value = 0.9128
+Saved rollout MP4 at path ./rollouts/BASE40k_t1/2026_07_31-13_58_05--episode=46--success=True--task=put_the_bowl_on_the_stove.mp4
+Saved rollout MP4 at path ./rollouts/BASE40k_t1/2026_07_31-13_58_05--with_future_img--episode=46--success=True--task=put_the_bowl_on_the_stove.mp4
+Success: True
+# episodes completed so far: 46
+# successes: 44 (95.7%)
+
+Task: put the bowl on the stove
+Starting episode 47...
+Query 1/1: Action query time = 0.967 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3943
+t=10: Selected seed 195 with value = 0.3943
+Query 1/1: Action query time = 0.978 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5099
+t=26: Selected seed 195 with value = 0.5099
+Query 1/1: Action query time = 0.952 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5966
+t=42: Selected seed 195 with value = 0.5966
+Query 1/1: Action query time = 0.944 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6929
+t=58: Selected seed 195 with value = 0.6929
+Query 1/1: Action query time = 0.971 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8269
+t=74: Selected seed 195 with value = 0.8269
+Query 1/1: Action query time = 0.957 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9685
+t=90: Selected seed 195 with value = 0.9685
+Saved rollout MP4 at path ./rollouts/BASE40k_t1/2026_07_31-13_58_05--episode=47--success=True--task=put_the_bowl_on_the_stove.mp4
+Saved rollout MP4 at path ./rollouts/BASE40k_t1/2026_07_31-13_58_05--with_future_img--episode=47--success=True--task=put_the_bowl_on_the_stove.mp4
+Success: True
+# episodes completed so far: 47
+# successes: 45 (95.7%)
+
+Task: put the bowl on the stove
+Starting episode 48...
+Query 1/1: Action query time = 0.978 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4401
+t=10: Selected seed 195 with value = 0.4401
+Query 1/1: Action query time = 0.961 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5449
+t=26: Selected seed 195 with value = 0.5449
+Query 1/1: Action query time = 0.968 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6168
+t=42: Selected seed 195 with value = 0.6168
+Query 1/1: Action query time = 0.969 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7223
+t=58: Selected seed 195 with value = 0.7223
+Query 1/1: Action query time = 1.065 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8448
+t=74: Selected seed 195 with value = 0.8448
+Query 1/1: Action query time = 1.103 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9834
+t=90: Selected seed 195 with value = 0.9834
+Saved rollout MP4 at path ./rollouts/BASE40k_t1/2026_07_31-13_58_05--episode=48--success=True--task=put_the_bowl_on_the_stove.mp4
+Saved rollout MP4 at path ./rollouts/BASE40k_t1/2026_07_31-13_58_05--with_future_img--episode=48--success=True--task=put_the_bowl_on_the_stove.mp4
+Success: True
+# episodes completed so far: 48
+# successes: 46 (95.8%)
+
+Task: put the bowl on the stove
+Starting episode 49...
+Query 1/1: Action query time = 0.968 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4335
+t=10: Selected seed 195 with value = 0.4335
+Query 1/1: Action query time = 0.950 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5097
+t=26: Selected seed 195 with value = 0.5097
+Query 1/1: Action query time = 0.961 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5913
+t=42: Selected seed 195 with value = 0.5913
+Query 1/1: Action query time = 0.955 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6886
+t=58: Selected seed 195 with value = 0.6886
+Query 1/1: Action query time = 0.957 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7826
+t=74: Selected seed 195 with value = 0.7826
+Query 1/1: Action query time = 0.966 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9219
+t=90: Selected seed 195 with value = 0.9219
+Saved rollout MP4 at path ./rollouts/BASE40k_t1/2026_07_31-13_58_05--episode=49--success=True--task=put_the_bowl_on_the_stove.mp4
+Saved rollout MP4 at path ./rollouts/BASE40k_t1/2026_07_31-13_58_05--with_future_img--episode=49--success=True--task=put_the_bowl_on_the_stove.mp4
+Success: True
+# episodes completed so far: 49
+# successes: 47 (95.9%)
+
+Task: put the bowl on the stove
+Starting episode 50...
+Query 1/1: Action query time = 0.969 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4776
+t=10: Selected seed 195 with value = 0.4776
+Query 1/1: Action query time = 0.948 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5609
+t=26: Selected seed 195 with value = 0.5609
+Query 1/1: Action query time = 0.963 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6183
+t=42: Selected seed 195 with value = 0.6183
+Query 1/1: Action query time = 0.955 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7181
+t=58: Selected seed 195 with value = 0.7181
+Query 1/1: Action query time = 0.953 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8864
+t=74: Selected seed 195 with value = 0.8864
+Saved rollout MP4 at path ./rollouts/BASE40k_t1/2026_07_31-13_58_05--episode=50--success=True--task=put_the_bowl_on_the_stove.mp4
+Saved rollout MP4 at path ./rollouts/BASE40k_t1/2026_07_31-13_58_05--with_future_img--episode=50--success=True--task=put_the_bowl_on_the_stove.mp4
+Success: True
+# episodes completed so far: 50
+# successes: 48 (96.0%)
+Current task success rate: 0.96
+Current total success rate: 0.96
+Final results:
+Total episodes: 50
+Total successes: 48
+Overall success rate: 0.9600 (96.0%)
diff --git a/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_07_31-14_19_10--ft6_iter200_t6.txt b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_07_31-14_19_10--ft6_iter200_t6.txt
new file mode 100644
index 0000000000000000000000000000000000000000..3f857a6f96abf9fa34370d3b7686e544dc07d67c
--- /dev/null
+++ b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_07_31-14_19_10--ft6_iter200_t6.txt
@@ -0,0 +1,2808 @@
+Eval config: PolicyEvalConfig(suite='libero', model_family='cosmos', config='cosmos_predict2_2b_480p_libero_cl_stage_inference_only', ckpt_path='new/cosmos_policy/cosmos_v2_finetune/cosmos_predict2_2b_480p_libero_goal_task6_ft_from40k_2gpu_1000step/checkpoints/iter_000000200/model', planning_model_config_name='', planning_model_ckpt_path='', config_file='cosmos_policy/config/config.py', packnet_mask_path='', packnet_first_cl_libero_task=6, use_third_person_image=True, num_third_person_images=1, use_wrist_image=True, num_wrist_images=1, use_proprio=True, flip_images=True, use_variance_scale=False, use_jpeg_compression=True, ar_future_prediction=False, ar_value_prediction=False, ar_qvalue_prediction=False, num_denoising_steps_action=5, num_denoising_steps_future_state=1, num_denoising_steps_value=1, unnormalize_actions=True, normalize_proprio=True, dataset_stats_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/libero_goal_regen/dataset_statistics.json', t5_text_embeddings_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/t5_embeddings.pkl', trained_with_image_aug=True, chunk_size=16, num_open_loop_steps=16, deterministic=True, deterministic_reset=False, deterministic_reset_seed=None, use_ensemble_future_state_predictions=False, num_future_state_predictions_in_ensemble=3, future_state_ensemble_aggregation_scheme='average', use_ensemble_value_predictions=False, num_value_predictions_in_ensemble=5, value_ensemble_aggregation_scheme='average', search_depth=1, mask_current_state_action_for_value_prediction=False, mask_future_state_for_qvalue_prediction=False, num_queries_best_of_n=1, use_parallel_inference=False, available_gpus='0', parallel_timeout=15, parallel_tasks_across_gpus=False, task_suite_name='libero_goal', num_trials_per_task=50, task_ids_to_run='6', initial_states_path='DEFAULT', env_img_res=256, local_log_dir='/home/azureuser/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal', run_id_note='ft6_iter200_t6', use_wandb=False, wandb_entity='YOUR_ENTITY', wandb_project='YOUR_PROJECT', seed=195, randomize_seed=False, data_collection=False, jpeg_compress=True, reward_stop_threshold=None, reward_stop_consecutive_steps=3, use_gpt_reward=False, gpt_reward_model='gpt-5.4-mini', gpt_reward_stop_threshold=4, gpt_reward_timeout_s=30.0, save_rollout_video=True, eval_hdf5_path='', eval_hdf5_demo_key='demo_0', data_gen_demo_ids='', replay_actions=False, replay_action_path_dir='', replay_hdf5_path='', data_generation=False, max_generation_steps=200, simple_task_max_steps=100, complex_task_max_steps=200)
+Using serial inference (parallel inference disabled)
+Task suite: libero_goal
+Number of tasks: 10
+Running only task IDs: [6]
+Using default initial states
+
+Task: put the cream cheese in the bowl
+Starting episode 1...
+Query 1/1: Action query time = 1.474 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4047
+t=10: Selected seed 195 with value = 0.4047
+Query 1/1: Action query time = 1.066 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4931
+t=26: Selected seed 195 with value = 0.4931
+Query 1/1: Action query time = 1.035 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6224
+t=42: Selected seed 195 with value = 0.6224
+Query 1/1: Action query time = 1.080 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6873
+t=58: Selected seed 195 with value = 0.6873
+Query 1/1: Action query time = 0.986 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6627
+t=74: Selected seed 195 with value = 0.6627
+Query 1/1: Action query time = 1.006 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7636
+t=90: Selected seed 195 with value = 0.7636
+Query 1/1: Action query time = 1.072 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8138
+t=106: Selected seed 195 with value = 0.8138
+Query 1/1: Action query time = 1.073 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9974
+t=122: Selected seed 195 with value = 0.9974
+Query 1/1: Action query time = 0.955 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9990
+t=138: Selected seed 195 with value = 0.9990
+Query 1/1: Action query time = 0.947 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9998
+t=154: Selected seed 195 with value = 0.9998
+Query 1/1: Action query time = 0.940 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9979
+t=170: Selected seed 195 with value = 0.9979
+Query 1/1: Action query time = 0.946 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=186: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.957 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9947
+t=202: Selected seed 195 with value = 0.9947
+Query 1/1: Action query time = 0.952 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9928
+t=218: Selected seed 195 with value = 0.9928
+Query 1/1: Action query time = 0.945 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9927
+t=234: Selected seed 195 with value = 0.9927
+Query 1/1: Action query time = 0.947 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9913
+t=250: Selected seed 195 with value = 0.9913
+Query 1/1: Action query time = 0.953 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9799
+t=266: Selected seed 195 with value = 0.9799
+Query 1/1: Action query time = 0.938 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9701
+t=282: Selected seed 195 with value = 0.9701
+Query 1/1: Action query time = 0.953 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9810
+t=298: Selected seed 195 with value = 0.9810
+Saved rollout MP4 at path ./rollouts/ft6_iter200_t6/2026_07_31-14_19_10--episode=1--success=False--task=put_the_cream_cheese_in_the_bowl.mp4
+Saved rollout MP4 at path ./rollouts/ft6_iter200_t6/2026_07_31-14_19_10--with_future_img--episode=1--success=False--task=put_the_cream_cheese_in_the_bowl.mp4
+Success: False
+# episodes completed so far: 1
+# successes: 0 (0.0%)
+
+Task: put the cream cheese in the bowl
+Starting episode 2...
+Query 1/1: Action query time = 0.973 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4285
+t=10: Selected seed 195 with value = 0.4285
+Query 1/1: Action query time = 0.951 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5021
+t=26: Selected seed 195 with value = 0.5021
+Query 1/1: Action query time = 0.957 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6052
+t=42: Selected seed 195 with value = 0.6052
+Query 1/1: Action query time = 0.960 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6607
+t=58: Selected seed 195 with value = 0.6607
+Query 1/1: Action query time = 0.944 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5785
+t=74: Selected seed 195 with value = 0.5785
+Query 1/1: Action query time = 0.968 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6412
+t=90: Selected seed 195 with value = 0.6412
+Query 1/1: Action query time = 0.954 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5972
+t=106: Selected seed 195 with value = 0.5972
+Query 1/1: Action query time = 0.963 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6818
+t=122: Selected seed 195 with value = 0.6818
+Query 1/1: Action query time = 0.943 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7478
+t=138: Selected seed 195 with value = 0.7478
+Query 1/1: Action query time = 0.963 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7598
+t=154: Selected seed 195 with value = 0.7598
+Query 1/1: Action query time = 0.946 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8284
+t=170: Selected seed 195 with value = 0.8284
+Query 1/1: Action query time = 0.953 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8659
+t=186: Selected seed 195 with value = 0.8659
+Query 1/1: Action query time = 0.943 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8176
+t=202: Selected seed 195 with value = 0.8176
+Query 1/1: Action query time = 0.942 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8422
+t=218: Selected seed 195 with value = 0.8422
+Query 1/1: Action query time = 0.956 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8965
+t=234: Selected seed 195 with value = 0.8965
+Query 1/1: Action query time = 0.950 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=250: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.949 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9803
+t=266: Selected seed 195 with value = 0.9803
+Query 1/1: Action query time = 0.948 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9558
+t=282: Selected seed 195 with value = 0.9558
+Query 1/1: Action query time = 0.979 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9265
+t=298: Selected seed 195 with value = 0.9265
+Saved rollout MP4 at path ./rollouts/ft6_iter200_t6/2026_07_31-14_19_10--episode=2--success=False--task=put_the_cream_cheese_in_the_bowl.mp4
+Saved rollout MP4 at path ./rollouts/ft6_iter200_t6/2026_07_31-14_19_10--with_future_img--episode=2--success=False--task=put_the_cream_cheese_in_the_bowl.mp4
+Success: False
+# episodes completed so far: 2
+# successes: 0 (0.0%)
+
+Task: put the cream cheese in the bowl
+Starting episode 3...
+Query 1/1: Action query time = 1.180 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4474
+t=10: Selected seed 195 with value = 0.4474
+Query 1/1: Action query time = 1.123 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4743
+t=26: Selected seed 195 with value = 0.4743
+Query 1/1: Action query time = 1.060 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6154
+t=42: Selected seed 195 with value = 0.6154
+Query 1/1: Action query time = 0.985 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6854
+t=58: Selected seed 195 with value = 0.6854
+Query 1/1: Action query time = 0.958 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5948
+t=74: Selected seed 195 with value = 0.5948
+Query 1/1: Action query time = 0.956 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7096
+t=90: Selected seed 195 with value = 0.7096
+Query 1/1: Action query time = 0.965 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8430
+t=106: Selected seed 195 with value = 0.8430
+Query 1/1: Action query time = 0.954 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8952
+t=122: Selected seed 195 with value = 0.8952
+Query 1/1: Action query time = 0.942 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8978
+t=138: Selected seed 195 with value = 0.8978
+Query 1/1: Action query time = 0.958 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9211
+t=154: Selected seed 195 with value = 0.9211
+Query 1/1: Action query time = 0.956 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9447
+t=170: Selected seed 195 with value = 0.9447
+Query 1/1: Action query time = 0.950 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9959
+t=186: Selected seed 195 with value = 0.9959
+Query 1/1: Action query time = 0.949 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9869
+t=202: Selected seed 195 with value = 0.9869
+Query 1/1: Action query time = 0.965 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9770
+t=218: Selected seed 195 with value = 0.9770
+Query 1/1: Action query time = 0.950 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9698
+t=234: Selected seed 195 with value = 0.9698
+Query 1/1: Action query time = 0.962 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9743
+t=250: Selected seed 195 with value = 0.9743
+Query 1/1: Action query time = 0.970 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9763
+t=266: Selected seed 195 with value = 0.9763
+Query 1/1: Action query time = 0.962 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9797
+t=282: Selected seed 195 with value = 0.9797
+Query 1/1: Action query time = 0.959 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9827
+t=298: Selected seed 195 with value = 0.9827
+Saved rollout MP4 at path ./rollouts/ft6_iter200_t6/2026_07_31-14_19_10--episode=3--success=False--task=put_the_cream_cheese_in_the_bowl.mp4
+Saved rollout MP4 at path ./rollouts/ft6_iter200_t6/2026_07_31-14_19_10--with_future_img--episode=3--success=False--task=put_the_cream_cheese_in_the_bowl.mp4
+Success: False
+# episodes completed so far: 3
+# successes: 0 (0.0%)
+
+Task: put the cream cheese in the bowl
+Starting episode 4...
+Query 1/1: Action query time = 0.956 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4186
+t=10: Selected seed 195 with value = 0.4186
+Query 1/1: Action query time = 0.952 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5338
+t=26: Selected seed 195 with value = 0.5338
+Query 1/1: Action query time = 0.954 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6413
+t=42: Selected seed 195 with value = 0.6413
+Query 1/1: Action query time = 0.962 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7459
+t=58: Selected seed 195 with value = 0.7459
+Query 1/1: Action query time = 0.967 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8627
+t=74: Selected seed 195 with value = 0.8627
+Query 1/1: Action query time = 0.949 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9920
+t=90: Selected seed 195 with value = 0.9920
+Saved rollout MP4 at path ./rollouts/ft6_iter200_t6/2026_07_31-14_19_10--episode=4--success=True--task=put_the_cream_cheese_in_the_bowl.mp4
+Saved rollout MP4 at path ./rollouts/ft6_iter200_t6/2026_07_31-14_19_10--with_future_img--episode=4--success=True--task=put_the_cream_cheese_in_the_bowl.mp4
+Success: True
+# episodes completed so far: 4
+# successes: 1 (25.0%)
+
+Task: put the cream cheese in the bowl
+Starting episode 5...
+Query 1/1: Action query time = 1.043 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4004
+t=10: Selected seed 195 with value = 0.4004
+Query 1/1: Action query time = 1.023 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5010
+t=26: Selected seed 195 with value = 0.5010
+Query 1/1: Action query time = 0.998 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6253
+t=42: Selected seed 195 with value = 0.6253
+Query 1/1: Action query time = 0.987 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6502
+t=58: Selected seed 195 with value = 0.6502
+Query 1/1: Action query time = 0.993 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5476
+t=74: Selected seed 195 with value = 0.5476
+Query 1/1: Action query time = 0.977 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5856
+t=90: Selected seed 195 with value = 0.5856
+Query 1/1: Action query time = 1.004 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5320
+t=106: Selected seed 195 with value = 0.5320
+Query 1/1: Action query time = 0.987 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6296
+t=122: Selected seed 195 with value = 0.6296
+Query 1/1: Action query time = 0.979 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6713
+t=138: Selected seed 195 with value = 0.6713
+Query 1/1: Action query time = 0.993 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7764
+t=154: Selected seed 195 with value = 0.7764
+Query 1/1: Action query time = 0.998 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9297
+t=170: Selected seed 195 with value = 0.9297
+Query 1/1: Action query time = 1.008 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9900
+t=186: Selected seed 195 with value = 0.9900
+Query 1/1: Action query time = 0.986 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9730
+t=202: Selected seed 195 with value = 0.9730
+Query 1/1: Action query time = 0.985 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8938
+t=218: Selected seed 195 with value = 0.8938
+Query 1/1: Action query time = 0.989 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9737
+t=234: Selected seed 195 with value = 0.9737
+Query 1/1: Action query time = 0.989 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9814
+t=250: Selected seed 195 with value = 0.9814
+Query 1/1: Action query time = 0.994 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9736
+t=266: Selected seed 195 with value = 0.9736
+Query 1/1: Action query time = 0.975 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9692
+t=282: Selected seed 195 with value = 0.9692
+Query 1/1: Action query time = 0.992 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9679
+t=298: Selected seed 195 with value = 0.9679
+Saved rollout MP4 at path ./rollouts/ft6_iter200_t6/2026_07_31-14_19_10--episode=5--success=False--task=put_the_cream_cheese_in_the_bowl.mp4
+Saved rollout MP4 at path ./rollouts/ft6_iter200_t6/2026_07_31-14_19_10--with_future_img--episode=5--success=False--task=put_the_cream_cheese_in_the_bowl.mp4
+Success: False
+# episodes completed so far: 5
+# successes: 1 (20.0%)
+
+Task: put the cream cheese in the bowl
+Starting episode 6...
+Query 1/1: Action query time = 0.986 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4482
+t=10: Selected seed 195 with value = 0.4482
+Query 1/1: Action query time = 0.965 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5079
+t=26: Selected seed 195 with value = 0.5079
+Query 1/1: Action query time = 0.990 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6285
+t=42: Selected seed 195 with value = 0.6285
+Query 1/1: Action query time = 0.995 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5287
+t=58: Selected seed 195 with value = 0.5287
+Query 1/1: Action query time = 0.992 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7538
+t=74: Selected seed 195 with value = 0.7538
+Query 1/1: Action query time = 0.970 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9258
+t=90: Selected seed 195 with value = 0.9258
+Query 1/1: Action query time = 0.963 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9984
+t=106: Selected seed 195 with value = 0.9984
+Query 1/1: Action query time = 0.953 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9953
+t=122: Selected seed 195 with value = 0.9953
+Query 1/1: Action query time = 0.986 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9950
+t=138: Selected seed 195 with value = 0.9950
+Query 1/1: Action query time = 1.004 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9652
+t=154: Selected seed 195 with value = 0.9652
+Query 1/1: Action query time = 0.982 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9569
+t=170: Selected seed 195 with value = 0.9569
+Query 1/1: Action query time = 0.979 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9758
+t=186: Selected seed 195 with value = 0.9758
+Query 1/1: Action query time = 0.982 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9976
+t=202: Selected seed 195 with value = 0.9976
+Query 1/1: Action query time = 0.987 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9996
+t=218: Selected seed 195 with value = 0.9996
+Query 1/1: Action query time = 0.963 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9936
+t=234: Selected seed 195 with value = 0.9936
+Query 1/1: Action query time = 0.966 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9996
+t=250: Selected seed 195 with value = 0.9996
+Query 1/1: Action query time = 0.957 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9985
+t=266: Selected seed 195 with value = 0.9985
+Query 1/1: Action query time = 0.978 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9890
+t=282: Selected seed 195 with value = 0.9890
+Query 1/1: Action query time = 0.969 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9039
+t=298: Selected seed 195 with value = 0.9039
+Saved rollout MP4 at path ./rollouts/ft6_iter200_t6/2026_07_31-14_19_10--episode=6--success=False--task=put_the_cream_cheese_in_the_bowl.mp4
+Saved rollout MP4 at path ./rollouts/ft6_iter200_t6/2026_07_31-14_19_10--with_future_img--episode=6--success=False--task=put_the_cream_cheese_in_the_bowl.mp4
+Success: False
+# episodes completed so far: 6
+# successes: 1 (16.7%)
+
+Task: put the cream cheese in the bowl
+Starting episode 7...
+Query 1/1: Action query time = 0.995 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4661
+t=10: Selected seed 195 with value = 0.4661
+Query 1/1: Action query time = 0.977 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5463
+t=26: Selected seed 195 with value = 0.5463
+Query 1/1: Action query time = 0.970 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6459
+t=42: Selected seed 195 with value = 0.6459
+Query 1/1: Action query time = 0.991 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6669
+t=58: Selected seed 195 with value = 0.6669
+Query 1/1: Action query time = 0.972 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7937
+t=74: Selected seed 195 with value = 0.7937
+Query 1/1: Action query time = 0.980 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9326
+t=90: Selected seed 195 with value = 0.9326
+Saved rollout MP4 at path ./rollouts/ft6_iter200_t6/2026_07_31-14_19_10--episode=7--success=True--task=put_the_cream_cheese_in_the_bowl.mp4
+Saved rollout MP4 at path ./rollouts/ft6_iter200_t6/2026_07_31-14_19_10--with_future_img--episode=7--success=True--task=put_the_cream_cheese_in_the_bowl.mp4
+Success: True
+# episodes completed so far: 7
+# successes: 2 (28.6%)
+
+Task: put the cream cheese in the bowl
+Starting episode 8...
+Query 1/1: Action query time = 0.975 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4043
+t=10: Selected seed 195 with value = 0.4043
+Query 1/1: Action query time = 0.970 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5298
+t=26: Selected seed 195 with value = 0.5298
+Query 1/1: Action query time = 0.961 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6074
+t=42: Selected seed 195 with value = 0.6074
+Query 1/1: Action query time = 0.967 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7022
+t=58: Selected seed 195 with value = 0.7022
+Query 1/1: Action query time = 0.980 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8474
+t=74: Selected seed 195 with value = 0.8474
+Query 1/1: Action query time = 0.968 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9789
+t=90: Selected seed 195 with value = 0.9789
+Saved rollout MP4 at path ./rollouts/ft6_iter200_t6/2026_07_31-14_19_10--episode=8--success=True--task=put_the_cream_cheese_in_the_bowl.mp4
+Saved rollout MP4 at path ./rollouts/ft6_iter200_t6/2026_07_31-14_19_10--with_future_img--episode=8--success=True--task=put_the_cream_cheese_in_the_bowl.mp4
+Success: True
+# episodes completed so far: 8
+# successes: 3 (37.5%)
+
+Task: put the cream cheese in the bowl
+Starting episode 9...
+Query 1/1: Action query time = 0.963 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4583
+t=10: Selected seed 195 with value = 0.4583
+Query 1/1: Action query time = 0.958 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5188
+t=26: Selected seed 195 with value = 0.5188
+Query 1/1: Action query time = 1.083 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6524
+t=42: Selected seed 195 with value = 0.6524
+Query 1/1: Action query time = 1.166 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7514
+t=58: Selected seed 195 with value = 0.7514
+Query 1/1: Action query time = 1.170 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8634
+t=74: Selected seed 195 with value = 0.8634
+Query 1/1: Action query time = 1.159 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9852
+t=90: Selected seed 195 with value = 0.9852
+Saved rollout MP4 at path ./rollouts/ft6_iter200_t6/2026_07_31-14_19_10--episode=9--success=True--task=put_the_cream_cheese_in_the_bowl.mp4
+Saved rollout MP4 at path ./rollouts/ft6_iter200_t6/2026_07_31-14_19_10--with_future_img--episode=9--success=True--task=put_the_cream_cheese_in_the_bowl.mp4
+Success: True
+# episodes completed so far: 9
+# successes: 4 (44.4%)
+
+Task: put the cream cheese in the bowl
+Starting episode 10...
+Query 1/1: Action query time = 0.988 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4372
+t=10: Selected seed 195 with value = 0.4372
+Query 1/1: Action query time = 0.969 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5569
+t=26: Selected seed 195 with value = 0.5569
+Query 1/1: Action query time = 0.983 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6387
+t=42: Selected seed 195 with value = 0.6387
+Query 1/1: Action query time = 0.973 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7705
+t=58: Selected seed 195 with value = 0.7705
+Query 1/1: Action query time = 0.978 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8665
+t=74: Selected seed 195 with value = 0.8665
+Query 1/1: Action query time = 0.956 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9879
+t=90: Selected seed 195 with value = 0.9879
+Saved rollout MP4 at path ./rollouts/ft6_iter200_t6/2026_07_31-14_19_10--episode=10--success=True--task=put_the_cream_cheese_in_the_bowl.mp4
+Saved rollout MP4 at path ./rollouts/ft6_iter200_t6/2026_07_31-14_19_10--with_future_img--episode=10--success=True--task=put_the_cream_cheese_in_the_bowl.mp4
+Success: True
+# episodes completed so far: 10
+# successes: 5 (50.0%)
+
+Task: put the cream cheese in the bowl
+Starting episode 11...
+Query 1/1: Action query time = 0.985 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4535
+t=10: Selected seed 195 with value = 0.4535
+Query 1/1: Action query time = 0.964 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5376
+t=26: Selected seed 195 with value = 0.5376
+Query 1/1: Action query time = 0.957 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6327
+t=42: Selected seed 195 with value = 0.6327
+Query 1/1: Action query time = 0.979 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6860
+t=58: Selected seed 195 with value = 0.6860
+Query 1/1: Action query time = 0.960 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5830
+t=74: Selected seed 195 with value = 0.5830
+Query 1/1: Action query time = 0.978 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7142
+t=90: Selected seed 195 with value = 0.7142
+Query 1/1: Action query time = 0.973 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7787
+t=106: Selected seed 195 with value = 0.7787
+Query 1/1: Action query time = 0.961 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9925
+t=122: Selected seed 195 with value = 0.9925
+Query 1/1: Action query time = 0.970 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9980
+t=138: Selected seed 195 with value = 0.9980
+Query 1/1: Action query time = 0.976 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9943
+t=154: Selected seed 195 with value = 0.9943
+Query 1/1: Action query time = 0.972 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9831
+t=170: Selected seed 195 with value = 0.9831
+Query 1/1: Action query time = 0.974 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9701
+t=186: Selected seed 195 with value = 0.9701
+Query 1/1: Action query time = 0.966 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9136
+t=202: Selected seed 195 with value = 0.9136
+Query 1/1: Action query time = 0.971 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8737
+t=218: Selected seed 195 with value = 0.8737
+Query 1/1: Action query time = 0.966 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9973
+t=234: Selected seed 195 with value = 0.9973
+Query 1/1: Action query time = 0.980 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9992
+t=250: Selected seed 195 with value = 0.9992
+Query 1/1: Action query time = 0.974 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=266: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.984 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=282: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.974 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=298: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/ft6_iter200_t6/2026_07_31-14_19_10--episode=11--success=False--task=put_the_cream_cheese_in_the_bowl.mp4
+Saved rollout MP4 at path ./rollouts/ft6_iter200_t6/2026_07_31-14_19_10--with_future_img--episode=11--success=False--task=put_the_cream_cheese_in_the_bowl.mp4
+Success: False
+# episodes completed so far: 11
+# successes: 5 (45.5%)
+
+Task: put the cream cheese in the bowl
+Starting episode 12...
+Query 1/1: Action query time = 1.186 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4614
+t=10: Selected seed 195 with value = 0.4614
+Query 1/1: Action query time = 1.149 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4119
+t=26: Selected seed 195 with value = 0.4119
+Query 1/1: Action query time = 0.972 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6103
+t=42: Selected seed 195 with value = 0.6103
+Query 1/1: Action query time = 0.985 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6825
+t=58: Selected seed 195 with value = 0.6825
+Query 1/1: Action query time = 0.958 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8114
+t=74: Selected seed 195 with value = 0.8114
+Query 1/1: Action query time = 0.977 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9654
+t=90: Selected seed 195 with value = 0.9654
+Query 1/1: Action query time = 0.978 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=106: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.967 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9996
+t=122: Selected seed 195 with value = 0.9996
+Query 1/1: Action query time = 0.963 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=138: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.970 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=154: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.967 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=170: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.964 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9986
+t=186: Selected seed 195 with value = 0.9986
+Query 1/1: Action query time = 0.978 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9975
+t=202: Selected seed 195 with value = 0.9975
+Query 1/1: Action query time = 0.972 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9968
+t=218: Selected seed 195 with value = 0.9968
+Query 1/1: Action query time = 0.951 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9965
+t=234: Selected seed 195 with value = 0.9965
+Query 1/1: Action query time = 0.970 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9956
+t=250: Selected seed 195 with value = 0.9956
+Query 1/1: Action query time = 0.978 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9924
+t=266: Selected seed 195 with value = 0.9924
+Query 1/1: Action query time = 1.000 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9846
+t=282: Selected seed 195 with value = 0.9846
+Query 1/1: Action query time = 1.014 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=298: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/ft6_iter200_t6/2026_07_31-14_19_10--episode=12--success=False--task=put_the_cream_cheese_in_the_bowl.mp4
+Saved rollout MP4 at path ./rollouts/ft6_iter200_t6/2026_07_31-14_19_10--with_future_img--episode=12--success=False--task=put_the_cream_cheese_in_the_bowl.mp4
+Success: False
+# episodes completed so far: 12
+# successes: 5 (41.7%)
+
+Task: put the cream cheese in the bowl
+Starting episode 13...
+Query 1/1: Action query time = 0.996 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4502
+t=10: Selected seed 195 with value = 0.4502
+Query 1/1: Action query time = 0.981 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5003
+t=26: Selected seed 195 with value = 0.5003
+Query 1/1: Action query time = 0.960 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6310
+t=42: Selected seed 195 with value = 0.6310
+Query 1/1: Action query time = 0.975 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6426
+t=58: Selected seed 195 with value = 0.6426
+Query 1/1: Action query time = 0.971 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5645
+t=74: Selected seed 195 with value = 0.5645
+Query 1/1: Action query time = 0.963 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6121
+t=90: Selected seed 195 with value = 0.6121
+Query 1/1: Action query time = 0.984 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5830
+t=106: Selected seed 195 with value = 0.5830
+Query 1/1: Action query time = 0.979 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6678
+t=122: Selected seed 195 with value = 0.6678
+Query 1/1: Action query time = 0.972 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8375
+t=138: Selected seed 195 with value = 0.8375
+Query 1/1: Action query time = 0.973 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8813
+t=154: Selected seed 195 with value = 0.8813
+Query 1/1: Action query time = 0.965 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9006
+t=170: Selected seed 195 with value = 0.9006
+Query 1/1: Action query time = 0.971 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9568
+t=186: Selected seed 195 with value = 0.9568
+Query 1/1: Action query time = 0.972 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9955
+t=202: Selected seed 195 with value = 0.9955
+Query 1/1: Action query time = 0.986 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9908
+t=218: Selected seed 195 with value = 0.9908
+Query 1/1: Action query time = 0.968 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9813
+t=234: Selected seed 195 with value = 0.9813
+Query 1/1: Action query time = 0.966 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9753
+t=250: Selected seed 195 with value = 0.9753
+Query 1/1: Action query time = 0.979 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9733
+t=266: Selected seed 195 with value = 0.9733
+Query 1/1: Action query time = 0.965 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9757
+t=282: Selected seed 195 with value = 0.9757
+Query 1/1: Action query time = 0.970 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9780
+t=298: Selected seed 195 with value = 0.9780
+Saved rollout MP4 at path ./rollouts/ft6_iter200_t6/2026_07_31-14_19_10--episode=13--success=False--task=put_the_cream_cheese_in_the_bowl.mp4
+Saved rollout MP4 at path ./rollouts/ft6_iter200_t6/2026_07_31-14_19_10--with_future_img--episode=13--success=False--task=put_the_cream_cheese_in_the_bowl.mp4
+Success: False
+# episodes completed so far: 13
+# successes: 5 (38.5%)
+
+Task: put the cream cheese in the bowl
+Starting episode 14...
+Query 1/1: Action query time = 0.974 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4551
+t=10: Selected seed 195 with value = 0.4551
+Query 1/1: Action query time = 0.966 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5781
+t=26: Selected seed 195 with value = 0.5781
+Query 1/1: Action query time = 0.969 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6198
+t=42: Selected seed 195 with value = 0.6198
+Query 1/1: Action query time = 0.975 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7400
+t=58: Selected seed 195 with value = 0.7400
+Query 1/1: Action query time = 0.963 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8831
+t=74: Selected seed 195 with value = 0.8831
+Query 1/1: Action query time = 0.953 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9945
+t=90: Selected seed 195 with value = 0.9945
+Saved rollout MP4 at path ./rollouts/ft6_iter200_t6/2026_07_31-14_19_10--episode=14--success=True--task=put_the_cream_cheese_in_the_bowl.mp4
+Saved rollout MP4 at path ./rollouts/ft6_iter200_t6/2026_07_31-14_19_10--with_future_img--episode=14--success=True--task=put_the_cream_cheese_in_the_bowl.mp4
+Success: True
+# episodes completed so far: 14
+# successes: 6 (42.9%)
+
+Task: put the cream cheese in the bowl
+Starting episode 15...
+Query 1/1: Action query time = 1.039 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4024
+t=10: Selected seed 195 with value = 0.4024
+Query 1/1: Action query time = 1.041 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5142
+t=26: Selected seed 195 with value = 0.5142
+Query 1/1: Action query time = 1.025 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6187
+t=42: Selected seed 195 with value = 0.6187
+Query 1/1: Action query time = 1.079 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5689
+t=58: Selected seed 195 with value = 0.5689
+Query 1/1: Action query time = 1.063 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6196
+t=74: Selected seed 195 with value = 0.6196
+Query 1/1: Action query time = 1.140 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7959
+t=90: Selected seed 195 with value = 0.7959
+Query 1/1: Action query time = 1.182 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9396
+t=106: Selected seed 195 with value = 0.9396
+Query 1/1: Action query time = 1.180 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9943
+t=122: Selected seed 195 with value = 0.9943
+Query 1/1: Action query time = 1.196 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9985
+t=138: Selected seed 195 with value = 0.9985
+Query 1/1: Action query time = 1.137 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9976
+t=154: Selected seed 195 with value = 0.9976
+Query 1/1: Action query time = 1.145 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9935
+t=170: Selected seed 195 with value = 0.9935
+Query 1/1: Action query time = 1.063 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9922
+t=186: Selected seed 195 with value = 0.9922
+Query 1/1: Action query time = 1.031 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9961
+t=202: Selected seed 195 with value = 0.9961
+Query 1/1: Action query time = 1.037 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9934
+t=218: Selected seed 195 with value = 0.9934
+Query 1/1: Action query time = 1.002 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9915
+t=234: Selected seed 195 with value = 0.9915
+Query 1/1: Action query time = 0.999 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9893
+t=250: Selected seed 195 with value = 0.9893
+Query 1/1: Action query time = 0.972 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9866
+t=266: Selected seed 195 with value = 0.9866
+Query 1/1: Action query time = 0.979 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9788
+t=282: Selected seed 195 with value = 0.9788
+Query 1/1: Action query time = 0.970 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9576
+t=298: Selected seed 195 with value = 0.9576
+Saved rollout MP4 at path ./rollouts/ft6_iter200_t6/2026_07_31-14_19_10--episode=15--success=False--task=put_the_cream_cheese_in_the_bowl.mp4
+Saved rollout MP4 at path ./rollouts/ft6_iter200_t6/2026_07_31-14_19_10--with_future_img--episode=15--success=False--task=put_the_cream_cheese_in_the_bowl.mp4
+Success: False
+# episodes completed so far: 15
+# successes: 6 (40.0%)
+
+Task: put the cream cheese in the bowl
+Starting episode 16...
+Query 1/1: Action query time = 0.996 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4249
+t=10: Selected seed 195 with value = 0.4249
+Query 1/1: Action query time = 0.971 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5338
+t=26: Selected seed 195 with value = 0.5338
+Query 1/1: Action query time = 0.962 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6562
+t=42: Selected seed 195 with value = 0.6562
+Query 1/1: Action query time = 0.978 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5332
+t=58: Selected seed 195 with value = 0.5332
+Query 1/1: Action query time = 0.969 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5826
+t=74: Selected seed 195 with value = 0.5826
+Query 1/1: Action query time = 0.976 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6191
+t=90: Selected seed 195 with value = 0.6191
+Query 1/1: Action query time = 0.958 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5599
+t=106: Selected seed 195 with value = 0.5599
+Query 1/1: Action query time = 0.960 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6613
+t=122: Selected seed 195 with value = 0.6613
+Query 1/1: Action query time = 0.960 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7994
+t=138: Selected seed 195 with value = 0.7994
+Query 1/1: Action query time = 0.984 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9531
+t=154: Selected seed 195 with value = 0.9531
+Saved rollout MP4 at path ./rollouts/ft6_iter200_t6/2026_07_31-14_19_10--episode=16--success=True--task=put_the_cream_cheese_in_the_bowl.mp4
+Saved rollout MP4 at path ./rollouts/ft6_iter200_t6/2026_07_31-14_19_10--with_future_img--episode=16--success=True--task=put_the_cream_cheese_in_the_bowl.mp4
+Success: True
+# episodes completed so far: 16
+# successes: 7 (43.8%)
+
+Task: put the cream cheese in the bowl
+Starting episode 17...
+Query 1/1: Action query time = 0.979 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4582
+t=10: Selected seed 195 with value = 0.4582
+Query 1/1: Action query time = 0.969 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4948
+t=26: Selected seed 195 with value = 0.4948
+Query 1/1: Action query time = 0.970 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6134
+t=42: Selected seed 195 with value = 0.6134
+Query 1/1: Action query time = 0.973 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7122
+t=58: Selected seed 195 with value = 0.7122
+Query 1/1: Action query time = 0.984 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8240
+t=74: Selected seed 195 with value = 0.8240
+Query 1/1: Action query time = 0.984 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9617
+t=90: Selected seed 195 with value = 0.9617
+Query 1/1: Action query time = 0.967 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=106: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.984 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=122: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.957 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=138: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.978 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=154: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.976 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=170: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.983 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=186: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.965 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9983
+t=202: Selected seed 195 with value = 0.9983
+Query 1/1: Action query time = 0.960 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9934
+t=218: Selected seed 195 with value = 0.9934
+Query 1/1: Action query time = 0.968 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9876
+t=234: Selected seed 195 with value = 0.9876
+Query 1/1: Action query time = 0.989 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9827
+t=250: Selected seed 195 with value = 0.9827
+Query 1/1: Action query time = 0.969 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9784
+t=266: Selected seed 195 with value = 0.9784
+Query 1/1: Action query time = 0.967 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9784
+t=282: Selected seed 195 with value = 0.9784
+Query 1/1: Action query time = 0.955 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9821
+t=298: Selected seed 195 with value = 0.9821
+Saved rollout MP4 at path ./rollouts/ft6_iter200_t6/2026_07_31-14_19_10--episode=17--success=False--task=put_the_cream_cheese_in_the_bowl.mp4
+Saved rollout MP4 at path ./rollouts/ft6_iter200_t6/2026_07_31-14_19_10--with_future_img--episode=17--success=False--task=put_the_cream_cheese_in_the_bowl.mp4
+Success: False
+# episodes completed so far: 17
+# successes: 7 (41.2%)
+
+Task: put the cream cheese in the bowl
+Starting episode 18...
+Query 1/1: Action query time = 1.223 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4209
+t=10: Selected seed 195 with value = 0.4209
+Query 1/1: Action query time = 1.179 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5308
+t=26: Selected seed 195 with value = 0.5308
+Query 1/1: Action query time = 1.201 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6394
+t=42: Selected seed 195 with value = 0.6394
+Query 1/1: Action query time = 0.974 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5400
+t=58: Selected seed 195 with value = 0.5400
+Query 1/1: Action query time = 0.977 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6009
+t=74: Selected seed 195 with value = 0.6009
+Query 1/1: Action query time = 0.976 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7064
+t=90: Selected seed 195 with value = 0.7064
+Query 1/1: Action query time = 0.968 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7528
+t=106: Selected seed 195 with value = 0.7528
+Query 1/1: Action query time = 0.964 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9369
+t=122: Selected seed 195 with value = 0.9369
+Query 1/1: Action query time = 0.980 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=138: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.957 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=154: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.964 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=170: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.979 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=186: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.982 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9988
+t=202: Selected seed 195 with value = 0.9988
+Query 1/1: Action query time = 0.959 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9948
+t=218: Selected seed 195 with value = 0.9948
+Query 1/1: Action query time = 0.974 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9906
+t=234: Selected seed 195 with value = 0.9906
+Query 1/1: Action query time = 0.989 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9897
+t=250: Selected seed 195 with value = 0.9897
+Query 1/1: Action query time = 0.961 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9887
+t=266: Selected seed 195 with value = 0.9887
+Query 1/1: Action query time = 0.993 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9893
+t=282: Selected seed 195 with value = 0.9893
+Query 1/1: Action query time = 0.971 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9879
+t=298: Selected seed 195 with value = 0.9879
+Saved rollout MP4 at path ./rollouts/ft6_iter200_t6/2026_07_31-14_19_10--episode=18--success=False--task=put_the_cream_cheese_in_the_bowl.mp4
+Saved rollout MP4 at path ./rollouts/ft6_iter200_t6/2026_07_31-14_19_10--with_future_img--episode=18--success=False--task=put_the_cream_cheese_in_the_bowl.mp4
+Success: False
+# episodes completed so far: 18
+# successes: 7 (38.9%)
+
+Task: put the cream cheese in the bowl
+Starting episode 19...
+Query 1/1: Action query time = 0.982 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4658
+t=10: Selected seed 195 with value = 0.4658
+Query 1/1: Action query time = 0.956 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4466
+t=26: Selected seed 195 with value = 0.4466
+Query 1/1: Action query time = 0.986 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6477
+t=42: Selected seed 195 with value = 0.6477
+Query 1/1: Action query time = 0.980 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7416
+t=58: Selected seed 195 with value = 0.7416
+Query 1/1: Action query time = 0.977 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8621
+t=74: Selected seed 195 with value = 0.8621
+Query 1/1: Action query time = 0.960 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/ft6_iter200_t6/2026_07_31-14_19_10--episode=19--success=True--task=put_the_cream_cheese_in_the_bowl.mp4
+Saved rollout MP4 at path ./rollouts/ft6_iter200_t6/2026_07_31-14_19_10--with_future_img--episode=19--success=True--task=put_the_cream_cheese_in_the_bowl.mp4
+Success: True
+# episodes completed so far: 19
+# successes: 8 (42.1%)
+
+Task: put the cream cheese in the bowl
+Starting episode 20...
+Query 1/1: Action query time = 1.180 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4280
+t=10: Selected seed 195 with value = 0.4280
+Query 1/1: Action query time = 1.098 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5136
+t=26: Selected seed 195 with value = 0.5136
+Query 1/1: Action query time = 1.103 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6466
+t=42: Selected seed 195 with value = 0.6466
+Query 1/1: Action query time = 1.119 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6863
+t=58: Selected seed 195 with value = 0.6863
+Query 1/1: Action query time = 1.049 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8034
+t=74: Selected seed 195 with value = 0.8034
+Query 1/1: Action query time = 1.103 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9247
+t=90: Selected seed 195 with value = 0.9247
+Saved rollout MP4 at path ./rollouts/ft6_iter200_t6/2026_07_31-14_19_10--episode=20--success=True--task=put_the_cream_cheese_in_the_bowl.mp4
+Saved rollout MP4 at path ./rollouts/ft6_iter200_t6/2026_07_31-14_19_10--with_future_img--episode=20--success=True--task=put_the_cream_cheese_in_the_bowl.mp4
+Success: True
+# episodes completed so far: 20
+# successes: 9 (45.0%)
+
+Task: put the cream cheese in the bowl
+Starting episode 21...
+Query 1/1: Action query time = 0.987 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4485
+t=10: Selected seed 195 with value = 0.4485
+Query 1/1: Action query time = 0.970 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4765
+t=26: Selected seed 195 with value = 0.4765
+Query 1/1: Action query time = 0.982 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6278
+t=42: Selected seed 195 with value = 0.6278
+Query 1/1: Action query time = 0.959 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6766
+t=58: Selected seed 195 with value = 0.6766
+Query 1/1: Action query time = 0.968 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6802
+t=74: Selected seed 195 with value = 0.6802
+Query 1/1: Action query time = 0.977 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9663
+t=90: Selected seed 195 with value = 0.9663
+Saved rollout MP4 at path ./rollouts/ft6_iter200_t6/2026_07_31-14_19_10--episode=21--success=True--task=put_the_cream_cheese_in_the_bowl.mp4
+Saved rollout MP4 at path ./rollouts/ft6_iter200_t6/2026_07_31-14_19_10--with_future_img--episode=21--success=True--task=put_the_cream_cheese_in_the_bowl.mp4
+Success: True
+# episodes completed so far: 21
+# successes: 10 (47.6%)
+
+Task: put the cream cheese in the bowl
+Starting episode 22...
+Query 1/1: Action query time = 0.982 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4557
+t=10: Selected seed 195 with value = 0.4557
+Query 1/1: Action query time = 0.970 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4981
+t=26: Selected seed 195 with value = 0.4981
+Query 1/1: Action query time = 0.967 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6163
+t=42: Selected seed 195 with value = 0.6163
+Query 1/1: Action query time = 0.975 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6672
+t=58: Selected seed 195 with value = 0.6672
+Query 1/1: Action query time = 0.970 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6266
+t=74: Selected seed 195 with value = 0.6266
+Query 1/1: Action query time = 0.963 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9320
+t=90: Selected seed 195 with value = 0.9320
+Saved rollout MP4 at path ./rollouts/ft6_iter200_t6/2026_07_31-14_19_10--episode=22--success=True--task=put_the_cream_cheese_in_the_bowl.mp4
+Saved rollout MP4 at path ./rollouts/ft6_iter200_t6/2026_07_31-14_19_10--with_future_img--episode=22--success=True--task=put_the_cream_cheese_in_the_bowl.mp4
+Success: True
+# episodes completed so far: 22
+# successes: 11 (50.0%)
+
+Task: put the cream cheese in the bowl
+Starting episode 23...
+Query 1/1: Action query time = 1.104 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4257
+t=10: Selected seed 195 with value = 0.4257
+Query 1/1: Action query time = 1.073 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5115
+t=26: Selected seed 195 with value = 0.5115
+Query 1/1: Action query time = 1.086 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6369
+t=42: Selected seed 195 with value = 0.6369
+Query 1/1: Action query time = 1.108 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6686
+t=58: Selected seed 195 with value = 0.6686
+Query 1/1: Action query time = 1.090 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5723
+t=74: Selected seed 195 with value = 0.5723
+Query 1/1: Action query time = 1.154 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6753
+t=90: Selected seed 195 with value = 0.6753
+Query 1/1: Action query time = 1.179 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6219
+t=106: Selected seed 195 with value = 0.6219
+Query 1/1: Action query time = 1.172 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7262
+t=122: Selected seed 195 with value = 0.7262
+Query 1/1: Action query time = 1.134 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8243
+t=138: Selected seed 195 with value = 0.8243
+Query 1/1: Action query time = 1.143 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8523
+t=154: Selected seed 195 with value = 0.8523
+Query 1/1: Action query time = 1.157 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8960
+t=170: Selected seed 195 with value = 0.8960
+Query 1/1: Action query time = 1.154 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8594
+t=186: Selected seed 195 with value = 0.8594
+Query 1/1: Action query time = 1.191 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9726
+t=202: Selected seed 195 with value = 0.9726
+Query 1/1: Action query time = 1.183 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9540
+t=218: Selected seed 195 with value = 0.9540
+Query 1/1: Action query time = 1.165 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=234: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 1.185 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9746
+t=250: Selected seed 195 with value = 0.9746
+Query 1/1: Action query time = 1.238 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9982
+t=266: Selected seed 195 with value = 0.9982
+Query 1/1: Action query time = 0.988 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9871
+t=282: Selected seed 195 with value = 0.9871
+Query 1/1: Action query time = 0.965 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9946
+t=298: Selected seed 195 with value = 0.9946
+Saved rollout MP4 at path ./rollouts/ft6_iter200_t6/2026_07_31-14_19_10--episode=23--success=False--task=put_the_cream_cheese_in_the_bowl.mp4
+Saved rollout MP4 at path ./rollouts/ft6_iter200_t6/2026_07_31-14_19_10--with_future_img--episode=23--success=False--task=put_the_cream_cheese_in_the_bowl.mp4
+Success: False
+# episodes completed so far: 23
+# successes: 11 (47.8%)
+
+Task: put the cream cheese in the bowl
+Starting episode 24...
+Query 1/1: Action query time = 0.981 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4453
+t=10: Selected seed 195 with value = 0.4453
+Query 1/1: Action query time = 0.986 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3978
+t=26: Selected seed 195 with value = 0.3978
+Query 1/1: Action query time = 1.000 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6099
+t=42: Selected seed 195 with value = 0.6099
+Query 1/1: Action query time = 1.047 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5543
+t=58: Selected seed 195 with value = 0.5543
+Query 1/1: Action query time = 1.050 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5481
+t=74: Selected seed 195 with value = 0.5481
+Query 1/1: Action query time = 1.046 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6013
+t=90: Selected seed 195 with value = 0.6013
+Query 1/1: Action query time = 1.128 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5479
+t=106: Selected seed 195 with value = 0.5479
+Query 1/1: Action query time = 1.167 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6291
+t=122: Selected seed 195 with value = 0.6291
+Query 1/1: Action query time = 1.152 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7490
+t=138: Selected seed 195 with value = 0.7490
+Query 1/1: Action query time = 1.083 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9306
+t=154: Selected seed 195 with value = 0.9306
+Saved rollout MP4 at path ./rollouts/ft6_iter200_t6/2026_07_31-14_19_10--episode=24--success=True--task=put_the_cream_cheese_in_the_bowl.mp4
+Saved rollout MP4 at path ./rollouts/ft6_iter200_t6/2026_07_31-14_19_10--with_future_img--episode=24--success=True--task=put_the_cream_cheese_in_the_bowl.mp4
+Success: True
+# episodes completed so far: 24
+# successes: 12 (50.0%)
+
+Task: put the cream cheese in the bowl
+Starting episode 25...
+Query 1/1: Action query time = 0.987 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3999
+t=10: Selected seed 195 with value = 0.3999
+Query 1/1: Action query time = 0.958 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4883
+t=26: Selected seed 195 with value = 0.4883
+Query 1/1: Action query time = 0.955 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6246
+t=42: Selected seed 195 with value = 0.6246
+Query 1/1: Action query time = 0.976 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6901
+t=58: Selected seed 195 with value = 0.6901
+Query 1/1: Action query time = 0.970 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8155
+t=74: Selected seed 195 with value = 0.8155
+Query 1/1: Action query time = 0.972 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9599
+t=90: Selected seed 195 with value = 0.9599
+Saved rollout MP4 at path ./rollouts/ft6_iter200_t6/2026_07_31-14_19_10--episode=25--success=True--task=put_the_cream_cheese_in_the_bowl.mp4
+Saved rollout MP4 at path ./rollouts/ft6_iter200_t6/2026_07_31-14_19_10--with_future_img--episode=25--success=True--task=put_the_cream_cheese_in_the_bowl.mp4
+Success: True
+# episodes completed so far: 25
+# successes: 13 (52.0%)
+
+Task: put the cream cheese in the bowl
+Starting episode 26...
+Query 1/1: Action query time = 0.993 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4395
+t=10: Selected seed 195 with value = 0.4395
+Query 1/1: Action query time = 0.971 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4513
+t=26: Selected seed 195 with value = 0.4513
+Query 1/1: Action query time = 0.966 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6235
+t=42: Selected seed 195 with value = 0.6235
+Query 1/1: Action query time = 0.965 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6691
+t=58: Selected seed 195 with value = 0.6691
+Query 1/1: Action query time = 0.958 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5616
+t=74: Selected seed 195 with value = 0.5616
+Query 1/1: Action query time = 0.974 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6658
+t=90: Selected seed 195 with value = 0.6658
+Query 1/1: Action query time = 0.977 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6049
+t=106: Selected seed 195 with value = 0.6049
+Query 1/1: Action query time = 0.965 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7415
+t=122: Selected seed 195 with value = 0.7415
+Query 1/1: Action query time = 0.970 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5833
+t=138: Selected seed 195 with value = 0.5833
+Query 1/1: Action query time = 0.965 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7053
+t=154: Selected seed 195 with value = 0.7053
+Query 1/1: Action query time = 0.971 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8854
+t=170: Selected seed 195 with value = 0.8854
+Query 1/1: Action query time = 0.981 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9166
+t=186: Selected seed 195 with value = 0.9166
+Query 1/1: Action query time = 0.972 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9887
+t=202: Selected seed 195 with value = 0.9887
+Query 1/1: Action query time = 0.977 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9805
+t=218: Selected seed 195 with value = 0.9805
+Query 1/1: Action query time = 0.975 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9888
+t=234: Selected seed 195 with value = 0.9888
+Query 1/1: Action query time = 0.971 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9873
+t=250: Selected seed 195 with value = 0.9873
+Query 1/1: Action query time = 0.980 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9836
+t=266: Selected seed 195 with value = 0.9836
+Query 1/1: Action query time = 0.959 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9827
+t=282: Selected seed 195 with value = 0.9827
+Query 1/1: Action query time = 0.972 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9751
+t=298: Selected seed 195 with value = 0.9751
+Saved rollout MP4 at path ./rollouts/ft6_iter200_t6/2026_07_31-14_19_10--episode=26--success=False--task=put_the_cream_cheese_in_the_bowl.mp4
+Saved rollout MP4 at path ./rollouts/ft6_iter200_t6/2026_07_31-14_19_10--with_future_img--episode=26--success=False--task=put_the_cream_cheese_in_the_bowl.mp4
+Success: False
+# episodes completed so far: 26
+# successes: 13 (50.0%)
+
+Task: put the cream cheese in the bowl
+Starting episode 27...
+Query 1/1: Action query time = 0.998 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4421
+t=10: Selected seed 195 with value = 0.4421
+Query 1/1: Action query time = 0.981 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5286
+t=26: Selected seed 195 with value = 0.5286
+Query 1/1: Action query time = 0.980 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6238
+t=42: Selected seed 195 with value = 0.6238
+Query 1/1: Action query time = 0.992 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6654
+t=58: Selected seed 195 with value = 0.6654
+Query 1/1: Action query time = 0.977 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5641
+t=74: Selected seed 195 with value = 0.5641
+Query 1/1: Action query time = 0.987 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6673
+t=90: Selected seed 195 with value = 0.6673
+Query 1/1: Action query time = 0.965 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8017
+t=106: Selected seed 195 with value = 0.8017
+Query 1/1: Action query time = 0.975 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8778
+t=122: Selected seed 195 with value = 0.8778
+Query 1/1: Action query time = 0.963 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9247
+t=138: Selected seed 195 with value = 0.9247
+Query 1/1: Action query time = 0.982 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9567
+t=154: Selected seed 195 with value = 0.9567
+Query 1/1: Action query time = 0.983 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9940
+t=170: Selected seed 195 with value = 0.9940
+Query 1/1: Action query time = 0.973 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9960
+t=186: Selected seed 195 with value = 0.9960
+Query 1/1: Action query time = 0.983 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9792
+t=202: Selected seed 195 with value = 0.9792
+Query 1/1: Action query time = 0.970 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9500
+t=218: Selected seed 195 with value = 0.9500
+Query 1/1: Action query time = 0.978 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9605
+t=234: Selected seed 195 with value = 0.9605
+Query 1/1: Action query time = 0.981 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9664
+t=250: Selected seed 195 with value = 0.9664
+Query 1/1: Action query time = 0.976 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9767
+t=266: Selected seed 195 with value = 0.9767
+Query 1/1: Action query time = 0.982 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9801
+t=282: Selected seed 195 with value = 0.9801
+Query 1/1: Action query time = 0.992 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9835
+t=298: Selected seed 195 with value = 0.9835
+Saved rollout MP4 at path ./rollouts/ft6_iter200_t6/2026_07_31-14_19_10--episode=27--success=False--task=put_the_cream_cheese_in_the_bowl.mp4
+Saved rollout MP4 at path ./rollouts/ft6_iter200_t6/2026_07_31-14_19_10--with_future_img--episode=27--success=False--task=put_the_cream_cheese_in_the_bowl.mp4
+Success: False
+# episodes completed so far: 27
+# successes: 13 (48.1%)
+
+Task: put the cream cheese in the bowl
+Starting episode 28...
+Query 1/1: Action query time = 0.989 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4351
+t=10: Selected seed 195 with value = 0.4351
+Query 1/1: Action query time = 1.007 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5369
+t=26: Selected seed 195 with value = 0.5369
+Query 1/1: Action query time = 0.982 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6217
+t=42: Selected seed 195 with value = 0.6217
+Query 1/1: Action query time = 1.023 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7219
+t=58: Selected seed 195 with value = 0.7219
+Query 1/1: Action query time = 1.182 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8586
+t=74: Selected seed 195 with value = 0.8586
+Query 1/1: Action query time = 1.086 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9859
+t=90: Selected seed 195 with value = 0.9859
+Saved rollout MP4 at path ./rollouts/ft6_iter200_t6/2026_07_31-14_19_10--episode=28--success=True--task=put_the_cream_cheese_in_the_bowl.mp4
+Saved rollout MP4 at path ./rollouts/ft6_iter200_t6/2026_07_31-14_19_10--with_future_img--episode=28--success=True--task=put_the_cream_cheese_in_the_bowl.mp4
+Success: True
+# episodes completed so far: 28
+# successes: 14 (50.0%)
+
+Task: put the cream cheese in the bowl
+Starting episode 29...
+Query 1/1: Action query time = 1.053 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4449
+t=10: Selected seed 195 with value = 0.4449
+Query 1/1: Action query time = 0.981 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4613
+t=26: Selected seed 195 with value = 0.4613
+Query 1/1: Action query time = 0.977 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6171
+t=42: Selected seed 195 with value = 0.6171
+Query 1/1: Action query time = 0.975 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6985
+t=58: Selected seed 195 with value = 0.6985
+Query 1/1: Action query time = 0.964 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5754
+t=74: Selected seed 195 with value = 0.5754
+Query 1/1: Action query time = 0.974 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6779
+t=90: Selected seed 195 with value = 0.6779
+Query 1/1: Action query time = 0.993 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7200
+t=106: Selected seed 195 with value = 0.7200
+Query 1/1: Action query time = 1.010 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9522
+t=122: Selected seed 195 with value = 0.9522
+Query 1/1: Action query time = 0.972 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9468
+t=138: Selected seed 195 with value = 0.9468
+Query 1/1: Action query time = 0.977 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9137
+t=154: Selected seed 195 with value = 0.9137
+Query 1/1: Action query time = 0.979 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8918
+t=170: Selected seed 195 with value = 0.8918
+Query 1/1: Action query time = 0.974 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8914
+t=186: Selected seed 195 with value = 0.8914
+Query 1/1: Action query time = 0.982 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8227
+t=202: Selected seed 195 with value = 0.8227
+Query 1/1: Action query time = 0.975 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9007
+t=218: Selected seed 195 with value = 0.9007
+Query 1/1: Action query time = 0.971 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9459
+t=234: Selected seed 195 with value = 0.9459
+Query 1/1: Action query time = 0.983 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9900
+t=250: Selected seed 195 with value = 0.9900
+Query 1/1: Action query time = 0.970 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9878
+t=266: Selected seed 195 with value = 0.9878
+Query 1/1: Action query time = 0.976 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9881
+t=282: Selected seed 195 with value = 0.9881
+Query 1/1: Action query time = 0.981 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9890
+t=298: Selected seed 195 with value = 0.9890
+Saved rollout MP4 at path ./rollouts/ft6_iter200_t6/2026_07_31-14_19_10--episode=29--success=False--task=put_the_cream_cheese_in_the_bowl.mp4
+Saved rollout MP4 at path ./rollouts/ft6_iter200_t6/2026_07_31-14_19_10--with_future_img--episode=29--success=False--task=put_the_cream_cheese_in_the_bowl.mp4
+Success: False
+# episodes completed so far: 29
+# successes: 14 (48.3%)
+
+Task: put the cream cheese in the bowl
+Starting episode 30...
+Query 1/1: Action query time = 0.997 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4537
+t=10: Selected seed 195 with value = 0.4537
+Query 1/1: Action query time = 0.975 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5160
+t=26: Selected seed 195 with value = 0.5160
+Query 1/1: Action query time = 0.983 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6524
+t=42: Selected seed 195 with value = 0.6524
+Query 1/1: Action query time = 0.965 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6894
+t=58: Selected seed 195 with value = 0.6894
+Query 1/1: Action query time = 0.954 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8168
+t=74: Selected seed 195 with value = 0.8168
+Query 1/1: Action query time = 0.971 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9508
+t=90: Selected seed 195 with value = 0.9508
+Saved rollout MP4 at path ./rollouts/ft6_iter200_t6/2026_07_31-14_19_10--episode=30--success=True--task=put_the_cream_cheese_in_the_bowl.mp4
+Saved rollout MP4 at path ./rollouts/ft6_iter200_t6/2026_07_31-14_19_10--with_future_img--episode=30--success=True--task=put_the_cream_cheese_in_the_bowl.mp4
+Success: True
+# episodes completed so far: 30
+# successes: 15 (50.0%)
+
+Task: put the cream cheese in the bowl
+Starting episode 31...
+Query 1/1: Action query time = 1.200 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4529
+t=10: Selected seed 195 with value = 0.4529
+Query 1/1: Action query time = 0.990 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5419
+t=26: Selected seed 195 with value = 0.5419
+Query 1/1: Action query time = 0.975 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6348
+t=42: Selected seed 195 with value = 0.6348
+Query 1/1: Action query time = 0.963 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7137
+t=58: Selected seed 195 with value = 0.7137
+Query 1/1: Action query time = 0.968 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8327
+t=74: Selected seed 195 with value = 0.8327
+Query 1/1: Action query time = 0.972 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9793
+t=90: Selected seed 195 with value = 0.9793
+Saved rollout MP4 at path ./rollouts/ft6_iter200_t6/2026_07_31-14_19_10--episode=31--success=True--task=put_the_cream_cheese_in_the_bowl.mp4
+Saved rollout MP4 at path ./rollouts/ft6_iter200_t6/2026_07_31-14_19_10--with_future_img--episode=31--success=True--task=put_the_cream_cheese_in_the_bowl.mp4
+Success: True
+# episodes completed so far: 31
+# successes: 16 (51.6%)
+
+Task: put the cream cheese in the bowl
+Starting episode 32...
+Query 1/1: Action query time = 1.165 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4276
+t=10: Selected seed 195 with value = 0.4276
+Query 1/1: Action query time = 1.167 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5114
+t=26: Selected seed 195 with value = 0.5114
+Query 1/1: Action query time = 1.111 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5759
+t=42: Selected seed 195 with value = 0.5759
+Query 1/1: Action query time = 1.136 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6730
+t=58: Selected seed 195 with value = 0.6730
+Query 1/1: Action query time = 1.098 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6028
+t=74: Selected seed 195 with value = 0.6028
+Query 1/1: Action query time = 1.118 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7770
+t=90: Selected seed 195 with value = 0.7770
+Query 1/1: Action query time = 1.112 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8794
+t=106: Selected seed 195 with value = 0.8794
+Query 1/1: Action query time = 1.103 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9963
+t=122: Selected seed 195 with value = 0.9963
+Query 1/1: Action query time = 1.144 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9986
+t=138: Selected seed 195 with value = 0.9986
+Query 1/1: Action query time = 1.127 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=154: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 1.120 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=170: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 1.117 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9987
+t=186: Selected seed 195 with value = 0.9987
+Query 1/1: Action query time = 1.087 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9971
+t=202: Selected seed 195 with value = 0.9971
+Query 1/1: Action query time = 1.137 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=218: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 1.129 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9980
+t=234: Selected seed 195 with value = 0.9980
+Query 1/1: Action query time = 1.145 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9655
+t=250: Selected seed 195 with value = 0.9655
+Query 1/1: Action query time = 1.018 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9494
+t=266: Selected seed 195 with value = 0.9494
+Query 1/1: Action query time = 1.019 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=282: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 1.022 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9946
+t=298: Selected seed 195 with value = 0.9946
+Saved rollout MP4 at path ./rollouts/ft6_iter200_t6/2026_07_31-14_19_10--episode=32--success=False--task=put_the_cream_cheese_in_the_bowl.mp4
+Saved rollout MP4 at path ./rollouts/ft6_iter200_t6/2026_07_31-14_19_10--with_future_img--episode=32--success=False--task=put_the_cream_cheese_in_the_bowl.mp4
+Success: False
+# episodes completed so far: 32
+# successes: 16 (50.0%)
+
+Task: put the cream cheese in the bowl
+Starting episode 33...
+Query 1/1: Action query time = 1.023 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4550
+t=10: Selected seed 195 with value = 0.4550
+Query 1/1: Action query time = 0.978 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5254
+t=26: Selected seed 195 with value = 0.5254
+Query 1/1: Action query time = 0.978 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6378
+t=42: Selected seed 195 with value = 0.6378
+Query 1/1: Action query time = 0.974 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6684
+t=58: Selected seed 195 with value = 0.6684
+Query 1/1: Action query time = 0.967 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7712
+t=74: Selected seed 195 with value = 0.7712
+Query 1/1: Action query time = 0.968 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9025
+t=90: Selected seed 195 with value = 0.9025
+Saved rollout MP4 at path ./rollouts/ft6_iter200_t6/2026_07_31-14_19_10--episode=33--success=True--task=put_the_cream_cheese_in_the_bowl.mp4
+Saved rollout MP4 at path ./rollouts/ft6_iter200_t6/2026_07_31-14_19_10--with_future_img--episode=33--success=True--task=put_the_cream_cheese_in_the_bowl.mp4
+Success: True
+# episodes completed so far: 33
+# successes: 17 (51.5%)
+
+Task: put the cream cheese in the bowl
+Starting episode 34...
+Query 1/1: Action query time = 1.010 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4543
+t=10: Selected seed 195 with value = 0.4543
+Query 1/1: Action query time = 1.023 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4815
+t=26: Selected seed 195 with value = 0.4815
+Query 1/1: Action query time = 1.008 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6438
+t=42: Selected seed 195 with value = 0.6438
+Query 1/1: Action query time = 1.022 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7241
+t=58: Selected seed 195 with value = 0.7241
+Query 1/1: Action query time = 1.027 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8489
+t=74: Selected seed 195 with value = 0.8489
+Query 1/1: Action query time = 1.052 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9761
+t=90: Selected seed 195 with value = 0.9761
+Query 1/1: Action query time = 1.025 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=106: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.984 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=122: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.982 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9990
+t=138: Selected seed 195 with value = 0.9990
+Query 1/1: Action query time = 0.990 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9957
+t=154: Selected seed 195 with value = 0.9957
+Query 1/1: Action query time = 0.971 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9996
+t=170: Selected seed 195 with value = 0.9996
+Query 1/1: Action query time = 0.979 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=186: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.975 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9994
+t=202: Selected seed 195 with value = 0.9994
+Query 1/1: Action query time = 0.994 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9994
+t=218: Selected seed 195 with value = 0.9994
+Query 1/1: Action query time = 0.976 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9985
+t=234: Selected seed 195 with value = 0.9985
+Query 1/1: Action query time = 0.965 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9974
+t=250: Selected seed 195 with value = 0.9974
+Query 1/1: Action query time = 0.987 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9951
+t=266: Selected seed 195 with value = 0.9951
+Query 1/1: Action query time = 0.993 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=282: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.990 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9818
+t=298: Selected seed 195 with value = 0.9818
+Saved rollout MP4 at path ./rollouts/ft6_iter200_t6/2026_07_31-14_19_10--episode=34--success=False--task=put_the_cream_cheese_in_the_bowl.mp4
+Saved rollout MP4 at path ./rollouts/ft6_iter200_t6/2026_07_31-14_19_10--with_future_img--episode=34--success=False--task=put_the_cream_cheese_in_the_bowl.mp4
+Success: False
+# episodes completed so far: 34
+# successes: 17 (50.0%)
+
+Task: put the cream cheese in the bowl
+Starting episode 35...
+Query 1/1: Action query time = 1.094 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4316
+t=10: Selected seed 195 with value = 0.4316
+Query 1/1: Action query time = 1.115 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4793
+t=26: Selected seed 195 with value = 0.4793
+Query 1/1: Action query time = 1.121 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6392
+t=42: Selected seed 195 with value = 0.6392
+Query 1/1: Action query time = 1.200 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6896
+t=58: Selected seed 195 with value = 0.6896
+Query 1/1: Action query time = 1.141 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8345
+t=74: Selected seed 195 with value = 0.8345
+Query 1/1: Action query time = 1.066 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9661
+t=90: Selected seed 195 with value = 0.9661
+Saved rollout MP4 at path ./rollouts/ft6_iter200_t6/2026_07_31-14_19_10--episode=35--success=True--task=put_the_cream_cheese_in_the_bowl.mp4
+Saved rollout MP4 at path ./rollouts/ft6_iter200_t6/2026_07_31-14_19_10--with_future_img--episode=35--success=True--task=put_the_cream_cheese_in_the_bowl.mp4
+Success: True
+# episodes completed so far: 35
+# successes: 18 (51.4%)
+
+Task: put the cream cheese in the bowl
+Starting episode 36...
+Query 1/1: Action query time = 0.969 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4391
+t=10: Selected seed 195 with value = 0.4391
+Query 1/1: Action query time = 0.961 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5253
+t=26: Selected seed 195 with value = 0.5253
+Query 1/1: Action query time = 0.966 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6467
+t=42: Selected seed 195 with value = 0.6467
+Query 1/1: Action query time = 0.971 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6712
+t=58: Selected seed 195 with value = 0.6712
+Query 1/1: Action query time = 0.992 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7991
+t=74: Selected seed 195 with value = 0.7991
+Query 1/1: Action query time = 0.995 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9534
+t=90: Selected seed 195 with value = 0.9534
+Query 1/1: Action query time = 0.972 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=106: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.978 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9995
+t=122: Selected seed 195 with value = 0.9995
+Query 1/1: Action query time = 0.985 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=138: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.968 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=154: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.978 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=170: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.982 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=186: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.979 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9995
+t=202: Selected seed 195 with value = 0.9995
+Query 1/1: Action query time = 0.980 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9993
+t=218: Selected seed 195 with value = 0.9993
+Query 1/1: Action query time = 0.974 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9989
+t=234: Selected seed 195 with value = 0.9989
+Query 1/1: Action query time = 0.976 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9991
+t=250: Selected seed 195 with value = 0.9991
+Query 1/1: Action query time = 0.992 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9989
+t=266: Selected seed 195 with value = 0.9989
+Query 1/1: Action query time = 0.972 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9984
+t=282: Selected seed 195 with value = 0.9984
+Query 1/1: Action query time = 0.971 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9983
+t=298: Selected seed 195 with value = 0.9983
+Saved rollout MP4 at path ./rollouts/ft6_iter200_t6/2026_07_31-14_19_10--episode=36--success=False--task=put_the_cream_cheese_in_the_bowl.mp4
+Saved rollout MP4 at path ./rollouts/ft6_iter200_t6/2026_07_31-14_19_10--with_future_img--episode=36--success=False--task=put_the_cream_cheese_in_the_bowl.mp4
+Success: False
+# episodes completed so far: 36
+# successes: 18 (50.0%)
+
+Task: put the cream cheese in the bowl
+Starting episode 37...
+Query 1/1: Action query time = 0.989 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4151
+t=10: Selected seed 195 with value = 0.4151
+Query 1/1: Action query time = 0.967 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5309
+t=26: Selected seed 195 with value = 0.5309
+Query 1/1: Action query time = 0.966 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6365
+t=42: Selected seed 195 with value = 0.6365
+Query 1/1: Action query time = 0.961 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6989
+t=58: Selected seed 195 with value = 0.6989
+Query 1/1: Action query time = 0.963 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8212
+t=74: Selected seed 195 with value = 0.8212
+Query 1/1: Action query time = 0.966 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9807
+t=90: Selected seed 195 with value = 0.9807
+Saved rollout MP4 at path ./rollouts/ft6_iter200_t6/2026_07_31-14_19_10--episode=37--success=True--task=put_the_cream_cheese_in_the_bowl.mp4
+Saved rollout MP4 at path ./rollouts/ft6_iter200_t6/2026_07_31-14_19_10--with_future_img--episode=37--success=True--task=put_the_cream_cheese_in_the_bowl.mp4
+Success: True
+# episodes completed so far: 37
+# successes: 19 (51.4%)
+
+Task: put the cream cheese in the bowl
+Starting episode 38...
+Query 1/1: Action query time = 1.102 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4268
+t=10: Selected seed 195 with value = 0.4268
+Query 1/1: Action query time = 1.071 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4802
+t=26: Selected seed 195 with value = 0.4802
+Query 1/1: Action query time = 1.036 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6304
+t=42: Selected seed 195 with value = 0.6304
+Query 1/1: Action query time = 1.022 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6562
+t=58: Selected seed 195 with value = 0.6562
+Query 1/1: Action query time = 0.990 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5532
+t=74: Selected seed 195 with value = 0.5532
+Query 1/1: Action query time = 0.984 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5875
+t=90: Selected seed 195 with value = 0.5875
+Query 1/1: Action query time = 1.015 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5442
+t=106: Selected seed 195 with value = 0.5442
+Query 1/1: Action query time = 1.019 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6091
+t=122: Selected seed 195 with value = 0.6091
+Query 1/1: Action query time = 1.012 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7811
+t=138: Selected seed 195 with value = 0.7811
+Query 1/1: Action query time = 1.032 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8942
+t=154: Selected seed 195 with value = 0.8942
+Query 1/1: Action query time = 1.022 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8580
+t=170: Selected seed 195 with value = 0.8580
+Query 1/1: Action query time = 1.006 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8526
+t=186: Selected seed 195 with value = 0.8526
+Query 1/1: Action query time = 1.010 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8839
+t=202: Selected seed 195 with value = 0.8839
+Query 1/1: Action query time = 0.973 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8314
+t=218: Selected seed 195 with value = 0.8314
+Query 1/1: Action query time = 0.981 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8356
+t=234: Selected seed 195 with value = 0.8356
+Query 1/1: Action query time = 0.970 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9938
+t=250: Selected seed 195 with value = 0.9938
+Query 1/1: Action query time = 0.967 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9870
+t=266: Selected seed 195 with value = 0.9870
+Query 1/1: Action query time = 0.980 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9748
+t=282: Selected seed 195 with value = 0.9748
+Query 1/1: Action query time = 0.963 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8839
+t=298: Selected seed 195 with value = 0.8839
+Saved rollout MP4 at path ./rollouts/ft6_iter200_t6/2026_07_31-14_19_10--episode=38--success=False--task=put_the_cream_cheese_in_the_bowl.mp4
+Saved rollout MP4 at path ./rollouts/ft6_iter200_t6/2026_07_31-14_19_10--with_future_img--episode=38--success=False--task=put_the_cream_cheese_in_the_bowl.mp4
+Success: False
+# episodes completed so far: 38
+# successes: 19 (50.0%)
+
+Task: put the cream cheese in the bowl
+Starting episode 39...
+Query 1/1: Action query time = 0.983 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4238
+t=10: Selected seed 195 with value = 0.4238
+Query 1/1: Action query time = 0.960 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5163
+t=26: Selected seed 195 with value = 0.5163
+Query 1/1: Action query time = 0.979 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6421
+t=42: Selected seed 195 with value = 0.6421
+Query 1/1: Action query time = 0.981 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7644
+t=58: Selected seed 195 with value = 0.7644
+Query 1/1: Action query time = 0.977 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8820
+t=74: Selected seed 195 with value = 0.8820
+Query 1/1: Action query time = 0.974 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/ft6_iter200_t6/2026_07_31-14_19_10--episode=39--success=True--task=put_the_cream_cheese_in_the_bowl.mp4
+Saved rollout MP4 at path ./rollouts/ft6_iter200_t6/2026_07_31-14_19_10--with_future_img--episode=39--success=True--task=put_the_cream_cheese_in_the_bowl.mp4
+Success: True
+# episodes completed so far: 39
+# successes: 20 (51.3%)
+
+Task: put the cream cheese in the bowl
+Starting episode 40...
+Query 1/1: Action query time = 0.983 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4637
+t=10: Selected seed 195 with value = 0.4637
+Query 1/1: Action query time = 0.961 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5184
+t=26: Selected seed 195 with value = 0.5184
+Query 1/1: Action query time = 0.962 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6502
+t=42: Selected seed 195 with value = 0.6502
+Query 1/1: Action query time = 0.969 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5584
+t=58: Selected seed 195 with value = 0.5584
+Query 1/1: Action query time = 0.976 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5540
+t=74: Selected seed 195 with value = 0.5540
+Query 1/1: Action query time = 0.958 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6115
+t=90: Selected seed 195 with value = 0.6115
+Query 1/1: Action query time = 0.964 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5328
+t=106: Selected seed 195 with value = 0.5328
+Query 1/1: Action query time = 0.965 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6170
+t=122: Selected seed 195 with value = 0.6170
+Query 1/1: Action query time = 0.974 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6822
+t=138: Selected seed 195 with value = 0.6822
+Query 1/1: Action query time = 0.958 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8864
+t=154: Selected seed 195 with value = 0.8864
+Query 1/1: Action query time = 1.092 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9960
+t=170: Selected seed 195 with value = 0.9960
+Saved rollout MP4 at path ./rollouts/ft6_iter200_t6/2026_07_31-14_19_10--episode=40--success=True--task=put_the_cream_cheese_in_the_bowl.mp4
+Saved rollout MP4 at path ./rollouts/ft6_iter200_t6/2026_07_31-14_19_10--with_future_img--episode=40--success=True--task=put_the_cream_cheese_in_the_bowl.mp4
+Success: True
+# episodes completed so far: 40
+# successes: 21 (52.5%)
+
+Task: put the cream cheese in the bowl
+Starting episode 41...
+Query 1/1: Action query time = 0.987 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4473
+t=10: Selected seed 195 with value = 0.4473
+Query 1/1: Action query time = 0.998 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5087
+t=26: Selected seed 195 with value = 0.5087
+Query 1/1: Action query time = 0.969 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5806
+t=42: Selected seed 195 with value = 0.5806
+Query 1/1: Action query time = 0.975 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7052
+t=58: Selected seed 195 with value = 0.7052
+Query 1/1: Action query time = 0.985 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8023
+t=74: Selected seed 195 with value = 0.8023
+Query 1/1: Action query time = 0.971 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9149
+t=90: Selected seed 195 with value = 0.9149
+Query 1/1: Action query time = 0.984 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9680
+t=106: Selected seed 195 with value = 0.9680
+Query 1/1: Action query time = 0.971 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=122: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.984 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=138: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.987 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=154: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.958 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9990
+t=170: Selected seed 195 with value = 0.9990
+Query 1/1: Action query time = 0.966 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9928
+t=186: Selected seed 195 with value = 0.9928
+Query 1/1: Action query time = 0.979 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9829
+t=202: Selected seed 195 with value = 0.9829
+Query 1/1: Action query time = 0.966 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9607
+t=218: Selected seed 195 with value = 0.9607
+Query 1/1: Action query time = 0.979 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9577
+t=234: Selected seed 195 with value = 0.9577
+Query 1/1: Action query time = 0.960 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=250: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.968 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=266: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.970 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=282: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.975 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=298: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/ft6_iter200_t6/2026_07_31-14_19_10--episode=41--success=False--task=put_the_cream_cheese_in_the_bowl.mp4
+Saved rollout MP4 at path ./rollouts/ft6_iter200_t6/2026_07_31-14_19_10--with_future_img--episode=41--success=False--task=put_the_cream_cheese_in_the_bowl.mp4
+Success: False
+# episodes completed so far: 41
+# successes: 21 (51.2%)
+
+Task: put the cream cheese in the bowl
+Starting episode 42...
+Query 1/1: Action query time = 0.990 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3837
+t=10: Selected seed 195 with value = 0.3837
+Query 1/1: Action query time = 0.968 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5226
+t=26: Selected seed 195 with value = 0.5226
+Query 1/1: Action query time = 0.972 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6549
+t=42: Selected seed 195 with value = 0.6549
+Query 1/1: Action query time = 0.972 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6677
+t=58: Selected seed 195 with value = 0.6677
+Query 1/1: Action query time = 0.958 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8011
+t=74: Selected seed 195 with value = 0.8011
+Query 1/1: Action query time = 0.973 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9453
+t=90: Selected seed 195 with value = 0.9453
+Saved rollout MP4 at path ./rollouts/ft6_iter200_t6/2026_07_31-14_19_10--episode=42--success=True--task=put_the_cream_cheese_in_the_bowl.mp4
+Saved rollout MP4 at path ./rollouts/ft6_iter200_t6/2026_07_31-14_19_10--with_future_img--episode=42--success=True--task=put_the_cream_cheese_in_the_bowl.mp4
+Success: True
+# episodes completed so far: 42
+# successes: 22 (52.4%)
+
+Task: put the cream cheese in the bowl
+Starting episode 43...
+Query 1/1: Action query time = 0.974 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4439
+t=10: Selected seed 195 with value = 0.4439
+Query 1/1: Action query time = 0.970 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4884
+t=26: Selected seed 195 with value = 0.4884
+Query 1/1: Action query time = 0.976 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6404
+t=42: Selected seed 195 with value = 0.6404
+Query 1/1: Action query time = 0.974 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6676
+t=58: Selected seed 195 with value = 0.6676
+Query 1/1: Action query time = 0.977 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8043
+t=74: Selected seed 195 with value = 0.8043
+Query 1/1: Action query time = 0.974 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9632
+t=90: Selected seed 195 with value = 0.9632
+Saved rollout MP4 at path ./rollouts/ft6_iter200_t6/2026_07_31-14_19_10--episode=43--success=True--task=put_the_cream_cheese_in_the_bowl.mp4
+Saved rollout MP4 at path ./rollouts/ft6_iter200_t6/2026_07_31-14_19_10--with_future_img--episode=43--success=True--task=put_the_cream_cheese_in_the_bowl.mp4
+Success: True
+# episodes completed so far: 43
+# successes: 23 (53.5%)
+
+Task: put the cream cheese in the bowl
+Starting episode 44...
+Query 1/1: Action query time = 1.005 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4403
+t=10: Selected seed 195 with value = 0.4403
+Query 1/1: Action query time = 0.989 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3595
+t=26: Selected seed 195 with value = 0.3595
+Query 1/1: Action query time = 1.046 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6355
+t=42: Selected seed 195 with value = 0.6355
+Query 1/1: Action query time = 1.159 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7388
+t=58: Selected seed 195 with value = 0.7388
+Query 1/1: Action query time = 1.169 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8513
+t=74: Selected seed 195 with value = 0.8513
+Query 1/1: Action query time = 1.203 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9956
+t=90: Selected seed 195 with value = 0.9956
+Saved rollout MP4 at path ./rollouts/ft6_iter200_t6/2026_07_31-14_19_10--episode=44--success=True--task=put_the_cream_cheese_in_the_bowl.mp4
+Saved rollout MP4 at path ./rollouts/ft6_iter200_t6/2026_07_31-14_19_10--with_future_img--episode=44--success=True--task=put_the_cream_cheese_in_the_bowl.mp4
+Success: True
+# episodes completed so far: 44
+# successes: 24 (54.5%)
+
+Task: put the cream cheese in the bowl
+Starting episode 45...
+Query 1/1: Action query time = 1.001 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4312
+t=10: Selected seed 195 with value = 0.4312
+Query 1/1: Action query time = 0.976 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4720
+t=26: Selected seed 195 with value = 0.4720
+Query 1/1: Action query time = 0.970 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6210
+t=42: Selected seed 195 with value = 0.6210
+Query 1/1: Action query time = 0.965 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6586
+t=58: Selected seed 195 with value = 0.6586
+Query 1/1: Action query time = 0.995 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7520
+t=74: Selected seed 195 with value = 0.7520
+Query 1/1: Action query time = 1.070 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8898
+t=90: Selected seed 195 with value = 0.8898
+Saved rollout MP4 at path ./rollouts/ft6_iter200_t6/2026_07_31-14_19_10--episode=45--success=True--task=put_the_cream_cheese_in_the_bowl.mp4
+Saved rollout MP4 at path ./rollouts/ft6_iter200_t6/2026_07_31-14_19_10--with_future_img--episode=45--success=True--task=put_the_cream_cheese_in_the_bowl.mp4
+Success: True
+# episodes completed so far: 45
+# successes: 25 (55.6%)
+
+Task: put the cream cheese in the bowl
+Starting episode 46...
+Query 1/1: Action query time = 0.989 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4477
+t=10: Selected seed 195 with value = 0.4477
+Query 1/1: Action query time = 0.955 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4775
+t=26: Selected seed 195 with value = 0.4775
+Query 1/1: Action query time = 0.965 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6290
+t=42: Selected seed 195 with value = 0.6290
+Query 1/1: Action query time = 0.981 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6488
+t=58: Selected seed 195 with value = 0.6488
+Query 1/1: Action query time = 0.983 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5550
+t=74: Selected seed 195 with value = 0.5550
+Query 1/1: Action query time = 0.978 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5746
+t=90: Selected seed 195 with value = 0.5746
+Query 1/1: Action query time = 0.976 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5443
+t=106: Selected seed 195 with value = 0.5443
+Query 1/1: Action query time = 0.978 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6261
+t=122: Selected seed 195 with value = 0.6261
+Query 1/1: Action query time = 0.976 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5711
+t=138: Selected seed 195 with value = 0.5711
+Query 1/1: Action query time = 0.982 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7871
+t=154: Selected seed 195 with value = 0.7871
+Query 1/1: Action query time = 0.977 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8116
+t=170: Selected seed 195 with value = 0.8116
+Query 1/1: Action query time = 0.981 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8604
+t=186: Selected seed 195 with value = 0.8604
+Query 1/1: Action query time = 0.965 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8405
+t=202: Selected seed 195 with value = 0.8405
+Query 1/1: Action query time = 0.983 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8374
+t=218: Selected seed 195 with value = 0.8374
+Query 1/1: Action query time = 0.969 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7777
+t=234: Selected seed 195 with value = 0.7777
+Query 1/1: Action query time = 0.971 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8562
+t=250: Selected seed 195 with value = 0.8562
+Query 1/1: Action query time = 0.974 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9872
+t=266: Selected seed 195 with value = 0.9872
+Query 1/1: Action query time = 0.975 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9792
+t=282: Selected seed 195 with value = 0.9792
+Query 1/1: Action query time = 0.982 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9616
+t=298: Selected seed 195 with value = 0.9616
+Saved rollout MP4 at path ./rollouts/ft6_iter200_t6/2026_07_31-14_19_10--episode=46--success=False--task=put_the_cream_cheese_in_the_bowl.mp4
+Saved rollout MP4 at path ./rollouts/ft6_iter200_t6/2026_07_31-14_19_10--with_future_img--episode=46--success=False--task=put_the_cream_cheese_in_the_bowl.mp4
+Success: False
+# episodes completed so far: 46
+# successes: 25 (54.3%)
+
+Task: put the cream cheese in the bowl
+Starting episode 47...
+Query 1/1: Action query time = 1.629 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4534
+t=10: Selected seed 195 with value = 0.4534
+Query 1/1: Action query time = 1.162 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5085
+t=26: Selected seed 195 with value = 0.5085
+Query 1/1: Action query time = 1.183 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6330
+t=42: Selected seed 195 with value = 0.6330
+Query 1/1: Action query time = 0.966 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7541
+t=58: Selected seed 195 with value = 0.7541
+Query 1/1: Action query time = 0.963 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8669
+t=74: Selected seed 195 with value = 0.8669
+Query 1/1: Action query time = 0.969 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9841
+t=90: Selected seed 195 with value = 0.9841
+Saved rollout MP4 at path ./rollouts/ft6_iter200_t6/2026_07_31-14_19_10--episode=47--success=True--task=put_the_cream_cheese_in_the_bowl.mp4
+Saved rollout MP4 at path ./rollouts/ft6_iter200_t6/2026_07_31-14_19_10--with_future_img--episode=47--success=True--task=put_the_cream_cheese_in_the_bowl.mp4
+Success: True
+# episodes completed so far: 47
+# successes: 26 (55.3%)
+
+Task: put the cream cheese in the bowl
+Starting episode 48...
+Query 1/1: Action query time = 1.015 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4660
+t=10: Selected seed 195 with value = 0.4660
+Query 1/1: Action query time = 1.193 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5326
+t=26: Selected seed 195 with value = 0.5326
+Query 1/1: Action query time = 1.148 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5789
+t=42: Selected seed 195 with value = 0.5789
+Query 1/1: Action query time = 1.138 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6683
+t=58: Selected seed 195 with value = 0.6683
+Query 1/1: Action query time = 1.239 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8007
+t=74: Selected seed 195 with value = 0.8007
+Query 1/1: Action query time = 1.214 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9735
+t=90: Selected seed 195 with value = 0.9735
+Saved rollout MP4 at path ./rollouts/ft6_iter200_t6/2026_07_31-14_19_10--episode=48--success=True--task=put_the_cream_cheese_in_the_bowl.mp4
+Saved rollout MP4 at path ./rollouts/ft6_iter200_t6/2026_07_31-14_19_10--with_future_img--episode=48--success=True--task=put_the_cream_cheese_in_the_bowl.mp4
+Success: True
+# episodes completed so far: 48
+# successes: 27 (56.2%)
+
+Task: put the cream cheese in the bowl
+Starting episode 49...
+Query 1/1: Action query time = 0.989 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4302
+t=10: Selected seed 195 with value = 0.4302
+Query 1/1: Action query time = 0.986 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5312
+t=26: Selected seed 195 with value = 0.5312
+Query 1/1: Action query time = 0.984 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6568
+t=42: Selected seed 195 with value = 0.6568
+Query 1/1: Action query time = 0.985 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7025
+t=58: Selected seed 195 with value = 0.7025
+Query 1/1: Action query time = 0.992 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8437
+t=74: Selected seed 195 with value = 0.8437
+Query 1/1: Action query time = 0.957 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9820
+t=90: Selected seed 195 with value = 0.9820
+Saved rollout MP4 at path ./rollouts/ft6_iter200_t6/2026_07_31-14_19_10--episode=49--success=True--task=put_the_cream_cheese_in_the_bowl.mp4
+Saved rollout MP4 at path ./rollouts/ft6_iter200_t6/2026_07_31-14_19_10--with_future_img--episode=49--success=True--task=put_the_cream_cheese_in_the_bowl.mp4
+Success: True
+# episodes completed so far: 49
+# successes: 28 (57.1%)
+
+Task: put the cream cheese in the bowl
+Starting episode 50...
+Query 1/1: Action query time = 1.123 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3912
+t=10: Selected seed 195 with value = 0.3912
+Query 1/1: Action query time = 1.390 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5142
+t=26: Selected seed 195 with value = 0.5142
+Query 1/1: Action query time = 0.962 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6017
+t=42: Selected seed 195 with value = 0.6017
+Query 1/1: Action query time = 0.980 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6667
+t=58: Selected seed 195 with value = 0.6667
+Query 1/1: Action query time = 0.976 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5788
+t=74: Selected seed 195 with value = 0.5788
+Query 1/1: Action query time = 0.975 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6694
+t=90: Selected seed 195 with value = 0.6694
+Query 1/1: Action query time = 0.982 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6459
+t=106: Selected seed 195 with value = 0.6459
+Query 1/1: Action query time = 0.973 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9218
+t=122: Selected seed 195 with value = 0.9218
+Query 1/1: Action query time = 0.974 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8871
+t=138: Selected seed 195 with value = 0.8871
+Query 1/1: Action query time = 0.963 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9909
+t=154: Selected seed 195 with value = 0.9909
+Query 1/1: Action query time = 0.964 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=170: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 1.133 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=186: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 1.120 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=202: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 1.080 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=218: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 1.114 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=234: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 1.142 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9972
+t=250: Selected seed 195 with value = 0.9972
+Query 1/1: Action query time = 1.110 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9896
+t=266: Selected seed 195 with value = 0.9896
+Query 1/1: Action query time = 1.094 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9826
+t=282: Selected seed 195 with value = 0.9826
+Query 1/1: Action query time = 1.110 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9785
+t=298: Selected seed 195 with value = 0.9785
+Saved rollout MP4 at path ./rollouts/ft6_iter200_t6/2026_07_31-14_19_10--episode=50--success=False--task=put_the_cream_cheese_in_the_bowl.mp4
+Saved rollout MP4 at path ./rollouts/ft6_iter200_t6/2026_07_31-14_19_10--with_future_img--episode=50--success=False--task=put_the_cream_cheese_in_the_bowl.mp4
+Success: False
+# episodes completed so far: 50
+# successes: 28 (56.0%)
+Current task success rate: 0.56
+Current total success rate: 0.56
+Final results:
+Total episodes: 50
+Total successes: 28
+Overall success rate: 0.5600 (56.0%)
diff --git a/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_07_31-14_59_19--CLi800_t4.txt b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_07_31-14_59_19--CLi800_t4.txt
new file mode 100644
index 0000000000000000000000000000000000000000..8eedc0705ec0f796f60f449773b3004ae27f649e
--- /dev/null
+++ b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_07_31-14_59_19--CLi800_t4.txt
@@ -0,0 +1,3496 @@
+Eval config: PolicyEvalConfig(suite='libero', model_family='cosmos', config='cosmos_predict2_2b_480p_libero_cl_stage_inference_only', ckpt_path='/home/azureuser/REGEN-main/old/cosmos_policy/cosmos_v2_finetune/cosmos_predict2_2b_480p_libero_goal_task6_regen_cl_from40k_2gpu/checkpoints/iter_000000800/model', planning_model_config_name='', planning_model_ckpt_path='', config_file='cosmos_policy/config/config.py', packnet_mask_path='', packnet_first_cl_libero_task=6, use_third_person_image=True, num_third_person_images=1, use_wrist_image=True, num_wrist_images=1, use_proprio=True, flip_images=True, use_variance_scale=False, use_jpeg_compression=True, ar_future_prediction=False, ar_value_prediction=False, ar_qvalue_prediction=False, num_denoising_steps_action=5, num_denoising_steps_future_state=1, num_denoising_steps_value=1, unnormalize_actions=True, normalize_proprio=True, dataset_stats_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/libero_goal_regen/dataset_statistics.json', t5_text_embeddings_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/t5_embeddings.pkl', trained_with_image_aug=True, chunk_size=16, num_open_loop_steps=16, deterministic=True, deterministic_reset=False, deterministic_reset_seed=None, use_ensemble_future_state_predictions=False, num_future_state_predictions_in_ensemble=3, future_state_ensemble_aggregation_scheme='average', use_ensemble_value_predictions=False, num_value_predictions_in_ensemble=5, value_ensemble_aggregation_scheme='average', search_depth=1, mask_current_state_action_for_value_prediction=False, mask_future_state_for_qvalue_prediction=False, num_queries_best_of_n=1, use_parallel_inference=False, available_gpus='0', parallel_timeout=15, parallel_tasks_across_gpus=False, task_suite_name='libero_goal', num_trials_per_task=50, task_ids_to_run='4', initial_states_path='DEFAULT', env_img_res=256, local_log_dir='/home/azureuser/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal', run_id_note='CLi800_t4', use_wandb=False, wandb_entity='YOUR_ENTITY', wandb_project='YOUR_PROJECT', seed=195, randomize_seed=False, data_collection=False, jpeg_compress=True, reward_stop_threshold=None, reward_stop_consecutive_steps=3, use_gpt_reward=False, gpt_reward_model='gpt-5.4-mini', gpt_reward_stop_threshold=4, gpt_reward_timeout_s=30.0, save_rollout_video=True, eval_hdf5_path='', eval_hdf5_demo_key='demo_0', data_gen_demo_ids='', replay_actions=False, replay_action_path_dir='', replay_hdf5_path='', data_generation=False, max_generation_steps=200, simple_task_max_steps=100, complex_task_max_steps=200)
+Using serial inference (parallel inference disabled)
+Task suite: libero_goal
+Number of tasks: 10
+Running only task IDs: [4]
+Using default initial states
+
+Task: put the bowl on top of the cabinet
+Starting episode 1...
+Query 1/1: Action query time = 1.609 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4885
+t=10: Selected seed 195 with value = 0.4885
+Query 1/1: Action query time = 1.003 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5874
+t=26: Selected seed 195 with value = 0.5874
+Query 1/1: Action query time = 0.967 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6772
+t=42: Selected seed 195 with value = 0.6772
+Query 1/1: Action query time = 0.969 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8482
+t=58: Selected seed 195 with value = 0.8482
+Query 1/1: Action query time = 0.959 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9683
+t=74: Selected seed 195 with value = 0.9683
+Query 1/1: Action query time = 0.969 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9667
+t=90: Selected seed 195 with value = 0.9667
+Query 1/1: Action query time = 0.961 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9494
+t=106: Selected seed 195 with value = 0.9494
+Query 1/1: Action query time = 0.966 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9901
+t=122: Selected seed 195 with value = 0.9901
+Query 1/1: Action query time = 0.966 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9894
+t=138: Selected seed 195 with value = 0.9894
+Query 1/1: Action query time = 0.977 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9870
+t=154: Selected seed 195 with value = 0.9870
+Query 1/1: Action query time = 0.950 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9819
+t=170: Selected seed 195 with value = 0.9819
+Query 1/1: Action query time = 0.967 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9414
+t=186: Selected seed 195 with value = 0.9414
+Query 1/1: Action query time = 0.955 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9380
+t=202: Selected seed 195 with value = 0.9380
+Query 1/1: Action query time = 0.968 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7929
+t=218: Selected seed 195 with value = 0.7929
+Query 1/1: Action query time = 0.983 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8948
+t=234: Selected seed 195 with value = 0.8948
+Query 1/1: Action query time = 0.960 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9515
+t=250: Selected seed 195 with value = 0.9515
+Query 1/1: Action query time = 0.966 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9894
+t=266: Selected seed 195 with value = 0.9894
+Query 1/1: Action query time = 0.990 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=282: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.964 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=298: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/CLi800_t4/2026_07_31-14_59_19--episode=1--success=False--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Saved rollout MP4 at path ./rollouts/CLi800_t4/2026_07_31-14_59_19--with_future_img--episode=1--success=False--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Success: False
+# episodes completed so far: 1
+# successes: 0 (0.0%)
+
+Task: put the bowl on top of the cabinet
+Starting episode 2...
+Query 1/1: Action query time = 0.978 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4908
+t=10: Selected seed 195 with value = 0.4908
+Query 1/1: Action query time = 0.967 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5628
+t=26: Selected seed 195 with value = 0.5628
+Query 1/1: Action query time = 0.953 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5606
+t=42: Selected seed 195 with value = 0.5606
+Query 1/1: Action query time = 0.971 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7554
+t=58: Selected seed 195 with value = 0.7554
+Query 1/1: Action query time = 0.969 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8898
+t=74: Selected seed 195 with value = 0.8898
+Query 1/1: Action query time = 0.956 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9739
+t=90: Selected seed 195 with value = 0.9739
+Query 1/1: Action query time = 0.990 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9939
+t=106: Selected seed 195 with value = 0.9939
+Query 1/1: Action query time = 0.966 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9832
+t=122: Selected seed 195 with value = 0.9832
+Query 1/1: Action query time = 0.977 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9703
+t=138: Selected seed 195 with value = 0.9703
+Query 1/1: Action query time = 0.982 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8358
+t=154: Selected seed 195 with value = 0.8358
+Query 1/1: Action query time = 0.969 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8553
+t=170: Selected seed 195 with value = 0.8553
+Query 1/1: Action query time = 0.972 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9651
+t=186: Selected seed 195 with value = 0.9651
+Query 1/1: Action query time = 0.956 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9381
+t=202: Selected seed 195 with value = 0.9381
+Query 1/1: Action query time = 0.966 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=218: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.971 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=234: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.960 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9981
+t=250: Selected seed 195 with value = 0.9981
+Query 1/1: Action query time = 0.981 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9967
+t=266: Selected seed 195 with value = 0.9967
+Query 1/1: Action query time = 0.968 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9949
+t=282: Selected seed 195 with value = 0.9949
+Query 1/1: Action query time = 0.968 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9938
+t=298: Selected seed 195 with value = 0.9938
+Saved rollout MP4 at path ./rollouts/CLi800_t4/2026_07_31-14_59_19--episode=2--success=False--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Saved rollout MP4 at path ./rollouts/CLi800_t4/2026_07_31-14_59_19--with_future_img--episode=2--success=False--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Success: False
+# episodes completed so far: 2
+# successes: 0 (0.0%)
+
+Task: put the bowl on top of the cabinet
+Starting episode 3...
+Query 1/1: Action query time = 0.982 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4779
+t=10: Selected seed 195 with value = 0.4779
+Query 1/1: Action query time = 0.968 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5704
+t=26: Selected seed 195 with value = 0.5704
+Query 1/1: Action query time = 0.981 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5507
+t=42: Selected seed 195 with value = 0.5507
+Query 1/1: Action query time = 0.993 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5844
+t=58: Selected seed 195 with value = 0.5844
+Query 1/1: Action query time = 0.989 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6684
+t=74: Selected seed 195 with value = 0.6684
+Query 1/1: Action query time = 0.976 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7659
+t=90: Selected seed 195 with value = 0.7659
+Query 1/1: Action query time = 0.973 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9500
+t=106: Selected seed 195 with value = 0.9500
+Query 1/1: Action query time = 0.975 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9780
+t=122: Selected seed 195 with value = 0.9780
+Query 1/1: Action query time = 0.966 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9447
+t=138: Selected seed 195 with value = 0.9447
+Query 1/1: Action query time = 0.981 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9892
+t=154: Selected seed 195 with value = 0.9892
+Query 1/1: Action query time = 0.969 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9268
+t=170: Selected seed 195 with value = 0.9268
+Query 1/1: Action query time = 0.951 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8811
+t=186: Selected seed 195 with value = 0.8811
+Query 1/1: Action query time = 0.965 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8563
+t=202: Selected seed 195 with value = 0.8563
+Query 1/1: Action query time = 0.972 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9396
+t=218: Selected seed 195 with value = 0.9396
+Query 1/1: Action query time = 0.977 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9521
+t=234: Selected seed 195 with value = 0.9521
+Query 1/1: Action query time = 0.974 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=250: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.973 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9993
+t=266: Selected seed 195 with value = 0.9993
+Query 1/1: Action query time = 0.979 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9966
+t=282: Selected seed 195 with value = 0.9966
+Query 1/1: Action query time = 0.965 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9948
+t=298: Selected seed 195 with value = 0.9948
+Saved rollout MP4 at path ./rollouts/CLi800_t4/2026_07_31-14_59_19--episode=3--success=False--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Saved rollout MP4 at path ./rollouts/CLi800_t4/2026_07_31-14_59_19--with_future_img--episode=3--success=False--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Success: False
+# episodes completed so far: 3
+# successes: 0 (0.0%)
+
+Task: put the bowl on top of the cabinet
+Starting episode 4...
+Query 1/1: Action query time = 0.959 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4564
+t=10: Selected seed 195 with value = 0.4564
+Query 1/1: Action query time = 0.977 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5584
+t=26: Selected seed 195 with value = 0.5584
+Query 1/1: Action query time = 0.978 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6137
+t=42: Selected seed 195 with value = 0.6137
+Query 1/1: Action query time = 0.984 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6927
+t=58: Selected seed 195 with value = 0.6927
+Query 1/1: Action query time = 0.963 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6829
+t=74: Selected seed 195 with value = 0.6829
+Query 1/1: Action query time = 1.011 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8305
+t=90: Selected seed 195 with value = 0.8305
+Query 1/1: Action query time = 1.048 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9372
+t=106: Selected seed 195 with value = 0.9372
+Query 1/1: Action query time = 1.095 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=122: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/CLi800_t4/2026_07_31-14_59_19--episode=4--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Saved rollout MP4 at path ./rollouts/CLi800_t4/2026_07_31-14_59_19--with_future_img--episode=4--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Success: True
+# episodes completed so far: 4
+# successes: 1 (25.0%)
+
+Task: put the bowl on top of the cabinet
+Starting episode 5...
+Query 1/1: Action query time = 0.982 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4867
+t=10: Selected seed 195 with value = 0.4867
+Query 1/1: Action query time = 0.957 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5679
+t=26: Selected seed 195 with value = 0.5679
+Query 1/1: Action query time = 0.968 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6123
+t=42: Selected seed 195 with value = 0.6123
+Query 1/1: Action query time = 0.962 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7837
+t=58: Selected seed 195 with value = 0.7837
+Query 1/1: Action query time = 0.964 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8899
+t=74: Selected seed 195 with value = 0.8899
+Query 1/1: Action query time = 0.970 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9622
+t=90: Selected seed 195 with value = 0.9622
+Query 1/1: Action query time = 0.975 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8392
+t=106: Selected seed 195 with value = 0.8392
+Query 1/1: Action query time = 0.974 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8994
+t=122: Selected seed 195 with value = 0.8994
+Query 1/1: Action query time = 0.986 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6428
+t=138: Selected seed 195 with value = 0.6428
+Query 1/1: Action query time = 0.965 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8418
+t=154: Selected seed 195 with value = 0.8418
+Query 1/1: Action query time = 0.982 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9355
+t=170: Selected seed 195 with value = 0.9355
+Query 1/1: Action query time = 0.989 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6344
+t=186: Selected seed 195 with value = 0.6344
+Query 1/1: Action query time = 0.971 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8486
+t=202: Selected seed 195 with value = 0.8486
+Query 1/1: Action query time = 0.962 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6351
+t=218: Selected seed 195 with value = 0.6351
+Query 1/1: Action query time = 0.967 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7489
+t=234: Selected seed 195 with value = 0.7489
+Query 1/1: Action query time = 0.966 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8437
+t=250: Selected seed 195 with value = 0.8437
+Query 1/1: Action query time = 0.981 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8581
+t=266: Selected seed 195 with value = 0.8581
+Query 1/1: Action query time = 0.968 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7806
+t=282: Selected seed 195 with value = 0.7806
+Query 1/1: Action query time = 0.977 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8842
+t=298: Selected seed 195 with value = 0.8842
+Saved rollout MP4 at path ./rollouts/CLi800_t4/2026_07_31-14_59_19--episode=5--success=False--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Saved rollout MP4 at path ./rollouts/CLi800_t4/2026_07_31-14_59_19--with_future_img--episode=5--success=False--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Success: False
+# episodes completed so far: 5
+# successes: 1 (20.0%)
+
+Task: put the bowl on top of the cabinet
+Starting episode 6...
+Query 1/1: Action query time = 0.991 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5112
+t=10: Selected seed 195 with value = 0.5112
+Query 1/1: Action query time = 0.962 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5852
+t=26: Selected seed 195 with value = 0.5852
+Query 1/1: Action query time = 0.972 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6688
+t=42: Selected seed 195 with value = 0.6688
+Query 1/1: Action query time = 0.977 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8042
+t=58: Selected seed 195 with value = 0.8042
+Query 1/1: Action query time = 0.969 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9677
+t=74: Selected seed 195 with value = 0.9677
+Saved rollout MP4 at path ./rollouts/CLi800_t4/2026_07_31-14_59_19--episode=6--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Saved rollout MP4 at path ./rollouts/CLi800_t4/2026_07_31-14_59_19--with_future_img--episode=6--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Success: True
+# episodes completed so far: 6
+# successes: 2 (33.3%)
+
+Task: put the bowl on top of the cabinet
+Starting episode 7...
+Query 1/1: Action query time = 1.038 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5055
+t=10: Selected seed 195 with value = 0.5055
+Query 1/1: Action query time = 1.052 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5769
+t=26: Selected seed 195 with value = 0.5769
+Query 1/1: Action query time = 1.023 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6515
+t=42: Selected seed 195 with value = 0.6515
+Query 1/1: Action query time = 0.965 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8335
+t=58: Selected seed 195 with value = 0.8335
+Query 1/1: Action query time = 0.967 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9608
+t=74: Selected seed 195 with value = 0.9608
+Saved rollout MP4 at path ./rollouts/CLi800_t4/2026_07_31-14_59_19--episode=7--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Saved rollout MP4 at path ./rollouts/CLi800_t4/2026_07_31-14_59_19--with_future_img--episode=7--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Success: True
+# episodes completed so far: 7
+# successes: 3 (42.9%)
+
+Task: put the bowl on top of the cabinet
+Starting episode 8...
+Query 1/1: Action query time = 0.962 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4860
+t=10: Selected seed 195 with value = 0.4860
+Query 1/1: Action query time = 0.966 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5572
+t=26: Selected seed 195 with value = 0.5572
+Query 1/1: Action query time = 0.969 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6425
+t=42: Selected seed 195 with value = 0.6425
+Query 1/1: Action query time = 0.977 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8184
+t=58: Selected seed 195 with value = 0.8184
+Query 1/1: Action query time = 0.995 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8825
+t=74: Selected seed 195 with value = 0.8825
+Query 1/1: Action query time = 1.088 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9481
+t=90: Selected seed 195 with value = 0.9481
+Query 1/1: Action query time = 1.186 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9853
+t=106: Selected seed 195 with value = 0.9853
+Query 1/1: Action query time = 1.200 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9875
+t=122: Selected seed 195 with value = 0.9875
+Query 1/1: Action query time = 1.163 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9710
+t=138: Selected seed 195 with value = 0.9710
+Query 1/1: Action query time = 0.979 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9455
+t=154: Selected seed 195 with value = 0.9455
+Query 1/1: Action query time = 0.980 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9737
+t=170: Selected seed 195 with value = 0.9737
+Query 1/1: Action query time = 0.980 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8759
+t=186: Selected seed 195 with value = 0.8759
+Query 1/1: Action query time = 0.964 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9407
+t=202: Selected seed 195 with value = 0.9407
+Query 1/1: Action query time = 0.961 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9739
+t=218: Selected seed 195 with value = 0.9739
+Query 1/1: Action query time = 0.964 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9878
+t=234: Selected seed 195 with value = 0.9878
+Query 1/1: Action query time = 0.978 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9828
+t=250: Selected seed 195 with value = 0.9828
+Query 1/1: Action query time = 0.961 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9678
+t=266: Selected seed 195 with value = 0.9678
+Query 1/1: Action query time = 0.978 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9536
+t=282: Selected seed 195 with value = 0.9536
+Query 1/1: Action query time = 0.969 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9995
+t=298: Selected seed 195 with value = 0.9995
+Saved rollout MP4 at path ./rollouts/CLi800_t4/2026_07_31-14_59_19--episode=8--success=False--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Saved rollout MP4 at path ./rollouts/CLi800_t4/2026_07_31-14_59_19--with_future_img--episode=8--success=False--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Success: False
+# episodes completed so far: 8
+# successes: 3 (37.5%)
+
+Task: put the bowl on top of the cabinet
+Starting episode 9...
+Query 1/1: Action query time = 0.979 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5035
+t=10: Selected seed 195 with value = 0.5035
+Query 1/1: Action query time = 0.969 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5731
+t=26: Selected seed 195 with value = 0.5731
+Query 1/1: Action query time = 0.975 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6593
+t=42: Selected seed 195 with value = 0.6593
+Query 1/1: Action query time = 0.971 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7910
+t=58: Selected seed 195 with value = 0.7910
+Query 1/1: Action query time = 0.978 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9596
+t=74: Selected seed 195 with value = 0.9596
+Saved rollout MP4 at path ./rollouts/CLi800_t4/2026_07_31-14_59_19--episode=9--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Saved rollout MP4 at path ./rollouts/CLi800_t4/2026_07_31-14_59_19--with_future_img--episode=9--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Success: True
+# episodes completed so far: 9
+# successes: 4 (44.4%)
+
+Task: put the bowl on top of the cabinet
+Starting episode 10...
+Query 1/1: Action query time = 1.024 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4750
+t=10: Selected seed 195 with value = 0.4750
+Query 1/1: Action query time = 0.956 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5632
+t=26: Selected seed 195 with value = 0.5632
+Query 1/1: Action query time = 0.967 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6400
+t=42: Selected seed 195 with value = 0.6400
+Query 1/1: Action query time = 0.971 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7813
+t=58: Selected seed 195 with value = 0.7813
+Query 1/1: Action query time = 0.962 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9121
+t=74: Selected seed 195 with value = 0.9121
+Query 1/1: Action query time = 0.967 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9774
+t=90: Selected seed 195 with value = 0.9774
+Query 1/1: Action query time = 0.972 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9064
+t=106: Selected seed 195 with value = 0.9064
+Query 1/1: Action query time = 1.191 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9972
+t=122: Selected seed 195 with value = 0.9972
+Query 1/1: Action query time = 1.169 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9999
+t=138: Selected seed 195 with value = 0.9999
+Query 1/1: Action query time = 1.151 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9962
+t=154: Selected seed 195 with value = 0.9962
+Query 1/1: Action query time = 1.193 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9929
+t=170: Selected seed 195 with value = 0.9929
+Query 1/1: Action query time = 1.191 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9915
+t=186: Selected seed 195 with value = 0.9915
+Query 1/1: Action query time = 1.192 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9912
+t=202: Selected seed 195 with value = 0.9912
+Query 1/1: Action query time = 1.169 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9905
+t=218: Selected seed 195 with value = 0.9905
+Query 1/1: Action query time = 1.131 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9900
+t=234: Selected seed 195 with value = 0.9900
+Query 1/1: Action query time = 1.149 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9894
+t=250: Selected seed 195 with value = 0.9894
+Query 1/1: Action query time = 1.146 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9866
+t=266: Selected seed 195 with value = 0.9866
+Query 1/1: Action query time = 1.154 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9848
+t=282: Selected seed 195 with value = 0.9848
+Query 1/1: Action query time = 1.170 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9808
+t=298: Selected seed 195 with value = 0.9808
+Saved rollout MP4 at path ./rollouts/CLi800_t4/2026_07_31-14_59_19--episode=10--success=False--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Saved rollout MP4 at path ./rollouts/CLi800_t4/2026_07_31-14_59_19--with_future_img--episode=10--success=False--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Success: False
+# episodes completed so far: 10
+# successes: 4 (40.0%)
+
+Task: put the bowl on top of the cabinet
+Starting episode 11...
+Query 1/1: Action query time = 1.038 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4825
+t=10: Selected seed 195 with value = 0.4825
+Query 1/1: Action query time = 0.981 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5677
+t=26: Selected seed 195 with value = 0.5677
+Query 1/1: Action query time = 0.977 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6459
+t=42: Selected seed 195 with value = 0.6459
+Query 1/1: Action query time = 0.954 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8024
+t=58: Selected seed 195 with value = 0.8024
+Query 1/1: Action query time = 0.966 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8752
+t=74: Selected seed 195 with value = 0.8752
+Query 1/1: Action query time = 0.971 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9076
+t=90: Selected seed 195 with value = 0.9076
+Query 1/1: Action query time = 0.967 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9236
+t=106: Selected seed 195 with value = 0.9236
+Query 1/1: Action query time = 0.978 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9851
+t=122: Selected seed 195 with value = 0.9851
+Query 1/1: Action query time = 0.962 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9541
+t=138: Selected seed 195 with value = 0.9541
+Query 1/1: Action query time = 0.992 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9884
+t=154: Selected seed 195 with value = 0.9884
+Query 1/1: Action query time = 0.976 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9986
+t=170: Selected seed 195 with value = 0.9986
+Query 1/1: Action query time = 0.964 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9877
+t=186: Selected seed 195 with value = 0.9877
+Query 1/1: Action query time = 1.000 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9838
+t=202: Selected seed 195 with value = 0.9838
+Query 1/1: Action query time = 0.992 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9834
+t=218: Selected seed 195 with value = 0.9834
+Query 1/1: Action query time = 0.980 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9840
+t=234: Selected seed 195 with value = 0.9840
+Query 1/1: Action query time = 0.960 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9838
+t=250: Selected seed 195 with value = 0.9838
+Query 1/1: Action query time = 0.984 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9822
+t=266: Selected seed 195 with value = 0.9822
+Query 1/1: Action query time = 0.968 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9815
+t=282: Selected seed 195 with value = 0.9815
+Query 1/1: Action query time = 0.981 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9819
+t=298: Selected seed 195 with value = 0.9819
+Saved rollout MP4 at path ./rollouts/CLi800_t4/2026_07_31-14_59_19--episode=11--success=False--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Saved rollout MP4 at path ./rollouts/CLi800_t4/2026_07_31-14_59_19--with_future_img--episode=11--success=False--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Success: False
+# episodes completed so far: 11
+# successes: 4 (36.4%)
+
+Task: put the bowl on top of the cabinet
+Starting episode 12...
+Query 1/1: Action query time = 1.159 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4792
+t=10: Selected seed 195 with value = 0.4792
+Query 1/1: Action query time = 0.981 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5683
+t=26: Selected seed 195 with value = 0.5683
+Query 1/1: Action query time = 0.968 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6285
+t=42: Selected seed 195 with value = 0.6285
+Query 1/1: Action query time = 0.972 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7146
+t=58: Selected seed 195 with value = 0.7146
+Query 1/1: Action query time = 0.972 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9392
+t=74: Selected seed 195 with value = 0.9392
+Query 1/1: Action query time = 0.968 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9436
+t=90: Selected seed 195 with value = 0.9436
+Query 1/1: Action query time = 0.996 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9367
+t=106: Selected seed 195 with value = 0.9367
+Query 1/1: Action query time = 0.970 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8127
+t=122: Selected seed 195 with value = 0.8127
+Query 1/1: Action query time = 0.983 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7528
+t=138: Selected seed 195 with value = 0.7528
+Query 1/1: Action query time = 0.977 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8760
+t=154: Selected seed 195 with value = 0.8760
+Query 1/1: Action query time = 0.973 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9875
+t=170: Selected seed 195 with value = 0.9875
+Saved rollout MP4 at path ./rollouts/CLi800_t4/2026_07_31-14_59_19--episode=12--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Saved rollout MP4 at path ./rollouts/CLi800_t4/2026_07_31-14_59_19--with_future_img--episode=12--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Success: True
+# episodes completed so far: 12
+# successes: 5 (41.7%)
+
+Task: put the bowl on top of the cabinet
+Starting episode 13...
+Query 1/1: Action query time = 0.997 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4705
+t=10: Selected seed 195 with value = 0.4705
+Query 1/1: Action query time = 0.974 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5692
+t=26: Selected seed 195 with value = 0.5692
+Query 1/1: Action query time = 0.985 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6253
+t=42: Selected seed 195 with value = 0.6253
+Query 1/1: Action query time = 0.976 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6850
+t=58: Selected seed 195 with value = 0.6850
+Query 1/1: Action query time = 0.968 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8542
+t=74: Selected seed 195 with value = 0.8542
+Query 1/1: Action query time = 0.972 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9377
+t=90: Selected seed 195 with value = 0.9377
+Query 1/1: Action query time = 0.962 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9947
+t=106: Selected seed 195 with value = 0.9947
+Query 1/1: Action query time = 0.971 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9915
+t=122: Selected seed 195 with value = 0.9915
+Query 1/1: Action query time = 0.992 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9891
+t=138: Selected seed 195 with value = 0.9891
+Query 1/1: Action query time = 0.962 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9790
+t=154: Selected seed 195 with value = 0.9790
+Query 1/1: Action query time = 0.972 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9443
+t=170: Selected seed 195 with value = 0.9443
+Query 1/1: Action query time = 0.975 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9438
+t=186: Selected seed 195 with value = 0.9438
+Query 1/1: Action query time = 1.036 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9560
+t=202: Selected seed 195 with value = 0.9560
+Query 1/1: Action query time = 0.975 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8748
+t=218: Selected seed 195 with value = 0.8748
+Query 1/1: Action query time = 0.993 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8666
+t=234: Selected seed 195 with value = 0.8666
+Query 1/1: Action query time = 0.976 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9572
+t=250: Selected seed 195 with value = 0.9572
+Query 1/1: Action query time = 0.991 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9486
+t=266: Selected seed 195 with value = 0.9486
+Query 1/1: Action query time = 0.989 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=282: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.967 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=298: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/CLi800_t4/2026_07_31-14_59_19--episode=13--success=False--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Saved rollout MP4 at path ./rollouts/CLi800_t4/2026_07_31-14_59_19--with_future_img--episode=13--success=False--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Success: False
+# episodes completed so far: 13
+# successes: 5 (38.5%)
+
+Task: put the bowl on top of the cabinet
+Starting episode 14...
+Query 1/1: Action query time = 0.968 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4776
+t=10: Selected seed 195 with value = 0.4776
+Query 1/1: Action query time = 0.973 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5744
+t=26: Selected seed 195 with value = 0.5744
+Query 1/1: Action query time = 0.982 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6322
+t=42: Selected seed 195 with value = 0.6322
+Query 1/1: Action query time = 0.973 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7902
+t=58: Selected seed 195 with value = 0.7902
+Query 1/1: Action query time = 0.985 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9161
+t=74: Selected seed 195 with value = 0.9161
+Query 1/1: Action query time = 0.973 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9755
+t=90: Selected seed 195 with value = 0.9755
+Query 1/1: Action query time = 1.092 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8797
+t=106: Selected seed 195 with value = 0.8797
+Query 1/1: Action query time = 1.076 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9959
+t=122: Selected seed 195 with value = 0.9959
+Query 1/1: Action query time = 1.045 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9973
+t=138: Selected seed 195 with value = 0.9973
+Query 1/1: Action query time = 1.049 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9947
+t=154: Selected seed 195 with value = 0.9947
+Query 1/1: Action query time = 1.054 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9922
+t=170: Selected seed 195 with value = 0.9922
+Query 1/1: Action query time = 1.016 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9903
+t=186: Selected seed 195 with value = 0.9903
+Query 1/1: Action query time = 1.018 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9900
+t=202: Selected seed 195 with value = 0.9900
+Query 1/1: Action query time = 1.001 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9893
+t=218: Selected seed 195 with value = 0.9893
+Query 1/1: Action query time = 0.996 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9886
+t=234: Selected seed 195 with value = 0.9886
+Query 1/1: Action query time = 0.965 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9871
+t=250: Selected seed 195 with value = 0.9871
+Query 1/1: Action query time = 0.964 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9850
+t=266: Selected seed 195 with value = 0.9850
+Query 1/1: Action query time = 0.975 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9814
+t=282: Selected seed 195 with value = 0.9814
+Query 1/1: Action query time = 0.973 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9829
+t=298: Selected seed 195 with value = 0.9829
+Saved rollout MP4 at path ./rollouts/CLi800_t4/2026_07_31-14_59_19--episode=14--success=False--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Saved rollout MP4 at path ./rollouts/CLi800_t4/2026_07_31-14_59_19--with_future_img--episode=14--success=False--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Success: False
+# episodes completed so far: 14
+# successes: 5 (35.7%)
+
+Task: put the bowl on top of the cabinet
+Starting episode 15...
+Query 1/1: Action query time = 1.096 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4670
+t=10: Selected seed 195 with value = 0.4670
+Query 1/1: Action query time = 0.971 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5470
+t=26: Selected seed 195 with value = 0.5470
+Query 1/1: Action query time = 0.970 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6369
+t=42: Selected seed 195 with value = 0.6369
+Query 1/1: Action query time = 0.974 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7964
+t=58: Selected seed 195 with value = 0.7964
+Query 1/1: Action query time = 0.973 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9231
+t=74: Selected seed 195 with value = 0.9231
+Query 1/1: Action query time = 0.983 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9662
+t=90: Selected seed 195 with value = 0.9662
+Query 1/1: Action query time = 0.973 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9858
+t=106: Selected seed 195 with value = 0.9858
+Query 1/1: Action query time = 0.976 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9993
+t=122: Selected seed 195 with value = 0.9993
+Query 1/1: Action query time = 0.960 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9964
+t=138: Selected seed 195 with value = 0.9964
+Query 1/1: Action query time = 0.974 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9934
+t=154: Selected seed 195 with value = 0.9934
+Query 1/1: Action query time = 0.983 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9912
+t=170: Selected seed 195 with value = 0.9912
+Query 1/1: Action query time = 0.962 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9860
+t=186: Selected seed 195 with value = 0.9860
+Query 1/1: Action query time = 0.993 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9824
+t=202: Selected seed 195 with value = 0.9824
+Query 1/1: Action query time = 0.978 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9807
+t=218: Selected seed 195 with value = 0.9807
+Query 1/1: Action query time = 0.986 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9805
+t=234: Selected seed 195 with value = 0.9805
+Query 1/1: Action query time = 0.983 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9821
+t=250: Selected seed 195 with value = 0.9821
+Query 1/1: Action query time = 0.966 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9830
+t=266: Selected seed 195 with value = 0.9830
+Query 1/1: Action query time = 0.969 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9761
+t=282: Selected seed 195 with value = 0.9761
+Query 1/1: Action query time = 0.982 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9677
+t=298: Selected seed 195 with value = 0.9677
+Saved rollout MP4 at path ./rollouts/CLi800_t4/2026_07_31-14_59_19--episode=15--success=False--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Saved rollout MP4 at path ./rollouts/CLi800_t4/2026_07_31-14_59_19--with_future_img--episode=15--success=False--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Success: False
+# episodes completed so far: 15
+# successes: 5 (33.3%)
+
+Task: put the bowl on top of the cabinet
+Starting episode 16...
+Query 1/1: Action query time = 0.976 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5024
+t=10: Selected seed 195 with value = 0.5024
+Query 1/1: Action query time = 0.977 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5693
+t=26: Selected seed 195 with value = 0.5693
+Query 1/1: Action query time = 0.982 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6289
+t=42: Selected seed 195 with value = 0.6289
+Query 1/1: Action query time = 0.966 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8001
+t=58: Selected seed 195 with value = 0.8001
+Query 1/1: Action query time = 0.983 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8775
+t=74: Selected seed 195 with value = 0.8775
+Query 1/1: Action query time = 0.968 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9449
+t=90: Selected seed 195 with value = 0.9449
+Query 1/1: Action query time = 0.962 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9761
+t=106: Selected seed 195 with value = 0.9761
+Query 1/1: Action query time = 0.987 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9863
+t=122: Selected seed 195 with value = 0.9863
+Query 1/1: Action query time = 0.982 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9805
+t=138: Selected seed 195 with value = 0.9805
+Query 1/1: Action query time = 0.967 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9761
+t=154: Selected seed 195 with value = 0.9761
+Query 1/1: Action query time = 0.982 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9505
+t=170: Selected seed 195 with value = 0.9505
+Query 1/1: Action query time = 0.982 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9809
+t=186: Selected seed 195 with value = 0.9809
+Query 1/1: Action query time = 0.975 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9402
+t=202: Selected seed 195 with value = 0.9402
+Query 1/1: Action query time = 0.990 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9596
+t=218: Selected seed 195 with value = 0.9596
+Query 1/1: Action query time = 0.975 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9570
+t=234: Selected seed 195 with value = 0.9570
+Query 1/1: Action query time = 0.956 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9445
+t=250: Selected seed 195 with value = 0.9445
+Query 1/1: Action query time = 0.983 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9340
+t=266: Selected seed 195 with value = 0.9340
+Query 1/1: Action query time = 0.981 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9395
+t=282: Selected seed 195 with value = 0.9395
+Query 1/1: Action query time = 0.966 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9530
+t=298: Selected seed 195 with value = 0.9530
+Saved rollout MP4 at path ./rollouts/CLi800_t4/2026_07_31-14_59_19--episode=16--success=False--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Saved rollout MP4 at path ./rollouts/CLi800_t4/2026_07_31-14_59_19--with_future_img--episode=16--success=False--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Success: False
+# episodes completed so far: 16
+# successes: 5 (31.2%)
+
+Task: put the bowl on top of the cabinet
+Starting episode 17...
+Query 1/1: Action query time = 1.104 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5087
+t=10: Selected seed 195 with value = 0.5087
+Query 1/1: Action query time = 0.976 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5874
+t=26: Selected seed 195 with value = 0.5874
+Query 1/1: Action query time = 0.986 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6654
+t=42: Selected seed 195 with value = 0.6654
+Query 1/1: Action query time = 0.990 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8120
+t=58: Selected seed 195 with value = 0.8120
+Query 1/1: Action query time = 0.981 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9530
+t=74: Selected seed 195 with value = 0.9530
+Query 1/1: Action query time = 0.979 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/CLi800_t4/2026_07_31-14_59_19--episode=17--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Saved rollout MP4 at path ./rollouts/CLi800_t4/2026_07_31-14_59_19--with_future_img--episode=17--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Success: True
+# episodes completed so far: 17
+# successes: 6 (35.3%)
+
+Task: put the bowl on top of the cabinet
+Starting episode 18...
+Query 1/1: Action query time = 0.982 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4786
+t=10: Selected seed 195 with value = 0.4786
+Query 1/1: Action query time = 0.975 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5537
+t=26: Selected seed 195 with value = 0.5537
+Query 1/1: Action query time = 0.966 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6348
+t=42: Selected seed 195 with value = 0.6348
+Query 1/1: Action query time = 0.988 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7398
+t=58: Selected seed 195 with value = 0.7398
+Query 1/1: Action query time = 0.973 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9568
+t=74: Selected seed 195 with value = 0.9568
+Query 1/1: Action query time = 0.968 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9473
+t=90: Selected seed 195 with value = 0.9473
+Query 1/1: Action query time = 0.982 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9677
+t=106: Selected seed 195 with value = 0.9677
+Query 1/1: Action query time = 0.977 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7237
+t=122: Selected seed 195 with value = 0.7237
+Query 1/1: Action query time = 0.967 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7262
+t=138: Selected seed 195 with value = 0.7262
+Query 1/1: Action query time = 0.964 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8546
+t=154: Selected seed 195 with value = 0.8546
+Query 1/1: Action query time = 0.975 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9825
+t=170: Selected seed 195 with value = 0.9825
+Saved rollout MP4 at path ./rollouts/CLi800_t4/2026_07_31-14_59_19--episode=18--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Saved rollout MP4 at path ./rollouts/CLi800_t4/2026_07_31-14_59_19--with_future_img--episode=18--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Success: True
+# episodes completed so far: 18
+# successes: 7 (38.9%)
+
+Task: put the bowl on top of the cabinet
+Starting episode 19...
+Query 1/1: Action query time = 1.131 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4730
+t=10: Selected seed 195 with value = 0.4730
+Query 1/1: Action query time = 1.122 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5429
+t=26: Selected seed 195 with value = 0.5429
+Query 1/1: Action query time = 0.986 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6065
+t=42: Selected seed 195 with value = 0.6065
+Query 1/1: Action query time = 0.975 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7664
+t=58: Selected seed 195 with value = 0.7664
+Query 1/1: Action query time = 0.989 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8730
+t=74: Selected seed 195 with value = 0.8730
+Query 1/1: Action query time = 0.990 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9992
+t=90: Selected seed 195 with value = 0.9992
+Saved rollout MP4 at path ./rollouts/CLi800_t4/2026_07_31-14_59_19--episode=19--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Saved rollout MP4 at path ./rollouts/CLi800_t4/2026_07_31-14_59_19--with_future_img--episode=19--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Success: True
+# episodes completed so far: 19
+# successes: 8 (42.1%)
+
+Task: put the bowl on top of the cabinet
+Starting episode 20...
+Query 1/1: Action query time = 1.006 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4794
+t=10: Selected seed 195 with value = 0.4794
+Query 1/1: Action query time = 1.006 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5664
+t=26: Selected seed 195 with value = 0.5664
+Query 1/1: Action query time = 0.977 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6217
+t=42: Selected seed 195 with value = 0.6217
+Query 1/1: Action query time = 0.967 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7881
+t=58: Selected seed 195 with value = 0.7881
+Query 1/1: Action query time = 0.984 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9255
+t=74: Selected seed 195 with value = 0.9255
+Query 1/1: Action query time = 0.973 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9859
+t=90: Selected seed 195 with value = 0.9859
+Query 1/1: Action query time = 0.969 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9049
+t=106: Selected seed 195 with value = 0.9049
+Query 1/1: Action query time = 0.982 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9956
+t=122: Selected seed 195 with value = 0.9956
+Query 1/1: Action query time = 0.978 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9961
+t=138: Selected seed 195 with value = 0.9961
+Query 1/1: Action query time = 0.975 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9919
+t=154: Selected seed 195 with value = 0.9919
+Query 1/1: Action query time = 0.972 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9885
+t=170: Selected seed 195 with value = 0.9885
+Query 1/1: Action query time = 0.977 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9873
+t=186: Selected seed 195 with value = 0.9873
+Query 1/1: Action query time = 0.971 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9866
+t=202: Selected seed 195 with value = 0.9866
+Query 1/1: Action query time = 0.985 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9848
+t=218: Selected seed 195 with value = 0.9848
+Query 1/1: Action query time = 0.988 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9822
+t=234: Selected seed 195 with value = 0.9822
+Query 1/1: Action query time = 0.981 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9763
+t=250: Selected seed 195 with value = 0.9763
+Query 1/1: Action query time = 0.985 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9592
+t=266: Selected seed 195 with value = 0.9592
+Query 1/1: Action query time = 0.971 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9493
+t=282: Selected seed 195 with value = 0.9493
+Query 1/1: Action query time = 0.978 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8907
+t=298: Selected seed 195 with value = 0.8907
+Saved rollout MP4 at path ./rollouts/CLi800_t4/2026_07_31-14_59_19--episode=20--success=False--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Saved rollout MP4 at path ./rollouts/CLi800_t4/2026_07_31-14_59_19--with_future_img--episode=20--success=False--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Success: False
+# episodes completed so far: 20
+# successes: 8 (40.0%)
+
+Task: put the bowl on top of the cabinet
+Starting episode 21...
+Query 1/1: Action query time = 1.001 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4789
+t=10: Selected seed 195 with value = 0.4789
+Query 1/1: Action query time = 0.991 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5643
+t=26: Selected seed 195 with value = 0.5643
+Query 1/1: Action query time = 0.988 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6035
+t=42: Selected seed 195 with value = 0.6035
+Query 1/1: Action query time = 0.975 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7768
+t=58: Selected seed 195 with value = 0.7768
+Query 1/1: Action query time = 0.985 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8469
+t=74: Selected seed 195 with value = 0.8469
+Query 1/1: Action query time = 0.987 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9396
+t=90: Selected seed 195 with value = 0.9396
+Query 1/1: Action query time = 0.973 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9906
+t=106: Selected seed 195 with value = 0.9906
+Query 1/1: Action query time = 0.977 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9913
+t=122: Selected seed 195 with value = 0.9913
+Query 1/1: Action query time = 0.982 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9698
+t=138: Selected seed 195 with value = 0.9698
+Query 1/1: Action query time = 0.973 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9646
+t=154: Selected seed 195 with value = 0.9646
+Query 1/1: Action query time = 0.974 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9245
+t=170: Selected seed 195 with value = 0.9245
+Query 1/1: Action query time = 0.972 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9554
+t=186: Selected seed 195 with value = 0.9554
+Query 1/1: Action query time = 0.980 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8607
+t=202: Selected seed 195 with value = 0.8607
+Query 1/1: Action query time = 0.967 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9584
+t=218: Selected seed 195 with value = 0.9584
+Query 1/1: Action query time = 0.965 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7694
+t=234: Selected seed 195 with value = 0.7694
+Query 1/1: Action query time = 0.973 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9305
+t=250: Selected seed 195 with value = 0.9305
+Query 1/1: Action query time = 0.969 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6881
+t=266: Selected seed 195 with value = 0.6881
+Query 1/1: Action query time = 0.966 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8923
+t=282: Selected seed 195 with value = 0.8923
+Query 1/1: Action query time = 0.981 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6365
+t=298: Selected seed 195 with value = 0.6365
+Saved rollout MP4 at path ./rollouts/CLi800_t4/2026_07_31-14_59_19--episode=21--success=False--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Saved rollout MP4 at path ./rollouts/CLi800_t4/2026_07_31-14_59_19--with_future_img--episode=21--success=False--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Success: False
+# episodes completed so far: 21
+# successes: 8 (38.1%)
+
+Task: put the bowl on top of the cabinet
+Starting episode 22...
+Query 1/1: Action query time = 0.975 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5072
+t=10: Selected seed 195 with value = 0.5072
+Query 1/1: Action query time = 0.989 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5644
+t=26: Selected seed 195 with value = 0.5644
+Query 1/1: Action query time = 0.977 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6226
+t=42: Selected seed 195 with value = 0.6226
+Query 1/1: Action query time = 0.970 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7940
+t=58: Selected seed 195 with value = 0.7940
+Query 1/1: Action query time = 0.964 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9762
+t=74: Selected seed 195 with value = 0.9762
+Query 1/1: Action query time = 0.975 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9822
+t=90: Selected seed 195 with value = 0.9822
+Query 1/1: Action query time = 0.971 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9826
+t=106: Selected seed 195 with value = 0.9826
+Query 1/1: Action query time = 0.974 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9353
+t=122: Selected seed 195 with value = 0.9353
+Query 1/1: Action query time = 0.972 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9437
+t=138: Selected seed 195 with value = 0.9437
+Query 1/1: Action query time = 0.973 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8512
+t=154: Selected seed 195 with value = 0.8512
+Query 1/1: Action query time = 0.976 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7449
+t=170: Selected seed 195 with value = 0.7449
+Query 1/1: Action query time = 0.984 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8799
+t=186: Selected seed 195 with value = 0.8799
+Query 1/1: Action query time = 0.978 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9838
+t=202: Selected seed 195 with value = 0.9838
+Saved rollout MP4 at path ./rollouts/CLi800_t4/2026_07_31-14_59_19--episode=22--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Saved rollout MP4 at path ./rollouts/CLi800_t4/2026_07_31-14_59_19--with_future_img--episode=22--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Success: True
+# episodes completed so far: 22
+# successes: 9 (40.9%)
+
+Task: put the bowl on top of the cabinet
+Starting episode 23...
+Query 1/1: Action query time = 0.973 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5001
+t=10: Selected seed 195 with value = 0.5001
+Query 1/1: Action query time = 0.969 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5703
+t=26: Selected seed 195 with value = 0.5703
+Query 1/1: Action query time = 0.977 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6602
+t=42: Selected seed 195 with value = 0.6602
+Query 1/1: Action query time = 0.964 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8026
+t=58: Selected seed 195 with value = 0.8026
+Query 1/1: Action query time = 0.977 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9476
+t=74: Selected seed 195 with value = 0.9476
+Query 1/1: Action query time = 0.981 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/CLi800_t4/2026_07_31-14_59_19--episode=23--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Saved rollout MP4 at path ./rollouts/CLi800_t4/2026_07_31-14_59_19--with_future_img--episode=23--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Success: True
+# episodes completed so far: 23
+# successes: 10 (43.5%)
+
+Task: put the bowl on top of the cabinet
+Starting episode 24...
+Query 1/1: Action query time = 0.996 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5027
+t=10: Selected seed 195 with value = 0.5027
+Query 1/1: Action query time = 0.983 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6007
+t=26: Selected seed 195 with value = 0.6007
+Query 1/1: Action query time = 0.991 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6616
+t=42: Selected seed 195 with value = 0.6616
+Query 1/1: Action query time = 0.979 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7849
+t=58: Selected seed 195 with value = 0.7849
+Query 1/1: Action query time = 0.981 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9548
+t=74: Selected seed 195 with value = 0.9548
+Saved rollout MP4 at path ./rollouts/CLi800_t4/2026_07_31-14_59_19--episode=24--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Saved rollout MP4 at path ./rollouts/CLi800_t4/2026_07_31-14_59_19--with_future_img--episode=24--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Success: True
+# episodes completed so far: 24
+# successes: 11 (45.8%)
+
+Task: put the bowl on top of the cabinet
+Starting episode 25...
+Query 1/1: Action query time = 0.983 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5058
+t=10: Selected seed 195 with value = 0.5058
+Query 1/1: Action query time = 0.977 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5950
+t=26: Selected seed 195 with value = 0.5950
+Query 1/1: Action query time = 0.955 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6956
+t=42: Selected seed 195 with value = 0.6956
+Query 1/1: Action query time = 0.980 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8397
+t=58: Selected seed 195 with value = 0.8397
+Query 1/1: Action query time = 0.981 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9392
+t=74: Selected seed 195 with value = 0.9392
+Query 1/1: Action query time = 0.987 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9607
+t=90: Selected seed 195 with value = 0.9607
+Query 1/1: Action query time = 0.993 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9859
+t=106: Selected seed 195 with value = 0.9859
+Query 1/1: Action query time = 0.980 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9913
+t=122: Selected seed 195 with value = 0.9913
+Query 1/1: Action query time = 0.985 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9875
+t=138: Selected seed 195 with value = 0.9875
+Query 1/1: Action query time = 0.975 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9826
+t=154: Selected seed 195 with value = 0.9826
+Query 1/1: Action query time = 0.972 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9834
+t=170: Selected seed 195 with value = 0.9834
+Query 1/1: Action query time = 0.987 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9829
+t=186: Selected seed 195 with value = 0.9829
+Query 1/1: Action query time = 0.983 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9841
+t=202: Selected seed 195 with value = 0.9841
+Query 1/1: Action query time = 0.986 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9863
+t=218: Selected seed 195 with value = 0.9863
+Query 1/1: Action query time = 0.999 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9874
+t=234: Selected seed 195 with value = 0.9874
+Query 1/1: Action query time = 1.027 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9931
+t=250: Selected seed 195 with value = 0.9931
+Query 1/1: Action query time = 1.022 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9794
+t=266: Selected seed 195 with value = 0.9794
+Query 1/1: Action query time = 0.983 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9876
+t=282: Selected seed 195 with value = 0.9876
+Query 1/1: Action query time = 0.973 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9810
+t=298: Selected seed 195 with value = 0.9810
+Saved rollout MP4 at path ./rollouts/CLi800_t4/2026_07_31-14_59_19--episode=25--success=False--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Saved rollout MP4 at path ./rollouts/CLi800_t4/2026_07_31-14_59_19--with_future_img--episode=25--success=False--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Success: False
+# episodes completed so far: 25
+# successes: 11 (44.0%)
+
+Task: put the bowl on top of the cabinet
+Starting episode 26...
+Query 1/1: Action query time = 0.982 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4724
+t=10: Selected seed 195 with value = 0.4724
+Query 1/1: Action query time = 0.967 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5993
+t=26: Selected seed 195 with value = 0.5993
+Query 1/1: Action query time = 0.969 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6197
+t=42: Selected seed 195 with value = 0.6197
+Query 1/1: Action query time = 0.993 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6814
+t=58: Selected seed 195 with value = 0.6814
+Query 1/1: Action query time = 0.984 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8484
+t=74: Selected seed 195 with value = 0.8484
+Query 1/1: Action query time = 1.045 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9556
+t=90: Selected seed 195 with value = 0.9556
+Query 1/1: Action query time = 0.988 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9837
+t=106: Selected seed 195 with value = 0.9837
+Query 1/1: Action query time = 0.994 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9875
+t=122: Selected seed 195 with value = 0.9875
+Query 1/1: Action query time = 1.003 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9870
+t=138: Selected seed 195 with value = 0.9870
+Query 1/1: Action query time = 0.996 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9662
+t=154: Selected seed 195 with value = 0.9662
+Query 1/1: Action query time = 1.002 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9520
+t=170: Selected seed 195 with value = 0.9520
+Query 1/1: Action query time = 0.999 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=186: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.984 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9997
+t=202: Selected seed 195 with value = 0.9997
+Query 1/1: Action query time = 0.972 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9971
+t=218: Selected seed 195 with value = 0.9971
+Query 1/1: Action query time = 0.986 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9948
+t=234: Selected seed 195 with value = 0.9948
+Query 1/1: Action query time = 0.981 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9902
+t=250: Selected seed 195 with value = 0.9902
+Query 1/1: Action query time = 0.982 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9845
+t=266: Selected seed 195 with value = 0.9845
+Query 1/1: Action query time = 0.972 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9760
+t=282: Selected seed 195 with value = 0.9760
+Query 1/1: Action query time = 0.987 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9715
+t=298: Selected seed 195 with value = 0.9715
+Saved rollout MP4 at path ./rollouts/CLi800_t4/2026_07_31-14_59_19--episode=26--success=False--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Saved rollout MP4 at path ./rollouts/CLi800_t4/2026_07_31-14_59_19--with_future_img--episode=26--success=False--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Success: False
+# episodes completed so far: 26
+# successes: 11 (42.3%)
+
+Task: put the bowl on top of the cabinet
+Starting episode 27...
+Query 1/1: Action query time = 1.036 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4743
+t=10: Selected seed 195 with value = 0.4743
+Query 1/1: Action query time = 1.041 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5586
+t=26: Selected seed 195 with value = 0.5586
+Query 1/1: Action query time = 0.995 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6341
+t=42: Selected seed 195 with value = 0.6341
+Query 1/1: Action query time = 0.978 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8187
+t=58: Selected seed 195 with value = 0.8187
+Query 1/1: Action query time = 0.971 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8416
+t=74: Selected seed 195 with value = 0.8416
+Query 1/1: Action query time = 0.993 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9161
+t=90: Selected seed 195 with value = 0.9161
+Query 1/1: Action query time = 0.981 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9198
+t=106: Selected seed 195 with value = 0.9198
+Query 1/1: Action query time = 0.988 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9304
+t=122: Selected seed 195 with value = 0.9304
+Query 1/1: Action query time = 0.986 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9253
+t=138: Selected seed 195 with value = 0.9253
+Query 1/1: Action query time = 0.968 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9260
+t=154: Selected seed 195 with value = 0.9260
+Query 1/1: Action query time = 0.971 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9948
+t=170: Selected seed 195 with value = 0.9948
+Query 1/1: Action query time = 0.980 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9962
+t=186: Selected seed 195 with value = 0.9962
+Query 1/1: Action query time = 0.995 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9887
+t=202: Selected seed 195 with value = 0.9887
+Query 1/1: Action query time = 0.972 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9767
+t=218: Selected seed 195 with value = 0.9767
+Query 1/1: Action query time = 0.993 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9590
+t=234: Selected seed 195 with value = 0.9590
+Query 1/1: Action query time = 0.972 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8532
+t=250: Selected seed 195 with value = 0.8532
+Query 1/1: Action query time = 0.983 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9126
+t=266: Selected seed 195 with value = 0.9126
+Query 1/1: Action query time = 0.965 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9598
+t=282: Selected seed 195 with value = 0.9598
+Query 1/1: Action query time = 0.951 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9958
+t=298: Selected seed 195 with value = 0.9958
+Saved rollout MP4 at path ./rollouts/CLi800_t4/2026_07_31-14_59_19--episode=27--success=False--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Saved rollout MP4 at path ./rollouts/CLi800_t4/2026_07_31-14_59_19--with_future_img--episode=27--success=False--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Success: False
+# episodes completed so far: 27
+# successes: 11 (40.7%)
+
+Task: put the bowl on top of the cabinet
+Starting episode 28...
+Query 1/1: Action query time = 0.978 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5034
+t=10: Selected seed 195 with value = 0.5034
+Query 1/1: Action query time = 0.961 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5714
+t=26: Selected seed 195 with value = 0.5714
+Query 1/1: Action query time = 0.961 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5850
+t=42: Selected seed 195 with value = 0.5850
+Query 1/1: Action query time = 0.963 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5953
+t=58: Selected seed 195 with value = 0.5953
+Query 1/1: Action query time = 0.950 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6782
+t=74: Selected seed 195 with value = 0.6782
+Query 1/1: Action query time = 0.986 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8277
+t=90: Selected seed 195 with value = 0.8277
+Query 1/1: Action query time = 0.979 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9445
+t=106: Selected seed 195 with value = 0.9445
+Query 1/1: Action query time = 0.974 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9662
+t=122: Selected seed 195 with value = 0.9662
+Query 1/1: Action query time = 0.971 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9167
+t=138: Selected seed 195 with value = 0.9167
+Query 1/1: Action query time = 1.001 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9911
+t=154: Selected seed 195 with value = 0.9911
+Query 1/1: Action query time = 0.973 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9357
+t=170: Selected seed 195 with value = 0.9357
+Query 1/1: Action query time = 1.013 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7986
+t=186: Selected seed 195 with value = 0.7986
+Query 1/1: Action query time = 0.959 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8724
+t=202: Selected seed 195 with value = 0.8724
+Query 1/1: Action query time = 0.981 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9813
+t=218: Selected seed 195 with value = 0.9813
+Query 1/1: Action query time = 0.984 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9781
+t=234: Selected seed 195 with value = 0.9781
+Query 1/1: Action query time = 0.973 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9864
+t=250: Selected seed 195 with value = 0.9864
+Query 1/1: Action query time = 0.981 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9955
+t=266: Selected seed 195 with value = 0.9955
+Query 1/1: Action query time = 0.980 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=282: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.970 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9985
+t=298: Selected seed 195 with value = 0.9985
+Saved rollout MP4 at path ./rollouts/CLi800_t4/2026_07_31-14_59_19--episode=28--success=False--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Saved rollout MP4 at path ./rollouts/CLi800_t4/2026_07_31-14_59_19--with_future_img--episode=28--success=False--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Success: False
+# episodes completed so far: 28
+# successes: 11 (39.3%)
+
+Task: put the bowl on top of the cabinet
+Starting episode 29...
+Query 1/1: Action query time = 0.970 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4998
+t=10: Selected seed 195 with value = 0.4998
+Query 1/1: Action query time = 0.964 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5668
+t=26: Selected seed 195 with value = 0.5668
+Query 1/1: Action query time = 0.962 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6213
+t=42: Selected seed 195 with value = 0.6213
+Query 1/1: Action query time = 0.965 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7750
+t=58: Selected seed 195 with value = 0.7750
+Query 1/1: Action query time = 0.957 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9368
+t=74: Selected seed 195 with value = 0.9368
+Query 1/1: Action query time = 0.993 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/CLi800_t4/2026_07_31-14_59_19--episode=29--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Saved rollout MP4 at path ./rollouts/CLi800_t4/2026_07_31-14_59_19--with_future_img--episode=29--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Success: True
+# episodes completed so far: 29
+# successes: 12 (41.4%)
+
+Task: put the bowl on top of the cabinet
+Starting episode 30...
+Query 1/1: Action query time = 0.976 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4868
+t=10: Selected seed 195 with value = 0.4868
+Query 1/1: Action query time = 0.963 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5668
+t=26: Selected seed 195 with value = 0.5668
+Query 1/1: Action query time = 0.973 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6310
+t=42: Selected seed 195 with value = 0.6310
+Query 1/1: Action query time = 0.964 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6504
+t=58: Selected seed 195 with value = 0.6504
+Query 1/1: Action query time = 0.947 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6583
+t=74: Selected seed 195 with value = 0.6583
+Query 1/1: Action query time = 0.982 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8661
+t=90: Selected seed 195 with value = 0.8661
+Query 1/1: Action query time = 0.956 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6313
+t=106: Selected seed 195 with value = 0.6313
+Query 1/1: Action query time = 0.959 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8329
+t=122: Selected seed 195 with value = 0.8329
+Query 1/1: Action query time = 0.968 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6291
+t=138: Selected seed 195 with value = 0.6291
+Query 1/1: Action query time = 0.963 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7524
+t=154: Selected seed 195 with value = 0.7524
+Query 1/1: Action query time = 0.974 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8415
+t=170: Selected seed 195 with value = 0.8415
+Query 1/1: Action query time = 0.964 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9411
+t=186: Selected seed 195 with value = 0.9411
+Query 1/1: Action query time = 0.955 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9586
+t=202: Selected seed 195 with value = 0.9586
+Query 1/1: Action query time = 0.972 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9929
+t=218: Selected seed 195 with value = 0.9929
+Query 1/1: Action query time = 0.974 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9963
+t=234: Selected seed 195 with value = 0.9963
+Query 1/1: Action query time = 0.966 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9929
+t=250: Selected seed 195 with value = 0.9929
+Query 1/1: Action query time = 0.989 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9879
+t=266: Selected seed 195 with value = 0.9879
+Query 1/1: Action query time = 1.030 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9907
+t=282: Selected seed 195 with value = 0.9907
+Query 1/1: Action query time = 1.008 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9907
+t=298: Selected seed 195 with value = 0.9907
+Saved rollout MP4 at path ./rollouts/CLi800_t4/2026_07_31-14_59_19--episode=30--success=False--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Saved rollout MP4 at path ./rollouts/CLi800_t4/2026_07_31-14_59_19--with_future_img--episode=30--success=False--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Success: False
+# episodes completed so far: 30
+# successes: 12 (40.0%)
+
+Task: put the bowl on top of the cabinet
+Starting episode 31...
+Query 1/1: Action query time = 0.978 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4618
+t=10: Selected seed 195 with value = 0.4618
+Query 1/1: Action query time = 0.953 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5705
+t=26: Selected seed 195 with value = 0.5705
+Query 1/1: Action query time = 0.974 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6162
+t=42: Selected seed 195 with value = 0.6162
+Query 1/1: Action query time = 0.983 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6079
+t=58: Selected seed 195 with value = 0.6079
+Query 1/1: Action query time = 0.967 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7312
+t=74: Selected seed 195 with value = 0.7312
+Query 1/1: Action query time = 0.968 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7584
+t=90: Selected seed 195 with value = 0.7584
+Query 1/1: Action query time = 0.970 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8821
+t=106: Selected seed 195 with value = 0.8821
+Query 1/1: Action query time = 0.954 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9731
+t=122: Selected seed 195 with value = 0.9731
+Saved rollout MP4 at path ./rollouts/CLi800_t4/2026_07_31-14_59_19--episode=31--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Saved rollout MP4 at path ./rollouts/CLi800_t4/2026_07_31-14_59_19--with_future_img--episode=31--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Success: True
+# episodes completed so far: 31
+# successes: 13 (41.9%)
+
+Task: put the bowl on top of the cabinet
+Starting episode 32...
+Query 1/1: Action query time = 0.975 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4790
+t=10: Selected seed 195 with value = 0.4790
+Query 1/1: Action query time = 0.990 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5788
+t=26: Selected seed 195 with value = 0.5788
+Query 1/1: Action query time = 0.977 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6489
+t=42: Selected seed 195 with value = 0.6489
+Query 1/1: Action query time = 0.969 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8208
+t=58: Selected seed 195 with value = 0.8208
+Query 1/1: Action query time = 0.966 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8992
+t=74: Selected seed 195 with value = 0.8992
+Query 1/1: Action query time = 0.959 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9771
+t=90: Selected seed 195 with value = 0.9771
+Query 1/1: Action query time = 0.971 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9436
+t=106: Selected seed 195 with value = 0.9436
+Query 1/1: Action query time = 0.952 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9941
+t=122: Selected seed 195 with value = 0.9941
+Query 1/1: Action query time = 0.974 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9962
+t=138: Selected seed 195 with value = 0.9962
+Query 1/1: Action query time = 0.962 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9873
+t=154: Selected seed 195 with value = 0.9873
+Query 1/1: Action query time = 0.958 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9849
+t=170: Selected seed 195 with value = 0.9849
+Query 1/1: Action query time = 0.970 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9853
+t=186: Selected seed 195 with value = 0.9853
+Query 1/1: Action query time = 0.954 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9855
+t=202: Selected seed 195 with value = 0.9855
+Query 1/1: Action query time = 0.998 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9865
+t=218: Selected seed 195 with value = 0.9865
+Query 1/1: Action query time = 0.998 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9853
+t=234: Selected seed 195 with value = 0.9853
+Query 1/1: Action query time = 1.062 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9845
+t=250: Selected seed 195 with value = 0.9845
+Query 1/1: Action query time = 1.099 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9859
+t=266: Selected seed 195 with value = 0.9859
+Query 1/1: Action query time = 1.123 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9862
+t=282: Selected seed 195 with value = 0.9862
+Query 1/1: Action query time = 1.138 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9814
+t=298: Selected seed 195 with value = 0.9814
+Saved rollout MP4 at path ./rollouts/CLi800_t4/2026_07_31-14_59_19--episode=32--success=False--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Saved rollout MP4 at path ./rollouts/CLi800_t4/2026_07_31-14_59_19--with_future_img--episode=32--success=False--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Success: False
+# episodes completed so far: 32
+# successes: 13 (40.6%)
+
+Task: put the bowl on top of the cabinet
+Starting episode 33...
+Query 1/1: Action query time = 0.976 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5195
+t=10: Selected seed 195 with value = 0.5195
+Query 1/1: Action query time = 1.174 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5728
+t=26: Selected seed 195 with value = 0.5728
+Query 1/1: Action query time = 1.165 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6221
+t=42: Selected seed 195 with value = 0.6221
+Query 1/1: Action query time = 1.171 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7844
+t=58: Selected seed 195 with value = 0.7844
+Query 1/1: Action query time = 1.193 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8750
+t=74: Selected seed 195 with value = 0.8750
+Query 1/1: Action query time = 1.135 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6168
+t=90: Selected seed 195 with value = 0.6168
+Query 1/1: Action query time = 1.088 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7237
+t=106: Selected seed 195 with value = 0.7237
+Query 1/1: Action query time = 1.056 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8306
+t=122: Selected seed 195 with value = 0.8306
+Query 1/1: Action query time = 1.107 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9294
+t=138: Selected seed 195 with value = 0.9294
+Query 1/1: Action query time = 1.186 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9526
+t=154: Selected seed 195 with value = 0.9526
+Query 1/1: Action query time = 1.205 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9921
+t=170: Selected seed 195 with value = 0.9921
+Query 1/1: Action query time = 1.173 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9950
+t=186: Selected seed 195 with value = 0.9950
+Query 1/1: Action query time = 1.123 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9943
+t=202: Selected seed 195 with value = 0.9943
+Query 1/1: Action query time = 1.136 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9916
+t=218: Selected seed 195 with value = 0.9916
+Query 1/1: Action query time = 1.129 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9849
+t=234: Selected seed 195 with value = 0.9849
+Query 1/1: Action query time = 1.114 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9870
+t=250: Selected seed 195 with value = 0.9870
+Query 1/1: Action query time = 1.111 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9864
+t=266: Selected seed 195 with value = 0.9864
+Query 1/1: Action query time = 1.100 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9882
+t=282: Selected seed 195 with value = 0.9882
+Query 1/1: Action query time = 1.071 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9885
+t=298: Selected seed 195 with value = 0.9885
+Saved rollout MP4 at path ./rollouts/CLi800_t4/2026_07_31-14_59_19--episode=33--success=False--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Saved rollout MP4 at path ./rollouts/CLi800_t4/2026_07_31-14_59_19--with_future_img--episode=33--success=False--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Success: False
+# episodes completed so far: 33
+# successes: 13 (39.4%)
+
+Task: put the bowl on top of the cabinet
+Starting episode 34...
+Query 1/1: Action query time = 0.982 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4976
+t=10: Selected seed 195 with value = 0.4976
+Query 1/1: Action query time = 1.076 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5607
+t=26: Selected seed 195 with value = 0.5607
+Query 1/1: Action query time = 1.047 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6402
+t=42: Selected seed 195 with value = 0.6402
+Query 1/1: Action query time = 1.174 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8302
+t=58: Selected seed 195 with value = 0.8302
+Query 1/1: Action query time = 1.154 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8640
+t=74: Selected seed 195 with value = 0.8640
+Query 1/1: Action query time = 1.036 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9108
+t=90: Selected seed 195 with value = 0.9108
+Query 1/1: Action query time = 0.971 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9233
+t=106: Selected seed 195 with value = 0.9233
+Query 1/1: Action query time = 0.962 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9438
+t=122: Selected seed 195 with value = 0.9438
+Query 1/1: Action query time = 1.008 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9986
+t=138: Selected seed 195 with value = 0.9986
+Query 1/1: Action query time = 1.005 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9828
+t=154: Selected seed 195 with value = 0.9828
+Query 1/1: Action query time = 1.065 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9814
+t=170: Selected seed 195 with value = 0.9814
+Query 1/1: Action query time = 0.998 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9058
+t=186: Selected seed 195 with value = 0.9058
+Query 1/1: Action query time = 0.984 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9615
+t=202: Selected seed 195 with value = 0.9615
+Query 1/1: Action query time = 0.985 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9650
+t=218: Selected seed 195 with value = 0.9650
+Query 1/1: Action query time = 0.968 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9972
+t=234: Selected seed 195 with value = 0.9972
+Query 1/1: Action query time = 0.983 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9885
+t=250: Selected seed 195 with value = 0.9885
+Query 1/1: Action query time = 0.964 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9805
+t=266: Selected seed 195 with value = 0.9805
+Query 1/1: Action query time = 0.980 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9718
+t=282: Selected seed 195 with value = 0.9718
+Query 1/1: Action query time = 0.955 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9632
+t=298: Selected seed 195 with value = 0.9632
+Saved rollout MP4 at path ./rollouts/CLi800_t4/2026_07_31-14_59_19--episode=34--success=False--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Saved rollout MP4 at path ./rollouts/CLi800_t4/2026_07_31-14_59_19--with_future_img--episode=34--success=False--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Success: False
+# episodes completed so far: 34
+# successes: 13 (38.2%)
+
+Task: put the bowl on top of the cabinet
+Starting episode 35...
+Query 1/1: Action query time = 0.984 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4764
+t=10: Selected seed 195 with value = 0.4764
+Query 1/1: Action query time = 0.973 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5561
+t=26: Selected seed 195 with value = 0.5561
+Query 1/1: Action query time = 0.950 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6564
+t=42: Selected seed 195 with value = 0.6564
+Query 1/1: Action query time = 0.975 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7927
+t=58: Selected seed 195 with value = 0.7927
+Query 1/1: Action query time = 0.978 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8812
+t=74: Selected seed 195 with value = 0.8812
+Query 1/1: Action query time = 0.983 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9534
+t=90: Selected seed 195 with value = 0.9534
+Query 1/1: Action query time = 0.965 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9298
+t=106: Selected seed 195 with value = 0.9298
+Query 1/1: Action query time = 0.963 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8558
+t=122: Selected seed 195 with value = 0.8558
+Query 1/1: Action query time = 0.982 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9295
+t=138: Selected seed 195 with value = 0.9295
+Query 1/1: Action query time = 0.967 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9767
+t=154: Selected seed 195 with value = 0.9767
+Query 1/1: Action query time = 0.984 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9918
+t=170: Selected seed 195 with value = 0.9918
+Query 1/1: Action query time = 0.975 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9920
+t=186: Selected seed 195 with value = 0.9920
+Query 1/1: Action query time = 0.966 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9873
+t=202: Selected seed 195 with value = 0.9873
+Query 1/1: Action query time = 0.971 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9820
+t=218: Selected seed 195 with value = 0.9820
+Query 1/1: Action query time = 0.983 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9840
+t=234: Selected seed 195 with value = 0.9840
+Query 1/1: Action query time = 0.957 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9560
+t=250: Selected seed 195 with value = 0.9560
+Query 1/1: Action query time = 0.974 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9506
+t=266: Selected seed 195 with value = 0.9506
+Query 1/1: Action query time = 0.962 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9968
+t=282: Selected seed 195 with value = 0.9968
+Query 1/1: Action query time = 1.001 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9886
+t=298: Selected seed 195 with value = 0.9886
+Saved rollout MP4 at path ./rollouts/CLi800_t4/2026_07_31-14_59_19--episode=35--success=False--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Saved rollout MP4 at path ./rollouts/CLi800_t4/2026_07_31-14_59_19--with_future_img--episode=35--success=False--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Success: False
+# episodes completed so far: 35
+# successes: 13 (37.1%)
+
+Task: put the bowl on top of the cabinet
+Starting episode 36...
+Query 1/1: Action query time = 0.962 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4947
+t=10: Selected seed 195 with value = 0.4947
+Query 1/1: Action query time = 0.965 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5832
+t=26: Selected seed 195 with value = 0.5832
+Query 1/1: Action query time = 0.965 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6540
+t=42: Selected seed 195 with value = 0.6540
+Query 1/1: Action query time = 0.962 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8004
+t=58: Selected seed 195 with value = 0.8004
+Query 1/1: Action query time = 0.971 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9438
+t=74: Selected seed 195 with value = 0.9438
+Query 1/1: Action query time = 0.965 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9851
+t=90: Selected seed 195 with value = 0.9851
+Query 1/1: Action query time = 0.973 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9756
+t=106: Selected seed 195 with value = 0.9756
+Query 1/1: Action query time = 0.966 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9982
+t=122: Selected seed 195 with value = 0.9982
+Query 1/1: Action query time = 0.960 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9960
+t=138: Selected seed 195 with value = 0.9960
+Query 1/1: Action query time = 0.962 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9945
+t=154: Selected seed 195 with value = 0.9945
+Query 1/1: Action query time = 0.963 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9897
+t=170: Selected seed 195 with value = 0.9897
+Query 1/1: Action query time = 0.964 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9861
+t=186: Selected seed 195 with value = 0.9861
+Query 1/1: Action query time = 1.017 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9861
+t=202: Selected seed 195 with value = 0.9861
+Query 1/1: Action query time = 0.997 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9862
+t=218: Selected seed 195 with value = 0.9862
+Query 1/1: Action query time = 1.015 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9864
+t=234: Selected seed 195 with value = 0.9864
+Query 1/1: Action query time = 1.025 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9850
+t=250: Selected seed 195 with value = 0.9850
+Query 1/1: Action query time = 1.002 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9836
+t=266: Selected seed 195 with value = 0.9836
+Query 1/1: Action query time = 1.009 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9850
+t=282: Selected seed 195 with value = 0.9850
+Query 1/1: Action query time = 1.021 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9846
+t=298: Selected seed 195 with value = 0.9846
+Saved rollout MP4 at path ./rollouts/CLi800_t4/2026_07_31-14_59_19--episode=36--success=False--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Saved rollout MP4 at path ./rollouts/CLi800_t4/2026_07_31-14_59_19--with_future_img--episode=36--success=False--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Success: False
+# episodes completed so far: 36
+# successes: 13 (36.1%)
+
+Task: put the bowl on top of the cabinet
+Starting episode 37...
+Query 1/1: Action query time = 0.977 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4803
+t=10: Selected seed 195 with value = 0.4803
+Query 1/1: Action query time = 0.970 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5658
+t=26: Selected seed 195 with value = 0.5658
+Query 1/1: Action query time = 0.968 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6302
+t=42: Selected seed 195 with value = 0.6302
+Query 1/1: Action query time = 0.974 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8042
+t=58: Selected seed 195 with value = 0.8042
+Query 1/1: Action query time = 0.964 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9267
+t=74: Selected seed 195 with value = 0.9267
+Query 1/1: Action query time = 0.977 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8966
+t=90: Selected seed 195 with value = 0.8966
+Query 1/1: Action query time = 0.970 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9609
+t=106: Selected seed 195 with value = 0.9609
+Query 1/1: Action query time = 0.968 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8190
+t=122: Selected seed 195 with value = 0.8190
+Query 1/1: Action query time = 0.970 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9426
+t=138: Selected seed 195 with value = 0.9426
+Query 1/1: Action query time = 0.972 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6074
+t=154: Selected seed 195 with value = 0.6074
+Query 1/1: Action query time = 0.972 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9603
+t=170: Selected seed 195 with value = 0.9603
+Query 1/1: Action query time = 0.969 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5837
+t=186: Selected seed 195 with value = 0.5837
+Query 1/1: Action query time = 0.974 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9482
+t=202: Selected seed 195 with value = 0.9482
+Query 1/1: Action query time = 0.967 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5848
+t=218: Selected seed 195 with value = 0.5848
+Query 1/1: Action query time = 0.978 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9319
+t=234: Selected seed 195 with value = 0.9319
+Query 1/1: Action query time = 0.954 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5775
+t=250: Selected seed 195 with value = 0.5775
+Query 1/1: Action query time = 0.968 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8237
+t=266: Selected seed 195 with value = 0.8237
+Query 1/1: Action query time = 0.965 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5613
+t=282: Selected seed 195 with value = 0.5613
+Query 1/1: Action query time = 0.985 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6819
+t=298: Selected seed 195 with value = 0.6819
+Saved rollout MP4 at path ./rollouts/CLi800_t4/2026_07_31-14_59_19--episode=37--success=False--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Saved rollout MP4 at path ./rollouts/CLi800_t4/2026_07_31-14_59_19--with_future_img--episode=37--success=False--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Success: False
+# episodes completed so far: 37
+# successes: 13 (35.1%)
+
+Task: put the bowl on top of the cabinet
+Starting episode 38...
+Query 1/1: Action query time = 0.973 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4703
+t=10: Selected seed 195 with value = 0.4703
+Query 1/1: Action query time = 0.972 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5898
+t=26: Selected seed 195 with value = 0.5898
+Query 1/1: Action query time = 0.973 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6176
+t=42: Selected seed 195 with value = 0.6176
+Query 1/1: Action query time = 0.986 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5652
+t=58: Selected seed 195 with value = 0.5652
+Query 1/1: Action query time = 0.974 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6662
+t=74: Selected seed 195 with value = 0.6662
+Query 1/1: Action query time = 0.977 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7371
+t=90: Selected seed 195 with value = 0.7371
+Query 1/1: Action query time = 0.974 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8747
+t=106: Selected seed 195 with value = 0.8747
+Query 1/1: Action query time = 0.973 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9868
+t=122: Selected seed 195 with value = 0.9868
+Query 1/1: Action query time = 0.977 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9573
+t=138: Selected seed 195 with value = 0.9573
+Query 1/1: Action query time = 0.977 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9590
+t=154: Selected seed 195 with value = 0.9590
+Query 1/1: Action query time = 0.986 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9928
+t=170: Selected seed 195 with value = 0.9928
+Query 1/1: Action query time = 0.982 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9884
+t=186: Selected seed 195 with value = 0.9884
+Query 1/1: Action query time = 0.980 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9876
+t=202: Selected seed 195 with value = 0.9876
+Query 1/1: Action query time = 0.965 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9894
+t=218: Selected seed 195 with value = 0.9894
+Query 1/1: Action query time = 0.969 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9897
+t=234: Selected seed 195 with value = 0.9897
+Query 1/1: Action query time = 0.985 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9865
+t=250: Selected seed 195 with value = 0.9865
+Query 1/1: Action query time = 0.973 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9825
+t=266: Selected seed 195 with value = 0.9825
+Query 1/1: Action query time = 0.973 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9779
+t=282: Selected seed 195 with value = 0.9779
+Query 1/1: Action query time = 1.103 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9704
+t=298: Selected seed 195 with value = 0.9704
+Saved rollout MP4 at path ./rollouts/CLi800_t4/2026_07_31-14_59_19--episode=38--success=False--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Saved rollout MP4 at path ./rollouts/CLi800_t4/2026_07_31-14_59_19--with_future_img--episode=38--success=False--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Success: False
+# episodes completed so far: 38
+# successes: 13 (34.2%)
+
+Task: put the bowl on top of the cabinet
+Starting episode 39...
+Query 1/1: Action query time = 0.968 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4838
+t=10: Selected seed 195 with value = 0.4838
+Query 1/1: Action query time = 1.154 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5554
+t=26: Selected seed 195 with value = 0.5554
+Query 1/1: Action query time = 1.149 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6453
+t=42: Selected seed 195 with value = 0.6453
+Query 1/1: Action query time = 1.024 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8134
+t=58: Selected seed 195 with value = 0.8134
+Query 1/1: Action query time = 1.054 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9448
+t=74: Selected seed 195 with value = 0.9448
+Query 1/1: Action query time = 0.995 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/CLi800_t4/2026_07_31-14_59_19--episode=39--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Saved rollout MP4 at path ./rollouts/CLi800_t4/2026_07_31-14_59_19--with_future_img--episode=39--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Success: True
+# episodes completed so far: 39
+# successes: 14 (35.9%)
+
+Task: put the bowl on top of the cabinet
+Starting episode 40...
+Query 1/1: Action query time = 0.998 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4733
+t=10: Selected seed 195 with value = 0.4733
+Query 1/1: Action query time = 0.973 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5595
+t=26: Selected seed 195 with value = 0.5595
+Query 1/1: Action query time = 0.976 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6169
+t=42: Selected seed 195 with value = 0.6169
+Query 1/1: Action query time = 0.970 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7519
+t=58: Selected seed 195 with value = 0.7519
+Query 1/1: Action query time = 0.970 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8468
+t=74: Selected seed 195 with value = 0.8468
+Query 1/1: Action query time = 0.962 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9506
+t=90: Selected seed 195 with value = 0.9506
+Query 1/1: Action query time = 0.966 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9866
+t=106: Selected seed 195 with value = 0.9866
+Query 1/1: Action query time = 0.955 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9603
+t=122: Selected seed 195 with value = 0.9603
+Query 1/1: Action query time = 0.984 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9883
+t=138: Selected seed 195 with value = 0.9883
+Query 1/1: Action query time = 0.963 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9694
+t=154: Selected seed 195 with value = 0.9694
+Query 1/1: Action query time = 0.962 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9557
+t=170: Selected seed 195 with value = 0.9557
+Query 1/1: Action query time = 0.968 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8836
+t=186: Selected seed 195 with value = 0.8836
+Query 1/1: Action query time = 0.975 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8917
+t=202: Selected seed 195 with value = 0.8917
+Query 1/1: Action query time = 0.963 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9535
+t=218: Selected seed 195 with value = 0.9535
+Query 1/1: Action query time = 0.991 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9572
+t=234: Selected seed 195 with value = 0.9572
+Query 1/1: Action query time = 0.967 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=250: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.983 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=266: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.981 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=282: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.967 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=298: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/CLi800_t4/2026_07_31-14_59_19--episode=40--success=False--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Saved rollout MP4 at path ./rollouts/CLi800_t4/2026_07_31-14_59_19--with_future_img--episode=40--success=False--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Success: False
+# episodes completed so far: 40
+# successes: 14 (35.0%)
+
+Task: put the bowl on top of the cabinet
+Starting episode 41...
+Query 1/1: Action query time = 0.985 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4919
+t=10: Selected seed 195 with value = 0.4919
+Query 1/1: Action query time = 0.997 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5741
+t=26: Selected seed 195 with value = 0.5741
+Query 1/1: Action query time = 0.968 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6235
+t=42: Selected seed 195 with value = 0.6235
+Query 1/1: Action query time = 0.981 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7565
+t=58: Selected seed 195 with value = 0.7565
+Query 1/1: Action query time = 0.959 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9362
+t=74: Selected seed 195 with value = 0.9362
+Query 1/1: Action query time = 0.978 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9813
+t=90: Selected seed 195 with value = 0.9813
+Query 1/1: Action query time = 0.992 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9463
+t=106: Selected seed 195 with value = 0.9463
+Query 1/1: Action query time = 0.962 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9570
+t=122: Selected seed 195 with value = 0.9570
+Query 1/1: Action query time = 0.985 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6089
+t=138: Selected seed 195 with value = 0.6089
+Query 1/1: Action query time = 0.982 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9736
+t=154: Selected seed 195 with value = 0.9736
+Query 1/1: Action query time = 0.969 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6125
+t=170: Selected seed 195 with value = 0.6125
+Query 1/1: Action query time = 0.972 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9107
+t=186: Selected seed 195 with value = 0.9107
+Query 1/1: Action query time = 0.991 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6184
+t=202: Selected seed 195 with value = 0.6184
+Query 1/1: Action query time = 0.965 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9058
+t=218: Selected seed 195 with value = 0.9058
+Query 1/1: Action query time = 0.953 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6023
+t=234: Selected seed 195 with value = 0.6023
+Query 1/1: Action query time = 0.954 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8728
+t=250: Selected seed 195 with value = 0.8728
+Query 1/1: Action query time = 0.973 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5946
+t=266: Selected seed 195 with value = 0.5946
+Query 1/1: Action query time = 0.970 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9118
+t=282: Selected seed 195 with value = 0.9118
+Query 1/1: Action query time = 0.962 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5801
+t=298: Selected seed 195 with value = 0.5801
+Saved rollout MP4 at path ./rollouts/CLi800_t4/2026_07_31-14_59_19--episode=41--success=False--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Saved rollout MP4 at path ./rollouts/CLi800_t4/2026_07_31-14_59_19--with_future_img--episode=41--success=False--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Success: False
+# episodes completed so far: 41
+# successes: 14 (34.1%)
+
+Task: put the bowl on top of the cabinet
+Starting episode 42...
+Query 1/1: Action query time = 0.991 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5139
+t=10: Selected seed 195 with value = 0.5139
+Query 1/1: Action query time = 0.985 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5689
+t=26: Selected seed 195 with value = 0.5689
+Query 1/1: Action query time = 0.963 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6247
+t=42: Selected seed 195 with value = 0.6247
+Query 1/1: Action query time = 0.972 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8186
+t=58: Selected seed 195 with value = 0.8186
+Query 1/1: Action query time = 0.962 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8909
+t=74: Selected seed 195 with value = 0.8909
+Query 1/1: Action query time = 0.962 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9751
+t=90: Selected seed 195 with value = 0.9751
+Query 1/1: Action query time = 0.958 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9931
+t=106: Selected seed 195 with value = 0.9931
+Query 1/1: Action query time = 0.963 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9546
+t=122: Selected seed 195 with value = 0.9546
+Query 1/1: Action query time = 0.960 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9769
+t=138: Selected seed 195 with value = 0.9769
+Query 1/1: Action query time = 0.958 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9333
+t=154: Selected seed 195 with value = 0.9333
+Query 1/1: Action query time = 0.969 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9777
+t=170: Selected seed 195 with value = 0.9777
+Query 1/1: Action query time = 0.961 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9491
+t=186: Selected seed 195 with value = 0.9491
+Query 1/1: Action query time = 0.990 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9262
+t=202: Selected seed 195 with value = 0.9262
+Query 1/1: Action query time = 0.976 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8969
+t=218: Selected seed 195 with value = 0.8969
+Query 1/1: Action query time = 0.976 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9399
+t=234: Selected seed 195 with value = 0.9399
+Query 1/1: Action query time = 0.970 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9109
+t=250: Selected seed 195 with value = 0.9109
+Query 1/1: Action query time = 0.979 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9538
+t=266: Selected seed 195 with value = 0.9538
+Query 1/1: Action query time = 0.967 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9623
+t=282: Selected seed 195 with value = 0.9623
+Query 1/1: Action query time = 0.966 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9774
+t=298: Selected seed 195 with value = 0.9774
+Saved rollout MP4 at path ./rollouts/CLi800_t4/2026_07_31-14_59_19--episode=42--success=False--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Saved rollout MP4 at path ./rollouts/CLi800_t4/2026_07_31-14_59_19--with_future_img--episode=42--success=False--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Success: False
+# episodes completed so far: 42
+# successes: 14 (33.3%)
+
+Task: put the bowl on top of the cabinet
+Starting episode 43...
+Query 1/1: Action query time = 0.979 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4725
+t=10: Selected seed 195 with value = 0.4725
+Query 1/1: Action query time = 0.975 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5691
+t=26: Selected seed 195 with value = 0.5691
+Query 1/1: Action query time = 0.984 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6419
+t=42: Selected seed 195 with value = 0.6419
+Query 1/1: Action query time = 0.984 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7914
+t=58: Selected seed 195 with value = 0.7914
+Query 1/1: Action query time = 0.981 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9311
+t=74: Selected seed 195 with value = 0.9311
+Query 1/1: Action query time = 0.982 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9912
+t=90: Selected seed 195 with value = 0.9912
+Query 1/1: Action query time = 0.974 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9529
+t=106: Selected seed 195 with value = 0.9529
+Query 1/1: Action query time = 0.972 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9969
+t=122: Selected seed 195 with value = 0.9969
+Query 1/1: Action query time = 0.978 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9952
+t=138: Selected seed 195 with value = 0.9952
+Query 1/1: Action query time = 0.971 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9929
+t=154: Selected seed 195 with value = 0.9929
+Query 1/1: Action query time = 0.960 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9897
+t=170: Selected seed 195 with value = 0.9897
+Query 1/1: Action query time = 0.974 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9866
+t=186: Selected seed 195 with value = 0.9866
+Query 1/1: Action query time = 0.983 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9864
+t=202: Selected seed 195 with value = 0.9864
+Query 1/1: Action query time = 0.978 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9861
+t=218: Selected seed 195 with value = 0.9861
+Query 1/1: Action query time = 0.962 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9853
+t=234: Selected seed 195 with value = 0.9853
+Query 1/1: Action query time = 0.975 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9838
+t=250: Selected seed 195 with value = 0.9838
+Query 1/1: Action query time = 0.976 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9811
+t=266: Selected seed 195 with value = 0.9811
+Query 1/1: Action query time = 0.958 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9831
+t=282: Selected seed 195 with value = 0.9831
+Query 1/1: Action query time = 0.977 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9837
+t=298: Selected seed 195 with value = 0.9837
+Saved rollout MP4 at path ./rollouts/CLi800_t4/2026_07_31-14_59_19--episode=43--success=False--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Saved rollout MP4 at path ./rollouts/CLi800_t4/2026_07_31-14_59_19--with_future_img--episode=43--success=False--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Success: False
+# episodes completed so far: 43
+# successes: 14 (32.6%)
+
+Task: put the bowl on top of the cabinet
+Starting episode 44...
+Query 1/1: Action query time = 1.084 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4474
+t=10: Selected seed 195 with value = 0.4474
+Query 1/1: Action query time = 0.965 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5721
+t=26: Selected seed 195 with value = 0.5721
+Query 1/1: Action query time = 0.974 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6330
+t=42: Selected seed 195 with value = 0.6330
+Query 1/1: Action query time = 0.993 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6479
+t=58: Selected seed 195 with value = 0.6479
+Query 1/1: Action query time = 0.977 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7063
+t=74: Selected seed 195 with value = 0.7063
+Query 1/1: Action query time = 0.984 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7793
+t=90: Selected seed 195 with value = 0.7793
+Query 1/1: Action query time = 0.989 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9228
+t=106: Selected seed 195 with value = 0.9228
+Query 1/1: Action query time = 0.975 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9820
+t=122: Selected seed 195 with value = 0.9820
+Query 1/1: Action query time = 0.976 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9894
+t=138: Selected seed 195 with value = 0.9894
+Query 1/1: Action query time = 0.976 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9905
+t=154: Selected seed 195 with value = 0.9905
+Query 1/1: Action query time = 0.961 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9801
+t=170: Selected seed 195 with value = 0.9801
+Query 1/1: Action query time = 0.961 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9826
+t=186: Selected seed 195 with value = 0.9826
+Query 1/1: Action query time = 0.969 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9833
+t=202: Selected seed 195 with value = 0.9833
+Query 1/1: Action query time = 0.978 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9829
+t=218: Selected seed 195 with value = 0.9829
+Query 1/1: Action query time = 0.980 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9836
+t=234: Selected seed 195 with value = 0.9836
+Query 1/1: Action query time = 0.970 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9841
+t=250: Selected seed 195 with value = 0.9841
+Query 1/1: Action query time = 0.975 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9845
+t=266: Selected seed 195 with value = 0.9845
+Query 1/1: Action query time = 1.037 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9853
+t=282: Selected seed 195 with value = 0.9853
+Query 1/1: Action query time = 1.013 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9882
+t=298: Selected seed 195 with value = 0.9882
+Saved rollout MP4 at path ./rollouts/CLi800_t4/2026_07_31-14_59_19--episode=44--success=False--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Saved rollout MP4 at path ./rollouts/CLi800_t4/2026_07_31-14_59_19--with_future_img--episode=44--success=False--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Success: False
+# episodes completed so far: 44
+# successes: 14 (31.8%)
+
+Task: put the bowl on top of the cabinet
+Starting episode 45...
+Query 1/1: Action query time = 1.104 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5027
+t=10: Selected seed 195 with value = 0.5027
+Query 1/1: Action query time = 1.090 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5707
+t=26: Selected seed 195 with value = 0.5707
+Query 1/1: Action query time = 1.125 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6275
+t=42: Selected seed 195 with value = 0.6275
+Query 1/1: Action query time = 1.086 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8365
+t=58: Selected seed 195 with value = 0.8365
+Query 1/1: Action query time = 1.046 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8818
+t=74: Selected seed 195 with value = 0.8818
+Query 1/1: Action query time = 1.008 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9592
+t=90: Selected seed 195 with value = 0.9592
+Query 1/1: Action query time = 1.027 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9644
+t=106: Selected seed 195 with value = 0.9644
+Query 1/1: Action query time = 1.007 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9262
+t=122: Selected seed 195 with value = 0.9262
+Query 1/1: Action query time = 1.064 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9765
+t=138: Selected seed 195 with value = 0.9765
+Query 1/1: Action query time = 1.105 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9516
+t=154: Selected seed 195 with value = 0.9516
+Query 1/1: Action query time = 1.106 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9625
+t=170: Selected seed 195 with value = 0.9625
+Query 1/1: Action query time = 1.138 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9097
+t=186: Selected seed 195 with value = 0.9097
+Query 1/1: Action query time = 0.976 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9829
+t=202: Selected seed 195 with value = 0.9829
+Query 1/1: Action query time = 0.984 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9735
+t=218: Selected seed 195 with value = 0.9735
+Query 1/1: Action query time = 0.978 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9740
+t=234: Selected seed 195 with value = 0.9740
+Query 1/1: Action query time = 0.970 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9325
+t=250: Selected seed 195 with value = 0.9325
+Query 1/1: Action query time = 0.970 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9552
+t=266: Selected seed 195 with value = 0.9552
+Query 1/1: Action query time = 0.986 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9639
+t=282: Selected seed 195 with value = 0.9639
+Query 1/1: Action query time = 0.960 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9706
+t=298: Selected seed 195 with value = 0.9706
+Saved rollout MP4 at path ./rollouts/CLi800_t4/2026_07_31-14_59_19--episode=45--success=False--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Saved rollout MP4 at path ./rollouts/CLi800_t4/2026_07_31-14_59_19--with_future_img--episode=45--success=False--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Success: False
+# episodes completed so far: 45
+# successes: 14 (31.1%)
+
+Task: put the bowl on top of the cabinet
+Starting episode 46...
+Query 1/1: Action query time = 0.995 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4977
+t=10: Selected seed 195 with value = 0.4977
+Query 1/1: Action query time = 0.974 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5882
+t=26: Selected seed 195 with value = 0.5882
+Query 1/1: Action query time = 0.983 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6237
+t=42: Selected seed 195 with value = 0.6237
+Query 1/1: Action query time = 0.960 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8094
+t=58: Selected seed 195 with value = 0.8094
+Query 1/1: Action query time = 0.970 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8538
+t=74: Selected seed 195 with value = 0.8538
+Query 1/1: Action query time = 0.974 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9585
+t=90: Selected seed 195 with value = 0.9585
+Query 1/1: Action query time = 0.972 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9565
+t=106: Selected seed 195 with value = 0.9565
+Query 1/1: Action query time = 0.960 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9201
+t=122: Selected seed 195 with value = 0.9201
+Query 1/1: Action query time = 0.954 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9891
+t=138: Selected seed 195 with value = 0.9891
+Query 1/1: Action query time = 0.967 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9537
+t=154: Selected seed 195 with value = 0.9537
+Query 1/1: Action query time = 0.963 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9502
+t=170: Selected seed 195 with value = 0.9502
+Query 1/1: Action query time = 0.969 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9665
+t=186: Selected seed 195 with value = 0.9665
+Query 1/1: Action query time = 0.963 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8616
+t=202: Selected seed 195 with value = 0.8616
+Query 1/1: Action query time = 0.962 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9366
+t=218: Selected seed 195 with value = 0.9366
+Query 1/1: Action query time = 0.999 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9007
+t=234: Selected seed 195 with value = 0.9007
+Query 1/1: Action query time = 1.025 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7039
+t=250: Selected seed 195 with value = 0.7039
+Query 1/1: Action query time = 1.016 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9345
+t=266: Selected seed 195 with value = 0.9345
+Query 1/1: Action query time = 0.974 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8656
+t=282: Selected seed 195 with value = 0.8656
+Query 1/1: Action query time = 0.975 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6585
+t=298: Selected seed 195 with value = 0.6585
+Saved rollout MP4 at path ./rollouts/CLi800_t4/2026_07_31-14_59_19--episode=46--success=False--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Saved rollout MP4 at path ./rollouts/CLi800_t4/2026_07_31-14_59_19--with_future_img--episode=46--success=False--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Success: False
+# episodes completed so far: 46
+# successes: 14 (30.4%)
+
+Task: put the bowl on top of the cabinet
+Starting episode 47...
+Query 1/1: Action query time = 1.076 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4877
+t=10: Selected seed 195 with value = 0.4877
+Query 1/1: Action query time = 1.015 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5656
+t=26: Selected seed 195 with value = 0.5656
+Query 1/1: Action query time = 0.966 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6506
+t=42: Selected seed 195 with value = 0.6506
+Query 1/1: Action query time = 1.037 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8116
+t=58: Selected seed 195 with value = 0.8116
+Query 1/1: Action query time = 1.024 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9625
+t=74: Selected seed 195 with value = 0.9625
+Saved rollout MP4 at path ./rollouts/CLi800_t4/2026_07_31-14_59_19--episode=47--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Saved rollout MP4 at path ./rollouts/CLi800_t4/2026_07_31-14_59_19--with_future_img--episode=47--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Success: True
+# episodes completed so far: 47
+# successes: 15 (31.9%)
+
+Task: put the bowl on top of the cabinet
+Starting episode 48...
+Query 1/1: Action query time = 0.986 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4914
+t=10: Selected seed 195 with value = 0.4914
+Query 1/1: Action query time = 0.972 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5859
+t=26: Selected seed 195 with value = 0.5859
+Query 1/1: Action query time = 0.973 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6897
+t=42: Selected seed 195 with value = 0.6897
+Query 1/1: Action query time = 0.991 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8536
+t=58: Selected seed 195 with value = 0.8536
+Query 1/1: Action query time = 0.981 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8776
+t=74: Selected seed 195 with value = 0.8776
+Query 1/1: Action query time = 0.988 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9331
+t=90: Selected seed 195 with value = 0.9331
+Query 1/1: Action query time = 0.993 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9955
+t=106: Selected seed 195 with value = 0.9955
+Query 1/1: Action query time = 0.979 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9960
+t=122: Selected seed 195 with value = 0.9960
+Query 1/1: Action query time = 0.986 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9593
+t=138: Selected seed 195 with value = 0.9593
+Query 1/1: Action query time = 0.974 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8327
+t=154: Selected seed 195 with value = 0.8327
+Query 1/1: Action query time = 0.995 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8467
+t=170: Selected seed 195 with value = 0.8467
+Query 1/1: Action query time = 1.000 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9330
+t=186: Selected seed 195 with value = 0.9330
+Query 1/1: Action query time = 0.965 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9579
+t=202: Selected seed 195 with value = 0.9579
+Query 1/1: Action query time = 0.989 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9986
+t=218: Selected seed 195 with value = 0.9986
+Query 1/1: Action query time = 0.987 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=234: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.960 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9979
+t=250: Selected seed 195 with value = 0.9979
+Query 1/1: Action query time = 0.974 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9902
+t=266: Selected seed 195 with value = 0.9902
+Query 1/1: Action query time = 0.965 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9866
+t=282: Selected seed 195 with value = 0.9866
+Query 1/1: Action query time = 0.991 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9860
+t=298: Selected seed 195 with value = 0.9860
+Saved rollout MP4 at path ./rollouts/CLi800_t4/2026_07_31-14_59_19--episode=48--success=False--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Saved rollout MP4 at path ./rollouts/CLi800_t4/2026_07_31-14_59_19--with_future_img--episode=48--success=False--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Success: False
+# episodes completed so far: 48
+# successes: 15 (31.2%)
+
+Task: put the bowl on top of the cabinet
+Starting episode 49...
+Query 1/1: Action query time = 0.981 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4800
+t=10: Selected seed 195 with value = 0.4800
+Query 1/1: Action query time = 0.975 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5691
+t=26: Selected seed 195 with value = 0.5691
+Query 1/1: Action query time = 0.979 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6311
+t=42: Selected seed 195 with value = 0.6311
+Query 1/1: Action query time = 0.974 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6828
+t=58: Selected seed 195 with value = 0.6828
+Query 1/1: Action query time = 0.976 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9221
+t=74: Selected seed 195 with value = 0.9221
+Query 1/1: Action query time = 0.982 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8972
+t=90: Selected seed 195 with value = 0.8972
+Query 1/1: Action query time = 0.968 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9333
+t=106: Selected seed 195 with value = 0.9333
+Query 1/1: Action query time = 0.986 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6457
+t=122: Selected seed 195 with value = 0.6457
+Query 1/1: Action query time = 0.957 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8141
+t=138: Selected seed 195 with value = 0.8141
+Query 1/1: Action query time = 0.967 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8785
+t=154: Selected seed 195 with value = 0.8785
+Query 1/1: Action query time = 0.983 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9463
+t=170: Selected seed 195 with value = 0.9463
+Query 1/1: Action query time = 0.960 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9962
+t=186: Selected seed 195 with value = 0.9962
+Query 1/1: Action query time = 0.965 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=202: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.977 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=218: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.965 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=234: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.990 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9996
+t=250: Selected seed 195 with value = 0.9996
+Query 1/1: Action query time = 0.991 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9993
+t=266: Selected seed 195 with value = 0.9993
+Query 1/1: Action query time = 0.977 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9991
+t=282: Selected seed 195 with value = 0.9991
+Query 1/1: Action query time = 0.972 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9991
+t=298: Selected seed 195 with value = 0.9991
+Saved rollout MP4 at path ./rollouts/CLi800_t4/2026_07_31-14_59_19--episode=49--success=False--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Saved rollout MP4 at path ./rollouts/CLi800_t4/2026_07_31-14_59_19--with_future_img--episode=49--success=False--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Success: False
+# episodes completed so far: 49
+# successes: 15 (30.6%)
+
+Task: put the bowl on top of the cabinet
+Starting episode 50...
+Query 1/1: Action query time = 1.076 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4819
+t=10: Selected seed 195 with value = 0.4819
+Query 1/1: Action query time = 0.970 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5879
+t=26: Selected seed 195 with value = 0.5879
+Query 1/1: Action query time = 0.956 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6342
+t=42: Selected seed 195 with value = 0.6342
+Query 1/1: Action query time = 0.988 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6513
+t=58: Selected seed 195 with value = 0.6513
+Query 1/1: Action query time = 0.984 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8436
+t=74: Selected seed 195 with value = 0.8436
+Query 1/1: Action query time = 0.979 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9764
+t=90: Selected seed 195 with value = 0.9764
+Query 1/1: Action query time = 1.000 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9539
+t=106: Selected seed 195 with value = 0.9539
+Query 1/1: Action query time = 0.988 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9644
+t=122: Selected seed 195 with value = 0.9644
+Query 1/1: Action query time = 0.968 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9559
+t=138: Selected seed 195 with value = 0.9559
+Query 1/1: Action query time = 0.969 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9742
+t=154: Selected seed 195 with value = 0.9742
+Query 1/1: Action query time = 0.992 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9883
+t=170: Selected seed 195 with value = 0.9883
+Query 1/1: Action query time = 0.992 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=186: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.970 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9978
+t=202: Selected seed 195 with value = 0.9978
+Query 1/1: Action query time = 0.983 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9847
+t=218: Selected seed 195 with value = 0.9847
+Query 1/1: Action query time = 0.977 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9750
+t=234: Selected seed 195 with value = 0.9750
+Query 1/1: Action query time = 0.958 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9710
+t=250: Selected seed 195 with value = 0.9710
+Query 1/1: Action query time = 0.961 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9680
+t=266: Selected seed 195 with value = 0.9680
+Query 1/1: Action query time = 0.976 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9620
+t=282: Selected seed 195 with value = 0.9620
+Query 1/1: Action query time = 0.978 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9121
+t=298: Selected seed 195 with value = 0.9121
+Saved rollout MP4 at path ./rollouts/CLi800_t4/2026_07_31-14_59_19--episode=50--success=False--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Saved rollout MP4 at path ./rollouts/CLi800_t4/2026_07_31-14_59_19--with_future_img--episode=50--success=False--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Success: False
+# episodes completed so far: 50
+# successes: 15 (30.0%)
+Current task success rate: 0.3
+Current total success rate: 0.3
+Final results:
+Total episodes: 50
+Total successes: 15
+Overall success rate: 0.3000 (30.0%)
diff --git a/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_07_31-15_21_15--CLi800_t2.txt b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_07_31-15_21_15--CLi800_t2.txt
new file mode 100644
index 0000000000000000000000000000000000000000..e7425f3f4c09aa6f45f2638213a748e0a0469a4c
--- /dev/null
+++ b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_07_31-15_21_15--CLi800_t2.txt
@@ -0,0 +1,2196 @@
+Eval config: PolicyEvalConfig(suite='libero', model_family='cosmos', config='cosmos_predict2_2b_480p_libero_cl_stage_inference_only', ckpt_path='/home/azureuser/REGEN-main/old/cosmos_policy/cosmos_v2_finetune/cosmos_predict2_2b_480p_libero_goal_task6_regen_cl_from40k_2gpu/checkpoints/iter_000000800/model', planning_model_config_name='', planning_model_ckpt_path='', config_file='cosmos_policy/config/config.py', packnet_mask_path='', packnet_first_cl_libero_task=6, use_third_person_image=True, num_third_person_images=1, use_wrist_image=True, num_wrist_images=1, use_proprio=True, flip_images=True, use_variance_scale=False, use_jpeg_compression=True, ar_future_prediction=False, ar_value_prediction=False, ar_qvalue_prediction=False, num_denoising_steps_action=5, num_denoising_steps_future_state=1, num_denoising_steps_value=1, unnormalize_actions=True, normalize_proprio=True, dataset_stats_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/libero_goal_regen/dataset_statistics.json', t5_text_embeddings_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/t5_embeddings.pkl', trained_with_image_aug=True, chunk_size=16, num_open_loop_steps=16, deterministic=True, deterministic_reset=False, deterministic_reset_seed=None, use_ensemble_future_state_predictions=False, num_future_state_predictions_in_ensemble=3, future_state_ensemble_aggregation_scheme='average', use_ensemble_value_predictions=False, num_value_predictions_in_ensemble=5, value_ensemble_aggregation_scheme='average', search_depth=1, mask_current_state_action_for_value_prediction=False, mask_future_state_for_qvalue_prediction=False, num_queries_best_of_n=1, use_parallel_inference=False, available_gpus='0', parallel_timeout=15, parallel_tasks_across_gpus=False, task_suite_name='libero_goal', num_trials_per_task=50, task_ids_to_run='2', initial_states_path='DEFAULT', env_img_res=256, local_log_dir='/home/azureuser/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal', run_id_note='CLi800_t2', use_wandb=False, wandb_entity='YOUR_ENTITY', wandb_project='YOUR_PROJECT', seed=195, randomize_seed=False, data_collection=False, jpeg_compress=True, reward_stop_threshold=None, reward_stop_consecutive_steps=3, use_gpt_reward=False, gpt_reward_model='gpt-5.4-mini', gpt_reward_stop_threshold=4, gpt_reward_timeout_s=30.0, save_rollout_video=True, eval_hdf5_path='', eval_hdf5_demo_key='demo_0', data_gen_demo_ids='', replay_actions=False, replay_action_path_dir='', replay_hdf5_path='', data_generation=False, max_generation_steps=200, simple_task_max_steps=100, complex_task_max_steps=200)
+Using serial inference (parallel inference disabled)
+Task suite: libero_goal
+Number of tasks: 10
+Running only task IDs: [2]
+Using default initial states
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 1...
+Query 1/1: Action query time = 1.643 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5207
+t=10: Selected seed 195 with value = 0.5207
+Query 1/1: Action query time = 0.978 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6115
+t=26: Selected seed 195 with value = 0.6115
+Query 1/1: Action query time = 0.963 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7411
+t=42: Selected seed 195 with value = 0.7411
+Query 1/1: Action query time = 0.968 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8469
+t=58: Selected seed 195 with value = 0.8469
+Query 1/1: Action query time = 0.991 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9407
+t=74: Selected seed 195 with value = 0.9407
+Query 1/1: Action query time = 0.960 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/CLi800_t2/2026_07_31-15_21_15--episode=1--success=True--task=put_the_wine_bottle_on_top_of_the_cabine.mp4
+Saved rollout MP4 at path ./rollouts/CLi800_t2/2026_07_31-15_21_15--with_future_img--episode=1--success=True--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: True
+# episodes completed so far: 1
+# successes: 1 (100.0%)
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 2...
+Query 1/1: Action query time = 0.983 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4390
+t=10: Selected seed 195 with value = 0.4390
+Query 1/1: Action query time = 0.971 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4972
+t=26: Selected seed 195 with value = 0.4972
+Query 1/1: Action query time = 0.952 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6367
+t=42: Selected seed 195 with value = 0.6367
+Query 1/1: Action query time = 0.964 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7325
+t=58: Selected seed 195 with value = 0.7325
+Query 1/1: Action query time = 0.970 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8722
+t=74: Selected seed 195 with value = 0.8722
+Query 1/1: Action query time = 0.976 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9638
+t=90: Selected seed 195 with value = 0.9638
+Saved rollout MP4 at path ./rollouts/CLi800_t2/2026_07_31-15_21_15--episode=2--success=True--task=put_the_wine_bottle_on_top_of_the_cabine.mp4
+Saved rollout MP4 at path ./rollouts/CLi800_t2/2026_07_31-15_21_15--with_future_img--episode=2--success=True--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: True
+# episodes completed so far: 2
+# successes: 2 (100.0%)
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 3...
+Query 1/1: Action query time = 0.964 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4691
+t=10: Selected seed 195 with value = 0.4691
+Query 1/1: Action query time = 0.968 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5199
+t=26: Selected seed 195 with value = 0.5199
+Query 1/1: Action query time = 0.967 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5876
+t=42: Selected seed 195 with value = 0.5876
+Query 1/1: Action query time = 0.955 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7201
+t=58: Selected seed 195 with value = 0.7201
+Query 1/1: Action query time = 0.970 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7780
+t=74: Selected seed 195 with value = 0.7780
+Query 1/1: Action query time = 0.965 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9146
+t=90: Selected seed 195 with value = 0.9146
+Saved rollout MP4 at path ./rollouts/CLi800_t2/2026_07_31-15_21_15--episode=3--success=True--task=put_the_wine_bottle_on_top_of_the_cabine.mp4
+Saved rollout MP4 at path ./rollouts/CLi800_t2/2026_07_31-15_21_15--with_future_img--episode=3--success=True--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: True
+# episodes completed so far: 3
+# successes: 3 (100.0%)
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 4...
+Query 1/1: Action query time = 0.964 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5194
+t=10: Selected seed 195 with value = 0.5194
+Query 1/1: Action query time = 0.952 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5632
+t=26: Selected seed 195 with value = 0.5632
+Query 1/1: Action query time = 0.968 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6439
+t=42: Selected seed 195 with value = 0.6439
+Query 1/1: Action query time = 0.967 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7843
+t=58: Selected seed 195 with value = 0.7843
+Query 1/1: Action query time = 0.975 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9399
+t=74: Selected seed 195 with value = 0.9399
+Query 1/1: Action query time = 0.966 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9955
+t=90: Selected seed 195 with value = 0.9955
+Saved rollout MP4 at path ./rollouts/CLi800_t2/2026_07_31-15_21_15--episode=4--success=True--task=put_the_wine_bottle_on_top_of_the_cabine.mp4
+Saved rollout MP4 at path ./rollouts/CLi800_t2/2026_07_31-15_21_15--with_future_img--episode=4--success=True--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: True
+# episodes completed so far: 4
+# successes: 4 (100.0%)
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 5...
+Query 1/1: Action query time = 0.970 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5113
+t=10: Selected seed 195 with value = 0.5113
+Query 1/1: Action query time = 0.971 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5881
+t=26: Selected seed 195 with value = 0.5881
+Query 1/1: Action query time = 0.971 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6676
+t=42: Selected seed 195 with value = 0.6676
+Query 1/1: Action query time = 0.976 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7853
+t=58: Selected seed 195 with value = 0.7853
+Query 1/1: Action query time = 0.980 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8907
+t=74: Selected seed 195 with value = 0.8907
+Query 1/1: Action query time = 0.974 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9806
+t=90: Selected seed 195 with value = 0.9806
+Saved rollout MP4 at path ./rollouts/CLi800_t2/2026_07_31-15_21_15--episode=5--success=True--task=put_the_wine_bottle_on_top_of_the_cabine.mp4
+Saved rollout MP4 at path ./rollouts/CLi800_t2/2026_07_31-15_21_15--with_future_img--episode=5--success=True--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: True
+# episodes completed so far: 5
+# successes: 5 (100.0%)
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 6...
+Query 1/1: Action query time = 1.021 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4962
+t=10: Selected seed 195 with value = 0.4962
+Query 1/1: Action query time = 1.035 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5755
+t=26: Selected seed 195 with value = 0.5755
+Query 1/1: Action query time = 1.060 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6380
+t=42: Selected seed 195 with value = 0.6380
+Query 1/1: Action query time = 1.067 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7290
+t=58: Selected seed 195 with value = 0.7290
+Query 1/1: Action query time = 1.022 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8376
+t=74: Selected seed 195 with value = 0.8376
+Query 1/1: Action query time = 0.982 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9718
+t=90: Selected seed 195 with value = 0.9718
+Saved rollout MP4 at path ./rollouts/CLi800_t2/2026_07_31-15_21_15--episode=6--success=True--task=put_the_wine_bottle_on_top_of_the_cabine.mp4
+Saved rollout MP4 at path ./rollouts/CLi800_t2/2026_07_31-15_21_15--with_future_img--episode=6--success=True--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: True
+# episodes completed so far: 6
+# successes: 6 (100.0%)
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 7...
+Query 1/1: Action query time = 1.086 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4124
+t=10: Selected seed 195 with value = 0.4124
+Query 1/1: Action query time = 1.064 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5125
+t=26: Selected seed 195 with value = 0.5125
+Query 1/1: Action query time = 1.046 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5975
+t=42: Selected seed 195 with value = 0.5975
+Query 1/1: Action query time = 0.979 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7232
+t=58: Selected seed 195 with value = 0.7232
+Query 1/1: Action query time = 0.973 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8670
+t=74: Selected seed 195 with value = 0.8670
+Query 1/1: Action query time = 0.970 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9602
+t=90: Selected seed 195 with value = 0.9602
+Saved rollout MP4 at path ./rollouts/CLi800_t2/2026_07_31-15_21_15--episode=7--success=True--task=put_the_wine_bottle_on_top_of_the_cabine.mp4
+Saved rollout MP4 at path ./rollouts/CLi800_t2/2026_07_31-15_21_15--with_future_img--episode=7--success=True--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: True
+# episodes completed so far: 7
+# successes: 7 (100.0%)
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 8...
+Query 1/1: Action query time = 0.973 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4499
+t=10: Selected seed 195 with value = 0.4499
+Query 1/1: Action query time = 0.973 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4967
+t=26: Selected seed 195 with value = 0.4967
+Query 1/1: Action query time = 0.960 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5937
+t=42: Selected seed 195 with value = 0.5937
+Query 1/1: Action query time = 0.964 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6541
+t=58: Selected seed 195 with value = 0.6541
+Query 1/1: Action query time = 0.982 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7583
+t=74: Selected seed 195 with value = 0.7583
+Query 1/1: Action query time = 0.966 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9082
+t=90: Selected seed 195 with value = 0.9082
+Saved rollout MP4 at path ./rollouts/CLi800_t2/2026_07_31-15_21_15--episode=8--success=True--task=put_the_wine_bottle_on_top_of_the_cabine.mp4
+Saved rollout MP4 at path ./rollouts/CLi800_t2/2026_07_31-15_21_15--with_future_img--episode=8--success=True--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: True
+# episodes completed so far: 8
+# successes: 8 (100.0%)
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 9...
+Query 1/1: Action query time = 1.037 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5088
+t=10: Selected seed 195 with value = 0.5088
+Query 1/1: Action query time = 1.044 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5412
+t=26: Selected seed 195 with value = 0.5412
+Query 1/1: Action query time = 1.070 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6390
+t=42: Selected seed 195 with value = 0.6390
+Query 1/1: Action query time = 1.054 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7181
+t=58: Selected seed 195 with value = 0.7181
+Query 1/1: Action query time = 1.053 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8309
+t=74: Selected seed 195 with value = 0.8309
+Query 1/1: Action query time = 1.097 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9299
+t=90: Selected seed 195 with value = 0.9299
+Saved rollout MP4 at path ./rollouts/CLi800_t2/2026_07_31-15_21_15--episode=9--success=True--task=put_the_wine_bottle_on_top_of_the_cabine.mp4
+Saved rollout MP4 at path ./rollouts/CLi800_t2/2026_07_31-15_21_15--with_future_img--episode=9--success=True--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: True
+# episodes completed so far: 9
+# successes: 9 (100.0%)
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 10...
+Query 1/1: Action query time = 0.960 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5022
+t=10: Selected seed 195 with value = 0.5022
+Query 1/1: Action query time = 0.963 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5588
+t=26: Selected seed 195 with value = 0.5588
+Query 1/1: Action query time = 0.961 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6715
+t=42: Selected seed 195 with value = 0.6715
+Query 1/1: Action query time = 0.981 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7680
+t=58: Selected seed 195 with value = 0.7680
+Query 1/1: Action query time = 0.977 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8713
+t=74: Selected seed 195 with value = 0.8713
+Query 1/1: Action query time = 0.972 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9741
+t=90: Selected seed 195 with value = 0.9741
+Saved rollout MP4 at path ./rollouts/CLi800_t2/2026_07_31-15_21_15--episode=10--success=True--task=put_the_wine_bottle_on_top_of_the_cabine.mp4
+Saved rollout MP4 at path ./rollouts/CLi800_t2/2026_07_31-15_21_15--with_future_img--episode=10--success=True--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: True
+# episodes completed so far: 10
+# successes: 10 (100.0%)
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 11...
+Query 1/1: Action query time = 0.993 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5057
+t=10: Selected seed 195 with value = 0.5057
+Query 1/1: Action query time = 0.963 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5611
+t=26: Selected seed 195 with value = 0.5611
+Query 1/1: Action query time = 0.979 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6170
+t=42: Selected seed 195 with value = 0.6170
+Query 1/1: Action query time = 0.969 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7898
+t=58: Selected seed 195 with value = 0.7898
+Query 1/1: Action query time = 0.981 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8460
+t=74: Selected seed 195 with value = 0.8460
+Query 1/1: Action query time = 0.988 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9196
+t=90: Selected seed 195 with value = 0.9196
+Saved rollout MP4 at path ./rollouts/CLi800_t2/2026_07_31-15_21_15--episode=11--success=True--task=put_the_wine_bottle_on_top_of_the_cabine.mp4
+Saved rollout MP4 at path ./rollouts/CLi800_t2/2026_07_31-15_21_15--with_future_img--episode=11--success=True--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: True
+# episodes completed so far: 11
+# successes: 11 (100.0%)
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 12...
+Query 1/1: Action query time = 1.153 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5085
+t=10: Selected seed 195 with value = 0.5085
+Query 1/1: Action query time = 1.116 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6009
+t=26: Selected seed 195 with value = 0.6009
+Query 1/1: Action query time = 1.094 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7020
+t=42: Selected seed 195 with value = 0.7020
+Query 1/1: Action query time = 1.226 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8452
+t=58: Selected seed 195 with value = 0.8452
+Query 1/1: Action query time = 1.138 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9602
+t=74: Selected seed 195 with value = 0.9602
+Query 1/1: Action query time = 1.071 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9984
+t=90: Selected seed 195 with value = 0.9984
+Saved rollout MP4 at path ./rollouts/CLi800_t2/2026_07_31-15_21_15--episode=12--success=True--task=put_the_wine_bottle_on_top_of_the_cabine.mp4
+Saved rollout MP4 at path ./rollouts/CLi800_t2/2026_07_31-15_21_15--with_future_img--episode=12--success=True--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: True
+# episodes completed so far: 12
+# successes: 12 (100.0%)
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 13...
+Query 1/1: Action query time = 0.977 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5012
+t=10: Selected seed 195 with value = 0.5012
+Query 1/1: Action query time = 0.985 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5724
+t=26: Selected seed 195 with value = 0.5724
+Query 1/1: Action query time = 0.970 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6425
+t=42: Selected seed 195 with value = 0.6425
+Query 1/1: Action query time = 0.962 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7249
+t=58: Selected seed 195 with value = 0.7249
+Query 1/1: Action query time = 0.979 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9081
+t=74: Selected seed 195 with value = 0.9081
+Query 1/1: Action query time = 0.982 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9978
+t=90: Selected seed 195 with value = 0.9978
+Saved rollout MP4 at path ./rollouts/CLi800_t2/2026_07_31-15_21_15--episode=13--success=True--task=put_the_wine_bottle_on_top_of_the_cabine.mp4
+Saved rollout MP4 at path ./rollouts/CLi800_t2/2026_07_31-15_21_15--with_future_img--episode=13--success=True--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: True
+# episodes completed so far: 13
+# successes: 13 (100.0%)
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 14...
+Query 1/1: Action query time = 0.977 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4842
+t=10: Selected seed 195 with value = 0.4842
+Query 1/1: Action query time = 0.999 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5226
+t=26: Selected seed 195 with value = 0.5226
+Query 1/1: Action query time = 1.007 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6020
+t=42: Selected seed 195 with value = 0.6020
+Query 1/1: Action query time = 1.036 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7285
+t=58: Selected seed 195 with value = 0.7285
+Query 1/1: Action query time = 0.985 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8070
+t=74: Selected seed 195 with value = 0.8070
+Query 1/1: Action query time = 0.963 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8746
+t=90: Selected seed 195 with value = 0.8746
+Query 1/1: Action query time = 1.023 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9521
+t=106: Selected seed 195 with value = 0.9521
+Query 1/1: Action query time = 0.960 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=122: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.966 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=138: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.974 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=154: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.979 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=170: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.998 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=186: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.980 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=202: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.974 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=218: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.967 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=234: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.985 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9992
+t=250: Selected seed 195 with value = 0.9992
+Query 1/1: Action query time = 0.979 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9987
+t=266: Selected seed 195 with value = 0.9987
+Query 1/1: Action query time = 0.973 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9939
+t=282: Selected seed 195 with value = 0.9939
+Query 1/1: Action query time = 0.987 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9772
+t=298: Selected seed 195 with value = 0.9772
+Saved rollout MP4 at path ./rollouts/CLi800_t2/2026_07_31-15_21_15--episode=14--success=False--task=put_the_wine_bottle_on_top_of_the_cabine.mp4
+Saved rollout MP4 at path ./rollouts/CLi800_t2/2026_07_31-15_21_15--with_future_img--episode=14--success=False--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: False
+# episodes completed so far: 14
+# successes: 13 (92.9%)
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 15...
+Query 1/1: Action query time = 0.980 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4713
+t=10: Selected seed 195 with value = 0.4713
+Query 1/1: Action query time = 0.985 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5469
+t=26: Selected seed 195 with value = 0.5469
+Query 1/1: Action query time = 0.964 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6213
+t=42: Selected seed 195 with value = 0.6213
+Query 1/1: Action query time = 0.972 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7511
+t=58: Selected seed 195 with value = 0.7511
+Query 1/1: Action query time = 1.150 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8700
+t=74: Selected seed 195 with value = 0.8700
+Query 1/1: Action query time = 1.011 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9788
+t=90: Selected seed 195 with value = 0.9788
+Saved rollout MP4 at path ./rollouts/CLi800_t2/2026_07_31-15_21_15--episode=15--success=True--task=put_the_wine_bottle_on_top_of_the_cabine.mp4
+Saved rollout MP4 at path ./rollouts/CLi800_t2/2026_07_31-15_21_15--with_future_img--episode=15--success=True--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: True
+# episodes completed so far: 15
+# successes: 14 (93.3%)
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 16...
+Query 1/1: Action query time = 1.110 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4811
+t=10: Selected seed 195 with value = 0.4811
+Query 1/1: Action query time = 0.981 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5622
+t=26: Selected seed 195 with value = 0.5622
+Query 1/1: Action query time = 0.996 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6315
+t=42: Selected seed 195 with value = 0.6315
+Query 1/1: Action query time = 0.975 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7536
+t=58: Selected seed 195 with value = 0.7536
+Query 1/1: Action query time = 0.992 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8396
+t=74: Selected seed 195 with value = 0.8396
+Query 1/1: Action query time = 0.981 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9629
+t=90: Selected seed 195 with value = 0.9629
+Saved rollout MP4 at path ./rollouts/CLi800_t2/2026_07_31-15_21_15--episode=16--success=True--task=put_the_wine_bottle_on_top_of_the_cabine.mp4
+Saved rollout MP4 at path ./rollouts/CLi800_t2/2026_07_31-15_21_15--with_future_img--episode=16--success=True--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: True
+# episodes completed so far: 16
+# successes: 15 (93.8%)
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 17...
+Query 1/1: Action query time = 0.979 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4600
+t=10: Selected seed 195 with value = 0.4600
+Query 1/1: Action query time = 0.956 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5228
+t=26: Selected seed 195 with value = 0.5228
+Query 1/1: Action query time = 0.976 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6007
+t=42: Selected seed 195 with value = 0.6007
+Query 1/1: Action query time = 0.971 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6907
+t=58: Selected seed 195 with value = 0.6907
+Query 1/1: Action query time = 0.972 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8474
+t=74: Selected seed 195 with value = 0.8474
+Query 1/1: Action query time = 1.001 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9425
+t=90: Selected seed 195 with value = 0.9425
+Saved rollout MP4 at path ./rollouts/CLi800_t2/2026_07_31-15_21_15--episode=17--success=True--task=put_the_wine_bottle_on_top_of_the_cabine.mp4
+Saved rollout MP4 at path ./rollouts/CLi800_t2/2026_07_31-15_21_15--with_future_img--episode=17--success=True--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: True
+# episodes completed so far: 17
+# successes: 16 (94.1%)
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 18...
+Query 1/1: Action query time = 0.984 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5036
+t=10: Selected seed 195 with value = 0.5036
+Query 1/1: Action query time = 0.973 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5381
+t=26: Selected seed 195 with value = 0.5381
+Query 1/1: Action query time = 0.971 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5898
+t=42: Selected seed 195 with value = 0.5898
+Query 1/1: Action query time = 0.983 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7221
+t=58: Selected seed 195 with value = 0.7221
+Query 1/1: Action query time = 0.969 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9023
+t=74: Selected seed 195 with value = 0.9023
+Query 1/1: Action query time = 0.974 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9714
+t=90: Selected seed 195 with value = 0.9714
+Saved rollout MP4 at path ./rollouts/CLi800_t2/2026_07_31-15_21_15--episode=18--success=True--task=put_the_wine_bottle_on_top_of_the_cabine.mp4
+Saved rollout MP4 at path ./rollouts/CLi800_t2/2026_07_31-15_21_15--with_future_img--episode=18--success=True--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: True
+# episodes completed so far: 18
+# successes: 17 (94.4%)
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 19...
+Query 1/1: Action query time = 0.985 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4911
+t=10: Selected seed 195 with value = 0.4911
+Query 1/1: Action query time = 0.988 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5326
+t=26: Selected seed 195 with value = 0.5326
+Query 1/1: Action query time = 0.983 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6203
+t=42: Selected seed 195 with value = 0.6203
+Query 1/1: Action query time = 0.976 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7622
+t=58: Selected seed 195 with value = 0.7622
+Query 1/1: Action query time = 1.000 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8788
+t=74: Selected seed 195 with value = 0.8788
+Query 1/1: Action query time = 0.971 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/CLi800_t2/2026_07_31-15_21_15--episode=19--success=True--task=put_the_wine_bottle_on_top_of_the_cabine.mp4
+Saved rollout MP4 at path ./rollouts/CLi800_t2/2026_07_31-15_21_15--with_future_img--episode=19--success=True--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: True
+# episodes completed so far: 19
+# successes: 18 (94.7%)
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 20...
+Query 1/1: Action query time = 0.979 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4948
+t=10: Selected seed 195 with value = 0.4948
+Query 1/1: Action query time = 0.967 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5556
+t=26: Selected seed 195 with value = 0.5556
+Query 1/1: Action query time = 0.967 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6598
+t=42: Selected seed 195 with value = 0.6598
+Query 1/1: Action query time = 0.976 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7944
+t=58: Selected seed 195 with value = 0.7944
+Query 1/1: Action query time = 0.992 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9440
+t=74: Selected seed 195 with value = 0.9440
+Query 1/1: Action query time = 0.966 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/CLi800_t2/2026_07_31-15_21_15--episode=20--success=True--task=put_the_wine_bottle_on_top_of_the_cabine.mp4
+Saved rollout MP4 at path ./rollouts/CLi800_t2/2026_07_31-15_21_15--with_future_img--episode=20--success=True--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: True
+# episodes completed so far: 20
+# successes: 19 (95.0%)
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 21...
+Query 1/1: Action query time = 1.148 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5384
+t=10: Selected seed 195 with value = 0.5384
+Query 1/1: Action query time = 1.194 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5966
+t=26: Selected seed 195 with value = 0.5966
+Query 1/1: Action query time = 1.188 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6850
+t=42: Selected seed 195 with value = 0.6850
+Query 1/1: Action query time = 1.045 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8446
+t=58: Selected seed 195 with value = 0.8446
+Query 1/1: Action query time = 0.984 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9362
+t=74: Selected seed 195 with value = 0.9362
+Query 1/1: Action query time = 0.979 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9988
+t=90: Selected seed 195 with value = 0.9988
+Saved rollout MP4 at path ./rollouts/CLi800_t2/2026_07_31-15_21_15--episode=21--success=True--task=put_the_wine_bottle_on_top_of_the_cabine.mp4
+Saved rollout MP4 at path ./rollouts/CLi800_t2/2026_07_31-15_21_15--with_future_img--episode=21--success=True--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: True
+# episodes completed so far: 21
+# successes: 20 (95.2%)
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 22...
+Query 1/1: Action query time = 0.991 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4980
+t=10: Selected seed 195 with value = 0.4980
+Query 1/1: Action query time = 0.986 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5780
+t=26: Selected seed 195 with value = 0.5780
+Query 1/1: Action query time = 0.975 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6535
+t=42: Selected seed 195 with value = 0.6535
+Query 1/1: Action query time = 0.981 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7240
+t=58: Selected seed 195 with value = 0.7240
+Query 1/1: Action query time = 0.995 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8821
+t=74: Selected seed 195 with value = 0.8821
+Query 1/1: Action query time = 0.989 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8836
+t=90: Selected seed 195 with value = 0.8836
+Query 1/1: Action query time = 0.967 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8439
+t=106: Selected seed 195 with value = 0.8439
+Query 1/1: Action query time = 0.980 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8407
+t=122: Selected seed 195 with value = 0.8407
+Query 1/1: Action query time = 0.973 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9084
+t=138: Selected seed 195 with value = 0.9084
+Saved rollout MP4 at path ./rollouts/CLi800_t2/2026_07_31-15_21_15--episode=22--success=True--task=put_the_wine_bottle_on_top_of_the_cabine.mp4
+Saved rollout MP4 at path ./rollouts/CLi800_t2/2026_07_31-15_21_15--with_future_img--episode=22--success=True--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: True
+# episodes completed so far: 22
+# successes: 21 (95.5%)
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 23...
+Query 1/1: Action query time = 1.162 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4386
+t=10: Selected seed 195 with value = 0.4386
+Query 1/1: Action query time = 1.184 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5421
+t=26: Selected seed 195 with value = 0.5421
+Query 1/1: Action query time = 1.124 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6353
+t=42: Selected seed 195 with value = 0.6353
+Query 1/1: Action query time = 1.102 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7360
+t=58: Selected seed 195 with value = 0.7360
+Query 1/1: Action query time = 1.048 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8587
+t=74: Selected seed 195 with value = 0.8587
+Query 1/1: Action query time = 0.995 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9666
+t=90: Selected seed 195 with value = 0.9666
+Saved rollout MP4 at path ./rollouts/CLi800_t2/2026_07_31-15_21_15--episode=23--success=True--task=put_the_wine_bottle_on_top_of_the_cabine.mp4
+Saved rollout MP4 at path ./rollouts/CLi800_t2/2026_07_31-15_21_15--with_future_img--episode=23--success=True--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: True
+# episodes completed so far: 23
+# successes: 22 (95.7%)
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 24...
+Query 1/1: Action query time = 1.102 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5020
+t=10: Selected seed 195 with value = 0.5020
+Query 1/1: Action query time = 0.968 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5942
+t=26: Selected seed 195 with value = 0.5942
+Query 1/1: Action query time = 1.000 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6503
+t=42: Selected seed 195 with value = 0.6503
+Query 1/1: Action query time = 0.974 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7838
+t=58: Selected seed 195 with value = 0.7838
+Query 1/1: Action query time = 0.978 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8941
+t=74: Selected seed 195 with value = 0.8941
+Query 1/1: Action query time = 0.972 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9809
+t=90: Selected seed 195 with value = 0.9809
+Saved rollout MP4 at path ./rollouts/CLi800_t2/2026_07_31-15_21_15--episode=24--success=True--task=put_the_wine_bottle_on_top_of_the_cabine.mp4
+Saved rollout MP4 at path ./rollouts/CLi800_t2/2026_07_31-15_21_15--with_future_img--episode=24--success=True--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: True
+# episodes completed so far: 24
+# successes: 23 (95.8%)
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 25...
+Query 1/1: Action query time = 0.970 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4248
+t=10: Selected seed 195 with value = 0.4248
+Query 1/1: Action query time = 0.985 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5653
+t=26: Selected seed 195 with value = 0.5653
+Query 1/1: Action query time = 0.976 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6179
+t=42: Selected seed 195 with value = 0.6179
+Query 1/1: Action query time = 0.991 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7744
+t=58: Selected seed 195 with value = 0.7744
+Query 1/1: Action query time = 0.969 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8814
+t=74: Selected seed 195 with value = 0.8814
+Query 1/1: Action query time = 0.965 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9983
+t=90: Selected seed 195 with value = 0.9983
+Saved rollout MP4 at path ./rollouts/CLi800_t2/2026_07_31-15_21_15--episode=25--success=True--task=put_the_wine_bottle_on_top_of_the_cabine.mp4
+Saved rollout MP4 at path ./rollouts/CLi800_t2/2026_07_31-15_21_15--with_future_img--episode=25--success=True--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: True
+# episodes completed so far: 25
+# successes: 24 (96.0%)
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 26...
+Query 1/1: Action query time = 0.984 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4823
+t=10: Selected seed 195 with value = 0.4823
+Query 1/1: Action query time = 0.963 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5587
+t=26: Selected seed 195 with value = 0.5587
+Query 1/1: Action query time = 0.995 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6853
+t=42: Selected seed 195 with value = 0.6853
+Query 1/1: Action query time = 0.973 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7222
+t=58: Selected seed 195 with value = 0.7222
+Query 1/1: Action query time = 0.962 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8451
+t=74: Selected seed 195 with value = 0.8451
+Query 1/1: Action query time = 0.970 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7872
+t=90: Selected seed 195 with value = 0.7872
+Query 1/1: Action query time = 0.983 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7623
+t=106: Selected seed 195 with value = 0.7623
+Query 1/1: Action query time = 0.978 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8032
+t=122: Selected seed 195 with value = 0.8032
+Query 1/1: Action query time = 0.974 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9088
+t=138: Selected seed 195 with value = 0.9088
+Query 1/1: Action query time = 0.979 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8470
+t=154: Selected seed 195 with value = 0.8470
+Query 1/1: Action query time = 0.981 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8322
+t=170: Selected seed 195 with value = 0.8322
+Query 1/1: Action query time = 0.983 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8259
+t=186: Selected seed 195 with value = 0.8259
+Query 1/1: Action query time = 0.975 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8686
+t=202: Selected seed 195 with value = 0.8686
+Query 1/1: Action query time = 0.979 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8142
+t=218: Selected seed 195 with value = 0.8142
+Query 1/1: Action query time = 0.975 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8618
+t=234: Selected seed 195 with value = 0.8618
+Query 1/1: Action query time = 1.018 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9375
+t=250: Selected seed 195 with value = 0.9375
+Query 1/1: Action query time = 0.978 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9609
+t=266: Selected seed 195 with value = 0.9609
+Query 1/1: Action query time = 0.974 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=282: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.981 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9781
+t=298: Selected seed 195 with value = 0.9781
+Saved rollout MP4 at path ./rollouts/CLi800_t2/2026_07_31-15_21_15--episode=26--success=False--task=put_the_wine_bottle_on_top_of_the_cabine.mp4
+Saved rollout MP4 at path ./rollouts/CLi800_t2/2026_07_31-15_21_15--with_future_img--episode=26--success=False--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: False
+# episodes completed so far: 26
+# successes: 24 (92.3%)
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 27...
+Query 1/1: Action query time = 1.114 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4400
+t=10: Selected seed 195 with value = 0.4400
+Query 1/1: Action query time = 1.136 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4727
+t=26: Selected seed 195 with value = 0.4727
+Query 1/1: Action query time = 1.162 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5836
+t=42: Selected seed 195 with value = 0.5836
+Query 1/1: Action query time = 1.215 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6565
+t=58: Selected seed 195 with value = 0.6565
+Query 1/1: Action query time = 1.195 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7425
+t=74: Selected seed 195 with value = 0.7425
+Query 1/1: Action query time = 1.198 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9194
+t=90: Selected seed 195 with value = 0.9194
+Query 1/1: Action query time = 1.168 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9679
+t=106: Selected seed 195 with value = 0.9679
+Query 1/1: Action query time = 0.969 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9236
+t=122: Selected seed 195 with value = 0.9236
+Query 1/1: Action query time = 0.999 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9698
+t=138: Selected seed 195 with value = 0.9698
+Query 1/1: Action query time = 0.980 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9691
+t=154: Selected seed 195 with value = 0.9691
+Query 1/1: Action query time = 0.981 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8790
+t=170: Selected seed 195 with value = 0.8790
+Query 1/1: Action query time = 0.972 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9261
+t=186: Selected seed 195 with value = 0.9261
+Query 1/1: Action query time = 0.975 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9425
+t=202: Selected seed 195 with value = 0.9425
+Query 1/1: Action query time = 0.977 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8774
+t=218: Selected seed 195 with value = 0.8774
+Query 1/1: Action query time = 0.979 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8645
+t=234: Selected seed 195 with value = 0.8645
+Query 1/1: Action query time = 1.015 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8495
+t=250: Selected seed 195 with value = 0.8495
+Query 1/1: Action query time = 0.971 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9176
+t=266: Selected seed 195 with value = 0.9176
+Query 1/1: Action query time = 0.997 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8956
+t=282: Selected seed 195 with value = 0.8956
+Query 1/1: Action query time = 1.006 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9121
+t=298: Selected seed 195 with value = 0.9121
+Saved rollout MP4 at path ./rollouts/CLi800_t2/2026_07_31-15_21_15--episode=27--success=False--task=put_the_wine_bottle_on_top_of_the_cabine.mp4
+Saved rollout MP4 at path ./rollouts/CLi800_t2/2026_07_31-15_21_15--with_future_img--episode=27--success=False--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: False
+# episodes completed so far: 27
+# successes: 24 (88.9%)
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 28...
+Query 1/1: Action query time = 0.989 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4527
+t=10: Selected seed 195 with value = 0.4527
+Query 1/1: Action query time = 0.977 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5412
+t=26: Selected seed 195 with value = 0.5412
+Query 1/1: Action query time = 0.974 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6167
+t=42: Selected seed 195 with value = 0.6167
+Query 1/1: Action query time = 0.996 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7575
+t=58: Selected seed 195 with value = 0.7575
+Query 1/1: Action query time = 0.981 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8829
+t=74: Selected seed 195 with value = 0.8829
+Query 1/1: Action query time = 0.975 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9607
+t=90: Selected seed 195 with value = 0.9607
+Saved rollout MP4 at path ./rollouts/CLi800_t2/2026_07_31-15_21_15--episode=28--success=True--task=put_the_wine_bottle_on_top_of_the_cabine.mp4
+Saved rollout MP4 at path ./rollouts/CLi800_t2/2026_07_31-15_21_15--with_future_img--episode=28--success=True--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: True
+# episodes completed so far: 28
+# successes: 25 (89.3%)
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 29...
+Query 1/1: Action query time = 0.990 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4209
+t=10: Selected seed 195 with value = 0.4209
+Query 1/1: Action query time = 0.974 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4818
+t=26: Selected seed 195 with value = 0.4818
+Query 1/1: Action query time = 0.964 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5674
+t=42: Selected seed 195 with value = 0.5674
+Query 1/1: Action query time = 0.990 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6540
+t=58: Selected seed 195 with value = 0.6540
+Query 1/1: Action query time = 1.007 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6962
+t=74: Selected seed 195 with value = 0.6962
+Query 1/1: Action query time = 0.976 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6253
+t=90: Selected seed 195 with value = 0.6253
+Query 1/1: Action query time = 0.972 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8019
+t=106: Selected seed 195 with value = 0.8019
+Query 1/1: Action query time = 0.976 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9449
+t=122: Selected seed 195 with value = 0.9449
+Query 1/1: Action query time = 0.967 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8830
+t=138: Selected seed 195 with value = 0.8830
+Query 1/1: Action query time = 0.984 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9314
+t=154: Selected seed 195 with value = 0.9314
+Query 1/1: Action query time = 0.980 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9302
+t=170: Selected seed 195 with value = 0.9302
+Query 1/1: Action query time = 0.980 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8966
+t=186: Selected seed 195 with value = 0.8966
+Query 1/1: Action query time = 0.972 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8342
+t=202: Selected seed 195 with value = 0.8342
+Query 1/1: Action query time = 0.999 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7991
+t=218: Selected seed 195 with value = 0.7991
+Query 1/1: Action query time = 0.986 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7890
+t=234: Selected seed 195 with value = 0.7890
+Query 1/1: Action query time = 0.971 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8930
+t=250: Selected seed 195 with value = 0.8930
+Query 1/1: Action query time = 0.986 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9290
+t=266: Selected seed 195 with value = 0.9290
+Query 1/1: Action query time = 0.979 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9402
+t=282: Selected seed 195 with value = 0.9402
+Query 1/1: Action query time = 0.960 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9546
+t=298: Selected seed 195 with value = 0.9546
+Saved rollout MP4 at path ./rollouts/CLi800_t2/2026_07_31-15_21_15--episode=29--success=False--task=put_the_wine_bottle_on_top_of_the_cabine.mp4
+Saved rollout MP4 at path ./rollouts/CLi800_t2/2026_07_31-15_21_15--with_future_img--episode=29--success=False--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: False
+# episodes completed so far: 29
+# successes: 25 (86.2%)
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 30...
+Query 1/1: Action query time = 1.010 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5073
+t=10: Selected seed 195 with value = 0.5073
+Query 1/1: Action query time = 0.976 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5975
+t=26: Selected seed 195 with value = 0.5975
+Query 1/1: Action query time = 0.982 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7098
+t=42: Selected seed 195 with value = 0.7098
+Query 1/1: Action query time = 0.975 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8058
+t=58: Selected seed 195 with value = 0.8058
+Query 1/1: Action query time = 0.980 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9401
+t=74: Selected seed 195 with value = 0.9401
+Query 1/1: Action query time = 0.966 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/CLi800_t2/2026_07_31-15_21_15--episode=30--success=True--task=put_the_wine_bottle_on_top_of_the_cabine.mp4
+Saved rollout MP4 at path ./rollouts/CLi800_t2/2026_07_31-15_21_15--with_future_img--episode=30--success=True--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: True
+# episodes completed so far: 30
+# successes: 26 (86.7%)
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 31...
+Query 1/1: Action query time = 1.041 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5170
+t=10: Selected seed 195 with value = 0.5170
+Query 1/1: Action query time = 0.978 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5393
+t=26: Selected seed 195 with value = 0.5393
+Query 1/1: Action query time = 0.978 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6309
+t=42: Selected seed 195 with value = 0.6309
+Query 1/1: Action query time = 0.987 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7253
+t=58: Selected seed 195 with value = 0.7253
+Query 1/1: Action query time = 0.978 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8882
+t=74: Selected seed 195 with value = 0.8882
+Query 1/1: Action query time = 0.973 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9539
+t=90: Selected seed 195 with value = 0.9539
+Saved rollout MP4 at path ./rollouts/CLi800_t2/2026_07_31-15_21_15--episode=31--success=True--task=put_the_wine_bottle_on_top_of_the_cabine.mp4
+Saved rollout MP4 at path ./rollouts/CLi800_t2/2026_07_31-15_21_15--with_future_img--episode=31--success=True--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: True
+# episodes completed so far: 31
+# successes: 27 (87.1%)
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 32...
+Query 1/1: Action query time = 0.971 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4794
+t=10: Selected seed 195 with value = 0.4794
+Query 1/1: Action query time = 0.981 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5492
+t=26: Selected seed 195 with value = 0.5492
+Query 1/1: Action query time = 0.975 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6117
+t=42: Selected seed 195 with value = 0.6117
+Query 1/1: Action query time = 0.983 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7169
+t=58: Selected seed 195 with value = 0.7169
+Query 1/1: Action query time = 0.979 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8134
+t=74: Selected seed 195 with value = 0.8134
+Query 1/1: Action query time = 0.983 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9176
+t=90: Selected seed 195 with value = 0.9176
+Query 1/1: Action query time = 0.994 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=106: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/CLi800_t2/2026_07_31-15_21_15--episode=32--success=True--task=put_the_wine_bottle_on_top_of_the_cabine.mp4
+Saved rollout MP4 at path ./rollouts/CLi800_t2/2026_07_31-15_21_15--with_future_img--episode=32--success=True--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: True
+# episodes completed so far: 32
+# successes: 28 (87.5%)
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 33...
+Query 1/1: Action query time = 0.974 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4807
+t=10: Selected seed 195 with value = 0.4807
+Query 1/1: Action query time = 0.963 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5502
+t=26: Selected seed 195 with value = 0.5502
+Query 1/1: Action query time = 0.959 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6056
+t=42: Selected seed 195 with value = 0.6056
+Query 1/1: Action query time = 0.987 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6989
+t=58: Selected seed 195 with value = 0.6989
+Query 1/1: Action query time = 0.966 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8218
+t=74: Selected seed 195 with value = 0.8218
+Query 1/1: Action query time = 0.975 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9366
+t=90: Selected seed 195 with value = 0.9366
+Saved rollout MP4 at path ./rollouts/CLi800_t2/2026_07_31-15_21_15--episode=33--success=True--task=put_the_wine_bottle_on_top_of_the_cabine.mp4
+Saved rollout MP4 at path ./rollouts/CLi800_t2/2026_07_31-15_21_15--with_future_img--episode=33--success=True--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: True
+# episodes completed so far: 33
+# successes: 29 (87.9%)
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 34...
+Query 1/1: Action query time = 0.991 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4704
+t=10: Selected seed 195 with value = 0.4704
+Query 1/1: Action query time = 0.987 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5692
+t=26: Selected seed 195 with value = 0.5692
+Query 1/1: Action query time = 0.977 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6512
+t=42: Selected seed 195 with value = 0.6512
+Query 1/1: Action query time = 0.960 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7464
+t=58: Selected seed 195 with value = 0.7464
+Query 1/1: Action query time = 0.972 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8436
+t=74: Selected seed 195 with value = 0.8436
+Query 1/1: Action query time = 0.979 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9496
+t=90: Selected seed 195 with value = 0.9496
+Saved rollout MP4 at path ./rollouts/CLi800_t2/2026_07_31-15_21_15--episode=34--success=True--task=put_the_wine_bottle_on_top_of_the_cabine.mp4
+Saved rollout MP4 at path ./rollouts/CLi800_t2/2026_07_31-15_21_15--with_future_img--episode=34--success=True--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: True
+# episodes completed so far: 34
+# successes: 30 (88.2%)
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 35...
+Query 1/1: Action query time = 0.973 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4297
+t=10: Selected seed 195 with value = 0.4297
+Query 1/1: Action query time = 0.992 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4879
+t=26: Selected seed 195 with value = 0.4879
+Query 1/1: Action query time = 0.982 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5876
+t=42: Selected seed 195 with value = 0.5876
+Query 1/1: Action query time = 0.974 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6817
+t=58: Selected seed 195 with value = 0.6817
+Query 1/1: Action query time = 0.967 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7890
+t=74: Selected seed 195 with value = 0.7890
+Query 1/1: Action query time = 1.193 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9172
+t=90: Selected seed 195 with value = 0.9172
+Saved rollout MP4 at path ./rollouts/CLi800_t2/2026_07_31-15_21_15--episode=35--success=True--task=put_the_wine_bottle_on_top_of_the_cabine.mp4
+Saved rollout MP4 at path ./rollouts/CLi800_t2/2026_07_31-15_21_15--with_future_img--episode=35--success=True--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: True
+# episodes completed so far: 35
+# successes: 31 (88.6%)
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 36...
+Query 1/1: Action query time = 0.984 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4900
+t=10: Selected seed 195 with value = 0.4900
+Query 1/1: Action query time = 0.967 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5623
+t=26: Selected seed 195 with value = 0.5623
+Query 1/1: Action query time = 0.990 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6166
+t=42: Selected seed 195 with value = 0.6166
+Query 1/1: Action query time = 1.011 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7700
+t=58: Selected seed 195 with value = 0.7700
+Query 1/1: Action query time = 1.171 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8658
+t=74: Selected seed 195 with value = 0.8658
+Query 1/1: Action query time = 1.100 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9727
+t=90: Selected seed 195 with value = 0.9727
+Saved rollout MP4 at path ./rollouts/CLi800_t2/2026_07_31-15_21_15--episode=36--success=True--task=put_the_wine_bottle_on_top_of_the_cabine.mp4
+Saved rollout MP4 at path ./rollouts/CLi800_t2/2026_07_31-15_21_15--with_future_img--episode=36--success=True--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: True
+# episodes completed so far: 36
+# successes: 32 (88.9%)
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 37...
+Query 1/1: Action query time = 1.163 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4607
+t=10: Selected seed 195 with value = 0.4607
+Query 1/1: Action query time = 1.174 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5524
+t=26: Selected seed 195 with value = 0.5524
+Query 1/1: Action query time = 1.192 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6055
+t=42: Selected seed 195 with value = 0.6055
+Query 1/1: Action query time = 1.167 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7374
+t=58: Selected seed 195 with value = 0.7374
+Query 1/1: Action query time = 1.188 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8365
+t=74: Selected seed 195 with value = 0.8365
+Query 1/1: Action query time = 1.136 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8951
+t=90: Selected seed 195 with value = 0.8951
+Query 1/1: Action query time = 0.988 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9844
+t=106: Selected seed 195 with value = 0.9844
+Query 1/1: Action query time = 0.974 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=122: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.987 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=138: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.984 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=154: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 1.015 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=170: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.990 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=186: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.988 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=202: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.978 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9959
+t=218: Selected seed 195 with value = 0.9959
+Query 1/1: Action query time = 0.978 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9994
+t=234: Selected seed 195 with value = 0.9994
+Query 1/1: Action query time = 0.997 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9789
+t=250: Selected seed 195 with value = 0.9789
+Query 1/1: Action query time = 0.963 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9598
+t=266: Selected seed 195 with value = 0.9598
+Query 1/1: Action query time = 0.995 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9074
+t=282: Selected seed 195 with value = 0.9074
+Query 1/1: Action query time = 0.969 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8304
+t=298: Selected seed 195 with value = 0.8304
+Saved rollout MP4 at path ./rollouts/CLi800_t2/2026_07_31-15_21_15--episode=37--success=False--task=put_the_wine_bottle_on_top_of_the_cabine.mp4
+Saved rollout MP4 at path ./rollouts/CLi800_t2/2026_07_31-15_21_15--with_future_img--episode=37--success=False--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: False
+# episodes completed so far: 37
+# successes: 32 (86.5%)
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 38...
+Query 1/1: Action query time = 1.182 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4137
+t=10: Selected seed 195 with value = 0.4137
+Query 1/1: Action query time = 1.172 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4745
+t=26: Selected seed 195 with value = 0.4745
+Query 1/1: Action query time = 1.174 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5691
+t=42: Selected seed 195 with value = 0.5691
+Query 1/1: Action query time = 1.132 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6169
+t=58: Selected seed 195 with value = 0.6169
+Query 1/1: Action query time = 1.063 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7113
+t=74: Selected seed 195 with value = 0.7113
+Query 1/1: Action query time = 1.056 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6247
+t=90: Selected seed 195 with value = 0.6247
+Query 1/1: Action query time = 0.975 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8409
+t=106: Selected seed 195 with value = 0.8409
+Query 1/1: Action query time = 0.984 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9350
+t=122: Selected seed 195 with value = 0.9350
+Query 1/1: Action query time = 0.984 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8845
+t=138: Selected seed 195 with value = 0.8845
+Query 1/1: Action query time = 0.993 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9236
+t=154: Selected seed 195 with value = 0.9236
+Query 1/1: Action query time = 0.989 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9242
+t=170: Selected seed 195 with value = 0.9242
+Query 1/1: Action query time = 1.192 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8202
+t=186: Selected seed 195 with value = 0.8202
+Query 1/1: Action query time = 1.213 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7828
+t=202: Selected seed 195 with value = 0.7828
+Query 1/1: Action query time = 1.166 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7170
+t=218: Selected seed 195 with value = 0.7170
+Query 1/1: Action query time = 1.160 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8429
+t=234: Selected seed 195 with value = 0.8429
+Query 1/1: Action query time = 1.173 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9156
+t=250: Selected seed 195 with value = 0.9156
+Query 1/1: Action query time = 1.184 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9296
+t=266: Selected seed 195 with value = 0.9296
+Query 1/1: Action query time = 1.217 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9460
+t=282: Selected seed 195 with value = 0.9460
+Query 1/1: Action query time = 1.156 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9608
+t=298: Selected seed 195 with value = 0.9608
+Saved rollout MP4 at path ./rollouts/CLi800_t2/2026_07_31-15_21_15--episode=38--success=False--task=put_the_wine_bottle_on_top_of_the_cabine.mp4
+Saved rollout MP4 at path ./rollouts/CLi800_t2/2026_07_31-15_21_15--with_future_img--episode=38--success=False--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: False
+# episodes completed so far: 38
+# successes: 32 (84.2%)
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 39...
+Query 1/1: Action query time = 0.989 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4845
+t=10: Selected seed 195 with value = 0.4845
+Query 1/1: Action query time = 0.973 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5565
+t=26: Selected seed 195 with value = 0.5565
+Query 1/1: Action query time = 0.997 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6071
+t=42: Selected seed 195 with value = 0.6071
+Query 1/1: Action query time = 0.987 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6922
+t=58: Selected seed 195 with value = 0.6922
+Query 1/1: Action query time = 0.973 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8172
+t=74: Selected seed 195 with value = 0.8172
+Query 1/1: Action query time = 0.980 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9304
+t=90: Selected seed 195 with value = 0.9304
+Saved rollout MP4 at path ./rollouts/CLi800_t2/2026_07_31-15_21_15--episode=39--success=True--task=put_the_wine_bottle_on_top_of_the_cabine.mp4
+Saved rollout MP4 at path ./rollouts/CLi800_t2/2026_07_31-15_21_15--with_future_img--episode=39--success=True--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: True
+# episodes completed so far: 39
+# successes: 33 (84.6%)
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 40...
+Query 1/1: Action query time = 0.977 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4598
+t=10: Selected seed 195 with value = 0.4598
+Query 1/1: Action query time = 0.965 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5050
+t=26: Selected seed 195 with value = 0.5050
+Query 1/1: Action query time = 0.980 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6027
+t=42: Selected seed 195 with value = 0.6027
+Query 1/1: Action query time = 0.969 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7237
+t=58: Selected seed 195 with value = 0.7237
+Query 1/1: Action query time = 0.992 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7897
+t=74: Selected seed 195 with value = 0.7897
+Query 1/1: Action query time = 0.966 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8716
+t=90: Selected seed 195 with value = 0.8716
+Query 1/1: Action query time = 0.974 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9482
+t=106: Selected seed 195 with value = 0.9482
+Query 1/1: Action query time = 0.971 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=122: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.982 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=138: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.984 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=154: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.982 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=170: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.998 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=186: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.969 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=202: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.989 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=218: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.984 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=234: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.993 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=250: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.973 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=266: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.979 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9982
+t=282: Selected seed 195 with value = 0.9982
+Query 1/1: Action query time = 0.976 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9992
+t=298: Selected seed 195 with value = 0.9992
+Saved rollout MP4 at path ./rollouts/CLi800_t2/2026_07_31-15_21_15--episode=40--success=False--task=put_the_wine_bottle_on_top_of_the_cabine.mp4
+Saved rollout MP4 at path ./rollouts/CLi800_t2/2026_07_31-15_21_15--with_future_img--episode=40--success=False--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: False
+# episodes completed so far: 40
+# successes: 33 (82.5%)
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 41...
+Query 1/1: Action query time = 0.973 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4899
+t=10: Selected seed 195 with value = 0.4899
+Query 1/1: Action query time = 0.966 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5534
+t=26: Selected seed 195 with value = 0.5534
+Query 1/1: Action query time = 0.957 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6010
+t=42: Selected seed 195 with value = 0.6010
+Query 1/1: Action query time = 0.971 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7245
+t=58: Selected seed 195 with value = 0.7245
+Query 1/1: Action query time = 0.973 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8932
+t=74: Selected seed 195 with value = 0.8932
+Query 1/1: Action query time = 0.972 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9692
+t=90: Selected seed 195 with value = 0.9692
+Saved rollout MP4 at path ./rollouts/CLi800_t2/2026_07_31-15_21_15--episode=41--success=True--task=put_the_wine_bottle_on_top_of_the_cabine.mp4
+Saved rollout MP4 at path ./rollouts/CLi800_t2/2026_07_31-15_21_15--with_future_img--episode=41--success=True--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: True
+# episodes completed so far: 41
+# successes: 34 (82.9%)
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 42...
+Query 1/1: Action query time = 1.003 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4700
+t=10: Selected seed 195 with value = 0.4700
+Query 1/1: Action query time = 0.978 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5401
+t=26: Selected seed 195 with value = 0.5401
+Query 1/1: Action query time = 0.990 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6146
+t=42: Selected seed 195 with value = 0.6146
+Query 1/1: Action query time = 0.967 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7609
+t=58: Selected seed 195 with value = 0.7609
+Query 1/1: Action query time = 0.980 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8842
+t=74: Selected seed 195 with value = 0.8842
+Query 1/1: Action query time = 0.989 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/CLi800_t2/2026_07_31-15_21_15--episode=42--success=True--task=put_the_wine_bottle_on_top_of_the_cabine.mp4
+Saved rollout MP4 at path ./rollouts/CLi800_t2/2026_07_31-15_21_15--with_future_img--episode=42--success=True--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: True
+# episodes completed so far: 42
+# successes: 35 (83.3%)
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 43...
+Query 1/1: Action query time = 1.084 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4735
+t=10: Selected seed 195 with value = 0.4735
+Query 1/1: Action query time = 1.029 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5082
+t=26: Selected seed 195 with value = 0.5082
+Query 1/1: Action query time = 0.962 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6014
+t=42: Selected seed 195 with value = 0.6014
+Query 1/1: Action query time = 0.984 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7035
+t=58: Selected seed 195 with value = 0.7035
+Query 1/1: Action query time = 0.980 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7784
+t=74: Selected seed 195 with value = 0.7784
+Query 1/1: Action query time = 0.967 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9704
+t=90: Selected seed 195 with value = 0.9704
+Query 1/1: Action query time = 0.982 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9851
+t=106: Selected seed 195 with value = 0.9851
+Query 1/1: Action query time = 0.987 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=122: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.974 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9742
+t=138: Selected seed 195 with value = 0.9742
+Query 1/1: Action query time = 0.986 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8795
+t=154: Selected seed 195 with value = 0.8795
+Query 1/1: Action query time = 0.976 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9182
+t=170: Selected seed 195 with value = 0.9182
+Query 1/1: Action query time = 0.968 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9733
+t=186: Selected seed 195 with value = 0.9733
+Query 1/1: Action query time = 0.979 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9923
+t=202: Selected seed 195 with value = 0.9923
+Query 1/1: Action query time = 0.971 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9897
+t=218: Selected seed 195 with value = 0.9897
+Query 1/1: Action query time = 0.976 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9789
+t=234: Selected seed 195 with value = 0.9789
+Query 1/1: Action query time = 0.979 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9677
+t=250: Selected seed 195 with value = 0.9677
+Query 1/1: Action query time = 0.979 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9919
+t=266: Selected seed 195 with value = 0.9919
+Query 1/1: Action query time = 0.992 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9758
+t=282: Selected seed 195 with value = 0.9758
+Query 1/1: Action query time = 0.994 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9808
+t=298: Selected seed 195 with value = 0.9808
+Saved rollout MP4 at path ./rollouts/CLi800_t2/2026_07_31-15_21_15--episode=43--success=False--task=put_the_wine_bottle_on_top_of_the_cabine.mp4
+Saved rollout MP4 at path ./rollouts/CLi800_t2/2026_07_31-15_21_15--with_future_img--episode=43--success=False--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: False
+# episodes completed so far: 43
+# successes: 35 (81.4%)
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 44...
+Query 1/1: Action query time = 1.284 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4429
+t=10: Selected seed 195 with value = 0.4429
+Query 1/1: Action query time = 1.318 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4841
+t=26: Selected seed 195 with value = 0.4841
+Query 1/1: Action query time = 1.263 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5762
+t=42: Selected seed 195 with value = 0.5762
+Query 1/1: Action query time = 1.143 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6374
+t=58: Selected seed 195 with value = 0.6374
+Query 1/1: Action query time = 1.007 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7279
+t=74: Selected seed 195 with value = 0.7279
+Query 1/1: Action query time = 0.989 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7031
+t=90: Selected seed 195 with value = 0.7031
+Query 1/1: Action query time = 0.983 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8709
+t=106: Selected seed 195 with value = 0.8709
+Query 1/1: Action query time = 0.975 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8525
+t=122: Selected seed 195 with value = 0.8525
+Query 1/1: Action query time = 0.978 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9302
+t=138: Selected seed 195 with value = 0.9302
+Query 1/1: Action query time = 0.979 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8536
+t=154: Selected seed 195 with value = 0.8536
+Query 1/1: Action query time = 0.969 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9444
+t=170: Selected seed 195 with value = 0.9444
+Query 1/1: Action query time = 0.979 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8929
+t=186: Selected seed 195 with value = 0.8929
+Query 1/1: Action query time = 0.978 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8147
+t=202: Selected seed 195 with value = 0.8147
+Query 1/1: Action query time = 0.971 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7727
+t=218: Selected seed 195 with value = 0.7727
+Query 1/1: Action query time = 0.994 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6940
+t=234: Selected seed 195 with value = 0.6940
+Query 1/1: Action query time = 1.032 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7035
+t=250: Selected seed 195 with value = 0.7035
+Query 1/1: Action query time = 1.058 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8497
+t=266: Selected seed 195 with value = 0.8497
+Query 1/1: Action query time = 1.075 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9037
+t=282: Selected seed 195 with value = 0.9037
+Query 1/1: Action query time = 1.123 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9037
+t=298: Selected seed 195 with value = 0.9037
+Saved rollout MP4 at path ./rollouts/CLi800_t2/2026_07_31-15_21_15--episode=44--success=False--task=put_the_wine_bottle_on_top_of_the_cabine.mp4
+Saved rollout MP4 at path ./rollouts/CLi800_t2/2026_07_31-15_21_15--with_future_img--episode=44--success=False--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: False
+# episodes completed so far: 44
+# successes: 35 (79.5%)
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 45...
+Query 1/1: Action query time = 1.004 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4840
+t=10: Selected seed 195 with value = 0.4840
+Query 1/1: Action query time = 0.988 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5908
+t=26: Selected seed 195 with value = 0.5908
+Query 1/1: Action query time = 0.971 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6253
+t=42: Selected seed 195 with value = 0.6253
+Query 1/1: Action query time = 0.982 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7724
+t=58: Selected seed 195 with value = 0.7724
+Query 1/1: Action query time = 0.984 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8798
+t=74: Selected seed 195 with value = 0.8798
+Query 1/1: Action query time = 0.991 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9690
+t=90: Selected seed 195 with value = 0.9690
+Saved rollout MP4 at path ./rollouts/CLi800_t2/2026_07_31-15_21_15--episode=45--success=True--task=put_the_wine_bottle_on_top_of_the_cabine.mp4
+Saved rollout MP4 at path ./rollouts/CLi800_t2/2026_07_31-15_21_15--with_future_img--episode=45--success=True--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: True
+# episodes completed so far: 45
+# successes: 36 (80.0%)
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 46...
+Query 1/1: Action query time = 1.010 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5274
+t=10: Selected seed 195 with value = 0.5274
+Query 1/1: Action query time = 0.975 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6126
+t=26: Selected seed 195 with value = 0.6126
+Query 1/1: Action query time = 0.985 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7072
+t=42: Selected seed 195 with value = 0.7072
+Query 1/1: Action query time = 0.983 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8891
+t=58: Selected seed 195 with value = 0.8891
+Query 1/1: Action query time = 0.978 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9721
+t=74: Selected seed 195 with value = 0.9721
+Saved rollout MP4 at path ./rollouts/CLi800_t2/2026_07_31-15_21_15--episode=46--success=True--task=put_the_wine_bottle_on_top_of_the_cabine.mp4
+Saved rollout MP4 at path ./rollouts/CLi800_t2/2026_07_31-15_21_15--with_future_img--episode=46--success=True--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: True
+# episodes completed so far: 46
+# successes: 37 (80.4%)
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 47...
+Query 1/1: Action query time = 1.088 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4810
+t=10: Selected seed 195 with value = 0.4810
+Query 1/1: Action query time = 1.124 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5704
+t=26: Selected seed 195 with value = 0.5704
+Query 1/1: Action query time = 1.152 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6115
+t=42: Selected seed 195 with value = 0.6115
+Query 1/1: Action query time = 1.199 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7250
+t=58: Selected seed 195 with value = 0.7250
+Query 1/1: Action query time = 1.138 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8411
+t=74: Selected seed 195 with value = 0.8411
+Query 1/1: Action query time = 1.041 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9769
+t=90: Selected seed 195 with value = 0.9769
+Saved rollout MP4 at path ./rollouts/CLi800_t2/2026_07_31-15_21_15--episode=47--success=True--task=put_the_wine_bottle_on_top_of_the_cabine.mp4
+Saved rollout MP4 at path ./rollouts/CLi800_t2/2026_07_31-15_21_15--with_future_img--episode=47--success=True--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: True
+# episodes completed so far: 47
+# successes: 38 (80.9%)
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 48...
+Query 1/1: Action query time = 0.974 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4776
+t=10: Selected seed 195 with value = 0.4776
+Query 1/1: Action query time = 0.979 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5706
+t=26: Selected seed 195 with value = 0.5706
+Query 1/1: Action query time = 0.973 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6414
+t=42: Selected seed 195 with value = 0.6414
+Query 1/1: Action query time = 0.974 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7265
+t=58: Selected seed 195 with value = 0.7265
+Query 1/1: Action query time = 0.976 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9143
+t=74: Selected seed 195 with value = 0.9143
+Query 1/1: Action query time = 0.993 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7927
+t=90: Selected seed 195 with value = 0.7927
+Query 1/1: Action query time = 0.967 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8394
+t=106: Selected seed 195 with value = 0.8394
+Query 1/1: Action query time = 0.987 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9903
+t=122: Selected seed 195 with value = 0.9903
+Query 1/1: Action query time = 0.983 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9982
+t=138: Selected seed 195 with value = 0.9982
+Query 1/1: Action query time = 0.983 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=154: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.979 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=170: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.981 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9931
+t=186: Selected seed 195 with value = 0.9931
+Query 1/1: Action query time = 0.979 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9970
+t=202: Selected seed 195 with value = 0.9970
+Query 1/1: Action query time = 0.966 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9977
+t=218: Selected seed 195 with value = 0.9977
+Query 1/1: Action query time = 0.989 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=234: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.981 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=250: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.961 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=266: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.981 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=282: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.980 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=298: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/CLi800_t2/2026_07_31-15_21_15--episode=48--success=False--task=put_the_wine_bottle_on_top_of_the_cabine.mp4
+Saved rollout MP4 at path ./rollouts/CLi800_t2/2026_07_31-15_21_15--with_future_img--episode=48--success=False--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: False
+# episodes completed so far: 48
+# successes: 38 (79.2%)
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 49...
+Query 1/1: Action query time = 0.981 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4966
+t=10: Selected seed 195 with value = 0.4966
+Query 1/1: Action query time = 0.989 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5023
+t=26: Selected seed 195 with value = 0.5023
+Query 1/1: Action query time = 0.989 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6163
+t=42: Selected seed 195 with value = 0.6163
+Query 1/1: Action query time = 0.964 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7172
+t=58: Selected seed 195 with value = 0.7172
+Query 1/1: Action query time = 0.976 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7739
+t=74: Selected seed 195 with value = 0.7739
+Query 1/1: Action query time = 0.973 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8707
+t=90: Selected seed 195 with value = 0.8707
+Query 1/1: Action query time = 0.981 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9092
+t=106: Selected seed 195 with value = 0.9092
+Query 1/1: Action query time = 0.974 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9798
+t=122: Selected seed 195 with value = 0.9798
+Query 1/1: Action query time = 0.990 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=138: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.964 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=154: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.982 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=170: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.973 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=186: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.976 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=202: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.977 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=218: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.995 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=234: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.969 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=250: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.977 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=266: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.964 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=282: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.980 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=298: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/CLi800_t2/2026_07_31-15_21_15--episode=49--success=False--task=put_the_wine_bottle_on_top_of_the_cabine.mp4
+Saved rollout MP4 at path ./rollouts/CLi800_t2/2026_07_31-15_21_15--with_future_img--episode=49--success=False--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: False
+# episodes completed so far: 49
+# successes: 38 (77.6%)
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 50...
+Query 1/1: Action query time = 0.997 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4937
+t=10: Selected seed 195 with value = 0.4937
+Query 1/1: Action query time = 0.962 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5505
+t=26: Selected seed 195 with value = 0.5505
+Query 1/1: Action query time = 0.971 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6591
+t=42: Selected seed 195 with value = 0.6591
+Query 1/1: Action query time = 0.977 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7142
+t=58: Selected seed 195 with value = 0.7142
+Query 1/1: Action query time = 0.993 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8524
+t=74: Selected seed 195 with value = 0.8524
+Query 1/1: Action query time = 0.975 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9436
+t=90: Selected seed 195 with value = 0.9436
+Saved rollout MP4 at path ./rollouts/CLi800_t2/2026_07_31-15_21_15--episode=50--success=True--task=put_the_wine_bottle_on_top_of_the_cabine.mp4
+Saved rollout MP4 at path ./rollouts/CLi800_t2/2026_07_31-15_21_15--with_future_img--episode=50--success=True--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: True
+# episodes completed so far: 50
+# successes: 39 (78.0%)
+Current task success rate: 0.78
+Current total success rate: 0.78
+Final results:
+Total episodes: 50
+Total successes: 39
+Overall success rate: 0.7800 (78.0%)
diff --git a/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_07_31-15_35_01--CLi800_t0.txt b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_07_31-15_35_01--CLi800_t0.txt
new file mode 100644
index 0000000000000000000000000000000000000000..2a1a49a806a6936845a6703a693a203618cd787a
--- /dev/null
+++ b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_07_31-15_35_01--CLi800_t0.txt
@@ -0,0 +1,3360 @@
+Eval config: PolicyEvalConfig(suite='libero', model_family='cosmos', config='cosmos_predict2_2b_480p_libero_cl_stage_inference_only', ckpt_path='/home/azureuser/REGEN-main/old/cosmos_policy/cosmos_v2_finetune/cosmos_predict2_2b_480p_libero_goal_task6_regen_cl_from40k_2gpu/checkpoints/iter_000000800/model', planning_model_config_name='', planning_model_ckpt_path='', config_file='cosmos_policy/config/config.py', packnet_mask_path='', packnet_first_cl_libero_task=6, use_third_person_image=True, num_third_person_images=1, use_wrist_image=True, num_wrist_images=1, use_proprio=True, flip_images=True, use_variance_scale=False, use_jpeg_compression=True, ar_future_prediction=False, ar_value_prediction=False, ar_qvalue_prediction=False, num_denoising_steps_action=5, num_denoising_steps_future_state=1, num_denoising_steps_value=1, unnormalize_actions=True, normalize_proprio=True, dataset_stats_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/libero_goal_regen/dataset_statistics.json', t5_text_embeddings_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/t5_embeddings.pkl', trained_with_image_aug=True, chunk_size=16, num_open_loop_steps=16, deterministic=True, deterministic_reset=False, deterministic_reset_seed=None, use_ensemble_future_state_predictions=False, num_future_state_predictions_in_ensemble=3, future_state_ensemble_aggregation_scheme='average', use_ensemble_value_predictions=False, num_value_predictions_in_ensemble=5, value_ensemble_aggregation_scheme='average', search_depth=1, mask_current_state_action_for_value_prediction=False, mask_future_state_for_qvalue_prediction=False, num_queries_best_of_n=1, use_parallel_inference=False, available_gpus='0', parallel_timeout=15, parallel_tasks_across_gpus=False, task_suite_name='libero_goal', num_trials_per_task=50, task_ids_to_run='0', initial_states_path='DEFAULT', env_img_res=256, local_log_dir='/home/azureuser/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal', run_id_note='CLi800_t0', use_wandb=False, wandb_entity='YOUR_ENTITY', wandb_project='YOUR_PROJECT', seed=195, randomize_seed=False, data_collection=False, jpeg_compress=True, reward_stop_threshold=None, reward_stop_consecutive_steps=3, use_gpt_reward=False, gpt_reward_model='gpt-5.4-mini', gpt_reward_stop_threshold=4, gpt_reward_timeout_s=30.0, save_rollout_video=True, eval_hdf5_path='', eval_hdf5_demo_key='demo_0', data_gen_demo_ids='', replay_actions=False, replay_action_path_dir='', replay_hdf5_path='', data_generation=False, max_generation_steps=200, simple_task_max_steps=100, complex_task_max_steps=200)
+Using serial inference (parallel inference disabled)
+Task suite: libero_goal
+Number of tasks: 10
+Running only task IDs: [0]
+Using default initial states
+
+Task: open the middle drawer of the cabinet
+Starting episode 1...
+Query 1/1: Action query time = 1.457 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3357
+t=10: Selected seed 195 with value = 0.3357
+Query 1/1: Action query time = 0.967 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4059
+t=26: Selected seed 195 with value = 0.4059
+Query 1/1: Action query time = 0.948 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4781
+t=42: Selected seed 195 with value = 0.4781
+Query 1/1: Action query time = 0.962 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5749
+t=58: Selected seed 195 with value = 0.5749
+Query 1/1: Action query time = 0.959 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6632
+t=74: Selected seed 195 with value = 0.6632
+Query 1/1: Action query time = 0.976 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7377
+t=90: Selected seed 195 with value = 0.7377
+Query 1/1: Action query time = 0.987 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7364
+t=106: Selected seed 195 with value = 0.7364
+Query 1/1: Action query time = 0.944 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7273
+t=122: Selected seed 195 with value = 0.7273
+Query 1/1: Action query time = 0.959 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7913
+t=138: Selected seed 195 with value = 0.7913
+Query 1/1: Action query time = 0.968 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7477
+t=154: Selected seed 195 with value = 0.7477
+Query 1/1: Action query time = 0.971 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7496
+t=170: Selected seed 195 with value = 0.7496
+Query 1/1: Action query time = 0.953 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7271
+t=186: Selected seed 195 with value = 0.7271
+Query 1/1: Action query time = 0.957 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7230
+t=202: Selected seed 195 with value = 0.7230
+Query 1/1: Action query time = 0.962 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7190
+t=218: Selected seed 195 with value = 0.7190
+Query 1/1: Action query time = 0.948 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7131
+t=234: Selected seed 195 with value = 0.7131
+Query 1/1: Action query time = 0.965 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7141
+t=250: Selected seed 195 with value = 0.7141
+Query 1/1: Action query time = 0.952 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7143
+t=266: Selected seed 195 with value = 0.7143
+Query 1/1: Action query time = 0.944 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7144
+t=282: Selected seed 195 with value = 0.7144
+Query 1/1: Action query time = 0.950 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7134
+t=298: Selected seed 195 with value = 0.7134
+Saved rollout MP4 at path ./rollouts/CLi800_t0/2026_07_31-15_35_01--episode=1--success=False--task=open_the_middle_drawer_of_the_cabinet.mp4
+Saved rollout MP4 at path ./rollouts/CLi800_t0/2026_07_31-15_35_01--with_future_img--episode=1--success=False--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: False
+# episodes completed so far: 1
+# successes: 0 (0.0%)
+
+Task: open the middle drawer of the cabinet
+Starting episode 2...
+Query 1/1: Action query time = 0.962 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3527
+t=10: Selected seed 195 with value = 0.3527
+Query 1/1: Action query time = 0.954 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4154
+t=26: Selected seed 195 with value = 0.4154
+Query 1/1: Action query time = 0.960 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4580
+t=42: Selected seed 195 with value = 0.4580
+Query 1/1: Action query time = 0.984 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5429
+t=58: Selected seed 195 with value = 0.5429
+Query 1/1: Action query time = 0.990 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6250
+t=74: Selected seed 195 with value = 0.6250
+Query 1/1: Action query time = 0.968 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7069
+t=90: Selected seed 195 with value = 0.7069
+Query 1/1: Action query time = 0.986 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7847
+t=106: Selected seed 195 with value = 0.7847
+Query 1/1: Action query time = 0.973 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7533
+t=122: Selected seed 195 with value = 0.7533
+Query 1/1: Action query time = 0.963 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7326
+t=138: Selected seed 195 with value = 0.7326
+Query 1/1: Action query time = 0.978 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7387
+t=154: Selected seed 195 with value = 0.7387
+Query 1/1: Action query time = 0.976 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7182
+t=170: Selected seed 195 with value = 0.7182
+Query 1/1: Action query time = 0.968 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7424
+t=186: Selected seed 195 with value = 0.7424
+Query 1/1: Action query time = 0.968 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7233
+t=202: Selected seed 195 with value = 0.7233
+Query 1/1: Action query time = 0.974 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7440
+t=218: Selected seed 195 with value = 0.7440
+Query 1/1: Action query time = 0.973 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7230
+t=234: Selected seed 195 with value = 0.7230
+Query 1/1: Action query time = 0.959 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7462
+t=250: Selected seed 195 with value = 0.7462
+Query 1/1: Action query time = 0.985 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7218
+t=266: Selected seed 195 with value = 0.7218
+Query 1/1: Action query time = 0.975 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7459
+t=282: Selected seed 195 with value = 0.7459
+Query 1/1: Action query time = 0.967 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7254
+t=298: Selected seed 195 with value = 0.7254
+Saved rollout MP4 at path ./rollouts/CLi800_t0/2026_07_31-15_35_01--episode=2--success=False--task=open_the_middle_drawer_of_the_cabinet.mp4
+Saved rollout MP4 at path ./rollouts/CLi800_t0/2026_07_31-15_35_01--with_future_img--episode=2--success=False--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: False
+# episodes completed so far: 2
+# successes: 0 (0.0%)
+
+Task: open the middle drawer of the cabinet
+Starting episode 3...
+Query 1/1: Action query time = 0.976 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3664
+t=10: Selected seed 195 with value = 0.3664
+Query 1/1: Action query time = 0.960 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4273
+t=26: Selected seed 195 with value = 0.4273
+Query 1/1: Action query time = 0.986 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4639
+t=42: Selected seed 195 with value = 0.4639
+Query 1/1: Action query time = 0.964 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5593
+t=58: Selected seed 195 with value = 0.5593
+Query 1/1: Action query time = 0.959 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6148
+t=74: Selected seed 195 with value = 0.6148
+Query 1/1: Action query time = 0.978 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7114
+t=90: Selected seed 195 with value = 0.7114
+Query 1/1: Action query time = 0.967 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7694
+t=106: Selected seed 195 with value = 0.7694
+Query 1/1: Action query time = 0.957 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8045
+t=122: Selected seed 195 with value = 0.8045
+Query 1/1: Action query time = 0.969 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8072
+t=138: Selected seed 195 with value = 0.8072
+Query 1/1: Action query time = 0.964 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7549
+t=154: Selected seed 195 with value = 0.7549
+Query 1/1: Action query time = 0.977 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8511
+t=170: Selected seed 195 with value = 0.8511
+Query 1/1: Action query time = 0.969 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7477
+t=186: Selected seed 195 with value = 0.7477
+Query 1/1: Action query time = 0.971 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8756
+t=202: Selected seed 195 with value = 0.8756
+Query 1/1: Action query time = 0.969 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7310
+t=218: Selected seed 195 with value = 0.7310
+Query 1/1: Action query time = 0.960 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8722
+t=234: Selected seed 195 with value = 0.8722
+Query 1/1: Action query time = 0.959 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7267
+t=250: Selected seed 195 with value = 0.7267
+Query 1/1: Action query time = 0.963 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8517
+t=266: Selected seed 195 with value = 0.8517
+Query 1/1: Action query time = 0.969 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7299
+t=282: Selected seed 195 with value = 0.7299
+Query 1/1: Action query time = 0.958 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8547
+t=298: Selected seed 195 with value = 0.8547
+Saved rollout MP4 at path ./rollouts/CLi800_t0/2026_07_31-15_35_01--episode=3--success=False--task=open_the_middle_drawer_of_the_cabinet.mp4
+Saved rollout MP4 at path ./rollouts/CLi800_t0/2026_07_31-15_35_01--with_future_img--episode=3--success=False--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: False
+# episodes completed so far: 3
+# successes: 0 (0.0%)
+
+Task: open the middle drawer of the cabinet
+Starting episode 4...
+Query 1/1: Action query time = 0.974 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3415
+t=10: Selected seed 195 with value = 0.3415
+Query 1/1: Action query time = 1.001 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3958
+t=26: Selected seed 195 with value = 0.3958
+Query 1/1: Action query time = 0.947 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4730
+t=42: Selected seed 195 with value = 0.4730
+Query 1/1: Action query time = 0.977 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5728
+t=58: Selected seed 195 with value = 0.5728
+Query 1/1: Action query time = 1.062 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6544
+t=74: Selected seed 195 with value = 0.6544
+Query 1/1: Action query time = 1.014 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7106
+t=90: Selected seed 195 with value = 0.7106
+Query 1/1: Action query time = 1.008 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7532
+t=106: Selected seed 195 with value = 0.7532
+Query 1/1: Action query time = 0.988 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7331
+t=122: Selected seed 195 with value = 0.7331
+Query 1/1: Action query time = 0.999 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7702
+t=138: Selected seed 195 with value = 0.7702
+Query 1/1: Action query time = 0.962 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9289
+t=154: Selected seed 195 with value = 0.9289
+Query 1/1: Action query time = 0.980 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9365
+t=170: Selected seed 195 with value = 0.9365
+Saved rollout MP4 at path ./rollouts/CLi800_t0/2026_07_31-15_35_01--episode=4--success=True--task=open_the_middle_drawer_of_the_cabinet.mp4
+Saved rollout MP4 at path ./rollouts/CLi800_t0/2026_07_31-15_35_01--with_future_img--episode=4--success=True--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: True
+# episodes completed so far: 4
+# successes: 1 (25.0%)
+
+Task: open the middle drawer of the cabinet
+Starting episode 5...
+Query 1/1: Action query time = 0.980 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3649
+t=10: Selected seed 195 with value = 0.3649
+Query 1/1: Action query time = 0.957 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4116
+t=26: Selected seed 195 with value = 0.4116
+Query 1/1: Action query time = 0.973 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4633
+t=42: Selected seed 195 with value = 0.4633
+Query 1/1: Action query time = 0.974 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5440
+t=58: Selected seed 195 with value = 0.5440
+Query 1/1: Action query time = 0.968 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6234
+t=74: Selected seed 195 with value = 0.6234
+Query 1/1: Action query time = 0.964 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7150
+t=90: Selected seed 195 with value = 0.7150
+Query 1/1: Action query time = 0.985 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7966
+t=106: Selected seed 195 with value = 0.7966
+Query 1/1: Action query time = 0.974 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7402
+t=122: Selected seed 195 with value = 0.7402
+Query 1/1: Action query time = 0.960 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7327
+t=138: Selected seed 195 with value = 0.7327
+Query 1/1: Action query time = 0.969 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7687
+t=154: Selected seed 195 with value = 0.7687
+Query 1/1: Action query time = 0.978 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7482
+t=170: Selected seed 195 with value = 0.7482
+Query 1/1: Action query time = 0.969 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7725
+t=186: Selected seed 195 with value = 0.7725
+Query 1/1: Action query time = 0.996 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7354
+t=202: Selected seed 195 with value = 0.7354
+Query 1/1: Action query time = 0.966 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7691
+t=218: Selected seed 195 with value = 0.7691
+Query 1/1: Action query time = 0.966 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7321
+t=234: Selected seed 195 with value = 0.7321
+Query 1/1: Action query time = 0.975 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7651
+t=250: Selected seed 195 with value = 0.7651
+Query 1/1: Action query time = 0.955 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7310
+t=266: Selected seed 195 with value = 0.7310
+Query 1/1: Action query time = 0.971 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7607
+t=282: Selected seed 195 with value = 0.7607
+Query 1/1: Action query time = 0.980 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7286
+t=298: Selected seed 195 with value = 0.7286
+Saved rollout MP4 at path ./rollouts/CLi800_t0/2026_07_31-15_35_01--episode=5--success=False--task=open_the_middle_drawer_of_the_cabinet.mp4
+Saved rollout MP4 at path ./rollouts/CLi800_t0/2026_07_31-15_35_01--with_future_img--episode=5--success=False--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: False
+# episodes completed so far: 5
+# successes: 1 (20.0%)
+
+Task: open the middle drawer of the cabinet
+Starting episode 6...
+Query 1/1: Action query time = 0.961 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3551
+t=10: Selected seed 195 with value = 0.3551
+Query 1/1: Action query time = 0.964 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3782
+t=26: Selected seed 195 with value = 0.3782
+Query 1/1: Action query time = 0.973 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4736
+t=42: Selected seed 195 with value = 0.4736
+Query 1/1: Action query time = 0.973 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5561
+t=58: Selected seed 195 with value = 0.5561
+Query 1/1: Action query time = 0.953 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6336
+t=74: Selected seed 195 with value = 0.6336
+Query 1/1: Action query time = 0.972 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6955
+t=90: Selected seed 195 with value = 0.6955
+Query 1/1: Action query time = 0.975 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7557
+t=106: Selected seed 195 with value = 0.7557
+Query 1/1: Action query time = 0.955 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7456
+t=122: Selected seed 195 with value = 0.7456
+Query 1/1: Action query time = 0.959 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8103
+t=138: Selected seed 195 with value = 0.8103
+Query 1/1: Action query time = 1.180 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9575
+t=154: Selected seed 195 with value = 0.9575
+Query 1/1: Action query time = 0.966 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9818
+t=170: Selected seed 195 with value = 0.9818
+Saved rollout MP4 at path ./rollouts/CLi800_t0/2026_07_31-15_35_01--episode=6--success=True--task=open_the_middle_drawer_of_the_cabinet.mp4
+Saved rollout MP4 at path ./rollouts/CLi800_t0/2026_07_31-15_35_01--with_future_img--episode=6--success=True--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: True
+# episodes completed so far: 6
+# successes: 2 (33.3%)
+
+Task: open the middle drawer of the cabinet
+Starting episode 7...
+Query 1/1: Action query time = 0.981 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3456
+t=10: Selected seed 195 with value = 0.3456
+Query 1/1: Action query time = 0.962 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3929
+t=26: Selected seed 195 with value = 0.3929
+Query 1/1: Action query time = 0.966 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4460
+t=42: Selected seed 195 with value = 0.4460
+Query 1/1: Action query time = 0.960 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5096
+t=58: Selected seed 195 with value = 0.5096
+Query 1/1: Action query time = 0.976 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6075
+t=74: Selected seed 195 with value = 0.6075
+Query 1/1: Action query time = 0.965 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6663
+t=90: Selected seed 195 with value = 0.6663
+Query 1/1: Action query time = 0.971 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7431
+t=106: Selected seed 195 with value = 0.7431
+Query 1/1: Action query time = 0.982 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7749
+t=122: Selected seed 195 with value = 0.7749
+Query 1/1: Action query time = 0.976 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9705
+t=138: Selected seed 195 with value = 0.9705
+Query 1/1: Action query time = 0.966 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9872
+t=154: Selected seed 195 with value = 0.9872
+Saved rollout MP4 at path ./rollouts/CLi800_t0/2026_07_31-15_35_01--episode=7--success=True--task=open_the_middle_drawer_of_the_cabinet.mp4
+Saved rollout MP4 at path ./rollouts/CLi800_t0/2026_07_31-15_35_01--with_future_img--episode=7--success=True--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: True
+# episodes completed so far: 7
+# successes: 3 (42.9%)
+
+Task: open the middle drawer of the cabinet
+Starting episode 8...
+Query 1/1: Action query time = 0.988 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3411
+t=10: Selected seed 195 with value = 0.3411
+Query 1/1: Action query time = 0.946 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3981
+t=26: Selected seed 195 with value = 0.3981
+Query 1/1: Action query time = 0.972 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4522
+t=42: Selected seed 195 with value = 0.4522
+Query 1/1: Action query time = 0.955 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5355
+t=58: Selected seed 195 with value = 0.5355
+Query 1/1: Action query time = 0.975 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6012
+t=74: Selected seed 195 with value = 0.6012
+Query 1/1: Action query time = 0.979 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6635
+t=90: Selected seed 195 with value = 0.6635
+Query 1/1: Action query time = 0.956 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7180
+t=106: Selected seed 195 with value = 0.7180
+Query 1/1: Action query time = 0.965 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7780
+t=122: Selected seed 195 with value = 0.7780
+Query 1/1: Action query time = 0.963 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7946
+t=138: Selected seed 195 with value = 0.7946
+Query 1/1: Action query time = 0.970 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9250
+t=154: Selected seed 195 with value = 0.9250
+Query 1/1: Action query time = 0.955 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9640
+t=170: Selected seed 195 with value = 0.9640
+Saved rollout MP4 at path ./rollouts/CLi800_t0/2026_07_31-15_35_01--episode=8--success=True--task=open_the_middle_drawer_of_the_cabinet.mp4
+Saved rollout MP4 at path ./rollouts/CLi800_t0/2026_07_31-15_35_01--with_future_img--episode=8--success=True--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: True
+# episodes completed so far: 8
+# successes: 4 (50.0%)
+
+Task: open the middle drawer of the cabinet
+Starting episode 9...
+Query 1/1: Action query time = 1.050 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3459
+t=10: Selected seed 195 with value = 0.3459
+Query 1/1: Action query time = 1.043 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3844
+t=26: Selected seed 195 with value = 0.3844
+Query 1/1: Action query time = 1.027 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4658
+t=42: Selected seed 195 with value = 0.4658
+Query 1/1: Action query time = 1.028 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5715
+t=58: Selected seed 195 with value = 0.5715
+Query 1/1: Action query time = 1.011 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6411
+t=74: Selected seed 195 with value = 0.6411
+Query 1/1: Action query time = 1.029 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7032
+t=90: Selected seed 195 with value = 0.7032
+Query 1/1: Action query time = 1.042 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7529
+t=106: Selected seed 195 with value = 0.7529
+Query 1/1: Action query time = 1.046 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7328
+t=122: Selected seed 195 with value = 0.7328
+Query 1/1: Action query time = 1.066 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7639
+t=138: Selected seed 195 with value = 0.7639
+Query 1/1: Action query time = 1.083 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9150
+t=154: Selected seed 195 with value = 0.9150
+Query 1/1: Action query time = 1.100 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9477
+t=170: Selected seed 195 with value = 0.9477
+Saved rollout MP4 at path ./rollouts/CLi800_t0/2026_07_31-15_35_01--episode=9--success=True--task=open_the_middle_drawer_of_the_cabinet.mp4
+Saved rollout MP4 at path ./rollouts/CLi800_t0/2026_07_31-15_35_01--with_future_img--episode=9--success=True--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: True
+# episodes completed so far: 9
+# successes: 5 (55.6%)
+
+Task: open the middle drawer of the cabinet
+Starting episode 10...
+Query 1/1: Action query time = 0.991 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3858
+t=10: Selected seed 195 with value = 0.3858
+Query 1/1: Action query time = 0.969 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4176
+t=26: Selected seed 195 with value = 0.4176
+Query 1/1: Action query time = 0.974 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4604
+t=42: Selected seed 195 with value = 0.4604
+Query 1/1: Action query time = 0.955 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5550
+t=58: Selected seed 195 with value = 0.5550
+Query 1/1: Action query time = 0.961 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6336
+t=74: Selected seed 195 with value = 0.6336
+Query 1/1: Action query time = 0.971 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7202
+t=90: Selected seed 195 with value = 0.7202
+Query 1/1: Action query time = 1.035 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7881
+t=106: Selected seed 195 with value = 0.7881
+Query 1/1: Action query time = 1.068 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7368
+t=122: Selected seed 195 with value = 0.7368
+Query 1/1: Action query time = 1.039 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7604
+t=138: Selected seed 195 with value = 0.7604
+Query 1/1: Action query time = 1.047 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7301
+t=154: Selected seed 195 with value = 0.7301
+Query 1/1: Action query time = 1.091 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7564
+t=170: Selected seed 195 with value = 0.7564
+Query 1/1: Action query time = 1.071 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7293
+t=186: Selected seed 195 with value = 0.7293
+Query 1/1: Action query time = 1.129 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7529
+t=202: Selected seed 195 with value = 0.7529
+Query 1/1: Action query time = 1.097 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7279
+t=218: Selected seed 195 with value = 0.7279
+Query 1/1: Action query time = 1.075 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7503
+t=234: Selected seed 195 with value = 0.7503
+Query 1/1: Action query time = 1.091 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7354
+t=250: Selected seed 195 with value = 0.7354
+Query 1/1: Action query time = 1.095 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9033
+t=266: Selected seed 195 with value = 0.9033
+Query 1/1: Action query time = 1.108 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9243
+t=282: Selected seed 195 with value = 0.9243
+Saved rollout MP4 at path ./rollouts/CLi800_t0/2026_07_31-15_35_01--episode=10--success=True--task=open_the_middle_drawer_of_the_cabinet.mp4
+Saved rollout MP4 at path ./rollouts/CLi800_t0/2026_07_31-15_35_01--with_future_img--episode=10--success=True--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: True
+# episodes completed so far: 10
+# successes: 6 (60.0%)
+
+Task: open the middle drawer of the cabinet
+Starting episode 11...
+Query 1/1: Action query time = 0.974 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3623
+t=10: Selected seed 195 with value = 0.3623
+Query 1/1: Action query time = 0.970 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3640
+t=26: Selected seed 195 with value = 0.3640
+Query 1/1: Action query time = 0.987 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4316
+t=42: Selected seed 195 with value = 0.4316
+Query 1/1: Action query time = 0.972 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5959
+t=58: Selected seed 195 with value = 0.5959
+Query 1/1: Action query time = 1.129 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7542
+t=74: Selected seed 195 with value = 0.7542
+Query 1/1: Action query time = 1.142 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9247
+t=90: Selected seed 195 with value = 0.9247
+Query 1/1: Action query time = 1.147 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7213
+t=106: Selected seed 195 with value = 0.7213
+Query 1/1: Action query time = 1.066 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9094
+t=122: Selected seed 195 with value = 0.9094
+Query 1/1: Action query time = 1.097 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9101
+t=138: Selected seed 195 with value = 0.9101
+Query 1/1: Action query time = 1.097 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8535
+t=154: Selected seed 195 with value = 0.8535
+Query 1/1: Action query time = 1.089 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7811
+t=170: Selected seed 195 with value = 0.7811
+Query 1/1: Action query time = 1.101 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7344
+t=186: Selected seed 195 with value = 0.7344
+Query 1/1: Action query time = 1.174 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7625
+t=202: Selected seed 195 with value = 0.7625
+Query 1/1: Action query time = 1.203 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7486
+t=218: Selected seed 195 with value = 0.7486
+Query 1/1: Action query time = 1.144 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6943
+t=234: Selected seed 195 with value = 0.6943
+Query 1/1: Action query time = 1.131 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7464
+t=250: Selected seed 195 with value = 0.7464
+Query 1/1: Action query time = 1.134 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7595
+t=266: Selected seed 195 with value = 0.7595
+Query 1/1: Action query time = 1.139 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7873
+t=282: Selected seed 195 with value = 0.7873
+Query 1/1: Action query time = 1.136 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8698
+t=298: Selected seed 195 with value = 0.8698
+Saved rollout MP4 at path ./rollouts/CLi800_t0/2026_07_31-15_35_01--episode=11--success=False--task=open_the_middle_drawer_of_the_cabinet.mp4
+Saved rollout MP4 at path ./rollouts/CLi800_t0/2026_07_31-15_35_01--with_future_img--episode=11--success=False--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: False
+# episodes completed so far: 11
+# successes: 6 (54.5%)
+
+Task: open the middle drawer of the cabinet
+Starting episode 12...
+Query 1/1: Action query time = 1.065 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3639
+t=10: Selected seed 195 with value = 0.3639
+Query 1/1: Action query time = 1.050 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3903
+t=26: Selected seed 195 with value = 0.3903
+Query 1/1: Action query time = 1.100 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4542
+t=42: Selected seed 195 with value = 0.4542
+Query 1/1: Action query time = 0.992 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5201
+t=58: Selected seed 195 with value = 0.5201
+Query 1/1: Action query time = 1.076 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6070
+t=74: Selected seed 195 with value = 0.6070
+Query 1/1: Action query time = 1.102 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6785
+t=90: Selected seed 195 with value = 0.6785
+Query 1/1: Action query time = 1.043 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7493
+t=106: Selected seed 195 with value = 0.7493
+Query 1/1: Action query time = 1.107 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7722
+t=122: Selected seed 195 with value = 0.7722
+Query 1/1: Action query time = 1.081 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7579
+t=138: Selected seed 195 with value = 0.7579
+Query 1/1: Action query time = 1.106 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7241
+t=154: Selected seed 195 with value = 0.7241
+Query 1/1: Action query time = 1.083 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9497
+t=170: Selected seed 195 with value = 0.9497
+Query 1/1: Action query time = 1.101 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9883
+t=186: Selected seed 195 with value = 0.9883
+Saved rollout MP4 at path ./rollouts/CLi800_t0/2026_07_31-15_35_01--episode=12--success=True--task=open_the_middle_drawer_of_the_cabinet.mp4
+Saved rollout MP4 at path ./rollouts/CLi800_t0/2026_07_31-15_35_01--with_future_img--episode=12--success=True--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: True
+# episodes completed so far: 12
+# successes: 7 (58.3%)
+
+Task: open the middle drawer of the cabinet
+Starting episode 13...
+Query 1/1: Action query time = 1.199 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3601
+t=10: Selected seed 195 with value = 0.3601
+Query 1/1: Action query time = 1.200 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3959
+t=26: Selected seed 195 with value = 0.3959
+Query 1/1: Action query time = 1.206 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4499
+t=42: Selected seed 195 with value = 0.4499
+Query 1/1: Action query time = 1.196 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5200
+t=58: Selected seed 195 with value = 0.5200
+Query 1/1: Action query time = 1.178 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5987
+t=74: Selected seed 195 with value = 0.5987
+Query 1/1: Action query time = 1.216 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6600
+t=90: Selected seed 195 with value = 0.6600
+Query 1/1: Action query time = 1.207 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7422
+t=106: Selected seed 195 with value = 0.7422
+Query 1/1: Action query time = 0.971 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7570
+t=122: Selected seed 195 with value = 0.7570
+Query 1/1: Action query time = 0.967 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7839
+t=138: Selected seed 195 with value = 0.7839
+Query 1/1: Action query time = 0.973 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8666
+t=154: Selected seed 195 with value = 0.8666
+Query 1/1: Action query time = 0.963 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9907
+t=170: Selected seed 195 with value = 0.9907
+Saved rollout MP4 at path ./rollouts/CLi800_t0/2026_07_31-15_35_01--episode=13--success=True--task=open_the_middle_drawer_of_the_cabinet.mp4
+Saved rollout MP4 at path ./rollouts/CLi800_t0/2026_07_31-15_35_01--with_future_img--episode=13--success=True--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: True
+# episodes completed so far: 13
+# successes: 8 (61.5%)
+
+Task: open the middle drawer of the cabinet
+Starting episode 14...
+Query 1/1: Action query time = 0.997 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3443
+t=10: Selected seed 195 with value = 0.3443
+Query 1/1: Action query time = 0.962 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3929
+t=26: Selected seed 195 with value = 0.3929
+Query 1/1: Action query time = 0.980 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4593
+t=42: Selected seed 195 with value = 0.4593
+Query 1/1: Action query time = 0.983 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5285
+t=58: Selected seed 195 with value = 0.5285
+Query 1/1: Action query time = 0.954 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6003
+t=74: Selected seed 195 with value = 0.6003
+Query 1/1: Action query time = 1.006 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6682
+t=90: Selected seed 195 with value = 0.6682
+Query 1/1: Action query time = 1.033 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7341
+t=106: Selected seed 195 with value = 0.7341
+Query 1/1: Action query time = 1.015 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7610
+t=122: Selected seed 195 with value = 0.7610
+Query 1/1: Action query time = 1.050 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7814
+t=138: Selected seed 195 with value = 0.7814
+Query 1/1: Action query time = 1.053 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9564
+t=154: Selected seed 195 with value = 0.9564
+Query 1/1: Action query time = 1.125 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9874
+t=170: Selected seed 195 with value = 0.9874
+Saved rollout MP4 at path ./rollouts/CLi800_t0/2026_07_31-15_35_01--episode=14--success=True--task=open_the_middle_drawer_of_the_cabinet.mp4
+Saved rollout MP4 at path ./rollouts/CLi800_t0/2026_07_31-15_35_01--with_future_img--episode=14--success=True--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: True
+# episodes completed so far: 14
+# successes: 9 (64.3%)
+
+Task: open the middle drawer of the cabinet
+Starting episode 15...
+Query 1/1: Action query time = 0.994 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3307
+t=10: Selected seed 195 with value = 0.3307
+Query 1/1: Action query time = 0.997 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4221
+t=26: Selected seed 195 with value = 0.4221
+Query 1/1: Action query time = 0.970 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4732
+t=42: Selected seed 195 with value = 0.4732
+Query 1/1: Action query time = 0.981 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5443
+t=58: Selected seed 195 with value = 0.5443
+Query 1/1: Action query time = 0.972 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6272
+t=74: Selected seed 195 with value = 0.6272
+Query 1/1: Action query time = 0.976 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7021
+t=90: Selected seed 195 with value = 0.7021
+Query 1/1: Action query time = 0.959 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7956
+t=106: Selected seed 195 with value = 0.7956
+Query 1/1: Action query time = 0.968 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7623
+t=122: Selected seed 195 with value = 0.7623
+Query 1/1: Action query time = 1.092 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7483
+t=138: Selected seed 195 with value = 0.7483
+Query 1/1: Action query time = 1.094 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7996
+t=154: Selected seed 195 with value = 0.7996
+Query 1/1: Action query time = 1.051 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9115
+t=170: Selected seed 195 with value = 0.9115
+Query 1/1: Action query time = 1.043 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9361
+t=186: Selected seed 195 with value = 0.9361
+Saved rollout MP4 at path ./rollouts/CLi800_t0/2026_07_31-15_35_01--episode=15--success=True--task=open_the_middle_drawer_of_the_cabinet.mp4
+Saved rollout MP4 at path ./rollouts/CLi800_t0/2026_07_31-15_35_01--with_future_img--episode=15--success=True--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: True
+# episodes completed so far: 15
+# successes: 10 (66.7%)
+
+Task: open the middle drawer of the cabinet
+Starting episode 16...
+Query 1/1: Action query time = 1.215 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3405
+t=10: Selected seed 195 with value = 0.3405
+Query 1/1: Action query time = 1.214 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3878
+t=26: Selected seed 195 with value = 0.3878
+Query 1/1: Action query time = 1.205 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4473
+t=42: Selected seed 195 with value = 0.4473
+Query 1/1: Action query time = 1.180 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5166
+t=58: Selected seed 195 with value = 0.5166
+Query 1/1: Action query time = 1.182 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5963
+t=74: Selected seed 195 with value = 0.5963
+Query 1/1: Action query time = 1.151 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6512
+t=90: Selected seed 195 with value = 0.6512
+Query 1/1: Action query time = 1.164 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7292
+t=106: Selected seed 195 with value = 0.7292
+Query 1/1: Action query time = 1.162 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7702
+t=122: Selected seed 195 with value = 0.7702
+Query 1/1: Action query time = 1.178 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7331
+t=138: Selected seed 195 with value = 0.7331
+Query 1/1: Action query time = 1.192 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7699
+t=154: Selected seed 195 with value = 0.7699
+Query 1/1: Action query time = 1.205 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9531
+t=170: Selected seed 195 with value = 0.9531
+Query 1/1: Action query time = 0.991 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9945
+t=186: Selected seed 195 with value = 0.9945
+Saved rollout MP4 at path ./rollouts/CLi800_t0/2026_07_31-15_35_01--episode=16--success=True--task=open_the_middle_drawer_of_the_cabinet.mp4
+Saved rollout MP4 at path ./rollouts/CLi800_t0/2026_07_31-15_35_01--with_future_img--episode=16--success=True--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: True
+# episodes completed so far: 16
+# successes: 11 (68.8%)
+
+Task: open the middle drawer of the cabinet
+Starting episode 17...
+Query 1/1: Action query time = 0.984 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3505
+t=10: Selected seed 195 with value = 0.3505
+Query 1/1: Action query time = 0.976 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4087
+t=26: Selected seed 195 with value = 0.4087
+Query 1/1: Action query time = 0.977 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4812
+t=42: Selected seed 195 with value = 0.4812
+Query 1/1: Action query time = 0.962 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5835
+t=58: Selected seed 195 with value = 0.5835
+Query 1/1: Action query time = 1.014 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6634
+t=74: Selected seed 195 with value = 0.6634
+Query 1/1: Action query time = 0.970 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7198
+t=90: Selected seed 195 with value = 0.7198
+Query 1/1: Action query time = 0.963 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7559
+t=106: Selected seed 195 with value = 0.7559
+Query 1/1: Action query time = 0.969 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7466
+t=122: Selected seed 195 with value = 0.7466
+Query 1/1: Action query time = 0.977 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7719
+t=138: Selected seed 195 with value = 0.7719
+Query 1/1: Action query time = 0.978 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7651
+t=154: Selected seed 195 with value = 0.7651
+Query 1/1: Action query time = 0.975 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7642
+t=170: Selected seed 195 with value = 0.7642
+Query 1/1: Action query time = 0.969 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7631
+t=186: Selected seed 195 with value = 0.7631
+Query 1/1: Action query time = 0.978 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7636
+t=202: Selected seed 195 with value = 0.7636
+Query 1/1: Action query time = 0.981 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7646
+t=218: Selected seed 195 with value = 0.7646
+Query 1/1: Action query time = 0.977 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7637
+t=234: Selected seed 195 with value = 0.7637
+Query 1/1: Action query time = 0.994 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7648
+t=250: Selected seed 195 with value = 0.7648
+Query 1/1: Action query time = 0.972 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7662
+t=266: Selected seed 195 with value = 0.7662
+Query 1/1: Action query time = 0.981 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7676
+t=282: Selected seed 195 with value = 0.7676
+Query 1/1: Action query time = 0.976 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7659
+t=298: Selected seed 195 with value = 0.7659
+Saved rollout MP4 at path ./rollouts/CLi800_t0/2026_07_31-15_35_01--episode=17--success=False--task=open_the_middle_drawer_of_the_cabinet.mp4
+Saved rollout MP4 at path ./rollouts/CLi800_t0/2026_07_31-15_35_01--with_future_img--episode=17--success=False--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: False
+# episodes completed so far: 17
+# successes: 11 (64.7%)
+
+Task: open the middle drawer of the cabinet
+Starting episode 18...
+Query 1/1: Action query time = 0.986 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3326
+t=10: Selected seed 195 with value = 0.3326
+Query 1/1: Action query time = 0.981 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4078
+t=26: Selected seed 195 with value = 0.4078
+Query 1/1: Action query time = 0.971 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4746
+t=42: Selected seed 195 with value = 0.4746
+Query 1/1: Action query time = 0.986 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5589
+t=58: Selected seed 195 with value = 0.5589
+Query 1/1: Action query time = 0.966 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6383
+t=74: Selected seed 195 with value = 0.6383
+Query 1/1: Action query time = 0.998 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7084
+t=90: Selected seed 195 with value = 0.7084
+Query 1/1: Action query time = 0.975 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7466
+t=106: Selected seed 195 with value = 0.7466
+Query 1/1: Action query time = 0.980 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7497
+t=122: Selected seed 195 with value = 0.7497
+Query 1/1: Action query time = 0.971 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7552
+t=138: Selected seed 195 with value = 0.7552
+Query 1/1: Action query time = 0.975 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9299
+t=154: Selected seed 195 with value = 0.9299
+Query 1/1: Action query time = 0.958 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9360
+t=170: Selected seed 195 with value = 0.9360
+Saved rollout MP4 at path ./rollouts/CLi800_t0/2026_07_31-15_35_01--episode=18--success=True--task=open_the_middle_drawer_of_the_cabinet.mp4
+Saved rollout MP4 at path ./rollouts/CLi800_t0/2026_07_31-15_35_01--with_future_img--episode=18--success=True--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: True
+# episodes completed so far: 18
+# successes: 12 (66.7%)
+
+Task: open the middle drawer of the cabinet
+Starting episode 19...
+Query 1/1: Action query time = 0.999 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3406
+t=10: Selected seed 195 with value = 0.3406
+Query 1/1: Action query time = 0.970 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3992
+t=26: Selected seed 195 with value = 0.3992
+Query 1/1: Action query time = 0.968 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4539
+t=42: Selected seed 195 with value = 0.4539
+Query 1/1: Action query time = 0.971 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5422
+t=58: Selected seed 195 with value = 0.5422
+Query 1/1: Action query time = 0.975 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6121
+t=74: Selected seed 195 with value = 0.6121
+Query 1/1: Action query time = 0.976 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6931
+t=90: Selected seed 195 with value = 0.6931
+Query 1/1: Action query time = 0.983 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7364
+t=106: Selected seed 195 with value = 0.7364
+Query 1/1: Action query time = 0.979 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7531
+t=122: Selected seed 195 with value = 0.7531
+Query 1/1: Action query time = 0.975 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7610
+t=138: Selected seed 195 with value = 0.7610
+Query 1/1: Action query time = 0.973 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8692
+t=154: Selected seed 195 with value = 0.8692
+Query 1/1: Action query time = 0.969 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9944
+t=170: Selected seed 195 with value = 0.9944
+Saved rollout MP4 at path ./rollouts/CLi800_t0/2026_07_31-15_35_01--episode=19--success=True--task=open_the_middle_drawer_of_the_cabinet.mp4
+Saved rollout MP4 at path ./rollouts/CLi800_t0/2026_07_31-15_35_01--with_future_img--episode=19--success=True--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: True
+# episodes completed so far: 19
+# successes: 13 (68.4%)
+
+Task: open the middle drawer of the cabinet
+Starting episode 20...
+Query 1/1: Action query time = 1.040 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3740
+t=10: Selected seed 195 with value = 0.3740
+Query 1/1: Action query time = 1.105 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4135
+t=26: Selected seed 195 with value = 0.4135
+Query 1/1: Action query time = 1.086 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4648
+t=42: Selected seed 195 with value = 0.4648
+Query 1/1: Action query time = 1.113 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5476
+t=58: Selected seed 195 with value = 0.5476
+Query 1/1: Action query time = 1.111 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6266
+t=74: Selected seed 195 with value = 0.6266
+Query 1/1: Action query time = 1.107 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7287
+t=90: Selected seed 195 with value = 0.7287
+Query 1/1: Action query time = 1.058 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7486
+t=106: Selected seed 195 with value = 0.7486
+Query 1/1: Action query time = 1.059 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7370
+t=122: Selected seed 195 with value = 0.7370
+Query 1/1: Action query time = 1.092 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7816
+t=138: Selected seed 195 with value = 0.7816
+Query 1/1: Action query time = 1.106 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8645
+t=154: Selected seed 195 with value = 0.8645
+Query 1/1: Action query time = 1.137 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9155
+t=170: Selected seed 195 with value = 0.9155
+Query 1/1: Action query time = 1.175 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9733
+t=186: Selected seed 195 with value = 0.9733
+Saved rollout MP4 at path ./rollouts/CLi800_t0/2026_07_31-15_35_01--episode=20--success=True--task=open_the_middle_drawer_of_the_cabinet.mp4
+Saved rollout MP4 at path ./rollouts/CLi800_t0/2026_07_31-15_35_01--with_future_img--episode=20--success=True--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: True
+# episodes completed so far: 20
+# successes: 14 (70.0%)
+
+Task: open the middle drawer of the cabinet
+Starting episode 21...
+Query 1/1: Action query time = 0.972 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3428
+t=10: Selected seed 195 with value = 0.3428
+Query 1/1: Action query time = 0.994 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3927
+t=26: Selected seed 195 with value = 0.3927
+Query 1/1: Action query time = 0.983 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4667
+t=42: Selected seed 195 with value = 0.4667
+Query 1/1: Action query time = 0.985 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5697
+t=58: Selected seed 195 with value = 0.5697
+Query 1/1: Action query time = 0.982 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6595
+t=74: Selected seed 195 with value = 0.6595
+Query 1/1: Action query time = 0.978 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7110
+t=90: Selected seed 195 with value = 0.7110
+Query 1/1: Action query time = 0.987 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7443
+t=106: Selected seed 195 with value = 0.7443
+Query 1/1: Action query time = 0.989 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7416
+t=122: Selected seed 195 with value = 0.7416
+Query 1/1: Action query time = 0.973 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9729
+t=138: Selected seed 195 with value = 0.9729
+Query 1/1: Action query time = 0.962 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8955
+t=154: Selected seed 195 with value = 0.8955
+Query 1/1: Action query time = 1.008 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9782
+t=170: Selected seed 195 with value = 0.9782
+Query 1/1: Action query time = 0.972 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9907
+t=186: Selected seed 195 with value = 0.9907
+Query 1/1: Action query time = 0.962 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9915
+t=202: Selected seed 195 with value = 0.9915
+Query 1/1: Action query time = 0.963 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9990
+t=218: Selected seed 195 with value = 0.9990
+Query 1/1: Action query time = 0.985 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=234: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.973 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=250: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.971 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9871
+t=266: Selected seed 195 with value = 0.9871
+Query 1/1: Action query time = 0.959 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9237
+t=282: Selected seed 195 with value = 0.9237
+Query 1/1: Action query time = 0.985 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7877
+t=298: Selected seed 195 with value = 0.7877
+Saved rollout MP4 at path ./rollouts/CLi800_t0/2026_07_31-15_35_01--episode=21--success=False--task=open_the_middle_drawer_of_the_cabinet.mp4
+Saved rollout MP4 at path ./rollouts/CLi800_t0/2026_07_31-15_35_01--with_future_img--episode=21--success=False--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: False
+# episodes completed so far: 21
+# successes: 14 (66.7%)
+
+Task: open the middle drawer of the cabinet
+Starting episode 22...
+Query 1/1: Action query time = 0.998 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3419
+t=10: Selected seed 195 with value = 0.3419
+Query 1/1: Action query time = 0.975 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3886
+t=26: Selected seed 195 with value = 0.3886
+Query 1/1: Action query time = 0.972 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4326
+t=42: Selected seed 195 with value = 0.4326
+Query 1/1: Action query time = 0.969 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5168
+t=58: Selected seed 195 with value = 0.5168
+Query 1/1: Action query time = 1.023 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6016
+t=74: Selected seed 195 with value = 0.6016
+Query 1/1: Action query time = 1.004 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6392
+t=90: Selected seed 195 with value = 0.6392
+Query 1/1: Action query time = 1.040 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7321
+t=106: Selected seed 195 with value = 0.7321
+Query 1/1: Action query time = 1.043 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7236
+t=122: Selected seed 195 with value = 0.7236
+Query 1/1: Action query time = 1.084 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8646
+t=138: Selected seed 195 with value = 0.8646
+Query 1/1: Action query time = 1.126 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9956
+t=154: Selected seed 195 with value = 0.9956
+Query 1/1: Action query time = 1.082 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9972
+t=170: Selected seed 195 with value = 0.9972
+Saved rollout MP4 at path ./rollouts/CLi800_t0/2026_07_31-15_35_01--episode=22--success=True--task=open_the_middle_drawer_of_the_cabinet.mp4
+Saved rollout MP4 at path ./rollouts/CLi800_t0/2026_07_31-15_35_01--with_future_img--episode=22--success=True--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: True
+# episodes completed so far: 22
+# successes: 15 (68.2%)
+
+Task: open the middle drawer of the cabinet
+Starting episode 23...
+Query 1/1: Action query time = 0.973 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3665
+t=10: Selected seed 195 with value = 0.3665
+Query 1/1: Action query time = 0.964 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4203
+t=26: Selected seed 195 with value = 0.4203
+Query 1/1: Action query time = 0.995 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4761
+t=42: Selected seed 195 with value = 0.4761
+Query 1/1: Action query time = 0.967 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5613
+t=58: Selected seed 195 with value = 0.5613
+Query 1/1: Action query time = 0.968 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6184
+t=74: Selected seed 195 with value = 0.6184
+Query 1/1: Action query time = 0.969 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6740
+t=90: Selected seed 195 with value = 0.6740
+Query 1/1: Action query time = 0.959 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7811
+t=106: Selected seed 195 with value = 0.7811
+Query 1/1: Action query time = 0.968 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7685
+t=122: Selected seed 195 with value = 0.7685
+Query 1/1: Action query time = 0.989 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7692
+t=138: Selected seed 195 with value = 0.7692
+Query 1/1: Action query time = 0.978 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7662
+t=154: Selected seed 195 with value = 0.7662
+Query 1/1: Action query time = 0.965 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7943
+t=170: Selected seed 195 with value = 0.7943
+Query 1/1: Action query time = 0.962 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8757
+t=186: Selected seed 195 with value = 0.8757
+Query 1/1: Action query time = 0.976 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8894
+t=202: Selected seed 195 with value = 0.8894
+Saved rollout MP4 at path ./rollouts/CLi800_t0/2026_07_31-15_35_01--episode=23--success=True--task=open_the_middle_drawer_of_the_cabinet.mp4
+Saved rollout MP4 at path ./rollouts/CLi800_t0/2026_07_31-15_35_01--with_future_img--episode=23--success=True--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: True
+# episodes completed so far: 23
+# successes: 16 (69.6%)
+
+Task: open the middle drawer of the cabinet
+Starting episode 24...
+Query 1/1: Action query time = 0.973 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3196
+t=10: Selected seed 195 with value = 0.3196
+Query 1/1: Action query time = 0.969 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3785
+t=26: Selected seed 195 with value = 0.3785
+Query 1/1: Action query time = 0.966 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4433
+t=42: Selected seed 195 with value = 0.4433
+Query 1/1: Action query time = 0.976 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5519
+t=58: Selected seed 195 with value = 0.5519
+Query 1/1: Action query time = 0.979 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6401
+t=74: Selected seed 195 with value = 0.6401
+Query 1/1: Action query time = 1.001 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7198
+t=90: Selected seed 195 with value = 0.7198
+Query 1/1: Action query time = 0.967 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7078
+t=106: Selected seed 195 with value = 0.7078
+Query 1/1: Action query time = 0.981 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7071
+t=122: Selected seed 195 with value = 0.7071
+Query 1/1: Action query time = 0.976 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7323
+t=138: Selected seed 195 with value = 0.7323
+Query 1/1: Action query time = 0.974 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8334
+t=154: Selected seed 195 with value = 0.8334
+Query 1/1: Action query time = 0.961 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9044
+t=170: Selected seed 195 with value = 0.9044
+Query 1/1: Action query time = 0.962 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9921
+t=186: Selected seed 195 with value = 0.9921
+Query 1/1: Action query time = 0.971 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=202: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/CLi800_t0/2026_07_31-15_35_01--episode=24--success=True--task=open_the_middle_drawer_of_the_cabinet.mp4
+Saved rollout MP4 at path ./rollouts/CLi800_t0/2026_07_31-15_35_01--with_future_img--episode=24--success=True--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: True
+# episodes completed so far: 24
+# successes: 17 (70.8%)
+
+Task: open the middle drawer of the cabinet
+Starting episode 25...
+Query 1/1: Action query time = 0.967 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3563
+t=10: Selected seed 195 with value = 0.3563
+Query 1/1: Action query time = 0.968 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4188
+t=26: Selected seed 195 with value = 0.4188
+Query 1/1: Action query time = 0.960 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4635
+t=42: Selected seed 195 with value = 0.4635
+Query 1/1: Action query time = 0.978 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5427
+t=58: Selected seed 195 with value = 0.5427
+Query 1/1: Action query time = 1.154 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6266
+t=74: Selected seed 195 with value = 0.6266
+Query 1/1: Action query time = 1.159 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7197
+t=90: Selected seed 195 with value = 0.7197
+Query 1/1: Action query time = 1.139 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7593
+t=106: Selected seed 195 with value = 0.7593
+Query 1/1: Action query time = 1.132 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7417
+t=122: Selected seed 195 with value = 0.7417
+Query 1/1: Action query time = 1.147 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7536
+t=138: Selected seed 195 with value = 0.7536
+Query 1/1: Action query time = 1.127 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7268
+t=154: Selected seed 195 with value = 0.7268
+Query 1/1: Action query time = 1.145 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7571
+t=170: Selected seed 195 with value = 0.7571
+Query 1/1: Action query time = 1.131 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7269
+t=186: Selected seed 195 with value = 0.7269
+Query 1/1: Action query time = 1.138 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7509
+t=202: Selected seed 195 with value = 0.7509
+Query 1/1: Action query time = 1.189 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7238
+t=218: Selected seed 195 with value = 0.7238
+Query 1/1: Action query time = 1.154 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7498
+t=234: Selected seed 195 with value = 0.7498
+Query 1/1: Action query time = 1.190 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7284
+t=250: Selected seed 195 with value = 0.7284
+Query 1/1: Action query time = 1.203 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7480
+t=266: Selected seed 195 with value = 0.7480
+Query 1/1: Action query time = 1.208 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7301
+t=282: Selected seed 195 with value = 0.7301
+Query 1/1: Action query time = 1.210 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7466
+t=298: Selected seed 195 with value = 0.7466
+Saved rollout MP4 at path ./rollouts/CLi800_t0/2026_07_31-15_35_01--episode=25--success=False--task=open_the_middle_drawer_of_the_cabinet.mp4
+Saved rollout MP4 at path ./rollouts/CLi800_t0/2026_07_31-15_35_01--with_future_img--episode=25--success=False--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: False
+# episodes completed so far: 25
+# successes: 17 (68.0%)
+
+Task: open the middle drawer of the cabinet
+Starting episode 26...
+Query 1/1: Action query time = 1.000 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3569
+t=10: Selected seed 195 with value = 0.3569
+Query 1/1: Action query time = 0.988 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3773
+t=26: Selected seed 195 with value = 0.3773
+Query 1/1: Action query time = 0.977 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4407
+t=42: Selected seed 195 with value = 0.4407
+Query 1/1: Action query time = 0.983 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5309
+t=58: Selected seed 195 with value = 0.5309
+Query 1/1: Action query time = 1.102 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6104
+t=74: Selected seed 195 with value = 0.6104
+Query 1/1: Action query time = 1.206 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6775
+t=90: Selected seed 195 with value = 0.6775
+Query 1/1: Action query time = 1.188 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7603
+t=106: Selected seed 195 with value = 0.7603
+Query 1/1: Action query time = 1.238 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7859
+t=122: Selected seed 195 with value = 0.7859
+Query 1/1: Action query time = 1.215 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7635
+t=138: Selected seed 195 with value = 0.7635
+Query 1/1: Action query time = 1.153 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7949
+t=154: Selected seed 195 with value = 0.7949
+Query 1/1: Action query time = 1.165 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7833
+t=170: Selected seed 195 with value = 0.7833
+Query 1/1: Action query time = 1.131 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7724
+t=186: Selected seed 195 with value = 0.7724
+Query 1/1: Action query time = 1.076 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7677
+t=202: Selected seed 195 with value = 0.7677
+Query 1/1: Action query time = 0.991 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7630
+t=218: Selected seed 195 with value = 0.7630
+Query 1/1: Action query time = 0.986 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7620
+t=234: Selected seed 195 with value = 0.7620
+Query 1/1: Action query time = 0.973 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7609
+t=250: Selected seed 195 with value = 0.7609
+Query 1/1: Action query time = 0.975 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7589
+t=266: Selected seed 195 with value = 0.7589
+Query 1/1: Action query time = 0.983 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7594
+t=282: Selected seed 195 with value = 0.7594
+Query 1/1: Action query time = 0.978 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7594
+t=298: Selected seed 195 with value = 0.7594
+Saved rollout MP4 at path ./rollouts/CLi800_t0/2026_07_31-15_35_01--episode=26--success=False--task=open_the_middle_drawer_of_the_cabinet.mp4
+Saved rollout MP4 at path ./rollouts/CLi800_t0/2026_07_31-15_35_01--with_future_img--episode=26--success=False--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: False
+# episodes completed so far: 26
+# successes: 17 (65.4%)
+
+Task: open the middle drawer of the cabinet
+Starting episode 27...
+Query 1/1: Action query time = 0.990 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3291
+t=10: Selected seed 195 with value = 0.3291
+Query 1/1: Action query time = 0.967 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3907
+t=26: Selected seed 195 with value = 0.3907
+Query 1/1: Action query time = 0.980 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4556
+t=42: Selected seed 195 with value = 0.4556
+Query 1/1: Action query time = 0.970 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5476
+t=58: Selected seed 195 with value = 0.5476
+Query 1/1: Action query time = 0.985 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6321
+t=74: Selected seed 195 with value = 0.6321
+Query 1/1: Action query time = 0.966 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6789
+t=90: Selected seed 195 with value = 0.6789
+Query 1/1: Action query time = 0.999 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7841
+t=106: Selected seed 195 with value = 0.7841
+Query 1/1: Action query time = 0.971 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7669
+t=122: Selected seed 195 with value = 0.7669
+Query 1/1: Action query time = 0.973 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7627
+t=138: Selected seed 195 with value = 0.7627
+Query 1/1: Action query time = 0.969 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8230
+t=154: Selected seed 195 with value = 0.8230
+Query 1/1: Action query time = 0.977 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9264
+t=170: Selected seed 195 with value = 0.9264
+Query 1/1: Action query time = 0.975 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9742
+t=186: Selected seed 195 with value = 0.9742
+Saved rollout MP4 at path ./rollouts/CLi800_t0/2026_07_31-15_35_01--episode=27--success=True--task=open_the_middle_drawer_of_the_cabinet.mp4
+Saved rollout MP4 at path ./rollouts/CLi800_t0/2026_07_31-15_35_01--with_future_img--episode=27--success=True--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: True
+# episodes completed so far: 27
+# successes: 18 (66.7%)
+
+Task: open the middle drawer of the cabinet
+Starting episode 28...
+Query 1/1: Action query time = 1.101 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3617
+t=10: Selected seed 195 with value = 0.3617
+Query 1/1: Action query time = 1.072 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4132
+t=26: Selected seed 195 with value = 0.4132
+Query 1/1: Action query time = 1.036 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4600
+t=42: Selected seed 195 with value = 0.4600
+Query 1/1: Action query time = 1.061 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5572
+t=58: Selected seed 195 with value = 0.5572
+Query 1/1: Action query time = 1.095 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6284
+t=74: Selected seed 195 with value = 0.6284
+Query 1/1: Action query time = 1.127 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7470
+t=90: Selected seed 195 with value = 0.7470
+Query 1/1: Action query time = 1.088 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7410
+t=106: Selected seed 195 with value = 0.7410
+Query 1/1: Action query time = 0.992 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7478
+t=122: Selected seed 195 with value = 0.7478
+Query 1/1: Action query time = 0.976 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7852
+t=138: Selected seed 195 with value = 0.7852
+Query 1/1: Action query time = 0.977 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8059
+t=154: Selected seed 195 with value = 0.8059
+Query 1/1: Action query time = 0.965 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8199
+t=170: Selected seed 195 with value = 0.8199
+Query 1/1: Action query time = 0.977 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8107
+t=186: Selected seed 195 with value = 0.8107
+Query 1/1: Action query time = 0.960 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8149
+t=202: Selected seed 195 with value = 0.8149
+Query 1/1: Action query time = 0.975 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8115
+t=218: Selected seed 195 with value = 0.8115
+Query 1/1: Action query time = 0.982 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8140
+t=234: Selected seed 195 with value = 0.8140
+Query 1/1: Action query time = 1.042 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8135
+t=250: Selected seed 195 with value = 0.8135
+Query 1/1: Action query time = 1.070 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8141
+t=266: Selected seed 195 with value = 0.8141
+Query 1/1: Action query time = 1.053 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8118
+t=282: Selected seed 195 with value = 0.8118
+Query 1/1: Action query time = 1.038 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8118
+t=298: Selected seed 195 with value = 0.8118
+Saved rollout MP4 at path ./rollouts/CLi800_t0/2026_07_31-15_35_01--episode=28--success=False--task=open_the_middle_drawer_of_the_cabinet.mp4
+Saved rollout MP4 at path ./rollouts/CLi800_t0/2026_07_31-15_35_01--with_future_img--episode=28--success=False--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: False
+# episodes completed so far: 28
+# successes: 18 (64.3%)
+
+Task: open the middle drawer of the cabinet
+Starting episode 29...
+Query 1/1: Action query time = 1.011 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3487
+t=10: Selected seed 195 with value = 0.3487
+Query 1/1: Action query time = 1.031 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4081
+t=26: Selected seed 195 with value = 0.4081
+Query 1/1: Action query time = 1.084 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4490
+t=42: Selected seed 195 with value = 0.4490
+Query 1/1: Action query time = 1.091 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5436
+t=58: Selected seed 195 with value = 0.5436
+Query 1/1: Action query time = 1.113 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6238
+t=74: Selected seed 195 with value = 0.6238
+Query 1/1: Action query time = 1.100 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6933
+t=90: Selected seed 195 with value = 0.6933
+Query 1/1: Action query time = 1.168 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7657
+t=106: Selected seed 195 with value = 0.7657
+Query 1/1: Action query time = 0.980 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7466
+t=122: Selected seed 195 with value = 0.7466
+Query 1/1: Action query time = 0.990 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7296
+t=138: Selected seed 195 with value = 0.7296
+Query 1/1: Action query time = 0.969 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7491
+t=154: Selected seed 195 with value = 0.7491
+Query 1/1: Action query time = 0.968 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7214
+t=170: Selected seed 195 with value = 0.7214
+Query 1/1: Action query time = 0.989 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7253
+t=186: Selected seed 195 with value = 0.7253
+Query 1/1: Action query time = 0.963 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7175
+t=202: Selected seed 195 with value = 0.7175
+Query 1/1: Action query time = 0.980 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7237
+t=218: Selected seed 195 with value = 0.7237
+Query 1/1: Action query time = 0.982 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7207
+t=234: Selected seed 195 with value = 0.7207
+Query 1/1: Action query time = 0.977 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7288
+t=250: Selected seed 195 with value = 0.7288
+Query 1/1: Action query time = 0.972 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7240
+t=266: Selected seed 195 with value = 0.7240
+Query 1/1: Action query time = 0.979 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7351
+t=282: Selected seed 195 with value = 0.7351
+Query 1/1: Action query time = 0.981 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7235
+t=298: Selected seed 195 with value = 0.7235
+Saved rollout MP4 at path ./rollouts/CLi800_t0/2026_07_31-15_35_01--episode=29--success=False--task=open_the_middle_drawer_of_the_cabinet.mp4
+Saved rollout MP4 at path ./rollouts/CLi800_t0/2026_07_31-15_35_01--with_future_img--episode=29--success=False--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: False
+# episodes completed so far: 29
+# successes: 18 (62.1%)
+
+Task: open the middle drawer of the cabinet
+Starting episode 30...
+Query 1/1: Action query time = 1.136 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3501
+t=10: Selected seed 195 with value = 0.3501
+Query 1/1: Action query time = 1.114 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4040
+t=26: Selected seed 195 with value = 0.4040
+Query 1/1: Action query time = 1.137 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4686
+t=42: Selected seed 195 with value = 0.4686
+Query 1/1: Action query time = 1.296 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5254
+t=58: Selected seed 195 with value = 0.5254
+Query 1/1: Action query time = 1.355 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6303
+t=74: Selected seed 195 with value = 0.6303
+Query 1/1: Action query time = 1.320 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7179
+t=90: Selected seed 195 with value = 0.7179
+Query 1/1: Action query time = 1.351 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7476
+t=106: Selected seed 195 with value = 0.7476
+Query 1/1: Action query time = 1.152 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7383
+t=122: Selected seed 195 with value = 0.7383
+Query 1/1: Action query time = 1.001 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7892
+t=138: Selected seed 195 with value = 0.7892
+Query 1/1: Action query time = 0.972 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8819
+t=154: Selected seed 195 with value = 0.8819
+Query 1/1: Action query time = 0.978 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8729
+t=170: Selected seed 195 with value = 0.8729
+Query 1/1: Action query time = 0.975 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9725
+t=186: Selected seed 195 with value = 0.9725
+Saved rollout MP4 at path ./rollouts/CLi800_t0/2026_07_31-15_35_01--episode=30--success=True--task=open_the_middle_drawer_of_the_cabinet.mp4
+Saved rollout MP4 at path ./rollouts/CLi800_t0/2026_07_31-15_35_01--with_future_img--episode=30--success=True--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: True
+# episodes completed so far: 30
+# successes: 19 (63.3%)
+
+Task: open the middle drawer of the cabinet
+Starting episode 31...
+Query 1/1: Action query time = 0.997 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3491
+t=10: Selected seed 195 with value = 0.3491
+Query 1/1: Action query time = 0.986 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4161
+t=26: Selected seed 195 with value = 0.4161
+Query 1/1: Action query time = 0.969 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4729
+t=42: Selected seed 195 with value = 0.4729
+Query 1/1: Action query time = 0.975 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5566
+t=58: Selected seed 195 with value = 0.5566
+Query 1/1: Action query time = 0.969 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6264
+t=74: Selected seed 195 with value = 0.6264
+Query 1/1: Action query time = 0.987 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7314
+t=90: Selected seed 195 with value = 0.7314
+Query 1/1: Action query time = 0.987 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7882
+t=106: Selected seed 195 with value = 0.7882
+Query 1/1: Action query time = 0.980 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7402
+t=122: Selected seed 195 with value = 0.7402
+Query 1/1: Action query time = 1.002 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7580
+t=138: Selected seed 195 with value = 0.7580
+Query 1/1: Action query time = 1.057 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7685
+t=154: Selected seed 195 with value = 0.7685
+Query 1/1: Action query time = 1.065 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7745
+t=170: Selected seed 195 with value = 0.7745
+Query 1/1: Action query time = 1.034 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9480
+t=186: Selected seed 195 with value = 0.9480
+Query 1/1: Action query time = 1.095 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9623
+t=202: Selected seed 195 with value = 0.9623
+Saved rollout MP4 at path ./rollouts/CLi800_t0/2026_07_31-15_35_01--episode=31--success=True--task=open_the_middle_drawer_of_the_cabinet.mp4
+Saved rollout MP4 at path ./rollouts/CLi800_t0/2026_07_31-15_35_01--with_future_img--episode=31--success=True--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: True
+# episodes completed so far: 31
+# successes: 20 (64.5%)
+
+Task: open the middle drawer of the cabinet
+Starting episode 32...
+Query 1/1: Action query time = 0.998 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3383
+t=10: Selected seed 195 with value = 0.3383
+Query 1/1: Action query time = 0.977 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4030
+t=26: Selected seed 195 with value = 0.4030
+Query 1/1: Action query time = 0.972 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4464
+t=42: Selected seed 195 with value = 0.4464
+Query 1/1: Action query time = 0.957 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5328
+t=58: Selected seed 195 with value = 0.5328
+Query 1/1: Action query time = 0.961 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6071
+t=74: Selected seed 195 with value = 0.6071
+Query 1/1: Action query time = 0.974 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7004
+t=90: Selected seed 195 with value = 0.7004
+Query 1/1: Action query time = 0.977 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7407
+t=106: Selected seed 195 with value = 0.7407
+Query 1/1: Action query time = 0.980 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7529
+t=122: Selected seed 195 with value = 0.7529
+Query 1/1: Action query time = 0.979 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7446
+t=138: Selected seed 195 with value = 0.7446
+Query 1/1: Action query time = 0.985 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7447
+t=154: Selected seed 195 with value = 0.7447
+Query 1/1: Action query time = 1.001 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7509
+t=170: Selected seed 195 with value = 0.7509
+Query 1/1: Action query time = 0.986 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7435
+t=186: Selected seed 195 with value = 0.7435
+Query 1/1: Action query time = 0.968 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7852
+t=202: Selected seed 195 with value = 0.7852
+Query 1/1: Action query time = 0.992 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7832
+t=218: Selected seed 195 with value = 0.7832
+Query 1/1: Action query time = 1.040 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8194
+t=234: Selected seed 195 with value = 0.8194
+Query 1/1: Action query time = 1.128 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8102
+t=250: Selected seed 195 with value = 0.8102
+Query 1/1: Action query time = 1.171 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8117
+t=266: Selected seed 195 with value = 0.8117
+Query 1/1: Action query time = 1.215 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8082
+t=282: Selected seed 195 with value = 0.8082
+Query 1/1: Action query time = 1.160 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8201
+t=298: Selected seed 195 with value = 0.8201
+Saved rollout MP4 at path ./rollouts/CLi800_t0/2026_07_31-15_35_01--episode=32--success=False--task=open_the_middle_drawer_of_the_cabinet.mp4
+Saved rollout MP4 at path ./rollouts/CLi800_t0/2026_07_31-15_35_01--with_future_img--episode=32--success=False--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: False
+# episodes completed so far: 32
+# successes: 20 (62.5%)
+
+Task: open the middle drawer of the cabinet
+Starting episode 33...
+Query 1/1: Action query time = 0.983 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3437
+t=10: Selected seed 195 with value = 0.3437
+Query 1/1: Action query time = 0.986 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4119
+t=26: Selected seed 195 with value = 0.4119
+Query 1/1: Action query time = 0.998 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4840
+t=42: Selected seed 195 with value = 0.4840
+Query 1/1: Action query time = 0.978 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5781
+t=58: Selected seed 195 with value = 0.5781
+Query 1/1: Action query time = 0.964 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6450
+t=74: Selected seed 195 with value = 0.6450
+Query 1/1: Action query time = 0.982 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7261
+t=90: Selected seed 195 with value = 0.7261
+Query 1/1: Action query time = 0.970 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7497
+t=106: Selected seed 195 with value = 0.7497
+Query 1/1: Action query time = 0.970 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7384
+t=122: Selected seed 195 with value = 0.7384
+Query 1/1: Action query time = 1.018 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7666
+t=138: Selected seed 195 with value = 0.7666
+Query 1/1: Action query time = 1.008 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7934
+t=154: Selected seed 195 with value = 0.7934
+Query 1/1: Action query time = 0.998 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8124
+t=170: Selected seed 195 with value = 0.8124
+Query 1/1: Action query time = 1.053 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7871
+t=186: Selected seed 195 with value = 0.7871
+Query 1/1: Action query time = 1.103 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7939
+t=202: Selected seed 195 with value = 0.7939
+Query 1/1: Action query time = 1.072 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8012
+t=218: Selected seed 195 with value = 0.8012
+Query 1/1: Action query time = 1.095 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7899
+t=234: Selected seed 195 with value = 0.7899
+Query 1/1: Action query time = 1.035 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8035
+t=250: Selected seed 195 with value = 0.8035
+Query 1/1: Action query time = 1.056 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8024
+t=266: Selected seed 195 with value = 0.8024
+Query 1/1: Action query time = 1.012 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7966
+t=282: Selected seed 195 with value = 0.7966
+Query 1/1: Action query time = 0.987 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8168
+t=298: Selected seed 195 with value = 0.8168
+Saved rollout MP4 at path ./rollouts/CLi800_t0/2026_07_31-15_35_01--episode=33--success=False--task=open_the_middle_drawer_of_the_cabinet.mp4
+Saved rollout MP4 at path ./rollouts/CLi800_t0/2026_07_31-15_35_01--with_future_img--episode=33--success=False--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: False
+# episodes completed so far: 33
+# successes: 20 (60.6%)
+
+Task: open the middle drawer of the cabinet
+Starting episode 34...
+Query 1/1: Action query time = 0.997 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3633
+t=10: Selected seed 195 with value = 0.3633
+Query 1/1: Action query time = 0.963 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3715
+t=26: Selected seed 195 with value = 0.3715
+Query 1/1: Action query time = 0.972 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4334
+t=42: Selected seed 195 with value = 0.4334
+Query 1/1: Action query time = 0.969 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5235
+t=58: Selected seed 195 with value = 0.5235
+Query 1/1: Action query time = 1.065 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5935
+t=74: Selected seed 195 with value = 0.5935
+Query 1/1: Action query time = 1.084 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6548
+t=90: Selected seed 195 with value = 0.6548
+Query 1/1: Action query time = 1.070 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7145
+t=106: Selected seed 195 with value = 0.7145
+Query 1/1: Action query time = 1.149 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7837
+t=122: Selected seed 195 with value = 0.7837
+Query 1/1: Action query time = 1.191 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8709
+t=138: Selected seed 195 with value = 0.8709
+Query 1/1: Action query time = 1.187 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9953
+t=154: Selected seed 195 with value = 0.9953
+Query 1/1: Action query time = 1.207 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7196
+t=170: Selected seed 195 with value = 0.7196
+Query 1/1: Action query time = 1.202 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7508
+t=186: Selected seed 195 with value = 0.7508
+Query 1/1: Action query time = 1.184 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7722
+t=202: Selected seed 195 with value = 0.7722
+Query 1/1: Action query time = 1.183 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8273
+t=218: Selected seed 195 with value = 0.8273
+Query 1/1: Action query time = 1.232 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9810
+t=234: Selected seed 195 with value = 0.9810
+Query 1/1: Action query time = 1.165 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9939
+t=250: Selected seed 195 with value = 0.9939
+Query 1/1: Action query time = 1.182 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9581
+t=266: Selected seed 195 with value = 0.9581
+Query 1/1: Action query time = 1.159 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8911
+t=282: Selected seed 195 with value = 0.8911
+Query 1/1: Action query time = 1.174 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8460
+t=298: Selected seed 195 with value = 0.8460
+Saved rollout MP4 at path ./rollouts/CLi800_t0/2026_07_31-15_35_01--episode=34--success=False--task=open_the_middle_drawer_of_the_cabinet.mp4
+Saved rollout MP4 at path ./rollouts/CLi800_t0/2026_07_31-15_35_01--with_future_img--episode=34--success=False--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: False
+# episodes completed so far: 34
+# successes: 20 (58.8%)
+
+Task: open the middle drawer of the cabinet
+Starting episode 35...
+Query 1/1: Action query time = 0.990 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3627
+t=10: Selected seed 195 with value = 0.3627
+Query 1/1: Action query time = 0.977 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3921
+t=26: Selected seed 195 with value = 0.3921
+Query 1/1: Action query time = 0.970 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4702
+t=42: Selected seed 195 with value = 0.4702
+Query 1/1: Action query time = 0.974 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5634
+t=58: Selected seed 195 with value = 0.5634
+Query 1/1: Action query time = 1.216 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6364
+t=74: Selected seed 195 with value = 0.6364
+Query 1/1: Action query time = 1.220 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7081
+t=90: Selected seed 195 with value = 0.7081
+Query 1/1: Action query time = 1.176 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7495
+t=106: Selected seed 195 with value = 0.7495
+Query 1/1: Action query time = 1.186 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7330
+t=122: Selected seed 195 with value = 0.7330
+Query 1/1: Action query time = 1.182 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7471
+t=138: Selected seed 195 with value = 0.7471
+Query 1/1: Action query time = 1.177 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7345
+t=154: Selected seed 195 with value = 0.7345
+Query 1/1: Action query time = 1.200 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7461
+t=170: Selected seed 195 with value = 0.7461
+Query 1/1: Action query time = 1.171 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7338
+t=186: Selected seed 195 with value = 0.7338
+Query 1/1: Action query time = 1.166 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7769
+t=202: Selected seed 195 with value = 0.7769
+Query 1/1: Action query time = 1.129 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9121
+t=218: Selected seed 195 with value = 0.9121
+Query 1/1: Action query time = 1.071 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8935
+t=234: Selected seed 195 with value = 0.8935
+Saved rollout MP4 at path ./rollouts/CLi800_t0/2026_07_31-15_35_01--episode=35--success=True--task=open_the_middle_drawer_of_the_cabinet.mp4
+Saved rollout MP4 at path ./rollouts/CLi800_t0/2026_07_31-15_35_01--with_future_img--episode=35--success=True--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: True
+# episodes completed so far: 35
+# successes: 21 (60.0%)
+
+Task: open the middle drawer of the cabinet
+Starting episode 36...
+Query 1/1: Action query time = 1.002 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3506
+t=10: Selected seed 195 with value = 0.3506
+Query 1/1: Action query time = 0.975 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4155
+t=26: Selected seed 195 with value = 0.4155
+Query 1/1: Action query time = 0.974 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4560
+t=42: Selected seed 195 with value = 0.4560
+Query 1/1: Action query time = 0.976 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5488
+t=58: Selected seed 195 with value = 0.5488
+Query 1/1: Action query time = 0.966 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6220
+t=74: Selected seed 195 with value = 0.6220
+Query 1/1: Action query time = 0.968 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7235
+t=90: Selected seed 195 with value = 0.7235
+Query 1/1: Action query time = 0.982 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7425
+t=106: Selected seed 195 with value = 0.7425
+Query 1/1: Action query time = 0.970 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7362
+t=122: Selected seed 195 with value = 0.7362
+Query 1/1: Action query time = 0.975 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7699
+t=138: Selected seed 195 with value = 0.7699
+Query 1/1: Action query time = 0.972 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9349
+t=154: Selected seed 195 with value = 0.9349
+Query 1/1: Action query time = 0.974 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9451
+t=170: Selected seed 195 with value = 0.9451
+Saved rollout MP4 at path ./rollouts/CLi800_t0/2026_07_31-15_35_01--episode=36--success=True--task=open_the_middle_drawer_of_the_cabinet.mp4
+Saved rollout MP4 at path ./rollouts/CLi800_t0/2026_07_31-15_35_01--with_future_img--episode=36--success=True--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: True
+# episodes completed so far: 36
+# successes: 22 (61.1%)
+
+Task: open the middle drawer of the cabinet
+Starting episode 37...
+Query 1/1: Action query time = 1.048 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3526
+t=10: Selected seed 195 with value = 0.3526
+Query 1/1: Action query time = 1.061 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3873
+t=26: Selected seed 195 with value = 0.3873
+Query 1/1: Action query time = 1.117 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4639
+t=42: Selected seed 195 with value = 0.4639
+Query 1/1: Action query time = 1.113 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5444
+t=58: Selected seed 195 with value = 0.5444
+Query 1/1: Action query time = 1.210 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6207
+t=74: Selected seed 195 with value = 0.6207
+Query 1/1: Action query time = 1.224 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7034
+t=90: Selected seed 195 with value = 0.7034
+Query 1/1: Action query time = 1.178 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7521
+t=106: Selected seed 195 with value = 0.7521
+Query 1/1: Action query time = 1.151 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7516
+t=122: Selected seed 195 with value = 0.7516
+Query 1/1: Action query time = 1.122 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7874
+t=138: Selected seed 195 with value = 0.7874
+Query 1/1: Action query time = 1.113 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9734
+t=154: Selected seed 195 with value = 0.9734
+Query 1/1: Action query time = 1.119 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9980
+t=170: Selected seed 195 with value = 0.9980
+Saved rollout MP4 at path ./rollouts/CLi800_t0/2026_07_31-15_35_01--episode=37--success=True--task=open_the_middle_drawer_of_the_cabinet.mp4
+Saved rollout MP4 at path ./rollouts/CLi800_t0/2026_07_31-15_35_01--with_future_img--episode=37--success=True--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: True
+# episodes completed so far: 37
+# successes: 23 (62.2%)
+
+Task: open the middle drawer of the cabinet
+Starting episode 38...
+Query 1/1: Action query time = 0.988 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3556
+t=10: Selected seed 195 with value = 0.3556
+Query 1/1: Action query time = 0.997 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4055
+t=26: Selected seed 195 with value = 0.4055
+Query 1/1: Action query time = 0.992 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4520
+t=42: Selected seed 195 with value = 0.4520
+Query 1/1: Action query time = 0.976 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5310
+t=58: Selected seed 195 with value = 0.5310
+Query 1/1: Action query time = 0.968 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6057
+t=74: Selected seed 195 with value = 0.6057
+Query 1/1: Action query time = 0.973 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6707
+t=90: Selected seed 195 with value = 0.6707
+Query 1/1: Action query time = 0.977 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7593
+t=106: Selected seed 195 with value = 0.7593
+Query 1/1: Action query time = 0.970 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7679
+t=122: Selected seed 195 with value = 0.7679
+Query 1/1: Action query time = 0.977 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9360
+t=138: Selected seed 195 with value = 0.9360
+Query 1/1: Action query time = 0.979 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9938
+t=154: Selected seed 195 with value = 0.9938
+Saved rollout MP4 at path ./rollouts/CLi800_t0/2026_07_31-15_35_01--episode=38--success=True--task=open_the_middle_drawer_of_the_cabinet.mp4
+Saved rollout MP4 at path ./rollouts/CLi800_t0/2026_07_31-15_35_01--with_future_img--episode=38--success=True--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: True
+# episodes completed so far: 38
+# successes: 24 (63.2%)
+
+Task: open the middle drawer of the cabinet
+Starting episode 39...
+Query 1/1: Action query time = 0.982 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3537
+t=10: Selected seed 195 with value = 0.3537
+Query 1/1: Action query time = 0.984 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4162
+t=26: Selected seed 195 with value = 0.4162
+Query 1/1: Action query time = 0.982 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4601
+t=42: Selected seed 195 with value = 0.4601
+Query 1/1: Action query time = 0.975 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5514
+t=58: Selected seed 195 with value = 0.5514
+Query 1/1: Action query time = 0.990 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6286
+t=74: Selected seed 195 with value = 0.6286
+Query 1/1: Action query time = 0.992 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7178
+t=90: Selected seed 195 with value = 0.7178
+Query 1/1: Action query time = 0.986 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8147
+t=106: Selected seed 195 with value = 0.8147
+Query 1/1: Action query time = 0.965 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9724
+t=122: Selected seed 195 with value = 0.9724
+Query 1/1: Action query time = 0.991 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9861
+t=138: Selected seed 195 with value = 0.9861
+Saved rollout MP4 at path ./rollouts/CLi800_t0/2026_07_31-15_35_01--episode=39--success=True--task=open_the_middle_drawer_of_the_cabinet.mp4
+Saved rollout MP4 at path ./rollouts/CLi800_t0/2026_07_31-15_35_01--with_future_img--episode=39--success=True--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: True
+# episodes completed so far: 39
+# successes: 25 (64.1%)
+
+Task: open the middle drawer of the cabinet
+Starting episode 40...
+Query 1/1: Action query time = 0.994 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3472
+t=10: Selected seed 195 with value = 0.3472
+Query 1/1: Action query time = 0.999 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4002
+t=26: Selected seed 195 with value = 0.4002
+Query 1/1: Action query time = 0.977 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4798
+t=42: Selected seed 195 with value = 0.4798
+Query 1/1: Action query time = 0.969 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5612
+t=58: Selected seed 195 with value = 0.5612
+Query 1/1: Action query time = 0.976 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6390
+t=74: Selected seed 195 with value = 0.6390
+Query 1/1: Action query time = 0.970 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7135
+t=90: Selected seed 195 with value = 0.7135
+Query 1/1: Action query time = 0.966 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7470
+t=106: Selected seed 195 with value = 0.7470
+Query 1/1: Action query time = 0.985 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7507
+t=122: Selected seed 195 with value = 0.7507
+Query 1/1: Action query time = 1.004 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7765
+t=138: Selected seed 195 with value = 0.7765
+Query 1/1: Action query time = 1.037 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7711
+t=154: Selected seed 195 with value = 0.7711
+Query 1/1: Action query time = 0.980 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7710
+t=170: Selected seed 195 with value = 0.7710
+Query 1/1: Action query time = 0.977 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7723
+t=186: Selected seed 195 with value = 0.7723
+Query 1/1: Action query time = 0.974 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7720
+t=202: Selected seed 195 with value = 0.7720
+Query 1/1: Action query time = 0.975 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7718
+t=218: Selected seed 195 with value = 0.7718
+Query 1/1: Action query time = 1.022 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7737
+t=234: Selected seed 195 with value = 0.7737
+Query 1/1: Action query time = 0.982 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7710
+t=250: Selected seed 195 with value = 0.7710
+Query 1/1: Action query time = 0.989 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7711
+t=266: Selected seed 195 with value = 0.7711
+Query 1/1: Action query time = 0.990 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7723
+t=282: Selected seed 195 with value = 0.7723
+Query 1/1: Action query time = 0.963 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7721
+t=298: Selected seed 195 with value = 0.7721
+Saved rollout MP4 at path ./rollouts/CLi800_t0/2026_07_31-15_35_01--episode=40--success=False--task=open_the_middle_drawer_of_the_cabinet.mp4
+Saved rollout MP4 at path ./rollouts/CLi800_t0/2026_07_31-15_35_01--with_future_img--episode=40--success=False--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: False
+# episodes completed so far: 40
+# successes: 25 (62.5%)
+
+Task: open the middle drawer of the cabinet
+Starting episode 41...
+Query 1/1: Action query time = 0.986 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3563
+t=10: Selected seed 195 with value = 0.3563
+Query 1/1: Action query time = 0.965 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4170
+t=26: Selected seed 195 with value = 0.4170
+Query 1/1: Action query time = 0.968 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4657
+t=42: Selected seed 195 with value = 0.4657
+Query 1/1: Action query time = 0.971 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5523
+t=58: Selected seed 195 with value = 0.5523
+Query 1/1: Action query time = 0.968 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6220
+t=74: Selected seed 195 with value = 0.6220
+Query 1/1: Action query time = 0.958 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7184
+t=90: Selected seed 195 with value = 0.7184
+Query 1/1: Action query time = 0.949 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7804
+t=106: Selected seed 195 with value = 0.7804
+Query 1/1: Action query time = 0.965 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7340
+t=122: Selected seed 195 with value = 0.7340
+Query 1/1: Action query time = 0.963 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7450
+t=138: Selected seed 195 with value = 0.7450
+Query 1/1: Action query time = 0.974 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7391
+t=154: Selected seed 195 with value = 0.7391
+Query 1/1: Action query time = 0.973 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7434
+t=170: Selected seed 195 with value = 0.7434
+Query 1/1: Action query time = 0.955 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7456
+t=186: Selected seed 195 with value = 0.7456
+Query 1/1: Action query time = 0.957 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7472
+t=202: Selected seed 195 with value = 0.7472
+Query 1/1: Action query time = 0.963 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7500
+t=218: Selected seed 195 with value = 0.7500
+Query 1/1: Action query time = 0.965 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7507
+t=234: Selected seed 195 with value = 0.7507
+Query 1/1: Action query time = 0.999 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7518
+t=250: Selected seed 195 with value = 0.7518
+Query 1/1: Action query time = 0.981 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7524
+t=266: Selected seed 195 with value = 0.7524
+Query 1/1: Action query time = 0.961 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7535
+t=282: Selected seed 195 with value = 0.7535
+Query 1/1: Action query time = 0.967 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7553
+t=298: Selected seed 195 with value = 0.7553
+Saved rollout MP4 at path ./rollouts/CLi800_t0/2026_07_31-15_35_01--episode=41--success=False--task=open_the_middle_drawer_of_the_cabinet.mp4
+Saved rollout MP4 at path ./rollouts/CLi800_t0/2026_07_31-15_35_01--with_future_img--episode=41--success=False--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: False
+# episodes completed so far: 41
+# successes: 25 (61.0%)
+
+Task: open the middle drawer of the cabinet
+Starting episode 42...
+Query 1/1: Action query time = 0.998 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3475
+t=10: Selected seed 195 with value = 0.3475
+Query 1/1: Action query time = 0.975 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3858
+t=26: Selected seed 195 with value = 0.3858
+Query 1/1: Action query time = 0.967 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4567
+t=42: Selected seed 195 with value = 0.4567
+Query 1/1: Action query time = 0.974 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5480
+t=58: Selected seed 195 with value = 0.5480
+Query 1/1: Action query time = 0.964 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6282
+t=74: Selected seed 195 with value = 0.6282
+Query 1/1: Action query time = 0.965 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7018
+t=90: Selected seed 195 with value = 0.7018
+Query 1/1: Action query time = 0.964 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7439
+t=106: Selected seed 195 with value = 0.7439
+Query 1/1: Action query time = 0.959 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7363
+t=122: Selected seed 195 with value = 0.7363
+Query 1/1: Action query time = 0.975 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7354
+t=138: Selected seed 195 with value = 0.7354
+Query 1/1: Action query time = 0.990 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7348
+t=154: Selected seed 195 with value = 0.7348
+Query 1/1: Action query time = 0.985 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7444
+t=170: Selected seed 195 with value = 0.7444
+Query 1/1: Action query time = 0.979 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7350
+t=186: Selected seed 195 with value = 0.7350
+Query 1/1: Action query time = 0.980 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7348
+t=202: Selected seed 195 with value = 0.7348
+Query 1/1: Action query time = 0.968 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7243
+t=218: Selected seed 195 with value = 0.7243
+Query 1/1: Action query time = 0.977 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7351
+t=234: Selected seed 195 with value = 0.7351
+Query 1/1: Action query time = 0.963 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7300
+t=250: Selected seed 195 with value = 0.7300
+Query 1/1: Action query time = 0.967 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7426
+t=266: Selected seed 195 with value = 0.7426
+Query 1/1: Action query time = 0.975 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7330
+t=282: Selected seed 195 with value = 0.7330
+Query 1/1: Action query time = 0.968 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7492
+t=298: Selected seed 195 with value = 0.7492
+Saved rollout MP4 at path ./rollouts/CLi800_t0/2026_07_31-15_35_01--episode=42--success=False--task=open_the_middle_drawer_of_the_cabinet.mp4
+Saved rollout MP4 at path ./rollouts/CLi800_t0/2026_07_31-15_35_01--with_future_img--episode=42--success=False--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: False
+# episodes completed so far: 42
+# successes: 25 (59.5%)
+
+Task: open the middle drawer of the cabinet
+Starting episode 43...
+Query 1/1: Action query time = 0.968 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3658
+t=10: Selected seed 195 with value = 0.3658
+Query 1/1: Action query time = 0.967 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4217
+t=26: Selected seed 195 with value = 0.4217
+Query 1/1: Action query time = 0.955 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4611
+t=42: Selected seed 195 with value = 0.4611
+Query 1/1: Action query time = 0.975 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5560
+t=58: Selected seed 195 with value = 0.5560
+Query 1/1: Action query time = 0.964 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6253
+t=74: Selected seed 195 with value = 0.6253
+Query 1/1: Action query time = 0.982 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7285
+t=90: Selected seed 195 with value = 0.7285
+Query 1/1: Action query time = 0.961 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7959
+t=106: Selected seed 195 with value = 0.7959
+Query 1/1: Action query time = 0.958 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7483
+t=122: Selected seed 195 with value = 0.7483
+Query 1/1: Action query time = 0.977 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7365
+t=138: Selected seed 195 with value = 0.7365
+Query 1/1: Action query time = 0.981 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7478
+t=154: Selected seed 195 with value = 0.7478
+Query 1/1: Action query time = 0.949 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7411
+t=170: Selected seed 195 with value = 0.7411
+Query 1/1: Action query time = 0.963 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7489
+t=186: Selected seed 195 with value = 0.7489
+Query 1/1: Action query time = 0.952 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7389
+t=202: Selected seed 195 with value = 0.7389
+Query 1/1: Action query time = 0.966 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7479
+t=218: Selected seed 195 with value = 0.7479
+Query 1/1: Action query time = 0.963 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7442
+t=234: Selected seed 195 with value = 0.7442
+Query 1/1: Action query time = 0.974 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7521
+t=250: Selected seed 195 with value = 0.7521
+Query 1/1: Action query time = 0.968 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7538
+t=266: Selected seed 195 with value = 0.7538
+Query 1/1: Action query time = 0.981 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7424
+t=282: Selected seed 195 with value = 0.7424
+Query 1/1: Action query time = 0.996 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7680
+t=298: Selected seed 195 with value = 0.7680
+Saved rollout MP4 at path ./rollouts/CLi800_t0/2026_07_31-15_35_01--episode=43--success=False--task=open_the_middle_drawer_of_the_cabinet.mp4
+Saved rollout MP4 at path ./rollouts/CLi800_t0/2026_07_31-15_35_01--with_future_img--episode=43--success=False--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: False
+# episodes completed so far: 43
+# successes: 25 (58.1%)
+
+Task: open the middle drawer of the cabinet
+Starting episode 44...
+Query 1/1: Action query time = 0.977 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3435
+t=10: Selected seed 195 with value = 0.3435
+Query 1/1: Action query time = 0.966 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3950
+t=26: Selected seed 195 with value = 0.3950
+Query 1/1: Action query time = 0.987 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4687
+t=42: Selected seed 195 with value = 0.4687
+Query 1/1: Action query time = 0.972 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5690
+t=58: Selected seed 195 with value = 0.5690
+Query 1/1: Action query time = 0.967 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6519
+t=74: Selected seed 195 with value = 0.6519
+Query 1/1: Action query time = 0.967 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7132
+t=90: Selected seed 195 with value = 0.7132
+Query 1/1: Action query time = 0.953 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7501
+t=106: Selected seed 195 with value = 0.7501
+Query 1/1: Action query time = 0.985 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7371
+t=122: Selected seed 195 with value = 0.7371
+Query 1/1: Action query time = 0.969 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7672
+t=138: Selected seed 195 with value = 0.7672
+Query 1/1: Action query time = 0.963 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7594
+t=154: Selected seed 195 with value = 0.7594
+Query 1/1: Action query time = 0.981 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7600
+t=170: Selected seed 195 with value = 0.7600
+Query 1/1: Action query time = 0.969 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7579
+t=186: Selected seed 195 with value = 0.7579
+Query 1/1: Action query time = 0.959 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7590
+t=202: Selected seed 195 with value = 0.7590
+Query 1/1: Action query time = 0.970 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7606
+t=218: Selected seed 195 with value = 0.7606
+Query 1/1: Action query time = 0.970 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7574
+t=234: Selected seed 195 with value = 0.7574
+Query 1/1: Action query time = 0.964 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7563
+t=250: Selected seed 195 with value = 0.7563
+Query 1/1: Action query time = 0.957 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7566
+t=266: Selected seed 195 with value = 0.7566
+Query 1/1: Action query time = 0.959 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7572
+t=282: Selected seed 195 with value = 0.7572
+Query 1/1: Action query time = 0.958 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7563
+t=298: Selected seed 195 with value = 0.7563
+Saved rollout MP4 at path ./rollouts/CLi800_t0/2026_07_31-15_35_01--episode=44--success=False--task=open_the_middle_drawer_of_the_cabinet.mp4
+Saved rollout MP4 at path ./rollouts/CLi800_t0/2026_07_31-15_35_01--with_future_img--episode=44--success=False--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: False
+# episodes completed so far: 44
+# successes: 25 (56.8%)
+
+Task: open the middle drawer of the cabinet
+Starting episode 45...
+Query 1/1: Action query time = 0.970 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3353
+t=10: Selected seed 195 with value = 0.3353
+Query 1/1: Action query time = 0.967 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4168
+t=26: Selected seed 195 with value = 0.4168
+Query 1/1: Action query time = 0.954 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4862
+t=42: Selected seed 195 with value = 0.4862
+Query 1/1: Action query time = 0.976 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5661
+t=58: Selected seed 195 with value = 0.5661
+Query 1/1: Action query time = 0.982 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6436
+t=74: Selected seed 195 with value = 0.6436
+Query 1/1: Action query time = 0.971 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7077
+t=90: Selected seed 195 with value = 0.7077
+Query 1/1: Action query time = 0.956 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7669
+t=106: Selected seed 195 with value = 0.7669
+Query 1/1: Action query time = 0.970 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7573
+t=122: Selected seed 195 with value = 0.7573
+Query 1/1: Action query time = 0.981 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8056
+t=138: Selected seed 195 with value = 0.8056
+Query 1/1: Action query time = 0.960 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9593
+t=154: Selected seed 195 with value = 0.9593
+Query 1/1: Action query time = 0.971 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9967
+t=170: Selected seed 195 with value = 0.9967
+Saved rollout MP4 at path ./rollouts/CLi800_t0/2026_07_31-15_35_01--episode=45--success=True--task=open_the_middle_drawer_of_the_cabinet.mp4
+Saved rollout MP4 at path ./rollouts/CLi800_t0/2026_07_31-15_35_01--with_future_img--episode=45--success=True--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: True
+# episodes completed so far: 45
+# successes: 26 (57.8%)
+
+Task: open the middle drawer of the cabinet
+Starting episode 46...
+Query 1/1: Action query time = 0.981 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3470
+t=10: Selected seed 195 with value = 0.3470
+Query 1/1: Action query time = 0.982 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3998
+t=26: Selected seed 195 with value = 0.3998
+Query 1/1: Action query time = 0.966 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4592
+t=42: Selected seed 195 with value = 0.4592
+Query 1/1: Action query time = 0.973 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5354
+t=58: Selected seed 195 with value = 0.5354
+Query 1/1: Action query time = 0.979 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6092
+t=74: Selected seed 195 with value = 0.6092
+Query 1/1: Action query time = 0.972 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6712
+t=90: Selected seed 195 with value = 0.6712
+Query 1/1: Action query time = 0.959 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7386
+t=106: Selected seed 195 with value = 0.7386
+Query 1/1: Action query time = 0.974 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7960
+t=122: Selected seed 195 with value = 0.7960
+Query 1/1: Action query time = 0.964 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9702
+t=138: Selected seed 195 with value = 0.9702
+Query 1/1: Action query time = 0.971 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9985
+t=154: Selected seed 195 with value = 0.9985
+Saved rollout MP4 at path ./rollouts/CLi800_t0/2026_07_31-15_35_01--episode=46--success=True--task=open_the_middle_drawer_of_the_cabinet.mp4
+Saved rollout MP4 at path ./rollouts/CLi800_t0/2026_07_31-15_35_01--with_future_img--episode=46--success=True--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: True
+# episodes completed so far: 46
+# successes: 27 (58.7%)
+
+Task: open the middle drawer of the cabinet
+Starting episode 47...
+Query 1/1: Action query time = 0.975 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3552
+t=10: Selected seed 195 with value = 0.3552
+Query 1/1: Action query time = 0.964 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4024
+t=26: Selected seed 195 with value = 0.4024
+Query 1/1: Action query time = 0.975 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4728
+t=42: Selected seed 195 with value = 0.4728
+Query 1/1: Action query time = 0.965 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5647
+t=58: Selected seed 195 with value = 0.5647
+Query 1/1: Action query time = 0.971 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6396
+t=74: Selected seed 195 with value = 0.6396
+Query 1/1: Action query time = 0.960 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7165
+t=90: Selected seed 195 with value = 0.7165
+Query 1/1: Action query time = 0.972 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8009
+t=106: Selected seed 195 with value = 0.8009
+Query 1/1: Action query time = 0.952 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8382
+t=122: Selected seed 195 with value = 0.8382
+Query 1/1: Action query time = 0.959 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7571
+t=138: Selected seed 195 with value = 0.7571
+Query 1/1: Action query time = 0.963 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7810
+t=154: Selected seed 195 with value = 0.7810
+Query 1/1: Action query time = 0.967 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7520
+t=170: Selected seed 195 with value = 0.7520
+Query 1/1: Action query time = 0.958 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7450
+t=186: Selected seed 195 with value = 0.7450
+Query 1/1: Action query time = 0.981 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7313
+t=202: Selected seed 195 with value = 0.7313
+Query 1/1: Action query time = 0.971 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7411
+t=218: Selected seed 195 with value = 0.7411
+Query 1/1: Action query time = 0.955 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7317
+t=234: Selected seed 195 with value = 0.7317
+Query 1/1: Action query time = 0.975 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7436
+t=250: Selected seed 195 with value = 0.7436
+Query 1/1: Action query time = 1.087 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7388
+t=266: Selected seed 195 with value = 0.7388
+Query 1/1: Action query time = 1.005 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7453
+t=282: Selected seed 195 with value = 0.7453
+Query 1/1: Action query time = 1.009 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7412
+t=298: Selected seed 195 with value = 0.7412
+Saved rollout MP4 at path ./rollouts/CLi800_t0/2026_07_31-15_35_01--episode=47--success=False--task=open_the_middle_drawer_of_the_cabinet.mp4
+Saved rollout MP4 at path ./rollouts/CLi800_t0/2026_07_31-15_35_01--with_future_img--episode=47--success=False--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: False
+# episodes completed so far: 47
+# successes: 27 (57.4%)
+
+Task: open the middle drawer of the cabinet
+Starting episode 48...
+Query 1/1: Action query time = 0.988 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3659
+t=10: Selected seed 195 with value = 0.3659
+Query 1/1: Action query time = 0.996 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4210
+t=26: Selected seed 195 with value = 0.4210
+Query 1/1: Action query time = 0.981 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4713
+t=42: Selected seed 195 with value = 0.4713
+Query 1/1: Action query time = 0.982 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5493
+t=58: Selected seed 195 with value = 0.5493
+Query 1/1: Action query time = 0.979 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6137
+t=74: Selected seed 195 with value = 0.6137
+Query 1/1: Action query time = 0.966 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7062
+t=90: Selected seed 195 with value = 0.7062
+Query 1/1: Action query time = 0.984 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7290
+t=106: Selected seed 195 with value = 0.7290
+Query 1/1: Action query time = 0.966 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7698
+t=122: Selected seed 195 with value = 0.7698
+Query 1/1: Action query time = 0.977 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7646
+t=138: Selected seed 195 with value = 0.7646
+Query 1/1: Action query time = 0.971 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7619
+t=154: Selected seed 195 with value = 0.7619
+Query 1/1: Action query time = 0.971 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9544
+t=170: Selected seed 195 with value = 0.9544
+Query 1/1: Action query time = 0.962 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9972
+t=186: Selected seed 195 with value = 0.9972
+Saved rollout MP4 at path ./rollouts/CLi800_t0/2026_07_31-15_35_01--episode=48--success=True--task=open_the_middle_drawer_of_the_cabinet.mp4
+Saved rollout MP4 at path ./rollouts/CLi800_t0/2026_07_31-15_35_01--with_future_img--episode=48--success=True--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: True
+# episodes completed so far: 48
+# successes: 28 (58.3%)
+
+Task: open the middle drawer of the cabinet
+Starting episode 49...
+Query 1/1: Action query time = 0.984 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3597
+t=10: Selected seed 195 with value = 0.3597
+Query 1/1: Action query time = 0.984 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4145
+t=26: Selected seed 195 with value = 0.4145
+Query 1/1: Action query time = 0.979 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4714
+t=42: Selected seed 195 with value = 0.4714
+Query 1/1: Action query time = 0.973 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5723
+t=58: Selected seed 195 with value = 0.5723
+Query 1/1: Action query time = 0.985 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6209
+t=74: Selected seed 195 with value = 0.6209
+Query 1/1: Action query time = 0.972 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6956
+t=90: Selected seed 195 with value = 0.6956
+Query 1/1: Action query time = 0.970 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7476
+t=106: Selected seed 195 with value = 0.7476
+Query 1/1: Action query time = 0.967 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7491
+t=122: Selected seed 195 with value = 0.7491
+Query 1/1: Action query time = 0.962 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7832
+t=138: Selected seed 195 with value = 0.7832
+Query 1/1: Action query time = 0.978 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8826
+t=154: Selected seed 195 with value = 0.8826
+Query 1/1: Action query time = 0.981 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8891
+t=170: Selected seed 195 with value = 0.8891
+Saved rollout MP4 at path ./rollouts/CLi800_t0/2026_07_31-15_35_01--episode=49--success=True--task=open_the_middle_drawer_of_the_cabinet.mp4
+Saved rollout MP4 at path ./rollouts/CLi800_t0/2026_07_31-15_35_01--with_future_img--episode=49--success=True--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: True
+# episodes completed so far: 49
+# successes: 29 (59.2%)
+
+Task: open the middle drawer of the cabinet
+Starting episode 50...
+Query 1/1: Action query time = 0.991 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3588
+t=10: Selected seed 195 with value = 0.3588
+Query 1/1: Action query time = 0.976 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3855
+t=26: Selected seed 195 with value = 0.3855
+Query 1/1: Action query time = 0.960 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4455
+t=42: Selected seed 195 with value = 0.4455
+Query 1/1: Action query time = 0.970 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5307
+t=58: Selected seed 195 with value = 0.5307
+Query 1/1: Action query time = 0.977 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5975
+t=74: Selected seed 195 with value = 0.5975
+Query 1/1: Action query time = 0.959 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6614
+t=90: Selected seed 195 with value = 0.6614
+Query 1/1: Action query time = 0.965 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7183
+t=106: Selected seed 195 with value = 0.7183
+Query 1/1: Action query time = 0.977 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7549
+t=122: Selected seed 195 with value = 0.7549
+Query 1/1: Action query time = 0.975 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8561
+t=138: Selected seed 195 with value = 0.8561
+Query 1/1: Action query time = 0.970 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8578
+t=154: Selected seed 195 with value = 0.8578
+Query 1/1: Action query time = 0.973 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8191
+t=170: Selected seed 195 with value = 0.8191
+Query 1/1: Action query time = 0.973 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8575
+t=186: Selected seed 195 with value = 0.8575
+Query 1/1: Action query time = 0.960 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8097
+t=202: Selected seed 195 with value = 0.8097
+Query 1/1: Action query time = 0.959 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8280
+t=218: Selected seed 195 with value = 0.8280
+Query 1/1: Action query time = 0.983 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8002
+t=234: Selected seed 195 with value = 0.8002
+Query 1/1: Action query time = 0.965 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8283
+t=250: Selected seed 195 with value = 0.8283
+Query 1/1: Action query time = 0.970 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7897
+t=266: Selected seed 195 with value = 0.7897
+Query 1/1: Action query time = 0.966 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8239
+t=282: Selected seed 195 with value = 0.8239
+Query 1/1: Action query time = 0.962 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7804
+t=298: Selected seed 195 with value = 0.7804
+Saved rollout MP4 at path ./rollouts/CLi800_t0/2026_07_31-15_35_01--episode=50--success=False--task=open_the_middle_drawer_of_the_cabinet.mp4
+Saved rollout MP4 at path ./rollouts/CLi800_t0/2026_07_31-15_35_01--with_future_img--episode=50--success=False--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: False
+# episodes completed so far: 50
+# successes: 29 (58.0%)
+Current task success rate: 0.58
+Current total success rate: 0.58
+Final results:
+Total episodes: 50
+Total successes: 29
+Overall success rate: 0.5800 (58.0%)
diff --git a/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_01-00_10_26--realcl_i800_t0.txt b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_01-00_10_26--realcl_i800_t0.txt
new file mode 100644
index 0000000000000000000000000000000000000000..28d76a9163b1d5256f2423b786880f04003298cb
--- /dev/null
+++ b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_01-00_10_26--realcl_i800_t0.txt
@@ -0,0 +1,2152 @@
+Eval config: PolicyEvalConfig(suite='libero', model_family='cosmos', config='cosmos_predict2_2b_480p_libero_cl_stage_inference_only', ckpt_path='/home/azureuser/REGEN-main/old/cosmos_policy/cosmos_v2_finetune/cosmos_predict2_2b_480p_libero_goal_task6_real_cl_from40k_2gpu/checkpoints/iter_000000800/model', planning_model_config_name='', planning_model_ckpt_path='', config_file='cosmos_policy/config/config.py', packnet_mask_path='', packnet_first_cl_libero_task=6, use_third_person_image=True, num_third_person_images=1, use_wrist_image=True, num_wrist_images=1, use_proprio=True, flip_images=True, use_variance_scale=False, use_jpeg_compression=True, ar_future_prediction=False, ar_value_prediction=False, ar_qvalue_prediction=False, num_denoising_steps_action=5, num_denoising_steps_future_state=1, num_denoising_steps_value=1, unnormalize_actions=True, normalize_proprio=True, dataset_stats_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/libero_goal_regen/dataset_statistics.json', t5_text_embeddings_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/t5_embeddings.pkl', trained_with_image_aug=True, chunk_size=16, num_open_loop_steps=16, deterministic=True, deterministic_reset=False, deterministic_reset_seed=None, use_ensemble_future_state_predictions=False, num_future_state_predictions_in_ensemble=3, future_state_ensemble_aggregation_scheme='average', use_ensemble_value_predictions=False, num_value_predictions_in_ensemble=5, value_ensemble_aggregation_scheme='average', search_depth=1, mask_current_state_action_for_value_prediction=False, mask_future_state_for_qvalue_prediction=False, num_queries_best_of_n=1, use_parallel_inference=False, available_gpus='0', parallel_timeout=15, parallel_tasks_across_gpus=False, task_suite_name='libero_goal', num_trials_per_task=50, task_ids_to_run='0', initial_states_path='DEFAULT', env_img_res=256, local_log_dir='/home/azureuser/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal', run_id_note='realcl_i800_t0', use_wandb=False, wandb_entity='YOUR_ENTITY', wandb_project='YOUR_PROJECT', seed=195, randomize_seed=False, data_collection=False, jpeg_compress=True, reward_stop_threshold=None, reward_stop_consecutive_steps=3, use_gpt_reward=False, gpt_reward_model='gpt-5.4-mini', gpt_reward_stop_threshold=4, gpt_reward_timeout_s=30.0, save_rollout_video=True, eval_hdf5_path='', eval_hdf5_demo_key='demo_0', data_gen_demo_ids='', replay_actions=False, replay_action_path_dir='', replay_hdf5_path='', data_generation=False, max_generation_steps=200, simple_task_max_steps=100, complex_task_max_steps=200)
+Using serial inference (parallel inference disabled)
+Task suite: libero_goal
+Number of tasks: 10
+Running only task IDs: [0]
+Using default initial states
+
+Task: open the middle drawer of the cabinet
+Starting episode 1...
+Query 1/1: Action query time = 1.468 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2491
+t=10: Selected seed 195 with value = 0.2491
+Query 1/1: Action query time = 1.014 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3606
+t=26: Selected seed 195 with value = 0.3606
+Query 1/1: Action query time = 0.956 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4326
+t=42: Selected seed 195 with value = 0.4326
+Query 1/1: Action query time = 1.223 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5298
+t=58: Selected seed 195 with value = 0.5298
+Query 1/1: Action query time = 1.411 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6389
+t=74: Selected seed 195 with value = 0.6389
+Query 1/1: Action query time = 1.214 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7671
+t=90: Selected seed 195 with value = 0.7671
+Query 1/1: Action query time = 1.227 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9093
+t=106: Selected seed 195 with value = 0.9093
+Saved rollout MP4 at path ./rollouts/realcl_i800_t0/2026_08_01-00_10_26--episode=1--success=True--task=open_the_middle_drawer_of_the_cabinet.mp4
+Saved rollout MP4 at path ./rollouts/realcl_i800_t0/2026_08_01-00_10_26--with_future_img--episode=1--success=True--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: True
+# episodes completed so far: 1
+# successes: 1 (100.0%)
+
+Task: open the middle drawer of the cabinet
+Starting episode 2...
+Query 1/1: Action query time = 1.393 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3246
+t=10: Selected seed 195 with value = 0.3246
+Query 1/1: Action query time = 1.161 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3410
+t=26: Selected seed 195 with value = 0.3410
+Query 1/1: Action query time = 1.080 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4023
+t=42: Selected seed 195 with value = 0.4023
+Query 1/1: Action query time = 0.948 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5026
+t=58: Selected seed 195 with value = 0.5026
+Query 1/1: Action query time = 1.125 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5965
+t=74: Selected seed 195 with value = 0.5965
+Query 1/1: Action query time = 1.291 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7377
+t=90: Selected seed 195 with value = 0.7377
+Query 1/1: Action query time = 1.199 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8542
+t=106: Selected seed 195 with value = 0.8542
+Query 1/1: Action query time = 1.039 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9791
+t=122: Selected seed 195 with value = 0.9791
+Saved rollout MP4 at path ./rollouts/realcl_i800_t0/2026_08_01-00_10_26--episode=2--success=True--task=open_the_middle_drawer_of_the_cabinet.mp4
+Saved rollout MP4 at path ./rollouts/realcl_i800_t0/2026_08_01-00_10_26--with_future_img--episode=2--success=True--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: True
+# episodes completed so far: 2
+# successes: 2 (100.0%)
+
+Task: open the middle drawer of the cabinet
+Starting episode 3...
+Query 1/1: Action query time = 1.012 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3451
+t=10: Selected seed 195 with value = 0.3451
+Query 1/1: Action query time = 0.969 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3297
+t=26: Selected seed 195 with value = 0.3297
+Query 1/1: Action query time = 0.950 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3715
+t=42: Selected seed 195 with value = 0.3715
+Query 1/1: Action query time = 1.037 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4908
+t=58: Selected seed 195 with value = 0.4908
+Query 1/1: Action query time = 1.171 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5537
+t=74: Selected seed 195 with value = 0.5537
+Query 1/1: Action query time = 0.975 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6572
+t=90: Selected seed 195 with value = 0.6572
+Query 1/1: Action query time = 0.963 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7663
+t=106: Selected seed 195 with value = 0.7663
+Query 1/1: Action query time = 1.158 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8906
+t=122: Selected seed 195 with value = 0.8906
+Saved rollout MP4 at path ./rollouts/realcl_i800_t0/2026_08_01-00_10_26--episode=3--success=True--task=open_the_middle_drawer_of_the_cabinet.mp4
+Saved rollout MP4 at path ./rollouts/realcl_i800_t0/2026_08_01-00_10_26--with_future_img--episode=3--success=True--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: True
+# episodes completed so far: 3
+# successes: 3 (100.0%)
+
+Task: open the middle drawer of the cabinet
+Starting episode 4...
+Query 1/1: Action query time = 1.144 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2074
+t=10: Selected seed 195 with value = 0.2074
+Query 1/1: Action query time = 1.203 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3609
+t=26: Selected seed 195 with value = 0.3609
+Query 1/1: Action query time = 0.969 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4416
+t=42: Selected seed 195 with value = 0.4416
+Query 1/1: Action query time = 0.964 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5168
+t=58: Selected seed 195 with value = 0.5168
+Query 1/1: Action query time = 0.959 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6212
+t=74: Selected seed 195 with value = 0.6212
+Query 1/1: Action query time = 1.239 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7556
+t=90: Selected seed 195 with value = 0.7556
+Query 1/1: Action query time = 1.145 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8928
+t=106: Selected seed 195 with value = 0.8928
+Query 1/1: Action query time = 1.177 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=122: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/realcl_i800_t0/2026_08_01-00_10_26--episode=4--success=True--task=open_the_middle_drawer_of_the_cabinet.mp4
+Saved rollout MP4 at path ./rollouts/realcl_i800_t0/2026_08_01-00_10_26--with_future_img--episode=4--success=True--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: True
+# episodes completed so far: 4
+# successes: 4 (100.0%)
+
+Task: open the middle drawer of the cabinet
+Starting episode 5...
+Query 1/1: Action query time = 0.980 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3374
+t=10: Selected seed 195 with value = 0.3374
+Query 1/1: Action query time = 0.964 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3940
+t=26: Selected seed 195 with value = 0.3940
+Query 1/1: Action query time = 0.969 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4673
+t=42: Selected seed 195 with value = 0.4673
+Query 1/1: Action query time = 1.019 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5250
+t=58: Selected seed 195 with value = 0.5250
+Query 1/1: Action query time = 1.007 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6164
+t=74: Selected seed 195 with value = 0.6164
+Query 1/1: Action query time = 1.035 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7224
+t=90: Selected seed 195 with value = 0.7224
+Query 1/1: Action query time = 1.152 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8296
+t=106: Selected seed 195 with value = 0.8296
+Query 1/1: Action query time = 1.183 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9770
+t=122: Selected seed 195 with value = 0.9770
+Saved rollout MP4 at path ./rollouts/realcl_i800_t0/2026_08_01-00_10_26--episode=5--success=True--task=open_the_middle_drawer_of_the_cabinet.mp4
+Saved rollout MP4 at path ./rollouts/realcl_i800_t0/2026_08_01-00_10_26--with_future_img--episode=5--success=True--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: True
+# episodes completed so far: 5
+# successes: 5 (100.0%)
+
+Task: open the middle drawer of the cabinet
+Starting episode 6...
+Query 1/1: Action query time = 1.032 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2845
+t=10: Selected seed 195 with value = 0.2845
+Query 1/1: Action query time = 1.008 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3428
+t=26: Selected seed 195 with value = 0.3428
+Query 1/1: Action query time = 1.038 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4149
+t=42: Selected seed 195 with value = 0.4149
+Query 1/1: Action query time = 1.144 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4825
+t=58: Selected seed 195 with value = 0.4825
+Query 1/1: Action query time = 1.077 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5597
+t=74: Selected seed 195 with value = 0.5597
+Query 1/1: Action query time = 1.059 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6142
+t=90: Selected seed 195 with value = 0.6142
+Query 1/1: Action query time = 1.071 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7978
+t=106: Selected seed 195 with value = 0.7978
+Query 1/1: Action query time = 1.111 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9351
+t=122: Selected seed 195 with value = 0.9351
+Saved rollout MP4 at path ./rollouts/realcl_i800_t0/2026_08_01-00_10_26--episode=6--success=True--task=open_the_middle_drawer_of_the_cabinet.mp4
+Saved rollout MP4 at path ./rollouts/realcl_i800_t0/2026_08_01-00_10_26--with_future_img--episode=6--success=True--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: True
+# episodes completed so far: 6
+# successes: 6 (100.0%)
+
+Task: open the middle drawer of the cabinet
+Starting episode 7...
+Query 1/1: Action query time = 0.961 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2325
+t=10: Selected seed 195 with value = 0.2325
+Query 1/1: Action query time = 0.964 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2339
+t=26: Selected seed 195 with value = 0.2339
+Query 1/1: Action query time = 1.070 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2724
+t=42: Selected seed 195 with value = 0.2724
+Query 1/1: Action query time = 1.101 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3201
+t=58: Selected seed 195 with value = 0.3201
+Query 1/1: Action query time = 1.168 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5885
+t=74: Selected seed 195 with value = 0.5885
+Query 1/1: Action query time = 1.118 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6028
+t=90: Selected seed 195 with value = 0.6028
+Query 1/1: Action query time = 0.949 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7222
+t=106: Selected seed 195 with value = 0.7222
+Query 1/1: Action query time = 0.949 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8623
+t=122: Selected seed 195 with value = 0.8623
+Query 1/1: Action query time = 0.966 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9737
+t=138: Selected seed 195 with value = 0.9737
+Saved rollout MP4 at path ./rollouts/realcl_i800_t0/2026_08_01-00_10_26--episode=7--success=True--task=open_the_middle_drawer_of_the_cabinet.mp4
+Saved rollout MP4 at path ./rollouts/realcl_i800_t0/2026_08_01-00_10_26--with_future_img--episode=7--success=True--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: True
+# episodes completed so far: 7
+# successes: 7 (100.0%)
+
+Task: open the middle drawer of the cabinet
+Starting episode 8...
+Query 1/1: Action query time = 0.966 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2957
+t=10: Selected seed 195 with value = 0.2957
+Query 1/1: Action query time = 1.106 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3477
+t=26: Selected seed 195 with value = 0.3477
+Query 1/1: Action query time = 1.032 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3980
+t=42: Selected seed 195 with value = 0.3980
+Query 1/1: Action query time = 0.956 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4646
+t=58: Selected seed 195 with value = 0.4646
+Query 1/1: Action query time = 0.964 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5967
+t=74: Selected seed 195 with value = 0.5967
+Query 1/1: Action query time = 1.170 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6779
+t=90: Selected seed 195 with value = 0.6779
+Query 1/1: Action query time = 1.177 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7828
+t=106: Selected seed 195 with value = 0.7828
+Query 1/1: Action query time = 1.225 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9056
+t=122: Selected seed 195 with value = 0.9056
+Saved rollout MP4 at path ./rollouts/realcl_i800_t0/2026_08_01-00_10_26--episode=8--success=True--task=open_the_middle_drawer_of_the_cabinet.mp4
+Saved rollout MP4 at path ./rollouts/realcl_i800_t0/2026_08_01-00_10_26--with_future_img--episode=8--success=True--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: True
+# episodes completed so far: 8
+# successes: 8 (100.0%)
+
+Task: open the middle drawer of the cabinet
+Starting episode 9...
+Query 1/1: Action query time = 1.054 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2928
+t=10: Selected seed 195 with value = 0.2928
+Query 1/1: Action query time = 1.033 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3745
+t=26: Selected seed 195 with value = 0.3745
+Query 1/1: Action query time = 1.043 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4342
+t=42: Selected seed 195 with value = 0.4342
+Query 1/1: Action query time = 1.096 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5022
+t=58: Selected seed 195 with value = 0.5022
+Query 1/1: Action query time = 1.217 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5912
+t=74: Selected seed 195 with value = 0.5912
+Query 1/1: Action query time = 1.223 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7507
+t=90: Selected seed 195 with value = 0.7507
+Query 1/1: Action query time = 0.999 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8731
+t=106: Selected seed 195 with value = 0.8731
+Query 1/1: Action query time = 0.978 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=122: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/realcl_i800_t0/2026_08_01-00_10_26--episode=9--success=True--task=open_the_middle_drawer_of_the_cabinet.mp4
+Saved rollout MP4 at path ./rollouts/realcl_i800_t0/2026_08_01-00_10_26--with_future_img--episode=9--success=True--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: True
+# episodes completed so far: 9
+# successes: 9 (100.0%)
+
+Task: open the middle drawer of the cabinet
+Starting episode 10...
+Query 1/1: Action query time = 1.219 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3693
+t=10: Selected seed 195 with value = 0.3693
+Query 1/1: Action query time = 1.406 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4141
+t=26: Selected seed 195 with value = 0.4141
+Query 1/1: Action query time = 1.145 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4755
+t=42: Selected seed 195 with value = 0.4755
+Query 1/1: Action query time = 1.055 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5563
+t=58: Selected seed 195 with value = 0.5563
+Query 1/1: Action query time = 0.966 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6663
+t=74: Selected seed 195 with value = 0.6663
+Query 1/1: Action query time = 0.954 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8070
+t=90: Selected seed 195 with value = 0.8070
+Query 1/1: Action query time = 1.154 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9568
+t=106: Selected seed 195 with value = 0.9568
+Saved rollout MP4 at path ./rollouts/realcl_i800_t0/2026_08_01-00_10_26--episode=10--success=True--task=open_the_middle_drawer_of_the_cabinet.mp4
+Saved rollout MP4 at path ./rollouts/realcl_i800_t0/2026_08_01-00_10_26--with_future_img--episode=10--success=True--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: True
+# episodes completed so far: 10
+# successes: 10 (100.0%)
+
+Task: open the middle drawer of the cabinet
+Starting episode 11...
+Query 1/1: Action query time = 1.011 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3117
+t=10: Selected seed 195 with value = 0.3117
+Query 1/1: Action query time = 1.012 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3427
+t=26: Selected seed 195 with value = 0.3427
+Query 1/1: Action query time = 1.166 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4055
+t=42: Selected seed 195 with value = 0.4055
+Query 1/1: Action query time = 0.957 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4517
+t=58: Selected seed 195 with value = 0.4517
+Query 1/1: Action query time = 0.956 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5308
+t=74: Selected seed 195 with value = 0.5308
+Query 1/1: Action query time = 1.138 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6792
+t=90: Selected seed 195 with value = 0.6792
+Query 1/1: Action query time = 1.222 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7977
+t=106: Selected seed 195 with value = 0.7977
+Query 1/1: Action query time = 1.322 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9670
+t=122: Selected seed 195 with value = 0.9670
+Saved rollout MP4 at path ./rollouts/realcl_i800_t0/2026_08_01-00_10_26--episode=11--success=True--task=open_the_middle_drawer_of_the_cabinet.mp4
+Saved rollout MP4 at path ./rollouts/realcl_i800_t0/2026_08_01-00_10_26--with_future_img--episode=11--success=True--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: True
+# episodes completed so far: 11
+# successes: 11 (100.0%)
+
+Task: open the middle drawer of the cabinet
+Starting episode 12...
+Query 1/1: Action query time = 1.150 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3155
+t=10: Selected seed 195 with value = 0.3155
+Query 1/1: Action query time = 1.017 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3495
+t=26: Selected seed 195 with value = 0.3495
+Query 1/1: Action query time = 0.950 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4360
+t=42: Selected seed 195 with value = 0.4360
+Query 1/1: Action query time = 1.016 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5259
+t=58: Selected seed 195 with value = 0.5259
+Query 1/1: Action query time = 1.064 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6561
+t=74: Selected seed 195 with value = 0.6561
+Query 1/1: Action query time = 1.052 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7359
+t=90: Selected seed 195 with value = 0.7359
+Query 1/1: Action query time = 1.159 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9360
+t=106: Selected seed 195 with value = 0.9360
+Query 1/1: Action query time = 1.295 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6166
+t=122: Selected seed 195 with value = 0.6166
+Query 1/1: Action query time = 1.125 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5917
+t=138: Selected seed 195 with value = 0.5917
+Query 1/1: Action query time = 0.976 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9428
+t=154: Selected seed 195 with value = 0.9428
+Query 1/1: Action query time = 0.957 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8119
+t=170: Selected seed 195 with value = 0.8119
+Query 1/1: Action query time = 0.986 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6357
+t=186: Selected seed 195 with value = 0.6357
+Query 1/1: Action query time = 0.966 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5652
+t=202: Selected seed 195 with value = 0.5652
+Query 1/1: Action query time = 0.977 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7358
+t=218: Selected seed 195 with value = 0.7358
+Query 1/1: Action query time = 0.991 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7247
+t=234: Selected seed 195 with value = 0.7247
+Query 1/1: Action query time = 1.347 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7327
+t=250: Selected seed 195 with value = 0.7327
+Query 1/1: Action query time = 1.336 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7075
+t=266: Selected seed 195 with value = 0.7075
+Query 1/1: Action query time = 1.099 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7137
+t=282: Selected seed 195 with value = 0.7137
+Query 1/1: Action query time = 1.107 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7047
+t=298: Selected seed 195 with value = 0.7047
+Saved rollout MP4 at path ./rollouts/realcl_i800_t0/2026_08_01-00_10_26--episode=12--success=False--task=open_the_middle_drawer_of_the_cabinet.mp4
+Saved rollout MP4 at path ./rollouts/realcl_i800_t0/2026_08_01-00_10_26--with_future_img--episode=12--success=False--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: False
+# episodes completed so far: 12
+# successes: 11 (91.7%)
+
+Task: open the middle drawer of the cabinet
+Starting episode 13...
+Query 1/1: Action query time = 1.029 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3191
+t=10: Selected seed 195 with value = 0.3191
+Query 1/1: Action query time = 0.964 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3438
+t=26: Selected seed 195 with value = 0.3438
+Query 1/1: Action query time = 0.976 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3861
+t=42: Selected seed 195 with value = 0.3861
+Query 1/1: Action query time = 0.965 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4608
+t=58: Selected seed 195 with value = 0.4608
+Query 1/1: Action query time = 0.964 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5531
+t=74: Selected seed 195 with value = 0.5531
+Query 1/1: Action query time = 1.070 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6555
+t=90: Selected seed 195 with value = 0.6555
+Query 1/1: Action query time = 1.115 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7645
+t=106: Selected seed 195 with value = 0.7645
+Query 1/1: Action query time = 1.124 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8978
+t=122: Selected seed 195 with value = 0.8978
+Query 1/1: Action query time = 1.421 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=138: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/realcl_i800_t0/2026_08_01-00_10_26--episode=13--success=True--task=open_the_middle_drawer_of_the_cabinet.mp4
+Saved rollout MP4 at path ./rollouts/realcl_i800_t0/2026_08_01-00_10_26--with_future_img--episode=13--success=True--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: True
+# episodes completed so far: 13
+# successes: 12 (92.3%)
+
+Task: open the middle drawer of the cabinet
+Starting episode 14...
+Query 1/1: Action query time = 0.984 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3144
+t=10: Selected seed 195 with value = 0.3144
+Query 1/1: Action query time = 0.958 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3591
+t=26: Selected seed 195 with value = 0.3591
+Query 1/1: Action query time = 1.282 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4262
+t=42: Selected seed 195 with value = 0.4262
+Query 1/1: Action query time = 1.290 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4776
+t=58: Selected seed 195 with value = 0.4776
+Query 1/1: Action query time = 1.135 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5805
+t=74: Selected seed 195 with value = 0.5805
+Query 1/1: Action query time = 1.029 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7122
+t=90: Selected seed 195 with value = 0.7122
+Query 1/1: Action query time = 0.971 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8242
+t=106: Selected seed 195 with value = 0.8242
+Query 1/1: Action query time = 1.125 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9495
+t=122: Selected seed 195 with value = 0.9495
+Saved rollout MP4 at path ./rollouts/realcl_i800_t0/2026_08_01-00_10_26--episode=14--success=True--task=open_the_middle_drawer_of_the_cabinet.mp4
+Saved rollout MP4 at path ./rollouts/realcl_i800_t0/2026_08_01-00_10_26--with_future_img--episode=14--success=True--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: True
+# episodes completed so far: 14
+# successes: 13 (92.9%)
+
+Task: open the middle drawer of the cabinet
+Starting episode 15...
+Query 1/1: Action query time = 1.004 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2676
+t=10: Selected seed 195 with value = 0.2676
+Query 1/1: Action query time = 1.006 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3435
+t=26: Selected seed 195 with value = 0.3435
+Query 1/1: Action query time = 1.026 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4123
+t=42: Selected seed 195 with value = 0.4123
+Query 1/1: Action query time = 1.160 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4987
+t=58: Selected seed 195 with value = 0.4987
+Query 1/1: Action query time = 1.147 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5914
+t=74: Selected seed 195 with value = 0.5914
+Query 1/1: Action query time = 0.986 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6822
+t=90: Selected seed 195 with value = 0.6822
+Query 1/1: Action query time = 0.966 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8232
+t=106: Selected seed 195 with value = 0.8232
+Query 1/1: Action query time = 0.976 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9465
+t=122: Selected seed 195 with value = 0.9465
+Saved rollout MP4 at path ./rollouts/realcl_i800_t0/2026_08_01-00_10_26--episode=15--success=True--task=open_the_middle_drawer_of_the_cabinet.mp4
+Saved rollout MP4 at path ./rollouts/realcl_i800_t0/2026_08_01-00_10_26--with_future_img--episode=15--success=True--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: True
+# episodes completed so far: 15
+# successes: 14 (93.3%)
+
+Task: open the middle drawer of the cabinet
+Starting episode 16...
+Query 1/1: Action query time = 1.025 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2878
+t=10: Selected seed 195 with value = 0.2878
+Query 1/1: Action query time = 1.040 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3601
+t=26: Selected seed 195 with value = 0.3601
+Query 1/1: Action query time = 1.079 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4155
+t=42: Selected seed 195 with value = 0.4155
+Query 1/1: Action query time = 1.179 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4746
+t=58: Selected seed 195 with value = 0.4746
+Query 1/1: Action query time = 1.155 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5699
+t=74: Selected seed 195 with value = 0.5699
+Query 1/1: Action query time = 1.091 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6638
+t=90: Selected seed 195 with value = 0.6638
+Query 1/1: Action query time = 0.959 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7936
+t=106: Selected seed 195 with value = 0.7936
+Query 1/1: Action query time = 1.207 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9294
+t=122: Selected seed 195 with value = 0.9294
+Saved rollout MP4 at path ./rollouts/realcl_i800_t0/2026_08_01-00_10_26--episode=16--success=True--task=open_the_middle_drawer_of_the_cabinet.mp4
+Saved rollout MP4 at path ./rollouts/realcl_i800_t0/2026_08_01-00_10_26--with_future_img--episode=16--success=True--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: True
+# episodes completed so far: 16
+# successes: 15 (93.8%)
+
+Task: open the middle drawer of the cabinet
+Starting episode 17...
+Query 1/1: Action query time = 0.974 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3150
+t=10: Selected seed 195 with value = 0.3150
+Query 1/1: Action query time = 0.954 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3663
+t=26: Selected seed 195 with value = 0.3663
+Query 1/1: Action query time = 0.966 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4566
+t=42: Selected seed 195 with value = 0.4566
+Query 1/1: Action query time = 0.988 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5538
+t=58: Selected seed 195 with value = 0.5538
+Query 1/1: Action query time = 1.186 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6637
+t=74: Selected seed 195 with value = 0.6637
+Query 1/1: Action query time = 1.158 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7511
+t=90: Selected seed 195 with value = 0.7511
+Query 1/1: Action query time = 1.114 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8827
+t=106: Selected seed 195 with value = 0.8827
+Query 1/1: Action query time = 1.099 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=122: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/realcl_i800_t0/2026_08_01-00_10_26--episode=17--success=True--task=open_the_middle_drawer_of_the_cabinet.mp4
+Saved rollout MP4 at path ./rollouts/realcl_i800_t0/2026_08_01-00_10_26--with_future_img--episode=17--success=True--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: True
+# episodes completed so far: 17
+# successes: 16 (94.1%)
+
+Task: open the middle drawer of the cabinet
+Starting episode 18...
+Query 1/1: Action query time = 0.969 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3027
+t=10: Selected seed 195 with value = 0.3027
+Query 1/1: Action query time = 0.969 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3665
+t=26: Selected seed 195 with value = 0.3665
+Query 1/1: Action query time = 0.990 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4490
+t=42: Selected seed 195 with value = 0.4490
+Query 1/1: Action query time = 0.950 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4210
+t=58: Selected seed 195 with value = 0.4210
+Query 1/1: Action query time = 0.969 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4705
+t=74: Selected seed 195 with value = 0.4705
+Query 1/1: Action query time = 0.957 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5672
+t=90: Selected seed 195 with value = 0.5672
+Query 1/1: Action query time = 1.167 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7534
+t=106: Selected seed 195 with value = 0.7534
+Query 1/1: Action query time = 1.148 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9193
+t=122: Selected seed 195 with value = 0.9193
+Query 1/1: Action query time = 0.976 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9981
+t=138: Selected seed 195 with value = 0.9981
+Saved rollout MP4 at path ./rollouts/realcl_i800_t0/2026_08_01-00_10_26--episode=18--success=True--task=open_the_middle_drawer_of_the_cabinet.mp4
+Saved rollout MP4 at path ./rollouts/realcl_i800_t0/2026_08_01-00_10_26--with_future_img--episode=18--success=True--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: True
+# episodes completed so far: 18
+# successes: 17 (94.4%)
+
+Task: open the middle drawer of the cabinet
+Starting episode 19...
+Query 1/1: Action query time = 1.138 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3221
+t=10: Selected seed 195 with value = 0.3221
+Query 1/1: Action query time = 1.184 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3901
+t=26: Selected seed 195 with value = 0.3901
+Query 1/1: Action query time = 1.209 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4462
+t=42: Selected seed 195 with value = 0.4462
+Query 1/1: Action query time = 0.977 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5216
+t=58: Selected seed 195 with value = 0.5216
+Query 1/1: Action query time = 0.959 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6095
+t=74: Selected seed 195 with value = 0.6095
+Query 1/1: Action query time = 0.959 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8372
+t=90: Selected seed 195 with value = 0.8372
+Query 1/1: Action query time = 0.991 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9793
+t=106: Selected seed 195 with value = 0.9793
+Saved rollout MP4 at path ./rollouts/realcl_i800_t0/2026_08_01-00_10_26--episode=19--success=True--task=open_the_middle_drawer_of_the_cabinet.mp4
+Saved rollout MP4 at path ./rollouts/realcl_i800_t0/2026_08_01-00_10_26--with_future_img--episode=19--success=True--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: True
+# episodes completed so far: 19
+# successes: 18 (94.7%)
+
+Task: open the middle drawer of the cabinet
+Starting episode 20...
+Query 1/1: Action query time = 1.279 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3646
+t=10: Selected seed 195 with value = 0.3646
+Query 1/1: Action query time = 1.190 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4143
+t=26: Selected seed 195 with value = 0.4143
+Query 1/1: Action query time = 1.010 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4754
+t=42: Selected seed 195 with value = 0.4754
+Query 1/1: Action query time = 0.964 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5447
+t=58: Selected seed 195 with value = 0.5447
+Query 1/1: Action query time = 0.969 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6355
+t=74: Selected seed 195 with value = 0.6355
+Query 1/1: Action query time = 0.966 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7836
+t=90: Selected seed 195 with value = 0.7836
+Query 1/1: Action query time = 1.005 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9047
+t=106: Selected seed 195 with value = 0.9047
+Saved rollout MP4 at path ./rollouts/realcl_i800_t0/2026_08_01-00_10_26--episode=20--success=True--task=open_the_middle_drawer_of_the_cabinet.mp4
+Saved rollout MP4 at path ./rollouts/realcl_i800_t0/2026_08_01-00_10_26--with_future_img--episode=20--success=True--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: True
+# episodes completed so far: 20
+# successes: 19 (95.0%)
+
+Task: open the middle drawer of the cabinet
+Starting episode 21...
+Query 1/1: Action query time = 1.122 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2103
+t=10: Selected seed 195 with value = 0.2103
+Query 1/1: Action query time = 1.237 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2689
+t=26: Selected seed 195 with value = 0.2689
+Query 1/1: Action query time = 0.978 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4240
+t=42: Selected seed 195 with value = 0.4240
+Query 1/1: Action query time = 0.971 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5006
+t=58: Selected seed 195 with value = 0.5006
+Query 1/1: Action query time = 0.966 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5791
+t=74: Selected seed 195 with value = 0.5791
+Query 1/1: Action query time = 1.124 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6861
+t=90: Selected seed 195 with value = 0.6861
+Query 1/1: Action query time = 1.161 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8008
+t=106: Selected seed 195 with value = 0.8008
+Query 1/1: Action query time = 1.150 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9182
+t=122: Selected seed 195 with value = 0.9182
+Saved rollout MP4 at path ./rollouts/realcl_i800_t0/2026_08_01-00_10_26--episode=21--success=True--task=open_the_middle_drawer_of_the_cabinet.mp4
+Saved rollout MP4 at path ./rollouts/realcl_i800_t0/2026_08_01-00_10_26--with_future_img--episode=21--success=True--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: True
+# episodes completed so far: 21
+# successes: 20 (95.2%)
+
+Task: open the middle drawer of the cabinet
+Starting episode 22...
+Query 1/1: Action query time = 1.352 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2967
+t=10: Selected seed 195 with value = 0.2967
+Query 1/1: Action query time = 1.148 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2772
+t=26: Selected seed 195 with value = 0.2772
+Query 1/1: Action query time = 1.094 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2994
+t=42: Selected seed 195 with value = 0.2994
+Query 1/1: Action query time = 1.008 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4295
+t=58: Selected seed 195 with value = 0.4295
+Query 1/1: Action query time = 0.954 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5922
+t=74: Selected seed 195 with value = 0.5922
+Query 1/1: Action query time = 1.239 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6518
+t=90: Selected seed 195 with value = 0.6518
+Query 1/1: Action query time = 1.258 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7682
+t=106: Selected seed 195 with value = 0.7682
+Query 1/1: Action query time = 1.380 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9071
+t=122: Selected seed 195 with value = 0.9071
+Query 1/1: Action query time = 1.425 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=138: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/realcl_i800_t0/2026_08_01-00_10_26--episode=22--success=True--task=open_the_middle_drawer_of_the_cabinet.mp4
+Saved rollout MP4 at path ./rollouts/realcl_i800_t0/2026_08_01-00_10_26--with_future_img--episode=22--success=True--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: True
+# episodes completed so far: 22
+# successes: 21 (95.5%)
+
+Task: open the middle drawer of the cabinet
+Starting episode 23...
+Query 1/1: Action query time = 1.226 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3360
+t=10: Selected seed 195 with value = 0.3360
+Query 1/1: Action query time = 1.160 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3835
+t=26: Selected seed 195 with value = 0.3835
+Query 1/1: Action query time = 1.146 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4272
+t=42: Selected seed 195 with value = 0.4272
+Query 1/1: Action query time = 1.082 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5318
+t=58: Selected seed 195 with value = 0.5318
+Query 1/1: Action query time = 1.022 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6261
+t=74: Selected seed 195 with value = 0.6261
+Query 1/1: Action query time = 0.962 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7528
+t=90: Selected seed 195 with value = 0.7528
+Query 1/1: Action query time = 0.976 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8483
+t=106: Selected seed 195 with value = 0.8483
+Query 1/1: Action query time = 0.975 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9981
+t=122: Selected seed 195 with value = 0.9981
+Saved rollout MP4 at path ./rollouts/realcl_i800_t0/2026_08_01-00_10_26--episode=23--success=True--task=open_the_middle_drawer_of_the_cabinet.mp4
+Saved rollout MP4 at path ./rollouts/realcl_i800_t0/2026_08_01-00_10_26--with_future_img--episode=23--success=True--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: True
+# episodes completed so far: 23
+# successes: 22 (95.7%)
+
+Task: open the middle drawer of the cabinet
+Starting episode 24...
+Query 1/1: Action query time = 1.338 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3089
+t=10: Selected seed 195 with value = 0.3089
+Query 1/1: Action query time = 1.079 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3482
+t=26: Selected seed 195 with value = 0.3482
+Query 1/1: Action query time = 1.012 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4061
+t=42: Selected seed 195 with value = 0.4061
+Query 1/1: Action query time = 0.960 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4461
+t=58: Selected seed 195 with value = 0.4461
+Query 1/1: Action query time = 1.005 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6080
+t=74: Selected seed 195 with value = 0.6080
+Query 1/1: Action query time = 0.961 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7498
+t=90: Selected seed 195 with value = 0.7498
+Query 1/1: Action query time = 0.970 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8891
+t=106: Selected seed 195 with value = 0.8891
+Query 1/1: Action query time = 1.010 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9999
+t=122: Selected seed 195 with value = 0.9999
+Saved rollout MP4 at path ./rollouts/realcl_i800_t0/2026_08_01-00_10_26--episode=24--success=True--task=open_the_middle_drawer_of_the_cabinet.mp4
+Saved rollout MP4 at path ./rollouts/realcl_i800_t0/2026_08_01-00_10_26--with_future_img--episode=24--success=True--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: True
+# episodes completed so far: 24
+# successes: 23 (95.8%)
+
+Task: open the middle drawer of the cabinet
+Starting episode 25...
+Query 1/1: Action query time = 1.106 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3254
+t=10: Selected seed 195 with value = 0.3254
+Query 1/1: Action query time = 1.326 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3189
+t=26: Selected seed 195 with value = 0.3189
+Query 1/1: Action query time = 1.386 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3587
+t=42: Selected seed 195 with value = 0.3587
+Query 1/1: Action query time = 1.084 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4464
+t=58: Selected seed 195 with value = 0.4464
+Query 1/1: Action query time = 1.229 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5026
+t=74: Selected seed 195 with value = 0.5026
+Query 1/1: Action query time = 1.032 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5976
+t=90: Selected seed 195 with value = 0.5976
+Query 1/1: Action query time = 0.963 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7647
+t=106: Selected seed 195 with value = 0.7647
+Query 1/1: Action query time = 0.975 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8890
+t=122: Selected seed 195 with value = 0.8890
+Saved rollout MP4 at path ./rollouts/realcl_i800_t0/2026_08_01-00_10_26--episode=25--success=True--task=open_the_middle_drawer_of_the_cabinet.mp4
+Saved rollout MP4 at path ./rollouts/realcl_i800_t0/2026_08_01-00_10_26--with_future_img--episode=25--success=True--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: True
+# episodes completed so far: 25
+# successes: 24 (96.0%)
+
+Task: open the middle drawer of the cabinet
+Starting episode 26...
+Query 1/1: Action query time = 0.964 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2985
+t=10: Selected seed 195 with value = 0.2985
+Query 1/1: Action query time = 0.966 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3683
+t=26: Selected seed 195 with value = 0.3683
+Query 1/1: Action query time = 1.190 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4296
+t=42: Selected seed 195 with value = 0.4296
+Query 1/1: Action query time = 1.318 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4939
+t=58: Selected seed 195 with value = 0.4939
+Query 1/1: Action query time = 1.179 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6577
+t=74: Selected seed 195 with value = 0.6577
+Query 1/1: Action query time = 1.183 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7452
+t=90: Selected seed 195 with value = 0.7452
+Query 1/1: Action query time = 1.177 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8474
+t=106: Selected seed 195 with value = 0.8474
+Query 1/1: Action query time = 1.324 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9975
+t=122: Selected seed 195 with value = 0.9975
+Saved rollout MP4 at path ./rollouts/realcl_i800_t0/2026_08_01-00_10_26--episode=26--success=True--task=open_the_middle_drawer_of_the_cabinet.mp4
+Saved rollout MP4 at path ./rollouts/realcl_i800_t0/2026_08_01-00_10_26--with_future_img--episode=26--success=True--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: True
+# episodes completed so far: 26
+# successes: 25 (96.2%)
+
+Task: open the middle drawer of the cabinet
+Starting episode 27...
+Query 1/1: Action query time = 1.136 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2385
+t=10: Selected seed 195 with value = 0.2385
+Query 1/1: Action query time = 1.253 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2570
+t=26: Selected seed 195 with value = 0.2570
+Query 1/1: Action query time = 1.133 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4063
+t=42: Selected seed 195 with value = 0.4063
+Query 1/1: Action query time = 1.129 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4701
+t=58: Selected seed 195 with value = 0.4701
+Query 1/1: Action query time = 1.048 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5403
+t=74: Selected seed 195 with value = 0.5403
+Query 1/1: Action query time = 1.188 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6191
+t=90: Selected seed 195 with value = 0.6191
+Query 1/1: Action query time = 1.171 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7431
+t=106: Selected seed 195 with value = 0.7431
+Query 1/1: Action query time = 1.169 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8696
+t=122: Selected seed 195 with value = 0.8696
+Query 1/1: Action query time = 1.038 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=138: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/realcl_i800_t0/2026_08_01-00_10_26--episode=27--success=True--task=open_the_middle_drawer_of_the_cabinet.mp4
+Saved rollout MP4 at path ./rollouts/realcl_i800_t0/2026_08_01-00_10_26--with_future_img--episode=27--success=True--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: True
+# episodes completed so far: 27
+# successes: 26 (96.3%)
+
+Task: open the middle drawer of the cabinet
+Starting episode 28...
+Query 1/1: Action query time = 0.966 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3395
+t=10: Selected seed 195 with value = 0.3395
+Query 1/1: Action query time = 1.137 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3671
+t=26: Selected seed 195 with value = 0.3671
+Query 1/1: Action query time = 1.228 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4243
+t=42: Selected seed 195 with value = 0.4243
+Query 1/1: Action query time = 1.159 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5128
+t=58: Selected seed 195 with value = 0.5128
+Query 1/1: Action query time = 1.170 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5954
+t=74: Selected seed 195 with value = 0.5954
+Query 1/1: Action query time = 1.141 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7008
+t=90: Selected seed 195 with value = 0.7008
+Query 1/1: Action query time = 1.125 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8673
+t=106: Selected seed 195 with value = 0.8673
+Query 1/1: Action query time = 0.974 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9992
+t=122: Selected seed 195 with value = 0.9992
+Saved rollout MP4 at path ./rollouts/realcl_i800_t0/2026_08_01-00_10_26--episode=28--success=True--task=open_the_middle_drawer_of_the_cabinet.mp4
+Saved rollout MP4 at path ./rollouts/realcl_i800_t0/2026_08_01-00_10_26--with_future_img--episode=28--success=True--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: True
+# episodes completed so far: 28
+# successes: 27 (96.4%)
+
+Task: open the middle drawer of the cabinet
+Starting episode 29...
+Query 1/1: Action query time = 1.044 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2944
+t=10: Selected seed 195 with value = 0.2944
+Query 1/1: Action query time = 1.035 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3010
+t=26: Selected seed 195 with value = 0.3010
+Query 1/1: Action query time = 1.057 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3471
+t=42: Selected seed 195 with value = 0.3471
+Query 1/1: Action query time = 1.008 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4107
+t=58: Selected seed 195 with value = 0.4107
+Query 1/1: Action query time = 0.970 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4858
+t=74: Selected seed 195 with value = 0.4858
+Query 1/1: Action query time = 0.971 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5679
+t=90: Selected seed 195 with value = 0.5679
+Query 1/1: Action query time = 0.970 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7318
+t=106: Selected seed 195 with value = 0.7318
+Query 1/1: Action query time = 0.958 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8490
+t=122: Selected seed 195 with value = 0.8490
+Query 1/1: Action query time = 0.965 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6079
+t=138: Selected seed 195 with value = 0.6079
+Saved rollout MP4 at path ./rollouts/realcl_i800_t0/2026_08_01-00_10_26--episode=29--success=True--task=open_the_middle_drawer_of_the_cabinet.mp4
+Saved rollout MP4 at path ./rollouts/realcl_i800_t0/2026_08_01-00_10_26--with_future_img--episode=29--success=True--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: True
+# episodes completed so far: 29
+# successes: 28 (96.6%)
+
+Task: open the middle drawer of the cabinet
+Starting episode 30...
+Query 1/1: Action query time = 1.008 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2975
+t=10: Selected seed 195 with value = 0.2975
+Query 1/1: Action query time = 1.381 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3224
+t=26: Selected seed 195 with value = 0.3224
+Query 1/1: Action query time = 1.087 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3792
+t=42: Selected seed 195 with value = 0.3792
+Query 1/1: Action query time = 1.113 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4762
+t=58: Selected seed 195 with value = 0.4762
+Query 1/1: Action query time = 1.161 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5707
+t=74: Selected seed 195 with value = 0.5707
+Query 1/1: Action query time = 1.106 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6622
+t=90: Selected seed 195 with value = 0.6622
+Query 1/1: Action query time = 1.120 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7923
+t=106: Selected seed 195 with value = 0.7923
+Query 1/1: Action query time = 0.972 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9314
+t=122: Selected seed 195 with value = 0.9314
+Saved rollout MP4 at path ./rollouts/realcl_i800_t0/2026_08_01-00_10_26--episode=30--success=True--task=open_the_middle_drawer_of_the_cabinet.mp4
+Saved rollout MP4 at path ./rollouts/realcl_i800_t0/2026_08_01-00_10_26--with_future_img--episode=30--success=True--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: True
+# episodes completed so far: 30
+# successes: 29 (96.7%)
+
+Task: open the middle drawer of the cabinet
+Starting episode 31...
+Query 1/1: Action query time = 0.981 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3225
+t=10: Selected seed 195 with value = 0.3225
+Query 1/1: Action query time = 1.134 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3906
+t=26: Selected seed 195 with value = 0.3906
+Query 1/1: Action query time = 1.153 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4659
+t=42: Selected seed 195 with value = 0.4659
+Query 1/1: Action query time = 1.174 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5292
+t=58: Selected seed 195 with value = 0.5292
+Query 1/1: Action query time = 1.149 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6216
+t=74: Selected seed 195 with value = 0.6216
+Query 1/1: Action query time = 1.160 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6560
+t=90: Selected seed 195 with value = 0.6560
+Query 1/1: Action query time = 1.114 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7003
+t=106: Selected seed 195 with value = 0.7003
+Query 1/1: Action query time = 1.037 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8572
+t=122: Selected seed 195 with value = 0.8572
+Query 1/1: Action query time = 0.962 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9988
+t=138: Selected seed 195 with value = 0.9988
+Saved rollout MP4 at path ./rollouts/realcl_i800_t0/2026_08_01-00_10_26--episode=31--success=True--task=open_the_middle_drawer_of_the_cabinet.mp4
+Saved rollout MP4 at path ./rollouts/realcl_i800_t0/2026_08_01-00_10_26--with_future_img--episode=31--success=True--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: True
+# episodes completed so far: 31
+# successes: 30 (96.8%)
+
+Task: open the middle drawer of the cabinet
+Starting episode 32...
+Query 1/1: Action query time = 1.328 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2074
+t=10: Selected seed 195 with value = 0.2074
+Query 1/1: Action query time = 1.214 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2900
+t=26: Selected seed 195 with value = 0.2900
+Query 1/1: Action query time = 1.056 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4080
+t=42: Selected seed 195 with value = 0.4080
+Query 1/1: Action query time = 1.219 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4950
+t=58: Selected seed 195 with value = 0.4950
+Query 1/1: Action query time = 1.314 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6040
+t=74: Selected seed 195 with value = 0.6040
+Query 1/1: Action query time = 1.378 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6228
+t=90: Selected seed 195 with value = 0.6228
+Query 1/1: Action query time = 1.359 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7363
+t=106: Selected seed 195 with value = 0.7363
+Query 1/1: Action query time = 1.125 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8651
+t=122: Selected seed 195 with value = 0.8651
+Query 1/1: Action query time = 1.034 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6179
+t=138: Selected seed 195 with value = 0.6179
+Saved rollout MP4 at path ./rollouts/realcl_i800_t0/2026_08_01-00_10_26--episode=32--success=True--task=open_the_middle_drawer_of_the_cabinet.mp4
+Saved rollout MP4 at path ./rollouts/realcl_i800_t0/2026_08_01-00_10_26--with_future_img--episode=32--success=True--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: True
+# episodes completed so far: 32
+# successes: 31 (96.9%)
+
+Task: open the middle drawer of the cabinet
+Starting episode 33...
+Query 1/1: Action query time = 0.994 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2482
+t=10: Selected seed 195 with value = 0.2482
+Query 1/1: Action query time = 1.215 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2242
+t=26: Selected seed 195 with value = 0.2242
+Query 1/1: Action query time = 1.148 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4318
+t=42: Selected seed 195 with value = 0.4318
+Query 1/1: Action query time = 1.120 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5209
+t=58: Selected seed 195 with value = 0.5209
+Query 1/1: Action query time = 1.070 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6453
+t=74: Selected seed 195 with value = 0.6453
+Query 1/1: Action query time = 1.012 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7534
+t=90: Selected seed 195 with value = 0.7534
+Query 1/1: Action query time = 1.002 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8799
+t=106: Selected seed 195 with value = 0.8799
+Query 1/1: Action query time = 1.004 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=122: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/realcl_i800_t0/2026_08_01-00_10_26--episode=33--success=True--task=open_the_middle_drawer_of_the_cabinet.mp4
+Saved rollout MP4 at path ./rollouts/realcl_i800_t0/2026_08_01-00_10_26--with_future_img--episode=33--success=True--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: True
+# episodes completed so far: 33
+# successes: 32 (97.0%)
+
+Task: open the middle drawer of the cabinet
+Starting episode 34...
+Query 1/1: Action query time = 1.013 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3183
+t=10: Selected seed 195 with value = 0.3183
+Query 1/1: Action query time = 1.002 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3596
+t=26: Selected seed 195 with value = 0.3596
+Query 1/1: Action query time = 0.977 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4324
+t=42: Selected seed 195 with value = 0.4324
+Query 1/1: Action query time = 0.978 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5390
+t=58: Selected seed 195 with value = 0.5390
+Query 1/1: Action query time = 0.973 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6321
+t=74: Selected seed 195 with value = 0.6321
+Query 1/1: Action query time = 1.202 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7213
+t=90: Selected seed 195 with value = 0.7213
+Query 1/1: Action query time = 1.074 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9294
+t=106: Selected seed 195 with value = 0.9294
+Query 1/1: Action query time = 1.192 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6268
+t=122: Selected seed 195 with value = 0.6268
+Query 1/1: Action query time = 1.030 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6001
+t=138: Selected seed 195 with value = 0.6001
+Query 1/1: Action query time = 1.248 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9106
+t=154: Selected seed 195 with value = 0.9106
+Query 1/1: Action query time = 1.252 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7161
+t=170: Selected seed 195 with value = 0.7161
+Query 1/1: Action query time = 1.129 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5377
+t=186: Selected seed 195 with value = 0.5377
+Query 1/1: Action query time = 1.215 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7173
+t=202: Selected seed 195 with value = 0.7173
+Query 1/1: Action query time = 1.289 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7319
+t=218: Selected seed 195 with value = 0.7319
+Query 1/1: Action query time = 1.056 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7257
+t=234: Selected seed 195 with value = 0.7257
+Query 1/1: Action query time = 0.997 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7325
+t=250: Selected seed 195 with value = 0.7325
+Query 1/1: Action query time = 1.026 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7063
+t=266: Selected seed 195 with value = 0.7063
+Query 1/1: Action query time = 1.261 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7127
+t=282: Selected seed 195 with value = 0.7127
+Query 1/1: Action query time = 1.287 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7021
+t=298: Selected seed 195 with value = 0.7021
+Saved rollout MP4 at path ./rollouts/realcl_i800_t0/2026_08_01-00_10_26--episode=34--success=False--task=open_the_middle_drawer_of_the_cabinet.mp4
+Saved rollout MP4 at path ./rollouts/realcl_i800_t0/2026_08_01-00_10_26--with_future_img--episode=34--success=False--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: False
+# episodes completed so far: 34
+# successes: 32 (94.1%)
+
+Task: open the middle drawer of the cabinet
+Starting episode 35...
+Query 1/1: Action query time = 1.246 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2836
+t=10: Selected seed 195 with value = 0.2836
+Query 1/1: Action query time = 1.181 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3087
+t=26: Selected seed 195 with value = 0.3087
+Query 1/1: Action query time = 1.145 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2243
+t=42: Selected seed 195 with value = 0.2243
+Query 1/1: Action query time = 1.021 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2792
+t=58: Selected seed 195 with value = 0.2792
+Query 1/1: Action query time = 0.969 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3238
+t=74: Selected seed 195 with value = 0.3238
+Query 1/1: Action query time = 1.109 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3772
+t=90: Selected seed 195 with value = 0.3772
+Query 1/1: Action query time = 1.159 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6399
+t=106: Selected seed 195 with value = 0.6399
+Query 1/1: Action query time = 1.182 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5191
+t=122: Selected seed 195 with value = 0.5191
+Query 1/1: Action query time = 1.320 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5973
+t=138: Selected seed 195 with value = 0.5973
+Query 1/1: Action query time = 1.127 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6990
+t=154: Selected seed 195 with value = 0.6990
+Query 1/1: Action query time = 1.109 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7766
+t=170: Selected seed 195 with value = 0.7766
+Query 1/1: Action query time = 1.160 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8812
+t=186: Selected seed 195 with value = 0.8812
+Saved rollout MP4 at path ./rollouts/realcl_i800_t0/2026_08_01-00_10_26--episode=35--success=True--task=open_the_middle_drawer_of_the_cabinet.mp4
+Saved rollout MP4 at path ./rollouts/realcl_i800_t0/2026_08_01-00_10_26--with_future_img--episode=35--success=True--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: True
+# episodes completed so far: 35
+# successes: 33 (94.3%)
+
+Task: open the middle drawer of the cabinet
+Starting episode 36...
+Query 1/1: Action query time = 1.323 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3042
+t=10: Selected seed 195 with value = 0.3042
+Query 1/1: Action query time = 1.147 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3121
+t=26: Selected seed 195 with value = 0.3121
+Query 1/1: Action query time = 1.122 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3549
+t=42: Selected seed 195 with value = 0.3549
+Query 1/1: Action query time = 0.989 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4377
+t=58: Selected seed 195 with value = 0.4377
+Query 1/1: Action query time = 0.965 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4919
+t=74: Selected seed 195 with value = 0.4919
+Query 1/1: Action query time = 0.966 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6035
+t=90: Selected seed 195 with value = 0.6035
+Query 1/1: Action query time = 0.987 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7213
+t=106: Selected seed 195 with value = 0.7213
+Query 1/1: Action query time = 0.980 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8396
+t=122: Selected seed 195 with value = 0.8396
+Query 1/1: Action query time = 0.989 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6039
+t=138: Selected seed 195 with value = 0.6039
+Saved rollout MP4 at path ./rollouts/realcl_i800_t0/2026_08_01-00_10_26--episode=36--success=True--task=open_the_middle_drawer_of_the_cabinet.mp4
+Saved rollout MP4 at path ./rollouts/realcl_i800_t0/2026_08_01-00_10_26--with_future_img--episode=36--success=True--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: True
+# episodes completed so far: 36
+# successes: 34 (94.4%)
+
+Task: open the middle drawer of the cabinet
+Starting episode 37...
+Query 1/1: Action query time = 1.108 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2593
+t=10: Selected seed 195 with value = 0.2593
+Query 1/1: Action query time = 0.977 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2361
+t=26: Selected seed 195 with value = 0.2361
+Query 1/1: Action query time = 0.972 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2746
+t=42: Selected seed 195 with value = 0.2746
+Query 1/1: Action query time = 1.025 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3279
+t=58: Selected seed 195 with value = 0.3279
+Query 1/1: Action query time = 1.018 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3785
+t=74: Selected seed 195 with value = 0.3785
+Query 1/1: Action query time = 1.045 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4567
+t=90: Selected seed 195 with value = 0.4567
+Query 1/1: Action query time = 1.110 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5410
+t=106: Selected seed 195 with value = 0.5410
+Query 1/1: Action query time = 1.150 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9341
+t=122: Selected seed 195 with value = 0.9341
+Saved rollout MP4 at path ./rollouts/realcl_i800_t0/2026_08_01-00_10_26--episode=37--success=True--task=open_the_middle_drawer_of_the_cabinet.mp4
+Saved rollout MP4 at path ./rollouts/realcl_i800_t0/2026_08_01-00_10_26--with_future_img--episode=37--success=True--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: True
+# episodes completed so far: 37
+# successes: 35 (94.6%)
+
+Task: open the middle drawer of the cabinet
+Starting episode 38...
+Query 1/1: Action query time = 1.041 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2744
+t=10: Selected seed 195 with value = 0.2744
+Query 1/1: Action query time = 1.106 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3091
+t=26: Selected seed 195 with value = 0.3091
+Query 1/1: Action query time = 1.134 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3576
+t=42: Selected seed 195 with value = 0.3576
+Query 1/1: Action query time = 1.358 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4472
+t=58: Selected seed 195 with value = 0.4472
+Query 1/1: Action query time = 1.227 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5485
+t=74: Selected seed 195 with value = 0.5485
+Query 1/1: Action query time = 1.228 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6544
+t=90: Selected seed 195 with value = 0.6544
+Query 1/1: Action query time = 1.027 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7777
+t=106: Selected seed 195 with value = 0.7777
+Query 1/1: Action query time = 0.975 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9144
+t=122: Selected seed 195 with value = 0.9144
+Saved rollout MP4 at path ./rollouts/realcl_i800_t0/2026_08_01-00_10_26--episode=38--success=True--task=open_the_middle_drawer_of_the_cabinet.mp4
+Saved rollout MP4 at path ./rollouts/realcl_i800_t0/2026_08_01-00_10_26--with_future_img--episode=38--success=True--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: True
+# episodes completed so far: 38
+# successes: 36 (94.7%)
+
+Task: open the middle drawer of the cabinet
+Starting episode 39...
+Query 1/1: Action query time = 0.987 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3357
+t=10: Selected seed 195 with value = 0.3357
+Query 1/1: Action query time = 1.017 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3859
+t=26: Selected seed 195 with value = 0.3859
+Query 1/1: Action query time = 1.044 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4516
+t=42: Selected seed 195 with value = 0.4516
+Query 1/1: Action query time = 1.129 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5202
+t=58: Selected seed 195 with value = 0.5202
+Query 1/1: Action query time = 1.282 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6234
+t=74: Selected seed 195 with value = 0.6234
+Query 1/1: Action query time = 1.106 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7266
+t=90: Selected seed 195 with value = 0.7266
+Query 1/1: Action query time = 1.011 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8667
+t=106: Selected seed 195 with value = 0.8667
+Query 1/1: Action query time = 0.968 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9984
+t=122: Selected seed 195 with value = 0.9984
+Saved rollout MP4 at path ./rollouts/realcl_i800_t0/2026_08_01-00_10_26--episode=39--success=True--task=open_the_middle_drawer_of_the_cabinet.mp4
+Saved rollout MP4 at path ./rollouts/realcl_i800_t0/2026_08_01-00_10_26--with_future_img--episode=39--success=True--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: True
+# episodes completed so far: 39
+# successes: 37 (94.9%)
+
+Task: open the middle drawer of the cabinet
+Starting episode 40...
+Query 1/1: Action query time = 1.206 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3400
+t=10: Selected seed 195 with value = 0.3400
+Query 1/1: Action query time = 1.200 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3700
+t=26: Selected seed 195 with value = 0.3700
+Query 1/1: Action query time = 1.058 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4127
+t=42: Selected seed 195 with value = 0.4127
+Query 1/1: Action query time = 0.981 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3053
+t=58: Selected seed 195 with value = 0.3053
+Query 1/1: Action query time = 1.038 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3149
+t=74: Selected seed 195 with value = 0.3149
+Query 1/1: Action query time = 1.055 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3829
+t=90: Selected seed 195 with value = 0.3829
+Query 1/1: Action query time = 0.972 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7089
+t=106: Selected seed 195 with value = 0.7089
+Query 1/1: Action query time = 0.969 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8548
+t=122: Selected seed 195 with value = 0.8548
+Query 1/1: Action query time = 0.963 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9949
+t=138: Selected seed 195 with value = 0.9949
+Saved rollout MP4 at path ./rollouts/realcl_i800_t0/2026_08_01-00_10_26--episode=40--success=True--task=open_the_middle_drawer_of_the_cabinet.mp4
+Saved rollout MP4 at path ./rollouts/realcl_i800_t0/2026_08_01-00_10_26--with_future_img--episode=40--success=True--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: True
+# episodes completed so far: 40
+# successes: 38 (95.0%)
+
+Task: open the middle drawer of the cabinet
+Starting episode 41...
+Query 1/1: Action query time = 0.992 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3201
+t=10: Selected seed 195 with value = 0.3201
+Query 1/1: Action query time = 0.989 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3478
+t=26: Selected seed 195 with value = 0.3478
+Query 1/1: Action query time = 0.967 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3827
+t=42: Selected seed 195 with value = 0.3827
+Query 1/1: Action query time = 0.975 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4961
+t=58: Selected seed 195 with value = 0.4961
+Query 1/1: Action query time = 0.988 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5681
+t=74: Selected seed 195 with value = 0.5681
+Query 1/1: Action query time = 0.963 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6605
+t=90: Selected seed 195 with value = 0.6605
+Query 1/1: Action query time = 0.974 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7719
+t=106: Selected seed 195 with value = 0.7719
+Query 1/1: Action query time = 0.965 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9052
+t=122: Selected seed 195 with value = 0.9052
+Saved rollout MP4 at path ./rollouts/realcl_i800_t0/2026_08_01-00_10_26--episode=41--success=True--task=open_the_middle_drawer_of_the_cabinet.mp4
+Saved rollout MP4 at path ./rollouts/realcl_i800_t0/2026_08_01-00_10_26--with_future_img--episode=41--success=True--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: True
+# episodes completed so far: 41
+# successes: 39 (95.1%)
+
+Task: open the middle drawer of the cabinet
+Starting episode 42...
+Query 1/1: Action query time = 0.982 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2800
+t=10: Selected seed 195 with value = 0.2800
+Query 1/1: Action query time = 0.975 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3484
+t=26: Selected seed 195 with value = 0.3484
+Query 1/1: Action query time = 0.982 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4232
+t=42: Selected seed 195 with value = 0.4232
+Query 1/1: Action query time = 0.988 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5079
+t=58: Selected seed 195 with value = 0.5079
+Query 1/1: Action query time = 0.967 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5796
+t=74: Selected seed 195 with value = 0.5796
+Query 1/1: Action query time = 0.980 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6747
+t=90: Selected seed 195 with value = 0.6747
+Query 1/1: Action query time = 0.979 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7692
+t=106: Selected seed 195 with value = 0.7692
+Query 1/1: Action query time = 0.986 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8428
+t=122: Selected seed 195 with value = 0.8428
+Query 1/1: Action query time = 0.960 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9907
+t=138: Selected seed 195 with value = 0.9907
+Saved rollout MP4 at path ./rollouts/realcl_i800_t0/2026_08_01-00_10_26--episode=42--success=True--task=open_the_middle_drawer_of_the_cabinet.mp4
+Saved rollout MP4 at path ./rollouts/realcl_i800_t0/2026_08_01-00_10_26--with_future_img--episode=42--success=True--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: True
+# episodes completed so far: 42
+# successes: 40 (95.2%)
+
+Task: open the middle drawer of the cabinet
+Starting episode 43...
+Query 1/1: Action query time = 0.972 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3424
+t=10: Selected seed 195 with value = 0.3424
+Query 1/1: Action query time = 0.948 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3679
+t=26: Selected seed 195 with value = 0.3679
+Query 1/1: Action query time = 0.967 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4386
+t=42: Selected seed 195 with value = 0.4386
+Query 1/1: Action query time = 1.073 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5211
+t=58: Selected seed 195 with value = 0.5211
+Query 1/1: Action query time = 1.082 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5772
+t=74: Selected seed 195 with value = 0.5772
+Query 1/1: Action query time = 1.129 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6555
+t=90: Selected seed 195 with value = 0.6555
+Query 1/1: Action query time = 1.122 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7822
+t=106: Selected seed 195 with value = 0.7822
+Query 1/1: Action query time = 1.178 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9133
+t=122: Selected seed 195 with value = 0.9133
+Saved rollout MP4 at path ./rollouts/realcl_i800_t0/2026_08_01-00_10_26--episode=43--success=True--task=open_the_middle_drawer_of_the_cabinet.mp4
+Saved rollout MP4 at path ./rollouts/realcl_i800_t0/2026_08_01-00_10_26--with_future_img--episode=43--success=True--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: True
+# episodes completed so far: 43
+# successes: 41 (95.3%)
+
+Task: open the middle drawer of the cabinet
+Starting episode 44...
+Query 1/1: Action query time = 0.994 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2687
+t=10: Selected seed 195 with value = 0.2687
+Query 1/1: Action query time = 0.962 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2801
+t=26: Selected seed 195 with value = 0.2801
+Query 1/1: Action query time = 0.993 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4257
+t=42: Selected seed 195 with value = 0.4257
+Query 1/1: Action query time = 1.108 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5063
+t=58: Selected seed 195 with value = 0.5063
+Query 1/1: Action query time = 1.008 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5879
+t=74: Selected seed 195 with value = 0.5879
+Query 1/1: Action query time = 0.967 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7242
+t=90: Selected seed 195 with value = 0.7242
+Query 1/1: Action query time = 0.966 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8430
+t=106: Selected seed 195 with value = 0.8430
+Query 1/1: Action query time = 0.994 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9714
+t=122: Selected seed 195 with value = 0.9714
+Saved rollout MP4 at path ./rollouts/realcl_i800_t0/2026_08_01-00_10_26--episode=44--success=True--task=open_the_middle_drawer_of_the_cabinet.mp4
+Saved rollout MP4 at path ./rollouts/realcl_i800_t0/2026_08_01-00_10_26--with_future_img--episode=44--success=True--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: True
+# episodes completed so far: 44
+# successes: 42 (95.5%)
+
+Task: open the middle drawer of the cabinet
+Starting episode 45...
+Query 1/1: Action query time = 0.980 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3075
+t=10: Selected seed 195 with value = 0.3075
+Query 1/1: Action query time = 1.023 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3697
+t=26: Selected seed 195 with value = 0.3697
+Query 1/1: Action query time = 1.144 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4314
+t=42: Selected seed 195 with value = 0.4314
+Query 1/1: Action query time = 1.143 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5103
+t=58: Selected seed 195 with value = 0.5103
+Query 1/1: Action query time = 1.097 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5863
+t=74: Selected seed 195 with value = 0.5863
+Query 1/1: Action query time = 1.027 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7063
+t=90: Selected seed 195 with value = 0.7063
+Query 1/1: Action query time = 1.111 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8135
+t=106: Selected seed 195 with value = 0.8135
+Query 1/1: Action query time = 1.017 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9676
+t=122: Selected seed 195 with value = 0.9676
+Saved rollout MP4 at path ./rollouts/realcl_i800_t0/2026_08_01-00_10_26--episode=45--success=True--task=open_the_middle_drawer_of_the_cabinet.mp4
+Saved rollout MP4 at path ./rollouts/realcl_i800_t0/2026_08_01-00_10_26--with_future_img--episode=45--success=True--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: True
+# episodes completed so far: 45
+# successes: 43 (95.6%)
+
+Task: open the middle drawer of the cabinet
+Starting episode 46...
+Query 1/1: Action query time = 0.985 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3047
+t=10: Selected seed 195 with value = 0.3047
+Query 1/1: Action query time = 0.974 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3178
+t=26: Selected seed 195 with value = 0.3178
+Query 1/1: Action query time = 0.960 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3546
+t=42: Selected seed 195 with value = 0.3546
+Query 1/1: Action query time = 0.961 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4261
+t=58: Selected seed 195 with value = 0.4261
+Query 1/1: Action query time = 1.018 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4897
+t=74: Selected seed 195 with value = 0.4897
+Query 1/1: Action query time = 0.967 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6464
+t=90: Selected seed 195 with value = 0.6464
+Query 1/1: Action query time = 1.082 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7691
+t=106: Selected seed 195 with value = 0.7691
+Query 1/1: Action query time = 1.149 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8976
+t=122: Selected seed 195 with value = 0.8976
+Query 1/1: Action query time = 1.242 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=138: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/realcl_i800_t0/2026_08_01-00_10_26--episode=46--success=True--task=open_the_middle_drawer_of_the_cabinet.mp4
+Saved rollout MP4 at path ./rollouts/realcl_i800_t0/2026_08_01-00_10_26--with_future_img--episode=46--success=True--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: True
+# episodes completed so far: 46
+# successes: 44 (95.7%)
+
+Task: open the middle drawer of the cabinet
+Starting episode 47...
+Query 1/1: Action query time = 1.206 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3299
+t=10: Selected seed 195 with value = 0.3299
+Query 1/1: Action query time = 0.982 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3914
+t=26: Selected seed 195 with value = 0.3914
+Query 1/1: Action query time = 1.100 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4448
+t=42: Selected seed 195 with value = 0.4448
+Query 1/1: Action query time = 1.393 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5089
+t=58: Selected seed 195 with value = 0.5089
+Query 1/1: Action query time = 1.319 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6189
+t=74: Selected seed 195 with value = 0.6189
+Query 1/1: Action query time = 1.330 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7565
+t=90: Selected seed 195 with value = 0.7565
+Query 1/1: Action query time = 1.230 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8673
+t=106: Selected seed 195 with value = 0.8673
+Query 1/1: Action query time = 1.174 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9992
+t=122: Selected seed 195 with value = 0.9992
+Saved rollout MP4 at path ./rollouts/realcl_i800_t0/2026_08_01-00_10_26--episode=47--success=True--task=open_the_middle_drawer_of_the_cabinet.mp4
+Saved rollout MP4 at path ./rollouts/realcl_i800_t0/2026_08_01-00_10_26--with_future_img--episode=47--success=True--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: True
+# episodes completed so far: 47
+# successes: 45 (95.7%)
+
+Task: open the middle drawer of the cabinet
+Starting episode 48...
+Query 1/1: Action query time = 1.147 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3495
+t=10: Selected seed 195 with value = 0.3495
+Query 1/1: Action query time = 1.171 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3828
+t=26: Selected seed 195 with value = 0.3828
+Query 1/1: Action query time = 1.198 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4575
+t=42: Selected seed 195 with value = 0.4575
+Query 1/1: Action query time = 1.111 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5329
+t=58: Selected seed 195 with value = 0.5329
+Query 1/1: Action query time = 1.020 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6044
+t=74: Selected seed 195 with value = 0.6044
+Query 1/1: Action query time = 1.027 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7210
+t=90: Selected seed 195 with value = 0.7210
+Query 1/1: Action query time = 1.047 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7432
+t=106: Selected seed 195 with value = 0.7432
+Query 1/1: Action query time = 1.035 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8646
+t=122: Selected seed 195 with value = 0.8646
+Query 1/1: Action query time = 0.974 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=138: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/realcl_i800_t0/2026_08_01-00_10_26--episode=48--success=True--task=open_the_middle_drawer_of_the_cabinet.mp4
+Saved rollout MP4 at path ./rollouts/realcl_i800_t0/2026_08_01-00_10_26--with_future_img--episode=48--success=True--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: True
+# episodes completed so far: 48
+# successes: 46 (95.8%)
+
+Task: open the middle drawer of the cabinet
+Starting episode 49...
+Query 1/1: Action query time = 0.973 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3272
+t=10: Selected seed 195 with value = 0.3272
+Query 1/1: Action query time = 0.979 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3346
+t=26: Selected seed 195 with value = 0.3346
+Query 1/1: Action query time = 0.974 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3920
+t=42: Selected seed 195 with value = 0.3920
+Query 1/1: Action query time = 0.972 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5134
+t=58: Selected seed 195 with value = 0.5134
+Query 1/1: Action query time = 0.968 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5723
+t=74: Selected seed 195 with value = 0.5723
+Query 1/1: Action query time = 1.018 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6565
+t=90: Selected seed 195 with value = 0.6565
+Query 1/1: Action query time = 1.070 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7671
+t=106: Selected seed 195 with value = 0.7671
+Query 1/1: Action query time = 1.101 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9020
+t=122: Selected seed 195 with value = 0.9020
+Saved rollout MP4 at path ./rollouts/realcl_i800_t0/2026_08_01-00_10_26--episode=49--success=True--task=open_the_middle_drawer_of_the_cabinet.mp4
+Saved rollout MP4 at path ./rollouts/realcl_i800_t0/2026_08_01-00_10_26--with_future_img--episode=49--success=True--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: True
+# episodes completed so far: 49
+# successes: 47 (95.9%)
+
+Task: open the middle drawer of the cabinet
+Starting episode 50...
+Query 1/1: Action query time = 0.979 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3094
+t=10: Selected seed 195 with value = 0.3094
+Query 1/1: Action query time = 1.188 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3523
+t=26: Selected seed 195 with value = 0.3523
+Query 1/1: Action query time = 1.201 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4223
+t=42: Selected seed 195 with value = 0.4223
+Query 1/1: Action query time = 1.036 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5017
+t=58: Selected seed 195 with value = 0.5017
+Query 1/1: Action query time = 1.075 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6356
+t=74: Selected seed 195 with value = 0.6356
+Query 1/1: Action query time = 1.118 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7321
+t=90: Selected seed 195 with value = 0.7321
+Query 1/1: Action query time = 1.190 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8337
+t=106: Selected seed 195 with value = 0.8337
+Query 1/1: Action query time = 1.208 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9852
+t=122: Selected seed 195 with value = 0.9852
+Saved rollout MP4 at path ./rollouts/realcl_i800_t0/2026_08_01-00_10_26--episode=50--success=True--task=open_the_middle_drawer_of_the_cabinet.mp4
+Saved rollout MP4 at path ./rollouts/realcl_i800_t0/2026_08_01-00_10_26--with_future_img--episode=50--success=True--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: True
+# episodes completed so far: 50
+# successes: 48 (96.0%)
+Current task success rate: 0.96
+Current total success rate: 0.96
+Final results:
+Total episodes: 50
+Total successes: 48
+Overall success rate: 0.9600 (96.0%)
diff --git a/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_01-00_10_26--realcl_i800_t4.txt b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_01-00_10_26--realcl_i800_t4.txt
new file mode 100644
index 0000000000000000000000000000000000000000..a928825b9c0724a512a65e7e834b761542bc6a9c
--- /dev/null
+++ b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_01-00_10_26--realcl_i800_t4.txt
@@ -0,0 +1,1676 @@
+Eval config: PolicyEvalConfig(suite='libero', model_family='cosmos', config='cosmos_predict2_2b_480p_libero_cl_stage_inference_only', ckpt_path='/home/azureuser/REGEN-main/old/cosmos_policy/cosmos_v2_finetune/cosmos_predict2_2b_480p_libero_goal_task6_real_cl_from40k_2gpu/checkpoints/iter_000000800/model', planning_model_config_name='', planning_model_ckpt_path='', config_file='cosmos_policy/config/config.py', packnet_mask_path='', packnet_first_cl_libero_task=6, use_third_person_image=True, num_third_person_images=1, use_wrist_image=True, num_wrist_images=1, use_proprio=True, flip_images=True, use_variance_scale=False, use_jpeg_compression=True, ar_future_prediction=False, ar_value_prediction=False, ar_qvalue_prediction=False, num_denoising_steps_action=5, num_denoising_steps_future_state=1, num_denoising_steps_value=1, unnormalize_actions=True, normalize_proprio=True, dataset_stats_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/libero_goal_regen/dataset_statistics.json', t5_text_embeddings_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/t5_embeddings.pkl', trained_with_image_aug=True, chunk_size=16, num_open_loop_steps=16, deterministic=True, deterministic_reset=False, deterministic_reset_seed=None, use_ensemble_future_state_predictions=False, num_future_state_predictions_in_ensemble=3, future_state_ensemble_aggregation_scheme='average', use_ensemble_value_predictions=False, num_value_predictions_in_ensemble=5, value_ensemble_aggregation_scheme='average', search_depth=1, mask_current_state_action_for_value_prediction=False, mask_future_state_for_qvalue_prediction=False, num_queries_best_of_n=1, use_parallel_inference=False, available_gpus='0', parallel_timeout=15, parallel_tasks_across_gpus=False, task_suite_name='libero_goal', num_trials_per_task=50, task_ids_to_run='4', initial_states_path='DEFAULT', env_img_res=256, local_log_dir='/home/azureuser/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal', run_id_note='realcl_i800_t4', use_wandb=False, wandb_entity='YOUR_ENTITY', wandb_project='YOUR_PROJECT', seed=195, randomize_seed=False, data_collection=False, jpeg_compress=True, reward_stop_threshold=None, reward_stop_consecutive_steps=3, use_gpt_reward=False, gpt_reward_model='gpt-5.4-mini', gpt_reward_stop_threshold=4, gpt_reward_timeout_s=30.0, save_rollout_video=True, eval_hdf5_path='', eval_hdf5_demo_key='demo_0', data_gen_demo_ids='', replay_actions=False, replay_action_path_dir='', replay_hdf5_path='', data_generation=False, max_generation_steps=200, simple_task_max_steps=100, complex_task_max_steps=200)
+Using serial inference (parallel inference disabled)
+Task suite: libero_goal
+Number of tasks: 10
+Running only task IDs: [4]
+Using default initial states
+
+Task: put the bowl on top of the cabinet
+Starting episode 1...
+Query 1/1: Action query time = 1.728 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4279
+t=10: Selected seed 195 with value = 0.4279
+Query 1/1: Action query time = 1.141 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5137
+t=26: Selected seed 195 with value = 0.5137
+Query 1/1: Action query time = 1.258 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5954
+t=42: Selected seed 195 with value = 0.5954
+Query 1/1: Action query time = 1.156 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7052
+t=58: Selected seed 195 with value = 0.7052
+Query 1/1: Action query time = 1.133 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8377
+t=74: Selected seed 195 with value = 0.8377
+Query 1/1: Action query time = 0.949 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9868
+t=90: Selected seed 195 with value = 0.9868
+Saved rollout MP4 at path ./rollouts/realcl_i800_t4/2026_08_01-00_10_26--episode=1--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Saved rollout MP4 at path ./rollouts/realcl_i800_t4/2026_08_01-00_10_26--with_future_img--episode=1--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Success: True
+# episodes completed so far: 1
+# successes: 1 (100.0%)
+
+Task: put the bowl on top of the cabinet
+Starting episode 2...
+Query 1/1: Action query time = 1.479 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4685
+t=10: Selected seed 195 with value = 0.4685
+Query 1/1: Action query time = 1.456 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5233
+t=26: Selected seed 195 with value = 0.5233
+Query 1/1: Action query time = 1.428 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6267
+t=42: Selected seed 195 with value = 0.6267
+Query 1/1: Action query time = 1.405 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7060
+t=58: Selected seed 195 with value = 0.7060
+Query 1/1: Action query time = 1.292 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8416
+t=74: Selected seed 195 with value = 0.8416
+Query 1/1: Action query time = 1.098 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9418
+t=90: Selected seed 195 with value = 0.9418
+Saved rollout MP4 at path ./rollouts/realcl_i800_t4/2026_08_01-00_10_26--episode=2--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Saved rollout MP4 at path ./rollouts/realcl_i800_t4/2026_08_01-00_10_26--with_future_img--episode=2--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Success: True
+# episodes completed so far: 2
+# successes: 2 (100.0%)
+
+Task: put the bowl on top of the cabinet
+Starting episode 3...
+Query 1/1: Action query time = 0.978 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4553
+t=10: Selected seed 195 with value = 0.4553
+Query 1/1: Action query time = 1.015 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5243
+t=26: Selected seed 195 with value = 0.5243
+Query 1/1: Action query time = 0.970 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6166
+t=42: Selected seed 195 with value = 0.6166
+Query 1/1: Action query time = 0.956 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7473
+t=58: Selected seed 195 with value = 0.7473
+Query 1/1: Action query time = 1.069 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8865
+t=74: Selected seed 195 with value = 0.8865
+Query 1/1: Action query time = 1.178 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/realcl_i800_t4/2026_08_01-00_10_26--episode=3--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Saved rollout MP4 at path ./rollouts/realcl_i800_t4/2026_08_01-00_10_26--with_future_img--episode=3--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Success: True
+# episodes completed so far: 3
+# successes: 3 (100.0%)
+
+Task: put the bowl on top of the cabinet
+Starting episode 4...
+Query 1/1: Action query time = 0.992 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4301
+t=10: Selected seed 195 with value = 0.4301
+Query 1/1: Action query time = 0.979 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5137
+t=26: Selected seed 195 with value = 0.5137
+Query 1/1: Action query time = 1.020 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6054
+t=42: Selected seed 195 with value = 0.6054
+Query 1/1: Action query time = 0.996 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7118
+t=58: Selected seed 195 with value = 0.7118
+Query 1/1: Action query time = 1.036 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8408
+t=74: Selected seed 195 with value = 0.8408
+Query 1/1: Action query time = 1.013 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9844
+t=90: Selected seed 195 with value = 0.9844
+Saved rollout MP4 at path ./rollouts/realcl_i800_t4/2026_08_01-00_10_26--episode=4--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Saved rollout MP4 at path ./rollouts/realcl_i800_t4/2026_08_01-00_10_26--with_future_img--episode=4--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Success: True
+# episodes completed so far: 4
+# successes: 4 (100.0%)
+
+Task: put the bowl on top of the cabinet
+Starting episode 5...
+Query 1/1: Action query time = 1.182 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4332
+t=10: Selected seed 195 with value = 0.4332
+Query 1/1: Action query time = 1.092 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5078
+t=26: Selected seed 195 with value = 0.5078
+Query 1/1: Action query time = 1.135 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5737
+t=42: Selected seed 195 with value = 0.5737
+Query 1/1: Action query time = 1.096 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7453
+t=58: Selected seed 195 with value = 0.7453
+Query 1/1: Action query time = 1.173 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8600
+t=74: Selected seed 195 with value = 0.8600
+Query 1/1: Action query time = 1.092 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9811
+t=90: Selected seed 195 with value = 0.9811
+Saved rollout MP4 at path ./rollouts/realcl_i800_t4/2026_08_01-00_10_26--episode=5--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Saved rollout MP4 at path ./rollouts/realcl_i800_t4/2026_08_01-00_10_26--with_future_img--episode=5--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Success: True
+# episodes completed so far: 5
+# successes: 5 (100.0%)
+
+Task: put the bowl on top of the cabinet
+Starting episode 6...
+Query 1/1: Action query time = 0.988 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4519
+t=10: Selected seed 195 with value = 0.4519
+Query 1/1: Action query time = 0.983 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5409
+t=26: Selected seed 195 with value = 0.5409
+Query 1/1: Action query time = 0.963 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6541
+t=42: Selected seed 195 with value = 0.6541
+Query 1/1: Action query time = 0.960 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7632
+t=58: Selected seed 195 with value = 0.7632
+Query 1/1: Action query time = 0.975 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9364
+t=74: Selected seed 195 with value = 0.9364
+Saved rollout MP4 at path ./rollouts/realcl_i800_t4/2026_08_01-00_10_26--episode=6--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Saved rollout MP4 at path ./rollouts/realcl_i800_t4/2026_08_01-00_10_26--with_future_img--episode=6--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Success: True
+# episodes completed so far: 6
+# successes: 6 (100.0%)
+
+Task: put the bowl on top of the cabinet
+Starting episode 7...
+Query 1/1: Action query time = 1.026 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4253
+t=10: Selected seed 195 with value = 0.4253
+Query 1/1: Action query time = 1.050 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3600
+t=26: Selected seed 195 with value = 0.3600
+Query 1/1: Action query time = 1.061 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5879
+t=42: Selected seed 195 with value = 0.5879
+Query 1/1: Action query time = 1.178 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7121
+t=58: Selected seed 195 with value = 0.7121
+Query 1/1: Action query time = 1.115 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8461
+t=74: Selected seed 195 with value = 0.8461
+Query 1/1: Action query time = 1.104 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9007
+t=90: Selected seed 195 with value = 0.9007
+Query 1/1: Action query time = 1.129 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8146
+t=106: Selected seed 195 with value = 0.8146
+Query 1/1: Action query time = 1.104 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9137
+t=122: Selected seed 195 with value = 0.9137
+Query 1/1: Action query time = 0.967 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9248
+t=138: Selected seed 195 with value = 0.9248
+Query 1/1: Action query time = 0.986 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9440
+t=154: Selected seed 195 with value = 0.9440
+Query 1/1: Action query time = 0.961 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9499
+t=170: Selected seed 195 with value = 0.9499
+Query 1/1: Action query time = 1.153 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9493
+t=186: Selected seed 195 with value = 0.9493
+Query 1/1: Action query time = 1.116 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9604
+t=202: Selected seed 195 with value = 0.9604
+Query 1/1: Action query time = 0.972 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9812
+t=218: Selected seed 195 with value = 0.9812
+Query 1/1: Action query time = 0.971 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9947
+t=234: Selected seed 195 with value = 0.9947
+Query 1/1: Action query time = 0.969 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9948
+t=250: Selected seed 195 with value = 0.9948
+Query 1/1: Action query time = 0.969 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9931
+t=266: Selected seed 195 with value = 0.9931
+Query 1/1: Action query time = 0.972 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9895
+t=282: Selected seed 195 with value = 0.9895
+Query 1/1: Action query time = 0.965 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9826
+t=298: Selected seed 195 with value = 0.9826
+Saved rollout MP4 at path ./rollouts/realcl_i800_t4/2026_08_01-00_10_26--episode=7--success=False--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Saved rollout MP4 at path ./rollouts/realcl_i800_t4/2026_08_01-00_10_26--with_future_img--episode=7--success=False--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Success: False
+# episodes completed so far: 7
+# successes: 6 (85.7%)
+
+Task: put the bowl on top of the cabinet
+Starting episode 8...
+Query 1/1: Action query time = 1.236 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4442
+t=10: Selected seed 195 with value = 0.4442
+Query 1/1: Action query time = 1.167 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5328
+t=26: Selected seed 195 with value = 0.5328
+Query 1/1: Action query time = 1.179 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6030
+t=42: Selected seed 195 with value = 0.6030
+Query 1/1: Action query time = 1.266 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7393
+t=58: Selected seed 195 with value = 0.7393
+Query 1/1: Action query time = 1.173 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8316
+t=74: Selected seed 195 with value = 0.8316
+Query 1/1: Action query time = 1.274 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9885
+t=90: Selected seed 195 with value = 0.9885
+Saved rollout MP4 at path ./rollouts/realcl_i800_t4/2026_08_01-00_10_26--episode=8--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Saved rollout MP4 at path ./rollouts/realcl_i800_t4/2026_08_01-00_10_26--with_future_img--episode=8--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Success: True
+# episodes completed so far: 8
+# successes: 7 (87.5%)
+
+Task: put the bowl on top of the cabinet
+Starting episode 9...
+Query 1/1: Action query time = 0.993 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4405
+t=10: Selected seed 195 with value = 0.4405
+Query 1/1: Action query time = 1.064 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5254
+t=26: Selected seed 195 with value = 0.5254
+Query 1/1: Action query time = 0.954 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6117
+t=42: Selected seed 195 with value = 0.6117
+Query 1/1: Action query time = 1.010 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7224
+t=58: Selected seed 195 with value = 0.7224
+Query 1/1: Action query time = 1.107 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8506
+t=74: Selected seed 195 with value = 0.8506
+Query 1/1: Action query time = 1.221 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9654
+t=90: Selected seed 195 with value = 0.9654
+Saved rollout MP4 at path ./rollouts/realcl_i800_t4/2026_08_01-00_10_26--episode=9--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Saved rollout MP4 at path ./rollouts/realcl_i800_t4/2026_08_01-00_10_26--with_future_img--episode=9--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Success: True
+# episodes completed so far: 9
+# successes: 8 (88.9%)
+
+Task: put the bowl on top of the cabinet
+Starting episode 10...
+Query 1/1: Action query time = 1.060 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4266
+t=10: Selected seed 195 with value = 0.4266
+Query 1/1: Action query time = 1.033 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5117
+t=26: Selected seed 195 with value = 0.5117
+Query 1/1: Action query time = 1.141 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6180
+t=42: Selected seed 195 with value = 0.6180
+Query 1/1: Action query time = 1.262 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7512
+t=58: Selected seed 195 with value = 0.7512
+Query 1/1: Action query time = 1.277 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8760
+t=74: Selected seed 195 with value = 0.8760
+Query 1/1: Action query time = 1.017 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9984
+t=90: Selected seed 195 with value = 0.9984
+Saved rollout MP4 at path ./rollouts/realcl_i800_t4/2026_08_01-00_10_26--episode=10--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Saved rollout MP4 at path ./rollouts/realcl_i800_t4/2026_08_01-00_10_26--with_future_img--episode=10--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Success: True
+# episodes completed so far: 10
+# successes: 9 (90.0%)
+
+Task: put the bowl on top of the cabinet
+Starting episode 11...
+Query 1/1: Action query time = 1.143 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4408
+t=10: Selected seed 195 with value = 0.4408
+Query 1/1: Action query time = 0.955 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5372
+t=26: Selected seed 195 with value = 0.5372
+Query 1/1: Action query time = 1.034 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6435
+t=42: Selected seed 195 with value = 0.6435
+Query 1/1: Action query time = 1.064 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7213
+t=58: Selected seed 195 with value = 0.7213
+Query 1/1: Action query time = 1.175 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8517
+t=74: Selected seed 195 with value = 0.8517
+Query 1/1: Action query time = 1.144 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9915
+t=90: Selected seed 195 with value = 0.9915
+Saved rollout MP4 at path ./rollouts/realcl_i800_t4/2026_08_01-00_10_26--episode=11--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Saved rollout MP4 at path ./rollouts/realcl_i800_t4/2026_08_01-00_10_26--with_future_img--episode=11--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Success: True
+# episodes completed so far: 11
+# successes: 10 (90.9%)
+
+Task: put the bowl on top of the cabinet
+Starting episode 12...
+Query 1/1: Action query time = 1.192 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4421
+t=10: Selected seed 195 with value = 0.4421
+Query 1/1: Action query time = 1.247 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5222
+t=26: Selected seed 195 with value = 0.5222
+Query 1/1: Action query time = 1.438 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6042
+t=42: Selected seed 195 with value = 0.6042
+Query 1/1: Action query time = 1.034 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7045
+t=58: Selected seed 195 with value = 0.7045
+Query 1/1: Action query time = 1.027 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8415
+t=74: Selected seed 195 with value = 0.8415
+Query 1/1: Action query time = 0.986 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9907
+t=90: Selected seed 195 with value = 0.9907
+Saved rollout MP4 at path ./rollouts/realcl_i800_t4/2026_08_01-00_10_26--episode=12--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Saved rollout MP4 at path ./rollouts/realcl_i800_t4/2026_08_01-00_10_26--with_future_img--episode=12--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Success: True
+# episodes completed so far: 12
+# successes: 11 (91.7%)
+
+Task: put the bowl on top of the cabinet
+Starting episode 13...
+Query 1/1: Action query time = 1.040 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4311
+t=10: Selected seed 195 with value = 0.4311
+Query 1/1: Action query time = 1.040 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4987
+t=26: Selected seed 195 with value = 0.4987
+Query 1/1: Action query time = 1.084 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5803
+t=42: Selected seed 195 with value = 0.5803
+Query 1/1: Action query time = 1.192 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7063
+t=58: Selected seed 195 with value = 0.7063
+Query 1/1: Action query time = 1.245 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8539
+t=74: Selected seed 195 with value = 0.8539
+Query 1/1: Action query time = 1.129 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9762
+t=90: Selected seed 195 with value = 0.9762
+Saved rollout MP4 at path ./rollouts/realcl_i800_t4/2026_08_01-00_10_26--episode=13--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Saved rollout MP4 at path ./rollouts/realcl_i800_t4/2026_08_01-00_10_26--with_future_img--episode=13--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Success: True
+# episodes completed so far: 13
+# successes: 12 (92.3%)
+
+Task: put the bowl on top of the cabinet
+Starting episode 14...
+Query 1/1: Action query time = 1.001 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4486
+t=10: Selected seed 195 with value = 0.4486
+Query 1/1: Action query time = 0.995 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5106
+t=26: Selected seed 195 with value = 0.5106
+Query 1/1: Action query time = 0.982 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5950
+t=42: Selected seed 195 with value = 0.5950
+Query 1/1: Action query time = 1.343 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7332
+t=58: Selected seed 195 with value = 0.7332
+Query 1/1: Action query time = 1.316 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8655
+t=74: Selected seed 195 with value = 0.8655
+Query 1/1: Action query time = 1.086 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9304
+t=90: Selected seed 195 with value = 0.9304
+Saved rollout MP4 at path ./rollouts/realcl_i800_t4/2026_08_01-00_10_26--episode=14--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Saved rollout MP4 at path ./rollouts/realcl_i800_t4/2026_08_01-00_10_26--with_future_img--episode=14--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Success: True
+# episodes completed so far: 14
+# successes: 13 (92.9%)
+
+Task: put the bowl on top of the cabinet
+Starting episode 15...
+Query 1/1: Action query time = 1.041 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4152
+t=10: Selected seed 195 with value = 0.4152
+Query 1/1: Action query time = 0.971 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5180
+t=26: Selected seed 195 with value = 0.5180
+Query 1/1: Action query time = 0.983 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5990
+t=42: Selected seed 195 with value = 0.5990
+Query 1/1: Action query time = 1.083 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7055
+t=58: Selected seed 195 with value = 0.7055
+Query 1/1: Action query time = 1.042 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8122
+t=74: Selected seed 195 with value = 0.8122
+Query 1/1: Action query time = 0.970 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9518
+t=90: Selected seed 195 with value = 0.9518
+Saved rollout MP4 at path ./rollouts/realcl_i800_t4/2026_08_01-00_10_26--episode=15--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Saved rollout MP4 at path ./rollouts/realcl_i800_t4/2026_08_01-00_10_26--with_future_img--episode=15--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Success: True
+# episodes completed so far: 15
+# successes: 14 (93.3%)
+
+Task: put the bowl on top of the cabinet
+Starting episode 16...
+Query 1/1: Action query time = 1.060 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4649
+t=10: Selected seed 195 with value = 0.4649
+Query 1/1: Action query time = 1.062 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5332
+t=26: Selected seed 195 with value = 0.5332
+Query 1/1: Action query time = 1.104 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5611
+t=42: Selected seed 195 with value = 0.5611
+Query 1/1: Action query time = 1.456 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7108
+t=58: Selected seed 195 with value = 0.7108
+Query 1/1: Action query time = 1.179 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8184
+t=74: Selected seed 195 with value = 0.8184
+Query 1/1: Action query time = 1.148 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9499
+t=90: Selected seed 195 with value = 0.9499
+Saved rollout MP4 at path ./rollouts/realcl_i800_t4/2026_08_01-00_10_26--episode=16--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Saved rollout MP4 at path ./rollouts/realcl_i800_t4/2026_08_01-00_10_26--with_future_img--episode=16--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Success: True
+# episodes completed so far: 16
+# successes: 15 (93.8%)
+
+Task: put the bowl on top of the cabinet
+Starting episode 17...
+Query 1/1: Action query time = 1.341 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4722
+t=10: Selected seed 195 with value = 0.4722
+Query 1/1: Action query time = 1.300 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5462
+t=26: Selected seed 195 with value = 0.5462
+Query 1/1: Action query time = 1.269 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6596
+t=42: Selected seed 195 with value = 0.6596
+Query 1/1: Action query time = 1.202 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7163
+t=58: Selected seed 195 with value = 0.7163
+Query 1/1: Action query time = 1.175 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8738
+t=74: Selected seed 195 with value = 0.8738
+Query 1/1: Action query time = 1.319 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/realcl_i800_t4/2026_08_01-00_10_26--episode=17--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Saved rollout MP4 at path ./rollouts/realcl_i800_t4/2026_08_01-00_10_26--with_future_img--episode=17--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Success: True
+# episodes completed so far: 17
+# successes: 16 (94.1%)
+
+Task: put the bowl on top of the cabinet
+Starting episode 18...
+Query 1/1: Action query time = 0.998 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4492
+t=10: Selected seed 195 with value = 0.4492
+Query 1/1: Action query time = 0.968 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5313
+t=26: Selected seed 195 with value = 0.5313
+Query 1/1: Action query time = 0.965 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6163
+t=42: Selected seed 195 with value = 0.6163
+Query 1/1: Action query time = 0.962 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7302
+t=58: Selected seed 195 with value = 0.7302
+Query 1/1: Action query time = 1.036 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8644
+t=74: Selected seed 195 with value = 0.8644
+Query 1/1: Action query time = 1.076 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9973
+t=90: Selected seed 195 with value = 0.9973
+Saved rollout MP4 at path ./rollouts/realcl_i800_t4/2026_08_01-00_10_26--episode=18--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Saved rollout MP4 at path ./rollouts/realcl_i800_t4/2026_08_01-00_10_26--with_future_img--episode=18--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Success: True
+# episodes completed so far: 18
+# successes: 17 (94.4%)
+
+Task: put the bowl on top of the cabinet
+Starting episode 19...
+Query 1/1: Action query time = 1.015 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4053
+t=10: Selected seed 195 with value = 0.4053
+Query 1/1: Action query time = 1.013 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4639
+t=26: Selected seed 195 with value = 0.4639
+Query 1/1: Action query time = 1.012 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5649
+t=42: Selected seed 195 with value = 0.5649
+Query 1/1: Action query time = 1.065 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6575
+t=58: Selected seed 195 with value = 0.6575
+Query 1/1: Action query time = 1.165 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7850
+t=74: Selected seed 195 with value = 0.7850
+Query 1/1: Action query time = 1.061 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9285
+t=90: Selected seed 195 with value = 0.9285
+Saved rollout MP4 at path ./rollouts/realcl_i800_t4/2026_08_01-00_10_26--episode=19--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Saved rollout MP4 at path ./rollouts/realcl_i800_t4/2026_08_01-00_10_26--with_future_img--episode=19--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Success: True
+# episodes completed so far: 19
+# successes: 18 (94.7%)
+
+Task: put the bowl on top of the cabinet
+Starting episode 20...
+Query 1/1: Action query time = 1.184 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4283
+t=10: Selected seed 195 with value = 0.4283
+Query 1/1: Action query time = 0.968 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5123
+t=26: Selected seed 195 with value = 0.5123
+Query 1/1: Action query time = 0.961 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5891
+t=42: Selected seed 195 with value = 0.5891
+Query 1/1: Action query time = 0.959 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7157
+t=58: Selected seed 195 with value = 0.7157
+Query 1/1: Action query time = 0.994 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8387
+t=74: Selected seed 195 with value = 0.8387
+Query 1/1: Action query time = 1.030 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9416
+t=90: Selected seed 195 with value = 0.9416
+Saved rollout MP4 at path ./rollouts/realcl_i800_t4/2026_08_01-00_10_26--episode=20--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Saved rollout MP4 at path ./rollouts/realcl_i800_t4/2026_08_01-00_10_26--with_future_img--episode=20--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Success: True
+# episodes completed so far: 20
+# successes: 19 (95.0%)
+
+Task: put the bowl on top of the cabinet
+Starting episode 21...
+Query 1/1: Action query time = 0.984 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4380
+t=10: Selected seed 195 with value = 0.4380
+Query 1/1: Action query time = 1.019 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4974
+t=26: Selected seed 195 with value = 0.4974
+Query 1/1: Action query time = 1.093 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6151
+t=42: Selected seed 195 with value = 0.6151
+Query 1/1: Action query time = 1.083 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7131
+t=58: Selected seed 195 with value = 0.7131
+Query 1/1: Action query time = 1.092 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8681
+t=74: Selected seed 195 with value = 0.8681
+Query 1/1: Action query time = 0.969 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9758
+t=90: Selected seed 195 with value = 0.9758
+Saved rollout MP4 at path ./rollouts/realcl_i800_t4/2026_08_01-00_10_26--episode=21--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Saved rollout MP4 at path ./rollouts/realcl_i800_t4/2026_08_01-00_10_26--with_future_img--episode=21--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Success: True
+# episodes completed so far: 21
+# successes: 20 (95.2%)
+
+Task: put the bowl on top of the cabinet
+Starting episode 22...
+Query 1/1: Action query time = 1.090 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4699
+t=10: Selected seed 195 with value = 0.4699
+Query 1/1: Action query time = 1.165 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5273
+t=26: Selected seed 195 with value = 0.5273
+Query 1/1: Action query time = 1.072 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5877
+t=42: Selected seed 195 with value = 0.5877
+Query 1/1: Action query time = 1.050 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7121
+t=58: Selected seed 195 with value = 0.7121
+Query 1/1: Action query time = 0.967 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8484
+t=74: Selected seed 195 with value = 0.8484
+Query 1/1: Action query time = 0.958 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9968
+t=90: Selected seed 195 with value = 0.9968
+Saved rollout MP4 at path ./rollouts/realcl_i800_t4/2026_08_01-00_10_26--episode=22--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Saved rollout MP4 at path ./rollouts/realcl_i800_t4/2026_08_01-00_10_26--with_future_img--episode=22--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Success: True
+# episodes completed so far: 22
+# successes: 21 (95.5%)
+
+Task: put the bowl on top of the cabinet
+Starting episode 23...
+Query 1/1: Action query time = 1.154 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3824
+t=10: Selected seed 195 with value = 0.3824
+Query 1/1: Action query time = 1.232 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4752
+t=26: Selected seed 195 with value = 0.4752
+Query 1/1: Action query time = 1.196 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6209
+t=42: Selected seed 195 with value = 0.6209
+Query 1/1: Action query time = 1.208 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7051
+t=58: Selected seed 195 with value = 0.7051
+Query 1/1: Action query time = 1.003 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8175
+t=74: Selected seed 195 with value = 0.8175
+Query 1/1: Action query time = 0.982 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9835
+t=90: Selected seed 195 with value = 0.9835
+Saved rollout MP4 at path ./rollouts/realcl_i800_t4/2026_08_01-00_10_26--episode=23--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Saved rollout MP4 at path ./rollouts/realcl_i800_t4/2026_08_01-00_10_26--with_future_img--episode=23--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Success: True
+# episodes completed so far: 23
+# successes: 22 (95.7%)
+
+Task: put the bowl on top of the cabinet
+Starting episode 24...
+Query 1/1: Action query time = 1.265 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4369
+t=10: Selected seed 195 with value = 0.4369
+Query 1/1: Action query time = 1.194 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5218
+t=26: Selected seed 195 with value = 0.5218
+Query 1/1: Action query time = 1.134 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6535
+t=42: Selected seed 195 with value = 0.6535
+Query 1/1: Action query time = 1.096 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7290
+t=58: Selected seed 195 with value = 0.7290
+Query 1/1: Action query time = 0.998 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8587
+t=74: Selected seed 195 with value = 0.8587
+Query 1/1: Action query time = 0.973 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9590
+t=90: Selected seed 195 with value = 0.9590
+Saved rollout MP4 at path ./rollouts/realcl_i800_t4/2026_08_01-00_10_26--episode=24--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Saved rollout MP4 at path ./rollouts/realcl_i800_t4/2026_08_01-00_10_26--with_future_img--episode=24--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Success: True
+# episodes completed so far: 24
+# successes: 23 (95.8%)
+
+Task: put the bowl on top of the cabinet
+Starting episode 25...
+Query 1/1: Action query time = 1.005 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4324
+t=10: Selected seed 195 with value = 0.4324
+Query 1/1: Action query time = 0.981 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5361
+t=26: Selected seed 195 with value = 0.5361
+Query 1/1: Action query time = 0.976 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6101
+t=42: Selected seed 195 with value = 0.6101
+Query 1/1: Action query time = 0.959 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7402
+t=58: Selected seed 195 with value = 0.7402
+Query 1/1: Action query time = 1.033 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8930
+t=74: Selected seed 195 with value = 0.8930
+Query 1/1: Action query time = 0.973 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/realcl_i800_t4/2026_08_01-00_10_26--episode=25--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Saved rollout MP4 at path ./rollouts/realcl_i800_t4/2026_08_01-00_10_26--with_future_img--episode=25--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Success: True
+# episodes completed so far: 25
+# successes: 24 (96.0%)
+
+Task: put the bowl on top of the cabinet
+Starting episode 26...
+Query 1/1: Action query time = 1.209 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4329
+t=10: Selected seed 195 with value = 0.4329
+Query 1/1: Action query time = 1.213 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4853
+t=26: Selected seed 195 with value = 0.4853
+Query 1/1: Action query time = 1.022 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5597
+t=42: Selected seed 195 with value = 0.5597
+Query 1/1: Action query time = 1.083 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6924
+t=58: Selected seed 195 with value = 0.6924
+Query 1/1: Action query time = 1.162 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8072
+t=74: Selected seed 195 with value = 0.8072
+Query 1/1: Action query time = 1.398 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9502
+t=90: Selected seed 195 with value = 0.9502
+Saved rollout MP4 at path ./rollouts/realcl_i800_t4/2026_08_01-00_10_26--episode=26--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Saved rollout MP4 at path ./rollouts/realcl_i800_t4/2026_08_01-00_10_26--with_future_img--episode=26--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Success: True
+# episodes completed so far: 26
+# successes: 25 (96.2%)
+
+Task: put the bowl on top of the cabinet
+Starting episode 27...
+Query 1/1: Action query time = 1.233 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4368
+t=10: Selected seed 195 with value = 0.4368
+Query 1/1: Action query time = 1.313 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5083
+t=26: Selected seed 195 with value = 0.5083
+Query 1/1: Action query time = 1.296 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6003
+t=42: Selected seed 195 with value = 0.6003
+Query 1/1: Action query time = 1.405 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6960
+t=58: Selected seed 195 with value = 0.6960
+Query 1/1: Action query time = 1.449 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8227
+t=74: Selected seed 195 with value = 0.8227
+Query 1/1: Action query time = 1.050 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9667
+t=90: Selected seed 195 with value = 0.9667
+Saved rollout MP4 at path ./rollouts/realcl_i800_t4/2026_08_01-00_10_26--episode=27--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Saved rollout MP4 at path ./rollouts/realcl_i800_t4/2026_08_01-00_10_26--with_future_img--episode=27--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Success: True
+# episodes completed so far: 27
+# successes: 26 (96.3%)
+
+Task: put the bowl on top of the cabinet
+Starting episode 28...
+Query 1/1: Action query time = 1.082 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4673
+t=10: Selected seed 195 with value = 0.4673
+Query 1/1: Action query time = 1.162 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5457
+t=26: Selected seed 195 with value = 0.5457
+Query 1/1: Action query time = 1.033 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6491
+t=42: Selected seed 195 with value = 0.6491
+Query 1/1: Action query time = 1.036 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7426
+t=58: Selected seed 195 with value = 0.7426
+Query 1/1: Action query time = 0.968 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8800
+t=74: Selected seed 195 with value = 0.8800
+Query 1/1: Action query time = 0.973 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9971
+t=90: Selected seed 195 with value = 0.9971
+Saved rollout MP4 at path ./rollouts/realcl_i800_t4/2026_08_01-00_10_26--episode=28--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Saved rollout MP4 at path ./rollouts/realcl_i800_t4/2026_08_01-00_10_26--with_future_img--episode=28--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Success: True
+# episodes completed so far: 28
+# successes: 27 (96.4%)
+
+Task: put the bowl on top of the cabinet
+Starting episode 29...
+Query 1/1: Action query time = 1.093 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4393
+t=10: Selected seed 195 with value = 0.4393
+Query 1/1: Action query time = 1.268 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4963
+t=26: Selected seed 195 with value = 0.4963
+Query 1/1: Action query time = 1.055 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6187
+t=42: Selected seed 195 with value = 0.6187
+Query 1/1: Action query time = 1.050 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7160
+t=58: Selected seed 195 with value = 0.7160
+Query 1/1: Action query time = 0.963 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8234
+t=74: Selected seed 195 with value = 0.8234
+Query 1/1: Action query time = 1.154 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9317
+t=90: Selected seed 195 with value = 0.9317
+Saved rollout MP4 at path ./rollouts/realcl_i800_t4/2026_08_01-00_10_26--episode=29--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Saved rollout MP4 at path ./rollouts/realcl_i800_t4/2026_08_01-00_10_26--with_future_img--episode=29--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Success: True
+# episodes completed so far: 29
+# successes: 28 (96.6%)
+
+Task: put the bowl on top of the cabinet
+Starting episode 30...
+Query 1/1: Action query time = 0.970 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4430
+t=10: Selected seed 195 with value = 0.4430
+Query 1/1: Action query time = 0.975 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5236
+t=26: Selected seed 195 with value = 0.5236
+Query 1/1: Action query time = 0.973 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6074
+t=42: Selected seed 195 with value = 0.6074
+Query 1/1: Action query time = 1.265 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7079
+t=58: Selected seed 195 with value = 0.7079
+Query 1/1: Action query time = 1.400 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8199
+t=74: Selected seed 195 with value = 0.8199
+Query 1/1: Action query time = 1.349 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9927
+t=90: Selected seed 195 with value = 0.9927
+Saved rollout MP4 at path ./rollouts/realcl_i800_t4/2026_08_01-00_10_26--episode=30--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Saved rollout MP4 at path ./rollouts/realcl_i800_t4/2026_08_01-00_10_26--with_future_img--episode=30--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Success: True
+# episodes completed so far: 30
+# successes: 29 (96.7%)
+
+Task: put the bowl on top of the cabinet
+Starting episode 31...
+Query 1/1: Action query time = 0.971 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4451
+t=10: Selected seed 195 with value = 0.4451
+Query 1/1: Action query time = 0.964 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5423
+t=26: Selected seed 195 with value = 0.5423
+Query 1/1: Action query time = 0.975 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6174
+t=42: Selected seed 195 with value = 0.6174
+Query 1/1: Action query time = 1.104 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7266
+t=58: Selected seed 195 with value = 0.7266
+Query 1/1: Action query time = 0.982 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8524
+t=74: Selected seed 195 with value = 0.8524
+Query 1/1: Action query time = 0.988 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9621
+t=90: Selected seed 195 with value = 0.9621
+Saved rollout MP4 at path ./rollouts/realcl_i800_t4/2026_08_01-00_10_26--episode=31--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Saved rollout MP4 at path ./rollouts/realcl_i800_t4/2026_08_01-00_10_26--with_future_img--episode=31--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Success: True
+# episodes completed so far: 31
+# successes: 30 (96.8%)
+
+Task: put the bowl on top of the cabinet
+Starting episode 32...
+Query 1/1: Action query time = 1.139 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4275
+t=10: Selected seed 195 with value = 0.4275
+Query 1/1: Action query time = 0.980 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5036
+t=26: Selected seed 195 with value = 0.5036
+Query 1/1: Action query time = 0.969 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6044
+t=42: Selected seed 195 with value = 0.6044
+Query 1/1: Action query time = 0.969 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7159
+t=58: Selected seed 195 with value = 0.7159
+Query 1/1: Action query time = 1.186 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8422
+t=74: Selected seed 195 with value = 0.8422
+Query 1/1: Action query time = 1.140 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9598
+t=90: Selected seed 195 with value = 0.9598
+Saved rollout MP4 at path ./rollouts/realcl_i800_t4/2026_08_01-00_10_26--episode=32--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Saved rollout MP4 at path ./rollouts/realcl_i800_t4/2026_08_01-00_10_26--with_future_img--episode=32--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Success: True
+# episodes completed so far: 32
+# successes: 31 (96.9%)
+
+Task: put the bowl on top of the cabinet
+Starting episode 33...
+Query 1/1: Action query time = 1.277 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4641
+t=10: Selected seed 195 with value = 0.4641
+Query 1/1: Action query time = 1.293 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5397
+t=26: Selected seed 195 with value = 0.5397
+Query 1/1: Action query time = 1.205 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4077
+t=42: Selected seed 195 with value = 0.4077
+Query 1/1: Action query time = 1.160 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5729
+t=58: Selected seed 195 with value = 0.5729
+Query 1/1: Action query time = 1.041 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5629
+t=74: Selected seed 195 with value = 0.5629
+Query 1/1: Action query time = 1.234 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6537
+t=90: Selected seed 195 with value = 0.6537
+Query 1/1: Action query time = 1.087 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7226
+t=106: Selected seed 195 with value = 0.7226
+Query 1/1: Action query time = 0.978 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8716
+t=122: Selected seed 195 with value = 0.8716
+Saved rollout MP4 at path ./rollouts/realcl_i800_t4/2026_08_01-00_10_26--episode=33--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Saved rollout MP4 at path ./rollouts/realcl_i800_t4/2026_08_01-00_10_26--with_future_img--episode=33--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Success: True
+# episodes completed so far: 33
+# successes: 32 (97.0%)
+
+Task: put the bowl on top of the cabinet
+Starting episode 34...
+Query 1/1: Action query time = 1.159 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4450
+t=10: Selected seed 195 with value = 0.4450
+Query 1/1: Action query time = 1.273 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5125
+t=26: Selected seed 195 with value = 0.5125
+Query 1/1: Action query time = 1.172 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6152
+t=42: Selected seed 195 with value = 0.6152
+Query 1/1: Action query time = 1.267 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7195
+t=58: Selected seed 195 with value = 0.7195
+Query 1/1: Action query time = 1.150 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8722
+t=74: Selected seed 195 with value = 0.8722
+Query 1/1: Action query time = 1.258 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9987
+t=90: Selected seed 195 with value = 0.9987
+Saved rollout MP4 at path ./rollouts/realcl_i800_t4/2026_08_01-00_10_26--episode=34--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Saved rollout MP4 at path ./rollouts/realcl_i800_t4/2026_08_01-00_10_26--with_future_img--episode=34--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Success: True
+# episodes completed so far: 34
+# successes: 33 (97.1%)
+
+Task: put the bowl on top of the cabinet
+Starting episode 35...
+Query 1/1: Action query time = 0.995 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4281
+t=10: Selected seed 195 with value = 0.4281
+Query 1/1: Action query time = 1.045 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5090
+t=26: Selected seed 195 with value = 0.5090
+Query 1/1: Action query time = 1.025 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6037
+t=42: Selected seed 195 with value = 0.6037
+Query 1/1: Action query time = 1.034 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7366
+t=58: Selected seed 195 with value = 0.7366
+Query 1/1: Action query time = 1.001 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8478
+t=74: Selected seed 195 with value = 0.8478
+Query 1/1: Action query time = 0.991 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9616
+t=90: Selected seed 195 with value = 0.9616
+Saved rollout MP4 at path ./rollouts/realcl_i800_t4/2026_08_01-00_10_26--episode=35--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Saved rollout MP4 at path ./rollouts/realcl_i800_t4/2026_08_01-00_10_26--with_future_img--episode=35--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Success: True
+# episodes completed so far: 35
+# successes: 34 (97.1%)
+
+Task: put the bowl on top of the cabinet
+Starting episode 36...
+Query 1/1: Action query time = 0.972 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4602
+t=10: Selected seed 195 with value = 0.4602
+Query 1/1: Action query time = 0.968 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5137
+t=26: Selected seed 195 with value = 0.5137
+Query 1/1: Action query time = 0.989 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6075
+t=42: Selected seed 195 with value = 0.6075
+Query 1/1: Action query time = 0.971 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7514
+t=58: Selected seed 195 with value = 0.7514
+Query 1/1: Action query time = 1.024 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8766
+t=74: Selected seed 195 with value = 0.8766
+Query 1/1: Action query time = 1.458 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9877
+t=90: Selected seed 195 with value = 0.9877
+Saved rollout MP4 at path ./rollouts/realcl_i800_t4/2026_08_01-00_10_26--episode=36--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Saved rollout MP4 at path ./rollouts/realcl_i800_t4/2026_08_01-00_10_26--with_future_img--episode=36--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Success: True
+# episodes completed so far: 36
+# successes: 35 (97.2%)
+
+Task: put the bowl on top of the cabinet
+Starting episode 37...
+Query 1/1: Action query time = 0.980 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4397
+t=10: Selected seed 195 with value = 0.4397
+Query 1/1: Action query time = 0.992 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5172
+t=26: Selected seed 195 with value = 0.5172
+Query 1/1: Action query time = 1.046 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5999
+t=42: Selected seed 195 with value = 0.5999
+Query 1/1: Action query time = 1.054 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7330
+t=58: Selected seed 195 with value = 0.7330
+Query 1/1: Action query time = 1.019 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8784
+t=74: Selected seed 195 with value = 0.8784
+Saved rollout MP4 at path ./rollouts/realcl_i800_t4/2026_08_01-00_10_26--episode=37--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Saved rollout MP4 at path ./rollouts/realcl_i800_t4/2026_08_01-00_10_26--with_future_img--episode=37--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Success: True
+# episodes completed so far: 37
+# successes: 36 (97.3%)
+
+Task: put the bowl on top of the cabinet
+Starting episode 38...
+Query 1/1: Action query time = 1.114 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4353
+t=10: Selected seed 195 with value = 0.4353
+Query 1/1: Action query time = 1.120 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4916
+t=26: Selected seed 195 with value = 0.4916
+Query 1/1: Action query time = 1.137 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5653
+t=42: Selected seed 195 with value = 0.5653
+Query 1/1: Action query time = 1.066 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6614
+t=58: Selected seed 195 with value = 0.6614
+Query 1/1: Action query time = 1.095 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7763
+t=74: Selected seed 195 with value = 0.7763
+Query 1/1: Action query time = 1.175 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9413
+t=90: Selected seed 195 with value = 0.9413
+Saved rollout MP4 at path ./rollouts/realcl_i800_t4/2026_08_01-00_10_26--episode=38--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Saved rollout MP4 at path ./rollouts/realcl_i800_t4/2026_08_01-00_10_26--with_future_img--episode=38--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Success: True
+# episodes completed so far: 38
+# successes: 37 (97.4%)
+
+Task: put the bowl on top of the cabinet
+Starting episode 39...
+Query 1/1: Action query time = 1.152 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4089
+t=10: Selected seed 195 with value = 0.4089
+Query 1/1: Action query time = 1.179 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3604
+t=26: Selected seed 195 with value = 0.3604
+Query 1/1: Action query time = 1.301 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3936
+t=42: Selected seed 195 with value = 0.3936
+Query 1/1: Action query time = 1.207 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4723
+t=58: Selected seed 195 with value = 0.4723
+Query 1/1: Action query time = 1.069 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5525
+t=74: Selected seed 195 with value = 0.5525
+Query 1/1: Action query time = 1.045 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6207
+t=90: Selected seed 195 with value = 0.6207
+Query 1/1: Action query time = 0.985 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7198
+t=106: Selected seed 195 with value = 0.7198
+Query 1/1: Action query time = 1.053 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8417
+t=122: Selected seed 195 with value = 0.8417
+Query 1/1: Action query time = 1.093 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9986
+t=138: Selected seed 195 with value = 0.9986
+Saved rollout MP4 at path ./rollouts/realcl_i800_t4/2026_08_01-00_10_26--episode=39--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Saved rollout MP4 at path ./rollouts/realcl_i800_t4/2026_08_01-00_10_26--with_future_img--episode=39--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Success: True
+# episodes completed so far: 39
+# successes: 38 (97.4%)
+
+Task: put the bowl on top of the cabinet
+Starting episode 40...
+Query 1/1: Action query time = 1.233 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4353
+t=10: Selected seed 195 with value = 0.4353
+Query 1/1: Action query time = 1.210 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5084
+t=26: Selected seed 195 with value = 0.5084
+Query 1/1: Action query time = 1.240 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5725
+t=42: Selected seed 195 with value = 0.5725
+Query 1/1: Action query time = 1.161 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6816
+t=58: Selected seed 195 with value = 0.6816
+Query 1/1: Action query time = 1.034 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8334
+t=74: Selected seed 195 with value = 0.8334
+Query 1/1: Action query time = 0.982 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9677
+t=90: Selected seed 195 with value = 0.9677
+Saved rollout MP4 at path ./rollouts/realcl_i800_t4/2026_08_01-00_10_26--episode=40--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Saved rollout MP4 at path ./rollouts/realcl_i800_t4/2026_08_01-00_10_26--with_future_img--episode=40--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Success: True
+# episodes completed so far: 40
+# successes: 39 (97.5%)
+
+Task: put the bowl on top of the cabinet
+Starting episode 41...
+Query 1/1: Action query time = 1.041 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4436
+t=10: Selected seed 195 with value = 0.4436
+Query 1/1: Action query time = 0.969 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5427
+t=26: Selected seed 195 with value = 0.5427
+Query 1/1: Action query time = 0.975 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6022
+t=42: Selected seed 195 with value = 0.6022
+Query 1/1: Action query time = 0.987 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7208
+t=58: Selected seed 195 with value = 0.7208
+Query 1/1: Action query time = 0.993 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8408
+t=74: Selected seed 195 with value = 0.8408
+Query 1/1: Action query time = 0.957 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9947
+t=90: Selected seed 195 with value = 0.9947
+Saved rollout MP4 at path ./rollouts/realcl_i800_t4/2026_08_01-00_10_26--episode=41--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Saved rollout MP4 at path ./rollouts/realcl_i800_t4/2026_08_01-00_10_26--with_future_img--episode=41--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Success: True
+# episodes completed so far: 41
+# successes: 40 (97.6%)
+
+Task: put the bowl on top of the cabinet
+Starting episode 42...
+Query 1/1: Action query time = 1.318 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4604
+t=10: Selected seed 195 with value = 0.4604
+Query 1/1: Action query time = 1.199 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5309
+t=26: Selected seed 195 with value = 0.5309
+Query 1/1: Action query time = 1.182 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6053
+t=42: Selected seed 195 with value = 0.6053
+Query 1/1: Action query time = 1.126 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7151
+t=58: Selected seed 195 with value = 0.7151
+Query 1/1: Action query time = 1.066 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8501
+t=74: Selected seed 195 with value = 0.8501
+Query 1/1: Action query time = 1.117 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9845
+t=90: Selected seed 195 with value = 0.9845
+Saved rollout MP4 at path ./rollouts/realcl_i800_t4/2026_08_01-00_10_26--episode=42--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Saved rollout MP4 at path ./rollouts/realcl_i800_t4/2026_08_01-00_10_26--with_future_img--episode=42--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Success: True
+# episodes completed so far: 42
+# successes: 41 (97.6%)
+
+Task: put the bowl on top of the cabinet
+Starting episode 43...
+Query 1/1: Action query time = 1.299 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4367
+t=10: Selected seed 195 with value = 0.4367
+Query 1/1: Action query time = 1.207 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5060
+t=26: Selected seed 195 with value = 0.5060
+Query 1/1: Action query time = 1.228 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5810
+t=42: Selected seed 195 with value = 0.5810
+Query 1/1: Action query time = 1.361 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7121
+t=58: Selected seed 195 with value = 0.7121
+Query 1/1: Action query time = 1.231 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8246
+t=74: Selected seed 195 with value = 0.8246
+Query 1/1: Action query time = 0.997 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9304
+t=90: Selected seed 195 with value = 0.9304
+Saved rollout MP4 at path ./rollouts/realcl_i800_t4/2026_08_01-00_10_26--episode=43--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Saved rollout MP4 at path ./rollouts/realcl_i800_t4/2026_08_01-00_10_26--with_future_img--episode=43--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Success: True
+# episodes completed so far: 43
+# successes: 42 (97.7%)
+
+Task: put the bowl on top of the cabinet
+Starting episode 44...
+Query 1/1: Action query time = 1.206 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4383
+t=10: Selected seed 195 with value = 0.4383
+Query 1/1: Action query time = 1.178 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5026
+t=26: Selected seed 195 with value = 0.5026
+Query 1/1: Action query time = 1.187 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5641
+t=42: Selected seed 195 with value = 0.5641
+Query 1/1: Action query time = 1.152 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6859
+t=58: Selected seed 195 with value = 0.6859
+Query 1/1: Action query time = 1.255 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8360
+t=74: Selected seed 195 with value = 0.8360
+Query 1/1: Action query time = 1.315 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9946
+t=90: Selected seed 195 with value = 0.9946
+Saved rollout MP4 at path ./rollouts/realcl_i800_t4/2026_08_01-00_10_26--episode=44--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Saved rollout MP4 at path ./rollouts/realcl_i800_t4/2026_08_01-00_10_26--with_future_img--episode=44--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Success: True
+# episodes completed so far: 44
+# successes: 43 (97.7%)
+
+Task: put the bowl on top of the cabinet
+Starting episode 45...
+Query 1/1: Action query time = 1.103 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4509
+t=10: Selected seed 195 with value = 0.4509
+Query 1/1: Action query time = 0.975 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5258
+t=26: Selected seed 195 with value = 0.5258
+Query 1/1: Action query time = 0.994 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6010
+t=42: Selected seed 195 with value = 0.6010
+Query 1/1: Action query time = 0.987 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6956
+t=58: Selected seed 195 with value = 0.6956
+Query 1/1: Action query time = 0.980 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8262
+t=74: Selected seed 195 with value = 0.8262
+Query 1/1: Action query time = 0.990 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9665
+t=90: Selected seed 195 with value = 0.9665
+Saved rollout MP4 at path ./rollouts/realcl_i800_t4/2026_08_01-00_10_26--episode=45--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Saved rollout MP4 at path ./rollouts/realcl_i800_t4/2026_08_01-00_10_26--with_future_img--episode=45--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Success: True
+# episodes completed so far: 45
+# successes: 44 (97.8%)
+
+Task: put the bowl on top of the cabinet
+Starting episode 46...
+Query 1/1: Action query time = 1.281 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4355
+t=10: Selected seed 195 with value = 0.4355
+Query 1/1: Action query time = 1.173 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5071
+t=26: Selected seed 195 with value = 0.5071
+Query 1/1: Action query time = 1.122 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6049
+t=42: Selected seed 195 with value = 0.6049
+Query 1/1: Action query time = 0.966 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7038
+t=58: Selected seed 195 with value = 0.7038
+Query 1/1: Action query time = 0.979 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8356
+t=74: Selected seed 195 with value = 0.8356
+Query 1/1: Action query time = 0.979 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9596
+t=90: Selected seed 195 with value = 0.9596
+Saved rollout MP4 at path ./rollouts/realcl_i800_t4/2026_08_01-00_10_26--episode=46--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Saved rollout MP4 at path ./rollouts/realcl_i800_t4/2026_08_01-00_10_26--with_future_img--episode=46--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Success: True
+# episodes completed so far: 46
+# successes: 45 (97.8%)
+
+Task: put the bowl on top of the cabinet
+Starting episode 47...
+Query 1/1: Action query time = 0.981 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4552
+t=10: Selected seed 195 with value = 0.4552
+Query 1/1: Action query time = 0.977 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5220
+t=26: Selected seed 195 with value = 0.5220
+Query 1/1: Action query time = 0.964 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6106
+t=42: Selected seed 195 with value = 0.6106
+Query 1/1: Action query time = 1.024 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7139
+t=58: Selected seed 195 with value = 0.7139
+Query 1/1: Action query time = 0.997 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8315
+t=74: Selected seed 195 with value = 0.8315
+Query 1/1: Action query time = 0.986 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9727
+t=90: Selected seed 195 with value = 0.9727
+Saved rollout MP4 at path ./rollouts/realcl_i800_t4/2026_08_01-00_10_26--episode=47--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Saved rollout MP4 at path ./rollouts/realcl_i800_t4/2026_08_01-00_10_26--with_future_img--episode=47--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Success: True
+# episodes completed so far: 47
+# successes: 46 (97.9%)
+
+Task: put the bowl on top of the cabinet
+Starting episode 48...
+Query 1/1: Action query time = 1.181 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4281
+t=10: Selected seed 195 with value = 0.4281
+Query 1/1: Action query time = 1.075 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5154
+t=26: Selected seed 195 with value = 0.5154
+Query 1/1: Action query time = 1.049 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5938
+t=42: Selected seed 195 with value = 0.5938
+Query 1/1: Action query time = 1.089 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7078
+t=58: Selected seed 195 with value = 0.7078
+Query 1/1: Action query time = 1.068 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8358
+t=74: Selected seed 195 with value = 0.8358
+Query 1/1: Action query time = 1.123 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9919
+t=90: Selected seed 195 with value = 0.9919
+Saved rollout MP4 at path ./rollouts/realcl_i800_t4/2026_08_01-00_10_26--episode=48--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Saved rollout MP4 at path ./rollouts/realcl_i800_t4/2026_08_01-00_10_26--with_future_img--episode=48--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Success: True
+# episodes completed so far: 48
+# successes: 47 (97.9%)
+
+Task: put the bowl on top of the cabinet
+Starting episode 49...
+Query 1/1: Action query time = 1.364 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4356
+t=10: Selected seed 195 with value = 0.4356
+Query 1/1: Action query time = 1.265 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5193
+t=26: Selected seed 195 with value = 0.5193
+Query 1/1: Action query time = 1.203 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5984
+t=42: Selected seed 195 with value = 0.5984
+Query 1/1: Action query time = 1.026 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6908
+t=58: Selected seed 195 with value = 0.6908
+Query 1/1: Action query time = 0.976 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8026
+t=74: Selected seed 195 with value = 0.8026
+Query 1/1: Action query time = 0.983 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9456
+t=90: Selected seed 195 with value = 0.9456
+Saved rollout MP4 at path ./rollouts/realcl_i800_t4/2026_08_01-00_10_26--episode=49--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Saved rollout MP4 at path ./rollouts/realcl_i800_t4/2026_08_01-00_10_26--with_future_img--episode=49--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Success: True
+# episodes completed so far: 49
+# successes: 48 (98.0%)
+
+Task: put the bowl on top of the cabinet
+Starting episode 50...
+Query 1/1: Action query time = 1.050 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4271
+t=10: Selected seed 195 with value = 0.4271
+Query 1/1: Action query time = 1.094 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5085
+t=26: Selected seed 195 with value = 0.5085
+Query 1/1: Action query time = 1.149 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5797
+t=42: Selected seed 195 with value = 0.5797
+Query 1/1: Action query time = 1.217 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6884
+t=58: Selected seed 195 with value = 0.6884
+Query 1/1: Action query time = 1.096 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8086
+t=74: Selected seed 195 with value = 0.8086
+Query 1/1: Action query time = 1.015 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9557
+t=90: Selected seed 195 with value = 0.9557
+Saved rollout MP4 at path ./rollouts/realcl_i800_t4/2026_08_01-00_10_26--episode=50--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Saved rollout MP4 at path ./rollouts/realcl_i800_t4/2026_08_01-00_10_26--with_future_img--episode=50--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Success: True
+# episodes completed so far: 50
+# successes: 49 (98.0%)
+Current task success rate: 0.98
+Current total success rate: 0.98
+Final results:
+Total episodes: 50
+Total successes: 49
+Overall success rate: 0.9800 (98.0%)
diff --git a/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_01-00_10_26--realcl_i800_t6.txt b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_01-00_10_26--realcl_i800_t6.txt
new file mode 100644
index 0000000000000000000000000000000000000000..2d294cf0db4e8cfa6805351959c432c9bcf28c39
--- /dev/null
+++ b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_01-00_10_26--realcl_i800_t6.txt
@@ -0,0 +1,2744 @@
+Eval config: PolicyEvalConfig(suite='libero', model_family='cosmos', config='cosmos_predict2_2b_480p_libero_cl_stage_inference_only', ckpt_path='/home/azureuser/REGEN-main/old/cosmos_policy/cosmos_v2_finetune/cosmos_predict2_2b_480p_libero_goal_task6_real_cl_from40k_2gpu/checkpoints/iter_000000800/model', planning_model_config_name='', planning_model_ckpt_path='', config_file='cosmos_policy/config/config.py', packnet_mask_path='', packnet_first_cl_libero_task=6, use_third_person_image=True, num_third_person_images=1, use_wrist_image=True, num_wrist_images=1, use_proprio=True, flip_images=True, use_variance_scale=False, use_jpeg_compression=True, ar_future_prediction=False, ar_value_prediction=False, ar_qvalue_prediction=False, num_denoising_steps_action=5, num_denoising_steps_future_state=1, num_denoising_steps_value=1, unnormalize_actions=True, normalize_proprio=True, dataset_stats_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/libero_goal_regen/dataset_statistics.json', t5_text_embeddings_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/t5_embeddings.pkl', trained_with_image_aug=True, chunk_size=16, num_open_loop_steps=16, deterministic=True, deterministic_reset=False, deterministic_reset_seed=None, use_ensemble_future_state_predictions=False, num_future_state_predictions_in_ensemble=3, future_state_ensemble_aggregation_scheme='average', use_ensemble_value_predictions=False, num_value_predictions_in_ensemble=5, value_ensemble_aggregation_scheme='average', search_depth=1, mask_current_state_action_for_value_prediction=False, mask_future_state_for_qvalue_prediction=False, num_queries_best_of_n=1, use_parallel_inference=False, available_gpus='0', parallel_timeout=15, parallel_tasks_across_gpus=False, task_suite_name='libero_goal', num_trials_per_task=50, task_ids_to_run='6', initial_states_path='DEFAULT', env_img_res=256, local_log_dir='/home/azureuser/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal', run_id_note='realcl_i800_t6', use_wandb=False, wandb_entity='YOUR_ENTITY', wandb_project='YOUR_PROJECT', seed=195, randomize_seed=False, data_collection=False, jpeg_compress=True, reward_stop_threshold=None, reward_stop_consecutive_steps=3, use_gpt_reward=False, gpt_reward_model='gpt-5.4-mini', gpt_reward_stop_threshold=4, gpt_reward_timeout_s=30.0, save_rollout_video=True, eval_hdf5_path='', eval_hdf5_demo_key='demo_0', data_gen_demo_ids='', replay_actions=False, replay_action_path_dir='', replay_hdf5_path='', data_generation=False, max_generation_steps=200, simple_task_max_steps=100, complex_task_max_steps=200)
+Using serial inference (parallel inference disabled)
+Task suite: libero_goal
+Number of tasks: 10
+Running only task IDs: [6]
+Using default initial states
+
+Task: put the cream cheese in the bowl
+Starting episode 1...
+Query 1/1: Action query time = 1.625 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4102
+t=10: Selected seed 195 with value = 0.4102
+Query 1/1: Action query time = 1.257 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5130
+t=26: Selected seed 195 with value = 0.5130
+Query 1/1: Action query time = 1.460 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6181
+t=42: Selected seed 195 with value = 0.6181
+Query 1/1: Action query time = 1.214 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4886
+t=58: Selected seed 195 with value = 0.4886
+Query 1/1: Action query time = 1.165 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7570
+t=74: Selected seed 195 with value = 0.7570
+Query 1/1: Action query time = 0.947 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7478
+t=90: Selected seed 195 with value = 0.7478
+Query 1/1: Action query time = 0.965 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9814
+t=106: Selected seed 195 with value = 0.9814
+Query 1/1: Action query time = 0.970 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9128
+t=122: Selected seed 195 with value = 0.9128
+Query 1/1: Action query time = 1.372 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=138: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 1.344 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9959
+t=154: Selected seed 195 with value = 0.9959
+Query 1/1: Action query time = 1.375 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8042
+t=170: Selected seed 195 with value = 0.8042
+Query 1/1: Action query time = 1.426 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9583
+t=186: Selected seed 195 with value = 0.9583
+Query 1/1: Action query time = 1.293 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5671
+t=202: Selected seed 195 with value = 0.5671
+Query 1/1: Action query time = 1.142 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6935
+t=218: Selected seed 195 with value = 0.6935
+Query 1/1: Action query time = 1.041 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8050
+t=234: Selected seed 195 with value = 0.8050
+Query 1/1: Action query time = 0.961 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8818
+t=250: Selected seed 195 with value = 0.8818
+Query 1/1: Action query time = 0.959 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9705
+t=266: Selected seed 195 with value = 0.9705
+Query 1/1: Action query time = 0.959 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9920
+t=282: Selected seed 195 with value = 0.9920
+Query 1/1: Action query time = 0.981 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=298: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/realcl_i800_t6/2026_08_01-00_10_26--episode=1--success=False--task=put_the_cream_cheese_in_the_bowl.mp4
+Saved rollout MP4 at path ./rollouts/realcl_i800_t6/2026_08_01-00_10_26--with_future_img--episode=1--success=False--task=put_the_cream_cheese_in_the_bowl.mp4
+Success: False
+# episodes completed so far: 1
+# successes: 0 (0.0%)
+
+Task: put the cream cheese in the bowl
+Starting episode 2...
+Query 1/1: Action query time = 0.983 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4296
+t=10: Selected seed 195 with value = 0.4296
+Query 1/1: Action query time = 0.962 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4917
+t=26: Selected seed 195 with value = 0.4917
+Query 1/1: Action query time = 0.973 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5634
+t=42: Selected seed 195 with value = 0.5634
+Query 1/1: Action query time = 0.994 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6747
+t=58: Selected seed 195 with value = 0.6747
+Query 1/1: Action query time = 0.954 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7992
+t=74: Selected seed 195 with value = 0.7992
+Query 1/1: Action query time = 0.966 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8810
+t=90: Selected seed 195 with value = 0.8810
+Query 1/1: Action query time = 1.003 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=106: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.955 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9909
+t=122: Selected seed 195 with value = 0.9909
+Query 1/1: Action query time = 0.972 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9887
+t=138: Selected seed 195 with value = 0.9887
+Query 1/1: Action query time = 0.982 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9416
+t=154: Selected seed 195 with value = 0.9416
+Query 1/1: Action query time = 0.953 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8620
+t=170: Selected seed 195 with value = 0.8620
+Query 1/1: Action query time = 0.957 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4634
+t=186: Selected seed 195 with value = 0.4634
+Query 1/1: Action query time = 0.989 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4230
+t=202: Selected seed 195 with value = 0.4230
+Query 1/1: Action query time = 1.070 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4609
+t=218: Selected seed 195 with value = 0.4609
+Query 1/1: Action query time = 1.140 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4792
+t=234: Selected seed 195 with value = 0.4792
+Query 1/1: Action query time = 1.087 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5095
+t=250: Selected seed 195 with value = 0.5095
+Query 1/1: Action query time = 0.954 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6481
+t=266: Selected seed 195 with value = 0.6481
+Query 1/1: Action query time = 0.982 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8275
+t=282: Selected seed 195 with value = 0.8275
+Query 1/1: Action query time = 1.224 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8535
+t=298: Selected seed 195 with value = 0.8535
+Saved rollout MP4 at path ./rollouts/realcl_i800_t6/2026_08_01-00_10_26--episode=2--success=False--task=put_the_cream_cheese_in_the_bowl.mp4
+Saved rollout MP4 at path ./rollouts/realcl_i800_t6/2026_08_01-00_10_26--with_future_img--episode=2--success=False--task=put_the_cream_cheese_in_the_bowl.mp4
+Success: False
+# episodes completed so far: 2
+# successes: 0 (0.0%)
+
+Task: put the cream cheese in the bowl
+Starting episode 3...
+Query 1/1: Action query time = 0.982 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4424
+t=10: Selected seed 195 with value = 0.4424
+Query 1/1: Action query time = 0.964 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4577
+t=26: Selected seed 195 with value = 0.4577
+Query 1/1: Action query time = 0.975 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6329
+t=42: Selected seed 195 with value = 0.6329
+Query 1/1: Action query time = 0.960 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5713
+t=58: Selected seed 195 with value = 0.5713
+Query 1/1: Action query time = 0.962 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5444
+t=74: Selected seed 195 with value = 0.5444
+Query 1/1: Action query time = 0.953 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6441
+t=90: Selected seed 195 with value = 0.6441
+Query 1/1: Action query time = 1.000 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5626
+t=106: Selected seed 195 with value = 0.5626
+Query 1/1: Action query time = 1.038 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6738
+t=122: Selected seed 195 with value = 0.6738
+Query 1/1: Action query time = 1.080 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8464
+t=138: Selected seed 195 with value = 0.8464
+Query 1/1: Action query time = 1.112 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9944
+t=154: Selected seed 195 with value = 0.9944
+Saved rollout MP4 at path ./rollouts/realcl_i800_t6/2026_08_01-00_10_26--episode=3--success=True--task=put_the_cream_cheese_in_the_bowl.mp4
+Saved rollout MP4 at path ./rollouts/realcl_i800_t6/2026_08_01-00_10_26--with_future_img--episode=3--success=True--task=put_the_cream_cheese_in_the_bowl.mp4
+Success: True
+# episodes completed so far: 3
+# successes: 1 (33.3%)
+
+Task: put the cream cheese in the bowl
+Starting episode 4...
+Query 1/1: Action query time = 1.152 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4264
+t=10: Selected seed 195 with value = 0.4264
+Query 1/1: Action query time = 1.218 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5468
+t=26: Selected seed 195 with value = 0.5468
+Query 1/1: Action query time = 1.159 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6495
+t=42: Selected seed 195 with value = 0.6495
+Query 1/1: Action query time = 1.190 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7513
+t=58: Selected seed 195 with value = 0.7513
+Query 1/1: Action query time = 1.136 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8850
+t=74: Selected seed 195 with value = 0.8850
+Saved rollout MP4 at path ./rollouts/realcl_i800_t6/2026_08_01-00_10_26--episode=4--success=True--task=put_the_cream_cheese_in_the_bowl.mp4
+Saved rollout MP4 at path ./rollouts/realcl_i800_t6/2026_08_01-00_10_26--with_future_img--episode=4--success=True--task=put_the_cream_cheese_in_the_bowl.mp4
+Success: True
+# episodes completed so far: 4
+# successes: 2 (50.0%)
+
+Task: put the cream cheese in the bowl
+Starting episode 5...
+Query 1/1: Action query time = 1.001 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4229
+t=10: Selected seed 195 with value = 0.4229
+Query 1/1: Action query time = 0.958 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5361
+t=26: Selected seed 195 with value = 0.5361
+Query 1/1: Action query time = 0.970 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6542
+t=42: Selected seed 195 with value = 0.6542
+Query 1/1: Action query time = 0.981 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6578
+t=58: Selected seed 195 with value = 0.6578
+Query 1/1: Action query time = 0.951 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7857
+t=74: Selected seed 195 with value = 0.7857
+Query 1/1: Action query time = 0.996 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9590
+t=90: Selected seed 195 with value = 0.9590
+Saved rollout MP4 at path ./rollouts/realcl_i800_t6/2026_08_01-00_10_26--episode=5--success=True--task=put_the_cream_cheese_in_the_bowl.mp4
+Saved rollout MP4 at path ./rollouts/realcl_i800_t6/2026_08_01-00_10_26--with_future_img--episode=5--success=True--task=put_the_cream_cheese_in_the_bowl.mp4
+Success: True
+# episodes completed so far: 5
+# successes: 3 (60.0%)
+
+Task: put the cream cheese in the bowl
+Starting episode 6...
+Query 1/1: Action query time = 0.977 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4577
+t=10: Selected seed 195 with value = 0.4577
+Query 1/1: Action query time = 0.963 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4995
+t=26: Selected seed 195 with value = 0.4995
+Query 1/1: Action query time = 1.091 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6246
+t=42: Selected seed 195 with value = 0.6246
+Query 1/1: Action query time = 0.963 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4901
+t=58: Selected seed 195 with value = 0.4901
+Query 1/1: Action query time = 0.978 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7385
+t=74: Selected seed 195 with value = 0.7385
+Query 1/1: Action query time = 0.964 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9129
+t=90: Selected seed 195 with value = 0.9129
+Query 1/1: Action query time = 0.988 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9968
+t=106: Selected seed 195 with value = 0.9968
+Query 1/1: Action query time = 0.955 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9968
+t=122: Selected seed 195 with value = 0.9968
+Query 1/1: Action query time = 0.971 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9808
+t=138: Selected seed 195 with value = 0.9808
+Query 1/1: Action query time = 0.961 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9187
+t=154: Selected seed 195 with value = 0.9187
+Query 1/1: Action query time = 1.053 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9406
+t=170: Selected seed 195 with value = 0.9406
+Query 1/1: Action query time = 1.199 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7057
+t=186: Selected seed 195 with value = 0.7057
+Query 1/1: Action query time = 1.004 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8744
+t=202: Selected seed 195 with value = 0.8744
+Query 1/1: Action query time = 0.980 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6323
+t=218: Selected seed 195 with value = 0.6323
+Query 1/1: Action query time = 1.063 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6405
+t=234: Selected seed 195 with value = 0.6405
+Query 1/1: Action query time = 1.009 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8042
+t=250: Selected seed 195 with value = 0.8042
+Query 1/1: Action query time = 1.149 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8924
+t=266: Selected seed 195 with value = 0.8924
+Query 1/1: Action query time = 1.311 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=282: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 1.237 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=298: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/realcl_i800_t6/2026_08_01-00_10_26--episode=6--success=False--task=put_the_cream_cheese_in_the_bowl.mp4
+Saved rollout MP4 at path ./rollouts/realcl_i800_t6/2026_08_01-00_10_26--with_future_img--episode=6--success=False--task=put_the_cream_cheese_in_the_bowl.mp4
+Success: False
+# episodes completed so far: 6
+# successes: 3 (50.0%)
+
+Task: put the cream cheese in the bowl
+Starting episode 7...
+Query 1/1: Action query time = 1.041 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4591
+t=10: Selected seed 195 with value = 0.4591
+Query 1/1: Action query time = 1.062 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5376
+t=26: Selected seed 195 with value = 0.5376
+Query 1/1: Action query time = 1.187 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6548
+t=42: Selected seed 195 with value = 0.6548
+Query 1/1: Action query time = 1.215 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6784
+t=58: Selected seed 195 with value = 0.6784
+Query 1/1: Action query time = 0.986 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8372
+t=74: Selected seed 195 with value = 0.8372
+Query 1/1: Action query time = 0.975 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9932
+t=90: Selected seed 195 with value = 0.9932
+Query 1/1: Action query time = 0.962 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9941
+t=106: Selected seed 195 with value = 0.9941
+Query 1/1: Action query time = 1.105 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9787
+t=122: Selected seed 195 with value = 0.9787
+Query 1/1: Action query time = 1.176 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8635
+t=138: Selected seed 195 with value = 0.8635
+Query 1/1: Action query time = 1.174 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6347
+t=154: Selected seed 195 with value = 0.6347
+Query 1/1: Action query time = 1.177 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9625
+t=170: Selected seed 195 with value = 0.9625
+Query 1/1: Action query time = 1.168 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5099
+t=186: Selected seed 195 with value = 0.5099
+Query 1/1: Action query time = 1.157 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5967
+t=202: Selected seed 195 with value = 0.5967
+Query 1/1: Action query time = 1.019 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8218
+t=218: Selected seed 195 with value = 0.8218
+Query 1/1: Action query time = 0.975 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9284
+t=234: Selected seed 195 with value = 0.9284
+Saved rollout MP4 at path ./rollouts/realcl_i800_t6/2026_08_01-00_10_26--episode=7--success=True--task=put_the_cream_cheese_in_the_bowl.mp4
+Saved rollout MP4 at path ./rollouts/realcl_i800_t6/2026_08_01-00_10_26--with_future_img--episode=7--success=True--task=put_the_cream_cheese_in_the_bowl.mp4
+Success: True
+# episodes completed so far: 7
+# successes: 4 (57.1%)
+
+Task: put the cream cheese in the bowl
+Starting episode 8...
+Query 1/1: Action query time = 1.126 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4178
+t=10: Selected seed 195 with value = 0.4178
+Query 1/1: Action query time = 0.962 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5267
+t=26: Selected seed 195 with value = 0.5267
+Query 1/1: Action query time = 0.968 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6247
+t=42: Selected seed 195 with value = 0.6247
+Query 1/1: Action query time = 0.956 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7024
+t=58: Selected seed 195 with value = 0.7024
+Query 1/1: Action query time = 0.952 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8887
+t=74: Selected seed 195 with value = 0.8887
+Saved rollout MP4 at path ./rollouts/realcl_i800_t6/2026_08_01-00_10_26--episode=8--success=True--task=put_the_cream_cheese_in_the_bowl.mp4
+Saved rollout MP4 at path ./rollouts/realcl_i800_t6/2026_08_01-00_10_26--with_future_img--episode=8--success=True--task=put_the_cream_cheese_in_the_bowl.mp4
+Success: True
+# episodes completed so far: 8
+# successes: 5 (62.5%)
+
+Task: put the cream cheese in the bowl
+Starting episode 9...
+Query 1/1: Action query time = 1.340 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4344
+t=10: Selected seed 195 with value = 0.4344
+Query 1/1: Action query time = 1.292 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5243
+t=26: Selected seed 195 with value = 0.5243
+Query 1/1: Action query time = 1.110 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6425
+t=42: Selected seed 195 with value = 0.6425
+Query 1/1: Action query time = 1.148 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6922
+t=58: Selected seed 195 with value = 0.6922
+Query 1/1: Action query time = 0.975 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8368
+t=74: Selected seed 195 with value = 0.8368
+Query 1/1: Action query time = 1.017 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9906
+t=90: Selected seed 195 with value = 0.9906
+Saved rollout MP4 at path ./rollouts/realcl_i800_t6/2026_08_01-00_10_26--episode=9--success=True--task=put_the_cream_cheese_in_the_bowl.mp4
+Saved rollout MP4 at path ./rollouts/realcl_i800_t6/2026_08_01-00_10_26--with_future_img--episode=9--success=True--task=put_the_cream_cheese_in_the_bowl.mp4
+Success: True
+# episodes completed so far: 9
+# successes: 6 (66.7%)
+
+Task: put the cream cheese in the bowl
+Starting episode 10...
+Query 1/1: Action query time = 1.074 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4145
+t=10: Selected seed 195 with value = 0.4145
+Query 1/1: Action query time = 1.049 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5376
+t=26: Selected seed 195 with value = 0.5376
+Query 1/1: Action query time = 0.964 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6165
+t=42: Selected seed 195 with value = 0.6165
+Query 1/1: Action query time = 0.955 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7067
+t=58: Selected seed 195 with value = 0.7067
+Query 1/1: Action query time = 0.962 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8358
+t=74: Selected seed 195 with value = 0.8358
+Query 1/1: Action query time = 1.055 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9895
+t=90: Selected seed 195 with value = 0.9895
+Saved rollout MP4 at path ./rollouts/realcl_i800_t6/2026_08_01-00_10_26--episode=10--success=True--task=put_the_cream_cheese_in_the_bowl.mp4
+Saved rollout MP4 at path ./rollouts/realcl_i800_t6/2026_08_01-00_10_26--with_future_img--episode=10--success=True--task=put_the_cream_cheese_in_the_bowl.mp4
+Success: True
+# episodes completed so far: 10
+# successes: 7 (70.0%)
+
+Task: put the cream cheese in the bowl
+Starting episode 11...
+Query 1/1: Action query time = 1.412 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4382
+t=10: Selected seed 195 with value = 0.4382
+Query 1/1: Action query time = 1.120 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5067
+t=26: Selected seed 195 with value = 0.5067
+Query 1/1: Action query time = 1.103 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6129
+t=42: Selected seed 195 with value = 0.6129
+Query 1/1: Action query time = 0.966 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5476
+t=58: Selected seed 195 with value = 0.5476
+Query 1/1: Action query time = 0.968 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5388
+t=74: Selected seed 195 with value = 0.5388
+Query 1/1: Action query time = 0.983 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6851
+t=90: Selected seed 195 with value = 0.6851
+Query 1/1: Action query time = 1.013 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7892
+t=106: Selected seed 195 with value = 0.7892
+Query 1/1: Action query time = 1.051 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9550
+t=122: Selected seed 195 with value = 0.9550
+Saved rollout MP4 at path ./rollouts/realcl_i800_t6/2026_08_01-00_10_26--episode=11--success=True--task=put_the_cream_cheese_in_the_bowl.mp4
+Saved rollout MP4 at path ./rollouts/realcl_i800_t6/2026_08_01-00_10_26--with_future_img--episode=11--success=True--task=put_the_cream_cheese_in_the_bowl.mp4
+Success: True
+# episodes completed so far: 11
+# successes: 8 (72.7%)
+
+Task: put the cream cheese in the bowl
+Starting episode 12...
+Query 1/1: Action query time = 1.385 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4733
+t=10: Selected seed 195 with value = 0.4733
+Query 1/1: Action query time = 0.975 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5402
+t=26: Selected seed 195 with value = 0.5402
+Query 1/1: Action query time = 0.966 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6298
+t=42: Selected seed 195 with value = 0.6298
+Query 1/1: Action query time = 0.992 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5089
+t=58: Selected seed 195 with value = 0.5089
+Query 1/1: Action query time = 0.996 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5383
+t=74: Selected seed 195 with value = 0.5383
+Query 1/1: Action query time = 1.061 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6265
+t=90: Selected seed 195 with value = 0.6265
+Query 1/1: Action query time = 1.193 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5569
+t=106: Selected seed 195 with value = 0.5569
+Query 1/1: Action query time = 1.185 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6446
+t=122: Selected seed 195 with value = 0.6446
+Query 1/1: Action query time = 1.102 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8256
+t=138: Selected seed 195 with value = 0.8256
+Query 1/1: Action query time = 0.951 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9859
+t=154: Selected seed 195 with value = 0.9859
+Saved rollout MP4 at path ./rollouts/realcl_i800_t6/2026_08_01-00_10_26--episode=12--success=True--task=put_the_cream_cheese_in_the_bowl.mp4
+Saved rollout MP4 at path ./rollouts/realcl_i800_t6/2026_08_01-00_10_26--with_future_img--episode=12--success=True--task=put_the_cream_cheese_in_the_bowl.mp4
+Success: True
+# episodes completed so far: 12
+# successes: 9 (75.0%)
+
+Task: put the cream cheese in the bowl
+Starting episode 13...
+Query 1/1: Action query time = 1.044 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4388
+t=10: Selected seed 195 with value = 0.4388
+Query 1/1: Action query time = 1.088 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5330
+t=26: Selected seed 195 with value = 0.5330
+Query 1/1: Action query time = 1.056 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6425
+t=42: Selected seed 195 with value = 0.6425
+Query 1/1: Action query time = 1.215 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6845
+t=58: Selected seed 195 with value = 0.6845
+Query 1/1: Action query time = 1.159 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5954
+t=74: Selected seed 195 with value = 0.5954
+Query 1/1: Action query time = 1.105 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5966
+t=90: Selected seed 195 with value = 0.5966
+Query 1/1: Action query time = 0.976 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7618
+t=106: Selected seed 195 with value = 0.7618
+Query 1/1: Action query time = 1.073 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9983
+t=122: Selected seed 195 with value = 0.9983
+Query 1/1: Action query time = 0.968 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9943
+t=138: Selected seed 195 with value = 0.9943
+Query 1/1: Action query time = 0.960 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9878
+t=154: Selected seed 195 with value = 0.9878
+Query 1/1: Action query time = 0.963 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9593
+t=170: Selected seed 195 with value = 0.9593
+Query 1/1: Action query time = 0.980 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5335
+t=186: Selected seed 195 with value = 0.5335
+Query 1/1: Action query time = 1.008 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6684
+t=202: Selected seed 195 with value = 0.6684
+Query 1/1: Action query time = 0.975 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8029
+t=218: Selected seed 195 with value = 0.8029
+Query 1/1: Action query time = 1.002 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8565
+t=234: Selected seed 195 with value = 0.8565
+Query 1/1: Action query time = 1.063 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9561
+t=250: Selected seed 195 with value = 0.9561
+Query 1/1: Action query time = 1.128 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7834
+t=266: Selected seed 195 with value = 0.7834
+Query 1/1: Action query time = 1.218 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3794
+t=282: Selected seed 195 with value = 0.3794
+Query 1/1: Action query time = 1.114 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4313
+t=298: Selected seed 195 with value = 0.4313
+Saved rollout MP4 at path ./rollouts/realcl_i800_t6/2026_08_01-00_10_26--episode=13--success=False--task=put_the_cream_cheese_in_the_bowl.mp4
+Saved rollout MP4 at path ./rollouts/realcl_i800_t6/2026_08_01-00_10_26--with_future_img--episode=13--success=False--task=put_the_cream_cheese_in_the_bowl.mp4
+Success: False
+# episodes completed so far: 13
+# successes: 9 (69.2%)
+
+Task: put the cream cheese in the bowl
+Starting episode 14...
+Query 1/1: Action query time = 1.174 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4128
+t=10: Selected seed 195 with value = 0.4128
+Query 1/1: Action query time = 1.191 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5298
+t=26: Selected seed 195 with value = 0.5298
+Query 1/1: Action query time = 1.144 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6094
+t=42: Selected seed 195 with value = 0.6094
+Query 1/1: Action query time = 1.313 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6967
+t=58: Selected seed 195 with value = 0.6967
+Query 1/1: Action query time = 1.171 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9084
+t=74: Selected seed 195 with value = 0.9084
+Saved rollout MP4 at path ./rollouts/realcl_i800_t6/2026_08_01-00_10_26--episode=14--success=True--task=put_the_cream_cheese_in_the_bowl.mp4
+Saved rollout MP4 at path ./rollouts/realcl_i800_t6/2026_08_01-00_10_26--with_future_img--episode=14--success=True--task=put_the_cream_cheese_in_the_bowl.mp4
+Success: True
+# episodes completed so far: 14
+# successes: 10 (71.4%)
+
+Task: put the cream cheese in the bowl
+Starting episode 15...
+Query 1/1: Action query time = 1.178 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4459
+t=10: Selected seed 195 with value = 0.4459
+Query 1/1: Action query time = 1.185 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5120
+t=26: Selected seed 195 with value = 0.5120
+Query 1/1: Action query time = 1.137 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5837
+t=42: Selected seed 195 with value = 0.5837
+Query 1/1: Action query time = 1.116 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6961
+t=58: Selected seed 195 with value = 0.6961
+Query 1/1: Action query time = 1.168 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7820
+t=74: Selected seed 195 with value = 0.7820
+Query 1/1: Action query time = 0.974 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8747
+t=90: Selected seed 195 with value = 0.8747
+Query 1/1: Action query time = 0.958 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9944
+t=106: Selected seed 195 with value = 0.9944
+Query 1/1: Action query time = 0.997 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9853
+t=122: Selected seed 195 with value = 0.9853
+Query 1/1: Action query time = 0.992 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=138: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 1.119 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=154: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 1.174 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=170: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 1.191 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9971
+t=186: Selected seed 195 with value = 0.9971
+Query 1/1: Action query time = 1.084 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9841
+t=202: Selected seed 195 with value = 0.9841
+Query 1/1: Action query time = 1.001 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9708
+t=218: Selected seed 195 with value = 0.9708
+Query 1/1: Action query time = 0.975 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9608
+t=234: Selected seed 195 with value = 0.9608
+Query 1/1: Action query time = 0.983 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9632
+t=250: Selected seed 195 with value = 0.9632
+Query 1/1: Action query time = 0.973 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5097
+t=266: Selected seed 195 with value = 0.5097
+Query 1/1: Action query time = 0.966 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8646
+t=282: Selected seed 195 with value = 0.8646
+Query 1/1: Action query time = 0.957 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8957
+t=298: Selected seed 195 with value = 0.8957
+Saved rollout MP4 at path ./rollouts/realcl_i800_t6/2026_08_01-00_10_26--episode=15--success=False--task=put_the_cream_cheese_in_the_bowl.mp4
+Saved rollout MP4 at path ./rollouts/realcl_i800_t6/2026_08_01-00_10_26--with_future_img--episode=15--success=False--task=put_the_cream_cheese_in_the_bowl.mp4
+Success: False
+# episodes completed so far: 15
+# successes: 10 (66.7%)
+
+Task: put the cream cheese in the bowl
+Starting episode 16...
+Query 1/1: Action query time = 0.976 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4250
+t=10: Selected seed 195 with value = 0.4250
+Query 1/1: Action query time = 1.113 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5483
+t=26: Selected seed 195 with value = 0.5483
+Query 1/1: Action query time = 1.127 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6210
+t=42: Selected seed 195 with value = 0.6210
+Query 1/1: Action query time = 1.172 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5549
+t=58: Selected seed 195 with value = 0.5549
+Query 1/1: Action query time = 1.017 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5606
+t=74: Selected seed 195 with value = 0.5606
+Query 1/1: Action query time = 1.056 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6160
+t=90: Selected seed 195 with value = 0.6160
+Query 1/1: Action query time = 1.132 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6104
+t=106: Selected seed 195 with value = 0.6104
+Query 1/1: Action query time = 1.378 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6323
+t=122: Selected seed 195 with value = 0.6323
+Query 1/1: Action query time = 1.148 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6141
+t=138: Selected seed 195 with value = 0.6141
+Query 1/1: Action query time = 1.081 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6752
+t=154: Selected seed 195 with value = 0.6752
+Query 1/1: Action query time = 1.138 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7546
+t=170: Selected seed 195 with value = 0.7546
+Query 1/1: Action query time = 0.961 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7718
+t=186: Selected seed 195 with value = 0.7718
+Query 1/1: Action query time = 0.958 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8150
+t=202: Selected seed 195 with value = 0.8150
+Query 1/1: Action query time = 0.966 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9216
+t=218: Selected seed 195 with value = 0.9216
+Query 1/1: Action query time = 0.969 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9622
+t=234: Selected seed 195 with value = 0.9622
+Query 1/1: Action query time = 1.256 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9901
+t=250: Selected seed 195 with value = 0.9901
+Query 1/1: Action query time = 1.050 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9886
+t=266: Selected seed 195 with value = 0.9886
+Query 1/1: Action query time = 0.973 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9785
+t=282: Selected seed 195 with value = 0.9785
+Query 1/1: Action query time = 0.968 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9759
+t=298: Selected seed 195 with value = 0.9759
+Saved rollout MP4 at path ./rollouts/realcl_i800_t6/2026_08_01-00_10_26--episode=16--success=False--task=put_the_cream_cheese_in_the_bowl.mp4
+Saved rollout MP4 at path ./rollouts/realcl_i800_t6/2026_08_01-00_10_26--with_future_img--episode=16--success=False--task=put_the_cream_cheese_in_the_bowl.mp4
+Success: False
+# episodes completed so far: 16
+# successes: 10 (62.5%)
+
+Task: put the cream cheese in the bowl
+Starting episode 17...
+Query 1/1: Action query time = 0.973 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4359
+t=10: Selected seed 195 with value = 0.4359
+Query 1/1: Action query time = 0.982 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5494
+t=26: Selected seed 195 with value = 0.5494
+Query 1/1: Action query time = 0.977 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6412
+t=42: Selected seed 195 with value = 0.6412
+Query 1/1: Action query time = 1.034 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6763
+t=58: Selected seed 195 with value = 0.6763
+Query 1/1: Action query time = 1.076 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8460
+t=74: Selected seed 195 with value = 0.8460
+Query 1/1: Action query time = 1.390 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9903
+t=90: Selected seed 195 with value = 0.9903
+Saved rollout MP4 at path ./rollouts/realcl_i800_t6/2026_08_01-00_10_26--episode=17--success=True--task=put_the_cream_cheese_in_the_bowl.mp4
+Saved rollout MP4 at path ./rollouts/realcl_i800_t6/2026_08_01-00_10_26--with_future_img--episode=17--success=True--task=put_the_cream_cheese_in_the_bowl.mp4
+Success: True
+# episodes completed so far: 17
+# successes: 11 (64.7%)
+
+Task: put the cream cheese in the bowl
+Starting episode 18...
+Query 1/1: Action query time = 1.144 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4080
+t=10: Selected seed 195 with value = 0.4080
+Query 1/1: Action query time = 0.970 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5276
+t=26: Selected seed 195 with value = 0.5276
+Query 1/1: Action query time = 0.987 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6422
+t=42: Selected seed 195 with value = 0.6422
+Query 1/1: Action query time = 1.036 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6789
+t=58: Selected seed 195 with value = 0.6789
+Query 1/1: Action query time = 1.004 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8281
+t=74: Selected seed 195 with value = 0.8281
+Query 1/1: Action query time = 0.962 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9749
+t=90: Selected seed 195 with value = 0.9749
+Query 1/1: Action query time = 0.999 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9987
+t=106: Selected seed 195 with value = 0.9987
+Query 1/1: Action query time = 0.980 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9973
+t=122: Selected seed 195 with value = 0.9973
+Saved rollout MP4 at path ./rollouts/realcl_i800_t6/2026_08_01-00_10_26--episode=18--success=True--task=put_the_cream_cheese_in_the_bowl.mp4
+Saved rollout MP4 at path ./rollouts/realcl_i800_t6/2026_08_01-00_10_26--with_future_img--episode=18--success=True--task=put_the_cream_cheese_in_the_bowl.mp4
+Success: True
+# episodes completed so far: 18
+# successes: 12 (66.7%)
+
+Task: put the cream cheese in the bowl
+Starting episode 19...
+Query 1/1: Action query time = 1.296 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4466
+t=10: Selected seed 195 with value = 0.4466
+Query 1/1: Action query time = 1.150 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5162
+t=26: Selected seed 195 with value = 0.5162
+Query 1/1: Action query time = 0.971 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6307
+t=42: Selected seed 195 with value = 0.6307
+Query 1/1: Action query time = 0.977 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7392
+t=58: Selected seed 195 with value = 0.7392
+Query 1/1: Action query time = 0.974 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8405
+t=74: Selected seed 195 with value = 0.8405
+Query 1/1: Action query time = 1.185 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9813
+t=90: Selected seed 195 with value = 0.9813
+Saved rollout MP4 at path ./rollouts/realcl_i800_t6/2026_08_01-00_10_26--episode=19--success=True--task=put_the_cream_cheese_in_the_bowl.mp4
+Saved rollout MP4 at path ./rollouts/realcl_i800_t6/2026_08_01-00_10_26--with_future_img--episode=19--success=True--task=put_the_cream_cheese_in_the_bowl.mp4
+Success: True
+# episodes completed so far: 19
+# successes: 13 (68.4%)
+
+Task: put the cream cheese in the bowl
+Starting episode 20...
+Query 1/1: Action query time = 1.187 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4632
+t=10: Selected seed 195 with value = 0.4632
+Query 1/1: Action query time = 1.295 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5256
+t=26: Selected seed 195 with value = 0.5256
+Query 1/1: Action query time = 1.150 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5983
+t=42: Selected seed 195 with value = 0.5983
+Query 1/1: Action query time = 1.165 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7085
+t=58: Selected seed 195 with value = 0.7085
+Query 1/1: Action query time = 1.169 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8311
+t=74: Selected seed 195 with value = 0.8311
+Query 1/1: Action query time = 1.418 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9816
+t=90: Selected seed 195 with value = 0.9816
+Saved rollout MP4 at path ./rollouts/realcl_i800_t6/2026_08_01-00_10_26--episode=20--success=True--task=put_the_cream_cheese_in_the_bowl.mp4
+Saved rollout MP4 at path ./rollouts/realcl_i800_t6/2026_08_01-00_10_26--with_future_img--episode=20--success=True--task=put_the_cream_cheese_in_the_bowl.mp4
+Success: True
+# episodes completed so far: 20
+# successes: 14 (70.0%)
+
+Task: put the cream cheese in the bowl
+Starting episode 21...
+Query 1/1: Action query time = 1.126 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4356
+t=10: Selected seed 195 with value = 0.4356
+Query 1/1: Action query time = 1.300 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4997
+t=26: Selected seed 195 with value = 0.4997
+Query 1/1: Action query time = 1.250 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5881
+t=42: Selected seed 195 with value = 0.5881
+Query 1/1: Action query time = 1.169 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5240
+t=58: Selected seed 195 with value = 0.5240
+Query 1/1: Action query time = 1.049 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5432
+t=74: Selected seed 195 with value = 0.5432
+Query 1/1: Action query time = 1.041 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6381
+t=90: Selected seed 195 with value = 0.6381
+Query 1/1: Action query time = 1.182 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7610
+t=106: Selected seed 195 with value = 0.7610
+Query 1/1: Action query time = 1.064 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9137
+t=122: Selected seed 195 with value = 0.9137
+Saved rollout MP4 at path ./rollouts/realcl_i800_t6/2026_08_01-00_10_26--episode=21--success=True--task=put_the_cream_cheese_in_the_bowl.mp4
+Saved rollout MP4 at path ./rollouts/realcl_i800_t6/2026_08_01-00_10_26--with_future_img--episode=21--success=True--task=put_the_cream_cheese_in_the_bowl.mp4
+Success: True
+# episodes completed so far: 21
+# successes: 15 (71.4%)
+
+Task: put the cream cheese in the bowl
+Starting episode 22...
+Query 1/1: Action query time = 0.974 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4446
+t=10: Selected seed 195 with value = 0.4446
+Query 1/1: Action query time = 1.016 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5137
+t=26: Selected seed 195 with value = 0.5137
+Query 1/1: Action query time = 1.014 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6116
+t=42: Selected seed 195 with value = 0.6116
+Query 1/1: Action query time = 0.962 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6576
+t=58: Selected seed 195 with value = 0.6576
+Query 1/1: Action query time = 0.975 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5428
+t=74: Selected seed 195 with value = 0.5428
+Query 1/1: Action query time = 1.148 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6067
+t=90: Selected seed 195 with value = 0.6067
+Query 1/1: Action query time = 1.166 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5035
+t=106: Selected seed 195 with value = 0.5035
+Query 1/1: Action query time = 1.251 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6412
+t=122: Selected seed 195 with value = 0.6412
+Query 1/1: Action query time = 0.967 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6759
+t=138: Selected seed 195 with value = 0.6759
+Query 1/1: Action query time = 0.970 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8072
+t=154: Selected seed 195 with value = 0.8072
+Query 1/1: Action query time = 0.970 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8429
+t=170: Selected seed 195 with value = 0.8429
+Query 1/1: Action query time = 1.034 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9115
+t=186: Selected seed 195 with value = 0.9115
+Query 1/1: Action query time = 0.982 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9558
+t=202: Selected seed 195 with value = 0.9558
+Query 1/1: Action query time = 0.958 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9629
+t=218: Selected seed 195 with value = 0.9629
+Query 1/1: Action query time = 0.963 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9520
+t=234: Selected seed 195 with value = 0.9520
+Query 1/1: Action query time = 0.969 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9275
+t=250: Selected seed 195 with value = 0.9275
+Query 1/1: Action query time = 0.977 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9034
+t=266: Selected seed 195 with value = 0.9034
+Query 1/1: Action query time = 0.963 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8817
+t=282: Selected seed 195 with value = 0.8817
+Query 1/1: Action query time = 0.960 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4329
+t=298: Selected seed 195 with value = 0.4329
+Saved rollout MP4 at path ./rollouts/realcl_i800_t6/2026_08_01-00_10_26--episode=22--success=False--task=put_the_cream_cheese_in_the_bowl.mp4
+Saved rollout MP4 at path ./rollouts/realcl_i800_t6/2026_08_01-00_10_26--with_future_img--episode=22--success=False--task=put_the_cream_cheese_in_the_bowl.mp4
+Success: False
+# episodes completed so far: 22
+# successes: 15 (68.2%)
+
+Task: put the cream cheese in the bowl
+Starting episode 23...
+Query 1/1: Action query time = 1.435 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4347
+t=10: Selected seed 195 with value = 0.4347
+Query 1/1: Action query time = 1.104 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4982
+t=26: Selected seed 195 with value = 0.4982
+Query 1/1: Action query time = 1.136 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6301
+t=42: Selected seed 195 with value = 0.6301
+Query 1/1: Action query time = 1.188 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6614
+t=58: Selected seed 195 with value = 0.6614
+Query 1/1: Action query time = 1.108 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5412
+t=74: Selected seed 195 with value = 0.5412
+Query 1/1: Action query time = 1.176 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6087
+t=90: Selected seed 195 with value = 0.6087
+Query 1/1: Action query time = 1.079 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4985
+t=106: Selected seed 195 with value = 0.4985
+Query 1/1: Action query time = 1.021 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5933
+t=122: Selected seed 195 with value = 0.5933
+Query 1/1: Action query time = 0.965 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6439
+t=138: Selected seed 195 with value = 0.6439
+Query 1/1: Action query time = 0.970 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6290
+t=154: Selected seed 195 with value = 0.6290
+Query 1/1: Action query time = 0.974 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6676
+t=170: Selected seed 195 with value = 0.6676
+Query 1/1: Action query time = 0.977 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8128
+t=186: Selected seed 195 with value = 0.8128
+Query 1/1: Action query time = 0.965 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8169
+t=202: Selected seed 195 with value = 0.8169
+Query 1/1: Action query time = 1.024 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8054
+t=218: Selected seed 195 with value = 0.8054
+Query 1/1: Action query time = 1.115 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8013
+t=234: Selected seed 195 with value = 0.8013
+Query 1/1: Action query time = 1.122 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9196
+t=250: Selected seed 195 with value = 0.9196
+Query 1/1: Action query time = 1.182 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9939
+t=266: Selected seed 195 with value = 0.9939
+Query 1/1: Action query time = 1.187 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9891
+t=282: Selected seed 195 with value = 0.9891
+Query 1/1: Action query time = 1.169 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9848
+t=298: Selected seed 195 with value = 0.9848
+Saved rollout MP4 at path ./rollouts/realcl_i800_t6/2026_08_01-00_10_26--episode=23--success=False--task=put_the_cream_cheese_in_the_bowl.mp4
+Saved rollout MP4 at path ./rollouts/realcl_i800_t6/2026_08_01-00_10_26--with_future_img--episode=23--success=False--task=put_the_cream_cheese_in_the_bowl.mp4
+Success: False
+# episodes completed so far: 23
+# successes: 15 (65.2%)
+
+Task: put the cream cheese in the bowl
+Starting episode 24...
+Query 1/1: Action query time = 1.254 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4277
+t=10: Selected seed 195 with value = 0.4277
+Query 1/1: Action query time = 1.293 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5174
+t=26: Selected seed 195 with value = 0.5174
+Query 1/1: Action query time = 1.393 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6280
+t=42: Selected seed 195 with value = 0.6280
+Query 1/1: Action query time = 1.386 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6036
+t=58: Selected seed 195 with value = 0.6036
+Query 1/1: Action query time = 1.293 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5555
+t=74: Selected seed 195 with value = 0.5555
+Query 1/1: Action query time = 1.101 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6284
+t=90: Selected seed 195 with value = 0.6284
+Query 1/1: Action query time = 1.083 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7812
+t=106: Selected seed 195 with value = 0.7812
+Query 1/1: Action query time = 1.217 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8281
+t=122: Selected seed 195 with value = 0.8281
+Query 1/1: Action query time = 1.206 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7171
+t=138: Selected seed 195 with value = 0.7171
+Query 1/1: Action query time = 1.206 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7626
+t=154: Selected seed 195 with value = 0.7626
+Query 1/1: Action query time = 1.137 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8026
+t=170: Selected seed 195 with value = 0.8026
+Query 1/1: Action query time = 1.027 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8554
+t=186: Selected seed 195 with value = 0.8554
+Query 1/1: Action query time = 0.951 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9530
+t=202: Selected seed 195 with value = 0.9530
+Query 1/1: Action query time = 0.987 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9929
+t=218: Selected seed 195 with value = 0.9929
+Query 1/1: Action query time = 0.976 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9784
+t=234: Selected seed 195 with value = 0.9784
+Query 1/1: Action query time = 0.963 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9661
+t=250: Selected seed 195 with value = 0.9661
+Query 1/1: Action query time = 0.969 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9306
+t=266: Selected seed 195 with value = 0.9306
+Query 1/1: Action query time = 0.972 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8948
+t=282: Selected seed 195 with value = 0.8948
+Query 1/1: Action query time = 0.963 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9202
+t=298: Selected seed 195 with value = 0.9202
+Saved rollout MP4 at path ./rollouts/realcl_i800_t6/2026_08_01-00_10_26--episode=24--success=False--task=put_the_cream_cheese_in_the_bowl.mp4
+Saved rollout MP4 at path ./rollouts/realcl_i800_t6/2026_08_01-00_10_26--with_future_img--episode=24--success=False--task=put_the_cream_cheese_in_the_bowl.mp4
+Success: False
+# episodes completed so far: 24
+# successes: 15 (62.5%)
+
+Task: put the cream cheese in the bowl
+Starting episode 25...
+Query 1/1: Action query time = 1.341 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4195
+t=10: Selected seed 195 with value = 0.4195
+Query 1/1: Action query time = 1.199 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5472
+t=26: Selected seed 195 with value = 0.5472
+Query 1/1: Action query time = 1.172 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6371
+t=42: Selected seed 195 with value = 0.6371
+Query 1/1: Action query time = 1.133 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7134
+t=58: Selected seed 195 with value = 0.7134
+Query 1/1: Action query time = 1.084 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8743
+t=74: Selected seed 195 with value = 0.8743
+Query 1/1: Action query time = 1.119 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9902
+t=90: Selected seed 195 with value = 0.9902
+Saved rollout MP4 at path ./rollouts/realcl_i800_t6/2026_08_01-00_10_26--episode=25--success=True--task=put_the_cream_cheese_in_the_bowl.mp4
+Saved rollout MP4 at path ./rollouts/realcl_i800_t6/2026_08_01-00_10_26--with_future_img--episode=25--success=True--task=put_the_cream_cheese_in_the_bowl.mp4
+Success: True
+# episodes completed so far: 25
+# successes: 16 (64.0%)
+
+Task: put the cream cheese in the bowl
+Starting episode 26...
+Query 1/1: Action query time = 1.243 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4238
+t=10: Selected seed 195 with value = 0.4238
+Query 1/1: Action query time = 1.217 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4060
+t=26: Selected seed 195 with value = 0.4060
+Query 1/1: Action query time = 1.219 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6102
+t=42: Selected seed 195 with value = 0.6102
+Query 1/1: Action query time = 1.287 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6869
+t=58: Selected seed 195 with value = 0.6869
+Query 1/1: Action query time = 1.234 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8417
+t=74: Selected seed 195 with value = 0.8417
+Saved rollout MP4 at path ./rollouts/realcl_i800_t6/2026_08_01-00_10_26--episode=26--success=True--task=put_the_cream_cheese_in_the_bowl.mp4
+Saved rollout MP4 at path ./rollouts/realcl_i800_t6/2026_08_01-00_10_26--with_future_img--episode=26--success=True--task=put_the_cream_cheese_in_the_bowl.mp4
+Success: True
+# episodes completed so far: 26
+# successes: 17 (65.4%)
+
+Task: put the cream cheese in the bowl
+Starting episode 27...
+Query 1/1: Action query time = 0.984 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4626
+t=10: Selected seed 195 with value = 0.4626
+Query 1/1: Action query time = 1.156 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5298
+t=26: Selected seed 195 with value = 0.5298
+Query 1/1: Action query time = 1.155 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6206
+t=42: Selected seed 195 with value = 0.6206
+Query 1/1: Action query time = 1.185 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6593
+t=58: Selected seed 195 with value = 0.6593
+Query 1/1: Action query time = 1.158 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5685
+t=74: Selected seed 195 with value = 0.5685
+Query 1/1: Action query time = 1.238 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6163
+t=90: Selected seed 195 with value = 0.6163
+Query 1/1: Action query time = 1.258 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6885
+t=106: Selected seed 195 with value = 0.6885
+Query 1/1: Action query time = 1.206 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8334
+t=122: Selected seed 195 with value = 0.8334
+Query 1/1: Action query time = 1.233 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7493
+t=138: Selected seed 195 with value = 0.7493
+Query 1/1: Action query time = 1.312 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8048
+t=154: Selected seed 195 with value = 0.8048
+Query 1/1: Action query time = 1.366 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9877
+t=170: Selected seed 195 with value = 0.9877
+Query 1/1: Action query time = 1.113 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=186: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 1.075 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=202: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 1.133 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9928
+t=218: Selected seed 195 with value = 0.9928
+Query 1/1: Action query time = 0.960 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9729
+t=234: Selected seed 195 with value = 0.9729
+Query 1/1: Action query time = 0.964 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9472
+t=250: Selected seed 195 with value = 0.9472
+Query 1/1: Action query time = 0.968 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9226
+t=266: Selected seed 195 with value = 0.9226
+Query 1/1: Action query time = 0.979 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9116
+t=282: Selected seed 195 with value = 0.9116
+Query 1/1: Action query time = 1.258 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8842
+t=298: Selected seed 195 with value = 0.8842
+Saved rollout MP4 at path ./rollouts/realcl_i800_t6/2026_08_01-00_10_26--episode=27--success=False--task=put_the_cream_cheese_in_the_bowl.mp4
+Saved rollout MP4 at path ./rollouts/realcl_i800_t6/2026_08_01-00_10_26--with_future_img--episode=27--success=False--task=put_the_cream_cheese_in_the_bowl.mp4
+Success: False
+# episodes completed so far: 27
+# successes: 17 (63.0%)
+
+Task: put the cream cheese in the bowl
+Starting episode 28...
+Query 1/1: Action query time = 1.005 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4197
+t=10: Selected seed 195 with value = 0.4197
+Query 1/1: Action query time = 0.973 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5470
+t=26: Selected seed 195 with value = 0.5470
+Query 1/1: Action query time = 0.973 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6407
+t=42: Selected seed 195 with value = 0.6407
+Query 1/1: Action query time = 0.971 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7375
+t=58: Selected seed 195 with value = 0.7375
+Query 1/1: Action query time = 0.977 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8569
+t=74: Selected seed 195 with value = 0.8569
+Query 1/1: Action query time = 0.972 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9898
+t=90: Selected seed 195 with value = 0.9898
+Saved rollout MP4 at path ./rollouts/realcl_i800_t6/2026_08_01-00_10_26--episode=28--success=True--task=put_the_cream_cheese_in_the_bowl.mp4
+Saved rollout MP4 at path ./rollouts/realcl_i800_t6/2026_08_01-00_10_26--with_future_img--episode=28--success=True--task=put_the_cream_cheese_in_the_bowl.mp4
+Success: True
+# episodes completed so far: 28
+# successes: 18 (64.3%)
+
+Task: put the cream cheese in the bowl
+Starting episode 29...
+Query 1/1: Action query time = 1.013 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4435
+t=10: Selected seed 195 with value = 0.4435
+Query 1/1: Action query time = 1.039 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5136
+t=26: Selected seed 195 with value = 0.5136
+Query 1/1: Action query time = 1.023 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6292
+t=42: Selected seed 195 with value = 0.6292
+Query 1/1: Action query time = 1.162 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6401
+t=58: Selected seed 195 with value = 0.6401
+Query 1/1: Action query time = 1.180 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5406
+t=74: Selected seed 195 with value = 0.5406
+Query 1/1: Action query time = 0.996 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5666
+t=90: Selected seed 195 with value = 0.5666
+Query 1/1: Action query time = 0.970 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4659
+t=106: Selected seed 195 with value = 0.4659
+Query 1/1: Action query time = 0.988 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5777
+t=122: Selected seed 195 with value = 0.5777
+Query 1/1: Action query time = 1.022 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6836
+t=138: Selected seed 195 with value = 0.6836
+Query 1/1: Action query time = 1.088 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8389
+t=154: Selected seed 195 with value = 0.8389
+Query 1/1: Action query time = 1.153 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9286
+t=170: Selected seed 195 with value = 0.9286
+Saved rollout MP4 at path ./rollouts/realcl_i800_t6/2026_08_01-00_10_26--episode=29--success=True--task=put_the_cream_cheese_in_the_bowl.mp4
+Saved rollout MP4 at path ./rollouts/realcl_i800_t6/2026_08_01-00_10_26--with_future_img--episode=29--success=True--task=put_the_cream_cheese_in_the_bowl.mp4
+Success: True
+# episodes completed so far: 29
+# successes: 19 (65.5%)
+
+Task: put the cream cheese in the bowl
+Starting episode 30...
+Query 1/1: Action query time = 1.003 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4035
+t=10: Selected seed 195 with value = 0.4035
+Query 1/1: Action query time = 0.992 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5436
+t=26: Selected seed 195 with value = 0.5436
+Query 1/1: Action query time = 0.956 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6394
+t=42: Selected seed 195 with value = 0.6394
+Query 1/1: Action query time = 0.967 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7413
+t=58: Selected seed 195 with value = 0.7413
+Query 1/1: Action query time = 0.996 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8745
+t=74: Selected seed 195 with value = 0.8745
+Query 1/1: Action query time = 1.016 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9879
+t=90: Selected seed 195 with value = 0.9879
+Saved rollout MP4 at path ./rollouts/realcl_i800_t6/2026_08_01-00_10_26--episode=30--success=True--task=put_the_cream_cheese_in_the_bowl.mp4
+Saved rollout MP4 at path ./rollouts/realcl_i800_t6/2026_08_01-00_10_26--with_future_img--episode=30--success=True--task=put_the_cream_cheese_in_the_bowl.mp4
+Success: True
+# episodes completed so far: 30
+# successes: 20 (66.7%)
+
+Task: put the cream cheese in the bowl
+Starting episode 31...
+Query 1/1: Action query time = 1.119 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4151
+t=10: Selected seed 195 with value = 0.4151
+Query 1/1: Action query time = 1.103 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5270
+t=26: Selected seed 195 with value = 0.5270
+Query 1/1: Action query time = 0.971 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6401
+t=42: Selected seed 195 with value = 0.6401
+Query 1/1: Action query time = 0.954 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7029
+t=58: Selected seed 195 with value = 0.7029
+Query 1/1: Action query time = 1.152 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8282
+t=74: Selected seed 195 with value = 0.8282
+Saved rollout MP4 at path ./rollouts/realcl_i800_t6/2026_08_01-00_10_26--episode=31--success=True--task=put_the_cream_cheese_in_the_bowl.mp4
+Saved rollout MP4 at path ./rollouts/realcl_i800_t6/2026_08_01-00_10_26--with_future_img--episode=31--success=True--task=put_the_cream_cheese_in_the_bowl.mp4
+Success: True
+# episodes completed so far: 31
+# successes: 21 (67.7%)
+
+Task: put the cream cheese in the bowl
+Starting episode 32...
+Query 1/1: Action query time = 1.012 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4512
+t=10: Selected seed 195 with value = 0.4512
+Query 1/1: Action query time = 0.971 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5091
+t=26: Selected seed 195 with value = 0.5091
+Query 1/1: Action query time = 0.986 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6333
+t=42: Selected seed 195 with value = 0.6333
+Query 1/1: Action query time = 0.965 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6290
+t=58: Selected seed 195 with value = 0.6290
+Query 1/1: Action query time = 0.973 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5401
+t=74: Selected seed 195 with value = 0.5401
+Query 1/1: Action query time = 0.968 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6121
+t=90: Selected seed 195 with value = 0.6121
+Query 1/1: Action query time = 0.964 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4785
+t=106: Selected seed 195 with value = 0.4785
+Query 1/1: Action query time = 0.982 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6179
+t=122: Selected seed 195 with value = 0.6179
+Query 1/1: Action query time = 0.962 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7024
+t=138: Selected seed 195 with value = 0.7024
+Query 1/1: Action query time = 0.971 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7727
+t=154: Selected seed 195 with value = 0.7727
+Query 1/1: Action query time = 0.957 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8458
+t=170: Selected seed 195 with value = 0.8458
+Query 1/1: Action query time = 0.970 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9402
+t=186: Selected seed 195 with value = 0.9402
+Query 1/1: Action query time = 0.976 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9594
+t=202: Selected seed 195 with value = 0.9594
+Query 1/1: Action query time = 0.966 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9882
+t=218: Selected seed 195 with value = 0.9882
+Query 1/1: Action query time = 0.964 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9782
+t=234: Selected seed 195 with value = 0.9782
+Query 1/1: Action query time = 0.979 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9685
+t=250: Selected seed 195 with value = 0.9685
+Query 1/1: Action query time = 0.978 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9598
+t=266: Selected seed 195 with value = 0.9598
+Query 1/1: Action query time = 0.964 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9536
+t=282: Selected seed 195 with value = 0.9536
+Query 1/1: Action query time = 0.972 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9669
+t=298: Selected seed 195 with value = 0.9669
+Saved rollout MP4 at path ./rollouts/realcl_i800_t6/2026_08_01-00_10_26--episode=32--success=False--task=put_the_cream_cheese_in_the_bowl.mp4
+Saved rollout MP4 at path ./rollouts/realcl_i800_t6/2026_08_01-00_10_26--with_future_img--episode=32--success=False--task=put_the_cream_cheese_in_the_bowl.mp4
+Success: False
+# episodes completed so far: 32
+# successes: 21 (65.6%)
+
+Task: put the cream cheese in the bowl
+Starting episode 33...
+Query 1/1: Action query time = 0.986 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4337
+t=10: Selected seed 195 with value = 0.4337
+Query 1/1: Action query time = 0.967 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5068
+t=26: Selected seed 195 with value = 0.5068
+Query 1/1: Action query time = 0.967 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6291
+t=42: Selected seed 195 with value = 0.6291
+Query 1/1: Action query time = 0.967 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7114
+t=58: Selected seed 195 with value = 0.7114
+Query 1/1: Action query time = 0.959 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8379
+t=74: Selected seed 195 with value = 0.8379
+Query 1/1: Action query time = 0.966 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9905
+t=90: Selected seed 195 with value = 0.9905
+Query 1/1: Action query time = 0.979 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9923
+t=106: Selected seed 195 with value = 0.9923
+Query 1/1: Action query time = 0.976 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9913
+t=122: Selected seed 195 with value = 0.9913
+Query 1/1: Action query time = 0.975 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9879
+t=138: Selected seed 195 with value = 0.9879
+Query 1/1: Action query time = 0.961 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9825
+t=154: Selected seed 195 with value = 0.9825
+Query 1/1: Action query time = 0.954 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9757
+t=170: Selected seed 195 with value = 0.9757
+Query 1/1: Action query time = 0.971 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9757
+t=186: Selected seed 195 with value = 0.9757
+Query 1/1: Action query time = 0.975 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9860
+t=202: Selected seed 195 with value = 0.9860
+Query 1/1: Action query time = 1.137 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9822
+t=218: Selected seed 195 with value = 0.9822
+Query 1/1: Action query time = 1.057 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6119
+t=234: Selected seed 195 with value = 0.6119
+Query 1/1: Action query time = 1.031 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7363
+t=250: Selected seed 195 with value = 0.7363
+Query 1/1: Action query time = 0.971 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9758
+t=266: Selected seed 195 with value = 0.9758
+Query 1/1: Action query time = 0.995 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5709
+t=282: Selected seed 195 with value = 0.5709
+Query 1/1: Action query time = 0.976 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6125
+t=298: Selected seed 195 with value = 0.6125
+Saved rollout MP4 at path ./rollouts/realcl_i800_t6/2026_08_01-00_10_26--episode=33--success=False--task=put_the_cream_cheese_in_the_bowl.mp4
+Saved rollout MP4 at path ./rollouts/realcl_i800_t6/2026_08_01-00_10_26--with_future_img--episode=33--success=False--task=put_the_cream_cheese_in_the_bowl.mp4
+Success: False
+# episodes completed so far: 33
+# successes: 21 (63.6%)
+
+Task: put the cream cheese in the bowl
+Starting episode 34...
+Query 1/1: Action query time = 0.978 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3763
+t=10: Selected seed 195 with value = 0.3763
+Query 1/1: Action query time = 0.991 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5172
+t=26: Selected seed 195 with value = 0.5172
+Query 1/1: Action query time = 0.968 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6381
+t=42: Selected seed 195 with value = 0.6381
+Query 1/1: Action query time = 0.971 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7361
+t=58: Selected seed 195 with value = 0.7361
+Query 1/1: Action query time = 0.975 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8666
+t=74: Selected seed 195 with value = 0.8666
+Query 1/1: Action query time = 0.976 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9737
+t=90: Selected seed 195 with value = 0.9737
+Query 1/1: Action query time = 0.954 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9911
+t=106: Selected seed 195 with value = 0.9911
+Query 1/1: Action query time = 0.982 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9917
+t=122: Selected seed 195 with value = 0.9917
+Query 1/1: Action query time = 0.973 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9903
+t=138: Selected seed 195 with value = 0.9903
+Query 1/1: Action query time = 0.998 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9786
+t=154: Selected seed 195 with value = 0.9786
+Query 1/1: Action query time = 0.966 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9911
+t=170: Selected seed 195 with value = 0.9911
+Query 1/1: Action query time = 0.960 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9964
+t=186: Selected seed 195 with value = 0.9964
+Query 1/1: Action query time = 1.082 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9502
+t=202: Selected seed 195 with value = 0.9502
+Query 1/1: Action query time = 1.071 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9610
+t=218: Selected seed 195 with value = 0.9610
+Query 1/1: Action query time = 1.082 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7385
+t=234: Selected seed 195 with value = 0.7385
+Query 1/1: Action query time = 1.044 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8822
+t=250: Selected seed 195 with value = 0.8822
+Query 1/1: Action query time = 1.033 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5021
+t=266: Selected seed 195 with value = 0.5021
+Query 1/1: Action query time = 0.978 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6796
+t=282: Selected seed 195 with value = 0.6796
+Query 1/1: Action query time = 0.992 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4838
+t=298: Selected seed 195 with value = 0.4838
+Saved rollout MP4 at path ./rollouts/realcl_i800_t6/2026_08_01-00_10_26--episode=34--success=False--task=put_the_cream_cheese_in_the_bowl.mp4
+Saved rollout MP4 at path ./rollouts/realcl_i800_t6/2026_08_01-00_10_26--with_future_img--episode=34--success=False--task=put_the_cream_cheese_in_the_bowl.mp4
+Success: False
+# episodes completed so far: 34
+# successes: 21 (61.8%)
+
+Task: put the cream cheese in the bowl
+Starting episode 35...
+Query 1/1: Action query time = 1.119 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4337
+t=10: Selected seed 195 with value = 0.4337
+Query 1/1: Action query time = 1.161 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5040
+t=26: Selected seed 195 with value = 0.5040
+Query 1/1: Action query time = 1.242 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6308
+t=42: Selected seed 195 with value = 0.6308
+Query 1/1: Action query time = 1.153 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5490
+t=58: Selected seed 195 with value = 0.5490
+Query 1/1: Action query time = 1.205 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5458
+t=74: Selected seed 195 with value = 0.5458
+Query 1/1: Action query time = 1.341 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6595
+t=90: Selected seed 195 with value = 0.6595
+Query 1/1: Action query time = 1.378 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8100
+t=106: Selected seed 195 with value = 0.8100
+Query 1/1: Action query time = 1.385 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9541
+t=122: Selected seed 195 with value = 0.9541
+Query 1/1: Action query time = 1.481 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9990
+t=138: Selected seed 195 with value = 0.9990
+Query 1/1: Action query time = 1.363 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9888
+t=154: Selected seed 195 with value = 0.9888
+Query 1/1: Action query time = 1.348 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9815
+t=170: Selected seed 195 with value = 0.9815
+Query 1/1: Action query time = 1.161 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9796
+t=186: Selected seed 195 with value = 0.9796
+Query 1/1: Action query time = 1.178 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9755
+t=202: Selected seed 195 with value = 0.9755
+Query 1/1: Action query time = 0.991 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9981
+t=218: Selected seed 195 with value = 0.9981
+Query 1/1: Action query time = 0.985 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9849
+t=234: Selected seed 195 with value = 0.9849
+Query 1/1: Action query time = 0.974 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9969
+t=250: Selected seed 195 with value = 0.9969
+Query 1/1: Action query time = 0.991 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7949
+t=266: Selected seed 195 with value = 0.7949
+Query 1/1: Action query time = 0.981 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6501
+t=282: Selected seed 195 with value = 0.6501
+Query 1/1: Action query time = 0.983 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7415
+t=298: Selected seed 195 with value = 0.7415
+Saved rollout MP4 at path ./rollouts/realcl_i800_t6/2026_08_01-00_10_26--episode=35--success=False--task=put_the_cream_cheese_in_the_bowl.mp4
+Saved rollout MP4 at path ./rollouts/realcl_i800_t6/2026_08_01-00_10_26--with_future_img--episode=35--success=False--task=put_the_cream_cheese_in_the_bowl.mp4
+Success: False
+# episodes completed so far: 35
+# successes: 21 (60.0%)
+
+Task: put the cream cheese in the bowl
+Starting episode 36...
+Query 1/1: Action query time = 0.970 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4250
+t=10: Selected seed 195 with value = 0.4250
+Query 1/1: Action query time = 0.980 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5225
+t=26: Selected seed 195 with value = 0.5225
+Query 1/1: Action query time = 0.966 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6422
+t=42: Selected seed 195 with value = 0.6422
+Query 1/1: Action query time = 0.975 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7513
+t=58: Selected seed 195 with value = 0.7513
+Query 1/1: Action query time = 0.973 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8630
+t=74: Selected seed 195 with value = 0.8630
+Query 1/1: Action query time = 0.980 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9844
+t=90: Selected seed 195 with value = 0.9844
+Saved rollout MP4 at path ./rollouts/realcl_i800_t6/2026_08_01-00_10_26--episode=36--success=True--task=put_the_cream_cheese_in_the_bowl.mp4
+Saved rollout MP4 at path ./rollouts/realcl_i800_t6/2026_08_01-00_10_26--with_future_img--episode=36--success=True--task=put_the_cream_cheese_in_the_bowl.mp4
+Success: True
+# episodes completed so far: 36
+# successes: 22 (61.1%)
+
+Task: put the cream cheese in the bowl
+Starting episode 37...
+Query 1/1: Action query time = 1.045 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3703
+t=10: Selected seed 195 with value = 0.3703
+Query 1/1: Action query time = 1.035 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5032
+t=26: Selected seed 195 with value = 0.5032
+Query 1/1: Action query time = 0.955 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6139
+t=42: Selected seed 195 with value = 0.6139
+Query 1/1: Action query time = 0.962 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6774
+t=58: Selected seed 195 with value = 0.6774
+Query 1/1: Action query time = 0.978 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8029
+t=74: Selected seed 195 with value = 0.8029
+Query 1/1: Action query time = 0.974 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9471
+t=90: Selected seed 195 with value = 0.9471
+Saved rollout MP4 at path ./rollouts/realcl_i800_t6/2026_08_01-00_10_26--episode=37--success=True--task=put_the_cream_cheese_in_the_bowl.mp4
+Saved rollout MP4 at path ./rollouts/realcl_i800_t6/2026_08_01-00_10_26--with_future_img--episode=37--success=True--task=put_the_cream_cheese_in_the_bowl.mp4
+Success: True
+# episodes completed so far: 37
+# successes: 23 (62.2%)
+
+Task: put the cream cheese in the bowl
+Starting episode 38...
+Query 1/1: Action query time = 1.230 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4546
+t=10: Selected seed 195 with value = 0.4546
+Query 1/1: Action query time = 1.201 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5262
+t=26: Selected seed 195 with value = 0.5262
+Query 1/1: Action query time = 1.155 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6461
+t=42: Selected seed 195 with value = 0.6461
+Query 1/1: Action query time = 1.126 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6820
+t=58: Selected seed 195 with value = 0.6820
+Query 1/1: Action query time = 0.966 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8073
+t=74: Selected seed 195 with value = 0.8073
+Query 1/1: Action query time = 0.969 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9892
+t=90: Selected seed 195 with value = 0.9892
+Saved rollout MP4 at path ./rollouts/realcl_i800_t6/2026_08_01-00_10_26--episode=38--success=True--task=put_the_cream_cheese_in_the_bowl.mp4
+Saved rollout MP4 at path ./rollouts/realcl_i800_t6/2026_08_01-00_10_26--with_future_img--episode=38--success=True--task=put_the_cream_cheese_in_the_bowl.mp4
+Success: True
+# episodes completed so far: 38
+# successes: 24 (63.2%)
+
+Task: put the cream cheese in the bowl
+Starting episode 39...
+Query 1/1: Action query time = 0.983 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4248
+t=10: Selected seed 195 with value = 0.4248
+Query 1/1: Action query time = 0.976 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5083
+t=26: Selected seed 195 with value = 0.5083
+Query 1/1: Action query time = 0.992 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6357
+t=42: Selected seed 195 with value = 0.6357
+Query 1/1: Action query time = 0.963 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7338
+t=58: Selected seed 195 with value = 0.7338
+Query 1/1: Action query time = 0.982 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8720
+t=74: Selected seed 195 with value = 0.8720
+Query 1/1: Action query time = 1.082 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9983
+t=90: Selected seed 195 with value = 0.9983
+Saved rollout MP4 at path ./rollouts/realcl_i800_t6/2026_08_01-00_10_26--episode=39--success=True--task=put_the_cream_cheese_in_the_bowl.mp4
+Saved rollout MP4 at path ./rollouts/realcl_i800_t6/2026_08_01-00_10_26--with_future_img--episode=39--success=True--task=put_the_cream_cheese_in_the_bowl.mp4
+Success: True
+# episodes completed so far: 39
+# successes: 25 (64.1%)
+
+Task: put the cream cheese in the bowl
+Starting episode 40...
+Query 1/1: Action query time = 1.229 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4587
+t=10: Selected seed 195 with value = 0.4587
+Query 1/1: Action query time = 1.127 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5277
+t=26: Selected seed 195 with value = 0.5277
+Query 1/1: Action query time = 1.148 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6446
+t=42: Selected seed 195 with value = 0.6446
+Query 1/1: Action query time = 1.209 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5322
+t=58: Selected seed 195 with value = 0.5322
+Query 1/1: Action query time = 0.974 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5374
+t=74: Selected seed 195 with value = 0.5374
+Query 1/1: Action query time = 1.011 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5925
+t=90: Selected seed 195 with value = 0.5925
+Query 1/1: Action query time = 1.121 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4853
+t=106: Selected seed 195 with value = 0.4853
+Query 1/1: Action query time = 1.187 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5837
+t=122: Selected seed 195 with value = 0.5837
+Query 1/1: Action query time = 1.198 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6865
+t=138: Selected seed 195 with value = 0.6865
+Query 1/1: Action query time = 1.286 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8097
+t=154: Selected seed 195 with value = 0.8097
+Query 1/1: Action query time = 1.352 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9276
+t=170: Selected seed 195 with value = 0.9276
+Query 1/1: Action query time = 1.300 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9983
+t=186: Selected seed 195 with value = 0.9983
+Query 1/1: Action query time = 1.048 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9973
+t=202: Selected seed 195 with value = 0.9973
+Query 1/1: Action query time = 1.046 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9902
+t=218: Selected seed 195 with value = 0.9902
+Query 1/1: Action query time = 0.986 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9834
+t=234: Selected seed 195 with value = 0.9834
+Query 1/1: Action query time = 1.028 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9690
+t=250: Selected seed 195 with value = 0.9690
+Query 1/1: Action query time = 1.006 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9770
+t=266: Selected seed 195 with value = 0.9770
+Query 1/1: Action query time = 1.271 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9701
+t=282: Selected seed 195 with value = 0.9701
+Query 1/1: Action query time = 1.199 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9910
+t=298: Selected seed 195 with value = 0.9910
+Saved rollout MP4 at path ./rollouts/realcl_i800_t6/2026_08_01-00_10_26--episode=40--success=False--task=put_the_cream_cheese_in_the_bowl.mp4
+Saved rollout MP4 at path ./rollouts/realcl_i800_t6/2026_08_01-00_10_26--with_future_img--episode=40--success=False--task=put_the_cream_cheese_in_the_bowl.mp4
+Success: False
+# episodes completed so far: 40
+# successes: 25 (62.5%)
+
+Task: put the cream cheese in the bowl
+Starting episode 41...
+Query 1/1: Action query time = 1.190 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4439
+t=10: Selected seed 195 with value = 0.4439
+Query 1/1: Action query time = 1.145 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5025
+t=26: Selected seed 195 with value = 0.5025
+Query 1/1: Action query time = 1.204 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6199
+t=42: Selected seed 195 with value = 0.6199
+Query 1/1: Action query time = 1.076 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4863
+t=58: Selected seed 195 with value = 0.4863
+Query 1/1: Action query time = 1.055 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5468
+t=74: Selected seed 195 with value = 0.5468
+Query 1/1: Action query time = 1.071 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6188
+t=90: Selected seed 195 with value = 0.6188
+Query 1/1: Action query time = 1.093 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5674
+t=106: Selected seed 195 with value = 0.5674
+Query 1/1: Action query time = 1.111 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6561
+t=122: Selected seed 195 with value = 0.6561
+Query 1/1: Action query time = 1.103 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5768
+t=138: Selected seed 195 with value = 0.5768
+Query 1/1: Action query time = 0.979 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6681
+t=154: Selected seed 195 with value = 0.6681
+Query 1/1: Action query time = 0.984 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8596
+t=170: Selected seed 195 with value = 0.8596
+Query 1/1: Action query time = 0.974 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9872
+t=186: Selected seed 195 with value = 0.9872
+Query 1/1: Action query time = 0.974 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=202: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.978 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8150
+t=218: Selected seed 195 with value = 0.8150
+Query 1/1: Action query time = 0.970 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9152
+t=234: Selected seed 195 with value = 0.9152
+Query 1/1: Action query time = 0.983 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6013
+t=250: Selected seed 195 with value = 0.6013
+Query 1/1: Action query time = 0.965 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7327
+t=266: Selected seed 195 with value = 0.7327
+Query 1/1: Action query time = 0.967 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7921
+t=282: Selected seed 195 with value = 0.7921
+Query 1/1: Action query time = 0.968 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8914
+t=298: Selected seed 195 with value = 0.8914
+Saved rollout MP4 at path ./rollouts/realcl_i800_t6/2026_08_01-00_10_26--episode=41--success=False--task=put_the_cream_cheese_in_the_bowl.mp4
+Saved rollout MP4 at path ./rollouts/realcl_i800_t6/2026_08_01-00_10_26--with_future_img--episode=41--success=False--task=put_the_cream_cheese_in_the_bowl.mp4
+Success: False
+# episodes completed so far: 41
+# successes: 25 (61.0%)
+
+Task: put the cream cheese in the bowl
+Starting episode 42...
+Query 1/1: Action query time = 1.138 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4109
+t=10: Selected seed 195 with value = 0.4109
+Query 1/1: Action query time = 1.074 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5572
+t=26: Selected seed 195 with value = 0.5572
+Query 1/1: Action query time = 1.285 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6306
+t=42: Selected seed 195 with value = 0.6306
+Query 1/1: Action query time = 1.324 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6405
+t=58: Selected seed 195 with value = 0.6405
+Query 1/1: Action query time = 1.324 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8096
+t=74: Selected seed 195 with value = 0.8096
+Query 1/1: Action query time = 1.285 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9297
+t=90: Selected seed 195 with value = 0.9297
+Saved rollout MP4 at path ./rollouts/realcl_i800_t6/2026_08_01-00_10_26--episode=42--success=True--task=put_the_cream_cheese_in_the_bowl.mp4
+Saved rollout MP4 at path ./rollouts/realcl_i800_t6/2026_08_01-00_10_26--with_future_img--episode=42--success=True--task=put_the_cream_cheese_in_the_bowl.mp4
+Success: True
+# episodes completed so far: 42
+# successes: 26 (61.9%)
+
+Task: put the cream cheese in the bowl
+Starting episode 43...
+Query 1/1: Action query time = 1.225 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4532
+t=10: Selected seed 195 with value = 0.4532
+Query 1/1: Action query time = 0.971 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5074
+t=26: Selected seed 195 with value = 0.5074
+Query 1/1: Action query time = 0.969 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6053
+t=42: Selected seed 195 with value = 0.6053
+Query 1/1: Action query time = 0.960 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5480
+t=58: Selected seed 195 with value = 0.5480
+Query 1/1: Action query time = 0.966 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7608
+t=74: Selected seed 195 with value = 0.7608
+Query 1/1: Action query time = 0.996 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9167
+t=90: Selected seed 195 with value = 0.9167
+Saved rollout MP4 at path ./rollouts/realcl_i800_t6/2026_08_01-00_10_26--episode=43--success=True--task=put_the_cream_cheese_in_the_bowl.mp4
+Saved rollout MP4 at path ./rollouts/realcl_i800_t6/2026_08_01-00_10_26--with_future_img--episode=43--success=True--task=put_the_cream_cheese_in_the_bowl.mp4
+Success: True
+# episodes completed so far: 43
+# successes: 27 (62.8%)
+
+Task: put the cream cheese in the bowl
+Starting episode 44...
+Query 1/1: Action query time = 0.994 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4412
+t=10: Selected seed 195 with value = 0.4412
+Query 1/1: Action query time = 0.970 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5075
+t=26: Selected seed 195 with value = 0.5075
+Query 1/1: Action query time = 0.965 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6425
+t=42: Selected seed 195 with value = 0.6425
+Query 1/1: Action query time = 0.985 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5659
+t=58: Selected seed 195 with value = 0.5659
+Query 1/1: Action query time = 1.046 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5524
+t=74: Selected seed 195 with value = 0.5524
+Query 1/1: Action query time = 0.964 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6208
+t=90: Selected seed 195 with value = 0.6208
+Query 1/1: Action query time = 0.952 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5537
+t=106: Selected seed 195 with value = 0.5537
+Query 1/1: Action query time = 0.985 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6559
+t=122: Selected seed 195 with value = 0.6559
+Query 1/1: Action query time = 0.967 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5988
+t=138: Selected seed 195 with value = 0.5988
+Query 1/1: Action query time = 0.979 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6769
+t=154: Selected seed 195 with value = 0.6769
+Query 1/1: Action query time = 0.965 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6110
+t=170: Selected seed 195 with value = 0.6110
+Query 1/1: Action query time = 0.973 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6744
+t=186: Selected seed 195 with value = 0.6744
+Query 1/1: Action query time = 0.969 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7264
+t=202: Selected seed 195 with value = 0.7264
+Query 1/1: Action query time = 0.954 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7502
+t=218: Selected seed 195 with value = 0.7502
+Query 1/1: Action query time = 0.954 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8079
+t=234: Selected seed 195 with value = 0.8079
+Query 1/1: Action query time = 0.971 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8509
+t=250: Selected seed 195 with value = 0.8509
+Query 1/1: Action query time = 0.963 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9325
+t=266: Selected seed 195 with value = 0.9325
+Query 1/1: Action query time = 1.098 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9987
+t=282: Selected seed 195 with value = 0.9987
+Query 1/1: Action query time = 1.169 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9874
+t=298: Selected seed 195 with value = 0.9874
+Saved rollout MP4 at path ./rollouts/realcl_i800_t6/2026_08_01-00_10_26--episode=44--success=False--task=put_the_cream_cheese_in_the_bowl.mp4
+Saved rollout MP4 at path ./rollouts/realcl_i800_t6/2026_08_01-00_10_26--with_future_img--episode=44--success=False--task=put_the_cream_cheese_in_the_bowl.mp4
+Success: False
+# episodes completed so far: 44
+# successes: 27 (61.4%)
+
+Task: put the cream cheese in the bowl
+Starting episode 45...
+Query 1/1: Action query time = 0.983 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4203
+t=10: Selected seed 195 with value = 0.4203
+Query 1/1: Action query time = 0.990 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5004
+t=26: Selected seed 195 with value = 0.5004
+Query 1/1: Action query time = 1.006 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6174
+t=42: Selected seed 195 with value = 0.6174
+Query 1/1: Action query time = 0.968 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5740
+t=58: Selected seed 195 with value = 0.5740
+Query 1/1: Action query time = 0.960 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5533
+t=74: Selected seed 195 with value = 0.5533
+Query 1/1: Action query time = 0.986 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6102
+t=90: Selected seed 195 with value = 0.6102
+Query 1/1: Action query time = 0.965 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5582
+t=106: Selected seed 195 with value = 0.5582
+Query 1/1: Action query time = 0.986 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7417
+t=122: Selected seed 195 with value = 0.7417
+Query 1/1: Action query time = 0.960 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7399
+t=138: Selected seed 195 with value = 0.7399
+Query 1/1: Action query time = 0.968 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8028
+t=154: Selected seed 195 with value = 0.8028
+Query 1/1: Action query time = 0.987 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8149
+t=170: Selected seed 195 with value = 0.8149
+Query 1/1: Action query time = 0.960 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9510
+t=186: Selected seed 195 with value = 0.9510
+Query 1/1: Action query time = 0.989 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9964
+t=202: Selected seed 195 with value = 0.9964
+Query 1/1: Action query time = 0.970 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=218: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.981 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9922
+t=234: Selected seed 195 with value = 0.9922
+Query 1/1: Action query time = 0.963 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9720
+t=250: Selected seed 195 with value = 0.9720
+Query 1/1: Action query time = 0.972 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9206
+t=266: Selected seed 195 with value = 0.9206
+Query 1/1: Action query time = 0.962 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9152
+t=282: Selected seed 195 with value = 0.9152
+Query 1/1: Action query time = 0.972 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9245
+t=298: Selected seed 195 with value = 0.9245
+Saved rollout MP4 at path ./rollouts/realcl_i800_t6/2026_08_01-00_10_26--episode=45--success=False--task=put_the_cream_cheese_in_the_bowl.mp4
+Saved rollout MP4 at path ./rollouts/realcl_i800_t6/2026_08_01-00_10_26--with_future_img--episode=45--success=False--task=put_the_cream_cheese_in_the_bowl.mp4
+Success: False
+# episodes completed so far: 45
+# successes: 27 (60.0%)
+
+Task: put the cream cheese in the bowl
+Starting episode 46...
+Query 1/1: Action query time = 1.102 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4517
+t=10: Selected seed 195 with value = 0.4517
+Query 1/1: Action query time = 1.055 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5469
+t=26: Selected seed 195 with value = 0.5469
+Query 1/1: Action query time = 1.121 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6087
+t=42: Selected seed 195 with value = 0.6087
+Query 1/1: Action query time = 1.201 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6605
+t=58: Selected seed 195 with value = 0.6605
+Query 1/1: Action query time = 1.092 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7850
+t=74: Selected seed 195 with value = 0.7850
+Query 1/1: Action query time = 1.110 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9408
+t=90: Selected seed 195 with value = 0.9408
+Saved rollout MP4 at path ./rollouts/realcl_i800_t6/2026_08_01-00_10_26--episode=46--success=True--task=put_the_cream_cheese_in_the_bowl.mp4
+Saved rollout MP4 at path ./rollouts/realcl_i800_t6/2026_08_01-00_10_26--with_future_img--episode=46--success=True--task=put_the_cream_cheese_in_the_bowl.mp4
+Success: True
+# episodes completed so far: 46
+# successes: 28 (60.9%)
+
+Task: put the cream cheese in the bowl
+Starting episode 47...
+Query 1/1: Action query time = 1.041 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4274
+t=10: Selected seed 195 with value = 0.4274
+Query 1/1: Action query time = 1.075 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5059
+t=26: Selected seed 195 with value = 0.5059
+Query 1/1: Action query time = 1.022 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6275
+t=42: Selected seed 195 with value = 0.6275
+Query 1/1: Action query time = 0.996 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6678
+t=58: Selected seed 195 with value = 0.6678
+Query 1/1: Action query time = 0.971 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8070
+t=74: Selected seed 195 with value = 0.8070
+Query 1/1: Action query time = 0.986 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9565
+t=90: Selected seed 195 with value = 0.9565
+Saved rollout MP4 at path ./rollouts/realcl_i800_t6/2026_08_01-00_10_26--episode=47--success=True--task=put_the_cream_cheese_in_the_bowl.mp4
+Saved rollout MP4 at path ./rollouts/realcl_i800_t6/2026_08_01-00_10_26--with_future_img--episode=47--success=True--task=put_the_cream_cheese_in_the_bowl.mp4
+Success: True
+# episodes completed so far: 47
+# successes: 29 (61.7%)
+
+Task: put the cream cheese in the bowl
+Starting episode 48...
+Query 1/1: Action query time = 1.231 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4464
+t=10: Selected seed 195 with value = 0.4464
+Query 1/1: Action query time = 1.183 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5725
+t=26: Selected seed 195 with value = 0.5725
+Query 1/1: Action query time = 1.184 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6260
+t=42: Selected seed 195 with value = 0.6260
+Query 1/1: Action query time = 1.175 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7754
+t=58: Selected seed 195 with value = 0.7754
+Query 1/1: Action query time = 1.152 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8900
+t=74: Selected seed 195 with value = 0.8900
+Query 1/1: Action query time = 1.064 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9952
+t=90: Selected seed 195 with value = 0.9952
+Query 1/1: Action query time = 0.964 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9893
+t=106: Selected seed 195 with value = 0.9893
+Query 1/1: Action query time = 0.988 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9744
+t=122: Selected seed 195 with value = 0.9744
+Query 1/1: Action query time = 0.985 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9649
+t=138: Selected seed 195 with value = 0.9649
+Query 1/1: Action query time = 0.976 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9901
+t=154: Selected seed 195 with value = 0.9901
+Query 1/1: Action query time = 1.156 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9033
+t=170: Selected seed 195 with value = 0.9033
+Query 1/1: Action query time = 1.078 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9483
+t=186: Selected seed 195 with value = 0.9483
+Query 1/1: Action query time = 1.044 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5696
+t=202: Selected seed 195 with value = 0.5696
+Query 1/1: Action query time = 0.999 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8505
+t=218: Selected seed 195 with value = 0.8505
+Query 1/1: Action query time = 1.110 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5595
+t=234: Selected seed 195 with value = 0.5595
+Query 1/1: Action query time = 1.087 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8484
+t=250: Selected seed 195 with value = 0.8484
+Query 1/1: Action query time = 1.197 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5511
+t=266: Selected seed 195 with value = 0.5511
+Query 1/1: Action query time = 1.287 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7123
+t=282: Selected seed 195 with value = 0.7123
+Query 1/1: Action query time = 1.304 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5364
+t=298: Selected seed 195 with value = 0.5364
+Saved rollout MP4 at path ./rollouts/realcl_i800_t6/2026_08_01-00_10_26--episode=48--success=False--task=put_the_cream_cheese_in_the_bowl.mp4
+Saved rollout MP4 at path ./rollouts/realcl_i800_t6/2026_08_01-00_10_26--with_future_img--episode=48--success=False--task=put_the_cream_cheese_in_the_bowl.mp4
+Success: False
+# episodes completed so far: 48
+# successes: 29 (60.4%)
+
+Task: put the cream cheese in the bowl
+Starting episode 49...
+Query 1/1: Action query time = 1.426 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4330
+t=10: Selected seed 195 with value = 0.4330
+Query 1/1: Action query time = 1.484 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5231
+t=26: Selected seed 195 with value = 0.5231
+Query 1/1: Action query time = 1.253 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6310
+t=42: Selected seed 195 with value = 0.6310
+Query 1/1: Action query time = 1.093 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7572
+t=58: Selected seed 195 with value = 0.7572
+Query 1/1: Action query time = 0.997 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8793
+t=74: Selected seed 195 with value = 0.8793
+Query 1/1: Action query time = 0.983 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9925
+t=90: Selected seed 195 with value = 0.9925
+Saved rollout MP4 at path ./rollouts/realcl_i800_t6/2026_08_01-00_10_26--episode=49--success=True--task=put_the_cream_cheese_in_the_bowl.mp4
+Saved rollout MP4 at path ./rollouts/realcl_i800_t6/2026_08_01-00_10_26--with_future_img--episode=49--success=True--task=put_the_cream_cheese_in_the_bowl.mp4
+Success: True
+# episodes completed so far: 49
+# successes: 30 (61.2%)
+
+Task: put the cream cheese in the bowl
+Starting episode 50...
+Query 1/1: Action query time = 1.209 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4152
+t=10: Selected seed 195 with value = 0.4152
+Query 1/1: Action query time = 1.276 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5073
+t=26: Selected seed 195 with value = 0.5073
+Query 1/1: Action query time = 1.316 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5595
+t=42: Selected seed 195 with value = 0.5595
+Query 1/1: Action query time = 1.352 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6413
+t=58: Selected seed 195 with value = 0.6413
+Query 1/1: Action query time = 1.232 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6847
+t=74: Selected seed 195 with value = 0.6847
+Query 1/1: Action query time = 1.196 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6088
+t=90: Selected seed 195 with value = 0.6088
+Query 1/1: Action query time = 1.204 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7126
+t=106: Selected seed 195 with value = 0.7126
+Query 1/1: Action query time = 1.277 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8363
+t=122: Selected seed 195 with value = 0.8363
+Query 1/1: Action query time = 1.355 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9057
+t=138: Selected seed 195 with value = 0.9057
+Query 1/1: Action query time = 1.340 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=154: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 1.482 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=170: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 1.272 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9906
+t=186: Selected seed 195 with value = 0.9906
+Query 1/1: Action query time = 0.988 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9736
+t=202: Selected seed 195 with value = 0.9736
+Query 1/1: Action query time = 1.004 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9433
+t=218: Selected seed 195 with value = 0.9433
+Query 1/1: Action query time = 1.149 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8855
+t=234: Selected seed 195 with value = 0.8855
+Query 1/1: Action query time = 1.169 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8212
+t=250: Selected seed 195 with value = 0.8212
+Query 1/1: Action query time = 1.254 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7370
+t=266: Selected seed 195 with value = 0.7370
+Query 1/1: Action query time = 1.196 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8072
+t=282: Selected seed 195 with value = 0.8072
+Query 1/1: Action query time = 1.247 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7909
+t=298: Selected seed 195 with value = 0.7909
+Saved rollout MP4 at path ./rollouts/realcl_i800_t6/2026_08_01-00_10_26--episode=50--success=False--task=put_the_cream_cheese_in_the_bowl.mp4
+Saved rollout MP4 at path ./rollouts/realcl_i800_t6/2026_08_01-00_10_26--with_future_img--episode=50--success=False--task=put_the_cream_cheese_in_the_bowl.mp4
+Success: False
+# episodes completed so far: 50
+# successes: 30 (60.0%)
+Current task success rate: 0.6
+Current total success rate: 0.6
+Final results:
+Total episodes: 50
+Total successes: 30
+Overall success rate: 0.6000 (60.0%)
diff --git a/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_01-00_21_25--realcl_i800_t5.txt b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_01-00_21_25--realcl_i800_t5.txt
new file mode 100644
index 0000000000000000000000000000000000000000..cf7980581065f2a41b406ce18b55274ffe8b3661
--- /dev/null
+++ b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_01-00_21_25--realcl_i800_t5.txt
@@ -0,0 +1,2392 @@
+Eval config: PolicyEvalConfig(suite='libero', model_family='cosmos', config='cosmos_predict2_2b_480p_libero_cl_stage_inference_only', ckpt_path='/home/azureuser/REGEN-main/old/cosmos_policy/cosmos_v2_finetune/cosmos_predict2_2b_480p_libero_goal_task6_real_cl_from40k_2gpu/checkpoints/iter_000000800/model', planning_model_config_name='', planning_model_ckpt_path='', config_file='cosmos_policy/config/config.py', packnet_mask_path='', packnet_first_cl_libero_task=6, use_third_person_image=True, num_third_person_images=1, use_wrist_image=True, num_wrist_images=1, use_proprio=True, flip_images=True, use_variance_scale=False, use_jpeg_compression=True, ar_future_prediction=False, ar_value_prediction=False, ar_qvalue_prediction=False, num_denoising_steps_action=5, num_denoising_steps_future_state=1, num_denoising_steps_value=1, unnormalize_actions=True, normalize_proprio=True, dataset_stats_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/libero_goal_regen/dataset_statistics.json', t5_text_embeddings_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/t5_embeddings.pkl', trained_with_image_aug=True, chunk_size=16, num_open_loop_steps=16, deterministic=True, deterministic_reset=False, deterministic_reset_seed=None, use_ensemble_future_state_predictions=False, num_future_state_predictions_in_ensemble=3, future_state_ensemble_aggregation_scheme='average', use_ensemble_value_predictions=False, num_value_predictions_in_ensemble=5, value_ensemble_aggregation_scheme='average', search_depth=1, mask_current_state_action_for_value_prediction=False, mask_future_state_for_qvalue_prediction=False, num_queries_best_of_n=1, use_parallel_inference=False, available_gpus='0', parallel_timeout=15, parallel_tasks_across_gpus=False, task_suite_name='libero_goal', num_trials_per_task=50, task_ids_to_run='5', initial_states_path='DEFAULT', env_img_res=256, local_log_dir='/home/azureuser/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal', run_id_note='realcl_i800_t5', use_wandb=False, wandb_entity='YOUR_ENTITY', wandb_project='YOUR_PROJECT', seed=195, randomize_seed=False, data_collection=False, jpeg_compress=True, reward_stop_threshold=None, reward_stop_consecutive_steps=3, use_gpt_reward=False, gpt_reward_model='gpt-5.4-mini', gpt_reward_stop_threshold=4, gpt_reward_timeout_s=30.0, save_rollout_video=True, eval_hdf5_path='', eval_hdf5_demo_key='demo_0', data_gen_demo_ids='', replay_actions=False, replay_action_path_dir='', replay_hdf5_path='', data_generation=False, max_generation_steps=200, simple_task_max_steps=100, complex_task_max_steps=200)
+Using serial inference (parallel inference disabled)
+Task suite: libero_goal
+Number of tasks: 10
+Running only task IDs: [5]
+Using default initial states
+
+Task: push the plate to the front of the stove
+Starting episode 1...
+Query 1/1: Action query time = 1.512 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.1541
+t=10: Selected seed 195 with value = 0.1541
+Query 1/1: Action query time = 0.961 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2341
+t=26: Selected seed 195 with value = 0.2341
+Query 1/1: Action query time = 0.959 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2718
+t=42: Selected seed 195 with value = 0.2718
+Query 1/1: Action query time = 0.956 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3267
+t=58: Selected seed 195 with value = 0.3267
+Query 1/1: Action query time = 0.963 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3380
+t=74: Selected seed 195 with value = 0.3380
+Query 1/1: Action query time = 0.976 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3369
+t=90: Selected seed 195 with value = 0.3369
+Query 1/1: Action query time = 0.969 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3499
+t=106: Selected seed 195 with value = 0.3499
+Query 1/1: Action query time = 0.965 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4229
+t=122: Selected seed 195 with value = 0.4229
+Query 1/1: Action query time = 0.961 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5097
+t=138: Selected seed 195 with value = 0.5097
+Query 1/1: Action query time = 0.951 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5681
+t=154: Selected seed 195 with value = 0.5681
+Query 1/1: Action query time = 0.963 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6379
+t=170: Selected seed 195 with value = 0.6379
+Query 1/1: Action query time = 0.971 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7620
+t=186: Selected seed 195 with value = 0.7620
+Query 1/1: Action query time = 0.978 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8645
+t=202: Selected seed 195 with value = 0.8645
+Saved rollout MP4 at path ./rollouts/realcl_i800_t5/2026_08_01-00_21_25--episode=1--success=True--task=push_the_plate_to_the_front_of_the_stove.mp4
+Saved rollout MP4 at path ./rollouts/realcl_i800_t5/2026_08_01-00_21_25--with_future_img--episode=1--success=True--task=push_the_plate_to_the_front_of_the_.mp4
+Success: True
+# episodes completed so far: 1
+# successes: 1 (100.0%)
+
+Task: push the plate to the front of the stove
+Starting episode 2...
+Query 1/1: Action query time = 1.216 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2444
+t=10: Selected seed 195 with value = 0.2444
+Query 1/1: Action query time = 1.248 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3739
+t=26: Selected seed 195 with value = 0.3739
+Query 1/1: Action query time = 1.328 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4348
+t=42: Selected seed 195 with value = 0.4348
+Query 1/1: Action query time = 1.190 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2920
+t=58: Selected seed 195 with value = 0.2920
+Query 1/1: Action query time = 1.141 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4737
+t=74: Selected seed 195 with value = 0.4737
+Query 1/1: Action query time = 0.950 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3851
+t=90: Selected seed 195 with value = 0.3851
+Query 1/1: Action query time = 0.978 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3359
+t=106: Selected seed 195 with value = 0.3359
+Query 1/1: Action query time = 0.973 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4097
+t=122: Selected seed 195 with value = 0.4097
+Query 1/1: Action query time = 0.968 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5508
+t=138: Selected seed 195 with value = 0.5508
+Query 1/1: Action query time = 0.958 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6243
+t=154: Selected seed 195 with value = 0.6243
+Query 1/1: Action query time = 1.010 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7495
+t=170: Selected seed 195 with value = 0.7495
+Query 1/1: Action query time = 1.069 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8849
+t=186: Selected seed 195 with value = 0.8849
+Saved rollout MP4 at path ./rollouts/realcl_i800_t5/2026_08_01-00_21_25--episode=2--success=True--task=push_the_plate_to_the_front_of_the_stove.mp4
+Saved rollout MP4 at path ./rollouts/realcl_i800_t5/2026_08_01-00_21_25--with_future_img--episode=2--success=True--task=push_the_plate_to_the_front_of_the_.mp4
+Success: True
+# episodes completed so far: 2
+# successes: 2 (100.0%)
+
+Task: push the plate to the front of the stove
+Starting episode 3...
+Query 1/1: Action query time = 0.973 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2933
+t=10: Selected seed 195 with value = 0.2933
+Query 1/1: Action query time = 0.975 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3246
+t=26: Selected seed 195 with value = 0.3246
+Query 1/1: Action query time = 0.969 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2177
+t=42: Selected seed 195 with value = 0.2177
+Query 1/1: Action query time = 0.966 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3724
+t=58: Selected seed 195 with value = 0.3724
+Query 1/1: Action query time = 1.039 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3369
+t=74: Selected seed 195 with value = 0.3369
+Query 1/1: Action query time = 1.136 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3985
+t=90: Selected seed 195 with value = 0.3985
+Query 1/1: Action query time = 1.225 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6767
+t=106: Selected seed 195 with value = 0.6767
+Query 1/1: Action query time = 1.144 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7953
+t=122: Selected seed 195 with value = 0.7953
+Query 1/1: Action query time = 1.093 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8506
+t=138: Selected seed 195 with value = 0.8506
+Query 1/1: Action query time = 1.076 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9989
+t=154: Selected seed 195 with value = 0.9989
+Query 1/1: Action query time = 1.053 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=170: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 1.010 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9936
+t=186: Selected seed 195 with value = 0.9936
+Query 1/1: Action query time = 0.980 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9502
+t=202: Selected seed 195 with value = 0.9502
+Query 1/1: Action query time = 0.989 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9134
+t=218: Selected seed 195 with value = 0.9134
+Query 1/1: Action query time = 0.986 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8067
+t=234: Selected seed 195 with value = 0.8067
+Query 1/1: Action query time = 0.983 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9482
+t=250: Selected seed 195 with value = 0.9482
+Query 1/1: Action query time = 0.963 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9692
+t=266: Selected seed 195 with value = 0.9692
+Query 1/1: Action query time = 0.961 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8401
+t=282: Selected seed 195 with value = 0.8401
+Query 1/1: Action query time = 1.083 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9722
+t=298: Selected seed 195 with value = 0.9722
+Saved rollout MP4 at path ./rollouts/realcl_i800_t5/2026_08_01-00_21_25--episode=3--success=True--task=push_the_plate_to_the_front_of_the_stove.mp4
+Saved rollout MP4 at path ./rollouts/realcl_i800_t5/2026_08_01-00_21_25--with_future_img--episode=3--success=True--task=push_the_plate_to_the_front_of_the_.mp4
+Success: True
+# episodes completed so far: 3
+# successes: 3 (100.0%)
+
+Task: push the plate to the front of the stove
+Starting episode 4...
+Query 1/1: Action query time = 0.990 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2222
+t=10: Selected seed 195 with value = 0.2222
+Query 1/1: Action query time = 1.248 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2899
+t=26: Selected seed 195 with value = 0.2899
+Query 1/1: Action query time = 1.322 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3747
+t=42: Selected seed 195 with value = 0.3747
+Query 1/1: Action query time = 1.408 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5207
+t=58: Selected seed 195 with value = 0.5207
+Query 1/1: Action query time = 1.528 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5939
+t=74: Selected seed 195 with value = 0.5939
+Query 1/1: Action query time = 1.315 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6756
+t=90: Selected seed 195 with value = 0.6756
+Query 1/1: Action query time = 1.258 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8093
+t=106: Selected seed 195 with value = 0.8093
+Query 1/1: Action query time = 1.134 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9187
+t=122: Selected seed 195 with value = 0.9187
+Saved rollout MP4 at path ./rollouts/realcl_i800_t5/2026_08_01-00_21_25--episode=4--success=True--task=push_the_plate_to_the_front_of_the_stove.mp4
+Saved rollout MP4 at path ./rollouts/realcl_i800_t5/2026_08_01-00_21_25--with_future_img--episode=4--success=True--task=push_the_plate_to_the_front_of_the_.mp4
+Success: True
+# episodes completed so far: 4
+# successes: 4 (100.0%)
+
+Task: push the plate to the front of the stove
+Starting episode 5...
+Query 1/1: Action query time = 0.976 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2140
+t=10: Selected seed 195 with value = 0.2140
+Query 1/1: Action query time = 1.135 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.1812
+t=26: Selected seed 195 with value = 0.1812
+Query 1/1: Action query time = 1.094 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4227
+t=42: Selected seed 195 with value = 0.4227
+Query 1/1: Action query time = 1.183 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4412
+t=58: Selected seed 195 with value = 0.4412
+Query 1/1: Action query time = 1.112 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4836
+t=74: Selected seed 195 with value = 0.4836
+Query 1/1: Action query time = 1.020 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5481
+t=90: Selected seed 195 with value = 0.5481
+Query 1/1: Action query time = 1.043 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6356
+t=106: Selected seed 195 with value = 0.6356
+Query 1/1: Action query time = 1.094 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7758
+t=122: Selected seed 195 with value = 0.7758
+Query 1/1: Action query time = 1.168 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9112
+t=138: Selected seed 195 with value = 0.9112
+Saved rollout MP4 at path ./rollouts/realcl_i800_t5/2026_08_01-00_21_25--episode=5--success=True--task=push_the_plate_to_the_front_of_the_stove.mp4
+Saved rollout MP4 at path ./rollouts/realcl_i800_t5/2026_08_01-00_21_25--with_future_img--episode=5--success=True--task=push_the_plate_to_the_front_of_the_.mp4
+Success: True
+# episodes completed so far: 5
+# successes: 5 (100.0%)
+
+Task: push the plate to the front of the stove
+Starting episode 6...
+Query 1/1: Action query time = 0.990 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3051
+t=10: Selected seed 195 with value = 0.3051
+Query 1/1: Action query time = 0.958 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3408
+t=26: Selected seed 195 with value = 0.3408
+Query 1/1: Action query time = 0.952 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4026
+t=42: Selected seed 195 with value = 0.4026
+Query 1/1: Action query time = 0.963 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2919
+t=58: Selected seed 195 with value = 0.2919
+Query 1/1: Action query time = 0.972 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3001
+t=74: Selected seed 195 with value = 0.3001
+Query 1/1: Action query time = 1.009 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3321
+t=90: Selected seed 195 with value = 0.3321
+Query 1/1: Action query time = 1.069 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4242
+t=106: Selected seed 195 with value = 0.4242
+Query 1/1: Action query time = 1.096 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7460
+t=122: Selected seed 195 with value = 0.7460
+Query 1/1: Action query time = 0.983 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9838
+t=138: Selected seed 195 with value = 0.9838
+Saved rollout MP4 at path ./rollouts/realcl_i800_t5/2026_08_01-00_21_25--episode=6--success=True--task=push_the_plate_to_the_front_of_the_stove.mp4
+Saved rollout MP4 at path ./rollouts/realcl_i800_t5/2026_08_01-00_21_25--with_future_img--episode=6--success=True--task=push_the_plate_to_the_front_of_the_.mp4
+Success: True
+# episodes completed so far: 6
+# successes: 6 (100.0%)
+
+Task: push the plate to the front of the stove
+Starting episode 7...
+Query 1/1: Action query time = 1.169 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2623
+t=10: Selected seed 195 with value = 0.2623
+Query 1/1: Action query time = 1.176 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3339
+t=26: Selected seed 195 with value = 0.3339
+Query 1/1: Action query time = 1.065 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2845
+t=42: Selected seed 195 with value = 0.2845
+Query 1/1: Action query time = 1.170 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3209
+t=58: Selected seed 195 with value = 0.3209
+Query 1/1: Action query time = 1.143 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3597
+t=74: Selected seed 195 with value = 0.3597
+Query 1/1: Action query time = 1.195 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4085
+t=90: Selected seed 195 with value = 0.4085
+Query 1/1: Action query time = 1.176 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4817
+t=106: Selected seed 195 with value = 0.4817
+Query 1/1: Action query time = 0.960 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5673
+t=122: Selected seed 195 with value = 0.5673
+Query 1/1: Action query time = 0.961 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6680
+t=138: Selected seed 195 with value = 0.6680
+Query 1/1: Action query time = 0.974 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7850
+t=154: Selected seed 195 with value = 0.7850
+Query 1/1: Action query time = 0.974 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8915
+t=170: Selected seed 195 with value = 0.8915
+Saved rollout MP4 at path ./rollouts/realcl_i800_t5/2026_08_01-00_21_25--episode=7--success=True--task=push_the_plate_to_the_front_of_the_stove.mp4
+Saved rollout MP4 at path ./rollouts/realcl_i800_t5/2026_08_01-00_21_25--with_future_img--episode=7--success=True--task=push_the_plate_to_the_front_of_the_.mp4
+Success: True
+# episodes completed so far: 7
+# successes: 7 (100.0%)
+
+Task: push the plate to the front of the stove
+Starting episode 8...
+Query 1/1: Action query time = 0.970 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3364
+t=10: Selected seed 195 with value = 0.3364
+Query 1/1: Action query time = 1.030 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3235
+t=26: Selected seed 195 with value = 0.3235
+Query 1/1: Action query time = 0.968 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3505
+t=42: Selected seed 195 with value = 0.3505
+Query 1/1: Action query time = 0.975 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4396
+t=58: Selected seed 195 with value = 0.4396
+Query 1/1: Action query time = 1.090 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6834
+t=74: Selected seed 195 with value = 0.6834
+Query 1/1: Action query time = 0.990 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8237
+t=90: Selected seed 195 with value = 0.8237
+Query 1/1: Action query time = 0.986 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9426
+t=106: Selected seed 195 with value = 0.9426
+Saved rollout MP4 at path ./rollouts/realcl_i800_t5/2026_08_01-00_21_25--episode=8--success=True--task=push_the_plate_to_the_front_of_the_stove.mp4
+Saved rollout MP4 at path ./rollouts/realcl_i800_t5/2026_08_01-00_21_25--with_future_img--episode=8--success=True--task=push_the_plate_to_the_front_of_the_.mp4
+Success: True
+# episodes completed so far: 8
+# successes: 8 (100.0%)
+
+Task: push the plate to the front of the stove
+Starting episode 9...
+Query 1/1: Action query time = 1.035 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3166
+t=10: Selected seed 195 with value = 0.3166
+Query 1/1: Action query time = 1.103 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2830
+t=26: Selected seed 195 with value = 0.2830
+Query 1/1: Action query time = 1.138 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2617
+t=42: Selected seed 195 with value = 0.2617
+Query 1/1: Action query time = 1.131 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4340
+t=58: Selected seed 195 with value = 0.4340
+Query 1/1: Action query time = 1.236 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4900
+t=74: Selected seed 195 with value = 0.4900
+Query 1/1: Action query time = 1.248 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5502
+t=90: Selected seed 195 with value = 0.5502
+Query 1/1: Action query time = 1.147 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6281
+t=106: Selected seed 195 with value = 0.6281
+Query 1/1: Action query time = 1.066 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7478
+t=122: Selected seed 195 with value = 0.7478
+Query 1/1: Action query time = 1.036 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8775
+t=138: Selected seed 195 with value = 0.8775
+Saved rollout MP4 at path ./rollouts/realcl_i800_t5/2026_08_01-00_21_25--episode=9--success=True--task=push_the_plate_to_the_front_of_the_stove.mp4
+Saved rollout MP4 at path ./rollouts/realcl_i800_t5/2026_08_01-00_21_25--with_future_img--episode=9--success=True--task=push_the_plate_to_the_front_of_the_.mp4
+Success: True
+# episodes completed so far: 9
+# successes: 9 (100.0%)
+
+Task: push the plate to the front of the stove
+Starting episode 10...
+Query 1/1: Action query time = 1.276 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2733
+t=10: Selected seed 195 with value = 0.2733
+Query 1/1: Action query time = 1.311 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3927
+t=26: Selected seed 195 with value = 0.3927
+Query 1/1: Action query time = 1.205 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4167
+t=42: Selected seed 195 with value = 0.4167
+Query 1/1: Action query time = 1.218 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2497
+t=58: Selected seed 195 with value = 0.2497
+Query 1/1: Action query time = 1.099 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5719
+t=74: Selected seed 195 with value = 0.5719
+Query 1/1: Action query time = 1.026 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7120
+t=90: Selected seed 195 with value = 0.7120
+Query 1/1: Action query time = 1.045 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7943
+t=106: Selected seed 195 with value = 0.7943
+Query 1/1: Action query time = 1.138 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9297
+t=122: Selected seed 195 with value = 0.9297
+Saved rollout MP4 at path ./rollouts/realcl_i800_t5/2026_08_01-00_21_25--episode=10--success=True--task=push_the_plate_to_the_front_of_the_stove.mp4
+Saved rollout MP4 at path ./rollouts/realcl_i800_t5/2026_08_01-00_21_25--with_future_img--episode=10--success=True--task=push_the_plate_to_the_front_of_the_.mp4
+Success: True
+# episodes completed so far: 10
+# successes: 10 (100.0%)
+
+Task: push the plate to the front of the stove
+Starting episode 11...
+Query 1/1: Action query time = 0.994 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3162
+t=10: Selected seed 195 with value = 0.3162
+Query 1/1: Action query time = 0.980 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3530
+t=26: Selected seed 195 with value = 0.3530
+Query 1/1: Action query time = 0.958 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4125
+t=42: Selected seed 195 with value = 0.4125
+Query 1/1: Action query time = 1.012 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4532
+t=58: Selected seed 195 with value = 0.4532
+Query 1/1: Action query time = 0.987 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5239
+t=74: Selected seed 195 with value = 0.5239
+Query 1/1: Action query time = 0.996 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6018
+t=90: Selected seed 195 with value = 0.6018
+Query 1/1: Action query time = 0.956 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7151
+t=106: Selected seed 195 with value = 0.7151
+Query 1/1: Action query time = 0.970 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8348
+t=122: Selected seed 195 with value = 0.8348
+Query 1/1: Action query time = 0.967 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9942
+t=138: Selected seed 195 with value = 0.9942
+Saved rollout MP4 at path ./rollouts/realcl_i800_t5/2026_08_01-00_21_25--episode=11--success=True--task=push_the_plate_to_the_front_of_the_stove.mp4
+Saved rollout MP4 at path ./rollouts/realcl_i800_t5/2026_08_01-00_21_25--with_future_img--episode=11--success=True--task=push_the_plate_to_the_front_of_the_.mp4
+Success: True
+# episodes completed so far: 11
+# successes: 11 (100.0%)
+
+Task: push the plate to the front of the stove
+Starting episode 12...
+Query 1/1: Action query time = 0.979 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3238
+t=10: Selected seed 195 with value = 0.3238
+Query 1/1: Action query time = 0.957 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3817
+t=26: Selected seed 195 with value = 0.3817
+Query 1/1: Action query time = 0.956 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4050
+t=42: Selected seed 195 with value = 0.4050
+Query 1/1: Action query time = 0.973 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5073
+t=58: Selected seed 195 with value = 0.5073
+Query 1/1: Action query time = 1.034 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5996
+t=74: Selected seed 195 with value = 0.5996
+Query 1/1: Action query time = 0.996 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6823
+t=90: Selected seed 195 with value = 0.6823
+Query 1/1: Action query time = 0.958 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8164
+t=106: Selected seed 195 with value = 0.8164
+Query 1/1: Action query time = 0.968 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9586
+t=122: Selected seed 195 with value = 0.9586
+Saved rollout MP4 at path ./rollouts/realcl_i800_t5/2026_08_01-00_21_25--episode=12--success=True--task=push_the_plate_to_the_front_of_the_stove.mp4
+Saved rollout MP4 at path ./rollouts/realcl_i800_t5/2026_08_01-00_21_25--with_future_img--episode=12--success=True--task=push_the_plate_to_the_front_of_the_.mp4
+Success: True
+# episodes completed so far: 12
+# successes: 12 (100.0%)
+
+Task: push the plate to the front of the stove
+Starting episode 13...
+Query 1/1: Action query time = 1.279 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2997
+t=10: Selected seed 195 with value = 0.2997
+Query 1/1: Action query time = 1.301 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2340
+t=26: Selected seed 195 with value = 0.2340
+Query 1/1: Action query time = 1.424 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3883
+t=42: Selected seed 195 with value = 0.3883
+Query 1/1: Action query time = 1.505 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4912
+t=58: Selected seed 195 with value = 0.4912
+Query 1/1: Action query time = 1.002 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6070
+t=74: Selected seed 195 with value = 0.6070
+Query 1/1: Action query time = 0.973 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7094
+t=90: Selected seed 195 with value = 0.7094
+Query 1/1: Action query time = 0.975 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8402
+t=106: Selected seed 195 with value = 0.8402
+Query 1/1: Action query time = 1.060 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9839
+t=122: Selected seed 195 with value = 0.9839
+Saved rollout MP4 at path ./rollouts/realcl_i800_t5/2026_08_01-00_21_25--episode=13--success=True--task=push_the_plate_to_the_front_of_the_stove.mp4
+Saved rollout MP4 at path ./rollouts/realcl_i800_t5/2026_08_01-00_21_25--with_future_img--episode=13--success=True--task=push_the_plate_to_the_front_of_the_.mp4
+Success: True
+# episodes completed so far: 13
+# successes: 13 (100.0%)
+
+Task: push the plate to the front of the stove
+Starting episode 14...
+Query 1/1: Action query time = 0.972 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2227
+t=10: Selected seed 195 with value = 0.2227
+Query 1/1: Action query time = 0.959 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2112
+t=26: Selected seed 195 with value = 0.2112
+Query 1/1: Action query time = 0.974 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4476
+t=42: Selected seed 195 with value = 0.4476
+Query 1/1: Action query time = 0.973 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3247
+t=58: Selected seed 195 with value = 0.3247
+Query 1/1: Action query time = 0.978 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3859
+t=74: Selected seed 195 with value = 0.3859
+Query 1/1: Action query time = 0.975 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4326
+t=90: Selected seed 195 with value = 0.4326
+Query 1/1: Action query time = 0.970 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5227
+t=106: Selected seed 195 with value = 0.5227
+Query 1/1: Action query time = 0.997 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6524
+t=122: Selected seed 195 with value = 0.6524
+Query 1/1: Action query time = 0.959 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8055
+t=138: Selected seed 195 with value = 0.8055
+Query 1/1: Action query time = 1.122 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9318
+t=154: Selected seed 195 with value = 0.9318
+Saved rollout MP4 at path ./rollouts/realcl_i800_t5/2026_08_01-00_21_25--episode=14--success=True--task=push_the_plate_to_the_front_of_the_stove.mp4
+Saved rollout MP4 at path ./rollouts/realcl_i800_t5/2026_08_01-00_21_25--with_future_img--episode=14--success=True--task=push_the_plate_to_the_front_of_the_.mp4
+Success: True
+# episodes completed so far: 14
+# successes: 14 (100.0%)
+
+Task: push the plate to the front of the stove
+Starting episode 15...
+Query 1/1: Action query time = 1.156 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2681
+t=10: Selected seed 195 with value = 0.2681
+Query 1/1: Action query time = 1.212 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2773
+t=26: Selected seed 195 with value = 0.2773
+Query 1/1: Action query time = 1.188 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3466
+t=42: Selected seed 195 with value = 0.3466
+Query 1/1: Action query time = 0.968 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5197
+t=58: Selected seed 195 with value = 0.5197
+Query 1/1: Action query time = 1.079 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5479
+t=74: Selected seed 195 with value = 0.5479
+Query 1/1: Action query time = 1.035 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6878
+t=90: Selected seed 195 with value = 0.6878
+Query 1/1: Action query time = 1.040 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9834
+t=106: Selected seed 195 with value = 0.9834
+Query 1/1: Action query time = 1.116 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=122: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 1.181 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9839
+t=138: Selected seed 195 with value = 0.9839
+Query 1/1: Action query time = 1.254 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9710
+t=154: Selected seed 195 with value = 0.9710
+Query 1/1: Action query time = 0.975 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9731
+t=170: Selected seed 195 with value = 0.9731
+Query 1/1: Action query time = 0.968 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9570
+t=186: Selected seed 195 with value = 0.9570
+Query 1/1: Action query time = 0.973 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9622
+t=202: Selected seed 195 with value = 0.9622
+Query 1/1: Action query time = 0.983 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9562
+t=218: Selected seed 195 with value = 0.9562
+Query 1/1: Action query time = 0.983 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9464
+t=234: Selected seed 195 with value = 0.9464
+Query 1/1: Action query time = 0.980 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9399
+t=250: Selected seed 195 with value = 0.9399
+Query 1/1: Action query time = 0.958 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9271
+t=266: Selected seed 195 with value = 0.9271
+Query 1/1: Action query time = 0.967 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9359
+t=282: Selected seed 195 with value = 0.9359
+Query 1/1: Action query time = 0.974 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9244
+t=298: Selected seed 195 with value = 0.9244
+Saved rollout MP4 at path ./rollouts/realcl_i800_t5/2026_08_01-00_21_25--episode=15--success=False--task=push_the_plate_to_the_front_of_the_stove.mp4
+Saved rollout MP4 at path ./rollouts/realcl_i800_t5/2026_08_01-00_21_25--with_future_img--episode=15--success=False--task=push_the_plate_to_the_front_of_the_.mp4
+Success: False
+# episodes completed so far: 15
+# successes: 14 (93.3%)
+
+Task: push the plate to the front of the stove
+Starting episode 16...
+Query 1/1: Action query time = 1.147 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3243
+t=10: Selected seed 195 with value = 0.3243
+Query 1/1: Action query time = 1.207 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3959
+t=26: Selected seed 195 with value = 0.3959
+Query 1/1: Action query time = 1.193 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4684
+t=42: Selected seed 195 with value = 0.4684
+Query 1/1: Action query time = 0.974 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3337
+t=58: Selected seed 195 with value = 0.3337
+Query 1/1: Action query time = 0.966 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3987
+t=74: Selected seed 195 with value = 0.3987
+Query 1/1: Action query time = 0.978 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6043
+t=90: Selected seed 195 with value = 0.6043
+Query 1/1: Action query time = 0.975 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5447
+t=106: Selected seed 195 with value = 0.5447
+Query 1/1: Action query time = 0.987 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6553
+t=122: Selected seed 195 with value = 0.6553
+Query 1/1: Action query time = 0.984 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7571
+t=138: Selected seed 195 with value = 0.7571
+Query 1/1: Action query time = 0.983 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8877
+t=154: Selected seed 195 with value = 0.8877
+Saved rollout MP4 at path ./rollouts/realcl_i800_t5/2026_08_01-00_21_25--episode=16--success=True--task=push_the_plate_to_the_front_of_the_stove.mp4
+Saved rollout MP4 at path ./rollouts/realcl_i800_t5/2026_08_01-00_21_25--with_future_img--episode=16--success=True--task=push_the_plate_to_the_front_of_the_.mp4
+Success: True
+# episodes completed so far: 16
+# successes: 15 (93.8%)
+
+Task: push the plate to the front of the stove
+Starting episode 17...
+Query 1/1: Action query time = 0.986 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2996
+t=10: Selected seed 195 with value = 0.2996
+Query 1/1: Action query time = 1.174 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3361
+t=26: Selected seed 195 with value = 0.3361
+Query 1/1: Action query time = 1.245 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3960
+t=42: Selected seed 195 with value = 0.3960
+Query 1/1: Action query time = 1.198 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3211
+t=58: Selected seed 195 with value = 0.3211
+Query 1/1: Action query time = 1.150 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3950
+t=74: Selected seed 195 with value = 0.3950
+Query 1/1: Action query time = 1.193 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5400
+t=90: Selected seed 195 with value = 0.5400
+Query 1/1: Action query time = 1.115 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5260
+t=106: Selected seed 195 with value = 0.5260
+Query 1/1: Action query time = 1.145 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6192
+t=122: Selected seed 195 with value = 0.6192
+Query 1/1: Action query time = 1.001 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7286
+t=138: Selected seed 195 with value = 0.7286
+Query 1/1: Action query time = 0.999 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8540
+t=154: Selected seed 195 with value = 0.8540
+Query 1/1: Action query time = 0.971 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9800
+t=170: Selected seed 195 with value = 0.9800
+Saved rollout MP4 at path ./rollouts/realcl_i800_t5/2026_08_01-00_21_25--episode=17--success=True--task=push_the_plate_to_the_front_of_the_stove.mp4
+Saved rollout MP4 at path ./rollouts/realcl_i800_t5/2026_08_01-00_21_25--with_future_img--episode=17--success=True--task=push_the_plate_to_the_front_of_the_.mp4
+Success: True
+# episodes completed so far: 17
+# successes: 16 (94.1%)
+
+Task: push the plate to the front of the stove
+Starting episode 18...
+Query 1/1: Action query time = 0.983 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2619
+t=10: Selected seed 195 with value = 0.2619
+Query 1/1: Action query time = 0.982 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3300
+t=26: Selected seed 195 with value = 0.3300
+Query 1/1: Action query time = 0.975 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4413
+t=42: Selected seed 195 with value = 0.4413
+Query 1/1: Action query time = 1.083 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5325
+t=58: Selected seed 195 with value = 0.5325
+Query 1/1: Action query time = 1.009 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5645
+t=74: Selected seed 195 with value = 0.5645
+Query 1/1: Action query time = 1.238 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7104
+t=90: Selected seed 195 with value = 0.7104
+Query 1/1: Action query time = 1.148 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7872
+t=106: Selected seed 195 with value = 0.7872
+Query 1/1: Action query time = 1.160 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8628
+t=122: Selected seed 195 with value = 0.8628
+Query 1/1: Action query time = 1.197 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7048
+t=138: Selected seed 195 with value = 0.7048
+Query 1/1: Action query time = 1.132 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8185
+t=154: Selected seed 195 with value = 0.8185
+Query 1/1: Action query time = 1.085 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9152
+t=170: Selected seed 195 with value = 0.9152
+Saved rollout MP4 at path ./rollouts/realcl_i800_t5/2026_08_01-00_21_25--episode=18--success=True--task=push_the_plate_to_the_front_of_the_stove.mp4
+Saved rollout MP4 at path ./rollouts/realcl_i800_t5/2026_08_01-00_21_25--with_future_img--episode=18--success=True--task=push_the_plate_to_the_front_of_the_.mp4
+Success: True
+# episodes completed so far: 18
+# successes: 17 (94.4%)
+
+Task: push the plate to the front of the stove
+Starting episode 19...
+Query 1/1: Action query time = 1.249 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2671
+t=10: Selected seed 195 with value = 0.2671
+Query 1/1: Action query time = 1.110 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2213
+t=26: Selected seed 195 with value = 0.2213
+Query 1/1: Action query time = 1.082 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2355
+t=42: Selected seed 195 with value = 0.2355
+Query 1/1: Action query time = 1.028 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2544
+t=58: Selected seed 195 with value = 0.2544
+Query 1/1: Action query time = 1.130 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2986
+t=74: Selected seed 195 with value = 0.2986
+Query 1/1: Action query time = 1.118 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3760
+t=90: Selected seed 195 with value = 0.3760
+Query 1/1: Action query time = 1.186 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5225
+t=106: Selected seed 195 with value = 0.5225
+Query 1/1: Action query time = 1.286 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5355
+t=122: Selected seed 195 with value = 0.5355
+Query 1/1: Action query time = 1.357 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9800
+t=138: Selected seed 195 with value = 0.9800
+Saved rollout MP4 at path ./rollouts/realcl_i800_t5/2026_08_01-00_21_25--episode=19--success=True--task=push_the_plate_to_the_front_of_the_stove.mp4
+Saved rollout MP4 at path ./rollouts/realcl_i800_t5/2026_08_01-00_21_25--with_future_img--episode=19--success=True--task=push_the_plate_to_the_front_of_the_.mp4
+Success: True
+# episodes completed so far: 19
+# successes: 18 (94.7%)
+
+Task: push the plate to the front of the stove
+Starting episode 20...
+Query 1/1: Action query time = 1.137 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2883
+t=10: Selected seed 195 with value = 0.2883
+Query 1/1: Action query time = 1.127 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2955
+t=26: Selected seed 195 with value = 0.2955
+Query 1/1: Action query time = 1.347 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4020
+t=42: Selected seed 195 with value = 0.4020
+Query 1/1: Action query time = 1.394 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4596
+t=58: Selected seed 195 with value = 0.4596
+Query 1/1: Action query time = 1.269 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4903
+t=74: Selected seed 195 with value = 0.4903
+Query 1/1: Action query time = 1.241 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6363
+t=90: Selected seed 195 with value = 0.6363
+Query 1/1: Action query time = 1.236 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7773
+t=106: Selected seed 195 with value = 0.7773
+Query 1/1: Action query time = 1.144 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8778
+t=122: Selected seed 195 with value = 0.8778
+Saved rollout MP4 at path ./rollouts/realcl_i800_t5/2026_08_01-00_21_25--episode=20--success=True--task=push_the_plate_to_the_front_of_the_stove.mp4
+Saved rollout MP4 at path ./rollouts/realcl_i800_t5/2026_08_01-00_21_25--with_future_img--episode=20--success=True--task=push_the_plate_to_the_front_of_the_.mp4
+Success: True
+# episodes completed so far: 20
+# successes: 19 (95.0%)
+
+Task: push the plate to the front of the stove
+Starting episode 21...
+Query 1/1: Action query time = 1.187 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2573
+t=10: Selected seed 195 with value = 0.2573
+Query 1/1: Action query time = 1.296 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3643
+t=26: Selected seed 195 with value = 0.3643
+Query 1/1: Action query time = 1.335 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4169
+t=42: Selected seed 195 with value = 0.4169
+Query 1/1: Action query time = 1.333 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2902
+t=58: Selected seed 195 with value = 0.2902
+Query 1/1: Action query time = 1.208 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3855
+t=74: Selected seed 195 with value = 0.3855
+Query 1/1: Action query time = 1.207 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5473
+t=90: Selected seed 195 with value = 0.5473
+Query 1/1: Action query time = 1.207 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5220
+t=106: Selected seed 195 with value = 0.5220
+Query 1/1: Action query time = 1.286 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5985
+t=122: Selected seed 195 with value = 0.5985
+Query 1/1: Action query time = 1.379 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6859
+t=138: Selected seed 195 with value = 0.6859
+Query 1/1: Action query time = 1.337 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8119
+t=154: Selected seed 195 with value = 0.8119
+Query 1/1: Action query time = 1.437 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9308
+t=170: Selected seed 195 with value = 0.9308
+Saved rollout MP4 at path ./rollouts/realcl_i800_t5/2026_08_01-00_21_25--episode=21--success=True--task=push_the_plate_to_the_front_of_the_stove.mp4
+Saved rollout MP4 at path ./rollouts/realcl_i800_t5/2026_08_01-00_21_25--with_future_img--episode=21--success=True--task=push_the_plate_to_the_front_of_the_.mp4
+Success: True
+# episodes completed so far: 21
+# successes: 20 (95.2%)
+
+Task: push the plate to the front of the stove
+Starting episode 22...
+Query 1/1: Action query time = 1.153 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2692
+t=10: Selected seed 195 with value = 0.2692
+Query 1/1: Action query time = 1.189 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2634
+t=26: Selected seed 195 with value = 0.2634
+Query 1/1: Action query time = 1.197 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3793
+t=42: Selected seed 195 with value = 0.3793
+Query 1/1: Action query time = 1.034 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4435
+t=58: Selected seed 195 with value = 0.4435
+Query 1/1: Action query time = 1.199 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5341
+t=74: Selected seed 195 with value = 0.5341
+Query 1/1: Action query time = 0.972 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6146
+t=90: Selected seed 195 with value = 0.6146
+Query 1/1: Action query time = 0.970 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7124
+t=106: Selected seed 195 with value = 0.7124
+Query 1/1: Action query time = 0.983 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8117
+t=122: Selected seed 195 with value = 0.8117
+Query 1/1: Action query time = 0.973 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9482
+t=138: Selected seed 195 with value = 0.9482
+Saved rollout MP4 at path ./rollouts/realcl_i800_t5/2026_08_01-00_21_25--episode=22--success=True--task=push_the_plate_to_the_front_of_the_stove.mp4
+Saved rollout MP4 at path ./rollouts/realcl_i800_t5/2026_08_01-00_21_25--with_future_img--episode=22--success=True--task=push_the_plate_to_the_front_of_the_.mp4
+Success: True
+# episodes completed so far: 22
+# successes: 21 (95.5%)
+
+Task: push the plate to the front of the stove
+Starting episode 23...
+Query 1/1: Action query time = 1.198 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2713
+t=10: Selected seed 195 with value = 0.2713
+Query 1/1: Action query time = 1.174 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3066
+t=26: Selected seed 195 with value = 0.3066
+Query 1/1: Action query time = 1.144 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3457
+t=42: Selected seed 195 with value = 0.3457
+Query 1/1: Action query time = 1.204 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3654
+t=58: Selected seed 195 with value = 0.3654
+Query 1/1: Action query time = 1.125 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4824
+t=74: Selected seed 195 with value = 0.4824
+Query 1/1: Action query time = 1.053 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5696
+t=90: Selected seed 195 with value = 0.5696
+Query 1/1: Action query time = 1.071 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6045
+t=106: Selected seed 195 with value = 0.6045
+Query 1/1: Action query time = 1.068 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6357
+t=122: Selected seed 195 with value = 0.6357
+Query 1/1: Action query time = 1.163 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7314
+t=138: Selected seed 195 with value = 0.7314
+Query 1/1: Action query time = 1.166 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8228
+t=154: Selected seed 195 with value = 0.8228
+Query 1/1: Action query time = 1.167 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8571
+t=170: Selected seed 195 with value = 0.8571
+Query 1/1: Action query time = 1.185 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7919
+t=186: Selected seed 195 with value = 0.7919
+Query 1/1: Action query time = 1.173 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8313
+t=202: Selected seed 195 with value = 0.8313
+Query 1/1: Action query time = 1.204 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8230
+t=218: Selected seed 195 with value = 0.8230
+Query 1/1: Action query time = 1.148 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8006
+t=234: Selected seed 195 with value = 0.8006
+Query 1/1: Action query time = 0.969 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7703
+t=250: Selected seed 195 with value = 0.7703
+Query 1/1: Action query time = 0.975 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6921
+t=266: Selected seed 195 with value = 0.6921
+Query 1/1: Action query time = 0.975 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4485
+t=282: Selected seed 195 with value = 0.4485
+Query 1/1: Action query time = 0.979 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6094
+t=298: Selected seed 195 with value = 0.6094
+Saved rollout MP4 at path ./rollouts/realcl_i800_t5/2026_08_01-00_21_25--episode=23--success=False--task=push_the_plate_to_the_front_of_the_stove.mp4
+Saved rollout MP4 at path ./rollouts/realcl_i800_t5/2026_08_01-00_21_25--with_future_img--episode=23--success=False--task=push_the_plate_to_the_front_of_the_.mp4
+Success: False
+# episodes completed so far: 23
+# successes: 21 (91.3%)
+
+Task: push the plate to the front of the stove
+Starting episode 24...
+Query 1/1: Action query time = 1.400 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2390
+t=10: Selected seed 195 with value = 0.2390
+Query 1/1: Action query time = 1.358 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3889
+t=26: Selected seed 195 with value = 0.3889
+Query 1/1: Action query time = 1.221 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4238
+t=42: Selected seed 195 with value = 0.4238
+Query 1/1: Action query time = 0.998 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5371
+t=58: Selected seed 195 with value = 0.5371
+Query 1/1: Action query time = 0.974 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6608
+t=74: Selected seed 195 with value = 0.6608
+Query 1/1: Action query time = 0.973 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7333
+t=90: Selected seed 195 with value = 0.7333
+Query 1/1: Action query time = 0.971 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8103
+t=106: Selected seed 195 with value = 0.8103
+Query 1/1: Action query time = 1.121 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9152
+t=122: Selected seed 195 with value = 0.9152
+Saved rollout MP4 at path ./rollouts/realcl_i800_t5/2026_08_01-00_21_25--episode=24--success=True--task=push_the_plate_to_the_front_of_the_stove.mp4
+Saved rollout MP4 at path ./rollouts/realcl_i800_t5/2026_08_01-00_21_25--with_future_img--episode=24--success=True--task=push_the_plate_to_the_front_of_the_.mp4
+Success: True
+# episodes completed so far: 24
+# successes: 22 (91.7%)
+
+Task: push the plate to the front of the stove
+Starting episode 25...
+Query 1/1: Action query time = 1.163 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2497
+t=10: Selected seed 195 with value = 0.2497
+Query 1/1: Action query time = 0.998 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2000
+t=26: Selected seed 195 with value = 0.2000
+Query 1/1: Action query time = 0.972 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4136
+t=42: Selected seed 195 with value = 0.4136
+Query 1/1: Action query time = 0.984 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5030
+t=58: Selected seed 195 with value = 0.5030
+Query 1/1: Action query time = 0.968 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6256
+t=74: Selected seed 195 with value = 0.6256
+Query 1/1: Action query time = 1.133 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6676
+t=90: Selected seed 195 with value = 0.6676
+Query 1/1: Action query time = 1.091 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8412
+t=106: Selected seed 195 with value = 0.8412
+Query 1/1: Action query time = 1.034 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9662
+t=122: Selected seed 195 with value = 0.9662
+Saved rollout MP4 at path ./rollouts/realcl_i800_t5/2026_08_01-00_21_25--episode=25--success=True--task=push_the_plate_to_the_front_of_the_stove.mp4
+Saved rollout MP4 at path ./rollouts/realcl_i800_t5/2026_08_01-00_21_25--with_future_img--episode=25--success=True--task=push_the_plate_to_the_front_of_the_.mp4
+Success: True
+# episodes completed so far: 25
+# successes: 23 (92.0%)
+
+Task: push the plate to the front of the stove
+Starting episode 26...
+Query 1/1: Action query time = 0.973 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2332
+t=10: Selected seed 195 with value = 0.2332
+Query 1/1: Action query time = 0.983 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2492
+t=26: Selected seed 195 with value = 0.2492
+Query 1/1: Action query time = 0.979 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3028
+t=42: Selected seed 195 with value = 0.3028
+Query 1/1: Action query time = 0.973 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4346
+t=58: Selected seed 195 with value = 0.4346
+Query 1/1: Action query time = 0.980 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4508
+t=74: Selected seed 195 with value = 0.4508
+Query 1/1: Action query time = 0.979 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5406
+t=90: Selected seed 195 with value = 0.5406
+Query 1/1: Action query time = 0.986 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6252
+t=106: Selected seed 195 with value = 0.6252
+Query 1/1: Action query time = 0.964 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7176
+t=122: Selected seed 195 with value = 0.7176
+Query 1/1: Action query time = 1.024 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8159
+t=138: Selected seed 195 with value = 0.8159
+Query 1/1: Action query time = 0.974 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9917
+t=154: Selected seed 195 with value = 0.9917
+Saved rollout MP4 at path ./rollouts/realcl_i800_t5/2026_08_01-00_21_25--episode=26--success=True--task=push_the_plate_to_the_front_of_the_stove.mp4
+Saved rollout MP4 at path ./rollouts/realcl_i800_t5/2026_08_01-00_21_25--with_future_img--episode=26--success=True--task=push_the_plate_to_the_front_of_the_.mp4
+Success: True
+# episodes completed so far: 26
+# successes: 24 (92.3%)
+
+Task: push the plate to the front of the stove
+Starting episode 27...
+Query 1/1: Action query time = 1.011 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2568
+t=10: Selected seed 195 with value = 0.2568
+Query 1/1: Action query time = 0.997 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2229
+t=26: Selected seed 195 with value = 0.2229
+Query 1/1: Action query time = 0.975 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3931
+t=42: Selected seed 195 with value = 0.3931
+Query 1/1: Action query time = 0.986 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4931
+t=58: Selected seed 195 with value = 0.4931
+Query 1/1: Action query time = 0.981 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6164
+t=74: Selected seed 195 with value = 0.6164
+Query 1/1: Action query time = 1.006 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7115
+t=90: Selected seed 195 with value = 0.7115
+Query 1/1: Action query time = 1.028 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7903
+t=106: Selected seed 195 with value = 0.7903
+Query 1/1: Action query time = 1.027 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6303
+t=122: Selected seed 195 with value = 0.6303
+Saved rollout MP4 at path ./rollouts/realcl_i800_t5/2026_08_01-00_21_25--episode=27--success=True--task=push_the_plate_to_the_front_of_the_stove.mp4
+Saved rollout MP4 at path ./rollouts/realcl_i800_t5/2026_08_01-00_21_25--with_future_img--episode=27--success=True--task=push_the_plate_to_the_front_of_the_.mp4
+Success: True
+# episodes completed so far: 27
+# successes: 25 (92.6%)
+
+Task: push the plate to the front of the stove
+Starting episode 28...
+Query 1/1: Action query time = 0.986 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.1644
+t=10: Selected seed 195 with value = 0.1644
+Query 1/1: Action query time = 0.976 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3200
+t=26: Selected seed 195 with value = 0.3200
+Query 1/1: Action query time = 0.962 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3368
+t=42: Selected seed 195 with value = 0.3368
+Query 1/1: Action query time = 0.972 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4137
+t=58: Selected seed 195 with value = 0.4137
+Query 1/1: Action query time = 0.991 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5354
+t=74: Selected seed 195 with value = 0.5354
+Query 1/1: Action query time = 1.310 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6292
+t=90: Selected seed 195 with value = 0.6292
+Query 1/1: Action query time = 1.319 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6686
+t=106: Selected seed 195 with value = 0.6686
+Query 1/1: Action query time = 1.162 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8499
+t=122: Selected seed 195 with value = 0.8499
+Query 1/1: Action query time = 1.122 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9582
+t=138: Selected seed 195 with value = 0.9582
+Saved rollout MP4 at path ./rollouts/realcl_i800_t5/2026_08_01-00_21_25--episode=28--success=True--task=push_the_plate_to_the_front_of_the_stove.mp4
+Saved rollout MP4 at path ./rollouts/realcl_i800_t5/2026_08_01-00_21_25--with_future_img--episode=28--success=True--task=push_the_plate_to_the_front_of_the_.mp4
+Success: True
+# episodes completed so far: 28
+# successes: 26 (92.9%)
+
+Task: push the plate to the front of the stove
+Starting episode 29...
+Query 1/1: Action query time = 0.981 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2397
+t=10: Selected seed 195 with value = 0.2397
+Query 1/1: Action query time = 1.187 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2346
+t=26: Selected seed 195 with value = 0.2346
+Query 1/1: Action query time = 1.183 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2495
+t=42: Selected seed 195 with value = 0.2495
+Query 1/1: Action query time = 1.141 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4598
+t=58: Selected seed 195 with value = 0.4598
+Query 1/1: Action query time = 1.165 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4446
+t=74: Selected seed 195 with value = 0.4446
+Query 1/1: Action query time = 1.191 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5727
+t=90: Selected seed 195 with value = 0.5727
+Query 1/1: Action query time = 1.129 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6693
+t=106: Selected seed 195 with value = 0.6693
+Query 1/1: Action query time = 0.984 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8233
+t=122: Selected seed 195 with value = 0.8233
+Query 1/1: Action query time = 0.977 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9970
+t=138: Selected seed 195 with value = 0.9970
+Saved rollout MP4 at path ./rollouts/realcl_i800_t5/2026_08_01-00_21_25--episode=29--success=True--task=push_the_plate_to_the_front_of_the_stove.mp4
+Saved rollout MP4 at path ./rollouts/realcl_i800_t5/2026_08_01-00_21_25--with_future_img--episode=29--success=True--task=push_the_plate_to_the_front_of_the_.mp4
+Success: True
+# episodes completed so far: 29
+# successes: 27 (93.1%)
+
+Task: push the plate to the front of the stove
+Starting episode 30...
+Query 1/1: Action query time = 1.088 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2978
+t=10: Selected seed 195 with value = 0.2978
+Query 1/1: Action query time = 1.082 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3388
+t=26: Selected seed 195 with value = 0.3388
+Query 1/1: Action query time = 1.089 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4757
+t=42: Selected seed 195 with value = 0.4757
+Query 1/1: Action query time = 1.013 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5562
+t=58: Selected seed 195 with value = 0.5562
+Query 1/1: Action query time = 1.076 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5179
+t=74: Selected seed 195 with value = 0.5179
+Query 1/1: Action query time = 1.175 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6142
+t=90: Selected seed 195 with value = 0.6142
+Query 1/1: Action query time = 1.185 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6794
+t=106: Selected seed 195 with value = 0.6794
+Query 1/1: Action query time = 1.002 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7886
+t=122: Selected seed 195 with value = 0.7886
+Query 1/1: Action query time = 0.959 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9760
+t=138: Selected seed 195 with value = 0.9760
+Saved rollout MP4 at path ./rollouts/realcl_i800_t5/2026_08_01-00_21_25--episode=30--success=True--task=push_the_plate_to_the_front_of_the_stove.mp4
+Saved rollout MP4 at path ./rollouts/realcl_i800_t5/2026_08_01-00_21_25--with_future_img--episode=30--success=True--task=push_the_plate_to_the_front_of_the_.mp4
+Success: True
+# episodes completed so far: 30
+# successes: 28 (93.3%)
+
+Task: push the plate to the front of the stove
+Starting episode 31...
+Query 1/1: Action query time = 1.004 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.1558
+t=10: Selected seed 195 with value = 0.1558
+Query 1/1: Action query time = 0.974 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2118
+t=26: Selected seed 195 with value = 0.2118
+Query 1/1: Action query time = 1.029 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2836
+t=42: Selected seed 195 with value = 0.2836
+Query 1/1: Action query time = 0.969 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3204
+t=58: Selected seed 195 with value = 0.3204
+Query 1/1: Action query time = 0.985 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3942
+t=74: Selected seed 195 with value = 0.3942
+Query 1/1: Action query time = 0.977 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6923
+t=90: Selected seed 195 with value = 0.6923
+Query 1/1: Action query time = 0.975 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5316
+t=106: Selected seed 195 with value = 0.5316
+Query 1/1: Action query time = 0.975 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6615
+t=122: Selected seed 195 with value = 0.6615
+Query 1/1: Action query time = 0.986 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8367
+t=138: Selected seed 195 with value = 0.8367
+Query 1/1: Action query time = 0.993 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9337
+t=154: Selected seed 195 with value = 0.9337
+Saved rollout MP4 at path ./rollouts/realcl_i800_t5/2026_08_01-00_21_25--episode=31--success=True--task=push_the_plate_to_the_front_of_the_stove.mp4
+Saved rollout MP4 at path ./rollouts/realcl_i800_t5/2026_08_01-00_21_25--with_future_img--episode=31--success=True--task=push_the_plate_to_the_front_of_the_.mp4
+Success: True
+# episodes completed so far: 31
+# successes: 29 (93.5%)
+
+Task: push the plate to the front of the stove
+Starting episode 32...
+Query 1/1: Action query time = 1.039 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.1663
+t=10: Selected seed 195 with value = 0.1663
+Query 1/1: Action query time = 0.961 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3118
+t=26: Selected seed 195 with value = 0.3118
+Query 1/1: Action query time = 0.971 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3801
+t=42: Selected seed 195 with value = 0.3801
+Query 1/1: Action query time = 0.957 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5196
+t=58: Selected seed 195 with value = 0.5196
+Query 1/1: Action query time = 0.968 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6549
+t=74: Selected seed 195 with value = 0.6549
+Query 1/1: Action query time = 0.970 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7471
+t=90: Selected seed 195 with value = 0.7471
+Query 1/1: Action query time = 0.982 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8700
+t=106: Selected seed 195 with value = 0.8700
+Query 1/1: Action query time = 1.031 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9967
+t=122: Selected seed 195 with value = 0.9967
+Saved rollout MP4 at path ./rollouts/realcl_i800_t5/2026_08_01-00_21_25--episode=32--success=True--task=push_the_plate_to_the_front_of_the_stove.mp4
+Saved rollout MP4 at path ./rollouts/realcl_i800_t5/2026_08_01-00_21_25--with_future_img--episode=32--success=True--task=push_the_plate_to_the_front_of_the_.mp4
+Success: True
+# episodes completed so far: 32
+# successes: 30 (93.8%)
+
+Task: push the plate to the front of the stove
+Starting episode 33...
+Query 1/1: Action query time = 1.390 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3317
+t=10: Selected seed 195 with value = 0.3317
+Query 1/1: Action query time = 1.283 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3800
+t=26: Selected seed 195 with value = 0.3800
+Query 1/1: Action query time = 0.994 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4226
+t=42: Selected seed 195 with value = 0.4226
+Query 1/1: Action query time = 0.992 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4660
+t=58: Selected seed 195 with value = 0.4660
+Query 1/1: Action query time = 0.975 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5798
+t=74: Selected seed 195 with value = 0.5798
+Query 1/1: Action query time = 1.089 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6421
+t=90: Selected seed 195 with value = 0.6421
+Query 1/1: Action query time = 1.050 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7416
+t=106: Selected seed 195 with value = 0.7416
+Query 1/1: Action query time = 0.974 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8534
+t=122: Selected seed 195 with value = 0.8534
+Saved rollout MP4 at path ./rollouts/realcl_i800_t5/2026_08_01-00_21_25--episode=33--success=True--task=push_the_plate_to_the_front_of_the_stove.mp4
+Saved rollout MP4 at path ./rollouts/realcl_i800_t5/2026_08_01-00_21_25--with_future_img--episode=33--success=True--task=push_the_plate_to_the_front_of_the_.mp4
+Success: True
+# episodes completed so far: 33
+# successes: 31 (93.9%)
+
+Task: push the plate to the front of the stove
+Starting episode 34...
+Query 1/1: Action query time = 1.005 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2073
+t=10: Selected seed 195 with value = 0.2073
+Query 1/1: Action query time = 0.988 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.1922
+t=26: Selected seed 195 with value = 0.1922
+Query 1/1: Action query time = 1.116 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4455
+t=42: Selected seed 195 with value = 0.4455
+Query 1/1: Action query time = 1.139 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2596
+t=58: Selected seed 195 with value = 0.2596
+Query 1/1: Action query time = 1.203 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5638
+t=74: Selected seed 195 with value = 0.5638
+Query 1/1: Action query time = 1.113 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3106
+t=90: Selected seed 195 with value = 0.3106
+Query 1/1: Action query time = 1.128 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3603
+t=106: Selected seed 195 with value = 0.3603
+Query 1/1: Action query time = 1.124 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4345
+t=122: Selected seed 195 with value = 0.4345
+Query 1/1: Action query time = 0.980 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4795
+t=138: Selected seed 195 with value = 0.4795
+Query 1/1: Action query time = 1.029 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6037
+t=154: Selected seed 195 with value = 0.6037
+Query 1/1: Action query time = 1.031 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5383
+t=170: Selected seed 195 with value = 0.5383
+Query 1/1: Action query time = 1.046 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6292
+t=186: Selected seed 195 with value = 0.6292
+Query 1/1: Action query time = 1.072 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7007
+t=202: Selected seed 195 with value = 0.7007
+Query 1/1: Action query time = 0.993 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8636
+t=218: Selected seed 195 with value = 0.8636
+Query 1/1: Action query time = 0.964 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9217
+t=234: Selected seed 195 with value = 0.9217
+Saved rollout MP4 at path ./rollouts/realcl_i800_t5/2026_08_01-00_21_25--episode=34--success=True--task=push_the_plate_to_the_front_of_the_stove.mp4
+Saved rollout MP4 at path ./rollouts/realcl_i800_t5/2026_08_01-00_21_25--with_future_img--episode=34--success=True--task=push_the_plate_to_the_front_of_the_.mp4
+Success: True
+# episodes completed so far: 34
+# successes: 32 (94.1%)
+
+Task: push the plate to the front of the stove
+Starting episode 35...
+Query 1/1: Action query time = 1.239 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2182
+t=10: Selected seed 195 with value = 0.2182
+Query 1/1: Action query time = 1.214 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.1559
+t=26: Selected seed 195 with value = 0.1559
+Query 1/1: Action query time = 1.262 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4137
+t=42: Selected seed 195 with value = 0.4137
+Query 1/1: Action query time = 1.263 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4223
+t=58: Selected seed 195 with value = 0.4223
+Query 1/1: Action query time = 1.104 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2598
+t=74: Selected seed 195 with value = 0.2598
+Query 1/1: Action query time = 1.018 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2948
+t=90: Selected seed 195 with value = 0.2948
+Query 1/1: Action query time = 0.973 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3473
+t=106: Selected seed 195 with value = 0.3473
+Query 1/1: Action query time = 1.006 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4239
+t=122: Selected seed 195 with value = 0.4239
+Query 1/1: Action query time = 1.028 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4822
+t=138: Selected seed 195 with value = 0.4822
+Query 1/1: Action query time = 1.004 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5551
+t=154: Selected seed 195 with value = 0.5551
+Query 1/1: Action query time = 0.971 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6195
+t=170: Selected seed 195 with value = 0.6195
+Query 1/1: Action query time = 0.985 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7214
+t=186: Selected seed 195 with value = 0.7214
+Query 1/1: Action query time = 1.018 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8396
+t=202: Selected seed 195 with value = 0.8396
+Query 1/1: Action query time = 0.974 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9762
+t=218: Selected seed 195 with value = 0.9762
+Saved rollout MP4 at path ./rollouts/realcl_i800_t5/2026_08_01-00_21_25--episode=35--success=True--task=push_the_plate_to_the_front_of_the_stove.mp4
+Saved rollout MP4 at path ./rollouts/realcl_i800_t5/2026_08_01-00_21_25--with_future_img--episode=35--success=True--task=push_the_plate_to_the_front_of_the_.mp4
+Success: True
+# episodes completed so far: 35
+# successes: 33 (94.3%)
+
+Task: push the plate to the front of the stove
+Starting episode 36...
+Query 1/1: Action query time = 1.270 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3021
+t=10: Selected seed 195 with value = 0.3021
+Query 1/1: Action query time = 1.244 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3530
+t=26: Selected seed 195 with value = 0.3530
+Query 1/1: Action query time = 1.173 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2925
+t=42: Selected seed 195 with value = 0.2925
+Query 1/1: Action query time = 1.023 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2877
+t=58: Selected seed 195 with value = 0.2877
+Query 1/1: Action query time = 1.051 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3850
+t=74: Selected seed 195 with value = 0.3850
+Query 1/1: Action query time = 0.971 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6028
+t=90: Selected seed 195 with value = 0.6028
+Query 1/1: Action query time = 0.984 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5405
+t=106: Selected seed 195 with value = 0.5405
+Query 1/1: Action query time = 0.954 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6233
+t=122: Selected seed 195 with value = 0.6233
+Saved rollout MP4 at path ./rollouts/realcl_i800_t5/2026_08_01-00_21_25--episode=36--success=True--task=push_the_plate_to_the_front_of_the_stove.mp4
+Saved rollout MP4 at path ./rollouts/realcl_i800_t5/2026_08_01-00_21_25--with_future_img--episode=36--success=True--task=push_the_plate_to_the_front_of_the_.mp4
+Success: True
+# episodes completed so far: 36
+# successes: 34 (94.4%)
+
+Task: push the plate to the front of the stove
+Starting episode 37...
+Query 1/1: Action query time = 1.019 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3044
+t=10: Selected seed 195 with value = 0.3044
+Query 1/1: Action query time = 1.080 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3216
+t=26: Selected seed 195 with value = 0.3216
+Query 1/1: Action query time = 1.063 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3825
+t=42: Selected seed 195 with value = 0.3825
+Query 1/1: Action query time = 0.978 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5172
+t=58: Selected seed 195 with value = 0.5172
+Query 1/1: Action query time = 0.996 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6480
+t=74: Selected seed 195 with value = 0.6480
+Query 1/1: Action query time = 0.980 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7602
+t=90: Selected seed 195 with value = 0.7602
+Query 1/1: Action query time = 0.966 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8893
+t=106: Selected seed 195 with value = 0.8893
+Saved rollout MP4 at path ./rollouts/realcl_i800_t5/2026_08_01-00_21_25--episode=37--success=True--task=push_the_plate_to_the_front_of_the_stove.mp4
+Saved rollout MP4 at path ./rollouts/realcl_i800_t5/2026_08_01-00_21_25--with_future_img--episode=37--success=True--task=push_the_plate_to_the_front_of_the_.mp4
+Success: True
+# episodes completed so far: 37
+# successes: 35 (94.6%)
+
+Task: push the plate to the front of the stove
+Starting episode 38...
+Query 1/1: Action query time = 0.987 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2624
+t=10: Selected seed 195 with value = 0.2624
+Query 1/1: Action query time = 0.986 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2247
+t=26: Selected seed 195 with value = 0.2247
+Query 1/1: Action query time = 0.967 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4144
+t=42: Selected seed 195 with value = 0.4144
+Query 1/1: Action query time = 0.966 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4311
+t=58: Selected seed 195 with value = 0.4311
+Query 1/1: Action query time = 1.039 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4908
+t=74: Selected seed 195 with value = 0.4908
+Query 1/1: Action query time = 1.040 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3839
+t=90: Selected seed 195 with value = 0.3839
+Query 1/1: Action query time = 1.080 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3534
+t=106: Selected seed 195 with value = 0.3534
+Query 1/1: Action query time = 1.064 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7681
+t=122: Selected seed 195 with value = 0.7681
+Query 1/1: Action query time = 1.062 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8878
+t=138: Selected seed 195 with value = 0.8878
+Saved rollout MP4 at path ./rollouts/realcl_i800_t5/2026_08_01-00_21_25--episode=38--success=True--task=push_the_plate_to_the_front_of_the_stove.mp4
+Saved rollout MP4 at path ./rollouts/realcl_i800_t5/2026_08_01-00_21_25--with_future_img--episode=38--success=True--task=push_the_plate_to_the_front_of_the_.mp4
+Success: True
+# episodes completed so far: 38
+# successes: 36 (94.7%)
+
+Task: push the plate to the front of the stove
+Starting episode 39...
+Query 1/1: Action query time = 0.982 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2432
+t=10: Selected seed 195 with value = 0.2432
+Query 1/1: Action query time = 1.034 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.1942
+t=26: Selected seed 195 with value = 0.1942
+Query 1/1: Action query time = 1.285 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2759
+t=42: Selected seed 195 with value = 0.2759
+Query 1/1: Action query time = 1.303 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4305
+t=58: Selected seed 195 with value = 0.4305
+Query 1/1: Action query time = 1.157 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2966
+t=74: Selected seed 195 with value = 0.2966
+Query 1/1: Action query time = 1.155 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6739
+t=90: Selected seed 195 with value = 0.6739
+Query 1/1: Action query time = 1.169 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8126
+t=106: Selected seed 195 with value = 0.8126
+Query 1/1: Action query time = 0.985 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9641
+t=122: Selected seed 195 with value = 0.9641
+Saved rollout MP4 at path ./rollouts/realcl_i800_t5/2026_08_01-00_21_25--episode=39--success=True--task=push_the_plate_to_the_front_of_the_stove.mp4
+Saved rollout MP4 at path ./rollouts/realcl_i800_t5/2026_08_01-00_21_25--with_future_img--episode=39--success=True--task=push_the_plate_to_the_front_of_the_.mp4
+Success: True
+# episodes completed so far: 39
+# successes: 37 (94.9%)
+
+Task: push the plate to the front of the stove
+Starting episode 40...
+Query 1/1: Action query time = 1.004 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3209
+t=10: Selected seed 195 with value = 0.3209
+Query 1/1: Action query time = 0.965 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3492
+t=26: Selected seed 195 with value = 0.3492
+Query 1/1: Action query time = 0.977 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4264
+t=42: Selected seed 195 with value = 0.4264
+Query 1/1: Action query time = 1.011 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4689
+t=58: Selected seed 195 with value = 0.4689
+Query 1/1: Action query time = 0.983 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5581
+t=74: Selected seed 195 with value = 0.5581
+Query 1/1: Action query time = 0.977 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6538
+t=90: Selected seed 195 with value = 0.6538
+Query 1/1: Action query time = 1.010 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7566
+t=106: Selected seed 195 with value = 0.7566
+Query 1/1: Action query time = 1.210 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8897
+t=122: Selected seed 195 with value = 0.8897
+Query 1/1: Action query time = 1.194 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=138: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/realcl_i800_t5/2026_08_01-00_21_25--episode=40--success=True--task=push_the_plate_to_the_front_of_the_stove.mp4
+Saved rollout MP4 at path ./rollouts/realcl_i800_t5/2026_08_01-00_21_25--with_future_img--episode=40--success=True--task=push_the_plate_to_the_front_of_the_.mp4
+Success: True
+# episodes completed so far: 40
+# successes: 38 (95.0%)
+
+Task: push the plate to the front of the stove
+Starting episode 41...
+Query 1/1: Action query time = 1.108 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2269
+t=10: Selected seed 195 with value = 0.2269
+Query 1/1: Action query time = 1.114 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2351
+t=26: Selected seed 195 with value = 0.2351
+Query 1/1: Action query time = 1.131 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2818
+t=42: Selected seed 195 with value = 0.2818
+Query 1/1: Action query time = 1.376 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3257
+t=58: Selected seed 195 with value = 0.3257
+Query 1/1: Action query time = 1.266 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3855
+t=74: Selected seed 195 with value = 0.3855
+Query 1/1: Action query time = 1.277 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4172
+t=90: Selected seed 195 with value = 0.4172
+Query 1/1: Action query time = 1.214 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5152
+t=106: Selected seed 195 with value = 0.5152
+Query 1/1: Action query time = 1.153 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6273
+t=122: Selected seed 195 with value = 0.6273
+Query 1/1: Action query time = 1.128 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7426
+t=138: Selected seed 195 with value = 0.7426
+Query 1/1: Action query time = 0.970 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8618
+t=154: Selected seed 195 with value = 0.8618
+Saved rollout MP4 at path ./rollouts/realcl_i800_t5/2026_08_01-00_21_25--episode=41--success=True--task=push_the_plate_to_the_front_of_the_stove.mp4
+Saved rollout MP4 at path ./rollouts/realcl_i800_t5/2026_08_01-00_21_25--with_future_img--episode=41--success=True--task=push_the_plate_to_the_front_of_the_.mp4
+Success: True
+# episodes completed so far: 41
+# successes: 39 (95.1%)
+
+Task: push the plate to the front of the stove
+Starting episode 42...
+Query 1/1: Action query time = 0.974 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2783
+t=10: Selected seed 195 with value = 0.2783
+Query 1/1: Action query time = 0.998 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3522
+t=26: Selected seed 195 with value = 0.3522
+Query 1/1: Action query time = 0.976 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3816
+t=42: Selected seed 195 with value = 0.3816
+Query 1/1: Action query time = 0.969 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3627
+t=58: Selected seed 195 with value = 0.3627
+Query 1/1: Action query time = 0.980 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4337
+t=74: Selected seed 195 with value = 0.4337
+Query 1/1: Action query time = 1.011 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5114
+t=90: Selected seed 195 with value = 0.5114
+Query 1/1: Action query time = 0.971 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6002
+t=106: Selected seed 195 with value = 0.6002
+Query 1/1: Action query time = 0.992 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6980
+t=122: Selected seed 195 with value = 0.6980
+Query 1/1: Action query time = 0.975 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8247
+t=138: Selected seed 195 with value = 0.8247
+Query 1/1: Action query time = 0.977 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9417
+t=154: Selected seed 195 with value = 0.9417
+Saved rollout MP4 at path ./rollouts/realcl_i800_t5/2026_08_01-00_21_25--episode=42--success=True--task=push_the_plate_to_the_front_of_the_stove.mp4
+Saved rollout MP4 at path ./rollouts/realcl_i800_t5/2026_08_01-00_21_25--with_future_img--episode=42--success=True--task=push_the_plate_to_the_front_of_the_.mp4
+Success: True
+# episodes completed so far: 42
+# successes: 40 (95.2%)
+
+Task: push the plate to the front of the stove
+Starting episode 43...
+Query 1/1: Action query time = 0.989 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2761
+t=10: Selected seed 195 with value = 0.2761
+Query 1/1: Action query time = 0.974 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2835
+t=26: Selected seed 195 with value = 0.2835
+Query 1/1: Action query time = 0.985 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4289
+t=42: Selected seed 195 with value = 0.4289
+Query 1/1: Action query time = 0.968 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4549
+t=58: Selected seed 195 with value = 0.4549
+Query 1/1: Action query time = 0.978 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4917
+t=74: Selected seed 195 with value = 0.4917
+Query 1/1: Action query time = 1.055 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5267
+t=90: Selected seed 195 with value = 0.5267
+Query 1/1: Action query time = 1.096 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6229
+t=106: Selected seed 195 with value = 0.6229
+Query 1/1: Action query time = 1.118 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7172
+t=122: Selected seed 195 with value = 0.7172
+Query 1/1: Action query time = 1.174 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9100
+t=138: Selected seed 195 with value = 0.9100
+Saved rollout MP4 at path ./rollouts/realcl_i800_t5/2026_08_01-00_21_25--episode=43--success=True--task=push_the_plate_to_the_front_of_the_stove.mp4
+Saved rollout MP4 at path ./rollouts/realcl_i800_t5/2026_08_01-00_21_25--with_future_img--episode=43--success=True--task=push_the_plate_to_the_front_of_the_.mp4
+Success: True
+# episodes completed so far: 43
+# successes: 41 (95.3%)
+
+Task: push the plate to the front of the stove
+Starting episode 44...
+Query 1/1: Action query time = 1.003 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.1546
+t=10: Selected seed 195 with value = 0.1546
+Query 1/1: Action query time = 0.982 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2029
+t=26: Selected seed 195 with value = 0.2029
+Query 1/1: Action query time = 0.975 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4440
+t=42: Selected seed 195 with value = 0.4440
+Query 1/1: Action query time = 0.969 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5424
+t=58: Selected seed 195 with value = 0.5424
+Query 1/1: Action query time = 0.983 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6572
+t=74: Selected seed 195 with value = 0.6572
+Query 1/1: Action query time = 0.958 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7089
+t=90: Selected seed 195 with value = 0.7089
+Query 1/1: Action query time = 0.976 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5630
+t=106: Selected seed 195 with value = 0.5630
+Saved rollout MP4 at path ./rollouts/realcl_i800_t5/2026_08_01-00_21_25--episode=44--success=True--task=push_the_plate_to_the_front_of_the_stove.mp4
+Saved rollout MP4 at path ./rollouts/realcl_i800_t5/2026_08_01-00_21_25--with_future_img--episode=44--success=True--task=push_the_plate_to_the_front_of_the_.mp4
+Success: True
+# episodes completed so far: 44
+# successes: 42 (95.5%)
+
+Task: push the plate to the front of the stove
+Starting episode 45...
+Query 1/1: Action query time = 0.977 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2939
+t=10: Selected seed 195 with value = 0.2939
+Query 1/1: Action query time = 0.983 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2123
+t=26: Selected seed 195 with value = 0.2123
+Query 1/1: Action query time = 0.968 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3942
+t=42: Selected seed 195 with value = 0.3942
+Query 1/1: Action query time = 0.992 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4549
+t=58: Selected seed 195 with value = 0.4549
+Query 1/1: Action query time = 0.994 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5918
+t=74: Selected seed 195 with value = 0.5918
+Query 1/1: Action query time = 0.975 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7284
+t=90: Selected seed 195 with value = 0.7284
+Query 1/1: Action query time = 1.026 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8419
+t=106: Selected seed 195 with value = 0.8419
+Query 1/1: Action query time = 1.039 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9666
+t=122: Selected seed 195 with value = 0.9666
+Saved rollout MP4 at path ./rollouts/realcl_i800_t5/2026_08_01-00_21_25--episode=45--success=True--task=push_the_plate_to_the_front_of_the_stove.mp4
+Saved rollout MP4 at path ./rollouts/realcl_i800_t5/2026_08_01-00_21_25--with_future_img--episode=45--success=True--task=push_the_plate_to_the_front_of_the_.mp4
+Success: True
+# episodes completed so far: 45
+# successes: 43 (95.6%)
+
+Task: push the plate to the front of the stove
+Starting episode 46...
+Query 1/1: Action query time = 1.012 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.1940
+t=10: Selected seed 195 with value = 0.1940
+Query 1/1: Action query time = 0.998 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3686
+t=26: Selected seed 195 with value = 0.3686
+Query 1/1: Action query time = 0.988 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4063
+t=42: Selected seed 195 with value = 0.4063
+Query 1/1: Action query time = 0.977 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4817
+t=58: Selected seed 195 with value = 0.4817
+Query 1/1: Action query time = 1.173 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5842
+t=74: Selected seed 195 with value = 0.5842
+Query 1/1: Action query time = 1.219 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5010
+t=90: Selected seed 195 with value = 0.5010
+Query 1/1: Action query time = 1.078 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8154
+t=106: Selected seed 195 with value = 0.8154
+Query 1/1: Action query time = 1.072 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9843
+t=122: Selected seed 195 with value = 0.9843
+Saved rollout MP4 at path ./rollouts/realcl_i800_t5/2026_08_01-00_21_25--episode=46--success=True--task=push_the_plate_to_the_front_of_the_stove.mp4
+Saved rollout MP4 at path ./rollouts/realcl_i800_t5/2026_08_01-00_21_25--with_future_img--episode=46--success=True--task=push_the_plate_to_the_front_of_the_.mp4
+Success: True
+# episodes completed so far: 46
+# successes: 44 (95.7%)
+
+Task: push the plate to the front of the stove
+Starting episode 47...
+Query 1/1: Action query time = 1.034 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2413
+t=10: Selected seed 195 with value = 0.2413
+Query 1/1: Action query time = 0.983 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2299
+t=26: Selected seed 195 with value = 0.2299
+Query 1/1: Action query time = 0.971 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4124
+t=42: Selected seed 195 with value = 0.4124
+Query 1/1: Action query time = 0.973 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4418
+t=58: Selected seed 195 with value = 0.4418
+Query 1/1: Action query time = 0.968 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2746
+t=74: Selected seed 195 with value = 0.2746
+Query 1/1: Action query time = 0.994 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3207
+t=90: Selected seed 195 with value = 0.3207
+Query 1/1: Action query time = 0.989 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3877
+t=106: Selected seed 195 with value = 0.3877
+Query 1/1: Action query time = 0.982 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4471
+t=122: Selected seed 195 with value = 0.4471
+Query 1/1: Action query time = 0.988 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6406
+t=138: Selected seed 195 with value = 0.6406
+Query 1/1: Action query time = 1.001 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6362
+t=154: Selected seed 195 with value = 0.6362
+Query 1/1: Action query time = 0.987 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7516
+t=170: Selected seed 195 with value = 0.7516
+Query 1/1: Action query time = 0.987 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8871
+t=186: Selected seed 195 with value = 0.8871
+Saved rollout MP4 at path ./rollouts/realcl_i800_t5/2026_08_01-00_21_25--episode=47--success=True--task=push_the_plate_to_the_front_of_the_stove.mp4
+Saved rollout MP4 at path ./rollouts/realcl_i800_t5/2026_08_01-00_21_25--with_future_img--episode=47--success=True--task=push_the_plate_to_the_front_of_the_.mp4
+Success: True
+# episodes completed so far: 47
+# successes: 45 (95.7%)
+
+Task: push the plate to the front of the stove
+Starting episode 48...
+Query 1/1: Action query time = 0.986 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3010
+t=10: Selected seed 195 with value = 0.3010
+Query 1/1: Action query time = 0.961 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3391
+t=26: Selected seed 195 with value = 0.3391
+Query 1/1: Action query time = 0.964 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4467
+t=42: Selected seed 195 with value = 0.4467
+Query 1/1: Action query time = 0.976 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4764
+t=58: Selected seed 195 with value = 0.4764
+Query 1/1: Action query time = 0.990 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5301
+t=74: Selected seed 195 with value = 0.5301
+Query 1/1: Action query time = 0.988 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6115
+t=90: Selected seed 195 with value = 0.6115
+Query 1/1: Action query time = 0.982 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7030
+t=106: Selected seed 195 with value = 0.7030
+Query 1/1: Action query time = 0.981 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8165
+t=122: Selected seed 195 with value = 0.8165
+Saved rollout MP4 at path ./rollouts/realcl_i800_t5/2026_08_01-00_21_25--episode=48--success=True--task=push_the_plate_to_the_front_of_the_stove.mp4
+Saved rollout MP4 at path ./rollouts/realcl_i800_t5/2026_08_01-00_21_25--with_future_img--episode=48--success=True--task=push_the_plate_to_the_front_of_the_.mp4
+Success: True
+# episodes completed so far: 48
+# successes: 46 (95.8%)
+
+Task: push the plate to the front of the stove
+Starting episode 49...
+Query 1/1: Action query time = 0.986 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2656
+t=10: Selected seed 195 with value = 0.2656
+Query 1/1: Action query time = 0.986 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2177
+t=26: Selected seed 195 with value = 0.2177
+Query 1/1: Action query time = 0.970 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4122
+t=42: Selected seed 195 with value = 0.4122
+Query 1/1: Action query time = 0.967 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2537
+t=58: Selected seed 195 with value = 0.2537
+Query 1/1: Action query time = 0.974 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2571
+t=74: Selected seed 195 with value = 0.2571
+Query 1/1: Action query time = 0.959 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3080
+t=90: Selected seed 195 with value = 0.3080
+Query 1/1: Action query time = 0.973 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3678
+t=106: Selected seed 195 with value = 0.3678
+Query 1/1: Action query time = 0.982 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4238
+t=122: Selected seed 195 with value = 0.4238
+Query 1/1: Action query time = 0.971 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8918
+t=138: Selected seed 195 with value = 0.8918
+Query 1/1: Action query time = 0.972 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=154: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/realcl_i800_t5/2026_08_01-00_21_25--episode=49--success=True--task=push_the_plate_to_the_front_of_the_stove.mp4
+Saved rollout MP4 at path ./rollouts/realcl_i800_t5/2026_08_01-00_21_25--with_future_img--episode=49--success=True--task=push_the_plate_to_the_front_of_the_.mp4
+Success: True
+# episodes completed so far: 49
+# successes: 47 (95.9%)
+
+Task: push the plate to the front of the stove
+Starting episode 50...
+Query 1/1: Action query time = 0.979 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.1562
+t=10: Selected seed 195 with value = 0.1562
+Query 1/1: Action query time = 0.968 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3111
+t=26: Selected seed 195 with value = 0.3111
+Query 1/1: Action query time = 0.977 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3887
+t=42: Selected seed 195 with value = 0.3887
+Query 1/1: Action query time = 0.977 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4752
+t=58: Selected seed 195 with value = 0.4752
+Query 1/1: Action query time = 0.962 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5506
+t=74: Selected seed 195 with value = 0.5506
+Query 1/1: Action query time = 0.962 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6036
+t=90: Selected seed 195 with value = 0.6036
+Query 1/1: Action query time = 0.973 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7059
+t=106: Selected seed 195 with value = 0.7059
+Query 1/1: Action query time = 1.034 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8352
+t=122: Selected seed 195 with value = 0.8352
+Query 1/1: Action query time = 1.025 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9968
+t=138: Selected seed 195 with value = 0.9968
+Saved rollout MP4 at path ./rollouts/realcl_i800_t5/2026_08_01-00_21_25--episode=50--success=True--task=push_the_plate_to_the_front_of_the_stove.mp4
+Saved rollout MP4 at path ./rollouts/realcl_i800_t5/2026_08_01-00_21_25--with_future_img--episode=50--success=True--task=push_the_plate_to_the_front_of_the_.mp4
+Success: True
+# episodes completed so far: 50
+# successes: 48 (96.0%)
+Current task success rate: 0.96
+Current total success rate: 0.96
+Final results:
+Total episodes: 50
+Total successes: 48
+Overall success rate: 0.9600 (96.0%)
diff --git a/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_01-11_30_14--forget_cl_iter350_t0123.txt b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_01-11_30_14--forget_cl_iter350_t0123.txt
new file mode 100644
index 0000000000000000000000000000000000000000..e6d0f94e3d077956dbc937a039f7e9924d8e9f82
--- /dev/null
+++ b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_01-11_30_14--forget_cl_iter350_t0123.txt
@@ -0,0 +1,1109 @@
+Eval config: PolicyEvalConfig(suite='libero', model_family='cosmos', config='cosmos_predict2_2b_480p_libero_cl_stage_inference_only', ckpt_path='/home/azureuser/REGEN-main/new/cosmos_policy/cosmos_v2_finetune/cosmos_predict2_2b_480p_libero_goal_task6_forget_cl_from100_2gpu/checkpoints/iter_000000350/model', planning_model_config_name='', planning_model_ckpt_path='', config_file='cosmos_policy/config/config.py', packnet_mask_path='', packnet_first_cl_libero_task=6, use_third_person_image=True, num_third_person_images=1, use_wrist_image=True, num_wrist_images=1, use_proprio=True, flip_images=True, use_variance_scale=False, use_jpeg_compression=True, ar_future_prediction=False, ar_value_prediction=False, ar_qvalue_prediction=False, num_denoising_steps_action=5, num_denoising_steps_future_state=1, num_denoising_steps_value=1, unnormalize_actions=True, normalize_proprio=True, dataset_stats_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/libero_goal_regen/dataset_statistics.json', t5_text_embeddings_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/t5_embeddings.pkl', trained_with_image_aug=True, chunk_size=16, num_open_loop_steps=16, deterministic=True, deterministic_reset=False, deterministic_reset_seed=None, use_ensemble_future_state_predictions=False, num_future_state_predictions_in_ensemble=3, future_state_ensemble_aggregation_scheme='average', use_ensemble_value_predictions=False, num_value_predictions_in_ensemble=5, value_ensemble_aggregation_scheme='average', search_depth=1, mask_current_state_action_for_value_prediction=False, mask_future_state_for_qvalue_prediction=False, num_queries_best_of_n=1, use_parallel_inference=False, available_gpus='0', parallel_timeout=15, parallel_tasks_across_gpus=False, task_suite_name='libero_goal', num_trials_per_task=50, task_ids_to_run='0,1,2,3', initial_states_path='DEFAULT', env_img_res=256, local_log_dir='/home/azureuser/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal', run_id_note='forget_cl_iter350_t0123', use_wandb=False, wandb_entity='YOUR_ENTITY', wandb_project='YOUR_PROJECT', seed=195, randomize_seed=False, data_collection=False, jpeg_compress=True, reward_stop_threshold=None, reward_stop_consecutive_steps=3, use_gpt_reward=False, gpt_reward_model='gpt-5.4-mini', gpt_reward_stop_threshold=4, gpt_reward_timeout_s=30.0, save_rollout_video=True, eval_hdf5_path='', eval_hdf5_demo_key='demo_0', data_gen_demo_ids='', replay_actions=False, replay_action_path_dir='', replay_hdf5_path='', data_generation=False, max_generation_steps=200, simple_task_max_steps=100, complex_task_max_steps=200)
+Using serial inference (parallel inference disabled)
+Task suite: libero_goal
+Number of tasks: 10
+Running only task IDs: [0, 1, 2, 3]
+Using default initial states
+
+Task: open the middle drawer of the cabinet
+Starting episode 1...
+Query 1/1: Action query time = 1.540 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3719
+t=10: Selected seed 195 with value = 0.3719
+Query 1/1: Action query time = 0.961 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4272
+t=26: Selected seed 195 with value = 0.4272
+Query 1/1: Action query time = 0.956 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5093
+t=42: Selected seed 195 with value = 0.5093
+Query 1/1: Action query time = 0.971 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5927
+t=58: Selected seed 195 with value = 0.5927
+Query 1/1: Action query time = 0.974 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6474
+t=74: Selected seed 195 with value = 0.6474
+Query 1/1: Action query time = 0.976 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6998
+t=90: Selected seed 195 with value = 0.6998
+Query 1/1: Action query time = 0.953 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8840
+t=106: Selected seed 195 with value = 0.8840
+Query 1/1: Action query time = 0.951 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9972
+t=122: Selected seed 195 with value = 0.9972
+Saved rollout MP4 at path ./rollouts/forget_cl_iter350_t0123/2026_08_01-11_30_14--episode=1--success=True--task=open_the_middle_drawer_of_the_cabinet.mp4
+Saved rollout MP4 at path ./rollouts/forget_cl_iter350_t0123/2026_08_01-11_30_14--with_future_img--episode=1--success=True--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: True
+# episodes completed so far: 1
+# successes: 1 (100.0%)
+
+Task: open the middle drawer of the cabinet
+Starting episode 2...
+Query 1/1: Action query time = 1.073 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3631
+t=10: Selected seed 195 with value = 0.3631
+Query 1/1: Action query time = 1.015 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4020
+t=26: Selected seed 195 with value = 0.4020
+Query 1/1: Action query time = 0.972 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4736
+t=42: Selected seed 195 with value = 0.4736
+Query 1/1: Action query time = 0.962 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5531
+t=58: Selected seed 195 with value = 0.5531
+Query 1/1: Action query time = 0.976 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6675
+t=74: Selected seed 195 with value = 0.6675
+Query 1/1: Action query time = 0.969 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7828
+t=90: Selected seed 195 with value = 0.7828
+Query 1/1: Action query time = 0.968 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9359
+t=106: Selected seed 195 with value = 0.9359
+Query 1/1: Action query time = 0.971 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=122: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/forget_cl_iter350_t0123/2026_08_01-11_30_14--episode=2--success=True--task=open_the_middle_drawer_of_the_cabinet.mp4
+Saved rollout MP4 at path ./rollouts/forget_cl_iter350_t0123/2026_08_01-11_30_14--with_future_img--episode=2--success=True--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: True
+# episodes completed so far: 2
+# successes: 2 (100.0%)
+
+Task: open the middle drawer of the cabinet
+Starting episode 3...
+Query 1/1: Action query time = 0.961 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4020
+t=10: Selected seed 195 with value = 0.4020
+Query 1/1: Action query time = 0.965 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4376
+t=26: Selected seed 195 with value = 0.4376
+Query 1/1: Action query time = 0.966 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4940
+t=42: Selected seed 195 with value = 0.4940
+Query 1/1: Action query time = 0.961 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6058
+t=58: Selected seed 195 with value = 0.6058
+Query 1/1: Action query time = 0.963 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6639
+t=74: Selected seed 195 with value = 0.6639
+Query 1/1: Action query time = 0.977 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7698
+t=90: Selected seed 195 with value = 0.7698
+Query 1/1: Action query time = 0.994 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9210
+t=106: Selected seed 195 with value = 0.9210
+Query 1/1: Action query time = 0.990 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=122: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/forget_cl_iter350_t0123/2026_08_01-11_30_14--episode=3--success=True--task=open_the_middle_drawer_of_the_cabinet.mp4
+Saved rollout MP4 at path ./rollouts/forget_cl_iter350_t0123/2026_08_01-11_30_14--with_future_img--episode=3--success=True--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: True
+# episodes completed so far: 3
+# successes: 3 (100.0%)
+
+Task: open the middle drawer of the cabinet
+Starting episode 4...
+Query 1/1: Action query time = 0.962 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3458
+t=10: Selected seed 195 with value = 0.3458
+Query 1/1: Action query time = 1.197 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3916
+t=26: Selected seed 195 with value = 0.3916
+Query 1/1: Action query time = 1.192 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5129
+t=42: Selected seed 195 with value = 0.5129
+Query 1/1: Action query time = 1.157 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5419
+t=58: Selected seed 195 with value = 0.5419
+Query 1/1: Action query time = 1.060 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6503
+t=74: Selected seed 195 with value = 0.6503
+Query 1/1: Action query time = 1.007 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7950
+t=90: Selected seed 195 with value = 0.7950
+Query 1/1: Action query time = 0.955 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9105
+t=106: Selected seed 195 with value = 0.9105
+Query 1/1: Action query time = 0.991 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=122: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/forget_cl_iter350_t0123/2026_08_01-11_30_14--episode=4--success=True--task=open_the_middle_drawer_of_the_cabinet.mp4
+Saved rollout MP4 at path ./rollouts/forget_cl_iter350_t0123/2026_08_01-11_30_14--with_future_img--episode=4--success=True--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: True
+# episodes completed so far: 4
+# successes: 4 (100.0%)
+
+Task: open the middle drawer of the cabinet
+Starting episode 5...
+Query 1/1: Action query time = 0.974 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3867
+t=10: Selected seed 195 with value = 0.3867
+Query 1/1: Action query time = 0.949 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4449
+t=26: Selected seed 195 with value = 0.4449
+Query 1/1: Action query time = 0.959 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5169
+t=42: Selected seed 195 with value = 0.5169
+Query 1/1: Action query time = 0.958 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5869
+t=58: Selected seed 195 with value = 0.5869
+Query 1/1: Action query time = 0.978 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6938
+t=74: Selected seed 195 with value = 0.6938
+Query 1/1: Action query time = 0.963 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8185
+t=90: Selected seed 195 with value = 0.8185
+Query 1/1: Action query time = 0.960 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9482
+t=106: Selected seed 195 with value = 0.9482
+Query 1/1: Action query time = 0.981 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=122: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/forget_cl_iter350_t0123/2026_08_01-11_30_14--episode=5--success=True--task=open_the_middle_drawer_of_the_cabinet.mp4
+Saved rollout MP4 at path ./rollouts/forget_cl_iter350_t0123/2026_08_01-11_30_14--with_future_img--episode=5--success=True--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: True
+# episodes completed so far: 5
+# successes: 5 (100.0%)
+
+Task: open the middle drawer of the cabinet
+Starting episode 6...
+Query 1/1: Action query time = 0.964 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3585
+t=10: Selected seed 195 with value = 0.3585
+Query 1/1: Action query time = 0.953 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4114
+t=26: Selected seed 195 with value = 0.4114
+Query 1/1: Action query time = 0.968 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4905
+t=42: Selected seed 195 with value = 0.4905
+Query 1/1: Action query time = 0.960 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5588
+t=58: Selected seed 195 with value = 0.5588
+Query 1/1: Action query time = 0.978 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6931
+t=74: Selected seed 195 with value = 0.6931
+Query 1/1: Action query time = 0.957 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7411
+t=90: Selected seed 195 with value = 0.7411
+Query 1/1: Action query time = 0.962 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7378
+t=106: Selected seed 195 with value = 0.7378
+Query 1/1: Action query time = 1.001 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9454
+t=122: Selected seed 195 with value = 0.9454
+Query 1/1: Action query time = 1.024 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=138: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/forget_cl_iter350_t0123/2026_08_01-11_30_14--episode=6--success=True--task=open_the_middle_drawer_of_the_cabinet.mp4
+Saved rollout MP4 at path ./rollouts/forget_cl_iter350_t0123/2026_08_01-11_30_14--with_future_img--episode=6--success=True--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: True
+# episodes completed so far: 6
+# successes: 6 (100.0%)
+
+Task: open the middle drawer of the cabinet
+Starting episode 7...
+Query 1/1: Action query time = 0.984 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3376
+t=10: Selected seed 195 with value = 0.3376
+Query 1/1: Action query time = 0.972 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3216
+t=26: Selected seed 195 with value = 0.3216
+Query 1/1: Action query time = 0.961 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4422
+t=42: Selected seed 195 with value = 0.4422
+Query 1/1: Action query time = 0.961 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5883
+t=58: Selected seed 195 with value = 0.5883
+Query 1/1: Action query time = 0.967 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7134
+t=74: Selected seed 195 with value = 0.7134
+Query 1/1: Action query time = 0.958 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8426
+t=90: Selected seed 195 with value = 0.8426
+Query 1/1: Action query time = 0.974 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9842
+t=106: Selected seed 195 with value = 0.9842
+Query 1/1: Action query time = 0.966 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=122: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/forget_cl_iter350_t0123/2026_08_01-11_30_14--episode=7--success=True--task=open_the_middle_drawer_of_the_cabinet.mp4
+Saved rollout MP4 at path ./rollouts/forget_cl_iter350_t0123/2026_08_01-11_30_14--with_future_img--episode=7--success=True--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: True
+# episodes completed so far: 7
+# successes: 7 (100.0%)
+
+Task: open the middle drawer of the cabinet
+Starting episode 8...
+Query 1/1: Action query time = 1.015 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3503
+t=10: Selected seed 195 with value = 0.3503
+Query 1/1: Action query time = 0.961 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4016
+t=26: Selected seed 195 with value = 0.4016
+Query 1/1: Action query time = 0.964 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4705
+t=42: Selected seed 195 with value = 0.4705
+Query 1/1: Action query time = 0.977 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5435
+t=58: Selected seed 195 with value = 0.5435
+Query 1/1: Action query time = 0.962 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6509
+t=74: Selected seed 195 with value = 0.6509
+Query 1/1: Action query time = 0.970 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7556
+t=90: Selected seed 195 with value = 0.7556
+Query 1/1: Action query time = 1.093 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9251
+t=106: Selected seed 195 with value = 0.9251
+Query 1/1: Action query time = 1.100 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=122: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/forget_cl_iter350_t0123/2026_08_01-11_30_14--episode=8--success=True--task=open_the_middle_drawer_of_the_cabinet.mp4
+Saved rollout MP4 at path ./rollouts/forget_cl_iter350_t0123/2026_08_01-11_30_14--with_future_img--episode=8--success=True--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: True
+# episodes completed so far: 8
+# successes: 8 (100.0%)
+
+Task: open the middle drawer of the cabinet
+Starting episode 9...
+Query 1/1: Action query time = 1.086 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3551
+t=10: Selected seed 195 with value = 0.3551
+Query 1/1: Action query time = 0.975 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4463
+t=26: Selected seed 195 with value = 0.4463
+Query 1/1: Action query time = 0.974 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4950
+t=42: Selected seed 195 with value = 0.4950
+Query 1/1: Action query time = 0.975 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6139
+t=58: Selected seed 195 with value = 0.6139
+Query 1/1: Action query time = 0.981 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7218
+t=74: Selected seed 195 with value = 0.7218
+Query 1/1: Action query time = 0.957 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8125
+t=90: Selected seed 195 with value = 0.8125
+Query 1/1: Action query time = 0.960 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9231
+t=106: Selected seed 195 with value = 0.9231
+Query 1/1: Action query time = 0.947 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=122: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/forget_cl_iter350_t0123/2026_08_01-11_30_14--episode=9--success=True--task=open_the_middle_drawer_of_the_cabinet.mp4
+Saved rollout MP4 at path ./rollouts/forget_cl_iter350_t0123/2026_08_01-11_30_14--with_future_img--episode=9--success=True--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: True
+# episodes completed so far: 9
+# successes: 9 (100.0%)
+
+Task: open the middle drawer of the cabinet
+Starting episode 10...
+Query 1/1: Action query time = 0.982 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4201
+t=10: Selected seed 195 with value = 0.4201
+Query 1/1: Action query time = 1.081 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4795
+t=26: Selected seed 195 with value = 0.4795
+Query 1/1: Action query time = 1.089 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5458
+t=42: Selected seed 195 with value = 0.5458
+Query 1/1: Action query time = 1.072 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6308
+t=58: Selected seed 195 with value = 0.6308
+Query 1/1: Action query time = 0.986 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7316
+t=74: Selected seed 195 with value = 0.7316
+Query 1/1: Action query time = 0.977 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8119
+t=90: Selected seed 195 with value = 0.8119
+Query 1/1: Action query time = 0.964 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9799
+t=106: Selected seed 195 with value = 0.9799
+Query 1/1: Action query time = 0.961 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=122: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/forget_cl_iter350_t0123/2026_08_01-11_30_14--episode=10--success=True--task=open_the_middle_drawer_of_the_cabinet.mp4
+Saved rollout MP4 at path ./rollouts/forget_cl_iter350_t0123/2026_08_01-11_30_14--with_future_img--episode=10--success=True--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: True
+# episodes completed so far: 10
+# successes: 10 (100.0%)
+
+Task: open the middle drawer of the cabinet
+Starting episode 11...
+Query 1/1: Action query time = 0.988 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3635
+t=10: Selected seed 195 with value = 0.3635
+Query 1/1: Action query time = 0.958 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3757
+t=26: Selected seed 195 with value = 0.3757
+Query 1/1: Action query time = 0.959 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4528
+t=42: Selected seed 195 with value = 0.4528
+Query 1/1: Action query time = 0.960 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5197
+t=58: Selected seed 195 with value = 0.5197
+Query 1/1: Action query time = 0.974 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5934
+t=74: Selected seed 195 with value = 0.5934
+Query 1/1: Action query time = 0.974 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6123
+t=90: Selected seed 195 with value = 0.6123
+Query 1/1: Action query time = 0.972 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8659
+t=106: Selected seed 195 with value = 0.8659
+Query 1/1: Action query time = 0.964 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9748
+t=122: Selected seed 195 with value = 0.9748
+Query 1/1: Action query time = 0.977 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9961
+t=138: Selected seed 195 with value = 0.9961
+Saved rollout MP4 at path ./rollouts/forget_cl_iter350_t0123/2026_08_01-11_30_14--episode=11--success=True--task=open_the_middle_drawer_of_the_cabinet.mp4
+Saved rollout MP4 at path ./rollouts/forget_cl_iter350_t0123/2026_08_01-11_30_14--with_future_img--episode=11--success=True--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: True
+# episodes completed so far: 11
+# successes: 11 (100.0%)
+
+Task: open the middle drawer of the cabinet
+Starting episode 12...
+Query 1/1: Action query time = 0.996 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3657
+t=10: Selected seed 195 with value = 0.3657
+Query 1/1: Action query time = 0.981 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4239
+t=26: Selected seed 195 with value = 0.4239
+Query 1/1: Action query time = 0.983 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5040
+t=42: Selected seed 195 with value = 0.5040
+Query 1/1: Action query time = 0.984 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5795
+t=58: Selected seed 195 with value = 0.5795
+Query 1/1: Action query time = 0.988 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7132
+t=74: Selected seed 195 with value = 0.7132
+Query 1/1: Action query time = 0.963 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8201
+t=90: Selected seed 195 with value = 0.8201
+Query 1/1: Action query time = 0.981 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8825
+t=106: Selected seed 195 with value = 0.8825
+Query 1/1: Action query time = 0.986 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9812
+t=122: Selected seed 195 with value = 0.9812
+Query 1/1: Action query time = 0.979 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=138: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/forget_cl_iter350_t0123/2026_08_01-11_30_14--episode=12--success=True--task=open_the_middle_drawer_of_the_cabinet.mp4
+Saved rollout MP4 at path ./rollouts/forget_cl_iter350_t0123/2026_08_01-11_30_14--with_future_img--episode=12--success=True--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: True
+# episodes completed so far: 12
+# successes: 12 (100.0%)
+
+Task: open the middle drawer of the cabinet
+Starting episode 13...
+Query 1/1: Action query time = 0.979 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3697
+t=10: Selected seed 195 with value = 0.3697
+Query 1/1: Action query time = 0.982 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4024
+t=26: Selected seed 195 with value = 0.4024
+Query 1/1: Action query time = 0.978 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4521
+t=42: Selected seed 195 with value = 0.4521
+Query 1/1: Action query time = 0.986 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5324
+t=58: Selected seed 195 with value = 0.5324
+Query 1/1: Action query time = 0.980 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6246
+t=74: Selected seed 195 with value = 0.6246
+Query 1/1: Action query time = 0.977 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7488
+t=90: Selected seed 195 with value = 0.7488
+Query 1/1: Action query time = 0.966 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9108
+t=106: Selected seed 195 with value = 0.9108
+Query 1/1: Action query time = 1.076 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=122: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/forget_cl_iter350_t0123/2026_08_01-11_30_14--episode=13--success=True--task=open_the_middle_drawer_of_the_cabinet.mp4
+Saved rollout MP4 at path ./rollouts/forget_cl_iter350_t0123/2026_08_01-11_30_14--with_future_img--episode=13--success=True--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: True
+# episodes completed so far: 13
+# successes: 13 (100.0%)
+
+Task: open the middle drawer of the cabinet
+Starting episode 14...
+Query 1/1: Action query time = 0.993 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3745
+t=10: Selected seed 195 with value = 0.3745
+Query 1/1: Action query time = 0.976 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4087
+t=26: Selected seed 195 with value = 0.4087
+Query 1/1: Action query time = 0.975 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4756
+t=42: Selected seed 195 with value = 0.4756
+Query 1/1: Action query time = 0.969 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5516
+t=58: Selected seed 195 with value = 0.5516
+Query 1/1: Action query time = 0.965 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6537
+t=74: Selected seed 195 with value = 0.6537
+Query 1/1: Action query time = 0.970 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7488
+t=90: Selected seed 195 with value = 0.7488
+Query 1/1: Action query time = 0.966 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9231
+t=106: Selected seed 195 with value = 0.9231
+Query 1/1: Action query time = 0.961 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=122: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/forget_cl_iter350_t0123/2026_08_01-11_30_14--episode=14--success=True--task=open_the_middle_drawer_of_the_cabinet.mp4
+Saved rollout MP4 at path ./rollouts/forget_cl_iter350_t0123/2026_08_01-11_30_14--with_future_img--episode=14--success=True--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: True
+# episodes completed so far: 14
+# successes: 14 (100.0%)
+
+Task: open the middle drawer of the cabinet
+Starting episode 15...
+Query 1/1: Action query time = 0.983 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3213
+t=10: Selected seed 195 with value = 0.3213
+Query 1/1: Action query time = 1.050 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4196
+t=26: Selected seed 195 with value = 0.4196
+Query 1/1: Action query time = 1.043 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4792
+t=42: Selected seed 195 with value = 0.4792
+Query 1/1: Action query time = 1.076 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5606
+t=58: Selected seed 195 with value = 0.5606
+Query 1/1: Action query time = 1.026 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6226
+t=74: Selected seed 195 with value = 0.6226
+Query 1/1: Action query time = 0.979 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7231
+t=90: Selected seed 195 with value = 0.7231
+Query 1/1: Action query time = 0.976 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8490
+t=106: Selected seed 195 with value = 0.8490
+Query 1/1: Action query time = 0.964 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9601
+t=122: Selected seed 195 with value = 0.9601
+Query 1/1: Action query time = 0.994 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9970
+t=138: Selected seed 195 with value = 0.9970
+Saved rollout MP4 at path ./rollouts/forget_cl_iter350_t0123/2026_08_01-11_30_14--episode=15--success=True--task=open_the_middle_drawer_of_the_cabinet.mp4
+Saved rollout MP4 at path ./rollouts/forget_cl_iter350_t0123/2026_08_01-11_30_14--with_future_img--episode=15--success=True--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: True
+# episodes completed so far: 15
+# successes: 15 (100.0%)
+
+Task: open the middle drawer of the cabinet
+Starting episode 16...
+Query 1/1: Action query time = 0.985 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3506
+t=10: Selected seed 195 with value = 0.3506
+Query 1/1: Action query time = 0.970 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4170
+t=26: Selected seed 195 with value = 0.4170
+Query 1/1: Action query time = 0.951 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4758
+t=42: Selected seed 195 with value = 0.4758
+Query 1/1: Action query time = 0.975 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5455
+t=58: Selected seed 195 with value = 0.5455
+Query 1/1: Action query time = 0.979 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6441
+t=74: Selected seed 195 with value = 0.6441
+Query 1/1: Action query time = 0.980 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7474
+t=90: Selected seed 195 with value = 0.7474
+Query 1/1: Action query time = 0.962 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9087
+t=106: Selected seed 195 with value = 0.9087
+Query 1/1: Action query time = 0.959 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=122: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/forget_cl_iter350_t0123/2026_08_01-11_30_14--episode=16--success=True--task=open_the_middle_drawer_of_the_cabinet.mp4
+Saved rollout MP4 at path ./rollouts/forget_cl_iter350_t0123/2026_08_01-11_30_14--with_future_img--episode=16--success=True--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: True
+# episodes completed so far: 16
+# successes: 16 (100.0%)
+
+Task: open the middle drawer of the cabinet
+Starting episode 17...
+Query 1/1: Action query time = 0.997 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3794
+t=10: Selected seed 195 with value = 0.3794
+Query 1/1: Action query time = 0.981 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4320
+t=26: Selected seed 195 with value = 0.4320
+Query 1/1: Action query time = 0.981 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5230
+t=42: Selected seed 195 with value = 0.5230
+Query 1/1: Action query time = 0.995 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6076
+t=58: Selected seed 195 with value = 0.6076
+Query 1/1: Action query time = 0.999 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7112
+t=74: Selected seed 195 with value = 0.7112
+Query 1/1: Action query time = 1.041 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8458
+t=90: Selected seed 195 with value = 0.8458
+Query 1/1: Action query time = 1.112 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9854
+t=106: Selected seed 195 with value = 0.9854
+Query 1/1: Action query time = 1.210 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=122: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/forget_cl_iter350_t0123/2026_08_01-11_30_14--episode=17--success=True--task=open_the_middle_drawer_of_the_cabinet.mp4
+Saved rollout MP4 at path ./rollouts/forget_cl_iter350_t0123/2026_08_01-11_30_14--with_future_img--episode=17--success=True--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: True
+# episodes completed so far: 17
+# successes: 17 (100.0%)
+
+Task: open the middle drawer of the cabinet
+Starting episode 18...
+Query 1/1: Action query time = 0.983 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3588
+t=10: Selected seed 195 with value = 0.3588
+Query 1/1: Action query time = 0.996 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4258
+t=26: Selected seed 195 with value = 0.4258
+Query 1/1: Action query time = 0.964 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5182
+t=42: Selected seed 195 with value = 0.5182
+Query 1/1: Action query time = 0.983 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5305
+t=58: Selected seed 195 with value = 0.5305
+Query 1/1: Action query time = 0.976 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5429
+t=74: Selected seed 195 with value = 0.5429
+Query 1/1: Action query time = 0.961 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7564
+t=90: Selected seed 195 with value = 0.7564
+Query 1/1: Action query time = 0.982 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8996
+t=106: Selected seed 195 with value = 0.8996
+Query 1/1: Action query time = 0.976 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9944
+t=122: Selected seed 195 with value = 0.9944
+Saved rollout MP4 at path ./rollouts/forget_cl_iter350_t0123/2026_08_01-11_30_14--episode=18--success=True--task=open_the_middle_drawer_of_the_cabinet.mp4
+Saved rollout MP4 at path ./rollouts/forget_cl_iter350_t0123/2026_08_01-11_30_14--with_future_img--episode=18--success=True--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: True
+# episodes completed so far: 18
+# successes: 18 (100.0%)
+
+Task: open the middle drawer of the cabinet
+Starting episode 19...
+Query 1/1: Action query time = 0.997 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3501
+t=10: Selected seed 195 with value = 0.3501
+Query 1/1: Action query time = 0.997 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4676
+t=26: Selected seed 195 with value = 0.4676
+Query 1/1: Action query time = 0.974 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5261
+t=42: Selected seed 195 with value = 0.5261
+Query 1/1: Action query time = 1.033 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6068
+t=58: Selected seed 195 with value = 0.6068
+Query 1/1: Action query time = 0.975 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7338
+t=74: Selected seed 195 with value = 0.7338
+Query 1/1: Action query time = 0.978 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8026
+t=90: Selected seed 195 with value = 0.8026
+Query 1/1: Action query time = 0.966 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7346
+t=106: Selected seed 195 with value = 0.7346
+Query 1/1: Action query time = 0.987 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7972
+t=122: Selected seed 195 with value = 0.7972
+Query 1/1: Action query time = 0.974 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8072
+t=138: Selected seed 195 with value = 0.8072
+Query 1/1: Action query time = 0.983 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9577
+t=154: Selected seed 195 with value = 0.9577
+Query 1/1: Action query time = 0.965 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9953
+t=170: Selected seed 195 with value = 0.9953
+Saved rollout MP4 at path ./rollouts/forget_cl_iter350_t0123/2026_08_01-11_30_14--episode=19--success=True--task=open_the_middle_drawer_of_the_cabinet.mp4
+Saved rollout MP4 at path ./rollouts/forget_cl_iter350_t0123/2026_08_01-11_30_14--with_future_img--episode=19--success=True--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: True
+# episodes completed so far: 19
+# successes: 19 (100.0%)
+
+Task: open the middle drawer of the cabinet
+Starting episode 20...
+Query 1/1: Action query time = 0.980 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4208
+t=10: Selected seed 195 with value = 0.4208
+Query 1/1: Action query time = 0.976 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4858
+t=26: Selected seed 195 with value = 0.4858
+Query 1/1: Action query time = 0.976 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5562
+t=42: Selected seed 195 with value = 0.5562
+Query 1/1: Action query time = 0.978 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6392
+t=58: Selected seed 195 with value = 0.6392
+Query 1/1: Action query time = 0.971 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7385
+t=74: Selected seed 195 with value = 0.7385
+Query 1/1: Action query time = 0.973 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8408
+t=90: Selected seed 195 with value = 0.8408
+Query 1/1: Action query time = 0.975 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=106: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.962 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=122: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/forget_cl_iter350_t0123/2026_08_01-11_30_14--episode=20--success=True--task=open_the_middle_drawer_of_the_cabinet.mp4
+Saved rollout MP4 at path ./rollouts/forget_cl_iter350_t0123/2026_08_01-11_30_14--with_future_img--episode=20--success=True--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: True
+# episodes completed so far: 20
+# successes: 20 (100.0%)
+
+Task: open the middle drawer of the cabinet
+Starting episode 21...
+Query 1/1: Action query time = 0.981 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3487
+t=10: Selected seed 195 with value = 0.3487
+Query 1/1: Action query time = 0.982 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2905
+t=26: Selected seed 195 with value = 0.2905
+Query 1/1: Action query time = 0.978 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4919
+t=42: Selected seed 195 with value = 0.4919
+Query 1/1: Action query time = 0.962 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5651
+t=58: Selected seed 195 with value = 0.5651
+Query 1/1: Action query time = 0.974 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6569
+t=74: Selected seed 195 with value = 0.6569
+Query 1/1: Action query time = 0.976 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8238
+t=90: Selected seed 195 with value = 0.8238
+Query 1/1: Action query time = 0.976 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9926
+t=106: Selected seed 195 with value = 0.9926
+Query 1/1: Action query time = 0.974 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=122: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/forget_cl_iter350_t0123/2026_08_01-11_30_14--episode=21--success=True--task=open_the_middle_drawer_of_the_cabinet.mp4
+Saved rollout MP4 at path ./rollouts/forget_cl_iter350_t0123/2026_08_01-11_30_14--with_future_img--episode=21--success=True--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: True
+# episodes completed so far: 21
+# successes: 21 (100.0%)
+
+Task: open the middle drawer of the cabinet
+Starting episode 22...
+Query 1/1: Action query time = 0.981 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3595
+t=10: Selected seed 195 with value = 0.3595
+Query 1/1: Action query time = 0.971 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4002
+t=26: Selected seed 195 with value = 0.4002
+Query 1/1: Action query time = 0.977 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4597
+t=42: Selected seed 195 with value = 0.4597
+Query 1/1: Action query time = 0.968 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5330
+t=58: Selected seed 195 with value = 0.5330
+Query 1/1: Action query time = 0.967 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6685
+t=74: Selected seed 195 with value = 0.6685
+Query 1/1: Action query time = 0.970 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7467
+t=90: Selected seed 195 with value = 0.7467
+Query 1/1: Action query time = 0.982 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9214
+t=106: Selected seed 195 with value = 0.9214
+Query 1/1: Action query time = 0.980 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=122: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/forget_cl_iter350_t0123/2026_08_01-11_30_14--episode=22--success=True--task=open_the_middle_drawer_of_the_cabinet.mp4
+Saved rollout MP4 at path ./rollouts/forget_cl_iter350_t0123/2026_08_01-11_30_14--with_future_img--episode=22--success=True--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: True
+# episodes completed so far: 22
+# successes: 22 (100.0%)
+
+Task: open the middle drawer of the cabinet
+Starting episode 23...
+Query 1/1: Action query time = 1.001 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3966
+t=10: Selected seed 195 with value = 0.3966
+Query 1/1: Action query time = 0.965 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4509
+t=26: Selected seed 195 with value = 0.4509
+Query 1/1: Action query time = 0.980 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5177
+t=42: Selected seed 195 with value = 0.5177
+Query 1/1: Action query time = 0.974 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6197
+t=58: Selected seed 195 with value = 0.6197
+Query 1/1: Action query time = 0.967 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7403
+t=74: Selected seed 195 with value = 0.7403
+Query 1/1: Action query time = 0.977 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8699
+t=90: Selected seed 195 with value = 0.8699
+Query 1/1: Action query time = 0.982 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9701
+t=106: Selected seed 195 with value = 0.9701
+Query 1/1: Action query time = 0.970 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=122: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/forget_cl_iter350_t0123/2026_08_01-11_30_14--episode=23--success=True--task=open_the_middle_drawer_of_the_cabinet.mp4
+Saved rollout MP4 at path ./rollouts/forget_cl_iter350_t0123/2026_08_01-11_30_14--with_future_img--episode=23--success=True--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: True
+# episodes completed so far: 23
+# successes: 23 (100.0%)
+
+Task: open the middle drawer of the cabinet
+Starting episode 24...
+Query 1/1: Action query time = 0.994 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3276
+t=10: Selected seed 195 with value = 0.3276
+Query 1/1: Action query time = 0.985 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3513
+t=26: Selected seed 195 with value = 0.3513
+Query 1/1: Action query time = 0.995 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4261
+t=42: Selected seed 195 with value = 0.4261
+Query 1/1: Action query time = 0.981 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5253
+t=58: Selected seed 195 with value = 0.5253
+Query 1/1: Action query time = 0.981 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6229
+t=74: Selected seed 195 with value = 0.6229
+Query 1/1: Action query time = 0.973 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7447
+t=90: Selected seed 195 with value = 0.7447
+Query 1/1: Action query time = 0.980 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9119
+t=106: Selected seed 195 with value = 0.9119
+Query 1/1: Action query time = 0.979 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=122: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 1.060 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=138: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/forget_cl_iter350_t0123/2026_08_01-11_30_14--episode=24--success=True--task=open_the_middle_drawer_of_the_cabinet.mp4
+Saved rollout MP4 at path ./rollouts/forget_cl_iter350_t0123/2026_08_01-11_30_14--with_future_img--episode=24--success=True--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: True
+# episodes completed so far: 24
+# successes: 24 (100.0%)
+
+Task: open the middle drawer of the cabinet
+Starting episode 25...
+Query 1/1: Action query time = 1.072 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3797
+t=10: Selected seed 195 with value = 0.3797
+Query 1/1: Action query time = 1.043 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4045
+t=26: Selected seed 195 with value = 0.4045
+Query 1/1: Action query time = 0.993 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4740
+t=42: Selected seed 195 with value = 0.4740
+Query 1/1: Action query time = 0.985 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5598
+t=58: Selected seed 195 with value = 0.5598
+Query 1/1: Action query time = 0.973 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7122
+t=74: Selected seed 195 with value = 0.7122
+Query 1/1: Action query time = 0.971 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8227
+t=90: Selected seed 195 with value = 0.8227
+Query 1/1: Action query time = 0.974 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9673
+t=106: Selected seed 195 with value = 0.9673
+Query 1/1: Action query time = 0.974 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=122: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/forget_cl_iter350_t0123/2026_08_01-11_30_14--episode=25--success=True--task=open_the_middle_drawer_of_the_cabinet.mp4
+Saved rollout MP4 at path ./rollouts/forget_cl_iter350_t0123/2026_08_01-11_30_14--with_future_img--episode=25--success=True--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: True
+# episodes completed so far: 25
+# successes: 25 (100.0%)
+
+Task: open the middle drawer of the cabinet
+Starting episode 26...
+Query 1/1: Action query time = 0.975 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3718
+t=10: Selected seed 195 with value = 0.3718
+Query 1/1: Action query time = 0.964 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4334
+t=26: Selected seed 195 with value = 0.4334
+Query 1/1: Action query time = 0.966 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4862
+t=42: Selected seed 195 with value = 0.4862
+Query 1/1: Action query time = 0.975 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5494
+t=58: Selected seed 195 with value = 0.5494
+Query 1/1: Action query time = 0.987 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6650
+t=74: Selected seed 195 with value = 0.6650
+Query 1/1: Action query time = 0.981 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7866
+t=90: Selected seed 195 with value = 0.7866
+Query 1/1: Action query time = 0.976 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9292
+t=106: Selected seed 195 with value = 0.9292
+Query 1/1: Action query time = 0.989 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=122: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/forget_cl_iter350_t0123/2026_08_01-11_30_14--episode=26--success=True--task=open_the_middle_drawer_of_the_cabinet.mp4
+Saved rollout MP4 at path ./rollouts/forget_cl_iter350_t0123/2026_08_01-11_30_14--with_future_img--episode=26--success=True--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: True
+# episodes completed so far: 26
+# successes: 26 (100.0%)
+
+Task: open the middle drawer of the cabinet
+Starting episode 27...
+Query 1/1: Action query time = 1.138 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3294
+t=10: Selected seed 195 with value = 0.3294
+Query 1/1: Action query time = 1.155 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3857
+t=26: Selected seed 195 with value = 0.3857
+Query 1/1: Action query time = 1.124 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4459
+t=42: Selected seed 195 with value = 0.4459
+Query 1/1: Action query time = 1.161 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5089
+t=58: Selected seed 195 with value = 0.5089
+Query 1/1: Action query time = 1.087 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5975
+t=74: Selected seed 195 with value = 0.5975
+Query 1/1: Action query time = 1.056 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7153
+t=90: Selected seed 195 with value = 0.7153
+Query 1/1: Action query time = 0.974 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8111
+t=106: Selected seed 195 with value = 0.8111
diff --git a/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_01-11_30_14--forget_cl_iter350_t456.txt b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_01-11_30_14--forget_cl_iter350_t456.txt
new file mode 100644
index 0000000000000000000000000000000000000000..549e922026fdb53b676cf7f8140befe71b63beff
--- /dev/null
+++ b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_01-11_30_14--forget_cl_iter350_t456.txt
@@ -0,0 +1,1129 @@
+Eval config: PolicyEvalConfig(suite='libero', model_family='cosmos', config='cosmos_predict2_2b_480p_libero_cl_stage_inference_only', ckpt_path='/home/azureuser/REGEN-main/new/cosmos_policy/cosmos_v2_finetune/cosmos_predict2_2b_480p_libero_goal_task6_forget_cl_from100_2gpu/checkpoints/iter_000000350/model', planning_model_config_name='', planning_model_ckpt_path='', config_file='cosmos_policy/config/config.py', packnet_mask_path='', packnet_first_cl_libero_task=6, use_third_person_image=True, num_third_person_images=1, use_wrist_image=True, num_wrist_images=1, use_proprio=True, flip_images=True, use_variance_scale=False, use_jpeg_compression=True, ar_future_prediction=False, ar_value_prediction=False, ar_qvalue_prediction=False, num_denoising_steps_action=5, num_denoising_steps_future_state=1, num_denoising_steps_value=1, unnormalize_actions=True, normalize_proprio=True, dataset_stats_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/libero_goal_regen/dataset_statistics.json', t5_text_embeddings_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/t5_embeddings.pkl', trained_with_image_aug=True, chunk_size=16, num_open_loop_steps=16, deterministic=True, deterministic_reset=False, deterministic_reset_seed=None, use_ensemble_future_state_predictions=False, num_future_state_predictions_in_ensemble=3, future_state_ensemble_aggregation_scheme='average', use_ensemble_value_predictions=False, num_value_predictions_in_ensemble=5, value_ensemble_aggregation_scheme='average', search_depth=1, mask_current_state_action_for_value_prediction=False, mask_future_state_for_qvalue_prediction=False, num_queries_best_of_n=1, use_parallel_inference=False, available_gpus='0', parallel_timeout=15, parallel_tasks_across_gpus=False, task_suite_name='libero_goal', num_trials_per_task=50, task_ids_to_run='4,5,6', initial_states_path='DEFAULT', env_img_res=256, local_log_dir='/home/azureuser/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal', run_id_note='forget_cl_iter350_t456', use_wandb=False, wandb_entity='YOUR_ENTITY', wandb_project='YOUR_PROJECT', seed=195, randomize_seed=False, data_collection=False, jpeg_compress=True, reward_stop_threshold=None, reward_stop_consecutive_steps=3, use_gpt_reward=False, gpt_reward_model='gpt-5.4-mini', gpt_reward_stop_threshold=4, gpt_reward_timeout_s=30.0, save_rollout_video=True, eval_hdf5_path='', eval_hdf5_demo_key='demo_0', data_gen_demo_ids='', replay_actions=False, replay_action_path_dir='', replay_hdf5_path='', data_generation=False, max_generation_steps=200, simple_task_max_steps=100, complex_task_max_steps=200)
+Using serial inference (parallel inference disabled)
+Task suite: libero_goal
+Number of tasks: 10
+Running only task IDs: [4, 5, 6]
+Using default initial states
+
+Task: put the bowl on top of the cabinet
+Starting episode 1...
+Query 1/1: Action query time = 1.534 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5030
+t=10: Selected seed 195 with value = 0.5030
+Query 1/1: Action query time = 0.947 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6205
+t=26: Selected seed 195 with value = 0.6205
+Query 1/1: Action query time = 0.974 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6975
+t=42: Selected seed 195 with value = 0.6975
+Query 1/1: Action query time = 0.951 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8155
+t=58: Selected seed 195 with value = 0.8155
+Query 1/1: Action query time = 0.961 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9828
+t=74: Selected seed 195 with value = 0.9828
+Query 1/1: Action query time = 0.967 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/forget_cl_iter350_t456/2026_08_01-11_30_14--episode=1--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Saved rollout MP4 at path ./rollouts/forget_cl_iter350_t456/2026_08_01-11_30_14--with_future_img--episode=1--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Success: True
+# episodes completed so far: 1
+# successes: 1 (100.0%)
+
+Task: put the bowl on top of the cabinet
+Starting episode 2...
+Query 1/1: Action query time = 0.982 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5288
+t=10: Selected seed 195 with value = 0.5288
+Query 1/1: Action query time = 0.951 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6271
+t=26: Selected seed 195 with value = 0.6271
+Query 1/1: Action query time = 0.964 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7250
+t=42: Selected seed 195 with value = 0.7250
+Query 1/1: Action query time = 1.062 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8169
+t=58: Selected seed 195 with value = 0.8169
+Query 1/1: Action query time = 1.013 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9559
+t=74: Selected seed 195 with value = 0.9559
+Query 1/1: Action query time = 0.959 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9935
+t=90: Selected seed 195 with value = 0.9935
+Saved rollout MP4 at path ./rollouts/forget_cl_iter350_t456/2026_08_01-11_30_14--episode=2--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Saved rollout MP4 at path ./rollouts/forget_cl_iter350_t456/2026_08_01-11_30_14--with_future_img--episode=2--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Success: True
+# episodes completed so far: 2
+# successes: 2 (100.0%)
+
+Task: put the bowl on top of the cabinet
+Starting episode 3...
+Query 1/1: Action query time = 0.967 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5028
+t=10: Selected seed 195 with value = 0.5028
+Query 1/1: Action query time = 0.957 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6046
+t=26: Selected seed 195 with value = 0.6046
+Query 1/1: Action query time = 0.971 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6688
+t=42: Selected seed 195 with value = 0.6688
+Query 1/1: Action query time = 0.962 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8221
+t=58: Selected seed 195 with value = 0.8221
+Query 1/1: Action query time = 0.968 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9620
+t=74: Selected seed 195 with value = 0.9620
+Query 1/1: Action query time = 0.957 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9989
+t=90: Selected seed 195 with value = 0.9989
+Saved rollout MP4 at path ./rollouts/forget_cl_iter350_t456/2026_08_01-11_30_14--episode=3--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Saved rollout MP4 at path ./rollouts/forget_cl_iter350_t456/2026_08_01-11_30_14--with_future_img--episode=3--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Success: True
+# episodes completed so far: 3
+# successes: 3 (100.0%)
+
+Task: put the bowl on top of the cabinet
+Starting episode 4...
+Query 1/1: Action query time = 0.978 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4951
+t=10: Selected seed 195 with value = 0.4951
+Query 1/1: Action query time = 0.960 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6212
+t=26: Selected seed 195 with value = 0.6212
+Query 1/1: Action query time = 0.967 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6766
+t=42: Selected seed 195 with value = 0.6766
+Query 1/1: Action query time = 0.956 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7947
+t=58: Selected seed 195 with value = 0.7947
+Query 1/1: Action query time = 0.956 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9768
+t=74: Selected seed 195 with value = 0.9768
+Query 1/1: Action query time = 0.987 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9973
+t=90: Selected seed 195 with value = 0.9973
+Saved rollout MP4 at path ./rollouts/forget_cl_iter350_t456/2026_08_01-11_30_14--episode=4--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Saved rollout MP4 at path ./rollouts/forget_cl_iter350_t456/2026_08_01-11_30_14--with_future_img--episode=4--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Success: True
+# episodes completed so far: 4
+# successes: 4 (100.0%)
+
+Task: put the bowl on top of the cabinet
+Starting episode 5...
+Query 1/1: Action query time = 1.204 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4986
+t=10: Selected seed 195 with value = 0.4986
+Query 1/1: Action query time = 1.168 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6103
+t=26: Selected seed 195 with value = 0.6103
+Query 1/1: Action query time = 1.189 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6668
+t=42: Selected seed 195 with value = 0.6668
+Query 1/1: Action query time = 1.066 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8340
+t=58: Selected seed 195 with value = 0.8340
+Query 1/1: Action query time = 0.991 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9776
+t=74: Selected seed 195 with value = 0.9776
+Query 1/1: Action query time = 0.972 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9937
+t=90: Selected seed 195 with value = 0.9937
+Saved rollout MP4 at path ./rollouts/forget_cl_iter350_t456/2026_08_01-11_30_14--episode=5--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Saved rollout MP4 at path ./rollouts/forget_cl_iter350_t456/2026_08_01-11_30_14--with_future_img--episode=5--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Success: True
+# episodes completed so far: 5
+# successes: 5 (100.0%)
+
+Task: put the bowl on top of the cabinet
+Starting episode 6...
+Query 1/1: Action query time = 0.986 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5364
+t=10: Selected seed 195 with value = 0.5364
+Query 1/1: Action query time = 0.966 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6373
+t=26: Selected seed 195 with value = 0.6373
+Query 1/1: Action query time = 0.965 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7456
+t=42: Selected seed 195 with value = 0.7456
+Query 1/1: Action query time = 0.959 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8128
+t=58: Selected seed 195 with value = 0.8128
+Query 1/1: Action query time = 0.972 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9848
+t=74: Selected seed 195 with value = 0.9848
+Saved rollout MP4 at path ./rollouts/forget_cl_iter350_t456/2026_08_01-11_30_14--episode=6--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Saved rollout MP4 at path ./rollouts/forget_cl_iter350_t456/2026_08_01-11_30_14--with_future_img--episode=6--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Success: True
+# episodes completed so far: 6
+# successes: 6 (100.0%)
+
+Task: put the bowl on top of the cabinet
+Starting episode 7...
+Query 1/1: Action query time = 0.976 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4966
+t=10: Selected seed 195 with value = 0.4966
+Query 1/1: Action query time = 0.986 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6103
+t=26: Selected seed 195 with value = 0.6103
+Query 1/1: Action query time = 0.964 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7235
+t=42: Selected seed 195 with value = 0.7235
+Query 1/1: Action query time = 0.974 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8554
+t=58: Selected seed 195 with value = 0.8554
+Query 1/1: Action query time = 0.964 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9962
+t=74: Selected seed 195 with value = 0.9962
+Query 1/1: Action query time = 0.970 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/forget_cl_iter350_t456/2026_08_01-11_30_14--episode=7--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Saved rollout MP4 at path ./rollouts/forget_cl_iter350_t456/2026_08_01-11_30_14--with_future_img--episode=7--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Success: True
+# episodes completed so far: 7
+# successes: 7 (100.0%)
+
+Task: put the bowl on top of the cabinet
+Starting episode 8...
+Query 1/1: Action query time = 0.967 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5192
+t=10: Selected seed 195 with value = 0.5192
+Query 1/1: Action query time = 0.974 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6149
+t=26: Selected seed 195 with value = 0.6149
+Query 1/1: Action query time = 0.970 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7102
+t=42: Selected seed 195 with value = 0.7102
+Query 1/1: Action query time = 1.010 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8298
+t=58: Selected seed 195 with value = 0.8298
+Query 1/1: Action query time = 1.067 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9942
+t=74: Selected seed 195 with value = 0.9942
+Saved rollout MP4 at path ./rollouts/forget_cl_iter350_t456/2026_08_01-11_30_14--episode=8--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Saved rollout MP4 at path ./rollouts/forget_cl_iter350_t456/2026_08_01-11_30_14--with_future_img--episode=8--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Success: True
+# episodes completed so far: 8
+# successes: 8 (100.0%)
+
+Task: put the bowl on top of the cabinet
+Starting episode 9...
+Query 1/1: Action query time = 0.984 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5137
+t=10: Selected seed 195 with value = 0.5137
+Query 1/1: Action query time = 0.971 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6211
+t=26: Selected seed 195 with value = 0.6211
+Query 1/1: Action query time = 0.953 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6770
+t=42: Selected seed 195 with value = 0.6770
+Query 1/1: Action query time = 0.962 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8642
+t=58: Selected seed 195 with value = 0.8642
+Query 1/1: Action query time = 0.967 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=74: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.984 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/forget_cl_iter350_t456/2026_08_01-11_30_14--episode=9--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Saved rollout MP4 at path ./rollouts/forget_cl_iter350_t456/2026_08_01-11_30_14--with_future_img--episode=9--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Success: True
+# episodes completed so far: 9
+# successes: 9 (100.0%)
+
+Task: put the bowl on top of the cabinet
+Starting episode 10...
+Query 1/1: Action query time = 0.990 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4888
+t=10: Selected seed 195 with value = 0.4888
+Query 1/1: Action query time = 0.977 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6078
+t=26: Selected seed 195 with value = 0.6078
+Query 1/1: Action query time = 0.985 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7338
+t=42: Selected seed 195 with value = 0.7338
+Query 1/1: Action query time = 1.012 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8187
+t=58: Selected seed 195 with value = 0.8187
+Query 1/1: Action query time = 0.954 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9636
+t=74: Selected seed 195 with value = 0.9636
+Query 1/1: Action query time = 0.964 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9997
+t=90: Selected seed 195 with value = 0.9997
+Saved rollout MP4 at path ./rollouts/forget_cl_iter350_t456/2026_08_01-11_30_14--episode=10--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Saved rollout MP4 at path ./rollouts/forget_cl_iter350_t456/2026_08_01-11_30_14--with_future_img--episode=10--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Success: True
+# episodes completed so far: 10
+# successes: 10 (100.0%)
+
+Task: put the bowl on top of the cabinet
+Starting episode 11...
+Query 1/1: Action query time = 1.128 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5113
+t=10: Selected seed 195 with value = 0.5113
+Query 1/1: Action query time = 1.134 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6315
+t=26: Selected seed 195 with value = 0.6315
+Query 1/1: Action query time = 0.968 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6866
+t=42: Selected seed 195 with value = 0.6866
+Query 1/1: Action query time = 0.983 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8230
+t=58: Selected seed 195 with value = 0.8230
+Query 1/1: Action query time = 0.977 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9480
+t=74: Selected seed 195 with value = 0.9480
+Query 1/1: Action query time = 1.092 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/forget_cl_iter350_t456/2026_08_01-11_30_14--episode=11--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Saved rollout MP4 at path ./rollouts/forget_cl_iter350_t456/2026_08_01-11_30_14--with_future_img--episode=11--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Success: True
+# episodes completed so far: 11
+# successes: 11 (100.0%)
+
+Task: put the bowl on top of the cabinet
+Starting episode 12...
+Query 1/1: Action query time = 0.968 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5142
+t=10: Selected seed 195 with value = 0.5142
+Query 1/1: Action query time = 0.963 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6398
+t=26: Selected seed 195 with value = 0.6398
+Query 1/1: Action query time = 0.971 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7021
+t=42: Selected seed 195 with value = 0.7021
+Query 1/1: Action query time = 0.982 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8258
+t=58: Selected seed 195 with value = 0.8258
+Query 1/1: Action query time = 0.962 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9512
+t=74: Selected seed 195 with value = 0.9512
+Query 1/1: Action query time = 0.969 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/forget_cl_iter350_t456/2026_08_01-11_30_14--episode=12--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Saved rollout MP4 at path ./rollouts/forget_cl_iter350_t456/2026_08_01-11_30_14--with_future_img--episode=12--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Success: True
+# episodes completed so far: 12
+# successes: 12 (100.0%)
+
+Task: put the bowl on top of the cabinet
+Starting episode 13...
+Query 1/1: Action query time = 1.090 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5006
+t=10: Selected seed 195 with value = 0.5006
+Query 1/1: Action query time = 1.066 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6069
+t=26: Selected seed 195 with value = 0.6069
+Query 1/1: Action query time = 1.093 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7201
+t=42: Selected seed 195 with value = 0.7201
+Query 1/1: Action query time = 0.979 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8335
+t=58: Selected seed 195 with value = 0.8335
+Query 1/1: Action query time = 0.970 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9814
+t=74: Selected seed 195 with value = 0.9814
+Query 1/1: Action query time = 0.957 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9993
+t=90: Selected seed 195 with value = 0.9993
+Saved rollout MP4 at path ./rollouts/forget_cl_iter350_t456/2026_08_01-11_30_14--episode=13--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Saved rollout MP4 at path ./rollouts/forget_cl_iter350_t456/2026_08_01-11_30_14--with_future_img--episode=13--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Success: True
+# episodes completed so far: 13
+# successes: 13 (100.0%)
+
+Task: put the bowl on top of the cabinet
+Starting episode 14...
+Query 1/1: Action query time = 0.983 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5055
+t=10: Selected seed 195 with value = 0.5055
+Query 1/1: Action query time = 0.978 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5785
+t=26: Selected seed 195 with value = 0.5785
+Query 1/1: Action query time = 0.973 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6678
+t=42: Selected seed 195 with value = 0.6678
+Query 1/1: Action query time = 0.983 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7998
+t=58: Selected seed 195 with value = 0.7998
+Query 1/1: Action query time = 0.958 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9430
+t=74: Selected seed 195 with value = 0.9430
+Query 1/1: Action query time = 0.983 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9622
+t=90: Selected seed 195 with value = 0.9622
+Query 1/1: Action query time = 0.956 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9434
+t=106: Selected seed 195 with value = 0.9434
+Query 1/1: Action query time = 0.958 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9966
+t=122: Selected seed 195 with value = 0.9966
+Query 1/1: Action query time = 0.968 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=138: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.968 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=154: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.962 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=170: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.977 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=186: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.963 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=202: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.974 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9935
+t=218: Selected seed 195 with value = 0.9935
+Query 1/1: Action query time = 0.971 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9893
+t=234: Selected seed 195 with value = 0.9893
+Query 1/1: Action query time = 0.976 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9931
+t=250: Selected seed 195 with value = 0.9931
+Query 1/1: Action query time = 0.955 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9921
+t=266: Selected seed 195 with value = 0.9921
+Query 1/1: Action query time = 0.964 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9875
+t=282: Selected seed 195 with value = 0.9875
+Query 1/1: Action query time = 0.986 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9787
+t=298: Selected seed 195 with value = 0.9787
+Saved rollout MP4 at path ./rollouts/forget_cl_iter350_t456/2026_08_01-11_30_14--episode=14--success=False--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Saved rollout MP4 at path ./rollouts/forget_cl_iter350_t456/2026_08_01-11_30_14--with_future_img--episode=14--success=False--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Success: False
+# episodes completed so far: 14
+# successes: 13 (92.9%)
+
+Task: put the bowl on top of the cabinet
+Starting episode 15...
+Query 1/1: Action query time = 0.980 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4872
+t=10: Selected seed 195 with value = 0.4872
+Query 1/1: Action query time = 0.993 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6062
+t=26: Selected seed 195 with value = 0.6062
+Query 1/1: Action query time = 0.969 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6720
+t=42: Selected seed 195 with value = 0.6720
+Query 1/1: Action query time = 0.978 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8295
+t=58: Selected seed 195 with value = 0.8295
+Query 1/1: Action query time = 0.976 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9776
+t=74: Selected seed 195 with value = 0.9776
+Query 1/1: Action query time = 0.979 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9975
+t=90: Selected seed 195 with value = 0.9975
+Saved rollout MP4 at path ./rollouts/forget_cl_iter350_t456/2026_08_01-11_30_14--episode=15--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Saved rollout MP4 at path ./rollouts/forget_cl_iter350_t456/2026_08_01-11_30_14--with_future_img--episode=15--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Success: True
+# episodes completed so far: 15
+# successes: 14 (93.3%)
+
+Task: put the bowl on top of the cabinet
+Starting episode 16...
+Query 1/1: Action query time = 1.060 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5522
+t=10: Selected seed 195 with value = 0.5522
+Query 1/1: Action query time = 0.967 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6481
+t=26: Selected seed 195 with value = 0.6481
+Query 1/1: Action query time = 0.987 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7322
+t=42: Selected seed 195 with value = 0.7322
+Query 1/1: Action query time = 0.962 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8310
+t=58: Selected seed 195 with value = 0.8310
+Query 1/1: Action query time = 0.977 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9682
+t=74: Selected seed 195 with value = 0.9682
+Query 1/1: Action query time = 0.991 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/forget_cl_iter350_t456/2026_08_01-11_30_14--episode=16--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Saved rollout MP4 at path ./rollouts/forget_cl_iter350_t456/2026_08_01-11_30_14--with_future_img--episode=16--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Success: True
+# episodes completed so far: 16
+# successes: 15 (93.8%)
+
+Task: put the bowl on top of the cabinet
+Starting episode 17...
+Query 1/1: Action query time = 0.995 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5376
+t=10: Selected seed 195 with value = 0.5376
+Query 1/1: Action query time = 0.969 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6076
+t=26: Selected seed 195 with value = 0.6076
+Query 1/1: Action query time = 0.988 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7516
+t=42: Selected seed 195 with value = 0.7516
+Query 1/1: Action query time = 0.958 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8485
+t=58: Selected seed 195 with value = 0.8485
+Query 1/1: Action query time = 0.954 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9886
+t=74: Selected seed 195 with value = 0.9886
+Saved rollout MP4 at path ./rollouts/forget_cl_iter350_t456/2026_08_01-11_30_14--episode=17--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Saved rollout MP4 at path ./rollouts/forget_cl_iter350_t456/2026_08_01-11_30_14--with_future_img--episode=17--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Success: True
+# episodes completed so far: 17
+# successes: 16 (94.1%)
+
+Task: put the bowl on top of the cabinet
+Starting episode 18...
+Query 1/1: Action query time = 1.044 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5147
+t=10: Selected seed 195 with value = 0.5147
+Query 1/1: Action query time = 1.048 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6281
+t=26: Selected seed 195 with value = 0.6281
+Query 1/1: Action query time = 1.042 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6975
+t=42: Selected seed 195 with value = 0.6975
+Query 1/1: Action query time = 1.001 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8334
+t=58: Selected seed 195 with value = 0.8334
+Query 1/1: Action query time = 0.978 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9806
+t=74: Selected seed 195 with value = 0.9806
+Query 1/1: Action query time = 0.983 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/forget_cl_iter350_t456/2026_08_01-11_30_14--episode=18--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Saved rollout MP4 at path ./rollouts/forget_cl_iter350_t456/2026_08_01-11_30_14--with_future_img--episode=18--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Success: True
+# episodes completed so far: 18
+# successes: 17 (94.4%)
+
+Task: put the bowl on top of the cabinet
+Starting episode 19...
+Query 1/1: Action query time = 0.979 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4657
+t=10: Selected seed 195 with value = 0.4657
+Query 1/1: Action query time = 0.982 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5390
+t=26: Selected seed 195 with value = 0.5390
+Query 1/1: Action query time = 0.974 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6345
+t=42: Selected seed 195 with value = 0.6345
+Query 1/1: Action query time = 0.980 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7430
+t=58: Selected seed 195 with value = 0.7430
+Query 1/1: Action query time = 0.969 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9395
+t=74: Selected seed 195 with value = 0.9395
+Query 1/1: Action query time = 0.976 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/forget_cl_iter350_t456/2026_08_01-11_30_14--episode=19--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Saved rollout MP4 at path ./rollouts/forget_cl_iter350_t456/2026_08_01-11_30_14--with_future_img--episode=19--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Success: True
+# episodes completed so far: 19
+# successes: 18 (94.7%)
+
+Task: put the bowl on top of the cabinet
+Starting episode 20...
+Query 1/1: Action query time = 0.981 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4898
+t=10: Selected seed 195 with value = 0.4898
+Query 1/1: Action query time = 0.967 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5958
+t=26: Selected seed 195 with value = 0.5958
+Query 1/1: Action query time = 0.973 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7184
+t=42: Selected seed 195 with value = 0.7184
+Query 1/1: Action query time = 0.980 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8578
+t=58: Selected seed 195 with value = 0.8578
+Query 1/1: Action query time = 0.956 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9999
+t=74: Selected seed 195 with value = 0.9999
+Saved rollout MP4 at path ./rollouts/forget_cl_iter350_t456/2026_08_01-11_30_14--episode=20--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Saved rollout MP4 at path ./rollouts/forget_cl_iter350_t456/2026_08_01-11_30_14--with_future_img--episode=20--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Success: True
+# episodes completed so far: 20
+# successes: 19 (95.0%)
+
+Task: put the bowl on top of the cabinet
+Starting episode 21...
+Query 1/1: Action query time = 1.017 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5045
+t=10: Selected seed 195 with value = 0.5045
+Query 1/1: Action query time = 1.004 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5945
+t=26: Selected seed 195 with value = 0.5945
+Query 1/1: Action query time = 1.049 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7188
+t=42: Selected seed 195 with value = 0.7188
+Query 1/1: Action query time = 1.121 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8227
+t=58: Selected seed 195 with value = 0.8227
+Query 1/1: Action query time = 1.163 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9640
+t=74: Selected seed 195 with value = 0.9640
+Query 1/1: Action query time = 0.972 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/forget_cl_iter350_t456/2026_08_01-11_30_14--episode=21--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Saved rollout MP4 at path ./rollouts/forget_cl_iter350_t456/2026_08_01-11_30_14--with_future_img--episode=21--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Success: True
+# episodes completed so far: 21
+# successes: 20 (95.2%)
+
+Task: put the bowl on top of the cabinet
+Starting episode 22...
+Query 1/1: Action query time = 0.980 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5376
+t=10: Selected seed 195 with value = 0.5376
+Query 1/1: Action query time = 0.966 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6342
+t=26: Selected seed 195 with value = 0.6342
+Query 1/1: Action query time = 0.966 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7513
+t=42: Selected seed 195 with value = 0.7513
+Query 1/1: Action query time = 0.961 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8030
+t=58: Selected seed 195 with value = 0.8030
+Query 1/1: Action query time = 0.975 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9452
+t=74: Selected seed 195 with value = 0.9452
+Query 1/1: Action query time = 0.958 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9926
+t=90: Selected seed 195 with value = 0.9926
+Saved rollout MP4 at path ./rollouts/forget_cl_iter350_t456/2026_08_01-11_30_14--episode=22--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Saved rollout MP4 at path ./rollouts/forget_cl_iter350_t456/2026_08_01-11_30_14--with_future_img--episode=22--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Success: True
+# episodes completed so far: 22
+# successes: 21 (95.5%)
+
+Task: put the bowl on top of the cabinet
+Starting episode 23...
+Query 1/1: Action query time = 0.984 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4774
+t=10: Selected seed 195 with value = 0.4774
+Query 1/1: Action query time = 0.972 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6147
+t=26: Selected seed 195 with value = 0.6147
+Query 1/1: Action query time = 0.980 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7109
+t=42: Selected seed 195 with value = 0.7109
+Query 1/1: Action query time = 0.976 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8286
+t=58: Selected seed 195 with value = 0.8286
+Query 1/1: Action query time = 0.968 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9910
+t=74: Selected seed 195 with value = 0.9910
+Query 1/1: Action query time = 1.066 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/forget_cl_iter350_t456/2026_08_01-11_30_14--episode=23--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Saved rollout MP4 at path ./rollouts/forget_cl_iter350_t456/2026_08_01-11_30_14--with_future_img--episode=23--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Success: True
+# episodes completed so far: 23
+# successes: 22 (95.7%)
+
+Task: put the bowl on top of the cabinet
+Starting episode 24...
+Query 1/1: Action query time = 0.988 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4926
+t=10: Selected seed 195 with value = 0.4926
+Query 1/1: Action query time = 0.975 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6005
+t=26: Selected seed 195 with value = 0.6005
+Query 1/1: Action query time = 0.975 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6897
+t=42: Selected seed 195 with value = 0.6897
+Query 1/1: Action query time = 0.973 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8207
+t=58: Selected seed 195 with value = 0.8207
+Query 1/1: Action query time = 0.972 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9820
+t=74: Selected seed 195 with value = 0.9820
+Query 1/1: Action query time = 1.247 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9937
+t=90: Selected seed 195 with value = 0.9937
+Saved rollout MP4 at path ./rollouts/forget_cl_iter350_t456/2026_08_01-11_30_14--episode=24--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Saved rollout MP4 at path ./rollouts/forget_cl_iter350_t456/2026_08_01-11_30_14--with_future_img--episode=24--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Success: True
+# episodes completed so far: 24
+# successes: 23 (95.8%)
+
+Task: put the bowl on top of the cabinet
+Starting episode 25...
+Query 1/1: Action query time = 1.001 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5226
+t=10: Selected seed 195 with value = 0.5226
+Query 1/1: Action query time = 0.979 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6277
+t=26: Selected seed 195 with value = 0.6277
+Query 1/1: Action query time = 0.988 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7058
+t=42: Selected seed 195 with value = 0.7058
+Query 1/1: Action query time = 0.962 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9081
+t=58: Selected seed 195 with value = 0.9081
+Query 1/1: Action query time = 0.960 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9981
+t=74: Selected seed 195 with value = 0.9981
+Saved rollout MP4 at path ./rollouts/forget_cl_iter350_t456/2026_08_01-11_30_14--episode=25--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Saved rollout MP4 at path ./rollouts/forget_cl_iter350_t456/2026_08_01-11_30_14--with_future_img--episode=25--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Success: True
+# episodes completed so far: 25
+# successes: 24 (96.0%)
+
+Task: put the bowl on top of the cabinet
+Starting episode 26...
+Query 1/1: Action query time = 0.980 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4853
+t=10: Selected seed 195 with value = 0.4853
+Query 1/1: Action query time = 0.974 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5666
+t=26: Selected seed 195 with value = 0.5666
+Query 1/1: Action query time = 0.982 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6843
+t=42: Selected seed 195 with value = 0.6843
+Query 1/1: Action query time = 0.969 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7955
+t=58: Selected seed 195 with value = 0.7955
+Query 1/1: Action query time = 1.018 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9238
+t=74: Selected seed 195 with value = 0.9238
+Query 1/1: Action query time = 0.988 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/forget_cl_iter350_t456/2026_08_01-11_30_14--episode=26--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Saved rollout MP4 at path ./rollouts/forget_cl_iter350_t456/2026_08_01-11_30_14--with_future_img--episode=26--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Success: True
+# episodes completed so far: 26
+# successes: 25 (96.2%)
+
+Task: put the bowl on top of the cabinet
+Starting episode 27...
+Query 1/1: Action query time = 1.035 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4968
+t=10: Selected seed 195 with value = 0.4968
+Query 1/1: Action query time = 1.002 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5898
+t=26: Selected seed 195 with value = 0.5898
+Query 1/1: Action query time = 0.985 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6811
+t=42: Selected seed 195 with value = 0.6811
+Query 1/1: Action query time = 0.980 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8142
+t=58: Selected seed 195 with value = 0.8142
+Query 1/1: Action query time = 0.969 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9715
+t=74: Selected seed 195 with value = 0.9715
+Query 1/1: Action query time = 0.969 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/forget_cl_iter350_t456/2026_08_01-11_30_14--episode=27--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Saved rollout MP4 at path ./rollouts/forget_cl_iter350_t456/2026_08_01-11_30_14--with_future_img--episode=27--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Success: True
+# episodes completed so far: 27
+# successes: 26 (96.3%)
+
+Task: put the bowl on top of the cabinet
+Starting episode 28...
+Query 1/1: Action query time = 0.985 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5343
+t=10: Selected seed 195 with value = 0.5343
+Query 1/1: Action query time = 0.962 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6348
+t=26: Selected seed 195 with value = 0.6348
+Query 1/1: Action query time = 0.975 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7213
+t=42: Selected seed 195 with value = 0.7213
+Query 1/1: Action query time = 0.968 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8290
+t=58: Selected seed 195 with value = 0.8290
+Query 1/1: Action query time = 0.984 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9878
+t=74: Selected seed 195 with value = 0.9878
+Query 1/1: Action query time = 0.973 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/forget_cl_iter350_t456/2026_08_01-11_30_14--episode=28--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Saved rollout MP4 at path ./rollouts/forget_cl_iter350_t456/2026_08_01-11_30_14--with_future_img--episode=28--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Success: True
+# episodes completed so far: 28
+# successes: 27 (96.4%)
+
+Task: put the bowl on top of the cabinet
+Starting episode 29...
+Query 1/1: Action query time = 0.983 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4978
+t=10: Selected seed 195 with value = 0.4978
+Query 1/1: Action query time = 0.971 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5853
+t=26: Selected seed 195 with value = 0.5853
+Query 1/1: Action query time = 0.976 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6923
+t=42: Selected seed 195 with value = 0.6923
+Query 1/1: Action query time = 0.964 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7977
+t=58: Selected seed 195 with value = 0.7977
+Query 1/1: Action query time = 0.979 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9319
+t=74: Selected seed 195 with value = 0.9319
+Query 1/1: Action query time = 0.979 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/forget_cl_iter350_t456/2026_08_01-11_30_14--episode=29--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Saved rollout MP4 at path ./rollouts/forget_cl_iter350_t456/2026_08_01-11_30_14--with_future_img--episode=29--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Success: True
+# episodes completed so far: 29
+# successes: 28 (96.6%)
+
+Task: put the bowl on top of the cabinet
+Starting episode 30...
+Query 1/1: Action query time = 0.979 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5084
+t=10: Selected seed 195 with value = 0.5084
+Query 1/1: Action query time = 0.984 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6159
+t=26: Selected seed 195 with value = 0.6159
+Query 1/1: Action query time = 0.968 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7014
+t=42: Selected seed 195 with value = 0.7014
+Query 1/1: Action query time = 0.958 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8290
+t=58: Selected seed 195 with value = 0.8290
+Query 1/1: Action query time = 0.980 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9549
+t=74: Selected seed 195 with value = 0.9549
+Query 1/1: Action query time = 0.973 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/forget_cl_iter350_t456/2026_08_01-11_30_14--episode=30--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Saved rollout MP4 at path ./rollouts/forget_cl_iter350_t456/2026_08_01-11_30_14--with_future_img--episode=30--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Success: True
+# episodes completed so far: 30
+# successes: 29 (96.7%)
+
+Task: put the bowl on top of the cabinet
+Starting episode 31...
+Query 1/1: Action query time = 1.036 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5051
+t=10: Selected seed 195 with value = 0.5051
+Query 1/1: Action query time = 0.990 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6336
+t=26: Selected seed 195 with value = 0.6336
+Query 1/1: Action query time = 0.985 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7191
+t=42: Selected seed 195 with value = 0.7191
+Query 1/1: Action query time = 0.958 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8310
+t=58: Selected seed 195 with value = 0.8310
+Query 1/1: Action query time = 1.034 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9858
+t=74: Selected seed 195 with value = 0.9858
+Query 1/1: Action query time = 1.019 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9973
+t=90: Selected seed 195 with value = 0.9973
+Saved rollout MP4 at path ./rollouts/forget_cl_iter350_t456/2026_08_01-11_30_14--episode=31--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Saved rollout MP4 at path ./rollouts/forget_cl_iter350_t456/2026_08_01-11_30_14--with_future_img--episode=31--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Success: True
+# episodes completed so far: 31
+# successes: 30 (96.8%)
+
+Task: put the bowl on top of the cabinet
+Starting episode 32...
+Query 1/1: Action query time = 0.985 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4854
+t=10: Selected seed 195 with value = 0.4854
+Query 1/1: Action query time = 0.976 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5899
+t=26: Selected seed 195 with value = 0.5899
+Query 1/1: Action query time = 0.958 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6936
+t=42: Selected seed 195 with value = 0.6936
+Query 1/1: Action query time = 0.978 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8359
+t=58: Selected seed 195 with value = 0.8359
+Query 1/1: Action query time = 0.977 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9800
+t=74: Selected seed 195 with value = 0.9800
+Query 1/1: Action query time = 0.967 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9941
+t=90: Selected seed 195 with value = 0.9941
+Saved rollout MP4 at path ./rollouts/forget_cl_iter350_t456/2026_08_01-11_30_14--episode=32--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Saved rollout MP4 at path ./rollouts/forget_cl_iter350_t456/2026_08_01-11_30_14--with_future_img--episode=32--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Success: True
+# episodes completed so far: 32
+# successes: 31 (96.9%)
+
+Task: put the bowl on top of the cabinet
+Starting episode 33...
+Query 1/1: Action query time = 0.991 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5493
+t=10: Selected seed 195 with value = 0.5493
+Query 1/1: Action query time = 0.983 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6383
+t=26: Selected seed 195 with value = 0.6383
+Query 1/1: Action query time = 0.972 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7419
+t=42: Selected seed 195 with value = 0.7419
+Query 1/1: Action query time = 0.961 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8532
+t=58: Selected seed 195 with value = 0.8532
+Query 1/1: Action query time = 0.962 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9996
+t=74: Selected seed 195 with value = 0.9996
+Query 1/1: Action query time = 0.977 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/forget_cl_iter350_t456/2026_08_01-11_30_14--episode=33--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Saved rollout MP4 at path ./rollouts/forget_cl_iter350_t456/2026_08_01-11_30_14--with_future_img--episode=33--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Success: True
+# episodes completed so far: 33
+# successes: 32 (97.0%)
+
+Task: put the bowl on top of the cabinet
+Starting episode 34...
+Query 1/1: Action query time = 1.173 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5179
+t=10: Selected seed 195 with value = 0.5179
+Query 1/1: Action query time = 1.138 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6048
+t=26: Selected seed 195 with value = 0.6048
+Query 1/1: Action query time = 1.126 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6937
+t=42: Selected seed 195 with value = 0.6937
+Query 1/1: Action query time = 1.139 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8213
+t=58: Selected seed 195 with value = 0.8213
+Query 1/1: Action query time = 1.066 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9880
+t=74: Selected seed 195 with value = 0.9880
+Query 1/1: Action query time = 1.023 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/forget_cl_iter350_t456/2026_08_01-11_30_14--episode=34--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Saved rollout MP4 at path ./rollouts/forget_cl_iter350_t456/2026_08_01-11_30_14--with_future_img--episode=34--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Success: True
+# episodes completed so far: 34
+# successes: 33 (97.1%)
+
+Task: put the bowl on top of the cabinet
+Starting episode 35...
diff --git a/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_01-11_38_09--forget_cl_iter350_par_t2.txt b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_01-11_38_09--forget_cl_iter350_par_t2.txt
new file mode 100644
index 0000000000000000000000000000000000000000..73d5aae2f56129f03e9054cfb801debdf8533f3d
--- /dev/null
+++ b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_01-11_38_09--forget_cl_iter350_par_t2.txt
@@ -0,0 +1,1800 @@
+Eval config: PolicyEvalConfig(suite='libero', model_family='cosmos', config='cosmos_predict2_2b_480p_libero_cl_stage_inference_only', ckpt_path='/home/azureuser/REGEN-main/new/cosmos_policy/cosmos_v2_finetune/cosmos_predict2_2b_480p_libero_goal_task6_forget_cl_from100_2gpu/checkpoints/iter_000000350/model', planning_model_config_name='', planning_model_ckpt_path='', config_file='cosmos_policy/config/config.py', packnet_mask_path='', packnet_first_cl_libero_task=6, use_third_person_image=True, num_third_person_images=1, use_wrist_image=True, num_wrist_images=1, use_proprio=True, flip_images=True, use_variance_scale=False, use_jpeg_compression=True, ar_future_prediction=False, ar_value_prediction=False, ar_qvalue_prediction=False, num_denoising_steps_action=5, num_denoising_steps_future_state=1, num_denoising_steps_value=1, unnormalize_actions=True, normalize_proprio=True, dataset_stats_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/libero_goal_regen/dataset_statistics.json', t5_text_embeddings_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/t5_embeddings.pkl', trained_with_image_aug=True, chunk_size=16, num_open_loop_steps=16, deterministic=True, deterministic_reset=False, deterministic_reset_seed=None, use_ensemble_future_state_predictions=False, num_future_state_predictions_in_ensemble=3, future_state_ensemble_aggregation_scheme='average', use_ensemble_value_predictions=False, num_value_predictions_in_ensemble=5, value_ensemble_aggregation_scheme='average', search_depth=1, mask_current_state_action_for_value_prediction=False, mask_future_state_for_qvalue_prediction=False, num_queries_best_of_n=1, use_parallel_inference=False, available_gpus='0', parallel_timeout=15, parallel_tasks_across_gpus=False, task_suite_name='libero_goal', num_trials_per_task=50, task_ids_to_run='2', initial_states_path='DEFAULT', env_img_res=256, local_log_dir='/home/azureuser/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal', run_id_note='forget_cl_iter350_par_t2', use_wandb=False, wandb_entity='YOUR_ENTITY', wandb_project='YOUR_PROJECT', seed=195, randomize_seed=False, data_collection=False, jpeg_compress=True, reward_stop_threshold=None, reward_stop_consecutive_steps=3, use_gpt_reward=False, gpt_reward_model='gpt-5.4-mini', gpt_reward_stop_threshold=4, gpt_reward_timeout_s=30.0, save_rollout_video=True, eval_hdf5_path='', eval_hdf5_demo_key='demo_0', data_gen_demo_ids='', replay_actions=False, replay_action_path_dir='', replay_hdf5_path='', data_generation=False, max_generation_steps=200, simple_task_max_steps=100, complex_task_max_steps=200)
+Using serial inference (parallel inference disabled)
+Task suite: libero_goal
+Number of tasks: 10
+Running only task IDs: [2]
+Using default initial states
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 1...
+Query 1/1: Action query time = 3.012 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5590
+t=10: Selected seed 195 with value = 0.5590
+Query 1/1: Action query time = 2.402 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6699
+t=26: Selected seed 195 with value = 0.6699
+Query 1/1: Action query time = 2.455 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7818
+t=42: Selected seed 195 with value = 0.7818
+Query 1/1: Action query time = 2.556 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8803
+t=58: Selected seed 195 with value = 0.8803
+Query 1/1: Action query time = 2.837 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=74: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/forget_cl_iter350_par_t2/2026_08_01-11_38_09--episode=1--success=True--task=put_the_wine_bottle_on_top_of_the_cabine.mp4
+Saved rollout MP4 at path ./rollouts/forget_cl_iter350_par_t2/2026_08_01-11_38_09--with_future_img--episode=1--success=True--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: True
+# episodes completed so far: 1
+# successes: 1 (100.0%)
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 2...
+Query 1/1: Action query time = 1.662 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4789
+t=10: Selected seed 195 with value = 0.4789
+Query 1/1: Action query time = 1.305 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4508
+t=26: Selected seed 195 with value = 0.4508
+Query 1/1: Action query time = 2.735 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6453
+t=42: Selected seed 195 with value = 0.6453
+Query 1/1: Action query time = 3.079 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7584
+t=58: Selected seed 195 with value = 0.7584
+Query 1/1: Action query time = 3.303 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9198
+t=74: Selected seed 195 with value = 0.9198
+Query 1/1: Action query time = 2.591 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9977
+t=90: Selected seed 195 with value = 0.9977
+Saved rollout MP4 at path ./rollouts/forget_cl_iter350_par_t2/2026_08_01-11_38_09--episode=2--success=True--task=put_the_wine_bottle_on_top_of_the_cabine.mp4
+Saved rollout MP4 at path ./rollouts/forget_cl_iter350_par_t2/2026_08_01-11_38_09--with_future_img--episode=2--success=True--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: True
+# episodes completed so far: 2
+# successes: 2 (100.0%)
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 3...
+Query 1/1: Action query time = 1.803 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4847
+t=10: Selected seed 195 with value = 0.4847
+Query 1/1: Action query time = 2.218 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5457
+t=26: Selected seed 195 with value = 0.5457
+Query 1/1: Action query time = 2.073 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6571
+t=42: Selected seed 195 with value = 0.6571
+Query 1/1: Action query time = 1.761 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8046
+t=58: Selected seed 195 with value = 0.8046
+Query 1/1: Action query time = 2.008 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9765
+t=74: Selected seed 195 with value = 0.9765
+Query 1/1: Action query time = 1.302 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/forget_cl_iter350_par_t2/2026_08_01-11_38_09--episode=3--success=True--task=put_the_wine_bottle_on_top_of_the_cabine.mp4
+Saved rollout MP4 at path ./rollouts/forget_cl_iter350_par_t2/2026_08_01-11_38_09--with_future_img--episode=3--success=True--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: True
+# episodes completed so far: 3
+# successes: 3 (100.0%)
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 4...
+Query 1/1: Action query time = 1.908 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4960
+t=10: Selected seed 195 with value = 0.4960
+Query 1/1: Action query time = 2.678 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5301
+t=26: Selected seed 195 with value = 0.5301
+Query 1/1: Action query time = 2.798 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7082
+t=42: Selected seed 195 with value = 0.7082
+Query 1/1: Action query time = 1.974 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8103
+t=58: Selected seed 195 with value = 0.8103
+Query 1/1: Action query time = 2.258 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9887
+t=74: Selected seed 195 with value = 0.9887
+Query 1/1: Action query time = 1.847 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9959
+t=90: Selected seed 195 with value = 0.9959
+Saved rollout MP4 at path ./rollouts/forget_cl_iter350_par_t2/2026_08_01-11_38_09--episode=4--success=True--task=put_the_wine_bottle_on_top_of_the_cabine.mp4
+Saved rollout MP4 at path ./rollouts/forget_cl_iter350_par_t2/2026_08_01-11_38_09--with_future_img--episode=4--success=True--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: True
+# episodes completed so far: 4
+# successes: 4 (100.0%)
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 5...
+Query 1/1: Action query time = 2.649 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5334
+t=10: Selected seed 195 with value = 0.5334
+Query 1/1: Action query time = 2.726 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6557
+t=26: Selected seed 195 with value = 0.6557
+Query 1/1: Action query time = 2.293 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7050
+t=42: Selected seed 195 with value = 0.7050
+Query 1/1: Action query time = 2.538 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8230
+t=58: Selected seed 195 with value = 0.8230
+Query 1/1: Action query time = 1.869 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9583
+t=74: Selected seed 195 with value = 0.9583
+Query 1/1: Action query time = 1.164 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/forget_cl_iter350_par_t2/2026_08_01-11_38_09--episode=5--success=True--task=put_the_wine_bottle_on_top_of_the_cabine.mp4
+Saved rollout MP4 at path ./rollouts/forget_cl_iter350_par_t2/2026_08_01-11_38_09--with_future_img--episode=5--success=True--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: True
+# episodes completed so far: 5
+# successes: 5 (100.0%)
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 6...
+Query 1/1: Action query time = 1.473 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5014
+t=10: Selected seed 195 with value = 0.5014
+Query 1/1: Action query time = 2.008 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5993
+t=26: Selected seed 195 with value = 0.5993
+Query 1/1: Action query time = 2.769 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6619
+t=42: Selected seed 195 with value = 0.6619
+Query 1/1: Action query time = 2.381 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8069
+t=58: Selected seed 195 with value = 0.8069
+Query 1/1: Action query time = 2.053 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9793
+t=74: Selected seed 195 with value = 0.9793
+Query 1/1: Action query time = 2.416 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/forget_cl_iter350_par_t2/2026_08_01-11_38_09--episode=6--success=True--task=put_the_wine_bottle_on_top_of_the_cabine.mp4
+Saved rollout MP4 at path ./rollouts/forget_cl_iter350_par_t2/2026_08_01-11_38_09--with_future_img--episode=6--success=True--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: True
+# episodes completed so far: 6
+# successes: 6 (100.0%)
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 7...
+Query 1/1: Action query time = 1.940 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3903
+t=10: Selected seed 195 with value = 0.3903
+Query 1/1: Action query time = 2.493 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4462
+t=26: Selected seed 195 with value = 0.4462
+Query 1/1: Action query time = 1.910 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5549
+t=42: Selected seed 195 with value = 0.5549
+Query 1/1: Action query time = 2.066 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6465
+t=58: Selected seed 195 with value = 0.6465
+Query 1/1: Action query time = 1.904 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8043
+t=74: Selected seed 195 with value = 0.8043
+Query 1/1: Action query time = 2.184 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9334
+t=90: Selected seed 195 with value = 0.9334
+Query 1/1: Action query time = 2.881 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9698
+t=106: Selected seed 195 with value = 0.9698
+Saved rollout MP4 at path ./rollouts/forget_cl_iter350_par_t2/2026_08_01-11_38_09--episode=7--success=True--task=put_the_wine_bottle_on_top_of_the_cabine.mp4
+Saved rollout MP4 at path ./rollouts/forget_cl_iter350_par_t2/2026_08_01-11_38_09--with_future_img--episode=7--success=True--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: True
+# episodes completed so far: 7
+# successes: 7 (100.0%)
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 8...
+Query 1/1: Action query time = 2.541 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4737
+t=10: Selected seed 195 with value = 0.4737
+Query 1/1: Action query time = 2.570 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5642
+t=26: Selected seed 195 with value = 0.5642
+Query 1/1: Action query time = 2.445 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6529
+t=42: Selected seed 195 with value = 0.6529
+Query 1/1: Action query time = 1.986 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6996
+t=58: Selected seed 195 with value = 0.6996
+Query 1/1: Action query time = 1.890 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8814
+t=74: Selected seed 195 with value = 0.8814
+Query 1/1: Action query time = 1.686 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9530
+t=90: Selected seed 195 with value = 0.9530
+Query 1/1: Action query time = 1.837 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9726
+t=106: Selected seed 195 with value = 0.9726
+Query 1/1: Action query time = 2.688 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=122: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 2.518 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=138: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 2.264 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=154: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 1.676 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=170: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 2.223 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=186: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 2.731 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=202: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 2.049 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=218: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 1.797 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=234: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 2.124 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=250: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 2.400 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=266: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 2.233 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=282: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 2.149 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=298: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/forget_cl_iter350_par_t2/2026_08_01-11_38_09--episode=8--success=False--task=put_the_wine_bottle_on_top_of_the_cabine.mp4
+Saved rollout MP4 at path ./rollouts/forget_cl_iter350_par_t2/2026_08_01-11_38_09--with_future_img--episode=8--success=False--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: False
+# episodes completed so far: 8
+# successes: 7 (87.5%)
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 9...
+Query 1/1: Action query time = 1.979 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5094
+t=10: Selected seed 195 with value = 0.5094
+Query 1/1: Action query time = 1.136 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5949
+t=26: Selected seed 195 with value = 0.5949
+Query 1/1: Action query time = 1.245 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6908
+t=42: Selected seed 195 with value = 0.6908
+Query 1/1: Action query time = 1.327 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8382
+t=58: Selected seed 195 with value = 0.8382
+Query 1/1: Action query time = 2.321 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9846
+t=74: Selected seed 195 with value = 0.9846
+Query 1/1: Action query time = 2.300 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/forget_cl_iter350_par_t2/2026_08_01-11_38_09--episode=9--success=True--task=put_the_wine_bottle_on_top_of_the_cabine.mp4
+Saved rollout MP4 at path ./rollouts/forget_cl_iter350_par_t2/2026_08_01-11_38_09--with_future_img--episode=9--success=True--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: True
+# episodes completed so far: 9
+# successes: 8 (88.9%)
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 10...
+Query 1/1: Action query time = 1.803 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5105
+t=10: Selected seed 195 with value = 0.5105
+Query 1/1: Action query time = 1.934 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5916
+t=26: Selected seed 195 with value = 0.5916
+Query 1/1: Action query time = 2.700 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6742
+t=42: Selected seed 195 with value = 0.6742
+Query 1/1: Action query time = 2.778 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8309
+t=58: Selected seed 195 with value = 0.8309
+Query 1/1: Action query time = 2.272 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9952
+t=74: Selected seed 195 with value = 0.9952
+Query 1/1: Action query time = 2.066 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/forget_cl_iter350_par_t2/2026_08_01-11_38_09--episode=10--success=True--task=put_the_wine_bottle_on_top_of_the_cabine.mp4
+Saved rollout MP4 at path ./rollouts/forget_cl_iter350_par_t2/2026_08_01-11_38_09--with_future_img--episode=10--success=True--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: True
+# episodes completed so far: 10
+# successes: 9 (90.0%)
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 11...
+Query 1/1: Action query time = 2.554 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4767
+t=10: Selected seed 195 with value = 0.4767
+Query 1/1: Action query time = 2.892 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5326
+t=26: Selected seed 195 with value = 0.5326
+Query 1/1: Action query time = 2.522 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6566
+t=42: Selected seed 195 with value = 0.6566
+Query 1/1: Action query time = 2.669 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7723
+t=58: Selected seed 195 with value = 0.7723
+Query 1/1: Action query time = 2.445 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9485
+t=74: Selected seed 195 with value = 0.9485
+Query 1/1: Action query time = 1.862 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/forget_cl_iter350_par_t2/2026_08_01-11_38_09--episode=11--success=True--task=put_the_wine_bottle_on_top_of_the_cabine.mp4
+Saved rollout MP4 at path ./rollouts/forget_cl_iter350_par_t2/2026_08_01-11_38_09--with_future_img--episode=11--success=True--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: True
+# episodes completed so far: 11
+# successes: 10 (90.9%)
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 12...
+Query 1/1: Action query time = 1.183 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5163
+t=10: Selected seed 195 with value = 0.5163
+Query 1/1: Action query time = 2.837 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6391
+t=26: Selected seed 195 with value = 0.6391
+Query 1/1: Action query time = 2.695 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7375
+t=42: Selected seed 195 with value = 0.7375
+Query 1/1: Action query time = 2.466 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8971
+t=58: Selected seed 195 with value = 0.8971
+Query 1/1: Action query time = 2.514 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=74: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/forget_cl_iter350_par_t2/2026_08_01-11_38_09--episode=12--success=True--task=put_the_wine_bottle_on_top_of_the_cabine.mp4
+Saved rollout MP4 at path ./rollouts/forget_cl_iter350_par_t2/2026_08_01-11_38_09--with_future_img--episode=12--success=True--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: True
+# episodes completed so far: 12
+# successes: 11 (91.7%)
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 13...
+Query 1/1: Action query time = 2.476 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5303
+t=10: Selected seed 195 with value = 0.5303
+Query 1/1: Action query time = 1.667 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6229
+t=26: Selected seed 195 with value = 0.6229
+Query 1/1: Action query time = 1.832 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7294
+t=42: Selected seed 195 with value = 0.7294
+Query 1/1: Action query time = 2.256 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8290
+t=58: Selected seed 195 with value = 0.8290
+Query 1/1: Action query time = 1.809 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9486
+t=74: Selected seed 195 with value = 0.9486
+Query 1/1: Action query time = 2.460 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/forget_cl_iter350_par_t2/2026_08_01-11_38_09--episode=13--success=True--task=put_the_wine_bottle_on_top_of_the_cabine.mp4
+Saved rollout MP4 at path ./rollouts/forget_cl_iter350_par_t2/2026_08_01-11_38_09--with_future_img--episode=13--success=True--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: True
+# episodes completed so far: 13
+# successes: 12 (92.3%)
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 14...
+Query 1/1: Action query time = 2.552 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5055
+t=10: Selected seed 195 with value = 0.5055
+Query 1/1: Action query time = 2.295 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5640
+t=26: Selected seed 195 with value = 0.5640
+Query 1/1: Action query time = 2.275 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6229
+t=42: Selected seed 195 with value = 0.6229
+Query 1/1: Action query time = 2.277 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7081
+t=58: Selected seed 195 with value = 0.7081
+Query 1/1: Action query time = 2.381 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8485
+t=74: Selected seed 195 with value = 0.8485
+Query 1/1: Action query time = 2.042 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9825
+t=90: Selected seed 195 with value = 0.9825
+Saved rollout MP4 at path ./rollouts/forget_cl_iter350_par_t2/2026_08_01-11_38_09--episode=14--success=True--task=put_the_wine_bottle_on_top_of_the_cabine.mp4
+Saved rollout MP4 at path ./rollouts/forget_cl_iter350_par_t2/2026_08_01-11_38_09--with_future_img--episode=14--success=True--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: True
+# episodes completed so far: 14
+# successes: 13 (92.9%)
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 15...
+Query 1/1: Action query time = 1.678 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4853
+t=10: Selected seed 195 with value = 0.4853
+Query 1/1: Action query time = 2.063 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5914
+t=26: Selected seed 195 with value = 0.5914
+Query 1/1: Action query time = 2.264 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6817
+t=42: Selected seed 195 with value = 0.6817
+Query 1/1: Action query time = 2.146 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8216
+t=58: Selected seed 195 with value = 0.8216
+Query 1/1: Action query time = 2.290 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9621
+t=74: Selected seed 195 with value = 0.9621
+Query 1/1: Action query time = 2.237 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/forget_cl_iter350_par_t2/2026_08_01-11_38_09--episode=15--success=True--task=put_the_wine_bottle_on_top_of_the_cabine.mp4
+Saved rollout MP4 at path ./rollouts/forget_cl_iter350_par_t2/2026_08_01-11_38_09--with_future_img--episode=15--success=True--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: True
+# episodes completed so far: 15
+# successes: 14 (93.3%)
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 16...
+Query 1/1: Action query time = 2.170 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5054
+t=10: Selected seed 195 with value = 0.5054
+Query 1/1: Action query time = 1.428 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5901
+t=26: Selected seed 195 with value = 0.5901
+Query 1/1: Action query time = 1.593 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6719
+t=42: Selected seed 195 with value = 0.6719
+Query 1/1: Action query time = 1.585 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8097
+t=58: Selected seed 195 with value = 0.8097
+Query 1/1: Action query time = 2.070 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9551
+t=74: Selected seed 195 with value = 0.9551
+Query 1/1: Action query time = 1.878 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/forget_cl_iter350_par_t2/2026_08_01-11_38_09--episode=16--success=True--task=put_the_wine_bottle_on_top_of_the_cabine.mp4
+Saved rollout MP4 at path ./rollouts/forget_cl_iter350_par_t2/2026_08_01-11_38_09--with_future_img--episode=16--success=True--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: True
+# episodes completed so far: 16
+# successes: 15 (93.8%)
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 17...
+Query 1/1: Action query time = 2.512 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4621
+t=10: Selected seed 195 with value = 0.4621
+Query 1/1: Action query time = 1.502 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5112
+t=26: Selected seed 195 with value = 0.5112
+Query 1/1: Action query time = 1.807 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5878
+t=42: Selected seed 195 with value = 0.5878
+Query 1/1: Action query time = 2.554 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6975
+t=58: Selected seed 195 with value = 0.6975
+Query 1/1: Action query time = 2.888 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8231
+t=74: Selected seed 195 with value = 0.8231
+Query 1/1: Action query time = 2.078 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9580
+t=90: Selected seed 195 with value = 0.9580
+Query 1/1: Action query time = 2.578 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9857
+t=106: Selected seed 195 with value = 0.9857
+Saved rollout MP4 at path ./rollouts/forget_cl_iter350_par_t2/2026_08_01-11_38_09--episode=17--success=True--task=put_the_wine_bottle_on_top_of_the_cabine.mp4
+Saved rollout MP4 at path ./rollouts/forget_cl_iter350_par_t2/2026_08_01-11_38_09--with_future_img--episode=17--success=True--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: True
+# episodes completed so far: 17
+# successes: 16 (94.1%)
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 18...
+Query 1/1: Action query time = 2.258 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4817
+t=10: Selected seed 195 with value = 0.4817
+Query 1/1: Action query time = 3.046 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5244
+t=26: Selected seed 195 with value = 0.5244
+Query 1/1: Action query time = 2.761 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6749
+t=42: Selected seed 195 with value = 0.6749
+Query 1/1: Action query time = 2.823 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7765
+t=58: Selected seed 195 with value = 0.7765
+Query 1/1: Action query time = 2.171 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9231
+t=74: Selected seed 195 with value = 0.9231
+Query 1/1: Action query time = 1.966 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/forget_cl_iter350_par_t2/2026_08_01-11_38_09--episode=18--success=True--task=put_the_wine_bottle_on_top_of_the_cabine.mp4
+Saved rollout MP4 at path ./rollouts/forget_cl_iter350_par_t2/2026_08_01-11_38_09--with_future_img--episode=18--success=True--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: True
+# episodes completed so far: 18
+# successes: 17 (94.4%)
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 19...
+Query 1/1: Action query time = 1.419 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4967
+t=10: Selected seed 195 with value = 0.4967
+Query 1/1: Action query time = 1.844 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5846
+t=26: Selected seed 195 with value = 0.5846
+Query 1/1: Action query time = 2.036 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6869
+t=42: Selected seed 195 with value = 0.6869
+Query 1/1: Action query time = 1.965 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8358
+t=58: Selected seed 195 with value = 0.8358
+Query 1/1: Action query time = 1.909 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9800
+t=74: Selected seed 195 with value = 0.9800
+Query 1/1: Action query time = 1.863 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/forget_cl_iter350_par_t2/2026_08_01-11_38_09--episode=19--success=True--task=put_the_wine_bottle_on_top_of_the_cabine.mp4
+Saved rollout MP4 at path ./rollouts/forget_cl_iter350_par_t2/2026_08_01-11_38_09--with_future_img--episode=19--success=True--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: True
+# episodes completed so far: 19
+# successes: 18 (94.7%)
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 20...
+Query 1/1: Action query time = 2.521 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4871
+t=10: Selected seed 195 with value = 0.4871
+Query 1/1: Action query time = 3.080 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5896
+t=26: Selected seed 195 with value = 0.5896
+Query 1/1: Action query time = 2.206 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7129
+t=42: Selected seed 195 with value = 0.7129
+Query 1/1: Action query time = 1.847 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8451
+t=58: Selected seed 195 with value = 0.8451
+Query 1/1: Action query time = 2.240 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9980
+t=74: Selected seed 195 with value = 0.9980
+Query 1/1: Action query time = 2.298 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/forget_cl_iter350_par_t2/2026_08_01-11_38_09--episode=20--success=True--task=put_the_wine_bottle_on_top_of_the_cabine.mp4
+Saved rollout MP4 at path ./rollouts/forget_cl_iter350_par_t2/2026_08_01-11_38_09--with_future_img--episode=20--success=True--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: True
+# episodes completed so far: 20
+# successes: 19 (95.0%)
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 21...
+Query 1/1: Action query time = 1.635 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5540
+t=10: Selected seed 195 with value = 0.5540
+Query 1/1: Action query time = 1.627 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6558
+t=26: Selected seed 195 with value = 0.6558
+Query 1/1: Action query time = 2.238 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7420
+t=42: Selected seed 195 with value = 0.7420
+Query 1/1: Action query time = 2.201 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8607
+t=58: Selected seed 195 with value = 0.8607
+Query 1/1: Action query time = 2.477 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9812
+t=74: Selected seed 195 with value = 0.9812
+Query 1/1: Action query time = 1.557 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/forget_cl_iter350_par_t2/2026_08_01-11_38_09--episode=21--success=True--task=put_the_wine_bottle_on_top_of_the_cabine.mp4
+Saved rollout MP4 at path ./rollouts/forget_cl_iter350_par_t2/2026_08_01-11_38_09--with_future_img--episode=21--success=True--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: True
+# episodes completed so far: 21
+# successes: 20 (95.2%)
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 22...
+Query 1/1: Action query time = 1.455 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5102
+t=10: Selected seed 195 with value = 0.5102
+Query 1/1: Action query time = 1.585 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6332
+t=26: Selected seed 195 with value = 0.6332
+Query 1/1: Action query time = 1.840 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7389
+t=42: Selected seed 195 with value = 0.7389
+Query 1/1: Action query time = 2.354 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8180
+t=58: Selected seed 195 with value = 0.8180
+Query 1/1: Action query time = 2.640 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9918
+t=74: Selected seed 195 with value = 0.9918
+Query 1/1: Action query time = 2.632 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9987
+t=90: Selected seed 195 with value = 0.9987
+Saved rollout MP4 at path ./rollouts/forget_cl_iter350_par_t2/2026_08_01-11_38_09--episode=22--success=True--task=put_the_wine_bottle_on_top_of_the_cabine.mp4
+Saved rollout MP4 at path ./rollouts/forget_cl_iter350_par_t2/2026_08_01-11_38_09--with_future_img--episode=22--success=True--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: True
+# episodes completed so far: 22
+# successes: 21 (95.5%)
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 23...
+Query 1/1: Action query time = 1.977 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4865
+t=10: Selected seed 195 with value = 0.4865
+Query 1/1: Action query time = 1.771 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5719
+t=26: Selected seed 195 with value = 0.5719
+Query 1/1: Action query time = 1.694 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6147
+t=42: Selected seed 195 with value = 0.6147
+Query 1/1: Action query time = 2.158 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7507
+t=58: Selected seed 195 with value = 0.7507
+Query 1/1: Action query time = 2.440 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9138
+t=74: Selected seed 195 with value = 0.9138
+Query 1/1: Action query time = 2.343 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9990
+t=90: Selected seed 195 with value = 0.9990
+Saved rollout MP4 at path ./rollouts/forget_cl_iter350_par_t2/2026_08_01-11_38_09--episode=23--success=True--task=put_the_wine_bottle_on_top_of_the_cabine.mp4
+Saved rollout MP4 at path ./rollouts/forget_cl_iter350_par_t2/2026_08_01-11_38_09--with_future_img--episode=23--success=True--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: True
+# episodes completed so far: 23
+# successes: 22 (95.7%)
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 24...
+Query 1/1: Action query time = 2.712 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5117
+t=10: Selected seed 195 with value = 0.5117
+Query 1/1: Action query time = 2.512 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6522
+t=26: Selected seed 195 with value = 0.6522
+Query 1/1: Action query time = 2.743 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7419
+t=42: Selected seed 195 with value = 0.7419
+Query 1/1: Action query time = 2.026 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8279
+t=58: Selected seed 195 with value = 0.8279
+Query 1/1: Action query time = 2.104 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9675
+t=74: Selected seed 195 with value = 0.9675
+Query 1/1: Action query time = 1.727 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/forget_cl_iter350_par_t2/2026_08_01-11_38_09--episode=24--success=True--task=put_the_wine_bottle_on_top_of_the_cabine.mp4
+Saved rollout MP4 at path ./rollouts/forget_cl_iter350_par_t2/2026_08_01-11_38_09--with_future_img--episode=24--success=True--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: True
+# episodes completed so far: 24
+# successes: 23 (95.8%)
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 25...
+Query 1/1: Action query time = 3.605 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3840
+t=10: Selected seed 195 with value = 0.3840
+Query 1/1: Action query time = 2.104 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5314
+t=26: Selected seed 195 with value = 0.5314
+Query 1/1: Action query time = 1.457 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5735
+t=42: Selected seed 195 with value = 0.5735
+Query 1/1: Action query time = 2.892 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6507
+t=58: Selected seed 195 with value = 0.6507
+Query 1/1: Action query time = 2.377 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7418
+t=74: Selected seed 195 with value = 0.7418
+Query 1/1: Action query time = 2.229 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8861
+t=90: Selected seed 195 with value = 0.8861
+Saved rollout MP4 at path ./rollouts/forget_cl_iter350_par_t2/2026_08_01-11_38_09--episode=25--success=True--task=put_the_wine_bottle_on_top_of_the_cabine.mp4
+Saved rollout MP4 at path ./rollouts/forget_cl_iter350_par_t2/2026_08_01-11_38_09--with_future_img--episode=25--success=True--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: True
+# episodes completed so far: 25
+# successes: 24 (96.0%)
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 26...
+Query 1/1: Action query time = 1.344 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5212
+t=10: Selected seed 195 with value = 0.5212
+Query 1/1: Action query time = 0.980 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5890
+t=26: Selected seed 195 with value = 0.5890
+Query 1/1: Action query time = 1.407 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6963
+t=42: Selected seed 195 with value = 0.6963
+Query 1/1: Action query time = 1.750 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8199
+t=58: Selected seed 195 with value = 0.8199
+Query 1/1: Action query time = 2.292 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9643
+t=74: Selected seed 195 with value = 0.9643
+Query 1/1: Action query time = 2.409 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/forget_cl_iter350_par_t2/2026_08_01-11_38_09--episode=26--success=True--task=put_the_wine_bottle_on_top_of_the_cabine.mp4
+Saved rollout MP4 at path ./rollouts/forget_cl_iter350_par_t2/2026_08_01-11_38_09--with_future_img--episode=26--success=True--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: True
+# episodes completed so far: 26
+# successes: 25 (96.2%)
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 27...
+Query 1/1: Action query time = 2.189 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3399
+t=10: Selected seed 195 with value = 0.3399
+Query 1/1: Action query time = 2.435 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4182
+t=26: Selected seed 195 with value = 0.4182
+Query 1/1: Action query time = 2.309 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6097
+t=42: Selected seed 195 with value = 0.6097
+Query 1/1: Action query time = 1.256 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7312
+t=58: Selected seed 195 with value = 0.7312
+Query 1/1: Action query time = 1.342 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8587
+t=74: Selected seed 195 with value = 0.8587
+Query 1/1: Action query time = 2.253 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9829
+t=90: Selected seed 195 with value = 0.9829
+Saved rollout MP4 at path ./rollouts/forget_cl_iter350_par_t2/2026_08_01-11_38_09--episode=27--success=True--task=put_the_wine_bottle_on_top_of_the_cabine.mp4
+Saved rollout MP4 at path ./rollouts/forget_cl_iter350_par_t2/2026_08_01-11_38_09--with_future_img--episode=27--success=True--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: True
+# episodes completed so far: 27
+# successes: 26 (96.3%)
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 28...
+Query 1/1: Action query time = 2.199 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4871
+t=10: Selected seed 195 with value = 0.4871
+Query 1/1: Action query time = 1.877 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5827
+t=26: Selected seed 195 with value = 0.5827
+Query 1/1: Action query time = 1.677 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7191
+t=42: Selected seed 195 with value = 0.7191
+Query 1/1: Action query time = 2.095 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8156
+t=58: Selected seed 195 with value = 0.8156
+Query 1/1: Action query time = 1.899 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9645
+t=74: Selected seed 195 with value = 0.9645
+Query 1/1: Action query time = 2.608 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9948
+t=90: Selected seed 195 with value = 0.9948
+Saved rollout MP4 at path ./rollouts/forget_cl_iter350_par_t2/2026_08_01-11_38_09--episode=28--success=True--task=put_the_wine_bottle_on_top_of_the_cabine.mp4
+Saved rollout MP4 at path ./rollouts/forget_cl_iter350_par_t2/2026_08_01-11_38_09--with_future_img--episode=28--success=True--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: True
+# episodes completed so far: 28
+# successes: 27 (96.4%)
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 29...
+Query 1/1: Action query time = 1.739 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3949
+t=10: Selected seed 195 with value = 0.3949
+Query 1/1: Action query time = 2.779 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4158
+t=26: Selected seed 195 with value = 0.4158
+Query 1/1: Action query time = 2.886 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6071
+t=42: Selected seed 195 with value = 0.6071
+Query 1/1: Action query time = 2.026 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7280
+t=58: Selected seed 195 with value = 0.7280
+Query 1/1: Action query time = 2.376 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6285
+t=74: Selected seed 195 with value = 0.6285
+Query 1/1: Action query time = 2.999 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9488
+t=90: Selected seed 195 with value = 0.9488
+Query 1/1: Action query time = 3.116 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9522
+t=106: Selected seed 195 with value = 0.9522
+Query 1/1: Action query time = 2.737 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9637
+t=122: Selected seed 195 with value = 0.9637
+Query 1/1: Action query time = 2.889 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9571
+t=138: Selected seed 195 with value = 0.9571
+Query 1/1: Action query time = 1.640 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9835
+t=154: Selected seed 195 with value = 0.9835
+Query 1/1: Action query time = 1.467 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9608
+t=170: Selected seed 195 with value = 0.9608
+Query 1/1: Action query time = 1.637 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9552
+t=186: Selected seed 195 with value = 0.9552
+Query 1/1: Action query time = 1.825 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9817
+t=202: Selected seed 195 with value = 0.9817
+Query 1/1: Action query time = 3.229 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9590
+t=218: Selected seed 195 with value = 0.9590
+Query 1/1: Action query time = 2.267 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9435
+t=234: Selected seed 195 with value = 0.9435
+Query 1/1: Action query time = 2.647 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9887
+t=250: Selected seed 195 with value = 0.9887
+Query 1/1: Action query time = 2.277 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=266: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 1.348 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=282: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 2.716 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=298: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/forget_cl_iter350_par_t2/2026_08_01-11_38_09--episode=29--success=False--task=put_the_wine_bottle_on_top_of_the_cabine.mp4
+Saved rollout MP4 at path ./rollouts/forget_cl_iter350_par_t2/2026_08_01-11_38_09--with_future_img--episode=29--success=False--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: False
+# episodes completed so far: 29
+# successes: 27 (93.1%)
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 30...
+Query 1/1: Action query time = 2.501 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5138
+t=10: Selected seed 195 with value = 0.5138
+Query 1/1: Action query time = 1.724 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6173
+t=26: Selected seed 195 with value = 0.6173
+Query 1/1: Action query time = 2.093 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7120
+t=42: Selected seed 195 with value = 0.7120
+Query 1/1: Action query time = 2.773 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8671
+t=58: Selected seed 195 with value = 0.8671
+Query 1/1: Action query time = 3.381 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9939
+t=74: Selected seed 195 with value = 0.9939
+Query 1/1: Action query time = 2.689 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9891
+t=90: Selected seed 195 with value = 0.9891
+Saved rollout MP4 at path ./rollouts/forget_cl_iter350_par_t2/2026_08_01-11_38_09--episode=30--success=True--task=put_the_wine_bottle_on_top_of_the_cabine.mp4
+Saved rollout MP4 at path ./rollouts/forget_cl_iter350_par_t2/2026_08_01-11_38_09--with_future_img--episode=30--success=True--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: True
+# episodes completed so far: 30
+# successes: 28 (93.3%)
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 31...
+Query 1/1: Action query time = 2.277 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4985
+t=10: Selected seed 195 with value = 0.4985
+Query 1/1: Action query time = 2.280 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6098
+t=26: Selected seed 195 with value = 0.6098
+Query 1/1: Action query time = 2.315 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6836
+t=42: Selected seed 195 with value = 0.6836
+Query 1/1: Action query time = 1.901 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8809
+t=58: Selected seed 195 with value = 0.8809
+Query 1/1: Action query time = 2.071 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=74: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 1.294 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/forget_cl_iter350_par_t2/2026_08_01-11_38_09--episode=31--success=True--task=put_the_wine_bottle_on_top_of_the_cabine.mp4
+Saved rollout MP4 at path ./rollouts/forget_cl_iter350_par_t2/2026_08_01-11_38_09--with_future_img--episode=31--success=True--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: True
+# episodes completed so far: 31
+# successes: 29 (93.5%)
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 32...
+Query 1/1: Action query time = 1.332 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4912
+t=10: Selected seed 195 with value = 0.4912
+Query 1/1: Action query time = 2.719 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6008
+t=26: Selected seed 195 with value = 0.6008
+Query 1/1: Action query time = 2.776 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6492
+t=42: Selected seed 195 with value = 0.6492
+Query 1/1: Action query time = 2.146 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8141
+t=58: Selected seed 195 with value = 0.8141
+Query 1/1: Action query time = 2.114 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9667
+t=74: Selected seed 195 with value = 0.9667
+Query 1/1: Action query time = 2.328 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9990
+t=90: Selected seed 195 with value = 0.9990
+Saved rollout MP4 at path ./rollouts/forget_cl_iter350_par_t2/2026_08_01-11_38_09--episode=32--success=True--task=put_the_wine_bottle_on_top_of_the_cabine.mp4
+Saved rollout MP4 at path ./rollouts/forget_cl_iter350_par_t2/2026_08_01-11_38_09--with_future_img--episode=32--success=True--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: True
+# episodes completed so far: 32
+# successes: 30 (93.8%)
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 33...
+Query 1/1: Action query time = 2.337 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4821
+t=10: Selected seed 195 with value = 0.4821
+Query 1/1: Action query time = 2.506 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5530
+t=26: Selected seed 195 with value = 0.5530
+Query 1/1: Action query time = 2.528 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5775
+t=42: Selected seed 195 with value = 0.5775
+Query 1/1: Action query time = 2.666 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6739
+t=58: Selected seed 195 with value = 0.6739
+Query 1/1: Action query time = 2.550 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7987
+t=74: Selected seed 195 with value = 0.7987
+Query 1/1: Action query time = 1.741 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9344
+t=90: Selected seed 195 with value = 0.9344
+Saved rollout MP4 at path ./rollouts/forget_cl_iter350_par_t2/2026_08_01-11_38_09--episode=33--success=True--task=put_the_wine_bottle_on_top_of_the_cabine.mp4
+Saved rollout MP4 at path ./rollouts/forget_cl_iter350_par_t2/2026_08_01-11_38_09--with_future_img--episode=33--success=True--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: True
+# episodes completed so far: 33
+# successes: 31 (93.9%)
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 34...
+Query 1/1: Action query time = 1.947 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4551
+t=10: Selected seed 195 with value = 0.4551
+Query 1/1: Action query time = 1.863 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6080
+t=26: Selected seed 195 with value = 0.6080
+Query 1/1: Action query time = 2.220 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6126
+t=42: Selected seed 195 with value = 0.6126
+Query 1/1: Action query time = 2.151 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8036
+t=58: Selected seed 195 with value = 0.8036
+Query 1/1: Action query time = 1.846 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9756
+t=74: Selected seed 195 with value = 0.9756
+Query 1/1: Action query time = 1.813 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/forget_cl_iter350_par_t2/2026_08_01-11_38_09--episode=34--success=True--task=put_the_wine_bottle_on_top_of_the_cabine.mp4
+Saved rollout MP4 at path ./rollouts/forget_cl_iter350_par_t2/2026_08_01-11_38_09--with_future_img--episode=34--success=True--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: True
+# episodes completed so far: 34
+# successes: 32 (94.1%)
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 35...
+Query 1/1: Action query time = 2.394 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4010
+t=10: Selected seed 195 with value = 0.4010
+Query 1/1: Action query time = 1.809 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5492
+t=26: Selected seed 195 with value = 0.5492
+Query 1/1: Action query time = 2.275 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6370
+t=42: Selected seed 195 with value = 0.6370
+Query 1/1: Action query time = 2.152 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7773
+t=58: Selected seed 195 with value = 0.7773
+Query 1/1: Action query time = 2.047 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9304
+t=74: Selected seed 195 with value = 0.9304
+Query 1/1: Action query time = 1.771 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/forget_cl_iter350_par_t2/2026_08_01-11_38_09--episode=35--success=True--task=put_the_wine_bottle_on_top_of_the_cabine.mp4
+Saved rollout MP4 at path ./rollouts/forget_cl_iter350_par_t2/2026_08_01-11_38_09--with_future_img--episode=35--success=True--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: True
+# episodes completed so far: 35
+# successes: 33 (94.3%)
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 36...
+Query 1/1: Action query time = 2.611 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4734
+t=10: Selected seed 195 with value = 0.4734
+Query 1/1: Action query time = 2.479 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5778
+t=26: Selected seed 195 with value = 0.5778
+Query 1/1: Action query time = 2.120 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6664
+t=42: Selected seed 195 with value = 0.6664
+Query 1/1: Action query time = 2.158 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7918
+t=58: Selected seed 195 with value = 0.7918
+Query 1/1: Action query time = 1.199 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9389
+t=74: Selected seed 195 with value = 0.9389
+Query 1/1: Action query time = 1.273 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9933
+t=90: Selected seed 195 with value = 0.9933
+Saved rollout MP4 at path ./rollouts/forget_cl_iter350_par_t2/2026_08_01-11_38_09--episode=36--success=True--task=put_the_wine_bottle_on_top_of_the_cabine.mp4
+Saved rollout MP4 at path ./rollouts/forget_cl_iter350_par_t2/2026_08_01-11_38_09--with_future_img--episode=36--success=True--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: True
+# episodes completed so far: 36
+# successes: 34 (94.4%)
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 37...
+Query 1/1: Action query time = 2.307 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4390
+t=10: Selected seed 195 with value = 0.4390
+Query 1/1: Action query time = 1.851 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5221
+t=26: Selected seed 195 with value = 0.5221
+Query 1/1: Action query time = 2.081 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5955
+t=42: Selected seed 195 with value = 0.5955
+Query 1/1: Action query time = 2.926 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7089
+t=58: Selected seed 195 with value = 0.7089
+Query 1/1: Action query time = 2.187 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8357
+t=74: Selected seed 195 with value = 0.8357
+Query 1/1: Action query time = 1.610 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9643
+t=90: Selected seed 195 with value = 0.9643
+Query 1/1: Action query time = 2.110 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9964
+t=106: Selected seed 195 with value = 0.9964
+Saved rollout MP4 at path ./rollouts/forget_cl_iter350_par_t2/2026_08_01-11_38_09--episode=37--success=True--task=put_the_wine_bottle_on_top_of_the_cabine.mp4
+Saved rollout MP4 at path ./rollouts/forget_cl_iter350_par_t2/2026_08_01-11_38_09--with_future_img--episode=37--success=True--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: True
+# episodes completed so far: 37
+# successes: 35 (94.6%)
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 38...
+Query 1/1: Action query time = 2.415 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3263
+t=10: Selected seed 195 with value = 0.3263
+Query 1/1: Action query time = 2.410 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3958
+t=26: Selected seed 195 with value = 0.3958
+Query 1/1: Action query time = 2.401 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4750
+t=42: Selected seed 195 with value = 0.4750
+Query 1/1: Action query time = 2.303 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5962
+t=58: Selected seed 195 with value = 0.5962
+Query 1/1: Action query time = 1.711 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7174
+t=74: Selected seed 195 with value = 0.7174
+Query 1/1: Action query time = 1.780 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6744
+t=90: Selected seed 195 with value = 0.6744
+Query 1/1: Action query time = 1.410 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7650
+t=106: Selected seed 195 with value = 0.7650
+Query 1/1: Action query time = 2.335 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8849
+t=122: Selected seed 195 with value = 0.8849
+Query 1/1: Action query time = 2.234 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=138: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/forget_cl_iter350_par_t2/2026_08_01-11_38_09--episode=38--success=True--task=put_the_wine_bottle_on_top_of_the_cabine.mp4
+Saved rollout MP4 at path ./rollouts/forget_cl_iter350_par_t2/2026_08_01-11_38_09--with_future_img--episode=38--success=True--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: True
+# episodes completed so far: 38
+# successes: 36 (94.7%)
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 39...
+Query 1/1: Action query time = 3.181 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5062
+t=10: Selected seed 195 with value = 0.5062
+Query 1/1: Action query time = 2.256 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5777
+t=26: Selected seed 195 with value = 0.5777
+Query 1/1: Action query time = 2.594 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7093
+t=42: Selected seed 195 with value = 0.7093
+Query 1/1: Action query time = 2.003 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7858
+t=58: Selected seed 195 with value = 0.7858
+Query 1/1: Action query time = 2.319 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9292
+t=74: Selected seed 195 with value = 0.9292
+Query 1/1: Action query time = 2.669 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9703
+t=90: Selected seed 195 with value = 0.9703
+Query 1/1: Action query time = 2.274 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9865
+t=106: Selected seed 195 with value = 0.9865
+Query 1/1: Action query time = 2.006 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=122: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 1.279 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=138: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 1.000 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=154: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 1.937 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=170: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 3.251 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=186: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 2.134 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=202: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 2.374 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=218: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 2.224 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9967
+t=234: Selected seed 195 with value = 0.9967
+Query 1/1: Action query time = 2.323 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9361
+t=250: Selected seed 195 with value = 0.9361
+Query 1/1: Action query time = 2.400 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7532
+t=266: Selected seed 195 with value = 0.7532
+Query 1/1: Action query time = 2.343 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7104
+t=282: Selected seed 195 with value = 0.7104
+Query 1/1: Action query time = 2.686 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6270
+t=298: Selected seed 195 with value = 0.6270
+Saved rollout MP4 at path ./rollouts/forget_cl_iter350_par_t2/2026_08_01-11_38_09--episode=39--success=False--task=put_the_wine_bottle_on_top_of_the_cabine.mp4
+Saved rollout MP4 at path ./rollouts/forget_cl_iter350_par_t2/2026_08_01-11_38_09--with_future_img--episode=39--success=False--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: False
+# episodes completed so far: 39
+# successes: 36 (92.3%)
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 40...
+Query 1/1: Action query time = 2.414 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4006
+t=10: Selected seed 195 with value = 0.4006
+Query 1/1: Action query time = 2.070 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5059
+t=26: Selected seed 195 with value = 0.5059
+Query 1/1: Action query time = 1.280 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5346
+t=42: Selected seed 195 with value = 0.5346
+Query 1/1: Action query time = 2.093 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6897
+t=58: Selected seed 195 with value = 0.6897
+Query 1/1: Action query time = 2.408 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8356
+t=74: Selected seed 195 with value = 0.8356
+Query 1/1: Action query time = 2.133 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9841
+t=90: Selected seed 195 with value = 0.9841
+Query 1/1: Action query time = 2.382 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9818
+t=106: Selected seed 195 with value = 0.9818
+Saved rollout MP4 at path ./rollouts/forget_cl_iter350_par_t2/2026_08_01-11_38_09--episode=40--success=True--task=put_the_wine_bottle_on_top_of_the_cabine.mp4
+Saved rollout MP4 at path ./rollouts/forget_cl_iter350_par_t2/2026_08_01-11_38_09--with_future_img--episode=40--success=True--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: True
+# episodes completed so far: 40
+# successes: 37 (92.5%)
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 41...
+Query 1/1: Action query time = 1.244 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4723
+t=10: Selected seed 195 with value = 0.4723
+Query 1/1: Action query time = 1.086 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5009
+t=26: Selected seed 195 with value = 0.5009
+Query 1/1: Action query time = 1.917 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5774
+t=42: Selected seed 195 with value = 0.5774
+Query 1/1: Action query time = 1.165 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6819
+t=58: Selected seed 195 with value = 0.6819
+Query 1/1: Action query time = 2.359 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8242
+t=74: Selected seed 195 with value = 0.8242
+Query 1/1: Action query time = 3.003 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9626
+t=90: Selected seed 195 with value = 0.9626
+Query 1/1: Action query time = 2.352 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=106: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/forget_cl_iter350_par_t2/2026_08_01-11_38_09--episode=41--success=True--task=put_the_wine_bottle_on_top_of_the_cabine.mp4
+Saved rollout MP4 at path ./rollouts/forget_cl_iter350_par_t2/2026_08_01-11_38_09--with_future_img--episode=41--success=True--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: True
+# episodes completed so far: 41
+# successes: 38 (92.7%)
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 42...
+Query 1/1: Action query time = 2.334 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4843
+t=10: Selected seed 195 with value = 0.4843
+Query 1/1: Action query time = 2.048 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6147
+t=26: Selected seed 195 with value = 0.6147
+Query 1/1: Action query time = 1.229 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6569
+t=42: Selected seed 195 with value = 0.6569
+Query 1/1: Action query time = 1.819 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7769
+t=58: Selected seed 195 with value = 0.7769
+Query 1/1: Action query time = 2.340 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9177
+t=74: Selected seed 195 with value = 0.9177
+Query 1/1: Action query time = 2.000 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9792
+t=90: Selected seed 195 with value = 0.9792
+Saved rollout MP4 at path ./rollouts/forget_cl_iter350_par_t2/2026_08_01-11_38_09--episode=42--success=True--task=put_the_wine_bottle_on_top_of_the_cabine.mp4
+Saved rollout MP4 at path ./rollouts/forget_cl_iter350_par_t2/2026_08_01-11_38_09--with_future_img--episode=42--success=True--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: True
+# episodes completed so far: 42
+# successes: 39 (92.9%)
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 43...
+Query 1/1: Action query time = 2.395 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4630
+t=10: Selected seed 195 with value = 0.4630
+Query 1/1: Action query time = 3.326 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5616
+t=26: Selected seed 195 with value = 0.5616
+Query 1/1: Action query time = 2.757 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6136
+t=42: Selected seed 195 with value = 0.6136
+Query 1/1: Action query time = 3.412 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7639
+t=58: Selected seed 195 with value = 0.7639
+Query 1/1: Action query time = 2.649 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8517
+t=74: Selected seed 195 with value = 0.8517
+Query 1/1: Action query time = 1.974 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9945
+t=90: Selected seed 195 with value = 0.9945
+Query 1/1: Action query time = 2.720 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9723
+t=106: Selected seed 195 with value = 0.9723
+Saved rollout MP4 at path ./rollouts/forget_cl_iter350_par_t2/2026_08_01-11_38_09--episode=43--success=True--task=put_the_wine_bottle_on_top_of_the_cabine.mp4
+Saved rollout MP4 at path ./rollouts/forget_cl_iter350_par_t2/2026_08_01-11_38_09--with_future_img--episode=43--success=True--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: True
+# episodes completed so far: 43
+# successes: 40 (93.0%)
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 44...
+Query 1/1: Action query time = 2.379 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3826
+t=10: Selected seed 195 with value = 0.3826
+Query 1/1: Action query time = 2.416 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4330
+t=26: Selected seed 195 with value = 0.4330
+Query 1/1: Action query time = 2.386 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6129
+t=42: Selected seed 195 with value = 0.6129
+Query 1/1: Action query time = 2.448 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7055
+t=58: Selected seed 195 with value = 0.7055
+Query 1/1: Action query time = 2.501 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7575
+t=74: Selected seed 195 with value = 0.7575
+Query 1/1: Action query time = 2.519 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8532
+t=90: Selected seed 195 with value = 0.8532
+Query 1/1: Action query time = 2.284 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=106: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/forget_cl_iter350_par_t2/2026_08_01-11_38_09--episode=44--success=True--task=put_the_wine_bottle_on_top_of_the_cabine.mp4
+Saved rollout MP4 at path ./rollouts/forget_cl_iter350_par_t2/2026_08_01-11_38_09--with_future_img--episode=44--success=True--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: True
+# episodes completed so far: 44
+# successes: 41 (93.2%)
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 45...
+Query 1/1: Action query time = 2.454 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3908
+t=10: Selected seed 195 with value = 0.3908
+Query 1/1: Action query time = 2.798 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4841
+t=26: Selected seed 195 with value = 0.4841
+Query 1/1: Action query time = 2.589 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6819
+t=42: Selected seed 195 with value = 0.6819
+Query 1/1: Action query time = 1.467 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8600
+t=58: Selected seed 195 with value = 0.8600
+Query 1/1: Action query time = 1.572 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9759
+t=74: Selected seed 195 with value = 0.9759
+Query 1/1: Action query time = 1.755 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/forget_cl_iter350_par_t2/2026_08_01-11_38_09--episode=45--success=True--task=put_the_wine_bottle_on_top_of_the_cabine.mp4
+Saved rollout MP4 at path ./rollouts/forget_cl_iter350_par_t2/2026_08_01-11_38_09--with_future_img--episode=45--success=True--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: True
+# episodes completed so far: 45
+# successes: 42 (93.3%)
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 46...
+Query 1/1: Action query time = 1.551 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5294
+t=10: Selected seed 195 with value = 0.5294
+Query 1/1: Action query time = 2.256 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6475
+t=26: Selected seed 195 with value = 0.6475
+Query 1/1: Action query time = 2.138 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7197
+t=42: Selected seed 195 with value = 0.7197
+Query 1/1: Action query time = 2.376 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8329
+t=58: Selected seed 195 with value = 0.8329
+Query 1/1: Action query time = 2.178 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9891
+t=74: Selected seed 195 with value = 0.9891
+Query 1/1: Action query time = 2.788 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/forget_cl_iter350_par_t2/2026_08_01-11_38_09--episode=46--success=True--task=put_the_wine_bottle_on_top_of_the_cabine.mp4
+Saved rollout MP4 at path ./rollouts/forget_cl_iter350_par_t2/2026_08_01-11_38_09--with_future_img--episode=46--success=True--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: True
+# episodes completed so far: 46
+# successes: 43 (93.5%)
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 47...
+Query 1/1: Action query time = 2.045 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4982
+t=10: Selected seed 195 with value = 0.4982
+Query 1/1: Action query time = 3.150 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6204
+t=26: Selected seed 195 with value = 0.6204
+Query 1/1: Action query time = 2.827 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6926
+t=42: Selected seed 195 with value = 0.6926
+Query 1/1: Action query time = 2.269 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8220
+t=58: Selected seed 195 with value = 0.8220
+Query 1/1: Action query time = 1.239 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9622
+t=74: Selected seed 195 with value = 0.9622
+Query 1/1: Action query time = 1.281 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/forget_cl_iter350_par_t2/2026_08_01-11_38_09--episode=47--success=True--task=put_the_wine_bottle_on_top_of_the_cabine.mp4
+Saved rollout MP4 at path ./rollouts/forget_cl_iter350_par_t2/2026_08_01-11_38_09--with_future_img--episode=47--success=True--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: True
+# episodes completed so far: 47
+# successes: 44 (93.6%)
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 48...
+Query 1/1: Action query time = 1.803 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5200
+t=10: Selected seed 195 with value = 0.5200
+Query 1/1: Action query time = 2.695 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6201
+t=26: Selected seed 195 with value = 0.6201
+Query 1/1: Action query time = 2.447 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7184
+t=42: Selected seed 195 with value = 0.7184
+Query 1/1: Action query time = 2.517 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8449
+t=58: Selected seed 195 with value = 0.8449
+Query 1/1: Action query time = 2.493 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9823
+t=74: Selected seed 195 with value = 0.9823
+Query 1/1: Action query time = 2.665 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9980
+t=90: Selected seed 195 with value = 0.9980
+Saved rollout MP4 at path ./rollouts/forget_cl_iter350_par_t2/2026_08_01-11_38_09--episode=48--success=True--task=put_the_wine_bottle_on_top_of_the_cabine.mp4
+Saved rollout MP4 at path ./rollouts/forget_cl_iter350_par_t2/2026_08_01-11_38_09--with_future_img--episode=48--success=True--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: True
+# episodes completed so far: 48
+# successes: 45 (93.8%)
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 49...
+Query 1/1: Action query time = 1.803 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4697
+t=10: Selected seed 195 with value = 0.4697
+Query 1/1: Action query time = 2.148 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4800
+t=26: Selected seed 195 with value = 0.4800
+Query 1/1: Action query time = 2.199 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6260
+t=42: Selected seed 195 with value = 0.6260
+Query 1/1: Action query time = 1.938 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7752
+t=58: Selected seed 195 with value = 0.7752
+Query 1/1: Action query time = 1.759 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9057
+t=74: Selected seed 195 with value = 0.9057
+Query 1/1: Action query time = 1.972 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/forget_cl_iter350_par_t2/2026_08_01-11_38_09--episode=49--success=True--task=put_the_wine_bottle_on_top_of_the_cabine.mp4
+Saved rollout MP4 at path ./rollouts/forget_cl_iter350_par_t2/2026_08_01-11_38_09--with_future_img--episode=49--success=True--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: True
+# episodes completed so far: 49
+# successes: 46 (93.9%)
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 50...
+Query 1/1: Action query time = 1.126 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5058
+t=10: Selected seed 195 with value = 0.5058
+Query 1/1: Action query time = 1.122 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5565
+t=26: Selected seed 195 with value = 0.5565
+Query 1/1: Action query time = 0.981 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6871
+t=42: Selected seed 195 with value = 0.6871
+Query 1/1: Action query time = 1.299 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7922
+t=58: Selected seed 195 with value = 0.7922
+Query 1/1: Action query time = 1.330 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9141
+t=74: Selected seed 195 with value = 0.9141
+Query 1/1: Action query time = 1.774 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9923
+t=90: Selected seed 195 with value = 0.9923
+Saved rollout MP4 at path ./rollouts/forget_cl_iter350_par_t2/2026_08_01-11_38_09--episode=50--success=True--task=put_the_wine_bottle_on_top_of_the_cabine.mp4
+Saved rollout MP4 at path ./rollouts/forget_cl_iter350_par_t2/2026_08_01-11_38_09--with_future_img--episode=50--success=True--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: True
+# episodes completed so far: 50
+# successes: 47 (94.0%)
+Current task success rate: 0.94
+Current total success rate: 0.94
+Final results:
+Total episodes: 50
+Total successes: 47
+Overall success rate: 0.9400 (94.0%)
diff --git a/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_01-11_38_09--forget_cl_iter350_par_t4.txt b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_01-11_38_09--forget_cl_iter350_par_t4.txt
new file mode 100644
index 0000000000000000000000000000000000000000..6b69de07ffdb9c0c56c1b8d6b87452824d0865b7
--- /dev/null
+++ b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_01-11_38_09--forget_cl_iter350_par_t4.txt
@@ -0,0 +1,1704 @@
+Eval config: PolicyEvalConfig(suite='libero', model_family='cosmos', config='cosmos_predict2_2b_480p_libero_cl_stage_inference_only', ckpt_path='/home/azureuser/REGEN-main/new/cosmos_policy/cosmos_v2_finetune/cosmos_predict2_2b_480p_libero_goal_task6_forget_cl_from100_2gpu/checkpoints/iter_000000350/model', planning_model_config_name='', planning_model_ckpt_path='', config_file='cosmos_policy/config/config.py', packnet_mask_path='', packnet_first_cl_libero_task=6, use_third_person_image=True, num_third_person_images=1, use_wrist_image=True, num_wrist_images=1, use_proprio=True, flip_images=True, use_variance_scale=False, use_jpeg_compression=True, ar_future_prediction=False, ar_value_prediction=False, ar_qvalue_prediction=False, num_denoising_steps_action=5, num_denoising_steps_future_state=1, num_denoising_steps_value=1, unnormalize_actions=True, normalize_proprio=True, dataset_stats_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/libero_goal_regen/dataset_statistics.json', t5_text_embeddings_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/t5_embeddings.pkl', trained_with_image_aug=True, chunk_size=16, num_open_loop_steps=16, deterministic=True, deterministic_reset=False, deterministic_reset_seed=None, use_ensemble_future_state_predictions=False, num_future_state_predictions_in_ensemble=3, future_state_ensemble_aggregation_scheme='average', use_ensemble_value_predictions=False, num_value_predictions_in_ensemble=5, value_ensemble_aggregation_scheme='average', search_depth=1, mask_current_state_action_for_value_prediction=False, mask_future_state_for_qvalue_prediction=False, num_queries_best_of_n=1, use_parallel_inference=False, available_gpus='0', parallel_timeout=15, parallel_tasks_across_gpus=False, task_suite_name='libero_goal', num_trials_per_task=50, task_ids_to_run='4', initial_states_path='DEFAULT', env_img_res=256, local_log_dir='/home/azureuser/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal', run_id_note='forget_cl_iter350_par_t4', use_wandb=False, wandb_entity='YOUR_ENTITY', wandb_project='YOUR_PROJECT', seed=195, randomize_seed=False, data_collection=False, jpeg_compress=True, reward_stop_threshold=None, reward_stop_consecutive_steps=3, use_gpt_reward=False, gpt_reward_model='gpt-5.4-mini', gpt_reward_stop_threshold=4, gpt_reward_timeout_s=30.0, save_rollout_video=True, eval_hdf5_path='', eval_hdf5_demo_key='demo_0', data_gen_demo_ids='', replay_actions=False, replay_action_path_dir='', replay_hdf5_path='', data_generation=False, max_generation_steps=200, simple_task_max_steps=100, complex_task_max_steps=200)
+Using serial inference (parallel inference disabled)
+Task suite: libero_goal
+Number of tasks: 10
+Running only task IDs: [4]
+Using default initial states
+
+Task: put the bowl on top of the cabinet
+Starting episode 1...
+Query 1/1: Action query time = 2.961 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5030
+t=10: Selected seed 195 with value = 0.5030
+Query 1/1: Action query time = 2.344 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6202
+t=26: Selected seed 195 with value = 0.6202
+Query 1/1: Action query time = 2.153 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6975
+t=42: Selected seed 195 with value = 0.6975
+Query 1/1: Action query time = 2.216 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8146
+t=58: Selected seed 195 with value = 0.8146
+Query 1/1: Action query time = 1.803 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9817
+t=74: Selected seed 195 with value = 0.9817
+Query 1/1: Action query time = 1.472 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/forget_cl_iter350_par_t4/2026_08_01-11_38_09--episode=1--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Saved rollout MP4 at path ./rollouts/forget_cl_iter350_par_t4/2026_08_01-11_38_09--with_future_img--episode=1--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Success: True
+# episodes completed so far: 1
+# successes: 1 (100.0%)
+
+Task: put the bowl on top of the cabinet
+Starting episode 2...
+Query 1/1: Action query time = 2.259 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5288
+t=10: Selected seed 195 with value = 0.5288
+Query 1/1: Action query time = 1.940 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6271
+t=26: Selected seed 195 with value = 0.6271
+Query 1/1: Action query time = 1.360 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7252
+t=42: Selected seed 195 with value = 0.7252
+Query 1/1: Action query time = 2.023 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8179
+t=58: Selected seed 195 with value = 0.8179
+Query 1/1: Action query time = 1.676 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9577
+t=74: Selected seed 195 with value = 0.9577
+Saved rollout MP4 at path ./rollouts/forget_cl_iter350_par_t4/2026_08_01-11_38_09--episode=2--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Saved rollout MP4 at path ./rollouts/forget_cl_iter350_par_t4/2026_08_01-11_38_09--with_future_img--episode=2--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Success: True
+# episodes completed so far: 2
+# successes: 2 (100.0%)
+
+Task: put the bowl on top of the cabinet
+Starting episode 3...
+Query 1/1: Action query time = 1.243 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5028
+t=10: Selected seed 195 with value = 0.5028
+Query 1/1: Action query time = 1.280 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6046
+t=26: Selected seed 195 with value = 0.6046
+Query 1/1: Action query time = 1.591 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6688
+t=42: Selected seed 195 with value = 0.6688
+Query 1/1: Action query time = 1.693 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8221
+t=58: Selected seed 195 with value = 0.8221
+Query 1/1: Action query time = 1.491 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9620
+t=74: Selected seed 195 with value = 0.9620
+Query 1/1: Action query time = 1.852 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9989
+t=90: Selected seed 195 with value = 0.9989
+Saved rollout MP4 at path ./rollouts/forget_cl_iter350_par_t4/2026_08_01-11_38_09--episode=3--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Saved rollout MP4 at path ./rollouts/forget_cl_iter350_par_t4/2026_08_01-11_38_09--with_future_img--episode=3--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Success: True
+# episodes completed so far: 3
+# successes: 3 (100.0%)
+
+Task: put the bowl on top of the cabinet
+Starting episode 4...
+Query 1/1: Action query time = 1.466 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4949
+t=10: Selected seed 195 with value = 0.4949
+Query 1/1: Action query time = 1.521 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6212
+t=26: Selected seed 195 with value = 0.6212
+Query 1/1: Action query time = 2.217 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6773
+t=42: Selected seed 195 with value = 0.6773
+Query 1/1: Action query time = 1.341 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7922
+t=58: Selected seed 195 with value = 0.7922
+Query 1/1: Action query time = 1.303 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9763
+t=74: Selected seed 195 with value = 0.9763
+Query 1/1: Action query time = 2.045 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9979
+t=90: Selected seed 195 with value = 0.9979
+Saved rollout MP4 at path ./rollouts/forget_cl_iter350_par_t4/2026_08_01-11_38_09--episode=4--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Saved rollout MP4 at path ./rollouts/forget_cl_iter350_par_t4/2026_08_01-11_38_09--with_future_img--episode=4--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Success: True
+# episodes completed so far: 4
+# successes: 4 (100.0%)
+
+Task: put the bowl on top of the cabinet
+Starting episode 5...
+Query 1/1: Action query time = 1.761 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4987
+t=10: Selected seed 195 with value = 0.4987
+Query 1/1: Action query time = 1.919 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6106
+t=26: Selected seed 195 with value = 0.6106
+Query 1/1: Action query time = 2.272 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6672
+t=42: Selected seed 195 with value = 0.6672
+Query 1/1: Action query time = 2.135 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8323
+t=58: Selected seed 195 with value = 0.8323
+Query 1/1: Action query time = 1.919 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9765
+t=74: Selected seed 195 with value = 0.9765
+Query 1/1: Action query time = 2.190 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9957
+t=90: Selected seed 195 with value = 0.9957
+Saved rollout MP4 at path ./rollouts/forget_cl_iter350_par_t4/2026_08_01-11_38_09--episode=5--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Saved rollout MP4 at path ./rollouts/forget_cl_iter350_par_t4/2026_08_01-11_38_09--with_future_img--episode=5--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Success: True
+# episodes completed so far: 5
+# successes: 5 (100.0%)
+
+Task: put the bowl on top of the cabinet
+Starting episode 6...
+Query 1/1: Action query time = 2.031 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5364
+t=10: Selected seed 195 with value = 0.5364
+Query 1/1: Action query time = 2.338 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6373
+t=26: Selected seed 195 with value = 0.6373
+Query 1/1: Action query time = 2.444 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7456
+t=42: Selected seed 195 with value = 0.7456
+Query 1/1: Action query time = 1.928 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8128
+t=58: Selected seed 195 with value = 0.8128
+Query 1/1: Action query time = 1.285 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9848
+t=74: Selected seed 195 with value = 0.9848
+Saved rollout MP4 at path ./rollouts/forget_cl_iter350_par_t4/2026_08_01-11_38_09--episode=6--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Saved rollout MP4 at path ./rollouts/forget_cl_iter350_par_t4/2026_08_01-11_38_09--with_future_img--episode=6--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Success: True
+# episodes completed so far: 6
+# successes: 6 (100.0%)
+
+Task: put the bowl on top of the cabinet
+Starting episode 7...
+Query 1/1: Action query time = 1.857 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4966
+t=10: Selected seed 195 with value = 0.4966
+Query 1/1: Action query time = 1.604 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6099
+t=26: Selected seed 195 with value = 0.6099
+Query 1/1: Action query time = 1.866 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7218
+t=42: Selected seed 195 with value = 0.7218
+Query 1/1: Action query time = 1.792 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8548
+t=58: Selected seed 195 with value = 0.8548
+Query 1/1: Action query time = 1.964 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9954
+t=74: Selected seed 195 with value = 0.9954
+Query 1/1: Action query time = 1.694 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/forget_cl_iter350_par_t4/2026_08_01-11_38_09--episode=7--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Saved rollout MP4 at path ./rollouts/forget_cl_iter350_par_t4/2026_08_01-11_38_09--with_future_img--episode=7--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Success: True
+# episodes completed so far: 7
+# successes: 7 (100.0%)
+
+Task: put the bowl on top of the cabinet
+Starting episode 8...
+Query 1/1: Action query time = 1.807 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5199
+t=10: Selected seed 195 with value = 0.5199
+Query 1/1: Action query time = 1.893 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6150
+t=26: Selected seed 195 with value = 0.6150
+Query 1/1: Action query time = 0.986 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7061
+t=42: Selected seed 195 with value = 0.7061
+Query 1/1: Action query time = 1.351 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8770
+t=58: Selected seed 195 with value = 0.8770
+Query 1/1: Action query time = 1.460 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9977
+t=74: Selected seed 195 with value = 0.9977
+Query 1/1: Action query time = 1.739 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/forget_cl_iter350_par_t4/2026_08_01-11_38_09--episode=8--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Saved rollout MP4 at path ./rollouts/forget_cl_iter350_par_t4/2026_08_01-11_38_09--with_future_img--episode=8--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Success: True
+# episodes completed so far: 8
+# successes: 8 (100.0%)
+
+Task: put the bowl on top of the cabinet
+Starting episode 9...
+Query 1/1: Action query time = 2.423 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5147
+t=10: Selected seed 195 with value = 0.5147
+Query 1/1: Action query time = 1.809 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6201
+t=26: Selected seed 195 with value = 0.6201
+Query 1/1: Action query time = 1.713 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6769
+t=42: Selected seed 195 with value = 0.6769
+Query 1/1: Action query time = 1.708 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8417
+t=58: Selected seed 195 with value = 0.8417
+Query 1/1: Action query time = 1.647 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9790
+t=74: Selected seed 195 with value = 0.9790
+Query 1/1: Action query time = 1.463 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/forget_cl_iter350_par_t4/2026_08_01-11_38_09--episode=9--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Saved rollout MP4 at path ./rollouts/forget_cl_iter350_par_t4/2026_08_01-11_38_09--with_future_img--episode=9--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Success: True
+# episodes completed so far: 9
+# successes: 9 (100.0%)
+
+Task: put the bowl on top of the cabinet
+Starting episode 10...
+Query 1/1: Action query time = 1.214 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4843
+t=10: Selected seed 195 with value = 0.4843
+Query 1/1: Action query time = 1.317 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6094
+t=26: Selected seed 195 with value = 0.6094
+Query 1/1: Action query time = 2.036 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7390
+t=42: Selected seed 195 with value = 0.7390
+Query 1/1: Action query time = 1.798 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8373
+t=58: Selected seed 195 with value = 0.8373
+Query 1/1: Action query time = 1.871 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9931
+t=74: Selected seed 195 with value = 0.9931
+Query 1/1: Action query time = 1.552 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9993
+t=90: Selected seed 195 with value = 0.9993
+Saved rollout MP4 at path ./rollouts/forget_cl_iter350_par_t4/2026_08_01-11_38_09--episode=10--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Saved rollout MP4 at path ./rollouts/forget_cl_iter350_par_t4/2026_08_01-11_38_09--with_future_img--episode=10--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Success: True
+# episodes completed so far: 10
+# successes: 10 (100.0%)
+
+Task: put the bowl on top of the cabinet
+Starting episode 11...
+Query 1/1: Action query time = 1.619 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5156
+t=10: Selected seed 195 with value = 0.5156
+Query 1/1: Action query time = 1.488 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6314
+t=26: Selected seed 195 with value = 0.6314
+Query 1/1: Action query time = 0.997 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7134
+t=42: Selected seed 195 with value = 0.7134
+Query 1/1: Action query time = 1.698 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8235
+t=58: Selected seed 195 with value = 0.8235
+Query 1/1: Action query time = 1.322 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9618
+t=74: Selected seed 195 with value = 0.9618
+Query 1/1: Action query time = 1.788 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/forget_cl_iter350_par_t4/2026_08_01-11_38_09--episode=11--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Saved rollout MP4 at path ./rollouts/forget_cl_iter350_par_t4/2026_08_01-11_38_09--with_future_img--episode=11--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Success: True
+# episodes completed so far: 11
+# successes: 11 (100.0%)
+
+Task: put the bowl on top of the cabinet
+Starting episode 12...
+Query 1/1: Action query time = 1.771 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5142
+t=10: Selected seed 195 with value = 0.5142
+Query 1/1: Action query time = 1.310 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6406
+t=26: Selected seed 195 with value = 0.6406
+Query 1/1: Action query time = 1.352 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7013
+t=42: Selected seed 195 with value = 0.7013
+Query 1/1: Action query time = 2.342 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8253
+t=58: Selected seed 195 with value = 0.8253
+Query 1/1: Action query time = 2.011 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9492
+t=74: Selected seed 195 with value = 0.9492
+Query 1/1: Action query time = 1.774 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/forget_cl_iter350_par_t4/2026_08_01-11_38_09--episode=12--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Saved rollout MP4 at path ./rollouts/forget_cl_iter350_par_t4/2026_08_01-11_38_09--with_future_img--episode=12--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Success: True
+# episodes completed so far: 12
+# successes: 12 (100.0%)
+
+Task: put the bowl on top of the cabinet
+Starting episode 13...
+Query 1/1: Action query time = 1.913 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5006
+t=10: Selected seed 195 with value = 0.5006
+Query 1/1: Action query time = 1.746 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6069
+t=26: Selected seed 195 with value = 0.6069
+Query 1/1: Action query time = 1.588 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7201
+t=42: Selected seed 195 with value = 0.7201
+Query 1/1: Action query time = 1.350 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8335
+t=58: Selected seed 195 with value = 0.8335
+Query 1/1: Action query time = 1.198 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9814
+t=74: Selected seed 195 with value = 0.9814
+Query 1/1: Action query time = 1.853 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9993
+t=90: Selected seed 195 with value = 0.9993
+Saved rollout MP4 at path ./rollouts/forget_cl_iter350_par_t4/2026_08_01-11_38_09--episode=13--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Saved rollout MP4 at path ./rollouts/forget_cl_iter350_par_t4/2026_08_01-11_38_09--with_future_img--episode=13--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Success: True
+# episodes completed so far: 13
+# successes: 13 (100.0%)
+
+Task: put the bowl on top of the cabinet
+Starting episode 14...
+Query 1/1: Action query time = 1.835 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5056
+t=10: Selected seed 195 with value = 0.5056
+Query 1/1: Action query time = 2.292 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5783
+t=26: Selected seed 195 with value = 0.5783
+Query 1/1: Action query time = 2.698 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6670
+t=42: Selected seed 195 with value = 0.6670
+Query 1/1: Action query time = 1.693 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7966
+t=58: Selected seed 195 with value = 0.7966
+Query 1/1: Action query time = 1.288 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9420
+t=74: Selected seed 195 with value = 0.9420
+Query 1/1: Action query time = 1.892 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9617
+t=90: Selected seed 195 with value = 0.9617
+Query 1/1: Action query time = 2.110 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9415
+t=106: Selected seed 195 with value = 0.9415
+Query 1/1: Action query time = 1.925 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9895
+t=122: Selected seed 195 with value = 0.9895
+Query 1/1: Action query time = 2.011 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=138: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 1.448 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=154: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 1.168 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=170: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 1.375 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=186: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 1.364 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=202: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 2.274 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9933
+t=218: Selected seed 195 with value = 0.9933
+Query 1/1: Action query time = 2.159 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9900
+t=234: Selected seed 195 with value = 0.9900
+Query 1/1: Action query time = 1.978 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9930
+t=250: Selected seed 195 with value = 0.9930
+Query 1/1: Action query time = 1.627 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9918
+t=266: Selected seed 195 with value = 0.9918
+Query 1/1: Action query time = 1.700 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9859
+t=282: Selected seed 195 with value = 0.9859
+Query 1/1: Action query time = 1.727 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9743
+t=298: Selected seed 195 with value = 0.9743
+Saved rollout MP4 at path ./rollouts/forget_cl_iter350_par_t4/2026_08_01-11_38_09--episode=14--success=False--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Saved rollout MP4 at path ./rollouts/forget_cl_iter350_par_t4/2026_08_01-11_38_09--with_future_img--episode=14--success=False--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Success: False
+# episodes completed so far: 14
+# successes: 13 (92.9%)
+
+Task: put the bowl on top of the cabinet
+Starting episode 15...
+Query 1/1: Action query time = 1.902 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4873
+t=10: Selected seed 195 with value = 0.4873
+Query 1/1: Action query time = 1.851 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6040
+t=26: Selected seed 195 with value = 0.6040
+Query 1/1: Action query time = 2.112 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6694
+t=42: Selected seed 195 with value = 0.6694
+Query 1/1: Action query time = 1.604 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8169
+t=58: Selected seed 195 with value = 0.8169
+Query 1/1: Action query time = 1.722 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9752
+t=74: Selected seed 195 with value = 0.9752
+Query 1/1: Action query time = 1.739 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9943
+t=90: Selected seed 195 with value = 0.9943
+Saved rollout MP4 at path ./rollouts/forget_cl_iter350_par_t4/2026_08_01-11_38_09--episode=15--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Saved rollout MP4 at path ./rollouts/forget_cl_iter350_par_t4/2026_08_01-11_38_09--with_future_img--episode=15--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Success: True
+# episodes completed so far: 15
+# successes: 14 (93.3%)
+
+Task: put the bowl on top of the cabinet
+Starting episode 16...
+Query 1/1: Action query time = 1.538 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5522
+t=10: Selected seed 195 with value = 0.5522
+Query 1/1: Action query time = 1.487 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6481
+t=26: Selected seed 195 with value = 0.6481
+Query 1/1: Action query time = 0.997 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7322
+t=42: Selected seed 195 with value = 0.7322
+Query 1/1: Action query time = 1.897 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8310
+t=58: Selected seed 195 with value = 0.8310
+Query 1/1: Action query time = 2.019 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9682
+t=74: Selected seed 195 with value = 0.9682
+Query 1/1: Action query time = 2.152 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/forget_cl_iter350_par_t4/2026_08_01-11_38_09--episode=16--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Saved rollout MP4 at path ./rollouts/forget_cl_iter350_par_t4/2026_08_01-11_38_09--with_future_img--episode=16--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Success: True
+# episodes completed so far: 16
+# successes: 15 (93.8%)
+
+Task: put the bowl on top of the cabinet
+Starting episode 17...
+Query 1/1: Action query time = 1.818 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5378
+t=10: Selected seed 195 with value = 0.5378
+Query 1/1: Action query time = 1.663 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6083
+t=26: Selected seed 195 with value = 0.6083
+Query 1/1: Action query time = 1.351 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7519
+t=42: Selected seed 195 with value = 0.7519
+Query 1/1: Action query time = 1.427 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8485
+t=58: Selected seed 195 with value = 0.8485
+Query 1/1: Action query time = 1.347 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9881
+t=74: Selected seed 195 with value = 0.9881
+Query 1/1: Action query time = 1.895 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9873
+t=90: Selected seed 195 with value = 0.9873
+Saved rollout MP4 at path ./rollouts/forget_cl_iter350_par_t4/2026_08_01-11_38_09--episode=17--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Saved rollout MP4 at path ./rollouts/forget_cl_iter350_par_t4/2026_08_01-11_38_09--with_future_img--episode=17--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Success: True
+# episodes completed so far: 17
+# successes: 16 (94.1%)
+
+Task: put the bowl on top of the cabinet
+Starting episode 18...
+Query 1/1: Action query time = 2.097 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5168
+t=10: Selected seed 195 with value = 0.5168
+Query 1/1: Action query time = 2.259 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6270
+t=26: Selected seed 195 with value = 0.6270
+Query 1/1: Action query time = 2.304 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7069
+t=42: Selected seed 195 with value = 0.7069
+Query 1/1: Action query time = 2.032 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8301
+t=58: Selected seed 195 with value = 0.8301
+Query 1/1: Action query time = 1.679 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9748
+t=74: Selected seed 195 with value = 0.9748
+Query 1/1: Action query time = 1.627 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9958
+t=90: Selected seed 195 with value = 0.9958
+Saved rollout MP4 at path ./rollouts/forget_cl_iter350_par_t4/2026_08_01-11_38_09--episode=18--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Saved rollout MP4 at path ./rollouts/forget_cl_iter350_par_t4/2026_08_01-11_38_09--with_future_img--episode=18--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Success: True
+# episodes completed so far: 18
+# successes: 17 (94.4%)
+
+Task: put the bowl on top of the cabinet
+Starting episode 19...
+Query 1/1: Action query time = 1.763 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4657
+t=10: Selected seed 195 with value = 0.4657
+Query 1/1: Action query time = 1.575 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5390
+t=26: Selected seed 195 with value = 0.5390
+Query 1/1: Action query time = 1.658 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6344
+t=42: Selected seed 195 with value = 0.6344
+Query 1/1: Action query time = 1.985 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7436
+t=58: Selected seed 195 with value = 0.7436
+Query 1/1: Action query time = 1.660 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9386
+t=74: Selected seed 195 with value = 0.9386
+Query 1/1: Action query time = 1.645 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/forget_cl_iter350_par_t4/2026_08_01-11_38_09--episode=19--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Saved rollout MP4 at path ./rollouts/forget_cl_iter350_par_t4/2026_08_01-11_38_09--with_future_img--episode=19--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Success: True
+# episodes completed so far: 19
+# successes: 18 (94.7%)
+
+Task: put the bowl on top of the cabinet
+Starting episode 20...
+Query 1/1: Action query time = 1.282 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4897
+t=10: Selected seed 195 with value = 0.4897
+Query 1/1: Action query time = 1.363 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5953
+t=26: Selected seed 195 with value = 0.5953
+Query 1/1: Action query time = 1.335 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7183
+t=42: Selected seed 195 with value = 0.7183
+Query 1/1: Action query time = 1.884 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8579
+t=58: Selected seed 195 with value = 0.8579
+Query 1/1: Action query time = 2.576 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9996
+t=74: Selected seed 195 with value = 0.9996
+Query 1/1: Action query time = 2.086 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/forget_cl_iter350_par_t4/2026_08_01-11_38_09--episode=20--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Saved rollout MP4 at path ./rollouts/forget_cl_iter350_par_t4/2026_08_01-11_38_09--with_future_img--episode=20--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Success: True
+# episodes completed so far: 20
+# successes: 19 (95.0%)
+
+Task: put the bowl on top of the cabinet
+Starting episode 21...
+Query 1/1: Action query time = 1.453 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5045
+t=10: Selected seed 195 with value = 0.5045
+Query 1/1: Action query time = 1.017 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5945
+t=26: Selected seed 195 with value = 0.5945
+Query 1/1: Action query time = 1.282 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7188
+t=42: Selected seed 195 with value = 0.7188
+Query 1/1: Action query time = 1.689 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8227
+t=58: Selected seed 195 with value = 0.8227
+Query 1/1: Action query time = 1.612 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9640
+t=74: Selected seed 195 with value = 0.9640
+Query 1/1: Action query time = 1.905 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/forget_cl_iter350_par_t4/2026_08_01-11_38_09--episode=21--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Saved rollout MP4 at path ./rollouts/forget_cl_iter350_par_t4/2026_08_01-11_38_09--with_future_img--episode=21--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Success: True
+# episodes completed so far: 21
+# successes: 20 (95.2%)
+
+Task: put the bowl on top of the cabinet
+Starting episode 22...
+Query 1/1: Action query time = 2.134 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5376
+t=10: Selected seed 195 with value = 0.5376
+Query 1/1: Action query time = 2.241 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6342
+t=26: Selected seed 195 with value = 0.6342
+Query 1/1: Action query time = 2.505 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7513
+t=42: Selected seed 195 with value = 0.7513
+Query 1/1: Action query time = 2.590 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8030
+t=58: Selected seed 195 with value = 0.8030
+Query 1/1: Action query time = 2.432 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9452
+t=74: Selected seed 195 with value = 0.9452
+Query 1/1: Action query time = 1.684 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9926
+t=90: Selected seed 195 with value = 0.9926
+Saved rollout MP4 at path ./rollouts/forget_cl_iter350_par_t4/2026_08_01-11_38_09--episode=22--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Saved rollout MP4 at path ./rollouts/forget_cl_iter350_par_t4/2026_08_01-11_38_09--with_future_img--episode=22--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Success: True
+# episodes completed so far: 22
+# successes: 21 (95.5%)
+
+Task: put the bowl on top of the cabinet
+Starting episode 23...
+Query 1/1: Action query time = 2.124 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4775
+t=10: Selected seed 195 with value = 0.4775
+Query 1/1: Action query time = 1.788 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6144
+t=26: Selected seed 195 with value = 0.6144
+Query 1/1: Action query time = 1.573 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7113
+t=42: Selected seed 195 with value = 0.7113
+Query 1/1: Action query time = 1.492 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8296
+t=58: Selected seed 195 with value = 0.8296
+Query 1/1: Action query time = 1.640 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9915
+t=74: Selected seed 195 with value = 0.9915
+Query 1/1: Action query time = 1.800 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/forget_cl_iter350_par_t4/2026_08_01-11_38_09--episode=23--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Saved rollout MP4 at path ./rollouts/forget_cl_iter350_par_t4/2026_08_01-11_38_09--with_future_img--episode=23--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Success: True
+# episodes completed so far: 23
+# successes: 22 (95.7%)
+
+Task: put the bowl on top of the cabinet
+Starting episode 24...
+Query 1/1: Action query time = 1.020 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4929
+t=10: Selected seed 195 with value = 0.4929
+Query 1/1: Action query time = 1.015 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6005
+t=26: Selected seed 195 with value = 0.6005
+Query 1/1: Action query time = 1.308 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6882
+t=42: Selected seed 195 with value = 0.6882
+Query 1/1: Action query time = 1.766 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8163
+t=58: Selected seed 195 with value = 0.8163
+Query 1/1: Action query time = 1.852 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9843
+t=74: Selected seed 195 with value = 0.9843
+Query 1/1: Action query time = 1.728 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9962
+t=90: Selected seed 195 with value = 0.9962
+Saved rollout MP4 at path ./rollouts/forget_cl_iter350_par_t4/2026_08_01-11_38_09--episode=24--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Saved rollout MP4 at path ./rollouts/forget_cl_iter350_par_t4/2026_08_01-11_38_09--with_future_img--episode=24--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Success: True
+# episodes completed so far: 24
+# successes: 23 (95.8%)
+
+Task: put the bowl on top of the cabinet
+Starting episode 25...
+Query 1/1: Action query time = 1.777 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5226
+t=10: Selected seed 195 with value = 0.5226
+Query 1/1: Action query time = 1.594 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6276
+t=26: Selected seed 195 with value = 0.6276
+Query 1/1: Action query time = 1.142 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7051
+t=42: Selected seed 195 with value = 0.7051
+Query 1/1: Action query time = 1.166 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9085
+t=58: Selected seed 195 with value = 0.9085
+Query 1/1: Action query time = 1.745 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9986
+t=74: Selected seed 195 with value = 0.9986
+Saved rollout MP4 at path ./rollouts/forget_cl_iter350_par_t4/2026_08_01-11_38_09--episode=25--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Saved rollout MP4 at path ./rollouts/forget_cl_iter350_par_t4/2026_08_01-11_38_09--with_future_img--episode=25--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Success: True
+# episodes completed so far: 25
+# successes: 24 (96.0%)
+
+Task: put the bowl on top of the cabinet
+Starting episode 26...
+Query 1/1: Action query time = 1.649 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4853
+t=10: Selected seed 195 with value = 0.4853
+Query 1/1: Action query time = 1.470 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5668
+t=26: Selected seed 195 with value = 0.5668
+Query 1/1: Action query time = 1.925 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6842
+t=42: Selected seed 195 with value = 0.6842
+Query 1/1: Action query time = 1.477 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7949
+t=58: Selected seed 195 with value = 0.7949
+Query 1/1: Action query time = 1.421 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9248
+t=74: Selected seed 195 with value = 0.9248
+Query 1/1: Action query time = 2.243 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/forget_cl_iter350_par_t4/2026_08_01-11_38_09--episode=26--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Saved rollout MP4 at path ./rollouts/forget_cl_iter350_par_t4/2026_08_01-11_38_09--with_future_img--episode=26--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Success: True
+# episodes completed so far: 26
+# successes: 25 (96.2%)
+
+Task: put the bowl on top of the cabinet
+Starting episode 27...
+Query 1/1: Action query time = 1.764 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4966
+t=10: Selected seed 195 with value = 0.4966
+Query 1/1: Action query time = 1.847 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5900
+t=26: Selected seed 195 with value = 0.5900
+Query 1/1: Action query time = 1.414 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6808
+t=42: Selected seed 195 with value = 0.6808
+Query 1/1: Action query time = 1.688 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8146
+t=58: Selected seed 195 with value = 0.8146
+Query 1/1: Action query time = 1.716 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9723
+t=74: Selected seed 195 with value = 0.9723
+Query 1/1: Action query time = 1.591 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/forget_cl_iter350_par_t4/2026_08_01-11_38_09--episode=27--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Saved rollout MP4 at path ./rollouts/forget_cl_iter350_par_t4/2026_08_01-11_38_09--with_future_img--episode=27--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Success: True
+# episodes completed so far: 27
+# successes: 26 (96.3%)
+
+Task: put the bowl on top of the cabinet
+Starting episode 28...
+Query 1/1: Action query time = 1.858 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5343
+t=10: Selected seed 195 with value = 0.5343
+Query 1/1: Action query time = 2.029 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6348
+t=26: Selected seed 195 with value = 0.6348
+Query 1/1: Action query time = 1.321 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7213
+t=42: Selected seed 195 with value = 0.7213
+Query 1/1: Action query time = 1.023 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8290
+t=58: Selected seed 195 with value = 0.8290
+Query 1/1: Action query time = 1.041 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9878
+t=74: Selected seed 195 with value = 0.9878
+Query 1/1: Action query time = 2.418 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/forget_cl_iter350_par_t4/2026_08_01-11_38_09--episode=28--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Saved rollout MP4 at path ./rollouts/forget_cl_iter350_par_t4/2026_08_01-11_38_09--with_future_img--episode=28--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Success: True
+# episodes completed so far: 28
+# successes: 27 (96.4%)
+
+Task: put the bowl on top of the cabinet
+Starting episode 29...
+Query 1/1: Action query time = 2.244 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4978
+t=10: Selected seed 195 with value = 0.4978
+Query 1/1: Action query time = 2.081 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5851
+t=26: Selected seed 195 with value = 0.5851
+Query 1/1: Action query time = 1.530 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6926
+t=42: Selected seed 195 with value = 0.6926
+Query 1/1: Action query time = 1.786 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7969
+t=58: Selected seed 195 with value = 0.7969
+Query 1/1: Action query time = 1.237 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9321
+t=74: Selected seed 195 with value = 0.9321
+Query 1/1: Action query time = 0.988 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/forget_cl_iter350_par_t4/2026_08_01-11_38_09--episode=29--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Saved rollout MP4 at path ./rollouts/forget_cl_iter350_par_t4/2026_08_01-11_38_09--with_future_img--episode=29--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Success: True
+# episodes completed so far: 29
+# successes: 28 (96.6%)
+
+Task: put the bowl on top of the cabinet
+Starting episode 30...
+Query 1/1: Action query time = 2.181 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5084
+t=10: Selected seed 195 with value = 0.5084
+Query 1/1: Action query time = 1.928 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6167
+t=26: Selected seed 195 with value = 0.6167
+Query 1/1: Action query time = 2.224 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7013
+t=42: Selected seed 195 with value = 0.7013
+Query 1/1: Action query time = 1.939 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8285
+t=58: Selected seed 195 with value = 0.8285
+Query 1/1: Action query time = 1.773 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9537
+t=74: Selected seed 195 with value = 0.9537
+Query 1/1: Action query time = 2.094 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/forget_cl_iter350_par_t4/2026_08_01-11_38_09--episode=30--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Saved rollout MP4 at path ./rollouts/forget_cl_iter350_par_t4/2026_08_01-11_38_09--with_future_img--episode=30--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Success: True
+# episodes completed so far: 30
+# successes: 29 (96.7%)
+
+Task: put the bowl on top of the cabinet
+Starting episode 31...
+Query 1/1: Action query time = 1.289 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5051
+t=10: Selected seed 195 with value = 0.5051
+Query 1/1: Action query time = 1.245 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6336
+t=26: Selected seed 195 with value = 0.6336
+Query 1/1: Action query time = 1.173 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7191
+t=42: Selected seed 195 with value = 0.7191
+Query 1/1: Action query time = 1.630 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8310
+t=58: Selected seed 195 with value = 0.8310
+Query 1/1: Action query time = 1.586 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9859
+t=74: Selected seed 195 with value = 0.9859
+Query 1/1: Action query time = 1.675 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9973
+t=90: Selected seed 195 with value = 0.9973
+Saved rollout MP4 at path ./rollouts/forget_cl_iter350_par_t4/2026_08_01-11_38_09--episode=31--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Saved rollout MP4 at path ./rollouts/forget_cl_iter350_par_t4/2026_08_01-11_38_09--with_future_img--episode=31--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Success: True
+# episodes completed so far: 31
+# successes: 30 (96.8%)
+
+Task: put the bowl on top of the cabinet
+Starting episode 32...
+Query 1/1: Action query time = 1.640 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4854
+t=10: Selected seed 195 with value = 0.4854
+Query 1/1: Action query time = 1.781 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5897
+t=26: Selected seed 195 with value = 0.5897
+Query 1/1: Action query time = 1.739 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6939
+t=42: Selected seed 195 with value = 0.6939
+Query 1/1: Action query time = 1.371 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8344
+t=58: Selected seed 195 with value = 0.8344
+Query 1/1: Action query time = 0.995 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9807
+t=74: Selected seed 195 with value = 0.9807
+Query 1/1: Action query time = 0.997 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9936
+t=90: Selected seed 195 with value = 0.9936
+Saved rollout MP4 at path ./rollouts/forget_cl_iter350_par_t4/2026_08_01-11_38_09--episode=32--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Saved rollout MP4 at path ./rollouts/forget_cl_iter350_par_t4/2026_08_01-11_38_09--with_future_img--episode=32--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Success: True
+# episodes completed so far: 32
+# successes: 31 (96.9%)
+
+Task: put the bowl on top of the cabinet
+Starting episode 33...
+Query 1/1: Action query time = 1.879 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5478
+t=10: Selected seed 195 with value = 0.5478
+Query 1/1: Action query time = 1.907 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6382
+t=26: Selected seed 195 with value = 0.6382
+Query 1/1: Action query time = 1.954 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7351
+t=42: Selected seed 195 with value = 0.7351
+Query 1/1: Action query time = 1.965 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8497
+t=58: Selected seed 195 with value = 0.8497
+Query 1/1: Action query time = 1.145 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9899
+t=74: Selected seed 195 with value = 0.9899
+Query 1/1: Action query time = 1.240 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/forget_cl_iter350_par_t4/2026_08_01-11_38_09--episode=33--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Saved rollout MP4 at path ./rollouts/forget_cl_iter350_par_t4/2026_08_01-11_38_09--with_future_img--episode=33--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Success: True
+# episodes completed so far: 33
+# successes: 32 (97.0%)
+
+Task: put the bowl on top of the cabinet
+Starting episode 34...
+Query 1/1: Action query time = 1.778 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5179
+t=10: Selected seed 195 with value = 0.5179
+Query 1/1: Action query time = 2.589 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6043
+t=26: Selected seed 195 with value = 0.6043
+Query 1/1: Action query time = 2.323 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6935
+t=42: Selected seed 195 with value = 0.6935
+Query 1/1: Action query time = 2.081 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8224
+t=58: Selected seed 195 with value = 0.8224
+Query 1/1: Action query time = 1.639 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9878
+t=74: Selected seed 195 with value = 0.9878
+Query 1/1: Action query time = 1.410 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/forget_cl_iter350_par_t4/2026_08_01-11_38_09--episode=34--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Saved rollout MP4 at path ./rollouts/forget_cl_iter350_par_t4/2026_08_01-11_38_09--with_future_img--episode=34--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Success: True
+# episodes completed so far: 34
+# successes: 33 (97.1%)
+
+Task: put the bowl on top of the cabinet
+Starting episode 35...
+Query 1/1: Action query time = 1.905 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4904
+t=10: Selected seed 195 with value = 0.4904
+Query 1/1: Action query time = 1.768 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6192
+t=26: Selected seed 195 with value = 0.6192
+Query 1/1: Action query time = 2.553 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7331
+t=42: Selected seed 195 with value = 0.7331
+Query 1/1: Action query time = 1.442 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8303
+t=58: Selected seed 195 with value = 0.8303
+Query 1/1: Action query time = 1.328 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9736
+t=74: Selected seed 195 with value = 0.9736
+Query 1/1: Action query time = 2.565 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9978
+t=90: Selected seed 195 with value = 0.9978
+Saved rollout MP4 at path ./rollouts/forget_cl_iter350_par_t4/2026_08_01-11_38_09--episode=35--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Saved rollout MP4 at path ./rollouts/forget_cl_iter350_par_t4/2026_08_01-11_38_09--with_future_img--episode=35--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Success: True
+# episodes completed so far: 35
+# successes: 34 (97.1%)
+
+Task: put the bowl on top of the cabinet
+Starting episode 36...
+Query 1/1: Action query time = 1.921 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5149
+t=10: Selected seed 195 with value = 0.5149
+Query 1/1: Action query time = 1.652 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6125
+t=26: Selected seed 195 with value = 0.6125
+Query 1/1: Action query time = 1.500 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6795
+t=42: Selected seed 195 with value = 0.6795
+Query 1/1: Action query time = 1.493 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7930
+t=58: Selected seed 195 with value = 0.7930
+Query 1/1: Action query time = 1.090 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9290
+t=74: Selected seed 195 with value = 0.9290
+Query 1/1: Action query time = 1.154 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9926
+t=90: Selected seed 195 with value = 0.9926
+Saved rollout MP4 at path ./rollouts/forget_cl_iter350_par_t4/2026_08_01-11_38_09--episode=36--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Saved rollout MP4 at path ./rollouts/forget_cl_iter350_par_t4/2026_08_01-11_38_09--with_future_img--episode=36--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Success: True
+# episodes completed so far: 36
+# successes: 35 (97.2%)
+
+Task: put the bowl on top of the cabinet
+Starting episode 37...
+Query 1/1: Action query time = 2.274 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5025
+t=10: Selected seed 195 with value = 0.5025
+Query 1/1: Action query time = 2.204 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6193
+t=26: Selected seed 195 with value = 0.6193
+Query 1/1: Action query time = 2.033 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6929
+t=42: Selected seed 195 with value = 0.6929
+Query 1/1: Action query time = 2.049 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8331
+t=58: Selected seed 195 with value = 0.8331
+Query 1/1: Action query time = 1.675 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9910
+t=74: Selected seed 195 with value = 0.9910
+Query 1/1: Action query time = 1.599 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/forget_cl_iter350_par_t4/2026_08_01-11_38_09--episode=37--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Saved rollout MP4 at path ./rollouts/forget_cl_iter350_par_t4/2026_08_01-11_38_09--with_future_img--episode=37--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Success: True
+# episodes completed so far: 37
+# successes: 36 (97.3%)
+
+Task: put the bowl on top of the cabinet
+Starting episode 38...
+Query 1/1: Action query time = 1.710 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5031
+t=10: Selected seed 195 with value = 0.5031
+Query 1/1: Action query time = 1.304 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5788
+t=26: Selected seed 195 with value = 0.5788
+Query 1/1: Action query time = 1.285 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6122
+t=42: Selected seed 195 with value = 0.6122
+Query 1/1: Action query time = 1.780 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7268
+t=58: Selected seed 195 with value = 0.7268
+Query 1/1: Action query time = 1.469 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8840
+t=74: Selected seed 195 with value = 0.8840
+Query 1/1: Action query time = 1.615 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9796
+t=90: Selected seed 195 with value = 0.9796
+Saved rollout MP4 at path ./rollouts/forget_cl_iter350_par_t4/2026_08_01-11_38_09--episode=38--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Saved rollout MP4 at path ./rollouts/forget_cl_iter350_par_t4/2026_08_01-11_38_09--with_future_img--episode=38--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Success: True
+# episodes completed so far: 38
+# successes: 37 (97.4%)
+
+Task: put the bowl on top of the cabinet
+Starting episode 39...
+Query 1/1: Action query time = 1.869 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4614
+t=10: Selected seed 195 with value = 0.4614
+Query 1/1: Action query time = 1.756 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4025
+t=26: Selected seed 195 with value = 0.4025
+Query 1/1: Action query time = 1.790 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4496
+t=42: Selected seed 195 with value = 0.4496
+Query 1/1: Action query time = 1.237 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8163
+t=58: Selected seed 195 with value = 0.8163
+Query 1/1: Action query time = 0.980 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9507
+t=74: Selected seed 195 with value = 0.9507
+Query 1/1: Action query time = 1.077 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/forget_cl_iter350_par_t4/2026_08_01-11_38_09--episode=39--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Saved rollout MP4 at path ./rollouts/forget_cl_iter350_par_t4/2026_08_01-11_38_09--with_future_img--episode=39--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Success: True
+# episodes completed so far: 39
+# successes: 38 (97.4%)
+
+Task: put the bowl on top of the cabinet
+Starting episode 40...
+Query 1/1: Action query time = 1.657 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5034
+t=10: Selected seed 195 with value = 0.5034
+Query 1/1: Action query time = 2.058 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6031
+t=26: Selected seed 195 with value = 0.6031
+Query 1/1: Action query time = 2.414 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6638
+t=42: Selected seed 195 with value = 0.6638
+Query 1/1: Action query time = 1.662 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7853
+t=58: Selected seed 195 with value = 0.7853
+Query 1/1: Action query time = 2.083 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9310
+t=74: Selected seed 195 with value = 0.9310
+Query 1/1: Action query time = 1.717 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9970
+t=90: Selected seed 195 with value = 0.9970
+Saved rollout MP4 at path ./rollouts/forget_cl_iter350_par_t4/2026_08_01-11_38_09--episode=40--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Saved rollout MP4 at path ./rollouts/forget_cl_iter350_par_t4/2026_08_01-11_38_09--with_future_img--episode=40--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Success: True
+# episodes completed so far: 40
+# successes: 39 (97.5%)
+
+Task: put the bowl on top of the cabinet
+Starting episode 41...
+Query 1/1: Action query time = 1.230 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5133
+t=10: Selected seed 195 with value = 0.5133
+Query 1/1: Action query time = 1.182 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6279
+t=26: Selected seed 195 with value = 0.6279
+Query 1/1: Action query time = 1.467 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6962
+t=42: Selected seed 195 with value = 0.6962
+Query 1/1: Action query time = 1.686 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8228
+t=58: Selected seed 195 with value = 0.8228
+Query 1/1: Action query time = 1.867 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9494
+t=74: Selected seed 195 with value = 0.9494
+Query 1/1: Action query time = 1.993 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/forget_cl_iter350_par_t4/2026_08_01-11_38_09--episode=41--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Saved rollout MP4 at path ./rollouts/forget_cl_iter350_par_t4/2026_08_01-11_38_09--with_future_img--episode=41--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Success: True
+# episodes completed so far: 41
+# successes: 40 (97.6%)
+
+Task: put the bowl on top of the cabinet
+Starting episode 42...
+Query 1/1: Action query time = 1.698 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5413
+t=10: Selected seed 195 with value = 0.5413
+Query 1/1: Action query time = 1.468 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6293
+t=26: Selected seed 195 with value = 0.6293
+Query 1/1: Action query time = 1.634 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6817
+t=42: Selected seed 195 with value = 0.6817
+Query 1/1: Action query time = 1.546 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8349
+t=58: Selected seed 195 with value = 0.8349
+Query 1/1: Action query time = 1.006 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9568
+t=74: Selected seed 195 with value = 0.9568
+Query 1/1: Action query time = 1.327 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/forget_cl_iter350_par_t4/2026_08_01-11_38_09--episode=42--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Saved rollout MP4 at path ./rollouts/forget_cl_iter350_par_t4/2026_08_01-11_38_09--with_future_img--episode=42--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Success: True
+# episodes completed so far: 42
+# successes: 41 (97.6%)
+
+Task: put the bowl on top of the cabinet
+Starting episode 43...
+Query 1/1: Action query time = 1.812 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5055
+t=10: Selected seed 195 with value = 0.5055
+Query 1/1: Action query time = 1.979 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5968
+t=26: Selected seed 195 with value = 0.5968
+Query 1/1: Action query time = 1.325 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6621
+t=42: Selected seed 195 with value = 0.6621
+Query 1/1: Action query time = 1.493 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8682
+t=58: Selected seed 195 with value = 0.8682
+Query 1/1: Action query time = 1.627 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9399
+t=74: Selected seed 195 with value = 0.9399
+Query 1/1: Action query time = 1.803 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9961
+t=90: Selected seed 195 with value = 0.9961
+Saved rollout MP4 at path ./rollouts/forget_cl_iter350_par_t4/2026_08_01-11_38_09--episode=43--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Saved rollout MP4 at path ./rollouts/forget_cl_iter350_par_t4/2026_08_01-11_38_09--with_future_img--episode=43--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Success: True
+# episodes completed so far: 43
+# successes: 42 (97.7%)
+
+Task: put the bowl on top of the cabinet
+Starting episode 44...
+Query 1/1: Action query time = 1.511 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5115
+t=10: Selected seed 195 with value = 0.5115
+Query 1/1: Action query time = 2.651 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5966
+t=26: Selected seed 195 with value = 0.5966
+Query 1/1: Action query time = 1.782 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6488
+t=42: Selected seed 195 with value = 0.6488
+Query 1/1: Action query time = 1.714 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7846
+t=58: Selected seed 195 with value = 0.7846
+Query 1/1: Action query time = 1.763 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9827
+t=74: Selected seed 195 with value = 0.9827
+Query 1/1: Action query time = 1.889 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/forget_cl_iter350_par_t4/2026_08_01-11_38_09--episode=44--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Saved rollout MP4 at path ./rollouts/forget_cl_iter350_par_t4/2026_08_01-11_38_09--with_future_img--episode=44--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Success: True
+# episodes completed so far: 44
+# successes: 43 (97.7%)
+
+Task: put the bowl on top of the cabinet
+Starting episode 45...
+Query 1/1: Action query time = 1.309 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5272
+t=10: Selected seed 195 with value = 0.5272
+Query 1/1: Action query time = 0.976 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6406
+t=26: Selected seed 195 with value = 0.6406
+Query 1/1: Action query time = 1.006 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7156
+t=42: Selected seed 195 with value = 0.7156
+Query 1/1: Action query time = 1.508 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8406
+t=58: Selected seed 195 with value = 0.8406
+Query 1/1: Action query time = 1.776 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9671
+t=74: Selected seed 195 with value = 0.9671
+Query 1/1: Action query time = 1.943 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/forget_cl_iter350_par_t4/2026_08_01-11_38_09--episode=45--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Saved rollout MP4 at path ./rollouts/forget_cl_iter350_par_t4/2026_08_01-11_38_09--with_future_img--episode=45--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Success: True
+# episodes completed so far: 45
+# successes: 44 (97.8%)
+
+Task: put the bowl on top of the cabinet
+Starting episode 46...
+Query 1/1: Action query time = 2.156 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5098
+t=10: Selected seed 195 with value = 0.5098
+Query 1/1: Action query time = 1.821 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6027
+t=26: Selected seed 195 with value = 0.6027
+Query 1/1: Action query time = 1.752 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6528
+t=42: Selected seed 195 with value = 0.6528
+Query 1/1: Action query time = 1.775 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7952
+t=58: Selected seed 195 with value = 0.7952
+Query 1/1: Action query time = 2.203 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9286
+t=74: Selected seed 195 with value = 0.9286
+Query 1/1: Action query time = 1.208 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/forget_cl_iter350_par_t4/2026_08_01-11_38_09--episode=46--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Saved rollout MP4 at path ./rollouts/forget_cl_iter350_par_t4/2026_08_01-11_38_09--with_future_img--episode=46--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Success: True
+# episodes completed so far: 46
+# successes: 45 (97.8%)
+
+Task: put the bowl on top of the cabinet
+Starting episode 47...
+Query 1/1: Action query time = 2.220 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5217
+t=10: Selected seed 195 with value = 0.5217
+Query 1/1: Action query time = 2.033 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6277
+t=26: Selected seed 195 with value = 0.6277
+Query 1/1: Action query time = 2.122 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6951
+t=42: Selected seed 195 with value = 0.6951
+Query 1/1: Action query time = 1.892 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8368
+t=58: Selected seed 195 with value = 0.8368
+Query 1/1: Action query time = 1.974 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9664
+t=74: Selected seed 195 with value = 0.9664
+Query 1/1: Action query time = 1.692 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/forget_cl_iter350_par_t4/2026_08_01-11_38_09--episode=47--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Saved rollout MP4 at path ./rollouts/forget_cl_iter350_par_t4/2026_08_01-11_38_09--with_future_img--episode=47--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Success: True
+# episodes completed so far: 47
+# successes: 46 (97.9%)
+
+Task: put the bowl on top of the cabinet
+Starting episode 48...
+Query 1/1: Action query time = 1.189 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5069
+t=10: Selected seed 195 with value = 0.5069
+Query 1/1: Action query time = 0.990 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6268
+t=26: Selected seed 195 with value = 0.6268
+Query 1/1: Action query time = 1.775 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7110
+t=42: Selected seed 195 with value = 0.7110
+Query 1/1: Action query time = 1.941 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8710
+t=58: Selected seed 195 with value = 0.8710
+Query 1/1: Action query time = 2.287 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9939
+t=74: Selected seed 195 with value = 0.9939
+Query 1/1: Action query time = 1.917 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/forget_cl_iter350_par_t4/2026_08_01-11_38_09--episode=48--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Saved rollout MP4 at path ./rollouts/forget_cl_iter350_par_t4/2026_08_01-11_38_09--with_future_img--episode=48--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Success: True
+# episodes completed so far: 48
+# successes: 47 (97.9%)
+
+Task: put the bowl on top of the cabinet
+Starting episode 49...
+Query 1/1: Action query time = 2.396 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5040
+t=10: Selected seed 195 with value = 0.5040
+Query 1/1: Action query time = 1.781 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6390
+t=26: Selected seed 195 with value = 0.6390
+Query 1/1: Action query time = 1.775 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6864
+t=42: Selected seed 195 with value = 0.6864
+Query 1/1: Action query time = 1.844 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8050
+t=58: Selected seed 195 with value = 0.8050
+Query 1/1: Action query time = 1.960 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9589
+t=74: Selected seed 195 with value = 0.9589
+Query 1/1: Action query time = 1.796 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9676
+t=90: Selected seed 195 with value = 0.9676
+Query 1/1: Action query time = 1.798 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9522
+t=106: Selected seed 195 with value = 0.9522
+Query 1/1: Action query time = 1.323 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9956
+t=122: Selected seed 195 with value = 0.9956
+Query 1/1: Action query time = 1.421 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9985
+t=138: Selected seed 195 with value = 0.9985
+Query 1/1: Action query time = 1.252 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9935
+t=154: Selected seed 195 with value = 0.9935
+Query 1/1: Action query time = 1.643 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9903
+t=170: Selected seed 195 with value = 0.9903
+Query 1/1: Action query time = 1.834 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9833
+t=186: Selected seed 195 with value = 0.9833
+Query 1/1: Action query time = 2.123 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9834
+t=202: Selected seed 195 with value = 0.9834
+Query 1/1: Action query time = 2.404 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9924
+t=218: Selected seed 195 with value = 0.9924
+Query 1/1: Action query time = 1.440 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=234: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 1.551 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=250: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 1.378 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=266: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 1.408 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9904
+t=282: Selected seed 195 with value = 0.9904
+Query 1/1: Action query time = 1.092 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9815
+t=298: Selected seed 195 with value = 0.9815
+Saved rollout MP4 at path ./rollouts/forget_cl_iter350_par_t4/2026_08_01-11_38_09--episode=49--success=False--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Saved rollout MP4 at path ./rollouts/forget_cl_iter350_par_t4/2026_08_01-11_38_09--with_future_img--episode=49--success=False--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Success: False
+# episodes completed so far: 49
+# successes: 47 (95.9%)
+
+Task: put the bowl on top of the cabinet
+Starting episode 50...
+Query 1/1: Action query time = 2.200 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4944
+t=10: Selected seed 195 with value = 0.4944
+Query 1/1: Action query time = 2.019 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5534
+t=26: Selected seed 195 with value = 0.5534
+Query 1/1: Action query time = 1.581 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6281
+t=42: Selected seed 195 with value = 0.6281
+Query 1/1: Action query time = 2.158 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7645
+t=58: Selected seed 195 with value = 0.7645
+Query 1/1: Action query time = 2.466 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9174
+t=74: Selected seed 195 with value = 0.9174
+Query 1/1: Action query time = 1.414 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/forget_cl_iter350_par_t4/2026_08_01-11_38_09--episode=50--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Saved rollout MP4 at path ./rollouts/forget_cl_iter350_par_t4/2026_08_01-11_38_09--with_future_img--episode=50--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Success: True
+# episodes completed so far: 50
+# successes: 48 (96.0%)
+Current task success rate: 0.96
+Current total success rate: 0.96
+Final results:
+Total episodes: 50
+Total successes: 48
+Overall success rate: 0.9600 (96.0%)
diff --git a/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_01-11_38_10--forget_cl_iter350_par_t5.txt b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_01-11_38_10--forget_cl_iter350_par_t5.txt
new file mode 100644
index 0000000000000000000000000000000000000000..15154ad9cf94909ad1859bfa7827f2996e6c8240
--- /dev/null
+++ b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_01-11_38_10--forget_cl_iter350_par_t5.txt
@@ -0,0 +1,2184 @@
+Eval config: PolicyEvalConfig(suite='libero', model_family='cosmos', config='cosmos_predict2_2b_480p_libero_cl_stage_inference_only', ckpt_path='/home/azureuser/REGEN-main/new/cosmos_policy/cosmos_v2_finetune/cosmos_predict2_2b_480p_libero_goal_task6_forget_cl_from100_2gpu/checkpoints/iter_000000350/model', planning_model_config_name='', planning_model_ckpt_path='', config_file='cosmos_policy/config/config.py', packnet_mask_path='', packnet_first_cl_libero_task=6, use_third_person_image=True, num_third_person_images=1, use_wrist_image=True, num_wrist_images=1, use_proprio=True, flip_images=True, use_variance_scale=False, use_jpeg_compression=True, ar_future_prediction=False, ar_value_prediction=False, ar_qvalue_prediction=False, num_denoising_steps_action=5, num_denoising_steps_future_state=1, num_denoising_steps_value=1, unnormalize_actions=True, normalize_proprio=True, dataset_stats_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/libero_goal_regen/dataset_statistics.json', t5_text_embeddings_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/t5_embeddings.pkl', trained_with_image_aug=True, chunk_size=16, num_open_loop_steps=16, deterministic=True, deterministic_reset=False, deterministic_reset_seed=None, use_ensemble_future_state_predictions=False, num_future_state_predictions_in_ensemble=3, future_state_ensemble_aggregation_scheme='average', use_ensemble_value_predictions=False, num_value_predictions_in_ensemble=5, value_ensemble_aggregation_scheme='average', search_depth=1, mask_current_state_action_for_value_prediction=False, mask_future_state_for_qvalue_prediction=False, num_queries_best_of_n=1, use_parallel_inference=False, available_gpus='0', parallel_timeout=15, parallel_tasks_across_gpus=False, task_suite_name='libero_goal', num_trials_per_task=50, task_ids_to_run='5', initial_states_path='DEFAULT', env_img_res=256, local_log_dir='/home/azureuser/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal', run_id_note='forget_cl_iter350_par_t5', use_wandb=False, wandb_entity='YOUR_ENTITY', wandb_project='YOUR_PROJECT', seed=195, randomize_seed=False, data_collection=False, jpeg_compress=True, reward_stop_threshold=None, reward_stop_consecutive_steps=3, use_gpt_reward=False, gpt_reward_model='gpt-5.4-mini', gpt_reward_stop_threshold=4, gpt_reward_timeout_s=30.0, save_rollout_video=True, eval_hdf5_path='', eval_hdf5_demo_key='demo_0', data_gen_demo_ids='', replay_actions=False, replay_action_path_dir='', replay_hdf5_path='', data_generation=False, max_generation_steps=200, simple_task_max_steps=100, complex_task_max_steps=200)
+Using serial inference (parallel inference disabled)
+Task suite: libero_goal
+Number of tasks: 10
+Running only task IDs: [5]
+Using default initial states
+
+Task: push the plate to the front of the stove
+Starting episode 1...
+Query 1/1: Action query time = 2.723 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2386
+t=10: Selected seed 195 with value = 0.2386
+Query 1/1: Action query time = 2.488 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3559
+t=26: Selected seed 195 with value = 0.3559
+Query 1/1: Action query time = 2.346 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3899
+t=42: Selected seed 195 with value = 0.3899
+Query 1/1: Action query time = 2.290 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5004
+t=58: Selected seed 195 with value = 0.5004
+Query 1/1: Action query time = 2.465 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5281
+t=74: Selected seed 195 with value = 0.5281
+Query 1/1: Action query time = 1.749 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4045
+t=90: Selected seed 195 with value = 0.4045
+Query 1/1: Action query time = 1.718 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7125
+t=106: Selected seed 195 with value = 0.7125
+Query 1/1: Action query time = 2.284 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9285
+t=122: Selected seed 195 with value = 0.9285
+Query 1/1: Action query time = 2.516 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6253
+t=138: Selected seed 195 with value = 0.6253
+Query 1/1: Action query time = 2.121 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7589
+t=154: Selected seed 195 with value = 0.7589
+Query 1/1: Action query time = 1.803 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7209
+t=170: Selected seed 195 with value = 0.7209
+Query 1/1: Action query time = 2.042 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6870
+t=186: Selected seed 195 with value = 0.6870
+Saved rollout MP4 at path ./rollouts/forget_cl_iter350_par_t5/2026_08_01-11_38_10--episode=1--success=True--task=push_the_plate_to_the_front_of_the_stove.mp4
+Saved rollout MP4 at path ./rollouts/forget_cl_iter350_par_t5/2026_08_01-11_38_10--with_future_img--episode=1--success=True--task=push_the_plate_to_the_front_of_the_.mp4
+Success: True
+# episodes completed so far: 1
+# successes: 1 (100.0%)
+
+Task: push the plate to the front of the stove
+Starting episode 2...
+Query 1/1: Action query time = 1.760 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2860
+t=10: Selected seed 195 with value = 0.2860
+Query 1/1: Action query time = 1.772 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3897
+t=26: Selected seed 195 with value = 0.3897
+Query 1/1: Action query time = 1.758 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4657
+t=42: Selected seed 195 with value = 0.4657
+Query 1/1: Action query time = 1.395 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5203
+t=58: Selected seed 195 with value = 0.5203
+Query 1/1: Action query time = 1.031 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5714
+t=74: Selected seed 195 with value = 0.5714
+Query 1/1: Action query time = 1.007 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6036
+t=90: Selected seed 195 with value = 0.6036
+Query 1/1: Action query time = 1.397 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7636
+t=106: Selected seed 195 with value = 0.7636
+Query 1/1: Action query time = 1.478 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8667
+t=122: Selected seed 195 with value = 0.8667
+Query 1/1: Action query time = 2.322 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9926
+t=138: Selected seed 195 with value = 0.9926
+Saved rollout MP4 at path ./rollouts/forget_cl_iter350_par_t5/2026_08_01-11_38_10--episode=2--success=True--task=push_the_plate_to_the_front_of_the_stove.mp4
+Saved rollout MP4 at path ./rollouts/forget_cl_iter350_par_t5/2026_08_01-11_38_10--with_future_img--episode=2--success=True--task=push_the_plate_to_the_front_of_the_.mp4
+Success: True
+# episodes completed so far: 2
+# successes: 2 (100.0%)
+
+Task: push the plate to the front of the stove
+Starting episode 3...
+Query 1/1: Action query time = 1.902 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3328
+t=10: Selected seed 195 with value = 0.3328
+Query 1/1: Action query time = 2.018 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3820
+t=26: Selected seed 195 with value = 0.3820
+Query 1/1: Action query time = 1.983 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3532
+t=42: Selected seed 195 with value = 0.3532
+Query 1/1: Action query time = 2.607 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4749
+t=58: Selected seed 195 with value = 0.4749
+Query 1/1: Action query time = 2.355 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6004
+t=74: Selected seed 195 with value = 0.6004
+Query 1/1: Action query time = 1.925 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6600
+t=90: Selected seed 195 with value = 0.6600
+Query 1/1: Action query time = 1.927 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8243
+t=106: Selected seed 195 with value = 0.8243
+Query 1/1: Action query time = 2.176 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9535
+t=122: Selected seed 195 with value = 0.9535
+Query 1/1: Action query time = 1.721 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=138: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/forget_cl_iter350_par_t5/2026_08_01-11_38_10--episode=3--success=True--task=push_the_plate_to_the_front_of_the_stove.mp4
+Saved rollout MP4 at path ./rollouts/forget_cl_iter350_par_t5/2026_08_01-11_38_10--with_future_img--episode=3--success=True--task=push_the_plate_to_the_front_of_the_.mp4
+Success: True
+# episodes completed so far: 3
+# successes: 3 (100.0%)
+
+Task: push the plate to the front of the stove
+Starting episode 4...
+Query 1/1: Action query time = 2.028 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3435
+t=10: Selected seed 195 with value = 0.3435
+Query 1/1: Action query time = 2.435 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3058
+t=26: Selected seed 195 with value = 0.3058
+Query 1/1: Action query time = 2.306 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4721
+t=42: Selected seed 195 with value = 0.4721
+Query 1/1: Action query time = 1.301 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4547
+t=58: Selected seed 195 with value = 0.4547
+Query 1/1: Action query time = 1.224 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4691
+t=74: Selected seed 195 with value = 0.4691
+Query 1/1: Action query time = 1.217 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5329
+t=90: Selected seed 195 with value = 0.5329
+Query 1/1: Action query time = 1.612 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6789
+t=106: Selected seed 195 with value = 0.6789
+Query 1/1: Action query time = 1.354 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6853
+t=122: Selected seed 195 with value = 0.6853
+Query 1/1: Action query time = 1.619 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7824
+t=138: Selected seed 195 with value = 0.7824
+Query 1/1: Action query time = 2.046 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7878
+t=154: Selected seed 195 with value = 0.7878
+Query 1/1: Action query time = 1.701 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6519
+t=170: Selected seed 195 with value = 0.6519
+Query 1/1: Action query time = 1.820 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4965
+t=186: Selected seed 195 with value = 0.4965
+Query 1/1: Action query time = 1.405 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7184
+t=202: Selected seed 195 with value = 0.7184
+Query 1/1: Action query time = 1.575 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8533
+t=218: Selected seed 195 with value = 0.8533
+Query 1/1: Action query time = 2.012 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9365
+t=234: Selected seed 195 with value = 0.9365
+Query 1/1: Action query time = 2.150 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6860
+t=250: Selected seed 195 with value = 0.6860
+Saved rollout MP4 at path ./rollouts/forget_cl_iter350_par_t5/2026_08_01-11_38_10--episode=4--success=True--task=push_the_plate_to_the_front_of_the_stove.mp4
+Saved rollout MP4 at path ./rollouts/forget_cl_iter350_par_t5/2026_08_01-11_38_10--with_future_img--episode=4--success=True--task=push_the_plate_to_the_front_of_the_.mp4
+Success: True
+# episodes completed so far: 4
+# successes: 4 (100.0%)
+
+Task: push the plate to the front of the stove
+Starting episode 5...
+Query 1/1: Action query time = 1.664 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2531
+t=10: Selected seed 195 with value = 0.2531
+Query 1/1: Action query time = 1.468 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3180
+t=26: Selected seed 195 with value = 0.3180
+Query 1/1: Action query time = 2.067 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4371
+t=42: Selected seed 195 with value = 0.4371
+Query 1/1: Action query time = 1.691 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4964
+t=58: Selected seed 195 with value = 0.4964
+Query 1/1: Action query time = 1.484 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5729
+t=74: Selected seed 195 with value = 0.5729
+Query 1/1: Action query time = 1.603 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6739
+t=90: Selected seed 195 with value = 0.6739
+Query 1/1: Action query time = 1.766 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8580
+t=106: Selected seed 195 with value = 0.8580
+Query 1/1: Action query time = 1.686 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9996
+t=122: Selected seed 195 with value = 0.9996
+Saved rollout MP4 at path ./rollouts/forget_cl_iter350_par_t5/2026_08_01-11_38_10--episode=5--success=True--task=push_the_plate_to_the_front_of_the_stove.mp4
+Saved rollout MP4 at path ./rollouts/forget_cl_iter350_par_t5/2026_08_01-11_38_10--with_future_img--episode=5--success=True--task=push_the_plate_to_the_front_of_the_.mp4
+Success: True
+# episodes completed so far: 5
+# successes: 5 (100.0%)
+
+Task: push the plate to the front of the stove
+Starting episode 6...
+Query 1/1: Action query time = 1.466 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3321
+t=10: Selected seed 195 with value = 0.3321
+Query 1/1: Action query time = 1.499 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3774
+t=26: Selected seed 195 with value = 0.3774
+Query 1/1: Action query time = 1.641 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4453
+t=42: Selected seed 195 with value = 0.4453
+Query 1/1: Action query time = 1.718 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5170
+t=58: Selected seed 195 with value = 0.5170
+Query 1/1: Action query time = 1.841 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5746
+t=74: Selected seed 195 with value = 0.5746
+Query 1/1: Action query time = 1.713 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6733
+t=90: Selected seed 195 with value = 0.6733
+Query 1/1: Action query time = 1.638 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7946
+t=106: Selected seed 195 with value = 0.7946
+Query 1/1: Action query time = 2.013 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9267
+t=122: Selected seed 195 with value = 0.9267
+Query 1/1: Action query time = 1.480 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9988
+t=138: Selected seed 195 with value = 0.9988
+Saved rollout MP4 at path ./rollouts/forget_cl_iter350_par_t5/2026_08_01-11_38_10--episode=6--success=True--task=push_the_plate_to_the_front_of_the_stove.mp4
+Saved rollout MP4 at path ./rollouts/forget_cl_iter350_par_t5/2026_08_01-11_38_10--with_future_img--episode=6--success=True--task=push_the_plate_to_the_front_of_the_.mp4
+Success: True
+# episodes completed so far: 6
+# successes: 6 (100.0%)
+
+Task: push the plate to the front of the stove
+Starting episode 7...
+Query 1/1: Action query time = 1.913 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3425
+t=10: Selected seed 195 with value = 0.3425
+Query 1/1: Action query time = 1.374 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3741
+t=26: Selected seed 195 with value = 0.3741
+Query 1/1: Action query time = 1.428 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4371
+t=42: Selected seed 195 with value = 0.4371
+Query 1/1: Action query time = 2.115 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5779
+t=58: Selected seed 195 with value = 0.5779
+Query 1/1: Action query time = 1.507 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5709
+t=74: Selected seed 195 with value = 0.5709
+Query 1/1: Action query time = 1.319 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7021
+t=90: Selected seed 195 with value = 0.7021
+Query 1/1: Action query time = 1.958 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9473
+t=106: Selected seed 195 with value = 0.9473
+Query 1/1: Action query time = 1.407 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=122: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/forget_cl_iter350_par_t5/2026_08_01-11_38_10--episode=7--success=True--task=push_the_plate_to_the_front_of_the_stove.mp4
+Saved rollout MP4 at path ./rollouts/forget_cl_iter350_par_t5/2026_08_01-11_38_10--with_future_img--episode=7--success=True--task=push_the_plate_to_the_front_of_the_.mp4
+Success: True
+# episodes completed so far: 7
+# successes: 7 (100.0%)
+
+Task: push the plate to the front of the stove
+Starting episode 8...
+Query 1/1: Action query time = 1.626 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4044
+t=10: Selected seed 195 with value = 0.4044
+Query 1/1: Action query time = 1.294 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4378
+t=26: Selected seed 195 with value = 0.4378
+Query 1/1: Action query time = 1.868 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4397
+t=42: Selected seed 195 with value = 0.4397
+Query 1/1: Action query time = 1.758 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5268
+t=58: Selected seed 195 with value = 0.5268
+Query 1/1: Action query time = 1.413 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7532
+t=74: Selected seed 195 with value = 0.7532
+Query 1/1: Action query time = 1.421 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8569
+t=90: Selected seed 195 with value = 0.8569
+Query 1/1: Action query time = 1.226 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9496
+t=106: Selected seed 195 with value = 0.9496
+Query 1/1: Action query time = 1.709 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9634
+t=122: Selected seed 195 with value = 0.9634
+Saved rollout MP4 at path ./rollouts/forget_cl_iter350_par_t5/2026_08_01-11_38_10--episode=8--success=True--task=push_the_plate_to_the_front_of_the_stove.mp4
+Saved rollout MP4 at path ./rollouts/forget_cl_iter350_par_t5/2026_08_01-11_38_10--with_future_img--episode=8--success=True--task=push_the_plate_to_the_front_of_the_.mp4
+Success: True
+# episodes completed so far: 8
+# successes: 8 (100.0%)
+
+Task: push the plate to the front of the stove
+Starting episode 9...
+Query 1/1: Action query time = 1.701 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3822
+t=10: Selected seed 195 with value = 0.3822
+Query 1/1: Action query time = 1.619 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4036
+t=26: Selected seed 195 with value = 0.4036
+Query 1/1: Action query time = 1.975 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4615
+t=42: Selected seed 195 with value = 0.4615
+Query 1/1: Action query time = 1.823 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4827
+t=58: Selected seed 195 with value = 0.4827
+Query 1/1: Action query time = 1.381 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6109
+t=74: Selected seed 195 with value = 0.6109
+Query 1/1: Action query time = 1.771 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6670
+t=90: Selected seed 195 with value = 0.6670
+Query 1/1: Action query time = 1.620 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8070
+t=106: Selected seed 195 with value = 0.8070
+Query 1/1: Action query time = 1.894 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9104
+t=122: Selected seed 195 with value = 0.9104
+Query 1/1: Action query time = 2.216 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=138: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/forget_cl_iter350_par_t5/2026_08_01-11_38_10--episode=9--success=True--task=push_the_plate_to_the_front_of_the_stove.mp4
+Saved rollout MP4 at path ./rollouts/forget_cl_iter350_par_t5/2026_08_01-11_38_10--with_future_img--episode=9--success=True--task=push_the_plate_to_the_front_of_the_.mp4
+Success: True
+# episodes completed so far: 9
+# successes: 9 (100.0%)
+
+Task: push the plate to the front of the stove
+Starting episode 10...
+Query 1/1: Action query time = 1.586 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3897
+t=10: Selected seed 195 with value = 0.3897
+Query 1/1: Action query time = 1.740 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4587
+t=26: Selected seed 195 with value = 0.4587
+Query 1/1: Action query time = 2.072 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5195
+t=42: Selected seed 195 with value = 0.5195
+Query 1/1: Action query time = 1.986 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5872
+t=58: Selected seed 195 with value = 0.5872
+Query 1/1: Action query time = 1.942 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6549
+t=74: Selected seed 195 with value = 0.6549
+Query 1/1: Action query time = 1.782 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8493
+t=90: Selected seed 195 with value = 0.8493
+Query 1/1: Action query time = 1.333 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9592
+t=106: Selected seed 195 with value = 0.9592
+Query 1/1: Action query time = 0.966 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=122: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/forget_cl_iter350_par_t5/2026_08_01-11_38_10--episode=10--success=True--task=push_the_plate_to_the_front_of_the_stove.mp4
+Saved rollout MP4 at path ./rollouts/forget_cl_iter350_par_t5/2026_08_01-11_38_10--with_future_img--episode=10--success=True--task=push_the_plate_to_the_front_of_the_.mp4
+Success: True
+# episodes completed so far: 10
+# successes: 10 (100.0%)
+
+Task: push the plate to the front of the stove
+Starting episode 11...
+Query 1/1: Action query time = 1.358 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3558
+t=10: Selected seed 195 with value = 0.3558
+Query 1/1: Action query time = 1.753 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3937
+t=26: Selected seed 195 with value = 0.3937
+Query 1/1: Action query time = 1.800 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4528
+t=42: Selected seed 195 with value = 0.4528
+Query 1/1: Action query time = 2.140 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4989
+t=58: Selected seed 195 with value = 0.4989
+Query 1/1: Action query time = 1.645 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5468
+t=74: Selected seed 195 with value = 0.5468
+Query 1/1: Action query time = 1.934 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6200
+t=90: Selected seed 195 with value = 0.6200
+Query 1/1: Action query time = 1.854 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7884
+t=106: Selected seed 195 with value = 0.7884
+Query 1/1: Action query time = 1.753 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8793
+t=122: Selected seed 195 with value = 0.8793
+Query 1/1: Action query time = 1.427 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9937
+t=138: Selected seed 195 with value = 0.9937
+Saved rollout MP4 at path ./rollouts/forget_cl_iter350_par_t5/2026_08_01-11_38_10--episode=11--success=True--task=push_the_plate_to_the_front_of_the_stove.mp4
+Saved rollout MP4 at path ./rollouts/forget_cl_iter350_par_t5/2026_08_01-11_38_10--with_future_img--episode=11--success=True--task=push_the_plate_to_the_front_of_the_.mp4
+Success: True
+# episodes completed so far: 11
+# successes: 11 (100.0%)
+
+Task: push the plate to the front of the stove
+Starting episode 12...
+Query 1/1: Action query time = 2.014 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3583
+t=10: Selected seed 195 with value = 0.3583
+Query 1/1: Action query time = 1.830 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4299
+t=26: Selected seed 195 with value = 0.4299
+Query 1/1: Action query time = 1.817 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4837
+t=42: Selected seed 195 with value = 0.4837
+Query 1/1: Action query time = 1.380 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4873
+t=58: Selected seed 195 with value = 0.4873
+Query 1/1: Action query time = 1.217 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6093
+t=74: Selected seed 195 with value = 0.6093
+Query 1/1: Action query time = 1.258 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6651
+t=90: Selected seed 195 with value = 0.6651
+Query 1/1: Action query time = 2.006 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9073
+t=106: Selected seed 195 with value = 0.9073
+Query 1/1: Action query time = 1.696 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=122: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/forget_cl_iter350_par_t5/2026_08_01-11_38_10--episode=12--success=True--task=push_the_plate_to_the_front_of_the_stove.mp4
+Saved rollout MP4 at path ./rollouts/forget_cl_iter350_par_t5/2026_08_01-11_38_10--with_future_img--episode=12--success=True--task=push_the_plate_to_the_front_of_the_.mp4
+Success: True
+# episodes completed so far: 12
+# successes: 12 (100.0%)
+
+Task: push the plate to the front of the stove
+Starting episode 13...
+Query 1/1: Action query time = 1.991 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3674
+t=10: Selected seed 195 with value = 0.3674
+Query 1/1: Action query time = 1.443 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3611
+t=26: Selected seed 195 with value = 0.3611
+Query 1/1: Action query time = 1.372 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3904
+t=42: Selected seed 195 with value = 0.3904
+Query 1/1: Action query time = 1.776 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5447
+t=58: Selected seed 195 with value = 0.5447
+Query 1/1: Action query time = 1.961 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6455
+t=74: Selected seed 195 with value = 0.6455
+Query 1/1: Action query time = 1.993 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7303
+t=90: Selected seed 195 with value = 0.7303
+Query 1/1: Action query time = 1.914 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8399
+t=106: Selected seed 195 with value = 0.8399
+Query 1/1: Action query time = 1.445 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9692
+t=122: Selected seed 195 with value = 0.9692
+Saved rollout MP4 at path ./rollouts/forget_cl_iter350_par_t5/2026_08_01-11_38_10--episode=13--success=True--task=push_the_plate_to_the_front_of_the_stove.mp4
+Saved rollout MP4 at path ./rollouts/forget_cl_iter350_par_t5/2026_08_01-11_38_10--with_future_img--episode=13--success=True--task=push_the_plate_to_the_front_of_the_.mp4
+Success: True
+# episodes completed so far: 13
+# successes: 13 (100.0%)
+
+Task: push the plate to the front of the stove
+Starting episode 14...
+Query 1/1: Action query time = 1.019 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3051
+t=10: Selected seed 195 with value = 0.3051
+Query 1/1: Action query time = 0.998 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3043
+t=26: Selected seed 195 with value = 0.3043
+Query 1/1: Action query time = 1.718 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3977
+t=42: Selected seed 195 with value = 0.3977
+Query 1/1: Action query time = 1.553 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4712
+t=58: Selected seed 195 with value = 0.4712
+Query 1/1: Action query time = 1.842 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5261
+t=74: Selected seed 195 with value = 0.5261
+Query 1/1: Action query time = 1.812 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6161
+t=90: Selected seed 195 with value = 0.6161
+Query 1/1: Action query time = 1.792 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7470
+t=106: Selected seed 195 with value = 0.7470
+Query 1/1: Action query time = 1.642 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9889
+t=122: Selected seed 195 with value = 0.9889
+Query 1/1: Action query time = 1.443 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=138: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/forget_cl_iter350_par_t5/2026_08_01-11_38_10--episode=14--success=True--task=push_the_plate_to_the_front_of_the_stove.mp4
+Saved rollout MP4 at path ./rollouts/forget_cl_iter350_par_t5/2026_08_01-11_38_10--with_future_img--episode=14--success=True--task=push_the_plate_to_the_front_of_the_.mp4
+Success: True
+# episodes completed so far: 14
+# successes: 14 (100.0%)
+
+Task: push the plate to the front of the stove
+Starting episode 15...
+Query 1/1: Action query time = 1.700 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3629
+t=10: Selected seed 195 with value = 0.3629
+Query 1/1: Action query time = 1.808 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3473
+t=26: Selected seed 195 with value = 0.3473
+Query 1/1: Action query time = 2.566 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4978
+t=42: Selected seed 195 with value = 0.4978
+Query 1/1: Action query time = 2.285 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6043
+t=58: Selected seed 195 with value = 0.6043
+Query 1/1: Action query time = 1.288 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6386
+t=74: Selected seed 195 with value = 0.6386
+Query 1/1: Action query time = 1.697 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8580
+t=90: Selected seed 195 with value = 0.8580
+Query 1/1: Action query time = 1.357 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9814
+t=106: Selected seed 195 with value = 0.9814
+Query 1/1: Action query time = 1.526 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=122: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/forget_cl_iter350_par_t5/2026_08_01-11_38_10--episode=15--success=True--task=push_the_plate_to_the_front_of_the_stove.mp4
+Saved rollout MP4 at path ./rollouts/forget_cl_iter350_par_t5/2026_08_01-11_38_10--with_future_img--episode=15--success=True--task=push_the_plate_to_the_front_of_the_.mp4
+Success: True
+# episodes completed so far: 15
+# successes: 15 (100.0%)
+
+Task: push the plate to the front of the stove
+Starting episode 16...
+Query 1/1: Action query time = 2.096 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3995
+t=10: Selected seed 195 with value = 0.3995
+Query 1/1: Action query time = 1.502 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4714
+t=26: Selected seed 195 with value = 0.4714
+Query 1/1: Action query time = 1.565 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5439
+t=42: Selected seed 195 with value = 0.5439
+Query 1/1: Action query time = 2.223 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6225
+t=58: Selected seed 195 with value = 0.6225
+Query 1/1: Action query time = 2.244 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7252
+t=74: Selected seed 195 with value = 0.7252
+Query 1/1: Action query time = 2.533 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8172
+t=90: Selected seed 195 with value = 0.8172
+Query 1/1: Action query time = 2.515 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9557
+t=106: Selected seed 195 with value = 0.9557
+Query 1/1: Action query time = 2.317 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9873
+t=122: Selected seed 195 with value = 0.9873
+Saved rollout MP4 at path ./rollouts/forget_cl_iter350_par_t5/2026_08_01-11_38_10--episode=16--success=True--task=push_the_plate_to_the_front_of_the_stove.mp4
+Saved rollout MP4 at path ./rollouts/forget_cl_iter350_par_t5/2026_08_01-11_38_10--with_future_img--episode=16--success=True--task=push_the_plate_to_the_front_of_the_.mp4
+Success: True
+# episodes completed so far: 16
+# successes: 16 (100.0%)
+
+Task: push the plate to the front of the stove
+Starting episode 17...
+Query 1/1: Action query time = 1.417 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3502
+t=10: Selected seed 195 with value = 0.3502
+Query 1/1: Action query time = 2.053 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4059
+t=26: Selected seed 195 with value = 0.4059
+Query 1/1: Action query time = 2.068 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4609
+t=42: Selected seed 195 with value = 0.4609
+Query 1/1: Action query time = 2.130 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5337
+t=58: Selected seed 195 with value = 0.5337
+Query 1/1: Action query time = 1.797 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6111
+t=74: Selected seed 195 with value = 0.6111
+Query 1/1: Action query time = 2.189 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6619
+t=90: Selected seed 195 with value = 0.6619
+Query 1/1: Action query time = 0.981 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9512
+t=106: Selected seed 195 with value = 0.9512
+Query 1/1: Action query time = 1.485 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=122: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/forget_cl_iter350_par_t5/2026_08_01-11_38_10--episode=17--success=True--task=push_the_plate_to_the_front_of_the_stove.mp4
+Saved rollout MP4 at path ./rollouts/forget_cl_iter350_par_t5/2026_08_01-11_38_10--with_future_img--episode=17--success=True--task=push_the_plate_to_the_front_of_the_.mp4
+Success: True
+# episodes completed so far: 17
+# successes: 17 (100.0%)
+
+Task: push the plate to the front of the stove
+Starting episode 18...
+Query 1/1: Action query time = 1.527 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3038
+t=10: Selected seed 195 with value = 0.3038
+Query 1/1: Action query time = 1.935 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3089
+t=26: Selected seed 195 with value = 0.3089
+Query 1/1: Action query time = 1.814 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5233
+t=42: Selected seed 195 with value = 0.5233
+Query 1/1: Action query time = 1.899 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5891
+t=58: Selected seed 195 with value = 0.5891
+Query 1/1: Action query time = 1.498 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5944
+t=74: Selected seed 195 with value = 0.5944
+Query 1/1: Action query time = 1.533 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6980
+t=90: Selected seed 195 with value = 0.6980
+Query 1/1: Action query time = 2.074 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8236
+t=106: Selected seed 195 with value = 0.8236
+Query 1/1: Action query time = 1.278 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9932
+t=122: Selected seed 195 with value = 0.9932
+Saved rollout MP4 at path ./rollouts/forget_cl_iter350_par_t5/2026_08_01-11_38_10--episode=18--success=True--task=push_the_plate_to_the_front_of_the_stove.mp4
+Saved rollout MP4 at path ./rollouts/forget_cl_iter350_par_t5/2026_08_01-11_38_10--with_future_img--episode=18--success=True--task=push_the_plate_to_the_front_of_the_.mp4
+Success: True
+# episodes completed so far: 18
+# successes: 18 (100.0%)
+
+Task: push the plate to the front of the stove
+Starting episode 19...
+Query 1/1: Action query time = 1.675 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3277
+t=10: Selected seed 195 with value = 0.3277
+Query 1/1: Action query time = 1.704 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3682
+t=26: Selected seed 195 with value = 0.3682
+Query 1/1: Action query time = 2.216 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4280
+t=42: Selected seed 195 with value = 0.4280
+Query 1/1: Action query time = 2.278 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5014
+t=58: Selected seed 195 with value = 0.5014
+Query 1/1: Action query time = 1.447 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5971
+t=74: Selected seed 195 with value = 0.5971
+Query 1/1: Action query time = 1.371 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7332
+t=90: Selected seed 195 with value = 0.7332
+Query 1/1: Action query time = 2.130 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8533
+t=106: Selected seed 195 with value = 0.8533
+Query 1/1: Action query time = 1.248 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=122: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/forget_cl_iter350_par_t5/2026_08_01-11_38_10--episode=19--success=True--task=push_the_plate_to_the_front_of_the_stove.mp4
+Saved rollout MP4 at path ./rollouts/forget_cl_iter350_par_t5/2026_08_01-11_38_10--with_future_img--episode=19--success=True--task=push_the_plate_to_the_front_of_the_.mp4
+Success: True
+# episodes completed so far: 19
+# successes: 19 (100.0%)
+
+Task: push the plate to the front of the stove
+Starting episode 20...
+Query 1/1: Action query time = 2.056 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3294
+t=10: Selected seed 195 with value = 0.3294
+Query 1/1: Action query time = 1.552 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3922
+t=26: Selected seed 195 with value = 0.3922
+Query 1/1: Action query time = 1.600 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4561
+t=42: Selected seed 195 with value = 0.4561
+Query 1/1: Action query time = 1.266 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5208
+t=58: Selected seed 195 with value = 0.5208
+Query 1/1: Action query time = 1.666 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6217
+t=74: Selected seed 195 with value = 0.6217
+Query 1/1: Action query time = 1.518 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6953
+t=90: Selected seed 195 with value = 0.6953
+Query 1/1: Action query time = 1.561 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8402
+t=106: Selected seed 195 with value = 0.8402
+Query 1/1: Action query time = 2.109 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9854
+t=122: Selected seed 195 with value = 0.9854
+Query 1/1: Action query time = 1.666 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9827
+t=138: Selected seed 195 with value = 0.9827
+Saved rollout MP4 at path ./rollouts/forget_cl_iter350_par_t5/2026_08_01-11_38_10--episode=20--success=True--task=push_the_plate_to_the_front_of_the_stove.mp4
+Saved rollout MP4 at path ./rollouts/forget_cl_iter350_par_t5/2026_08_01-11_38_10--with_future_img--episode=20--success=True--task=push_the_plate_to_the_front_of_the_.mp4
+Success: True
+# episodes completed so far: 20
+# successes: 20 (100.0%)
+
+Task: push the plate to the front of the stove
+Starting episode 21...
+Query 1/1: Action query time = 2.120 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3145
+t=10: Selected seed 195 with value = 0.3145
+Query 1/1: Action query time = 1.396 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4012
+t=26: Selected seed 195 with value = 0.4012
+Query 1/1: Action query time = 1.330 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4419
+t=42: Selected seed 195 with value = 0.4419
+Query 1/1: Action query time = 1.450 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5015
+t=58: Selected seed 195 with value = 0.5015
+Query 1/1: Action query time = 2.051 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6363
+t=74: Selected seed 195 with value = 0.6363
+Query 1/1: Action query time = 2.352 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7133
+t=90: Selected seed 195 with value = 0.7133
+Query 1/1: Action query time = 2.433 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8983
+t=106: Selected seed 195 with value = 0.8983
+Query 1/1: Action query time = 1.217 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9972
+t=122: Selected seed 195 with value = 0.9972
+Saved rollout MP4 at path ./rollouts/forget_cl_iter350_par_t5/2026_08_01-11_38_10--episode=21--success=True--task=push_the_plate_to_the_front_of_the_stove.mp4
+Saved rollout MP4 at path ./rollouts/forget_cl_iter350_par_t5/2026_08_01-11_38_10--with_future_img--episode=21--success=True--task=push_the_plate_to_the_front_of_the_.mp4
+Success: True
+# episodes completed so far: 21
+# successes: 21 (100.0%)
+
+Task: push the plate to the front of the stove
+Starting episode 22...
+Query 1/1: Action query time = 1.279 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3145
+t=10: Selected seed 195 with value = 0.3145
+Query 1/1: Action query time = 2.146 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3748
+t=26: Selected seed 195 with value = 0.3748
+Query 1/1: Action query time = 1.763 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4488
+t=42: Selected seed 195 with value = 0.4488
+Query 1/1: Action query time = 1.861 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5120
+t=58: Selected seed 195 with value = 0.5120
+Query 1/1: Action query time = 1.770 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5795
+t=74: Selected seed 195 with value = 0.5795
+Query 1/1: Action query time = 1.815 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6580
+t=90: Selected seed 195 with value = 0.6580
+Query 1/1: Action query time = 2.193 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7430
+t=106: Selected seed 195 with value = 0.7430
+Query 1/1: Action query time = 1.358 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8537
+t=122: Selected seed 195 with value = 0.8537
+Query 1/1: Action query time = 1.264 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=138: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/forget_cl_iter350_par_t5/2026_08_01-11_38_10--episode=22--success=True--task=push_the_plate_to_the_front_of_the_stove.mp4
+Saved rollout MP4 at path ./rollouts/forget_cl_iter350_par_t5/2026_08_01-11_38_10--with_future_img--episode=22--success=True--task=push_the_plate_to_the_front_of_the_.mp4
+Success: True
+# episodes completed so far: 22
+# successes: 22 (100.0%)
+
+Task: push the plate to the front of the stove
+Starting episode 23...
+Query 1/1: Action query time = 1.695 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3437
+t=10: Selected seed 195 with value = 0.3437
+Query 1/1: Action query time = 1.530 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3957
+t=26: Selected seed 195 with value = 0.3957
+Query 1/1: Action query time = 1.545 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4610
+t=42: Selected seed 195 with value = 0.4610
+Query 1/1: Action query time = 1.350 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5747
+t=58: Selected seed 195 with value = 0.5747
+Query 1/1: Action query time = 1.257 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5862
+t=74: Selected seed 195 with value = 0.5862
+Query 1/1: Action query time = 1.770 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6628
+t=90: Selected seed 195 with value = 0.6628
+Query 1/1: Action query time = 1.858 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8519
+t=106: Selected seed 195 with value = 0.8519
+Query 1/1: Action query time = 1.720 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9642
+t=122: Selected seed 195 with value = 0.9642
+Query 1/1: Action query time = 1.717 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9712
+t=138: Selected seed 195 with value = 0.9712
+Saved rollout MP4 at path ./rollouts/forget_cl_iter350_par_t5/2026_08_01-11_38_10--episode=23--success=True--task=push_the_plate_to_the_front_of_the_stove.mp4
+Saved rollout MP4 at path ./rollouts/forget_cl_iter350_par_t5/2026_08_01-11_38_10--with_future_img--episode=23--success=True--task=push_the_plate_to_the_front_of_the_.mp4
+Success: True
+# episodes completed so far: 23
+# successes: 23 (100.0%)
+
+Task: push the plate to the front of the stove
+Starting episode 24...
+Query 1/1: Action query time = 1.628 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3502
+t=10: Selected seed 195 with value = 0.3502
+Query 1/1: Action query time = 1.973 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4590
+t=26: Selected seed 195 with value = 0.4590
+Query 1/1: Action query time = 2.346 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5132
+t=42: Selected seed 195 with value = 0.5132
+Query 1/1: Action query time = 2.089 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6269
+t=58: Selected seed 195 with value = 0.6269
+Query 1/1: Action query time = 1.606 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6943
+t=74: Selected seed 195 with value = 0.6943
+Query 1/1: Action query time = 1.374 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8215
+t=90: Selected seed 195 with value = 0.8215
+Query 1/1: Action query time = 1.598 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9525
+t=106: Selected seed 195 with value = 0.9525
+Query 1/1: Action query time = 1.014 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9876
+t=122: Selected seed 195 with value = 0.9876
+Saved rollout MP4 at path ./rollouts/forget_cl_iter350_par_t5/2026_08_01-11_38_10--episode=24--success=True--task=push_the_plate_to_the_front_of_the_stove.mp4
+Saved rollout MP4 at path ./rollouts/forget_cl_iter350_par_t5/2026_08_01-11_38_10--with_future_img--episode=24--success=True--task=push_the_plate_to_the_front_of_the_.mp4
+Success: True
+# episodes completed so far: 24
+# successes: 24 (100.0%)
+
+Task: push the plate to the front of the stove
+Starting episode 25...
+Query 1/1: Action query time = 2.444 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3508
+t=10: Selected seed 195 with value = 0.3508
+Query 1/1: Action query time = 1.992 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4242
+t=26: Selected seed 195 with value = 0.4242
+Query 1/1: Action query time = 1.924 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4811
+t=42: Selected seed 195 with value = 0.4811
+Query 1/1: Action query time = 1.359 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5566
+t=58: Selected seed 195 with value = 0.5566
+Query 1/1: Action query time = 1.271 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6474
+t=74: Selected seed 195 with value = 0.6474
+Query 1/1: Action query time = 1.541 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7579
+t=90: Selected seed 195 with value = 0.7579
+Query 1/1: Action query time = 1.267 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9493
+t=106: Selected seed 195 with value = 0.9493
+Query 1/1: Action query time = 1.587 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9835
+t=122: Selected seed 195 with value = 0.9835
+Saved rollout MP4 at path ./rollouts/forget_cl_iter350_par_t5/2026_08_01-11_38_10--episode=25--success=True--task=push_the_plate_to_the_front_of_the_stove.mp4
+Saved rollout MP4 at path ./rollouts/forget_cl_iter350_par_t5/2026_08_01-11_38_10--with_future_img--episode=25--success=True--task=push_the_plate_to_the_front_of_the_.mp4
+Success: True
+# episodes completed so far: 25
+# successes: 25 (100.0%)
+
+Task: push the plate to the front of the stove
+Starting episode 26...
+Query 1/1: Action query time = 1.843 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2846
+t=10: Selected seed 195 with value = 0.2846
+Query 1/1: Action query time = 1.455 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3391
+t=26: Selected seed 195 with value = 0.3391
+Query 1/1: Action query time = 1.374 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4378
+t=42: Selected seed 195 with value = 0.4378
+Query 1/1: Action query time = 2.594 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4953
+t=58: Selected seed 195 with value = 0.4953
+Query 1/1: Action query time = 1.669 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5728
+t=74: Selected seed 195 with value = 0.5728
+Query 1/1: Action query time = 1.695 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6866
+t=90: Selected seed 195 with value = 0.6866
+Query 1/1: Action query time = 1.789 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8004
+t=106: Selected seed 195 with value = 0.8004
+Query 1/1: Action query time = 1.858 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9573
+t=122: Selected seed 195 with value = 0.9573
+Query 1/1: Action query time = 1.867 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=138: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/forget_cl_iter350_par_t5/2026_08_01-11_38_10--episode=26--success=True--task=push_the_plate_to_the_front_of_the_stove.mp4
+Saved rollout MP4 at path ./rollouts/forget_cl_iter350_par_t5/2026_08_01-11_38_10--with_future_img--episode=26--success=True--task=push_the_plate_to_the_front_of_the_.mp4
+Success: True
+# episodes completed so far: 26
+# successes: 26 (100.0%)
+
+Task: push the plate to the front of the stove
+Starting episode 27...
+Query 1/1: Action query time = 1.756 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3888
+t=10: Selected seed 195 with value = 0.3888
+Query 1/1: Action query time = 2.596 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4026
+t=26: Selected seed 195 with value = 0.4026
+Query 1/1: Action query time = 2.369 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3955
+t=42: Selected seed 195 with value = 0.3955
+Query 1/1: Action query time = 2.063 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4614
+t=58: Selected seed 195 with value = 0.4614
+Query 1/1: Action query time = 2.037 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5839
+t=74: Selected seed 195 with value = 0.5839
+Query 1/1: Action query time = 1.645 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6610
+t=90: Selected seed 195 with value = 0.6610
+Query 1/1: Action query time = 1.595 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7317
+t=106: Selected seed 195 with value = 0.7317
+Query 1/1: Action query time = 1.839 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8578
+t=122: Selected seed 195 with value = 0.8578
+Query 1/1: Action query time = 1.406 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=138: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/forget_cl_iter350_par_t5/2026_08_01-11_38_10--episode=27--success=True--task=push_the_plate_to_the_front_of_the_stove.mp4
+Saved rollout MP4 at path ./rollouts/forget_cl_iter350_par_t5/2026_08_01-11_38_10--with_future_img--episode=27--success=True--task=push_the_plate_to_the_front_of_the_.mp4
+Success: True
+# episodes completed so far: 27
+# successes: 27 (100.0%)
+
+Task: push the plate to the front of the stove
+Starting episode 28...
+Query 1/1: Action query time = 1.622 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2649
+t=10: Selected seed 195 with value = 0.2649
+Query 1/1: Action query time = 1.861 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4094
+t=26: Selected seed 195 with value = 0.4094
+Query 1/1: Action query time = 1.265 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4542
+t=42: Selected seed 195 with value = 0.4542
+Query 1/1: Action query time = 1.011 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5007
+t=58: Selected seed 195 with value = 0.5007
+Query 1/1: Action query time = 1.447 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5479
+t=74: Selected seed 195 with value = 0.5479
+Query 1/1: Action query time = 1.712 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6414
+t=90: Selected seed 195 with value = 0.6414
+Query 1/1: Action query time = 1.739 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7288
+t=106: Selected seed 195 with value = 0.7288
+Query 1/1: Action query time = 1.616 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8517
+t=122: Selected seed 195 with value = 0.8517
+Query 1/1: Action query time = 1.674 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9898
+t=138: Selected seed 195 with value = 0.9898
+Saved rollout MP4 at path ./rollouts/forget_cl_iter350_par_t5/2026_08_01-11_38_10--episode=28--success=True--task=push_the_plate_to_the_front_of_the_stove.mp4
+Saved rollout MP4 at path ./rollouts/forget_cl_iter350_par_t5/2026_08_01-11_38_10--with_future_img--episode=28--success=True--task=push_the_plate_to_the_front_of_the_.mp4
+Success: True
+# episodes completed so far: 28
+# successes: 28 (100.0%)
+
+Task: push the plate to the front of the stove
+Starting episode 29...
+Query 1/1: Action query time = 1.971 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3075
+t=10: Selected seed 195 with value = 0.3075
+Query 1/1: Action query time = 2.411 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3589
+t=26: Selected seed 195 with value = 0.3589
+Query 1/1: Action query time = 2.688 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4300
+t=42: Selected seed 195 with value = 0.4300
+Query 1/1: Action query time = 2.582 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5087
+t=58: Selected seed 195 with value = 0.5087
+Query 1/1: Action query time = 1.752 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5813
+t=74: Selected seed 195 with value = 0.5813
+Query 1/1: Action query time = 1.868 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7002
+t=90: Selected seed 195 with value = 0.7002
+Query 1/1: Action query time = 1.943 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7943
+t=106: Selected seed 195 with value = 0.7943
+Query 1/1: Action query time = 1.649 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9779
+t=122: Selected seed 195 with value = 0.9779
+Query 1/1: Action query time = 2.084 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=138: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/forget_cl_iter350_par_t5/2026_08_01-11_38_10--episode=29--success=True--task=push_the_plate_to_the_front_of_the_stove.mp4
+Saved rollout MP4 at path ./rollouts/forget_cl_iter350_par_t5/2026_08_01-11_38_10--with_future_img--episode=29--success=True--task=push_the_plate_to_the_front_of_the_.mp4
+Success: True
+# episodes completed so far: 29
+# successes: 29 (100.0%)
+
+Task: push the plate to the front of the stove
+Starting episode 30...
+Query 1/1: Action query time = 1.772 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3554
+t=10: Selected seed 195 with value = 0.3554
+Query 1/1: Action query time = 1.706 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4519
+t=26: Selected seed 195 with value = 0.4519
+Query 1/1: Action query time = 1.673 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4865
+t=42: Selected seed 195 with value = 0.4865
+Query 1/1: Action query time = 1.456 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6286
+t=58: Selected seed 195 with value = 0.6286
+Query 1/1: Action query time = 1.631 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6109
+t=74: Selected seed 195 with value = 0.6109
+Query 1/1: Action query time = 1.870 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6820
+t=90: Selected seed 195 with value = 0.6820
+Query 1/1: Action query time = 1.467 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8519
+t=106: Selected seed 195 with value = 0.8519
+Query 1/1: Action query time = 1.699 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9784
+t=122: Selected seed 195 with value = 0.9784
+Query 1/1: Action query time = 1.574 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=138: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/forget_cl_iter350_par_t5/2026_08_01-11_38_10--episode=30--success=True--task=push_the_plate_to_the_front_of_the_stove.mp4
+Saved rollout MP4 at path ./rollouts/forget_cl_iter350_par_t5/2026_08_01-11_38_10--with_future_img--episode=30--success=True--task=push_the_plate_to_the_front_of_the_.mp4
+Success: True
+# episodes completed so far: 30
+# successes: 30 (100.0%)
+
+Task: push the plate to the front of the stove
+Starting episode 31...
+Query 1/1: Action query time = 1.518 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2269
+t=10: Selected seed 195 with value = 0.2269
+Query 1/1: Action query time = 2.180 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2734
+t=26: Selected seed 195 with value = 0.2734
+Query 1/1: Action query time = 1.632 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5249
+t=42: Selected seed 195 with value = 0.5249
+Query 1/1: Action query time = 1.791 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5806
+t=58: Selected seed 195 with value = 0.5806
+Query 1/1: Action query time = 1.489 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6823
+t=74: Selected seed 195 with value = 0.6823
+Query 1/1: Action query time = 1.456 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8068
+t=90: Selected seed 195 with value = 0.8068
+Query 1/1: Action query time = 1.887 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9054
+t=106: Selected seed 195 with value = 0.9054
+Query 1/1: Action query time = 1.332 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9983
+t=122: Selected seed 195 with value = 0.9983
+Saved rollout MP4 at path ./rollouts/forget_cl_iter350_par_t5/2026_08_01-11_38_10--episode=31--success=True--task=push_the_plate_to_the_front_of_the_stove.mp4
+Saved rollout MP4 at path ./rollouts/forget_cl_iter350_par_t5/2026_08_01-11_38_10--with_future_img--episode=31--success=True--task=push_the_plate_to_the_front_of_the_.mp4
+Success: True
+# episodes completed so far: 31
+# successes: 31 (100.0%)
+
+Task: push the plate to the front of the stove
+Starting episode 32...
+Query 1/1: Action query time = 2.654 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3217
+t=10: Selected seed 195 with value = 0.3217
+Query 1/1: Action query time = 1.800 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3910
+t=26: Selected seed 195 with value = 0.3910
+Query 1/1: Action query time = 1.437 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4878
+t=42: Selected seed 195 with value = 0.4878
+Query 1/1: Action query time = 1.900 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5743
+t=58: Selected seed 195 with value = 0.5743
+Query 1/1: Action query time = 2.057 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5927
+t=74: Selected seed 195 with value = 0.5927
+Query 1/1: Action query time = 1.270 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7333
+t=90: Selected seed 195 with value = 0.7333
+Query 1/1: Action query time = 1.210 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9333
+t=106: Selected seed 195 with value = 0.9333
+Query 1/1: Action query time = 1.525 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9966
+t=122: Selected seed 195 with value = 0.9966
+Saved rollout MP4 at path ./rollouts/forget_cl_iter350_par_t5/2026_08_01-11_38_10--episode=32--success=True--task=push_the_plate_to_the_front_of_the_stove.mp4
+Saved rollout MP4 at path ./rollouts/forget_cl_iter350_par_t5/2026_08_01-11_38_10--with_future_img--episode=32--success=True--task=push_the_plate_to_the_front_of_the_.mp4
+Success: True
+# episodes completed so far: 32
+# successes: 32 (100.0%)
+
+Task: push the plate to the front of the stove
+Starting episode 33...
+Query 1/1: Action query time = 2.070 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4039
+t=10: Selected seed 195 with value = 0.4039
+Query 1/1: Action query time = 2.168 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4641
+t=26: Selected seed 195 with value = 0.4641
+Query 1/1: Action query time = 1.638 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5313
+t=42: Selected seed 195 with value = 0.5313
+Query 1/1: Action query time = 1.357 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5255
+t=58: Selected seed 195 with value = 0.5255
+Query 1/1: Action query time = 2.252 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5715
+t=74: Selected seed 195 with value = 0.5715
+Query 1/1: Action query time = 1.829 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6454
+t=90: Selected seed 195 with value = 0.6454
+Query 1/1: Action query time = 2.063 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8197
+t=106: Selected seed 195 with value = 0.8197
+Query 1/1: Action query time = 1.700 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9133
+t=122: Selected seed 195 with value = 0.9133
+Query 1/1: Action query time = 2.149 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9980
+t=138: Selected seed 195 with value = 0.9980
+Saved rollout MP4 at path ./rollouts/forget_cl_iter350_par_t5/2026_08_01-11_38_10--episode=33--success=True--task=push_the_plate_to_the_front_of_the_stove.mp4
+Saved rollout MP4 at path ./rollouts/forget_cl_iter350_par_t5/2026_08_01-11_38_10--with_future_img--episode=33--success=True--task=push_the_plate_to_the_front_of_the_.mp4
+Success: True
+# episodes completed so far: 33
+# successes: 33 (100.0%)
+
+Task: push the plate to the front of the stove
+Starting episode 34...
+Query 1/1: Action query time = 2.191 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2484
+t=10: Selected seed 195 with value = 0.2484
+Query 1/1: Action query time = 1.737 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2578
+t=26: Selected seed 195 with value = 0.2578
+Query 1/1: Action query time = 1.591 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5274
+t=42: Selected seed 195 with value = 0.5274
+Query 1/1: Action query time = 1.792 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4893
+t=58: Selected seed 195 with value = 0.4893
+Query 1/1: Action query time = 1.638 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5948
+t=74: Selected seed 195 with value = 0.5948
+Query 1/1: Action query time = 1.665 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7192
+t=90: Selected seed 195 with value = 0.7192
+Query 1/1: Action query time = 1.829 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8959
+t=106: Selected seed 195 with value = 0.8959
+Query 1/1: Action query time = 1.294 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9981
+t=122: Selected seed 195 with value = 0.9981
+Saved rollout MP4 at path ./rollouts/forget_cl_iter350_par_t5/2026_08_01-11_38_10--episode=34--success=True--task=push_the_plate_to_the_front_of_the_stove.mp4
+Saved rollout MP4 at path ./rollouts/forget_cl_iter350_par_t5/2026_08_01-11_38_10--with_future_img--episode=34--success=True--task=push_the_plate_to_the_front_of_the_.mp4
+Success: True
+# episodes completed so far: 34
+# successes: 34 (100.0%)
+
+Task: push the plate to the front of the stove
+Starting episode 35...
+Query 1/1: Action query time = 1.567 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2578
+t=10: Selected seed 195 with value = 0.2578
+Query 1/1: Action query time = 1.977 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3278
+t=26: Selected seed 195 with value = 0.3278
+Query 1/1: Action query time = 2.373 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4656
+t=42: Selected seed 195 with value = 0.4656
+Query 1/1: Action query time = 1.954 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5265
+t=58: Selected seed 195 with value = 0.5265
+Query 1/1: Action query time = 1.188 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6429
+t=74: Selected seed 195 with value = 0.6429
+Query 1/1: Action query time = 1.218 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5655
+t=90: Selected seed 195 with value = 0.5655
+Query 1/1: Action query time = 2.251 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3984
+t=106: Selected seed 195 with value = 0.3984
+Query 1/1: Action query time = 1.739 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4863
+t=122: Selected seed 195 with value = 0.4863
+Query 1/1: Action query time = 1.760 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5763
+t=138: Selected seed 195 with value = 0.5763
+Query 1/1: Action query time = 1.688 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5789
+t=154: Selected seed 195 with value = 0.5789
+Query 1/1: Action query time = 1.559 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7826
+t=170: Selected seed 195 with value = 0.7826
+Query 1/1: Action query time = 1.697 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9622
+t=186: Selected seed 195 with value = 0.9622
+Query 1/1: Action query time = 1.851 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9310
+t=202: Selected seed 195 with value = 0.9310
+Saved rollout MP4 at path ./rollouts/forget_cl_iter350_par_t5/2026_08_01-11_38_10--episode=35--success=True--task=push_the_plate_to_the_front_of_the_stove.mp4
+Saved rollout MP4 at path ./rollouts/forget_cl_iter350_par_t5/2026_08_01-11_38_10--with_future_img--episode=35--success=True--task=push_the_plate_to_the_front_of_the_.mp4
+Success: True
+# episodes completed so far: 35
+# successes: 35 (100.0%)
+
+Task: push the plate to the front of the stove
+Starting episode 36...
+Query 1/1: Action query time = 1.846 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3714
+t=10: Selected seed 195 with value = 0.3714
+Query 1/1: Action query time = 2.126 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4291
+t=26: Selected seed 195 with value = 0.4291
+Query 1/1: Action query time = 1.841 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4448
+t=42: Selected seed 195 with value = 0.4448
+Query 1/1: Action query time = 1.912 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4755
+t=58: Selected seed 195 with value = 0.4755
+Query 1/1: Action query time = 1.630 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6183
+t=74: Selected seed 195 with value = 0.6183
+Query 1/1: Action query time = 1.820 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7132
+t=90: Selected seed 195 with value = 0.7132
+Query 1/1: Action query time = 1.510 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8365
+t=106: Selected seed 195 with value = 0.8365
+Query 1/1: Action query time = 1.415 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9912
+t=122: Selected seed 195 with value = 0.9912
+Saved rollout MP4 at path ./rollouts/forget_cl_iter350_par_t5/2026_08_01-11_38_10--episode=36--success=True--task=push_the_plate_to_the_front_of_the_stove.mp4
+Saved rollout MP4 at path ./rollouts/forget_cl_iter350_par_t5/2026_08_01-11_38_10--with_future_img--episode=36--success=True--task=push_the_plate_to_the_front_of_the_.mp4
+Success: True
+# episodes completed so far: 36
+# successes: 36 (100.0%)
+
+Task: push the plate to the front of the stove
+Starting episode 37...
+Query 1/1: Action query time = 1.311 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3549
+t=10: Selected seed 195 with value = 0.3549
+Query 1/1: Action query time = 1.177 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3870
+t=26: Selected seed 195 with value = 0.3870
+Query 1/1: Action query time = 1.324 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5181
+t=42: Selected seed 195 with value = 0.5181
+Query 1/1: Action query time = 2.001 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5811
+t=58: Selected seed 195 with value = 0.5811
+Query 1/1: Action query time = 1.838 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6281
+t=74: Selected seed 195 with value = 0.6281
+Query 1/1: Action query time = 1.589 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8395
+t=90: Selected seed 195 with value = 0.8395
+Query 1/1: Action query time = 2.111 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9509
+t=106: Selected seed 195 with value = 0.9509
+Query 1/1: Action query time = 2.521 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=122: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/forget_cl_iter350_par_t5/2026_08_01-11_38_10--episode=37--success=True--task=push_the_plate_to_the_front_of_the_stove.mp4
+Saved rollout MP4 at path ./rollouts/forget_cl_iter350_par_t5/2026_08_01-11_38_10--with_future_img--episode=37--success=True--task=push_the_plate_to_the_front_of_the_.mp4
+Success: True
+# episodes completed so far: 37
+# successes: 37 (100.0%)
+
+Task: push the plate to the front of the stove
+Starting episode 38...
+Query 1/1: Action query time = 1.703 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2988
+t=10: Selected seed 195 with value = 0.2988
+Query 1/1: Action query time = 1.212 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3077
+t=26: Selected seed 195 with value = 0.3077
+Query 1/1: Action query time = 0.980 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4867
+t=42: Selected seed 195 with value = 0.4867
+Query 1/1: Action query time = 1.018 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5122
+t=58: Selected seed 195 with value = 0.5122
+Query 1/1: Action query time = 1.516 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5809
+t=74: Selected seed 195 with value = 0.5809
+Query 1/1: Action query time = 1.424 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6538
+t=90: Selected seed 195 with value = 0.6538
+Query 1/1: Action query time = 1.377 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7506
+t=106: Selected seed 195 with value = 0.7506
+Query 1/1: Action query time = 1.583 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9369
+t=122: Selected seed 195 with value = 0.9369
+Query 1/1: Action query time = 1.289 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=138: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/forget_cl_iter350_par_t5/2026_08_01-11_38_10--episode=38--success=True--task=push_the_plate_to_the_front_of_the_stove.mp4
+Saved rollout MP4 at path ./rollouts/forget_cl_iter350_par_t5/2026_08_01-11_38_10--with_future_img--episode=38--success=True--task=push_the_plate_to_the_front_of_the_.mp4
+Success: True
+# episodes completed so far: 38
+# successes: 38 (100.0%)
+
+Task: push the plate to the front of the stove
+Starting episode 39...
+Query 1/1: Action query time = 1.135 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3035
+t=10: Selected seed 195 with value = 0.3035
+Query 1/1: Action query time = 1.577 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3306
+t=26: Selected seed 195 with value = 0.3306
+Query 1/1: Action query time = 1.342 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3762
+t=42: Selected seed 195 with value = 0.3762
+Query 1/1: Action query time = 1.728 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5146
+t=58: Selected seed 195 with value = 0.5146
+Query 1/1: Action query time = 1.373 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5882
+t=74: Selected seed 195 with value = 0.5882
+Query 1/1: Action query time = 1.294 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6501
+t=90: Selected seed 195 with value = 0.6501
+Query 1/1: Action query time = 1.605 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3978
+t=106: Selected seed 195 with value = 0.3978
+Query 1/1: Action query time = 1.409 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4382
+t=122: Selected seed 195 with value = 0.4382
+Query 1/1: Action query time = 1.378 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4941
+t=138: Selected seed 195 with value = 0.4941
+Query 1/1: Action query time = 1.509 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5274
+t=154: Selected seed 195 with value = 0.5274
+Query 1/1: Action query time = 1.308 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5894
+t=170: Selected seed 195 with value = 0.5894
+Query 1/1: Action query time = 0.967 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7520
+t=186: Selected seed 195 with value = 0.7520
+Query 1/1: Action query time = 0.970 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9052
+t=202: Selected seed 195 with value = 0.9052
+Query 1/1: Action query time = 0.991 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9720
+t=218: Selected seed 195 with value = 0.9720
+Saved rollout MP4 at path ./rollouts/forget_cl_iter350_par_t5/2026_08_01-11_38_10--episode=39--success=True--task=push_the_plate_to_the_front_of_the_stove.mp4
+Saved rollout MP4 at path ./rollouts/forget_cl_iter350_par_t5/2026_08_01-11_38_10--with_future_img--episode=39--success=True--task=push_the_plate_to_the_front_of_the_.mp4
+Success: True
+# episodes completed so far: 39
+# successes: 39 (100.0%)
+
+Task: push the plate to the front of the stove
+Starting episode 40...
+Query 1/1: Action query time = 1.559 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3367
+t=10: Selected seed 195 with value = 0.3367
+Query 1/1: Action query time = 1.159 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3820
+t=26: Selected seed 195 with value = 0.3820
+Query 1/1: Action query time = 1.255 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4683
+t=42: Selected seed 195 with value = 0.4683
+Query 1/1: Action query time = 1.490 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5228
+t=58: Selected seed 195 with value = 0.5228
+Query 1/1: Action query time = 1.220 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6116
+t=74: Selected seed 195 with value = 0.6116
+Query 1/1: Action query time = 1.726 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7245
+t=90: Selected seed 195 with value = 0.7245
+Query 1/1: Action query time = 1.226 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8667
+t=106: Selected seed 195 with value = 0.8667
+Query 1/1: Action query time = 1.615 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=122: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/forget_cl_iter350_par_t5/2026_08_01-11_38_10--episode=40--success=True--task=push_the_plate_to_the_front_of_the_stove.mp4
+Saved rollout MP4 at path ./rollouts/forget_cl_iter350_par_t5/2026_08_01-11_38_10--with_future_img--episode=40--success=True--task=push_the_plate_to_the_front_of_the_.mp4
+Success: True
+# episodes completed so far: 40
+# successes: 40 (100.0%)
+
+Task: push the plate to the front of the stove
+Starting episode 41...
+Query 1/1: Action query time = 1.593 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2737
+t=10: Selected seed 195 with value = 0.2737
+Query 1/1: Action query time = 1.448 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3012
+t=26: Selected seed 195 with value = 0.3012
+Query 1/1: Action query time = 1.277 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4367
+t=42: Selected seed 195 with value = 0.4367
+Query 1/1: Action query time = 1.175 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4895
+t=58: Selected seed 195 with value = 0.4895
+Query 1/1: Action query time = 1.356 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6124
+t=74: Selected seed 195 with value = 0.6124
+Query 1/1: Action query time = 1.067 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7268
+t=90: Selected seed 195 with value = 0.7268
+Query 1/1: Action query time = 0.975 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8982
+t=106: Selected seed 195 with value = 0.8982
+Query 1/1: Action query time = 1.311 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=122: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/forget_cl_iter350_par_t5/2026_08_01-11_38_10--episode=41--success=True--task=push_the_plate_to_the_front_of_the_stove.mp4
+Saved rollout MP4 at path ./rollouts/forget_cl_iter350_par_t5/2026_08_01-11_38_10--with_future_img--episode=41--success=True--task=push_the_plate_to_the_front_of_the_.mp4
+Success: True
+# episodes completed so far: 41
+# successes: 41 (100.0%)
+
+Task: push the plate to the front of the stove
+Starting episode 42...
+Query 1/1: Action query time = 1.229 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3300
+t=10: Selected seed 195 with value = 0.3300
+Query 1/1: Action query time = 1.312 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3916
+t=26: Selected seed 195 with value = 0.3916
+Query 1/1: Action query time = 1.472 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4417
+t=42: Selected seed 195 with value = 0.4417
+Query 1/1: Action query time = 1.351 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5070
+t=58: Selected seed 195 with value = 0.5070
+Query 1/1: Action query time = 1.376 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5914
+t=74: Selected seed 195 with value = 0.5914
+Query 1/1: Action query time = 1.181 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6882
+t=90: Selected seed 195 with value = 0.6882
+Query 1/1: Action query time = 1.202 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8065
+t=106: Selected seed 195 with value = 0.8065
+Query 1/1: Action query time = 0.996 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9270
+t=122: Selected seed 195 with value = 0.9270
+Query 1/1: Action query time = 1.337 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=138: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/forget_cl_iter350_par_t5/2026_08_01-11_38_10--episode=42--success=True--task=push_the_plate_to_the_front_of_the_stove.mp4
+Saved rollout MP4 at path ./rollouts/forget_cl_iter350_par_t5/2026_08_01-11_38_10--with_future_img--episode=42--success=True--task=push_the_plate_to_the_front_of_the_.mp4
+Success: True
+# episodes completed so far: 42
+# successes: 42 (100.0%)
+
+Task: push the plate to the front of the stove
+Starting episode 43...
+Query 1/1: Action query time = 1.466 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3070
+t=10: Selected seed 195 with value = 0.3070
+Query 1/1: Action query time = 1.482 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3884
+t=26: Selected seed 195 with value = 0.3884
+Query 1/1: Action query time = 0.993 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4464
+t=42: Selected seed 195 with value = 0.4464
+Query 1/1: Action query time = 1.011 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4969
+t=58: Selected seed 195 with value = 0.4969
+Query 1/1: Action query time = 1.133 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5586
+t=74: Selected seed 195 with value = 0.5586
+Query 1/1: Action query time = 1.188 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6088
+t=90: Selected seed 195 with value = 0.6088
+Query 1/1: Action query time = 1.208 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7047
+t=106: Selected seed 195 with value = 0.7047
+Query 1/1: Action query time = 1.351 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8201
+t=122: Selected seed 195 with value = 0.8201
+Query 1/1: Action query time = 1.244 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9877
+t=138: Selected seed 195 with value = 0.9877
+Query 1/1: Action query time = 1.588 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=154: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/forget_cl_iter350_par_t5/2026_08_01-11_38_10--episode=43--success=True--task=push_the_plate_to_the_front_of_the_stove.mp4
+Saved rollout MP4 at path ./rollouts/forget_cl_iter350_par_t5/2026_08_01-11_38_10--with_future_img--episode=43--success=True--task=push_the_plate_to_the_front_of_the_.mp4
+Success: True
+# episodes completed so far: 43
+# successes: 43 (100.0%)
+
+Task: push the plate to the front of the stove
+Starting episode 44...
+Query 1/1: Action query time = 1.280 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2459
+t=10: Selected seed 195 with value = 0.2459
+Query 1/1: Action query time = 1.534 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2741
+t=26: Selected seed 195 with value = 0.2741
+Query 1/1: Action query time = 1.256 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5346
+t=42: Selected seed 195 with value = 0.5346
+Query 1/1: Action query time = 1.234 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5865
+t=58: Selected seed 195 with value = 0.5865
+Query 1/1: Action query time = 1.387 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6810
+t=74: Selected seed 195 with value = 0.6810
+Query 1/1: Action query time = 1.212 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7994
+t=90: Selected seed 195 with value = 0.7994
+Query 1/1: Action query time = 1.205 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9049
+t=106: Selected seed 195 with value = 0.9049
+Query 1/1: Action query time = 0.976 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=122: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/forget_cl_iter350_par_t5/2026_08_01-11_38_10--episode=44--success=True--task=push_the_plate_to_the_front_of_the_stove.mp4
+Saved rollout MP4 at path ./rollouts/forget_cl_iter350_par_t5/2026_08_01-11_38_10--with_future_img--episode=44--success=True--task=push_the_plate_to_the_front_of_the_.mp4
+Success: True
+# episodes completed so far: 44
+# successes: 44 (100.0%)
+
+Task: push the plate to the front of the stove
+Starting episode 45...
+Query 1/1: Action query time = 1.386 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3661
+t=10: Selected seed 195 with value = 0.3661
+Query 1/1: Action query time = 1.246 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3808
+t=26: Selected seed 195 with value = 0.3808
+Query 1/1: Action query time = 1.202 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4544
+t=42: Selected seed 195 with value = 0.4544
+Query 1/1: Action query time = 1.030 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5237
+t=58: Selected seed 195 with value = 0.5237
+Query 1/1: Action query time = 1.197 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6217
+t=74: Selected seed 195 with value = 0.6217
+Query 1/1: Action query time = 1.008 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7886
+t=90: Selected seed 195 with value = 0.7886
+Query 1/1: Action query time = 1.618 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8612
+t=106: Selected seed 195 with value = 0.8612
+Query 1/1: Action query time = 1.575 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9751
+t=122: Selected seed 195 with value = 0.9751
+Saved rollout MP4 at path ./rollouts/forget_cl_iter350_par_t5/2026_08_01-11_38_10--episode=45--success=True--task=push_the_plate_to_the_front_of_the_stove.mp4
+Saved rollout MP4 at path ./rollouts/forget_cl_iter350_par_t5/2026_08_01-11_38_10--with_future_img--episode=45--success=True--task=push_the_plate_to_the_front_of_the_.mp4
+Success: True
+# episodes completed so far: 45
+# successes: 45 (100.0%)
+
+Task: push the plate to the front of the stove
+Starting episode 46...
+Query 1/1: Action query time = 1.351 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3357
+t=10: Selected seed 195 with value = 0.3357
+Query 1/1: Action query time = 0.979 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4251
+t=26: Selected seed 195 with value = 0.4251
+Query 1/1: Action query time = 0.970 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5252
+t=42: Selected seed 195 with value = 0.5252
+Query 1/1: Action query time = 1.265 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4738
+t=58: Selected seed 195 with value = 0.4738
+Query 1/1: Action query time = 1.319 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5375
+t=74: Selected seed 195 with value = 0.5375
+Query 1/1: Action query time = 1.391 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7039
+t=90: Selected seed 195 with value = 0.7039
+Query 1/1: Action query time = 1.113 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9292
+t=106: Selected seed 195 with value = 0.9292
+Query 1/1: Action query time = 1.286 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9949
+t=122: Selected seed 195 with value = 0.9949
+Saved rollout MP4 at path ./rollouts/forget_cl_iter350_par_t5/2026_08_01-11_38_10--episode=46--success=True--task=push_the_plate_to_the_front_of_the_stove.mp4
+Saved rollout MP4 at path ./rollouts/forget_cl_iter350_par_t5/2026_08_01-11_38_10--with_future_img--episode=46--success=True--task=push_the_plate_to_the_front_of_the_.mp4
+Success: True
+# episodes completed so far: 46
+# successes: 46 (100.0%)
+
+Task: push the plate to the front of the stove
+Starting episode 47...
+Query 1/1: Action query time = 1.455 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2880
+t=10: Selected seed 195 with value = 0.2880
+Query 1/1: Action query time = 1.531 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3783
+t=26: Selected seed 195 with value = 0.3783
+Query 1/1: Action query time = 1.652 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4497
+t=42: Selected seed 195 with value = 0.4497
+Query 1/1: Action query time = 1.298 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5219
+t=58: Selected seed 195 with value = 0.5219
+Query 1/1: Action query time = 1.256 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6128
+t=74: Selected seed 195 with value = 0.6128
+Query 1/1: Action query time = 1.190 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6684
+t=90: Selected seed 195 with value = 0.6684
+Query 1/1: Action query time = 1.296 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8508
+t=106: Selected seed 195 with value = 0.8508
+Query 1/1: Action query time = 1.642 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9889
+t=122: Selected seed 195 with value = 0.9889
+Saved rollout MP4 at path ./rollouts/forget_cl_iter350_par_t5/2026_08_01-11_38_10--episode=47--success=True--task=push_the_plate_to_the_front_of_the_stove.mp4
+Saved rollout MP4 at path ./rollouts/forget_cl_iter350_par_t5/2026_08_01-11_38_10--with_future_img--episode=47--success=True--task=push_the_plate_to_the_front_of_the_.mp4
+Success: True
+# episodes completed so far: 47
+# successes: 47 (100.0%)
+
+Task: push the plate to the front of the stove
+Starting episode 48...
+Query 1/1: Action query time = 1.474 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3596
+t=10: Selected seed 195 with value = 0.3596
+Query 1/1: Action query time = 1.549 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4464
+t=26: Selected seed 195 with value = 0.4464
+Query 1/1: Action query time = 0.966 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4420
+t=42: Selected seed 195 with value = 0.4420
+Query 1/1: Action query time = 0.999 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4941
+t=58: Selected seed 195 with value = 0.4941
+Query 1/1: Action query time = 0.996 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6145
+t=74: Selected seed 195 with value = 0.6145
+Query 1/1: Action query time = 1.029 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7121
+t=90: Selected seed 195 with value = 0.7121
+Query 1/1: Action query time = 0.988 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7597
+t=106: Selected seed 195 with value = 0.7597
+Query 1/1: Action query time = 1.239 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8730
+t=122: Selected seed 195 with value = 0.8730
+Query 1/1: Action query time = 1.282 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=138: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/forget_cl_iter350_par_t5/2026_08_01-11_38_10--episode=48--success=True--task=push_the_plate_to_the_front_of_the_stove.mp4
+Saved rollout MP4 at path ./rollouts/forget_cl_iter350_par_t5/2026_08_01-11_38_10--with_future_img--episode=48--success=True--task=push_the_plate_to_the_front_of_the_.mp4
+Success: True
+# episodes completed so far: 48
+# successes: 48 (100.0%)
+
+Task: push the plate to the front of the stove
+Starting episode 49...
+Query 1/1: Action query time = 1.102 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3106
+t=10: Selected seed 195 with value = 0.3106
+Query 1/1: Action query time = 1.198 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3726
+t=26: Selected seed 195 with value = 0.3726
+Query 1/1: Action query time = 0.976 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4518
+t=42: Selected seed 195 with value = 0.4518
+Query 1/1: Action query time = 0.975 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5420
+t=58: Selected seed 195 with value = 0.5420
+Query 1/1: Action query time = 0.984 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6327
+t=74: Selected seed 195 with value = 0.6327
+Query 1/1: Action query time = 0.972 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7930
+t=90: Selected seed 195 with value = 0.7930
+Query 1/1: Action query time = 0.972 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9094
+t=106: Selected seed 195 with value = 0.9094
+Query 1/1: Action query time = 0.981 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9770
+t=122: Selected seed 195 with value = 0.9770
+Saved rollout MP4 at path ./rollouts/forget_cl_iter350_par_t5/2026_08_01-11_38_10--episode=49--success=True--task=push_the_plate_to_the_front_of_the_stove.mp4
+Saved rollout MP4 at path ./rollouts/forget_cl_iter350_par_t5/2026_08_01-11_38_10--with_future_img--episode=49--success=True--task=push_the_plate_to_the_front_of_the_.mp4
+Success: True
+# episodes completed so far: 49
+# successes: 49 (100.0%)
+
+Task: push the plate to the front of the stove
+Starting episode 50...
+Query 1/1: Action query time = 1.007 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2465
+t=10: Selected seed 195 with value = 0.2465
+Query 1/1: Action query time = 1.138 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3953
+t=26: Selected seed 195 with value = 0.3953
+Query 1/1: Action query time = 0.964 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4548
+t=42: Selected seed 195 with value = 0.4548
+Query 1/1: Action query time = 0.991 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4974
+t=58: Selected seed 195 with value = 0.4974
+Query 1/1: Action query time = 1.095 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5792
+t=74: Selected seed 195 with value = 0.5792
+Query 1/1: Action query time = 1.132 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6738
+t=90: Selected seed 195 with value = 0.6738
+Query 1/1: Action query time = 1.156 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8077
+t=106: Selected seed 195 with value = 0.8077
+Query 1/1: Action query time = 1.451 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9749
+t=122: Selected seed 195 with value = 0.9749
+Saved rollout MP4 at path ./rollouts/forget_cl_iter350_par_t5/2026_08_01-11_38_10--episode=50--success=True--task=push_the_plate_to_the_front_of_the_stove.mp4
+Saved rollout MP4 at path ./rollouts/forget_cl_iter350_par_t5/2026_08_01-11_38_10--with_future_img--episode=50--success=True--task=push_the_plate_to_the_front_of_the_.mp4
+Success: True
+# episodes completed so far: 50
+# successes: 50 (100.0%)
+Current task success rate: 1.0
+Current total success rate: 1.0
+Final results:
+Total episodes: 50
+Total successes: 50
+Overall success rate: 1.0000 (100.0%)
diff --git a/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_01-12_39_04--base40k_t3_shard01.txt b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_01-12_39_04--base40k_t3_shard01.txt
new file mode 100644
index 0000000000000000000000000000000000000000..3c3b4d3b2ff40078d6a9c1e0c25f2dc275e7b00a
--- /dev/null
+++ b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_01-12_39_04--base40k_t3_shard01.txt
@@ -0,0 +1,224 @@
+Eval config: PolicyEvalConfig(suite='libero', model_family='cosmos', config='cosmos_predict2_2b_480p_libero_cl_stage_inference_only', ckpt_path='/home/azureuser/REGEN-main/checkpoints/imaginaire4-output/cosmos_policy/cosmos_v2_finetune/cosmos_predict2_2b_480p_libero_goal_base_stage_3gpu_40k_save4k_20260726/checkpoints/iter_000040000/model', planning_model_config_name='', planning_model_ckpt_path='', config_file='cosmos_policy/config/config.py', packnet_mask_path='', packnet_first_cl_libero_task=6, use_third_person_image=True, num_third_person_images=1, use_wrist_image=True, num_wrist_images=1, use_proprio=True, flip_images=True, use_variance_scale=False, use_jpeg_compression=True, ar_future_prediction=False, ar_value_prediction=False, ar_qvalue_prediction=False, num_denoising_steps_action=5, num_denoising_steps_future_state=1, num_denoising_steps_value=1, unnormalize_actions=True, normalize_proprio=True, dataset_stats_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/libero_goal_regen/dataset_statistics.json', t5_text_embeddings_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/t5_embeddings.pkl', trained_with_image_aug=True, chunk_size=16, num_open_loop_steps=16, deterministic=True, deterministic_reset=False, deterministic_reset_seed=None, use_ensemble_future_state_predictions=False, num_future_state_predictions_in_ensemble=3, future_state_ensemble_aggregation_scheme='average', use_ensemble_value_predictions=False, num_value_predictions_in_ensemble=5, value_ensemble_aggregation_scheme='average', search_depth=1, mask_current_state_action_for_value_prediction=False, mask_future_state_for_qvalue_prediction=False, num_queries_best_of_n=1, use_parallel_inference=False, available_gpus='0', parallel_timeout=15, parallel_tasks_across_gpus=False, task_suite_name='libero_goal', num_trials_per_task=50, task_ids_to_run='3', initial_states_path='DEFAULT', env_img_res=256, local_log_dir='/home/azureuser/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal', run_id_note='base40k_t3_shard01', use_wandb=False, wandb_entity='YOUR_ENTITY', wandb_project='YOUR_PROJECT', seed=195, randomize_seed=False, data_collection=False, jpeg_compress=True, reward_stop_threshold=None, reward_stop_consecutive_steps=3, use_gpt_reward=False, gpt_reward_model='gpt-5.4-mini', gpt_reward_stop_threshold=4, gpt_reward_timeout_s=30.0, save_rollout_video=False, eval_hdf5_path='', eval_hdf5_demo_key='demo_0', data_gen_demo_ids='', eval_episode_ids='1,17,33,49', replay_actions=False, replay_action_path_dir='', replay_hdf5_path='', data_generation=False, max_generation_steps=200, simple_task_max_steps=100, complex_task_max_steps=200)
+Using serial inference (parallel inference disabled)
+Task suite: libero_goal
+Number of tasks: 10
+Running only task IDs: [3]
+Using default initial states
+
+Task: open the top drawer and put the bowl inside
+Starting episode 1...
+Query 1/1: Action query time = 2.848 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.1819
+t=10: Selected seed 195 with value = 0.1819
+Query 1/1: Action query time = 4.743 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2239
+t=26: Selected seed 195 with value = 0.2239
+Query 1/1: Action query time = 5.073 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2412
+t=42: Selected seed 195 with value = 0.2412
+Query 1/1: Action query time = 5.503 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2817
+t=58: Selected seed 195 with value = 0.2817
+Query 1/1: Action query time = 5.842 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3718
+t=74: Selected seed 195 with value = 0.3718
+Query 1/1: Action query time = 5.502 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4426
+t=90: Selected seed 195 with value = 0.4426
+Query 1/1: Action query time = 5.472 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5224
+t=106: Selected seed 195 with value = 0.5224
+Query 1/1: Action query time = 4.046 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5892
+t=122: Selected seed 195 with value = 0.5892
+Query 1/1: Action query time = 4.719 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7088
+t=138: Selected seed 195 with value = 0.7088
+Query 1/1: Action query time = 4.923 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8715
+t=154: Selected seed 195 with value = 0.8715
+Query 1/1: Action query time = 3.455 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=170: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/base40k_t3_shard01/2026_08_01-12_39_04--with_future_img--episode=1--success=True--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: True
+# episodes completed so far: 1
+# successes: 1 (100.0%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 2...
+Query 1/1: Action query time = 3.521 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.1808
+t=10: Selected seed 195 with value = 0.1808
+Query 1/1: Action query time = 3.641 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2061
+t=26: Selected seed 195 with value = 0.2061
+Query 1/1: Action query time = 4.698 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2135
+t=42: Selected seed 195 with value = 0.2135
+Query 1/1: Action query time = 4.536 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3005
+t=58: Selected seed 195 with value = 0.3005
+Query 1/1: Action query time = 4.865 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3612
+t=74: Selected seed 195 with value = 0.3612
+Query 1/1: Action query time = 5.626 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4185
+t=90: Selected seed 195 with value = 0.4185
+Query 1/1: Action query time = 5.419 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4972
+t=106: Selected seed 195 with value = 0.4972
+Query 1/1: Action query time = 4.877 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5761
+t=122: Selected seed 195 with value = 0.5761
+Query 1/1: Action query time = 4.738 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6364
+t=138: Selected seed 195 with value = 0.6364
+Query 1/1: Action query time = 5.614 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7279
+t=154: Selected seed 195 with value = 0.7279
+Query 1/1: Action query time = 4.522 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8901
+t=170: Selected seed 195 with value = 0.8901
+Query 1/1: Action query time = 3.520 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=186: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/base40k_t3_shard01/2026_08_01-12_39_04--with_future_img--episode=2--success=True--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: True
+# episodes completed so far: 2
+# successes: 2 (100.0%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 3...
+Query 1/1: Action query time = 4.615 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.1585
+t=10: Selected seed 195 with value = 0.1585
+Query 1/1: Action query time = 3.881 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.1609
+t=26: Selected seed 195 with value = 0.1609
+Query 1/1: Action query time = 4.205 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2328
+t=42: Selected seed 195 with value = 0.2328
+Query 1/1: Action query time = 4.878 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2215
+t=58: Selected seed 195 with value = 0.2215
+Query 1/1: Action query time = 4.691 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3099
+t=74: Selected seed 195 with value = 0.3099
+Query 1/1: Action query time = 4.828 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3812
+t=90: Selected seed 195 with value = 0.3812
+Query 1/1: Action query time = 5.021 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3058
+t=106: Selected seed 195 with value = 0.3058
+Query 1/1: Action query time = 5.239 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5045
+t=122: Selected seed 195 with value = 0.5045
+Query 1/1: Action query time = 5.215 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5702
+t=138: Selected seed 195 with value = 0.5702
+Query 1/1: Action query time = 5.053 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7174
+t=154: Selected seed 195 with value = 0.7174
+Query 1/1: Action query time = 4.712 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8358
+t=170: Selected seed 195 with value = 0.8358
+Query 1/1: Action query time = 5.178 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9858
+t=186: Selected seed 195 with value = 0.9858
+Saved rollout MP4 at path ./rollouts/base40k_t3_shard01/2026_08_01-12_39_04--with_future_img--episode=3--success=True--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: True
+# episodes completed so far: 3
+# successes: 3 (100.0%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 4...
+Query 1/1: Action query time = 2.890 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.1942
+t=10: Selected seed 195 with value = 0.1942
+Query 1/1: Action query time = 2.798 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2273
+t=26: Selected seed 195 with value = 0.2273
+Query 1/1: Action query time = 1.653 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2830
+t=42: Selected seed 195 with value = 0.2830
+Query 1/1: Action query time = 1.398 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3191
+t=58: Selected seed 195 with value = 0.3191
+Query 1/1: Action query time = 1.335 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3905
+t=74: Selected seed 195 with value = 0.3905
+Query 1/1: Action query time = 2.202 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4550
+t=90: Selected seed 195 with value = 0.4550
+Query 1/1: Action query time = 1.367 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5171
+t=106: Selected seed 195 with value = 0.5171
+Query 1/1: Action query time = 1.778 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6108
+t=122: Selected seed 195 with value = 0.6108
+Query 1/1: Action query time = 1.757 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6881
+t=138: Selected seed 195 with value = 0.6881
+Query 1/1: Action query time = 1.829 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8099
+t=154: Selected seed 195 with value = 0.8099
+Query 1/1: Action query time = 2.071 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9347
+t=170: Selected seed 195 with value = 0.9347
+Saved rollout MP4 at path ./rollouts/base40k_t3_shard01/2026_08_01-12_39_04--with_future_img--episode=4--success=True--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: True
+# episodes completed so far: 4
+# successes: 4 (100.0%)
+Current task success rate: 1.0
+Current total success rate: 1.0
+Final results:
+Total episodes: 4
+Total successes: 4
+Overall success rate: 1.0000 (100.0%)
diff --git a/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_01-12_39_05--base40k_t3_shard04.txt b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_01-12_39_05--base40k_t3_shard04.txt
new file mode 100644
index 0000000000000000000000000000000000000000..f44623804373e2b74074c2c8b4ad9f7bf4732952
--- /dev/null
+++ b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_01-12_39_05--base40k_t3_shard04.txt
@@ -0,0 +1,177 @@
+Eval config: PolicyEvalConfig(suite='libero', model_family='cosmos', config='cosmos_predict2_2b_480p_libero_cl_stage_inference_only', ckpt_path='/home/azureuser/REGEN-main/checkpoints/imaginaire4-output/cosmos_policy/cosmos_v2_finetune/cosmos_predict2_2b_480p_libero_goal_base_stage_3gpu_40k_save4k_20260726/checkpoints/iter_000040000/model', planning_model_config_name='', planning_model_ckpt_path='', config_file='cosmos_policy/config/config.py', packnet_mask_path='', packnet_first_cl_libero_task=6, use_third_person_image=True, num_third_person_images=1, use_wrist_image=True, num_wrist_images=1, use_proprio=True, flip_images=True, use_variance_scale=False, use_jpeg_compression=True, ar_future_prediction=False, ar_value_prediction=False, ar_qvalue_prediction=False, num_denoising_steps_action=5, num_denoising_steps_future_state=1, num_denoising_steps_value=1, unnormalize_actions=True, normalize_proprio=True, dataset_stats_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/libero_goal_regen/dataset_statistics.json', t5_text_embeddings_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/t5_embeddings.pkl', trained_with_image_aug=True, chunk_size=16, num_open_loop_steps=16, deterministic=True, deterministic_reset=False, deterministic_reset_seed=None, use_ensemble_future_state_predictions=False, num_future_state_predictions_in_ensemble=3, future_state_ensemble_aggregation_scheme='average', use_ensemble_value_predictions=False, num_value_predictions_in_ensemble=5, value_ensemble_aggregation_scheme='average', search_depth=1, mask_current_state_action_for_value_prediction=False, mask_future_state_for_qvalue_prediction=False, num_queries_best_of_n=1, use_parallel_inference=False, available_gpus='0', parallel_timeout=15, parallel_tasks_across_gpus=False, task_suite_name='libero_goal', num_trials_per_task=50, task_ids_to_run='3', initial_states_path='DEFAULT', env_img_res=256, local_log_dir='/home/azureuser/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal', run_id_note='base40k_t3_shard04', use_wandb=False, wandb_entity='YOUR_ENTITY', wandb_project='YOUR_PROJECT', seed=195, randomize_seed=False, data_collection=False, jpeg_compress=True, reward_stop_threshold=None, reward_stop_consecutive_steps=3, use_gpt_reward=False, gpt_reward_model='gpt-5.4-mini', gpt_reward_stop_threshold=4, gpt_reward_timeout_s=30.0, save_rollout_video=False, eval_hdf5_path='', eval_hdf5_demo_key='demo_0', data_gen_demo_ids='', eval_episode_ids='4,20,36', replay_actions=False, replay_action_path_dir='', replay_hdf5_path='', data_generation=False, max_generation_steps=200, simple_task_max_steps=100, complex_task_max_steps=200)
+Using serial inference (parallel inference disabled)
+Task suite: libero_goal
+Number of tasks: 10
+Running only task IDs: [3]
+Using default initial states
+
+Task: open the top drawer and put the bowl inside
+Starting episode 1...
+Query 1/1: Action query time = 5.839 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.1881
+t=10: Selected seed 195 with value = 0.1881
+Query 1/1: Action query time = 4.115 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2141
+t=26: Selected seed 195 with value = 0.2141
+Query 1/1: Action query time = 4.646 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2527
+t=42: Selected seed 195 with value = 0.2527
+Query 1/1: Action query time = 5.492 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2885
+t=58: Selected seed 195 with value = 0.2885
+Query 1/1: Action query time = 5.720 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3440
+t=74: Selected seed 195 with value = 0.3440
+Query 1/1: Action query time = 5.873 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4100
+t=90: Selected seed 195 with value = 0.4100
+Query 1/1: Action query time = 5.223 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5083
+t=106: Selected seed 195 with value = 0.5083
+Query 1/1: Action query time = 4.751 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4856
+t=122: Selected seed 195 with value = 0.4856
+Query 1/1: Action query time = 4.294 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6308
+t=138: Selected seed 195 with value = 0.6308
+Query 1/1: Action query time = 4.482 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8076
+t=154: Selected seed 195 with value = 0.8076
+Query 1/1: Action query time = 4.377 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7498
+t=170: Selected seed 195 with value = 0.7498
+Saved rollout MP4 at path ./rollouts/base40k_t3_shard04/2026_08_01-12_39_05--with_future_img--episode=1--success=True--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: True
+# episodes completed so far: 1
+# successes: 1 (100.0%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 2...
+Query 1/1: Action query time = 4.422 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.1956
+t=10: Selected seed 195 with value = 0.1956
+Query 1/1: Action query time = 4.658 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2193
+t=26: Selected seed 195 with value = 0.2193
+Query 1/1: Action query time = 5.611 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2260
+t=42: Selected seed 195 with value = 0.2260
+Query 1/1: Action query time = 4.302 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2187
+t=58: Selected seed 195 with value = 0.2187
+Query 1/1: Action query time = 4.171 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2444
+t=74: Selected seed 195 with value = 0.2444
+Query 1/1: Action query time = 5.043 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2938
+t=90: Selected seed 195 with value = 0.2938
+Query 1/1: Action query time = 4.707 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3518
+t=106: Selected seed 195 with value = 0.3518
+Query 1/1: Action query time = 4.142 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4094
+t=122: Selected seed 195 with value = 0.4094
+Query 1/1: Action query time = 4.913 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4996
+t=138: Selected seed 195 with value = 0.4996
+Query 1/1: Action query time = 4.591 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3975
+t=154: Selected seed 195 with value = 0.3975
+Query 1/1: Action query time = 4.438 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5705
+t=170: Selected seed 195 with value = 0.5705
+Query 1/1: Action query time = 4.575 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7533
+t=186: Selected seed 195 with value = 0.7533
+Query 1/1: Action query time = 4.766 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9140
+t=202: Selected seed 195 with value = 0.9140
+Saved rollout MP4 at path ./rollouts/base40k_t3_shard04/2026_08_01-12_39_05--with_future_img--episode=2--success=True--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: True
+# episodes completed so far: 2
+# successes: 2 (100.0%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 3...
+Query 1/1: Action query time = 4.799 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.1441
+t=10: Selected seed 195 with value = 0.1441
+Query 1/1: Action query time = 4.745 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.1466
+t=26: Selected seed 195 with value = 0.1466
+Query 1/1: Action query time = 5.202 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.1916
+t=42: Selected seed 195 with value = 0.1916
+Query 1/1: Action query time = 5.141 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2685
+t=58: Selected seed 195 with value = 0.2685
+Query 1/1: Action query time = 5.357 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2909
+t=74: Selected seed 195 with value = 0.2909
+Query 1/1: Action query time = 5.525 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3580
+t=90: Selected seed 195 with value = 0.3580
+Query 1/1: Action query time = 5.023 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2853
+t=106: Selected seed 195 with value = 0.2853
+Query 1/1: Action query time = 4.792 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5637
+t=122: Selected seed 195 with value = 0.5637
+Query 1/1: Action query time = 5.234 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5096
+t=138: Selected seed 195 with value = 0.5096
+Query 1/1: Action query time = 3.627 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6731
+t=154: Selected seed 195 with value = 0.6731
+Query 1/1: Action query time = 2.872 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8119
+t=170: Selected seed 195 with value = 0.8119
+Query 1/1: Action query time = 3.102 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9605
+t=186: Selected seed 195 with value = 0.9605
+Saved rollout MP4 at path ./rollouts/base40k_t3_shard04/2026_08_01-12_39_05--with_future_img--episode=3--success=True--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: True
+# episodes completed so far: 3
+# successes: 3 (100.0%)
+Current task success rate: 1.0
+Current total success rate: 1.0
+Final results:
+Total episodes: 3
+Total successes: 3
+Overall success rate: 1.0000 (100.0%)
diff --git a/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_01-13_00_06--demochan200_t1_s00.txt b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_01-13_00_06--demochan200_t1_s00.txt
new file mode 100644
index 0000000000000000000000000000000000000000..fd41f2cbd4561414a38c02abaadb44e17aa1f133
--- /dev/null
+++ b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_01-13_00_06--demochan200_t1_s00.txt
@@ -0,0 +1,192 @@
+Eval config: PolicyEvalConfig(suite='libero', model_family='cosmos', config='cosmos_predict2_2b_480p_libero_cl_stage_inference_only', ckpt_path='/home/azureuser/REGEN-main/old/cosmos_policy/cosmos_v2_finetune/cosmos_predict2_2b_480p_libero_goal_task6_regen_cl_demochan_from40k_2gpu/checkpoints/iter_000000200/model', planning_model_config_name='', planning_model_ckpt_path='', config_file='cosmos_policy/config/config.py', packnet_mask_path='', packnet_first_cl_libero_task=6, use_third_person_image=True, num_third_person_images=1, use_wrist_image=True, num_wrist_images=1, use_proprio=True, flip_images=True, use_variance_scale=False, use_jpeg_compression=True, ar_future_prediction=False, ar_value_prediction=False, ar_qvalue_prediction=False, num_denoising_steps_action=5, num_denoising_steps_future_state=1, num_denoising_steps_value=1, unnormalize_actions=True, normalize_proprio=True, dataset_stats_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/libero_goal_regen/dataset_statistics.json', t5_text_embeddings_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/t5_embeddings.pkl', trained_with_image_aug=True, chunk_size=16, num_open_loop_steps=16, deterministic=True, deterministic_reset=False, deterministic_reset_seed=None, use_ensemble_future_state_predictions=False, num_future_state_predictions_in_ensemble=3, future_state_ensemble_aggregation_scheme='average', use_ensemble_value_predictions=False, num_value_predictions_in_ensemble=5, value_ensemble_aggregation_scheme='average', search_depth=1, mask_current_state_action_for_value_prediction=False, mask_future_state_for_qvalue_prediction=False, num_queries_best_of_n=1, use_parallel_inference=False, available_gpus='0', parallel_timeout=15, parallel_tasks_across_gpus=False, task_suite_name='libero_goal', num_trials_per_task=50, task_ids_to_run='1', initial_states_path='DEFAULT', env_img_res=256, local_log_dir='/home/azureuser/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal', run_id_note='demochan200_t1_s00', use_wandb=False, wandb_entity='YOUR_ENTITY', wandb_project='YOUR_PROJECT', seed=195, randomize_seed=False, data_collection=False, jpeg_compress=True, reward_stop_threshold=None, reward_stop_consecutive_steps=3, use_gpt_reward=False, gpt_reward_model='gpt-5.4-mini', gpt_reward_stop_threshold=4, gpt_reward_timeout_s=30.0, save_rollout_video=False, eval_hdf5_path='', eval_hdf5_demo_key='demo_0', data_gen_demo_ids='', eval_episode_ids='0,16,32,48', replay_actions=False, replay_action_path_dir='', replay_hdf5_path='', data_generation=False, max_generation_steps=200, simple_task_max_steps=100, complex_task_max_steps=200)
+Using serial inference (parallel inference disabled)
+Task suite: libero_goal
+Number of tasks: 10
+Running only task IDs: [1]
+Using default initial states
+
+Task: put the bowl on the stove
+Starting episode 1...
+Query 1/1: Action query time = 2.622 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4952
+t=10: Selected seed 195 with value = 0.4952
+Query 1/1: Action query time = 4.797 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5835
+t=26: Selected seed 195 with value = 0.5835
+Query 1/1: Action query time = 4.627 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6863
+t=42: Selected seed 195 with value = 0.6863
+Query 1/1: Action query time = 5.085 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8112
+t=58: Selected seed 195 with value = 0.8112
+Query 1/1: Action query time = 5.380 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9372
+t=74: Selected seed 195 with value = 0.9372
+Query 1/1: Action query time = 4.780 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9971
+t=90: Selected seed 195 with value = 0.9971
+Saved rollout MP4 at path ./rollouts/demochan200_t1_s00/2026_08_01-13_00_06--with_future_img--episode=1--success=True--task=put_the_bowl_on_the_stove.mp4
+Success: True
+# episodes completed so far: 1
+# successes: 1 (100.0%)
+
+Task: put the bowl on the stove
+Starting episode 2...
+Query 1/1: Action query time = 2.262 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5024
+t=10: Selected seed 195 with value = 0.5024
+Query 1/1: Action query time = 3.450 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5991
+t=26: Selected seed 195 with value = 0.5991
+Query 1/1: Action query time = 4.034 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6722
+t=42: Selected seed 195 with value = 0.6722
+Query 1/1: Action query time = 5.984 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7921
+t=58: Selected seed 195 with value = 0.7921
+Query 1/1: Action query time = 5.026 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9112
+t=74: Selected seed 195 with value = 0.9112
+Query 1/1: Action query time = 4.964 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/demochan200_t1_s00/2026_08_01-13_00_06--with_future_img--episode=2--success=True--task=put_the_bowl_on_the_stove.mp4
+Success: True
+# episodes completed so far: 2
+# successes: 2 (100.0%)
+
+Task: put the bowl on the stove
+Starting episode 3...
+Query 1/1: Action query time = 3.449 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5194
+t=10: Selected seed 195 with value = 0.5194
+Query 1/1: Action query time = 3.019 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5789
+t=26: Selected seed 195 with value = 0.5789
+Query 1/1: Action query time = 4.025 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6614
+t=42: Selected seed 195 with value = 0.6614
+Query 1/1: Action query time = 3.868 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7507
+t=58: Selected seed 195 with value = 0.7507
+Query 1/1: Action query time = 4.831 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8314
+t=74: Selected seed 195 with value = 0.8314
+Query 1/1: Action query time = 5.830 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9964
+t=90: Selected seed 195 with value = 0.9964
+Query 1/1: Action query time = 5.325 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9879
+t=106: Selected seed 195 with value = 0.9879
+Query 1/1: Action query time = 3.357 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=122: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 3.353 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=138: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 1.438 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=154: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 1.274 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=170: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 1.350 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=186: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 1.439 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=202: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 1.303 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=218: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.983 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=234: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.969 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9926
+t=250: Selected seed 195 with value = 0.9926
+Query 1/1: Action query time = 0.963 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9769
+t=266: Selected seed 195 with value = 0.9769
+Query 1/1: Action query time = 0.990 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9145
+t=282: Selected seed 195 with value = 0.9145
+Query 1/1: Action query time = 0.963 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8281
+t=298: Selected seed 195 with value = 0.8281
+Saved rollout MP4 at path ./rollouts/demochan200_t1_s00/2026_08_01-13_00_06--with_future_img--episode=3--success=False--task=put_the_bowl_on_the_stove.mp4
+Success: False
+# episodes completed so far: 3
+# successes: 2 (66.7%)
+
+Task: put the bowl on the stove
+Starting episode 4...
+Query 1/1: Action query time = 0.968 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4966
+t=10: Selected seed 195 with value = 0.4966
+Query 1/1: Action query time = 0.982 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5752
+t=26: Selected seed 195 with value = 0.5752
+Query 1/1: Action query time = 0.965 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6619
+t=42: Selected seed 195 with value = 0.6619
+Query 1/1: Action query time = 0.963 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7733
+t=58: Selected seed 195 with value = 0.7733
+Query 1/1: Action query time = 0.967 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9070
+t=74: Selected seed 195 with value = 0.9070
+Query 1/1: Action query time = 0.960 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9791
+t=90: Selected seed 195 with value = 0.9791
+Query 1/1: Action query time = 0.958 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9971
+t=106: Selected seed 195 with value = 0.9971
+Saved rollout MP4 at path ./rollouts/demochan200_t1_s00/2026_08_01-13_00_06--with_future_img--episode=4--success=True--task=put_the_bowl_on_the_stove.mp4
+Success: True
+# episodes completed so far: 4
+# successes: 3 (75.0%)
+Current task success rate: 0.75
+Current total success rate: 0.75
+Final results:
+Total episodes: 4
+Total successes: 3
+Overall success rate: 0.7500 (75.0%)
diff --git a/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_01-13_00_06--demochan200_t1_s06.txt b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_01-13_00_06--demochan200_t1_s06.txt
new file mode 100644
index 0000000000000000000000000000000000000000..bebd10c360ae496e8907d2f6fc441efe2014c088
--- /dev/null
+++ b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_01-13_00_06--demochan200_t1_s06.txt
@@ -0,0 +1,109 @@
+Eval config: PolicyEvalConfig(suite='libero', model_family='cosmos', config='cosmos_predict2_2b_480p_libero_cl_stage_inference_only', ckpt_path='/home/azureuser/REGEN-main/old/cosmos_policy/cosmos_v2_finetune/cosmos_predict2_2b_480p_libero_goal_task6_regen_cl_demochan_from40k_2gpu/checkpoints/iter_000000200/model', planning_model_config_name='', planning_model_ckpt_path='', config_file='cosmos_policy/config/config.py', packnet_mask_path='', packnet_first_cl_libero_task=6, use_third_person_image=True, num_third_person_images=1, use_wrist_image=True, num_wrist_images=1, use_proprio=True, flip_images=True, use_variance_scale=False, use_jpeg_compression=True, ar_future_prediction=False, ar_value_prediction=False, ar_qvalue_prediction=False, num_denoising_steps_action=5, num_denoising_steps_future_state=1, num_denoising_steps_value=1, unnormalize_actions=True, normalize_proprio=True, dataset_stats_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/libero_goal_regen/dataset_statistics.json', t5_text_embeddings_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/t5_embeddings.pkl', trained_with_image_aug=True, chunk_size=16, num_open_loop_steps=16, deterministic=True, deterministic_reset=False, deterministic_reset_seed=None, use_ensemble_future_state_predictions=False, num_future_state_predictions_in_ensemble=3, future_state_ensemble_aggregation_scheme='average', use_ensemble_value_predictions=False, num_value_predictions_in_ensemble=5, value_ensemble_aggregation_scheme='average', search_depth=1, mask_current_state_action_for_value_prediction=False, mask_future_state_for_qvalue_prediction=False, num_queries_best_of_n=1, use_parallel_inference=False, available_gpus='0', parallel_timeout=15, parallel_tasks_across_gpus=False, task_suite_name='libero_goal', num_trials_per_task=50, task_ids_to_run='1', initial_states_path='DEFAULT', env_img_res=256, local_log_dir='/home/azureuser/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal', run_id_note='demochan200_t1_s06', use_wandb=False, wandb_entity='YOUR_ENTITY', wandb_project='YOUR_PROJECT', seed=195, randomize_seed=False, data_collection=False, jpeg_compress=True, reward_stop_threshold=None, reward_stop_consecutive_steps=3, use_gpt_reward=False, gpt_reward_model='gpt-5.4-mini', gpt_reward_stop_threshold=4, gpt_reward_timeout_s=30.0, save_rollout_video=False, eval_hdf5_path='', eval_hdf5_demo_key='demo_0', data_gen_demo_ids='', eval_episode_ids='6,22,38', replay_actions=False, replay_action_path_dir='', replay_hdf5_path='', data_generation=False, max_generation_steps=200, simple_task_max_steps=100, complex_task_max_steps=200)
+Using serial inference (parallel inference disabled)
+Task suite: libero_goal
+Number of tasks: 10
+Running only task IDs: [1]
+Using default initial states
+
+Task: put the bowl on the stove
+Starting episode 1...
+Query 1/1: Action query time = 6.393 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5022
+t=10: Selected seed 195 with value = 0.5022
+Query 1/1: Action query time = 5.933 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5580
+t=26: Selected seed 195 with value = 0.5580
+Query 1/1: Action query time = 4.777 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9451
+t=42: Selected seed 195 with value = 0.9451
+Query 1/1: Action query time = 4.647 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8137
+t=58: Selected seed 195 with value = 0.8137
+Query 1/1: Action query time = 3.715 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8832
+t=74: Selected seed 195 with value = 0.8832
+Query 1/1: Action query time = 2.215 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9843
+t=90: Selected seed 195 with value = 0.9843
+Query 1/1: Action query time = 3.262 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9959
+t=106: Selected seed 195 with value = 0.9959
+Saved rollout MP4 at path ./rollouts/demochan200_t1_s06/2026_08_01-13_00_06--with_future_img--episode=1--success=True--task=put_the_bowl_on_the_stove.mp4
+Success: True
+# episodes completed so far: 1
+# successes: 1 (100.0%)
+
+Task: put the bowl on the stove
+Starting episode 2...
+Query 1/1: Action query time = 5.019 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5007
+t=10: Selected seed 195 with value = 0.5007
+Query 1/1: Action query time = 5.027 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5707
+t=26: Selected seed 195 with value = 0.5707
+Query 1/1: Action query time = 4.917 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6687
+t=42: Selected seed 195 with value = 0.6687
+Query 1/1: Action query time = 4.856 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8179
+t=58: Selected seed 195 with value = 0.8179
+Query 1/1: Action query time = 4.391 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8943
+t=74: Selected seed 195 with value = 0.8943
+Query 1/1: Action query time = 3.654 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9908
+t=90: Selected seed 195 with value = 0.9908
+Saved rollout MP4 at path ./rollouts/demochan200_t1_s06/2026_08_01-13_00_06--with_future_img--episode=2--success=True--task=put_the_bowl_on_the_stove.mp4
+Success: True
+# episodes completed so far: 2
+# successes: 2 (100.0%)
+
+Task: put the bowl on the stove
+Starting episode 3...
+Query 1/1: Action query time = 5.459 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4792
+t=10: Selected seed 195 with value = 0.4792
+Query 1/1: Action query time = 3.405 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5642
+t=26: Selected seed 195 with value = 0.5642
+Query 1/1: Action query time = 4.814 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7222
+t=42: Selected seed 195 with value = 0.7222
+Query 1/1: Action query time = 5.223 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7829
+t=58: Selected seed 195 with value = 0.7829
+Query 1/1: Action query time = 3.341 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8506
+t=74: Selected seed 195 with value = 0.8506
+Query 1/1: Action query time = 2.789 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9796
+t=90: Selected seed 195 with value = 0.9796
+Saved rollout MP4 at path ./rollouts/demochan200_t1_s06/2026_08_01-13_00_06--with_future_img--episode=3--success=True--task=put_the_bowl_on_the_stove.mp4
+Success: True
+# episodes completed so far: 3
+# successes: 3 (100.0%)
+Current task success rate: 1.0
+Current total success rate: 1.0
+Final results:
+Total episodes: 3
+Total successes: 3
+Overall success rate: 1.0000 (100.0%)
diff --git a/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_01-13_00_07--demochan200_t1_s03.txt b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_01-13_00_07--demochan200_t1_s03.txt
new file mode 100644
index 0000000000000000000000000000000000000000..55e1fa037c6aca6e40f38b70b77e3901700eeb84
--- /dev/null
+++ b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_01-13_00_07--demochan200_t1_s03.txt
@@ -0,0 +1,105 @@
+Eval config: PolicyEvalConfig(suite='libero', model_family='cosmos', config='cosmos_predict2_2b_480p_libero_cl_stage_inference_only', ckpt_path='/home/azureuser/REGEN-main/old/cosmos_policy/cosmos_v2_finetune/cosmos_predict2_2b_480p_libero_goal_task6_regen_cl_demochan_from40k_2gpu/checkpoints/iter_000000200/model', planning_model_config_name='', planning_model_ckpt_path='', config_file='cosmos_policy/config/config.py', packnet_mask_path='', packnet_first_cl_libero_task=6, use_third_person_image=True, num_third_person_images=1, use_wrist_image=True, num_wrist_images=1, use_proprio=True, flip_images=True, use_variance_scale=False, use_jpeg_compression=True, ar_future_prediction=False, ar_value_prediction=False, ar_qvalue_prediction=False, num_denoising_steps_action=5, num_denoising_steps_future_state=1, num_denoising_steps_value=1, unnormalize_actions=True, normalize_proprio=True, dataset_stats_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/libero_goal_regen/dataset_statistics.json', t5_text_embeddings_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/t5_embeddings.pkl', trained_with_image_aug=True, chunk_size=16, num_open_loop_steps=16, deterministic=True, deterministic_reset=False, deterministic_reset_seed=None, use_ensemble_future_state_predictions=False, num_future_state_predictions_in_ensemble=3, future_state_ensemble_aggregation_scheme='average', use_ensemble_value_predictions=False, num_value_predictions_in_ensemble=5, value_ensemble_aggregation_scheme='average', search_depth=1, mask_current_state_action_for_value_prediction=False, mask_future_state_for_qvalue_prediction=False, num_queries_best_of_n=1, use_parallel_inference=False, available_gpus='0', parallel_timeout=15, parallel_tasks_across_gpus=False, task_suite_name='libero_goal', num_trials_per_task=50, task_ids_to_run='1', initial_states_path='DEFAULT', env_img_res=256, local_log_dir='/home/azureuser/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal', run_id_note='demochan200_t1_s03', use_wandb=False, wandb_entity='YOUR_ENTITY', wandb_project='YOUR_PROJECT', seed=195, randomize_seed=False, data_collection=False, jpeg_compress=True, reward_stop_threshold=None, reward_stop_consecutive_steps=3, use_gpt_reward=False, gpt_reward_model='gpt-5.4-mini', gpt_reward_stop_threshold=4, gpt_reward_timeout_s=30.0, save_rollout_video=False, eval_hdf5_path='', eval_hdf5_demo_key='demo_0', data_gen_demo_ids='', eval_episode_ids='3,19,35', replay_actions=False, replay_action_path_dir='', replay_hdf5_path='', data_generation=False, max_generation_steps=200, simple_task_max_steps=100, complex_task_max_steps=200)
+Using serial inference (parallel inference disabled)
+Task suite: libero_goal
+Number of tasks: 10
+Running only task IDs: [1]
+Using default initial states
+
+Task: put the bowl on the stove
+Starting episode 1...
+Query 1/1: Action query time = 4.549 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5165
+t=10: Selected seed 195 with value = 0.5165
+Query 1/1: Action query time = 5.086 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6048
+t=26: Selected seed 195 with value = 0.6048
+Query 1/1: Action query time = 5.810 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7164
+t=42: Selected seed 195 with value = 0.7164
+Query 1/1: Action query time = 3.863 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8380
+t=58: Selected seed 195 with value = 0.8380
+Query 1/1: Action query time = 4.749 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9263
+t=74: Selected seed 195 with value = 0.9263
+Query 1/1: Action query time = 4.429 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9758
+t=90: Selected seed 195 with value = 0.9758
+Saved rollout MP4 at path ./rollouts/demochan200_t1_s03/2026_08_01-13_00_07--with_future_img--episode=1--success=True--task=put_the_bowl_on_the_stove.mp4
+Success: True
+# episodes completed so far: 1
+# successes: 1 (100.0%)
+
+Task: put the bowl on the stove
+Starting episode 2...
+Query 1/1: Action query time = 3.863 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5068
+t=10: Selected seed 195 with value = 0.5068
+Query 1/1: Action query time = 3.536 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5935
+t=26: Selected seed 195 with value = 0.5935
+Query 1/1: Action query time = 5.829 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6983
+t=42: Selected seed 195 with value = 0.6983
+Query 1/1: Action query time = 5.489 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7857
+t=58: Selected seed 195 with value = 0.7857
+Query 1/1: Action query time = 5.126 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9241
+t=74: Selected seed 195 with value = 0.9241
+Query 1/1: Action query time = 2.672 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/demochan200_t1_s03/2026_08_01-13_00_07--with_future_img--episode=2--success=True--task=put_the_bowl_on_the_stove.mp4
+Success: True
+# episodes completed so far: 2
+# successes: 2 (100.0%)
+
+Task: put the bowl on the stove
+Starting episode 3...
+Query 1/1: Action query time = 3.615 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5006
+t=10: Selected seed 195 with value = 0.5006
+Query 1/1: Action query time = 4.504 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5981
+t=26: Selected seed 195 with value = 0.5981
+Query 1/1: Action query time = 5.894 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7334
+t=42: Selected seed 195 with value = 0.7334
+Query 1/1: Action query time = 3.692 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8451
+t=58: Selected seed 195 with value = 0.8451
+Query 1/1: Action query time = 4.071 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9543
+t=74: Selected seed 195 with value = 0.9543
+Query 1/1: Action query time = 4.957 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9977
+t=90: Selected seed 195 with value = 0.9977
+Saved rollout MP4 at path ./rollouts/demochan200_t1_s03/2026_08_01-13_00_07--with_future_img--episode=3--success=True--task=put_the_bowl_on_the_stove.mp4
+Success: True
+# episodes completed so far: 3
+# successes: 3 (100.0%)
+Current task success rate: 1.0
+Current total success rate: 1.0
+Final results:
+Total episodes: 3
+Total successes: 3
+Overall success rate: 1.0000 (100.0%)
diff --git a/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_01-13_00_07--demochan200_t1_s07.txt b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_01-13_00_07--demochan200_t1_s07.txt
new file mode 100644
index 0000000000000000000000000000000000000000..3356e201a2479074787e3791ac2af8b6be176fb0
--- /dev/null
+++ b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_01-13_00_07--demochan200_t1_s07.txt
@@ -0,0 +1,105 @@
+Eval config: PolicyEvalConfig(suite='libero', model_family='cosmos', config='cosmos_predict2_2b_480p_libero_cl_stage_inference_only', ckpt_path='/home/azureuser/REGEN-main/old/cosmos_policy/cosmos_v2_finetune/cosmos_predict2_2b_480p_libero_goal_task6_regen_cl_demochan_from40k_2gpu/checkpoints/iter_000000200/model', planning_model_config_name='', planning_model_ckpt_path='', config_file='cosmos_policy/config/config.py', packnet_mask_path='', packnet_first_cl_libero_task=6, use_third_person_image=True, num_third_person_images=1, use_wrist_image=True, num_wrist_images=1, use_proprio=True, flip_images=True, use_variance_scale=False, use_jpeg_compression=True, ar_future_prediction=False, ar_value_prediction=False, ar_qvalue_prediction=False, num_denoising_steps_action=5, num_denoising_steps_future_state=1, num_denoising_steps_value=1, unnormalize_actions=True, normalize_proprio=True, dataset_stats_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/libero_goal_regen/dataset_statistics.json', t5_text_embeddings_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/t5_embeddings.pkl', trained_with_image_aug=True, chunk_size=16, num_open_loop_steps=16, deterministic=True, deterministic_reset=False, deterministic_reset_seed=None, use_ensemble_future_state_predictions=False, num_future_state_predictions_in_ensemble=3, future_state_ensemble_aggregation_scheme='average', use_ensemble_value_predictions=False, num_value_predictions_in_ensemble=5, value_ensemble_aggregation_scheme='average', search_depth=1, mask_current_state_action_for_value_prediction=False, mask_future_state_for_qvalue_prediction=False, num_queries_best_of_n=1, use_parallel_inference=False, available_gpus='0', parallel_timeout=15, parallel_tasks_across_gpus=False, task_suite_name='libero_goal', num_trials_per_task=50, task_ids_to_run='1', initial_states_path='DEFAULT', env_img_res=256, local_log_dir='/home/azureuser/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal', run_id_note='demochan200_t1_s07', use_wandb=False, wandb_entity='YOUR_ENTITY', wandb_project='YOUR_PROJECT', seed=195, randomize_seed=False, data_collection=False, jpeg_compress=True, reward_stop_threshold=None, reward_stop_consecutive_steps=3, use_gpt_reward=False, gpt_reward_model='gpt-5.4-mini', gpt_reward_stop_threshold=4, gpt_reward_timeout_s=30.0, save_rollout_video=False, eval_hdf5_path='', eval_hdf5_demo_key='demo_0', data_gen_demo_ids='', eval_episode_ids='7,23,39', replay_actions=False, replay_action_path_dir='', replay_hdf5_path='', data_generation=False, max_generation_steps=200, simple_task_max_steps=100, complex_task_max_steps=200)
+Using serial inference (parallel inference disabled)
+Task suite: libero_goal
+Number of tasks: 10
+Running only task IDs: [1]
+Using default initial states
+
+Task: put the bowl on the stove
+Starting episode 1...
+Query 1/1: Action query time = 4.148 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4968
+t=10: Selected seed 195 with value = 0.4968
+Query 1/1: Action query time = 4.970 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5943
+t=26: Selected seed 195 with value = 0.5943
+Query 1/1: Action query time = 4.385 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6911
+t=42: Selected seed 195 with value = 0.6911
+Query 1/1: Action query time = 3.132 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8263
+t=58: Selected seed 195 with value = 0.8263
+Query 1/1: Action query time = 5.843 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9362
+t=74: Selected seed 195 with value = 0.9362
+Query 1/1: Action query time = 5.098 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9907
+t=90: Selected seed 195 with value = 0.9907
+Saved rollout MP4 at path ./rollouts/demochan200_t1_s07/2026_08_01-13_00_07--with_future_img--episode=1--success=True--task=put_the_bowl_on_the_stove.mp4
+Success: True
+# episodes completed so far: 1
+# successes: 1 (100.0%)
+
+Task: put the bowl on the stove
+Starting episode 2...
+Query 1/1: Action query time = 2.704 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4900
+t=10: Selected seed 195 with value = 0.4900
+Query 1/1: Action query time = 4.650 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5735
+t=26: Selected seed 195 with value = 0.5735
+Query 1/1: Action query time = 5.286 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6613
+t=42: Selected seed 195 with value = 0.6613
+Query 1/1: Action query time = 4.852 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7834
+t=58: Selected seed 195 with value = 0.7834
+Query 1/1: Action query time = 4.890 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8843
+t=74: Selected seed 195 with value = 0.8843
+Query 1/1: Action query time = 4.841 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/demochan200_t1_s07/2026_08_01-13_00_07--with_future_img--episode=2--success=True--task=put_the_bowl_on_the_stove.mp4
+Success: True
+# episodes completed so far: 2
+# successes: 2 (100.0%)
+
+Task: put the bowl on the stove
+Starting episode 3...
+Query 1/1: Action query time = 3.384 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5226
+t=10: Selected seed 195 with value = 0.5226
+Query 1/1: Action query time = 4.274 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5916
+t=26: Selected seed 195 with value = 0.5916
+Query 1/1: Action query time = 3.908 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7399
+t=42: Selected seed 195 with value = 0.7399
+Query 1/1: Action query time = 3.994 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7461
+t=58: Selected seed 195 with value = 0.7461
+Query 1/1: Action query time = 5.908 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8606
+t=74: Selected seed 195 with value = 0.8606
+Query 1/1: Action query time = 5.212 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9921
+t=90: Selected seed 195 with value = 0.9921
+Saved rollout MP4 at path ./rollouts/demochan200_t1_s07/2026_08_01-13_00_07--with_future_img--episode=3--success=True--task=put_the_bowl_on_the_stove.mp4
+Success: True
+# episodes completed so far: 3
+# successes: 3 (100.0%)
+Current task success rate: 1.0
+Current total success rate: 1.0
+Final results:
+Total episodes: 3
+Total successes: 3
+Overall success rate: 1.0000 (100.0%)
diff --git a/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_01-13_00_07--demochan200_t1_s11.txt b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_01-13_00_07--demochan200_t1_s11.txt
new file mode 100644
index 0000000000000000000000000000000000000000..cee1d4ff65f8c8594119d7f4580ac14d0cbc572b
--- /dev/null
+++ b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_01-13_00_07--demochan200_t1_s11.txt
@@ -0,0 +1,105 @@
+Eval config: PolicyEvalConfig(suite='libero', model_family='cosmos', config='cosmos_predict2_2b_480p_libero_cl_stage_inference_only', ckpt_path='/home/azureuser/REGEN-main/old/cosmos_policy/cosmos_v2_finetune/cosmos_predict2_2b_480p_libero_goal_task6_regen_cl_demochan_from40k_2gpu/checkpoints/iter_000000200/model', planning_model_config_name='', planning_model_ckpt_path='', config_file='cosmos_policy/config/config.py', packnet_mask_path='', packnet_first_cl_libero_task=6, use_third_person_image=True, num_third_person_images=1, use_wrist_image=True, num_wrist_images=1, use_proprio=True, flip_images=True, use_variance_scale=False, use_jpeg_compression=True, ar_future_prediction=False, ar_value_prediction=False, ar_qvalue_prediction=False, num_denoising_steps_action=5, num_denoising_steps_future_state=1, num_denoising_steps_value=1, unnormalize_actions=True, normalize_proprio=True, dataset_stats_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/libero_goal_regen/dataset_statistics.json', t5_text_embeddings_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/t5_embeddings.pkl', trained_with_image_aug=True, chunk_size=16, num_open_loop_steps=16, deterministic=True, deterministic_reset=False, deterministic_reset_seed=None, use_ensemble_future_state_predictions=False, num_future_state_predictions_in_ensemble=3, future_state_ensemble_aggregation_scheme='average', use_ensemble_value_predictions=False, num_value_predictions_in_ensemble=5, value_ensemble_aggregation_scheme='average', search_depth=1, mask_current_state_action_for_value_prediction=False, mask_future_state_for_qvalue_prediction=False, num_queries_best_of_n=1, use_parallel_inference=False, available_gpus='0', parallel_timeout=15, parallel_tasks_across_gpus=False, task_suite_name='libero_goal', num_trials_per_task=50, task_ids_to_run='1', initial_states_path='DEFAULT', env_img_res=256, local_log_dir='/home/azureuser/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal', run_id_note='demochan200_t1_s11', use_wandb=False, wandb_entity='YOUR_ENTITY', wandb_project='YOUR_PROJECT', seed=195, randomize_seed=False, data_collection=False, jpeg_compress=True, reward_stop_threshold=None, reward_stop_consecutive_steps=3, use_gpt_reward=False, gpt_reward_model='gpt-5.4-mini', gpt_reward_stop_threshold=4, gpt_reward_timeout_s=30.0, save_rollout_video=False, eval_hdf5_path='', eval_hdf5_demo_key='demo_0', data_gen_demo_ids='', eval_episode_ids='11,27,43', replay_actions=False, replay_action_path_dir='', replay_hdf5_path='', data_generation=False, max_generation_steps=200, simple_task_max_steps=100, complex_task_max_steps=200)
+Using serial inference (parallel inference disabled)
+Task suite: libero_goal
+Number of tasks: 10
+Running only task IDs: [1]
+Using default initial states
+
+Task: put the bowl on the stove
+Starting episode 1...
+Query 1/1: Action query time = 6.281 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5090
+t=10: Selected seed 195 with value = 0.5090
+Query 1/1: Action query time = 4.435 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5778
+t=26: Selected seed 195 with value = 0.5778
+Query 1/1: Action query time = 4.649 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6515
+t=42: Selected seed 195 with value = 0.6515
+Query 1/1: Action query time = 5.305 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7761
+t=58: Selected seed 195 with value = 0.7761
+Query 1/1: Action query time = 5.253 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8501
+t=74: Selected seed 195 with value = 0.8501
+Query 1/1: Action query time = 3.610 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9950
+t=90: Selected seed 195 with value = 0.9950
+Saved rollout MP4 at path ./rollouts/demochan200_t1_s11/2026_08_01-13_00_07--with_future_img--episode=1--success=True--task=put_the_bowl_on_the_stove.mp4
+Success: True
+# episodes completed so far: 1
+# successes: 1 (100.0%)
+
+Task: put the bowl on the stove
+Starting episode 2...
+Query 1/1: Action query time = 3.293 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5013
+t=10: Selected seed 195 with value = 0.5013
+Query 1/1: Action query time = 5.906 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5998
+t=26: Selected seed 195 with value = 0.5998
+Query 1/1: Action query time = 5.550 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7014
+t=42: Selected seed 195 with value = 0.7014
+Query 1/1: Action query time = 4.847 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8044
+t=58: Selected seed 195 with value = 0.8044
+Query 1/1: Action query time = 3.022 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9334
+t=74: Selected seed 195 with value = 0.9334
+Query 1/1: Action query time = 4.960 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/demochan200_t1_s11/2026_08_01-13_00_07--with_future_img--episode=2--success=True--task=put_the_bowl_on_the_stove.mp4
+Success: True
+# episodes completed so far: 2
+# successes: 2 (100.0%)
+
+Task: put the bowl on the stove
+Starting episode 3...
+Query 1/1: Action query time = 2.523 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5091
+t=10: Selected seed 195 with value = 0.5091
+Query 1/1: Action query time = 3.412 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5841
+t=26: Selected seed 195 with value = 0.5841
+Query 1/1: Action query time = 4.667 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7546
+t=42: Selected seed 195 with value = 0.7546
+Query 1/1: Action query time = 5.382 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7216
+t=58: Selected seed 195 with value = 0.7216
+Query 1/1: Action query time = 4.689 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8812
+t=74: Selected seed 195 with value = 0.8812
+Query 1/1: Action query time = 4.328 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9945
+t=90: Selected seed 195 with value = 0.9945
+Saved rollout MP4 at path ./rollouts/demochan200_t1_s11/2026_08_01-13_00_07--with_future_img--episode=3--success=True--task=put_the_bowl_on_the_stove.mp4
+Success: True
+# episodes completed so far: 3
+# successes: 3 (100.0%)
+Current task success rate: 1.0
+Current total success rate: 1.0
+Final results:
+Total episodes: 3
+Total successes: 3
+Overall success rate: 1.0000 (100.0%)
diff --git a/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_01-13_00_08--demochan200_t1_s09.txt b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_01-13_00_08--demochan200_t1_s09.txt
new file mode 100644
index 0000000000000000000000000000000000000000..33ed82f7dd5fc6da47d8cc9ea840a414855648e3
--- /dev/null
+++ b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_01-13_00_08--demochan200_t1_s09.txt
@@ -0,0 +1,157 @@
+Eval config: PolicyEvalConfig(suite='libero', model_family='cosmos', config='cosmos_predict2_2b_480p_libero_cl_stage_inference_only', ckpt_path='/home/azureuser/REGEN-main/old/cosmos_policy/cosmos_v2_finetune/cosmos_predict2_2b_480p_libero_goal_task6_regen_cl_demochan_from40k_2gpu/checkpoints/iter_000000200/model', planning_model_config_name='', planning_model_ckpt_path='', config_file='cosmos_policy/config/config.py', packnet_mask_path='', packnet_first_cl_libero_task=6, use_third_person_image=True, num_third_person_images=1, use_wrist_image=True, num_wrist_images=1, use_proprio=True, flip_images=True, use_variance_scale=False, use_jpeg_compression=True, ar_future_prediction=False, ar_value_prediction=False, ar_qvalue_prediction=False, num_denoising_steps_action=5, num_denoising_steps_future_state=1, num_denoising_steps_value=1, unnormalize_actions=True, normalize_proprio=True, dataset_stats_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/libero_goal_regen/dataset_statistics.json', t5_text_embeddings_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/t5_embeddings.pkl', trained_with_image_aug=True, chunk_size=16, num_open_loop_steps=16, deterministic=True, deterministic_reset=False, deterministic_reset_seed=None, use_ensemble_future_state_predictions=False, num_future_state_predictions_in_ensemble=3, future_state_ensemble_aggregation_scheme='average', use_ensemble_value_predictions=False, num_value_predictions_in_ensemble=5, value_ensemble_aggregation_scheme='average', search_depth=1, mask_current_state_action_for_value_prediction=False, mask_future_state_for_qvalue_prediction=False, num_queries_best_of_n=1, use_parallel_inference=False, available_gpus='0', parallel_timeout=15, parallel_tasks_across_gpus=False, task_suite_name='libero_goal', num_trials_per_task=50, task_ids_to_run='1', initial_states_path='DEFAULT', env_img_res=256, local_log_dir='/home/azureuser/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal', run_id_note='demochan200_t1_s09', use_wandb=False, wandb_entity='YOUR_ENTITY', wandb_project='YOUR_PROJECT', seed=195, randomize_seed=False, data_collection=False, jpeg_compress=True, reward_stop_threshold=None, reward_stop_consecutive_steps=3, use_gpt_reward=False, gpt_reward_model='gpt-5.4-mini', gpt_reward_stop_threshold=4, gpt_reward_timeout_s=30.0, save_rollout_video=False, eval_hdf5_path='', eval_hdf5_demo_key='demo_0', data_gen_demo_ids='', eval_episode_ids='9,25,41', replay_actions=False, replay_action_path_dir='', replay_hdf5_path='', data_generation=False, max_generation_steps=200, simple_task_max_steps=100, complex_task_max_steps=200)
+Using serial inference (parallel inference disabled)
+Task suite: libero_goal
+Number of tasks: 10
+Running only task IDs: [1]
+Using default initial states
+
+Task: put the bowl on the stove
+Starting episode 1...
+Query 1/1: Action query time = 6.882 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5053
+t=10: Selected seed 195 with value = 0.5053
+Query 1/1: Action query time = 4.978 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5767
+t=26: Selected seed 195 with value = 0.5767
+Query 1/1: Action query time = 3.827 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6848
+t=42: Selected seed 195 with value = 0.6848
+Query 1/1: Action query time = 5.154 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8023
+t=58: Selected seed 195 with value = 0.8023
+Query 1/1: Action query time = 5.374 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9058
+t=74: Selected seed 195 with value = 0.9058
+Query 1/1: Action query time = 4.264 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9929
+t=90: Selected seed 195 with value = 0.9929
+Saved rollout MP4 at path ./rollouts/demochan200_t1_s09/2026_08_01-13_00_08--with_future_img--episode=1--success=True--task=put_the_bowl_on_the_stove.mp4
+Success: True
+# episodes completed so far: 1
+# successes: 1 (100.0%)
+
+Task: put the bowl on the stove
+Starting episode 2...
+Query 1/1: Action query time = 5.254 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4902
+t=10: Selected seed 195 with value = 0.4902
+Query 1/1: Action query time = 4.488 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5821
+t=26: Selected seed 195 with value = 0.5821
+Query 1/1: Action query time = 5.344 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7174
+t=42: Selected seed 195 with value = 0.7174
+Query 1/1: Action query time = 5.570 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8530
+t=58: Selected seed 195 with value = 0.8530
+Query 1/1: Action query time = 4.162 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9264
+t=74: Selected seed 195 with value = 0.9264
+Query 1/1: Action query time = 4.732 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9880
+t=90: Selected seed 195 with value = 0.9880
+Saved rollout MP4 at path ./rollouts/demochan200_t1_s09/2026_08_01-13_00_08--with_future_img--episode=2--success=True--task=put_the_bowl_on_the_stove.mp4
+Success: True
+# episodes completed so far: 2
+# successes: 2 (100.0%)
+
+Task: put the bowl on the stove
+Starting episode 3...
+Query 1/1: Action query time = 3.806 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4879
+t=10: Selected seed 195 with value = 0.4879
+Query 1/1: Action query time = 4.931 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5809
+t=26: Selected seed 195 with value = 0.5809
+Query 1/1: Action query time = 5.371 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6916
+t=42: Selected seed 195 with value = 0.6916
+Query 1/1: Action query time = 4.593 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7597
+t=58: Selected seed 195 with value = 0.7597
+Query 1/1: Action query time = 4.301 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8961
+t=74: Selected seed 195 with value = 0.8961
+Query 1/1: Action query time = 3.482 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9599
+t=90: Selected seed 195 with value = 0.9599
+Query 1/1: Action query time = 2.835 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9269
+t=106: Selected seed 195 with value = 0.9269
+Query 1/1: Action query time = 1.001 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9995
+t=122: Selected seed 195 with value = 0.9995
+Query 1/1: Action query time = 1.106 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9994
+t=138: Selected seed 195 with value = 0.9994
+Query 1/1: Action query time = 1.015 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9865
+t=154: Selected seed 195 with value = 0.9865
+Query 1/1: Action query time = 0.959 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9893
+t=170: Selected seed 195 with value = 0.9893
+Query 1/1: Action query time = 0.971 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9949
+t=186: Selected seed 195 with value = 0.9949
+Query 1/1: Action query time = 0.958 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9978
+t=202: Selected seed 195 with value = 0.9978
+Query 1/1: Action query time = 0.970 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9982
+t=218: Selected seed 195 with value = 0.9982
+Query 1/1: Action query time = 0.966 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9983
+t=234: Selected seed 195 with value = 0.9983
+Query 1/1: Action query time = 0.964 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9959
+t=250: Selected seed 195 with value = 0.9959
+Query 1/1: Action query time = 0.982 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9941
+t=266: Selected seed 195 with value = 0.9941
+Query 1/1: Action query time = 0.951 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9912
+t=282: Selected seed 195 with value = 0.9912
+Query 1/1: Action query time = 0.954 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9864
+t=298: Selected seed 195 with value = 0.9864
+Saved rollout MP4 at path ./rollouts/demochan200_t1_s09/2026_08_01-13_00_08--with_future_img--episode=3--success=False--task=put_the_bowl_on_the_stove.mp4
+Success: False
+# episodes completed so far: 3
+# successes: 2 (66.7%)
+Current task success rate: 0.6666666666666666
+Current total success rate: 0.6666666666666666
+Final results:
+Total episodes: 3
+Total successes: 2
+Overall success rate: 0.6667 (66.7%)
diff --git a/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_01-13_00_08--demochan200_t1_s12.txt b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_01-13_00_08--demochan200_t1_s12.txt
new file mode 100644
index 0000000000000000000000000000000000000000..7eac9e01237cb537515ec1d49ae64da2fcc1b77c
--- /dev/null
+++ b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_01-13_00_08--demochan200_t1_s12.txt
@@ -0,0 +1,109 @@
+Eval config: PolicyEvalConfig(suite='libero', model_family='cosmos', config='cosmos_predict2_2b_480p_libero_cl_stage_inference_only', ckpt_path='/home/azureuser/REGEN-main/old/cosmos_policy/cosmos_v2_finetune/cosmos_predict2_2b_480p_libero_goal_task6_regen_cl_demochan_from40k_2gpu/checkpoints/iter_000000200/model', planning_model_config_name='', planning_model_ckpt_path='', config_file='cosmos_policy/config/config.py', packnet_mask_path='', packnet_first_cl_libero_task=6, use_third_person_image=True, num_third_person_images=1, use_wrist_image=True, num_wrist_images=1, use_proprio=True, flip_images=True, use_variance_scale=False, use_jpeg_compression=True, ar_future_prediction=False, ar_value_prediction=False, ar_qvalue_prediction=False, num_denoising_steps_action=5, num_denoising_steps_future_state=1, num_denoising_steps_value=1, unnormalize_actions=True, normalize_proprio=True, dataset_stats_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/libero_goal_regen/dataset_statistics.json', t5_text_embeddings_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/t5_embeddings.pkl', trained_with_image_aug=True, chunk_size=16, num_open_loop_steps=16, deterministic=True, deterministic_reset=False, deterministic_reset_seed=None, use_ensemble_future_state_predictions=False, num_future_state_predictions_in_ensemble=3, future_state_ensemble_aggregation_scheme='average', use_ensemble_value_predictions=False, num_value_predictions_in_ensemble=5, value_ensemble_aggregation_scheme='average', search_depth=1, mask_current_state_action_for_value_prediction=False, mask_future_state_for_qvalue_prediction=False, num_queries_best_of_n=1, use_parallel_inference=False, available_gpus='0', parallel_timeout=15, parallel_tasks_across_gpus=False, task_suite_name='libero_goal', num_trials_per_task=50, task_ids_to_run='1', initial_states_path='DEFAULT', env_img_res=256, local_log_dir='/home/azureuser/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal', run_id_note='demochan200_t1_s12', use_wandb=False, wandb_entity='YOUR_ENTITY', wandb_project='YOUR_PROJECT', seed=195, randomize_seed=False, data_collection=False, jpeg_compress=True, reward_stop_threshold=None, reward_stop_consecutive_steps=3, use_gpt_reward=False, gpt_reward_model='gpt-5.4-mini', gpt_reward_stop_threshold=4, gpt_reward_timeout_s=30.0, save_rollout_video=False, eval_hdf5_path='', eval_hdf5_demo_key='demo_0', data_gen_demo_ids='', eval_episode_ids='12,28,44', replay_actions=False, replay_action_path_dir='', replay_hdf5_path='', data_generation=False, max_generation_steps=200, simple_task_max_steps=100, complex_task_max_steps=200)
+Using serial inference (parallel inference disabled)
+Task suite: libero_goal
+Number of tasks: 10
+Running only task IDs: [1]
+Using default initial states
+
+Task: put the bowl on the stove
+Starting episode 1...
+Query 1/1: Action query time = 6.588 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5192
+t=10: Selected seed 195 with value = 0.5192
+Query 1/1: Action query time = 4.573 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5775
+t=26: Selected seed 195 with value = 0.5775
+Query 1/1: Action query time = 4.458 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6464
+t=42: Selected seed 195 with value = 0.6464
+Query 1/1: Action query time = 5.245 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7654
+t=58: Selected seed 195 with value = 0.7654
+Query 1/1: Action query time = 5.273 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8547
+t=74: Selected seed 195 with value = 0.8547
+Query 1/1: Action query time = 3.653 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9656
+t=90: Selected seed 195 with value = 0.9656
+Query 1/1: Action query time = 2.776 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9922
+t=106: Selected seed 195 with value = 0.9922
+Saved rollout MP4 at path ./rollouts/demochan200_t1_s12/2026_08_01-13_00_08--with_future_img--episode=1--success=True--task=put_the_bowl_on_the_stove.mp4
+Success: True
+# episodes completed so far: 1
+# successes: 1 (100.0%)
+
+Task: put the bowl on the stove
+Starting episode 2...
+Query 1/1: Action query time = 5.944 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4930
+t=10: Selected seed 195 with value = 0.4930
+Query 1/1: Action query time = 5.146 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5769
+t=26: Selected seed 195 with value = 0.5769
+Query 1/1: Action query time = 3.951 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6882
+t=42: Selected seed 195 with value = 0.6882
+Query 1/1: Action query time = 3.772 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8195
+t=58: Selected seed 195 with value = 0.8195
+Query 1/1: Action query time = 5.209 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9279
+t=74: Selected seed 195 with value = 0.9279
+Query 1/1: Action query time = 3.772 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9855
+t=90: Selected seed 195 with value = 0.9855
+Saved rollout MP4 at path ./rollouts/demochan200_t1_s12/2026_08_01-13_00_08--with_future_img--episode=2--success=True--task=put_the_bowl_on_the_stove.mp4
+Success: True
+# episodes completed so far: 2
+# successes: 2 (100.0%)
+
+Task: put the bowl on the stove
+Starting episode 3...
+Query 1/1: Action query time = 5.921 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5059
+t=10: Selected seed 195 with value = 0.5059
+Query 1/1: Action query time = 4.772 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5772
+t=26: Selected seed 195 with value = 0.5772
+Query 1/1: Action query time = 5.434 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6835
+t=42: Selected seed 195 with value = 0.6835
+Query 1/1: Action query time = 5.541 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7657
+t=58: Selected seed 195 with value = 0.7657
+Query 1/1: Action query time = 3.818 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8526
+t=74: Selected seed 195 with value = 0.8526
+Query 1/1: Action query time = 1.855 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9890
+t=90: Selected seed 195 with value = 0.9890
+Saved rollout MP4 at path ./rollouts/demochan200_t1_s12/2026_08_01-13_00_08--with_future_img--episode=3--success=True--task=put_the_bowl_on_the_stove.mp4
+Success: True
+# episodes completed so far: 3
+# successes: 3 (100.0%)
+Current task success rate: 1.0
+Current total success rate: 1.0
+Final results:
+Total episodes: 3
+Total successes: 3
+Overall success rate: 1.0000 (100.0%)
diff --git a/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_01-13_00_08--demochan200_t1_s15.txt b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_01-13_00_08--demochan200_t1_s15.txt
new file mode 100644
index 0000000000000000000000000000000000000000..9aba48b9a3213235d36537062202d6f4d5c5e001
--- /dev/null
+++ b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_01-13_00_08--demochan200_t1_s15.txt
@@ -0,0 +1,109 @@
+Eval config: PolicyEvalConfig(suite='libero', model_family='cosmos', config='cosmos_predict2_2b_480p_libero_cl_stage_inference_only', ckpt_path='/home/azureuser/REGEN-main/old/cosmos_policy/cosmos_v2_finetune/cosmos_predict2_2b_480p_libero_goal_task6_regen_cl_demochan_from40k_2gpu/checkpoints/iter_000000200/model', planning_model_config_name='', planning_model_ckpt_path='', config_file='cosmos_policy/config/config.py', packnet_mask_path='', packnet_first_cl_libero_task=6, use_third_person_image=True, num_third_person_images=1, use_wrist_image=True, num_wrist_images=1, use_proprio=True, flip_images=True, use_variance_scale=False, use_jpeg_compression=True, ar_future_prediction=False, ar_value_prediction=False, ar_qvalue_prediction=False, num_denoising_steps_action=5, num_denoising_steps_future_state=1, num_denoising_steps_value=1, unnormalize_actions=True, normalize_proprio=True, dataset_stats_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/libero_goal_regen/dataset_statistics.json', t5_text_embeddings_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/t5_embeddings.pkl', trained_with_image_aug=True, chunk_size=16, num_open_loop_steps=16, deterministic=True, deterministic_reset=False, deterministic_reset_seed=None, use_ensemble_future_state_predictions=False, num_future_state_predictions_in_ensemble=3, future_state_ensemble_aggregation_scheme='average', use_ensemble_value_predictions=False, num_value_predictions_in_ensemble=5, value_ensemble_aggregation_scheme='average', search_depth=1, mask_current_state_action_for_value_prediction=False, mask_future_state_for_qvalue_prediction=False, num_queries_best_of_n=1, use_parallel_inference=False, available_gpus='0', parallel_timeout=15, parallel_tasks_across_gpus=False, task_suite_name='libero_goal', num_trials_per_task=50, task_ids_to_run='1', initial_states_path='DEFAULT', env_img_res=256, local_log_dir='/home/azureuser/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal', run_id_note='demochan200_t1_s15', use_wandb=False, wandb_entity='YOUR_ENTITY', wandb_project='YOUR_PROJECT', seed=195, randomize_seed=False, data_collection=False, jpeg_compress=True, reward_stop_threshold=None, reward_stop_consecutive_steps=3, use_gpt_reward=False, gpt_reward_model='gpt-5.4-mini', gpt_reward_stop_threshold=4, gpt_reward_timeout_s=30.0, save_rollout_video=False, eval_hdf5_path='', eval_hdf5_demo_key='demo_0', data_gen_demo_ids='', eval_episode_ids='15,31,47', replay_actions=False, replay_action_path_dir='', replay_hdf5_path='', data_generation=False, max_generation_steps=200, simple_task_max_steps=100, complex_task_max_steps=200)
+Using serial inference (parallel inference disabled)
+Task suite: libero_goal
+Number of tasks: 10
+Running only task IDs: [1]
+Using default initial states
+
+Task: put the bowl on the stove
+Starting episode 1...
+Query 1/1: Action query time = 5.042 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4840
+t=10: Selected seed 195 with value = 0.4840
+Query 1/1: Action query time = 4.544 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5567
+t=26: Selected seed 195 with value = 0.5567
+Query 1/1: Action query time = 5.039 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8816
+t=42: Selected seed 195 with value = 0.8816
+Query 1/1: Action query time = 5.486 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7297
+t=58: Selected seed 195 with value = 0.7297
+Query 1/1: Action query time = 4.834 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8264
+t=74: Selected seed 195 with value = 0.8264
+Query 1/1: Action query time = 3.684 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9640
+t=90: Selected seed 195 with value = 0.9640
+Query 1/1: Action query time = 3.036 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=106: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/demochan200_t1_s15/2026_08_01-13_00_08--with_future_img--episode=1--success=True--task=put_the_bowl_on_the_stove.mp4
+Success: True
+# episodes completed so far: 1
+# successes: 1 (100.0%)
+
+Task: put the bowl on the stove
+Starting episode 2...
+Query 1/1: Action query time = 4.911 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5035
+t=10: Selected seed 195 with value = 0.5035
+Query 1/1: Action query time = 4.478 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5637
+t=26: Selected seed 195 with value = 0.5637
+Query 1/1: Action query time = 4.765 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6731
+t=42: Selected seed 195 with value = 0.6731
+Query 1/1: Action query time = 5.237 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7674
+t=58: Selected seed 195 with value = 0.7674
+Query 1/1: Action query time = 4.822 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8936
+t=74: Selected seed 195 with value = 0.8936
+Query 1/1: Action query time = 4.481 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9870
+t=90: Selected seed 195 with value = 0.9870
+Saved rollout MP4 at path ./rollouts/demochan200_t1_s15/2026_08_01-13_00_08--with_future_img--episode=2--success=True--task=put_the_bowl_on_the_stove.mp4
+Success: True
+# episodes completed so far: 2
+# successes: 2 (100.0%)
+
+Task: put the bowl on the stove
+Starting episode 3...
+Query 1/1: Action query time = 5.595 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5098
+t=10: Selected seed 195 with value = 0.5098
+Query 1/1: Action query time = 4.801 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5987
+t=26: Selected seed 195 with value = 0.5987
+Query 1/1: Action query time = 4.998 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7022
+t=42: Selected seed 195 with value = 0.7022
+Query 1/1: Action query time = 5.170 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7947
+t=58: Selected seed 195 with value = 0.7947
+Query 1/1: Action query time = 3.992 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9308
+t=74: Selected seed 195 with value = 0.9308
+Query 1/1: Action query time = 2.889 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/demochan200_t1_s15/2026_08_01-13_00_08--with_future_img--episode=3--success=True--task=put_the_bowl_on_the_stove.mp4
+Success: True
+# episodes completed so far: 3
+# successes: 3 (100.0%)
+Current task success rate: 1.0
+Current total success rate: 1.0
+Final results:
+Total episodes: 3
+Total successes: 3
+Overall success rate: 1.0000 (100.0%)
diff --git a/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_01-13_03_00--demochan200_t3_s02.txt b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_01-13_03_00--demochan200_t3_s02.txt
new file mode 100644
index 0000000000000000000000000000000000000000..731f599dfbf2ba8ddfac6fc9c0ce1140e0b9f933
--- /dev/null
+++ b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_01-13_03_00--demochan200_t3_s02.txt
@@ -0,0 +1,261 @@
+Eval config: PolicyEvalConfig(suite='libero', model_family='cosmos', config='cosmos_predict2_2b_480p_libero_cl_stage_inference_only', ckpt_path='/home/azureuser/REGEN-main/old/cosmos_policy/cosmos_v2_finetune/cosmos_predict2_2b_480p_libero_goal_task6_regen_cl_demochan_from40k_2gpu/checkpoints/iter_000000200/model', planning_model_config_name='', planning_model_ckpt_path='', config_file='cosmos_policy/config/config.py', packnet_mask_path='', packnet_first_cl_libero_task=6, use_third_person_image=True, num_third_person_images=1, use_wrist_image=True, num_wrist_images=1, use_proprio=True, flip_images=True, use_variance_scale=False, use_jpeg_compression=True, ar_future_prediction=False, ar_value_prediction=False, ar_qvalue_prediction=False, num_denoising_steps_action=5, num_denoising_steps_future_state=1, num_denoising_steps_value=1, unnormalize_actions=True, normalize_proprio=True, dataset_stats_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/libero_goal_regen/dataset_statistics.json', t5_text_embeddings_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/t5_embeddings.pkl', trained_with_image_aug=True, chunk_size=16, num_open_loop_steps=16, deterministic=True, deterministic_reset=False, deterministic_reset_seed=None, use_ensemble_future_state_predictions=False, num_future_state_predictions_in_ensemble=3, future_state_ensemble_aggregation_scheme='average', use_ensemble_value_predictions=False, num_value_predictions_in_ensemble=5, value_ensemble_aggregation_scheme='average', search_depth=1, mask_current_state_action_for_value_prediction=False, mask_future_state_for_qvalue_prediction=False, num_queries_best_of_n=1, use_parallel_inference=False, available_gpus='0', parallel_timeout=15, parallel_tasks_across_gpus=False, task_suite_name='libero_goal', num_trials_per_task=50, task_ids_to_run='3', initial_states_path='DEFAULT', env_img_res=256, local_log_dir='/home/azureuser/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal', run_id_note='demochan200_t3_s02', use_wandb=False, wandb_entity='YOUR_ENTITY', wandb_project='YOUR_PROJECT', seed=195, randomize_seed=False, data_collection=False, jpeg_compress=True, reward_stop_threshold=None, reward_stop_consecutive_steps=3, use_gpt_reward=False, gpt_reward_model='gpt-5.4-mini', gpt_reward_stop_threshold=4, gpt_reward_timeout_s=30.0, save_rollout_video=False, eval_hdf5_path='', eval_hdf5_demo_key='demo_0', data_gen_demo_ids='', eval_episode_ids='2,18,34', replay_actions=False, replay_action_path_dir='', replay_hdf5_path='', data_generation=False, max_generation_steps=200, simple_task_max_steps=100, complex_task_max_steps=200)
+Using serial inference (parallel inference disabled)
+Task suite: libero_goal
+Number of tasks: 10
+Running only task IDs: [3]
+Using default initial states
+
+Task: open the top drawer and put the bowl inside
+Starting episode 1...
+Query 1/1: Action query time = 6.362 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4038
+t=10: Selected seed 195 with value = 0.4038
+Query 1/1: Action query time = 5.013 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5972
+t=26: Selected seed 195 with value = 0.5972
+Query 1/1: Action query time = 4.724 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6817
+t=42: Selected seed 195 with value = 0.6817
+Query 1/1: Action query time = 5.094 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7006
+t=58: Selected seed 195 with value = 0.7006
+Query 1/1: Action query time = 5.422 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9274
+t=74: Selected seed 195 with value = 0.9274
+Query 1/1: Action query time = 5.186 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9535
+t=90: Selected seed 195 with value = 0.9535
+Query 1/1: Action query time = 5.239 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9615
+t=106: Selected seed 195 with value = 0.9615
+Query 1/1: Action query time = 5.182 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9772
+t=122: Selected seed 195 with value = 0.9772
+Query 1/1: Action query time = 5.044 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9769
+t=138: Selected seed 195 with value = 0.9769
+Query 1/1: Action query time = 5.086 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9827
+t=154: Selected seed 195 with value = 0.9827
+Query 1/1: Action query time = 5.064 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9945
+t=170: Selected seed 195 with value = 0.9945
+Query 1/1: Action query time = 5.231 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9986
+t=186: Selected seed 195 with value = 0.9986
+Query 1/1: Action query time = 5.433 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9966
+t=202: Selected seed 195 with value = 0.9966
+Query 1/1: Action query time = 5.182 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=218: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 5.148 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=234: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 5.009 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=250: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.898 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=266: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.477 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=282: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 2.710 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=298: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/demochan200_t3_s02/2026_08_01-13_03_00--with_future_img--episode=1--success=False--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: False
+# episodes completed so far: 1
+# successes: 0 (0.0%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 2...
+Query 1/1: Action query time = 4.756 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3890
+t=10: Selected seed 195 with value = 0.3890
+Query 1/1: Action query time = 4.325 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5099
+t=26: Selected seed 195 with value = 0.5099
+Query 1/1: Action query time = 5.212 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6679
+t=42: Selected seed 195 with value = 0.6679
+Query 1/1: Action query time = 5.376 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6835
+t=58: Selected seed 195 with value = 0.6835
+Query 1/1: Action query time = 5.311 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7240
+t=74: Selected seed 195 with value = 0.7240
+Query 1/1: Action query time = 4.812 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7957
+t=90: Selected seed 195 with value = 0.7957
+Query 1/1: Action query time = 5.432 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8729
+t=106: Selected seed 195 with value = 0.8729
+Query 1/1: Action query time = 5.526 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9748
+t=122: Selected seed 195 with value = 0.9748
+Query 1/1: Action query time = 5.192 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9672
+t=138: Selected seed 195 with value = 0.9672
+Query 1/1: Action query time = 5.335 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=154: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 5.643 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=170: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 5.193 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=186: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.813 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=202: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.858 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=218: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.694 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=234: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.289 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=250: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.657 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=266: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 5.420 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=282: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 3.352 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=298: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/demochan200_t3_s02/2026_08_01-13_03_00--with_future_img--episode=2--success=False--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: False
+# episodes completed so far: 2
+# successes: 0 (0.0%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 3...
+Query 1/1: Action query time = 6.381 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4173
+t=10: Selected seed 195 with value = 0.4173
+Query 1/1: Action query time = 5.845 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7814
+t=26: Selected seed 195 with value = 0.7814
+Query 1/1: Action query time = 5.431 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6865
+t=42: Selected seed 195 with value = 0.6865
+Query 1/1: Action query time = 5.256 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7064
+t=58: Selected seed 195 with value = 0.7064
+Query 1/1: Action query time = 4.912 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8798
+t=74: Selected seed 195 with value = 0.8798
+Query 1/1: Action query time = 5.622 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9665
+t=90: Selected seed 195 with value = 0.9665
+Query 1/1: Action query time = 5.875 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8739
+t=106: Selected seed 195 with value = 0.8739
+Query 1/1: Action query time = 5.438 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7838
+t=122: Selected seed 195 with value = 0.7838
+Query 1/1: Action query time = 4.770 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9117
+t=138: Selected seed 195 with value = 0.9117
+Query 1/1: Action query time = 4.533 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9489
+t=154: Selected seed 195 with value = 0.9489
+Query 1/1: Action query time = 5.381 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9658
+t=170: Selected seed 195 with value = 0.9658
+Query 1/1: Action query time = 5.171 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9723
+t=186: Selected seed 195 with value = 0.9723
+Query 1/1: Action query time = 4.679 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9750
+t=202: Selected seed 195 with value = 0.9750
+Query 1/1: Action query time = 4.634 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9804
+t=218: Selected seed 195 with value = 0.9804
+Query 1/1: Action query time = 4.107 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9981
+t=234: Selected seed 195 with value = 0.9981
+Query 1/1: Action query time = 3.705 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9965
+t=250: Selected seed 195 with value = 0.9965
+Query 1/1: Action query time = 3.310 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=266: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 2.847 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=282: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 1.309 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=298: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/demochan200_t3_s02/2026_08_01-13_03_00--with_future_img--episode=3--success=False--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: False
+# episodes completed so far: 3
+# successes: 0 (0.0%)
+Current task success rate: 0.0
+Current total success rate: 0.0
+Final results:
+Total episodes: 3
+Total successes: 0
+Overall success rate: 0.0000 (0.0%)
diff --git a/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_01-13_03_00--demochan200_t3_s04.txt b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_01-13_03_00--demochan200_t3_s04.txt
new file mode 100644
index 0000000000000000000000000000000000000000..dfe6c2b68b3c15ae963e09435b9e777fc8b7cc2f
--- /dev/null
+++ b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_01-13_03_00--demochan200_t3_s04.txt
@@ -0,0 +1,261 @@
+Eval config: PolicyEvalConfig(suite='libero', model_family='cosmos', config='cosmos_predict2_2b_480p_libero_cl_stage_inference_only', ckpt_path='/home/azureuser/REGEN-main/old/cosmos_policy/cosmos_v2_finetune/cosmos_predict2_2b_480p_libero_goal_task6_regen_cl_demochan_from40k_2gpu/checkpoints/iter_000000200/model', planning_model_config_name='', planning_model_ckpt_path='', config_file='cosmos_policy/config/config.py', packnet_mask_path='', packnet_first_cl_libero_task=6, use_third_person_image=True, num_third_person_images=1, use_wrist_image=True, num_wrist_images=1, use_proprio=True, flip_images=True, use_variance_scale=False, use_jpeg_compression=True, ar_future_prediction=False, ar_value_prediction=False, ar_qvalue_prediction=False, num_denoising_steps_action=5, num_denoising_steps_future_state=1, num_denoising_steps_value=1, unnormalize_actions=True, normalize_proprio=True, dataset_stats_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/libero_goal_regen/dataset_statistics.json', t5_text_embeddings_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/t5_embeddings.pkl', trained_with_image_aug=True, chunk_size=16, num_open_loop_steps=16, deterministic=True, deterministic_reset=False, deterministic_reset_seed=None, use_ensemble_future_state_predictions=False, num_future_state_predictions_in_ensemble=3, future_state_ensemble_aggregation_scheme='average', use_ensemble_value_predictions=False, num_value_predictions_in_ensemble=5, value_ensemble_aggregation_scheme='average', search_depth=1, mask_current_state_action_for_value_prediction=False, mask_future_state_for_qvalue_prediction=False, num_queries_best_of_n=1, use_parallel_inference=False, available_gpus='0', parallel_timeout=15, parallel_tasks_across_gpus=False, task_suite_name='libero_goal', num_trials_per_task=50, task_ids_to_run='3', initial_states_path='DEFAULT', env_img_res=256, local_log_dir='/home/azureuser/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal', run_id_note='demochan200_t3_s04', use_wandb=False, wandb_entity='YOUR_ENTITY', wandb_project='YOUR_PROJECT', seed=195, randomize_seed=False, data_collection=False, jpeg_compress=True, reward_stop_threshold=None, reward_stop_consecutive_steps=3, use_gpt_reward=False, gpt_reward_model='gpt-5.4-mini', gpt_reward_stop_threshold=4, gpt_reward_timeout_s=30.0, save_rollout_video=False, eval_hdf5_path='', eval_hdf5_demo_key='demo_0', data_gen_demo_ids='', eval_episode_ids='4,20,36', replay_actions=False, replay_action_path_dir='', replay_hdf5_path='', data_generation=False, max_generation_steps=200, simple_task_max_steps=100, complex_task_max_steps=200)
+Using serial inference (parallel inference disabled)
+Task suite: libero_goal
+Number of tasks: 10
+Running only task IDs: [3]
+Using default initial states
+
+Task: open the top drawer and put the bowl inside
+Starting episode 1...
+Query 1/1: Action query time = 3.996 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4068
+t=10: Selected seed 195 with value = 0.4068
+Query 1/1: Action query time = 5.425 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5144
+t=26: Selected seed 195 with value = 0.5144
+Query 1/1: Action query time = 5.277 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6502
+t=42: Selected seed 195 with value = 0.6502
+Query 1/1: Action query time = 5.115 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6632
+t=58: Selected seed 195 with value = 0.6632
+Query 1/1: Action query time = 4.909 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6765
+t=74: Selected seed 195 with value = 0.6765
+Query 1/1: Action query time = 5.275 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8850
+t=90: Selected seed 195 with value = 0.8850
+Query 1/1: Action query time = 5.129 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9718
+t=106: Selected seed 195 with value = 0.9718
+Query 1/1: Action query time = 5.138 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9681
+t=122: Selected seed 195 with value = 0.9681
+Query 1/1: Action query time = 5.227 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9719
+t=138: Selected seed 195 with value = 0.9719
+Query 1/1: Action query time = 5.391 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6802
+t=154: Selected seed 195 with value = 0.6802
+Query 1/1: Action query time = 5.156 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7424
+t=170: Selected seed 195 with value = 0.7424
+Query 1/1: Action query time = 5.012 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8892
+t=186: Selected seed 195 with value = 0.8892
+Query 1/1: Action query time = 4.970 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9504
+t=202: Selected seed 195 with value = 0.9504
+Query 1/1: Action query time = 4.998 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9695
+t=218: Selected seed 195 with value = 0.9695
+Query 1/1: Action query time = 4.962 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9895
+t=234: Selected seed 195 with value = 0.9895
+Query 1/1: Action query time = 4.994 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=250: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.825 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=266: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.694 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=282: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.313 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=298: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/demochan200_t3_s04/2026_08_01-13_03_00--with_future_img--episode=1--success=False--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: False
+# episodes completed so far: 1
+# successes: 0 (0.0%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 2...
+Query 1/1: Action query time = 3.450 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4176
+t=10: Selected seed 195 with value = 0.4176
+Query 1/1: Action query time = 5.599 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5857
+t=26: Selected seed 195 with value = 0.5857
+Query 1/1: Action query time = 5.047 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6610
+t=42: Selected seed 195 with value = 0.6610
+Query 1/1: Action query time = 5.139 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6907
+t=58: Selected seed 195 with value = 0.6907
+Query 1/1: Action query time = 5.479 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9086
+t=74: Selected seed 195 with value = 0.9086
+Query 1/1: Action query time = 5.641 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9942
+t=90: Selected seed 195 with value = 0.9942
+Query 1/1: Action query time = 5.213 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=106: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 5.026 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=122: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 5.364 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=138: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 5.113 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=154: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 5.033 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=170: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 5.026 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=186: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 5.277 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=202: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 5.150 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=218: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 5.013 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=234: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.112 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=250: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 3.828 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=266: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.218 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=282: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 5.379 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=298: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/demochan200_t3_s04/2026_08_01-13_03_00--with_future_img--episode=2--success=False--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: False
+# episodes completed so far: 2
+# successes: 0 (0.0%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 3...
+Query 1/1: Action query time = 4.008 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3914
+t=10: Selected seed 195 with value = 0.3914
+Query 1/1: Action query time = 3.160 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6074
+t=26: Selected seed 195 with value = 0.6074
+Query 1/1: Action query time = 4.578 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6629
+t=42: Selected seed 195 with value = 0.6629
+Query 1/1: Action query time = 6.027 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7025
+t=58: Selected seed 195 with value = 0.7025
+Query 1/1: Action query time = 4.955 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9538
+t=74: Selected seed 195 with value = 0.9538
+Query 1/1: Action query time = 4.814 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9763
+t=90: Selected seed 195 with value = 0.9763
+Query 1/1: Action query time = 4.461 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7901
+t=106: Selected seed 195 with value = 0.7901
+Query 1/1: Action query time = 5.220 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9159
+t=122: Selected seed 195 with value = 0.9159
+Query 1/1: Action query time = 5.875 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8699
+t=138: Selected seed 195 with value = 0.8699
+Query 1/1: Action query time = 5.701 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9876
+t=154: Selected seed 195 with value = 0.9876
+Query 1/1: Action query time = 5.523 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9901
+t=170: Selected seed 195 with value = 0.9901
+Query 1/1: Action query time = 5.407 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=186: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 5.104 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9993
+t=202: Selected seed 195 with value = 0.9993
+Query 1/1: Action query time = 5.196 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9986
+t=218: Selected seed 195 with value = 0.9986
+Query 1/1: Action query time = 4.629 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=234: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.360 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=250: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 3.342 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=266: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 3.292 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=282: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 3.083 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=298: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/demochan200_t3_s04/2026_08_01-13_03_00--with_future_img--episode=3--success=False--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: False
+# episodes completed so far: 3
+# successes: 0 (0.0%)
+Current task success rate: 0.0
+Current total success rate: 0.0
+Final results:
+Total episodes: 3
+Total successes: 0
+Overall success rate: 0.0000 (0.0%)
diff --git a/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_01-13_03_00--demochan200_t3_s06.txt b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_01-13_03_00--demochan200_t3_s06.txt
new file mode 100644
index 0000000000000000000000000000000000000000..704e687ffb043b6d58dafcba0d8f1ca615dc2262
--- /dev/null
+++ b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_01-13_03_00--demochan200_t3_s06.txt
@@ -0,0 +1,261 @@
+Eval config: PolicyEvalConfig(suite='libero', model_family='cosmos', config='cosmos_predict2_2b_480p_libero_cl_stage_inference_only', ckpt_path='/home/azureuser/REGEN-main/old/cosmos_policy/cosmos_v2_finetune/cosmos_predict2_2b_480p_libero_goal_task6_regen_cl_demochan_from40k_2gpu/checkpoints/iter_000000200/model', planning_model_config_name='', planning_model_ckpt_path='', config_file='cosmos_policy/config/config.py', packnet_mask_path='', packnet_first_cl_libero_task=6, use_third_person_image=True, num_third_person_images=1, use_wrist_image=True, num_wrist_images=1, use_proprio=True, flip_images=True, use_variance_scale=False, use_jpeg_compression=True, ar_future_prediction=False, ar_value_prediction=False, ar_qvalue_prediction=False, num_denoising_steps_action=5, num_denoising_steps_future_state=1, num_denoising_steps_value=1, unnormalize_actions=True, normalize_proprio=True, dataset_stats_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/libero_goal_regen/dataset_statistics.json', t5_text_embeddings_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/t5_embeddings.pkl', trained_with_image_aug=True, chunk_size=16, num_open_loop_steps=16, deterministic=True, deterministic_reset=False, deterministic_reset_seed=None, use_ensemble_future_state_predictions=False, num_future_state_predictions_in_ensemble=3, future_state_ensemble_aggregation_scheme='average', use_ensemble_value_predictions=False, num_value_predictions_in_ensemble=5, value_ensemble_aggregation_scheme='average', search_depth=1, mask_current_state_action_for_value_prediction=False, mask_future_state_for_qvalue_prediction=False, num_queries_best_of_n=1, use_parallel_inference=False, available_gpus='0', parallel_timeout=15, parallel_tasks_across_gpus=False, task_suite_name='libero_goal', num_trials_per_task=50, task_ids_to_run='3', initial_states_path='DEFAULT', env_img_res=256, local_log_dir='/home/azureuser/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal', run_id_note='demochan200_t3_s06', use_wandb=False, wandb_entity='YOUR_ENTITY', wandb_project='YOUR_PROJECT', seed=195, randomize_seed=False, data_collection=False, jpeg_compress=True, reward_stop_threshold=None, reward_stop_consecutive_steps=3, use_gpt_reward=False, gpt_reward_model='gpt-5.4-mini', gpt_reward_stop_threshold=4, gpt_reward_timeout_s=30.0, save_rollout_video=False, eval_hdf5_path='', eval_hdf5_demo_key='demo_0', data_gen_demo_ids='', eval_episode_ids='6,22,38', replay_actions=False, replay_action_path_dir='', replay_hdf5_path='', data_generation=False, max_generation_steps=200, simple_task_max_steps=100, complex_task_max_steps=200)
+Using serial inference (parallel inference disabled)
+Task suite: libero_goal
+Number of tasks: 10
+Running only task IDs: [3]
+Using default initial states
+
+Task: open the top drawer and put the bowl inside
+Starting episode 1...
+Query 1/1: Action query time = 5.360 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4176
+t=10: Selected seed 195 with value = 0.4176
+Query 1/1: Action query time = 4.884 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7204
+t=26: Selected seed 195 with value = 0.7204
+Query 1/1: Action query time = 4.818 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6828
+t=42: Selected seed 195 with value = 0.6828
+Query 1/1: Action query time = 5.365 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7032
+t=58: Selected seed 195 with value = 0.7032
+Query 1/1: Action query time = 4.776 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9692
+t=74: Selected seed 195 with value = 0.9692
+Query 1/1: Action query time = 4.920 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9496
+t=90: Selected seed 195 with value = 0.9496
+Query 1/1: Action query time = 4.974 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9292
+t=106: Selected seed 195 with value = 0.9292
+Query 1/1: Action query time = 4.972 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9801
+t=122: Selected seed 195 with value = 0.9801
+Query 1/1: Action query time = 4.955 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9420
+t=138: Selected seed 195 with value = 0.9420
+Query 1/1: Action query time = 5.084 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9015
+t=154: Selected seed 195 with value = 0.9015
+Query 1/1: Action query time = 4.920 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9805
+t=170: Selected seed 195 with value = 0.9805
+Query 1/1: Action query time = 4.926 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9828
+t=186: Selected seed 195 with value = 0.9828
+Query 1/1: Action query time = 4.978 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9926
+t=202: Selected seed 195 with value = 0.9926
+Query 1/1: Action query time = 5.208 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9899
+t=218: Selected seed 195 with value = 0.9899
+Query 1/1: Action query time = 5.072 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9933
+t=234: Selected seed 195 with value = 0.9933
+Query 1/1: Action query time = 5.057 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=250: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.283 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9921
+t=266: Selected seed 195 with value = 0.9921
+Query 1/1: Action query time = 4.195 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9882
+t=282: Selected seed 195 with value = 0.9882
+Query 1/1: Action query time = 3.981 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9987
+t=298: Selected seed 195 with value = 0.9987
+Saved rollout MP4 at path ./rollouts/demochan200_t3_s06/2026_08_01-13_03_00--with_future_img--episode=1--success=False--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: False
+# episodes completed so far: 1
+# successes: 0 (0.0%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 2...
+Query 1/1: Action query time = 4.027 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3957
+t=10: Selected seed 195 with value = 0.3957
+Query 1/1: Action query time = 5.636 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7016
+t=26: Selected seed 195 with value = 0.7016
+Query 1/1: Action query time = 5.711 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6730
+t=42: Selected seed 195 with value = 0.6730
+Query 1/1: Action query time = 5.035 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7136
+t=58: Selected seed 195 with value = 0.7136
+Query 1/1: Action query time = 4.726 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9671
+t=74: Selected seed 195 with value = 0.9671
+Query 1/1: Action query time = 5.012 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9857
+t=90: Selected seed 195 with value = 0.9857
+Query 1/1: Action query time = 5.070 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8842
+t=106: Selected seed 195 with value = 0.8842
+Query 1/1: Action query time = 4.926 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7803
+t=122: Selected seed 195 with value = 0.7803
+Query 1/1: Action query time = 5.206 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8941
+t=138: Selected seed 195 with value = 0.8941
+Query 1/1: Action query time = 5.140 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9186
+t=154: Selected seed 195 with value = 0.9186
+Query 1/1: Action query time = 5.061 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9671
+t=170: Selected seed 195 with value = 0.9671
+Query 1/1: Action query time = 5.012 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9820
+t=186: Selected seed 195 with value = 0.9820
+Query 1/1: Action query time = 5.444 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9883
+t=202: Selected seed 195 with value = 0.9883
+Query 1/1: Action query time = 5.390 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=218: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 5.316 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9969
+t=234: Selected seed 195 with value = 0.9969
+Query 1/1: Action query time = 4.278 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9991
+t=250: Selected seed 195 with value = 0.9991
+Query 1/1: Action query time = 3.482 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=266: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 3.651 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=282: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 5.373 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=298: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/demochan200_t3_s06/2026_08_01-13_03_00--with_future_img--episode=2--success=False--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: False
+# episodes completed so far: 2
+# successes: 0 (0.0%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 3...
+Query 1/1: Action query time = 3.983 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3962
+t=10: Selected seed 195 with value = 0.3962
+Query 1/1: Action query time = 6.417 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6278
+t=26: Selected seed 195 with value = 0.6278
+Query 1/1: Action query time = 4.427 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6676
+t=42: Selected seed 195 with value = 0.6676
+Query 1/1: Action query time = 4.924 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7034
+t=58: Selected seed 195 with value = 0.7034
+Query 1/1: Action query time = 5.442 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9826
+t=74: Selected seed 195 with value = 0.9826
+Query 1/1: Action query time = 5.514 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9794
+t=90: Selected seed 195 with value = 0.9794
+Query 1/1: Action query time = 4.794 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8287
+t=106: Selected seed 195 with value = 0.8287
+Query 1/1: Action query time = 4.099 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8748
+t=122: Selected seed 195 with value = 0.8748
+Query 1/1: Action query time = 4.470 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9614
+t=138: Selected seed 195 with value = 0.9614
+Query 1/1: Action query time = 5.085 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=154: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 5.130 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=170: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 5.332 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=186: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 5.459 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=202: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 5.293 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=218: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.356 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=234: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.327 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=250: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 2.840 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=266: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 3.286 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=282: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 3.893 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=298: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/demochan200_t3_s06/2026_08_01-13_03_00--with_future_img--episode=3--success=False--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: False
+# episodes completed so far: 3
+# successes: 0 (0.0%)
+Current task success rate: 0.0
+Current total success rate: 0.0
+Final results:
+Total episodes: 3
+Total successes: 0
+Overall success rate: 0.0000 (0.0%)
diff --git a/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_01-13_03_00--demochan200_t3_s15.txt b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_01-13_03_00--demochan200_t3_s15.txt
new file mode 100644
index 0000000000000000000000000000000000000000..df72e9720e8a75a0a23aa67b6176800ac6cc0bc6
--- /dev/null
+++ b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_01-13_03_00--demochan200_t3_s15.txt
@@ -0,0 +1,261 @@
+Eval config: PolicyEvalConfig(suite='libero', model_family='cosmos', config='cosmos_predict2_2b_480p_libero_cl_stage_inference_only', ckpt_path='/home/azureuser/REGEN-main/old/cosmos_policy/cosmos_v2_finetune/cosmos_predict2_2b_480p_libero_goal_task6_regen_cl_demochan_from40k_2gpu/checkpoints/iter_000000200/model', planning_model_config_name='', planning_model_ckpt_path='', config_file='cosmos_policy/config/config.py', packnet_mask_path='', packnet_first_cl_libero_task=6, use_third_person_image=True, num_third_person_images=1, use_wrist_image=True, num_wrist_images=1, use_proprio=True, flip_images=True, use_variance_scale=False, use_jpeg_compression=True, ar_future_prediction=False, ar_value_prediction=False, ar_qvalue_prediction=False, num_denoising_steps_action=5, num_denoising_steps_future_state=1, num_denoising_steps_value=1, unnormalize_actions=True, normalize_proprio=True, dataset_stats_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/libero_goal_regen/dataset_statistics.json', t5_text_embeddings_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/t5_embeddings.pkl', trained_with_image_aug=True, chunk_size=16, num_open_loop_steps=16, deterministic=True, deterministic_reset=False, deterministic_reset_seed=None, use_ensemble_future_state_predictions=False, num_future_state_predictions_in_ensemble=3, future_state_ensemble_aggregation_scheme='average', use_ensemble_value_predictions=False, num_value_predictions_in_ensemble=5, value_ensemble_aggregation_scheme='average', search_depth=1, mask_current_state_action_for_value_prediction=False, mask_future_state_for_qvalue_prediction=False, num_queries_best_of_n=1, use_parallel_inference=False, available_gpus='0', parallel_timeout=15, parallel_tasks_across_gpus=False, task_suite_name='libero_goal', num_trials_per_task=50, task_ids_to_run='3', initial_states_path='DEFAULT', env_img_res=256, local_log_dir='/home/azureuser/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal', run_id_note='demochan200_t3_s15', use_wandb=False, wandb_entity='YOUR_ENTITY', wandb_project='YOUR_PROJECT', seed=195, randomize_seed=False, data_collection=False, jpeg_compress=True, reward_stop_threshold=None, reward_stop_consecutive_steps=3, use_gpt_reward=False, gpt_reward_model='gpt-5.4-mini', gpt_reward_stop_threshold=4, gpt_reward_timeout_s=30.0, save_rollout_video=False, eval_hdf5_path='', eval_hdf5_demo_key='demo_0', data_gen_demo_ids='', eval_episode_ids='15,31,47', replay_actions=False, replay_action_path_dir='', replay_hdf5_path='', data_generation=False, max_generation_steps=200, simple_task_max_steps=100, complex_task_max_steps=200)
+Using serial inference (parallel inference disabled)
+Task suite: libero_goal
+Number of tasks: 10
+Running only task IDs: [3]
+Using default initial states
+
+Task: open the top drawer and put the bowl inside
+Starting episode 1...
+Query 1/1: Action query time = 6.027 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3979
+t=10: Selected seed 195 with value = 0.3979
+Query 1/1: Action query time = 3.874 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4664
+t=26: Selected seed 195 with value = 0.4664
+Query 1/1: Action query time = 4.793 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6681
+t=42: Selected seed 195 with value = 0.6681
+Query 1/1: Action query time = 5.415 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7006
+t=58: Selected seed 195 with value = 0.7006
+Query 1/1: Action query time = 5.421 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5923
+t=74: Selected seed 195 with value = 0.5923
+Query 1/1: Action query time = 5.182 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8359
+t=90: Selected seed 195 with value = 0.8359
+Query 1/1: Action query time = 5.092 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8725
+t=106: Selected seed 195 with value = 0.8725
+Query 1/1: Action query time = 5.048 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8530
+t=122: Selected seed 195 with value = 0.8530
+Query 1/1: Action query time = 4.935 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8511
+t=138: Selected seed 195 with value = 0.8511
+Query 1/1: Action query time = 5.253 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8595
+t=154: Selected seed 195 with value = 0.8595
+Query 1/1: Action query time = 5.197 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9879
+t=170: Selected seed 195 with value = 0.9879
+Query 1/1: Action query time = 5.197 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9760
+t=186: Selected seed 195 with value = 0.9760
+Query 1/1: Action query time = 4.927 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9883
+t=202: Selected seed 195 with value = 0.9883
+Query 1/1: Action query time = 5.189 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9961
+t=218: Selected seed 195 with value = 0.9961
+Query 1/1: Action query time = 5.214 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=234: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 5.147 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=250: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 5.273 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=266: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 3.575 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=282: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 3.725 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=298: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/demochan200_t3_s15/2026_08_01-13_03_00--with_future_img--episode=1--success=False--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: False
+# episodes completed so far: 1
+# successes: 0 (0.0%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 2...
+Query 1/1: Action query time = 4.262 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3974
+t=10: Selected seed 195 with value = 0.3974
+Query 1/1: Action query time = 4.670 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7068
+t=26: Selected seed 195 with value = 0.7068
+Query 1/1: Action query time = 5.058 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6854
+t=42: Selected seed 195 with value = 0.6854
+Query 1/1: Action query time = 4.757 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6992
+t=58: Selected seed 195 with value = 0.6992
+Query 1/1: Action query time = 4.870 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7474
+t=74: Selected seed 195 with value = 0.7474
+Query 1/1: Action query time = 5.131 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9727
+t=90: Selected seed 195 with value = 0.9727
+Query 1/1: Action query time = 5.473 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9981
+t=106: Selected seed 195 with value = 0.9981
+Query 1/1: Action query time = 5.030 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8813
+t=122: Selected seed 195 with value = 0.8813
+Query 1/1: Action query time = 4.983 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8301
+t=138: Selected seed 195 with value = 0.8301
+Query 1/1: Action query time = 4.843 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8729
+t=154: Selected seed 195 with value = 0.8729
+Query 1/1: Action query time = 4.672 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8770
+t=170: Selected seed 195 with value = 0.8770
+Query 1/1: Action query time = 5.153 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9867
+t=186: Selected seed 195 with value = 0.9867
+Query 1/1: Action query time = 5.225 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9922
+t=202: Selected seed 195 with value = 0.9922
+Query 1/1: Action query time = 5.362 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9985
+t=218: Selected seed 195 with value = 0.9985
+Query 1/1: Action query time = 5.142 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9982
+t=234: Selected seed 195 with value = 0.9982
+Query 1/1: Action query time = 4.089 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9958
+t=250: Selected seed 195 with value = 0.9958
+Query 1/1: Action query time = 3.415 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9959
+t=266: Selected seed 195 with value = 0.9959
+Query 1/1: Action query time = 4.371 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9993
+t=282: Selected seed 195 with value = 0.9993
+Query 1/1: Action query time = 4.974 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=298: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/demochan200_t3_s15/2026_08_01-13_03_00--with_future_img--episode=2--success=False--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: False
+# episodes completed so far: 2
+# successes: 0 (0.0%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 3...
+Query 1/1: Action query time = 4.095 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3822
+t=10: Selected seed 195 with value = 0.3822
+Query 1/1: Action query time = 5.916 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5160
+t=26: Selected seed 195 with value = 0.5160
+Query 1/1: Action query time = 5.142 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6657
+t=42: Selected seed 195 with value = 0.6657
+Query 1/1: Action query time = 4.503 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7183
+t=58: Selected seed 195 with value = 0.7183
+Query 1/1: Action query time = 4.543 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9473
+t=74: Selected seed 195 with value = 0.9473
+Query 1/1: Action query time = 5.120 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9995
+t=90: Selected seed 195 with value = 0.9995
+Query 1/1: Action query time = 5.315 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9023
+t=106: Selected seed 195 with value = 0.9023
+Query 1/1: Action query time = 5.045 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8682
+t=122: Selected seed 195 with value = 0.8682
+Query 1/1: Action query time = 5.334 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9161
+t=138: Selected seed 195 with value = 0.9161
+Query 1/1: Action query time = 5.512 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9500
+t=154: Selected seed 195 with value = 0.9500
+Query 1/1: Action query time = 5.357 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9922
+t=170: Selected seed 195 with value = 0.9922
+Query 1/1: Action query time = 5.030 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=186: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 5.013 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=202: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 5.119 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=218: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.084 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=234: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.128 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=250: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 3.873 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=266: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 3.592 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=282: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 3.237 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=298: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/demochan200_t3_s15/2026_08_01-13_03_00--with_future_img--episode=3--success=False--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: False
+# episodes completed so far: 3
+# successes: 0 (0.0%)
+Current task success rate: 0.0
+Current total success rate: 0.0
+Final results:
+Total episodes: 3
+Total successes: 0
+Overall success rate: 0.0000 (0.0%)
diff --git a/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_01-13_09_47--demochan200_t6_s00.txt b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_01-13_09_47--demochan200_t6_s00.txt
new file mode 100644
index 0000000000000000000000000000000000000000..cac10ac8d745cf3886913c2a09f553f1dde7d795
--- /dev/null
+++ b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_01-13_09_47--demochan200_t6_s00.txt
@@ -0,0 +1,196 @@
+Eval config: PolicyEvalConfig(suite='libero', model_family='cosmos', config='cosmos_predict2_2b_480p_libero_cl_stage_inference_only', ckpt_path='/home/azureuser/REGEN-main/old/cosmos_policy/cosmos_v2_finetune/cosmos_predict2_2b_480p_libero_goal_task6_regen_cl_demochan_from40k_2gpu/checkpoints/iter_000000200/model', planning_model_config_name='', planning_model_ckpt_path='', config_file='cosmos_policy/config/config.py', packnet_mask_path='', packnet_first_cl_libero_task=6, use_third_person_image=True, num_third_person_images=1, use_wrist_image=True, num_wrist_images=1, use_proprio=True, flip_images=True, use_variance_scale=False, use_jpeg_compression=True, ar_future_prediction=False, ar_value_prediction=False, ar_qvalue_prediction=False, num_denoising_steps_action=5, num_denoising_steps_future_state=1, num_denoising_steps_value=1, unnormalize_actions=True, normalize_proprio=True, dataset_stats_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/libero_goal_regen/dataset_statistics.json', t5_text_embeddings_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/t5_embeddings.pkl', trained_with_image_aug=True, chunk_size=16, num_open_loop_steps=16, deterministic=True, deterministic_reset=False, deterministic_reset_seed=None, use_ensemble_future_state_predictions=False, num_future_state_predictions_in_ensemble=3, future_state_ensemble_aggregation_scheme='average', use_ensemble_value_predictions=False, num_value_predictions_in_ensemble=5, value_ensemble_aggregation_scheme='average', search_depth=1, mask_current_state_action_for_value_prediction=False, mask_future_state_for_qvalue_prediction=False, num_queries_best_of_n=1, use_parallel_inference=False, available_gpus='0', parallel_timeout=15, parallel_tasks_across_gpus=False, task_suite_name='libero_goal', num_trials_per_task=50, task_ids_to_run='6', initial_states_path='DEFAULT', env_img_res=256, local_log_dir='/home/azureuser/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal', run_id_note='demochan200_t6_s00', use_wandb=False, wandb_entity='YOUR_ENTITY', wandb_project='YOUR_PROJECT', seed=195, randomize_seed=False, data_collection=False, jpeg_compress=True, reward_stop_threshold=None, reward_stop_consecutive_steps=3, use_gpt_reward=False, gpt_reward_model='gpt-5.4-mini', gpt_reward_stop_threshold=4, gpt_reward_timeout_s=30.0, save_rollout_video=False, eval_hdf5_path='', eval_hdf5_demo_key='demo_0', data_gen_demo_ids='', eval_episode_ids='0,16,32,48', replay_actions=False, replay_action_path_dir='', replay_hdf5_path='', data_generation=False, max_generation_steps=200, simple_task_max_steps=100, complex_task_max_steps=200)
+Using serial inference (parallel inference disabled)
+Task suite: libero_goal
+Number of tasks: 10
+Running only task IDs: [6]
+Using default initial states
+
+Task: put the cream cheese in the bowl
+Starting episode 1...
+Query 1/1: Action query time = 5.423 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4523
+t=10: Selected seed 195 with value = 0.4523
+Query 1/1: Action query time = 4.835 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5389
+t=26: Selected seed 195 with value = 0.5389
+Query 1/1: Action query time = 5.020 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5842
+t=42: Selected seed 195 with value = 0.5842
+Query 1/1: Action query time = 4.873 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8603
+t=58: Selected seed 195 with value = 0.8603
+Query 1/1: Action query time = 4.499 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9862
+t=74: Selected seed 195 with value = 0.9862
+Query 1/1: Action query time = 5.101 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9798
+t=90: Selected seed 195 with value = 0.9798
+Query 1/1: Action query time = 5.515 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9939
+t=106: Selected seed 195 with value = 0.9939
+Query 1/1: Action query time = 5.123 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9922
+t=122: Selected seed 195 with value = 0.9922
+Query 1/1: Action query time = 5.331 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9904
+t=138: Selected seed 195 with value = 0.9904
+Query 1/1: Action query time = 4.753 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=154: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 5.100 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9936
+t=170: Selected seed 195 with value = 0.9936
+Query 1/1: Action query time = 4.799 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9948
+t=186: Selected seed 195 with value = 0.9948
+Query 1/1: Action query time = 4.944 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9992
+t=202: Selected seed 195 with value = 0.9992
+Query 1/1: Action query time = 4.950 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9995
+t=218: Selected seed 195 with value = 0.9995
+Query 1/1: Action query time = 5.265 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=234: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 5.369 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=250: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 5.162 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=266: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.363 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=282: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.200 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=298: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/demochan200_t6_s00/2026_08_01-13_09_47--with_future_img--episode=1--success=False--task=put_the_cream_cheese_in_the_bowl.mp4
+Success: False
+# episodes completed so far: 1
+# successes: 0 (0.0%)
+
+Task: put the cream cheese in the bowl
+Starting episode 2...
+Query 1/1: Action query time = 4.118 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4551
+t=10: Selected seed 195 with value = 0.4551
+Query 1/1: Action query time = 4.753 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5195
+t=26: Selected seed 195 with value = 0.5195
+Query 1/1: Action query time = 5.020 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6021
+t=42: Selected seed 195 with value = 0.6021
+Query 1/1: Action query time = 3.930 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7315
+t=58: Selected seed 195 with value = 0.7315
+Query 1/1: Action query time = 4.481 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8515
+t=74: Selected seed 195 with value = 0.8515
+Query 1/1: Action query time = 5.389 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9595
+t=90: Selected seed 195 with value = 0.9595
+Query 1/1: Action query time = 3.916 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9930
+t=106: Selected seed 195 with value = 0.9930
+Query 1/1: Action query time = 3.830 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9980
+t=122: Selected seed 195 with value = 0.9980
+Saved rollout MP4 at path ./rollouts/demochan200_t6_s00/2026_08_01-13_09_47--with_future_img--episode=2--success=True--task=put_the_cream_cheese_in_the_bowl.mp4
+Success: True
+# episodes completed so far: 2
+# successes: 1 (50.0%)
+
+Task: put the cream cheese in the bowl
+Starting episode 3...
+Query 1/1: Action query time = 4.773 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4642
+t=10: Selected seed 195 with value = 0.4642
+Query 1/1: Action query time = 4.370 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4863
+t=26: Selected seed 195 with value = 0.4863
+Query 1/1: Action query time = 4.969 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6246
+t=42: Selected seed 195 with value = 0.6246
+Query 1/1: Action query time = 4.339 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7316
+t=58: Selected seed 195 with value = 0.7316
+Query 1/1: Action query time = 4.168 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8234
+t=74: Selected seed 195 with value = 0.8234
+Query 1/1: Action query time = 3.173 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9322
+t=90: Selected seed 195 with value = 0.9322
+Saved rollout MP4 at path ./rollouts/demochan200_t6_s00/2026_08_01-13_09_47--with_future_img--episode=3--success=True--task=put_the_cream_cheese_in_the_bowl.mp4
+Success: True
+# episodes completed so far: 3
+# successes: 2 (66.7%)
+
+Task: put the cream cheese in the bowl
+Starting episode 4...
+Query 1/1: Action query time = 2.386 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4302
+t=10: Selected seed 195 with value = 0.4302
+Query 1/1: Action query time = 2.564 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4945
+t=26: Selected seed 195 with value = 0.4945
+Query 1/1: Action query time = 2.794 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6279
+t=42: Selected seed 195 with value = 0.6279
+Query 1/1: Action query time = 3.297 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7753
+t=58: Selected seed 195 with value = 0.7753
+Query 1/1: Action query time = 3.111 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8785
+t=74: Selected seed 195 with value = 0.8785
+Query 1/1: Action query time = 3.251 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9686
+t=90: Selected seed 195 with value = 0.9686
+Saved rollout MP4 at path ./rollouts/demochan200_t6_s00/2026_08_01-13_09_47--with_future_img--episode=4--success=True--task=put_the_cream_cheese_in_the_bowl.mp4
+Success: True
+# episodes completed so far: 4
+# successes: 3 (75.0%)
+Current task success rate: 0.75
+Current total success rate: 0.75
+Final results:
+Total episodes: 4
+Total successes: 3
+Overall success rate: 0.7500 (75.0%)
diff --git a/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_01-13_09_48--demochan200_t6_s10.txt b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_01-13_09_48--demochan200_t6_s10.txt
new file mode 100644
index 0000000000000000000000000000000000000000..2df1d77197292d9e1795ae1759b84338bdab2af5
--- /dev/null
+++ b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_01-13_09_48--demochan200_t6_s10.txt
@@ -0,0 +1,157 @@
+Eval config: PolicyEvalConfig(suite='libero', model_family='cosmos', config='cosmos_predict2_2b_480p_libero_cl_stage_inference_only', ckpt_path='/home/azureuser/REGEN-main/old/cosmos_policy/cosmos_v2_finetune/cosmos_predict2_2b_480p_libero_goal_task6_regen_cl_demochan_from40k_2gpu/checkpoints/iter_000000200/model', planning_model_config_name='', planning_model_ckpt_path='', config_file='cosmos_policy/config/config.py', packnet_mask_path='', packnet_first_cl_libero_task=6, use_third_person_image=True, num_third_person_images=1, use_wrist_image=True, num_wrist_images=1, use_proprio=True, flip_images=True, use_variance_scale=False, use_jpeg_compression=True, ar_future_prediction=False, ar_value_prediction=False, ar_qvalue_prediction=False, num_denoising_steps_action=5, num_denoising_steps_future_state=1, num_denoising_steps_value=1, unnormalize_actions=True, normalize_proprio=True, dataset_stats_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/libero_goal_regen/dataset_statistics.json', t5_text_embeddings_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/t5_embeddings.pkl', trained_with_image_aug=True, chunk_size=16, num_open_loop_steps=16, deterministic=True, deterministic_reset=False, deterministic_reset_seed=None, use_ensemble_future_state_predictions=False, num_future_state_predictions_in_ensemble=3, future_state_ensemble_aggregation_scheme='average', use_ensemble_value_predictions=False, num_value_predictions_in_ensemble=5, value_ensemble_aggregation_scheme='average', search_depth=1, mask_current_state_action_for_value_prediction=False, mask_future_state_for_qvalue_prediction=False, num_queries_best_of_n=1, use_parallel_inference=False, available_gpus='0', parallel_timeout=15, parallel_tasks_across_gpus=False, task_suite_name='libero_goal', num_trials_per_task=50, task_ids_to_run='6', initial_states_path='DEFAULT', env_img_res=256, local_log_dir='/home/azureuser/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal', run_id_note='demochan200_t6_s10', use_wandb=False, wandb_entity='YOUR_ENTITY', wandb_project='YOUR_PROJECT', seed=195, randomize_seed=False, data_collection=False, jpeg_compress=True, reward_stop_threshold=None, reward_stop_consecutive_steps=3, use_gpt_reward=False, gpt_reward_model='gpt-5.4-mini', gpt_reward_stop_threshold=4, gpt_reward_timeout_s=30.0, save_rollout_video=False, eval_hdf5_path='', eval_hdf5_demo_key='demo_0', data_gen_demo_ids='', eval_episode_ids='10,26,42', replay_actions=False, replay_action_path_dir='', replay_hdf5_path='', data_generation=False, max_generation_steps=200, simple_task_max_steps=100, complex_task_max_steps=200)
+Using serial inference (parallel inference disabled)
+Task suite: libero_goal
+Number of tasks: 10
+Running only task IDs: [6]
+Using default initial states
+
+Task: put the cream cheese in the bowl
+Starting episode 1...
+Query 1/1: Action query time = 6.367 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4314
+t=10: Selected seed 195 with value = 0.4314
+Query 1/1: Action query time = 5.716 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4880
+t=26: Selected seed 195 with value = 0.4880
+Query 1/1: Action query time = 5.147 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6245
+t=42: Selected seed 195 with value = 0.6245
+Query 1/1: Action query time = 3.485 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7352
+t=58: Selected seed 195 with value = 0.7352
+Query 1/1: Action query time = 4.583 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8305
+t=74: Selected seed 195 with value = 0.8305
+Query 1/1: Action query time = 4.193 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9527
+t=90: Selected seed 195 with value = 0.9527
+Saved rollout MP4 at path ./rollouts/demochan200_t6_s10/2026_08_01-13_09_48--with_future_img--episode=1--success=True--task=put_the_cream_cheese_in_the_bowl.mp4
+Success: True
+# episodes completed so far: 1
+# successes: 1 (100.0%)
+
+Task: put the cream cheese in the bowl
+Starting episode 2...
+Query 1/1: Action query time = 5.058 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4282
+t=10: Selected seed 195 with value = 0.4282
+Query 1/1: Action query time = 5.465 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5067
+t=26: Selected seed 195 with value = 0.5067
+Query 1/1: Action query time = 4.996 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6271
+t=42: Selected seed 195 with value = 0.6271
+Query 1/1: Action query time = 4.901 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6509
+t=58: Selected seed 195 with value = 0.6509
+Query 1/1: Action query time = 4.998 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5517
+t=74: Selected seed 195 with value = 0.5517
+Query 1/1: Action query time = 4.750 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6216
+t=90: Selected seed 195 with value = 0.6216
+Query 1/1: Action query time = 5.604 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6515
+t=106: Selected seed 195 with value = 0.6515
+Query 1/1: Action query time = 5.222 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6708
+t=122: Selected seed 195 with value = 0.6708
+Query 1/1: Action query time = 5.181 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7597
+t=138: Selected seed 195 with value = 0.7597
+Query 1/1: Action query time = 5.036 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8681
+t=154: Selected seed 195 with value = 0.8681
+Query 1/1: Action query time = 4.917 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9048
+t=170: Selected seed 195 with value = 0.9048
+Query 1/1: Action query time = 4.794 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9920
+t=186: Selected seed 195 with value = 0.9920
+Query 1/1: Action query time = 2.845 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9929
+t=202: Selected seed 195 with value = 0.9929
+Query 1/1: Action query time = 2.279 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9925
+t=218: Selected seed 195 with value = 0.9925
+Query 1/1: Action query time = 3.113 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9920
+t=234: Selected seed 195 with value = 0.9920
+Query 1/1: Action query time = 5.896 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9920
+t=250: Selected seed 195 with value = 0.9920
+Query 1/1: Action query time = 5.447 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9919
+t=266: Selected seed 195 with value = 0.9919
+Query 1/1: Action query time = 5.524 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9920
+t=282: Selected seed 195 with value = 0.9920
+Query 1/1: Action query time = 5.219 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9920
+t=298: Selected seed 195 with value = 0.9920
+Saved rollout MP4 at path ./rollouts/demochan200_t6_s10/2026_08_01-13_09_48--with_future_img--episode=2--success=False--task=put_the_cream_cheese_in_the_bowl.mp4
+Success: False
+# episodes completed so far: 2
+# successes: 1 (50.0%)
+
+Task: put the cream cheese in the bowl
+Starting episode 3...
+Query 1/1: Action query time = 3.704 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4340
+t=10: Selected seed 195 with value = 0.4340
+Query 1/1: Action query time = 4.934 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5064
+t=26: Selected seed 195 with value = 0.5064
+Query 1/1: Action query time = 5.751 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5807
+t=42: Selected seed 195 with value = 0.5807
+Query 1/1: Action query time = 5.250 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6999
+t=58: Selected seed 195 with value = 0.6999
+Query 1/1: Action query time = 4.111 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7946
+t=74: Selected seed 195 with value = 0.7946
+Query 1/1: Action query time = 3.836 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9072
+t=90: Selected seed 195 with value = 0.9072
+Saved rollout MP4 at path ./rollouts/demochan200_t6_s10/2026_08_01-13_09_48--with_future_img--episode=3--success=True--task=put_the_cream_cheese_in_the_bowl.mp4
+Success: True
+# episodes completed so far: 3
+# successes: 2 (66.7%)
+Current task success rate: 0.6666666666666666
+Current total success rate: 0.6666666666666666
+Final results:
+Total episodes: 3
+Total successes: 2
+Overall success rate: 0.6667 (66.7%)
diff --git a/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_01-13_09_49--demochan200_t6_s11.txt b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_01-13_09_49--demochan200_t6_s11.txt
new file mode 100644
index 0000000000000000000000000000000000000000..127a5f32fa7db7242bd99243adad1d2d1306658d
--- /dev/null
+++ b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_01-13_09_49--demochan200_t6_s11.txt
@@ -0,0 +1,209 @@
+Eval config: PolicyEvalConfig(suite='libero', model_family='cosmos', config='cosmos_predict2_2b_480p_libero_cl_stage_inference_only', ckpt_path='/home/azureuser/REGEN-main/old/cosmos_policy/cosmos_v2_finetune/cosmos_predict2_2b_480p_libero_goal_task6_regen_cl_demochan_from40k_2gpu/checkpoints/iter_000000200/model', planning_model_config_name='', planning_model_ckpt_path='', config_file='cosmos_policy/config/config.py', packnet_mask_path='', packnet_first_cl_libero_task=6, use_third_person_image=True, num_third_person_images=1, use_wrist_image=True, num_wrist_images=1, use_proprio=True, flip_images=True, use_variance_scale=False, use_jpeg_compression=True, ar_future_prediction=False, ar_value_prediction=False, ar_qvalue_prediction=False, num_denoising_steps_action=5, num_denoising_steps_future_state=1, num_denoising_steps_value=1, unnormalize_actions=True, normalize_proprio=True, dataset_stats_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/libero_goal_regen/dataset_statistics.json', t5_text_embeddings_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/t5_embeddings.pkl', trained_with_image_aug=True, chunk_size=16, num_open_loop_steps=16, deterministic=True, deterministic_reset=False, deterministic_reset_seed=None, use_ensemble_future_state_predictions=False, num_future_state_predictions_in_ensemble=3, future_state_ensemble_aggregation_scheme='average', use_ensemble_value_predictions=False, num_value_predictions_in_ensemble=5, value_ensemble_aggregation_scheme='average', search_depth=1, mask_current_state_action_for_value_prediction=False, mask_future_state_for_qvalue_prediction=False, num_queries_best_of_n=1, use_parallel_inference=False, available_gpus='0', parallel_timeout=15, parallel_tasks_across_gpus=False, task_suite_name='libero_goal', num_trials_per_task=50, task_ids_to_run='6', initial_states_path='DEFAULT', env_img_res=256, local_log_dir='/home/azureuser/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal', run_id_note='demochan200_t6_s11', use_wandb=False, wandb_entity='YOUR_ENTITY', wandb_project='YOUR_PROJECT', seed=195, randomize_seed=False, data_collection=False, jpeg_compress=True, reward_stop_threshold=None, reward_stop_consecutive_steps=3, use_gpt_reward=False, gpt_reward_model='gpt-5.4-mini', gpt_reward_stop_threshold=4, gpt_reward_timeout_s=30.0, save_rollout_video=False, eval_hdf5_path='', eval_hdf5_demo_key='demo_0', data_gen_demo_ids='', eval_episode_ids='11,27,43', replay_actions=False, replay_action_path_dir='', replay_hdf5_path='', data_generation=False, max_generation_steps=200, simple_task_max_steps=100, complex_task_max_steps=200)
+Using serial inference (parallel inference disabled)
+Task suite: libero_goal
+Number of tasks: 10
+Running only task IDs: [6]
+Using default initial states
+
+Task: put the cream cheese in the bowl
+Starting episode 1...
+Query 1/1: Action query time = 6.273 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4729
+t=10: Selected seed 195 with value = 0.4729
+Query 1/1: Action query time = 4.601 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5113
+t=26: Selected seed 195 with value = 0.5113
+Query 1/1: Action query time = 4.013 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6391
+t=42: Selected seed 195 with value = 0.6391
+Query 1/1: Action query time = 4.089 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6773
+t=58: Selected seed 195 with value = 0.6773
+Query 1/1: Action query time = 5.058 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5636
+t=74: Selected seed 195 with value = 0.5636
+Query 1/1: Action query time = 4.724 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6636
+t=90: Selected seed 195 with value = 0.6636
+Query 1/1: Action query time = 4.191 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8034
+t=106: Selected seed 195 with value = 0.8034
+Query 1/1: Action query time = 4.949 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9339
+t=122: Selected seed 195 with value = 0.9339
+Query 1/1: Action query time = 5.278 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=138: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 5.054 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=154: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.992 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9979
+t=170: Selected seed 195 with value = 0.9979
+Query 1/1: Action query time = 4.726 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9963
+t=186: Selected seed 195 with value = 0.9963
+Query 1/1: Action query time = 4.445 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9963
+t=202: Selected seed 195 with value = 0.9963
+Query 1/1: Action query time = 5.642 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9967
+t=218: Selected seed 195 with value = 0.9967
+Query 1/1: Action query time = 5.321 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9978
+t=234: Selected seed 195 with value = 0.9978
+Query 1/1: Action query time = 5.330 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9984
+t=250: Selected seed 195 with value = 0.9984
+Query 1/1: Action query time = 5.473 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9985
+t=266: Selected seed 195 with value = 0.9985
+Query 1/1: Action query time = 5.179 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9981
+t=282: Selected seed 195 with value = 0.9981
+Query 1/1: Action query time = 4.669 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9982
+t=298: Selected seed 195 with value = 0.9982
+Saved rollout MP4 at path ./rollouts/demochan200_t6_s11/2026_08_01-13_09_49--with_future_img--episode=1--success=False--task=put_the_cream_cheese_in_the_bowl.mp4
+Success: False
+# episodes completed so far: 1
+# successes: 0 (0.0%)
+
+Task: put the cream cheese in the bowl
+Starting episode 2...
+Query 1/1: Action query time = 3.802 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4331
+t=10: Selected seed 195 with value = 0.4331
+Query 1/1: Action query time = 4.356 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5073
+t=26: Selected seed 195 with value = 0.5073
+Query 1/1: Action query time = 4.926 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6231
+t=42: Selected seed 195 with value = 0.6231
+Query 1/1: Action query time = 4.957 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6999
+t=58: Selected seed 195 with value = 0.6999
+Query 1/1: Action query time = 5.425 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8506
+t=74: Selected seed 195 with value = 0.8506
+Query 1/1: Action query time = 3.756 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9545
+t=90: Selected seed 195 with value = 0.9545
+Saved rollout MP4 at path ./rollouts/demochan200_t6_s11/2026_08_01-13_09_49--with_future_img--episode=2--success=True--task=put_the_cream_cheese_in_the_bowl.mp4
+Success: True
+# episodes completed so far: 2
+# successes: 1 (50.0%)
+
+Task: put the cream cheese in the bowl
+Starting episode 3...
+Query 1/1: Action query time = 5.448 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4699
+t=10: Selected seed 195 with value = 0.4699
+Query 1/1: Action query time = 5.230 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5152
+t=26: Selected seed 195 with value = 0.5152
+Query 1/1: Action query time = 4.606 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6341
+t=42: Selected seed 195 with value = 0.6341
+Query 1/1: Action query time = 4.116 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6121
+t=58: Selected seed 195 with value = 0.6121
+Query 1/1: Action query time = 3.504 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5612
+t=74: Selected seed 195 with value = 0.5612
+Query 1/1: Action query time = 3.613 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6187
+t=90: Selected seed 195 with value = 0.6187
+Query 1/1: Action query time = 2.501 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5065
+t=106: Selected seed 195 with value = 0.5065
+Query 1/1: Action query time = 2.565 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6653
+t=122: Selected seed 195 with value = 0.6653
+Query 1/1: Action query time = 2.577 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7047
+t=138: Selected seed 195 with value = 0.7047
+Query 1/1: Action query time = 2.737 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8723
+t=154: Selected seed 195 with value = 0.8723
+Query 1/1: Action query time = 2.993 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9837
+t=170: Selected seed 195 with value = 0.9837
+Query 1/1: Action query time = 2.429 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9970
+t=186: Selected seed 195 with value = 0.9970
+Query 1/1: Action query time = 1.819 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9970
+t=202: Selected seed 195 with value = 0.9970
+Query 1/1: Action query time = 1.586 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=218: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 1.773 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9643
+t=234: Selected seed 195 with value = 0.9643
+Query 1/1: Action query time = 1.785 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8283
+t=250: Selected seed 195 with value = 0.8283
+Query 1/1: Action query time = 2.567 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8397
+t=266: Selected seed 195 with value = 0.8397
+Query 1/1: Action query time = 2.764 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8959
+t=282: Selected seed 195 with value = 0.8959
+Query 1/1: Action query time = 2.222 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=298: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/demochan200_t6_s11/2026_08_01-13_09_49--with_future_img--episode=3--success=False--task=put_the_cream_cheese_in_the_bowl.mp4
+Success: False
+# episodes completed so far: 3
+# successes: 1 (33.3%)
+Current task success rate: 0.3333333333333333
+Current total success rate: 0.3333333333333333
+Final results:
+Total episodes: 3
+Total successes: 1
+Overall success rate: 0.3333 (33.3%)
diff --git a/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_01-13_09_49--demochan200_t6_s14.txt b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_01-13_09_49--demochan200_t6_s14.txt
new file mode 100644
index 0000000000000000000000000000000000000000..07bb8a035b3578734979671885c4d25aaea28bf2
--- /dev/null
+++ b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_01-13_09_49--demochan200_t6_s14.txt
@@ -0,0 +1,157 @@
+Eval config: PolicyEvalConfig(suite='libero', model_family='cosmos', config='cosmos_predict2_2b_480p_libero_cl_stage_inference_only', ckpt_path='/home/azureuser/REGEN-main/old/cosmos_policy/cosmos_v2_finetune/cosmos_predict2_2b_480p_libero_goal_task6_regen_cl_demochan_from40k_2gpu/checkpoints/iter_000000200/model', planning_model_config_name='', planning_model_ckpt_path='', config_file='cosmos_policy/config/config.py', packnet_mask_path='', packnet_first_cl_libero_task=6, use_third_person_image=True, num_third_person_images=1, use_wrist_image=True, num_wrist_images=1, use_proprio=True, flip_images=True, use_variance_scale=False, use_jpeg_compression=True, ar_future_prediction=False, ar_value_prediction=False, ar_qvalue_prediction=False, num_denoising_steps_action=5, num_denoising_steps_future_state=1, num_denoising_steps_value=1, unnormalize_actions=True, normalize_proprio=True, dataset_stats_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/libero_goal_regen/dataset_statistics.json', t5_text_embeddings_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/t5_embeddings.pkl', trained_with_image_aug=True, chunk_size=16, num_open_loop_steps=16, deterministic=True, deterministic_reset=False, deterministic_reset_seed=None, use_ensemble_future_state_predictions=False, num_future_state_predictions_in_ensemble=3, future_state_ensemble_aggregation_scheme='average', use_ensemble_value_predictions=False, num_value_predictions_in_ensemble=5, value_ensemble_aggregation_scheme='average', search_depth=1, mask_current_state_action_for_value_prediction=False, mask_future_state_for_qvalue_prediction=False, num_queries_best_of_n=1, use_parallel_inference=False, available_gpus='0', parallel_timeout=15, parallel_tasks_across_gpus=False, task_suite_name='libero_goal', num_trials_per_task=50, task_ids_to_run='6', initial_states_path='DEFAULT', env_img_res=256, local_log_dir='/home/azureuser/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal', run_id_note='demochan200_t6_s14', use_wandb=False, wandb_entity='YOUR_ENTITY', wandb_project='YOUR_PROJECT', seed=195, randomize_seed=False, data_collection=False, jpeg_compress=True, reward_stop_threshold=None, reward_stop_consecutive_steps=3, use_gpt_reward=False, gpt_reward_model='gpt-5.4-mini', gpt_reward_stop_threshold=4, gpt_reward_timeout_s=30.0, save_rollout_video=False, eval_hdf5_path='', eval_hdf5_demo_key='demo_0', data_gen_demo_ids='', eval_episode_ids='14,30,46', replay_actions=False, replay_action_path_dir='', replay_hdf5_path='', data_generation=False, max_generation_steps=200, simple_task_max_steps=100, complex_task_max_steps=200)
+Using serial inference (parallel inference disabled)
+Task suite: libero_goal
+Number of tasks: 10
+Running only task IDs: [6]
+Using default initial states
+
+Task: put the cream cheese in the bowl
+Starting episode 1...
+Query 1/1: Action query time = 5.871 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4348
+t=10: Selected seed 195 with value = 0.4348
+Query 1/1: Action query time = 5.015 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5043
+t=26: Selected seed 195 with value = 0.5043
+Query 1/1: Action query time = 5.692 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6017
+t=42: Selected seed 195 with value = 0.6017
+Query 1/1: Action query time = 4.452 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5960
+t=58: Selected seed 195 with value = 0.5960
+Query 1/1: Action query time = 3.844 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6437
+t=74: Selected seed 195 with value = 0.6437
+Query 1/1: Action query time = 3.672 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7048
+t=90: Selected seed 195 with value = 0.7048
+Query 1/1: Action query time = 3.592 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7197
+t=106: Selected seed 195 with value = 0.7197
+Query 1/1: Action query time = 4.972 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8689
+t=122: Selected seed 195 with value = 0.8689
+Query 1/1: Action query time = 5.344 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9038
+t=138: Selected seed 195 with value = 0.9038
+Query 1/1: Action query time = 5.016 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9763
+t=154: Selected seed 195 with value = 0.9763
+Query 1/1: Action query time = 4.880 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9971
+t=170: Selected seed 195 with value = 0.9971
+Query 1/1: Action query time = 4.352 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9966
+t=186: Selected seed 195 with value = 0.9966
+Query 1/1: Action query time = 4.278 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=202: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 5.260 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=218: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 5.393 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=234: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 5.255 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=250: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 5.188 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=266: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 5.152 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=282: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.686 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=298: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/demochan200_t6_s14/2026_08_01-13_09_49--with_future_img--episode=1--success=False--task=put_the_cream_cheese_in_the_bowl.mp4
+Success: False
+# episodes completed so far: 1
+# successes: 0 (0.0%)
+
+Task: put the cream cheese in the bowl
+Starting episode 2...
+Query 1/1: Action query time = 5.302 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4498
+t=10: Selected seed 195 with value = 0.4498
+Query 1/1: Action query time = 5.086 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5019
+t=26: Selected seed 195 with value = 0.5019
+Query 1/1: Action query time = 5.142 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5940
+t=42: Selected seed 195 with value = 0.5940
+Query 1/1: Action query time = 4.713 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7040
+t=58: Selected seed 195 with value = 0.7040
+Query 1/1: Action query time = 4.440 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8302
+t=74: Selected seed 195 with value = 0.8302
+Query 1/1: Action query time = 3.062 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9681
+t=90: Selected seed 195 with value = 0.9681
+Saved rollout MP4 at path ./rollouts/demochan200_t6_s14/2026_08_01-13_09_49--with_future_img--episode=2--success=True--task=put_the_cream_cheese_in_the_bowl.mp4
+Success: True
+# episodes completed so far: 2
+# successes: 1 (50.0%)
+
+Task: put the cream cheese in the bowl
+Starting episode 3...
+Query 1/1: Action query time = 5.277 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4576
+t=10: Selected seed 195 with value = 0.4576
+Query 1/1: Action query time = 5.329 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4990
+t=26: Selected seed 195 with value = 0.4990
+Query 1/1: Action query time = 4.840 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6386
+t=42: Selected seed 195 with value = 0.6386
+Query 1/1: Action query time = 3.186 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6078
+t=58: Selected seed 195 with value = 0.6078
+Query 1/1: Action query time = 3.747 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8441
+t=74: Selected seed 195 with value = 0.8441
+Query 1/1: Action query time = 3.336 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9515
+t=90: Selected seed 195 with value = 0.9515
+Saved rollout MP4 at path ./rollouts/demochan200_t6_s14/2026_08_01-13_09_49--with_future_img--episode=3--success=True--task=put_the_cream_cheese_in_the_bowl.mp4
+Success: True
+# episodes completed so far: 3
+# successes: 2 (66.7%)
+Current task success rate: 0.6666666666666666
+Current total success rate: 0.6666666666666666
+Final results:
+Total episodes: 3
+Total successes: 2
+Overall success rate: 0.6667 (66.7%)
diff --git a/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_01-13_09_49--demochan200_t6_s15.txt b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_01-13_09_49--demochan200_t6_s15.txt
new file mode 100644
index 0000000000000000000000000000000000000000..418e18ada4c9c1346337a4ec1cb1fd1fbe1639b1
--- /dev/null
+++ b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_01-13_09_49--demochan200_t6_s15.txt
@@ -0,0 +1,261 @@
+Eval config: PolicyEvalConfig(suite='libero', model_family='cosmos', config='cosmos_predict2_2b_480p_libero_cl_stage_inference_only', ckpt_path='/home/azureuser/REGEN-main/old/cosmos_policy/cosmos_v2_finetune/cosmos_predict2_2b_480p_libero_goal_task6_regen_cl_demochan_from40k_2gpu/checkpoints/iter_000000200/model', planning_model_config_name='', planning_model_ckpt_path='', config_file='cosmos_policy/config/config.py', packnet_mask_path='', packnet_first_cl_libero_task=6, use_third_person_image=True, num_third_person_images=1, use_wrist_image=True, num_wrist_images=1, use_proprio=True, flip_images=True, use_variance_scale=False, use_jpeg_compression=True, ar_future_prediction=False, ar_value_prediction=False, ar_qvalue_prediction=False, num_denoising_steps_action=5, num_denoising_steps_future_state=1, num_denoising_steps_value=1, unnormalize_actions=True, normalize_proprio=True, dataset_stats_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/libero_goal_regen/dataset_statistics.json', t5_text_embeddings_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/t5_embeddings.pkl', trained_with_image_aug=True, chunk_size=16, num_open_loop_steps=16, deterministic=True, deterministic_reset=False, deterministic_reset_seed=None, use_ensemble_future_state_predictions=False, num_future_state_predictions_in_ensemble=3, future_state_ensemble_aggregation_scheme='average', use_ensemble_value_predictions=False, num_value_predictions_in_ensemble=5, value_ensemble_aggregation_scheme='average', search_depth=1, mask_current_state_action_for_value_prediction=False, mask_future_state_for_qvalue_prediction=False, num_queries_best_of_n=1, use_parallel_inference=False, available_gpus='0', parallel_timeout=15, parallel_tasks_across_gpus=False, task_suite_name='libero_goal', num_trials_per_task=50, task_ids_to_run='6', initial_states_path='DEFAULT', env_img_res=256, local_log_dir='/home/azureuser/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal', run_id_note='demochan200_t6_s15', use_wandb=False, wandb_entity='YOUR_ENTITY', wandb_project='YOUR_PROJECT', seed=195, randomize_seed=False, data_collection=False, jpeg_compress=True, reward_stop_threshold=None, reward_stop_consecutive_steps=3, use_gpt_reward=False, gpt_reward_model='gpt-5.4-mini', gpt_reward_stop_threshold=4, gpt_reward_timeout_s=30.0, save_rollout_video=False, eval_hdf5_path='', eval_hdf5_demo_key='demo_0', data_gen_demo_ids='', eval_episode_ids='15,31,47', replay_actions=False, replay_action_path_dir='', replay_hdf5_path='', data_generation=False, max_generation_steps=200, simple_task_max_steps=100, complex_task_max_steps=200)
+Using serial inference (parallel inference disabled)
+Task suite: libero_goal
+Number of tasks: 10
+Running only task IDs: [6]
+Using default initial states
+
+Task: put the cream cheese in the bowl
+Starting episode 1...
+Query 1/1: Action query time = 5.765 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4328
+t=10: Selected seed 195 with value = 0.4328
+Query 1/1: Action query time = 4.126 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5001
+t=26: Selected seed 195 with value = 0.5001
+Query 1/1: Action query time = 5.203 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6161
+t=42: Selected seed 195 with value = 0.6161
+Query 1/1: Action query time = 5.425 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6695
+t=58: Selected seed 195 with value = 0.6695
+Query 1/1: Action query time = 5.210 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5830
+t=74: Selected seed 195 with value = 0.5830
+Query 1/1: Action query time = 4.075 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6378
+t=90: Selected seed 195 with value = 0.6378
+Query 1/1: Action query time = 5.148 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6799
+t=106: Selected seed 195 with value = 0.6799
+Query 1/1: Action query time = 5.220 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7808
+t=122: Selected seed 195 with value = 0.7808
+Query 1/1: Action query time = 4.820 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8028
+t=138: Selected seed 195 with value = 0.8028
+Query 1/1: Action query time = 4.863 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=154: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.973 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9615
+t=170: Selected seed 195 with value = 0.9615
+Query 1/1: Action query time = 4.729 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9423
+t=186: Selected seed 195 with value = 0.9423
+Query 1/1: Action query time = 4.981 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9783
+t=202: Selected seed 195 with value = 0.9783
+Query 1/1: Action query time = 4.795 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9729
+t=218: Selected seed 195 with value = 0.9729
+Query 1/1: Action query time = 4.612 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9624
+t=234: Selected seed 195 with value = 0.9624
+Query 1/1: Action query time = 5.096 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9684
+t=250: Selected seed 195 with value = 0.9684
+Query 1/1: Action query time = 5.093 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9733
+t=266: Selected seed 195 with value = 0.9733
+Query 1/1: Action query time = 5.073 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9569
+t=282: Selected seed 195 with value = 0.9569
+Query 1/1: Action query time = 3.545 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9643
+t=298: Selected seed 195 with value = 0.9643
+Saved rollout MP4 at path ./rollouts/demochan200_t6_s15/2026_08_01-13_09_49--with_future_img--episode=1--success=False--task=put_the_cream_cheese_in_the_bowl.mp4
+Success: False
+# episodes completed so far: 1
+# successes: 0 (0.0%)
+
+Task: put the cream cheese in the bowl
+Starting episode 2...
+Query 1/1: Action query time = 4.458 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4535
+t=10: Selected seed 195 with value = 0.4535
+Query 1/1: Action query time = 5.158 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4992
+t=26: Selected seed 195 with value = 0.4992
+Query 1/1: Action query time = 5.058 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5689
+t=42: Selected seed 195 with value = 0.5689
+Query 1/1: Action query time = 5.256 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6515
+t=58: Selected seed 195 with value = 0.6515
+Query 1/1: Action query time = 3.998 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6140
+t=74: Selected seed 195 with value = 0.6140
+Query 1/1: Action query time = 2.205 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6793
+t=90: Selected seed 195 with value = 0.6793
+Query 1/1: Action query time = 4.249 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6523
+t=106: Selected seed 195 with value = 0.6523
+Query 1/1: Action query time = 4.535 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6855
+t=122: Selected seed 195 with value = 0.6855
+Query 1/1: Action query time = 4.895 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6725
+t=138: Selected seed 195 with value = 0.6725
+Query 1/1: Action query time = 4.860 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6682
+t=154: Selected seed 195 with value = 0.6682
+Query 1/1: Action query time = 3.722 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7306
+t=170: Selected seed 195 with value = 0.7306
+Query 1/1: Action query time = 4.198 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7720
+t=186: Selected seed 195 with value = 0.7720
+Query 1/1: Action query time = 2.706 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8257
+t=202: Selected seed 195 with value = 0.8257
+Query 1/1: Action query time = 2.510 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8323
+t=218: Selected seed 195 with value = 0.8323
+Query 1/1: Action query time = 2.978 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8132
+t=234: Selected seed 195 with value = 0.8132
+Query 1/1: Action query time = 2.141 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7864
+t=250: Selected seed 195 with value = 0.7864
+Query 1/1: Action query time = 2.224 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8047
+t=266: Selected seed 195 with value = 0.8047
+Query 1/1: Action query time = 2.266 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8636
+t=282: Selected seed 195 with value = 0.8636
+Query 1/1: Action query time = 2.598 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8103
+t=298: Selected seed 195 with value = 0.8103
+Saved rollout MP4 at path ./rollouts/demochan200_t6_s15/2026_08_01-13_09_49--with_future_img--episode=2--success=False--task=put_the_cream_cheese_in_the_bowl.mp4
+Success: False
+# episodes completed so far: 2
+# successes: 0 (0.0%)
+
+Task: put the cream cheese in the bowl
+Starting episode 3...
+Query 1/1: Action query time = 2.876 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4630
+t=10: Selected seed 195 with value = 0.4630
+Query 1/1: Action query time = 2.998 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5296
+t=26: Selected seed 195 with value = 0.5296
+Query 1/1: Action query time = 2.119 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5729
+t=42: Selected seed 195 with value = 0.5729
+Query 1/1: Action query time = 0.984 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6980
+t=58: Selected seed 195 with value = 0.6980
+Query 1/1: Action query time = 0.989 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7999
+t=74: Selected seed 195 with value = 0.7999
+Query 1/1: Action query time = 0.975 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8999
+t=90: Selected seed 195 with value = 0.8999
+Query 1/1: Action query time = 0.987 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9845
+t=106: Selected seed 195 with value = 0.9845
+Query 1/1: Action query time = 0.974 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9903
+t=122: Selected seed 195 with value = 0.9903
+Query 1/1: Action query time = 0.984 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9921
+t=138: Selected seed 195 with value = 0.9921
+Query 1/1: Action query time = 0.990 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9951
+t=154: Selected seed 195 with value = 0.9951
+Query 1/1: Action query time = 0.968 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=170: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.988 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=186: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.969 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9657
+t=202: Selected seed 195 with value = 0.9657
+Query 1/1: Action query time = 0.973 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9319
+t=218: Selected seed 195 with value = 0.9319
+Query 1/1: Action query time = 0.967 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=234: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.973 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9974
+t=250: Selected seed 195 with value = 0.9974
+Query 1/1: Action query time = 0.974 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9969
+t=266: Selected seed 195 with value = 0.9969
+Query 1/1: Action query time = 0.994 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9977
+t=282: Selected seed 195 with value = 0.9977
+Query 1/1: Action query time = 0.993 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=298: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/demochan200_t6_s15/2026_08_01-13_09_49--with_future_img--episode=3--success=False--task=put_the_cream_cheese_in_the_bowl.mp4
+Success: False
+# episodes completed so far: 3
+# successes: 0 (0.0%)
+Current task success rate: 0.0
+Current total success rate: 0.0
+Final results:
+Total episodes: 3
+Total successes: 0
+Overall success rate: 0.0000 (0.0%)
diff --git a/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_01-13_41_19--demochan200_t0_s02.txt b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_01-13_41_19--demochan200_t0_s02.txt
new file mode 100644
index 0000000000000000000000000000000000000000..191fcb1ce6061706089cf6b2cd9033921edf565d
--- /dev/null
+++ b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_01-13_41_19--demochan200_t0_s02.txt
@@ -0,0 +1,193 @@
+Eval config: PolicyEvalConfig(suite='libero', model_family='cosmos', config='cosmos_predict2_2b_480p_libero_cl_stage_inference_only', ckpt_path='/home/azureuser/REGEN-main/old/cosmos_policy/cosmos_v2_finetune/cosmos_predict2_2b_480p_libero_goal_task6_regen_cl_demochan_from40k_2gpu/checkpoints/iter_000000200/model', planning_model_config_name='', planning_model_ckpt_path='', config_file='cosmos_policy/config/config.py', packnet_mask_path='', packnet_first_cl_libero_task=6, use_third_person_image=True, num_third_person_images=1, use_wrist_image=True, num_wrist_images=1, use_proprio=True, flip_images=True, use_variance_scale=False, use_jpeg_compression=True, ar_future_prediction=False, ar_value_prediction=False, ar_qvalue_prediction=False, num_denoising_steps_action=5, num_denoising_steps_future_state=1, num_denoising_steps_value=1, unnormalize_actions=True, normalize_proprio=True, dataset_stats_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/libero_goal_regen/dataset_statistics.json', t5_text_embeddings_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/t5_embeddings.pkl', trained_with_image_aug=True, chunk_size=16, num_open_loop_steps=16, deterministic=True, deterministic_reset=False, deterministic_reset_seed=None, use_ensemble_future_state_predictions=False, num_future_state_predictions_in_ensemble=3, future_state_ensemble_aggregation_scheme='average', use_ensemble_value_predictions=False, num_value_predictions_in_ensemble=5, value_ensemble_aggregation_scheme='average', search_depth=1, mask_current_state_action_for_value_prediction=False, mask_future_state_for_qvalue_prediction=False, num_queries_best_of_n=1, use_parallel_inference=False, available_gpus='0', parallel_timeout=15, parallel_tasks_across_gpus=False, task_suite_name='libero_goal', num_trials_per_task=50, task_ids_to_run='0', initial_states_path='DEFAULT', env_img_res=256, local_log_dir='/home/azureuser/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal', run_id_note='demochan200_t0_s02', use_wandb=False, wandb_entity='YOUR_ENTITY', wandb_project='YOUR_PROJECT', seed=195, randomize_seed=False, data_collection=False, jpeg_compress=True, reward_stop_threshold=None, reward_stop_consecutive_steps=3, use_gpt_reward=False, gpt_reward_model='gpt-5.4-mini', gpt_reward_stop_threshold=4, gpt_reward_timeout_s=30.0, save_rollout_video=False, eval_hdf5_path='', eval_hdf5_demo_key='demo_0', data_gen_demo_ids='', eval_episode_ids='2,18,34', replay_actions=False, replay_action_path_dir='', replay_hdf5_path='', data_generation=False, max_generation_steps=200, simple_task_max_steps=100, complex_task_max_steps=200)
+Using serial inference (parallel inference disabled)
+Task suite: libero_goal
+Number of tasks: 10
+Running only task IDs: [0]
+Using default initial states
+
+Task: open the middle drawer of the cabinet
+Starting episode 1...
+Query 1/1: Action query time = 3.270 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3914
+t=10: Selected seed 195 with value = 0.3914
+Query 1/1: Action query time = 5.142 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4111
+t=26: Selected seed 195 with value = 0.4111
+Query 1/1: Action query time = 3.516 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4436
+t=42: Selected seed 195 with value = 0.4436
+Query 1/1: Action query time = 4.858 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5465
+t=58: Selected seed 195 with value = 0.5465
+Query 1/1: Action query time = 4.720 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6591
+t=74: Selected seed 195 with value = 0.6591
+Query 1/1: Action query time = 5.586 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8809
+t=90: Selected seed 195 with value = 0.8809
+Query 1/1: Action query time = 5.031 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9657
+t=106: Selected seed 195 with value = 0.9657
+Query 1/1: Action query time = 4.741 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9808
+t=122: Selected seed 195 with value = 0.9808
+Query 1/1: Action query time = 4.931 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9947
+t=138: Selected seed 195 with value = 0.9947
+Query 1/1: Action query time = 5.257 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=154: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/demochan200_t0_s02/2026_08_01-13_41_19--with_future_img--episode=1--success=True--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: True
+# episodes completed so far: 1
+# successes: 1 (100.0%)
+
+Task: open the middle drawer of the cabinet
+Starting episode 2...
+Query 1/1: Action query time = 3.433 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3491
+t=10: Selected seed 195 with value = 0.3491
+Query 1/1: Action query time = 3.932 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4010
+t=26: Selected seed 195 with value = 0.4010
+Query 1/1: Action query time = 5.007 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4475
+t=42: Selected seed 195 with value = 0.4475
+Query 1/1: Action query time = 5.112 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5780
+t=58: Selected seed 195 with value = 0.5780
+Query 1/1: Action query time = 4.972 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6981
+t=74: Selected seed 195 with value = 0.6981
+Query 1/1: Action query time = 4.939 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8854
+t=90: Selected seed 195 with value = 0.8854
+Query 1/1: Action query time = 4.916 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9659
+t=106: Selected seed 195 with value = 0.9659
+Query 1/1: Action query time = 3.485 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9616
+t=122: Selected seed 195 with value = 0.9616
+Query 1/1: Action query time = 4.359 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9845
+t=138: Selected seed 195 with value = 0.9845
+Query 1/1: Action query time = 4.592 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9970
+t=154: Selected seed 195 with value = 0.9970
+Query 1/1: Action query time = 4.935 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=170: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/demochan200_t0_s02/2026_08_01-13_41_19--with_future_img--episode=2--success=True--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: True
+# episodes completed so far: 2
+# successes: 2 (100.0%)
+
+Task: open the middle drawer of the cabinet
+Starting episode 3...
+Query 1/1: Action query time = 4.549 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3471
+t=10: Selected seed 195 with value = 0.3471
+Query 1/1: Action query time = 5.337 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4149
+t=26: Selected seed 195 with value = 0.4149
+Query 1/1: Action query time = 4.553 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4401
+t=42: Selected seed 195 with value = 0.4401
+Query 1/1: Action query time = 5.418 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5560
+t=58: Selected seed 195 with value = 0.5560
+Query 1/1: Action query time = 5.378 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6492
+t=74: Selected seed 195 with value = 0.6492
+Query 1/1: Action query time = 5.504 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8214
+t=90: Selected seed 195 with value = 0.8214
+Query 1/1: Action query time = 3.747 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7849
+t=106: Selected seed 195 with value = 0.7849
+Query 1/1: Action query time = 4.630 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7762
+t=122: Selected seed 195 with value = 0.7762
+Query 1/1: Action query time = 3.527 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9448
+t=138: Selected seed 195 with value = 0.9448
+Query 1/1: Action query time = 2.942 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9663
+t=154: Selected seed 195 with value = 0.9663
+Query 1/1: Action query time = 3.284 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9658
+t=170: Selected seed 195 with value = 0.9658
+Query 1/1: Action query time = 4.379 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9656
+t=186: Selected seed 195 with value = 0.9656
+Query 1/1: Action query time = 3.440 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9694
+t=202: Selected seed 195 with value = 0.9694
+Query 1/1: Action query time = 3.746 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9712
+t=218: Selected seed 195 with value = 0.9712
+Query 1/1: Action query time = 4.053 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9700
+t=234: Selected seed 195 with value = 0.9700
+Query 1/1: Action query time = 3.878 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9694
+t=250: Selected seed 195 with value = 0.9694
+Query 1/1: Action query time = 2.911 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9722
+t=266: Selected seed 195 with value = 0.9722
+Query 1/1: Action query time = 2.267 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9667
+t=282: Selected seed 195 with value = 0.9667
+Query 1/1: Action query time = 2.891 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9559
+t=298: Selected seed 195 with value = 0.9559
+Saved rollout MP4 at path ./rollouts/demochan200_t0_s02/2026_08_01-13_41_19--with_future_img--episode=3--success=False--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: False
+# episodes completed so far: 3
+# successes: 2 (66.7%)
+Current task success rate: 0.6666666666666666
+Current total success rate: 0.6666666666666666
+Final results:
+Total episodes: 3
+Total successes: 2
+Overall success rate: 0.6667 (66.7%)
diff --git a/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_01-13_41_20--demochan200_t0_s09.txt b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_01-13_41_20--demochan200_t0_s09.txt
new file mode 100644
index 0000000000000000000000000000000000000000..cebf492f70a76cc90d4fd3c96fac29a556fd1fcb
--- /dev/null
+++ b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_01-13_41_20--demochan200_t0_s09.txt
@@ -0,0 +1,157 @@
+Eval config: PolicyEvalConfig(suite='libero', model_family='cosmos', config='cosmos_predict2_2b_480p_libero_cl_stage_inference_only', ckpt_path='/home/azureuser/REGEN-main/old/cosmos_policy/cosmos_v2_finetune/cosmos_predict2_2b_480p_libero_goal_task6_regen_cl_demochan_from40k_2gpu/checkpoints/iter_000000200/model', planning_model_config_name='', planning_model_ckpt_path='', config_file='cosmos_policy/config/config.py', packnet_mask_path='', packnet_first_cl_libero_task=6, use_third_person_image=True, num_third_person_images=1, use_wrist_image=True, num_wrist_images=1, use_proprio=True, flip_images=True, use_variance_scale=False, use_jpeg_compression=True, ar_future_prediction=False, ar_value_prediction=False, ar_qvalue_prediction=False, num_denoising_steps_action=5, num_denoising_steps_future_state=1, num_denoising_steps_value=1, unnormalize_actions=True, normalize_proprio=True, dataset_stats_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/libero_goal_regen/dataset_statistics.json', t5_text_embeddings_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/t5_embeddings.pkl', trained_with_image_aug=True, chunk_size=16, num_open_loop_steps=16, deterministic=True, deterministic_reset=False, deterministic_reset_seed=None, use_ensemble_future_state_predictions=False, num_future_state_predictions_in_ensemble=3, future_state_ensemble_aggregation_scheme='average', use_ensemble_value_predictions=False, num_value_predictions_in_ensemble=5, value_ensemble_aggregation_scheme='average', search_depth=1, mask_current_state_action_for_value_prediction=False, mask_future_state_for_qvalue_prediction=False, num_queries_best_of_n=1, use_parallel_inference=False, available_gpus='0', parallel_timeout=15, parallel_tasks_across_gpus=False, task_suite_name='libero_goal', num_trials_per_task=50, task_ids_to_run='0', initial_states_path='DEFAULT', env_img_res=256, local_log_dir='/home/azureuser/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal', run_id_note='demochan200_t0_s09', use_wandb=False, wandb_entity='YOUR_ENTITY', wandb_project='YOUR_PROJECT', seed=195, randomize_seed=False, data_collection=False, jpeg_compress=True, reward_stop_threshold=None, reward_stop_consecutive_steps=3, use_gpt_reward=False, gpt_reward_model='gpt-5.4-mini', gpt_reward_stop_threshold=4, gpt_reward_timeout_s=30.0, save_rollout_video=False, eval_hdf5_path='', eval_hdf5_demo_key='demo_0', data_gen_demo_ids='', eval_episode_ids='9,25,41', replay_actions=False, replay_action_path_dir='', replay_hdf5_path='', data_generation=False, max_generation_steps=200, simple_task_max_steps=100, complex_task_max_steps=200)
+Using serial inference (parallel inference disabled)
+Task suite: libero_goal
+Number of tasks: 10
+Running only task IDs: [0]
+Using default initial states
+
+Task: open the middle drawer of the cabinet
+Starting episode 1...
+Query 1/1: Action query time = 5.466 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3941
+t=10: Selected seed 195 with value = 0.3941
+Query 1/1: Action query time = 4.728 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4346
+t=26: Selected seed 195 with value = 0.4346
+Query 1/1: Action query time = 5.429 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4926
+t=42: Selected seed 195 with value = 0.4926
+Query 1/1: Action query time = 4.762 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5855
+t=58: Selected seed 195 with value = 0.5855
+Query 1/1: Action query time = 4.385 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7003
+t=74: Selected seed 195 with value = 0.7003
+Query 1/1: Action query time = 4.845 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8975
+t=90: Selected seed 195 with value = 0.8975
+Query 1/1: Action query time = 5.095 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9482
+t=106: Selected seed 195 with value = 0.9482
+Query 1/1: Action query time = 5.065 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9642
+t=122: Selected seed 195 with value = 0.9642
+Query 1/1: Action query time = 4.499 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9764
+t=138: Selected seed 195 with value = 0.9764
+Query 1/1: Action query time = 3.644 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9936
+t=154: Selected seed 195 with value = 0.9936
+Query 1/1: Action query time = 4.105 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=170: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/demochan200_t0_s09/2026_08_01-13_41_20--with_future_img--episode=1--success=True--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: True
+# episodes completed so far: 1
+# successes: 1 (100.0%)
+
+Task: open the middle drawer of the cabinet
+Starting episode 2...
+Query 1/1: Action query time = 4.686 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3556
+t=10: Selected seed 195 with value = 0.3556
+Query 1/1: Action query time = 4.879 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3951
+t=26: Selected seed 195 with value = 0.3951
+Query 1/1: Action query time = 4.894 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4379
+t=42: Selected seed 195 with value = 0.4379
+Query 1/1: Action query time = 5.041 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5046
+t=58: Selected seed 195 with value = 0.5046
+Query 1/1: Action query time = 5.040 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6321
+t=74: Selected seed 195 with value = 0.6321
+Query 1/1: Action query time = 4.664 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7126
+t=90: Selected seed 195 with value = 0.7126
+Query 1/1: Action query time = 3.355 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9368
+t=106: Selected seed 195 with value = 0.9368
+Query 1/1: Action query time = 2.598 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9765
+t=122: Selected seed 195 with value = 0.9765
+Query 1/1: Action query time = 3.508 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9931
+t=138: Selected seed 195 with value = 0.9931
+Query 1/1: Action query time = 4.843 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=154: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/demochan200_t0_s09/2026_08_01-13_41_20--with_future_img--episode=2--success=True--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: True
+# episodes completed so far: 2
+# successes: 2 (100.0%)
+
+Task: open the middle drawer of the cabinet
+Starting episode 3...
+Query 1/1: Action query time = 4.847 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3444
+t=10: Selected seed 195 with value = 0.3444
+Query 1/1: Action query time = 4.744 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4112
+t=26: Selected seed 195 with value = 0.4112
+Query 1/1: Action query time = 5.251 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4519
+t=42: Selected seed 195 with value = 0.4519
+Query 1/1: Action query time = 5.462 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5490
+t=58: Selected seed 195 with value = 0.5490
+Query 1/1: Action query time = 5.002 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6478
+t=74: Selected seed 195 with value = 0.6478
+Query 1/1: Action query time = 4.470 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7990
+t=90: Selected seed 195 with value = 0.7990
+Query 1/1: Action query time = 4.205 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9041
+t=106: Selected seed 195 with value = 0.9041
+Query 1/1: Action query time = 3.899 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9737
+t=122: Selected seed 195 with value = 0.9737
+Query 1/1: Action query time = 3.612 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9867
+t=138: Selected seed 195 with value = 0.9867
+Query 1/1: Action query time = 3.664 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=154: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/demochan200_t0_s09/2026_08_01-13_41_20--with_future_img--episode=3--success=True--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: True
+# episodes completed so far: 3
+# successes: 3 (100.0%)
+Current task success rate: 1.0
+Current total success rate: 1.0
+Final results:
+Total episodes: 3
+Total successes: 3
+Overall success rate: 1.0000 (100.0%)
diff --git a/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_01-13_41_21--demochan200_t0_s07.txt b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_01-13_41_21--demochan200_t0_s07.txt
new file mode 100644
index 0000000000000000000000000000000000000000..1f621b5f84303806fae36136ad2980f872ee1183
--- /dev/null
+++ b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_01-13_41_21--demochan200_t0_s07.txt
@@ -0,0 +1,189 @@
+Eval config: PolicyEvalConfig(suite='libero', model_family='cosmos', config='cosmos_predict2_2b_480p_libero_cl_stage_inference_only', ckpt_path='/home/azureuser/REGEN-main/old/cosmos_policy/cosmos_v2_finetune/cosmos_predict2_2b_480p_libero_goal_task6_regen_cl_demochan_from40k_2gpu/checkpoints/iter_000000200/model', planning_model_config_name='', planning_model_ckpt_path='', config_file='cosmos_policy/config/config.py', packnet_mask_path='', packnet_first_cl_libero_task=6, use_third_person_image=True, num_third_person_images=1, use_wrist_image=True, num_wrist_images=1, use_proprio=True, flip_images=True, use_variance_scale=False, use_jpeg_compression=True, ar_future_prediction=False, ar_value_prediction=False, ar_qvalue_prediction=False, num_denoising_steps_action=5, num_denoising_steps_future_state=1, num_denoising_steps_value=1, unnormalize_actions=True, normalize_proprio=True, dataset_stats_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/libero_goal_regen/dataset_statistics.json', t5_text_embeddings_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/t5_embeddings.pkl', trained_with_image_aug=True, chunk_size=16, num_open_loop_steps=16, deterministic=True, deterministic_reset=False, deterministic_reset_seed=None, use_ensemble_future_state_predictions=False, num_future_state_predictions_in_ensemble=3, future_state_ensemble_aggregation_scheme='average', use_ensemble_value_predictions=False, num_value_predictions_in_ensemble=5, value_ensemble_aggregation_scheme='average', search_depth=1, mask_current_state_action_for_value_prediction=False, mask_future_state_for_qvalue_prediction=False, num_queries_best_of_n=1, use_parallel_inference=False, available_gpus='0', parallel_timeout=15, parallel_tasks_across_gpus=False, task_suite_name='libero_goal', num_trials_per_task=50, task_ids_to_run='0', initial_states_path='DEFAULT', env_img_res=256, local_log_dir='/home/azureuser/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal', run_id_note='demochan200_t0_s07', use_wandb=False, wandb_entity='YOUR_ENTITY', wandb_project='YOUR_PROJECT', seed=195, randomize_seed=False, data_collection=False, jpeg_compress=True, reward_stop_threshold=None, reward_stop_consecutive_steps=3, use_gpt_reward=False, gpt_reward_model='gpt-5.4-mini', gpt_reward_stop_threshold=4, gpt_reward_timeout_s=30.0, save_rollout_video=False, eval_hdf5_path='', eval_hdf5_demo_key='demo_0', data_gen_demo_ids='', eval_episode_ids='7,23,39', replay_actions=False, replay_action_path_dir='', replay_hdf5_path='', data_generation=False, max_generation_steps=200, simple_task_max_steps=100, complex_task_max_steps=200)
+Using serial inference (parallel inference disabled)
+Task suite: libero_goal
+Number of tasks: 10
+Running only task IDs: [0]
+Using default initial states
+
+Task: open the middle drawer of the cabinet
+Starting episode 1...
+Query 1/1: Action query time = 6.811 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3346
+t=10: Selected seed 195 with value = 0.3346
+Query 1/1: Action query time = 5.598 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4015
+t=26: Selected seed 195 with value = 0.4015
+Query 1/1: Action query time = 4.529 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4340
+t=42: Selected seed 195 with value = 0.4340
+Query 1/1: Action query time = 3.707 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5393
+t=58: Selected seed 195 with value = 0.5393
+Query 1/1: Action query time = 5.204 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6513
+t=74: Selected seed 195 with value = 0.6513
+Query 1/1: Action query time = 5.432 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9133
+t=90: Selected seed 195 with value = 0.9133
+Query 1/1: Action query time = 5.142 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9706
+t=106: Selected seed 195 with value = 0.9706
+Query 1/1: Action query time = 4.940 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9934
+t=122: Selected seed 195 with value = 0.9934
+Query 1/1: Action query time = 4.559 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=138: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/demochan200_t0_s07/2026_08_01-13_41_21--with_future_img--episode=1--success=True--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: True
+# episodes completed so far: 1
+# successes: 1 (100.0%)
+
+Task: open the middle drawer of the cabinet
+Starting episode 2...
+Query 1/1: Action query time = 4.002 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3153
+t=10: Selected seed 195 with value = 0.3153
+Query 1/1: Action query time = 5.114 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4081
+t=26: Selected seed 195 with value = 0.4081
+Query 1/1: Action query time = 4.918 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4809
+t=42: Selected seed 195 with value = 0.4809
+Query 1/1: Action query time = 4.874 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5383
+t=58: Selected seed 195 with value = 0.5383
+Query 1/1: Action query time = 5.210 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6398
+t=74: Selected seed 195 with value = 0.6398
+Query 1/1: Action query time = 5.203 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7285
+t=90: Selected seed 195 with value = 0.7285
+Query 1/1: Action query time = 4.479 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8282
+t=106: Selected seed 195 with value = 0.8282
+Query 1/1: Action query time = 3.523 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9703
+t=122: Selected seed 195 with value = 0.9703
+Query 1/1: Action query time = 4.262 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9641
+t=138: Selected seed 195 with value = 0.9641
+Query 1/1: Action query time = 4.094 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9745
+t=154: Selected seed 195 with value = 0.9745
+Query 1/1: Action query time = 4.798 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=170: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/demochan200_t0_s07/2026_08_01-13_41_21--with_future_img--episode=2--success=True--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: True
+# episodes completed so far: 2
+# successes: 2 (100.0%)
+
+Task: open the middle drawer of the cabinet
+Starting episode 3...
+Query 1/1: Action query time = 4.530 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3329
+t=10: Selected seed 195 with value = 0.3329
+Query 1/1: Action query time = 5.218 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4125
+t=26: Selected seed 195 with value = 0.4125
+Query 1/1: Action query time = 4.501 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4505
+t=42: Selected seed 195 with value = 0.4505
+Query 1/1: Action query time = 5.165 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5384
+t=58: Selected seed 195 with value = 0.5384
+Query 1/1: Action query time = 5.282 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6235
+t=74: Selected seed 195 with value = 0.6235
+Query 1/1: Action query time = 5.513 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8218
+t=90: Selected seed 195 with value = 0.8218
+Query 1/1: Action query time = 3.517 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7460
+t=106: Selected seed 195 with value = 0.7460
+Query 1/1: Action query time = 4.660 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7215
+t=122: Selected seed 195 with value = 0.7215
+Query 1/1: Action query time = 3.744 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7173
+t=138: Selected seed 195 with value = 0.7173
+Query 1/1: Action query time = 3.940 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7621
+t=154: Selected seed 195 with value = 0.7621
+Query 1/1: Action query time = 5.030 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7868
+t=170: Selected seed 195 with value = 0.7868
+Query 1/1: Action query time = 3.689 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7761
+t=186: Selected seed 195 with value = 0.7761
+Query 1/1: Action query time = 4.006 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7893
+t=202: Selected seed 195 with value = 0.7893
+Query 1/1: Action query time = 3.879 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7929
+t=218: Selected seed 195 with value = 0.7929
+Query 1/1: Action query time = 3.113 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7843
+t=234: Selected seed 195 with value = 0.7843
+Query 1/1: Action query time = 2.710 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7808
+t=250: Selected seed 195 with value = 0.7808
+Query 1/1: Action query time = 3.227 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7820
+t=266: Selected seed 195 with value = 0.7820
+Query 1/1: Action query time = 2.620 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7849
+t=282: Selected seed 195 with value = 0.7849
+Query 1/1: Action query time = 2.272 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7828
+t=298: Selected seed 195 with value = 0.7828
+Saved rollout MP4 at path ./rollouts/demochan200_t0_s07/2026_08_01-13_41_21--with_future_img--episode=3--success=False--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: False
+# episodes completed so far: 3
+# successes: 2 (66.7%)
+Current task success rate: 0.6666666666666666
+Current total success rate: 0.6666666666666666
+Final results:
+Total episodes: 3
+Total successes: 2
+Overall success rate: 0.6667 (66.7%)
diff --git a/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_01-13_46_15--demochan200_t2_s00.txt b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_01-13_46_15--demochan200_t2_s00.txt
new file mode 100644
index 0000000000000000000000000000000000000000..77e9bc5c3aab88b23fcb54e793a33c8d449c428d
--- /dev/null
+++ b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_01-13_46_15--demochan200_t2_s00.txt
@@ -0,0 +1,292 @@
+Eval config: PolicyEvalConfig(suite='libero', model_family='cosmos', config='cosmos_predict2_2b_480p_libero_cl_stage_inference_only', ckpt_path='/home/azureuser/REGEN-main/old/cosmos_policy/cosmos_v2_finetune/cosmos_predict2_2b_480p_libero_goal_task6_regen_cl_demochan_from40k_2gpu/checkpoints/iter_000000200/model', planning_model_config_name='', planning_model_ckpt_path='', config_file='cosmos_policy/config/config.py', packnet_mask_path='', packnet_first_cl_libero_task=6, use_third_person_image=True, num_third_person_images=1, use_wrist_image=True, num_wrist_images=1, use_proprio=True, flip_images=True, use_variance_scale=False, use_jpeg_compression=True, ar_future_prediction=False, ar_value_prediction=False, ar_qvalue_prediction=False, num_denoising_steps_action=5, num_denoising_steps_future_state=1, num_denoising_steps_value=1, unnormalize_actions=True, normalize_proprio=True, dataset_stats_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/libero_goal_regen/dataset_statistics.json', t5_text_embeddings_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/t5_embeddings.pkl', trained_with_image_aug=True, chunk_size=16, num_open_loop_steps=16, deterministic=True, deterministic_reset=False, deterministic_reset_seed=None, use_ensemble_future_state_predictions=False, num_future_state_predictions_in_ensemble=3, future_state_ensemble_aggregation_scheme='average', use_ensemble_value_predictions=False, num_value_predictions_in_ensemble=5, value_ensemble_aggregation_scheme='average', search_depth=1, mask_current_state_action_for_value_prediction=False, mask_future_state_for_qvalue_prediction=False, num_queries_best_of_n=1, use_parallel_inference=False, available_gpus='0', parallel_timeout=15, parallel_tasks_across_gpus=False, task_suite_name='libero_goal', num_trials_per_task=50, task_ids_to_run='2', initial_states_path='DEFAULT', env_img_res=256, local_log_dir='/home/azureuser/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal', run_id_note='demochan200_t2_s00', use_wandb=False, wandb_entity='YOUR_ENTITY', wandb_project='YOUR_PROJECT', seed=195, randomize_seed=False, data_collection=False, jpeg_compress=True, reward_stop_threshold=None, reward_stop_consecutive_steps=3, use_gpt_reward=False, gpt_reward_model='gpt-5.4-mini', gpt_reward_stop_threshold=4, gpt_reward_timeout_s=30.0, save_rollout_video=False, eval_hdf5_path='', eval_hdf5_demo_key='demo_0', data_gen_demo_ids='', eval_episode_ids='0,16,32,48', replay_actions=False, replay_action_path_dir='', replay_hdf5_path='', data_generation=False, max_generation_steps=200, simple_task_max_steps=100, complex_task_max_steps=200)
+Using serial inference (parallel inference disabled)
+Task suite: libero_goal
+Number of tasks: 10
+Running only task IDs: [2]
+Using default initial states
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 1...
+Query 1/1: Action query time = 2.757 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5535
+t=10: Selected seed 195 with value = 0.5535
+Query 1/1: Action query time = 3.593 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6571
+t=26: Selected seed 195 with value = 0.6571
+Query 1/1: Action query time = 4.434 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7853
+t=42: Selected seed 195 with value = 0.7853
+Query 1/1: Action query time = 4.467 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9102
+t=58: Selected seed 195 with value = 0.9102
+Query 1/1: Action query time = 5.176 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9895
+t=74: Selected seed 195 with value = 0.9895
+Query 1/1: Action query time = 5.567 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/demochan200_t2_s00/2026_08_01-13_46_15--with_future_img--episode=1--success=True--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: True
+# episodes completed so far: 1
+# successes: 1 (100.0%)
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 2...
+Query 1/1: Action query time = 5.599 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4902
+t=10: Selected seed 195 with value = 0.4902
+Query 1/1: Action query time = 4.153 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5846
+t=26: Selected seed 195 with value = 0.5846
+Query 1/1: Action query time = 3.144 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8009
+t=42: Selected seed 195 with value = 0.8009
+Query 1/1: Action query time = 5.295 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7043
+t=58: Selected seed 195 with value = 0.7043
+Query 1/1: Action query time = 5.194 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8064
+t=74: Selected seed 195 with value = 0.8064
+Query 1/1: Action query time = 5.385 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8973
+t=90: Selected seed 195 with value = 0.8973
+Query 1/1: Action query time = 5.405 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=106: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.796 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=122: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.720 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=138: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 3.874 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=154: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.788 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=170: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.910 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=186: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 5.103 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=202: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.428 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=218: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 2.543 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9935
+t=234: Selected seed 195 with value = 0.9935
+Query 1/1: Action query time = 2.536 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9565
+t=250: Selected seed 195 with value = 0.9565
+Query 1/1: Action query time = 3.189 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8531
+t=266: Selected seed 195 with value = 0.8531
+Query 1/1: Action query time = 4.928 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8659
+t=282: Selected seed 195 with value = 0.8659
+Query 1/1: Action query time = 5.043 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7797
+t=298: Selected seed 195 with value = 0.7797
+Saved rollout MP4 at path ./rollouts/demochan200_t2_s00/2026_08_01-13_46_15--with_future_img--episode=2--success=False--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: False
+# episodes completed so far: 2
+# successes: 1 (50.0%)
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 3...
+Query 1/1: Action query time = 4.326 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4972
+t=10: Selected seed 195 with value = 0.4972
+Query 1/1: Action query time = 3.420 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5718
+t=26: Selected seed 195 with value = 0.5718
+Query 1/1: Action query time = 4.441 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6492
+t=42: Selected seed 195 with value = 0.6492
+Query 1/1: Action query time = 4.408 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7356
+t=58: Selected seed 195 with value = 0.7356
+Query 1/1: Action query time = 4.489 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9149
+t=74: Selected seed 195 with value = 0.9149
+Query 1/1: Action query time = 4.333 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.789 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=106: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.284 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=122: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 3.851 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=138: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 3.818 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=154: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.286 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=170: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.917 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=186: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.556 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=202: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 3.956 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=218: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 2.030 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=234: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 2.677 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=250: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.106 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9989
+t=266: Selected seed 195 with value = 0.9989
+Query 1/1: Action query time = 4.796 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9297
+t=282: Selected seed 195 with value = 0.9297
+Query 1/1: Action query time = 5.264 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9231
+t=298: Selected seed 195 with value = 0.9231
+Saved rollout MP4 at path ./rollouts/demochan200_t2_s00/2026_08_01-13_46_15--with_future_img--episode=3--success=False--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: False
+# episodes completed so far: 3
+# successes: 1 (33.3%)
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 4...
+Query 1/1: Action query time = 3.557 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5086
+t=10: Selected seed 195 with value = 0.5086
+Query 1/1: Action query time = 3.146 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5476
+t=26: Selected seed 195 with value = 0.5476
+Query 1/1: Action query time = 3.168 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6942
+t=42: Selected seed 195 with value = 0.6942
+Query 1/1: Action query time = 3.135 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7753
+t=58: Selected seed 195 with value = 0.7753
+Query 1/1: Action query time = 3.143 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8350
+t=74: Selected seed 195 with value = 0.8350
+Query 1/1: Action query time = 3.154 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9640
+t=90: Selected seed 195 with value = 0.9640
+Query 1/1: Action query time = 2.820 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=106: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 2.419 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=122: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 2.355 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=138: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 2.290 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=154: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 2.284 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=170: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 2.141 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=186: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 2.233 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=202: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 2.549 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=218: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 1.185 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=234: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.974 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=250: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.982 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9975
+t=266: Selected seed 195 with value = 0.9975
+Query 1/1: Action query time = 0.973 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9094
+t=282: Selected seed 195 with value = 0.9094
+Query 1/1: Action query time = 0.956 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9235
+t=298: Selected seed 195 with value = 0.9235
+Saved rollout MP4 at path ./rollouts/demochan200_t2_s00/2026_08_01-13_46_15--with_future_img--episode=4--success=False--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: False
+# episodes completed so far: 4
+# successes: 1 (25.0%)
+Current task success rate: 0.25
+Current total success rate: 0.25
+Final results:
+Total episodes: 4
+Total successes: 1
+Overall success rate: 0.2500 (25.0%)
diff --git a/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_01-13_46_15--demochan200_t2_s04.txt b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_01-13_46_15--demochan200_t2_s04.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0afecc084fd1d79545dfc436c7301b1d4bfe4bb7
--- /dev/null
+++ b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_01-13_46_15--demochan200_t2_s04.txt
@@ -0,0 +1,209 @@
+Eval config: PolicyEvalConfig(suite='libero', model_family='cosmos', config='cosmos_predict2_2b_480p_libero_cl_stage_inference_only', ckpt_path='/home/azureuser/REGEN-main/old/cosmos_policy/cosmos_v2_finetune/cosmos_predict2_2b_480p_libero_goal_task6_regen_cl_demochan_from40k_2gpu/checkpoints/iter_000000200/model', planning_model_config_name='', planning_model_ckpt_path='', config_file='cosmos_policy/config/config.py', packnet_mask_path='', packnet_first_cl_libero_task=6, use_third_person_image=True, num_third_person_images=1, use_wrist_image=True, num_wrist_images=1, use_proprio=True, flip_images=True, use_variance_scale=False, use_jpeg_compression=True, ar_future_prediction=False, ar_value_prediction=False, ar_qvalue_prediction=False, num_denoising_steps_action=5, num_denoising_steps_future_state=1, num_denoising_steps_value=1, unnormalize_actions=True, normalize_proprio=True, dataset_stats_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/libero_goal_regen/dataset_statistics.json', t5_text_embeddings_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/t5_embeddings.pkl', trained_with_image_aug=True, chunk_size=16, num_open_loop_steps=16, deterministic=True, deterministic_reset=False, deterministic_reset_seed=None, use_ensemble_future_state_predictions=False, num_future_state_predictions_in_ensemble=3, future_state_ensemble_aggregation_scheme='average', use_ensemble_value_predictions=False, num_value_predictions_in_ensemble=5, value_ensemble_aggregation_scheme='average', search_depth=1, mask_current_state_action_for_value_prediction=False, mask_future_state_for_qvalue_prediction=False, num_queries_best_of_n=1, use_parallel_inference=False, available_gpus='0', parallel_timeout=15, parallel_tasks_across_gpus=False, task_suite_name='libero_goal', num_trials_per_task=50, task_ids_to_run='2', initial_states_path='DEFAULT', env_img_res=256, local_log_dir='/home/azureuser/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal', run_id_note='demochan200_t2_s04', use_wandb=False, wandb_entity='YOUR_ENTITY', wandb_project='YOUR_PROJECT', seed=195, randomize_seed=False, data_collection=False, jpeg_compress=True, reward_stop_threshold=None, reward_stop_consecutive_steps=3, use_gpt_reward=False, gpt_reward_model='gpt-5.4-mini', gpt_reward_stop_threshold=4, gpt_reward_timeout_s=30.0, save_rollout_video=False, eval_hdf5_path='', eval_hdf5_demo_key='demo_0', data_gen_demo_ids='', eval_episode_ids='4,20,36', replay_actions=False, replay_action_path_dir='', replay_hdf5_path='', data_generation=False, max_generation_steps=200, simple_task_max_steps=100, complex_task_max_steps=200)
+Using serial inference (parallel inference disabled)
+Task suite: libero_goal
+Number of tasks: 10
+Running only task IDs: [2]
+Using default initial states
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 1...
+Query 1/1: Action query time = 3.424 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5240
+t=10: Selected seed 195 with value = 0.5240
+Query 1/1: Action query time = 5.518 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6142
+t=26: Selected seed 195 with value = 0.6142
+Query 1/1: Action query time = 5.542 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7315
+t=42: Selected seed 195 with value = 0.7315
+Query 1/1: Action query time = 4.990 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7869
+t=58: Selected seed 195 with value = 0.7869
+Query 1/1: Action query time = 4.443 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9508
+t=74: Selected seed 195 with value = 0.9508
+Query 1/1: Action query time = 4.672 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9997
+t=90: Selected seed 195 with value = 0.9997
+Saved rollout MP4 at path ./rollouts/demochan200_t2_s04/2026_08_01-13_46_15--with_future_img--episode=1--success=True--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: True
+# episodes completed so far: 1
+# successes: 1 (100.0%)
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 2...
+Query 1/1: Action query time = 4.258 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5648
+t=10: Selected seed 195 with value = 0.5648
+Query 1/1: Action query time = 4.769 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6161
+t=26: Selected seed 195 with value = 0.6161
+Query 1/1: Action query time = 5.554 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7199
+t=42: Selected seed 195 with value = 0.7199
+Query 1/1: Action query time = 5.292 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7029
+t=58: Selected seed 195 with value = 0.7029
+Query 1/1: Action query time = 5.161 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8290
+t=74: Selected seed 195 with value = 0.8290
+Query 1/1: Action query time = 4.676 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8584
+t=90: Selected seed 195 with value = 0.8584
+Query 1/1: Action query time = 4.335 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8737
+t=106: Selected seed 195 with value = 0.8737
+Query 1/1: Action query time = 4.798 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7992
+t=122: Selected seed 195 with value = 0.7992
+Query 1/1: Action query time = 5.256 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9079
+t=138: Selected seed 195 with value = 0.9079
+Query 1/1: Action query time = 5.133 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8434
+t=154: Selected seed 195 with value = 0.8434
+Query 1/1: Action query time = 5.159 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9127
+t=170: Selected seed 195 with value = 0.9127
+Query 1/1: Action query time = 5.296 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8422
+t=186: Selected seed 195 with value = 0.8422
+Query 1/1: Action query time = 4.902 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8283
+t=202: Selected seed 195 with value = 0.8283
+Query 1/1: Action query time = 2.129 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8027
+t=218: Selected seed 195 with value = 0.8027
+Query 1/1: Action query time = 2.302 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8507
+t=234: Selected seed 195 with value = 0.8507
+Query 1/1: Action query time = 3.293 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8330
+t=250: Selected seed 195 with value = 0.8330
+Query 1/1: Action query time = 5.917 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8249
+t=266: Selected seed 195 with value = 0.8249
+Query 1/1: Action query time = 3.380 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7973
+t=282: Selected seed 195 with value = 0.7973
+Query 1/1: Action query time = 4.121 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8115
+t=298: Selected seed 195 with value = 0.8115
+Saved rollout MP4 at path ./rollouts/demochan200_t2_s04/2026_08_01-13_46_15--with_future_img--episode=2--success=False--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: False
+# episodes completed so far: 2
+# successes: 1 (50.0%)
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 3...
+Query 1/1: Action query time = 2.657 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4817
+t=10: Selected seed 195 with value = 0.4817
+Query 1/1: Action query time = 3.638 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5698
+t=26: Selected seed 195 with value = 0.5698
+Query 1/1: Action query time = 4.629 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7109
+t=42: Selected seed 195 with value = 0.7109
+Query 1/1: Action query time = 4.871 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7399
+t=58: Selected seed 195 with value = 0.7399
+Query 1/1: Action query time = 4.896 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9000
+t=74: Selected seed 195 with value = 0.9000
+Query 1/1: Action query time = 4.350 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.575 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=106: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 3.631 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=122: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.542 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=138: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.308 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=154: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 3.744 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=170: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 3.851 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=186: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.680 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=202: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.102 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=218: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 2.460 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=234: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 1.795 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=250: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.061 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=266: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.721 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=282: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.604 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9430
+t=298: Selected seed 195 with value = 0.9430
+Saved rollout MP4 at path ./rollouts/demochan200_t2_s04/2026_08_01-13_46_15--with_future_img--episode=3--success=False--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: False
+# episodes completed so far: 3
+# successes: 1 (33.3%)
+Current task success rate: 0.3333333333333333
+Current total success rate: 0.3333333333333333
+Final results:
+Total episodes: 3
+Total successes: 1
+Overall success rate: 0.3333 (33.3%)
diff --git a/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_01-13_46_15--demochan200_t2_s05.txt b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_01-13_46_15--demochan200_t2_s05.txt
new file mode 100644
index 0000000000000000000000000000000000000000..5179d30c5558f2e319c3c8c79ac7575ad1e5e315
--- /dev/null
+++ b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_01-13_46_15--demochan200_t2_s05.txt
@@ -0,0 +1,261 @@
+Eval config: PolicyEvalConfig(suite='libero', model_family='cosmos', config='cosmos_predict2_2b_480p_libero_cl_stage_inference_only', ckpt_path='/home/azureuser/REGEN-main/old/cosmos_policy/cosmos_v2_finetune/cosmos_predict2_2b_480p_libero_goal_task6_regen_cl_demochan_from40k_2gpu/checkpoints/iter_000000200/model', planning_model_config_name='', planning_model_ckpt_path='', config_file='cosmos_policy/config/config.py', packnet_mask_path='', packnet_first_cl_libero_task=6, use_third_person_image=True, num_third_person_images=1, use_wrist_image=True, num_wrist_images=1, use_proprio=True, flip_images=True, use_variance_scale=False, use_jpeg_compression=True, ar_future_prediction=False, ar_value_prediction=False, ar_qvalue_prediction=False, num_denoising_steps_action=5, num_denoising_steps_future_state=1, num_denoising_steps_value=1, unnormalize_actions=True, normalize_proprio=True, dataset_stats_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/libero_goal_regen/dataset_statistics.json', t5_text_embeddings_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/t5_embeddings.pkl', trained_with_image_aug=True, chunk_size=16, num_open_loop_steps=16, deterministic=True, deterministic_reset=False, deterministic_reset_seed=None, use_ensemble_future_state_predictions=False, num_future_state_predictions_in_ensemble=3, future_state_ensemble_aggregation_scheme='average', use_ensemble_value_predictions=False, num_value_predictions_in_ensemble=5, value_ensemble_aggregation_scheme='average', search_depth=1, mask_current_state_action_for_value_prediction=False, mask_future_state_for_qvalue_prediction=False, num_queries_best_of_n=1, use_parallel_inference=False, available_gpus='0', parallel_timeout=15, parallel_tasks_across_gpus=False, task_suite_name='libero_goal', num_trials_per_task=50, task_ids_to_run='2', initial_states_path='DEFAULT', env_img_res=256, local_log_dir='/home/azureuser/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal', run_id_note='demochan200_t2_s05', use_wandb=False, wandb_entity='YOUR_ENTITY', wandb_project='YOUR_PROJECT', seed=195, randomize_seed=False, data_collection=False, jpeg_compress=True, reward_stop_threshold=None, reward_stop_consecutive_steps=3, use_gpt_reward=False, gpt_reward_model='gpt-5.4-mini', gpt_reward_stop_threshold=4, gpt_reward_timeout_s=30.0, save_rollout_video=False, eval_hdf5_path='', eval_hdf5_demo_key='demo_0', data_gen_demo_ids='', eval_episode_ids='5,21,37', replay_actions=False, replay_action_path_dir='', replay_hdf5_path='', data_generation=False, max_generation_steps=200, simple_task_max_steps=100, complex_task_max_steps=200)
+Using serial inference (parallel inference disabled)
+Task suite: libero_goal
+Number of tasks: 10
+Running only task IDs: [2]
+Using default initial states
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 1...
+Query 1/1: Action query time = 6.021 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5127
+t=10: Selected seed 195 with value = 0.5127
+Query 1/1: Action query time = 4.734 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5875
+t=26: Selected seed 195 with value = 0.5875
+Query 1/1: Action query time = 3.907 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7978
+t=42: Selected seed 195 with value = 0.7978
+Query 1/1: Action query time = 4.742 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7695
+t=58: Selected seed 195 with value = 0.7695
+Query 1/1: Action query time = 5.455 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9356
+t=74: Selected seed 195 with value = 0.9356
+Query 1/1: Action query time = 3.509 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9865
+t=90: Selected seed 195 with value = 0.9865
+Query 1/1: Action query time = 5.324 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=106: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.489 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=122: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 5.624 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=138: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 5.253 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=154: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 5.260 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=170: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.882 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=186: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.380 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=202: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.799 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=218: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.581 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=234: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.714 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9716
+t=250: Selected seed 195 with value = 0.9716
+Query 1/1: Action query time = 5.126 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8700
+t=266: Selected seed 195 with value = 0.8700
+Query 1/1: Action query time = 5.347 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8955
+t=282: Selected seed 195 with value = 0.8955
+Query 1/1: Action query time = 5.137 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8607
+t=298: Selected seed 195 with value = 0.8607
+Saved rollout MP4 at path ./rollouts/demochan200_t2_s05/2026_08_01-13_46_15--with_future_img--episode=1--success=False--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: False
+# episodes completed so far: 1
+# successes: 0 (0.0%)
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 2...
+Query 1/1: Action query time = 6.016 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5284
+t=10: Selected seed 195 with value = 0.5284
+Query 1/1: Action query time = 3.275 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6125
+t=26: Selected seed 195 with value = 0.6125
+Query 1/1: Action query time = 4.260 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7678
+t=42: Selected seed 195 with value = 0.7678
+Query 1/1: Action query time = 3.009 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8516
+t=58: Selected seed 195 with value = 0.8516
+Query 1/1: Action query time = 3.211 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9878
+t=74: Selected seed 195 with value = 0.9878
+Query 1/1: Action query time = 4.128 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 3.234 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=106: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.383 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=122: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.388 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=138: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.439 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=154: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.379 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=170: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.904 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=186: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.471 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=202: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.370 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=218: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.563 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=234: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.322 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=250: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.317 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9548
+t=266: Selected seed 195 with value = 0.9548
+Query 1/1: Action query time = 4.813 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9134
+t=282: Selected seed 195 with value = 0.9134
+Query 1/1: Action query time = 4.362 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8988
+t=298: Selected seed 195 with value = 0.8988
+Saved rollout MP4 at path ./rollouts/demochan200_t2_s05/2026_08_01-13_46_15--with_future_img--episode=2--success=False--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: False
+# episodes completed so far: 2
+# successes: 0 (0.0%)
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 3...
+Query 1/1: Action query time = 4.088 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3409
+t=10: Selected seed 195 with value = 0.3409
+Query 1/1: Action query time = 3.725 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4735
+t=26: Selected seed 195 with value = 0.4735
+Query 1/1: Action query time = 4.399 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6762
+t=42: Selected seed 195 with value = 0.6762
+Query 1/1: Action query time = 3.137 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7017
+t=58: Selected seed 195 with value = 0.7017
+Query 1/1: Action query time = 3.164 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6979
+t=74: Selected seed 195 with value = 0.6979
+Query 1/1: Action query time = 3.528 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8606
+t=90: Selected seed 195 with value = 0.8606
+Query 1/1: Action query time = 3.131 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8727
+t=106: Selected seed 195 with value = 0.8727
+Query 1/1: Action query time = 3.222 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8635
+t=122: Selected seed 195 with value = 0.8635
+Query 1/1: Action query time = 3.178 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9184
+t=138: Selected seed 195 with value = 0.9184
+Query 1/1: Action query time = 3.177 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8532
+t=154: Selected seed 195 with value = 0.8532
+Query 1/1: Action query time = 3.175 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9360
+t=170: Selected seed 195 with value = 0.9360
+Query 1/1: Action query time = 2.770 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8680
+t=186: Selected seed 195 with value = 0.8680
+Query 1/1: Action query time = 2.573 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9456
+t=202: Selected seed 195 with value = 0.9456
+Query 1/1: Action query time = 2.586 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8750
+t=218: Selected seed 195 with value = 0.8750
+Query 1/1: Action query time = 2.600 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9428
+t=234: Selected seed 195 with value = 0.9428
+Query 1/1: Action query time = 2.612 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8785
+t=250: Selected seed 195 with value = 0.8785
+Query 1/1: Action query time = 2.622 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8861
+t=266: Selected seed 195 with value = 0.8861
+Query 1/1: Action query time = 2.455 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8770
+t=282: Selected seed 195 with value = 0.8770
+Query 1/1: Action query time = 1.265 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8752
+t=298: Selected seed 195 with value = 0.8752
+Saved rollout MP4 at path ./rollouts/demochan200_t2_s05/2026_08_01-13_46_15--with_future_img--episode=3--success=False--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: False
+# episodes completed so far: 3
+# successes: 0 (0.0%)
+Current task success rate: 0.0
+Current total success rate: 0.0
+Final results:
+Total episodes: 3
+Total successes: 0
+Overall success rate: 0.0000 (0.0%)
diff --git a/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_01-13_46_16--demochan200_t2_s01.txt b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_01-13_46_16--demochan200_t2_s01.txt
new file mode 100644
index 0000000000000000000000000000000000000000..1a0687e22e05932036368979f8743c70d0eac7de
--- /dev/null
+++ b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_01-13_46_16--demochan200_t2_s01.txt
@@ -0,0 +1,240 @@
+Eval config: PolicyEvalConfig(suite='libero', model_family='cosmos', config='cosmos_predict2_2b_480p_libero_cl_stage_inference_only', ckpt_path='/home/azureuser/REGEN-main/old/cosmos_policy/cosmos_v2_finetune/cosmos_predict2_2b_480p_libero_goal_task6_regen_cl_demochan_from40k_2gpu/checkpoints/iter_000000200/model', planning_model_config_name='', planning_model_ckpt_path='', config_file='cosmos_policy/config/config.py', packnet_mask_path='', packnet_first_cl_libero_task=6, use_third_person_image=True, num_third_person_images=1, use_wrist_image=True, num_wrist_images=1, use_proprio=True, flip_images=True, use_variance_scale=False, use_jpeg_compression=True, ar_future_prediction=False, ar_value_prediction=False, ar_qvalue_prediction=False, num_denoising_steps_action=5, num_denoising_steps_future_state=1, num_denoising_steps_value=1, unnormalize_actions=True, normalize_proprio=True, dataset_stats_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/libero_goal_regen/dataset_statistics.json', t5_text_embeddings_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/t5_embeddings.pkl', trained_with_image_aug=True, chunk_size=16, num_open_loop_steps=16, deterministic=True, deterministic_reset=False, deterministic_reset_seed=None, use_ensemble_future_state_predictions=False, num_future_state_predictions_in_ensemble=3, future_state_ensemble_aggregation_scheme='average', use_ensemble_value_predictions=False, num_value_predictions_in_ensemble=5, value_ensemble_aggregation_scheme='average', search_depth=1, mask_current_state_action_for_value_prediction=False, mask_future_state_for_qvalue_prediction=False, num_queries_best_of_n=1, use_parallel_inference=False, available_gpus='0', parallel_timeout=15, parallel_tasks_across_gpus=False, task_suite_name='libero_goal', num_trials_per_task=50, task_ids_to_run='2', initial_states_path='DEFAULT', env_img_res=256, local_log_dir='/home/azureuser/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal', run_id_note='demochan200_t2_s01', use_wandb=False, wandb_entity='YOUR_ENTITY', wandb_project='YOUR_PROJECT', seed=195, randomize_seed=False, data_collection=False, jpeg_compress=True, reward_stop_threshold=None, reward_stop_consecutive_steps=3, use_gpt_reward=False, gpt_reward_model='gpt-5.4-mini', gpt_reward_stop_threshold=4, gpt_reward_timeout_s=30.0, save_rollout_video=False, eval_hdf5_path='', eval_hdf5_demo_key='demo_0', data_gen_demo_ids='', eval_episode_ids='1,17,33,49', replay_actions=False, replay_action_path_dir='', replay_hdf5_path='', data_generation=False, max_generation_steps=200, simple_task_max_steps=100, complex_task_max_steps=200)
+Using serial inference (parallel inference disabled)
+Task suite: libero_goal
+Number of tasks: 10
+Running only task IDs: [2]
+Using default initial states
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 1...
+Query 1/1: Action query time = 6.070 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4910
+t=10: Selected seed 195 with value = 0.4910
+Query 1/1: Action query time = 5.527 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5414
+t=26: Selected seed 195 with value = 0.5414
+Query 1/1: Action query time = 5.429 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8246
+t=42: Selected seed 195 with value = 0.8246
+Query 1/1: Action query time = 3.827 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7578
+t=58: Selected seed 195 with value = 0.7578
+Query 1/1: Action query time = 4.731 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8142
+t=74: Selected seed 195 with value = 0.8142
+Query 1/1: Action query time = 3.831 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9483
+t=90: Selected seed 195 with value = 0.9483
+Query 1/1: Action query time = 4.151 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=106: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.075 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=122: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 5.318 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=138: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 5.667 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=154: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 5.238 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=170: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.764 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=186: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.547 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=202: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 5.084 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=218: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 5.497 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=234: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 5.096 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=250: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 5.137 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=266: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 5.211 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=282: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.922 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=298: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/demochan200_t2_s01/2026_08_01-13_46_16--with_future_img--episode=1--success=False--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: False
+# episodes completed so far: 1
+# successes: 0 (0.0%)
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 2...
+Query 1/1: Action query time = 4.510 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5379
+t=10: Selected seed 195 with value = 0.5379
+Query 1/1: Action query time = 3.399 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5736
+t=26: Selected seed 195 with value = 0.5736
+Query 1/1: Action query time = 5.433 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7073
+t=42: Selected seed 195 with value = 0.7073
+Query 1/1: Action query time = 3.032 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7654
+t=58: Selected seed 195 with value = 0.7654
+Query 1/1: Action query time = 3.148 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8390
+t=74: Selected seed 195 with value = 0.8390
+Query 1/1: Action query time = 3.254 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9815
+t=90: Selected seed 195 with value = 0.9815
+Saved rollout MP4 at path ./rollouts/demochan200_t2_s01/2026_08_01-13_46_16--with_future_img--episode=2--success=True--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: True
+# episodes completed so far: 2
+# successes: 1 (50.0%)
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 3...
+Query 1/1: Action query time = 3.932 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4955
+t=10: Selected seed 195 with value = 0.4955
+Query 1/1: Action query time = 4.427 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5743
+t=26: Selected seed 195 with value = 0.5743
+Query 1/1: Action query time = 4.317 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8656
+t=42: Selected seed 195 with value = 0.8656
+Query 1/1: Action query time = 4.695 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7570
+t=58: Selected seed 195 with value = 0.7570
+Query 1/1: Action query time = 4.397 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8639
+t=74: Selected seed 195 with value = 0.8639
+Query 1/1: Action query time = 4.426 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9974
+t=90: Selected seed 195 with value = 0.9974
+Saved rollout MP4 at path ./rollouts/demochan200_t2_s01/2026_08_01-13_46_16--with_future_img--episode=3--success=True--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: True
+# episodes completed so far: 3
+# successes: 2 (66.7%)
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 4...
+Query 1/1: Action query time = 4.695 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5240
+t=10: Selected seed 195 with value = 0.5240
+Query 1/1: Action query time = 4.556 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5627
+t=26: Selected seed 195 with value = 0.5627
+Query 1/1: Action query time = 4.654 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6832
+t=42: Selected seed 195 with value = 0.6832
+Query 1/1: Action query time = 4.144 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7497
+t=58: Selected seed 195 with value = 0.7497
+Query 1/1: Action query time = 3.759 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9112
+t=74: Selected seed 195 with value = 0.9112
+Query 1/1: Action query time = 3.326 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9992
+t=90: Selected seed 195 with value = 0.9992
+Query 1/1: Action query time = 2.674 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=106: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.207 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=122: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.729 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=138: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 5.219 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=154: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 2.519 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=170: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 2.956 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=186: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 3.394 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=202: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 2.997 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=218: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 3.103 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=234: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 3.184 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=250: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 3.210 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=266: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 3.170 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=282: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 3.158 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9393
+t=298: Selected seed 195 with value = 0.9393
+Saved rollout MP4 at path ./rollouts/demochan200_t2_s01/2026_08_01-13_46_16--with_future_img--episode=4--success=False--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: False
+# episodes completed so far: 4
+# successes: 2 (50.0%)
+Current task success rate: 0.5
+Current total success rate: 0.5
+Final results:
+Total episodes: 4
+Total successes: 2
+Overall success rate: 0.5000 (50.0%)
diff --git a/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_01-13_46_16--demochan200_t2_s09.txt b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_01-13_46_16--demochan200_t2_s09.txt
new file mode 100644
index 0000000000000000000000000000000000000000..ae71844887295939b944e32d422a20a334d5782f
--- /dev/null
+++ b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_01-13_46_16--demochan200_t2_s09.txt
@@ -0,0 +1,209 @@
+Eval config: PolicyEvalConfig(suite='libero', model_family='cosmos', config='cosmos_predict2_2b_480p_libero_cl_stage_inference_only', ckpt_path='/home/azureuser/REGEN-main/old/cosmos_policy/cosmos_v2_finetune/cosmos_predict2_2b_480p_libero_goal_task6_regen_cl_demochan_from40k_2gpu/checkpoints/iter_000000200/model', planning_model_config_name='', planning_model_ckpt_path='', config_file='cosmos_policy/config/config.py', packnet_mask_path='', packnet_first_cl_libero_task=6, use_third_person_image=True, num_third_person_images=1, use_wrist_image=True, num_wrist_images=1, use_proprio=True, flip_images=True, use_variance_scale=False, use_jpeg_compression=True, ar_future_prediction=False, ar_value_prediction=False, ar_qvalue_prediction=False, num_denoising_steps_action=5, num_denoising_steps_future_state=1, num_denoising_steps_value=1, unnormalize_actions=True, normalize_proprio=True, dataset_stats_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/libero_goal_regen/dataset_statistics.json', t5_text_embeddings_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/t5_embeddings.pkl', trained_with_image_aug=True, chunk_size=16, num_open_loop_steps=16, deterministic=True, deterministic_reset=False, deterministic_reset_seed=None, use_ensemble_future_state_predictions=False, num_future_state_predictions_in_ensemble=3, future_state_ensemble_aggregation_scheme='average', use_ensemble_value_predictions=False, num_value_predictions_in_ensemble=5, value_ensemble_aggregation_scheme='average', search_depth=1, mask_current_state_action_for_value_prediction=False, mask_future_state_for_qvalue_prediction=False, num_queries_best_of_n=1, use_parallel_inference=False, available_gpus='0', parallel_timeout=15, parallel_tasks_across_gpus=False, task_suite_name='libero_goal', num_trials_per_task=50, task_ids_to_run='2', initial_states_path='DEFAULT', env_img_res=256, local_log_dir='/home/azureuser/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal', run_id_note='demochan200_t2_s09', use_wandb=False, wandb_entity='YOUR_ENTITY', wandb_project='YOUR_PROJECT', seed=195, randomize_seed=False, data_collection=False, jpeg_compress=True, reward_stop_threshold=None, reward_stop_consecutive_steps=3, use_gpt_reward=False, gpt_reward_model='gpt-5.4-mini', gpt_reward_stop_threshold=4, gpt_reward_timeout_s=30.0, save_rollout_video=False, eval_hdf5_path='', eval_hdf5_demo_key='demo_0', data_gen_demo_ids='', eval_episode_ids='9,25,41', replay_actions=False, replay_action_path_dir='', replay_hdf5_path='', data_generation=False, max_generation_steps=200, simple_task_max_steps=100, complex_task_max_steps=200)
+Using serial inference (parallel inference disabled)
+Task suite: libero_goal
+Number of tasks: 10
+Running only task IDs: [2]
+Using default initial states
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 1...
+Query 1/1: Action query time = 4.493 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5308
+t=10: Selected seed 195 with value = 0.5308
+Query 1/1: Action query time = 5.243 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5825
+t=26: Selected seed 195 with value = 0.5825
+Query 1/1: Action query time = 4.845 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7811
+t=42: Selected seed 195 with value = 0.7811
+Query 1/1: Action query time = 4.712 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8273
+t=58: Selected seed 195 with value = 0.8273
+Query 1/1: Action query time = 5.057 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9754
+t=74: Selected seed 195 with value = 0.9754
+Query 1/1: Action query time = 5.742 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.808 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=106: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 3.494 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=122: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 3.989 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=138: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 5.345 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=154: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 5.393 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=170: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.919 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=186: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.417 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=202: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.762 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=218: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 5.217 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9975
+t=234: Selected seed 195 with value = 0.9975
+Query 1/1: Action query time = 4.450 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9495
+t=250: Selected seed 195 with value = 0.9495
+Query 1/1: Action query time = 4.879 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8187
+t=266: Selected seed 195 with value = 0.8187
+Query 1/1: Action query time = 5.152 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8738
+t=282: Selected seed 195 with value = 0.8738
+Query 1/1: Action query time = 3.939 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8260
+t=298: Selected seed 195 with value = 0.8260
+Saved rollout MP4 at path ./rollouts/demochan200_t2_s09/2026_08_01-13_46_16--with_future_img--episode=1--success=False--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: False
+# episodes completed so far: 1
+# successes: 0 (0.0%)
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 2...
+Query 1/1: Action query time = 3.145 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5110
+t=10: Selected seed 195 with value = 0.5110
+Query 1/1: Action query time = 5.921 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5819
+t=26: Selected seed 195 with value = 0.5819
+Query 1/1: Action query time = 5.549 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7277
+t=42: Selected seed 195 with value = 0.7277
+Query 1/1: Action query time = 4.319 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8444
+t=58: Selected seed 195 with value = 0.8444
+Query 1/1: Action query time = 4.321 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9683
+t=74: Selected seed 195 with value = 0.9683
+Query 1/1: Action query time = 4.957 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/demochan200_t2_s09/2026_08_01-13_46_16--with_future_img--episode=2--success=True--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: True
+# episodes completed so far: 2
+# successes: 1 (50.0%)
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 3...
+Query 1/1: Action query time = 4.930 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5137
+t=10: Selected seed 195 with value = 0.5137
+Query 1/1: Action query time = 4.449 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6011
+t=26: Selected seed 195 with value = 0.6011
+Query 1/1: Action query time = 5.415 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7993
+t=42: Selected seed 195 with value = 0.7993
+Query 1/1: Action query time = 4.878 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8424
+t=58: Selected seed 195 with value = 0.8424
+Query 1/1: Action query time = 4.392 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9755
+t=74: Selected seed 195 with value = 0.9755
+Query 1/1: Action query time = 4.438 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 3.949 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=106: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 3.572 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=122: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.118 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=138: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.364 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=154: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.049 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=170: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 3.775 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=186: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 2.903 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=202: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 2.515 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=218: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 2.236 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=234: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 3.400 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=250: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.227 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=266: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 3.858 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9443
+t=282: Selected seed 195 with value = 0.9443
+Query 1/1: Action query time = 3.301 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8939
+t=298: Selected seed 195 with value = 0.8939
+Saved rollout MP4 at path ./rollouts/demochan200_t2_s09/2026_08_01-13_46_16--with_future_img--episode=3--success=False--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: False
+# episodes completed so far: 3
+# successes: 1 (33.3%)
+Current task success rate: 0.3333333333333333
+Current total success rate: 0.3333333333333333
+Final results:
+Total episodes: 3
+Total successes: 1
+Overall success rate: 0.3333 (33.3%)
diff --git a/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_01-13_46_17--demochan200_t2_s10.txt b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_01-13_46_17--demochan200_t2_s10.txt
new file mode 100644
index 0000000000000000000000000000000000000000..7cac1834b1c842bff6f2e4f262ce998632f8f67b
--- /dev/null
+++ b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_01-13_46_17--demochan200_t2_s10.txt
@@ -0,0 +1,213 @@
+Eval config: PolicyEvalConfig(suite='libero', model_family='cosmos', config='cosmos_predict2_2b_480p_libero_cl_stage_inference_only', ckpt_path='/home/azureuser/REGEN-main/old/cosmos_policy/cosmos_v2_finetune/cosmos_predict2_2b_480p_libero_goal_task6_regen_cl_demochan_from40k_2gpu/checkpoints/iter_000000200/model', planning_model_config_name='', planning_model_ckpt_path='', config_file='cosmos_policy/config/config.py', packnet_mask_path='', packnet_first_cl_libero_task=6, use_third_person_image=True, num_third_person_images=1, use_wrist_image=True, num_wrist_images=1, use_proprio=True, flip_images=True, use_variance_scale=False, use_jpeg_compression=True, ar_future_prediction=False, ar_value_prediction=False, ar_qvalue_prediction=False, num_denoising_steps_action=5, num_denoising_steps_future_state=1, num_denoising_steps_value=1, unnormalize_actions=True, normalize_proprio=True, dataset_stats_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/libero_goal_regen/dataset_statistics.json', t5_text_embeddings_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/t5_embeddings.pkl', trained_with_image_aug=True, chunk_size=16, num_open_loop_steps=16, deterministic=True, deterministic_reset=False, deterministic_reset_seed=None, use_ensemble_future_state_predictions=False, num_future_state_predictions_in_ensemble=3, future_state_ensemble_aggregation_scheme='average', use_ensemble_value_predictions=False, num_value_predictions_in_ensemble=5, value_ensemble_aggregation_scheme='average', search_depth=1, mask_current_state_action_for_value_prediction=False, mask_future_state_for_qvalue_prediction=False, num_queries_best_of_n=1, use_parallel_inference=False, available_gpus='0', parallel_timeout=15, parallel_tasks_across_gpus=False, task_suite_name='libero_goal', num_trials_per_task=50, task_ids_to_run='2', initial_states_path='DEFAULT', env_img_res=256, local_log_dir='/home/azureuser/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal', run_id_note='demochan200_t2_s10', use_wandb=False, wandb_entity='YOUR_ENTITY', wandb_project='YOUR_PROJECT', seed=195, randomize_seed=False, data_collection=False, jpeg_compress=True, reward_stop_threshold=None, reward_stop_consecutive_steps=3, use_gpt_reward=False, gpt_reward_model='gpt-5.4-mini', gpt_reward_stop_threshold=4, gpt_reward_timeout_s=30.0, save_rollout_video=False, eval_hdf5_path='', eval_hdf5_demo_key='demo_0', data_gen_demo_ids='', eval_episode_ids='10,26,42', replay_actions=False, replay_action_path_dir='', replay_hdf5_path='', data_generation=False, max_generation_steps=200, simple_task_max_steps=100, complex_task_max_steps=200)
+Using serial inference (parallel inference disabled)
+Task suite: libero_goal
+Number of tasks: 10
+Running only task IDs: [2]
+Using default initial states
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 1...
+Query 1/1: Action query time = 2.618 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5079
+t=10: Selected seed 195 with value = 0.5079
+Query 1/1: Action query time = 2.748 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5739
+t=26: Selected seed 195 with value = 0.5739
+Query 1/1: Action query time = 4.726 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6967
+t=42: Selected seed 195 with value = 0.6967
+Query 1/1: Action query time = 5.018 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7742
+t=58: Selected seed 195 with value = 0.7742
+Query 1/1: Action query time = 5.040 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9111
+t=74: Selected seed 195 with value = 0.9111
+Query 1/1: Action query time = 5.508 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 5.099 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=106: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.127 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=122: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.437 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=138: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.095 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=154: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 5.427 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=170: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.685 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=186: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.616 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=202: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.289 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=218: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 5.346 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=234: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.945 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=250: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.692 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=266: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 5.333 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=282: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 5.245 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9771
+t=298: Selected seed 195 with value = 0.9771
+Saved rollout MP4 at path ./rollouts/demochan200_t2_s10/2026_08_01-13_46_17--with_future_img--episode=1--success=False--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: False
+# episodes completed so far: 1
+# successes: 0 (0.0%)
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 2...
+Query 1/1: Action query time = 2.868 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4442
+t=10: Selected seed 195 with value = 0.4442
+Query 1/1: Action query time = 2.506 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4980
+t=26: Selected seed 195 with value = 0.4980
+Query 1/1: Action query time = 3.148 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6807
+t=42: Selected seed 195 with value = 0.6807
+Query 1/1: Action query time = 5.691 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7364
+t=58: Selected seed 195 with value = 0.7364
+Query 1/1: Action query time = 6.232 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7947
+t=74: Selected seed 195 with value = 0.7947
+Query 1/1: Action query time = 5.689 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9657
+t=90: Selected seed 195 with value = 0.9657
+Query 1/1: Action query time = 5.491 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=106: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/demochan200_t2_s10/2026_08_01-13_46_17--with_future_img--episode=2--success=True--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: True
+# episodes completed so far: 2
+# successes: 1 (50.0%)
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 3...
+Query 1/1: Action query time = 3.644 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5141
+t=10: Selected seed 195 with value = 0.5141
+Query 1/1: Action query time = 4.636 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5884
+t=26: Selected seed 195 with value = 0.5884
+Query 1/1: Action query time = 4.720 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7211
+t=42: Selected seed 195 with value = 0.7211
+Query 1/1: Action query time = 4.651 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7992
+t=58: Selected seed 195 with value = 0.7992
+Query 1/1: Action query time = 4.413 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7972
+t=74: Selected seed 195 with value = 0.7972
+Query 1/1: Action query time = 4.398 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8774
+t=90: Selected seed 195 with value = 0.8774
+Query 1/1: Action query time = 4.614 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8356
+t=106: Selected seed 195 with value = 0.8356
+Query 1/1: Action query time = 3.326 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8398
+t=122: Selected seed 195 with value = 0.8398
+Query 1/1: Action query time = 3.571 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8974
+t=138: Selected seed 195 with value = 0.8974
+Query 1/1: Action query time = 3.538 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8686
+t=154: Selected seed 195 with value = 0.8686
+Query 1/1: Action query time = 4.265 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8903
+t=170: Selected seed 195 with value = 0.8903
+Query 1/1: Action query time = 3.625 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9517
+t=186: Selected seed 195 with value = 0.9517
+Query 1/1: Action query time = 4.178 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9347
+t=202: Selected seed 195 with value = 0.9347
+Query 1/1: Action query time = 2.763 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8987
+t=218: Selected seed 195 with value = 0.8987
+Query 1/1: Action query time = 2.467 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8753
+t=234: Selected seed 195 with value = 0.8753
+Query 1/1: Action query time = 2.360 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8733
+t=250: Selected seed 195 with value = 0.8733
+Query 1/1: Action query time = 3.139 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8600
+t=266: Selected seed 195 with value = 0.8600
+Query 1/1: Action query time = 3.843 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8733
+t=282: Selected seed 195 with value = 0.8733
+Query 1/1: Action query time = 3.716 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8585
+t=298: Selected seed 195 with value = 0.8585
+Saved rollout MP4 at path ./rollouts/demochan200_t2_s10/2026_08_01-13_46_17--with_future_img--episode=3--success=False--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: False
+# episodes completed so far: 3
+# successes: 1 (33.3%)
+Current task success rate: 0.3333333333333333
+Current total success rate: 0.3333333333333333
+Final results:
+Total episodes: 3
+Total successes: 1
+Overall success rate: 0.3333 (33.3%)
diff --git a/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_01-13_46_17--demochan200_t2_s12.txt b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_01-13_46_17--demochan200_t2_s12.txt
new file mode 100644
index 0000000000000000000000000000000000000000..bf70b27ee82400cc639542c9b0db9d165cfc02a7
--- /dev/null
+++ b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_01-13_46_17--demochan200_t2_s12.txt
@@ -0,0 +1,213 @@
+Eval config: PolicyEvalConfig(suite='libero', model_family='cosmos', config='cosmos_predict2_2b_480p_libero_cl_stage_inference_only', ckpt_path='/home/azureuser/REGEN-main/old/cosmos_policy/cosmos_v2_finetune/cosmos_predict2_2b_480p_libero_goal_task6_regen_cl_demochan_from40k_2gpu/checkpoints/iter_000000200/model', planning_model_config_name='', planning_model_ckpt_path='', config_file='cosmos_policy/config/config.py', packnet_mask_path='', packnet_first_cl_libero_task=6, use_third_person_image=True, num_third_person_images=1, use_wrist_image=True, num_wrist_images=1, use_proprio=True, flip_images=True, use_variance_scale=False, use_jpeg_compression=True, ar_future_prediction=False, ar_value_prediction=False, ar_qvalue_prediction=False, num_denoising_steps_action=5, num_denoising_steps_future_state=1, num_denoising_steps_value=1, unnormalize_actions=True, normalize_proprio=True, dataset_stats_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/libero_goal_regen/dataset_statistics.json', t5_text_embeddings_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/t5_embeddings.pkl', trained_with_image_aug=True, chunk_size=16, num_open_loop_steps=16, deterministic=True, deterministic_reset=False, deterministic_reset_seed=None, use_ensemble_future_state_predictions=False, num_future_state_predictions_in_ensemble=3, future_state_ensemble_aggregation_scheme='average', use_ensemble_value_predictions=False, num_value_predictions_in_ensemble=5, value_ensemble_aggregation_scheme='average', search_depth=1, mask_current_state_action_for_value_prediction=False, mask_future_state_for_qvalue_prediction=False, num_queries_best_of_n=1, use_parallel_inference=False, available_gpus='0', parallel_timeout=15, parallel_tasks_across_gpus=False, task_suite_name='libero_goal', num_trials_per_task=50, task_ids_to_run='2', initial_states_path='DEFAULT', env_img_res=256, local_log_dir='/home/azureuser/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal', run_id_note='demochan200_t2_s12', use_wandb=False, wandb_entity='YOUR_ENTITY', wandb_project='YOUR_PROJECT', seed=195, randomize_seed=False, data_collection=False, jpeg_compress=True, reward_stop_threshold=None, reward_stop_consecutive_steps=3, use_gpt_reward=False, gpt_reward_model='gpt-5.4-mini', gpt_reward_stop_threshold=4, gpt_reward_timeout_s=30.0, save_rollout_video=False, eval_hdf5_path='', eval_hdf5_demo_key='demo_0', data_gen_demo_ids='', eval_episode_ids='12,28,44', replay_actions=False, replay_action_path_dir='', replay_hdf5_path='', data_generation=False, max_generation_steps=200, simple_task_max_steps=100, complex_task_max_steps=200)
+Using serial inference (parallel inference disabled)
+Task suite: libero_goal
+Number of tasks: 10
+Running only task IDs: [2]
+Using default initial states
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 1...
+Query 1/1: Action query time = 6.241 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5187
+t=10: Selected seed 195 with value = 0.5187
+Query 1/1: Action query time = 5.113 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5828
+t=26: Selected seed 195 with value = 0.5828
+Query 1/1: Action query time = 4.817 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7076
+t=42: Selected seed 195 with value = 0.7076
+Query 1/1: Action query time = 4.966 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7884
+t=58: Selected seed 195 with value = 0.7884
+Query 1/1: Action query time = 2.888 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9515
+t=74: Selected seed 195 with value = 0.9515
+Query 1/1: Action query time = 5.104 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 5.223 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=106: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 3.282 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=122: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.452 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=138: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 5.286 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=154: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 5.364 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=170: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.928 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=186: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.889 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=202: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 5.175 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=218: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.953 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=234: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.742 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=250: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 5.044 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9816
+t=266: Selected seed 195 with value = 0.9816
+Query 1/1: Action query time = 4.913 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8899
+t=282: Selected seed 195 with value = 0.8899
+Query 1/1: Action query time = 4.682 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9244
+t=298: Selected seed 195 with value = 0.9244
+Saved rollout MP4 at path ./rollouts/demochan200_t2_s12/2026_08_01-13_46_17--with_future_img--episode=1--success=False--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: False
+# episodes completed so far: 1
+# successes: 0 (0.0%)
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 2...
+Query 1/1: Action query time = 4.820 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3984
+t=10: Selected seed 195 with value = 0.3984
+Query 1/1: Action query time = 3.934 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5141
+t=26: Selected seed 195 with value = 0.5141
+Query 1/1: Action query time = 5.262 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7907
+t=42: Selected seed 195 with value = 0.7907
+Query 1/1: Action query time = 5.827 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7602
+t=58: Selected seed 195 with value = 0.7602
+Query 1/1: Action query time = 5.738 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8237
+t=74: Selected seed 195 with value = 0.8237
+Query 1/1: Action query time = 4.064 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7820
+t=90: Selected seed 195 with value = 0.7820
+Query 1/1: Action query time = 4.748 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8787
+t=106: Selected seed 195 with value = 0.8787
+Query 1/1: Action query time = 4.366 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8461
+t=122: Selected seed 195 with value = 0.8461
+Query 1/1: Action query time = 5.429 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8871
+t=138: Selected seed 195 with value = 0.8871
+Query 1/1: Action query time = 4.738 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8510
+t=154: Selected seed 195 with value = 0.8510
+Query 1/1: Action query time = 4.437 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9173
+t=170: Selected seed 195 with value = 0.9173
+Query 1/1: Action query time = 4.492 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8536
+t=186: Selected seed 195 with value = 0.8536
+Query 1/1: Action query time = 3.701 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9210
+t=202: Selected seed 195 with value = 0.9210
+Query 1/1: Action query time = 3.675 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8659
+t=218: Selected seed 195 with value = 0.8659
+Query 1/1: Action query time = 4.042 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9196
+t=234: Selected seed 195 with value = 0.9196
+Query 1/1: Action query time = 4.215 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8723
+t=250: Selected seed 195 with value = 0.8723
+Query 1/1: Action query time = 3.761 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8538
+t=266: Selected seed 195 with value = 0.8538
+Query 1/1: Action query time = 3.512 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8764
+t=282: Selected seed 195 with value = 0.8764
+Query 1/1: Action query time = 2.892 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8497
+t=298: Selected seed 195 with value = 0.8497
+Saved rollout MP4 at path ./rollouts/demochan200_t2_s12/2026_08_01-13_46_17--with_future_img--episode=2--success=False--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: False
+# episodes completed so far: 2
+# successes: 0 (0.0%)
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 3...
+Query 1/1: Action query time = 3.611 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4973
+t=10: Selected seed 195 with value = 0.4973
+Query 1/1: Action query time = 3.693 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5911
+t=26: Selected seed 195 with value = 0.5911
+Query 1/1: Action query time = 3.872 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6987
+t=42: Selected seed 195 with value = 0.6987
+Query 1/1: Action query time = 2.879 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7706
+t=58: Selected seed 195 with value = 0.7706
+Query 1/1: Action query time = 2.447 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9007
+t=74: Selected seed 195 with value = 0.9007
+Query 1/1: Action query time = 1.366 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9909
+t=90: Selected seed 195 with value = 0.9909
+Query 1/1: Action query time = 1.215 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=106: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/demochan200_t2_s12/2026_08_01-13_46_17--with_future_img--episode=3--success=True--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: True
+# episodes completed so far: 3
+# successes: 1 (33.3%)
+Current task success rate: 0.3333333333333333
+Current total success rate: 0.3333333333333333
+Final results:
+Total episodes: 3
+Total successes: 1
+Overall success rate: 0.3333 (33.3%)
diff --git a/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_01-13_51_40--demochan200_t4_s01.txt b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_01-13_51_40--demochan200_t4_s01.txt
new file mode 100644
index 0000000000000000000000000000000000000000..daed6b90d44d8903e2cefcd31adf3dce4dec9d54
--- /dev/null
+++ b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_01-13_51_40--demochan200_t4_s01.txt
@@ -0,0 +1,188 @@
+Eval config: PolicyEvalConfig(suite='libero', model_family='cosmos', config='cosmos_predict2_2b_480p_libero_cl_stage_inference_only', ckpt_path='/home/azureuser/REGEN-main/old/cosmos_policy/cosmos_v2_finetune/cosmos_predict2_2b_480p_libero_goal_task6_regen_cl_demochan_from40k_2gpu/checkpoints/iter_000000200/model', planning_model_config_name='', planning_model_ckpt_path='', config_file='cosmos_policy/config/config.py', packnet_mask_path='', packnet_first_cl_libero_task=6, use_third_person_image=True, num_third_person_images=1, use_wrist_image=True, num_wrist_images=1, use_proprio=True, flip_images=True, use_variance_scale=False, use_jpeg_compression=True, ar_future_prediction=False, ar_value_prediction=False, ar_qvalue_prediction=False, num_denoising_steps_action=5, num_denoising_steps_future_state=1, num_denoising_steps_value=1, unnormalize_actions=True, normalize_proprio=True, dataset_stats_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/libero_goal_regen/dataset_statistics.json', t5_text_embeddings_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/t5_embeddings.pkl', trained_with_image_aug=True, chunk_size=16, num_open_loop_steps=16, deterministic=True, deterministic_reset=False, deterministic_reset_seed=None, use_ensemble_future_state_predictions=False, num_future_state_predictions_in_ensemble=3, future_state_ensemble_aggregation_scheme='average', use_ensemble_value_predictions=False, num_value_predictions_in_ensemble=5, value_ensemble_aggregation_scheme='average', search_depth=1, mask_current_state_action_for_value_prediction=False, mask_future_state_for_qvalue_prediction=False, num_queries_best_of_n=1, use_parallel_inference=False, available_gpus='0', parallel_timeout=15, parallel_tasks_across_gpus=False, task_suite_name='libero_goal', num_trials_per_task=50, task_ids_to_run='4', initial_states_path='DEFAULT', env_img_res=256, local_log_dir='/home/azureuser/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal', run_id_note='demochan200_t4_s01', use_wandb=False, wandb_entity='YOUR_ENTITY', wandb_project='YOUR_PROJECT', seed=195, randomize_seed=False, data_collection=False, jpeg_compress=True, reward_stop_threshold=None, reward_stop_consecutive_steps=3, use_gpt_reward=False, gpt_reward_model='gpt-5.4-mini', gpt_reward_stop_threshold=4, gpt_reward_timeout_s=30.0, save_rollout_video=False, eval_hdf5_path='', eval_hdf5_demo_key='demo_0', data_gen_demo_ids='', eval_episode_ids='1,17,33,49', replay_actions=False, replay_action_path_dir='', replay_hdf5_path='', data_generation=False, max_generation_steps=200, simple_task_max_steps=100, complex_task_max_steps=200)
+Using serial inference (parallel inference disabled)
+Task suite: libero_goal
+Number of tasks: 10
+Running only task IDs: [4]
+Using default initial states
+
+Task: put the bowl on top of the cabinet
+Starting episode 1...
+Query 1/1: Action query time = 3.475 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5100
+t=10: Selected seed 195 with value = 0.5100
+Query 1/1: Action query time = 5.274 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5721
+t=26: Selected seed 195 with value = 0.5721
+Query 1/1: Action query time = 5.092 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6504
+t=42: Selected seed 195 with value = 0.6504
+Query 1/1: Action query time = 4.876 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7864
+t=58: Selected seed 195 with value = 0.7864
+Query 1/1: Action query time = 4.433 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9365
+t=74: Selected seed 195 with value = 0.9365
+Query 1/1: Action query time = 5.361 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/demochan200_t4_s01/2026_08_01-13_51_40--with_future_img--episode=1--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Success: True
+# episodes completed so far: 1
+# successes: 1 (100.0%)
+
+Task: put the bowl on top of the cabinet
+Starting episode 2...
+Query 1/1: Action query time = 3.933 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4986
+t=10: Selected seed 195 with value = 0.4986
+Query 1/1: Action query time = 4.147 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5941
+t=26: Selected seed 195 with value = 0.5941
+Query 1/1: Action query time = 4.473 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6430
+t=42: Selected seed 195 with value = 0.6430
+Query 1/1: Action query time = 5.109 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7797
+t=58: Selected seed 195 with value = 0.7797
+Query 1/1: Action query time = 5.400 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9288
+t=74: Selected seed 195 with value = 0.9288
+Query 1/1: Action query time = 5.615 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9926
+t=90: Selected seed 195 with value = 0.9926
+Saved rollout MP4 at path ./rollouts/demochan200_t4_s01/2026_08_01-13_51_40--with_future_img--episode=2--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Success: True
+# episodes completed so far: 2
+# successes: 2 (100.0%)
+
+Task: put the bowl on top of the cabinet
+Starting episode 3...
+Query 1/1: Action query time = 3.448 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5091
+t=10: Selected seed 195 with value = 0.5091
+Query 1/1: Action query time = 4.091 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5904
+t=26: Selected seed 195 with value = 0.5904
+Query 1/1: Action query time = 5.257 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6549
+t=42: Selected seed 195 with value = 0.6549
+Query 1/1: Action query time = 5.295 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7998
+t=58: Selected seed 195 with value = 0.7998
+Query 1/1: Action query time = 4.382 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9495
+t=74: Selected seed 195 with value = 0.9495
+Query 1/1: Action query time = 5.022 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/demochan200_t4_s01/2026_08_01-13_51_40--with_future_img--episode=3--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Success: True
+# episodes completed so far: 3
+# successes: 3 (100.0%)
+
+Task: put the bowl on top of the cabinet
+Starting episode 4...
+Query 1/1: Action query time = 2.794 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5023
+t=10: Selected seed 195 with value = 0.5023
+Query 1/1: Action query time = 3.020 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5797
+t=26: Selected seed 195 with value = 0.5797
+Query 1/1: Action query time = 2.887 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6551
+t=42: Selected seed 195 with value = 0.6551
+Query 1/1: Action query time = 2.465 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8009
+t=58: Selected seed 195 with value = 0.8009
+Query 1/1: Action query time = 1.870 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9186
+t=74: Selected seed 195 with value = 0.9186
+Query 1/1: Action query time = 2.117 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9916
+t=90: Selected seed 195 with value = 0.9916
+Query 1/1: Action query time = 2.131 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9837
+t=106: Selected seed 195 with value = 0.9837
+Query 1/1: Action query time = 2.500 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9796
+t=122: Selected seed 195 with value = 0.9796
+Query 1/1: Action query time = 2.584 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9745
+t=138: Selected seed 195 with value = 0.9745
+Query 1/1: Action query time = 2.539 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9748
+t=154: Selected seed 195 with value = 0.9748
+Query 1/1: Action query time = 2.019 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=170: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 1.851 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=186: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 2.463 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=202: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 1.965 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=218: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 1.737 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=234: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 1.790 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=250: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 1.764 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=266: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 1.792 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=282: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 1.833 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=298: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/demochan200_t4_s01/2026_08_01-13_51_40--with_future_img--episode=4--success=False--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Success: False
+# episodes completed so far: 4
+# successes: 3 (75.0%)
+Current task success rate: 0.75
+Current total success rate: 0.75
+Final results:
+Total episodes: 4
+Total successes: 3
+Overall success rate: 0.7500 (75.0%)
diff --git a/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_01-13_51_40--demochan200_t4_s04.txt b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_01-13_51_40--demochan200_t4_s04.txt
new file mode 100644
index 0000000000000000000000000000000000000000..a1abc4cd184ca93343b44228a2c3df1ac406eeb4
--- /dev/null
+++ b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_01-13_51_40--demochan200_t4_s04.txt
@@ -0,0 +1,105 @@
+Eval config: PolicyEvalConfig(suite='libero', model_family='cosmos', config='cosmos_predict2_2b_480p_libero_cl_stage_inference_only', ckpt_path='/home/azureuser/REGEN-main/old/cosmos_policy/cosmos_v2_finetune/cosmos_predict2_2b_480p_libero_goal_task6_regen_cl_demochan_from40k_2gpu/checkpoints/iter_000000200/model', planning_model_config_name='', planning_model_ckpt_path='', config_file='cosmos_policy/config/config.py', packnet_mask_path='', packnet_first_cl_libero_task=6, use_third_person_image=True, num_third_person_images=1, use_wrist_image=True, num_wrist_images=1, use_proprio=True, flip_images=True, use_variance_scale=False, use_jpeg_compression=True, ar_future_prediction=False, ar_value_prediction=False, ar_qvalue_prediction=False, num_denoising_steps_action=5, num_denoising_steps_future_state=1, num_denoising_steps_value=1, unnormalize_actions=True, normalize_proprio=True, dataset_stats_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/libero_goal_regen/dataset_statistics.json', t5_text_embeddings_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/t5_embeddings.pkl', trained_with_image_aug=True, chunk_size=16, num_open_loop_steps=16, deterministic=True, deterministic_reset=False, deterministic_reset_seed=None, use_ensemble_future_state_predictions=False, num_future_state_predictions_in_ensemble=3, future_state_ensemble_aggregation_scheme='average', use_ensemble_value_predictions=False, num_value_predictions_in_ensemble=5, value_ensemble_aggregation_scheme='average', search_depth=1, mask_current_state_action_for_value_prediction=False, mask_future_state_for_qvalue_prediction=False, num_queries_best_of_n=1, use_parallel_inference=False, available_gpus='0', parallel_timeout=15, parallel_tasks_across_gpus=False, task_suite_name='libero_goal', num_trials_per_task=50, task_ids_to_run='4', initial_states_path='DEFAULT', env_img_res=256, local_log_dir='/home/azureuser/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal', run_id_note='demochan200_t4_s04', use_wandb=False, wandb_entity='YOUR_ENTITY', wandb_project='YOUR_PROJECT', seed=195, randomize_seed=False, data_collection=False, jpeg_compress=True, reward_stop_threshold=None, reward_stop_consecutive_steps=3, use_gpt_reward=False, gpt_reward_model='gpt-5.4-mini', gpt_reward_stop_threshold=4, gpt_reward_timeout_s=30.0, save_rollout_video=False, eval_hdf5_path='', eval_hdf5_demo_key='demo_0', data_gen_demo_ids='', eval_episode_ids='4,20,36', replay_actions=False, replay_action_path_dir='', replay_hdf5_path='', data_generation=False, max_generation_steps=200, simple_task_max_steps=100, complex_task_max_steps=200)
+Using serial inference (parallel inference disabled)
+Task suite: libero_goal
+Number of tasks: 10
+Running only task IDs: [4]
+Using default initial states
+
+Task: put the bowl on top of the cabinet
+Starting episode 1...
+Query 1/1: Action query time = 6.061 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4962
+t=10: Selected seed 195 with value = 0.4962
+Query 1/1: Action query time = 5.268 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5926
+t=26: Selected seed 195 with value = 0.5926
+Query 1/1: Action query time = 5.145 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6636
+t=42: Selected seed 195 with value = 0.6636
+Query 1/1: Action query time = 4.443 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7795
+t=58: Selected seed 195 with value = 0.7795
+Query 1/1: Action query time = 4.933 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9228
+t=74: Selected seed 195 with value = 0.9228
+Query 1/1: Action query time = 3.354 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/demochan200_t4_s04/2026_08_01-13_51_40--with_future_img--episode=1--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Success: True
+# episodes completed so far: 1
+# successes: 1 (100.0%)
+
+Task: put the bowl on top of the cabinet
+Starting episode 2...
+Query 1/1: Action query time = 5.095 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5027
+t=10: Selected seed 195 with value = 0.5027
+Query 1/1: Action query time = 5.485 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5621
+t=26: Selected seed 195 with value = 0.5621
+Query 1/1: Action query time = 5.104 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6716
+t=42: Selected seed 195 with value = 0.6716
+Query 1/1: Action query time = 4.694 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7669
+t=58: Selected seed 195 with value = 0.7669
+Query 1/1: Action query time = 4.517 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9331
+t=74: Selected seed 195 with value = 0.9331
+Query 1/1: Action query time = 3.931 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9923
+t=90: Selected seed 195 with value = 0.9923
+Saved rollout MP4 at path ./rollouts/demochan200_t4_s04/2026_08_01-13_51_40--with_future_img--episode=2--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Success: True
+# episodes completed so far: 2
+# successes: 2 (100.0%)
+
+Task: put the bowl on top of the cabinet
+Starting episode 3...
+Query 1/1: Action query time = 5.382 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4947
+t=10: Selected seed 195 with value = 0.4947
+Query 1/1: Action query time = 5.048 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5949
+t=26: Selected seed 195 with value = 0.5949
+Query 1/1: Action query time = 4.933 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6489
+t=42: Selected seed 195 with value = 0.6489
+Query 1/1: Action query time = 4.142 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8092
+t=58: Selected seed 195 with value = 0.8092
+Query 1/1: Action query time = 4.075 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9540
+t=74: Selected seed 195 with value = 0.9540
+Query 1/1: Action query time = 3.344 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9882
+t=90: Selected seed 195 with value = 0.9882
+Saved rollout MP4 at path ./rollouts/demochan200_t4_s04/2026_08_01-13_51_40--with_future_img--episode=3--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Success: True
+# episodes completed so far: 3
+# successes: 3 (100.0%)
+Current task success rate: 1.0
+Current total success rate: 1.0
+Final results:
+Total episodes: 3
+Total successes: 3
+Overall success rate: 1.0000 (100.0%)
diff --git a/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_01-13_51_42--demochan200_t4_s10.txt b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_01-13_51_42--demochan200_t4_s10.txt
new file mode 100644
index 0000000000000000000000000000000000000000..1528d436744e178372002e5feaa5647f8e096cf2
--- /dev/null
+++ b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_01-13_51_42--demochan200_t4_s10.txt
@@ -0,0 +1,209 @@
+Eval config: PolicyEvalConfig(suite='libero', model_family='cosmos', config='cosmos_predict2_2b_480p_libero_cl_stage_inference_only', ckpt_path='/home/azureuser/REGEN-main/old/cosmos_policy/cosmos_v2_finetune/cosmos_predict2_2b_480p_libero_goal_task6_regen_cl_demochan_from40k_2gpu/checkpoints/iter_000000200/model', planning_model_config_name='', planning_model_ckpt_path='', config_file='cosmos_policy/config/config.py', packnet_mask_path='', packnet_first_cl_libero_task=6, use_third_person_image=True, num_third_person_images=1, use_wrist_image=True, num_wrist_images=1, use_proprio=True, flip_images=True, use_variance_scale=False, use_jpeg_compression=True, ar_future_prediction=False, ar_value_prediction=False, ar_qvalue_prediction=False, num_denoising_steps_action=5, num_denoising_steps_future_state=1, num_denoising_steps_value=1, unnormalize_actions=True, normalize_proprio=True, dataset_stats_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/libero_goal_regen/dataset_statistics.json', t5_text_embeddings_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/t5_embeddings.pkl', trained_with_image_aug=True, chunk_size=16, num_open_loop_steps=16, deterministic=True, deterministic_reset=False, deterministic_reset_seed=None, use_ensemble_future_state_predictions=False, num_future_state_predictions_in_ensemble=3, future_state_ensemble_aggregation_scheme='average', use_ensemble_value_predictions=False, num_value_predictions_in_ensemble=5, value_ensemble_aggregation_scheme='average', search_depth=1, mask_current_state_action_for_value_prediction=False, mask_future_state_for_qvalue_prediction=False, num_queries_best_of_n=1, use_parallel_inference=False, available_gpus='0', parallel_timeout=15, parallel_tasks_across_gpus=False, task_suite_name='libero_goal', num_trials_per_task=50, task_ids_to_run='4', initial_states_path='DEFAULT', env_img_res=256, local_log_dir='/home/azureuser/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal', run_id_note='demochan200_t4_s10', use_wandb=False, wandb_entity='YOUR_ENTITY', wandb_project='YOUR_PROJECT', seed=195, randomize_seed=False, data_collection=False, jpeg_compress=True, reward_stop_threshold=None, reward_stop_consecutive_steps=3, use_gpt_reward=False, gpt_reward_model='gpt-5.4-mini', gpt_reward_stop_threshold=4, gpt_reward_timeout_s=30.0, save_rollout_video=False, eval_hdf5_path='', eval_hdf5_demo_key='demo_0', data_gen_demo_ids='', eval_episode_ids='10,26,42', replay_actions=False, replay_action_path_dir='', replay_hdf5_path='', data_generation=False, max_generation_steps=200, simple_task_max_steps=100, complex_task_max_steps=200)
+Using serial inference (parallel inference disabled)
+Task suite: libero_goal
+Number of tasks: 10
+Running only task IDs: [4]
+Using default initial states
+
+Task: put the bowl on top of the cabinet
+Starting episode 1...
+Query 1/1: Action query time = 5.956 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4975
+t=10: Selected seed 195 with value = 0.4975
+Query 1/1: Action query time = 5.340 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5827
+t=26: Selected seed 195 with value = 0.5827
+Query 1/1: Action query time = 5.246 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6585
+t=42: Selected seed 195 with value = 0.6585
+Query 1/1: Action query time = 4.914 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8215
+t=58: Selected seed 195 with value = 0.8215
+Query 1/1: Action query time = 5.112 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9135
+t=74: Selected seed 195 with value = 0.9135
+Query 1/1: Action query time = 2.536 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9865
+t=90: Selected seed 195 with value = 0.9865
+Query 1/1: Action query time = 3.383 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9453
+t=106: Selected seed 195 with value = 0.9453
+Query 1/1: Action query time = 5.628 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9129
+t=122: Selected seed 195 with value = 0.9129
+Query 1/1: Action query time = 4.594 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9914
+t=138: Selected seed 195 with value = 0.9914
+Query 1/1: Action query time = 4.735 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=154: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 5.072 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=170: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 5.104 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=186: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 3.541 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=202: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 2.649 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=218: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 5.331 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=234: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.981 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=250: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 5.131 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=266: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.829 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=282: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.203 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=298: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/demochan200_t4_s10/2026_08_01-13_51_42--with_future_img--episode=1--success=False--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Success: False
+# episodes completed so far: 1
+# successes: 0 (0.0%)
+
+Task: put the bowl on top of the cabinet
+Starting episode 2...
+Query 1/1: Action query time = 1.560 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4961
+t=10: Selected seed 195 with value = 0.4961
+Query 1/1: Action query time = 1.609 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5796
+t=26: Selected seed 195 with value = 0.5796
+Query 1/1: Action query time = 1.349 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6446
+t=42: Selected seed 195 with value = 0.6446
+Query 1/1: Action query time = 0.970 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7850
+t=58: Selected seed 195 with value = 0.7850
+Query 1/1: Action query time = 0.982 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8898
+t=74: Selected seed 195 with value = 0.8898
+Query 1/1: Action query time = 1.107 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9778
+t=90: Selected seed 195 with value = 0.9778
+Query 1/1: Action query time = 1.391 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9741
+t=106: Selected seed 195 with value = 0.9741
+Query 1/1: Action query time = 1.298 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9750
+t=122: Selected seed 195 with value = 0.9750
+Query 1/1: Action query time = 1.230 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9820
+t=138: Selected seed 195 with value = 0.9820
+Query 1/1: Action query time = 1.454 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9901
+t=154: Selected seed 195 with value = 0.9901
+Query 1/1: Action query time = 1.253 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9936
+t=170: Selected seed 195 with value = 0.9936
+Query 1/1: Action query time = 1.253 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9989
+t=186: Selected seed 195 with value = 0.9989
+Query 1/1: Action query time = 0.986 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=202: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 1.085 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=218: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 1.008 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=234: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.961 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=250: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.969 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=266: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.958 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=282: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 1.007 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=298: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/demochan200_t4_s10/2026_08_01-13_51_42--with_future_img--episode=2--success=False--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Success: False
+# episodes completed so far: 2
+# successes: 0 (0.0%)
+
+Task: put the bowl on top of the cabinet
+Starting episode 3...
+Query 1/1: Action query time = 1.172 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4971
+t=10: Selected seed 195 with value = 0.4971
+Query 1/1: Action query time = 0.962 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5734
+t=26: Selected seed 195 with value = 0.5734
+Query 1/1: Action query time = 0.950 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6391
+t=42: Selected seed 195 with value = 0.6391
+Query 1/1: Action query time = 0.985 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7956
+t=58: Selected seed 195 with value = 0.7956
+Query 1/1: Action query time = 1.000 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9459
+t=74: Selected seed 195 with value = 0.9459
+Query 1/1: Action query time = 1.171 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9908
+t=90: Selected seed 195 with value = 0.9908
+Saved rollout MP4 at path ./rollouts/demochan200_t4_s10/2026_08_01-13_51_42--with_future_img--episode=3--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Success: True
+# episodes completed so far: 3
+# successes: 1 (33.3%)
+Current task success rate: 0.3333333333333333
+Current total success rate: 0.3333333333333333
+Final results:
+Total episodes: 3
+Total successes: 1
+Overall success rate: 0.3333 (33.3%)
diff --git a/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_01-13_55_07--demochan200_t5_s02.txt b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_01-13_55_07--demochan200_t5_s02.txt
new file mode 100644
index 0000000000000000000000000000000000000000..c65d7715d61ae33b42865efe0129271256940d12
--- /dev/null
+++ b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_01-13_55_07--demochan200_t5_s02.txt
@@ -0,0 +1,225 @@
+Eval config: PolicyEvalConfig(suite='libero', model_family='cosmos', config='cosmos_predict2_2b_480p_libero_cl_stage_inference_only', ckpt_path='/home/azureuser/REGEN-main/old/cosmos_policy/cosmos_v2_finetune/cosmos_predict2_2b_480p_libero_goal_task6_regen_cl_demochan_from40k_2gpu/checkpoints/iter_000000200/model', planning_model_config_name='', planning_model_ckpt_path='', config_file='cosmos_policy/config/config.py', packnet_mask_path='', packnet_first_cl_libero_task=6, use_third_person_image=True, num_third_person_images=1, use_wrist_image=True, num_wrist_images=1, use_proprio=True, flip_images=True, use_variance_scale=False, use_jpeg_compression=True, ar_future_prediction=False, ar_value_prediction=False, ar_qvalue_prediction=False, num_denoising_steps_action=5, num_denoising_steps_future_state=1, num_denoising_steps_value=1, unnormalize_actions=True, normalize_proprio=True, dataset_stats_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/libero_goal_regen/dataset_statistics.json', t5_text_embeddings_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/t5_embeddings.pkl', trained_with_image_aug=True, chunk_size=16, num_open_loop_steps=16, deterministic=True, deterministic_reset=False, deterministic_reset_seed=None, use_ensemble_future_state_predictions=False, num_future_state_predictions_in_ensemble=3, future_state_ensemble_aggregation_scheme='average', use_ensemble_value_predictions=False, num_value_predictions_in_ensemble=5, value_ensemble_aggregation_scheme='average', search_depth=1, mask_current_state_action_for_value_prediction=False, mask_future_state_for_qvalue_prediction=False, num_queries_best_of_n=1, use_parallel_inference=False, available_gpus='0', parallel_timeout=15, parallel_tasks_across_gpus=False, task_suite_name='libero_goal', num_trials_per_task=50, task_ids_to_run='5', initial_states_path='DEFAULT', env_img_res=256, local_log_dir='/home/azureuser/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal', run_id_note='demochan200_t5_s02', use_wandb=False, wandb_entity='YOUR_ENTITY', wandb_project='YOUR_PROJECT', seed=195, randomize_seed=False, data_collection=False, jpeg_compress=True, reward_stop_threshold=None, reward_stop_consecutive_steps=3, use_gpt_reward=False, gpt_reward_model='gpt-5.4-mini', gpt_reward_stop_threshold=4, gpt_reward_timeout_s=30.0, save_rollout_video=False, eval_hdf5_path='', eval_hdf5_demo_key='demo_0', data_gen_demo_ids='', eval_episode_ids='2,18,34', replay_actions=False, replay_action_path_dir='', replay_hdf5_path='', data_generation=False, max_generation_steps=200, simple_task_max_steps=100, complex_task_max_steps=200)
+Using serial inference (parallel inference disabled)
+Task suite: libero_goal
+Number of tasks: 10
+Running only task IDs: [5]
+Using default initial states
+
+Task: push the plate to the front of the stove
+Starting episode 1...
+Query 1/1: Action query time = 1.781 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3390
+t=10: Selected seed 195 with value = 0.3390
+Query 1/1: Action query time = 2.110 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3780
+t=26: Selected seed 195 with value = 0.3780
+Query 1/1: Action query time = 3.760 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5000
+t=42: Selected seed 195 with value = 0.5000
+Query 1/1: Action query time = 4.687 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5528
+t=58: Selected seed 195 with value = 0.5528
+Query 1/1: Action query time = 4.409 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6067
+t=74: Selected seed 195 with value = 0.6067
+Query 1/1: Action query time = 4.691 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6734
+t=90: Selected seed 195 with value = 0.6734
+Query 1/1: Action query time = 4.597 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8054
+t=106: Selected seed 195 with value = 0.8054
+Query 1/1: Action query time = 5.111 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8915
+t=122: Selected seed 195 with value = 0.8915
+Query 1/1: Action query time = 5.161 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9376
+t=138: Selected seed 195 with value = 0.9376
+Query 1/1: Action query time = 3.554 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9834
+t=154: Selected seed 195 with value = 0.9834
+Query 1/1: Action query time = 5.282 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9739
+t=170: Selected seed 195 with value = 0.9739
+Query 1/1: Action query time = 4.495 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9427
+t=186: Selected seed 195 with value = 0.9427
+Query 1/1: Action query time = 3.090 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8454
+t=202: Selected seed 195 with value = 0.8454
+Query 1/1: Action query time = 3.680 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9308
+t=218: Selected seed 195 with value = 0.9308
+Query 1/1: Action query time = 5.470 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9717
+t=234: Selected seed 195 with value = 0.9717
+Query 1/1: Action query time = 5.315 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9697
+t=250: Selected seed 195 with value = 0.9697
+Query 1/1: Action query time = 4.972 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9637
+t=266: Selected seed 195 with value = 0.9637
+Query 1/1: Action query time = 5.103 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9578
+t=282: Selected seed 195 with value = 0.9578
+Query 1/1: Action query time = 5.007 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9474
+t=298: Selected seed 195 with value = 0.9474
+Saved rollout MP4 at path ./rollouts/demochan200_t5_s02/2026_08_01-13_55_07--with_future_img--episode=1--success=False--task=push_the_plate_to_the_front_of_the_.mp4
+Success: False
+# episodes completed so far: 1
+# successes: 0 (0.0%)
+
+Task: push the plate to the front of the stove
+Starting episode 2...
+Query 1/1: Action query time = 5.210 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3352
+t=10: Selected seed 195 with value = 0.3352
+Query 1/1: Action query time = 3.891 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3953
+t=26: Selected seed 195 with value = 0.3953
+Query 1/1: Action query time = 4.524 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5062
+t=42: Selected seed 195 with value = 0.5062
+Query 1/1: Action query time = 4.872 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5566
+t=58: Selected seed 195 with value = 0.5566
+Query 1/1: Action query time = 4.271 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6113
+t=74: Selected seed 195 with value = 0.6113
+Query 1/1: Action query time = 4.566 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7038
+t=90: Selected seed 195 with value = 0.7038
+Query 1/1: Action query time = 5.291 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7764
+t=106: Selected seed 195 with value = 0.7764
+Query 1/1: Action query time = 5.430 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8363
+t=122: Selected seed 195 with value = 0.8363
+Query 1/1: Action query time = 4.739 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9579
+t=138: Selected seed 195 with value = 0.9579
+Query 1/1: Action query time = 4.159 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9939
+t=154: Selected seed 195 with value = 0.9939
+Saved rollout MP4 at path ./rollouts/demochan200_t5_s02/2026_08_01-13_55_07--with_future_img--episode=2--success=True--task=push_the_plate_to_the_front_of_the_.mp4
+Success: True
+# episodes completed so far: 2
+# successes: 1 (50.0%)
+
+Task: push the plate to the front of the stove
+Starting episode 3...
+Query 1/1: Action query time = 2.395 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3422
+t=10: Selected seed 195 with value = 0.3422
+Query 1/1: Action query time = 2.618 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3828
+t=26: Selected seed 195 with value = 0.3828
+Query 1/1: Action query time = 3.331 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4964
+t=42: Selected seed 195 with value = 0.4964
+Query 1/1: Action query time = 3.247 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5237
+t=58: Selected seed 195 with value = 0.5237
+Query 1/1: Action query time = 3.371 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5911
+t=74: Selected seed 195 with value = 0.5911
+Query 1/1: Action query time = 3.237 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6580
+t=90: Selected seed 195 with value = 0.6580
+Query 1/1: Action query time = 3.069 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6175
+t=106: Selected seed 195 with value = 0.6175
+Query 1/1: Action query time = 2.282 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7302
+t=122: Selected seed 195 with value = 0.7302
+Query 1/1: Action query time = 3.236 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8327
+t=138: Selected seed 195 with value = 0.8327
+Query 1/1: Action query time = 3.106 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9158
+t=154: Selected seed 195 with value = 0.9158
+Query 1/1: Action query time = 2.290 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8458
+t=170: Selected seed 195 with value = 0.8458
+Query 1/1: Action query time = 1.120 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8987
+t=186: Selected seed 195 with value = 0.8987
+Query 1/1: Action query time = 0.959 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9275
+t=202: Selected seed 195 with value = 0.9275
+Query 1/1: Action query time = 0.990 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9301
+t=218: Selected seed 195 with value = 0.9301
+Query 1/1: Action query time = 1.544 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7054
+t=234: Selected seed 195 with value = 0.7054
+Query 1/1: Action query time = 1.745 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9542
+t=250: Selected seed 195 with value = 0.9542
+Query 1/1: Action query time = 1.817 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7832
+t=266: Selected seed 195 with value = 0.7832
+Query 1/1: Action query time = 1.855 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6301
+t=282: Selected seed 195 with value = 0.6301
+Query 1/1: Action query time = 1.841 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5889
+t=298: Selected seed 195 with value = 0.5889
+Saved rollout MP4 at path ./rollouts/demochan200_t5_s02/2026_08_01-13_55_07--with_future_img--episode=3--success=False--task=push_the_plate_to_the_front_of_the_.mp4
+Success: False
+# episodes completed so far: 3
+# successes: 1 (33.3%)
+Current task success rate: 0.3333333333333333
+Current total success rate: 0.3333333333333333
+Final results:
+Total episodes: 3
+Total successes: 1
+Overall success rate: 0.3333 (33.3%)
diff --git a/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_01-13_55_08--demochan200_t5_s04.txt b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_01-13_55_08--demochan200_t5_s04.txt
new file mode 100644
index 0000000000000000000000000000000000000000..6b293f36e183562b6ee1f7588a350a20e2050da5
--- /dev/null
+++ b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_01-13_55_08--demochan200_t5_s04.txt
@@ -0,0 +1,153 @@
+Eval config: PolicyEvalConfig(suite='libero', model_family='cosmos', config='cosmos_predict2_2b_480p_libero_cl_stage_inference_only', ckpt_path='/home/azureuser/REGEN-main/old/cosmos_policy/cosmos_v2_finetune/cosmos_predict2_2b_480p_libero_goal_task6_regen_cl_demochan_from40k_2gpu/checkpoints/iter_000000200/model', planning_model_config_name='', planning_model_ckpt_path='', config_file='cosmos_policy/config/config.py', packnet_mask_path='', packnet_first_cl_libero_task=6, use_third_person_image=True, num_third_person_images=1, use_wrist_image=True, num_wrist_images=1, use_proprio=True, flip_images=True, use_variance_scale=False, use_jpeg_compression=True, ar_future_prediction=False, ar_value_prediction=False, ar_qvalue_prediction=False, num_denoising_steps_action=5, num_denoising_steps_future_state=1, num_denoising_steps_value=1, unnormalize_actions=True, normalize_proprio=True, dataset_stats_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/libero_goal_regen/dataset_statistics.json', t5_text_embeddings_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/t5_embeddings.pkl', trained_with_image_aug=True, chunk_size=16, num_open_loop_steps=16, deterministic=True, deterministic_reset=False, deterministic_reset_seed=None, use_ensemble_future_state_predictions=False, num_future_state_predictions_in_ensemble=3, future_state_ensemble_aggregation_scheme='average', use_ensemble_value_predictions=False, num_value_predictions_in_ensemble=5, value_ensemble_aggregation_scheme='average', search_depth=1, mask_current_state_action_for_value_prediction=False, mask_future_state_for_qvalue_prediction=False, num_queries_best_of_n=1, use_parallel_inference=False, available_gpus='0', parallel_timeout=15, parallel_tasks_across_gpus=False, task_suite_name='libero_goal', num_trials_per_task=50, task_ids_to_run='5', initial_states_path='DEFAULT', env_img_res=256, local_log_dir='/home/azureuser/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal', run_id_note='demochan200_t5_s04', use_wandb=False, wandb_entity='YOUR_ENTITY', wandb_project='YOUR_PROJECT', seed=195, randomize_seed=False, data_collection=False, jpeg_compress=True, reward_stop_threshold=None, reward_stop_consecutive_steps=3, use_gpt_reward=False, gpt_reward_model='gpt-5.4-mini', gpt_reward_stop_threshold=4, gpt_reward_timeout_s=30.0, save_rollout_video=False, eval_hdf5_path='', eval_hdf5_demo_key='demo_0', data_gen_demo_ids='', eval_episode_ids='4,20,36', replay_actions=False, replay_action_path_dir='', replay_hdf5_path='', data_generation=False, max_generation_steps=200, simple_task_max_steps=100, complex_task_max_steps=200)
+Using serial inference (parallel inference disabled)
+Task suite: libero_goal
+Number of tasks: 10
+Running only task IDs: [5]
+Using default initial states
+
+Task: push the plate to the front of the stove
+Starting episode 1...
+Query 1/1: Action query time = 2.881 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3223
+t=10: Selected seed 195 with value = 0.3223
+Query 1/1: Action query time = 3.877 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3780
+t=26: Selected seed 195 with value = 0.3780
+Query 1/1: Action query time = 5.486 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5232
+t=42: Selected seed 195 with value = 0.5232
+Query 1/1: Action query time = 5.349 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5155
+t=58: Selected seed 195 with value = 0.5155
+Query 1/1: Action query time = 4.933 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6063
+t=74: Selected seed 195 with value = 0.6063
+Query 1/1: Action query time = 4.844 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6805
+t=90: Selected seed 195 with value = 0.6805
+Query 1/1: Action query time = 4.944 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7537
+t=106: Selected seed 195 with value = 0.7537
+Query 1/1: Action query time = 5.122 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8036
+t=122: Selected seed 195 with value = 0.8036
+Query 1/1: Action query time = 5.245 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8559
+t=138: Selected seed 195 with value = 0.8559
+Query 1/1: Action query time = 4.476 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9155
+t=154: Selected seed 195 with value = 0.9155
+Query 1/1: Action query time = 4.252 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9874
+t=170: Selected seed 195 with value = 0.9874
+Saved rollout MP4 at path ./rollouts/demochan200_t5_s04/2026_08_01-13_55_08--with_future_img--episode=1--success=True--task=push_the_plate_to_the_front_of_the_.mp4
+Success: True
+# episodes completed so far: 1
+# successes: 1 (100.0%)
+
+Task: push the plate to the front of the stove
+Starting episode 2...
+Query 1/1: Action query time = 5.178 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3299
+t=10: Selected seed 195 with value = 0.3299
+Query 1/1: Action query time = 5.564 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3751
+t=26: Selected seed 195 with value = 0.3751
+Query 1/1: Action query time = 5.183 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4858
+t=42: Selected seed 195 with value = 0.4858
+Query 1/1: Action query time = 5.125 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5447
+t=58: Selected seed 195 with value = 0.5447
+Query 1/1: Action query time = 5.262 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5690
+t=74: Selected seed 195 with value = 0.5690
+Query 1/1: Action query time = 3.236 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6451
+t=90: Selected seed 195 with value = 0.6451
+Query 1/1: Action query time = 4.584 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6954
+t=106: Selected seed 195 with value = 0.6954
+Query 1/1: Action query time = 4.659 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7819
+t=122: Selected seed 195 with value = 0.7819
+Query 1/1: Action query time = 3.775 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9611
+t=138: Selected seed 195 with value = 0.9611
+Query 1/1: Action query time = 5.518 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9761
+t=154: Selected seed 195 with value = 0.9761
+Saved rollout MP4 at path ./rollouts/demochan200_t5_s04/2026_08_01-13_55_08--with_future_img--episode=2--success=True--task=push_the_plate_to_the_front_of_the_.mp4
+Success: True
+# episodes completed so far: 2
+# successes: 2 (100.0%)
+
+Task: push the plate to the front of the stove
+Starting episode 3...
+Query 1/1: Action query time = 6.000 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3758
+t=10: Selected seed 195 with value = 0.3758
+Query 1/1: Action query time = 5.227 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3925
+t=26: Selected seed 195 with value = 0.3925
+Query 1/1: Action query time = 4.648 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4940
+t=42: Selected seed 195 with value = 0.4940
+Query 1/1: Action query time = 4.862 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5575
+t=58: Selected seed 195 with value = 0.5575
+Query 1/1: Action query time = 4.191 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6159
+t=74: Selected seed 195 with value = 0.6159
+Query 1/1: Action query time = 4.017 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7716
+t=90: Selected seed 195 with value = 0.7716
+Query 1/1: Action query time = 2.152 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8687
+t=106: Selected seed 195 with value = 0.8687
+Query 1/1: Action query time = 2.525 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9597
+t=122: Selected seed 195 with value = 0.9597
+Query 1/1: Action query time = 2.632 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9820
+t=138: Selected seed 195 with value = 0.9820
+Saved rollout MP4 at path ./rollouts/demochan200_t5_s04/2026_08_01-13_55_08--with_future_img--episode=3--success=True--task=push_the_plate_to_the_front_of_the_.mp4
+Success: True
+# episodes completed so far: 3
+# successes: 3 (100.0%)
+Current task success rate: 1.0
+Current total success rate: 1.0
+Final results:
+Total episodes: 3
+Total successes: 3
+Overall success rate: 1.0000 (100.0%)
diff --git a/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_01-13_55_08--demochan200_t5_s07.txt b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_01-13_55_08--demochan200_t5_s07.txt
new file mode 100644
index 0000000000000000000000000000000000000000..d60847fdcd1a38f895ba333735af0466eede461f
--- /dev/null
+++ b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_01-13_55_08--demochan200_t5_s07.txt
@@ -0,0 +1,181 @@
+Eval config: PolicyEvalConfig(suite='libero', model_family='cosmos', config='cosmos_predict2_2b_480p_libero_cl_stage_inference_only', ckpt_path='/home/azureuser/REGEN-main/old/cosmos_policy/cosmos_v2_finetune/cosmos_predict2_2b_480p_libero_goal_task6_regen_cl_demochan_from40k_2gpu/checkpoints/iter_000000200/model', planning_model_config_name='', planning_model_ckpt_path='', config_file='cosmos_policy/config/config.py', packnet_mask_path='', packnet_first_cl_libero_task=6, use_third_person_image=True, num_third_person_images=1, use_wrist_image=True, num_wrist_images=1, use_proprio=True, flip_images=True, use_variance_scale=False, use_jpeg_compression=True, ar_future_prediction=False, ar_value_prediction=False, ar_qvalue_prediction=False, num_denoising_steps_action=5, num_denoising_steps_future_state=1, num_denoising_steps_value=1, unnormalize_actions=True, normalize_proprio=True, dataset_stats_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/libero_goal_regen/dataset_statistics.json', t5_text_embeddings_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/t5_embeddings.pkl', trained_with_image_aug=True, chunk_size=16, num_open_loop_steps=16, deterministic=True, deterministic_reset=False, deterministic_reset_seed=None, use_ensemble_future_state_predictions=False, num_future_state_predictions_in_ensemble=3, future_state_ensemble_aggregation_scheme='average', use_ensemble_value_predictions=False, num_value_predictions_in_ensemble=5, value_ensemble_aggregation_scheme='average', search_depth=1, mask_current_state_action_for_value_prediction=False, mask_future_state_for_qvalue_prediction=False, num_queries_best_of_n=1, use_parallel_inference=False, available_gpus='0', parallel_timeout=15, parallel_tasks_across_gpus=False, task_suite_name='libero_goal', num_trials_per_task=50, task_ids_to_run='5', initial_states_path='DEFAULT', env_img_res=256, local_log_dir='/home/azureuser/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal', run_id_note='demochan200_t5_s07', use_wandb=False, wandb_entity='YOUR_ENTITY', wandb_project='YOUR_PROJECT', seed=195, randomize_seed=False, data_collection=False, jpeg_compress=True, reward_stop_threshold=None, reward_stop_consecutive_steps=3, use_gpt_reward=False, gpt_reward_model='gpt-5.4-mini', gpt_reward_stop_threshold=4, gpt_reward_timeout_s=30.0, save_rollout_video=False, eval_hdf5_path='', eval_hdf5_demo_key='demo_0', data_gen_demo_ids='', eval_episode_ids='7,23,39', replay_actions=False, replay_action_path_dir='', replay_hdf5_path='', data_generation=False, max_generation_steps=200, simple_task_max_steps=100, complex_task_max_steps=200)
+Using serial inference (parallel inference disabled)
+Task suite: libero_goal
+Number of tasks: 10
+Running only task IDs: [5]
+Using default initial states
+
+Task: push the plate to the front of the stove
+Starting episode 1...
+Query 1/1: Action query time = 5.185 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4051
+t=10: Selected seed 195 with value = 0.4051
+Query 1/1: Action query time = 5.615 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4147
+t=26: Selected seed 195 with value = 0.4147
+Query 1/1: Action query time = 5.397 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5153
+t=42: Selected seed 195 with value = 0.5153
+Query 1/1: Action query time = 5.343 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5484
+t=58: Selected seed 195 with value = 0.5484
+Query 1/1: Action query time = 5.283 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5904
+t=74: Selected seed 195 with value = 0.5904
+Query 1/1: Action query time = 4.701 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6482
+t=90: Selected seed 195 with value = 0.6482
+Query 1/1: Action query time = 4.661 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7439
+t=106: Selected seed 195 with value = 0.7439
+Query 1/1: Action query time = 5.296 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7794
+t=122: Selected seed 195 with value = 0.7794
+Query 1/1: Action query time = 4.489 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9322
+t=138: Selected seed 195 with value = 0.9322
+Saved rollout MP4 at path ./rollouts/demochan200_t5_s07/2026_08_01-13_55_08--with_future_img--episode=1--success=True--task=push_the_plate_to_the_front_of_the_.mp4
+Success: True
+# episodes completed so far: 1
+# successes: 1 (100.0%)
+
+Task: push the plate to the front of the stove
+Starting episode 2...
+Query 1/1: Action query time = 3.602 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3477
+t=10: Selected seed 195 with value = 0.3477
+Query 1/1: Action query time = 5.592 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4047
+t=26: Selected seed 195 with value = 0.4047
+Query 1/1: Action query time = 3.908 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5134
+t=42: Selected seed 195 with value = 0.5134
+Query 1/1: Action query time = 4.511 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5521
+t=58: Selected seed 195 with value = 0.5521
+Query 1/1: Action query time = 4.896 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6218
+t=74: Selected seed 195 with value = 0.6218
+Query 1/1: Action query time = 4.888 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7178
+t=90: Selected seed 195 with value = 0.7178
+Query 1/1: Action query time = 4.593 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7929
+t=106: Selected seed 195 with value = 0.7929
+Query 1/1: Action query time = 4.234 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8880
+t=122: Selected seed 195 with value = 0.8880
+Query 1/1: Action query time = 4.795 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9863
+t=138: Selected seed 195 with value = 0.9863
+Query 1/1: Action query time = 3.595 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9932
+t=154: Selected seed 195 with value = 0.9932
+Query 1/1: Action query time = 2.812 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=170: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 5.718 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9341
+t=186: Selected seed 195 with value = 0.9341
+Query 1/1: Action query time = 4.601 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8842
+t=202: Selected seed 195 with value = 0.8842
+Query 1/1: Action query time = 5.749 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8993
+t=218: Selected seed 195 with value = 0.8993
+Query 1/1: Action query time = 5.759 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9603
+t=234: Selected seed 195 with value = 0.9603
+Query 1/1: Action query time = 5.187 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=250: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.673 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8933
+t=266: Selected seed 195 with value = 0.8933
+Query 1/1: Action query time = 4.170 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=282: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 3.543 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9914
+t=298: Selected seed 195 with value = 0.9914
+Saved rollout MP4 at path ./rollouts/demochan200_t5_s07/2026_08_01-13_55_08--with_future_img--episode=2--success=False--task=push_the_plate_to_the_front_of_the_.mp4
+Success: False
+# episodes completed so far: 2
+# successes: 1 (50.0%)
+
+Task: push the plate to the front of the stove
+Starting episode 3...
+Query 1/1: Action query time = 3.335 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3345
+t=10: Selected seed 195 with value = 0.3345
+Query 1/1: Action query time = 3.681 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3720
+t=26: Selected seed 195 with value = 0.3720
+Query 1/1: Action query time = 3.402 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5073
+t=42: Selected seed 195 with value = 0.5073
+Query 1/1: Action query time = 2.959 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5109
+t=58: Selected seed 195 with value = 0.5109
+Query 1/1: Action query time = 2.577 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6158
+t=74: Selected seed 195 with value = 0.6158
+Query 1/1: Action query time = 2.898 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7042
+t=90: Selected seed 195 with value = 0.7042
+Query 1/1: Action query time = 3.323 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8572
+t=106: Selected seed 195 with value = 0.8572
+Query 1/1: Action query time = 3.171 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9588
+t=122: Selected seed 195 with value = 0.9588
+Query 1/1: Action query time = 2.206 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9898
+t=138: Selected seed 195 with value = 0.9898
+Saved rollout MP4 at path ./rollouts/demochan200_t5_s07/2026_08_01-13_55_08--with_future_img--episode=3--success=True--task=push_the_plate_to_the_front_of_the_.mp4
+Success: True
+# episodes completed so far: 3
+# successes: 2 (66.7%)
+Current task success rate: 0.6666666666666666
+Current total success rate: 0.6666666666666666
+Final results:
+Total episodes: 3
+Total successes: 2
+Overall success rate: 0.6667 (66.7%)
diff --git a/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_01-13_55_09--demochan200_t5_s09.txt b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_01-13_55_09--demochan200_t5_s09.txt
new file mode 100644
index 0000000000000000000000000000000000000000..650a125dddb14cdf07712c2a73912f9b922b5c71
--- /dev/null
+++ b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_01-13_55_09--demochan200_t5_s09.txt
@@ -0,0 +1,181 @@
+Eval config: PolicyEvalConfig(suite='libero', model_family='cosmos', config='cosmos_predict2_2b_480p_libero_cl_stage_inference_only', ckpt_path='/home/azureuser/REGEN-main/old/cosmos_policy/cosmos_v2_finetune/cosmos_predict2_2b_480p_libero_goal_task6_regen_cl_demochan_from40k_2gpu/checkpoints/iter_000000200/model', planning_model_config_name='', planning_model_ckpt_path='', config_file='cosmos_policy/config/config.py', packnet_mask_path='', packnet_first_cl_libero_task=6, use_third_person_image=True, num_third_person_images=1, use_wrist_image=True, num_wrist_images=1, use_proprio=True, flip_images=True, use_variance_scale=False, use_jpeg_compression=True, ar_future_prediction=False, ar_value_prediction=False, ar_qvalue_prediction=False, num_denoising_steps_action=5, num_denoising_steps_future_state=1, num_denoising_steps_value=1, unnormalize_actions=True, normalize_proprio=True, dataset_stats_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/libero_goal_regen/dataset_statistics.json', t5_text_embeddings_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/t5_embeddings.pkl', trained_with_image_aug=True, chunk_size=16, num_open_loop_steps=16, deterministic=True, deterministic_reset=False, deterministic_reset_seed=None, use_ensemble_future_state_predictions=False, num_future_state_predictions_in_ensemble=3, future_state_ensemble_aggregation_scheme='average', use_ensemble_value_predictions=False, num_value_predictions_in_ensemble=5, value_ensemble_aggregation_scheme='average', search_depth=1, mask_current_state_action_for_value_prediction=False, mask_future_state_for_qvalue_prediction=False, num_queries_best_of_n=1, use_parallel_inference=False, available_gpus='0', parallel_timeout=15, parallel_tasks_across_gpus=False, task_suite_name='libero_goal', num_trials_per_task=50, task_ids_to_run='5', initial_states_path='DEFAULT', env_img_res=256, local_log_dir='/home/azureuser/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal', run_id_note='demochan200_t5_s09', use_wandb=False, wandb_entity='YOUR_ENTITY', wandb_project='YOUR_PROJECT', seed=195, randomize_seed=False, data_collection=False, jpeg_compress=True, reward_stop_threshold=None, reward_stop_consecutive_steps=3, use_gpt_reward=False, gpt_reward_model='gpt-5.4-mini', gpt_reward_stop_threshold=4, gpt_reward_timeout_s=30.0, save_rollout_video=False, eval_hdf5_path='', eval_hdf5_demo_key='demo_0', data_gen_demo_ids='', eval_episode_ids='9,25,41', replay_actions=False, replay_action_path_dir='', replay_hdf5_path='', data_generation=False, max_generation_steps=200, simple_task_max_steps=100, complex_task_max_steps=200)
+Using serial inference (parallel inference disabled)
+Task suite: libero_goal
+Number of tasks: 10
+Running only task IDs: [5]
+Using default initial states
+
+Task: push the plate to the front of the stove
+Starting episode 1...
+Query 1/1: Action query time = 5.985 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3804
+t=10: Selected seed 195 with value = 0.3804
+Query 1/1: Action query time = 5.102 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3855
+t=26: Selected seed 195 with value = 0.3855
+Query 1/1: Action query time = 5.107 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5129
+t=42: Selected seed 195 with value = 0.5129
+Query 1/1: Action query time = 4.849 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5627
+t=58: Selected seed 195 with value = 0.5627
+Query 1/1: Action query time = 4.842 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6242
+t=74: Selected seed 195 with value = 0.6242
+Query 1/1: Action query time = 4.814 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7775
+t=90: Selected seed 195 with value = 0.7775
+Query 1/1: Action query time = 4.618 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8662
+t=106: Selected seed 195 with value = 0.8662
+Query 1/1: Action query time = 5.138 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9630
+t=122: Selected seed 195 with value = 0.9630
+Query 1/1: Action query time = 3.604 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9722
+t=138: Selected seed 195 with value = 0.9722
+Saved rollout MP4 at path ./rollouts/demochan200_t5_s09/2026_08_01-13_55_09--with_future_img--episode=1--success=True--task=push_the_plate_to_the_front_of_the_.mp4
+Success: True
+# episodes completed so far: 1
+# successes: 1 (100.0%)
+
+Task: push the plate to the front of the stove
+Starting episode 2...
+Query 1/1: Action query time = 5.612 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3330
+t=10: Selected seed 195 with value = 0.3330
+Query 1/1: Action query time = 5.047 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3616
+t=26: Selected seed 195 with value = 0.3616
+Query 1/1: Action query time = 4.354 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5227
+t=42: Selected seed 195 with value = 0.5227
+Query 1/1: Action query time = 5.041 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5352
+t=58: Selected seed 195 with value = 0.5352
+Query 1/1: Action query time = 4.726 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5741
+t=74: Selected seed 195 with value = 0.5741
+Query 1/1: Action query time = 4.608 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6632
+t=90: Selected seed 195 with value = 0.6632
+Query 1/1: Action query time = 4.137 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7092
+t=106: Selected seed 195 with value = 0.7092
+Query 1/1: Action query time = 5.007 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7993
+t=122: Selected seed 195 with value = 0.7993
+Query 1/1: Action query time = 2.684 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8717
+t=138: Selected seed 195 with value = 0.8717
+Query 1/1: Action query time = 2.296 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9745
+t=154: Selected seed 195 with value = 0.9745
+Query 1/1: Action query time = 3.007 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9978
+t=170: Selected seed 195 with value = 0.9978
+Query 1/1: Action query time = 5.615 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9817
+t=186: Selected seed 195 with value = 0.9817
+Query 1/1: Action query time = 5.000 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9791
+t=202: Selected seed 195 with value = 0.9791
+Query 1/1: Action query time = 4.949 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9952
+t=218: Selected seed 195 with value = 0.9952
+Query 1/1: Action query time = 5.252 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9901
+t=234: Selected seed 195 with value = 0.9901
+Query 1/1: Action query time = 4.255 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9908
+t=250: Selected seed 195 with value = 0.9908
+Query 1/1: Action query time = 4.263 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9902
+t=266: Selected seed 195 with value = 0.9902
+Query 1/1: Action query time = 4.624 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9899
+t=282: Selected seed 195 with value = 0.9899
+Query 1/1: Action query time = 3.771 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9899
+t=298: Selected seed 195 with value = 0.9899
+Saved rollout MP4 at path ./rollouts/demochan200_t5_s09/2026_08_01-13_55_09--with_future_img--episode=2--success=False--task=push_the_plate_to_the_front_of_the_.mp4
+Success: False
+# episodes completed so far: 2
+# successes: 1 (50.0%)
+
+Task: push the plate to the front of the stove
+Starting episode 3...
+Query 1/1: Action query time = 1.895 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3432
+t=10: Selected seed 195 with value = 0.3432
+Query 1/1: Action query time = 1.741 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3883
+t=26: Selected seed 195 with value = 0.3883
+Query 1/1: Action query time = 1.734 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5192
+t=42: Selected seed 195 with value = 0.5192
+Query 1/1: Action query time = 1.422 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5602
+t=58: Selected seed 195 with value = 0.5602
+Query 1/1: Action query time = 1.916 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6095
+t=74: Selected seed 195 with value = 0.6095
+Query 1/1: Action query time = 1.592 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6955
+t=90: Selected seed 195 with value = 0.6955
+Query 1/1: Action query time = 1.351 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8679
+t=106: Selected seed 195 with value = 0.8679
+Query 1/1: Action query time = 1.345 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9667
+t=122: Selected seed 195 with value = 0.9667
+Query 1/1: Action query time = 1.417 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9946
+t=138: Selected seed 195 with value = 0.9946
+Saved rollout MP4 at path ./rollouts/demochan200_t5_s09/2026_08_01-13_55_09--with_future_img--episode=3--success=True--task=push_the_plate_to_the_front_of_the_.mp4
+Success: True
+# episodes completed so far: 3
+# successes: 2 (66.7%)
+Current task success rate: 0.6666666666666666
+Current total success rate: 0.6666666666666666
+Final results:
+Total episodes: 3
+Total successes: 2
+Overall success rate: 0.6667 (66.7%)
diff --git a/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_01-13_55_09--demochan200_t5_s13.txt b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_01-13_55_09--demochan200_t5_s13.txt
new file mode 100644
index 0000000000000000000000000000000000000000..9b510990332e2d3e9774bbbcb08dca714aba2117
--- /dev/null
+++ b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_01-13_55_09--demochan200_t5_s13.txt
@@ -0,0 +1,181 @@
+Eval config: PolicyEvalConfig(suite='libero', model_family='cosmos', config='cosmos_predict2_2b_480p_libero_cl_stage_inference_only', ckpt_path='/home/azureuser/REGEN-main/old/cosmos_policy/cosmos_v2_finetune/cosmos_predict2_2b_480p_libero_goal_task6_regen_cl_demochan_from40k_2gpu/checkpoints/iter_000000200/model', planning_model_config_name='', planning_model_ckpt_path='', config_file='cosmos_policy/config/config.py', packnet_mask_path='', packnet_first_cl_libero_task=6, use_third_person_image=True, num_third_person_images=1, use_wrist_image=True, num_wrist_images=1, use_proprio=True, flip_images=True, use_variance_scale=False, use_jpeg_compression=True, ar_future_prediction=False, ar_value_prediction=False, ar_qvalue_prediction=False, num_denoising_steps_action=5, num_denoising_steps_future_state=1, num_denoising_steps_value=1, unnormalize_actions=True, normalize_proprio=True, dataset_stats_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/libero_goal_regen/dataset_statistics.json', t5_text_embeddings_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/t5_embeddings.pkl', trained_with_image_aug=True, chunk_size=16, num_open_loop_steps=16, deterministic=True, deterministic_reset=False, deterministic_reset_seed=None, use_ensemble_future_state_predictions=False, num_future_state_predictions_in_ensemble=3, future_state_ensemble_aggregation_scheme='average', use_ensemble_value_predictions=False, num_value_predictions_in_ensemble=5, value_ensemble_aggregation_scheme='average', search_depth=1, mask_current_state_action_for_value_prediction=False, mask_future_state_for_qvalue_prediction=False, num_queries_best_of_n=1, use_parallel_inference=False, available_gpus='0', parallel_timeout=15, parallel_tasks_across_gpus=False, task_suite_name='libero_goal', num_trials_per_task=50, task_ids_to_run='5', initial_states_path='DEFAULT', env_img_res=256, local_log_dir='/home/azureuser/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal', run_id_note='demochan200_t5_s13', use_wandb=False, wandb_entity='YOUR_ENTITY', wandb_project='YOUR_PROJECT', seed=195, randomize_seed=False, data_collection=False, jpeg_compress=True, reward_stop_threshold=None, reward_stop_consecutive_steps=3, use_gpt_reward=False, gpt_reward_model='gpt-5.4-mini', gpt_reward_stop_threshold=4, gpt_reward_timeout_s=30.0, save_rollout_video=False, eval_hdf5_path='', eval_hdf5_demo_key='demo_0', data_gen_demo_ids='', eval_episode_ids='13,29,45', replay_actions=False, replay_action_path_dir='', replay_hdf5_path='', data_generation=False, max_generation_steps=200, simple_task_max_steps=100, complex_task_max_steps=200)
+Using serial inference (parallel inference disabled)
+Task suite: libero_goal
+Number of tasks: 10
+Running only task IDs: [5]
+Using default initial states
+
+Task: push the plate to the front of the stove
+Starting episode 1...
+Query 1/1: Action query time = 5.278 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3922
+t=10: Selected seed 195 with value = 0.3922
+Query 1/1: Action query time = 5.009 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3911
+t=26: Selected seed 195 with value = 0.3911
+Query 1/1: Action query time = 5.053 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5212
+t=42: Selected seed 195 with value = 0.5212
+Query 1/1: Action query time = 5.022 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5354
+t=58: Selected seed 195 with value = 0.5354
+Query 1/1: Action query time = 5.159 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5852
+t=74: Selected seed 195 with value = 0.5852
+Query 1/1: Action query time = 4.860 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6646
+t=90: Selected seed 195 with value = 0.6646
+Query 1/1: Action query time = 5.202 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7421
+t=106: Selected seed 195 with value = 0.7421
+Query 1/1: Action query time = 5.190 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8147
+t=122: Selected seed 195 with value = 0.8147
+Query 1/1: Action query time = 3.548 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9651
+t=138: Selected seed 195 with value = 0.9651
+Query 1/1: Action query time = 2.213 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9840
+t=154: Selected seed 195 with value = 0.9840
+Query 1/1: Action query time = 3.124 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9714
+t=170: Selected seed 195 with value = 0.9714
+Query 1/1: Action query time = 5.689 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9007
+t=186: Selected seed 195 with value = 0.9007
+Query 1/1: Action query time = 5.497 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9765
+t=202: Selected seed 195 with value = 0.9765
+Query 1/1: Action query time = 5.294 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9779
+t=218: Selected seed 195 with value = 0.9779
+Query 1/1: Action query time = 4.953 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9858
+t=234: Selected seed 195 with value = 0.9858
+Query 1/1: Action query time = 5.299 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9859
+t=250: Selected seed 195 with value = 0.9859
+Query 1/1: Action query time = 5.095 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9825
+t=266: Selected seed 195 with value = 0.9825
+Query 1/1: Action query time = 4.517 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9822
+t=282: Selected seed 195 with value = 0.9822
+Query 1/1: Action query time = 3.210 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9805
+t=298: Selected seed 195 with value = 0.9805
+Saved rollout MP4 at path ./rollouts/demochan200_t5_s13/2026_08_01-13_55_09--with_future_img--episode=1--success=False--task=push_the_plate_to_the_front_of_the_.mp4
+Success: False
+# episodes completed so far: 1
+# successes: 0 (0.0%)
+
+Task: push the plate to the front of the stove
+Starting episode 2...
+Query 1/1: Action query time = 5.501 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3778
+t=10: Selected seed 195 with value = 0.3778
+Query 1/1: Action query time = 5.063 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4130
+t=26: Selected seed 195 with value = 0.4130
+Query 1/1: Action query time = 5.470 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5421
+t=42: Selected seed 195 with value = 0.5421
+Query 1/1: Action query time = 4.185 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5880
+t=58: Selected seed 195 with value = 0.5880
+Query 1/1: Action query time = 4.602 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6572
+t=74: Selected seed 195 with value = 0.6572
+Query 1/1: Action query time = 5.245 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7221
+t=90: Selected seed 195 with value = 0.7221
+Query 1/1: Action query time = 5.353 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7764
+t=106: Selected seed 195 with value = 0.7764
+Query 1/1: Action query time = 4.482 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9450
+t=122: Selected seed 195 with value = 0.9450
+Query 1/1: Action query time = 1.980 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9606
+t=138: Selected seed 195 with value = 0.9606
+Saved rollout MP4 at path ./rollouts/demochan200_t5_s13/2026_08_01-13_55_09--with_future_img--episode=2--success=True--task=push_the_plate_to_the_front_of_the_.mp4
+Success: True
+# episodes completed so far: 2
+# successes: 1 (50.0%)
+
+Task: push the plate to the front of the stove
+Starting episode 3...
+Query 1/1: Action query time = 1.793 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3459
+t=10: Selected seed 195 with value = 0.3459
+Query 1/1: Action query time = 1.862 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3881
+t=26: Selected seed 195 with value = 0.3881
+Query 1/1: Action query time = 1.852 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5228
+t=42: Selected seed 195 with value = 0.5228
+Query 1/1: Action query time = 1.689 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5504
+t=58: Selected seed 195 with value = 0.5504
+Query 1/1: Action query time = 1.640 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5930
+t=74: Selected seed 195 with value = 0.5930
+Query 1/1: Action query time = 1.716 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6394
+t=90: Selected seed 195 with value = 0.6394
+Query 1/1: Action query time = 1.518 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7590
+t=106: Selected seed 195 with value = 0.7590
+Query 1/1: Action query time = 1.259 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8885
+t=122: Selected seed 195 with value = 0.8885
+Query 1/1: Action query time = 1.347 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9701
+t=138: Selected seed 195 with value = 0.9701
+Saved rollout MP4 at path ./rollouts/demochan200_t5_s13/2026_08_01-13_55_09--with_future_img--episode=3--success=True--task=push_the_plate_to_the_front_of_the_.mp4
+Success: True
+# episodes completed so far: 3
+# successes: 2 (66.7%)
+Current task success rate: 0.6666666666666666
+Current total success rate: 0.6666666666666666
+Final results:
+Total episodes: 3
+Total successes: 2
+Overall success rate: 0.6667 (66.7%)
diff --git a/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_01-13_55_10--demochan200_t5_s15.txt b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_01-13_55_10--demochan200_t5_s15.txt
new file mode 100644
index 0000000000000000000000000000000000000000..f7c840d8646ce3b9d1be0d090db4c2b8c6c36009
--- /dev/null
+++ b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_01-13_55_10--demochan200_t5_s15.txt
@@ -0,0 +1,137 @@
+Eval config: PolicyEvalConfig(suite='libero', model_family='cosmos', config='cosmos_predict2_2b_480p_libero_cl_stage_inference_only', ckpt_path='/home/azureuser/REGEN-main/old/cosmos_policy/cosmos_v2_finetune/cosmos_predict2_2b_480p_libero_goal_task6_regen_cl_demochan_from40k_2gpu/checkpoints/iter_000000200/model', planning_model_config_name='', planning_model_ckpt_path='', config_file='cosmos_policy/config/config.py', packnet_mask_path='', packnet_first_cl_libero_task=6, use_third_person_image=True, num_third_person_images=1, use_wrist_image=True, num_wrist_images=1, use_proprio=True, flip_images=True, use_variance_scale=False, use_jpeg_compression=True, ar_future_prediction=False, ar_value_prediction=False, ar_qvalue_prediction=False, num_denoising_steps_action=5, num_denoising_steps_future_state=1, num_denoising_steps_value=1, unnormalize_actions=True, normalize_proprio=True, dataset_stats_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/libero_goal_regen/dataset_statistics.json', t5_text_embeddings_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/t5_embeddings.pkl', trained_with_image_aug=True, chunk_size=16, num_open_loop_steps=16, deterministic=True, deterministic_reset=False, deterministic_reset_seed=None, use_ensemble_future_state_predictions=False, num_future_state_predictions_in_ensemble=3, future_state_ensemble_aggregation_scheme='average', use_ensemble_value_predictions=False, num_value_predictions_in_ensemble=5, value_ensemble_aggregation_scheme='average', search_depth=1, mask_current_state_action_for_value_prediction=False, mask_future_state_for_qvalue_prediction=False, num_queries_best_of_n=1, use_parallel_inference=False, available_gpus='0', parallel_timeout=15, parallel_tasks_across_gpus=False, task_suite_name='libero_goal', num_trials_per_task=50, task_ids_to_run='5', initial_states_path='DEFAULT', env_img_res=256, local_log_dir='/home/azureuser/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal', run_id_note='demochan200_t5_s15', use_wandb=False, wandb_entity='YOUR_ENTITY', wandb_project='YOUR_PROJECT', seed=195, randomize_seed=False, data_collection=False, jpeg_compress=True, reward_stop_threshold=None, reward_stop_consecutive_steps=3, use_gpt_reward=False, gpt_reward_model='gpt-5.4-mini', gpt_reward_stop_threshold=4, gpt_reward_timeout_s=30.0, save_rollout_video=False, eval_hdf5_path='', eval_hdf5_demo_key='demo_0', data_gen_demo_ids='', eval_episode_ids='15,31,47', replay_actions=False, replay_action_path_dir='', replay_hdf5_path='', data_generation=False, max_generation_steps=200, simple_task_max_steps=100, complex_task_max_steps=200)
+Using serial inference (parallel inference disabled)
+Task suite: libero_goal
+Number of tasks: 10
+Running only task IDs: [5]
+Using default initial states
+
+Task: push the plate to the front of the stove
+Starting episode 1...
+Query 1/1: Action query time = 5.821 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3791
+t=10: Selected seed 195 with value = 0.3791
+Query 1/1: Action query time = 5.047 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4128
+t=26: Selected seed 195 with value = 0.4128
+Query 1/1: Action query time = 5.006 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5254
+t=42: Selected seed 195 with value = 0.5254
+Query 1/1: Action query time = 4.645 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5640
+t=58: Selected seed 195 with value = 0.5640
+Query 1/1: Action query time = 4.817 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6329
+t=74: Selected seed 195 with value = 0.6329
+Query 1/1: Action query time = 4.894 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7162
+t=90: Selected seed 195 with value = 0.7162
+Query 1/1: Action query time = 4.927 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8452
+t=106: Selected seed 195 with value = 0.8452
+Query 1/1: Action query time = 5.129 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9227
+t=122: Selected seed 195 with value = 0.9227
+Query 1/1: Action query time = 3.578 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9807
+t=138: Selected seed 195 with value = 0.9807
+Saved rollout MP4 at path ./rollouts/demochan200_t5_s15/2026_08_01-13_55_10--with_future_img--episode=1--success=True--task=push_the_plate_to_the_front_of_the_.mp4
+Success: True
+# episodes completed so far: 1
+# successes: 1 (100.0%)
+
+Task: push the plate to the front of the stove
+Starting episode 2...
+Query 1/1: Action query time = 5.816 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3683
+t=10: Selected seed 195 with value = 0.3683
+Query 1/1: Action query time = 5.407 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3935
+t=26: Selected seed 195 with value = 0.3935
+Query 1/1: Action query time = 5.074 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5134
+t=42: Selected seed 195 with value = 0.5134
+Query 1/1: Action query time = 4.873 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5553
+t=58: Selected seed 195 with value = 0.5553
+Query 1/1: Action query time = 4.757 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6163
+t=74: Selected seed 195 with value = 0.6163
+Query 1/1: Action query time = 4.535 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7198
+t=90: Selected seed 195 with value = 0.7198
+Query 1/1: Action query time = 4.615 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8747
+t=106: Selected seed 195 with value = 0.8747
+Query 1/1: Action query time = 4.092 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9637
+t=122: Selected seed 195 with value = 0.9637
+Query 1/1: Action query time = 2.284 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9715
+t=138: Selected seed 195 with value = 0.9715
+Saved rollout MP4 at path ./rollouts/demochan200_t5_s15/2026_08_01-13_55_10--with_future_img--episode=2--success=True--task=push_the_plate_to_the_front_of_the_.mp4
+Success: True
+# episodes completed so far: 2
+# successes: 2 (100.0%)
+
+Task: push the plate to the front of the stove
+Starting episode 3...
+Query 1/1: Action query time = 4.638 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3658
+t=10: Selected seed 195 with value = 0.3658
+Query 1/1: Action query time = 5.021 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3980
+t=26: Selected seed 195 with value = 0.3980
+Query 1/1: Action query time = 5.199 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5167
+t=42: Selected seed 195 with value = 0.5167
+Query 1/1: Action query time = 4.565 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5799
+t=58: Selected seed 195 with value = 0.5799
+Query 1/1: Action query time = 5.116 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6114
+t=74: Selected seed 195 with value = 0.6114
+Query 1/1: Action query time = 5.611 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7253
+t=90: Selected seed 195 with value = 0.7253
+Query 1/1: Action query time = 4.981 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8682
+t=106: Selected seed 195 with value = 0.8682
+Query 1/1: Action query time = 3.577 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9667
+t=122: Selected seed 195 with value = 0.9667
+Saved rollout MP4 at path ./rollouts/demochan200_t5_s15/2026_08_01-13_55_10--with_future_img--episode=3--success=True--task=push_the_plate_to_the_front_of_the_.mp4
+Success: True
+# episodes completed so far: 3
+# successes: 3 (100.0%)
+Current task success rate: 1.0
+Current total success rate: 1.0
+Final results:
+Total episodes: 3
+Total successes: 3
+Overall success rate: 1.0000 (100.0%)
diff --git a/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_01-18_15_09--demochan800_t456.txt b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_01-18_15_09--demochan800_t456.txt
new file mode 100644
index 0000000000000000000000000000000000000000..7eea26dc7843f181a29c55a64da84a37d32f9c01
--- /dev/null
+++ b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_01-18_15_09--demochan800_t456.txt
@@ -0,0 +1,6722 @@
+Eval config: PolicyEvalConfig(suite='libero', model_family='cosmos', config='cosmos_predict2_2b_480p_libero_cl_stage_inference_only', ckpt_path='/home/azureuser/REGEN-main/old/cosmos_policy/cosmos_v2_finetune/cosmos_predict2_2b_480p_libero_goal_task6_regen_cl_demochan_from40k_2gpu/checkpoints/iter_000000800/model', planning_model_config_name='', planning_model_ckpt_path='', config_file='cosmos_policy/config/config.py', packnet_mask_path='', packnet_first_cl_libero_task=6, use_third_person_image=True, num_third_person_images=1, use_wrist_image=True, num_wrist_images=1, use_proprio=True, flip_images=True, use_variance_scale=False, use_jpeg_compression=True, ar_future_prediction=False, ar_value_prediction=False, ar_qvalue_prediction=False, num_denoising_steps_action=5, num_denoising_steps_future_state=1, num_denoising_steps_value=1, unnormalize_actions=True, normalize_proprio=True, dataset_stats_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/libero_goal_regen/dataset_statistics.json', t5_text_embeddings_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/t5_embeddings.pkl', trained_with_image_aug=True, chunk_size=16, num_open_loop_steps=16, deterministic=True, deterministic_reset=False, deterministic_reset_seed=None, use_ensemble_future_state_predictions=False, num_future_state_predictions_in_ensemble=3, future_state_ensemble_aggregation_scheme='average', use_ensemble_value_predictions=False, num_value_predictions_in_ensemble=5, value_ensemble_aggregation_scheme='average', search_depth=1, mask_current_state_action_for_value_prediction=False, mask_future_state_for_qvalue_prediction=False, num_queries_best_of_n=1, use_parallel_inference=False, available_gpus='0', parallel_timeout=15, parallel_tasks_across_gpus=False, task_suite_name='libero_goal', num_trials_per_task=50, task_ids_to_run='4,5,6', initial_states_path='DEFAULT', env_img_res=256, local_log_dir='/home/azureuser/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal', run_id_note='demochan800_t456', use_wandb=False, wandb_entity='YOUR_ENTITY', wandb_project='YOUR_PROJECT', seed=195, randomize_seed=False, data_collection=False, jpeg_compress=True, reward_stop_threshold=None, reward_stop_consecutive_steps=3, use_gpt_reward=False, gpt_reward_model='gpt-5.4-mini', gpt_reward_stop_threshold=4, gpt_reward_timeout_s=30.0, save_rollout_video=True, eval_hdf5_path='', eval_hdf5_demo_key='demo_0', data_gen_demo_ids='', eval_episode_ids='', replay_actions=False, replay_action_path_dir='', replay_hdf5_path='', data_generation=False, max_generation_steps=200, simple_task_max_steps=100, complex_task_max_steps=200)
+Using serial inference (parallel inference disabled)
+Task suite: libero_goal
+Number of tasks: 10
+Running only task IDs: [4, 5, 6]
+Using default initial states
+
+Task: put the bowl on top of the cabinet
+Starting episode 1...
+Query 1/1: Action query time = 1.493 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5094
+t=10: Selected seed 195 with value = 0.5094
+Query 1/1: Action query time = 0.977 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5893
+t=26: Selected seed 195 with value = 0.5893
+Query 1/1: Action query time = 0.967 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6562
+t=42: Selected seed 195 with value = 0.6562
+Query 1/1: Action query time = 0.951 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7317
+t=58: Selected seed 195 with value = 0.7317
+Query 1/1: Action query time = 0.968 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9090
+t=74: Selected seed 195 with value = 0.9090
+Query 1/1: Action query time = 0.957 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9902
+t=90: Selected seed 195 with value = 0.9902
+Query 1/1: Action query time = 0.967 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9972
+t=106: Selected seed 195 with value = 0.9972
+Query 1/1: Action query time = 0.968 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9824
+t=122: Selected seed 195 with value = 0.9824
+Query 1/1: Action query time = 0.964 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9946
+t=138: Selected seed 195 with value = 0.9946
+Query 1/1: Action query time = 0.961 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=154: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 1.063 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=170: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 1.067 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=186: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.980 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9987
+t=202: Selected seed 195 with value = 0.9987
+Query 1/1: Action query time = 0.953 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9940
+t=218: Selected seed 195 with value = 0.9940
+Query 1/1: Action query time = 0.954 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9858
+t=234: Selected seed 195 with value = 0.9858
+Query 1/1: Action query time = 0.964 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9759
+t=250: Selected seed 195 with value = 0.9759
+Query 1/1: Action query time = 0.967 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9641
+t=266: Selected seed 195 with value = 0.9641
+Query 1/1: Action query time = 0.976 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9563
+t=282: Selected seed 195 with value = 0.9563
+Query 1/1: Action query time = 0.965 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9482
+t=298: Selected seed 195 with value = 0.9482
+Saved rollout MP4 at path ./rollouts/demochan800_t456/2026_08_01-18_15_09--episode=1--success=False--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Saved rollout MP4 at path ./rollouts/demochan800_t456/2026_08_01-18_15_09--with_future_img--episode=1--success=False--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Success: False
+# episodes completed so far: 1
+# successes: 0 (0.0%)
+
+Task: put the bowl on top of the cabinet
+Starting episode 2...
+Query 1/1: Action query time = 0.964 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5076
+t=10: Selected seed 195 with value = 0.5076
+Query 1/1: Action query time = 0.971 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5714
+t=26: Selected seed 195 with value = 0.5714
+Query 1/1: Action query time = 0.992 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6478
+t=42: Selected seed 195 with value = 0.6478
+Query 1/1: Action query time = 0.966 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7864
+t=58: Selected seed 195 with value = 0.7864
+Query 1/1: Action query time = 0.977 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9458
+t=74: Selected seed 195 with value = 0.9458
+Query 1/1: Action query time = 0.967 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/demochan800_t456/2026_08_01-18_15_09--episode=2--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Saved rollout MP4 at path ./rollouts/demochan800_t456/2026_08_01-18_15_09--with_future_img--episode=2--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Success: True
+# episodes completed so far: 2
+# successes: 1 (50.0%)
+
+Task: put the bowl on top of the cabinet
+Starting episode 3...
+Query 1/1: Action query time = 1.048 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5168
+t=10: Selected seed 195 with value = 0.5168
+Query 1/1: Action query time = 1.034 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5881
+t=26: Selected seed 195 with value = 0.5881
+Query 1/1: Action query time = 1.058 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6576
+t=42: Selected seed 195 with value = 0.6576
+Query 1/1: Action query time = 1.151 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7813
+t=58: Selected seed 195 with value = 0.7813
+Query 1/1: Action query time = 1.173 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9185
+t=74: Selected seed 195 with value = 0.9185
+Query 1/1: Action query time = 1.156 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/demochan800_t456/2026_08_01-18_15_09--episode=3--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Saved rollout MP4 at path ./rollouts/demochan800_t456/2026_08_01-18_15_09--with_future_img--episode=3--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Success: True
+# episodes completed so far: 3
+# successes: 2 (66.7%)
+
+Task: put the bowl on top of the cabinet
+Starting episode 4...
+Query 1/1: Action query time = 0.988 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4670
+t=10: Selected seed 195 with value = 0.4670
+Query 1/1: Action query time = 0.973 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5520
+t=26: Selected seed 195 with value = 0.5520
+Query 1/1: Action query time = 0.975 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6515
+t=42: Selected seed 195 with value = 0.6515
+Query 1/1: Action query time = 0.966 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7793
+t=58: Selected seed 195 with value = 0.7793
+Query 1/1: Action query time = 0.967 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9511
+t=74: Selected seed 195 with value = 0.9511
+Query 1/1: Action query time = 0.970 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9978
+t=90: Selected seed 195 with value = 0.9978
+Saved rollout MP4 at path ./rollouts/demochan800_t456/2026_08_01-18_15_09--episode=4--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Saved rollout MP4 at path ./rollouts/demochan800_t456/2026_08_01-18_15_09--with_future_img--episode=4--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Success: True
+# episodes completed so far: 4
+# successes: 3 (75.0%)
+
+Task: put the bowl on top of the cabinet
+Starting episode 5...
+Query 1/1: Action query time = 0.983 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4859
+t=10: Selected seed 195 with value = 0.4859
+Query 1/1: Action query time = 0.983 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5706
+t=26: Selected seed 195 with value = 0.5706
+Query 1/1: Action query time = 0.958 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6474
+t=42: Selected seed 195 with value = 0.6474
+Query 1/1: Action query time = 1.032 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8284
+t=58: Selected seed 195 with value = 0.8284
+Query 1/1: Action query time = 1.018 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9573
+t=74: Selected seed 195 with value = 0.9573
+Query 1/1: Action query time = 0.968 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9898
+t=90: Selected seed 195 with value = 0.9898
+Saved rollout MP4 at path ./rollouts/demochan800_t456/2026_08_01-18_15_09--episode=5--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Saved rollout MP4 at path ./rollouts/demochan800_t456/2026_08_01-18_15_09--with_future_img--episode=5--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Success: True
+# episodes completed so far: 5
+# successes: 4 (80.0%)
+
+Task: put the bowl on top of the cabinet
+Starting episode 6...
+Query 1/1: Action query time = 1.020 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5283
+t=10: Selected seed 195 with value = 0.5283
+Query 1/1: Action query time = 0.967 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5833
+t=26: Selected seed 195 with value = 0.5833
+Query 1/1: Action query time = 0.952 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6699
+t=42: Selected seed 195 with value = 0.6699
+Query 1/1: Action query time = 0.950 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8005
+t=58: Selected seed 195 with value = 0.8005
+Query 1/1: Action query time = 0.958 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9412
+t=74: Selected seed 195 with value = 0.9412
+Query 1/1: Action query time = 0.963 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9917
+t=90: Selected seed 195 with value = 0.9917
+Saved rollout MP4 at path ./rollouts/demochan800_t456/2026_08_01-18_15_09--episode=6--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Saved rollout MP4 at path ./rollouts/demochan800_t456/2026_08_01-18_15_09--with_future_img--episode=6--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Success: True
+# episodes completed so far: 6
+# successes: 5 (83.3%)
+
+Task: put the bowl on top of the cabinet
+Starting episode 7...
+Query 1/1: Action query time = 1.187 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5014
+t=10: Selected seed 195 with value = 0.5014
+Query 1/1: Action query time = 0.977 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5573
+t=26: Selected seed 195 with value = 0.5573
+Query 1/1: Action query time = 0.951 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6862
+t=42: Selected seed 195 with value = 0.6862
+Query 1/1: Action query time = 0.964 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7810
+t=58: Selected seed 195 with value = 0.7810
+Query 1/1: Action query time = 0.987 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9269
+t=74: Selected seed 195 with value = 0.9269
+Query 1/1: Action query time = 0.961 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9763
+t=90: Selected seed 195 with value = 0.9763
+Query 1/1: Action query time = 0.963 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9623
+t=106: Selected seed 195 with value = 0.9623
+Query 1/1: Action query time = 0.976 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9284
+t=122: Selected seed 195 with value = 0.9284
+Query 1/1: Action query time = 0.954 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9854
+t=138: Selected seed 195 with value = 0.9854
+Query 1/1: Action query time = 0.976 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9975
+t=154: Selected seed 195 with value = 0.9975
+Query 1/1: Action query time = 0.975 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=170: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.961 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=186: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.965 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=202: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.961 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=218: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.967 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=234: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.976 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=250: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.956 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=266: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.960 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=282: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.971 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=298: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/demochan800_t456/2026_08_01-18_15_09--episode=7--success=False--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Saved rollout MP4 at path ./rollouts/demochan800_t456/2026_08_01-18_15_09--with_future_img--episode=7--success=False--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Success: False
+# episodes completed so far: 7
+# successes: 5 (71.4%)
+
+Task: put the bowl on top of the cabinet
+Starting episode 8...
+Query 1/1: Action query time = 0.984 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4947
+t=10: Selected seed 195 with value = 0.4947
+Query 1/1: Action query time = 1.045 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5571
+t=26: Selected seed 195 with value = 0.5571
+Query 1/1: Action query time = 1.016 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6453
+t=42: Selected seed 195 with value = 0.6453
+Query 1/1: Action query time = 1.148 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7577
+t=58: Selected seed 195 with value = 0.7577
+Query 1/1: Action query time = 1.164 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9377
+t=74: Selected seed 195 with value = 0.9377
+Query 1/1: Action query time = 1.089 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9987
+t=90: Selected seed 195 with value = 0.9987
+Saved rollout MP4 at path ./rollouts/demochan800_t456/2026_08_01-18_15_09--episode=8--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Saved rollout MP4 at path ./rollouts/demochan800_t456/2026_08_01-18_15_09--with_future_img--episode=8--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Success: True
+# episodes completed so far: 8
+# successes: 6 (75.0%)
+
+Task: put the bowl on top of the cabinet
+Starting episode 9...
+Query 1/1: Action query time = 0.979 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5242
+t=10: Selected seed 195 with value = 0.5242
+Query 1/1: Action query time = 0.974 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5918
+t=26: Selected seed 195 with value = 0.5918
+Query 1/1: Action query time = 0.977 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6620
+t=42: Selected seed 195 with value = 0.6620
+Query 1/1: Action query time = 0.963 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7578
+t=58: Selected seed 195 with value = 0.7578
+Query 1/1: Action query time = 0.974 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9565
+t=74: Selected seed 195 with value = 0.9565
+Query 1/1: Action query time = 0.988 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9972
+t=90: Selected seed 195 with value = 0.9972
+Saved rollout MP4 at path ./rollouts/demochan800_t456/2026_08_01-18_15_09--episode=9--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Saved rollout MP4 at path ./rollouts/demochan800_t456/2026_08_01-18_15_09--with_future_img--episode=9--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Success: True
+# episodes completed so far: 9
+# successes: 7 (77.8%)
+
+Task: put the bowl on top of the cabinet
+Starting episode 10...
+Query 1/1: Action query time = 0.982 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4983
+t=10: Selected seed 195 with value = 0.4983
+Query 1/1: Action query time = 0.952 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5689
+t=26: Selected seed 195 with value = 0.5689
+Query 1/1: Action query time = 0.954 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6825
+t=42: Selected seed 195 with value = 0.6825
+Query 1/1: Action query time = 0.972 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7839
+t=58: Selected seed 195 with value = 0.7839
+Query 1/1: Action query time = 0.958 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9133
+t=74: Selected seed 195 with value = 0.9133
+Query 1/1: Action query time = 0.962 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9970
+t=90: Selected seed 195 with value = 0.9970
+Saved rollout MP4 at path ./rollouts/demochan800_t456/2026_08_01-18_15_09--episode=10--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Saved rollout MP4 at path ./rollouts/demochan800_t456/2026_08_01-18_15_09--with_future_img--episode=10--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Success: True
+# episodes completed so far: 10
+# successes: 8 (80.0%)
+
+Task: put the bowl on top of the cabinet
+Starting episode 11...
+Query 1/1: Action query time = 1.043 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4817
+t=10: Selected seed 195 with value = 0.4817
+Query 1/1: Action query time = 1.056 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5518
+t=26: Selected seed 195 with value = 0.5518
+Query 1/1: Action query time = 1.049 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6522
+t=42: Selected seed 195 with value = 0.6522
+Query 1/1: Action query time = 1.170 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7249
+t=58: Selected seed 195 with value = 0.7249
+Query 1/1: Action query time = 1.140 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9071
+t=74: Selected seed 195 with value = 0.9071
+Query 1/1: Action query time = 1.028 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9957
+t=90: Selected seed 195 with value = 0.9957
+Saved rollout MP4 at path ./rollouts/demochan800_t456/2026_08_01-18_15_09--episode=11--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Saved rollout MP4 at path ./rollouts/demochan800_t456/2026_08_01-18_15_09--with_future_img--episode=11--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Success: True
+# episodes completed so far: 11
+# successes: 9 (81.8%)
+
+Task: put the bowl on top of the cabinet
+Starting episode 12...
+Query 1/1: Action query time = 0.987 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4896
+t=10: Selected seed 195 with value = 0.4896
+Query 1/1: Action query time = 0.970 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5668
+t=26: Selected seed 195 with value = 0.5668
+Query 1/1: Action query time = 0.954 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6558
+t=42: Selected seed 195 with value = 0.6558
+Query 1/1: Action query time = 0.956 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7794
+t=58: Selected seed 195 with value = 0.7794
+Query 1/1: Action query time = 1.003 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9145
+t=74: Selected seed 195 with value = 0.9145
+Query 1/1: Action query time = 1.118 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9916
+t=90: Selected seed 195 with value = 0.9916
+Saved rollout MP4 at path ./rollouts/demochan800_t456/2026_08_01-18_15_09--episode=12--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Saved rollout MP4 at path ./rollouts/demochan800_t456/2026_08_01-18_15_09--with_future_img--episode=12--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Success: True
+# episodes completed so far: 12
+# successes: 10 (83.3%)
+
+Task: put the bowl on top of the cabinet
+Starting episode 13...
+Query 1/1: Action query time = 0.983 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4861
+t=10: Selected seed 195 with value = 0.4861
+Query 1/1: Action query time = 0.957 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5686
+t=26: Selected seed 195 with value = 0.5686
+Query 1/1: Action query time = 0.958 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6529
+t=42: Selected seed 195 with value = 0.6529
+Query 1/1: Action query time = 0.960 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7972
+t=58: Selected seed 195 with value = 0.7972
+Query 1/1: Action query time = 0.972 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9634
+t=74: Selected seed 195 with value = 0.9634
+Query 1/1: Action query time = 0.982 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9946
+t=90: Selected seed 195 with value = 0.9946
+Saved rollout MP4 at path ./rollouts/demochan800_t456/2026_08_01-18_15_09--episode=13--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Saved rollout MP4 at path ./rollouts/demochan800_t456/2026_08_01-18_15_09--with_future_img--episode=13--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Success: True
+# episodes completed so far: 13
+# successes: 11 (84.6%)
+
+Task: put the bowl on top of the cabinet
+Starting episode 14...
+Query 1/1: Action query time = 0.978 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4914
+t=10: Selected seed 195 with value = 0.4914
+Query 1/1: Action query time = 0.973 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5732
+t=26: Selected seed 195 with value = 0.5732
+Query 1/1: Action query time = 0.964 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6469
+t=42: Selected seed 195 with value = 0.6469
+Query 1/1: Action query time = 0.972 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7569
+t=58: Selected seed 195 with value = 0.7569
+Query 1/1: Action query time = 0.974 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9519
+t=74: Selected seed 195 with value = 0.9519
+Query 1/1: Action query time = 0.978 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.953 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9990
+t=106: Selected seed 195 with value = 0.9990
+Query 1/1: Action query time = 0.975 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9937
+t=122: Selected seed 195 with value = 0.9937
+Query 1/1: Action query time = 0.966 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=138: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.971 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=154: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.973 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=170: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.967 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=186: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.955 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=202: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.968 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9947
+t=218: Selected seed 195 with value = 0.9947
+Query 1/1: Action query time = 0.969 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9871
+t=234: Selected seed 195 with value = 0.9871
+Query 1/1: Action query time = 0.970 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9769
+t=250: Selected seed 195 with value = 0.9769
+Query 1/1: Action query time = 0.966 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9617
+t=266: Selected seed 195 with value = 0.9617
+Query 1/1: Action query time = 0.973 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9542
+t=282: Selected seed 195 with value = 0.9542
+Query 1/1: Action query time = 0.977 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9442
+t=298: Selected seed 195 with value = 0.9442
+Saved rollout MP4 at path ./rollouts/demochan800_t456/2026_08_01-18_15_09--episode=14--success=False--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Saved rollout MP4 at path ./rollouts/demochan800_t456/2026_08_01-18_15_09--with_future_img--episode=14--success=False--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Success: False
+# episodes completed so far: 14
+# successes: 11 (78.6%)
+
+Task: put the bowl on top of the cabinet
+Starting episode 15...
+Query 1/1: Action query time = 0.985 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4828
+t=10: Selected seed 195 with value = 0.4828
+Query 1/1: Action query time = 0.969 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5573
+t=26: Selected seed 195 with value = 0.5573
+Query 1/1: Action query time = 0.962 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6458
+t=42: Selected seed 195 with value = 0.6458
+Query 1/1: Action query time = 0.962 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7405
+t=58: Selected seed 195 with value = 0.7405
+Query 1/1: Action query time = 0.977 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9016
+t=74: Selected seed 195 with value = 0.9016
+Query 1/1: Action query time = 0.974 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9902
+t=90: Selected seed 195 with value = 0.9902
+Saved rollout MP4 at path ./rollouts/demochan800_t456/2026_08_01-18_15_09--episode=15--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Saved rollout MP4 at path ./rollouts/demochan800_t456/2026_08_01-18_15_09--with_future_img--episode=15--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Success: True
+# episodes completed so far: 15
+# successes: 12 (80.0%)
+
+Task: put the bowl on top of the cabinet
+Starting episode 16...
+Query 1/1: Action query time = 0.966 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5080
+t=10: Selected seed 195 with value = 0.5080
+Query 1/1: Action query time = 0.960 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6094
+t=26: Selected seed 195 with value = 0.6094
+Query 1/1: Action query time = 0.961 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6814
+t=42: Selected seed 195 with value = 0.6814
+Query 1/1: Action query time = 0.980 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7597
+t=58: Selected seed 195 with value = 0.7597
+Query 1/1: Action query time = 0.955 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9301
+t=74: Selected seed 195 with value = 0.9301
+Query 1/1: Action query time = 0.980 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9898
+t=90: Selected seed 195 with value = 0.9898
+Saved rollout MP4 at path ./rollouts/demochan800_t456/2026_08_01-18_15_09--episode=16--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Saved rollout MP4 at path ./rollouts/demochan800_t456/2026_08_01-18_15_09--with_future_img--episode=16--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Success: True
+# episodes completed so far: 16
+# successes: 13 (81.2%)
+
+Task: put the bowl on top of the cabinet
+Starting episode 17...
+Query 1/1: Action query time = 0.983 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5193
+t=10: Selected seed 195 with value = 0.5193
+Query 1/1: Action query time = 0.962 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6092
+t=26: Selected seed 195 with value = 0.6092
+Query 1/1: Action query time = 1.086 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7000
+t=42: Selected seed 195 with value = 0.7000
+Query 1/1: Action query time = 1.198 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7967
+t=58: Selected seed 195 with value = 0.7967
+Query 1/1: Action query time = 1.144 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9403
+t=74: Selected seed 195 with value = 0.9403
+Query 1/1: Action query time = 1.073 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9839
+t=90: Selected seed 195 with value = 0.9839
+Saved rollout MP4 at path ./rollouts/demochan800_t456/2026_08_01-18_15_09--episode=17--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Saved rollout MP4 at path ./rollouts/demochan800_t456/2026_08_01-18_15_09--with_future_img--episode=17--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Success: True
+# episodes completed so far: 17
+# successes: 14 (82.4%)
+
+Task: put the bowl on top of the cabinet
+Starting episode 18...
+Query 1/1: Action query time = 0.989 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4881
+t=10: Selected seed 195 with value = 0.4881
+Query 1/1: Action query time = 0.964 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5597
+t=26: Selected seed 195 with value = 0.5597
+Query 1/1: Action query time = 0.992 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6497
+t=42: Selected seed 195 with value = 0.6497
+Query 1/1: Action query time = 0.974 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7382
+t=58: Selected seed 195 with value = 0.7382
+Query 1/1: Action query time = 0.982 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9109
+t=74: Selected seed 195 with value = 0.9109
+Query 1/1: Action query time = 0.966 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9900
+t=90: Selected seed 195 with value = 0.9900
+Saved rollout MP4 at path ./rollouts/demochan800_t456/2026_08_01-18_15_09--episode=18--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Saved rollout MP4 at path ./rollouts/demochan800_t456/2026_08_01-18_15_09--with_future_img--episode=18--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Success: True
+# episodes completed so far: 18
+# successes: 15 (83.3%)
+
+Task: put the bowl on top of the cabinet
+Starting episode 19...
+Query 1/1: Action query time = 0.975 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4824
+t=10: Selected seed 195 with value = 0.4824
+Query 1/1: Action query time = 0.973 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5399
+t=26: Selected seed 195 with value = 0.5399
+Query 1/1: Action query time = 0.960 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6409
+t=42: Selected seed 195 with value = 0.6409
+Query 1/1: Action query time = 0.971 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7295
+t=58: Selected seed 195 with value = 0.7295
+Query 1/1: Action query time = 0.978 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9165
+t=74: Selected seed 195 with value = 0.9165
+Query 1/1: Action query time = 0.970 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/demochan800_t456/2026_08_01-18_15_09--episode=19--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Saved rollout MP4 at path ./rollouts/demochan800_t456/2026_08_01-18_15_09--with_future_img--episode=19--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Success: True
+# episodes completed so far: 19
+# successes: 16 (84.2%)
+
+Task: put the bowl on top of the cabinet
+Starting episode 20...
+Query 1/1: Action query time = 1.257 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4997
+t=10: Selected seed 195 with value = 0.4997
+Query 1/1: Action query time = 1.167 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5674
+t=26: Selected seed 195 with value = 0.5674
+Query 1/1: Action query time = 1.086 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6357
+t=42: Selected seed 195 with value = 0.6357
+Query 1/1: Action query time = 1.106 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8014
+t=58: Selected seed 195 with value = 0.8014
+Query 1/1: Action query time = 1.103 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9674
+t=74: Selected seed 195 with value = 0.9674
+Query 1/1: Action query time = 1.053 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9945
+t=90: Selected seed 195 with value = 0.9945
+Saved rollout MP4 at path ./rollouts/demochan800_t456/2026_08_01-18_15_09--episode=20--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Saved rollout MP4 at path ./rollouts/demochan800_t456/2026_08_01-18_15_09--with_future_img--episode=20--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Success: True
+# episodes completed so far: 20
+# successes: 17 (85.0%)
+
+Task: put the bowl on top of the cabinet
+Starting episode 21...
+Query 1/1: Action query time = 0.994 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4881
+t=10: Selected seed 195 with value = 0.4881
+Query 1/1: Action query time = 0.974 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5509
+t=26: Selected seed 195 with value = 0.5509
+Query 1/1: Action query time = 0.959 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6759
+t=42: Selected seed 195 with value = 0.6759
+Query 1/1: Action query time = 0.970 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8089
+t=58: Selected seed 195 with value = 0.8089
+Query 1/1: Action query time = 1.109 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9493
+t=74: Selected seed 195 with value = 0.9493
+Query 1/1: Action query time = 1.002 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9919
+t=90: Selected seed 195 with value = 0.9919
+Saved rollout MP4 at path ./rollouts/demochan800_t456/2026_08_01-18_15_09--episode=21--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Saved rollout MP4 at path ./rollouts/demochan800_t456/2026_08_01-18_15_09--with_future_img--episode=21--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Success: True
+# episodes completed so far: 21
+# successes: 18 (85.7%)
+
+Task: put the bowl on top of the cabinet
+Starting episode 22...
+Query 1/1: Action query time = 1.030 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5172
+t=10: Selected seed 195 with value = 0.5172
+Query 1/1: Action query time = 1.013 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5588
+t=26: Selected seed 195 with value = 0.5588
+Query 1/1: Action query time = 1.001 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6473
+t=42: Selected seed 195 with value = 0.6473
+Query 1/1: Action query time = 1.122 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7395
+t=58: Selected seed 195 with value = 0.7395
+Query 1/1: Action query time = 0.972 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8784
+t=74: Selected seed 195 with value = 0.8784
+Query 1/1: Action query time = 0.978 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9989
+t=90: Selected seed 195 with value = 0.9989
+Saved rollout MP4 at path ./rollouts/demochan800_t456/2026_08_01-18_15_09--episode=22--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Saved rollout MP4 at path ./rollouts/demochan800_t456/2026_08_01-18_15_09--with_future_img--episode=22--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Success: True
+# episodes completed so far: 22
+# successes: 19 (86.4%)
+
+Task: put the bowl on top of the cabinet
+Starting episode 23...
+Query 1/1: Action query time = 0.989 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5171
+t=10: Selected seed 195 with value = 0.5171
+Query 1/1: Action query time = 0.996 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5561
+t=26: Selected seed 195 with value = 0.5561
+Query 1/1: Action query time = 0.971 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6596
+t=42: Selected seed 195 with value = 0.6596
+Query 1/1: Action query time = 0.956 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7472
+t=58: Selected seed 195 with value = 0.7472
+Query 1/1: Action query time = 0.966 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8907
+t=74: Selected seed 195 with value = 0.8907
+Query 1/1: Action query time = 0.980 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9883
+t=90: Selected seed 195 with value = 0.9883
+Saved rollout MP4 at path ./rollouts/demochan800_t456/2026_08_01-18_15_09--episode=23--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Saved rollout MP4 at path ./rollouts/demochan800_t456/2026_08_01-18_15_09--with_future_img--episode=23--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Success: True
+# episodes completed so far: 23
+# successes: 20 (87.0%)
+
+Task: put the bowl on top of the cabinet
+Starting episode 24...
+Query 1/1: Action query time = 0.984 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5180
+t=10: Selected seed 195 with value = 0.5180
+Query 1/1: Action query time = 0.957 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5861
+t=26: Selected seed 195 with value = 0.5861
+Query 1/1: Action query time = 1.155 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6746
+t=42: Selected seed 195 with value = 0.6746
+Query 1/1: Action query time = 1.130 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7955
+t=58: Selected seed 195 with value = 0.7955
+Query 1/1: Action query time = 1.081 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9564
+t=74: Selected seed 195 with value = 0.9564
+Query 1/1: Action query time = 1.093 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9949
+t=90: Selected seed 195 with value = 0.9949
+Saved rollout MP4 at path ./rollouts/demochan800_t456/2026_08_01-18_15_09--episode=24--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Saved rollout MP4 at path ./rollouts/demochan800_t456/2026_08_01-18_15_09--with_future_img--episode=24--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Success: True
+# episodes completed so far: 24
+# successes: 21 (87.5%)
+
+Task: put the bowl on top of the cabinet
+Starting episode 25...
+Query 1/1: Action query time = 0.993 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5128
+t=10: Selected seed 195 with value = 0.5128
+Query 1/1: Action query time = 0.974 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6080
+t=26: Selected seed 195 with value = 0.6080
+Query 1/1: Action query time = 0.978 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6675
+t=42: Selected seed 195 with value = 0.6675
+Query 1/1: Action query time = 0.981 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7803
+t=58: Selected seed 195 with value = 0.7803
+Query 1/1: Action query time = 0.984 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9460
+t=74: Selected seed 195 with value = 0.9460
+Query 1/1: Action query time = 0.966 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9977
+t=90: Selected seed 195 with value = 0.9977
+Saved rollout MP4 at path ./rollouts/demochan800_t456/2026_08_01-18_15_09--episode=25--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Saved rollout MP4 at path ./rollouts/demochan800_t456/2026_08_01-18_15_09--with_future_img--episode=25--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Success: True
+# episodes completed so far: 25
+# successes: 22 (88.0%)
+
+Task: put the bowl on top of the cabinet
+Starting episode 26...
+Query 1/1: Action query time = 1.202 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4816
+t=10: Selected seed 195 with value = 0.4816
+Query 1/1: Action query time = 1.065 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5731
+t=26: Selected seed 195 with value = 0.5731
+Query 1/1: Action query time = 0.969 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6469
+t=42: Selected seed 195 with value = 0.6469
+Query 1/1: Action query time = 0.974 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8024
+t=58: Selected seed 195 with value = 0.8024
+Query 1/1: Action query time = 0.971 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9322
+t=74: Selected seed 195 with value = 0.9322
+Query 1/1: Action query time = 0.976 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9915
+t=90: Selected seed 195 with value = 0.9915
+Saved rollout MP4 at path ./rollouts/demochan800_t456/2026_08_01-18_15_09--episode=26--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Saved rollout MP4 at path ./rollouts/demochan800_t456/2026_08_01-18_15_09--with_future_img--episode=26--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Success: True
+# episodes completed so far: 26
+# successes: 23 (88.5%)
+
+Task: put the bowl on top of the cabinet
+Starting episode 27...
+Query 1/1: Action query time = 0.984 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4797
+t=10: Selected seed 195 with value = 0.4797
+Query 1/1: Action query time = 1.192 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5518
+t=26: Selected seed 195 with value = 0.5518
+Query 1/1: Action query time = 1.168 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6400
+t=42: Selected seed 195 with value = 0.6400
+Query 1/1: Action query time = 1.170 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7532
+t=58: Selected seed 195 with value = 0.7532
+Query 1/1: Action query time = 1.035 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9180
+t=74: Selected seed 195 with value = 0.9180
+Query 1/1: Action query time = 0.973 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9976
+t=90: Selected seed 195 with value = 0.9976
+Saved rollout MP4 at path ./rollouts/demochan800_t456/2026_08_01-18_15_09--episode=27--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Saved rollout MP4 at path ./rollouts/demochan800_t456/2026_08_01-18_15_09--with_future_img--episode=27--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Success: True
+# episodes completed so far: 27
+# successes: 24 (88.9%)
+
+Task: put the bowl on top of the cabinet
+Starting episode 28...
+Query 1/1: Action query time = 1.132 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5102
+t=10: Selected seed 195 with value = 0.5102
+Query 1/1: Action query time = 1.146 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5857
+t=26: Selected seed 195 with value = 0.5857
+Query 1/1: Action query time = 1.150 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6444
+t=42: Selected seed 195 with value = 0.6444
+Query 1/1: Action query time = 1.146 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7954
+t=58: Selected seed 195 with value = 0.7954
+Query 1/1: Action query time = 1.108 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9435
+t=74: Selected seed 195 with value = 0.9435
+Query 1/1: Action query time = 1.010 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9896
+t=90: Selected seed 195 with value = 0.9896
+Saved rollout MP4 at path ./rollouts/demochan800_t456/2026_08_01-18_15_09--episode=28--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Saved rollout MP4 at path ./rollouts/demochan800_t456/2026_08_01-18_15_09--with_future_img--episode=28--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Success: True
+# episodes completed so far: 28
+# successes: 25 (89.3%)
+
+Task: put the bowl on top of the cabinet
+Starting episode 29...
+Query 1/1: Action query time = 0.980 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5028
+t=10: Selected seed 195 with value = 0.5028
+Query 1/1: Action query time = 0.970 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5616
+t=26: Selected seed 195 with value = 0.5616
+Query 1/1: Action query time = 0.969 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6396
+t=42: Selected seed 195 with value = 0.6396
+Query 1/1: Action query time = 0.976 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7668
+t=58: Selected seed 195 with value = 0.7668
+Query 1/1: Action query time = 0.966 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9234
+t=74: Selected seed 195 with value = 0.9234
+Query 1/1: Action query time = 0.976 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9909
+t=90: Selected seed 195 with value = 0.9909
+Saved rollout MP4 at path ./rollouts/demochan800_t456/2026_08_01-18_15_09--episode=29--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Saved rollout MP4 at path ./rollouts/demochan800_t456/2026_08_01-18_15_09--with_future_img--episode=29--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Success: True
+# episodes completed so far: 29
+# successes: 26 (89.7%)
+
+Task: put the bowl on top of the cabinet
+Starting episode 30...
+Query 1/1: Action query time = 0.987 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4881
+t=10: Selected seed 195 with value = 0.4881
+Query 1/1: Action query time = 0.980 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5572
+t=26: Selected seed 195 with value = 0.5572
+Query 1/1: Action query time = 0.962 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6466
+t=42: Selected seed 195 with value = 0.6466
+Query 1/1: Action query time = 0.974 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7609
+t=58: Selected seed 195 with value = 0.7609
+Query 1/1: Action query time = 0.995 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9192
+t=74: Selected seed 195 with value = 0.9192
+Query 1/1: Action query time = 0.988 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9940
+t=90: Selected seed 195 with value = 0.9940
+Saved rollout MP4 at path ./rollouts/demochan800_t456/2026_08_01-18_15_09--episode=30--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Saved rollout MP4 at path ./rollouts/demochan800_t456/2026_08_01-18_15_09--with_future_img--episode=30--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Success: True
+# episodes completed so far: 30
+# successes: 27 (90.0%)
+
+Task: put the bowl on top of the cabinet
+Starting episode 31...
+Query 1/1: Action query time = 1.067 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4808
+t=10: Selected seed 195 with value = 0.4808
+Query 1/1: Action query time = 0.983 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5662
+t=26: Selected seed 195 with value = 0.5662
+Query 1/1: Action query time = 0.984 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6687
+t=42: Selected seed 195 with value = 0.6687
+Query 1/1: Action query time = 1.008 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7789
+t=58: Selected seed 195 with value = 0.7789
+Query 1/1: Action query time = 0.976 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9169
+t=74: Selected seed 195 with value = 0.9169
+Query 1/1: Action query time = 0.976 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9971
+t=90: Selected seed 195 with value = 0.9971
+Saved rollout MP4 at path ./rollouts/demochan800_t456/2026_08_01-18_15_09--episode=31--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Saved rollout MP4 at path ./rollouts/demochan800_t456/2026_08_01-18_15_09--with_future_img--episode=31--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Success: True
+# episodes completed so far: 31
+# successes: 28 (90.3%)
+
+Task: put the bowl on top of the cabinet
+Starting episode 32...
+Query 1/1: Action query time = 0.973 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4925
+t=10: Selected seed 195 with value = 0.4925
+Query 1/1: Action query time = 0.978 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5658
+t=26: Selected seed 195 with value = 0.5658
+Query 1/1: Action query time = 0.972 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6608
+t=42: Selected seed 195 with value = 0.6608
+Query 1/1: Action query time = 0.978 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7654
+t=58: Selected seed 195 with value = 0.7654
+Query 1/1: Action query time = 0.982 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9467
+t=74: Selected seed 195 with value = 0.9467
+Query 1/1: Action query time = 0.976 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9954
+t=90: Selected seed 195 with value = 0.9954
+Saved rollout MP4 at path ./rollouts/demochan800_t456/2026_08_01-18_15_09--episode=32--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Saved rollout MP4 at path ./rollouts/demochan800_t456/2026_08_01-18_15_09--with_future_img--episode=32--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Success: True
+# episodes completed so far: 32
+# successes: 29 (90.6%)
+
+Task: put the bowl on top of the cabinet
+Starting episode 33...
+Query 1/1: Action query time = 0.984 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5207
+t=10: Selected seed 195 with value = 0.5207
+Query 1/1: Action query time = 0.957 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5733
+t=26: Selected seed 195 with value = 0.5733
+Query 1/1: Action query time = 0.961 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6384
+t=42: Selected seed 195 with value = 0.6384
+Query 1/1: Action query time = 0.977 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7667
+t=58: Selected seed 195 with value = 0.7667
+Query 1/1: Action query time = 0.975 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9101
+t=74: Selected seed 195 with value = 0.9101
+Query 1/1: Action query time = 0.978 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9738
+t=90: Selected seed 195 with value = 0.9738
+Query 1/1: Action query time = 0.969 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9662
+t=106: Selected seed 195 with value = 0.9662
+Query 1/1: Action query time = 0.974 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9694
+t=122: Selected seed 195 with value = 0.9694
+Query 1/1: Action query time = 0.974 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9538
+t=138: Selected seed 195 with value = 0.9538
+Query 1/1: Action query time = 0.978 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9980
+t=154: Selected seed 195 with value = 0.9980
+Query 1/1: Action query time = 0.964 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=170: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.961 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=186: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.976 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=202: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.978 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=218: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.973 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=234: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.974 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=250: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.965 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=266: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.969 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=282: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.989 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9991
+t=298: Selected seed 195 with value = 0.9991
+Saved rollout MP4 at path ./rollouts/demochan800_t456/2026_08_01-18_15_09--episode=33--success=False--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Saved rollout MP4 at path ./rollouts/demochan800_t456/2026_08_01-18_15_09--with_future_img--episode=33--success=False--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Success: False
+# episodes completed so far: 33
+# successes: 29 (87.9%)
+
+Task: put the bowl on top of the cabinet
+Starting episode 34...
+Query 1/1: Action query time = 0.979 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5067
+t=10: Selected seed 195 with value = 0.5067
+Query 1/1: Action query time = 0.957 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5760
+t=26: Selected seed 195 with value = 0.5760
+Query 1/1: Action query time = 0.953 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6575
+t=42: Selected seed 195 with value = 0.6575
+Query 1/1: Action query time = 0.978 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7782
+t=58: Selected seed 195 with value = 0.7782
+Query 1/1: Action query time = 0.963 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9262
+t=74: Selected seed 195 with value = 0.9262
+Query 1/1: Action query time = 0.973 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9879
+t=90: Selected seed 195 with value = 0.9879
+Saved rollout MP4 at path ./rollouts/demochan800_t456/2026_08_01-18_15_09--episode=34--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Saved rollout MP4 at path ./rollouts/demochan800_t456/2026_08_01-18_15_09--with_future_img--episode=34--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Success: True
+# episodes completed so far: 34
+# successes: 30 (88.2%)
+
+Task: put the bowl on top of the cabinet
+Starting episode 35...
+Query 1/1: Action query time = 0.989 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4869
+t=10: Selected seed 195 with value = 0.4869
+Query 1/1: Action query time = 0.975 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5655
+t=26: Selected seed 195 with value = 0.5655
+Query 1/1: Action query time = 1.043 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6939
+t=42: Selected seed 195 with value = 0.6939
+Query 1/1: Action query time = 0.969 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8011
+t=58: Selected seed 195 with value = 0.8011
+Query 1/1: Action query time = 0.984 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9411
+t=74: Selected seed 195 with value = 0.9411
+Query 1/1: Action query time = 0.975 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9966
+t=90: Selected seed 195 with value = 0.9966
+Saved rollout MP4 at path ./rollouts/demochan800_t456/2026_08_01-18_15_09--episode=35--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Saved rollout MP4 at path ./rollouts/demochan800_t456/2026_08_01-18_15_09--with_future_img--episode=35--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Success: True
+# episodes completed so far: 35
+# successes: 31 (88.6%)
+
+Task: put the bowl on top of the cabinet
+Starting episode 36...
+Query 1/1: Action query time = 0.988 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5073
+t=10: Selected seed 195 with value = 0.5073
+Query 1/1: Action query time = 0.981 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5959
+t=26: Selected seed 195 with value = 0.5959
+Query 1/1: Action query time = 0.966 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6553
+t=42: Selected seed 195 with value = 0.6553
+Query 1/1: Action query time = 0.984 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7648
+t=58: Selected seed 195 with value = 0.7648
+Query 1/1: Action query time = 0.958 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9438
+t=74: Selected seed 195 with value = 0.9438
+Query 1/1: Action query time = 0.982 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9955
+t=90: Selected seed 195 with value = 0.9955
+Saved rollout MP4 at path ./rollouts/demochan800_t456/2026_08_01-18_15_09--episode=36--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Saved rollout MP4 at path ./rollouts/demochan800_t456/2026_08_01-18_15_09--with_future_img--episode=36--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Success: True
+# episodes completed so far: 36
+# successes: 32 (88.9%)
+
+Task: put the bowl on top of the cabinet
+Starting episode 37...
+Query 1/1: Action query time = 1.069 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4780
+t=10: Selected seed 195 with value = 0.4780
+Query 1/1: Action query time = 1.029 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5617
+t=26: Selected seed 195 with value = 0.5617
+Query 1/1: Action query time = 1.046 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6426
+t=42: Selected seed 195 with value = 0.6426
+Query 1/1: Action query time = 0.992 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7517
+t=58: Selected seed 195 with value = 0.7517
+Query 1/1: Action query time = 0.968 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9509
+t=74: Selected seed 195 with value = 0.9509
+Query 1/1: Action query time = 0.979 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/demochan800_t456/2026_08_01-18_15_09--episode=37--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Saved rollout MP4 at path ./rollouts/demochan800_t456/2026_08_01-18_15_09--with_future_img--episode=37--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Success: True
+# episodes completed so far: 37
+# successes: 33 (89.2%)
+
+Task: put the bowl on top of the cabinet
+Starting episode 38...
+Query 1/1: Action query time = 0.999 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5010
+t=10: Selected seed 195 with value = 0.5010
+Query 1/1: Action query time = 0.969 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5778
+t=26: Selected seed 195 with value = 0.5778
+Query 1/1: Action query time = 0.977 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6627
+t=42: Selected seed 195 with value = 0.6627
+Query 1/1: Action query time = 0.979 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7625
+t=58: Selected seed 195 with value = 0.7625
+Query 1/1: Action query time = 0.962 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9140
+t=74: Selected seed 195 with value = 0.9140
+Query 1/1: Action query time = 1.017 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9828
+t=90: Selected seed 195 with value = 0.9828
+Saved rollout MP4 at path ./rollouts/demochan800_t456/2026_08_01-18_15_09--episode=38--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Saved rollout MP4 at path ./rollouts/demochan800_t456/2026_08_01-18_15_09--with_future_img--episode=38--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Success: True
+# episodes completed so far: 38
+# successes: 34 (89.5%)
+
+Task: put the bowl on top of the cabinet
+Starting episode 39...
+Query 1/1: Action query time = 0.999 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4906
+t=10: Selected seed 195 with value = 0.4906
+Query 1/1: Action query time = 0.986 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5557
+t=26: Selected seed 195 with value = 0.5557
+Query 1/1: Action query time = 0.974 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6433
+t=42: Selected seed 195 with value = 0.6433
+Query 1/1: Action query time = 0.977 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7256
+t=58: Selected seed 195 with value = 0.7256
+Query 1/1: Action query time = 0.956 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9017
+t=74: Selected seed 195 with value = 0.9017
+Query 1/1: Action query time = 0.974 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/demochan800_t456/2026_08_01-18_15_09--episode=39--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Saved rollout MP4 at path ./rollouts/demochan800_t456/2026_08_01-18_15_09--with_future_img--episode=39--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Success: True
+# episodes completed so far: 39
+# successes: 35 (89.7%)
+
+Task: put the bowl on top of the cabinet
+Starting episode 40...
+Query 1/1: Action query time = 0.991 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4817
+t=10: Selected seed 195 with value = 0.4817
+Query 1/1: Action query time = 0.973 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5488
+t=26: Selected seed 195 with value = 0.5488
+Query 1/1: Action query time = 0.975 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6257
+t=42: Selected seed 195 with value = 0.6257
+Query 1/1: Action query time = 0.957 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7300
+t=58: Selected seed 195 with value = 0.7300
+Query 1/1: Action query time = 0.982 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8673
+t=74: Selected seed 195 with value = 0.8673
+Query 1/1: Action query time = 0.980 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9921
+t=90: Selected seed 195 with value = 0.9921
+Saved rollout MP4 at path ./rollouts/demochan800_t456/2026_08_01-18_15_09--episode=40--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Saved rollout MP4 at path ./rollouts/demochan800_t456/2026_08_01-18_15_09--with_future_img--episode=40--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Success: True
+# episodes completed so far: 40
+# successes: 36 (90.0%)
+
+Task: put the bowl on top of the cabinet
+Starting episode 41...
+Query 1/1: Action query time = 1.051 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4917
+t=10: Selected seed 195 with value = 0.4917
+Query 1/1: Action query time = 0.999 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5532
+t=26: Selected seed 195 with value = 0.5532
+Query 1/1: Action query time = 0.987 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6611
+t=42: Selected seed 195 with value = 0.6611
+Query 1/1: Action query time = 0.978 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7645
+t=58: Selected seed 195 with value = 0.7645
+Query 1/1: Action query time = 0.963 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9381
+t=74: Selected seed 195 with value = 0.9381
+Query 1/1: Action query time = 0.970 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9912
+t=90: Selected seed 195 with value = 0.9912
+Saved rollout MP4 at path ./rollouts/demochan800_t456/2026_08_01-18_15_09--episode=41--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Saved rollout MP4 at path ./rollouts/demochan800_t456/2026_08_01-18_15_09--with_future_img--episode=41--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Success: True
+# episodes completed so far: 41
+# successes: 37 (90.2%)
+
+Task: put the bowl on top of the cabinet
+Starting episode 42...
+Query 1/1: Action query time = 1.200 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5203
+t=10: Selected seed 195 with value = 0.5203
+Query 1/1: Action query time = 1.190 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5733
+t=26: Selected seed 195 with value = 0.5733
+Query 1/1: Action query time = 1.174 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6651
+t=42: Selected seed 195 with value = 0.6651
+Query 1/1: Action query time = 1.128 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7416
+t=58: Selected seed 195 with value = 0.7416
+Query 1/1: Action query time = 0.996 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9529
+t=74: Selected seed 195 with value = 0.9529
+Query 1/1: Action query time = 0.979 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9957
+t=90: Selected seed 195 with value = 0.9957
+Saved rollout MP4 at path ./rollouts/demochan800_t456/2026_08_01-18_15_09--episode=42--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Saved rollout MP4 at path ./rollouts/demochan800_t456/2026_08_01-18_15_09--with_future_img--episode=42--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Success: True
+# episodes completed so far: 42
+# successes: 38 (90.5%)
+
+Task: put the bowl on top of the cabinet
+Starting episode 43...
+Query 1/1: Action query time = 0.988 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4876
+t=10: Selected seed 195 with value = 0.4876
+Query 1/1: Action query time = 0.970 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5585
+t=26: Selected seed 195 with value = 0.5585
+Query 1/1: Action query time = 0.993 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6561
+t=42: Selected seed 195 with value = 0.6561
+Query 1/1: Action query time = 0.971 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8400
+t=58: Selected seed 195 with value = 0.8400
+Query 1/1: Action query time = 0.955 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9654
+t=74: Selected seed 195 with value = 0.9654
+Query 1/1: Action query time = 0.978 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9789
+t=90: Selected seed 195 with value = 0.9789
+Saved rollout MP4 at path ./rollouts/demochan800_t456/2026_08_01-18_15_09--episode=43--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Saved rollout MP4 at path ./rollouts/demochan800_t456/2026_08_01-18_15_09--with_future_img--episode=43--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Success: True
+# episodes completed so far: 43
+# successes: 39 (90.7%)
+
+Task: put the bowl on top of the cabinet
+Starting episode 44...
+Query 1/1: Action query time = 0.967 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4959
+t=10: Selected seed 195 with value = 0.4959
+Query 1/1: Action query time = 0.970 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6045
+t=26: Selected seed 195 with value = 0.6045
+Query 1/1: Action query time = 0.993 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6501
+t=42: Selected seed 195 with value = 0.6501
+Query 1/1: Action query time = 1.047 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7814
+t=58: Selected seed 195 with value = 0.7814
+Query 1/1: Action query time = 1.091 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9188
+t=74: Selected seed 195 with value = 0.9188
+Query 1/1: Action query time = 1.155 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9968
+t=90: Selected seed 195 with value = 0.9968
+Saved rollout MP4 at path ./rollouts/demochan800_t456/2026_08_01-18_15_09--episode=44--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Saved rollout MP4 at path ./rollouts/demochan800_t456/2026_08_01-18_15_09--with_future_img--episode=44--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Success: True
+# episodes completed so far: 44
+# successes: 40 (90.9%)
+
+Task: put the bowl on top of the cabinet
+Starting episode 45...
+Query 1/1: Action query time = 0.981 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5108
+t=10: Selected seed 195 with value = 0.5108
+Query 1/1: Action query time = 0.983 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5767
+t=26: Selected seed 195 with value = 0.5767
+Query 1/1: Action query time = 0.992 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6653
+t=42: Selected seed 195 with value = 0.6653
+Query 1/1: Action query time = 0.989 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7515
+t=58: Selected seed 195 with value = 0.7515
+Query 1/1: Action query time = 0.987 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9430
+t=74: Selected seed 195 with value = 0.9430
+Query 1/1: Action query time = 0.987 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9930
+t=90: Selected seed 195 with value = 0.9930
+Saved rollout MP4 at path ./rollouts/demochan800_t456/2026_08_01-18_15_09--episode=45--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Saved rollout MP4 at path ./rollouts/demochan800_t456/2026_08_01-18_15_09--with_future_img--episode=45--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Success: True
+# episodes completed so far: 45
+# successes: 41 (91.1%)
+
+Task: put the bowl on top of the cabinet
+Starting episode 46...
+Query 1/1: Action query time = 1.396 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5003
+t=10: Selected seed 195 with value = 0.5003
+Query 1/1: Action query time = 1.314 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5700
+t=26: Selected seed 195 with value = 0.5700
+Query 1/1: Action query time = 1.260 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6553
+t=42: Selected seed 195 with value = 0.6553
+Query 1/1: Action query time = 1.137 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7630
+t=58: Selected seed 195 with value = 0.7630
+Query 1/1: Action query time = 0.978 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9379
+t=74: Selected seed 195 with value = 0.9379
+Query 1/1: Action query time = 0.982 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9872
+t=90: Selected seed 195 with value = 0.9872
+Saved rollout MP4 at path ./rollouts/demochan800_t456/2026_08_01-18_15_09--episode=46--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Saved rollout MP4 at path ./rollouts/demochan800_t456/2026_08_01-18_15_09--with_future_img--episode=46--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Success: True
+# episodes completed so far: 46
+# successes: 42 (91.3%)
+
+Task: put the bowl on top of the cabinet
+Starting episode 47...
+Query 1/1: Action query time = 1.004 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4889
+t=10: Selected seed 195 with value = 0.4889
+Query 1/1: Action query time = 0.963 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5659
+t=26: Selected seed 195 with value = 0.5659
+Query 1/1: Action query time = 1.033 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6477
+t=42: Selected seed 195 with value = 0.6477
+Query 1/1: Action query time = 1.150 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7537
+t=58: Selected seed 195 with value = 0.7537
+Query 1/1: Action query time = 1.159 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9627
+t=74: Selected seed 195 with value = 0.9627
+Query 1/1: Action query time = 1.208 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9950
+t=90: Selected seed 195 with value = 0.9950
+Saved rollout MP4 at path ./rollouts/demochan800_t456/2026_08_01-18_15_09--episode=47--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Saved rollout MP4 at path ./rollouts/demochan800_t456/2026_08_01-18_15_09--with_future_img--episode=47--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Success: True
+# episodes completed so far: 47
+# successes: 43 (91.5%)
+
+Task: put the bowl on top of the cabinet
+Starting episode 48...
+Query 1/1: Action query time = 0.994 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5146
+t=10: Selected seed 195 with value = 0.5146
+Query 1/1: Action query time = 1.001 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5925
+t=26: Selected seed 195 with value = 0.5925
+Query 1/1: Action query time = 0.978 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6731
+t=42: Selected seed 195 with value = 0.6731
+Query 1/1: Action query time = 0.965 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8057
+t=58: Selected seed 195 with value = 0.8057
+Query 1/1: Action query time = 0.968 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8682
+t=74: Selected seed 195 with value = 0.8682
+Query 1/1: Action query time = 0.988 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8714
+t=90: Selected seed 195 with value = 0.8714
+Query 1/1: Action query time = 1.026 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9857
+t=106: Selected seed 195 with value = 0.9857
+Query 1/1: Action query time = 1.196 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9839
+t=122: Selected seed 195 with value = 0.9839
+Query 1/1: Action query time = 0.992 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9582
+t=138: Selected seed 195 with value = 0.9582
+Query 1/1: Action query time = 0.975 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9680
+t=154: Selected seed 195 with value = 0.9680
+Query 1/1: Action query time = 0.966 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9805
+t=170: Selected seed 195 with value = 0.9805
+Query 1/1: Action query time = 0.968 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9703
+t=186: Selected seed 195 with value = 0.9703
+Query 1/1: Action query time = 0.968 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9782
+t=202: Selected seed 195 with value = 0.9782
+Query 1/1: Action query time = 0.964 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9483
+t=218: Selected seed 195 with value = 0.9483
+Query 1/1: Action query time = 0.984 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9923
+t=234: Selected seed 195 with value = 0.9923
+Query 1/1: Action query time = 0.988 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9477
+t=250: Selected seed 195 with value = 0.9477
+Query 1/1: Action query time = 0.987 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9844
+t=266: Selected seed 195 with value = 0.9844
+Query 1/1: Action query time = 0.974 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9838
+t=282: Selected seed 195 with value = 0.9838
+Query 1/1: Action query time = 0.978 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9817
+t=298: Selected seed 195 with value = 0.9817
+Saved rollout MP4 at path ./rollouts/demochan800_t456/2026_08_01-18_15_09--episode=48--success=False--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Saved rollout MP4 at path ./rollouts/demochan800_t456/2026_08_01-18_15_09--with_future_img--episode=48--success=False--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Success: False
+# episodes completed so far: 48
+# successes: 43 (89.6%)
+
+Task: put the bowl on top of the cabinet
+Starting episode 49...
+Query 1/1: Action query time = 0.985 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4807
+t=10: Selected seed 195 with value = 0.4807
+Query 1/1: Action query time = 0.975 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5573
+t=26: Selected seed 195 with value = 0.5573
+Query 1/1: Action query time = 0.978 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6510
+t=42: Selected seed 195 with value = 0.6510
+Query 1/1: Action query time = 0.988 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7345
+t=58: Selected seed 195 with value = 0.7345
+Query 1/1: Action query time = 0.969 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9024
+t=74: Selected seed 195 with value = 0.9024
+Query 1/1: Action query time = 0.985 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9967
+t=90: Selected seed 195 with value = 0.9967
+Saved rollout MP4 at path ./rollouts/demochan800_t456/2026_08_01-18_15_09--episode=49--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Saved rollout MP4 at path ./rollouts/demochan800_t456/2026_08_01-18_15_09--with_future_img--episode=49--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Success: True
+# episodes completed so far: 49
+# successes: 44 (89.8%)
+
+Task: put the bowl on top of the cabinet
+Starting episode 50...
+Query 1/1: Action query time = 1.129 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5162
+t=10: Selected seed 195 with value = 0.5162
+Query 1/1: Action query time = 1.111 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5712
+t=26: Selected seed 195 with value = 0.5712
+Query 1/1: Action query time = 1.159 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6513
+t=42: Selected seed 195 with value = 0.6513
+Query 1/1: Action query time = 1.073 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7655
+t=58: Selected seed 195 with value = 0.7655
+Query 1/1: Action query time = 0.982 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9211
+t=74: Selected seed 195 with value = 0.9211
+Query 1/1: Action query time = 0.963 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9814
+t=90: Selected seed 195 with value = 0.9814
+Saved rollout MP4 at path ./rollouts/demochan800_t456/2026_08_01-18_15_09--episode=50--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Saved rollout MP4 at path ./rollouts/demochan800_t456/2026_08_01-18_15_09--with_future_img--episode=50--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Success: True
+# episodes completed so far: 50
+# successes: 45 (90.0%)
+Current task success rate: 0.9
+Current total success rate: 0.9
+Using default initial states
+
+Task: push the plate to the front of the stove
+Starting episode 1...
+Query 1/1: Action query time = 1.104 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3188
+t=10: Selected seed 195 with value = 0.3188
+Query 1/1: Action query time = 1.069 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3825
+t=26: Selected seed 195 with value = 0.3825
+Query 1/1: Action query time = 0.963 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4442
+t=42: Selected seed 195 with value = 0.4442
+Query 1/1: Action query time = 0.960 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5193
+t=58: Selected seed 195 with value = 0.5193
+Query 1/1: Action query time = 0.961 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6473
+t=74: Selected seed 195 with value = 0.6473
+Query 1/1: Action query time = 0.986 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7150
+t=90: Selected seed 195 with value = 0.7150
+Query 1/1: Action query time = 0.959 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8831
+t=106: Selected seed 195 with value = 0.8831
+Query 1/1: Action query time = 0.982 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9726
+t=122: Selected seed 195 with value = 0.9726
+Query 1/1: Action query time = 0.966 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9895
+t=138: Selected seed 195 with value = 0.9895
+Saved rollout MP4 at path ./rollouts/demochan800_t456/2026_08_01-18_15_09--episode=51--success=True--task=push_the_plate_to_the_front_of_the_stove.mp4
+Saved rollout MP4 at path ./rollouts/demochan800_t456/2026_08_01-18_15_09--with_future_img--episode=51--success=True--task=push_the_plate_to_the_front_of_the_.mp4
+Success: True
+# episodes completed so far: 51
+# successes: 46 (90.2%)
+
+Task: push the plate to the front of the stove
+Starting episode 2...
+Query 1/1: Action query time = 1.000 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3126
+t=10: Selected seed 195 with value = 0.3126
+Query 1/1: Action query time = 0.971 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3680
+t=26: Selected seed 195 with value = 0.3680
+Query 1/1: Action query time = 0.977 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4621
+t=42: Selected seed 195 with value = 0.4621
+Query 1/1: Action query time = 0.983 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5490
+t=58: Selected seed 195 with value = 0.5490
+Query 1/1: Action query time = 1.041 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6933
+t=74: Selected seed 195 with value = 0.6933
+Query 1/1: Action query time = 1.138 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8991
+t=90: Selected seed 195 with value = 0.8991
+Query 1/1: Action query time = 1.178 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9766
+t=106: Selected seed 195 with value = 0.9766
+Saved rollout MP4 at path ./rollouts/demochan800_t456/2026_08_01-18_15_09--episode=52--success=True--task=push_the_plate_to_the_front_of_the_stove.mp4
+Saved rollout MP4 at path ./rollouts/demochan800_t456/2026_08_01-18_15_09--with_future_img--episode=52--success=True--task=push_the_plate_to_the_front_of_the_.mp4
+Success: True
+# episodes completed so far: 52
+# successes: 47 (90.4%)
+
+Task: push the plate to the front of the stove
+Starting episode 3...
+Query 1/1: Action query time = 0.994 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3137
+t=10: Selected seed 195 with value = 0.3137
+Query 1/1: Action query time = 0.974 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3831
+t=26: Selected seed 195 with value = 0.3831
+Query 1/1: Action query time = 0.977 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4831
+t=42: Selected seed 195 with value = 0.4831
+Query 1/1: Action query time = 0.963 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5168
+t=58: Selected seed 195 with value = 0.5168
+Query 1/1: Action query time = 0.955 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6046
+t=74: Selected seed 195 with value = 0.6046
+Query 1/1: Action query time = 0.985 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7425
+t=90: Selected seed 195 with value = 0.7425
+Query 1/1: Action query time = 0.963 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9400
+t=106: Selected seed 195 with value = 0.9400
+Query 1/1: Action query time = 0.983 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9801
+t=122: Selected seed 195 with value = 0.9801
+Saved rollout MP4 at path ./rollouts/demochan800_t456/2026_08_01-18_15_09--episode=53--success=True--task=push_the_plate_to_the_front_of_the_stove.mp4
+Saved rollout MP4 at path ./rollouts/demochan800_t456/2026_08_01-18_15_09--with_future_img--episode=53--success=True--task=push_the_plate_to_the_front_of_the_.mp4
+Success: True
+# episodes completed so far: 53
+# successes: 48 (90.6%)
+
+Task: push the plate to the front of the stove
+Starting episode 4...
+Query 1/1: Action query time = 0.988 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3345
+t=10: Selected seed 195 with value = 0.3345
+Query 1/1: Action query time = 0.976 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3784
+t=26: Selected seed 195 with value = 0.3784
+Query 1/1: Action query time = 0.978 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4651
+t=42: Selected seed 195 with value = 0.4651
+Query 1/1: Action query time = 0.979 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5610
+t=58: Selected seed 195 with value = 0.5610
+Query 1/1: Action query time = 0.967 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6632
+t=74: Selected seed 195 with value = 0.6632
+Query 1/1: Action query time = 0.976 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8623
+t=90: Selected seed 195 with value = 0.8623
+Query 1/1: Action query time = 0.977 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9691
+t=106: Selected seed 195 with value = 0.9691
+Query 1/1: Action query time = 0.982 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9902
+t=122: Selected seed 195 with value = 0.9902
+Query 1/1: Action query time = 0.971 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9947
+t=138: Selected seed 195 with value = 0.9947
+Saved rollout MP4 at path ./rollouts/demochan800_t456/2026_08_01-18_15_09--episode=54--success=True--task=push_the_plate_to_the_front_of_the_stove.mp4
+Saved rollout MP4 at path ./rollouts/demochan800_t456/2026_08_01-18_15_09--with_future_img--episode=54--success=True--task=push_the_plate_to_the_front_of_the_.mp4
+Success: True
+# episodes completed so far: 54
+# successes: 49 (90.7%)
+
+Task: push the plate to the front of the stove
+Starting episode 5...
+Query 1/1: Action query time = 0.971 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3117
+t=10: Selected seed 195 with value = 0.3117
+Query 1/1: Action query time = 0.951 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3777
+t=26: Selected seed 195 with value = 0.3777
+Query 1/1: Action query time = 0.953 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4480
+t=42: Selected seed 195 with value = 0.4480
+Query 1/1: Action query time = 0.975 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5389
+t=58: Selected seed 195 with value = 0.5389
+Query 1/1: Action query time = 0.968 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6587
+t=74: Selected seed 195 with value = 0.6587
+Query 1/1: Action query time = 0.953 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8795
+t=90: Selected seed 195 with value = 0.8795
+Query 1/1: Action query time = 0.960 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9886
+t=106: Selected seed 195 with value = 0.9886
+Query 1/1: Action query time = 0.977 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9566
+t=122: Selected seed 195 with value = 0.9566
+Saved rollout MP4 at path ./rollouts/demochan800_t456/2026_08_01-18_15_09--episode=55--success=True--task=push_the_plate_to_the_front_of_the_stove.mp4
+Saved rollout MP4 at path ./rollouts/demochan800_t456/2026_08_01-18_15_09--with_future_img--episode=55--success=True--task=push_the_plate_to_the_front_of_the_.mp4
+Success: True
+# episodes completed so far: 55
+# successes: 50 (90.9%)
+
+Task: push the plate to the front of the stove
+Starting episode 6...
+Query 1/1: Action query time = 0.986 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3023
+t=10: Selected seed 195 with value = 0.3023
+Query 1/1: Action query time = 0.958 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3618
+t=26: Selected seed 195 with value = 0.3618
+Query 1/1: Action query time = 0.956 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4370
+t=42: Selected seed 195 with value = 0.4370
+Query 1/1: Action query time = 0.965 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5112
+t=58: Selected seed 195 with value = 0.5112
+Query 1/1: Action query time = 1.044 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5980
+t=74: Selected seed 195 with value = 0.5980
+Query 1/1: Action query time = 1.087 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7065
+t=90: Selected seed 195 with value = 0.7065
+Query 1/1: Action query time = 1.192 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9271
+t=106: Selected seed 195 with value = 0.9271
+Query 1/1: Action query time = 1.161 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9872
+t=122: Selected seed 195 with value = 0.9872
+Query 1/1: Action query time = 1.155 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9963
+t=138: Selected seed 195 with value = 0.9963
+Saved rollout MP4 at path ./rollouts/demochan800_t456/2026_08_01-18_15_09--episode=56--success=True--task=push_the_plate_to_the_front_of_the_stove.mp4
+Saved rollout MP4 at path ./rollouts/demochan800_t456/2026_08_01-18_15_09--with_future_img--episode=56--success=True--task=push_the_plate_to_the_front_of_the_.mp4
+Success: True
+# episodes completed so far: 56
+# successes: 51 (91.1%)
+
+Task: push the plate to the front of the stove
+Starting episode 7...
+Query 1/1: Action query time = 0.986 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3330
+t=10: Selected seed 195 with value = 0.3330
+Query 1/1: Action query time = 0.949 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3895
+t=26: Selected seed 195 with value = 0.3895
+Query 1/1: Action query time = 0.982 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4699
+t=42: Selected seed 195 with value = 0.4699
+Query 1/1: Action query time = 0.969 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5240
+t=58: Selected seed 195 with value = 0.5240
+Query 1/1: Action query time = 0.961 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6485
+t=74: Selected seed 195 with value = 0.6485
+Query 1/1: Action query time = 0.971 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7863
+t=90: Selected seed 195 with value = 0.7863
+Query 1/1: Action query time = 0.958 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9486
+t=106: Selected seed 195 with value = 0.9486
+Query 1/1: Action query time = 0.963 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9202
+t=122: Selected seed 195 with value = 0.9202
+Saved rollout MP4 at path ./rollouts/demochan800_t456/2026_08_01-18_15_09--episode=57--success=True--task=push_the_plate_to_the_front_of_the_stove.mp4
+Saved rollout MP4 at path ./rollouts/demochan800_t456/2026_08_01-18_15_09--with_future_img--episode=57--success=True--task=push_the_plate_to_the_front_of_the_.mp4
+Success: True
+# episodes completed so far: 57
+# successes: 52 (91.2%)
+
+Task: push the plate to the front of the stove
+Starting episode 8...
+Query 1/1: Action query time = 0.998 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3653
+t=10: Selected seed 195 with value = 0.3653
+Query 1/1: Action query time = 0.991 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3957
+t=26: Selected seed 195 with value = 0.3957
+Query 1/1: Action query time = 0.975 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4862
+t=42: Selected seed 195 with value = 0.4862
+Query 1/1: Action query time = 0.974 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5258
+t=58: Selected seed 195 with value = 0.5258
+Query 1/1: Action query time = 0.960 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5797
+t=74: Selected seed 195 with value = 0.5797
+Query 1/1: Action query time = 0.978 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6889
+t=90: Selected seed 195 with value = 0.6889
+Query 1/1: Action query time = 0.998 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8180
+t=106: Selected seed 195 with value = 0.8180
+Query 1/1: Action query time = 0.965 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9770
+t=122: Selected seed 195 with value = 0.9770
+Saved rollout MP4 at path ./rollouts/demochan800_t456/2026_08_01-18_15_09--episode=58--success=True--task=push_the_plate_to_the_front_of_the_stove.mp4
+Saved rollout MP4 at path ./rollouts/demochan800_t456/2026_08_01-18_15_09--with_future_img--episode=58--success=True--task=push_the_plate_to_the_front_of_the_.mp4
+Success: True
+# episodes completed so far: 58
+# successes: 53 (91.4%)
+
+Task: push the plate to the front of the stove
+Starting episode 9...
+Query 1/1: Action query time = 1.071 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3267
+t=10: Selected seed 195 with value = 0.3267
+Query 1/1: Action query time = 1.038 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3904
+t=26: Selected seed 195 with value = 0.3904
+Query 1/1: Action query time = 1.017 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4753
+t=42: Selected seed 195 with value = 0.4753
+Query 1/1: Action query time = 1.006 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5231
+t=58: Selected seed 195 with value = 0.5231
+Query 1/1: Action query time = 1.033 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6165
+t=74: Selected seed 195 with value = 0.6165
+Query 1/1: Action query time = 0.961 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7645
+t=90: Selected seed 195 with value = 0.7645
+Query 1/1: Action query time = 0.969 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9689
+t=106: Selected seed 195 with value = 0.9689
+Query 1/1: Action query time = 0.952 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9422
+t=122: Selected seed 195 with value = 0.9422
+Saved rollout MP4 at path ./rollouts/demochan800_t456/2026_08_01-18_15_09--episode=59--success=True--task=push_the_plate_to_the_front_of_the_stove.mp4
+Saved rollout MP4 at path ./rollouts/demochan800_t456/2026_08_01-18_15_09--with_future_img--episode=59--success=True--task=push_the_plate_to_the_front_of_the_.mp4
+Success: True
+# episodes completed so far: 59
+# successes: 54 (91.5%)
+
+Task: push the plate to the front of the stove
+Starting episode 10...
+Query 1/1: Action query time = 1.131 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3449
+t=10: Selected seed 195 with value = 0.3449
+Query 1/1: Action query time = 1.114 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3850
+t=26: Selected seed 195 with value = 0.3850
+Query 1/1: Action query time = 1.162 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4699
+t=42: Selected seed 195 with value = 0.4699
+Query 1/1: Action query time = 1.175 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5291
+t=58: Selected seed 195 with value = 0.5291
+Query 1/1: Action query time = 1.108 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6331
+t=74: Selected seed 195 with value = 0.6331
+Query 1/1: Action query time = 1.153 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8032
+t=90: Selected seed 195 with value = 0.8032
+Query 1/1: Action query time = 1.141 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9603
+t=106: Selected seed 195 with value = 0.9603
+Query 1/1: Action query time = 1.052 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9865
+t=122: Selected seed 195 with value = 0.9865
+Saved rollout MP4 at path ./rollouts/demochan800_t456/2026_08_01-18_15_09--episode=60--success=True--task=push_the_plate_to_the_front_of_the_stove.mp4
+Saved rollout MP4 at path ./rollouts/demochan800_t456/2026_08_01-18_15_09--with_future_img--episode=60--success=True--task=push_the_plate_to_the_front_of_the_.mp4
+Success: True
+# episodes completed so far: 60
+# successes: 55 (91.7%)
+
+Task: push the plate to the front of the stove
+Starting episode 11...
+Query 1/1: Action query time = 0.973 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3260
+t=10: Selected seed 195 with value = 0.3260
+Query 1/1: Action query time = 0.960 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3668
+t=26: Selected seed 195 with value = 0.3668
+Query 1/1: Action query time = 0.962 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4598
+t=42: Selected seed 195 with value = 0.4598
+Query 1/1: Action query time = 0.978 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5428
+t=58: Selected seed 195 with value = 0.5428
+Query 1/1: Action query time = 0.965 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6481
+t=74: Selected seed 195 with value = 0.6481
+Query 1/1: Action query time = 0.970 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9058
+t=90: Selected seed 195 with value = 0.9058
+Query 1/1: Action query time = 0.970 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9803
+t=106: Selected seed 195 with value = 0.9803
+Query 1/1: Action query time = 0.971 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8760
+t=122: Selected seed 195 with value = 0.8760
+Saved rollout MP4 at path ./rollouts/demochan800_t456/2026_08_01-18_15_09--episode=61--success=True--task=push_the_plate_to_the_front_of_the_stove.mp4
+Saved rollout MP4 at path ./rollouts/demochan800_t456/2026_08_01-18_15_09--with_future_img--episode=61--success=True--task=push_the_plate_to_the_front_of_the_.mp4
+Success: True
+# episodes completed so far: 61
+# successes: 56 (91.8%)
+
+Task: push the plate to the front of the stove
+Starting episode 12...
+Query 1/1: Action query time = 1.116 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3340
+t=10: Selected seed 195 with value = 0.3340
+Query 1/1: Action query time = 1.089 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3851
+t=26: Selected seed 195 with value = 0.3851
+Query 1/1: Action query time = 1.078 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4644
+t=42: Selected seed 195 with value = 0.4644
+Query 1/1: Action query time = 1.103 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5516
+t=58: Selected seed 195 with value = 0.5516
+Query 1/1: Action query time = 1.165 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6467
+t=74: Selected seed 195 with value = 0.6467
+Query 1/1: Action query time = 1.160 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8391
+t=90: Selected seed 195 with value = 0.8391
+Query 1/1: Action query time = 1.126 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9853
+t=106: Selected seed 195 with value = 0.9853
+Query 1/1: Action query time = 1.137 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9755
+t=122: Selected seed 195 with value = 0.9755
+Saved rollout MP4 at path ./rollouts/demochan800_t456/2026_08_01-18_15_09--episode=62--success=True--task=push_the_plate_to_the_front_of_the_stove.mp4
+Saved rollout MP4 at path ./rollouts/demochan800_t456/2026_08_01-18_15_09--with_future_img--episode=62--success=True--task=push_the_plate_to_the_front_of_the_.mp4
+Success: True
+# episodes completed so far: 62
+# successes: 57 (91.9%)
+
+Task: push the plate to the front of the stove
+Starting episode 13...
+Query 1/1: Action query time = 0.989 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3425
+t=10: Selected seed 195 with value = 0.3425
+Query 1/1: Action query time = 0.976 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3821
+t=26: Selected seed 195 with value = 0.3821
+Query 1/1: Action query time = 0.972 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4520
+t=42: Selected seed 195 with value = 0.4520
+Query 1/1: Action query time = 0.979 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5320
+t=58: Selected seed 195 with value = 0.5320
+Query 1/1: Action query time = 0.971 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6056
+t=74: Selected seed 195 with value = 0.6056
+Query 1/1: Action query time = 0.970 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7415
+t=90: Selected seed 195 with value = 0.7415
+Query 1/1: Action query time = 0.966 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9183
+t=106: Selected seed 195 with value = 0.9183
+Query 1/1: Action query time = 0.975 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9969
+t=122: Selected seed 195 with value = 0.9969
+Saved rollout MP4 at path ./rollouts/demochan800_t456/2026_08_01-18_15_09--episode=63--success=True--task=push_the_plate_to_the_front_of_the_stove.mp4
+Saved rollout MP4 at path ./rollouts/demochan800_t456/2026_08_01-18_15_09--with_future_img--episode=63--success=True--task=push_the_plate_to_the_front_of_the_.mp4
+Success: True
+# episodes completed so far: 63
+# successes: 58 (92.1%)
+
+Task: push the plate to the front of the stove
+Starting episode 14...
+Query 1/1: Action query time = 0.966 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3622
+t=10: Selected seed 195 with value = 0.3622
+Query 1/1: Action query time = 0.982 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3877
+t=26: Selected seed 195 with value = 0.3877
+Query 1/1: Action query time = 0.965 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4769
+t=42: Selected seed 195 with value = 0.4769
+Query 1/1: Action query time = 0.971 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3645
+t=58: Selected seed 195 with value = 0.3645
+Query 1/1: Action query time = 0.977 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5976
+t=74: Selected seed 195 with value = 0.5976
+Query 1/1: Action query time = 0.981 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6696
+t=90: Selected seed 195 with value = 0.6696
+Query 1/1: Action query time = 0.980 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7990
+t=106: Selected seed 195 with value = 0.7990
+Query 1/1: Action query time = 0.997 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8509
+t=122: Selected seed 195 with value = 0.8509
+Query 1/1: Action query time = 1.000 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9617
+t=138: Selected seed 195 with value = 0.9617
+Query 1/1: Action query time = 0.976 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9966
+t=154: Selected seed 195 with value = 0.9966
+Query 1/1: Action query time = 0.975 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9975
+t=170: Selected seed 195 with value = 0.9975
+Query 1/1: Action query time = 0.969 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=186: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.970 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9503
+t=202: Selected seed 195 with value = 0.9503
+Query 1/1: Action query time = 0.971 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8781
+t=218: Selected seed 195 with value = 0.8781
+Query 1/1: Action query time = 0.990 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9266
+t=234: Selected seed 195 with value = 0.9266
+Query 1/1: Action query time = 0.969 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9504
+t=250: Selected seed 195 with value = 0.9504
+Query 1/1: Action query time = 0.970 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9987
+t=266: Selected seed 195 with value = 0.9987
+Query 1/1: Action query time = 0.962 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9971
+t=282: Selected seed 195 with value = 0.9971
+Query 1/1: Action query time = 0.979 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9987
+t=298: Selected seed 195 with value = 0.9987
+Saved rollout MP4 at path ./rollouts/demochan800_t456/2026_08_01-18_15_09--episode=64--success=False--task=push_the_plate_to_the_front_of_the_stove.mp4
+Saved rollout MP4 at path ./rollouts/demochan800_t456/2026_08_01-18_15_09--with_future_img--episode=64--success=False--task=push_the_plate_to_the_front_of_the_.mp4
+Success: False
+# episodes completed so far: 64
+# successes: 58 (90.6%)
+
+Task: push the plate to the front of the stove
+Starting episode 15...
+Query 1/1: Action query time = 1.137 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3449
+t=10: Selected seed 195 with value = 0.3449
+Query 1/1: Action query time = 1.115 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3630
+t=26: Selected seed 195 with value = 0.3630
+Query 1/1: Action query time = 1.086 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4525
+t=42: Selected seed 195 with value = 0.4525
+Query 1/1: Action query time = 1.122 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5479
+t=58: Selected seed 195 with value = 0.5479
+Query 1/1: Action query time = 1.217 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6645
+t=74: Selected seed 195 with value = 0.6645
+Query 1/1: Action query time = 1.216 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8165
+t=90: Selected seed 195 with value = 0.8165
+Query 1/1: Action query time = 1.147 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8853
+t=106: Selected seed 195 with value = 0.8853
+Query 1/1: Action query time = 1.100 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9724
+t=122: Selected seed 195 with value = 0.9724
+Saved rollout MP4 at path ./rollouts/demochan800_t456/2026_08_01-18_15_09--episode=65--success=True--task=push_the_plate_to_the_front_of_the_stove.mp4
+Saved rollout MP4 at path ./rollouts/demochan800_t456/2026_08_01-18_15_09--with_future_img--episode=65--success=True--task=push_the_plate_to_the_front_of_the_.mp4
+Success: True
+# episodes completed so far: 65
+# successes: 59 (90.8%)
+
+Task: push the plate to the front of the stove
+Starting episode 16...
+Query 1/1: Action query time = 0.974 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3610
+t=10: Selected seed 195 with value = 0.3610
+Query 1/1: Action query time = 0.981 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3886
+t=26: Selected seed 195 with value = 0.3886
+Query 1/1: Action query time = 0.974 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4629
+t=42: Selected seed 195 with value = 0.4629
+Query 1/1: Action query time = 0.970 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5432
+t=58: Selected seed 195 with value = 0.5432
+Query 1/1: Action query time = 0.997 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6897
+t=74: Selected seed 195 with value = 0.6897
+Query 1/1: Action query time = 1.251 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9016
+t=90: Selected seed 195 with value = 0.9016
+Query 1/1: Action query time = 0.984 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9785
+t=106: Selected seed 195 with value = 0.9785
+Query 1/1: Action query time = 0.988 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9165
+t=122: Selected seed 195 with value = 0.9165
+Saved rollout MP4 at path ./rollouts/demochan800_t456/2026_08_01-18_15_09--episode=66--success=True--task=push_the_plate_to_the_front_of_the_stove.mp4
+Saved rollout MP4 at path ./rollouts/demochan800_t456/2026_08_01-18_15_09--with_future_img--episode=66--success=True--task=push_the_plate_to_the_front_of_the_.mp4
+Success: True
+# episodes completed so far: 66
+# successes: 60 (90.9%)
+
+Task: push the plate to the front of the stove
+Starting episode 17...
+Query 1/1: Action query time = 0.985 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3378
+t=10: Selected seed 195 with value = 0.3378
+Query 1/1: Action query time = 0.959 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3756
+t=26: Selected seed 195 with value = 0.3756
+Query 1/1: Action query time = 0.971 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4781
+t=42: Selected seed 195 with value = 0.4781
+Query 1/1: Action query time = 0.984 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5373
+t=58: Selected seed 195 with value = 0.5373
+Query 1/1: Action query time = 0.980 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6732
+t=74: Selected seed 195 with value = 0.6732
+Query 1/1: Action query time = 0.969 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8444
+t=90: Selected seed 195 with value = 0.8444
+Query 1/1: Action query time = 0.968 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9520
+t=106: Selected seed 195 with value = 0.9520
+Query 1/1: Action query time = 0.973 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9783
+t=122: Selected seed 195 with value = 0.9783
+Saved rollout MP4 at path ./rollouts/demochan800_t456/2026_08_01-18_15_09--episode=67--success=True--task=push_the_plate_to_the_front_of_the_stove.mp4
+Saved rollout MP4 at path ./rollouts/demochan800_t456/2026_08_01-18_15_09--with_future_img--episode=67--success=True--task=push_the_plate_to_the_front_of_the_.mp4
+Success: True
+# episodes completed so far: 67
+# successes: 61 (91.0%)
+
+Task: push the plate to the front of the stove
+Starting episode 18...
+Query 1/1: Action query time = 0.974 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3291
+t=10: Selected seed 195 with value = 0.3291
+Query 1/1: Action query time = 0.980 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3728
+t=26: Selected seed 195 with value = 0.3728
+Query 1/1: Action query time = 0.969 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4543
+t=42: Selected seed 195 with value = 0.4543
+Query 1/1: Action query time = 0.964 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5464
+t=58: Selected seed 195 with value = 0.5464
+Query 1/1: Action query time = 0.978 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6336
+t=74: Selected seed 195 with value = 0.6336
+Query 1/1: Action query time = 0.959 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8959
+t=90: Selected seed 195 with value = 0.8959
+Query 1/1: Action query time = 1.228 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9777
+t=106: Selected seed 195 with value = 0.9777
+Query 1/1: Action query time = 1.172 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9255
+t=122: Selected seed 195 with value = 0.9255
+Saved rollout MP4 at path ./rollouts/demochan800_t456/2026_08_01-18_15_09--episode=68--success=True--task=push_the_plate_to_the_front_of_the_stove.mp4
+Saved rollout MP4 at path ./rollouts/demochan800_t456/2026_08_01-18_15_09--with_future_img--episode=68--success=True--task=push_the_plate_to_the_front_of_the_.mp4
+Success: True
+# episodes completed so far: 68
+# successes: 62 (91.2%)
+
+Task: push the plate to the front of the stove
+Starting episode 19...
+Query 1/1: Action query time = 1.029 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3390
+t=10: Selected seed 195 with value = 0.3390
+Query 1/1: Action query time = 1.008 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4024
+t=26: Selected seed 195 with value = 0.4024
+Query 1/1: Action query time = 0.992 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4920
+t=42: Selected seed 195 with value = 0.4920
+Query 1/1: Action query time = 0.994 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5498
+t=58: Selected seed 195 with value = 0.5498
+Query 1/1: Action query time = 0.980 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6634
+t=74: Selected seed 195 with value = 0.6634
+Query 1/1: Action query time = 0.975 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8544
+t=90: Selected seed 195 with value = 0.8544
+Query 1/1: Action query time = 0.973 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9414
+t=106: Selected seed 195 with value = 0.9414
+Query 1/1: Action query time = 0.980 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9757
+t=122: Selected seed 195 with value = 0.9757
+Saved rollout MP4 at path ./rollouts/demochan800_t456/2026_08_01-18_15_09--episode=69--success=True--task=push_the_plate_to_the_front_of_the_stove.mp4
+Saved rollout MP4 at path ./rollouts/demochan800_t456/2026_08_01-18_15_09--with_future_img--episode=69--success=True--task=push_the_plate_to_the_front_of_the_.mp4
+Success: True
+# episodes completed so far: 69
+# successes: 63 (91.3%)
+
+Task: push the plate to the front of the stove
+Starting episode 20...
+Query 1/1: Action query time = 0.983 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3271
+t=10: Selected seed 195 with value = 0.3271
+Query 1/1: Action query time = 0.988 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3549
+t=26: Selected seed 195 with value = 0.3549
+Query 1/1: Action query time = 1.094 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4574
+t=42: Selected seed 195 with value = 0.4574
+Query 1/1: Action query time = 1.195 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5493
+t=58: Selected seed 195 with value = 0.5493
+Query 1/1: Action query time = 0.962 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6650
+t=74: Selected seed 195 with value = 0.6650
+Query 1/1: Action query time = 0.982 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9167
+t=90: Selected seed 195 with value = 0.9167
+Query 1/1: Action query time = 0.987 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9820
+t=106: Selected seed 195 with value = 0.9820
+Query 1/1: Action query time = 0.969 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8974
+t=122: Selected seed 195 with value = 0.8974
+Query 1/1: Action query time = 0.960 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8698
+t=138: Selected seed 195 with value = 0.8698
+Saved rollout MP4 at path ./rollouts/demochan800_t456/2026_08_01-18_15_09--episode=70--success=True--task=push_the_plate_to_the_front_of_the_stove.mp4
+Saved rollout MP4 at path ./rollouts/demochan800_t456/2026_08_01-18_15_09--with_future_img--episode=70--success=True--task=push_the_plate_to_the_front_of_the_.mp4
+Success: True
+# episodes completed so far: 70
+# successes: 64 (91.4%)
+
+Task: push the plate to the front of the stove
+Starting episode 21...
+Query 1/1: Action query time = 1.205 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3296
+t=10: Selected seed 195 with value = 0.3296
+Query 1/1: Action query time = 1.224 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3695
+t=26: Selected seed 195 with value = 0.3695
+Query 1/1: Action query time = 1.193 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4393
+t=42: Selected seed 195 with value = 0.4393
+Query 1/1: Action query time = 1.231 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5231
+t=58: Selected seed 195 with value = 0.5231
+Query 1/1: Action query time = 1.199 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6821
+t=74: Selected seed 195 with value = 0.6821
+Query 1/1: Action query time = 1.103 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8270
+t=90: Selected seed 195 with value = 0.8270
+Query 1/1: Action query time = 0.972 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9476
+t=106: Selected seed 195 with value = 0.9476
+Query 1/1: Action query time = 0.995 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9690
+t=122: Selected seed 195 with value = 0.9690
+Query 1/1: Action query time = 0.981 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=138: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/demochan800_t456/2026_08_01-18_15_09--episode=71--success=True--task=push_the_plate_to_the_front_of_the_stove.mp4
+Saved rollout MP4 at path ./rollouts/demochan800_t456/2026_08_01-18_15_09--with_future_img--episode=71--success=True--task=push_the_plate_to_the_front_of_the_.mp4
+Success: True
+# episodes completed so far: 71
+# successes: 65 (91.5%)
+
+Task: push the plate to the front of the stove
+Starting episode 22...
+Query 1/1: Action query time = 1.123 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3337
+t=10: Selected seed 195 with value = 0.3337
+Query 1/1: Action query time = 1.223 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3851
+t=26: Selected seed 195 with value = 0.3851
+Query 1/1: Action query time = 1.051 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4647
+t=42: Selected seed 195 with value = 0.4647
+Query 1/1: Action query time = 0.985 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5352
+t=58: Selected seed 195 with value = 0.5352
+Query 1/1: Action query time = 0.981 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6685
+t=74: Selected seed 195 with value = 0.6685
+Query 1/1: Action query time = 0.977 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8396
+t=90: Selected seed 195 with value = 0.8396
+Query 1/1: Action query time = 0.988 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9464
+t=106: Selected seed 195 with value = 0.9464
+Query 1/1: Action query time = 0.977 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9991
+t=122: Selected seed 195 with value = 0.9991
+Saved rollout MP4 at path ./rollouts/demochan800_t456/2026_08_01-18_15_09--episode=72--success=True--task=push_the_plate_to_the_front_of_the_stove.mp4
+Saved rollout MP4 at path ./rollouts/demochan800_t456/2026_08_01-18_15_09--with_future_img--episode=72--success=True--task=push_the_plate_to_the_front_of_the_.mp4
+Success: True
+# episodes completed so far: 72
+# successes: 66 (91.7%)
+
+Task: push the plate to the front of the stove
+Starting episode 23...
+Query 1/1: Action query time = 1.174 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3193
+t=10: Selected seed 195 with value = 0.3193
+Query 1/1: Action query time = 1.191 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3673
+t=26: Selected seed 195 with value = 0.3673
+Query 1/1: Action query time = 1.197 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4379
+t=42: Selected seed 195 with value = 0.4379
+Query 1/1: Action query time = 1.212 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5207
+t=58: Selected seed 195 with value = 0.5207
+Query 1/1: Action query time = 1.119 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6126
+t=74: Selected seed 195 with value = 0.6126
+Query 1/1: Action query time = 1.077 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7213
+t=90: Selected seed 195 with value = 0.7213
+Query 1/1: Action query time = 1.030 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9296
+t=106: Selected seed 195 with value = 0.9296
+Query 1/1: Action query time = 0.975 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9907
+t=122: Selected seed 195 with value = 0.9907
+Query 1/1: Action query time = 0.972 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9875
+t=138: Selected seed 195 with value = 0.9875
+Query 1/1: Action query time = 0.969 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9750
+t=154: Selected seed 195 with value = 0.9750
+Query 1/1: Action query time = 1.184 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9797
+t=170: Selected seed 195 with value = 0.9797
+Query 1/1: Action query time = 1.133 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9539
+t=186: Selected seed 195 with value = 0.9539
+Query 1/1: Action query time = 1.177 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9699
+t=202: Selected seed 195 with value = 0.9699
+Query 1/1: Action query time = 1.201 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9628
+t=218: Selected seed 195 with value = 0.9628
+Query 1/1: Action query time = 1.226 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9492
+t=234: Selected seed 195 with value = 0.9492
+Query 1/1: Action query time = 1.186 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9967
+t=250: Selected seed 195 with value = 0.9967
+Query 1/1: Action query time = 1.224 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9992
+t=266: Selected seed 195 with value = 0.9992
+Query 1/1: Action query time = 1.197 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9998
+t=282: Selected seed 195 with value = 0.9998
+Query 1/1: Action query time = 1.205 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=298: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/demochan800_t456/2026_08_01-18_15_09--episode=73--success=False--task=push_the_plate_to_the_front_of_the_stove.mp4
+Saved rollout MP4 at path ./rollouts/demochan800_t456/2026_08_01-18_15_09--with_future_img--episode=73--success=False--task=push_the_plate_to_the_front_of_the_.mp4
+Success: False
+# episodes completed so far: 73
+# successes: 66 (90.4%)
+
+Task: push the plate to the front of the stove
+Starting episode 24...
+Query 1/1: Action query time = 1.042 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3353
+t=10: Selected seed 195 with value = 0.3353
+Query 1/1: Action query time = 0.994 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3825
+t=26: Selected seed 195 with value = 0.3825
+Query 1/1: Action query time = 0.985 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4604
+t=42: Selected seed 195 with value = 0.4604
+Query 1/1: Action query time = 0.985 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5583
+t=58: Selected seed 195 with value = 0.5583
+Query 1/1: Action query time = 0.993 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7159
+t=74: Selected seed 195 with value = 0.7159
+Query 1/1: Action query time = 0.986 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9125
+t=90: Selected seed 195 with value = 0.9125
+Query 1/1: Action query time = 1.007 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9815
+t=106: Selected seed 195 with value = 0.9815
+Saved rollout MP4 at path ./rollouts/demochan800_t456/2026_08_01-18_15_09--episode=74--success=True--task=push_the_plate_to_the_front_of_the_stove.mp4
+Saved rollout MP4 at path ./rollouts/demochan800_t456/2026_08_01-18_15_09--with_future_img--episode=74--success=True--task=push_the_plate_to_the_front_of_the_.mp4
+Success: True
+# episodes completed so far: 74
+# successes: 67 (90.5%)
+
+Task: push the plate to the front of the stove
+Starting episode 25...
+Query 1/1: Action query time = 0.994 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3370
+t=10: Selected seed 195 with value = 0.3370
+Query 1/1: Action query time = 0.985 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3813
+t=26: Selected seed 195 with value = 0.3813
+Query 1/1: Action query time = 0.976 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4882
+t=42: Selected seed 195 with value = 0.4882
+Query 1/1: Action query time = 0.977 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5451
+t=58: Selected seed 195 with value = 0.5451
+Query 1/1: Action query time = 0.997 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6783
+t=74: Selected seed 195 with value = 0.6783
+Query 1/1: Action query time = 0.994 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8710
+t=90: Selected seed 195 with value = 0.8710
+Query 1/1: Action query time = 0.976 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9431
+t=106: Selected seed 195 with value = 0.9431
+Query 1/1: Action query time = 0.984 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9977
+t=122: Selected seed 195 with value = 0.9977
+Saved rollout MP4 at path ./rollouts/demochan800_t456/2026_08_01-18_15_09--episode=75--success=True--task=push_the_plate_to_the_front_of_the_stove.mp4
+Saved rollout MP4 at path ./rollouts/demochan800_t456/2026_08_01-18_15_09--with_future_img--episode=75--success=True--task=push_the_plate_to_the_front_of_the_.mp4
+Success: True
+# episodes completed so far: 75
+# successes: 68 (90.7%)
+
+Task: push the plate to the front of the stove
+Starting episode 26...
+Query 1/1: Action query time = 0.975 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3297
+t=10: Selected seed 195 with value = 0.3297
+Query 1/1: Action query time = 0.976 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3816
+t=26: Selected seed 195 with value = 0.3816
+Query 1/1: Action query time = 0.984 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4656
+t=42: Selected seed 195 with value = 0.4656
+Query 1/1: Action query time = 0.963 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5438
+t=58: Selected seed 195 with value = 0.5438
+Query 1/1: Action query time = 0.978 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6607
+t=74: Selected seed 195 with value = 0.6607
+Query 1/1: Action query time = 0.969 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8220
+t=90: Selected seed 195 with value = 0.8220
+Query 1/1: Action query time = 0.962 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9337
+t=106: Selected seed 195 with value = 0.9337
+Query 1/1: Action query time = 0.966 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9662
+t=122: Selected seed 195 with value = 0.9662
+Saved rollout MP4 at path ./rollouts/demochan800_t456/2026_08_01-18_15_09--episode=76--success=True--task=push_the_plate_to_the_front_of_the_stove.mp4
+Saved rollout MP4 at path ./rollouts/demochan800_t456/2026_08_01-18_15_09--with_future_img--episode=76--success=True--task=push_the_plate_to_the_front_of_the_.mp4
+Success: True
+# episodes completed so far: 76
+# successes: 69 (90.8%)
+
+Task: push the plate to the front of the stove
+Starting episode 27...
+Query 1/1: Action query time = 1.184 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3481
+t=10: Selected seed 195 with value = 0.3481
+Query 1/1: Action query time = 1.004 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3810
+t=26: Selected seed 195 with value = 0.3810
+Query 1/1: Action query time = 0.983 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4721
+t=42: Selected seed 195 with value = 0.4721
+Query 1/1: Action query time = 1.012 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5286
+t=58: Selected seed 195 with value = 0.5286
+Query 1/1: Action query time = 1.000 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6552
+t=74: Selected seed 195 with value = 0.6552
+Query 1/1: Action query time = 0.975 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8022
+t=90: Selected seed 195 with value = 0.8022
+Query 1/1: Action query time = 1.003 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9569
+t=106: Selected seed 195 with value = 0.9569
+Query 1/1: Action query time = 0.989 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9776
+t=122: Selected seed 195 with value = 0.9776
+Query 1/1: Action query time = 0.971 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9850
+t=138: Selected seed 195 with value = 0.9850
+Saved rollout MP4 at path ./rollouts/demochan800_t456/2026_08_01-18_15_09--episode=77--success=True--task=push_the_plate_to_the_front_of_the_stove.mp4
+Saved rollout MP4 at path ./rollouts/demochan800_t456/2026_08_01-18_15_09--with_future_img--episode=77--success=True--task=push_the_plate_to_the_front_of_the_.mp4
+Success: True
+# episodes completed so far: 77
+# successes: 70 (90.9%)
+
+Task: push the plate to the front of the stove
+Starting episode 28...
+Query 1/1: Action query time = 1.012 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3332
+t=10: Selected seed 195 with value = 0.3332
+Query 1/1: Action query time = 1.005 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3774
+t=26: Selected seed 195 with value = 0.3774
+Query 1/1: Action query time = 1.014 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4471
+t=42: Selected seed 195 with value = 0.4471
+Query 1/1: Action query time = 0.968 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5428
+t=58: Selected seed 195 with value = 0.5428
+Query 1/1: Action query time = 0.966 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6611
+t=74: Selected seed 195 with value = 0.6611
+Query 1/1: Action query time = 0.970 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8483
+t=90: Selected seed 195 with value = 0.8483
+Query 1/1: Action query time = 0.976 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9627
+t=106: Selected seed 195 with value = 0.9627
+Query 1/1: Action query time = 0.987 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9685
+t=122: Selected seed 195 with value = 0.9685
+Query 1/1: Action query time = 1.053 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9730
+t=138: Selected seed 195 with value = 0.9730
+Saved rollout MP4 at path ./rollouts/demochan800_t456/2026_08_01-18_15_09--episode=78--success=True--task=push_the_plate_to_the_front_of_the_stove.mp4
+Saved rollout MP4 at path ./rollouts/demochan800_t456/2026_08_01-18_15_09--with_future_img--episode=78--success=True--task=push_the_plate_to_the_front_of_the_.mp4
+Success: True
+# episodes completed so far: 78
+# successes: 71 (91.0%)
+
+Task: push the plate to the front of the stove
+Starting episode 29...
+Query 1/1: Action query time = 1.200 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3312
+t=10: Selected seed 195 with value = 0.3312
+Query 1/1: Action query time = 1.192 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3796
+t=26: Selected seed 195 with value = 0.3796
+Query 1/1: Action query time = 0.979 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4583
+t=42: Selected seed 195 with value = 0.4583
+Query 1/1: Action query time = 0.975 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5215
+t=58: Selected seed 195 with value = 0.5215
+Query 1/1: Action query time = 0.984 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6522
+t=74: Selected seed 195 with value = 0.6522
+Query 1/1: Action query time = 0.983 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7468
+t=90: Selected seed 195 with value = 0.7468
+Query 1/1: Action query time = 0.967 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9517
+t=106: Selected seed 195 with value = 0.9517
+Query 1/1: Action query time = 0.976 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9515
+t=122: Selected seed 195 with value = 0.9515
+Query 1/1: Action query time = 0.977 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9955
+t=138: Selected seed 195 with value = 0.9955
+Saved rollout MP4 at path ./rollouts/demochan800_t456/2026_08_01-18_15_09--episode=79--success=True--task=push_the_plate_to_the_front_of_the_stove.mp4
+Saved rollout MP4 at path ./rollouts/demochan800_t456/2026_08_01-18_15_09--with_future_img--episode=79--success=True--task=push_the_plate_to_the_front_of_the_.mp4
+Success: True
+# episodes completed so far: 79
+# successes: 72 (91.1%)
+
+Task: push the plate to the front of the stove
+Starting episode 30...
+Query 1/1: Action query time = 0.985 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3503
+t=10: Selected seed 195 with value = 0.3503
+Query 1/1: Action query time = 1.107 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4009
+t=26: Selected seed 195 with value = 0.4009
+Query 1/1: Action query time = 1.096 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4944
+t=42: Selected seed 195 with value = 0.4944
+Query 1/1: Action query time = 1.172 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5691
+t=58: Selected seed 195 with value = 0.5691
+Query 1/1: Action query time = 1.137 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7058
+t=74: Selected seed 195 with value = 0.7058
+Query 1/1: Action query time = 1.129 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8936
+t=90: Selected seed 195 with value = 0.8936
+Query 1/1: Action query time = 1.134 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9821
+t=106: Selected seed 195 with value = 0.9821
+Query 1/1: Action query time = 0.974 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9907
+t=122: Selected seed 195 with value = 0.9907
+Saved rollout MP4 at path ./rollouts/demochan800_t456/2026_08_01-18_15_09--episode=80--success=True--task=push_the_plate_to_the_front_of_the_stove.mp4
+Saved rollout MP4 at path ./rollouts/demochan800_t456/2026_08_01-18_15_09--with_future_img--episode=80--success=True--task=push_the_plate_to_the_front_of_the_.mp4
+Success: True
+# episodes completed so far: 80
+# successes: 73 (91.2%)
+
+Task: push the plate to the front of the stove
+Starting episode 31...
+Query 1/1: Action query time = 1.235 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3212
+t=10: Selected seed 195 with value = 0.3212
+Query 1/1: Action query time = 1.205 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3795
+t=26: Selected seed 195 with value = 0.3795
+Query 1/1: Action query time = 1.201 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4543
+t=42: Selected seed 195 with value = 0.4543
+Query 1/1: Action query time = 1.156 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5272
+t=58: Selected seed 195 with value = 0.5272
+Query 1/1: Action query time = 1.165 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6217
+t=74: Selected seed 195 with value = 0.6217
+Query 1/1: Action query time = 0.978 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8109
+t=90: Selected seed 195 with value = 0.8109
+Query 1/1: Action query time = 0.986 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9581
+t=106: Selected seed 195 with value = 0.9581
+Query 1/1: Action query time = 0.964 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9959
+t=122: Selected seed 195 with value = 0.9959
+Query 1/1: Action query time = 0.963 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9942
+t=138: Selected seed 195 with value = 0.9942
+Saved rollout MP4 at path ./rollouts/demochan800_t456/2026_08_01-18_15_09--episode=81--success=True--task=push_the_plate_to_the_front_of_the_stove.mp4
+Saved rollout MP4 at path ./rollouts/demochan800_t456/2026_08_01-18_15_09--with_future_img--episode=81--success=True--task=push_the_plate_to_the_front_of_the_.mp4
+Success: True
+# episodes completed so far: 81
+# successes: 74 (91.4%)
+
+Task: push the plate to the front of the stove
+Starting episode 32...
+Query 1/1: Action query time = 0.986 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3324
+t=10: Selected seed 195 with value = 0.3324
+Query 1/1: Action query time = 0.977 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3778
+t=26: Selected seed 195 with value = 0.3778
+Query 1/1: Action query time = 0.967 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4460
+t=42: Selected seed 195 with value = 0.4460
+Query 1/1: Action query time = 0.968 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5250
+t=58: Selected seed 195 with value = 0.5250
+Query 1/1: Action query time = 1.188 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6428
+t=74: Selected seed 195 with value = 0.6428
+Query 1/1: Action query time = 1.123 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7278
+t=90: Selected seed 195 with value = 0.7278
+Query 1/1: Action query time = 1.065 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9253
+t=106: Selected seed 195 with value = 0.9253
+Query 1/1: Action query time = 1.141 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9764
+t=122: Selected seed 195 with value = 0.9764
+Query 1/1: Action query time = 1.140 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=138: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/demochan800_t456/2026_08_01-18_15_09--episode=82--success=True--task=push_the_plate_to_the_front_of_the_stove.mp4
+Saved rollout MP4 at path ./rollouts/demochan800_t456/2026_08_01-18_15_09--with_future_img--episode=82--success=True--task=push_the_plate_to_the_front_of_the_.mp4
+Success: True
+# episodes completed so far: 82
+# successes: 75 (91.5%)
+
+Task: push the plate to the front of the stove
+Starting episode 33...
+Query 1/1: Action query time = 0.989 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3624
+t=10: Selected seed 195 with value = 0.3624
+Query 1/1: Action query time = 0.977 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3873
+t=26: Selected seed 195 with value = 0.3873
+Query 1/1: Action query time = 0.962 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4564
+t=42: Selected seed 195 with value = 0.4564
+Query 1/1: Action query time = 0.964 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3828
+t=58: Selected seed 195 with value = 0.3828
+Query 1/1: Action query time = 0.969 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5343
+t=74: Selected seed 195 with value = 0.5343
+Query 1/1: Action query time = 0.969 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5216
+t=90: Selected seed 195 with value = 0.5216
+Query 1/1: Action query time = 0.984 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5115
+t=106: Selected seed 195 with value = 0.5115
+Query 1/1: Action query time = 0.977 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6228
+t=122: Selected seed 195 with value = 0.6228
+Query 1/1: Action query time = 0.964 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7045
+t=138: Selected seed 195 with value = 0.7045
+Query 1/1: Action query time = 0.997 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8037
+t=154: Selected seed 195 with value = 0.8037
+Query 1/1: Action query time = 0.956 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8680
+t=170: Selected seed 195 with value = 0.8680
+Query 1/1: Action query time = 0.981 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9162
+t=186: Selected seed 195 with value = 0.9162
+Query 1/1: Action query time = 0.967 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9612
+t=202: Selected seed 195 with value = 0.9612
+Query 1/1: Action query time = 0.987 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9856
+t=218: Selected seed 195 with value = 0.9856
+Query 1/1: Action query time = 0.976 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9954
+t=234: Selected seed 195 with value = 0.9954
+Query 1/1: Action query time = 0.986 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=250: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.968 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=266: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.962 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=282: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 1.194 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9974
+t=298: Selected seed 195 with value = 0.9974
+Saved rollout MP4 at path ./rollouts/demochan800_t456/2026_08_01-18_15_09--episode=83--success=False--task=push_the_plate_to_the_front_of_the_stove.mp4
+Saved rollout MP4 at path ./rollouts/demochan800_t456/2026_08_01-18_15_09--with_future_img--episode=83--success=False--task=push_the_plate_to_the_front_of_the_.mp4
+Success: False
+# episodes completed so far: 83
+# successes: 75 (90.4%)
+
+Task: push the plate to the front of the stove
+Starting episode 34...
+Query 1/1: Action query time = 0.989 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2815
+t=10: Selected seed 195 with value = 0.2815
+Query 1/1: Action query time = 0.964 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3676
+t=26: Selected seed 195 with value = 0.3676
+Query 1/1: Action query time = 0.979 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4398
+t=42: Selected seed 195 with value = 0.4398
+Query 1/1: Action query time = 0.964 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5287
+t=58: Selected seed 195 with value = 0.5287
+Query 1/1: Action query time = 0.972 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6570
+t=74: Selected seed 195 with value = 0.6570
+Query 1/1: Action query time = 0.966 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8416
+t=90: Selected seed 195 with value = 0.8416
+Query 1/1: Action query time = 0.987 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9735
+t=106: Selected seed 195 with value = 0.9735
+Query 1/1: Action query time = 0.957 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9924
+t=122: Selected seed 195 with value = 0.9924
+Query 1/1: Action query time = 0.978 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9929
+t=138: Selected seed 195 with value = 0.9929
+Query 1/1: Action query time = 0.969 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9744
+t=154: Selected seed 195 with value = 0.9744
+Query 1/1: Action query time = 0.982 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9780
+t=170: Selected seed 195 with value = 0.9780
+Query 1/1: Action query time = 0.977 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9684
+t=186: Selected seed 195 with value = 0.9684
+Query 1/1: Action query time = 0.984 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9521
+t=202: Selected seed 195 with value = 0.9521
+Query 1/1: Action query time = 0.968 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9243
+t=218: Selected seed 195 with value = 0.9243
+Query 1/1: Action query time = 0.974 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9908
+t=234: Selected seed 195 with value = 0.9908
+Query 1/1: Action query time = 0.976 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9878
+t=250: Selected seed 195 with value = 0.9878
+Query 1/1: Action query time = 0.971 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9856
+t=266: Selected seed 195 with value = 0.9856
+Query 1/1: Action query time = 0.972 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9855
+t=282: Selected seed 195 with value = 0.9855
+Query 1/1: Action query time = 0.976 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9040
+t=298: Selected seed 195 with value = 0.9040
+Saved rollout MP4 at path ./rollouts/demochan800_t456/2026_08_01-18_15_09--episode=84--success=False--task=push_the_plate_to_the_front_of_the_stove.mp4
+Saved rollout MP4 at path ./rollouts/demochan800_t456/2026_08_01-18_15_09--with_future_img--episode=84--success=False--task=push_the_plate_to_the_front_of_the_.mp4
+Success: False
+# episodes completed so far: 84
+# successes: 75 (89.3%)
+
+Task: push the plate to the front of the stove
+Starting episode 35...
+Query 1/1: Action query time = 1.088 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3216
+t=10: Selected seed 195 with value = 0.3216
+Query 1/1: Action query time = 0.967 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3611
+t=26: Selected seed 195 with value = 0.3611
+Query 1/1: Action query time = 0.964 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4757
+t=42: Selected seed 195 with value = 0.4757
+Query 1/1: Action query time = 0.976 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4555
+t=58: Selected seed 195 with value = 0.4555
+Query 1/1: Action query time = 0.969 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6197
+t=74: Selected seed 195 with value = 0.6197
+Query 1/1: Action query time = 0.958 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6933
+t=90: Selected seed 195 with value = 0.6933
+Query 1/1: Action query time = 0.962 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9294
+t=106: Selected seed 195 with value = 0.9294
+Query 1/1: Action query time = 0.976 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9927
+t=122: Selected seed 195 with value = 0.9927
+Query 1/1: Action query time = 0.956 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9889
+t=138: Selected seed 195 with value = 0.9889
+Query 1/1: Action query time = 0.975 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9810
+t=154: Selected seed 195 with value = 0.9810
+Query 1/1: Action query time = 0.965 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9789
+t=170: Selected seed 195 with value = 0.9789
+Query 1/1: Action query time = 0.974 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9405
+t=186: Selected seed 195 with value = 0.9405
+Query 1/1: Action query time = 0.979 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9603
+t=202: Selected seed 195 with value = 0.9603
+Query 1/1: Action query time = 0.975 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9470
+t=218: Selected seed 195 with value = 0.9470
+Query 1/1: Action query time = 0.983 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9743
+t=234: Selected seed 195 with value = 0.9743
+Query 1/1: Action query time = 0.975 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9950
+t=250: Selected seed 195 with value = 0.9950
+Query 1/1: Action query time = 0.983 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9947
+t=266: Selected seed 195 with value = 0.9947
+Query 1/1: Action query time = 0.955 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9941
+t=282: Selected seed 195 with value = 0.9941
+Query 1/1: Action query time = 0.980 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9985
+t=298: Selected seed 195 with value = 0.9985
+Saved rollout MP4 at path ./rollouts/demochan800_t456/2026_08_01-18_15_09--episode=85--success=False--task=push_the_plate_to_the_front_of_the_stove.mp4
+Saved rollout MP4 at path ./rollouts/demochan800_t456/2026_08_01-18_15_09--with_future_img--episode=85--success=False--task=push_the_plate_to_the_front_of_the_.mp4
+Success: False
+# episodes completed so far: 85
+# successes: 75 (88.2%)
+
+Task: push the plate to the front of the stove
+Starting episode 36...
+Query 1/1: Action query time = 0.989 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3451
+t=10: Selected seed 195 with value = 0.3451
+Query 1/1: Action query time = 0.963 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3930
+t=26: Selected seed 195 with value = 0.3930
+Query 1/1: Action query time = 0.955 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5042
+t=42: Selected seed 195 with value = 0.5042
+Query 1/1: Action query time = 0.973 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5479
+t=58: Selected seed 195 with value = 0.5479
+Query 1/1: Action query time = 0.955 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6786
+t=74: Selected seed 195 with value = 0.6786
+Query 1/1: Action query time = 0.975 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8924
+t=90: Selected seed 195 with value = 0.8924
+Query 1/1: Action query time = 0.981 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9660
+t=106: Selected seed 195 with value = 0.9660
+Query 1/1: Action query time = 1.045 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9167
+t=122: Selected seed 195 with value = 0.9167
+Saved rollout MP4 at path ./rollouts/demochan800_t456/2026_08_01-18_15_09--episode=86--success=True--task=push_the_plate_to_the_front_of_the_stove.mp4
+Saved rollout MP4 at path ./rollouts/demochan800_t456/2026_08_01-18_15_09--with_future_img--episode=86--success=True--task=push_the_plate_to_the_front_of_the_.mp4
+Success: True
+# episodes completed so far: 86
+# successes: 76 (88.4%)
+
+Task: push the plate to the front of the stove
+Starting episode 37...
+Query 1/1: Action query time = 0.965 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3410
+t=10: Selected seed 195 with value = 0.3410
+Query 1/1: Action query time = 0.972 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3673
+t=26: Selected seed 195 with value = 0.3673
+Query 1/1: Action query time = 0.954 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4392
+t=42: Selected seed 195 with value = 0.4392
+Query 1/1: Action query time = 0.969 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5221
+t=58: Selected seed 195 with value = 0.5221
+Query 1/1: Action query time = 1.053 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6478
+t=74: Selected seed 195 with value = 0.6478
+Query 1/1: Action query time = 1.083 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7542
+t=90: Selected seed 195 with value = 0.7542
+Query 1/1: Action query time = 1.097 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9598
+t=106: Selected seed 195 with value = 0.9598
+Query 1/1: Action query time = 1.129 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9643
+t=122: Selected seed 195 with value = 0.9643
+Query 1/1: Action query time = 1.249 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9959
+t=138: Selected seed 195 with value = 0.9959
+Saved rollout MP4 at path ./rollouts/demochan800_t456/2026_08_01-18_15_09--episode=87--success=True--task=push_the_plate_to_the_front_of_the_stove.mp4
+Saved rollout MP4 at path ./rollouts/demochan800_t456/2026_08_01-18_15_09--with_future_img--episode=87--success=True--task=push_the_plate_to_the_front_of_the_.mp4
+Success: True
+# episodes completed so far: 87
+# successes: 77 (88.5%)
+
+Task: push the plate to the front of the stove
+Starting episode 38...
+Query 1/1: Action query time = 0.991 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3251
+t=10: Selected seed 195 with value = 0.3251
+Query 1/1: Action query time = 0.964 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3652
+t=26: Selected seed 195 with value = 0.3652
+Query 1/1: Action query time = 0.961 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4646
+t=42: Selected seed 195 with value = 0.4646
+Query 1/1: Action query time = 0.973 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5063
+t=58: Selected seed 195 with value = 0.5063
+Query 1/1: Action query time = 0.963 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6055
+t=74: Selected seed 195 with value = 0.6055
+Query 1/1: Action query time = 0.983 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6951
+t=90: Selected seed 195 with value = 0.6951
+Query 1/1: Action query time = 0.971 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9374
+t=106: Selected seed 195 with value = 0.9374
+Query 1/1: Action query time = 1.045 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9931
+t=122: Selected seed 195 with value = 0.9931
+Saved rollout MP4 at path ./rollouts/demochan800_t456/2026_08_01-18_15_09--episode=88--success=True--task=push_the_plate_to_the_front_of_the_stove.mp4
+Saved rollout MP4 at path ./rollouts/demochan800_t456/2026_08_01-18_15_09--with_future_img--episode=88--success=True--task=push_the_plate_to_the_front_of_the_.mp4
+Success: True
+# episodes completed so far: 88
+# successes: 78 (88.6%)
+
+Task: push the plate to the front of the stove
+Starting episode 39...
+Query 1/1: Action query time = 1.003 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3301
+t=10: Selected seed 195 with value = 0.3301
+Query 1/1: Action query time = 0.974 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3842
+t=26: Selected seed 195 with value = 0.3842
+Query 1/1: Action query time = 0.971 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4374
+t=42: Selected seed 195 with value = 0.4374
+Query 1/1: Action query time = 0.983 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5244
+t=58: Selected seed 195 with value = 0.5244
+Query 1/1: Action query time = 0.978 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6318
+t=74: Selected seed 195 with value = 0.6318
+Query 1/1: Action query time = 0.986 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7724
+t=90: Selected seed 195 with value = 0.7724
+Query 1/1: Action query time = 0.973 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9060
+t=106: Selected seed 195 with value = 0.9060
+Query 1/1: Action query time = 0.972 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9758
+t=122: Selected seed 195 with value = 0.9758
+Query 1/1: Action query time = 0.970 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9943
+t=138: Selected seed 195 with value = 0.9943
+Saved rollout MP4 at path ./rollouts/demochan800_t456/2026_08_01-18_15_09--episode=89--success=True--task=push_the_plate_to_the_front_of_the_stove.mp4
+Saved rollout MP4 at path ./rollouts/demochan800_t456/2026_08_01-18_15_09--with_future_img--episode=89--success=True--task=push_the_plate_to_the_front_of_the_.mp4
+Success: True
+# episodes completed so far: 89
+# successes: 79 (88.8%)
+
+Task: push the plate to the front of the stove
+Starting episode 40...
+Query 1/1: Action query time = 1.064 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3042
+t=10: Selected seed 195 with value = 0.3042
+Query 1/1: Action query time = 0.994 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3582
+t=26: Selected seed 195 with value = 0.3582
+Query 1/1: Action query time = 1.005 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4508
+t=42: Selected seed 195 with value = 0.4508
+Query 1/1: Action query time = 0.999 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5229
+t=58: Selected seed 195 with value = 0.5229
+Query 1/1: Action query time = 0.969 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6122
+t=74: Selected seed 195 with value = 0.6122
+Query 1/1: Action query time = 0.962 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7703
+t=90: Selected seed 195 with value = 0.7703
+Query 1/1: Action query time = 0.974 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9298
+t=106: Selected seed 195 with value = 0.9298
+Query 1/1: Action query time = 0.986 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9899
+t=122: Selected seed 195 with value = 0.9899
+Query 1/1: Action query time = 0.970 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9956
+t=138: Selected seed 195 with value = 0.9956
+Saved rollout MP4 at path ./rollouts/demochan800_t456/2026_08_01-18_15_09--episode=90--success=True--task=push_the_plate_to_the_front_of_the_stove.mp4
+Saved rollout MP4 at path ./rollouts/demochan800_t456/2026_08_01-18_15_09--with_future_img--episode=90--success=True--task=push_the_plate_to_the_front_of_the_.mp4
+Success: True
+# episodes completed so far: 90
+# successes: 80 (88.9%)
+
+Task: push the plate to the front of the stove
+Starting episode 41...
+Query 1/1: Action query time = 1.117 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3174
+t=10: Selected seed 195 with value = 0.3174
+Query 1/1: Action query time = 1.073 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3744
+t=26: Selected seed 195 with value = 0.3744
+Query 1/1: Action query time = 1.138 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4452
+t=42: Selected seed 195 with value = 0.4452
+Query 1/1: Action query time = 1.154 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5370
+t=58: Selected seed 195 with value = 0.5370
+Query 1/1: Action query time = 1.084 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6663
+t=74: Selected seed 195 with value = 0.6663
+Query 1/1: Action query time = 0.989 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8544
+t=90: Selected seed 195 with value = 0.8544
+Query 1/1: Action query time = 0.978 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9431
+t=106: Selected seed 195 with value = 0.9431
+Query 1/1: Action query time = 0.981 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9808
+t=122: Selected seed 195 with value = 0.9808
+Saved rollout MP4 at path ./rollouts/demochan800_t456/2026_08_01-18_15_09--episode=91--success=True--task=push_the_plate_to_the_front_of_the_stove.mp4
+Saved rollout MP4 at path ./rollouts/demochan800_t456/2026_08_01-18_15_09--with_future_img--episode=91--success=True--task=push_the_plate_to_the_front_of_the_.mp4
+Success: True
+# episodes completed so far: 91
+# successes: 81 (89.0%)
+
+Task: push the plate to the front of the stove
+Starting episode 42...
+Query 1/1: Action query time = 0.973 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3269
+t=10: Selected seed 195 with value = 0.3269
+Query 1/1: Action query time = 0.979 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3756
+t=26: Selected seed 195 with value = 0.3756
+Query 1/1: Action query time = 0.977 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4503
+t=42: Selected seed 195 with value = 0.4503
+Query 1/1: Action query time = 0.981 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5332
+t=58: Selected seed 195 with value = 0.5332
+Query 1/1: Action query time = 0.969 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6296
+t=74: Selected seed 195 with value = 0.6296
+Query 1/1: Action query time = 1.191 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7709
+t=90: Selected seed 195 with value = 0.7709
+Query 1/1: Action query time = 1.164 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9056
+t=106: Selected seed 195 with value = 0.9056
+Query 1/1: Action query time = 1.081 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9932
+t=122: Selected seed 195 with value = 0.9932
+Query 1/1: Action query time = 0.997 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9920
+t=138: Selected seed 195 with value = 0.9920
+Saved rollout MP4 at path ./rollouts/demochan800_t456/2026_08_01-18_15_09--episode=92--success=True--task=push_the_plate_to_the_front_of_the_stove.mp4
+Saved rollout MP4 at path ./rollouts/demochan800_t456/2026_08_01-18_15_09--with_future_img--episode=92--success=True--task=push_the_plate_to_the_front_of_the_.mp4
+Success: True
+# episodes completed so far: 92
+# successes: 82 (89.1%)
+
+Task: push the plate to the front of the stove
+Starting episode 43...
+Query 1/1: Action query time = 0.991 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3160
+t=10: Selected seed 195 with value = 0.3160
+Query 1/1: Action query time = 0.966 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3720
+t=26: Selected seed 195 with value = 0.3720
+Query 1/1: Action query time = 0.962 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4730
+t=42: Selected seed 195 with value = 0.4730
+Query 1/1: Action query time = 0.971 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5245
+t=58: Selected seed 195 with value = 0.5245
+Query 1/1: Action query time = 0.972 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6007
+t=74: Selected seed 195 with value = 0.6007
+Query 1/1: Action query time = 0.986 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6826
+t=90: Selected seed 195 with value = 0.6826
+Query 1/1: Action query time = 0.969 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9232
+t=106: Selected seed 195 with value = 0.9232
+Query 1/1: Action query time = 0.972 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9925
+t=122: Selected seed 195 with value = 0.9925
+Query 1/1: Action query time = 0.979 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9897
+t=138: Selected seed 195 with value = 0.9897
+Query 1/1: Action query time = 0.969 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9890
+t=154: Selected seed 195 with value = 0.9890
+Query 1/1: Action query time = 0.983 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9577
+t=170: Selected seed 195 with value = 0.9577
+Query 1/1: Action query time = 0.968 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8839
+t=186: Selected seed 195 with value = 0.8839
+Query 1/1: Action query time = 0.975 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8795
+t=202: Selected seed 195 with value = 0.8795
+Query 1/1: Action query time = 0.977 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8699
+t=218: Selected seed 195 with value = 0.8699
+Query 1/1: Action query time = 1.006 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9174
+t=234: Selected seed 195 with value = 0.9174
+Query 1/1: Action query time = 1.021 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9074
+t=250: Selected seed 195 with value = 0.9074
+Query 1/1: Action query time = 0.975 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8868
+t=266: Selected seed 195 with value = 0.8868
+Query 1/1: Action query time = 0.970 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8646
+t=282: Selected seed 195 with value = 0.8646
+Query 1/1: Action query time = 0.972 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8801
+t=298: Selected seed 195 with value = 0.8801
+Saved rollout MP4 at path ./rollouts/demochan800_t456/2026_08_01-18_15_09--episode=93--success=False--task=push_the_plate_to_the_front_of_the_stove.mp4
+Saved rollout MP4 at path ./rollouts/demochan800_t456/2026_08_01-18_15_09--with_future_img--episode=93--success=False--task=push_the_plate_to_the_front_of_the_.mp4
+Success: False
+# episodes completed so far: 93
+# successes: 82 (88.2%)
+
+Task: push the plate to the front of the stove
+Starting episode 44...
+Query 1/1: Action query time = 0.994 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3280
+t=10: Selected seed 195 with value = 0.3280
+Query 1/1: Action query time = 0.977 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3905
+t=26: Selected seed 195 with value = 0.3905
+Query 1/1: Action query time = 0.975 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4595
+t=42: Selected seed 195 with value = 0.4595
+Query 1/1: Action query time = 1.027 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5088
+t=58: Selected seed 195 with value = 0.5088
+Query 1/1: Action query time = 0.968 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6146
+t=74: Selected seed 195 with value = 0.6146
+Query 1/1: Action query time = 0.978 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6797
+t=90: Selected seed 195 with value = 0.6797
+Query 1/1: Action query time = 0.953 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8667
+t=106: Selected seed 195 with value = 0.8667
+Query 1/1: Action query time = 0.972 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9219
+t=122: Selected seed 195 with value = 0.9219
+Query 1/1: Action query time = 0.982 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9959
+t=138: Selected seed 195 with value = 0.9959
+Query 1/1: Action query time = 0.974 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=154: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/demochan800_t456/2026_08_01-18_15_09--episode=94--success=True--task=push_the_plate_to_the_front_of_the_stove.mp4
+Saved rollout MP4 at path ./rollouts/demochan800_t456/2026_08_01-18_15_09--with_future_img--episode=94--success=True--task=push_the_plate_to_the_front_of_the_.mp4
+Success: True
+# episodes completed so far: 94
+# successes: 83 (88.3%)
+
+Task: push the plate to the front of the stove
+Starting episode 45...
+Query 1/1: Action query time = 1.168 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3399
+t=10: Selected seed 195 with value = 0.3399
+Query 1/1: Action query time = 1.144 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3447
+t=26: Selected seed 195 with value = 0.3447
+Query 1/1: Action query time = 1.100 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4736
+t=42: Selected seed 195 with value = 0.4736
+Query 1/1: Action query time = 1.071 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5209
+t=58: Selected seed 195 with value = 0.5209
+Query 1/1: Action query time = 0.959 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6382
+t=74: Selected seed 195 with value = 0.6382
+Query 1/1: Action query time = 0.970 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8242
+t=90: Selected seed 195 with value = 0.8242
+Query 1/1: Action query time = 0.969 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9752
+t=106: Selected seed 195 with value = 0.9752
+Saved rollout MP4 at path ./rollouts/demochan800_t456/2026_08_01-18_15_09--episode=95--success=True--task=push_the_plate_to_the_front_of_the_stove.mp4
+Saved rollout MP4 at path ./rollouts/demochan800_t456/2026_08_01-18_15_09--with_future_img--episode=95--success=True--task=push_the_plate_to_the_front_of_the_.mp4
+Success: True
+# episodes completed so far: 95
+# successes: 84 (88.4%)
+
+Task: push the plate to the front of the stove
+Starting episode 46...
+Query 1/1: Action query time = 1.036 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3214
+t=10: Selected seed 195 with value = 0.3214
+Query 1/1: Action query time = 1.154 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3758
+t=26: Selected seed 195 with value = 0.3758
+Query 1/1: Action query time = 1.189 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4770
+t=42: Selected seed 195 with value = 0.4770
+Query 1/1: Action query time = 0.989 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5561
+t=58: Selected seed 195 with value = 0.5561
+Query 1/1: Action query time = 1.005 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6827
+t=74: Selected seed 195 with value = 0.6827
+Query 1/1: Action query time = 0.991 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8955
+t=90: Selected seed 195 with value = 0.8955
+Query 1/1: Action query time = 0.991 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9899
+t=106: Selected seed 195 with value = 0.9899
+Query 1/1: Action query time = 0.990 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9864
+t=122: Selected seed 195 with value = 0.9864
+Query 1/1: Action query time = 0.988 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9806
+t=138: Selected seed 195 with value = 0.9806
+Query 1/1: Action query time = 0.979 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9745
+t=154: Selected seed 195 with value = 0.9745
+Query 1/1: Action query time = 0.982 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9640
+t=170: Selected seed 195 with value = 0.9640
+Query 1/1: Action query time = 0.985 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9759
+t=186: Selected seed 195 with value = 0.9759
+Query 1/1: Action query time = 0.968 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9748
+t=202: Selected seed 195 with value = 0.9748
+Query 1/1: Action query time = 0.980 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9716
+t=218: Selected seed 195 with value = 0.9716
+Query 1/1: Action query time = 1.072 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9704
+t=234: Selected seed 195 with value = 0.9704
+Query 1/1: Action query time = 1.036 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9957
+t=250: Selected seed 195 with value = 0.9957
+Query 1/1: Action query time = 1.043 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=266: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.978 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=282: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.972 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9985
+t=298: Selected seed 195 with value = 0.9985
+Saved rollout MP4 at path ./rollouts/demochan800_t456/2026_08_01-18_15_09--episode=96--success=False--task=push_the_plate_to_the_front_of_the_stove.mp4
+Saved rollout MP4 at path ./rollouts/demochan800_t456/2026_08_01-18_15_09--with_future_img--episode=96--success=False--task=push_the_plate_to_the_front_of_the_.mp4
+Success: False
+# episodes completed so far: 96
+# successes: 84 (87.5%)
+
+Task: push the plate to the front of the stove
+Starting episode 47...
+Query 1/1: Action query time = 0.991 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3179
+t=10: Selected seed 195 with value = 0.3179
+Query 1/1: Action query time = 0.960 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3668
+t=26: Selected seed 195 with value = 0.3668
+Query 1/1: Action query time = 0.976 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4596
+t=42: Selected seed 195 with value = 0.4596
+Query 1/1: Action query time = 0.978 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5466
+t=58: Selected seed 195 with value = 0.5466
+Query 1/1: Action query time = 0.959 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7102
+t=74: Selected seed 195 with value = 0.7102
+Query 1/1: Action query time = 0.979 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8713
+t=90: Selected seed 195 with value = 0.8713
+Query 1/1: Action query time = 0.966 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9800
+t=106: Selected seed 195 with value = 0.9800
+Query 1/1: Action query time = 0.974 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9819
+t=122: Selected seed 195 with value = 0.9819
+Query 1/1: Action query time = 1.075 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9642
+t=138: Selected seed 195 with value = 0.9642
+Saved rollout MP4 at path ./rollouts/demochan800_t456/2026_08_01-18_15_09--episode=97--success=True--task=push_the_plate_to_the_front_of_the_stove.mp4
+Saved rollout MP4 at path ./rollouts/demochan800_t456/2026_08_01-18_15_09--with_future_img--episode=97--success=True--task=push_the_plate_to_the_front_of_the_.mp4
+Success: True
+# episodes completed so far: 97
+# successes: 85 (87.6%)
+
+Task: push the plate to the front of the stove
+Starting episode 48...
+Query 1/1: Action query time = 1.225 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3417
+t=10: Selected seed 195 with value = 0.3417
+Query 1/1: Action query time = 1.196 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3908
+t=26: Selected seed 195 with value = 0.3908
+Query 1/1: Action query time = 1.232 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5083
+t=42: Selected seed 195 with value = 0.5083
+Query 1/1: Action query time = 1.200 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5502
+t=58: Selected seed 195 with value = 0.5502
+Query 1/1: Action query time = 1.061 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6481
+t=74: Selected seed 195 with value = 0.6481
+Query 1/1: Action query time = 0.986 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8323
+t=90: Selected seed 195 with value = 0.8323
+Query 1/1: Action query time = 0.979 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9662
+t=106: Selected seed 195 with value = 0.9662
+Query 1/1: Action query time = 0.977 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9731
+t=122: Selected seed 195 with value = 0.9731
+Query 1/1: Action query time = 0.995 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9789
+t=138: Selected seed 195 with value = 0.9789
+Saved rollout MP4 at path ./rollouts/demochan800_t456/2026_08_01-18_15_09--episode=98--success=True--task=push_the_plate_to_the_front_of_the_stove.mp4
+Saved rollout MP4 at path ./rollouts/demochan800_t456/2026_08_01-18_15_09--with_future_img--episode=98--success=True--task=push_the_plate_to_the_front_of_the_.mp4
+Success: True
+# episodes completed so far: 98
+# successes: 86 (87.8%)
+
+Task: push the plate to the front of the stove
+Starting episode 49...
+Query 1/1: Action query time = 0.990 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3149
+t=10: Selected seed 195 with value = 0.3149
+Query 1/1: Action query time = 0.967 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3428
+t=26: Selected seed 195 with value = 0.3428
+Query 1/1: Action query time = 0.972 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4546
+t=42: Selected seed 195 with value = 0.4546
+Query 1/1: Action query time = 0.964 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5221
+t=58: Selected seed 195 with value = 0.5221
+Query 1/1: Action query time = 0.996 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6408
+t=74: Selected seed 195 with value = 0.6408
+Query 1/1: Action query time = 0.984 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7980
+t=90: Selected seed 195 with value = 0.7980
+Query 1/1: Action query time = 0.985 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9541
+t=106: Selected seed 195 with value = 0.9541
+Query 1/1: Action query time = 0.975 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9923
+t=122: Selected seed 195 with value = 0.9923
+Query 1/1: Action query time = 0.987 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9924
+t=138: Selected seed 195 with value = 0.9924
+Query 1/1: Action query time = 0.986 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9927
+t=154: Selected seed 195 with value = 0.9927
+Query 1/1: Action query time = 0.969 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8629
+t=170: Selected seed 195 with value = 0.8629
+Query 1/1: Action query time = 0.968 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9414
+t=186: Selected seed 195 with value = 0.9414
+Query 1/1: Action query time = 0.981 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9635
+t=202: Selected seed 195 with value = 0.9635
+Query 1/1: Action query time = 0.974 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9176
+t=218: Selected seed 195 with value = 0.9176
+Query 1/1: Action query time = 0.991 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9392
+t=234: Selected seed 195 with value = 0.9392
+Query 1/1: Action query time = 0.963 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8519
+t=250: Selected seed 195 with value = 0.8519
+Query 1/1: Action query time = 0.967 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7212
+t=266: Selected seed 195 with value = 0.7212
+Query 1/1: Action query time = 0.974 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7990
+t=282: Selected seed 195 with value = 0.7990
+Query 1/1: Action query time = 0.969 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9185
+t=298: Selected seed 195 with value = 0.9185
+Saved rollout MP4 at path ./rollouts/demochan800_t456/2026_08_01-18_15_09--episode=99--success=False--task=push_the_plate_to_the_front_of_the_stove.mp4
+Saved rollout MP4 at path ./rollouts/demochan800_t456/2026_08_01-18_15_09--with_future_img--episode=99--success=False--task=push_the_plate_to_the_front_of_the_.mp4
+Success: False
+# episodes completed so far: 99
+# successes: 86 (86.9%)
+
+Task: push the plate to the front of the stove
+Starting episode 50...
+Query 1/1: Action query time = 0.998 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3263
+t=10: Selected seed 195 with value = 0.3263
+Query 1/1: Action query time = 0.963 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3756
+t=26: Selected seed 195 with value = 0.3756
+Query 1/1: Action query time = 0.988 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4499
+t=42: Selected seed 195 with value = 0.4499
+Query 1/1: Action query time = 0.959 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5156
+t=58: Selected seed 195 with value = 0.5156
+Query 1/1: Action query time = 0.978 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6265
+t=74: Selected seed 195 with value = 0.6265
+Query 1/1: Action query time = 0.973 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7437
+t=90: Selected seed 195 with value = 0.7437
+Query 1/1: Action query time = 0.983 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9346
+t=106: Selected seed 195 with value = 0.9346
+Query 1/1: Action query time = 0.973 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9519
+t=122: Selected seed 195 with value = 0.9519
+Query 1/1: Action query time = 0.982 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8996
+t=138: Selected seed 195 with value = 0.8996
+Saved rollout MP4 at path ./rollouts/demochan800_t456/2026_08_01-18_15_09--episode=100--success=True--task=push_the_plate_to_the_front_of_the_stove.mp4
+Saved rollout MP4 at path ./rollouts/demochan800_t456/2026_08_01-18_15_09--with_future_img--episode=100--success=True--task=push_the_plate_to_the_front_of_the_.mp4
+Success: True
+# episodes completed so far: 100
+# successes: 87 (87.0%)
+Current task success rate: 0.84
+Current total success rate: 0.87
+Using default initial states
+
+Task: put the cream cheese in the bowl
+Starting episode 1...
+Query 1/1: Action query time = 0.970 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4206
+t=10: Selected seed 195 with value = 0.4206
+Query 1/1: Action query time = 0.955 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5207
+t=26: Selected seed 195 with value = 0.5207
+Query 1/1: Action query time = 0.963 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6418
+t=42: Selected seed 195 with value = 0.6418
+Query 1/1: Action query time = 0.969 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5361
+t=58: Selected seed 195 with value = 0.5361
+Query 1/1: Action query time = 1.133 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7490
+t=74: Selected seed 195 with value = 0.7490
+Query 1/1: Action query time = 1.093 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9055
+t=90: Selected seed 195 with value = 0.9055
+Query 1/1: Action query time = 1.122 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9980
+t=106: Selected seed 195 with value = 0.9980
+Query 1/1: Action query time = 1.106 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9967
+t=122: Selected seed 195 with value = 0.9967
+Query 1/1: Action query time = 1.070 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9961
+t=138: Selected seed 195 with value = 0.9961
+Query 1/1: Action query time = 1.086 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9945
+t=154: Selected seed 195 with value = 0.9945
+Query 1/1: Action query time = 0.966 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7103
+t=170: Selected seed 195 with value = 0.7103
+Query 1/1: Action query time = 0.971 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7494
+t=186: Selected seed 195 with value = 0.7494
+Query 1/1: Action query time = 0.958 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8615
+t=202: Selected seed 195 with value = 0.8615
+Query 1/1: Action query time = 1.131 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9565
+t=218: Selected seed 195 with value = 0.9565
+Query 1/1: Action query time = 1.042 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9726
+t=234: Selected seed 195 with value = 0.9726
+Query 1/1: Action query time = 0.967 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9806
+t=250: Selected seed 195 with value = 0.9806
+Query 1/1: Action query time = 0.962 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9992
+t=266: Selected seed 195 with value = 0.9992
+Query 1/1: Action query time = 0.961 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9978
+t=282: Selected seed 195 with value = 0.9978
+Query 1/1: Action query time = 0.971 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9963
+t=298: Selected seed 195 with value = 0.9963
+Saved rollout MP4 at path ./rollouts/demochan800_t456/2026_08_01-18_15_09--episode=101--success=False--task=put_the_cream_cheese_in_the_bowl.mp4
+Saved rollout MP4 at path ./rollouts/demochan800_t456/2026_08_01-18_15_09--with_future_img--episode=101--success=False--task=put_the_cream_cheese_in_the_bowl.mp4
+Success: False
+# episodes completed so far: 101
+# successes: 87 (86.1%)
+
+Task: put the cream cheese in the bowl
+Starting episode 2...
+Query 1/1: Action query time = 0.984 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4325
+t=10: Selected seed 195 with value = 0.4325
+Query 1/1: Action query time = 0.995 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4816
+t=26: Selected seed 195 with value = 0.4816
+Query 1/1: Action query time = 0.961 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6189
+t=42: Selected seed 195 with value = 0.6189
+Query 1/1: Action query time = 0.969 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7028
+t=58: Selected seed 195 with value = 0.7028
+Query 1/1: Action query time = 0.971 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8426
+t=74: Selected seed 195 with value = 0.8426
+Query 1/1: Action query time = 0.979 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9832
+t=90: Selected seed 195 with value = 0.9832
+Saved rollout MP4 at path ./rollouts/demochan800_t456/2026_08_01-18_15_09--episode=102--success=True--task=put_the_cream_cheese_in_the_bowl.mp4
+Saved rollout MP4 at path ./rollouts/demochan800_t456/2026_08_01-18_15_09--with_future_img--episode=102--success=True--task=put_the_cream_cheese_in_the_bowl.mp4
+Success: True
+# episodes completed so far: 102
+# successes: 88 (86.3%)
+
+Task: put the cream cheese in the bowl
+Starting episode 3...
+Query 1/1: Action query time = 1.129 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4351
+t=10: Selected seed 195 with value = 0.4351
+Query 1/1: Action query time = 1.123 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4165
+t=26: Selected seed 195 with value = 0.4165
+Query 1/1: Action query time = 1.167 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6208
+t=42: Selected seed 195 with value = 0.6208
+Query 1/1: Action query time = 0.967 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7141
+t=58: Selected seed 195 with value = 0.7141
+Query 1/1: Action query time = 0.983 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8539
+t=74: Selected seed 195 with value = 0.8539
+Query 1/1: Action query time = 0.961 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9987
+t=90: Selected seed 195 with value = 0.9987
+Saved rollout MP4 at path ./rollouts/demochan800_t456/2026_08_01-18_15_09--episode=103--success=True--task=put_the_cream_cheese_in_the_bowl.mp4
+Saved rollout MP4 at path ./rollouts/demochan800_t456/2026_08_01-18_15_09--with_future_img--episode=103--success=True--task=put_the_cream_cheese_in_the_bowl.mp4
+Success: True
+# episodes completed so far: 103
+# successes: 89 (86.4%)
+
+Task: put the cream cheese in the bowl
+Starting episode 4...
+Query 1/1: Action query time = 0.988 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4124
+t=10: Selected seed 195 with value = 0.4124
+Query 1/1: Action query time = 0.973 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5472
+t=26: Selected seed 195 with value = 0.5472
+Query 1/1: Action query time = 0.982 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5813
+t=42: Selected seed 195 with value = 0.5813
+Query 1/1: Action query time = 0.961 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7350
+t=58: Selected seed 195 with value = 0.7350
+Query 1/1: Action query time = 0.963 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8629
+t=74: Selected seed 195 with value = 0.8629
+Query 1/1: Action query time = 0.973 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9889
+t=90: Selected seed 195 with value = 0.9889
+Saved rollout MP4 at path ./rollouts/demochan800_t456/2026_08_01-18_15_09--episode=104--success=True--task=put_the_cream_cheese_in_the_bowl.mp4
+Saved rollout MP4 at path ./rollouts/demochan800_t456/2026_08_01-18_15_09--with_future_img--episode=104--success=True--task=put_the_cream_cheese_in_the_bowl.mp4
+Success: True
+# episodes completed so far: 104
+# successes: 90 (86.5%)
+
+Task: put the cream cheese in the bowl
+Starting episode 5...
+Query 1/1: Action query time = 0.960 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4164
+t=10: Selected seed 195 with value = 0.4164
+Query 1/1: Action query time = 0.979 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5260
+t=26: Selected seed 195 with value = 0.5260
+Query 1/1: Action query time = 0.976 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5891
+t=42: Selected seed 195 with value = 0.5891
+Query 1/1: Action query time = 0.950 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4967
+t=58: Selected seed 195 with value = 0.4967
+Query 1/1: Action query time = 0.969 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5768
+t=74: Selected seed 195 with value = 0.5768
+Query 1/1: Action query time = 0.955 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6679
+t=90: Selected seed 195 with value = 0.6679
+Query 1/1: Action query time = 0.967 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7849
+t=106: Selected seed 195 with value = 0.7849
+Query 1/1: Action query time = 0.978 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9045
+t=122: Selected seed 195 with value = 0.9045
+Query 1/1: Action query time = 0.980 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=138: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.979 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9968
+t=154: Selected seed 195 with value = 0.9968
+Query 1/1: Action query time = 0.977 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9961
+t=170: Selected seed 195 with value = 0.9961
+Query 1/1: Action query time = 0.956 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9951
+t=186: Selected seed 195 with value = 0.9951
+Query 1/1: Action query time = 0.976 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9936
+t=202: Selected seed 195 with value = 0.9936
+Query 1/1: Action query time = 0.958 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9942
+t=218: Selected seed 195 with value = 0.9942
+Query 1/1: Action query time = 0.972 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9853
+t=234: Selected seed 195 with value = 0.9853
+Query 1/1: Action query time = 0.972 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7652
+t=250: Selected seed 195 with value = 0.7652
+Query 1/1: Action query time = 0.968 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8443
+t=266: Selected seed 195 with value = 0.8443
+Query 1/1: Action query time = 0.968 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9301
+t=282: Selected seed 195 with value = 0.9301
+Query 1/1: Action query time = 0.968 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9805
+t=298: Selected seed 195 with value = 0.9805
+Saved rollout MP4 at path ./rollouts/demochan800_t456/2026_08_01-18_15_09--episode=105--success=False--task=put_the_cream_cheese_in_the_bowl.mp4
+Saved rollout MP4 at path ./rollouts/demochan800_t456/2026_08_01-18_15_09--with_future_img--episode=105--success=False--task=put_the_cream_cheese_in_the_bowl.mp4
+Success: False
+# episodes completed so far: 105
+# successes: 90 (85.7%)
+
+Task: put the cream cheese in the bowl
+Starting episode 6...
+Query 1/1: Action query time = 1.010 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4350
+t=10: Selected seed 195 with value = 0.4350
+Query 1/1: Action query time = 1.065 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5264
+t=26: Selected seed 195 with value = 0.5264
+Query 1/1: Action query time = 1.157 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6334
+t=42: Selected seed 195 with value = 0.6334
+Query 1/1: Action query time = 1.178 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5572
+t=58: Selected seed 195 with value = 0.5572
+Query 1/1: Action query time = 1.221 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6341
+t=74: Selected seed 195 with value = 0.6341
+Query 1/1: Action query time = 1.181 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7926
+t=90: Selected seed 195 with value = 0.7926
+Query 1/1: Action query time = 1.189 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8895
+t=106: Selected seed 195 with value = 0.8895
+Query 1/1: Action query time = 1.077 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9718
+t=122: Selected seed 195 with value = 0.9718
+Query 1/1: Action query time = 1.045 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9904
+t=138: Selected seed 195 with value = 0.9904
+Query 1/1: Action query time = 1.061 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9848
+t=154: Selected seed 195 with value = 0.9848
+Query 1/1: Action query time = 0.980 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9392
+t=170: Selected seed 195 with value = 0.9392
+Query 1/1: Action query time = 0.979 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9256
+t=186: Selected seed 195 with value = 0.9256
+Query 1/1: Action query time = 0.984 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9713
+t=202: Selected seed 195 with value = 0.9713
+Query 1/1: Action query time = 0.971 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9883
+t=218: Selected seed 195 with value = 0.9883
+Query 1/1: Action query time = 0.967 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=234: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 1.121 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=250: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 1.158 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9982
+t=266: Selected seed 195 with value = 0.9982
+Query 1/1: Action query time = 1.172 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=282: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 1.170 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9869
+t=298: Selected seed 195 with value = 0.9869
+Saved rollout MP4 at path ./rollouts/demochan800_t456/2026_08_01-18_15_09--episode=106--success=False--task=put_the_cream_cheese_in_the_bowl.mp4
+Saved rollout MP4 at path ./rollouts/demochan800_t456/2026_08_01-18_15_09--with_future_img--episode=106--success=False--task=put_the_cream_cheese_in_the_bowl.mp4
+Success: False
+# episodes completed so far: 106
+# successes: 90 (84.9%)
+
+Task: put the cream cheese in the bowl
+Starting episode 7...
+Query 1/1: Action query time = 0.971 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4759
+t=10: Selected seed 195 with value = 0.4759
+Query 1/1: Action query time = 1.000 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5648
+t=26: Selected seed 195 with value = 0.5648
+Query 1/1: Action query time = 0.979 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6342
+t=42: Selected seed 195 with value = 0.6342
+Query 1/1: Action query time = 0.975 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7226
+t=58: Selected seed 195 with value = 0.7226
+Query 1/1: Action query time = 0.984 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9049
+t=74: Selected seed 195 with value = 0.9049
+Query 1/1: Action query time = 0.962 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9945
+t=90: Selected seed 195 with value = 0.9945
+Query 1/1: Action query time = 0.969 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9954
+t=106: Selected seed 195 with value = 0.9954
+Query 1/1: Action query time = 0.959 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9551
+t=122: Selected seed 195 with value = 0.9551
+Query 1/1: Action query time = 0.976 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8237
+t=138: Selected seed 195 with value = 0.8237
+Query 1/1: Action query time = 0.967 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8361
+t=154: Selected seed 195 with value = 0.8361
+Query 1/1: Action query time = 0.967 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9288
+t=170: Selected seed 195 with value = 0.9288
+Query 1/1: Action query time = 0.964 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9830
+t=186: Selected seed 195 with value = 0.9830
+Query 1/1: Action query time = 0.971 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9923
+t=202: Selected seed 195 with value = 0.9923
+Query 1/1: Action query time = 0.968 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9944
+t=218: Selected seed 195 with value = 0.9944
+Query 1/1: Action query time = 0.955 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=234: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.976 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=250: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.967 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=266: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.967 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=282: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.977 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=298: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/demochan800_t456/2026_08_01-18_15_09--episode=107--success=False--task=put_the_cream_cheese_in_the_bowl.mp4
+Saved rollout MP4 at path ./rollouts/demochan800_t456/2026_08_01-18_15_09--with_future_img--episode=107--success=False--task=put_the_cream_cheese_in_the_bowl.mp4
+Success: False
+# episodes completed so far: 107
+# successes: 90 (84.1%)
+
+Task: put the cream cheese in the bowl
+Starting episode 8...
+Query 1/1: Action query time = 1.011 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4112
+t=10: Selected seed 195 with value = 0.4112
+Query 1/1: Action query time = 1.022 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5377
+t=26: Selected seed 195 with value = 0.5377
+Query 1/1: Action query time = 0.999 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6264
+t=42: Selected seed 195 with value = 0.6264
+Query 1/1: Action query time = 1.065 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7166
+t=58: Selected seed 195 with value = 0.7166
+Query 1/1: Action query time = 1.164 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8556
+t=74: Selected seed 195 with value = 0.8556
+Query 1/1: Action query time = 1.211 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9779
+t=90: Selected seed 195 with value = 0.9779
+Saved rollout MP4 at path ./rollouts/demochan800_t456/2026_08_01-18_15_09--episode=108--success=True--task=put_the_cream_cheese_in_the_bowl.mp4
+Saved rollout MP4 at path ./rollouts/demochan800_t456/2026_08_01-18_15_09--with_future_img--episode=108--success=True--task=put_the_cream_cheese_in_the_bowl.mp4
+Success: True
+# episodes completed so far: 108
+# successes: 91 (84.3%)
+
+Task: put the cream cheese in the bowl
+Starting episode 9...
+Query 1/1: Action query time = 0.981 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4544
+t=10: Selected seed 195 with value = 0.4544
+Query 1/1: Action query time = 0.979 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5512
+t=26: Selected seed 195 with value = 0.5512
+Query 1/1: Action query time = 0.959 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6327
+t=42: Selected seed 195 with value = 0.6327
+Query 1/1: Action query time = 0.965 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7384
+t=58: Selected seed 195 with value = 0.7384
+Query 1/1: Action query time = 0.971 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9128
+t=74: Selected seed 195 with value = 0.9128
+Saved rollout MP4 at path ./rollouts/demochan800_t456/2026_08_01-18_15_09--episode=109--success=True--task=put_the_cream_cheese_in_the_bowl.mp4
+Saved rollout MP4 at path ./rollouts/demochan800_t456/2026_08_01-18_15_09--with_future_img--episode=109--success=True--task=put_the_cream_cheese_in_the_bowl.mp4
+Success: True
+# episodes completed so far: 109
+# successes: 92 (84.4%)
+
+Task: put the cream cheese in the bowl
+Starting episode 10...
+Query 1/1: Action query time = 1.169 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4175
+t=10: Selected seed 195 with value = 0.4175
+Query 1/1: Action query time = 1.189 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5098
+t=26: Selected seed 195 with value = 0.5098
+Query 1/1: Action query time = 1.103 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5953
+t=42: Selected seed 195 with value = 0.5953
+Query 1/1: Action query time = 0.997 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7032
+t=58: Selected seed 195 with value = 0.7032
+Query 1/1: Action query time = 0.965 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8376
+t=74: Selected seed 195 with value = 0.8376
+Query 1/1: Action query time = 0.972 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9937
+t=90: Selected seed 195 with value = 0.9937
+Saved rollout MP4 at path ./rollouts/demochan800_t456/2026_08_01-18_15_09--episode=110--success=True--task=put_the_cream_cheese_in_the_bowl.mp4
+Saved rollout MP4 at path ./rollouts/demochan800_t456/2026_08_01-18_15_09--with_future_img--episode=110--success=True--task=put_the_cream_cheese_in_the_bowl.mp4
+Success: True
+# episodes completed so far: 110
+# successes: 93 (84.5%)
+
+Task: put the cream cheese in the bowl
+Starting episode 11...
+Query 1/1: Action query time = 1.028 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4473
+t=10: Selected seed 195 with value = 0.4473
+Query 1/1: Action query time = 1.015 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5105
+t=26: Selected seed 195 with value = 0.5105
+Query 1/1: Action query time = 1.103 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6288
+t=42: Selected seed 195 with value = 0.6288
+Query 1/1: Action query time = 1.215 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5860
+t=58: Selected seed 195 with value = 0.5860
+Query 1/1: Action query time = 1.229 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6788
+t=74: Selected seed 195 with value = 0.6788
+Query 1/1: Action query time = 1.137 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7337
+t=90: Selected seed 195 with value = 0.7337
+Query 1/1: Action query time = 1.038 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8829
+t=106: Selected seed 195 with value = 0.8829
+Query 1/1: Action query time = 1.066 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9233
+t=122: Selected seed 195 with value = 0.9233
+Query 1/1: Action query time = 0.977 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9884
+t=138: Selected seed 195 with value = 0.9884
+Query 1/1: Action query time = 0.988 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9963
+t=154: Selected seed 195 with value = 0.9963
+Query 1/1: Action query time = 0.965 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=170: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.954 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=186: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.965 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=202: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.966 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9999
+t=218: Selected seed 195 with value = 0.9999
+Query 1/1: Action query time = 0.963 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9937
+t=234: Selected seed 195 with value = 0.9937
+Query 1/1: Action query time = 0.972 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9296
+t=250: Selected seed 195 with value = 0.9296
+Query 1/1: Action query time = 0.969 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9503
+t=266: Selected seed 195 with value = 0.9503
+Query 1/1: Action query time = 0.980 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9991
+t=282: Selected seed 195 with value = 0.9991
+Query 1/1: Action query time = 0.978 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9989
+t=298: Selected seed 195 with value = 0.9989
+Saved rollout MP4 at path ./rollouts/demochan800_t456/2026_08_01-18_15_09--episode=111--success=False--task=put_the_cream_cheese_in_the_bowl.mp4
+Saved rollout MP4 at path ./rollouts/demochan800_t456/2026_08_01-18_15_09--with_future_img--episode=111--success=False--task=put_the_cream_cheese_in_the_bowl.mp4
+Success: False
+# episodes completed so far: 111
+# successes: 93 (83.8%)
+
+Task: put the cream cheese in the bowl
+Starting episode 12...
+Query 1/1: Action query time = 0.954 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4749
+t=10: Selected seed 195 with value = 0.4749
+Query 1/1: Action query time = 0.953 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5335
+t=26: Selected seed 195 with value = 0.5335
+Query 1/1: Action query time = 0.983 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6491
+t=42: Selected seed 195 with value = 0.6491
+Query 1/1: Action query time = 0.967 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7356
+t=58: Selected seed 195 with value = 0.7356
+Query 1/1: Action query time = 0.984 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8767
+t=74: Selected seed 195 with value = 0.8767
+Query 1/1: Action query time = 0.956 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9988
+t=90: Selected seed 195 with value = 0.9988
+Saved rollout MP4 at path ./rollouts/demochan800_t456/2026_08_01-18_15_09--episode=112--success=True--task=put_the_cream_cheese_in_the_bowl.mp4
+Saved rollout MP4 at path ./rollouts/demochan800_t456/2026_08_01-18_15_09--with_future_img--episode=112--success=True--task=put_the_cream_cheese_in_the_bowl.mp4
+Success: True
+# episodes completed so far: 112
+# successes: 94 (83.9%)
+
+Task: put the cream cheese in the bowl
+Starting episode 13...
+Query 1/1: Action query time = 0.977 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4514
+t=10: Selected seed 195 with value = 0.4514
+Query 1/1: Action query time = 0.994 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4529
+t=26: Selected seed 195 with value = 0.4529
+Query 1/1: Action query time = 0.977 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6236
+t=42: Selected seed 195 with value = 0.6236
+Query 1/1: Action query time = 0.972 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7219
+t=58: Selected seed 195 with value = 0.7219
+Query 1/1: Action query time = 1.012 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8634
+t=74: Selected seed 195 with value = 0.8634
+Query 1/1: Action query time = 1.024 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9997
+t=90: Selected seed 195 with value = 0.9997
+Saved rollout MP4 at path ./rollouts/demochan800_t456/2026_08_01-18_15_09--episode=113--success=True--task=put_the_cream_cheese_in_the_bowl.mp4
+Saved rollout MP4 at path ./rollouts/demochan800_t456/2026_08_01-18_15_09--with_future_img--episode=113--success=True--task=put_the_cream_cheese_in_the_bowl.mp4
+Success: True
+# episodes completed so far: 113
+# successes: 95 (84.1%)
+
+Task: put the cream cheese in the bowl
+Starting episode 14...
+Query 1/1: Action query time = 0.979 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4438
+t=10: Selected seed 195 with value = 0.4438
+Query 1/1: Action query time = 0.968 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5598
+t=26: Selected seed 195 with value = 0.5598
+Query 1/1: Action query time = 0.964 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6483
+t=42: Selected seed 195 with value = 0.6483
+Query 1/1: Action query time = 0.971 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7559
+t=58: Selected seed 195 with value = 0.7559
+Query 1/1: Action query time = 0.979 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9046
+t=74: Selected seed 195 with value = 0.9046
+Saved rollout MP4 at path ./rollouts/demochan800_t456/2026_08_01-18_15_09--episode=114--success=True--task=put_the_cream_cheese_in_the_bowl.mp4
+Saved rollout MP4 at path ./rollouts/demochan800_t456/2026_08_01-18_15_09--with_future_img--episode=114--success=True--task=put_the_cream_cheese_in_the_bowl.mp4
+Success: True
+# episodes completed so far: 114
+# successes: 96 (84.2%)
+
+Task: put the cream cheese in the bowl
+Starting episode 15...
+Query 1/1: Action query time = 1.059 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4263
+t=10: Selected seed 195 with value = 0.4263
+Query 1/1: Action query time = 1.002 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5417
+t=26: Selected seed 195 with value = 0.5417
+Query 1/1: Action query time = 0.967 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6356
+t=42: Selected seed 195 with value = 0.6356
+Query 1/1: Action query time = 0.972 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5082
+t=58: Selected seed 195 with value = 0.5082
+Query 1/1: Action query time = 0.950 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7277
+t=74: Selected seed 195 with value = 0.7277
+Query 1/1: Action query time = 0.956 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8947
+t=90: Selected seed 195 with value = 0.8947
+Query 1/1: Action query time = 0.944 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9618
+t=106: Selected seed 195 with value = 0.9618
+Query 1/1: Action query time = 0.959 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9971
+t=122: Selected seed 195 with value = 0.9971
+Query 1/1: Action query time = 0.973 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9949
+t=138: Selected seed 195 with value = 0.9949
+Query 1/1: Action query time = 0.962 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9943
+t=154: Selected seed 195 with value = 0.9943
+Query 1/1: Action query time = 0.962 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9880
+t=170: Selected seed 195 with value = 0.9880
+Query 1/1: Action query time = 0.979 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7191
+t=186: Selected seed 195 with value = 0.7191
+Query 1/1: Action query time = 1.174 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7862
+t=202: Selected seed 195 with value = 0.7862
+Query 1/1: Action query time = 1.118 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9226
+t=218: Selected seed 195 with value = 0.9226
+Query 1/1: Action query time = 1.078 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9803
+t=234: Selected seed 195 with value = 0.9803
+Query 1/1: Action query time = 1.078 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9975
+t=250: Selected seed 195 with value = 0.9975
+Query 1/1: Action query time = 1.091 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9912
+t=266: Selected seed 195 with value = 0.9912
+Query 1/1: Action query time = 1.091 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9819
+t=282: Selected seed 195 with value = 0.9819
+Query 1/1: Action query time = 1.029 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7869
+t=298: Selected seed 195 with value = 0.7869
+Saved rollout MP4 at path ./rollouts/demochan800_t456/2026_08_01-18_15_09--episode=115--success=False--task=put_the_cream_cheese_in_the_bowl.mp4
+Saved rollout MP4 at path ./rollouts/demochan800_t456/2026_08_01-18_15_09--with_future_img--episode=115--success=False--task=put_the_cream_cheese_in_the_bowl.mp4
+Success: False
+# episodes completed so far: 115
+# successes: 96 (83.5%)
+
+Task: put the cream cheese in the bowl
+Starting episode 16...
+Query 1/1: Action query time = 0.979 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4200
+t=10: Selected seed 195 with value = 0.4200
+Query 1/1: Action query time = 0.967 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5245
+t=26: Selected seed 195 with value = 0.5245
+Query 1/1: Action query time = 0.966 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6136
+t=42: Selected seed 195 with value = 0.6136
+Query 1/1: Action query time = 0.963 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4913
+t=58: Selected seed 195 with value = 0.4913
+Query 1/1: Action query time = 0.982 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5721
+t=74: Selected seed 195 with value = 0.5721
+Query 1/1: Action query time = 0.963 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6432
+t=90: Selected seed 195 with value = 0.6432
+Query 1/1: Action query time = 0.989 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7279
+t=106: Selected seed 195 with value = 0.7279
+Query 1/1: Action query time = 0.976 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9043
+t=122: Selected seed 195 with value = 0.9043
+Query 1/1: Action query time = 0.982 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=138: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.970 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9966
+t=154: Selected seed 195 with value = 0.9966
+Query 1/1: Action query time = 0.976 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9959
+t=170: Selected seed 195 with value = 0.9959
+Query 1/1: Action query time = 0.984 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9960
+t=186: Selected seed 195 with value = 0.9960
+Query 1/1: Action query time = 0.976 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9960
+t=202: Selected seed 195 with value = 0.9960
+Query 1/1: Action query time = 0.983 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9962
+t=218: Selected seed 195 with value = 0.9962
+Query 1/1: Action query time = 0.990 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9919
+t=234: Selected seed 195 with value = 0.9919
+Query 1/1: Action query time = 1.005 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8182
+t=250: Selected seed 195 with value = 0.8182
+Query 1/1: Action query time = 0.967 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7968
+t=266: Selected seed 195 with value = 0.7968
+Query 1/1: Action query time = 0.976 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9261
+t=282: Selected seed 195 with value = 0.9261
+Query 1/1: Action query time = 0.975 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9618
+t=298: Selected seed 195 with value = 0.9618
+Saved rollout MP4 at path ./rollouts/demochan800_t456/2026_08_01-18_15_09--episode=116--success=False--task=put_the_cream_cheese_in_the_bowl.mp4
+Saved rollout MP4 at path ./rollouts/demochan800_t456/2026_08_01-18_15_09--with_future_img--episode=116--success=False--task=put_the_cream_cheese_in_the_bowl.mp4
+Success: False
+# episodes completed so far: 116
+# successes: 96 (82.8%)
+
+Task: put the cream cheese in the bowl
+Starting episode 17...
+Query 1/1: Action query time = 1.225 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4362
+t=10: Selected seed 195 with value = 0.4362
+Query 1/1: Action query time = 1.219 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5089
+t=26: Selected seed 195 with value = 0.5089
+Query 1/1: Action query time = 1.242 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6263
+t=42: Selected seed 195 with value = 0.6263
+Query 1/1: Action query time = 1.146 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7266
+t=58: Selected seed 195 with value = 0.7266
+Query 1/1: Action query time = 1.121 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8915
+t=74: Selected seed 195 with value = 0.8915
+Query 1/1: Action query time = 1.078 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9960
+t=90: Selected seed 195 with value = 0.9960
+Saved rollout MP4 at path ./rollouts/demochan800_t456/2026_08_01-18_15_09--episode=117--success=True--task=put_the_cream_cheese_in_the_bowl.mp4
+Saved rollout MP4 at path ./rollouts/demochan800_t456/2026_08_01-18_15_09--with_future_img--episode=117--success=True--task=put_the_cream_cheese_in_the_bowl.mp4
+Success: True
+# episodes completed so far: 117
+# successes: 97 (82.9%)
+
+Task: put the cream cheese in the bowl
+Starting episode 18...
+Query 1/1: Action query time = 0.983 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4534
+t=10: Selected seed 195 with value = 0.4534
+Query 1/1: Action query time = 0.972 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5397
+t=26: Selected seed 195 with value = 0.5397
+Query 1/1: Action query time = 0.971 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5871
+t=42: Selected seed 195 with value = 0.5871
+Query 1/1: Action query time = 0.991 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6932
+t=58: Selected seed 195 with value = 0.6932
+Query 1/1: Action query time = 0.993 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8294
+t=74: Selected seed 195 with value = 0.8294
+Query 1/1: Action query time = 1.064 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9660
+t=90: Selected seed 195 with value = 0.9660
+Saved rollout MP4 at path ./rollouts/demochan800_t456/2026_08_01-18_15_09--episode=118--success=True--task=put_the_cream_cheese_in_the_bowl.mp4
+Saved rollout MP4 at path ./rollouts/demochan800_t456/2026_08_01-18_15_09--with_future_img--episode=118--success=True--task=put_the_cream_cheese_in_the_bowl.mp4
+Success: True
+# episodes completed so far: 118
+# successes: 98 (83.1%)
+
+Task: put the cream cheese in the bowl
+Starting episode 19...
+Query 1/1: Action query time = 0.969 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4477
+t=10: Selected seed 195 with value = 0.4477
+Query 1/1: Action query time = 0.972 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4976
+t=26: Selected seed 195 with value = 0.4976
+Query 1/1: Action query time = 0.965 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6478
+t=42: Selected seed 195 with value = 0.6478
+Query 1/1: Action query time = 0.967 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7411
+t=58: Selected seed 195 with value = 0.7411
+Query 1/1: Action query time = 0.971 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8767
+t=74: Selected seed 195 with value = 0.8767
+Query 1/1: Action query time = 0.965 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/demochan800_t456/2026_08_01-18_15_09--episode=119--success=True--task=put_the_cream_cheese_in_the_bowl.mp4
+Saved rollout MP4 at path ./rollouts/demochan800_t456/2026_08_01-18_15_09--with_future_img--episode=119--success=True--task=put_the_cream_cheese_in_the_bowl.mp4
+Success: True
+# episodes completed so far: 119
+# successes: 99 (83.2%)
+
+Task: put the cream cheese in the bowl
+Starting episode 20...
+Query 1/1: Action query time = 0.977 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4384
+t=10: Selected seed 195 with value = 0.4384
+Query 1/1: Action query time = 0.982 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4876
+t=26: Selected seed 195 with value = 0.4876
+Query 1/1: Action query time = 0.971 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5949
+t=42: Selected seed 195 with value = 0.5949
+Query 1/1: Action query time = 0.969 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7072
+t=58: Selected seed 195 with value = 0.7072
+Query 1/1: Action query time = 0.972 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8237
+t=74: Selected seed 195 with value = 0.8237
+Query 1/1: Action query time = 0.971 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9870
+t=90: Selected seed 195 with value = 0.9870
+Saved rollout MP4 at path ./rollouts/demochan800_t456/2026_08_01-18_15_09--episode=120--success=True--task=put_the_cream_cheese_in_the_bowl.mp4
+Saved rollout MP4 at path ./rollouts/demochan800_t456/2026_08_01-18_15_09--with_future_img--episode=120--success=True--task=put_the_cream_cheese_in_the_bowl.mp4
+Success: True
+# episodes completed so far: 120
+# successes: 100 (83.3%)
+
+Task: put the cream cheese in the bowl
+Starting episode 21...
+Query 1/1: Action query time = 0.989 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4610
+t=10: Selected seed 195 with value = 0.4610
+Query 1/1: Action query time = 0.978 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5035
+t=26: Selected seed 195 with value = 0.5035
+Query 1/1: Action query time = 0.980 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6577
+t=42: Selected seed 195 with value = 0.6577
+Query 1/1: Action query time = 0.978 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7465
+t=58: Selected seed 195 with value = 0.7465
+Query 1/1: Action query time = 0.975 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8860
+t=74: Selected seed 195 with value = 0.8860
+Saved rollout MP4 at path ./rollouts/demochan800_t456/2026_08_01-18_15_09--episode=121--success=True--task=put_the_cream_cheese_in_the_bowl.mp4
+Saved rollout MP4 at path ./rollouts/demochan800_t456/2026_08_01-18_15_09--with_future_img--episode=121--success=True--task=put_the_cream_cheese_in_the_bowl.mp4
+Success: True
+# episodes completed so far: 121
+# successes: 101 (83.5%)
+
+Task: put the cream cheese in the bowl
+Starting episode 22...
+Query 1/1: Action query time = 0.992 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4339
+t=10: Selected seed 195 with value = 0.4339
+Query 1/1: Action query time = 0.976 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3641
+t=26: Selected seed 195 with value = 0.3641
+Query 1/1: Action query time = 0.968 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5871
+t=42: Selected seed 195 with value = 0.5871
+Query 1/1: Action query time = 0.969 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7005
+t=58: Selected seed 195 with value = 0.7005
+Query 1/1: Action query time = 1.084 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8274
+t=74: Selected seed 195 with value = 0.8274
+Query 1/1: Action query time = 1.130 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9875
+t=90: Selected seed 195 with value = 0.9875
+Saved rollout MP4 at path ./rollouts/demochan800_t456/2026_08_01-18_15_09--episode=122--success=True--task=put_the_cream_cheese_in_the_bowl.mp4
+Saved rollout MP4 at path ./rollouts/demochan800_t456/2026_08_01-18_15_09--with_future_img--episode=122--success=True--task=put_the_cream_cheese_in_the_bowl.mp4
+Success: True
+# episodes completed so far: 122
+# successes: 102 (83.6%)
+
+Task: put the cream cheese in the bowl
+Starting episode 23...
+Query 1/1: Action query time = 1.009 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4589
+t=10: Selected seed 195 with value = 0.4589
+Query 1/1: Action query time = 0.972 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4716
+t=26: Selected seed 195 with value = 0.4716
+Query 1/1: Action query time = 0.973 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6183
+t=42: Selected seed 195 with value = 0.6183
+Query 1/1: Action query time = 0.980 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6694
+t=58: Selected seed 195 with value = 0.6694
+Query 1/1: Action query time = 0.961 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5790
+t=74: Selected seed 195 with value = 0.5790
+Query 1/1: Action query time = 0.965 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5932
+t=90: Selected seed 195 with value = 0.5932
+Query 1/1: Action query time = 1.044 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5839
+t=106: Selected seed 195 with value = 0.5839
+Query 1/1: Action query time = 1.097 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6456
+t=122: Selected seed 195 with value = 0.6456
+Query 1/1: Action query time = 1.197 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7627
+t=138: Selected seed 195 with value = 0.7627
+Query 1/1: Action query time = 1.180 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7925
+t=154: Selected seed 195 with value = 0.7925
+Query 1/1: Action query time = 1.211 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9053
+t=170: Selected seed 195 with value = 0.9053
+Query 1/1: Action query time = 1.167 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9222
+t=186: Selected seed 195 with value = 0.9222
+Query 1/1: Action query time = 1.103 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9523
+t=202: Selected seed 195 with value = 0.9523
+Query 1/1: Action query time = 1.111 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9690
+t=218: Selected seed 195 with value = 0.9690
+Query 1/1: Action query time = 0.976 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9983
+t=234: Selected seed 195 with value = 0.9983
+Query 1/1: Action query time = 0.998 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=250: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.977 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9996
+t=266: Selected seed 195 with value = 0.9996
+Query 1/1: Action query time = 0.988 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9973
+t=282: Selected seed 195 with value = 0.9973
+Query 1/1: Action query time = 0.978 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9913
+t=298: Selected seed 195 with value = 0.9913
+Saved rollout MP4 at path ./rollouts/demochan800_t456/2026_08_01-18_15_09--episode=123--success=False--task=put_the_cream_cheese_in_the_bowl.mp4
+Saved rollout MP4 at path ./rollouts/demochan800_t456/2026_08_01-18_15_09--with_future_img--episode=123--success=False--task=put_the_cream_cheese_in_the_bowl.mp4
+Success: False
+# episodes completed so far: 123
+# successes: 102 (82.9%)
+
+Task: put the cream cheese in the bowl
+Starting episode 24...
+Query 1/1: Action query time = 0.974 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4456
+t=10: Selected seed 195 with value = 0.4456
+Query 1/1: Action query time = 0.993 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4941
+t=26: Selected seed 195 with value = 0.4941
+Query 1/1: Action query time = 0.975 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6439
+t=42: Selected seed 195 with value = 0.6439
+Query 1/1: Action query time = 0.967 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7182
+t=58: Selected seed 195 with value = 0.7182
+Query 1/1: Action query time = 0.983 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8585
+t=74: Selected seed 195 with value = 0.8585
+Query 1/1: Action query time = 0.967 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9974
+t=90: Selected seed 195 with value = 0.9974
+Saved rollout MP4 at path ./rollouts/demochan800_t456/2026_08_01-18_15_09--episode=124--success=True--task=put_the_cream_cheese_in_the_bowl.mp4
+Saved rollout MP4 at path ./rollouts/demochan800_t456/2026_08_01-18_15_09--with_future_img--episode=124--success=True--task=put_the_cream_cheese_in_the_bowl.mp4
+Success: True
+# episodes completed so far: 124
+# successes: 103 (83.1%)
+
+Task: put the cream cheese in the bowl
+Starting episode 25...
+Query 1/1: Action query time = 1.205 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4239
+t=10: Selected seed 195 with value = 0.4239
+Query 1/1: Action query time = 1.184 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5572
+t=26: Selected seed 195 with value = 0.5572
+Query 1/1: Action query time = 1.300 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6194
+t=42: Selected seed 195 with value = 0.6194
+Query 1/1: Action query time = 1.321 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7244
+t=58: Selected seed 195 with value = 0.7244
+Query 1/1: Action query time = 1.302 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8931
+t=74: Selected seed 195 with value = 0.8931
+Query 1/1: Action query time = 1.295 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9989
+t=90: Selected seed 195 with value = 0.9989
+Saved rollout MP4 at path ./rollouts/demochan800_t456/2026_08_01-18_15_09--episode=125--success=True--task=put_the_cream_cheese_in_the_bowl.mp4
+Saved rollout MP4 at path ./rollouts/demochan800_t456/2026_08_01-18_15_09--with_future_img--episode=125--success=True--task=put_the_cream_cheese_in_the_bowl.mp4
+Success: True
+# episodes completed so far: 125
+# successes: 104 (83.2%)
+
+Task: put the cream cheese in the bowl
+Starting episode 26...
+Query 1/1: Action query time = 1.005 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4151
+t=10: Selected seed 195 with value = 0.4151
+Query 1/1: Action query time = 0.990 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3742
+t=26: Selected seed 195 with value = 0.3742
+Query 1/1: Action query time = 0.986 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6211
+t=42: Selected seed 195 with value = 0.6211
+Query 1/1: Action query time = 0.963 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7240
+t=58: Selected seed 195 with value = 0.7240
+Query 1/1: Action query time = 0.989 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8626
+t=74: Selected seed 195 with value = 0.8626
+Query 1/1: Action query time = 0.982 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9967
+t=90: Selected seed 195 with value = 0.9967
+Saved rollout MP4 at path ./rollouts/demochan800_t456/2026_08_01-18_15_09--episode=126--success=True--task=put_the_cream_cheese_in_the_bowl.mp4
+Saved rollout MP4 at path ./rollouts/demochan800_t456/2026_08_01-18_15_09--with_future_img--episode=126--success=True--task=put_the_cream_cheese_in_the_bowl.mp4
+Success: True
+# episodes completed so far: 126
+# successes: 105 (83.3%)
+
+Task: put the cream cheese in the bowl
+Starting episode 27...
+Query 1/1: Action query time = 0.986 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4504
+t=10: Selected seed 195 with value = 0.4504
+Query 1/1: Action query time = 1.105 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5154
+t=26: Selected seed 195 with value = 0.5154
+Query 1/1: Action query time = 1.083 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6200
+t=42: Selected seed 195 with value = 0.6200
+Query 1/1: Action query time = 1.005 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6580
+t=58: Selected seed 195 with value = 0.6580
+Query 1/1: Action query time = 0.980 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7102
+t=74: Selected seed 195 with value = 0.7102
+Query 1/1: Action query time = 0.974 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9040
+t=90: Selected seed 195 with value = 0.9040
+Saved rollout MP4 at path ./rollouts/demochan800_t456/2026_08_01-18_15_09--episode=127--success=True--task=put_the_cream_cheese_in_the_bowl.mp4
+Saved rollout MP4 at path ./rollouts/demochan800_t456/2026_08_01-18_15_09--with_future_img--episode=127--success=True--task=put_the_cream_cheese_in_the_bowl.mp4
+Success: True
+# episodes completed so far: 127
+# successes: 106 (83.5%)
+
+Task: put the cream cheese in the bowl
+Starting episode 28...
+Query 1/1: Action query time = 0.974 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4170
+t=10: Selected seed 195 with value = 0.4170
+Query 1/1: Action query time = 0.980 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5488
+t=26: Selected seed 195 with value = 0.5488
+Query 1/1: Action query time = 1.004 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6223
+t=42: Selected seed 195 with value = 0.6223
+Query 1/1: Action query time = 1.100 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7313
+t=58: Selected seed 195 with value = 0.7313
+Query 1/1: Action query time = 1.120 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8975
+t=74: Selected seed 195 with value = 0.8975
+Saved rollout MP4 at path ./rollouts/demochan800_t456/2026_08_01-18_15_09--episode=128--success=True--task=put_the_cream_cheese_in_the_bowl.mp4
+Saved rollout MP4 at path ./rollouts/demochan800_t456/2026_08_01-18_15_09--with_future_img--episode=128--success=True--task=put_the_cream_cheese_in_the_bowl.mp4
+Success: True
+# episodes completed so far: 128
+# successes: 107 (83.6%)
+
+Task: put the cream cheese in the bowl
+Starting episode 29...
+Query 1/1: Action query time = 0.980 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4342
+t=10: Selected seed 195 with value = 0.4342
+Query 1/1: Action query time = 0.978 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4688
+t=26: Selected seed 195 with value = 0.4688
+Query 1/1: Action query time = 0.963 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6164
+t=42: Selected seed 195 with value = 0.6164
+Query 1/1: Action query time = 0.994 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7059
+t=58: Selected seed 195 with value = 0.7059
+Query 1/1: Action query time = 0.991 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8321
+t=74: Selected seed 195 with value = 0.8321
+Query 1/1: Action query time = 0.962 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9898
+t=90: Selected seed 195 with value = 0.9898
+Query 1/1: Action query time = 0.974 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9954
+t=106: Selected seed 195 with value = 0.9954
+Query 1/1: Action query time = 0.981 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9908
+t=122: Selected seed 195 with value = 0.9908
+Query 1/1: Action query time = 0.969 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9877
+t=138: Selected seed 195 with value = 0.9877
+Query 1/1: Action query time = 0.980 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7306
+t=154: Selected seed 195 with value = 0.7306
+Query 1/1: Action query time = 0.970 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7724
+t=170: Selected seed 195 with value = 0.7724
+Saved rollout MP4 at path ./rollouts/demochan800_t456/2026_08_01-18_15_09--episode=129--success=True--task=put_the_cream_cheese_in_the_bowl.mp4
+Saved rollout MP4 at path ./rollouts/demochan800_t456/2026_08_01-18_15_09--with_future_img--episode=129--success=True--task=put_the_cream_cheese_in_the_bowl.mp4
+Success: True
+# episodes completed so far: 129
+# successes: 108 (83.7%)
+
+Task: put the cream cheese in the bowl
+Starting episode 30...
+Query 1/1: Action query time = 0.984 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4560
+t=10: Selected seed 195 with value = 0.4560
+Query 1/1: Action query time = 0.996 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5302
+t=26: Selected seed 195 with value = 0.5302
+Query 1/1: Action query time = 0.978 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6332
+t=42: Selected seed 195 with value = 0.6332
+Query 1/1: Action query time = 0.989 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7703
+t=58: Selected seed 195 with value = 0.7703
+Query 1/1: Action query time = 0.965 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9209
+t=74: Selected seed 195 with value = 0.9209
+Saved rollout MP4 at path ./rollouts/demochan800_t456/2026_08_01-18_15_09--episode=130--success=True--task=put_the_cream_cheese_in_the_bowl.mp4
+Saved rollout MP4 at path ./rollouts/demochan800_t456/2026_08_01-18_15_09--with_future_img--episode=130--success=True--task=put_the_cream_cheese_in_the_bowl.mp4
+Success: True
+# episodes completed so far: 130
+# successes: 109 (83.8%)
+
+Task: put the cream cheese in the bowl
+Starting episode 31...
+Query 1/1: Action query time = 1.007 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4242
+t=10: Selected seed 195 with value = 0.4242
+Query 1/1: Action query time = 0.980 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5016
+t=26: Selected seed 195 with value = 0.5016
+Query 1/1: Action query time = 0.975 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6420
+t=42: Selected seed 195 with value = 0.6420
+Query 1/1: Action query time = 0.981 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7331
+t=58: Selected seed 195 with value = 0.7331
+Query 1/1: Action query time = 0.966 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8469
+t=74: Selected seed 195 with value = 0.8469
+Query 1/1: Action query time = 0.980 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9963
+t=90: Selected seed 195 with value = 0.9963
+Saved rollout MP4 at path ./rollouts/demochan800_t456/2026_08_01-18_15_09--episode=131--success=True--task=put_the_cream_cheese_in_the_bowl.mp4
+Saved rollout MP4 at path ./rollouts/demochan800_t456/2026_08_01-18_15_09--with_future_img--episode=131--success=True--task=put_the_cream_cheese_in_the_bowl.mp4
+Success: True
+# episodes completed so far: 131
+# successes: 110 (84.0%)
+
+Task: put the cream cheese in the bowl
+Starting episode 32...
+Query 1/1: Action query time = 0.978 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4306
+t=10: Selected seed 195 with value = 0.4306
+Query 1/1: Action query time = 0.987 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5230
+t=26: Selected seed 195 with value = 0.5230
+Query 1/1: Action query time = 0.972 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6322
+t=42: Selected seed 195 with value = 0.6322
+Query 1/1: Action query time = 0.973 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5164
+t=58: Selected seed 195 with value = 0.5164
+Query 1/1: Action query time = 0.979 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6032
+t=74: Selected seed 195 with value = 0.6032
+Query 1/1: Action query time = 0.981 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6393
+t=90: Selected seed 195 with value = 0.6393
+Query 1/1: Action query time = 0.977 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7697
+t=106: Selected seed 195 with value = 0.7697
+Query 1/1: Action query time = 0.984 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9221
+t=122: Selected seed 195 with value = 0.9221
+Query 1/1: Action query time = 0.993 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9993
+t=138: Selected seed 195 with value = 0.9993
+Query 1/1: Action query time = 0.962 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9983
+t=154: Selected seed 195 with value = 0.9983
+Query 1/1: Action query time = 0.994 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9976
+t=170: Selected seed 195 with value = 0.9976
+Query 1/1: Action query time = 0.967 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9963
+t=186: Selected seed 195 with value = 0.9963
+Query 1/1: Action query time = 0.964 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9940
+t=202: Selected seed 195 with value = 0.9940
+Query 1/1: Action query time = 0.989 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9931
+t=218: Selected seed 195 with value = 0.9931
+Query 1/1: Action query time = 0.996 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9903
+t=234: Selected seed 195 with value = 0.9903
+Query 1/1: Action query time = 1.021 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9100
+t=250: Selected seed 195 with value = 0.9100
+Query 1/1: Action query time = 1.151 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8025
+t=266: Selected seed 195 with value = 0.8025
+Query 1/1: Action query time = 1.174 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8972
+t=282: Selected seed 195 with value = 0.8972
+Query 1/1: Action query time = 1.219 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9889
+t=298: Selected seed 195 with value = 0.9889
+Saved rollout MP4 at path ./rollouts/demochan800_t456/2026_08_01-18_15_09--episode=132--success=False--task=put_the_cream_cheese_in_the_bowl.mp4
+Saved rollout MP4 at path ./rollouts/demochan800_t456/2026_08_01-18_15_09--with_future_img--episode=132--success=False--task=put_the_cream_cheese_in_the_bowl.mp4
+Success: False
+# episodes completed so far: 132
+# successes: 110 (83.3%)
+
+Task: put the cream cheese in the bowl
+Starting episode 33...
+Query 1/1: Action query time = 0.993 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4272
+t=10: Selected seed 195 with value = 0.4272
+Query 1/1: Action query time = 0.994 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4816
+t=26: Selected seed 195 with value = 0.4816
+Query 1/1: Action query time = 0.984 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6041
+t=42: Selected seed 195 with value = 0.6041
+Query 1/1: Action query time = 0.968 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7050
+t=58: Selected seed 195 with value = 0.7050
+Query 1/1: Action query time = 0.966 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8099
+t=74: Selected seed 195 with value = 0.8099
+Query 1/1: Action query time = 0.976 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9611
+t=90: Selected seed 195 with value = 0.9611
+Saved rollout MP4 at path ./rollouts/demochan800_t456/2026_08_01-18_15_09--episode=133--success=True--task=put_the_cream_cheese_in_the_bowl.mp4
+Saved rollout MP4 at path ./rollouts/demochan800_t456/2026_08_01-18_15_09--with_future_img--episode=133--success=True--task=put_the_cream_cheese_in_the_bowl.mp4
+Success: True
+# episodes completed so far: 133
+# successes: 111 (83.5%)
+
+Task: put the cream cheese in the bowl
+Starting episode 34...
+Query 1/1: Action query time = 1.142 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4476
+t=10: Selected seed 195 with value = 0.4476
+Query 1/1: Action query time = 1.124 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4703
+t=26: Selected seed 195 with value = 0.4703
+Query 1/1: Action query time = 1.099 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6362
+t=42: Selected seed 195 with value = 0.6362
+Query 1/1: Action query time = 1.179 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7334
+t=58: Selected seed 195 with value = 0.7334
+Query 1/1: Action query time = 1.215 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8839
+t=74: Selected seed 195 with value = 0.8839
+Query 1/1: Action query time = 1.203 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9979
+t=90: Selected seed 195 with value = 0.9979
+Saved rollout MP4 at path ./rollouts/demochan800_t456/2026_08_01-18_15_09--episode=134--success=True--task=put_the_cream_cheese_in_the_bowl.mp4
+Saved rollout MP4 at path ./rollouts/demochan800_t456/2026_08_01-18_15_09--with_future_img--episode=134--success=True--task=put_the_cream_cheese_in_the_bowl.mp4
+Success: True
+# episodes completed so far: 134
+# successes: 112 (83.6%)
+
+Task: put the cream cheese in the bowl
+Starting episode 35...
+Query 1/1: Action query time = 1.002 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4342
+t=10: Selected seed 195 with value = 0.4342
+Query 1/1: Action query time = 0.974 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4269
+t=26: Selected seed 195 with value = 0.4269
+Query 1/1: Action query time = 0.975 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6093
+t=42: Selected seed 195 with value = 0.6093
+Query 1/1: Action query time = 0.977 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7079
+t=58: Selected seed 195 with value = 0.7079
+Query 1/1: Action query time = 0.984 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8467
+t=74: Selected seed 195 with value = 0.8467
+Query 1/1: Action query time = 0.970 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9911
+t=90: Selected seed 195 with value = 0.9911
+Query 1/1: Action query time = 0.977 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9963
+t=106: Selected seed 195 with value = 0.9963
+Query 1/1: Action query time = 0.970 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9943
+t=122: Selected seed 195 with value = 0.9943
+Query 1/1: Action query time = 0.998 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9913
+t=138: Selected seed 195 with value = 0.9913
+Query 1/1: Action query time = 0.967 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9846
+t=154: Selected seed 195 with value = 0.9846
+Query 1/1: Action query time = 0.981 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8243
+t=170: Selected seed 195 with value = 0.8243
+Query 1/1: Action query time = 0.983 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8660
+t=186: Selected seed 195 with value = 0.8660
+Query 1/1: Action query time = 0.987 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8815
+t=202: Selected seed 195 with value = 0.8815
+Query 1/1: Action query time = 0.978 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8882
+t=218: Selected seed 195 with value = 0.8882
+Query 1/1: Action query time = 0.973 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9806
+t=234: Selected seed 195 with value = 0.9806
+Saved rollout MP4 at path ./rollouts/demochan800_t456/2026_08_01-18_15_09--episode=135--success=True--task=put_the_cream_cheese_in_the_bowl.mp4
+Saved rollout MP4 at path ./rollouts/demochan800_t456/2026_08_01-18_15_09--with_future_img--episode=135--success=True--task=put_the_cream_cheese_in_the_bowl.mp4
+Success: True
+# episodes completed so far: 135
+# successes: 113 (83.7%)
+
+Task: put the cream cheese in the bowl
+Starting episode 36...
+Query 1/1: Action query time = 0.970 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4227
+t=10: Selected seed 195 with value = 0.4227
+Query 1/1: Action query time = 0.965 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5444
+t=26: Selected seed 195 with value = 0.5444
+Query 1/1: Action query time = 0.968 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5666
+t=42: Selected seed 195 with value = 0.5666
+Query 1/1: Action query time = 0.993 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7431
+t=58: Selected seed 195 with value = 0.7431
+Query 1/1: Action query time = 0.961 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8944
+t=74: Selected seed 195 with value = 0.8944
+Query 1/1: Action query time = 0.970 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9986
+t=90: Selected seed 195 with value = 0.9986
+Query 1/1: Action query time = 0.975 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9918
+t=106: Selected seed 195 with value = 0.9918
+Query 1/1: Action query time = 0.978 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9901
+t=122: Selected seed 195 with value = 0.9901
+Query 1/1: Action query time = 0.994 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9865
+t=138: Selected seed 195 with value = 0.9865
+Query 1/1: Action query time = 1.042 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9312
+t=154: Selected seed 195 with value = 0.9312
+Query 1/1: Action query time = 1.174 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8301
+t=170: Selected seed 195 with value = 0.8301
+Saved rollout MP4 at path ./rollouts/demochan800_t456/2026_08_01-18_15_09--episode=136--success=True--task=put_the_cream_cheese_in_the_bowl.mp4
+Saved rollout MP4 at path ./rollouts/demochan800_t456/2026_08_01-18_15_09--with_future_img--episode=136--success=True--task=put_the_cream_cheese_in_the_bowl.mp4
+Success: True
+# episodes completed so far: 136
+# successes: 114 (83.8%)
+
+Task: put the cream cheese in the bowl
+Starting episode 37...
+Query 1/1: Action query time = 0.994 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4655
+t=10: Selected seed 195 with value = 0.4655
+Query 1/1: Action query time = 0.969 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5531
+t=26: Selected seed 195 with value = 0.5531
+Query 1/1: Action query time = 0.968 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6290
+t=42: Selected seed 195 with value = 0.6290
+Query 1/1: Action query time = 0.986 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7227
+t=58: Selected seed 195 with value = 0.7227
+Query 1/1: Action query time = 0.969 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8820
+t=74: Selected seed 195 with value = 0.8820
+Query 1/1: Action query time = 0.971 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9788
+t=90: Selected seed 195 with value = 0.9788
+Saved rollout MP4 at path ./rollouts/demochan800_t456/2026_08_01-18_15_09--episode=137--success=True--task=put_the_cream_cheese_in_the_bowl.mp4
+Saved rollout MP4 at path ./rollouts/demochan800_t456/2026_08_01-18_15_09--with_future_img--episode=137--success=True--task=put_the_cream_cheese_in_the_bowl.mp4
+Success: True
+# episodes completed so far: 137
+# successes: 115 (83.9%)
+
+Task: put the cream cheese in the bowl
+Starting episode 38...
+Query 1/1: Action query time = 1.024 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4299
+t=10: Selected seed 195 with value = 0.4299
+Query 1/1: Action query time = 1.007 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4928
+t=26: Selected seed 195 with value = 0.4928
+Query 1/1: Action query time = 0.987 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5997
+t=42: Selected seed 195 with value = 0.5997
+Query 1/1: Action query time = 0.975 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6947
+t=58: Selected seed 195 with value = 0.6947
+Query 1/1: Action query time = 0.987 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8098
+t=74: Selected seed 195 with value = 0.8098
+Query 1/1: Action query time = 0.980 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9892
+t=90: Selected seed 195 with value = 0.9892
+Saved rollout MP4 at path ./rollouts/demochan800_t456/2026_08_01-18_15_09--episode=138--success=True--task=put_the_cream_cheese_in_the_bowl.mp4
+Saved rollout MP4 at path ./rollouts/demochan800_t456/2026_08_01-18_15_09--with_future_img--episode=138--success=True--task=put_the_cream_cheese_in_the_bowl.mp4
+Success: True
+# episodes completed so far: 138
+# successes: 116 (84.1%)
+
+Task: put the cream cheese in the bowl
+Starting episode 39...
+Query 1/1: Action query time = 1.049 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4273
+t=10: Selected seed 195 with value = 0.4273
+Query 1/1: Action query time = 1.093 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5279
+t=26: Selected seed 195 with value = 0.5279
+Query 1/1: Action query time = 1.104 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6259
+t=42: Selected seed 195 with value = 0.6259
+Query 1/1: Action query time = 1.184 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7366
+t=58: Selected seed 195 with value = 0.7366
+Query 1/1: Action query time = 1.215 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8985
+t=74: Selected seed 195 with value = 0.8985
+Query 1/1: Action query time = 1.155 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 1.137 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9932
+t=106: Selected seed 195 with value = 0.9932
+Query 1/1: Action query time = 1.174 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9942
+t=122: Selected seed 195 with value = 0.9942
+Query 1/1: Action query time = 0.978 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9906
+t=138: Selected seed 195 with value = 0.9906
+Query 1/1: Action query time = 0.996 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8309
+t=154: Selected seed 195 with value = 0.8309
+Query 1/1: Action query time = 0.980 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8477
+t=170: Selected seed 195 with value = 0.8477
+Query 1/1: Action query time = 0.991 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9364
+t=186: Selected seed 195 with value = 0.9364
+Query 1/1: Action query time = 0.982 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9903
+t=202: Selected seed 195 with value = 0.9903
+Query 1/1: Action query time = 0.966 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=218: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.960 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9982
+t=234: Selected seed 195 with value = 0.9982
+Query 1/1: Action query time = 0.986 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9972
+t=250: Selected seed 195 with value = 0.9972
+Query 1/1: Action query time = 0.979 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=266: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.964 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=282: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.968 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=298: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/demochan800_t456/2026_08_01-18_15_09--episode=139--success=False--task=put_the_cream_cheese_in_the_bowl.mp4
+Saved rollout MP4 at path ./rollouts/demochan800_t456/2026_08_01-18_15_09--with_future_img--episode=139--success=False--task=put_the_cream_cheese_in_the_bowl.mp4
+Success: False
+# episodes completed so far: 139
+# successes: 116 (83.5%)
+
+Task: put the cream cheese in the bowl
+Starting episode 40...
+Query 1/1: Action query time = 1.088 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4582
+t=10: Selected seed 195 with value = 0.4582
+Query 1/1: Action query time = 1.066 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5625
+t=26: Selected seed 195 with value = 0.5625
+Query 1/1: Action query time = 1.060 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6344
+t=42: Selected seed 195 with value = 0.6344
+Query 1/1: Action query time = 1.012 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6879
+t=58: Selected seed 195 with value = 0.6879
+Query 1/1: Action query time = 0.980 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8273
+t=74: Selected seed 195 with value = 0.8273
+Query 1/1: Action query time = 0.977 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9967
+t=90: Selected seed 195 with value = 0.9967
+Saved rollout MP4 at path ./rollouts/demochan800_t456/2026_08_01-18_15_09--episode=140--success=True--task=put_the_cream_cheese_in_the_bowl.mp4
+Saved rollout MP4 at path ./rollouts/demochan800_t456/2026_08_01-18_15_09--with_future_img--episode=140--success=True--task=put_the_cream_cheese_in_the_bowl.mp4
+Success: True
+# episodes completed so far: 140
+# successes: 117 (83.6%)
+
+Task: put the cream cheese in the bowl
+Starting episode 41...
+Query 1/1: Action query time = 0.989 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4405
+t=10: Selected seed 195 with value = 0.4405
+Query 1/1: Action query time = 0.970 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5082
+t=26: Selected seed 195 with value = 0.5082
+Query 1/1: Action query time = 0.980 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6309
+t=42: Selected seed 195 with value = 0.6309
+Query 1/1: Action query time = 0.971 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7105
+t=58: Selected seed 195 with value = 0.7105
+Query 1/1: Action query time = 1.104 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7726
+t=74: Selected seed 195 with value = 0.7726
+Query 1/1: Action query time = 1.132 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8950
+t=90: Selected seed 195 with value = 0.8950
+Query 1/1: Action query time = 1.107 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8692
+t=106: Selected seed 195 with value = 0.8692
+Query 1/1: Action query time = 1.137 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9868
+t=122: Selected seed 195 with value = 0.9868
+Query 1/1: Action query time = 1.183 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9815
+t=138: Selected seed 195 with value = 0.9815
+Query 1/1: Action query time = 1.208 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7915
+t=154: Selected seed 195 with value = 0.7915
+Query 1/1: Action query time = 1.148 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9569
+t=170: Selected seed 195 with value = 0.9569
+Query 1/1: Action query time = 1.176 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9668
+t=186: Selected seed 195 with value = 0.9668
+Query 1/1: Action query time = 1.134 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9701
+t=202: Selected seed 195 with value = 0.9701
+Query 1/1: Action query time = 1.016 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9797
+t=218: Selected seed 195 with value = 0.9797
+Query 1/1: Action query time = 0.967 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9966
+t=234: Selected seed 195 with value = 0.9966
+Query 1/1: Action query time = 0.969 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9986
+t=250: Selected seed 195 with value = 0.9986
+Query 1/1: Action query time = 0.984 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9957
+t=266: Selected seed 195 with value = 0.9957
+Query 1/1: Action query time = 0.963 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=282: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.973 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=298: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/demochan800_t456/2026_08_01-18_15_09--episode=141--success=False--task=put_the_cream_cheese_in_the_bowl.mp4
+Saved rollout MP4 at path ./rollouts/demochan800_t456/2026_08_01-18_15_09--with_future_img--episode=141--success=False--task=put_the_cream_cheese_in_the_bowl.mp4
+Success: False
+# episodes completed so far: 141
+# successes: 117 (83.0%)
+
+Task: put the cream cheese in the bowl
+Starting episode 42...
+Query 1/1: Action query time = 0.997 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4244
+t=10: Selected seed 195 with value = 0.4244
+Query 1/1: Action query time = 1.028 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5348
+t=26: Selected seed 195 with value = 0.5348
+Query 1/1: Action query time = 1.015 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5408
+t=42: Selected seed 195 with value = 0.5408
+Query 1/1: Action query time = 1.007 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7052
+t=58: Selected seed 195 with value = 0.7052
+Query 1/1: Action query time = 0.986 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8459
+t=74: Selected seed 195 with value = 0.8459
+Saved rollout MP4 at path ./rollouts/demochan800_t456/2026_08_01-18_15_09--episode=142--success=True--task=put_the_cream_cheese_in_the_bowl.mp4
+Saved rollout MP4 at path ./rollouts/demochan800_t456/2026_08_01-18_15_09--with_future_img--episode=142--success=True--task=put_the_cream_cheese_in_the_bowl.mp4
+Success: True
+# episodes completed so far: 142
+# successes: 118 (83.1%)
+
+Task: put the cream cheese in the bowl
+Starting episode 43...
+Query 1/1: Action query time = 1.004 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4241
+t=10: Selected seed 195 with value = 0.4241
+Query 1/1: Action query time = 0.982 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5064
+t=26: Selected seed 195 with value = 0.5064
+Query 1/1: Action query time = 0.985 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5725
+t=42: Selected seed 195 with value = 0.5725
+Query 1/1: Action query time = 0.988 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5149
+t=58: Selected seed 195 with value = 0.5149
+Query 1/1: Action query time = 0.986 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6306
+t=74: Selected seed 195 with value = 0.6306
+Query 1/1: Action query time = 1.204 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6769
+t=90: Selected seed 195 with value = 0.6769
+Query 1/1: Action query time = 1.168 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8313
+t=106: Selected seed 195 with value = 0.8313
+Query 1/1: Action query time = 1.158 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9247
+t=122: Selected seed 195 with value = 0.9247
+Query 1/1: Action query time = 1.108 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9611
+t=138: Selected seed 195 with value = 0.9611
+Query 1/1: Action query time = 1.093 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9976
+t=154: Selected seed 195 with value = 0.9976
+Query 1/1: Action query time = 1.038 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=170: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 1.015 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9992
+t=186: Selected seed 195 with value = 0.9992
+Query 1/1: Action query time = 1.025 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9960
+t=202: Selected seed 195 with value = 0.9960
+Query 1/1: Action query time = 1.020 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9655
+t=218: Selected seed 195 with value = 0.9655
+Query 1/1: Action query time = 1.006 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9974
+t=234: Selected seed 195 with value = 0.9974
+Query 1/1: Action query time = 0.983 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=250: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.972 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9968
+t=266: Selected seed 195 with value = 0.9968
+Query 1/1: Action query time = 0.985 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9967
+t=282: Selected seed 195 with value = 0.9967
+Query 1/1: Action query time = 1.004 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9988
+t=298: Selected seed 195 with value = 0.9988
+Saved rollout MP4 at path ./rollouts/demochan800_t456/2026_08_01-18_15_09--episode=143--success=False--task=put_the_cream_cheese_in_the_bowl.mp4
+Saved rollout MP4 at path ./rollouts/demochan800_t456/2026_08_01-18_15_09--with_future_img--episode=143--success=False--task=put_the_cream_cheese_in_the_bowl.mp4
+Success: False
+# episodes completed so far: 143
+# successes: 118 (82.5%)
+
+Task: put the cream cheese in the bowl
+Starting episode 44...
+Query 1/1: Action query time = 0.997 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4380
+t=10: Selected seed 195 with value = 0.4380
+Query 1/1: Action query time = 0.982 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3609
+t=26: Selected seed 195 with value = 0.3609
+Query 1/1: Action query time = 1.009 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6333
+t=42: Selected seed 195 with value = 0.6333
+Query 1/1: Action query time = 0.973 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7184
+t=58: Selected seed 195 with value = 0.7184
+Query 1/1: Action query time = 1.075 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8562
+t=74: Selected seed 195 with value = 0.8562
+Query 1/1: Action query time = 0.995 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9959
+t=90: Selected seed 195 with value = 0.9959
+Saved rollout MP4 at path ./rollouts/demochan800_t456/2026_08_01-18_15_09--episode=144--success=True--task=put_the_cream_cheese_in_the_bowl.mp4
+Saved rollout MP4 at path ./rollouts/demochan800_t456/2026_08_01-18_15_09--with_future_img--episode=144--success=True--task=put_the_cream_cheese_in_the_bowl.mp4
+Success: True
+# episodes completed so far: 144
+# successes: 119 (82.6%)
+
+Task: put the cream cheese in the bowl
+Starting episode 45...
+Query 1/1: Action query time = 1.176 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4335
+t=10: Selected seed 195 with value = 0.4335
+Query 1/1: Action query time = 1.005 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5014
+t=26: Selected seed 195 with value = 0.5014
+Query 1/1: Action query time = 0.969 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5835
+t=42: Selected seed 195 with value = 0.5835
+Query 1/1: Action query time = 0.987 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6501
+t=58: Selected seed 195 with value = 0.6501
+Query 1/1: Action query time = 0.983 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5797
+t=74: Selected seed 195 with value = 0.5797
+Query 1/1: Action query time = 0.996 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6552
+t=90: Selected seed 195 with value = 0.6552
+Query 1/1: Action query time = 0.996 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7416
+t=106: Selected seed 195 with value = 0.7416
+Query 1/1: Action query time = 1.012 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8258
+t=122: Selected seed 195 with value = 0.8258
+Query 1/1: Action query time = 1.004 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8362
+t=138: Selected seed 195 with value = 0.8362
+Query 1/1: Action query time = 0.978 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9258
+t=154: Selected seed 195 with value = 0.9258
+Query 1/1: Action query time = 0.987 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9957
+t=170: Selected seed 195 with value = 0.9957
+Query 1/1: Action query time = 0.982 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=186: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.988 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=202: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.966 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9996
+t=218: Selected seed 195 with value = 0.9996
+Query 1/1: Action query time = 0.976 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9955
+t=234: Selected seed 195 with value = 0.9955
+Query 1/1: Action query time = 0.997 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9930
+t=250: Selected seed 195 with value = 0.9930
+Query 1/1: Action query time = 0.977 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9916
+t=266: Selected seed 195 with value = 0.9916
+Query 1/1: Action query time = 0.966 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9668
+t=282: Selected seed 195 with value = 0.9668
+Query 1/1: Action query time = 0.969 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7262
+t=298: Selected seed 195 with value = 0.7262
+Saved rollout MP4 at path ./rollouts/demochan800_t456/2026_08_01-18_15_09--episode=145--success=False--task=put_the_cream_cheese_in_the_bowl.mp4
+Saved rollout MP4 at path ./rollouts/demochan800_t456/2026_08_01-18_15_09--with_future_img--episode=145--success=False--task=put_the_cream_cheese_in_the_bowl.mp4
+Success: False
+# episodes completed so far: 145
+# successes: 119 (82.1%)
+
+Task: put the cream cheese in the bowl
+Starting episode 46...
+Query 1/1: Action query time = 0.988 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4787
+t=10: Selected seed 195 with value = 0.4787
+Query 1/1: Action query time = 1.010 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5748
+t=26: Selected seed 195 with value = 0.5748
+Query 1/1: Action query time = 1.051 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6230
+t=42: Selected seed 195 with value = 0.6230
+Query 1/1: Action query time = 1.112 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7064
+t=58: Selected seed 195 with value = 0.7064
+Query 1/1: Action query time = 1.129 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8427
+t=74: Selected seed 195 with value = 0.8427
+Query 1/1: Action query time = 1.249 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9863
+t=90: Selected seed 195 with value = 0.9863
+Query 1/1: Action query time = 1.035 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9950
+t=106: Selected seed 195 with value = 0.9950
+Query 1/1: Action query time = 0.990 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9925
+t=122: Selected seed 195 with value = 0.9925
+Query 1/1: Action query time = 1.018 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9930
+t=138: Selected seed 195 with value = 0.9930
+Query 1/1: Action query time = 1.007 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9824
+t=154: Selected seed 195 with value = 0.9824
+Query 1/1: Action query time = 0.997 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8426
+t=170: Selected seed 195 with value = 0.8426
+Query 1/1: Action query time = 1.249 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8908
+t=186: Selected seed 195 with value = 0.8908
+Query 1/1: Action query time = 1.152 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9872
+t=202: Selected seed 195 with value = 0.9872
+Query 1/1: Action query time = 1.114 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9943
+t=218: Selected seed 195 with value = 0.9943
+Query 1/1: Action query time = 1.198 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9931
+t=234: Selected seed 195 with value = 0.9931
+Query 1/1: Action query time = 1.227 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=250: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 1.118 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9957
+t=266: Selected seed 195 with value = 0.9957
+Query 1/1: Action query time = 0.979 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=282: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.972 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=298: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/demochan800_t456/2026_08_01-18_15_09--episode=146--success=False--task=put_the_cream_cheese_in_the_bowl.mp4
+Saved rollout MP4 at path ./rollouts/demochan800_t456/2026_08_01-18_15_09--with_future_img--episode=146--success=False--task=put_the_cream_cheese_in_the_bowl.mp4
+Success: False
+# episodes completed so far: 146
+# successes: 119 (81.5%)
+
+Task: put the cream cheese in the bowl
+Starting episode 47...
+Query 1/1: Action query time = 0.974 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4523
+t=10: Selected seed 195 with value = 0.4523
+Query 1/1: Action query time = 0.987 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4888
+t=26: Selected seed 195 with value = 0.4888
+Query 1/1: Action query time = 1.001 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6148
+t=42: Selected seed 195 with value = 0.6148
+Query 1/1: Action query time = 0.970 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6942
+t=58: Selected seed 195 with value = 0.6942
+Query 1/1: Action query time = 0.984 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8495
+t=74: Selected seed 195 with value = 0.8495
+Query 1/1: Action query time = 0.983 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9933
+t=90: Selected seed 195 with value = 0.9933
+Saved rollout MP4 at path ./rollouts/demochan800_t456/2026_08_01-18_15_09--episode=147--success=True--task=put_the_cream_cheese_in_the_bowl.mp4
+Saved rollout MP4 at path ./rollouts/demochan800_t456/2026_08_01-18_15_09--with_future_img--episode=147--success=True--task=put_the_cream_cheese_in_the_bowl.mp4
+Success: True
+# episodes completed so far: 147
+# successes: 120 (81.6%)
+
+Task: put the cream cheese in the bowl
+Starting episode 48...
+Query 1/1: Action query time = 0.995 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4231
+t=10: Selected seed 195 with value = 0.4231
+Query 1/1: Action query time = 1.014 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5153
+t=26: Selected seed 195 with value = 0.5153
+Query 1/1: Action query time = 1.001 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6122
+t=42: Selected seed 195 with value = 0.6122
+Query 1/1: Action query time = 0.988 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7339
+t=58: Selected seed 195 with value = 0.7339
+Query 1/1: Action query time = 0.965 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8714
+t=74: Selected seed 195 with value = 0.8714
+Query 1/1: Action query time = 0.968 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9915
+t=90: Selected seed 195 with value = 0.9915
+Saved rollout MP4 at path ./rollouts/demochan800_t456/2026_08_01-18_15_09--episode=148--success=True--task=put_the_cream_cheese_in_the_bowl.mp4
+Saved rollout MP4 at path ./rollouts/demochan800_t456/2026_08_01-18_15_09--with_future_img--episode=148--success=True--task=put_the_cream_cheese_in_the_bowl.mp4
+Success: True
+# episodes completed so far: 148
+# successes: 121 (81.8%)
+
+Task: put the cream cheese in the bowl
+Starting episode 49...
+Query 1/1: Action query time = 0.986 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4160
+t=10: Selected seed 195 with value = 0.4160
+Query 1/1: Action query time = 0.974 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5263
+t=26: Selected seed 195 with value = 0.5263
+Query 1/1: Action query time = 1.047 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5171
+t=42: Selected seed 195 with value = 0.5171
+Query 1/1: Action query time = 1.083 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7203
+t=58: Selected seed 195 with value = 0.7203
+Query 1/1: Action query time = 1.094 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8778
+t=74: Selected seed 195 with value = 0.8778
+Saved rollout MP4 at path ./rollouts/demochan800_t456/2026_08_01-18_15_09--episode=149--success=True--task=put_the_cream_cheese_in_the_bowl.mp4
+Saved rollout MP4 at path ./rollouts/demochan800_t456/2026_08_01-18_15_09--with_future_img--episode=149--success=True--task=put_the_cream_cheese_in_the_bowl.mp4
+Success: True
+# episodes completed so far: 149
+# successes: 122 (81.9%)
+
+Task: put the cream cheese in the bowl
+Starting episode 50...
+Query 1/1: Action query time = 0.982 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4141
+t=10: Selected seed 195 with value = 0.4141
+Query 1/1: Action query time = 0.983 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5530
+t=26: Selected seed 195 with value = 0.5530
+Query 1/1: Action query time = 0.995 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6251
+t=42: Selected seed 195 with value = 0.6251
+Query 1/1: Action query time = 0.965 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5248
+t=58: Selected seed 195 with value = 0.5248
+Query 1/1: Action query time = 0.989 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7575
+t=74: Selected seed 195 with value = 0.7575
+Query 1/1: Action query time = 1.001 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8926
+t=90: Selected seed 195 with value = 0.8926
+Query 1/1: Action query time = 0.970 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9601
+t=106: Selected seed 195 with value = 0.9601
+Query 1/1: Action query time = 0.972 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9958
+t=122: Selected seed 195 with value = 0.9958
+Query 1/1: Action query time = 1.047 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9966
+t=138: Selected seed 195 with value = 0.9966
+Query 1/1: Action query time = 1.066 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9944
+t=154: Selected seed 195 with value = 0.9944
+Query 1/1: Action query time = 1.095 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9952
+t=170: Selected seed 195 with value = 0.9952
+Query 1/1: Action query time = 1.114 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9763
+t=186: Selected seed 195 with value = 0.9763
+Query 1/1: Action query time = 1.165 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7746
+t=202: Selected seed 195 with value = 0.7746
+Query 1/1: Action query time = 0.973 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8718
+t=218: Selected seed 195 with value = 0.8718
+Query 1/1: Action query time = 0.985 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9199
+t=234: Selected seed 195 with value = 0.9199
+Query 1/1: Action query time = 0.981 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9848
+t=250: Selected seed 195 with value = 0.9848
+Query 1/1: Action query time = 0.978 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=266: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.970 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=282: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.985 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9983
+t=298: Selected seed 195 with value = 0.9983
+Saved rollout MP4 at path ./rollouts/demochan800_t456/2026_08_01-18_15_09--episode=150--success=False--task=put_the_cream_cheese_in_the_bowl.mp4
+Saved rollout MP4 at path ./rollouts/demochan800_t456/2026_08_01-18_15_09--with_future_img--episode=150--success=False--task=put_the_cream_cheese_in_the_bowl.mp4
+Success: False
+# episodes completed so far: 150
+# successes: 122 (81.3%)
+Current task success rate: 0.7
+Current total success rate: 0.8133333333333334
+Final results:
+Total episodes: 150
+Total successes: 122
+Overall success rate: 0.8133 (81.3%)
diff --git a/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-02_15_28--demochan400_t0_s05.txt b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-02_15_28--demochan400_t0_s05.txt
new file mode 100644
index 0000000000000000000000000000000000000000..05fa8e93c3e150c8a142771958c77fa80dceaf3e
--- /dev/null
+++ b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-02_15_28--demochan400_t0_s05.txt
@@ -0,0 +1,181 @@
+Eval config: PolicyEvalConfig(suite='libero', model_family='cosmos', config='cosmos_predict2_2b_480p_libero_cl_stage_inference_only', ckpt_path='/home/azureuser/REGEN-main/old/cosmos_policy/cosmos_v2_finetune/cosmos_predict2_2b_480p_libero_goal_task6_regen_cl_demochan_from40k_2gpu/checkpoints/iter_000000400/model', planning_model_config_name='', planning_model_ckpt_path='', config_file='cosmos_policy/config/config.py', packnet_mask_path='', packnet_first_cl_libero_task=6, use_third_person_image=True, num_third_person_images=1, use_wrist_image=True, num_wrist_images=1, use_proprio=True, flip_images=True, use_variance_scale=False, use_jpeg_compression=True, ar_future_prediction=False, ar_value_prediction=False, ar_qvalue_prediction=False, num_denoising_steps_action=5, num_denoising_steps_future_state=1, num_denoising_steps_value=1, unnormalize_actions=True, normalize_proprio=True, dataset_stats_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/libero_goal_regen/dataset_statistics.json', t5_text_embeddings_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/t5_embeddings.pkl', trained_with_image_aug=True, chunk_size=16, num_open_loop_steps=16, deterministic=True, deterministic_reset=False, deterministic_reset_seed=None, use_ensemble_future_state_predictions=False, num_future_state_predictions_in_ensemble=3, future_state_ensemble_aggregation_scheme='average', use_ensemble_value_predictions=False, num_value_predictions_in_ensemble=5, value_ensemble_aggregation_scheme='average', search_depth=1, mask_current_state_action_for_value_prediction=False, mask_future_state_for_qvalue_prediction=False, num_queries_best_of_n=1, use_parallel_inference=False, available_gpus='0', parallel_timeout=15, parallel_tasks_across_gpus=False, task_suite_name='libero_goal', num_trials_per_task=50, task_ids_to_run='0', initial_states_path='DEFAULT', env_img_res=256, local_log_dir='/home/azureuser/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal', run_id_note='demochan400_t0_s05', use_wandb=False, wandb_entity='YOUR_ENTITY', wandb_project='YOUR_PROJECT', seed=195, randomize_seed=False, data_collection=False, jpeg_compress=True, reward_stop_threshold=None, reward_stop_consecutive_steps=3, use_gpt_reward=False, gpt_reward_model='gpt-5.4-mini', gpt_reward_stop_threshold=4, gpt_reward_timeout_s=30.0, save_rollout_video=False, eval_hdf5_path='', eval_hdf5_demo_key='demo_0', data_gen_demo_ids='', eval_episode_ids='5,21,37', replay_actions=False, replay_action_path_dir='', replay_hdf5_path='', data_generation=False, max_generation_steps=200, simple_task_max_steps=100, complex_task_max_steps=200)
+Using serial inference (parallel inference disabled)
+Task suite: libero_goal
+Number of tasks: 10
+Running only task IDs: [0]
+Using default initial states
+
+Task: open the middle drawer of the cabinet
+Starting episode 1...
+Query 1/1: Action query time = 5.058 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3502
+t=10: Selected seed 195 with value = 0.3502
+Query 1/1: Action query time = 5.556 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4155
+t=26: Selected seed 195 with value = 0.4155
+Query 1/1: Action query time = 4.498 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4674
+t=42: Selected seed 195 with value = 0.4674
+Query 1/1: Action query time = 5.134 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5610
+t=58: Selected seed 195 with value = 0.5610
+Query 1/1: Action query time = 5.213 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6634
+t=74: Selected seed 195 with value = 0.6634
+Query 1/1: Action query time = 5.320 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8610
+t=90: Selected seed 195 with value = 0.8610
+Query 1/1: Action query time = 5.635 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7971
+t=106: Selected seed 195 with value = 0.7971
+Query 1/1: Action query time = 4.726 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7542
+t=122: Selected seed 195 with value = 0.7542
+Query 1/1: Action query time = 5.176 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7280
+t=138: Selected seed 195 with value = 0.7280
+Query 1/1: Action query time = 4.757 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7238
+t=154: Selected seed 195 with value = 0.7238
+Query 1/1: Action query time = 5.434 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7071
+t=170: Selected seed 195 with value = 0.7071
+Query 1/1: Action query time = 4.343 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6815
+t=186: Selected seed 195 with value = 0.6815
+Query 1/1: Action query time = 4.469 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6749
+t=202: Selected seed 195 with value = 0.6749
+Query 1/1: Action query time = 4.821 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6916
+t=218: Selected seed 195 with value = 0.6916
+Query 1/1: Action query time = 5.330 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6906
+t=234: Selected seed 195 with value = 0.6906
+Query 1/1: Action query time = 5.309 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6949
+t=250: Selected seed 195 with value = 0.6949
+Query 1/1: Action query time = 5.068 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6988
+t=266: Selected seed 195 with value = 0.6988
+Query 1/1: Action query time = 4.777 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7018
+t=282: Selected seed 195 with value = 0.7018
+Query 1/1: Action query time = 4.169 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7022
+t=298: Selected seed 195 with value = 0.7022
+Saved rollout MP4 at path ./rollouts/demochan400_t0_s05/2026_08_02-02_15_28--with_future_img--episode=1--success=False--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: False
+# episodes completed so far: 1
+# successes: 0 (0.0%)
+
+Task: open the middle drawer of the cabinet
+Starting episode 2...
+Query 1/1: Action query time = 4.895 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3545
+t=10: Selected seed 195 with value = 0.3545
+Query 1/1: Action query time = 4.762 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4079
+t=26: Selected seed 195 with value = 0.4079
+Query 1/1: Action query time = 4.679 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4604
+t=42: Selected seed 195 with value = 0.4604
+Query 1/1: Action query time = 4.302 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5299
+t=58: Selected seed 195 with value = 0.5299
+Query 1/1: Action query time = 4.966 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6247
+t=74: Selected seed 195 with value = 0.6247
+Query 1/1: Action query time = 4.833 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7563
+t=90: Selected seed 195 with value = 0.7563
+Query 1/1: Action query time = 5.126 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8831
+t=106: Selected seed 195 with value = 0.8831
+Query 1/1: Action query time = 4.533 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9891
+t=122: Selected seed 195 with value = 0.9891
+Query 1/1: Action query time = 3.667 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=138: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/demochan400_t0_s05/2026_08_02-02_15_28--with_future_img--episode=2--success=True--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: True
+# episodes completed so far: 2
+# successes: 1 (50.0%)
+
+Task: open the middle drawer of the cabinet
+Starting episode 3...
+Query 1/1: Action query time = 5.755 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3637
+t=10: Selected seed 195 with value = 0.3637
+Query 1/1: Action query time = 4.645 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4071
+t=26: Selected seed 195 with value = 0.4071
+Query 1/1: Action query time = 3.429 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4612
+t=42: Selected seed 195 with value = 0.4612
+Query 1/1: Action query time = 4.420 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5459
+t=58: Selected seed 195 with value = 0.5459
+Query 1/1: Action query time = 5.872 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6627
+t=74: Selected seed 195 with value = 0.6627
+Query 1/1: Action query time = 5.246 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8421
+t=90: Selected seed 195 with value = 0.8421
+Query 1/1: Action query time = 4.393 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9513
+t=106: Selected seed 195 with value = 0.9513
+Query 1/1: Action query time = 4.812 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9714
+t=122: Selected seed 195 with value = 0.9714
+Query 1/1: Action query time = 2.989 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9993
+t=138: Selected seed 195 with value = 0.9993
+Saved rollout MP4 at path ./rollouts/demochan400_t0_s05/2026_08_02-02_15_28--with_future_img--episode=3--success=True--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: True
+# episodes completed so far: 3
+# successes: 2 (66.7%)
+Current task success rate: 0.6666666666666666
+Current total success rate: 0.6666666666666666
+Final results:
+Total episodes: 3
+Total successes: 2
+Overall success rate: 0.6667 (66.7%)
diff --git a/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-02_15_28--demochan400_t0_s09.txt b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-02_15_28--demochan400_t0_s09.txt
new file mode 100644
index 0000000000000000000000000000000000000000..c8a006e830c7e6a4bd4d1041e64ab1e6f07b9b1b
--- /dev/null
+++ b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-02_15_28--demochan400_t0_s09.txt
@@ -0,0 +1,221 @@
+Eval config: PolicyEvalConfig(suite='libero', model_family='cosmos', config='cosmos_predict2_2b_480p_libero_cl_stage_inference_only', ckpt_path='/home/azureuser/REGEN-main/old/cosmos_policy/cosmos_v2_finetune/cosmos_predict2_2b_480p_libero_goal_task6_regen_cl_demochan_from40k_2gpu/checkpoints/iter_000000400/model', planning_model_config_name='', planning_model_ckpt_path='', config_file='cosmos_policy/config/config.py', packnet_mask_path='', packnet_first_cl_libero_task=6, use_third_person_image=True, num_third_person_images=1, use_wrist_image=True, num_wrist_images=1, use_proprio=True, flip_images=True, use_variance_scale=False, use_jpeg_compression=True, ar_future_prediction=False, ar_value_prediction=False, ar_qvalue_prediction=False, num_denoising_steps_action=5, num_denoising_steps_future_state=1, num_denoising_steps_value=1, unnormalize_actions=True, normalize_proprio=True, dataset_stats_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/libero_goal_regen/dataset_statistics.json', t5_text_embeddings_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/t5_embeddings.pkl', trained_with_image_aug=True, chunk_size=16, num_open_loop_steps=16, deterministic=True, deterministic_reset=False, deterministic_reset_seed=None, use_ensemble_future_state_predictions=False, num_future_state_predictions_in_ensemble=3, future_state_ensemble_aggregation_scheme='average', use_ensemble_value_predictions=False, num_value_predictions_in_ensemble=5, value_ensemble_aggregation_scheme='average', search_depth=1, mask_current_state_action_for_value_prediction=False, mask_future_state_for_qvalue_prediction=False, num_queries_best_of_n=1, use_parallel_inference=False, available_gpus='0', parallel_timeout=15, parallel_tasks_across_gpus=False, task_suite_name='libero_goal', num_trials_per_task=50, task_ids_to_run='0', initial_states_path='DEFAULT', env_img_res=256, local_log_dir='/home/azureuser/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal', run_id_note='demochan400_t0_s09', use_wandb=False, wandb_entity='YOUR_ENTITY', wandb_project='YOUR_PROJECT', seed=195, randomize_seed=False, data_collection=False, jpeg_compress=True, reward_stop_threshold=None, reward_stop_consecutive_steps=3, use_gpt_reward=False, gpt_reward_model='gpt-5.4-mini', gpt_reward_stop_threshold=4, gpt_reward_timeout_s=30.0, save_rollout_video=False, eval_hdf5_path='', eval_hdf5_demo_key='demo_0', data_gen_demo_ids='', eval_episode_ids='9,25,41', replay_actions=False, replay_action_path_dir='', replay_hdf5_path='', data_generation=False, max_generation_steps=200, simple_task_max_steps=100, complex_task_max_steps=200)
+Using serial inference (parallel inference disabled)
+Task suite: libero_goal
+Number of tasks: 10
+Running only task IDs: [0]
+Using default initial states
+
+Task: open the middle drawer of the cabinet
+Starting episode 1...
+Query 1/1: Action query time = 4.728 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4009
+t=10: Selected seed 195 with value = 0.4009
+Query 1/1: Action query time = 4.400 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4348
+t=26: Selected seed 195 with value = 0.4348
+Query 1/1: Action query time = 3.929 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4979
+t=42: Selected seed 195 with value = 0.4979
+Query 1/1: Action query time = 4.862 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6042
+t=58: Selected seed 195 with value = 0.6042
+Query 1/1: Action query time = 5.246 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7079
+t=74: Selected seed 195 with value = 0.7079
+Query 1/1: Action query time = 5.131 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7865
+t=90: Selected seed 195 with value = 0.7865
+Query 1/1: Action query time = 5.427 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9069
+t=106: Selected seed 195 with value = 0.9069
+Query 1/1: Action query time = 6.001 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7730
+t=122: Selected seed 195 with value = 0.7730
+Query 1/1: Action query time = 4.732 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9153
+t=138: Selected seed 195 with value = 0.9153
+Query 1/1: Action query time = 4.291 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9639
+t=154: Selected seed 195 with value = 0.9639
+Query 1/1: Action query time = 2.897 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9743
+t=170: Selected seed 195 with value = 0.9743
+Query 1/1: Action query time = 3.934 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8994
+t=186: Selected seed 195 with value = 0.8994
+Query 1/1: Action query time = 4.972 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8459
+t=202: Selected seed 195 with value = 0.8459
+Query 1/1: Action query time = 4.210 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8043
+t=218: Selected seed 195 with value = 0.8043
+Query 1/1: Action query time = 4.979 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7841
+t=234: Selected seed 195 with value = 0.7841
+Query 1/1: Action query time = 4.835 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7738
+t=250: Selected seed 195 with value = 0.7738
+Query 1/1: Action query time = 5.052 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7615
+t=266: Selected seed 195 with value = 0.7615
+Query 1/1: Action query time = 4.725 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7562
+t=282: Selected seed 195 with value = 0.7562
+Query 1/1: Action query time = 4.571 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7515
+t=298: Selected seed 195 with value = 0.7515
+Saved rollout MP4 at path ./rollouts/demochan400_t0_s09/2026_08_02-02_15_28--with_future_img--episode=1--success=False--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: False
+# episodes completed so far: 1
+# successes: 0 (0.0%)
+
+Task: open the middle drawer of the cabinet
+Starting episode 2...
+Query 1/1: Action query time = 4.353 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3618
+t=10: Selected seed 195 with value = 0.3618
+Query 1/1: Action query time = 5.683 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4098
+t=26: Selected seed 195 with value = 0.4098
+Query 1/1: Action query time = 5.159 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4649
+t=42: Selected seed 195 with value = 0.4649
+Query 1/1: Action query time = 5.393 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5423
+t=58: Selected seed 195 with value = 0.5423
+Query 1/1: Action query time = 5.001 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6340
+t=74: Selected seed 195 with value = 0.6340
+Query 1/1: Action query time = 3.928 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7371
+t=90: Selected seed 195 with value = 0.7371
+Query 1/1: Action query time = 4.845 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9927
+t=106: Selected seed 195 with value = 0.9927
+Query 1/1: Action query time = 4.888 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=122: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.009 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=138: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/demochan400_t0_s09/2026_08_02-02_15_28--with_future_img--episode=2--success=True--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: True
+# episodes completed so far: 2
+# successes: 1 (50.0%)
+
+Task: open the middle drawer of the cabinet
+Starting episode 3...
+Query 1/1: Action query time = 3.630 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3464
+t=10: Selected seed 195 with value = 0.3464
+Query 1/1: Action query time = 3.642 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4045
+t=26: Selected seed 195 with value = 0.4045
+Query 1/1: Action query time = 5.474 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4692
+t=42: Selected seed 195 with value = 0.4692
+Query 1/1: Action query time = 4.949 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5559
+t=58: Selected seed 195 with value = 0.5559
+Query 1/1: Action query time = 4.059 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6518
+t=74: Selected seed 195 with value = 0.6518
+Query 1/1: Action query time = 3.982 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8297
+t=90: Selected seed 195 with value = 0.8297
+Query 1/1: Action query time = 4.639 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7193
+t=106: Selected seed 195 with value = 0.7193
+Query 1/1: Action query time = 2.925 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6930
+t=122: Selected seed 195 with value = 0.6930
+Query 1/1: Action query time = 2.891 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6914
+t=138: Selected seed 195 with value = 0.6914
+Query 1/1: Action query time = 3.446 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6810
+t=154: Selected seed 195 with value = 0.6810
+Query 1/1: Action query time = 2.734 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6734
+t=170: Selected seed 195 with value = 0.6734
+Query 1/1: Action query time = 3.266 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6807
+t=186: Selected seed 195 with value = 0.6807
+Query 1/1: Action query time = 2.877 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6932
+t=202: Selected seed 195 with value = 0.6932
+Query 1/1: Action query time = 3.061 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7010
+t=218: Selected seed 195 with value = 0.7010
+Query 1/1: Action query time = 1.377 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6772
+t=234: Selected seed 195 with value = 0.6772
+Query 1/1: Action query time = 1.675 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6706
+t=250: Selected seed 195 with value = 0.6706
+Query 1/1: Action query time = 1.583 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6814
+t=266: Selected seed 195 with value = 0.6814
+Query 1/1: Action query time = 1.568 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6505
+t=282: Selected seed 195 with value = 0.6505
+Query 1/1: Action query time = 1.272 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6939
+t=298: Selected seed 195 with value = 0.6939
+Saved rollout MP4 at path ./rollouts/demochan400_t0_s09/2026_08_02-02_15_28--with_future_img--episode=3--success=False--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: False
+# episodes completed so far: 3
+# successes: 1 (33.3%)
+Current task success rate: 0.3333333333333333
+Current total success rate: 0.3333333333333333
+Final results:
+Total episodes: 3
+Total successes: 1
+Overall success rate: 0.3333 (33.3%)
diff --git a/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-02_15_29--demochan400_t0_s00.txt b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-02_15_29--demochan400_t0_s00.txt
new file mode 100644
index 0000000000000000000000000000000000000000..af5497316324fbc17920951ed89747c14a2042eb
--- /dev/null
+++ b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-02_15_29--demochan400_t0_s00.txt
@@ -0,0 +1,344 @@
+Eval config: PolicyEvalConfig(suite='libero', model_family='cosmos', config='cosmos_predict2_2b_480p_libero_cl_stage_inference_only', ckpt_path='/home/azureuser/REGEN-main/old/cosmos_policy/cosmos_v2_finetune/cosmos_predict2_2b_480p_libero_goal_task6_regen_cl_demochan_from40k_2gpu/checkpoints/iter_000000400/model', planning_model_config_name='', planning_model_ckpt_path='', config_file='cosmos_policy/config/config.py', packnet_mask_path='', packnet_first_cl_libero_task=6, use_third_person_image=True, num_third_person_images=1, use_wrist_image=True, num_wrist_images=1, use_proprio=True, flip_images=True, use_variance_scale=False, use_jpeg_compression=True, ar_future_prediction=False, ar_value_prediction=False, ar_qvalue_prediction=False, num_denoising_steps_action=5, num_denoising_steps_future_state=1, num_denoising_steps_value=1, unnormalize_actions=True, normalize_proprio=True, dataset_stats_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/libero_goal_regen/dataset_statistics.json', t5_text_embeddings_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/t5_embeddings.pkl', trained_with_image_aug=True, chunk_size=16, num_open_loop_steps=16, deterministic=True, deterministic_reset=False, deterministic_reset_seed=None, use_ensemble_future_state_predictions=False, num_future_state_predictions_in_ensemble=3, future_state_ensemble_aggregation_scheme='average', use_ensemble_value_predictions=False, num_value_predictions_in_ensemble=5, value_ensemble_aggregation_scheme='average', search_depth=1, mask_current_state_action_for_value_prediction=False, mask_future_state_for_qvalue_prediction=False, num_queries_best_of_n=1, use_parallel_inference=False, available_gpus='0', parallel_timeout=15, parallel_tasks_across_gpus=False, task_suite_name='libero_goal', num_trials_per_task=50, task_ids_to_run='0', initial_states_path='DEFAULT', env_img_res=256, local_log_dir='/home/azureuser/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal', run_id_note='demochan400_t0_s00', use_wandb=False, wandb_entity='YOUR_ENTITY', wandb_project='YOUR_PROJECT', seed=195, randomize_seed=False, data_collection=False, jpeg_compress=True, reward_stop_threshold=None, reward_stop_consecutive_steps=3, use_gpt_reward=False, gpt_reward_model='gpt-5.4-mini', gpt_reward_stop_threshold=4, gpt_reward_timeout_s=30.0, save_rollout_video=False, eval_hdf5_path='', eval_hdf5_demo_key='demo_0', data_gen_demo_ids='', eval_episode_ids='0,16,32,48', replay_actions=False, replay_action_path_dir='', replay_hdf5_path='', data_generation=False, max_generation_steps=200, simple_task_max_steps=100, complex_task_max_steps=200)
+Using serial inference (parallel inference disabled)
+Task suite: libero_goal
+Number of tasks: 10
+Running only task IDs: [0]
+Using default initial states
+
+Task: open the middle drawer of the cabinet
+Starting episode 1...
+Query 1/1: Action query time = 5.057 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3461
+t=10: Selected seed 195 with value = 0.3461
+Query 1/1: Action query time = 5.257 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4106
+t=26: Selected seed 195 with value = 0.4106
+Query 1/1: Action query time = 5.009 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4733
+t=42: Selected seed 195 with value = 0.4733
+Query 1/1: Action query time = 5.058 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5804
+t=58: Selected seed 195 with value = 0.5804
+Query 1/1: Action query time = 6.019 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6774
+t=74: Selected seed 195 with value = 0.6774
+Query 1/1: Action query time = 5.768 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8400
+t=90: Selected seed 195 with value = 0.8400
+Query 1/1: Action query time = 4.849 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8440
+t=106: Selected seed 195 with value = 0.8440
+Query 1/1: Action query time = 4.466 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9704
+t=122: Selected seed 195 with value = 0.9704
+Query 1/1: Action query time = 5.345 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9912
+t=138: Selected seed 195 with value = 0.9912
+Query 1/1: Action query time = 3.597 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9884
+t=154: Selected seed 195 with value = 0.9884
+Query 1/1: Action query time = 4.935 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9838
+t=170: Selected seed 195 with value = 0.9838
+Query 1/1: Action query time = 5.921 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9771
+t=186: Selected seed 195 with value = 0.9771
+Query 1/1: Action query time = 5.836 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9686
+t=202: Selected seed 195 with value = 0.9686
+Query 1/1: Action query time = 5.620 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9391
+t=218: Selected seed 195 with value = 0.9391
+Query 1/1: Action query time = 5.344 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9398
+t=234: Selected seed 195 with value = 0.9398
+Query 1/1: Action query time = 4.969 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9377
+t=250: Selected seed 195 with value = 0.9377
+Query 1/1: Action query time = 4.374 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9383
+t=266: Selected seed 195 with value = 0.9383
+Query 1/1: Action query time = 5.075 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9371
+t=282: Selected seed 195 with value = 0.9371
+Query 1/1: Action query time = 5.377 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9372
+t=298: Selected seed 195 with value = 0.9372
+Saved rollout MP4 at path ./rollouts/demochan400_t0_s00/2026_08_02-02_15_29--with_future_img--episode=1--success=False--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: False
+# episodes completed so far: 1
+# successes: 0 (0.0%)
+
+Task: open the middle drawer of the cabinet
+Starting episode 2...
+Query 1/1: Action query time = 5.535 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3701
+t=10: Selected seed 195 with value = 0.3701
+Query 1/1: Action query time = 5.120 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4171
+t=26: Selected seed 195 with value = 0.4171
+Query 1/1: Action query time = 4.176 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4794
+t=42: Selected seed 195 with value = 0.4794
+Query 1/1: Action query time = 5.068 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5830
+t=58: Selected seed 195 with value = 0.5830
+Query 1/1: Action query time = 5.469 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6833
+t=74: Selected seed 195 with value = 0.6833
+Query 1/1: Action query time = 3.143 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8590
+t=90: Selected seed 195 with value = 0.8590
+Query 1/1: Action query time = 4.456 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8630
+t=106: Selected seed 195 with value = 0.8630
+Query 1/1: Action query time = 4.221 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9767
+t=122: Selected seed 195 with value = 0.9767
+Query 1/1: Action query time = 3.839 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9960
+t=138: Selected seed 195 with value = 0.9960
+Query 1/1: Action query time = 3.361 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9984
+t=154: Selected seed 195 with value = 0.9984
+Query 1/1: Action query time = 4.935 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=170: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.228 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9998
+t=186: Selected seed 195 with value = 0.9998
+Query 1/1: Action query time = 4.476 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9998
+t=202: Selected seed 195 with value = 0.9998
+Query 1/1: Action query time = 4.404 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=218: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 6.039 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9996
+t=234: Selected seed 195 with value = 0.9996
+Query 1/1: Action query time = 5.354 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9984
+t=250: Selected seed 195 with value = 0.9984
+Query 1/1: Action query time = 6.529 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9983
+t=266: Selected seed 195 with value = 0.9983
+Query 1/1: Action query time = 4.213 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9977
+t=282: Selected seed 195 with value = 0.9977
+Query 1/1: Action query time = 3.943 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9973
+t=298: Selected seed 195 with value = 0.9973
+Saved rollout MP4 at path ./rollouts/demochan400_t0_s00/2026_08_02-02_15_29--with_future_img--episode=2--success=False--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: False
+# episodes completed so far: 2
+# successes: 0 (0.0%)
+
+Task: open the middle drawer of the cabinet
+Starting episode 3...
+Query 1/1: Action query time = 3.810 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3402
+t=10: Selected seed 195 with value = 0.3402
+Query 1/1: Action query time = 3.444 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4104
+t=26: Selected seed 195 with value = 0.4104
+Query 1/1: Action query time = 3.486 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4737
+t=42: Selected seed 195 with value = 0.4737
+Query 1/1: Action query time = 3.524 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5596
+t=58: Selected seed 195 with value = 0.5596
+Query 1/1: Action query time = 2.919 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6832
+t=74: Selected seed 195 with value = 0.6832
+Query 1/1: Action query time = 2.933 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8189
+t=90: Selected seed 195 with value = 0.8189
+Query 1/1: Action query time = 2.932 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7947
+t=106: Selected seed 195 with value = 0.7947
+Query 1/1: Action query time = 3.046 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9863
+t=122: Selected seed 195 with value = 0.9863
+Query 1/1: Action query time = 1.860 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=138: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 1.797 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9972
+t=154: Selected seed 195 with value = 0.9972
+Query 1/1: Action query time = 1.238 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8302
+t=170: Selected seed 195 with value = 0.8302
+Query 1/1: Action query time = 0.983 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7937
+t=186: Selected seed 195 with value = 0.7937
+Query 1/1: Action query time = 0.957 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8026
+t=202: Selected seed 195 with value = 0.8026
+Query 1/1: Action query time = 0.959 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7854
+t=218: Selected seed 195 with value = 0.7854
+Query 1/1: Action query time = 0.969 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7943
+t=234: Selected seed 195 with value = 0.7943
+Query 1/1: Action query time = 0.976 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8036
+t=250: Selected seed 195 with value = 0.8036
+Query 1/1: Action query time = 0.963 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8124
+t=266: Selected seed 195 with value = 0.8124
+Query 1/1: Action query time = 0.955 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8196
+t=282: Selected seed 195 with value = 0.8196
+Query 1/1: Action query time = 0.955 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8039
+t=298: Selected seed 195 with value = 0.8039
+Saved rollout MP4 at path ./rollouts/demochan400_t0_s00/2026_08_02-02_15_29--with_future_img--episode=3--success=False--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: False
+# episodes completed so far: 3
+# successes: 0 (0.0%)
+
+Task: open the middle drawer of the cabinet
+Starting episode 4...
+Query 1/1: Action query time = 0.965 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3746
+t=10: Selected seed 195 with value = 0.3746
+Query 1/1: Action query time = 0.951 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4234
+t=26: Selected seed 195 with value = 0.4234
+Query 1/1: Action query time = 0.958 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4746
+t=42: Selected seed 195 with value = 0.4746
+Query 1/1: Action query time = 0.949 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5825
+t=58: Selected seed 195 with value = 0.5825
+Query 1/1: Action query time = 0.966 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6736
+t=74: Selected seed 195 with value = 0.6736
+Query 1/1: Action query time = 0.948 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9197
+t=90: Selected seed 195 with value = 0.9197
+Query 1/1: Action query time = 0.942 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9788
+t=106: Selected seed 195 with value = 0.9788
+Query 1/1: Action query time = 0.961 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7067
+t=122: Selected seed 195 with value = 0.7067
+Query 1/1: Action query time = 0.947 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7061
+t=138: Selected seed 195 with value = 0.7061
+Query 1/1: Action query time = 0.957 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7264
+t=154: Selected seed 195 with value = 0.7264
+Query 1/1: Action query time = 0.952 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7700
+t=170: Selected seed 195 with value = 0.7700
+Query 1/1: Action query time = 0.965 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7718
+t=186: Selected seed 195 with value = 0.7718
+Query 1/1: Action query time = 0.947 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7832
+t=202: Selected seed 195 with value = 0.7832
+Query 1/1: Action query time = 0.965 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7684
+t=218: Selected seed 195 with value = 0.7684
+Query 1/1: Action query time = 0.955 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7705
+t=234: Selected seed 195 with value = 0.7705
+Query 1/1: Action query time = 0.989 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7873
+t=250: Selected seed 195 with value = 0.7873
+Query 1/1: Action query time = 0.962 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8104
+t=266: Selected seed 195 with value = 0.8104
+Query 1/1: Action query time = 0.958 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8140
+t=282: Selected seed 195 with value = 0.8140
+Query 1/1: Action query time = 0.957 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8347
+t=298: Selected seed 195 with value = 0.8347
+Saved rollout MP4 at path ./rollouts/demochan400_t0_s00/2026_08_02-02_15_29--with_future_img--episode=4--success=False--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: False
+# episodes completed so far: 4
+# successes: 0 (0.0%)
+Current task success rate: 0.0
+Current total success rate: 0.0
+Final results:
+Total episodes: 4
+Total successes: 0
+Overall success rate: 0.0000 (0.0%)
diff --git a/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-02_15_29--demochan400_t0_s02.txt b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-02_15_29--demochan400_t0_s02.txt
new file mode 100644
index 0000000000000000000000000000000000000000..11cbde728256117b625789c36049ff0eacf8795b
--- /dev/null
+++ b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-02_15_29--demochan400_t0_s02.txt
@@ -0,0 +1,221 @@
+Eval config: PolicyEvalConfig(suite='libero', model_family='cosmos', config='cosmos_predict2_2b_480p_libero_cl_stage_inference_only', ckpt_path='/home/azureuser/REGEN-main/old/cosmos_policy/cosmos_v2_finetune/cosmos_predict2_2b_480p_libero_goal_task6_regen_cl_demochan_from40k_2gpu/checkpoints/iter_000000400/model', planning_model_config_name='', planning_model_ckpt_path='', config_file='cosmos_policy/config/config.py', packnet_mask_path='', packnet_first_cl_libero_task=6, use_third_person_image=True, num_third_person_images=1, use_wrist_image=True, num_wrist_images=1, use_proprio=True, flip_images=True, use_variance_scale=False, use_jpeg_compression=True, ar_future_prediction=False, ar_value_prediction=False, ar_qvalue_prediction=False, num_denoising_steps_action=5, num_denoising_steps_future_state=1, num_denoising_steps_value=1, unnormalize_actions=True, normalize_proprio=True, dataset_stats_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/libero_goal_regen/dataset_statistics.json', t5_text_embeddings_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/t5_embeddings.pkl', trained_with_image_aug=True, chunk_size=16, num_open_loop_steps=16, deterministic=True, deterministic_reset=False, deterministic_reset_seed=None, use_ensemble_future_state_predictions=False, num_future_state_predictions_in_ensemble=3, future_state_ensemble_aggregation_scheme='average', use_ensemble_value_predictions=False, num_value_predictions_in_ensemble=5, value_ensemble_aggregation_scheme='average', search_depth=1, mask_current_state_action_for_value_prediction=False, mask_future_state_for_qvalue_prediction=False, num_queries_best_of_n=1, use_parallel_inference=False, available_gpus='0', parallel_timeout=15, parallel_tasks_across_gpus=False, task_suite_name='libero_goal', num_trials_per_task=50, task_ids_to_run='0', initial_states_path='DEFAULT', env_img_res=256, local_log_dir='/home/azureuser/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal', run_id_note='demochan400_t0_s02', use_wandb=False, wandb_entity='YOUR_ENTITY', wandb_project='YOUR_PROJECT', seed=195, randomize_seed=False, data_collection=False, jpeg_compress=True, reward_stop_threshold=None, reward_stop_consecutive_steps=3, use_gpt_reward=False, gpt_reward_model='gpt-5.4-mini', gpt_reward_stop_threshold=4, gpt_reward_timeout_s=30.0, save_rollout_video=False, eval_hdf5_path='', eval_hdf5_demo_key='demo_0', data_gen_demo_ids='', eval_episode_ids='2,18,34', replay_actions=False, replay_action_path_dir='', replay_hdf5_path='', data_generation=False, max_generation_steps=200, simple_task_max_steps=100, complex_task_max_steps=200)
+Using serial inference (parallel inference disabled)
+Task suite: libero_goal
+Number of tasks: 10
+Running only task IDs: [0]
+Using default initial states
+
+Task: open the middle drawer of the cabinet
+Starting episode 1...
+Query 1/1: Action query time = 5.433 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3908
+t=10: Selected seed 195 with value = 0.3908
+Query 1/1: Action query time = 4.445 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4234
+t=26: Selected seed 195 with value = 0.4234
+Query 1/1: Action query time = 4.195 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4771
+t=42: Selected seed 195 with value = 0.4771
+Query 1/1: Action query time = 4.792 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5938
+t=58: Selected seed 195 with value = 0.5938
+Query 1/1: Action query time = 4.499 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6758
+t=74: Selected seed 195 with value = 0.6758
+Query 1/1: Action query time = 6.024 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9152
+t=90: Selected seed 195 with value = 0.9152
+Query 1/1: Action query time = 5.491 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9756
+t=106: Selected seed 195 with value = 0.9756
+Query 1/1: Action query time = 4.548 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9983
+t=122: Selected seed 195 with value = 0.9983
+Query 1/1: Action query time = 5.194 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=138: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/demochan400_t0_s02/2026_08_02-02_15_29--with_future_img--episode=1--success=True--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: True
+# episodes completed so far: 1
+# successes: 1 (100.0%)
+
+Task: open the middle drawer of the cabinet
+Starting episode 2...
+Query 1/1: Action query time = 4.993 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3524
+t=10: Selected seed 195 with value = 0.3524
+Query 1/1: Action query time = 5.432 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4108
+t=26: Selected seed 195 with value = 0.4108
+Query 1/1: Action query time = 5.453 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4670
+t=42: Selected seed 195 with value = 0.4670
+Query 1/1: Action query time = 5.067 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5706
+t=58: Selected seed 195 with value = 0.5706
+Query 1/1: Action query time = 5.136 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6902
+t=74: Selected seed 195 with value = 0.6902
+Query 1/1: Action query time = 4.892 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8235
+t=90: Selected seed 195 with value = 0.8235
+Query 1/1: Action query time = 5.712 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7938
+t=106: Selected seed 195 with value = 0.7938
+Query 1/1: Action query time = 4.432 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7226
+t=122: Selected seed 195 with value = 0.7226
+Query 1/1: Action query time = 5.052 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6985
+t=138: Selected seed 195 with value = 0.6985
+Query 1/1: Action query time = 4.432 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6957
+t=154: Selected seed 195 with value = 0.6957
+Query 1/1: Action query time = 4.781 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6889
+t=170: Selected seed 195 with value = 0.6889
+Query 1/1: Action query time = 4.582 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6600
+t=186: Selected seed 195 with value = 0.6600
+Query 1/1: Action query time = 4.735 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6548
+t=202: Selected seed 195 with value = 0.6548
+Query 1/1: Action query time = 4.912 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6531
+t=218: Selected seed 195 with value = 0.6531
+Query 1/1: Action query time = 4.293 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6476
+t=234: Selected seed 195 with value = 0.6476
+Query 1/1: Action query time = 4.989 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6271
+t=250: Selected seed 195 with value = 0.6271
+Query 1/1: Action query time = 4.725 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6274
+t=266: Selected seed 195 with value = 0.6274
+Query 1/1: Action query time = 4.773 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6311
+t=282: Selected seed 195 with value = 0.6311
+Query 1/1: Action query time = 4.620 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6309
+t=298: Selected seed 195 with value = 0.6309
+Saved rollout MP4 at path ./rollouts/demochan400_t0_s02/2026_08_02-02_15_29--with_future_img--episode=2--success=False--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: False
+# episodes completed so far: 2
+# successes: 1 (50.0%)
+
+Task: open the middle drawer of the cabinet
+Starting episode 3...
+Query 1/1: Action query time = 5.500 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3507
+t=10: Selected seed 195 with value = 0.3507
+Query 1/1: Action query time = 4.442 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4076
+t=26: Selected seed 195 with value = 0.4076
+Query 1/1: Action query time = 3.857 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4741
+t=42: Selected seed 195 with value = 0.4741
+Query 1/1: Action query time = 4.647 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5633
+t=58: Selected seed 195 with value = 0.5633
+Query 1/1: Action query time = 5.588 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6704
+t=74: Selected seed 195 with value = 0.6704
+Query 1/1: Action query time = 4.387 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8187
+t=90: Selected seed 195 with value = 0.8187
+Query 1/1: Action query time = 4.095 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8604
+t=106: Selected seed 195 with value = 0.8604
+Query 1/1: Action query time = 5.316 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8976
+t=122: Selected seed 195 with value = 0.8976
+Query 1/1: Action query time = 3.990 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9879
+t=138: Selected seed 195 with value = 0.9879
+Query 1/1: Action query time = 2.593 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9879
+t=154: Selected seed 195 with value = 0.9879
+Query 1/1: Action query time = 3.952 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9879
+t=170: Selected seed 195 with value = 0.9879
+Query 1/1: Action query time = 4.057 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9867
+t=186: Selected seed 195 with value = 0.9867
+Query 1/1: Action query time = 3.709 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9872
+t=202: Selected seed 195 with value = 0.9872
+Query 1/1: Action query time = 3.898 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9861
+t=218: Selected seed 195 with value = 0.9861
+Query 1/1: Action query time = 3.849 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9860
+t=234: Selected seed 195 with value = 0.9860
+Query 1/1: Action query time = 3.170 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9859
+t=250: Selected seed 195 with value = 0.9859
+Query 1/1: Action query time = 3.155 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9854
+t=266: Selected seed 195 with value = 0.9854
+Query 1/1: Action query time = 3.185 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9844
+t=282: Selected seed 195 with value = 0.9844
+Query 1/1: Action query time = 3.212 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9838
+t=298: Selected seed 195 with value = 0.9838
+Saved rollout MP4 at path ./rollouts/demochan400_t0_s02/2026_08_02-02_15_29--with_future_img--episode=3--success=False--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: False
+# episodes completed so far: 3
+# successes: 1 (33.3%)
+Current task success rate: 0.3333333333333333
+Current total success rate: 0.3333333333333333
+Final results:
+Total episodes: 3
+Total successes: 1
+Overall success rate: 0.3333 (33.3%)
diff --git a/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-02_15_29--demochan400_t0_s11.txt b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-02_15_29--demochan400_t0_s11.txt
new file mode 100644
index 0000000000000000000000000000000000000000..1ee0d2aae75b144ab7507ef363ba1daded4e69d3
--- /dev/null
+++ b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-02_15_29--demochan400_t0_s11.txt
@@ -0,0 +1,221 @@
+Eval config: PolicyEvalConfig(suite='libero', model_family='cosmos', config='cosmos_predict2_2b_480p_libero_cl_stage_inference_only', ckpt_path='/home/azureuser/REGEN-main/old/cosmos_policy/cosmos_v2_finetune/cosmos_predict2_2b_480p_libero_goal_task6_regen_cl_demochan_from40k_2gpu/checkpoints/iter_000000400/model', planning_model_config_name='', planning_model_ckpt_path='', config_file='cosmos_policy/config/config.py', packnet_mask_path='', packnet_first_cl_libero_task=6, use_third_person_image=True, num_third_person_images=1, use_wrist_image=True, num_wrist_images=1, use_proprio=True, flip_images=True, use_variance_scale=False, use_jpeg_compression=True, ar_future_prediction=False, ar_value_prediction=False, ar_qvalue_prediction=False, num_denoising_steps_action=5, num_denoising_steps_future_state=1, num_denoising_steps_value=1, unnormalize_actions=True, normalize_proprio=True, dataset_stats_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/libero_goal_regen/dataset_statistics.json', t5_text_embeddings_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/t5_embeddings.pkl', trained_with_image_aug=True, chunk_size=16, num_open_loop_steps=16, deterministic=True, deterministic_reset=False, deterministic_reset_seed=None, use_ensemble_future_state_predictions=False, num_future_state_predictions_in_ensemble=3, future_state_ensemble_aggregation_scheme='average', use_ensemble_value_predictions=False, num_value_predictions_in_ensemble=5, value_ensemble_aggregation_scheme='average', search_depth=1, mask_current_state_action_for_value_prediction=False, mask_future_state_for_qvalue_prediction=False, num_queries_best_of_n=1, use_parallel_inference=False, available_gpus='0', parallel_timeout=15, parallel_tasks_across_gpus=False, task_suite_name='libero_goal', num_trials_per_task=50, task_ids_to_run='0', initial_states_path='DEFAULT', env_img_res=256, local_log_dir='/home/azureuser/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal', run_id_note='demochan400_t0_s11', use_wandb=False, wandb_entity='YOUR_ENTITY', wandb_project='YOUR_PROJECT', seed=195, randomize_seed=False, data_collection=False, jpeg_compress=True, reward_stop_threshold=None, reward_stop_consecutive_steps=3, use_gpt_reward=False, gpt_reward_model='gpt-5.4-mini', gpt_reward_stop_threshold=4, gpt_reward_timeout_s=30.0, save_rollout_video=False, eval_hdf5_path='', eval_hdf5_demo_key='demo_0', data_gen_demo_ids='', eval_episode_ids='11,27,43', replay_actions=False, replay_action_path_dir='', replay_hdf5_path='', data_generation=False, max_generation_steps=200, simple_task_max_steps=100, complex_task_max_steps=200)
+Using serial inference (parallel inference disabled)
+Task suite: libero_goal
+Number of tasks: 10
+Running only task IDs: [0]
+Using default initial states
+
+Task: open the middle drawer of the cabinet
+Starting episode 1...
+Query 1/1: Action query time = 5.724 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3749
+t=10: Selected seed 195 with value = 0.3749
+Query 1/1: Action query time = 4.627 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4056
+t=26: Selected seed 195 with value = 0.4056
+Query 1/1: Action query time = 5.461 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4595
+t=42: Selected seed 195 with value = 0.4595
+Query 1/1: Action query time = 4.886 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5423
+t=58: Selected seed 195 with value = 0.5423
+Query 1/1: Action query time = 5.468 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6464
+t=74: Selected seed 195 with value = 0.6464
+Query 1/1: Action query time = 5.526 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7451
+t=90: Selected seed 195 with value = 0.7451
+Query 1/1: Action query time = 6.002 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9956
+t=106: Selected seed 195 with value = 0.9956
+Query 1/1: Action query time = 5.487 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=122: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.042 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=138: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/demochan400_t0_s11/2026_08_02-02_15_29--with_future_img--episode=1--success=True--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: True
+# episodes completed so far: 1
+# successes: 1 (100.0%)
+
+Task: open the middle drawer of the cabinet
+Starting episode 2...
+Query 1/1: Action query time = 4.928 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3729
+t=10: Selected seed 195 with value = 0.3729
+Query 1/1: Action query time = 4.210 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4250
+t=26: Selected seed 195 with value = 0.4250
+Query 1/1: Action query time = 4.487 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4808
+t=42: Selected seed 195 with value = 0.4808
+Query 1/1: Action query time = 5.005 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5948
+t=58: Selected seed 195 with value = 0.5948
+Query 1/1: Action query time = 5.132 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7036
+t=74: Selected seed 195 with value = 0.7036
+Query 1/1: Action query time = 4.697 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8035
+t=90: Selected seed 195 with value = 0.8035
+Query 1/1: Action query time = 4.501 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9069
+t=106: Selected seed 195 with value = 0.9069
+Query 1/1: Action query time = 3.953 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7614
+t=122: Selected seed 195 with value = 0.7614
+Query 1/1: Action query time = 4.611 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7531
+t=138: Selected seed 195 with value = 0.7531
+Query 1/1: Action query time = 4.616 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7655
+t=154: Selected seed 195 with value = 0.7655
+Query 1/1: Action query time = 4.203 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7370
+t=170: Selected seed 195 with value = 0.7370
+Query 1/1: Action query time = 4.914 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7507
+t=186: Selected seed 195 with value = 0.7507
+Query 1/1: Action query time = 5.136 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7571
+t=202: Selected seed 195 with value = 0.7571
+Query 1/1: Action query time = 5.031 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7285
+t=218: Selected seed 195 with value = 0.7285
+Query 1/1: Action query time = 5.639 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6865
+t=234: Selected seed 195 with value = 0.6865
+Query 1/1: Action query time = 4.261 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6786
+t=250: Selected seed 195 with value = 0.6786
+Query 1/1: Action query time = 3.844 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6777
+t=266: Selected seed 195 with value = 0.6777
+Query 1/1: Action query time = 4.279 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6754
+t=282: Selected seed 195 with value = 0.6754
+Query 1/1: Action query time = 4.603 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6752
+t=298: Selected seed 195 with value = 0.6752
+Saved rollout MP4 at path ./rollouts/demochan400_t0_s11/2026_08_02-02_15_29--with_future_img--episode=2--success=False--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: False
+# episodes completed so far: 2
+# successes: 1 (50.0%)
+
+Task: open the middle drawer of the cabinet
+Starting episode 3...
+Query 1/1: Action query time = 4.845 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3323
+t=10: Selected seed 195 with value = 0.3323
+Query 1/1: Action query time = 3.345 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4028
+t=26: Selected seed 195 with value = 0.4028
+Query 1/1: Action query time = 4.236 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4441
+t=42: Selected seed 195 with value = 0.4441
+Query 1/1: Action query time = 4.507 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5683
+t=58: Selected seed 195 with value = 0.5683
+Query 1/1: Action query time = 3.624 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6650
+t=74: Selected seed 195 with value = 0.6650
+Query 1/1: Action query time = 4.516 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8697
+t=90: Selected seed 195 with value = 0.8697
+Query 1/1: Action query time = 3.487 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7411
+t=106: Selected seed 195 with value = 0.7411
+Query 1/1: Action query time = 4.645 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6941
+t=122: Selected seed 195 with value = 0.6941
+Query 1/1: Action query time = 3.053 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6964
+t=138: Selected seed 195 with value = 0.6964
+Query 1/1: Action query time = 2.872 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7148
+t=154: Selected seed 195 with value = 0.7148
+Query 1/1: Action query time = 2.251 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7334
+t=170: Selected seed 195 with value = 0.7334
+Query 1/1: Action query time = 1.693 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7423
+t=186: Selected seed 195 with value = 0.7423
+Query 1/1: Action query time = 2.159 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7455
+t=202: Selected seed 195 with value = 0.7455
+Query 1/1: Action query time = 1.951 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7424
+t=218: Selected seed 195 with value = 0.7424
+Query 1/1: Action query time = 1.279 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7437
+t=234: Selected seed 195 with value = 0.7437
+Query 1/1: Action query time = 1.581 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7382
+t=250: Selected seed 195 with value = 0.7382
+Query 1/1: Action query time = 1.683 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7402
+t=266: Selected seed 195 with value = 0.7402
+Query 1/1: Action query time = 1.501 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7390
+t=282: Selected seed 195 with value = 0.7390
+Query 1/1: Action query time = 1.313 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7436
+t=298: Selected seed 195 with value = 0.7436
+Saved rollout MP4 at path ./rollouts/demochan400_t0_s11/2026_08_02-02_15_29--with_future_img--episode=3--success=False--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: False
+# episodes completed so far: 3
+# successes: 1 (33.3%)
+Current task success rate: 0.3333333333333333
+Current total success rate: 0.3333333333333333
+Final results:
+Total episodes: 3
+Total successes: 1
+Overall success rate: 0.3333 (33.3%)
diff --git a/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-02_15_29--demochan400_t0_s13.txt b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-02_15_29--demochan400_t0_s13.txt
new file mode 100644
index 0000000000000000000000000000000000000000..6363fda9561191a639199dc46001b949800d3c2b
--- /dev/null
+++ b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-02_15_29--demochan400_t0_s13.txt
@@ -0,0 +1,141 @@
+Eval config: PolicyEvalConfig(suite='libero', model_family='cosmos', config='cosmos_predict2_2b_480p_libero_cl_stage_inference_only', ckpt_path='/home/azureuser/REGEN-main/old/cosmos_policy/cosmos_v2_finetune/cosmos_predict2_2b_480p_libero_goal_task6_regen_cl_demochan_from40k_2gpu/checkpoints/iter_000000400/model', planning_model_config_name='', planning_model_ckpt_path='', config_file='cosmos_policy/config/config.py', packnet_mask_path='', packnet_first_cl_libero_task=6, use_third_person_image=True, num_third_person_images=1, use_wrist_image=True, num_wrist_images=1, use_proprio=True, flip_images=True, use_variance_scale=False, use_jpeg_compression=True, ar_future_prediction=False, ar_value_prediction=False, ar_qvalue_prediction=False, num_denoising_steps_action=5, num_denoising_steps_future_state=1, num_denoising_steps_value=1, unnormalize_actions=True, normalize_proprio=True, dataset_stats_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/libero_goal_regen/dataset_statistics.json', t5_text_embeddings_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/t5_embeddings.pkl', trained_with_image_aug=True, chunk_size=16, num_open_loop_steps=16, deterministic=True, deterministic_reset=False, deterministic_reset_seed=None, use_ensemble_future_state_predictions=False, num_future_state_predictions_in_ensemble=3, future_state_ensemble_aggregation_scheme='average', use_ensemble_value_predictions=False, num_value_predictions_in_ensemble=5, value_ensemble_aggregation_scheme='average', search_depth=1, mask_current_state_action_for_value_prediction=False, mask_future_state_for_qvalue_prediction=False, num_queries_best_of_n=1, use_parallel_inference=False, available_gpus='0', parallel_timeout=15, parallel_tasks_across_gpus=False, task_suite_name='libero_goal', num_trials_per_task=50, task_ids_to_run='0', initial_states_path='DEFAULT', env_img_res=256, local_log_dir='/home/azureuser/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal', run_id_note='demochan400_t0_s13', use_wandb=False, wandb_entity='YOUR_ENTITY', wandb_project='YOUR_PROJECT', seed=195, randomize_seed=False, data_collection=False, jpeg_compress=True, reward_stop_threshold=None, reward_stop_consecutive_steps=3, use_gpt_reward=False, gpt_reward_model='gpt-5.4-mini', gpt_reward_stop_threshold=4, gpt_reward_timeout_s=30.0, save_rollout_video=False, eval_hdf5_path='', eval_hdf5_demo_key='demo_0', data_gen_demo_ids='', eval_episode_ids='13,29,45', replay_actions=False, replay_action_path_dir='', replay_hdf5_path='', data_generation=False, max_generation_steps=200, simple_task_max_steps=100, complex_task_max_steps=200)
+Using serial inference (parallel inference disabled)
+Task suite: libero_goal
+Number of tasks: 10
+Running only task IDs: [0]
+Using default initial states
+
+Task: open the middle drawer of the cabinet
+Starting episode 1...
+Query 1/1: Action query time = 5.095 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3731
+t=10: Selected seed 195 with value = 0.3731
+Query 1/1: Action query time = 5.130 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4173
+t=26: Selected seed 195 with value = 0.4173
+Query 1/1: Action query time = 5.068 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4688
+t=42: Selected seed 195 with value = 0.4688
+Query 1/1: Action query time = 4.864 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5612
+t=58: Selected seed 195 with value = 0.5612
+Query 1/1: Action query time = 5.018 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6708
+t=74: Selected seed 195 with value = 0.6708
+Query 1/1: Action query time = 4.532 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8384
+t=90: Selected seed 195 with value = 0.8384
+Query 1/1: Action query time = 4.890 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9610
+t=106: Selected seed 195 with value = 0.9610
+Query 1/1: Action query time = 4.513 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9902
+t=122: Selected seed 195 with value = 0.9902
+Query 1/1: Action query time = 5.523 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9981
+t=138: Selected seed 195 with value = 0.9981
+Saved rollout MP4 at path ./rollouts/demochan400_t0_s13/2026_08_02-02_15_29--with_future_img--episode=1--success=True--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: True
+# episodes completed so far: 1
+# successes: 1 (100.0%)
+
+Task: open the middle drawer of the cabinet
+Starting episode 2...
+Query 1/1: Action query time = 5.294 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3662
+t=10: Selected seed 195 with value = 0.3662
+Query 1/1: Action query time = 5.380 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3886
+t=26: Selected seed 195 with value = 0.3886
+Query 1/1: Action query time = 6.060 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4475
+t=42: Selected seed 195 with value = 0.4475
+Query 1/1: Action query time = 5.859 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5681
+t=58: Selected seed 195 with value = 0.5681
+Query 1/1: Action query time = 5.318 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6641
+t=74: Selected seed 195 with value = 0.6641
+Query 1/1: Action query time = 5.074 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8195
+t=90: Selected seed 195 with value = 0.8195
+Query 1/1: Action query time = 4.169 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9550
+t=106: Selected seed 195 with value = 0.9550
+Query 1/1: Action query time = 4.398 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9786
+t=122: Selected seed 195 with value = 0.9786
+Query 1/1: Action query time = 3.950 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=138: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/demochan400_t0_s13/2026_08_02-02_15_29--with_future_img--episode=2--success=True--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: True
+# episodes completed so far: 2
+# successes: 2 (100.0%)
+
+Task: open the middle drawer of the cabinet
+Starting episode 3...
+Query 1/1: Action query time = 5.053 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3598
+t=10: Selected seed 195 with value = 0.3598
+Query 1/1: Action query time = 5.584 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4061
+t=26: Selected seed 195 with value = 0.4061
+Query 1/1: Action query time = 4.751 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4633
+t=42: Selected seed 195 with value = 0.4633
+Query 1/1: Action query time = 4.641 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5336
+t=58: Selected seed 195 with value = 0.5336
+Query 1/1: Action query time = 4.835 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6287
+t=74: Selected seed 195 with value = 0.6287
+Query 1/1: Action query time = 4.443 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7553
+t=90: Selected seed 195 with value = 0.7553
+Query 1/1: Action query time = 4.141 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9111
+t=106: Selected seed 195 with value = 0.9111
+Query 1/1: Action query time = 4.264 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=122: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.776 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=138: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/demochan400_t0_s13/2026_08_02-02_15_29--with_future_img--episode=3--success=True--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: True
+# episodes completed so far: 3
+# successes: 3 (100.0%)
+Current task success rate: 1.0
+Current total success rate: 1.0
+Final results:
+Total episodes: 3
+Total successes: 3
+Overall success rate: 1.0000 (100.0%)
diff --git a/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-02_21_24--demochan400_t1_s00.txt b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-02_21_24--demochan400_t1_s00.txt
new file mode 100644
index 0000000000000000000000000000000000000000..503e5f77a6ccb3f24ed562587affcb8ee79dd8a8
--- /dev/null
+++ b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-02_21_24--demochan400_t1_s00.txt
@@ -0,0 +1,192 @@
+Eval config: PolicyEvalConfig(suite='libero', model_family='cosmos', config='cosmos_predict2_2b_480p_libero_cl_stage_inference_only', ckpt_path='/home/azureuser/REGEN-main/old/cosmos_policy/cosmos_v2_finetune/cosmos_predict2_2b_480p_libero_goal_task6_regen_cl_demochan_from40k_2gpu/checkpoints/iter_000000400/model', planning_model_config_name='', planning_model_ckpt_path='', config_file='cosmos_policy/config/config.py', packnet_mask_path='', packnet_first_cl_libero_task=6, use_third_person_image=True, num_third_person_images=1, use_wrist_image=True, num_wrist_images=1, use_proprio=True, flip_images=True, use_variance_scale=False, use_jpeg_compression=True, ar_future_prediction=False, ar_value_prediction=False, ar_qvalue_prediction=False, num_denoising_steps_action=5, num_denoising_steps_future_state=1, num_denoising_steps_value=1, unnormalize_actions=True, normalize_proprio=True, dataset_stats_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/libero_goal_regen/dataset_statistics.json', t5_text_embeddings_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/t5_embeddings.pkl', trained_with_image_aug=True, chunk_size=16, num_open_loop_steps=16, deterministic=True, deterministic_reset=False, deterministic_reset_seed=None, use_ensemble_future_state_predictions=False, num_future_state_predictions_in_ensemble=3, future_state_ensemble_aggregation_scheme='average', use_ensemble_value_predictions=False, num_value_predictions_in_ensemble=5, value_ensemble_aggregation_scheme='average', search_depth=1, mask_current_state_action_for_value_prediction=False, mask_future_state_for_qvalue_prediction=False, num_queries_best_of_n=1, use_parallel_inference=False, available_gpus='0', parallel_timeout=15, parallel_tasks_across_gpus=False, task_suite_name='libero_goal', num_trials_per_task=50, task_ids_to_run='1', initial_states_path='DEFAULT', env_img_res=256, local_log_dir='/home/azureuser/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal', run_id_note='demochan400_t1_s00', use_wandb=False, wandb_entity='YOUR_ENTITY', wandb_project='YOUR_PROJECT', seed=195, randomize_seed=False, data_collection=False, jpeg_compress=True, reward_stop_threshold=None, reward_stop_consecutive_steps=3, use_gpt_reward=False, gpt_reward_model='gpt-5.4-mini', gpt_reward_stop_threshold=4, gpt_reward_timeout_s=30.0, save_rollout_video=False, eval_hdf5_path='', eval_hdf5_demo_key='demo_0', data_gen_demo_ids='', eval_episode_ids='0,16,32,48', replay_actions=False, replay_action_path_dir='', replay_hdf5_path='', data_generation=False, max_generation_steps=200, simple_task_max_steps=100, complex_task_max_steps=200)
+Using serial inference (parallel inference disabled)
+Task suite: libero_goal
+Number of tasks: 10
+Running only task IDs: [1]
+Using default initial states
+
+Task: put the bowl on the stove
+Starting episode 1...
+Query 1/1: Action query time = 2.179 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4873
+t=10: Selected seed 195 with value = 0.4873
+Query 1/1: Action query time = 2.490 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5765
+t=26: Selected seed 195 with value = 0.5765
+Query 1/1: Action query time = 4.992 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7029
+t=42: Selected seed 195 with value = 0.7029
+Query 1/1: Action query time = 2.985 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8034
+t=58: Selected seed 195 with value = 0.8034
+Query 1/1: Action query time = 5.487 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9195
+t=74: Selected seed 195 with value = 0.9195
+Query 1/1: Action query time = 5.600 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 3.707 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9981
+t=106: Selected seed 195 with value = 0.9981
+Saved rollout MP4 at path ./rollouts/demochan400_t1_s00/2026_08_02-02_21_24--with_future_img--episode=1--success=True--task=put_the_bowl_on_the_stove.mp4
+Success: True
+# episodes completed so far: 1
+# successes: 1 (100.0%)
+
+Task: put the bowl on the stove
+Starting episode 2...
+Query 1/1: Action query time = 2.342 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4983
+t=10: Selected seed 195 with value = 0.4983
+Query 1/1: Action query time = 5.776 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5872
+t=26: Selected seed 195 with value = 0.5872
+Query 1/1: Action query time = 4.929 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7030
+t=42: Selected seed 195 with value = 0.7030
+Query 1/1: Action query time = 5.552 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8052
+t=58: Selected seed 195 with value = 0.8052
+Query 1/1: Action query time = 4.833 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9214
+t=74: Selected seed 195 with value = 0.9214
+Query 1/1: Action query time = 4.764 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/demochan400_t1_s00/2026_08_02-02_21_24--with_future_img--episode=2--success=True--task=put_the_bowl_on_the_stove.mp4
+Success: True
+# episodes completed so far: 2
+# successes: 2 (100.0%)
+
+Task: put the bowl on the stove
+Starting episode 3...
+Query 1/1: Action query time = 2.392 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5282
+t=10: Selected seed 195 with value = 0.5282
+Query 1/1: Action query time = 2.430 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5922
+t=26: Selected seed 195 with value = 0.5922
+Query 1/1: Action query time = 5.346 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6888
+t=42: Selected seed 195 with value = 0.6888
+Query 1/1: Action query time = 3.996 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7118
+t=58: Selected seed 195 with value = 0.7118
+Query 1/1: Action query time = 5.108 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9202
+t=74: Selected seed 195 with value = 0.9202
+Query 1/1: Action query time = 4.683 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9857
+t=90: Selected seed 195 with value = 0.9857
+Query 1/1: Action query time = 4.996 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9980
+t=106: Selected seed 195 with value = 0.9980
+Query 1/1: Action query time = 3.502 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=122: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 3.449 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=138: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 2.374 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=154: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 3.274 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=170: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 2.578 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=186: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 2.638 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=202: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 2.295 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=218: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 1.317 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=234: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 1.325 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=250: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 1.286 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=266: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 1.255 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=282: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 1.896 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=298: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/demochan400_t1_s00/2026_08_02-02_21_24--with_future_img--episode=3--success=False--task=put_the_bowl_on_the_stove.mp4
+Success: False
+# episodes completed so far: 3
+# successes: 2 (66.7%)
+
+Task: put the bowl on the stove
+Starting episode 4...
+Query 1/1: Action query time = 1.090 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4932
+t=10: Selected seed 195 with value = 0.4932
+Query 1/1: Action query time = 1.007 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5572
+t=26: Selected seed 195 with value = 0.5572
+Query 1/1: Action query time = 0.984 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6641
+t=42: Selected seed 195 with value = 0.6641
+Query 1/1: Action query time = 0.980 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7211
+t=58: Selected seed 195 with value = 0.7211
+Query 1/1: Action query time = 0.982 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8515
+t=74: Selected seed 195 with value = 0.8515
+Query 1/1: Action query time = 0.988 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9849
+t=90: Selected seed 195 with value = 0.9849
+Saved rollout MP4 at path ./rollouts/demochan400_t1_s00/2026_08_02-02_21_24--with_future_img--episode=4--success=True--task=put_the_bowl_on_the_stove.mp4
+Success: True
+# episodes completed so far: 4
+# successes: 3 (75.0%)
+Current task success rate: 0.75
+Current total success rate: 0.75
+Final results:
+Total episodes: 4
+Total successes: 3
+Overall success rate: 0.7500 (75.0%)
diff --git a/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-02_21_24--demochan400_t1_s07.txt b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-02_21_24--demochan400_t1_s07.txt
new file mode 100644
index 0000000000000000000000000000000000000000..be516ccd5cfec00c16701fdfa96f236b032f10a0
--- /dev/null
+++ b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-02_21_24--demochan400_t1_s07.txt
@@ -0,0 +1,105 @@
+Eval config: PolicyEvalConfig(suite='libero', model_family='cosmos', config='cosmos_predict2_2b_480p_libero_cl_stage_inference_only', ckpt_path='/home/azureuser/REGEN-main/old/cosmos_policy/cosmos_v2_finetune/cosmos_predict2_2b_480p_libero_goal_task6_regen_cl_demochan_from40k_2gpu/checkpoints/iter_000000400/model', planning_model_config_name='', planning_model_ckpt_path='', config_file='cosmos_policy/config/config.py', packnet_mask_path='', packnet_first_cl_libero_task=6, use_third_person_image=True, num_third_person_images=1, use_wrist_image=True, num_wrist_images=1, use_proprio=True, flip_images=True, use_variance_scale=False, use_jpeg_compression=True, ar_future_prediction=False, ar_value_prediction=False, ar_qvalue_prediction=False, num_denoising_steps_action=5, num_denoising_steps_future_state=1, num_denoising_steps_value=1, unnormalize_actions=True, normalize_proprio=True, dataset_stats_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/libero_goal_regen/dataset_statistics.json', t5_text_embeddings_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/t5_embeddings.pkl', trained_with_image_aug=True, chunk_size=16, num_open_loop_steps=16, deterministic=True, deterministic_reset=False, deterministic_reset_seed=None, use_ensemble_future_state_predictions=False, num_future_state_predictions_in_ensemble=3, future_state_ensemble_aggregation_scheme='average', use_ensemble_value_predictions=False, num_value_predictions_in_ensemble=5, value_ensemble_aggregation_scheme='average', search_depth=1, mask_current_state_action_for_value_prediction=False, mask_future_state_for_qvalue_prediction=False, num_queries_best_of_n=1, use_parallel_inference=False, available_gpus='0', parallel_timeout=15, parallel_tasks_across_gpus=False, task_suite_name='libero_goal', num_trials_per_task=50, task_ids_to_run='1', initial_states_path='DEFAULT', env_img_res=256, local_log_dir='/home/azureuser/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal', run_id_note='demochan400_t1_s07', use_wandb=False, wandb_entity='YOUR_ENTITY', wandb_project='YOUR_PROJECT', seed=195, randomize_seed=False, data_collection=False, jpeg_compress=True, reward_stop_threshold=None, reward_stop_consecutive_steps=3, use_gpt_reward=False, gpt_reward_model='gpt-5.4-mini', gpt_reward_stop_threshold=4, gpt_reward_timeout_s=30.0, save_rollout_video=False, eval_hdf5_path='', eval_hdf5_demo_key='demo_0', data_gen_demo_ids='', eval_episode_ids='7,23,39', replay_actions=False, replay_action_path_dir='', replay_hdf5_path='', data_generation=False, max_generation_steps=200, simple_task_max_steps=100, complex_task_max_steps=200)
+Using serial inference (parallel inference disabled)
+Task suite: libero_goal
+Number of tasks: 10
+Running only task IDs: [1]
+Using default initial states
+
+Task: put the bowl on the stove
+Starting episode 1...
+Query 1/1: Action query time = 6.780 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4895
+t=10: Selected seed 195 with value = 0.4895
+Query 1/1: Action query time = 3.928 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5869
+t=26: Selected seed 195 with value = 0.5869
+Query 1/1: Action query time = 4.581 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7053
+t=42: Selected seed 195 with value = 0.7053
+Query 1/1: Action query time = 5.792 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8059
+t=58: Selected seed 195 with value = 0.8059
+Query 1/1: Action query time = 3.926 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9352
+t=74: Selected seed 195 with value = 0.9352
+Query 1/1: Action query time = 2.333 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9996
+t=90: Selected seed 195 with value = 0.9996
+Saved rollout MP4 at path ./rollouts/demochan400_t1_s07/2026_08_02-02_21_24--with_future_img--episode=1--success=True--task=put_the_bowl_on_the_stove.mp4
+Success: True
+# episodes completed so far: 1
+# successes: 1 (100.0%)
+
+Task: put the bowl on the stove
+Starting episode 2...
+Query 1/1: Action query time = 5.275 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5002
+t=10: Selected seed 195 with value = 0.5002
+Query 1/1: Action query time = 4.814 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5544
+t=26: Selected seed 195 with value = 0.5544
+Query 1/1: Action query time = 5.537 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6534
+t=42: Selected seed 195 with value = 0.6534
+Query 1/1: Action query time = 5.044 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7348
+t=58: Selected seed 195 with value = 0.7348
+Query 1/1: Action query time = 4.807 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8708
+t=74: Selected seed 195 with value = 0.8708
+Query 1/1: Action query time = 3.140 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/demochan400_t1_s07/2026_08_02-02_21_24--with_future_img--episode=2--success=True--task=put_the_bowl_on_the_stove.mp4
+Success: True
+# episodes completed so far: 2
+# successes: 2 (100.0%)
+
+Task: put the bowl on the stove
+Starting episode 3...
+Query 1/1: Action query time = 3.763 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5245
+t=10: Selected seed 195 with value = 0.5245
+Query 1/1: Action query time = 4.933 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5724
+t=26: Selected seed 195 with value = 0.5724
+Query 1/1: Action query time = 5.165 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7197
+t=42: Selected seed 195 with value = 0.7197
+Query 1/1: Action query time = 4.903 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7122
+t=58: Selected seed 195 with value = 0.7122
+Query 1/1: Action query time = 4.556 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8461
+t=74: Selected seed 195 with value = 0.8461
+Query 1/1: Action query time = 4.336 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9826
+t=90: Selected seed 195 with value = 0.9826
+Saved rollout MP4 at path ./rollouts/demochan400_t1_s07/2026_08_02-02_21_24--with_future_img--episode=3--success=True--task=put_the_bowl_on_the_stove.mp4
+Success: True
+# episodes completed so far: 3
+# successes: 3 (100.0%)
+Current task success rate: 1.0
+Current total success rate: 1.0
+Final results:
+Total episodes: 3
+Total successes: 3
+Overall success rate: 1.0000 (100.0%)
diff --git a/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-02_21_25--demochan400_t1_s10.txt b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-02_21_25--demochan400_t1_s10.txt
new file mode 100644
index 0000000000000000000000000000000000000000..a5ae3d4052045e10ee9f4b3138f2480422c4aada
--- /dev/null
+++ b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-02_21_25--demochan400_t1_s10.txt
@@ -0,0 +1,157 @@
+Eval config: PolicyEvalConfig(suite='libero', model_family='cosmos', config='cosmos_predict2_2b_480p_libero_cl_stage_inference_only', ckpt_path='/home/azureuser/REGEN-main/old/cosmos_policy/cosmos_v2_finetune/cosmos_predict2_2b_480p_libero_goal_task6_regen_cl_demochan_from40k_2gpu/checkpoints/iter_000000400/model', planning_model_config_name='', planning_model_ckpt_path='', config_file='cosmos_policy/config/config.py', packnet_mask_path='', packnet_first_cl_libero_task=6, use_third_person_image=True, num_third_person_images=1, use_wrist_image=True, num_wrist_images=1, use_proprio=True, flip_images=True, use_variance_scale=False, use_jpeg_compression=True, ar_future_prediction=False, ar_value_prediction=False, ar_qvalue_prediction=False, num_denoising_steps_action=5, num_denoising_steps_future_state=1, num_denoising_steps_value=1, unnormalize_actions=True, normalize_proprio=True, dataset_stats_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/libero_goal_regen/dataset_statistics.json', t5_text_embeddings_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/t5_embeddings.pkl', trained_with_image_aug=True, chunk_size=16, num_open_loop_steps=16, deterministic=True, deterministic_reset=False, deterministic_reset_seed=None, use_ensemble_future_state_predictions=False, num_future_state_predictions_in_ensemble=3, future_state_ensemble_aggregation_scheme='average', use_ensemble_value_predictions=False, num_value_predictions_in_ensemble=5, value_ensemble_aggregation_scheme='average', search_depth=1, mask_current_state_action_for_value_prediction=False, mask_future_state_for_qvalue_prediction=False, num_queries_best_of_n=1, use_parallel_inference=False, available_gpus='0', parallel_timeout=15, parallel_tasks_across_gpus=False, task_suite_name='libero_goal', num_trials_per_task=50, task_ids_to_run='1', initial_states_path='DEFAULT', env_img_res=256, local_log_dir='/home/azureuser/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal', run_id_note='demochan400_t1_s10', use_wandb=False, wandb_entity='YOUR_ENTITY', wandb_project='YOUR_PROJECT', seed=195, randomize_seed=False, data_collection=False, jpeg_compress=True, reward_stop_threshold=None, reward_stop_consecutive_steps=3, use_gpt_reward=False, gpt_reward_model='gpt-5.4-mini', gpt_reward_stop_threshold=4, gpt_reward_timeout_s=30.0, save_rollout_video=False, eval_hdf5_path='', eval_hdf5_demo_key='demo_0', data_gen_demo_ids='', eval_episode_ids='10,26,42', replay_actions=False, replay_action_path_dir='', replay_hdf5_path='', data_generation=False, max_generation_steps=200, simple_task_max_steps=100, complex_task_max_steps=200)
+Using serial inference (parallel inference disabled)
+Task suite: libero_goal
+Number of tasks: 10
+Running only task IDs: [1]
+Using default initial states
+
+Task: put the bowl on the stove
+Starting episode 1...
+Query 1/1: Action query time = 3.216 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4857
+t=10: Selected seed 195 with value = 0.4857
+Query 1/1: Action query time = 4.680 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5933
+t=26: Selected seed 195 with value = 0.5933
+Query 1/1: Action query time = 6.091 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6770
+t=42: Selected seed 195 with value = 0.6770
+Query 1/1: Action query time = 5.144 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7935
+t=58: Selected seed 195 with value = 0.7935
+Query 1/1: Action query time = 5.080 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9102
+t=74: Selected seed 195 with value = 0.9102
+Query 1/1: Action query time = 4.220 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9986
+t=90: Selected seed 195 with value = 0.9986
+Saved rollout MP4 at path ./rollouts/demochan400_t1_s10/2026_08_02-02_21_25--with_future_img--episode=1--success=True--task=put_the_bowl_on_the_stove.mp4
+Success: True
+# episodes completed so far: 1
+# successes: 1 (100.0%)
+
+Task: put the bowl on the stove
+Starting episode 2...
+Query 1/1: Action query time = 3.208 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5030
+t=10: Selected seed 195 with value = 0.5030
+Query 1/1: Action query time = 5.440 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5918
+t=26: Selected seed 195 with value = 0.5918
+Query 1/1: Action query time = 5.408 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7247
+t=42: Selected seed 195 with value = 0.7247
+Query 1/1: Action query time = 4.856 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8029
+t=58: Selected seed 195 with value = 0.8029
+Query 1/1: Action query time = 5.249 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8936
+t=74: Selected seed 195 with value = 0.8936
+Query 1/1: Action query time = 3.987 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9689
+t=90: Selected seed 195 with value = 0.9689
+Query 1/1: Action query time = 4.731 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9890
+t=106: Selected seed 195 with value = 0.9890
+Query 1/1: Action query time = 4.761 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9928
+t=122: Selected seed 195 with value = 0.9928
+Query 1/1: Action query time = 4.299 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=138: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.655 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9776
+t=154: Selected seed 195 with value = 0.9776
+Query 1/1: Action query time = 4.737 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=170: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 5.200 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=186: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.861 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=202: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 3.929 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=218: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.137 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=234: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 3.282 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=250: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 1.831 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=266: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 1.565 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=282: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 2.590 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9877
+t=298: Selected seed 195 with value = 0.9877
+Saved rollout MP4 at path ./rollouts/demochan400_t1_s10/2026_08_02-02_21_25--with_future_img--episode=2--success=False--task=put_the_bowl_on_the_stove.mp4
+Success: False
+# episodes completed so far: 2
+# successes: 1 (50.0%)
+
+Task: put the bowl on the stove
+Starting episode 3...
+Query 1/1: Action query time = 1.584 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4995
+t=10: Selected seed 195 with value = 0.4995
+Query 1/1: Action query time = 1.441 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5661
+t=26: Selected seed 195 with value = 0.5661
+Query 1/1: Action query time = 1.349 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6903
+t=42: Selected seed 195 with value = 0.6903
+Query 1/1: Action query time = 0.972 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8115
+t=58: Selected seed 195 with value = 0.8115
+Query 1/1: Action query time = 0.963 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9285
+t=74: Selected seed 195 with value = 0.9285
+Query 1/1: Action query time = 1.001 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/demochan400_t1_s10/2026_08_02-02_21_25--with_future_img--episode=3--success=True--task=put_the_bowl_on_the_stove.mp4
+Success: True
+# episodes completed so far: 3
+# successes: 2 (66.7%)
+Current task success rate: 0.6666666666666666
+Current total success rate: 0.6666666666666666
+Final results:
+Total episodes: 3
+Total successes: 2
+Overall success rate: 0.6667 (66.7%)
diff --git a/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-02_21_26--demochan400_t1_s11.txt b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-02_21_26--demochan400_t1_s11.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0c8c357371fcf5626614f769392249ff5b0110e6
--- /dev/null
+++ b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-02_21_26--demochan400_t1_s11.txt
@@ -0,0 +1,105 @@
+Eval config: PolicyEvalConfig(suite='libero', model_family='cosmos', config='cosmos_predict2_2b_480p_libero_cl_stage_inference_only', ckpt_path='/home/azureuser/REGEN-main/old/cosmos_policy/cosmos_v2_finetune/cosmos_predict2_2b_480p_libero_goal_task6_regen_cl_demochan_from40k_2gpu/checkpoints/iter_000000400/model', planning_model_config_name='', planning_model_ckpt_path='', config_file='cosmos_policy/config/config.py', packnet_mask_path='', packnet_first_cl_libero_task=6, use_third_person_image=True, num_third_person_images=1, use_wrist_image=True, num_wrist_images=1, use_proprio=True, flip_images=True, use_variance_scale=False, use_jpeg_compression=True, ar_future_prediction=False, ar_value_prediction=False, ar_qvalue_prediction=False, num_denoising_steps_action=5, num_denoising_steps_future_state=1, num_denoising_steps_value=1, unnormalize_actions=True, normalize_proprio=True, dataset_stats_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/libero_goal_regen/dataset_statistics.json', t5_text_embeddings_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/t5_embeddings.pkl', trained_with_image_aug=True, chunk_size=16, num_open_loop_steps=16, deterministic=True, deterministic_reset=False, deterministic_reset_seed=None, use_ensemble_future_state_predictions=False, num_future_state_predictions_in_ensemble=3, future_state_ensemble_aggregation_scheme='average', use_ensemble_value_predictions=False, num_value_predictions_in_ensemble=5, value_ensemble_aggregation_scheme='average', search_depth=1, mask_current_state_action_for_value_prediction=False, mask_future_state_for_qvalue_prediction=False, num_queries_best_of_n=1, use_parallel_inference=False, available_gpus='0', parallel_timeout=15, parallel_tasks_across_gpus=False, task_suite_name='libero_goal', num_trials_per_task=50, task_ids_to_run='1', initial_states_path='DEFAULT', env_img_res=256, local_log_dir='/home/azureuser/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal', run_id_note='demochan400_t1_s11', use_wandb=False, wandb_entity='YOUR_ENTITY', wandb_project='YOUR_PROJECT', seed=195, randomize_seed=False, data_collection=False, jpeg_compress=True, reward_stop_threshold=None, reward_stop_consecutive_steps=3, use_gpt_reward=False, gpt_reward_model='gpt-5.4-mini', gpt_reward_stop_threshold=4, gpt_reward_timeout_s=30.0, save_rollout_video=False, eval_hdf5_path='', eval_hdf5_demo_key='demo_0', data_gen_demo_ids='', eval_episode_ids='11,27,43', replay_actions=False, replay_action_path_dir='', replay_hdf5_path='', data_generation=False, max_generation_steps=200, simple_task_max_steps=100, complex_task_max_steps=200)
+Using serial inference (parallel inference disabled)
+Task suite: libero_goal
+Number of tasks: 10
+Running only task IDs: [1]
+Using default initial states
+
+Task: put the bowl on the stove
+Starting episode 1...
+Query 1/1: Action query time = 4.240 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5126
+t=10: Selected seed 195 with value = 0.5126
+Query 1/1: Action query time = 4.191 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5829
+t=26: Selected seed 195 with value = 0.5829
+Query 1/1: Action query time = 5.204 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7071
+t=42: Selected seed 195 with value = 0.7071
+Query 1/1: Action query time = 5.873 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7732
+t=58: Selected seed 195 with value = 0.7732
+Query 1/1: Action query time = 4.939 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9007
+t=74: Selected seed 195 with value = 0.9007
+Query 1/1: Action query time = 4.618 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/demochan400_t1_s11/2026_08_02-02_21_26--with_future_img--episode=1--success=True--task=put_the_bowl_on_the_stove.mp4
+Success: True
+# episodes completed so far: 1
+# successes: 1 (100.0%)
+
+Task: put the bowl on the stove
+Starting episode 2...
+Query 1/1: Action query time = 3.007 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4831
+t=10: Selected seed 195 with value = 0.4831
+Query 1/1: Action query time = 5.295 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5723
+t=26: Selected seed 195 with value = 0.5723
+Query 1/1: Action query time = 5.021 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6953
+t=42: Selected seed 195 with value = 0.6953
+Query 1/1: Action query time = 4.533 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7984
+t=58: Selected seed 195 with value = 0.7984
+Query 1/1: Action query time = 4.586 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9114
+t=74: Selected seed 195 with value = 0.9114
+Query 1/1: Action query time = 3.943 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/demochan400_t1_s11/2026_08_02-02_21_26--with_future_img--episode=2--success=True--task=put_the_bowl_on_the_stove.mp4
+Success: True
+# episodes completed so far: 2
+# successes: 2 (100.0%)
+
+Task: put the bowl on the stove
+Starting episode 3...
+Query 1/1: Action query time = 3.516 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5227
+t=10: Selected seed 195 with value = 0.5227
+Query 1/1: Action query time = 4.333 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5713
+t=26: Selected seed 195 with value = 0.5713
+Query 1/1: Action query time = 4.342 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7187
+t=42: Selected seed 195 with value = 0.7187
+Query 1/1: Action query time = 4.379 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6947
+t=58: Selected seed 195 with value = 0.6947
+Query 1/1: Action query time = 5.205 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8506
+t=74: Selected seed 195 with value = 0.8506
+Query 1/1: Action query time = 4.953 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9842
+t=90: Selected seed 195 with value = 0.9842
+Saved rollout MP4 at path ./rollouts/demochan400_t1_s11/2026_08_02-02_21_26--with_future_img--episode=3--success=True--task=put_the_bowl_on_the_stove.mp4
+Success: True
+# episodes completed so far: 3
+# successes: 3 (100.0%)
+Current task success rate: 1.0
+Current total success rate: 1.0
+Final results:
+Total episodes: 3
+Total successes: 3
+Overall success rate: 1.0000 (100.0%)
diff --git a/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-02_21_26--demochan400_t1_s13.txt b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-02_21_26--demochan400_t1_s13.txt
new file mode 100644
index 0000000000000000000000000000000000000000..9fba6de44983f31fee869a034a6fcc44e8d3e02c
--- /dev/null
+++ b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-02_21_26--demochan400_t1_s13.txt
@@ -0,0 +1,113 @@
+Eval config: PolicyEvalConfig(suite='libero', model_family='cosmos', config='cosmos_predict2_2b_480p_libero_cl_stage_inference_only', ckpt_path='/home/azureuser/REGEN-main/old/cosmos_policy/cosmos_v2_finetune/cosmos_predict2_2b_480p_libero_goal_task6_regen_cl_demochan_from40k_2gpu/checkpoints/iter_000000400/model', planning_model_config_name='', planning_model_ckpt_path='', config_file='cosmos_policy/config/config.py', packnet_mask_path='', packnet_first_cl_libero_task=6, use_third_person_image=True, num_third_person_images=1, use_wrist_image=True, num_wrist_images=1, use_proprio=True, flip_images=True, use_variance_scale=False, use_jpeg_compression=True, ar_future_prediction=False, ar_value_prediction=False, ar_qvalue_prediction=False, num_denoising_steps_action=5, num_denoising_steps_future_state=1, num_denoising_steps_value=1, unnormalize_actions=True, normalize_proprio=True, dataset_stats_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/libero_goal_regen/dataset_statistics.json', t5_text_embeddings_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/t5_embeddings.pkl', trained_with_image_aug=True, chunk_size=16, num_open_loop_steps=16, deterministic=True, deterministic_reset=False, deterministic_reset_seed=None, use_ensemble_future_state_predictions=False, num_future_state_predictions_in_ensemble=3, future_state_ensemble_aggregation_scheme='average', use_ensemble_value_predictions=False, num_value_predictions_in_ensemble=5, value_ensemble_aggregation_scheme='average', search_depth=1, mask_current_state_action_for_value_prediction=False, mask_future_state_for_qvalue_prediction=False, num_queries_best_of_n=1, use_parallel_inference=False, available_gpus='0', parallel_timeout=15, parallel_tasks_across_gpus=False, task_suite_name='libero_goal', num_trials_per_task=50, task_ids_to_run='1', initial_states_path='DEFAULT', env_img_res=256, local_log_dir='/home/azureuser/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal', run_id_note='demochan400_t1_s13', use_wandb=False, wandb_entity='YOUR_ENTITY', wandb_project='YOUR_PROJECT', seed=195, randomize_seed=False, data_collection=False, jpeg_compress=True, reward_stop_threshold=None, reward_stop_consecutive_steps=3, use_gpt_reward=False, gpt_reward_model='gpt-5.4-mini', gpt_reward_stop_threshold=4, gpt_reward_timeout_s=30.0, save_rollout_video=False, eval_hdf5_path='', eval_hdf5_demo_key='demo_0', data_gen_demo_ids='', eval_episode_ids='13,29,45', replay_actions=False, replay_action_path_dir='', replay_hdf5_path='', data_generation=False, max_generation_steps=200, simple_task_max_steps=100, complex_task_max_steps=200)
+Using serial inference (parallel inference disabled)
+Task suite: libero_goal
+Number of tasks: 10
+Running only task IDs: [1]
+Using default initial states
+
+Task: put the bowl on the stove
+Starting episode 1...
+Query 1/1: Action query time = 6.323 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5082
+t=10: Selected seed 195 with value = 0.5082
+Query 1/1: Action query time = 4.060 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5719
+t=26: Selected seed 195 with value = 0.5719
+Query 1/1: Action query time = 4.382 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6770
+t=42: Selected seed 195 with value = 0.6770
+Query 1/1: Action query time = 5.890 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7619
+t=58: Selected seed 195 with value = 0.7619
+Query 1/1: Action query time = 5.207 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8411
+t=74: Selected seed 195 with value = 0.8411
+Query 1/1: Action query time = 4.684 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9921
+t=90: Selected seed 195 with value = 0.9921
+Query 1/1: Action query time = 1.868 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=106: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/demochan400_t1_s13/2026_08_02-02_21_26--with_future_img--episode=1--success=True--task=put_the_bowl_on_the_stove.mp4
+Success: True
+# episodes completed so far: 1
+# successes: 1 (100.0%)
+
+Task: put the bowl on the stove
+Starting episode 2...
+Query 1/1: Action query time = 5.586 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5419
+t=10: Selected seed 195 with value = 0.5419
+Query 1/1: Action query time = 5.476 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5868
+t=26: Selected seed 195 with value = 0.5868
+Query 1/1: Action query time = 5.009 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6986
+t=42: Selected seed 195 with value = 0.6986
+Query 1/1: Action query time = 4.333 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8277
+t=58: Selected seed 195 with value = 0.8277
+Query 1/1: Action query time = 5.284 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9289
+t=74: Selected seed 195 with value = 0.9289
+Query 1/1: Action query time = 3.626 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9956
+t=90: Selected seed 195 with value = 0.9956
+Saved rollout MP4 at path ./rollouts/demochan400_t1_s13/2026_08_02-02_21_26--with_future_img--episode=2--success=True--task=put_the_bowl_on_the_stove.mp4
+Success: True
+# episodes completed so far: 2
+# successes: 2 (100.0%)
+
+Task: put the bowl on the stove
+Starting episode 3...
+Query 1/1: Action query time = 4.639 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5208
+t=10: Selected seed 195 with value = 0.5208
+Query 1/1: Action query time = 4.173 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5562
+t=26: Selected seed 195 with value = 0.5562
+Query 1/1: Action query time = 4.886 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6795
+t=42: Selected seed 195 with value = 0.6795
+Query 1/1: Action query time = 5.354 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7092
+t=58: Selected seed 195 with value = 0.7092
+Query 1/1: Action query time = 5.482 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8480
+t=74: Selected seed 195 with value = 0.8480
+Query 1/1: Action query time = 3.236 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9788
+t=90: Selected seed 195 with value = 0.9788
+Query 1/1: Action query time = 3.637 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9953
+t=106: Selected seed 195 with value = 0.9953
+Saved rollout MP4 at path ./rollouts/demochan400_t1_s13/2026_08_02-02_21_26--with_future_img--episode=3--success=True--task=put_the_bowl_on_the_stove.mp4
+Success: True
+# episodes completed so far: 3
+# successes: 3 (100.0%)
+Current task success rate: 1.0
+Current total success rate: 1.0
+Final results:
+Total episodes: 3
+Total successes: 3
+Overall success rate: 1.0000 (100.0%)
diff --git a/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-02_21_26--demochan400_t1_s15.txt b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-02_21_26--demochan400_t1_s15.txt
new file mode 100644
index 0000000000000000000000000000000000000000..69906f933faf0a4313d30056c7c2518a134db830
--- /dev/null
+++ b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-02_21_26--demochan400_t1_s15.txt
@@ -0,0 +1,105 @@
+Eval config: PolicyEvalConfig(suite='libero', model_family='cosmos', config='cosmos_predict2_2b_480p_libero_cl_stage_inference_only', ckpt_path='/home/azureuser/REGEN-main/old/cosmos_policy/cosmos_v2_finetune/cosmos_predict2_2b_480p_libero_goal_task6_regen_cl_demochan_from40k_2gpu/checkpoints/iter_000000400/model', planning_model_config_name='', planning_model_ckpt_path='', config_file='cosmos_policy/config/config.py', packnet_mask_path='', packnet_first_cl_libero_task=6, use_third_person_image=True, num_third_person_images=1, use_wrist_image=True, num_wrist_images=1, use_proprio=True, flip_images=True, use_variance_scale=False, use_jpeg_compression=True, ar_future_prediction=False, ar_value_prediction=False, ar_qvalue_prediction=False, num_denoising_steps_action=5, num_denoising_steps_future_state=1, num_denoising_steps_value=1, unnormalize_actions=True, normalize_proprio=True, dataset_stats_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/libero_goal_regen/dataset_statistics.json', t5_text_embeddings_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/t5_embeddings.pkl', trained_with_image_aug=True, chunk_size=16, num_open_loop_steps=16, deterministic=True, deterministic_reset=False, deterministic_reset_seed=None, use_ensemble_future_state_predictions=False, num_future_state_predictions_in_ensemble=3, future_state_ensemble_aggregation_scheme='average', use_ensemble_value_predictions=False, num_value_predictions_in_ensemble=5, value_ensemble_aggregation_scheme='average', search_depth=1, mask_current_state_action_for_value_prediction=False, mask_future_state_for_qvalue_prediction=False, num_queries_best_of_n=1, use_parallel_inference=False, available_gpus='0', parallel_timeout=15, parallel_tasks_across_gpus=False, task_suite_name='libero_goal', num_trials_per_task=50, task_ids_to_run='1', initial_states_path='DEFAULT', env_img_res=256, local_log_dir='/home/azureuser/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal', run_id_note='demochan400_t1_s15', use_wandb=False, wandb_entity='YOUR_ENTITY', wandb_project='YOUR_PROJECT', seed=195, randomize_seed=False, data_collection=False, jpeg_compress=True, reward_stop_threshold=None, reward_stop_consecutive_steps=3, use_gpt_reward=False, gpt_reward_model='gpt-5.4-mini', gpt_reward_stop_threshold=4, gpt_reward_timeout_s=30.0, save_rollout_video=False, eval_hdf5_path='', eval_hdf5_demo_key='demo_0', data_gen_demo_ids='', eval_episode_ids='15,31,47', replay_actions=False, replay_action_path_dir='', replay_hdf5_path='', data_generation=False, max_generation_steps=200, simple_task_max_steps=100, complex_task_max_steps=200)
+Using serial inference (parallel inference disabled)
+Task suite: libero_goal
+Number of tasks: 10
+Running only task IDs: [1]
+Using default initial states
+
+Task: put the bowl on the stove
+Starting episode 1...
+Query 1/1: Action query time = 6.464 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4956
+t=10: Selected seed 195 with value = 0.4956
+Query 1/1: Action query time = 5.870 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5685
+t=26: Selected seed 195 with value = 0.5685
+Query 1/1: Action query time = 3.946 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6967
+t=42: Selected seed 195 with value = 0.6967
+Query 1/1: Action query time = 4.860 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7690
+t=58: Selected seed 195 with value = 0.7690
+Query 1/1: Action query time = 4.296 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8856
+t=74: Selected seed 195 with value = 0.8856
+Query 1/1: Action query time = 3.871 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9928
+t=90: Selected seed 195 with value = 0.9928
+Saved rollout MP4 at path ./rollouts/demochan400_t1_s15/2026_08_02-02_21_26--with_future_img--episode=1--success=True--task=put_the_bowl_on_the_stove.mp4
+Success: True
+# episodes completed so far: 1
+# successes: 1 (100.0%)
+
+Task: put the bowl on the stove
+Starting episode 2...
+Query 1/1: Action query time = 3.867 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5097
+t=10: Selected seed 195 with value = 0.5097
+Query 1/1: Action query time = 4.371 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5482
+t=26: Selected seed 195 with value = 0.5482
+Query 1/1: Action query time = 5.040 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6808
+t=42: Selected seed 195 with value = 0.6808
+Query 1/1: Action query time = 4.892 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7192
+t=58: Selected seed 195 with value = 0.7192
+Query 1/1: Action query time = 4.435 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8522
+t=74: Selected seed 195 with value = 0.8522
+Query 1/1: Action query time = 5.440 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9895
+t=90: Selected seed 195 with value = 0.9895
+Saved rollout MP4 at path ./rollouts/demochan400_t1_s15/2026_08_02-02_21_26--with_future_img--episode=2--success=True--task=put_the_bowl_on_the_stove.mp4
+Success: True
+# episodes completed so far: 2
+# successes: 2 (100.0%)
+
+Task: put the bowl on the stove
+Starting episode 3...
+Query 1/1: Action query time = 3.287 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5084
+t=10: Selected seed 195 with value = 0.5084
+Query 1/1: Action query time = 5.198 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5793
+t=26: Selected seed 195 with value = 0.5793
+Query 1/1: Action query time = 3.469 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7041
+t=42: Selected seed 195 with value = 0.7041
+Query 1/1: Action query time = 4.644 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8261
+t=58: Selected seed 195 with value = 0.8261
+Query 1/1: Action query time = 5.016 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9347
+t=74: Selected seed 195 with value = 0.9347
+Query 1/1: Action query time = 4.756 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/demochan400_t1_s15/2026_08_02-02_21_26--with_future_img--episode=3--success=True--task=put_the_bowl_on_the_stove.mp4
+Success: True
+# episodes completed so far: 3
+# successes: 3 (100.0%)
+Current task success rate: 1.0
+Current total success rate: 1.0
+Final results:
+Total episodes: 3
+Total successes: 3
+Overall success rate: 1.0000 (100.0%)
diff --git a/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-02_24_30--demochan400_t2_s02.txt b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-02_24_30--demochan400_t2_s02.txt
new file mode 100644
index 0000000000000000000000000000000000000000..af8d51836b1f56b57693e5063583e046eb31a633
--- /dev/null
+++ b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-02_24_30--demochan400_t2_s02.txt
@@ -0,0 +1,261 @@
+Eval config: PolicyEvalConfig(suite='libero', model_family='cosmos', config='cosmos_predict2_2b_480p_libero_cl_stage_inference_only', ckpt_path='/home/azureuser/REGEN-main/old/cosmos_policy/cosmos_v2_finetune/cosmos_predict2_2b_480p_libero_goal_task6_regen_cl_demochan_from40k_2gpu/checkpoints/iter_000000400/model', planning_model_config_name='', planning_model_ckpt_path='', config_file='cosmos_policy/config/config.py', packnet_mask_path='', packnet_first_cl_libero_task=6, use_third_person_image=True, num_third_person_images=1, use_wrist_image=True, num_wrist_images=1, use_proprio=True, flip_images=True, use_variance_scale=False, use_jpeg_compression=True, ar_future_prediction=False, ar_value_prediction=False, ar_qvalue_prediction=False, num_denoising_steps_action=5, num_denoising_steps_future_state=1, num_denoising_steps_value=1, unnormalize_actions=True, normalize_proprio=True, dataset_stats_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/libero_goal_regen/dataset_statistics.json', t5_text_embeddings_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/t5_embeddings.pkl', trained_with_image_aug=True, chunk_size=16, num_open_loop_steps=16, deterministic=True, deterministic_reset=False, deterministic_reset_seed=None, use_ensemble_future_state_predictions=False, num_future_state_predictions_in_ensemble=3, future_state_ensemble_aggregation_scheme='average', use_ensemble_value_predictions=False, num_value_predictions_in_ensemble=5, value_ensemble_aggregation_scheme='average', search_depth=1, mask_current_state_action_for_value_prediction=False, mask_future_state_for_qvalue_prediction=False, num_queries_best_of_n=1, use_parallel_inference=False, available_gpus='0', parallel_timeout=15, parallel_tasks_across_gpus=False, task_suite_name='libero_goal', num_trials_per_task=50, task_ids_to_run='2', initial_states_path='DEFAULT', env_img_res=256, local_log_dir='/home/azureuser/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal', run_id_note='demochan400_t2_s02', use_wandb=False, wandb_entity='YOUR_ENTITY', wandb_project='YOUR_PROJECT', seed=195, randomize_seed=False, data_collection=False, jpeg_compress=True, reward_stop_threshold=None, reward_stop_consecutive_steps=3, use_gpt_reward=False, gpt_reward_model='gpt-5.4-mini', gpt_reward_stop_threshold=4, gpt_reward_timeout_s=30.0, save_rollout_video=False, eval_hdf5_path='', eval_hdf5_demo_key='demo_0', data_gen_demo_ids='', eval_episode_ids='2,18,34', replay_actions=False, replay_action_path_dir='', replay_hdf5_path='', data_generation=False, max_generation_steps=200, simple_task_max_steps=100, complex_task_max_steps=200)
+Using serial inference (parallel inference disabled)
+Task suite: libero_goal
+Number of tasks: 10
+Running only task IDs: [2]
+Using default initial states
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 1...
+Query 1/1: Action query time = 2.868 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4805
+t=10: Selected seed 195 with value = 0.4805
+Query 1/1: Action query time = 5.599 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5422
+t=26: Selected seed 195 with value = 0.5422
+Query 1/1: Action query time = 5.376 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6525
+t=42: Selected seed 195 with value = 0.6525
+Query 1/1: Action query time = 4.548 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7390
+t=58: Selected seed 195 with value = 0.7390
+Query 1/1: Action query time = 4.635 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8965
+t=74: Selected seed 195 with value = 0.8965
+Query 1/1: Action query time = 5.592 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.791 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=106: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.899 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=122: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 5.513 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=138: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 5.269 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=154: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.898 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=170: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 5.002 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=186: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 5.202 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=202: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 5.986 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=218: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.652 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=234: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.451 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=250: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.811 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=266: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 5.295 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=282: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.567 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=298: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/demochan400_t2_s02/2026_08_02-02_24_30--with_future_img--episode=1--success=False--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: False
+# episodes completed so far: 1
+# successes: 0 (0.0%)
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 2...
+Query 1/1: Action query time = 3.820 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5011
+t=10: Selected seed 195 with value = 0.5011
+Query 1/1: Action query time = 3.923 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5855
+t=26: Selected seed 195 with value = 0.5855
+Query 1/1: Action query time = 4.972 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7241
+t=42: Selected seed 195 with value = 0.7241
+Query 1/1: Action query time = 5.167 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7765
+t=58: Selected seed 195 with value = 0.7765
+Query 1/1: Action query time = 5.234 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9292
+t=74: Selected seed 195 with value = 0.9292
+Query 1/1: Action query time = 4.199 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.998 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=106: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 5.267 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=122: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 5.266 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=138: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 5.287 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=154: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.723 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=170: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 5.056 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=186: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 5.048 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=202: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.807 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=218: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 5.990 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=234: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 5.212 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=250: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 5.302 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=266: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.742 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9754
+t=282: Selected seed 195 with value = 0.9754
+Query 1/1: Action query time = 3.537 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9544
+t=298: Selected seed 195 with value = 0.9544
+Saved rollout MP4 at path ./rollouts/demochan400_t2_s02/2026_08_02-02_24_30--with_future_img--episode=2--success=False--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: False
+# episodes completed so far: 2
+# successes: 0 (0.0%)
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 3...
+Query 1/1: Action query time = 4.622 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4474
+t=10: Selected seed 195 with value = 0.4474
+Query 1/1: Action query time = 5.022 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5329
+t=26: Selected seed 195 with value = 0.5329
+Query 1/1: Action query time = 4.650 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7039
+t=42: Selected seed 195 with value = 0.7039
+Query 1/1: Action query time = 4.473 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7766
+t=58: Selected seed 195 with value = 0.7766
+Query 1/1: Action query time = 4.308 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7849
+t=74: Selected seed 195 with value = 0.7849
+Query 1/1: Action query time = 4.013 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9323
+t=90: Selected seed 195 with value = 0.9323
+Query 1/1: Action query time = 4.297 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=106: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.315 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=122: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.329 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=138: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.359 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=154: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.389 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=170: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.431 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=186: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.509 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=202: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.555 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=218: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.577 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=234: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.584 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=250: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.630 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9845
+t=266: Selected seed 195 with value = 0.9845
+Query 1/1: Action query time = 4.163 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9569
+t=282: Selected seed 195 with value = 0.9569
+Query 1/1: Action query time = 3.422 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9324
+t=298: Selected seed 195 with value = 0.9324
+Saved rollout MP4 at path ./rollouts/demochan400_t2_s02/2026_08_02-02_24_30--with_future_img--episode=3--success=False--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: False
+# episodes completed so far: 3
+# successes: 0 (0.0%)
+Current task success rate: 0.0
+Current total success rate: 0.0
+Final results:
+Total episodes: 3
+Total successes: 0
+Overall success rate: 0.0000 (0.0%)
diff --git a/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-02_24_30--demochan400_t2_s03.txt b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-02_24_30--demochan400_t2_s03.txt
new file mode 100644
index 0000000000000000000000000000000000000000..24b9a854040c5e49b9ba6ab14461e728ee776058
--- /dev/null
+++ b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-02_24_30--demochan400_t2_s03.txt
@@ -0,0 +1,261 @@
+Eval config: PolicyEvalConfig(suite='libero', model_family='cosmos', config='cosmos_predict2_2b_480p_libero_cl_stage_inference_only', ckpt_path='/home/azureuser/REGEN-main/old/cosmos_policy/cosmos_v2_finetune/cosmos_predict2_2b_480p_libero_goal_task6_regen_cl_demochan_from40k_2gpu/checkpoints/iter_000000400/model', planning_model_config_name='', planning_model_ckpt_path='', config_file='cosmos_policy/config/config.py', packnet_mask_path='', packnet_first_cl_libero_task=6, use_third_person_image=True, num_third_person_images=1, use_wrist_image=True, num_wrist_images=1, use_proprio=True, flip_images=True, use_variance_scale=False, use_jpeg_compression=True, ar_future_prediction=False, ar_value_prediction=False, ar_qvalue_prediction=False, num_denoising_steps_action=5, num_denoising_steps_future_state=1, num_denoising_steps_value=1, unnormalize_actions=True, normalize_proprio=True, dataset_stats_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/libero_goal_regen/dataset_statistics.json', t5_text_embeddings_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/t5_embeddings.pkl', trained_with_image_aug=True, chunk_size=16, num_open_loop_steps=16, deterministic=True, deterministic_reset=False, deterministic_reset_seed=None, use_ensemble_future_state_predictions=False, num_future_state_predictions_in_ensemble=3, future_state_ensemble_aggregation_scheme='average', use_ensemble_value_predictions=False, num_value_predictions_in_ensemble=5, value_ensemble_aggregation_scheme='average', search_depth=1, mask_current_state_action_for_value_prediction=False, mask_future_state_for_qvalue_prediction=False, num_queries_best_of_n=1, use_parallel_inference=False, available_gpus='0', parallel_timeout=15, parallel_tasks_across_gpus=False, task_suite_name='libero_goal', num_trials_per_task=50, task_ids_to_run='2', initial_states_path='DEFAULT', env_img_res=256, local_log_dir='/home/azureuser/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal', run_id_note='demochan400_t2_s03', use_wandb=False, wandb_entity='YOUR_ENTITY', wandb_project='YOUR_PROJECT', seed=195, randomize_seed=False, data_collection=False, jpeg_compress=True, reward_stop_threshold=None, reward_stop_consecutive_steps=3, use_gpt_reward=False, gpt_reward_model='gpt-5.4-mini', gpt_reward_stop_threshold=4, gpt_reward_timeout_s=30.0, save_rollout_video=False, eval_hdf5_path='', eval_hdf5_demo_key='demo_0', data_gen_demo_ids='', eval_episode_ids='3,19,35', replay_actions=False, replay_action_path_dir='', replay_hdf5_path='', data_generation=False, max_generation_steps=200, simple_task_max_steps=100, complex_task_max_steps=200)
+Using serial inference (parallel inference disabled)
+Task suite: libero_goal
+Number of tasks: 10
+Running only task IDs: [2]
+Using default initial states
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 1...
+Query 1/1: Action query time = 1.827 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5158
+t=10: Selected seed 195 with value = 0.5158
+Query 1/1: Action query time = 2.209 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5642
+t=26: Selected seed 195 with value = 0.5642
+Query 1/1: Action query time = 5.525 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6654
+t=42: Selected seed 195 with value = 0.6654
+Query 1/1: Action query time = 4.849 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7750
+t=58: Selected seed 195 with value = 0.7750
+Query 1/1: Action query time = 4.962 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8163
+t=74: Selected seed 195 with value = 0.8163
+Query 1/1: Action query time = 4.929 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9682
+t=90: Selected seed 195 with value = 0.9682
+Query 1/1: Action query time = 5.505 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=106: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.493 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=122: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.966 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=138: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 5.565 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=154: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 5.300 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=170: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 5.171 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=186: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.870 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=202: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 5.383 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=218: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 6.115 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=234: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 5.295 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=250: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.985 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=266: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 5.064 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9879
+t=282: Selected seed 195 with value = 0.9879
+Query 1/1: Action query time = 5.206 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9530
+t=298: Selected seed 195 with value = 0.9530
+Saved rollout MP4 at path ./rollouts/demochan400_t2_s03/2026_08_02-02_24_30--with_future_img--episode=1--success=False--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: False
+# episodes completed so far: 1
+# successes: 0 (0.0%)
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 2...
+Query 1/1: Action query time = 2.979 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5053
+t=10: Selected seed 195 with value = 0.5053
+Query 1/1: Action query time = 3.395 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5938
+t=26: Selected seed 195 with value = 0.5938
+Query 1/1: Action query time = 5.079 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7221
+t=42: Selected seed 195 with value = 0.7221
+Query 1/1: Action query time = 5.019 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8249
+t=58: Selected seed 195 with value = 0.8249
+Query 1/1: Action query time = 5.190 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9617
+t=74: Selected seed 195 with value = 0.9617
+Query 1/1: Action query time = 4.847 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9906
+t=90: Selected seed 195 with value = 0.9906
+Query 1/1: Action query time = 3.875 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=106: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.516 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=122: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.828 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=138: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.810 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=154: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 5.122 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=170: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.987 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=186: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 5.365 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=202: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.621 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=218: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 5.831 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=234: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 5.351 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=250: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.949 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9954
+t=266: Selected seed 195 with value = 0.9954
+Query 1/1: Action query time = 4.816 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9611
+t=282: Selected seed 195 with value = 0.9611
+Query 1/1: Action query time = 5.113 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9505
+t=298: Selected seed 195 with value = 0.9505
+Saved rollout MP4 at path ./rollouts/demochan400_t2_s03/2026_08_02-02_24_30--with_future_img--episode=2--success=False--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: False
+# episodes completed so far: 2
+# successes: 0 (0.0%)
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 3...
+Query 1/1: Action query time = 2.175 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5117
+t=10: Selected seed 195 with value = 0.5117
+Query 1/1: Action query time = 3.006 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5788
+t=26: Selected seed 195 with value = 0.5788
+Query 1/1: Action query time = 4.675 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7016
+t=42: Selected seed 195 with value = 0.7016
+Query 1/1: Action query time = 5.119 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7442
+t=58: Selected seed 195 with value = 0.7442
+Query 1/1: Action query time = 5.038 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8898
+t=74: Selected seed 195 with value = 0.8898
+Query 1/1: Action query time = 4.909 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9998
+t=90: Selected seed 195 with value = 0.9998
+Query 1/1: Action query time = 4.909 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=106: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.567 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=122: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.495 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=138: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.481 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=154: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.526 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=170: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.524 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=186: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.522 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=202: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.506 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=218: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.523 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=234: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.506 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=250: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.503 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=266: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.500 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=282: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.528 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=298: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/demochan400_t2_s03/2026_08_02-02_24_30--with_future_img--episode=3--success=False--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: False
+# episodes completed so far: 3
+# successes: 0 (0.0%)
+Current task success rate: 0.0
+Current total success rate: 0.0
+Final results:
+Total episodes: 3
+Total successes: 0
+Overall success rate: 0.0000 (0.0%)
diff --git a/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-02_24_30--demochan400_t2_s04.txt b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-02_24_30--demochan400_t2_s04.txt
new file mode 100644
index 0000000000000000000000000000000000000000..6a2d662fe2b3fa9e6ee313e41686ad6d5c031002
--- /dev/null
+++ b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-02_24_30--demochan400_t2_s04.txt
@@ -0,0 +1,209 @@
+Eval config: PolicyEvalConfig(suite='libero', model_family='cosmos', config='cosmos_predict2_2b_480p_libero_cl_stage_inference_only', ckpt_path='/home/azureuser/REGEN-main/old/cosmos_policy/cosmos_v2_finetune/cosmos_predict2_2b_480p_libero_goal_task6_regen_cl_demochan_from40k_2gpu/checkpoints/iter_000000400/model', planning_model_config_name='', planning_model_ckpt_path='', config_file='cosmos_policy/config/config.py', packnet_mask_path='', packnet_first_cl_libero_task=6, use_third_person_image=True, num_third_person_images=1, use_wrist_image=True, num_wrist_images=1, use_proprio=True, flip_images=True, use_variance_scale=False, use_jpeg_compression=True, ar_future_prediction=False, ar_value_prediction=False, ar_qvalue_prediction=False, num_denoising_steps_action=5, num_denoising_steps_future_state=1, num_denoising_steps_value=1, unnormalize_actions=True, normalize_proprio=True, dataset_stats_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/libero_goal_regen/dataset_statistics.json', t5_text_embeddings_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/t5_embeddings.pkl', trained_with_image_aug=True, chunk_size=16, num_open_loop_steps=16, deterministic=True, deterministic_reset=False, deterministic_reset_seed=None, use_ensemble_future_state_predictions=False, num_future_state_predictions_in_ensemble=3, future_state_ensemble_aggregation_scheme='average', use_ensemble_value_predictions=False, num_value_predictions_in_ensemble=5, value_ensemble_aggregation_scheme='average', search_depth=1, mask_current_state_action_for_value_prediction=False, mask_future_state_for_qvalue_prediction=False, num_queries_best_of_n=1, use_parallel_inference=False, available_gpus='0', parallel_timeout=15, parallel_tasks_across_gpus=False, task_suite_name='libero_goal', num_trials_per_task=50, task_ids_to_run='2', initial_states_path='DEFAULT', env_img_res=256, local_log_dir='/home/azureuser/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal', run_id_note='demochan400_t2_s04', use_wandb=False, wandb_entity='YOUR_ENTITY', wandb_project='YOUR_PROJECT', seed=195, randomize_seed=False, data_collection=False, jpeg_compress=True, reward_stop_threshold=None, reward_stop_consecutive_steps=3, use_gpt_reward=False, gpt_reward_model='gpt-5.4-mini', gpt_reward_stop_threshold=4, gpt_reward_timeout_s=30.0, save_rollout_video=False, eval_hdf5_path='', eval_hdf5_demo_key='demo_0', data_gen_demo_ids='', eval_episode_ids='4,20,36', replay_actions=False, replay_action_path_dir='', replay_hdf5_path='', data_generation=False, max_generation_steps=200, simple_task_max_steps=100, complex_task_max_steps=200)
+Using serial inference (parallel inference disabled)
+Task suite: libero_goal
+Number of tasks: 10
+Running only task IDs: [2]
+Using default initial states
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 1...
+Query 1/1: Action query time = 7.458 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5120
+t=10: Selected seed 195 with value = 0.5120
+Query 1/1: Action query time = 5.297 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6354
+t=26: Selected seed 195 with value = 0.6354
+Query 1/1: Action query time = 4.875 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6683
+t=42: Selected seed 195 with value = 0.6683
+Query 1/1: Action query time = 4.270 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7689
+t=58: Selected seed 195 with value = 0.7689
+Query 1/1: Action query time = 5.240 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9012
+t=74: Selected seed 195 with value = 0.9012
+Query 1/1: Action query time = 4.746 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9913
+t=90: Selected seed 195 with value = 0.9913
+Saved rollout MP4 at path ./rollouts/demochan400_t2_s04/2026_08_02-02_24_30--with_future_img--episode=1--success=True--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: True
+# episodes completed so far: 1
+# successes: 1 (100.0%)
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 2...
+Query 1/1: Action query time = 4.955 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5485
+t=10: Selected seed 195 with value = 0.5485
+Query 1/1: Action query time = 4.993 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6110
+t=26: Selected seed 195 with value = 0.6110
+Query 1/1: Action query time = 5.250 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8447
+t=42: Selected seed 195 with value = 0.8447
+Query 1/1: Action query time = 5.408 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8416
+t=58: Selected seed 195 with value = 0.8416
+Query 1/1: Action query time = 5.311 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9738
+t=74: Selected seed 195 with value = 0.9738
+Query 1/1: Action query time = 4.604 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.976 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=106: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 5.397 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=122: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 5.393 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=138: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 5.224 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=154: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.781 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=170: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 2.675 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=186: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 2.435 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=202: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 2.604 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=218: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 3.402 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=234: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.561 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=250: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.968 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=266: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 5.409 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=282: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 3.389 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=298: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/demochan400_t2_s04/2026_08_02-02_24_30--with_future_img--episode=2--success=False--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: False
+# episodes completed so far: 2
+# successes: 1 (50.0%)
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 3...
+Query 1/1: Action query time = 4.977 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4857
+t=10: Selected seed 195 with value = 0.4857
+Query 1/1: Action query time = 5.019 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5686
+t=26: Selected seed 195 with value = 0.5686
+Query 1/1: Action query time = 4.955 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6831
+t=42: Selected seed 195 with value = 0.6831
+Query 1/1: Action query time = 5.069 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7609
+t=58: Selected seed 195 with value = 0.7609
+Query 1/1: Action query time = 4.935 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9014
+t=74: Selected seed 195 with value = 0.9014
+Query 1/1: Action query time = 5.384 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 3.899 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=106: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.734 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=122: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 5.941 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=138: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 5.295 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=154: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 5.338 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=170: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 5.139 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=186: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 3.612 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=202: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 2.663 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=218: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 2.058 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=234: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 2.748 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=250: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.720 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=266: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.669 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9973
+t=282: Selected seed 195 with value = 0.9973
+Query 1/1: Action query time = 5.405 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9330
+t=298: Selected seed 195 with value = 0.9330
+Saved rollout MP4 at path ./rollouts/demochan400_t2_s04/2026_08_02-02_24_30--with_future_img--episode=3--success=False--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: False
+# episodes completed so far: 3
+# successes: 1 (33.3%)
+Current task success rate: 0.3333333333333333
+Current total success rate: 0.3333333333333333
+Final results:
+Total episodes: 3
+Total successes: 1
+Overall success rate: 0.3333 (33.3%)
diff --git a/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-02_24_31--demochan400_t2_s11.txt b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-02_24_31--demochan400_t2_s11.txt
new file mode 100644
index 0000000000000000000000000000000000000000..ae0d624ce3a02d34a1b9efe8f14d2a71e7e00c55
--- /dev/null
+++ b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-02_24_31--demochan400_t2_s11.txt
@@ -0,0 +1,149 @@
+Eval config: PolicyEvalConfig(suite='libero', model_family='cosmos', config='cosmos_predict2_2b_480p_libero_cl_stage_inference_only', ckpt_path='/home/azureuser/REGEN-main/old/cosmos_policy/cosmos_v2_finetune/cosmos_predict2_2b_480p_libero_goal_task6_regen_cl_demochan_from40k_2gpu/checkpoints/iter_000000400/model', planning_model_config_name='', planning_model_ckpt_path='', config_file='cosmos_policy/config/config.py', packnet_mask_path='', packnet_first_cl_libero_task=6, use_third_person_image=True, num_third_person_images=1, use_wrist_image=True, num_wrist_images=1, use_proprio=True, flip_images=True, use_variance_scale=False, use_jpeg_compression=True, ar_future_prediction=False, ar_value_prediction=False, ar_qvalue_prediction=False, num_denoising_steps_action=5, num_denoising_steps_future_state=1, num_denoising_steps_value=1, unnormalize_actions=True, normalize_proprio=True, dataset_stats_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/libero_goal_regen/dataset_statistics.json', t5_text_embeddings_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/t5_embeddings.pkl', trained_with_image_aug=True, chunk_size=16, num_open_loop_steps=16, deterministic=True, deterministic_reset=False, deterministic_reset_seed=None, use_ensemble_future_state_predictions=False, num_future_state_predictions_in_ensemble=3, future_state_ensemble_aggregation_scheme='average', use_ensemble_value_predictions=False, num_value_predictions_in_ensemble=5, value_ensemble_aggregation_scheme='average', search_depth=1, mask_current_state_action_for_value_prediction=False, mask_future_state_for_qvalue_prediction=False, num_queries_best_of_n=1, use_parallel_inference=False, available_gpus='0', parallel_timeout=15, parallel_tasks_across_gpus=False, task_suite_name='libero_goal', num_trials_per_task=50, task_ids_to_run='2', initial_states_path='DEFAULT', env_img_res=256, local_log_dir='/home/azureuser/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal', run_id_note='demochan400_t2_s11', use_wandb=False, wandb_entity='YOUR_ENTITY', wandb_project='YOUR_PROJECT', seed=195, randomize_seed=False, data_collection=False, jpeg_compress=True, reward_stop_threshold=None, reward_stop_consecutive_steps=3, use_gpt_reward=False, gpt_reward_model='gpt-5.4-mini', gpt_reward_stop_threshold=4, gpt_reward_timeout_s=30.0, save_rollout_video=False, eval_hdf5_path='', eval_hdf5_demo_key='demo_0', data_gen_demo_ids='', eval_episode_ids='11,27,43', replay_actions=False, replay_action_path_dir='', replay_hdf5_path='', data_generation=False, max_generation_steps=200, simple_task_max_steps=100, complex_task_max_steps=200)
+Using serial inference (parallel inference disabled)
+Task suite: libero_goal
+Number of tasks: 10
+Running only task IDs: [2]
+Using default initial states
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 1...
+Query 1/1: Action query time = 6.449 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5153
+t=10: Selected seed 195 with value = 0.5153
+Query 1/1: Action query time = 5.340 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6158
+t=26: Selected seed 195 with value = 0.6158
+Query 1/1: Action query time = 5.633 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7224
+t=42: Selected seed 195 with value = 0.7224
+Query 1/1: Action query time = 5.530 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8556
+t=58: Selected seed 195 with value = 0.8556
+Query 1/1: Action query time = 4.650 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9840
+t=74: Selected seed 195 with value = 0.9840
+Saved rollout MP4 at path ./rollouts/demochan400_t2_s11/2026_08_02-02_24_31--with_future_img--episode=1--success=True--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: True
+# episodes completed so far: 1
+# successes: 1 (100.0%)
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 2...
+Query 1/1: Action query time = 5.201 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4803
+t=10: Selected seed 195 with value = 0.4803
+Query 1/1: Action query time = 5.095 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5690
+t=26: Selected seed 195 with value = 0.5690
+Query 1/1: Action query time = 5.291 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7756
+t=42: Selected seed 195 with value = 0.7756
+Query 1/1: Action query time = 4.985 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8639
+t=58: Selected seed 195 with value = 0.8639
+Query 1/1: Action query time = 5.022 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=74: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/demochan400_t2_s11/2026_08_02-02_24_31--with_future_img--episode=2--success=True--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: True
+# episodes completed so far: 2
+# successes: 2 (100.0%)
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 3...
+Query 1/1: Action query time = 5.326 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4465
+t=10: Selected seed 195 with value = 0.4465
+Query 1/1: Action query time = 4.259 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5308
+t=26: Selected seed 195 with value = 0.5308
+Query 1/1: Action query time = 5.128 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6335
+t=42: Selected seed 195 with value = 0.6335
+Query 1/1: Action query time = 5.156 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7346
+t=58: Selected seed 195 with value = 0.7346
+Query 1/1: Action query time = 5.608 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8964
+t=74: Selected seed 195 with value = 0.8964
+Query 1/1: Action query time = 5.603 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9901
+t=90: Selected seed 195 with value = 0.9901
+Query 1/1: Action query time = 3.030 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9959
+t=106: Selected seed 195 with value = 0.9959
+Query 1/1: Action query time = 1.519 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=122: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 1.342 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=138: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 3.027 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=154: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.312 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=170: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.971 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=186: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 5.632 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=202: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.382 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=218: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.640 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=234: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 3.741 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=250: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.617 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=266: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.777 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=282: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.919 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=298: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/demochan400_t2_s11/2026_08_02-02_24_31--with_future_img--episode=3--success=False--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: False
+# episodes completed so far: 3
+# successes: 2 (66.7%)
+Current task success rate: 0.6666666666666666
+Current total success rate: 0.6666666666666666
+Final results:
+Total episodes: 3
+Total successes: 2
+Overall success rate: 0.6667 (66.7%)
diff --git a/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-02_30_59--demochan400_t3_s02.txt b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-02_30_59--demochan400_t3_s02.txt
new file mode 100644
index 0000000000000000000000000000000000000000..569210f076b8a06dda72ab5fa629d718ad5a74c9
--- /dev/null
+++ b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-02_30_59--demochan400_t3_s02.txt
@@ -0,0 +1,261 @@
+Eval config: PolicyEvalConfig(suite='libero', model_family='cosmos', config='cosmos_predict2_2b_480p_libero_cl_stage_inference_only', ckpt_path='/home/azureuser/REGEN-main/old/cosmos_policy/cosmos_v2_finetune/cosmos_predict2_2b_480p_libero_goal_task6_regen_cl_demochan_from40k_2gpu/checkpoints/iter_000000400/model', planning_model_config_name='', planning_model_ckpt_path='', config_file='cosmos_policy/config/config.py', packnet_mask_path='', packnet_first_cl_libero_task=6, use_third_person_image=True, num_third_person_images=1, use_wrist_image=True, num_wrist_images=1, use_proprio=True, flip_images=True, use_variance_scale=False, use_jpeg_compression=True, ar_future_prediction=False, ar_value_prediction=False, ar_qvalue_prediction=False, num_denoising_steps_action=5, num_denoising_steps_future_state=1, num_denoising_steps_value=1, unnormalize_actions=True, normalize_proprio=True, dataset_stats_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/libero_goal_regen/dataset_statistics.json', t5_text_embeddings_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/t5_embeddings.pkl', trained_with_image_aug=True, chunk_size=16, num_open_loop_steps=16, deterministic=True, deterministic_reset=False, deterministic_reset_seed=None, use_ensemble_future_state_predictions=False, num_future_state_predictions_in_ensemble=3, future_state_ensemble_aggregation_scheme='average', use_ensemble_value_predictions=False, num_value_predictions_in_ensemble=5, value_ensemble_aggregation_scheme='average', search_depth=1, mask_current_state_action_for_value_prediction=False, mask_future_state_for_qvalue_prediction=False, num_queries_best_of_n=1, use_parallel_inference=False, available_gpus='0', parallel_timeout=15, parallel_tasks_across_gpus=False, task_suite_name='libero_goal', num_trials_per_task=50, task_ids_to_run='3', initial_states_path='DEFAULT', env_img_res=256, local_log_dir='/home/azureuser/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal', run_id_note='demochan400_t3_s02', use_wandb=False, wandb_entity='YOUR_ENTITY', wandb_project='YOUR_PROJECT', seed=195, randomize_seed=False, data_collection=False, jpeg_compress=True, reward_stop_threshold=None, reward_stop_consecutive_steps=3, use_gpt_reward=False, gpt_reward_model='gpt-5.4-mini', gpt_reward_stop_threshold=4, gpt_reward_timeout_s=30.0, save_rollout_video=False, eval_hdf5_path='', eval_hdf5_demo_key='demo_0', data_gen_demo_ids='', eval_episode_ids='2,18,34', replay_actions=False, replay_action_path_dir='', replay_hdf5_path='', data_generation=False, max_generation_steps=200, simple_task_max_steps=100, complex_task_max_steps=200)
+Using serial inference (parallel inference disabled)
+Task suite: libero_goal
+Number of tasks: 10
+Running only task IDs: [3]
+Using default initial states
+
+Task: open the top drawer and put the bowl inside
+Starting episode 1...
+Query 1/1: Action query time = 3.073 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3884
+t=10: Selected seed 195 with value = 0.3884
+Query 1/1: Action query time = 4.150 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5400
+t=26: Selected seed 195 with value = 0.5400
+Query 1/1: Action query time = 4.981 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6629
+t=42: Selected seed 195 with value = 0.6629
+Query 1/1: Action query time = 5.698 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7151
+t=58: Selected seed 195 with value = 0.7151
+Query 1/1: Action query time = 5.555 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5927
+t=74: Selected seed 195 with value = 0.5927
+Query 1/1: Action query time = 4.726 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6970
+t=90: Selected seed 195 with value = 0.6970
+Query 1/1: Action query time = 4.984 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8631
+t=106: Selected seed 195 with value = 0.8631
+Query 1/1: Action query time = 5.361 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8950
+t=122: Selected seed 195 with value = 0.8950
+Query 1/1: Action query time = 5.212 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6603
+t=138: Selected seed 195 with value = 0.6603
+Query 1/1: Action query time = 5.183 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8175
+t=154: Selected seed 195 with value = 0.8175
+Query 1/1: Action query time = 5.630 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9485
+t=170: Selected seed 195 with value = 0.9485
+Query 1/1: Action query time = 5.351 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7950
+t=186: Selected seed 195 with value = 0.7950
+Query 1/1: Action query time = 4.791 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9532
+t=202: Selected seed 195 with value = 0.9532
+Query 1/1: Action query time = 5.183 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9394
+t=218: Selected seed 195 with value = 0.9394
+Query 1/1: Action query time = 5.023 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9365
+t=234: Selected seed 195 with value = 0.9365
+Query 1/1: Action query time = 5.011 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9598
+t=250: Selected seed 195 with value = 0.9598
+Query 1/1: Action query time = 5.174 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9775
+t=266: Selected seed 195 with value = 0.9775
+Query 1/1: Action query time = 5.024 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9924
+t=282: Selected seed 195 with value = 0.9924
+Query 1/1: Action query time = 4.962 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9958
+t=298: Selected seed 195 with value = 0.9958
+Saved rollout MP4 at path ./rollouts/demochan400_t3_s02/2026_08_02-02_30_59--with_future_img--episode=1--success=False--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: False
+# episodes completed so far: 1
+# successes: 0 (0.0%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 2...
+Query 1/1: Action query time = 2.589 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4021
+t=10: Selected seed 195 with value = 0.4021
+Query 1/1: Action query time = 4.963 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4748
+t=26: Selected seed 195 with value = 0.4748
+Query 1/1: Action query time = 4.735 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6460
+t=42: Selected seed 195 with value = 0.6460
+Query 1/1: Action query time = 4.484 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6334
+t=58: Selected seed 195 with value = 0.6334
+Query 1/1: Action query time = 5.549 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7378
+t=74: Selected seed 195 with value = 0.7378
+Query 1/1: Action query time = 5.673 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8483
+t=90: Selected seed 195 with value = 0.8483
+Query 1/1: Action query time = 5.247 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9027
+t=106: Selected seed 195 with value = 0.9027
+Query 1/1: Action query time = 5.313 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8407
+t=122: Selected seed 195 with value = 0.8407
+Query 1/1: Action query time = 4.556 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8617
+t=138: Selected seed 195 with value = 0.8617
+Query 1/1: Action query time = 5.011 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9023
+t=154: Selected seed 195 with value = 0.9023
+Query 1/1: Action query time = 5.158 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9550
+t=170: Selected seed 195 with value = 0.9550
+Query 1/1: Action query time = 4.954 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8936
+t=186: Selected seed 195 with value = 0.8936
+Query 1/1: Action query time = 4.897 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9525
+t=202: Selected seed 195 with value = 0.9525
+Query 1/1: Action query time = 5.109 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9767
+t=218: Selected seed 195 with value = 0.9767
+Query 1/1: Action query time = 5.237 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9343
+t=234: Selected seed 195 with value = 0.9343
+Query 1/1: Action query time = 5.202 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8913
+t=250: Selected seed 195 with value = 0.8913
+Query 1/1: Action query time = 5.228 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9686
+t=266: Selected seed 195 with value = 0.9686
+Query 1/1: Action query time = 4.946 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9671
+t=282: Selected seed 195 with value = 0.9671
+Query 1/1: Action query time = 4.463 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9764
+t=298: Selected seed 195 with value = 0.9764
+Saved rollout MP4 at path ./rollouts/demochan400_t3_s02/2026_08_02-02_30_59--with_future_img--episode=2--success=False--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: False
+# episodes completed so far: 2
+# successes: 0 (0.0%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 3...
+Query 1/1: Action query time = 2.160 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4197
+t=10: Selected seed 195 with value = 0.4197
+Query 1/1: Action query time = 3.861 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6697
+t=26: Selected seed 195 with value = 0.6697
+Query 1/1: Action query time = 4.511 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6576
+t=42: Selected seed 195 with value = 0.6576
+Query 1/1: Action query time = 5.110 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6969
+t=58: Selected seed 195 with value = 0.6969
+Query 1/1: Action query time = 5.306 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6430
+t=74: Selected seed 195 with value = 0.6430
+Query 1/1: Action query time = 5.416 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5936
+t=90: Selected seed 195 with value = 0.5936
+Query 1/1: Action query time = 5.235 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7046
+t=106: Selected seed 195 with value = 0.7046
+Query 1/1: Action query time = 5.518 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8438
+t=122: Selected seed 195 with value = 0.8438
+Query 1/1: Action query time = 5.251 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9207
+t=138: Selected seed 195 with value = 0.9207
+Query 1/1: Action query time = 5.074 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7870
+t=154: Selected seed 195 with value = 0.7870
+Query 1/1: Action query time = 5.020 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8623
+t=170: Selected seed 195 with value = 0.8623
+Query 1/1: Action query time = 5.649 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6427
+t=186: Selected seed 195 with value = 0.6427
+Query 1/1: Action query time = 5.191 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6492
+t=202: Selected seed 195 with value = 0.6492
+Query 1/1: Action query time = 4.771 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7237
+t=218: Selected seed 195 with value = 0.7237
+Query 1/1: Action query time = 4.490 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8900
+t=234: Selected seed 195 with value = 0.8900
+Query 1/1: Action query time = 5.896 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9457
+t=250: Selected seed 195 with value = 0.9457
+Query 1/1: Action query time = 4.667 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9556
+t=266: Selected seed 195 with value = 0.9556
+Query 1/1: Action query time = 4.676 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8595
+t=282: Selected seed 195 with value = 0.8595
+Query 1/1: Action query time = 4.308 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9237
+t=298: Selected seed 195 with value = 0.9237
+Saved rollout MP4 at path ./rollouts/demochan400_t3_s02/2026_08_02-02_30_59--with_future_img--episode=3--success=False--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: False
+# episodes completed so far: 3
+# successes: 0 (0.0%)
+Current task success rate: 0.0
+Current total success rate: 0.0
+Final results:
+Total episodes: 3
+Total successes: 0
+Overall success rate: 0.0000 (0.0%)
diff --git a/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-02_31_00--demochan400_t3_s03.txt b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-02_31_00--demochan400_t3_s03.txt
new file mode 100644
index 0000000000000000000000000000000000000000..9dc1f94f08977f5dfc647a40701ec5f0faa91c38
--- /dev/null
+++ b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-02_31_00--demochan400_t3_s03.txt
@@ -0,0 +1,261 @@
+Eval config: PolicyEvalConfig(suite='libero', model_family='cosmos', config='cosmos_predict2_2b_480p_libero_cl_stage_inference_only', ckpt_path='/home/azureuser/REGEN-main/old/cosmos_policy/cosmos_v2_finetune/cosmos_predict2_2b_480p_libero_goal_task6_regen_cl_demochan_from40k_2gpu/checkpoints/iter_000000400/model', planning_model_config_name='', planning_model_ckpt_path='', config_file='cosmos_policy/config/config.py', packnet_mask_path='', packnet_first_cl_libero_task=6, use_third_person_image=True, num_third_person_images=1, use_wrist_image=True, num_wrist_images=1, use_proprio=True, flip_images=True, use_variance_scale=False, use_jpeg_compression=True, ar_future_prediction=False, ar_value_prediction=False, ar_qvalue_prediction=False, num_denoising_steps_action=5, num_denoising_steps_future_state=1, num_denoising_steps_value=1, unnormalize_actions=True, normalize_proprio=True, dataset_stats_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/libero_goal_regen/dataset_statistics.json', t5_text_embeddings_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/t5_embeddings.pkl', trained_with_image_aug=True, chunk_size=16, num_open_loop_steps=16, deterministic=True, deterministic_reset=False, deterministic_reset_seed=None, use_ensemble_future_state_predictions=False, num_future_state_predictions_in_ensemble=3, future_state_ensemble_aggregation_scheme='average', use_ensemble_value_predictions=False, num_value_predictions_in_ensemble=5, value_ensemble_aggregation_scheme='average', search_depth=1, mask_current_state_action_for_value_prediction=False, mask_future_state_for_qvalue_prediction=False, num_queries_best_of_n=1, use_parallel_inference=False, available_gpus='0', parallel_timeout=15, parallel_tasks_across_gpus=False, task_suite_name='libero_goal', num_trials_per_task=50, task_ids_to_run='3', initial_states_path='DEFAULT', env_img_res=256, local_log_dir='/home/azureuser/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal', run_id_note='demochan400_t3_s03', use_wandb=False, wandb_entity='YOUR_ENTITY', wandb_project='YOUR_PROJECT', seed=195, randomize_seed=False, data_collection=False, jpeg_compress=True, reward_stop_threshold=None, reward_stop_consecutive_steps=3, use_gpt_reward=False, gpt_reward_model='gpt-5.4-mini', gpt_reward_stop_threshold=4, gpt_reward_timeout_s=30.0, save_rollout_video=False, eval_hdf5_path='', eval_hdf5_demo_key='demo_0', data_gen_demo_ids='', eval_episode_ids='3,19,35', replay_actions=False, replay_action_path_dir='', replay_hdf5_path='', data_generation=False, max_generation_steps=200, simple_task_max_steps=100, complex_task_max_steps=200)
+Using serial inference (parallel inference disabled)
+Task suite: libero_goal
+Number of tasks: 10
+Running only task IDs: [3]
+Using default initial states
+
+Task: open the top drawer and put the bowl inside
+Starting episode 1...
+Query 1/1: Action query time = 3.412 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3572
+t=10: Selected seed 195 with value = 0.3572
+Query 1/1: Action query time = 4.692 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4813
+t=26: Selected seed 195 with value = 0.4813
+Query 1/1: Action query time = 4.872 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6480
+t=42: Selected seed 195 with value = 0.6480
+Query 1/1: Action query time = 4.725 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6446
+t=58: Selected seed 195 with value = 0.6446
+Query 1/1: Action query time = 5.515 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6092
+t=74: Selected seed 195 with value = 0.6092
+Query 1/1: Action query time = 5.770 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7689
+t=90: Selected seed 195 with value = 0.7689
+Query 1/1: Action query time = 3.837 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9122
+t=106: Selected seed 195 with value = 0.9122
+Query 1/1: Action query time = 5.177 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9492
+t=122: Selected seed 195 with value = 0.9492
+Query 1/1: Action query time = 3.789 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9373
+t=138: Selected seed 195 with value = 0.9373
+Query 1/1: Action query time = 4.714 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7343
+t=154: Selected seed 195 with value = 0.7343
+Query 1/1: Action query time = 5.267 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6768
+t=170: Selected seed 195 with value = 0.6768
+Query 1/1: Action query time = 5.574 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8740
+t=186: Selected seed 195 with value = 0.8740
+Query 1/1: Action query time = 4.647 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9548
+t=202: Selected seed 195 with value = 0.9548
+Query 1/1: Action query time = 5.011 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7380
+t=218: Selected seed 195 with value = 0.7380
+Query 1/1: Action query time = 5.434 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9806
+t=234: Selected seed 195 with value = 0.9806
+Query 1/1: Action query time = 5.075 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9820
+t=250: Selected seed 195 with value = 0.9820
+Query 1/1: Action query time = 5.411 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9826
+t=266: Selected seed 195 with value = 0.9826
+Query 1/1: Action query time = 5.348 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9851
+t=282: Selected seed 195 with value = 0.9851
+Query 1/1: Action query time = 4.833 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9871
+t=298: Selected seed 195 with value = 0.9871
+Saved rollout MP4 at path ./rollouts/demochan400_t3_s03/2026_08_02-02_31_00--with_future_img--episode=1--success=False--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: False
+# episodes completed so far: 1
+# successes: 0 (0.0%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 2...
+Query 1/1: Action query time = 4.378 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3632
+t=10: Selected seed 195 with value = 0.3632
+Query 1/1: Action query time = 5.459 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4651
+t=26: Selected seed 195 with value = 0.4651
+Query 1/1: Action query time = 4.867 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6363
+t=42: Selected seed 195 with value = 0.6363
+Query 1/1: Action query time = 4.246 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7175
+t=58: Selected seed 195 with value = 0.7175
+Query 1/1: Action query time = 5.252 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8123
+t=74: Selected seed 195 with value = 0.8123
+Query 1/1: Action query time = 4.474 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7776
+t=90: Selected seed 195 with value = 0.7776
+Query 1/1: Action query time = 5.165 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7353
+t=106: Selected seed 195 with value = 0.7353
+Query 1/1: Action query time = 5.013 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8349
+t=122: Selected seed 195 with value = 0.8349
+Query 1/1: Action query time = 5.421 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7663
+t=138: Selected seed 195 with value = 0.7663
+Query 1/1: Action query time = 4.994 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7332
+t=154: Selected seed 195 with value = 0.7332
+Query 1/1: Action query time = 4.817 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7590
+t=170: Selected seed 195 with value = 0.7590
+Query 1/1: Action query time = 5.033 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7766
+t=186: Selected seed 195 with value = 0.7766
+Query 1/1: Action query time = 5.571 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8869
+t=202: Selected seed 195 with value = 0.8869
+Query 1/1: Action query time = 5.043 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9599
+t=218: Selected seed 195 with value = 0.9599
+Query 1/1: Action query time = 4.734 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9877
+t=234: Selected seed 195 with value = 0.9877
+Query 1/1: Action query time = 4.734 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9696
+t=250: Selected seed 195 with value = 0.9696
+Query 1/1: Action query time = 4.750 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9678
+t=266: Selected seed 195 with value = 0.9678
+Query 1/1: Action query time = 5.315 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9785
+t=282: Selected seed 195 with value = 0.9785
+Query 1/1: Action query time = 3.539 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9769
+t=298: Selected seed 195 with value = 0.9769
+Saved rollout MP4 at path ./rollouts/demochan400_t3_s03/2026_08_02-02_31_00--with_future_img--episode=2--success=False--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: False
+# episodes completed so far: 2
+# successes: 0 (0.0%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 3...
+Query 1/1: Action query time = 4.955 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4123
+t=10: Selected seed 195 with value = 0.4123
+Query 1/1: Action query time = 5.270 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5167
+t=26: Selected seed 195 with value = 0.5167
+Query 1/1: Action query time = 5.624 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6145
+t=42: Selected seed 195 with value = 0.6145
+Query 1/1: Action query time = 5.307 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7316
+t=58: Selected seed 195 with value = 0.7316
+Query 1/1: Action query time = 4.709 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9339
+t=74: Selected seed 195 with value = 0.9339
+Query 1/1: Action query time = 4.899 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6845
+t=90: Selected seed 195 with value = 0.6845
+Query 1/1: Action query time = 4.979 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6464
+t=106: Selected seed 195 with value = 0.6464
+Query 1/1: Action query time = 5.139 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7541
+t=122: Selected seed 195 with value = 0.7541
+Query 1/1: Action query time = 5.285 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9774
+t=138: Selected seed 195 with value = 0.9774
+Query 1/1: Action query time = 4.607 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9792
+t=154: Selected seed 195 with value = 0.9792
+Query 1/1: Action query time = 4.771 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9907
+t=170: Selected seed 195 with value = 0.9907
+Query 1/1: Action query time = 5.361 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=186: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 5.510 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=202: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.956 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=218: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.830 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=234: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 5.036 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=250: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.644 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=266: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 3.863 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=282: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 2.663 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=298: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/demochan400_t3_s03/2026_08_02-02_31_00--with_future_img--episode=3--success=False--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: False
+# episodes completed so far: 3
+# successes: 0 (0.0%)
+Current task success rate: 0.0
+Current total success rate: 0.0
+Final results:
+Total episodes: 3
+Total successes: 0
+Overall success rate: 0.0000 (0.0%)
diff --git a/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-02_37_51--demochan400_t4_s07.txt b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-02_37_51--demochan400_t4_s07.txt
new file mode 100644
index 0000000000000000000000000000000000000000..8ce6ffea0fa4f91acd25168ec6085ff7fcb73819
--- /dev/null
+++ b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-02_37_51--demochan400_t4_s07.txt
@@ -0,0 +1,105 @@
+Eval config: PolicyEvalConfig(suite='libero', model_family='cosmos', config='cosmos_predict2_2b_480p_libero_cl_stage_inference_only', ckpt_path='/home/azureuser/REGEN-main/old/cosmos_policy/cosmos_v2_finetune/cosmos_predict2_2b_480p_libero_goal_task6_regen_cl_demochan_from40k_2gpu/checkpoints/iter_000000400/model', planning_model_config_name='', planning_model_ckpt_path='', config_file='cosmos_policy/config/config.py', packnet_mask_path='', packnet_first_cl_libero_task=6, use_third_person_image=True, num_third_person_images=1, use_wrist_image=True, num_wrist_images=1, use_proprio=True, flip_images=True, use_variance_scale=False, use_jpeg_compression=True, ar_future_prediction=False, ar_value_prediction=False, ar_qvalue_prediction=False, num_denoising_steps_action=5, num_denoising_steps_future_state=1, num_denoising_steps_value=1, unnormalize_actions=True, normalize_proprio=True, dataset_stats_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/libero_goal_regen/dataset_statistics.json', t5_text_embeddings_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/t5_embeddings.pkl', trained_with_image_aug=True, chunk_size=16, num_open_loop_steps=16, deterministic=True, deterministic_reset=False, deterministic_reset_seed=None, use_ensemble_future_state_predictions=False, num_future_state_predictions_in_ensemble=3, future_state_ensemble_aggregation_scheme='average', use_ensemble_value_predictions=False, num_value_predictions_in_ensemble=5, value_ensemble_aggregation_scheme='average', search_depth=1, mask_current_state_action_for_value_prediction=False, mask_future_state_for_qvalue_prediction=False, num_queries_best_of_n=1, use_parallel_inference=False, available_gpus='0', parallel_timeout=15, parallel_tasks_across_gpus=False, task_suite_name='libero_goal', num_trials_per_task=50, task_ids_to_run='4', initial_states_path='DEFAULT', env_img_res=256, local_log_dir='/home/azureuser/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal', run_id_note='demochan400_t4_s07', use_wandb=False, wandb_entity='YOUR_ENTITY', wandb_project='YOUR_PROJECT', seed=195, randomize_seed=False, data_collection=False, jpeg_compress=True, reward_stop_threshold=None, reward_stop_consecutive_steps=3, use_gpt_reward=False, gpt_reward_model='gpt-5.4-mini', gpt_reward_stop_threshold=4, gpt_reward_timeout_s=30.0, save_rollout_video=False, eval_hdf5_path='', eval_hdf5_demo_key='demo_0', data_gen_demo_ids='', eval_episode_ids='7,23,39', replay_actions=False, replay_action_path_dir='', replay_hdf5_path='', data_generation=False, max_generation_steps=200, simple_task_max_steps=100, complex_task_max_steps=200)
+Using serial inference (parallel inference disabled)
+Task suite: libero_goal
+Number of tasks: 10
+Running only task IDs: [4]
+Using default initial states
+
+Task: put the bowl on top of the cabinet
+Starting episode 1...
+Query 1/1: Action query time = 7.005 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4952
+t=10: Selected seed 195 with value = 0.4952
+Query 1/1: Action query time = 5.107 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5756
+t=26: Selected seed 195 with value = 0.5756
+Query 1/1: Action query time = 4.538 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6571
+t=42: Selected seed 195 with value = 0.6571
+Query 1/1: Action query time = 4.746 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7423
+t=58: Selected seed 195 with value = 0.7423
+Query 1/1: Action query time = 3.610 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9119
+t=74: Selected seed 195 with value = 0.9119
+Query 1/1: Action query time = 3.419 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9726
+t=90: Selected seed 195 with value = 0.9726
+Saved rollout MP4 at path ./rollouts/demochan400_t4_s07/2026_08_02-02_37_51--with_future_img--episode=1--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Success: True
+# episodes completed so far: 1
+# successes: 1 (100.0%)
+
+Task: put the bowl on top of the cabinet
+Starting episode 2...
+Query 1/1: Action query time = 4.571 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5214
+t=10: Selected seed 195 with value = 0.5214
+Query 1/1: Action query time = 5.832 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5779
+t=26: Selected seed 195 with value = 0.5779
+Query 1/1: Action query time = 4.970 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6829
+t=42: Selected seed 195 with value = 0.6829
+Query 1/1: Action query time = 4.487 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7890
+t=58: Selected seed 195 with value = 0.7890
+Query 1/1: Action query time = 4.385 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9337
+t=74: Selected seed 195 with value = 0.9337
+Query 1/1: Action query time = 3.963 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9863
+t=90: Selected seed 195 with value = 0.9863
+Saved rollout MP4 at path ./rollouts/demochan400_t4_s07/2026_08_02-02_37_51--with_future_img--episode=2--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Success: True
+# episodes completed so far: 2
+# successes: 2 (100.0%)
+
+Task: put the bowl on top of the cabinet
+Starting episode 3...
+Query 1/1: Action query time = 4.026 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4858
+t=10: Selected seed 195 with value = 0.4858
+Query 1/1: Action query time = 4.813 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5711
+t=26: Selected seed 195 with value = 0.5711
+Query 1/1: Action query time = 4.757 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6529
+t=42: Selected seed 195 with value = 0.6529
+Query 1/1: Action query time = 4.751 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7469
+t=58: Selected seed 195 with value = 0.7469
+Query 1/1: Action query time = 4.184 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9109
+t=74: Selected seed 195 with value = 0.9109
+Query 1/1: Action query time = 3.907 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/demochan400_t4_s07/2026_08_02-02_37_51--with_future_img--episode=3--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Success: True
+# episodes completed so far: 3
+# successes: 3 (100.0%)
+Current task success rate: 1.0
+Current total success rate: 1.0
+Final results:
+Total episodes: 3
+Total successes: 3
+Overall success rate: 1.0000 (100.0%)
diff --git a/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-02_37_52--demochan400_t4_s04.txt b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-02_37_52--demochan400_t4_s04.txt
new file mode 100644
index 0000000000000000000000000000000000000000..4296f23c83c75d4fd4482a885e954c87f9655871
--- /dev/null
+++ b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-02_37_52--demochan400_t4_s04.txt
@@ -0,0 +1,101 @@
+Eval config: PolicyEvalConfig(suite='libero', model_family='cosmos', config='cosmos_predict2_2b_480p_libero_cl_stage_inference_only', ckpt_path='/home/azureuser/REGEN-main/old/cosmos_policy/cosmos_v2_finetune/cosmos_predict2_2b_480p_libero_goal_task6_regen_cl_demochan_from40k_2gpu/checkpoints/iter_000000400/model', planning_model_config_name='', planning_model_ckpt_path='', config_file='cosmos_policy/config/config.py', packnet_mask_path='', packnet_first_cl_libero_task=6, use_third_person_image=True, num_third_person_images=1, use_wrist_image=True, num_wrist_images=1, use_proprio=True, flip_images=True, use_variance_scale=False, use_jpeg_compression=True, ar_future_prediction=False, ar_value_prediction=False, ar_qvalue_prediction=False, num_denoising_steps_action=5, num_denoising_steps_future_state=1, num_denoising_steps_value=1, unnormalize_actions=True, normalize_proprio=True, dataset_stats_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/libero_goal_regen/dataset_statistics.json', t5_text_embeddings_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/t5_embeddings.pkl', trained_with_image_aug=True, chunk_size=16, num_open_loop_steps=16, deterministic=True, deterministic_reset=False, deterministic_reset_seed=None, use_ensemble_future_state_predictions=False, num_future_state_predictions_in_ensemble=3, future_state_ensemble_aggregation_scheme='average', use_ensemble_value_predictions=False, num_value_predictions_in_ensemble=5, value_ensemble_aggregation_scheme='average', search_depth=1, mask_current_state_action_for_value_prediction=False, mask_future_state_for_qvalue_prediction=False, num_queries_best_of_n=1, use_parallel_inference=False, available_gpus='0', parallel_timeout=15, parallel_tasks_across_gpus=False, task_suite_name='libero_goal', num_trials_per_task=50, task_ids_to_run='4', initial_states_path='DEFAULT', env_img_res=256, local_log_dir='/home/azureuser/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal', run_id_note='demochan400_t4_s04', use_wandb=False, wandb_entity='YOUR_ENTITY', wandb_project='YOUR_PROJECT', seed=195, randomize_seed=False, data_collection=False, jpeg_compress=True, reward_stop_threshold=None, reward_stop_consecutive_steps=3, use_gpt_reward=False, gpt_reward_model='gpt-5.4-mini', gpt_reward_stop_threshold=4, gpt_reward_timeout_s=30.0, save_rollout_video=False, eval_hdf5_path='', eval_hdf5_demo_key='demo_0', data_gen_demo_ids='', eval_episode_ids='4,20,36', replay_actions=False, replay_action_path_dir='', replay_hdf5_path='', data_generation=False, max_generation_steps=200, simple_task_max_steps=100, complex_task_max_steps=200)
+Using serial inference (parallel inference disabled)
+Task suite: libero_goal
+Number of tasks: 10
+Running only task IDs: [4]
+Using default initial states
+
+Task: put the bowl on top of the cabinet
+Starting episode 1...
+Query 1/1: Action query time = 6.631 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4976
+t=10: Selected seed 195 with value = 0.4976
+Query 1/1: Action query time = 4.482 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5859
+t=26: Selected seed 195 with value = 0.5859
+Query 1/1: Action query time = 4.889 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6735
+t=42: Selected seed 195 with value = 0.6735
+Query 1/1: Action query time = 5.064 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7870
+t=58: Selected seed 195 with value = 0.7870
+Query 1/1: Action query time = 3.739 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9402
+t=74: Selected seed 195 with value = 0.9402
+Saved rollout MP4 at path ./rollouts/demochan400_t4_s04/2026_08_02-02_37_52--with_future_img--episode=1--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Success: True
+# episodes completed so far: 1
+# successes: 1 (100.0%)
+
+Task: put the bowl on top of the cabinet
+Starting episode 2...
+Query 1/1: Action query time = 3.653 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4927
+t=10: Selected seed 195 with value = 0.4927
+Query 1/1: Action query time = 4.277 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5598
+t=26: Selected seed 195 with value = 0.5598
+Query 1/1: Action query time = 5.245 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6849
+t=42: Selected seed 195 with value = 0.6849
+Query 1/1: Action query time = 5.650 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7692
+t=58: Selected seed 195 with value = 0.7692
+Query 1/1: Action query time = 4.021 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9136
+t=74: Selected seed 195 with value = 0.9136
+Query 1/1: Action query time = 4.615 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/demochan400_t4_s04/2026_08_02-02_37_52--with_future_img--episode=2--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Success: True
+# episodes completed so far: 2
+# successes: 2 (100.0%)
+
+Task: put the bowl on top of the cabinet
+Starting episode 3...
+Query 1/1: Action query time = 4.840 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4846
+t=10: Selected seed 195 with value = 0.4846
+Query 1/1: Action query time = 4.890 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5878
+t=26: Selected seed 195 with value = 0.5878
+Query 1/1: Action query time = 5.435 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6737
+t=42: Selected seed 195 with value = 0.6737
+Query 1/1: Action query time = 4.743 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8132
+t=58: Selected seed 195 with value = 0.8132
+Query 1/1: Action query time = 4.109 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9694
+t=74: Selected seed 195 with value = 0.9694
+Query 1/1: Action query time = 3.626 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9949
+t=90: Selected seed 195 with value = 0.9949
+Saved rollout MP4 at path ./rollouts/demochan400_t4_s04/2026_08_02-02_37_52--with_future_img--episode=3--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Success: True
+# episodes completed so far: 3
+# successes: 3 (100.0%)
+Current task success rate: 1.0
+Current total success rate: 1.0
+Final results:
+Total episodes: 3
+Total successes: 3
+Overall success rate: 1.0000 (100.0%)
diff --git a/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-02_37_52--demochan400_t4_s05.txt b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-02_37_52--demochan400_t4_s05.txt
new file mode 100644
index 0000000000000000000000000000000000000000..dfe7b002130396dd38c55fe995c10c9ad9de3b6d
--- /dev/null
+++ b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-02_37_52--demochan400_t4_s05.txt
@@ -0,0 +1,105 @@
+Eval config: PolicyEvalConfig(suite='libero', model_family='cosmos', config='cosmos_predict2_2b_480p_libero_cl_stage_inference_only', ckpt_path='/home/azureuser/REGEN-main/old/cosmos_policy/cosmos_v2_finetune/cosmos_predict2_2b_480p_libero_goal_task6_regen_cl_demochan_from40k_2gpu/checkpoints/iter_000000400/model', planning_model_config_name='', planning_model_ckpt_path='', config_file='cosmos_policy/config/config.py', packnet_mask_path='', packnet_first_cl_libero_task=6, use_third_person_image=True, num_third_person_images=1, use_wrist_image=True, num_wrist_images=1, use_proprio=True, flip_images=True, use_variance_scale=False, use_jpeg_compression=True, ar_future_prediction=False, ar_value_prediction=False, ar_qvalue_prediction=False, num_denoising_steps_action=5, num_denoising_steps_future_state=1, num_denoising_steps_value=1, unnormalize_actions=True, normalize_proprio=True, dataset_stats_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/libero_goal_regen/dataset_statistics.json', t5_text_embeddings_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/t5_embeddings.pkl', trained_with_image_aug=True, chunk_size=16, num_open_loop_steps=16, deterministic=True, deterministic_reset=False, deterministic_reset_seed=None, use_ensemble_future_state_predictions=False, num_future_state_predictions_in_ensemble=3, future_state_ensemble_aggregation_scheme='average', use_ensemble_value_predictions=False, num_value_predictions_in_ensemble=5, value_ensemble_aggregation_scheme='average', search_depth=1, mask_current_state_action_for_value_prediction=False, mask_future_state_for_qvalue_prediction=False, num_queries_best_of_n=1, use_parallel_inference=False, available_gpus='0', parallel_timeout=15, parallel_tasks_across_gpus=False, task_suite_name='libero_goal', num_trials_per_task=50, task_ids_to_run='4', initial_states_path='DEFAULT', env_img_res=256, local_log_dir='/home/azureuser/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal', run_id_note='demochan400_t4_s05', use_wandb=False, wandb_entity='YOUR_ENTITY', wandb_project='YOUR_PROJECT', seed=195, randomize_seed=False, data_collection=False, jpeg_compress=True, reward_stop_threshold=None, reward_stop_consecutive_steps=3, use_gpt_reward=False, gpt_reward_model='gpt-5.4-mini', gpt_reward_stop_threshold=4, gpt_reward_timeout_s=30.0, save_rollout_video=False, eval_hdf5_path='', eval_hdf5_demo_key='demo_0', data_gen_demo_ids='', eval_episode_ids='5,21,37', replay_actions=False, replay_action_path_dir='', replay_hdf5_path='', data_generation=False, max_generation_steps=200, simple_task_max_steps=100, complex_task_max_steps=200)
+Using serial inference (parallel inference disabled)
+Task suite: libero_goal
+Number of tasks: 10
+Running only task IDs: [4]
+Using default initial states
+
+Task: put the bowl on top of the cabinet
+Starting episode 1...
+Query 1/1: Action query time = 5.751 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5397
+t=10: Selected seed 195 with value = 0.5397
+Query 1/1: Action query time = 4.667 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6087
+t=26: Selected seed 195 with value = 0.6087
+Query 1/1: Action query time = 5.276 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6546
+t=42: Selected seed 195 with value = 0.6546
+Query 1/1: Action query time = 5.333 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7666
+t=58: Selected seed 195 with value = 0.7666
+Query 1/1: Action query time = 2.996 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9419
+t=74: Selected seed 195 with value = 0.9419
+Query 1/1: Action query time = 3.833 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9780
+t=90: Selected seed 195 with value = 0.9780
+Saved rollout MP4 at path ./rollouts/demochan400_t4_s05/2026_08_02-02_37_52--with_future_img--episode=1--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Success: True
+# episodes completed so far: 1
+# successes: 1 (100.0%)
+
+Task: put the bowl on top of the cabinet
+Starting episode 2...
+Query 1/1: Action query time = 3.875 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5268
+t=10: Selected seed 195 with value = 0.5268
+Query 1/1: Action query time = 3.268 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5785
+t=26: Selected seed 195 with value = 0.5785
+Query 1/1: Action query time = 4.911 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6784
+t=42: Selected seed 195 with value = 0.6784
+Query 1/1: Action query time = 5.593 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7577
+t=58: Selected seed 195 with value = 0.7577
+Query 1/1: Action query time = 4.037 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9157
+t=74: Selected seed 195 with value = 0.9157
+Query 1/1: Action query time = 4.418 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/demochan400_t4_s05/2026_08_02-02_37_52--with_future_img--episode=2--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Success: True
+# episodes completed so far: 2
+# successes: 2 (100.0%)
+
+Task: put the bowl on top of the cabinet
+Starting episode 3...
+Query 1/1: Action query time = 4.846 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4949
+t=10: Selected seed 195 with value = 0.4949
+Query 1/1: Action query time = 4.695 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5693
+t=26: Selected seed 195 with value = 0.5693
+Query 1/1: Action query time = 5.588 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6737
+t=42: Selected seed 195 with value = 0.6737
+Query 1/1: Action query time = 4.502 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7934
+t=58: Selected seed 195 with value = 0.7934
+Query 1/1: Action query time = 4.264 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9342
+t=74: Selected seed 195 with value = 0.9342
+Query 1/1: Action query time = 3.323 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9900
+t=90: Selected seed 195 with value = 0.9900
+Saved rollout MP4 at path ./rollouts/demochan400_t4_s05/2026_08_02-02_37_52--with_future_img--episode=3--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Success: True
+# episodes completed so far: 3
+# successes: 3 (100.0%)
+Current task success rate: 1.0
+Current total success rate: 1.0
+Final results:
+Total episodes: 3
+Total successes: 3
+Overall success rate: 1.0000 (100.0%)
diff --git a/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-02_37_52--demochan400_t4_s12.txt b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-02_37_52--demochan400_t4_s12.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0a1a59dc53e09f79e63aa29f7857a5d3032c193b
--- /dev/null
+++ b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-02_37_52--demochan400_t4_s12.txt
@@ -0,0 +1,105 @@
+Eval config: PolicyEvalConfig(suite='libero', model_family='cosmos', config='cosmos_predict2_2b_480p_libero_cl_stage_inference_only', ckpt_path='/home/azureuser/REGEN-main/old/cosmos_policy/cosmos_v2_finetune/cosmos_predict2_2b_480p_libero_goal_task6_regen_cl_demochan_from40k_2gpu/checkpoints/iter_000000400/model', planning_model_config_name='', planning_model_ckpt_path='', config_file='cosmos_policy/config/config.py', packnet_mask_path='', packnet_first_cl_libero_task=6, use_third_person_image=True, num_third_person_images=1, use_wrist_image=True, num_wrist_images=1, use_proprio=True, flip_images=True, use_variance_scale=False, use_jpeg_compression=True, ar_future_prediction=False, ar_value_prediction=False, ar_qvalue_prediction=False, num_denoising_steps_action=5, num_denoising_steps_future_state=1, num_denoising_steps_value=1, unnormalize_actions=True, normalize_proprio=True, dataset_stats_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/libero_goal_regen/dataset_statistics.json', t5_text_embeddings_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/t5_embeddings.pkl', trained_with_image_aug=True, chunk_size=16, num_open_loop_steps=16, deterministic=True, deterministic_reset=False, deterministic_reset_seed=None, use_ensemble_future_state_predictions=False, num_future_state_predictions_in_ensemble=3, future_state_ensemble_aggregation_scheme='average', use_ensemble_value_predictions=False, num_value_predictions_in_ensemble=5, value_ensemble_aggregation_scheme='average', search_depth=1, mask_current_state_action_for_value_prediction=False, mask_future_state_for_qvalue_prediction=False, num_queries_best_of_n=1, use_parallel_inference=False, available_gpus='0', parallel_timeout=15, parallel_tasks_across_gpus=False, task_suite_name='libero_goal', num_trials_per_task=50, task_ids_to_run='4', initial_states_path='DEFAULT', env_img_res=256, local_log_dir='/home/azureuser/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal', run_id_note='demochan400_t4_s12', use_wandb=False, wandb_entity='YOUR_ENTITY', wandb_project='YOUR_PROJECT', seed=195, randomize_seed=False, data_collection=False, jpeg_compress=True, reward_stop_threshold=None, reward_stop_consecutive_steps=3, use_gpt_reward=False, gpt_reward_model='gpt-5.4-mini', gpt_reward_stop_threshold=4, gpt_reward_timeout_s=30.0, save_rollout_video=False, eval_hdf5_path='', eval_hdf5_demo_key='demo_0', data_gen_demo_ids='', eval_episode_ids='12,28,44', replay_actions=False, replay_action_path_dir='', replay_hdf5_path='', data_generation=False, max_generation_steps=200, simple_task_max_steps=100, complex_task_max_steps=200)
+Using serial inference (parallel inference disabled)
+Task suite: libero_goal
+Number of tasks: 10
+Running only task IDs: [4]
+Using default initial states
+
+Task: put the bowl on top of the cabinet
+Starting episode 1...
+Query 1/1: Action query time = 6.221 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4854
+t=10: Selected seed 195 with value = 0.4854
+Query 1/1: Action query time = 5.581 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5708
+t=26: Selected seed 195 with value = 0.5708
+Query 1/1: Action query time = 4.442 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6952
+t=42: Selected seed 195 with value = 0.6952
+Query 1/1: Action query time = 4.683 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7917
+t=58: Selected seed 195 with value = 0.7917
+Query 1/1: Action query time = 4.267 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9468
+t=74: Selected seed 195 with value = 0.9468
+Query 1/1: Action query time = 3.628 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9883
+t=90: Selected seed 195 with value = 0.9883
+Saved rollout MP4 at path ./rollouts/demochan400_t4_s12/2026_08_02-02_37_52--with_future_img--episode=1--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Success: True
+# episodes completed so far: 1
+# successes: 1 (100.0%)
+
+Task: put the bowl on top of the cabinet
+Starting episode 2...
+Query 1/1: Action query time = 5.955 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5066
+t=10: Selected seed 195 with value = 0.5066
+Query 1/1: Action query time = 5.604 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5675
+t=26: Selected seed 195 with value = 0.5675
+Query 1/1: Action query time = 4.755 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6547
+t=42: Selected seed 195 with value = 0.6547
+Query 1/1: Action query time = 4.221 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7750
+t=58: Selected seed 195 with value = 0.7750
+Query 1/1: Action query time = 4.866 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9165
+t=74: Selected seed 195 with value = 0.9165
+Query 1/1: Action query time = 2.605 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/demochan400_t4_s12/2026_08_02-02_37_52--with_future_img--episode=2--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Success: True
+# episodes completed so far: 2
+# successes: 2 (100.0%)
+
+Task: put the bowl on top of the cabinet
+Starting episode 3...
+Query 1/1: Action query time = 5.196 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5165
+t=10: Selected seed 195 with value = 0.5165
+Query 1/1: Action query time = 4.979 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6007
+t=26: Selected seed 195 with value = 0.6007
+Query 1/1: Action query time = 3.872 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6641
+t=42: Selected seed 195 with value = 0.6641
+Query 1/1: Action query time = 3.619 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7857
+t=58: Selected seed 195 with value = 0.7857
+Query 1/1: Action query time = 3.537 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9193
+t=74: Selected seed 195 with value = 0.9193
+Query 1/1: Action query time = 2.292 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9695
+t=90: Selected seed 195 with value = 0.9695
+Saved rollout MP4 at path ./rollouts/demochan400_t4_s12/2026_08_02-02_37_52--with_future_img--episode=3--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Success: True
+# episodes completed so far: 3
+# successes: 3 (100.0%)
+Current task success rate: 1.0
+Current total success rate: 1.0
+Final results:
+Total episodes: 3
+Total successes: 3
+Overall success rate: 1.0000 (100.0%)
diff --git a/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-02_37_52--demochan400_t4_s13.txt b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-02_37_52--demochan400_t4_s13.txt
new file mode 100644
index 0000000000000000000000000000000000000000..2948b12884b3cea3a863c27c593ed19db0b5e562
--- /dev/null
+++ b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-02_37_52--demochan400_t4_s13.txt
@@ -0,0 +1,105 @@
+Eval config: PolicyEvalConfig(suite='libero', model_family='cosmos', config='cosmos_predict2_2b_480p_libero_cl_stage_inference_only', ckpt_path='/home/azureuser/REGEN-main/old/cosmos_policy/cosmos_v2_finetune/cosmos_predict2_2b_480p_libero_goal_task6_regen_cl_demochan_from40k_2gpu/checkpoints/iter_000000400/model', planning_model_config_name='', planning_model_ckpt_path='', config_file='cosmos_policy/config/config.py', packnet_mask_path='', packnet_first_cl_libero_task=6, use_third_person_image=True, num_third_person_images=1, use_wrist_image=True, num_wrist_images=1, use_proprio=True, flip_images=True, use_variance_scale=False, use_jpeg_compression=True, ar_future_prediction=False, ar_value_prediction=False, ar_qvalue_prediction=False, num_denoising_steps_action=5, num_denoising_steps_future_state=1, num_denoising_steps_value=1, unnormalize_actions=True, normalize_proprio=True, dataset_stats_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/libero_goal_regen/dataset_statistics.json', t5_text_embeddings_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/t5_embeddings.pkl', trained_with_image_aug=True, chunk_size=16, num_open_loop_steps=16, deterministic=True, deterministic_reset=False, deterministic_reset_seed=None, use_ensemble_future_state_predictions=False, num_future_state_predictions_in_ensemble=3, future_state_ensemble_aggregation_scheme='average', use_ensemble_value_predictions=False, num_value_predictions_in_ensemble=5, value_ensemble_aggregation_scheme='average', search_depth=1, mask_current_state_action_for_value_prediction=False, mask_future_state_for_qvalue_prediction=False, num_queries_best_of_n=1, use_parallel_inference=False, available_gpus='0', parallel_timeout=15, parallel_tasks_across_gpus=False, task_suite_name='libero_goal', num_trials_per_task=50, task_ids_to_run='4', initial_states_path='DEFAULT', env_img_res=256, local_log_dir='/home/azureuser/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal', run_id_note='demochan400_t4_s13', use_wandb=False, wandb_entity='YOUR_ENTITY', wandb_project='YOUR_PROJECT', seed=195, randomize_seed=False, data_collection=False, jpeg_compress=True, reward_stop_threshold=None, reward_stop_consecutive_steps=3, use_gpt_reward=False, gpt_reward_model='gpt-5.4-mini', gpt_reward_stop_threshold=4, gpt_reward_timeout_s=30.0, save_rollout_video=False, eval_hdf5_path='', eval_hdf5_demo_key='demo_0', data_gen_demo_ids='', eval_episode_ids='13,29,45', replay_actions=False, replay_action_path_dir='', replay_hdf5_path='', data_generation=False, max_generation_steps=200, simple_task_max_steps=100, complex_task_max_steps=200)
+Using serial inference (parallel inference disabled)
+Task suite: libero_goal
+Number of tasks: 10
+Running only task IDs: [4]
+Using default initial states
+
+Task: put the bowl on top of the cabinet
+Starting episode 1...
+Query 1/1: Action query time = 5.765 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4991
+t=10: Selected seed 195 with value = 0.4991
+Query 1/1: Action query time = 4.757 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5759
+t=26: Selected seed 195 with value = 0.5759
+Query 1/1: Action query time = 4.415 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6526
+t=42: Selected seed 195 with value = 0.6526
+Query 1/1: Action query time = 5.170 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7954
+t=58: Selected seed 195 with value = 0.7954
+Query 1/1: Action query time = 4.401 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9439
+t=74: Selected seed 195 with value = 0.9439
+Query 1/1: Action query time = 4.310 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9879
+t=90: Selected seed 195 with value = 0.9879
+Saved rollout MP4 at path ./rollouts/demochan400_t4_s13/2026_08_02-02_37_52--with_future_img--episode=1--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Success: True
+# episodes completed so far: 1
+# successes: 1 (100.0%)
+
+Task: put the bowl on top of the cabinet
+Starting episode 2...
+Query 1/1: Action query time = 3.076 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4926
+t=10: Selected seed 195 with value = 0.4926
+Query 1/1: Action query time = 5.130 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5801
+t=26: Selected seed 195 with value = 0.5801
+Query 1/1: Action query time = 5.462 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6548
+t=42: Selected seed 195 with value = 0.6548
+Query 1/1: Action query time = 4.826 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7873
+t=58: Selected seed 195 with value = 0.7873
+Query 1/1: Action query time = 4.757 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9168
+t=74: Selected seed 195 with value = 0.9168
+Query 1/1: Action query time = 4.703 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9867
+t=90: Selected seed 195 with value = 0.9867
+Saved rollout MP4 at path ./rollouts/demochan400_t4_s13/2026_08_02-02_37_52--with_future_img--episode=2--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Success: True
+# episodes completed so far: 2
+# successes: 2 (100.0%)
+
+Task: put the bowl on top of the cabinet
+Starting episode 3...
+Query 1/1: Action query time = 3.681 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5102
+t=10: Selected seed 195 with value = 0.5102
+Query 1/1: Action query time = 5.136 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5712
+t=26: Selected seed 195 with value = 0.5712
+Query 1/1: Action query time = 4.803 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6838
+t=42: Selected seed 195 with value = 0.6838
+Query 1/1: Action query time = 3.448 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7960
+t=58: Selected seed 195 with value = 0.7960
+Query 1/1: Action query time = 3.212 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9507
+t=74: Selected seed 195 with value = 0.9507
+Query 1/1: Action query time = 2.925 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/demochan400_t4_s13/2026_08_02-02_37_52--with_future_img--episode=3--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Success: True
+# episodes completed so far: 3
+# successes: 3 (100.0%)
+Current task success rate: 1.0
+Current total success rate: 1.0
+Final results:
+Total episodes: 3
+Total successes: 3
+Overall success rate: 1.0000 (100.0%)
diff --git a/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-02_37_52--demochan400_t4_s15.txt b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-02_37_52--demochan400_t4_s15.txt
new file mode 100644
index 0000000000000000000000000000000000000000..7d41f344c198cc00e23b0d1616a58b4c698c1971
--- /dev/null
+++ b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-02_37_52--demochan400_t4_s15.txt
@@ -0,0 +1,157 @@
+Eval config: PolicyEvalConfig(suite='libero', model_family='cosmos', config='cosmos_predict2_2b_480p_libero_cl_stage_inference_only', ckpt_path='/home/azureuser/REGEN-main/old/cosmos_policy/cosmos_v2_finetune/cosmos_predict2_2b_480p_libero_goal_task6_regen_cl_demochan_from40k_2gpu/checkpoints/iter_000000400/model', planning_model_config_name='', planning_model_ckpt_path='', config_file='cosmos_policy/config/config.py', packnet_mask_path='', packnet_first_cl_libero_task=6, use_third_person_image=True, num_third_person_images=1, use_wrist_image=True, num_wrist_images=1, use_proprio=True, flip_images=True, use_variance_scale=False, use_jpeg_compression=True, ar_future_prediction=False, ar_value_prediction=False, ar_qvalue_prediction=False, num_denoising_steps_action=5, num_denoising_steps_future_state=1, num_denoising_steps_value=1, unnormalize_actions=True, normalize_proprio=True, dataset_stats_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/libero_goal_regen/dataset_statistics.json', t5_text_embeddings_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/t5_embeddings.pkl', trained_with_image_aug=True, chunk_size=16, num_open_loop_steps=16, deterministic=True, deterministic_reset=False, deterministic_reset_seed=None, use_ensemble_future_state_predictions=False, num_future_state_predictions_in_ensemble=3, future_state_ensemble_aggregation_scheme='average', use_ensemble_value_predictions=False, num_value_predictions_in_ensemble=5, value_ensemble_aggregation_scheme='average', search_depth=1, mask_current_state_action_for_value_prediction=False, mask_future_state_for_qvalue_prediction=False, num_queries_best_of_n=1, use_parallel_inference=False, available_gpus='0', parallel_timeout=15, parallel_tasks_across_gpus=False, task_suite_name='libero_goal', num_trials_per_task=50, task_ids_to_run='4', initial_states_path='DEFAULT', env_img_res=256, local_log_dir='/home/azureuser/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal', run_id_note='demochan400_t4_s15', use_wandb=False, wandb_entity='YOUR_ENTITY', wandb_project='YOUR_PROJECT', seed=195, randomize_seed=False, data_collection=False, jpeg_compress=True, reward_stop_threshold=None, reward_stop_consecutive_steps=3, use_gpt_reward=False, gpt_reward_model='gpt-5.4-mini', gpt_reward_stop_threshold=4, gpt_reward_timeout_s=30.0, save_rollout_video=False, eval_hdf5_path='', eval_hdf5_demo_key='demo_0', data_gen_demo_ids='', eval_episode_ids='15,31,47', replay_actions=False, replay_action_path_dir='', replay_hdf5_path='', data_generation=False, max_generation_steps=200, simple_task_max_steps=100, complex_task_max_steps=200)
+Using serial inference (parallel inference disabled)
+Task suite: libero_goal
+Number of tasks: 10
+Running only task IDs: [4]
+Using default initial states
+
+Task: put the bowl on top of the cabinet
+Starting episode 1...
+Query 1/1: Action query time = 5.140 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5122
+t=10: Selected seed 195 with value = 0.5122
+Query 1/1: Action query time = 5.062 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6063
+t=26: Selected seed 195 with value = 0.6063
+Query 1/1: Action query time = 5.717 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6742
+t=42: Selected seed 195 with value = 0.6742
+Query 1/1: Action query time = 5.427 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7911
+t=58: Selected seed 195 with value = 0.7911
+Query 1/1: Action query time = 4.724 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9284
+t=74: Selected seed 195 with value = 0.9284
+Query 1/1: Action query time = 4.451 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9957
+t=90: Selected seed 195 with value = 0.9957
+Saved rollout MP4 at path ./rollouts/demochan400_t4_s15/2026_08_02-02_37_52--with_future_img--episode=1--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Success: True
+# episodes completed so far: 1
+# successes: 1 (100.0%)
+
+Task: put the bowl on top of the cabinet
+Starting episode 2...
+Query 1/1: Action query time = 3.601 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5062
+t=10: Selected seed 195 with value = 0.5062
+Query 1/1: Action query time = 6.417 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5789
+t=26: Selected seed 195 with value = 0.5789
+Query 1/1: Action query time = 5.562 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6716
+t=42: Selected seed 195 with value = 0.6716
+Query 1/1: Action query time = 4.804 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7644
+t=58: Selected seed 195 with value = 0.7644
+Query 1/1: Action query time = 4.083 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9468
+t=74: Selected seed 195 with value = 0.9468
+Query 1/1: Action query time = 4.580 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9768
+t=90: Selected seed 195 with value = 0.9768
+Saved rollout MP4 at path ./rollouts/demochan400_t4_s15/2026_08_02-02_37_52--with_future_img--episode=2--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Success: True
+# episodes completed so far: 2
+# successes: 2 (100.0%)
+
+Task: put the bowl on top of the cabinet
+Starting episode 3...
+Query 1/1: Action query time = 3.221 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5104
+t=10: Selected seed 195 with value = 0.5104
+Query 1/1: Action query time = 4.843 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6280
+t=26: Selected seed 195 with value = 0.6280
+Query 1/1: Action query time = 5.190 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7407
+t=42: Selected seed 195 with value = 0.7407
+Query 1/1: Action query time = 4.485 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8613
+t=58: Selected seed 195 with value = 0.8613
+Query 1/1: Action query time = 3.837 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9655
+t=74: Selected seed 195 with value = 0.9655
+Query 1/1: Action query time = 3.459 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9807
+t=90: Selected seed 195 with value = 0.9807
+Query 1/1: Action query time = 2.537 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=106: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 1.111 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=122: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.986 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9735
+t=138: Selected seed 195 with value = 0.9735
+Query 1/1: Action query time = 0.982 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9885
+t=154: Selected seed 195 with value = 0.9885
+Query 1/1: Action query time = 1.291 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9923
+t=170: Selected seed 195 with value = 0.9923
+Query 1/1: Action query time = 1.008 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=186: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.961 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=202: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 1.106 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=218: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 1.131 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=234: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 1.100 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=250: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 1.172 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=266: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 1.260 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=282: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 1.254 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=298: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/demochan400_t4_s15/2026_08_02-02_37_52--with_future_img--episode=3--success=False--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Success: False
+# episodes completed so far: 3
+# successes: 2 (66.7%)
+Current task success rate: 0.6666666666666666
+Current total success rate: 0.6666666666666666
+Final results:
+Total episodes: 3
+Total successes: 2
+Overall success rate: 0.6667 (66.7%)
diff --git a/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-02_40_38--demochan400_t5_s00.txt b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-02_40_38--demochan400_t5_s00.txt
new file mode 100644
index 0000000000000000000000000000000000000000..1199a5157325ceb452730b2c1f4286a4fb6fcd2a
--- /dev/null
+++ b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-02_40_38--demochan400_t5_s00.txt
@@ -0,0 +1,304 @@
+Eval config: PolicyEvalConfig(suite='libero', model_family='cosmos', config='cosmos_predict2_2b_480p_libero_cl_stage_inference_only', ckpt_path='/home/azureuser/REGEN-main/old/cosmos_policy/cosmos_v2_finetune/cosmos_predict2_2b_480p_libero_goal_task6_regen_cl_demochan_from40k_2gpu/checkpoints/iter_000000400/model', planning_model_config_name='', planning_model_ckpt_path='', config_file='cosmos_policy/config/config.py', packnet_mask_path='', packnet_first_cl_libero_task=6, use_third_person_image=True, num_third_person_images=1, use_wrist_image=True, num_wrist_images=1, use_proprio=True, flip_images=True, use_variance_scale=False, use_jpeg_compression=True, ar_future_prediction=False, ar_value_prediction=False, ar_qvalue_prediction=False, num_denoising_steps_action=5, num_denoising_steps_future_state=1, num_denoising_steps_value=1, unnormalize_actions=True, normalize_proprio=True, dataset_stats_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/libero_goal_regen/dataset_statistics.json', t5_text_embeddings_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/t5_embeddings.pkl', trained_with_image_aug=True, chunk_size=16, num_open_loop_steps=16, deterministic=True, deterministic_reset=False, deterministic_reset_seed=None, use_ensemble_future_state_predictions=False, num_future_state_predictions_in_ensemble=3, future_state_ensemble_aggregation_scheme='average', use_ensemble_value_predictions=False, num_value_predictions_in_ensemble=5, value_ensemble_aggregation_scheme='average', search_depth=1, mask_current_state_action_for_value_prediction=False, mask_future_state_for_qvalue_prediction=False, num_queries_best_of_n=1, use_parallel_inference=False, available_gpus='0', parallel_timeout=15, parallel_tasks_across_gpus=False, task_suite_name='libero_goal', num_trials_per_task=50, task_ids_to_run='5', initial_states_path='DEFAULT', env_img_res=256, local_log_dir='/home/azureuser/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal', run_id_note='demochan400_t5_s00', use_wandb=False, wandb_entity='YOUR_ENTITY', wandb_project='YOUR_PROJECT', seed=195, randomize_seed=False, data_collection=False, jpeg_compress=True, reward_stop_threshold=None, reward_stop_consecutive_steps=3, use_gpt_reward=False, gpt_reward_model='gpt-5.4-mini', gpt_reward_stop_threshold=4, gpt_reward_timeout_s=30.0, save_rollout_video=False, eval_hdf5_path='', eval_hdf5_demo_key='demo_0', data_gen_demo_ids='', eval_episode_ids='0,16,32,48', replay_actions=False, replay_action_path_dir='', replay_hdf5_path='', data_generation=False, max_generation_steps=200, simple_task_max_steps=100, complex_task_max_steps=200)
+Using serial inference (parallel inference disabled)
+Task suite: libero_goal
+Number of tasks: 10
+Running only task IDs: [5]
+Using default initial states
+
+Task: push the plate to the front of the stove
+Starting episode 1...
+Query 1/1: Action query time = 3.599 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3264
+t=10: Selected seed 195 with value = 0.3264
+Query 1/1: Action query time = 5.636 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3721
+t=26: Selected seed 195 with value = 0.3721
+Query 1/1: Action query time = 4.588 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4636
+t=42: Selected seed 195 with value = 0.4636
+Query 1/1: Action query time = 4.972 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5302
+t=58: Selected seed 195 with value = 0.5302
+Query 1/1: Action query time = 5.459 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6149
+t=74: Selected seed 195 with value = 0.6149
+Query 1/1: Action query time = 5.293 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6814
+t=90: Selected seed 195 with value = 0.6814
+Query 1/1: Action query time = 4.788 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7327
+t=106: Selected seed 195 with value = 0.7327
+Query 1/1: Action query time = 4.528 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9002
+t=122: Selected seed 195 with value = 0.9002
+Query 1/1: Action query time = 4.309 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9613
+t=138: Selected seed 195 with value = 0.9613
+Query 1/1: Action query time = 3.891 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9871
+t=154: Selected seed 195 with value = 0.9871
+Query 1/1: Action query time = 4.120 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9958
+t=170: Selected seed 195 with value = 0.9958
+Query 1/1: Action query time = 4.272 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9822
+t=186: Selected seed 195 with value = 0.9822
+Query 1/1: Action query time = 5.209 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=202: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 5.191 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=218: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.560 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9931
+t=234: Selected seed 195 with value = 0.9931
+Query 1/1: Action query time = 4.854 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9834
+t=250: Selected seed 195 with value = 0.9834
+Query 1/1: Action query time = 5.052 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8540
+t=266: Selected seed 195 with value = 0.8540
+Query 1/1: Action query time = 4.849 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8551
+t=282: Selected seed 195 with value = 0.8551
+Query 1/1: Action query time = 3.221 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9155
+t=298: Selected seed 195 with value = 0.9155
+Saved rollout MP4 at path ./rollouts/demochan400_t5_s00/2026_08_02-02_40_38--with_future_img--episode=1--success=False--task=push_the_plate_to_the_front_of_the_.mp4
+Success: False
+# episodes completed so far: 1
+# successes: 0 (0.0%)
+
+Task: push the plate to the front of the stove
+Starting episode 2...
+Query 1/1: Action query time = 3.165 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3595
+t=10: Selected seed 195 with value = 0.3595
+Query 1/1: Action query time = 4.660 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3997
+t=26: Selected seed 195 with value = 0.3997
+Query 1/1: Action query time = 5.284 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4842
+t=42: Selected seed 195 with value = 0.4842
+Query 1/1: Action query time = 5.615 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5457
+t=58: Selected seed 195 with value = 0.5457
+Query 1/1: Action query time = 5.669 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6397
+t=74: Selected seed 195 with value = 0.6397
+Query 1/1: Action query time = 5.493 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7318
+t=90: Selected seed 195 with value = 0.7318
+Query 1/1: Action query time = 4.711 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8092
+t=106: Selected seed 195 with value = 0.8092
+Query 1/1: Action query time = 4.571 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9465
+t=122: Selected seed 195 with value = 0.9465
+Query 1/1: Action query time = 4.742 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9923
+t=138: Selected seed 195 with value = 0.9923
+Saved rollout MP4 at path ./rollouts/demochan400_t5_s00/2026_08_02-02_40_38--with_future_img--episode=2--success=True--task=push_the_plate_to_the_front_of_the_.mp4
+Success: True
+# episodes completed so far: 2
+# successes: 1 (50.0%)
+
+Task: push the plate to the front of the stove
+Starting episode 3...
+Query 1/1: Action query time = 2.522 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3715
+t=10: Selected seed 195 with value = 0.3715
+Query 1/1: Action query time = 2.108 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4054
+t=26: Selected seed 195 with value = 0.4054
+Query 1/1: Action query time = 3.034 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4690
+t=42: Selected seed 195 with value = 0.4690
+Query 1/1: Action query time = 3.482 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4819
+t=58: Selected seed 195 with value = 0.4819
+Query 1/1: Action query time = 3.106 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5954
+t=74: Selected seed 195 with value = 0.5954
+Query 1/1: Action query time = 3.181 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7096
+t=90: Selected seed 195 with value = 0.7096
+Query 1/1: Action query time = 2.460 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7612
+t=106: Selected seed 195 with value = 0.7612
+Query 1/1: Action query time = 2.402 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8425
+t=122: Selected seed 195 with value = 0.8425
+Query 1/1: Action query time = 2.310 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9616
+t=138: Selected seed 195 with value = 0.9616
+Query 1/1: Action query time = 1.945 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7763
+t=154: Selected seed 195 with value = 0.7763
+Query 1/1: Action query time = 2.334 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7615
+t=170: Selected seed 195 with value = 0.7615
+Query 1/1: Action query time = 2.404 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9195
+t=186: Selected seed 195 with value = 0.9195
+Query 1/1: Action query time = 2.344 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9158
+t=202: Selected seed 195 with value = 0.9158
+Query 1/1: Action query time = 2.367 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9805
+t=218: Selected seed 195 with value = 0.9805
+Query 1/1: Action query time = 2.404 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9870
+t=234: Selected seed 195 with value = 0.9870
+Query 1/1: Action query time = 2.423 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=250: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 2.455 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9893
+t=266: Selected seed 195 with value = 0.9893
+Query 1/1: Action query time = 2.076 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8935
+t=282: Selected seed 195 with value = 0.8935
+Query 1/1: Action query time = 1.897 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=298: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/demochan400_t5_s00/2026_08_02-02_40_38--with_future_img--episode=3--success=False--task=push_the_plate_to_the_front_of_the_.mp4
+Success: False
+# episodes completed so far: 3
+# successes: 1 (33.3%)
+
+Task: push the plate to the front of the stove
+Starting episode 4...
+Query 1/1: Action query time = 0.954 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3228
+t=10: Selected seed 195 with value = 0.3228
+Query 1/1: Action query time = 0.940 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3504
+t=26: Selected seed 195 with value = 0.3504
+Query 1/1: Action query time = 0.946 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4403
+t=42: Selected seed 195 with value = 0.4403
+Query 1/1: Action query time = 0.966 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5112
+t=58: Selected seed 195 with value = 0.5112
+Query 1/1: Action query time = 0.960 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6099
+t=74: Selected seed 195 with value = 0.6099
+Query 1/1: Action query time = 0.950 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6706
+t=90: Selected seed 195 with value = 0.6706
+Query 1/1: Action query time = 0.945 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7770
+t=106: Selected seed 195 with value = 0.7770
+Query 1/1: Action query time = 0.967 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8938
+t=122: Selected seed 195 with value = 0.8938
+Query 1/1: Action query time = 0.960 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7350
+t=138: Selected seed 195 with value = 0.7350
+Query 1/1: Action query time = 0.941 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9098
+t=154: Selected seed 195 with value = 0.9098
+Query 1/1: Action query time = 0.944 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8086
+t=170: Selected seed 195 with value = 0.8086
+Query 1/1: Action query time = 0.945 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8801
+t=186: Selected seed 195 with value = 0.8801
+Query 1/1: Action query time = 0.939 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9609
+t=202: Selected seed 195 with value = 0.9609
+Query 1/1: Action query time = 0.952 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9606
+t=218: Selected seed 195 with value = 0.9606
+Query 1/1: Action query time = 0.937 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9034
+t=234: Selected seed 195 with value = 0.9034
+Query 1/1: Action query time = 0.943 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8653
+t=250: Selected seed 195 with value = 0.8653
+Query 1/1: Action query time = 0.953 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9458
+t=266: Selected seed 195 with value = 0.9458
+Query 1/1: Action query time = 0.948 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9715
+t=282: Selected seed 195 with value = 0.9715
+Query 1/1: Action query time = 0.952 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9090
+t=298: Selected seed 195 with value = 0.9090
+Saved rollout MP4 at path ./rollouts/demochan400_t5_s00/2026_08_02-02_40_38--with_future_img--episode=4--success=False--task=push_the_plate_to_the_front_of_the_.mp4
+Success: False
+# episodes completed so far: 4
+# successes: 1 (25.0%)
+Current task success rate: 0.25
+Current total success rate: 0.25
+Final results:
+Total episodes: 4
+Total successes: 1
+Overall success rate: 0.2500 (25.0%)
diff --git a/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-02_40_38--demochan400_t5_s09.txt b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-02_40_38--demochan400_t5_s09.txt
new file mode 100644
index 0000000000000000000000000000000000000000..41e39c56389a61bd747c8d5bc4f87b6133ae3b2c
--- /dev/null
+++ b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-02_40_38--demochan400_t5_s09.txt
@@ -0,0 +1,181 @@
+Eval config: PolicyEvalConfig(suite='libero', model_family='cosmos', config='cosmos_predict2_2b_480p_libero_cl_stage_inference_only', ckpt_path='/home/azureuser/REGEN-main/old/cosmos_policy/cosmos_v2_finetune/cosmos_predict2_2b_480p_libero_goal_task6_regen_cl_demochan_from40k_2gpu/checkpoints/iter_000000400/model', planning_model_config_name='', planning_model_ckpt_path='', config_file='cosmos_policy/config/config.py', packnet_mask_path='', packnet_first_cl_libero_task=6, use_third_person_image=True, num_third_person_images=1, use_wrist_image=True, num_wrist_images=1, use_proprio=True, flip_images=True, use_variance_scale=False, use_jpeg_compression=True, ar_future_prediction=False, ar_value_prediction=False, ar_qvalue_prediction=False, num_denoising_steps_action=5, num_denoising_steps_future_state=1, num_denoising_steps_value=1, unnormalize_actions=True, normalize_proprio=True, dataset_stats_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/libero_goal_regen/dataset_statistics.json', t5_text_embeddings_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/t5_embeddings.pkl', trained_with_image_aug=True, chunk_size=16, num_open_loop_steps=16, deterministic=True, deterministic_reset=False, deterministic_reset_seed=None, use_ensemble_future_state_predictions=False, num_future_state_predictions_in_ensemble=3, future_state_ensemble_aggregation_scheme='average', use_ensemble_value_predictions=False, num_value_predictions_in_ensemble=5, value_ensemble_aggregation_scheme='average', search_depth=1, mask_current_state_action_for_value_prediction=False, mask_future_state_for_qvalue_prediction=False, num_queries_best_of_n=1, use_parallel_inference=False, available_gpus='0', parallel_timeout=15, parallel_tasks_across_gpus=False, task_suite_name='libero_goal', num_trials_per_task=50, task_ids_to_run='5', initial_states_path='DEFAULT', env_img_res=256, local_log_dir='/home/azureuser/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal', run_id_note='demochan400_t5_s09', use_wandb=False, wandb_entity='YOUR_ENTITY', wandb_project='YOUR_PROJECT', seed=195, randomize_seed=False, data_collection=False, jpeg_compress=True, reward_stop_threshold=None, reward_stop_consecutive_steps=3, use_gpt_reward=False, gpt_reward_model='gpt-5.4-mini', gpt_reward_stop_threshold=4, gpt_reward_timeout_s=30.0, save_rollout_video=False, eval_hdf5_path='', eval_hdf5_demo_key='demo_0', data_gen_demo_ids='', eval_episode_ids='9,25,41', replay_actions=False, replay_action_path_dir='', replay_hdf5_path='', data_generation=False, max_generation_steps=200, simple_task_max_steps=100, complex_task_max_steps=200)
+Using serial inference (parallel inference disabled)
+Task suite: libero_goal
+Number of tasks: 10
+Running only task IDs: [5]
+Using default initial states
+
+Task: push the plate to the front of the stove
+Starting episode 1...
+Query 1/1: Action query time = 1.571 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3696
+t=10: Selected seed 195 with value = 0.3696
+Query 1/1: Action query time = 1.758 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3854
+t=26: Selected seed 195 with value = 0.3854
+Query 1/1: Action query time = 1.647 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4911
+t=42: Selected seed 195 with value = 0.4911
+Query 1/1: Action query time = 5.582 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5588
+t=58: Selected seed 195 with value = 0.5588
+Query 1/1: Action query time = 4.681 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6098
+t=74: Selected seed 195 with value = 0.6098
+Query 1/1: Action query time = 5.001 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7188
+t=90: Selected seed 195 with value = 0.7188
+Query 1/1: Action query time = 5.727 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8549
+t=106: Selected seed 195 with value = 0.8549
+Query 1/1: Action query time = 5.234 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8714
+t=122: Selected seed 195 with value = 0.8714
+Query 1/1: Action query time = 4.056 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9755
+t=138: Selected seed 195 with value = 0.9755
+Saved rollout MP4 at path ./rollouts/demochan400_t5_s09/2026_08_02-02_40_38--with_future_img--episode=1--success=True--task=push_the_plate_to_the_front_of_the_.mp4
+Success: True
+# episodes completed so far: 1
+# successes: 1 (100.0%)
+
+Task: push the plate to the front of the stove
+Starting episode 2...
+Query 1/1: Action query time = 5.189 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3288
+t=10: Selected seed 195 with value = 0.3288
+Query 1/1: Action query time = 5.415 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3949
+t=26: Selected seed 195 with value = 0.3949
+Query 1/1: Action query time = 2.817 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4683
+t=42: Selected seed 195 with value = 0.4683
+Query 1/1: Action query time = 3.018 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5451
+t=58: Selected seed 195 with value = 0.5451
+Query 1/1: Action query time = 5.323 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6306
+t=74: Selected seed 195 with value = 0.6306
+Query 1/1: Action query time = 4.782 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7202
+t=90: Selected seed 195 with value = 0.7202
+Query 1/1: Action query time = 5.065 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7819
+t=106: Selected seed 195 with value = 0.7819
+Query 1/1: Action query time = 5.458 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9167
+t=122: Selected seed 195 with value = 0.9167
+Query 1/1: Action query time = 5.077 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7216
+t=138: Selected seed 195 with value = 0.7216
+Query 1/1: Action query time = 4.602 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8641
+t=154: Selected seed 195 with value = 0.8641
+Query 1/1: Action query time = 4.888 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9958
+t=170: Selected seed 195 with value = 0.9958
+Query 1/1: Action query time = 3.190 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=186: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 3.804 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=202: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 3.059 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=218: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 2.287 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9707
+t=234: Selected seed 195 with value = 0.9707
+Query 1/1: Action query time = 3.970 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8116
+t=250: Selected seed 195 with value = 0.8116
+Query 1/1: Action query time = 4.856 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7348
+t=266: Selected seed 195 with value = 0.7348
+Query 1/1: Action query time = 4.767 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7232
+t=282: Selected seed 195 with value = 0.7232
+Query 1/1: Action query time = 4.464 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7804
+t=298: Selected seed 195 with value = 0.7804
+Saved rollout MP4 at path ./rollouts/demochan400_t5_s09/2026_08_02-02_40_38--with_future_img--episode=2--success=False--task=push_the_plate_to_the_front_of_the_.mp4
+Success: False
+# episodes completed so far: 2
+# successes: 1 (50.0%)
+
+Task: push the plate to the front of the stove
+Starting episode 3...
+Query 1/1: Action query time = 4.501 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3380
+t=10: Selected seed 195 with value = 0.3380
+Query 1/1: Action query time = 3.933 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3913
+t=26: Selected seed 195 with value = 0.3913
+Query 1/1: Action query time = 4.787 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4768
+t=42: Selected seed 195 with value = 0.4768
+Query 1/1: Action query time = 4.399 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5500
+t=58: Selected seed 195 with value = 0.5500
+Query 1/1: Action query time = 1.886 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6141
+t=74: Selected seed 195 with value = 0.6141
+Query 1/1: Action query time = 1.210 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7010
+t=90: Selected seed 195 with value = 0.7010
+Query 1/1: Action query time = 2.129 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7935
+t=106: Selected seed 195 with value = 0.7935
+Query 1/1: Action query time = 2.004 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9207
+t=122: Selected seed 195 with value = 0.9207
+Query 1/1: Action query time = 1.445 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9891
+t=138: Selected seed 195 with value = 0.9891
+Saved rollout MP4 at path ./rollouts/demochan400_t5_s09/2026_08_02-02_40_38--with_future_img--episode=3--success=True--task=push_the_plate_to_the_front_of_the_.mp4
+Success: True
+# episodes completed so far: 3
+# successes: 2 (66.7%)
+Current task success rate: 0.6666666666666666
+Current total success rate: 0.6666666666666666
+Final results:
+Total episodes: 3
+Total successes: 2
+Overall success rate: 0.6667 (66.7%)
diff --git a/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-02_40_39--demochan400_t5_s05.txt b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-02_40_39--demochan400_t5_s05.txt
new file mode 100644
index 0000000000000000000000000000000000000000..87ed1034b1b4da1ebe5f5147c48c4885ba69fa16
--- /dev/null
+++ b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-02_40_39--demochan400_t5_s05.txt
@@ -0,0 +1,137 @@
+Eval config: PolicyEvalConfig(suite='libero', model_family='cosmos', config='cosmos_predict2_2b_480p_libero_cl_stage_inference_only', ckpt_path='/home/azureuser/REGEN-main/old/cosmos_policy/cosmos_v2_finetune/cosmos_predict2_2b_480p_libero_goal_task6_regen_cl_demochan_from40k_2gpu/checkpoints/iter_000000400/model', planning_model_config_name='', planning_model_ckpt_path='', config_file='cosmos_policy/config/config.py', packnet_mask_path='', packnet_first_cl_libero_task=6, use_third_person_image=True, num_third_person_images=1, use_wrist_image=True, num_wrist_images=1, use_proprio=True, flip_images=True, use_variance_scale=False, use_jpeg_compression=True, ar_future_prediction=False, ar_value_prediction=False, ar_qvalue_prediction=False, num_denoising_steps_action=5, num_denoising_steps_future_state=1, num_denoising_steps_value=1, unnormalize_actions=True, normalize_proprio=True, dataset_stats_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/libero_goal_regen/dataset_statistics.json', t5_text_embeddings_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/t5_embeddings.pkl', trained_with_image_aug=True, chunk_size=16, num_open_loop_steps=16, deterministic=True, deterministic_reset=False, deterministic_reset_seed=None, use_ensemble_future_state_predictions=False, num_future_state_predictions_in_ensemble=3, future_state_ensemble_aggregation_scheme='average', use_ensemble_value_predictions=False, num_value_predictions_in_ensemble=5, value_ensemble_aggregation_scheme='average', search_depth=1, mask_current_state_action_for_value_prediction=False, mask_future_state_for_qvalue_prediction=False, num_queries_best_of_n=1, use_parallel_inference=False, available_gpus='0', parallel_timeout=15, parallel_tasks_across_gpus=False, task_suite_name='libero_goal', num_trials_per_task=50, task_ids_to_run='5', initial_states_path='DEFAULT', env_img_res=256, local_log_dir='/home/azureuser/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal', run_id_note='demochan400_t5_s05', use_wandb=False, wandb_entity='YOUR_ENTITY', wandb_project='YOUR_PROJECT', seed=195, randomize_seed=False, data_collection=False, jpeg_compress=True, reward_stop_threshold=None, reward_stop_consecutive_steps=3, use_gpt_reward=False, gpt_reward_model='gpt-5.4-mini', gpt_reward_stop_threshold=4, gpt_reward_timeout_s=30.0, save_rollout_video=False, eval_hdf5_path='', eval_hdf5_demo_key='demo_0', data_gen_demo_ids='', eval_episode_ids='5,21,37', replay_actions=False, replay_action_path_dir='', replay_hdf5_path='', data_generation=False, max_generation_steps=200, simple_task_max_steps=100, complex_task_max_steps=200)
+Using serial inference (parallel inference disabled)
+Task suite: libero_goal
+Number of tasks: 10
+Running only task IDs: [5]
+Using default initial states
+
+Task: push the plate to the front of the stove
+Starting episode 1...
+Query 1/1: Action query time = 5.995 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3223
+t=10: Selected seed 195 with value = 0.3223
+Query 1/1: Action query time = 5.327 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3652
+t=26: Selected seed 195 with value = 0.3652
+Query 1/1: Action query time = 4.934 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4090
+t=42: Selected seed 195 with value = 0.4090
+Query 1/1: Action query time = 4.911 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4906
+t=58: Selected seed 195 with value = 0.4906
+Query 1/1: Action query time = 5.009 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5937
+t=74: Selected seed 195 with value = 0.5937
+Query 1/1: Action query time = 5.434 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6584
+t=90: Selected seed 195 with value = 0.6584
+Query 1/1: Action query time = 4.796 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8862
+t=106: Selected seed 195 with value = 0.8862
+Query 1/1: Action query time = 4.019 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9453
+t=122: Selected seed 195 with value = 0.9453
+Query 1/1: Action query time = 3.445 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9392
+t=138: Selected seed 195 with value = 0.9392
+Saved rollout MP4 at path ./rollouts/demochan400_t5_s05/2026_08_02-02_40_39--with_future_img--episode=1--success=True--task=push_the_plate_to_the_front_of_the_.mp4
+Success: True
+# episodes completed so far: 1
+# successes: 1 (100.0%)
+
+Task: push the plate to the front of the stove
+Starting episode 2...
+Query 1/1: Action query time = 5.355 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3343
+t=10: Selected seed 195 with value = 0.3343
+Query 1/1: Action query time = 4.601 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4008
+t=26: Selected seed 195 with value = 0.4008
+Query 1/1: Action query time = 4.360 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4682
+t=42: Selected seed 195 with value = 0.4682
+Query 1/1: Action query time = 5.033 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5420
+t=58: Selected seed 195 with value = 0.5420
+Query 1/1: Action query time = 4.930 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6340
+t=74: Selected seed 195 with value = 0.6340
+Query 1/1: Action query time = 4.805 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7274
+t=90: Selected seed 195 with value = 0.7274
+Query 1/1: Action query time = 4.484 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8495
+t=106: Selected seed 195 with value = 0.8495
+Query 1/1: Action query time = 4.555 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9507
+t=122: Selected seed 195 with value = 0.9507
+Query 1/1: Action query time = 2.583 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9885
+t=138: Selected seed 195 with value = 0.9885
+Saved rollout MP4 at path ./rollouts/demochan400_t5_s05/2026_08_02-02_40_39--with_future_img--episode=2--success=True--task=push_the_plate_to_the_front_of_the_.mp4
+Success: True
+# episodes completed so far: 2
+# successes: 2 (100.0%)
+
+Task: push the plate to the front of the stove
+Starting episode 3...
+Query 1/1: Action query time = 4.449 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3334
+t=10: Selected seed 195 with value = 0.3334
+Query 1/1: Action query time = 5.173 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3857
+t=26: Selected seed 195 with value = 0.3857
+Query 1/1: Action query time = 5.762 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4825
+t=42: Selected seed 195 with value = 0.4825
+Query 1/1: Action query time = 5.073 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5198
+t=58: Selected seed 195 with value = 0.5198
+Query 1/1: Action query time = 4.114 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6122
+t=74: Selected seed 195 with value = 0.6122
+Query 1/1: Action query time = 4.443 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7024
+t=90: Selected seed 195 with value = 0.7024
+Query 1/1: Action query time = 5.216 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8790
+t=106: Selected seed 195 with value = 0.8790
+Query 1/1: Action query time = 5.262 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9905
+t=122: Selected seed 195 with value = 0.9905
+Saved rollout MP4 at path ./rollouts/demochan400_t5_s05/2026_08_02-02_40_39--with_future_img--episode=3--success=True--task=push_the_plate_to_the_front_of_the_.mp4
+Success: True
+# episodes completed so far: 3
+# successes: 3 (100.0%)
+Current task success rate: 1.0
+Current total success rate: 1.0
+Final results:
+Total episodes: 3
+Total successes: 3
+Overall success rate: 1.0000 (100.0%)
diff --git a/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-02_40_39--demochan400_t5_s07.txt b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-02_40_39--demochan400_t5_s07.txt
new file mode 100644
index 0000000000000000000000000000000000000000..95bd14712f94bff4460d9fbd5385605c658bd49d
--- /dev/null
+++ b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-02_40_39--demochan400_t5_s07.txt
@@ -0,0 +1,141 @@
+Eval config: PolicyEvalConfig(suite='libero', model_family='cosmos', config='cosmos_predict2_2b_480p_libero_cl_stage_inference_only', ckpt_path='/home/azureuser/REGEN-main/old/cosmos_policy/cosmos_v2_finetune/cosmos_predict2_2b_480p_libero_goal_task6_regen_cl_demochan_from40k_2gpu/checkpoints/iter_000000400/model', planning_model_config_name='', planning_model_ckpt_path='', config_file='cosmos_policy/config/config.py', packnet_mask_path='', packnet_first_cl_libero_task=6, use_third_person_image=True, num_third_person_images=1, use_wrist_image=True, num_wrist_images=1, use_proprio=True, flip_images=True, use_variance_scale=False, use_jpeg_compression=True, ar_future_prediction=False, ar_value_prediction=False, ar_qvalue_prediction=False, num_denoising_steps_action=5, num_denoising_steps_future_state=1, num_denoising_steps_value=1, unnormalize_actions=True, normalize_proprio=True, dataset_stats_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/libero_goal_regen/dataset_statistics.json', t5_text_embeddings_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/t5_embeddings.pkl', trained_with_image_aug=True, chunk_size=16, num_open_loop_steps=16, deterministic=True, deterministic_reset=False, deterministic_reset_seed=None, use_ensemble_future_state_predictions=False, num_future_state_predictions_in_ensemble=3, future_state_ensemble_aggregation_scheme='average', use_ensemble_value_predictions=False, num_value_predictions_in_ensemble=5, value_ensemble_aggregation_scheme='average', search_depth=1, mask_current_state_action_for_value_prediction=False, mask_future_state_for_qvalue_prediction=False, num_queries_best_of_n=1, use_parallel_inference=False, available_gpus='0', parallel_timeout=15, parallel_tasks_across_gpus=False, task_suite_name='libero_goal', num_trials_per_task=50, task_ids_to_run='5', initial_states_path='DEFAULT', env_img_res=256, local_log_dir='/home/azureuser/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal', run_id_note='demochan400_t5_s07', use_wandb=False, wandb_entity='YOUR_ENTITY', wandb_project='YOUR_PROJECT', seed=195, randomize_seed=False, data_collection=False, jpeg_compress=True, reward_stop_threshold=None, reward_stop_consecutive_steps=3, use_gpt_reward=False, gpt_reward_model='gpt-5.4-mini', gpt_reward_stop_threshold=4, gpt_reward_timeout_s=30.0, save_rollout_video=False, eval_hdf5_path='', eval_hdf5_demo_key='demo_0', data_gen_demo_ids='', eval_episode_ids='7,23,39', replay_actions=False, replay_action_path_dir='', replay_hdf5_path='', data_generation=False, max_generation_steps=200, simple_task_max_steps=100, complex_task_max_steps=200)
+Using serial inference (parallel inference disabled)
+Task suite: libero_goal
+Number of tasks: 10
+Running only task IDs: [5]
+Using default initial states
+
+Task: push the plate to the front of the stove
+Starting episode 1...
+Query 1/1: Action query time = 4.991 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3956
+t=10: Selected seed 195 with value = 0.3956
+Query 1/1: Action query time = 4.740 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4302
+t=26: Selected seed 195 with value = 0.4302
+Query 1/1: Action query time = 5.314 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5129
+t=42: Selected seed 195 with value = 0.5129
+Query 1/1: Action query time = 4.848 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5416
+t=58: Selected seed 195 with value = 0.5416
+Query 1/1: Action query time = 5.059 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6287
+t=74: Selected seed 195 with value = 0.6287
+Query 1/1: Action query time = 5.037 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7219
+t=90: Selected seed 195 with value = 0.7219
+Query 1/1: Action query time = 5.281 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8784
+t=106: Selected seed 195 with value = 0.8784
+Query 1/1: Action query time = 4.497 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9495
+t=122: Selected seed 195 with value = 0.9495
+Query 1/1: Action query time = 3.730 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9956
+t=138: Selected seed 195 with value = 0.9956
+Saved rollout MP4 at path ./rollouts/demochan400_t5_s07/2026_08_02-02_40_39--with_future_img--episode=1--success=True--task=push_the_plate_to_the_front_of_the_.mp4
+Success: True
+# episodes completed so far: 1
+# successes: 1 (100.0%)
+
+Task: push the plate to the front of the stove
+Starting episode 2...
+Query 1/1: Action query time = 3.365 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3452
+t=10: Selected seed 195 with value = 0.3452
+Query 1/1: Action query time = 4.726 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3955
+t=26: Selected seed 195 with value = 0.3955
+Query 1/1: Action query time = 4.596 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4725
+t=42: Selected seed 195 with value = 0.4725
+Query 1/1: Action query time = 5.734 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4592
+t=58: Selected seed 195 with value = 0.4592
+Query 1/1: Action query time = 5.628 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5999
+t=74: Selected seed 195 with value = 0.5999
+Query 1/1: Action query time = 4.878 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6704
+t=90: Selected seed 195 with value = 0.6704
+Query 1/1: Action query time = 4.736 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7790
+t=106: Selected seed 195 with value = 0.7790
+Query 1/1: Action query time = 5.586 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8593
+t=122: Selected seed 195 with value = 0.8593
+Query 1/1: Action query time = 4.500 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9514
+t=138: Selected seed 195 with value = 0.9514
+Saved rollout MP4 at path ./rollouts/demochan400_t5_s07/2026_08_02-02_40_39--with_future_img--episode=2--success=True--task=push_the_plate_to_the_front_of_the_.mp4
+Success: True
+# episodes completed so far: 2
+# successes: 2 (100.0%)
+
+Task: push the plate to the front of the stove
+Starting episode 3...
+Query 1/1: Action query time = 3.401 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3152
+t=10: Selected seed 195 with value = 0.3152
+Query 1/1: Action query time = 3.930 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3691
+t=26: Selected seed 195 with value = 0.3691
+Query 1/1: Action query time = 5.731 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4572
+t=42: Selected seed 195 with value = 0.4572
+Query 1/1: Action query time = 4.288 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5235
+t=58: Selected seed 195 with value = 0.5235
+Query 1/1: Action query time = 4.348 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6214
+t=74: Selected seed 195 with value = 0.6214
+Query 1/1: Action query time = 5.164 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7018
+t=90: Selected seed 195 with value = 0.7018
+Query 1/1: Action query time = 5.706 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8771
+t=106: Selected seed 195 with value = 0.8771
+Query 1/1: Action query time = 5.954 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9898
+t=122: Selected seed 195 with value = 0.9898
+Query 1/1: Action query time = 4.735 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9988
+t=138: Selected seed 195 with value = 0.9988
+Saved rollout MP4 at path ./rollouts/demochan400_t5_s07/2026_08_02-02_40_39--with_future_img--episode=3--success=True--task=push_the_plate_to_the_front_of_the_.mp4
+Success: True
+# episodes completed so far: 3
+# successes: 3 (100.0%)
+Current task success rate: 1.0
+Current total success rate: 1.0
+Final results:
+Total episodes: 3
+Total successes: 3
+Overall success rate: 1.0000 (100.0%)
diff --git a/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-02_40_39--demochan400_t5_s10.txt b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-02_40_39--demochan400_t5_s10.txt
new file mode 100644
index 0000000000000000000000000000000000000000..3c45732f60568aa0f52230ece9b4640ae305c858
--- /dev/null
+++ b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-02_40_39--demochan400_t5_s10.txt
@@ -0,0 +1,141 @@
+Eval config: PolicyEvalConfig(suite='libero', model_family='cosmos', config='cosmos_predict2_2b_480p_libero_cl_stage_inference_only', ckpt_path='/home/azureuser/REGEN-main/old/cosmos_policy/cosmos_v2_finetune/cosmos_predict2_2b_480p_libero_goal_task6_regen_cl_demochan_from40k_2gpu/checkpoints/iter_000000400/model', planning_model_config_name='', planning_model_ckpt_path='', config_file='cosmos_policy/config/config.py', packnet_mask_path='', packnet_first_cl_libero_task=6, use_third_person_image=True, num_third_person_images=1, use_wrist_image=True, num_wrist_images=1, use_proprio=True, flip_images=True, use_variance_scale=False, use_jpeg_compression=True, ar_future_prediction=False, ar_value_prediction=False, ar_qvalue_prediction=False, num_denoising_steps_action=5, num_denoising_steps_future_state=1, num_denoising_steps_value=1, unnormalize_actions=True, normalize_proprio=True, dataset_stats_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/libero_goal_regen/dataset_statistics.json', t5_text_embeddings_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/t5_embeddings.pkl', trained_with_image_aug=True, chunk_size=16, num_open_loop_steps=16, deterministic=True, deterministic_reset=False, deterministic_reset_seed=None, use_ensemble_future_state_predictions=False, num_future_state_predictions_in_ensemble=3, future_state_ensemble_aggregation_scheme='average', use_ensemble_value_predictions=False, num_value_predictions_in_ensemble=5, value_ensemble_aggregation_scheme='average', search_depth=1, mask_current_state_action_for_value_prediction=False, mask_future_state_for_qvalue_prediction=False, num_queries_best_of_n=1, use_parallel_inference=False, available_gpus='0', parallel_timeout=15, parallel_tasks_across_gpus=False, task_suite_name='libero_goal', num_trials_per_task=50, task_ids_to_run='5', initial_states_path='DEFAULT', env_img_res=256, local_log_dir='/home/azureuser/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal', run_id_note='demochan400_t5_s10', use_wandb=False, wandb_entity='YOUR_ENTITY', wandb_project='YOUR_PROJECT', seed=195, randomize_seed=False, data_collection=False, jpeg_compress=True, reward_stop_threshold=None, reward_stop_consecutive_steps=3, use_gpt_reward=False, gpt_reward_model='gpt-5.4-mini', gpt_reward_stop_threshold=4, gpt_reward_timeout_s=30.0, save_rollout_video=False, eval_hdf5_path='', eval_hdf5_demo_key='demo_0', data_gen_demo_ids='', eval_episode_ids='10,26,42', replay_actions=False, replay_action_path_dir='', replay_hdf5_path='', data_generation=False, max_generation_steps=200, simple_task_max_steps=100, complex_task_max_steps=200)
+Using serial inference (parallel inference disabled)
+Task suite: libero_goal
+Number of tasks: 10
+Running only task IDs: [5]
+Using default initial states
+
+Task: push the plate to the front of the stove
+Starting episode 1...
+Query 1/1: Action query time = 5.331 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3339
+t=10: Selected seed 195 with value = 0.3339
+Query 1/1: Action query time = 5.064 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3869
+t=26: Selected seed 195 with value = 0.3869
+Query 1/1: Action query time = 5.218 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4541
+t=42: Selected seed 195 with value = 0.4541
+Query 1/1: Action query time = 4.886 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5167
+t=58: Selected seed 195 with value = 0.5167
+Query 1/1: Action query time = 4.835 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6139
+t=74: Selected seed 195 with value = 0.6139
+Query 1/1: Action query time = 4.635 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6828
+t=90: Selected seed 195 with value = 0.6828
+Query 1/1: Action query time = 4.725 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8495
+t=106: Selected seed 195 with value = 0.8495
+Query 1/1: Action query time = 5.397 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9581
+t=122: Selected seed 195 with value = 0.9581
+Query 1/1: Action query time = 5.812 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9893
+t=138: Selected seed 195 with value = 0.9893
+Saved rollout MP4 at path ./rollouts/demochan400_t5_s10/2026_08_02-02_40_39--with_future_img--episode=1--success=True--task=push_the_plate_to_the_front_of_the_.mp4
+Success: True
+# episodes completed so far: 1
+# successes: 1 (100.0%)
+
+Task: push the plate to the front of the stove
+Starting episode 2...
+Query 1/1: Action query time = 4.722 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3718
+t=10: Selected seed 195 with value = 0.3718
+Query 1/1: Action query time = 4.563 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4031
+t=26: Selected seed 195 with value = 0.4031
+Query 1/1: Action query time = 5.158 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5136
+t=42: Selected seed 195 with value = 0.5136
+Query 1/1: Action query time = 5.138 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5612
+t=58: Selected seed 195 with value = 0.5612
+Query 1/1: Action query time = 4.977 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6569
+t=74: Selected seed 195 with value = 0.6569
+Query 1/1: Action query time = 4.708 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7528
+t=90: Selected seed 195 with value = 0.7528
+Query 1/1: Action query time = 5.112 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9067
+t=106: Selected seed 195 with value = 0.9067
+Query 1/1: Action query time = 3.822 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9692
+t=122: Selected seed 195 with value = 0.9692
+Query 1/1: Action query time = 4.092 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9863
+t=138: Selected seed 195 with value = 0.9863
+Saved rollout MP4 at path ./rollouts/demochan400_t5_s10/2026_08_02-02_40_39--with_future_img--episode=2--success=True--task=push_the_plate_to_the_front_of_the_.mp4
+Success: True
+# episodes completed so far: 2
+# successes: 2 (100.0%)
+
+Task: push the plate to the front of the stove
+Starting episode 3...
+Query 1/1: Action query time = 3.545 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3248
+t=10: Selected seed 195 with value = 0.3248
+Query 1/1: Action query time = 5.642 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3769
+t=26: Selected seed 195 with value = 0.3769
+Query 1/1: Action query time = 5.105 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4624
+t=42: Selected seed 195 with value = 0.4624
+Query 1/1: Action query time = 4.825 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5146
+t=58: Selected seed 195 with value = 0.5146
+Query 1/1: Action query time = 4.450 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5983
+t=74: Selected seed 195 with value = 0.5983
+Query 1/1: Action query time = 4.964 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6792
+t=90: Selected seed 195 with value = 0.6792
+Query 1/1: Action query time = 5.518 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8312
+t=106: Selected seed 195 with value = 0.8312
+Query 1/1: Action query time = 5.028 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9750
+t=122: Selected seed 195 with value = 0.9750
+Query 1/1: Action query time = 4.658 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9827
+t=138: Selected seed 195 with value = 0.9827
+Saved rollout MP4 at path ./rollouts/demochan400_t5_s10/2026_08_02-02_40_39--with_future_img--episode=3--success=True--task=push_the_plate_to_the_front_of_the_.mp4
+Success: True
+# episodes completed so far: 3
+# successes: 3 (100.0%)
+Current task success rate: 1.0
+Current total success rate: 1.0
+Final results:
+Total episodes: 3
+Total successes: 3
+Overall success rate: 1.0000 (100.0%)
diff --git a/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-02_40_39--demochan400_t5_s13.txt b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-02_40_39--demochan400_t5_s13.txt
new file mode 100644
index 0000000000000000000000000000000000000000..fc03d972583bdc6bd052927bc5396c9275133f8e
--- /dev/null
+++ b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-02_40_39--demochan400_t5_s13.txt
@@ -0,0 +1,137 @@
+Eval config: PolicyEvalConfig(suite='libero', model_family='cosmos', config='cosmos_predict2_2b_480p_libero_cl_stage_inference_only', ckpt_path='/home/azureuser/REGEN-main/old/cosmos_policy/cosmos_v2_finetune/cosmos_predict2_2b_480p_libero_goal_task6_regen_cl_demochan_from40k_2gpu/checkpoints/iter_000000400/model', planning_model_config_name='', planning_model_ckpt_path='', config_file='cosmos_policy/config/config.py', packnet_mask_path='', packnet_first_cl_libero_task=6, use_third_person_image=True, num_third_person_images=1, use_wrist_image=True, num_wrist_images=1, use_proprio=True, flip_images=True, use_variance_scale=False, use_jpeg_compression=True, ar_future_prediction=False, ar_value_prediction=False, ar_qvalue_prediction=False, num_denoising_steps_action=5, num_denoising_steps_future_state=1, num_denoising_steps_value=1, unnormalize_actions=True, normalize_proprio=True, dataset_stats_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/libero_goal_regen/dataset_statistics.json', t5_text_embeddings_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/t5_embeddings.pkl', trained_with_image_aug=True, chunk_size=16, num_open_loop_steps=16, deterministic=True, deterministic_reset=False, deterministic_reset_seed=None, use_ensemble_future_state_predictions=False, num_future_state_predictions_in_ensemble=3, future_state_ensemble_aggregation_scheme='average', use_ensemble_value_predictions=False, num_value_predictions_in_ensemble=5, value_ensemble_aggregation_scheme='average', search_depth=1, mask_current_state_action_for_value_prediction=False, mask_future_state_for_qvalue_prediction=False, num_queries_best_of_n=1, use_parallel_inference=False, available_gpus='0', parallel_timeout=15, parallel_tasks_across_gpus=False, task_suite_name='libero_goal', num_trials_per_task=50, task_ids_to_run='5', initial_states_path='DEFAULT', env_img_res=256, local_log_dir='/home/azureuser/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal', run_id_note='demochan400_t5_s13', use_wandb=False, wandb_entity='YOUR_ENTITY', wandb_project='YOUR_PROJECT', seed=195, randomize_seed=False, data_collection=False, jpeg_compress=True, reward_stop_threshold=None, reward_stop_consecutive_steps=3, use_gpt_reward=False, gpt_reward_model='gpt-5.4-mini', gpt_reward_stop_threshold=4, gpt_reward_timeout_s=30.0, save_rollout_video=False, eval_hdf5_path='', eval_hdf5_demo_key='demo_0', data_gen_demo_ids='', eval_episode_ids='13,29,45', replay_actions=False, replay_action_path_dir='', replay_hdf5_path='', data_generation=False, max_generation_steps=200, simple_task_max_steps=100, complex_task_max_steps=200)
+Using serial inference (parallel inference disabled)
+Task suite: libero_goal
+Number of tasks: 10
+Running only task IDs: [5]
+Using default initial states
+
+Task: push the plate to the front of the stove
+Starting episode 1...
+Query 1/1: Action query time = 4.798 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3811
+t=10: Selected seed 195 with value = 0.3811
+Query 1/1: Action query time = 4.934 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3928
+t=26: Selected seed 195 with value = 0.3928
+Query 1/1: Action query time = 5.182 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5101
+t=42: Selected seed 195 with value = 0.5101
+Query 1/1: Action query time = 4.629 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4880
+t=58: Selected seed 195 with value = 0.4880
+Query 1/1: Action query time = 4.651 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6229
+t=74: Selected seed 195 with value = 0.6229
+Query 1/1: Action query time = 4.804 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6964
+t=90: Selected seed 195 with value = 0.6964
+Query 1/1: Action query time = 4.922 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8059
+t=106: Selected seed 195 with value = 0.8059
+Query 1/1: Action query time = 5.175 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8664
+t=122: Selected seed 195 with value = 0.8664
+Query 1/1: Action query time = 4.400 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9577
+t=138: Selected seed 195 with value = 0.9577
+Saved rollout MP4 at path ./rollouts/demochan400_t5_s13/2026_08_02-02_40_39--with_future_img--episode=1--success=True--task=push_the_plate_to_the_front_of_the_.mp4
+Success: True
+# episodes completed so far: 1
+# successes: 1 (100.0%)
+
+Task: push the plate to the front of the stove
+Starting episode 2...
+Query 1/1: Action query time = 2.779 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3645
+t=10: Selected seed 195 with value = 0.3645
+Query 1/1: Action query time = 3.890 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4075
+t=26: Selected seed 195 with value = 0.4075
+Query 1/1: Action query time = 4.788 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5244
+t=42: Selected seed 195 with value = 0.5244
+Query 1/1: Action query time = 4.911 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5792
+t=58: Selected seed 195 with value = 0.5792
+Query 1/1: Action query time = 4.999 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6506
+t=74: Selected seed 195 with value = 0.6506
+Query 1/1: Action query time = 4.249 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7909
+t=90: Selected seed 195 with value = 0.7909
+Query 1/1: Action query time = 4.956 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9354
+t=106: Selected seed 195 with value = 0.9354
+Query 1/1: Action query time = 5.312 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9951
+t=122: Selected seed 195 with value = 0.9951
+Saved rollout MP4 at path ./rollouts/demochan400_t5_s13/2026_08_02-02_40_39--with_future_img--episode=2--success=True--task=push_the_plate_to_the_front_of_the_.mp4
+Success: True
+# episodes completed so far: 2
+# successes: 2 (100.0%)
+
+Task: push the plate to the front of the stove
+Starting episode 3...
+Query 1/1: Action query time = 3.941 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3386
+t=10: Selected seed 195 with value = 0.3386
+Query 1/1: Action query time = 3.237 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3883
+t=26: Selected seed 195 with value = 0.3883
+Query 1/1: Action query time = 2.702 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4962
+t=42: Selected seed 195 with value = 0.4962
+Query 1/1: Action query time = 4.825 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5654
+t=58: Selected seed 195 with value = 0.5654
+Query 1/1: Action query time = 5.114 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6660
+t=74: Selected seed 195 with value = 0.6660
+Query 1/1: Action query time = 5.630 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7872
+t=90: Selected seed 195 with value = 0.7872
+Query 1/1: Action query time = 5.381 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9297
+t=106: Selected seed 195 with value = 0.9297
+Query 1/1: Action query time = 4.807 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9968
+t=122: Selected seed 195 with value = 0.9968
+Query 1/1: Action query time = 3.910 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=138: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/demochan400_t5_s13/2026_08_02-02_40_39--with_future_img--episode=3--success=True--task=push_the_plate_to_the_front_of_the_.mp4
+Success: True
+# episodes completed so far: 3
+# successes: 3 (100.0%)
+Current task success rate: 1.0
+Current total success rate: 1.0
+Final results:
+Total episodes: 3
+Total successes: 3
+Overall success rate: 1.0000 (100.0%)
diff --git a/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-02_40_39--demochan400_t5_s15.txt b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-02_40_39--demochan400_t5_s15.txt
new file mode 100644
index 0000000000000000000000000000000000000000..58c8e13dbf3923acecc43aaab8ad13622609d33b
--- /dev/null
+++ b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-02_40_39--demochan400_t5_s15.txt
@@ -0,0 +1,221 @@
+Eval config: PolicyEvalConfig(suite='libero', model_family='cosmos', config='cosmos_predict2_2b_480p_libero_cl_stage_inference_only', ckpt_path='/home/azureuser/REGEN-main/old/cosmos_policy/cosmos_v2_finetune/cosmos_predict2_2b_480p_libero_goal_task6_regen_cl_demochan_from40k_2gpu/checkpoints/iter_000000400/model', planning_model_config_name='', planning_model_ckpt_path='', config_file='cosmos_policy/config/config.py', packnet_mask_path='', packnet_first_cl_libero_task=6, use_third_person_image=True, num_third_person_images=1, use_wrist_image=True, num_wrist_images=1, use_proprio=True, flip_images=True, use_variance_scale=False, use_jpeg_compression=True, ar_future_prediction=False, ar_value_prediction=False, ar_qvalue_prediction=False, num_denoising_steps_action=5, num_denoising_steps_future_state=1, num_denoising_steps_value=1, unnormalize_actions=True, normalize_proprio=True, dataset_stats_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/libero_goal_regen/dataset_statistics.json', t5_text_embeddings_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/t5_embeddings.pkl', trained_with_image_aug=True, chunk_size=16, num_open_loop_steps=16, deterministic=True, deterministic_reset=False, deterministic_reset_seed=None, use_ensemble_future_state_predictions=False, num_future_state_predictions_in_ensemble=3, future_state_ensemble_aggregation_scheme='average', use_ensemble_value_predictions=False, num_value_predictions_in_ensemble=5, value_ensemble_aggregation_scheme='average', search_depth=1, mask_current_state_action_for_value_prediction=False, mask_future_state_for_qvalue_prediction=False, num_queries_best_of_n=1, use_parallel_inference=False, available_gpus='0', parallel_timeout=15, parallel_tasks_across_gpus=False, task_suite_name='libero_goal', num_trials_per_task=50, task_ids_to_run='5', initial_states_path='DEFAULT', env_img_res=256, local_log_dir='/home/azureuser/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal', run_id_note='demochan400_t5_s15', use_wandb=False, wandb_entity='YOUR_ENTITY', wandb_project='YOUR_PROJECT', seed=195, randomize_seed=False, data_collection=False, jpeg_compress=True, reward_stop_threshold=None, reward_stop_consecutive_steps=3, use_gpt_reward=False, gpt_reward_model='gpt-5.4-mini', gpt_reward_stop_threshold=4, gpt_reward_timeout_s=30.0, save_rollout_video=False, eval_hdf5_path='', eval_hdf5_demo_key='demo_0', data_gen_demo_ids='', eval_episode_ids='15,31,47', replay_actions=False, replay_action_path_dir='', replay_hdf5_path='', data_generation=False, max_generation_steps=200, simple_task_max_steps=100, complex_task_max_steps=200)
+Using serial inference (parallel inference disabled)
+Task suite: libero_goal
+Number of tasks: 10
+Running only task IDs: [5]
+Using default initial states
+
+Task: push the plate to the front of the stove
+Starting episode 1...
+Query 1/1: Action query time = 2.976 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3735
+t=10: Selected seed 195 with value = 0.3735
+Query 1/1: Action query time = 4.149 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4037
+t=26: Selected seed 195 with value = 0.4037
+Query 1/1: Action query time = 5.109 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5131
+t=42: Selected seed 195 with value = 0.5131
+Query 1/1: Action query time = 4.838 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4261
+t=58: Selected seed 195 with value = 0.4261
+Query 1/1: Action query time = 4.833 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6008
+t=74: Selected seed 195 with value = 0.6008
+Query 1/1: Action query time = 4.191 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6883
+t=90: Selected seed 195 with value = 0.6883
+Query 1/1: Action query time = 4.743 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7332
+t=106: Selected seed 195 with value = 0.7332
+Query 1/1: Action query time = 5.000 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8058
+t=122: Selected seed 195 with value = 0.8058
+Query 1/1: Action query time = 5.307 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9114
+t=138: Selected seed 195 with value = 0.9114
+Query 1/1: Action query time = 4.733 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9687
+t=154: Selected seed 195 with value = 0.9687
+Query 1/1: Action query time = 3.641 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9706
+t=170: Selected seed 195 with value = 0.9706
+Query 1/1: Action query time = 1.563 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9721
+t=186: Selected seed 195 with value = 0.9721
+Query 1/1: Action query time = 3.117 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9043
+t=202: Selected seed 195 with value = 0.9043
+Query 1/1: Action query time = 5.480 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7588
+t=218: Selected seed 195 with value = 0.7588
+Query 1/1: Action query time = 5.368 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9858
+t=234: Selected seed 195 with value = 0.9858
+Query 1/1: Action query time = 4.934 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7476
+t=250: Selected seed 195 with value = 0.7476
+Query 1/1: Action query time = 4.757 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6952
+t=266: Selected seed 195 with value = 0.6952
+Query 1/1: Action query time = 5.310 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7679
+t=282: Selected seed 195 with value = 0.7679
+Query 1/1: Action query time = 5.220 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7474
+t=298: Selected seed 195 with value = 0.7474
+Saved rollout MP4 at path ./rollouts/demochan400_t5_s15/2026_08_02-02_40_39--with_future_img--episode=1--success=False--task=push_the_plate_to_the_front_of_the_.mp4
+Success: False
+# episodes completed so far: 1
+# successes: 0 (0.0%)
+
+Task: push the plate to the front of the stove
+Starting episode 2...
+Query 1/1: Action query time = 4.016 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3554
+t=10: Selected seed 195 with value = 0.3554
+Query 1/1: Action query time = 2.120 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3717
+t=26: Selected seed 195 with value = 0.3717
+Query 1/1: Action query time = 3.606 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4719
+t=42: Selected seed 195 with value = 0.4719
+Query 1/1: Action query time = 5.769 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5441
+t=58: Selected seed 195 with value = 0.5441
+Query 1/1: Action query time = 5.246 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6444
+t=74: Selected seed 195 with value = 0.6444
+Query 1/1: Action query time = 5.734 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7339
+t=90: Selected seed 195 with value = 0.7339
+Query 1/1: Action query time = 3.762 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8137
+t=106: Selected seed 195 with value = 0.8137
+Query 1/1: Action query time = 5.048 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9396
+t=122: Selected seed 195 with value = 0.9396
+Query 1/1: Action query time = 5.630 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8533
+t=138: Selected seed 195 with value = 0.8533
+Query 1/1: Action query time = 4.714 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9896
+t=154: Selected seed 195 with value = 0.9896
+Query 1/1: Action query time = 4.240 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=170: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 2.544 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9816
+t=186: Selected seed 195 with value = 0.9816
+Query 1/1: Action query time = 1.126 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8667
+t=202: Selected seed 195 with value = 0.8667
+Query 1/1: Action query time = 1.286 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8085
+t=218: Selected seed 195 with value = 0.8085
+Query 1/1: Action query time = 1.947 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8405
+t=234: Selected seed 195 with value = 0.8405
+Query 1/1: Action query time = 2.087 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8651
+t=250: Selected seed 195 with value = 0.8651
+Query 1/1: Action query time = 2.276 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8071
+t=266: Selected seed 195 with value = 0.8071
+Query 1/1: Action query time = 1.907 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7332
+t=282: Selected seed 195 with value = 0.7332
+Query 1/1: Action query time = 1.939 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7340
+t=298: Selected seed 195 with value = 0.7340
+Saved rollout MP4 at path ./rollouts/demochan400_t5_s15/2026_08_02-02_40_39--with_future_img--episode=2--success=False--task=push_the_plate_to_the_front_of_the_.mp4
+Success: False
+# episodes completed so far: 2
+# successes: 0 (0.0%)
+
+Task: push the plate to the front of the stove
+Starting episode 3...
+Query 1/1: Action query time = 1.086 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3564
+t=10: Selected seed 195 with value = 0.3564
+Query 1/1: Action query time = 1.141 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4015
+t=26: Selected seed 195 with value = 0.4015
+Query 1/1: Action query time = 0.992 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5112
+t=42: Selected seed 195 with value = 0.5112
+Query 1/1: Action query time = 1.048 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5524
+t=58: Selected seed 195 with value = 0.5524
+Query 1/1: Action query time = 0.987 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6273
+t=74: Selected seed 195 with value = 0.6273
+Query 1/1: Action query time = 0.962 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7314
+t=90: Selected seed 195 with value = 0.7314
+Query 1/1: Action query time = 1.347 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8165
+t=106: Selected seed 195 with value = 0.8165
+Query 1/1: Action query time = 0.971 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9291
+t=122: Selected seed 195 with value = 0.9291
+Query 1/1: Action query time = 1.388 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9097
+t=138: Selected seed 195 with value = 0.9097
+Saved rollout MP4 at path ./rollouts/demochan400_t5_s15/2026_08_02-02_40_39--with_future_img--episode=3--success=True--task=push_the_plate_to_the_front_of_the_.mp4
+Success: True
+# episodes completed so far: 3
+# successes: 1 (33.3%)
+Current task success rate: 0.3333333333333333
+Current total success rate: 0.3333333333333333
+Final results:
+Total episodes: 3
+Total successes: 1
+Overall success rate: 0.3333 (33.3%)
diff --git a/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-02_45_25--demochan400_t6_s00.txt b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-02_45_25--demochan400_t6_s00.txt
new file mode 100644
index 0000000000000000000000000000000000000000..43486f98eb8b41c6003ab7ca3172438c2e5d218a
--- /dev/null
+++ b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-02_45_25--demochan400_t6_s00.txt
@@ -0,0 +1,136 @@
+Eval config: PolicyEvalConfig(suite='libero', model_family='cosmos', config='cosmos_predict2_2b_480p_libero_cl_stage_inference_only', ckpt_path='/home/azureuser/REGEN-main/old/cosmos_policy/cosmos_v2_finetune/cosmos_predict2_2b_480p_libero_goal_task6_regen_cl_demochan_from40k_2gpu/checkpoints/iter_000000400/model', planning_model_config_name='', planning_model_ckpt_path='', config_file='cosmos_policy/config/config.py', packnet_mask_path='', packnet_first_cl_libero_task=6, use_third_person_image=True, num_third_person_images=1, use_wrist_image=True, num_wrist_images=1, use_proprio=True, flip_images=True, use_variance_scale=False, use_jpeg_compression=True, ar_future_prediction=False, ar_value_prediction=False, ar_qvalue_prediction=False, num_denoising_steps_action=5, num_denoising_steps_future_state=1, num_denoising_steps_value=1, unnormalize_actions=True, normalize_proprio=True, dataset_stats_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/libero_goal_regen/dataset_statistics.json', t5_text_embeddings_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/t5_embeddings.pkl', trained_with_image_aug=True, chunk_size=16, num_open_loop_steps=16, deterministic=True, deterministic_reset=False, deterministic_reset_seed=None, use_ensemble_future_state_predictions=False, num_future_state_predictions_in_ensemble=3, future_state_ensemble_aggregation_scheme='average', use_ensemble_value_predictions=False, num_value_predictions_in_ensemble=5, value_ensemble_aggregation_scheme='average', search_depth=1, mask_current_state_action_for_value_prediction=False, mask_future_state_for_qvalue_prediction=False, num_queries_best_of_n=1, use_parallel_inference=False, available_gpus='0', parallel_timeout=15, parallel_tasks_across_gpus=False, task_suite_name='libero_goal', num_trials_per_task=50, task_ids_to_run='6', initial_states_path='DEFAULT', env_img_res=256, local_log_dir='/home/azureuser/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal', run_id_note='demochan400_t6_s00', use_wandb=False, wandb_entity='YOUR_ENTITY', wandb_project='YOUR_PROJECT', seed=195, randomize_seed=False, data_collection=False, jpeg_compress=True, reward_stop_threshold=None, reward_stop_consecutive_steps=3, use_gpt_reward=False, gpt_reward_model='gpt-5.4-mini', gpt_reward_stop_threshold=4, gpt_reward_timeout_s=30.0, save_rollout_video=False, eval_hdf5_path='', eval_hdf5_demo_key='demo_0', data_gen_demo_ids='', eval_episode_ids='0,16,32,48', replay_actions=False, replay_action_path_dir='', replay_hdf5_path='', data_generation=False, max_generation_steps=200, simple_task_max_steps=100, complex_task_max_steps=200)
+Using serial inference (parallel inference disabled)
+Task suite: libero_goal
+Number of tasks: 10
+Running only task IDs: [6]
+Using default initial states
+
+Task: put the cream cheese in the bowl
+Starting episode 1...
+Query 1/1: Action query time = 1.566 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4483
+t=10: Selected seed 195 with value = 0.4483
+Query 1/1: Action query time = 1.689 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5166
+t=26: Selected seed 195 with value = 0.5166
+Query 1/1: Action query time = 2.413 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6072
+t=42: Selected seed 195 with value = 0.6072
+Query 1/1: Action query time = 4.612 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7001
+t=58: Selected seed 195 with value = 0.7001
+Query 1/1: Action query time = 5.277 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8625
+t=74: Selected seed 195 with value = 0.8625
+Query 1/1: Action query time = 4.947 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9848
+t=90: Selected seed 195 with value = 0.9848
+Saved rollout MP4 at path ./rollouts/demochan400_t6_s00/2026_08_02-02_45_25--with_future_img--episode=1--success=True--task=put_the_cream_cheese_in_the_bowl.mp4
+Success: True
+# episodes completed so far: 1
+# successes: 1 (100.0%)
+
+Task: put the cream cheese in the bowl
+Starting episode 2...
+Query 1/1: Action query time = 5.333 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4492
+t=10: Selected seed 195 with value = 0.4492
+Query 1/1: Action query time = 3.488 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5158
+t=26: Selected seed 195 with value = 0.5158
+Query 1/1: Action query time = 3.984 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6435
+t=42: Selected seed 195 with value = 0.6435
+Query 1/1: Action query time = 5.574 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7247
+t=58: Selected seed 195 with value = 0.7247
+Query 1/1: Action query time = 4.819 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8248
+t=74: Selected seed 195 with value = 0.8248
+Query 1/1: Action query time = 4.486 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9752
+t=90: Selected seed 195 with value = 0.9752
+Saved rollout MP4 at path ./rollouts/demochan400_t6_s00/2026_08_02-02_45_25--with_future_img--episode=2--success=True--task=put_the_cream_cheese_in_the_bowl.mp4
+Success: True
+# episodes completed so far: 2
+# successes: 2 (100.0%)
+
+Task: put the cream cheese in the bowl
+Starting episode 3...
+Query 1/1: Action query time = 4.455 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4436
+t=10: Selected seed 195 with value = 0.4436
+Query 1/1: Action query time = 3.403 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4802
+t=26: Selected seed 195 with value = 0.4802
+Query 1/1: Action query time = 5.586 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5827
+t=42: Selected seed 195 with value = 0.5827
+Query 1/1: Action query time = 1.786 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6820
+t=58: Selected seed 195 with value = 0.6820
+Query 1/1: Action query time = 4.364 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7909
+t=74: Selected seed 195 with value = 0.7909
+Query 1/1: Action query time = 5.375 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9527
+t=90: Selected seed 195 with value = 0.9527
+Saved rollout MP4 at path ./rollouts/demochan400_t6_s00/2026_08_02-02_45_25--with_future_img--episode=3--success=True--task=put_the_cream_cheese_in_the_bowl.mp4
+Success: True
+# episodes completed so far: 3
+# successes: 3 (100.0%)
+
+Task: put the cream cheese in the bowl
+Starting episode 4...
+Query 1/1: Action query time = 4.961 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4169
+t=10: Selected seed 195 with value = 0.4169
+Query 1/1: Action query time = 4.472 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5179
+t=26: Selected seed 195 with value = 0.5179
+Query 1/1: Action query time = 3.745 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6219
+t=42: Selected seed 195 with value = 0.6219
+Query 1/1: Action query time = 3.487 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7248
+t=58: Selected seed 195 with value = 0.7248
+Query 1/1: Action query time = 2.644 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8835
+t=74: Selected seed 195 with value = 0.8835
+Query 1/1: Action query time = 2.876 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9909
+t=90: Selected seed 195 with value = 0.9909
+Saved rollout MP4 at path ./rollouts/demochan400_t6_s00/2026_08_02-02_45_25--with_future_img--episode=4--success=True--task=put_the_cream_cheese_in_the_bowl.mp4
+Success: True
+# episodes completed so far: 4
+# successes: 4 (100.0%)
+Current task success rate: 1.0
+Current total success rate: 1.0
+Final results:
+Total episodes: 4
+Total successes: 4
+Overall success rate: 1.0000 (100.0%)
diff --git a/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-02_45_27--demochan400_t6_s14.txt b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-02_45_27--demochan400_t6_s14.txt
new file mode 100644
index 0000000000000000000000000000000000000000..c7a300899c46e33eb08a524acc41f8001eceb4cf
--- /dev/null
+++ b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-02_45_27--demochan400_t6_s14.txt
@@ -0,0 +1,105 @@
+Eval config: PolicyEvalConfig(suite='libero', model_family='cosmos', config='cosmos_predict2_2b_480p_libero_cl_stage_inference_only', ckpt_path='/home/azureuser/REGEN-main/old/cosmos_policy/cosmos_v2_finetune/cosmos_predict2_2b_480p_libero_goal_task6_regen_cl_demochan_from40k_2gpu/checkpoints/iter_000000400/model', planning_model_config_name='', planning_model_ckpt_path='', config_file='cosmos_policy/config/config.py', packnet_mask_path='', packnet_first_cl_libero_task=6, use_third_person_image=True, num_third_person_images=1, use_wrist_image=True, num_wrist_images=1, use_proprio=True, flip_images=True, use_variance_scale=False, use_jpeg_compression=True, ar_future_prediction=False, ar_value_prediction=False, ar_qvalue_prediction=False, num_denoising_steps_action=5, num_denoising_steps_future_state=1, num_denoising_steps_value=1, unnormalize_actions=True, normalize_proprio=True, dataset_stats_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/libero_goal_regen/dataset_statistics.json', t5_text_embeddings_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/t5_embeddings.pkl', trained_with_image_aug=True, chunk_size=16, num_open_loop_steps=16, deterministic=True, deterministic_reset=False, deterministic_reset_seed=None, use_ensemble_future_state_predictions=False, num_future_state_predictions_in_ensemble=3, future_state_ensemble_aggregation_scheme='average', use_ensemble_value_predictions=False, num_value_predictions_in_ensemble=5, value_ensemble_aggregation_scheme='average', search_depth=1, mask_current_state_action_for_value_prediction=False, mask_future_state_for_qvalue_prediction=False, num_queries_best_of_n=1, use_parallel_inference=False, available_gpus='0', parallel_timeout=15, parallel_tasks_across_gpus=False, task_suite_name='libero_goal', num_trials_per_task=50, task_ids_to_run='6', initial_states_path='DEFAULT', env_img_res=256, local_log_dir='/home/azureuser/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal', run_id_note='demochan400_t6_s14', use_wandb=False, wandb_entity='YOUR_ENTITY', wandb_project='YOUR_PROJECT', seed=195, randomize_seed=False, data_collection=False, jpeg_compress=True, reward_stop_threshold=None, reward_stop_consecutive_steps=3, use_gpt_reward=False, gpt_reward_model='gpt-5.4-mini', gpt_reward_stop_threshold=4, gpt_reward_timeout_s=30.0, save_rollout_video=False, eval_hdf5_path='', eval_hdf5_demo_key='demo_0', data_gen_demo_ids='', eval_episode_ids='14,30,46', replay_actions=False, replay_action_path_dir='', replay_hdf5_path='', data_generation=False, max_generation_steps=200, simple_task_max_steps=100, complex_task_max_steps=200)
+Using serial inference (parallel inference disabled)
+Task suite: libero_goal
+Number of tasks: 10
+Running only task IDs: [6]
+Using default initial states
+
+Task: put the cream cheese in the bowl
+Starting episode 1...
+Query 1/1: Action query time = 5.501 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4359
+t=10: Selected seed 195 with value = 0.4359
+Query 1/1: Action query time = 4.770 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4952
+t=26: Selected seed 195 with value = 0.4952
+Query 1/1: Action query time = 4.767 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5817
+t=42: Selected seed 195 with value = 0.5817
+Query 1/1: Action query time = 5.052 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6757
+t=58: Selected seed 195 with value = 0.6757
+Query 1/1: Action query time = 4.874 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8063
+t=74: Selected seed 195 with value = 0.8063
+Query 1/1: Action query time = 3.878 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9594
+t=90: Selected seed 195 with value = 0.9594
+Saved rollout MP4 at path ./rollouts/demochan400_t6_s14/2026_08_02-02_45_27--with_future_img--episode=1--success=True--task=put_the_cream_cheese_in_the_bowl.mp4
+Success: True
+# episodes completed so far: 1
+# successes: 1 (100.0%)
+
+Task: put the cream cheese in the bowl
+Starting episode 2...
+Query 1/1: Action query time = 5.544 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4421
+t=10: Selected seed 195 with value = 0.4421
+Query 1/1: Action query time = 6.233 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5104
+t=26: Selected seed 195 with value = 0.5104
+Query 1/1: Action query time = 5.384 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6296
+t=42: Selected seed 195 with value = 0.6296
+Query 1/1: Action query time = 4.031 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7004
+t=58: Selected seed 195 with value = 0.7004
+Query 1/1: Action query time = 3.698 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8195
+t=74: Selected seed 195 with value = 0.8195
+Query 1/1: Action query time = 4.682 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9799
+t=90: Selected seed 195 with value = 0.9799
+Saved rollout MP4 at path ./rollouts/demochan400_t6_s14/2026_08_02-02_45_27--with_future_img--episode=2--success=True--task=put_the_cream_cheese_in_the_bowl.mp4
+Success: True
+# episodes completed so far: 2
+# successes: 2 (100.0%)
+
+Task: put the cream cheese in the bowl
+Starting episode 3...
+Query 1/1: Action query time = 4.278 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4716
+t=10: Selected seed 195 with value = 0.4716
+Query 1/1: Action query time = 4.814 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5014
+t=26: Selected seed 195 with value = 0.5014
+Query 1/1: Action query time = 4.984 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6142
+t=42: Selected seed 195 with value = 0.6142
+Query 1/1: Action query time = 4.270 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6956
+t=58: Selected seed 195 with value = 0.6956
+Query 1/1: Action query time = 4.683 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8236
+t=74: Selected seed 195 with value = 0.8236
+Query 1/1: Action query time = 3.671 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9698
+t=90: Selected seed 195 with value = 0.9698
+Saved rollout MP4 at path ./rollouts/demochan400_t6_s14/2026_08_02-02_45_27--with_future_img--episode=3--success=True--task=put_the_cream_cheese_in_the_bowl.mp4
+Success: True
+# episodes completed so far: 3
+# successes: 3 (100.0%)
+Current task success rate: 1.0
+Current total success rate: 1.0
+Final results:
+Total episodes: 3
+Total successes: 3
+Overall success rate: 1.0000 (100.0%)
diff --git a/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-03_34_47--realcl800_t0_s01.txt b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-03_34_47--realcl800_t0_s01.txt
new file mode 100644
index 0000000000000000000000000000000000000000..10c646fff3138c139344e3f15957d3e2f88b2cca
--- /dev/null
+++ b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-03_34_47--realcl800_t0_s01.txt
@@ -0,0 +1,168 @@
+Eval config: PolicyEvalConfig(suite='libero', model_family='cosmos', config='cosmos_predict2_2b_480p_libero_cl_stage_inference_only', ckpt_path='/home/azureuser/REGEN-main/old/cosmos_policy/cosmos_v2_finetune/cosmos_predict2_2b_480p_libero_goal_task6_real_cl_from40k_2gpu/checkpoints/iter_000000800/model', planning_model_config_name='', planning_model_ckpt_path='', config_file='cosmos_policy/config/config.py', packnet_mask_path='', packnet_first_cl_libero_task=6, use_third_person_image=True, num_third_person_images=1, use_wrist_image=True, num_wrist_images=1, use_proprio=True, flip_images=True, use_variance_scale=False, use_jpeg_compression=True, ar_future_prediction=False, ar_value_prediction=False, ar_qvalue_prediction=False, num_denoising_steps_action=5, num_denoising_steps_future_state=1, num_denoising_steps_value=1, unnormalize_actions=True, normalize_proprio=True, dataset_stats_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/libero_goal_regen/dataset_statistics.json', t5_text_embeddings_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/t5_embeddings.pkl', trained_with_image_aug=True, chunk_size=16, num_open_loop_steps=16, deterministic=True, deterministic_reset=False, deterministic_reset_seed=None, use_ensemble_future_state_predictions=False, num_future_state_predictions_in_ensemble=3, future_state_ensemble_aggregation_scheme='average', use_ensemble_value_predictions=False, num_value_predictions_in_ensemble=5, value_ensemble_aggregation_scheme='average', search_depth=1, mask_current_state_action_for_value_prediction=False, mask_future_state_for_qvalue_prediction=False, num_queries_best_of_n=1, use_parallel_inference=False, available_gpus='0', parallel_timeout=15, parallel_tasks_across_gpus=False, task_suite_name='libero_goal', num_trials_per_task=50, task_ids_to_run='0', initial_states_path='DEFAULT', env_img_res=256, local_log_dir='/home/azureuser/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal', run_id_note='realcl800_t0_s01', use_wandb=False, wandb_entity='YOUR_ENTITY', wandb_project='YOUR_PROJECT', seed=195, randomize_seed=False, data_collection=False, jpeg_compress=True, reward_stop_threshold=None, reward_stop_consecutive_steps=3, use_gpt_reward=False, gpt_reward_model='gpt-5.4-mini', gpt_reward_stop_threshold=4, gpt_reward_timeout_s=30.0, save_rollout_video=False, eval_hdf5_path='', eval_hdf5_demo_key='demo_0', data_gen_demo_ids='', eval_episode_ids='1,17,33,49', replay_actions=False, replay_action_path_dir='', replay_hdf5_path='', data_generation=False, max_generation_steps=200, simple_task_max_steps=100, complex_task_max_steps=200)
+Using serial inference (parallel inference disabled)
+Task suite: libero_goal
+Number of tasks: 10
+Running only task IDs: [0]
+Using default initial states
+
+Task: open the middle drawer of the cabinet
+Starting episode 1...
+Query 1/1: Action query time = 5.622 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3230
+t=10: Selected seed 195 with value = 0.3230
+Query 1/1: Action query time = 4.707 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3587
+t=26: Selected seed 195 with value = 0.3587
+Query 1/1: Action query time = 4.988 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4095
+t=42: Selected seed 195 with value = 0.4095
+Query 1/1: Action query time = 5.235 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5122
+t=58: Selected seed 195 with value = 0.5122
+Query 1/1: Action query time = 4.675 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6170
+t=74: Selected seed 195 with value = 0.6170
+Query 1/1: Action query time = 4.308 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5889
+t=90: Selected seed 195 with value = 0.5889
+Query 1/1: Action query time = 5.647 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7678
+t=106: Selected seed 195 with value = 0.7678
+Query 1/1: Action query time = 3.720 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9166
+t=122: Selected seed 195 with value = 0.9166
+Saved rollout MP4 at path ./rollouts/realcl800_t0_s01/2026_08_02-03_34_47--with_future_img--episode=1--success=True--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: True
+# episodes completed so far: 1
+# successes: 1 (100.0%)
+
+Task: open the middle drawer of the cabinet
+Starting episode 2...
+Query 1/1: Action query time = 5.238 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3115
+t=10: Selected seed 195 with value = 0.3115
+Query 1/1: Action query time = 5.065 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3682
+t=26: Selected seed 195 with value = 0.3682
+Query 1/1: Action query time = 4.821 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4456
+t=42: Selected seed 195 with value = 0.4456
+Query 1/1: Action query time = 4.749 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4204
+t=58: Selected seed 195 with value = 0.4204
+Query 1/1: Action query time = 4.745 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4589
+t=74: Selected seed 195 with value = 0.4589
+Query 1/1: Action query time = 4.829 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5531
+t=90: Selected seed 195 with value = 0.5531
+Query 1/1: Action query time = 5.013 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7546
+t=106: Selected seed 195 with value = 0.7546
+Query 1/1: Action query time = 3.778 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8678
+t=122: Selected seed 195 with value = 0.8678
+Saved rollout MP4 at path ./rollouts/realcl800_t0_s01/2026_08_02-03_34_47--with_future_img--episode=2--success=True--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: True
+# episodes completed so far: 2
+# successes: 2 (100.0%)
+
+Task: open the middle drawer of the cabinet
+Starting episode 3...
+Query 1/1: Action query time = 4.935 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3082
+t=10: Selected seed 195 with value = 0.3082
+Query 1/1: Action query time = 4.590 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2356
+t=26: Selected seed 195 with value = 0.2356
+Query 1/1: Action query time = 4.529 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2687
+t=42: Selected seed 195 with value = 0.2687
+Query 1/1: Action query time = 4.915 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3165
+t=58: Selected seed 195 with value = 0.3165
+Query 1/1: Action query time = 5.929 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6272
+t=74: Selected seed 195 with value = 0.6272
+Query 1/1: Action query time = 4.886 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7772
+t=90: Selected seed 195 with value = 0.7772
+Query 1/1: Action query time = 4.472 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8214
+t=106: Selected seed 195 with value = 0.8214
+Query 1/1: Action query time = 3.291 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9900
+t=122: Selected seed 195 with value = 0.9900
+Saved rollout MP4 at path ./rollouts/realcl800_t0_s01/2026_08_02-03_34_47--with_future_img--episode=3--success=True--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: True
+# episodes completed so far: 3
+# successes: 3 (100.0%)
+
+Task: open the middle drawer of the cabinet
+Starting episode 4...
+Query 1/1: Action query time = 2.708 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3100
+t=10: Selected seed 195 with value = 0.3100
+Query 1/1: Action query time = 1.255 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3460
+t=26: Selected seed 195 with value = 0.3460
+Query 1/1: Action query time = 1.237 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3935
+t=42: Selected seed 195 with value = 0.3935
+Query 1/1: Action query time = 1.213 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4840
+t=58: Selected seed 195 with value = 0.4840
+Query 1/1: Action query time = 1.230 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5857
+t=74: Selected seed 195 with value = 0.5857
+Query 1/1: Action query time = 1.244 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7233
+t=90: Selected seed 195 with value = 0.7233
+Query 1/1: Action query time = 1.212 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8114
+t=106: Selected seed 195 with value = 0.8114
+Query 1/1: Action query time = 1.123 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9518
+t=122: Selected seed 195 with value = 0.9518
+Saved rollout MP4 at path ./rollouts/realcl800_t0_s01/2026_08_02-03_34_47--with_future_img--episode=4--success=True--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: True
+# episodes completed so far: 4
+# successes: 4 (100.0%)
+Current task success rate: 1.0
+Current total success rate: 1.0
+Final results:
+Total episodes: 4
+Total successes: 4
+Overall success rate: 1.0000 (100.0%)
diff --git a/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-03_34_48--realcl800_t0_s02.txt b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-03_34_48--realcl800_t0_s02.txt
new file mode 100644
index 0000000000000000000000000000000000000000..f7fe4c2d20e23736dbb591ccf2edac1fe2c3bd2a
--- /dev/null
+++ b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-03_34_48--realcl800_t0_s02.txt
@@ -0,0 +1,141 @@
+Eval config: PolicyEvalConfig(suite='libero', model_family='cosmos', config='cosmos_predict2_2b_480p_libero_cl_stage_inference_only', ckpt_path='/home/azureuser/REGEN-main/old/cosmos_policy/cosmos_v2_finetune/cosmos_predict2_2b_480p_libero_goal_task6_real_cl_from40k_2gpu/checkpoints/iter_000000800/model', planning_model_config_name='', planning_model_ckpt_path='', config_file='cosmos_policy/config/config.py', packnet_mask_path='', packnet_first_cl_libero_task=6, use_third_person_image=True, num_third_person_images=1, use_wrist_image=True, num_wrist_images=1, use_proprio=True, flip_images=True, use_variance_scale=False, use_jpeg_compression=True, ar_future_prediction=False, ar_value_prediction=False, ar_qvalue_prediction=False, num_denoising_steps_action=5, num_denoising_steps_future_state=1, num_denoising_steps_value=1, unnormalize_actions=True, normalize_proprio=True, dataset_stats_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/libero_goal_regen/dataset_statistics.json', t5_text_embeddings_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/t5_embeddings.pkl', trained_with_image_aug=True, chunk_size=16, num_open_loop_steps=16, deterministic=True, deterministic_reset=False, deterministic_reset_seed=None, use_ensemble_future_state_predictions=False, num_future_state_predictions_in_ensemble=3, future_state_ensemble_aggregation_scheme='average', use_ensemble_value_predictions=False, num_value_predictions_in_ensemble=5, value_ensemble_aggregation_scheme='average', search_depth=1, mask_current_state_action_for_value_prediction=False, mask_future_state_for_qvalue_prediction=False, num_queries_best_of_n=1, use_parallel_inference=False, available_gpus='0', parallel_timeout=15, parallel_tasks_across_gpus=False, task_suite_name='libero_goal', num_trials_per_task=50, task_ids_to_run='0', initial_states_path='DEFAULT', env_img_res=256, local_log_dir='/home/azureuser/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal', run_id_note='realcl800_t0_s02', use_wandb=False, wandb_entity='YOUR_ENTITY', wandb_project='YOUR_PROJECT', seed=195, randomize_seed=False, data_collection=False, jpeg_compress=True, reward_stop_threshold=None, reward_stop_consecutive_steps=3, use_gpt_reward=False, gpt_reward_model='gpt-5.4-mini', gpt_reward_stop_threshold=4, gpt_reward_timeout_s=30.0, save_rollout_video=False, eval_hdf5_path='', eval_hdf5_demo_key='demo_0', data_gen_demo_ids='', eval_episode_ids='2,18,34', replay_actions=False, replay_action_path_dir='', replay_hdf5_path='', data_generation=False, max_generation_steps=200, simple_task_max_steps=100, complex_task_max_steps=200)
+Using serial inference (parallel inference disabled)
+Task suite: libero_goal
+Number of tasks: 10
+Running only task IDs: [0]
+Using default initial states
+
+Task: open the middle drawer of the cabinet
+Starting episode 1...
+Query 1/1: Action query time = 6.068 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3588
+t=10: Selected seed 195 with value = 0.3588
+Query 1/1: Action query time = 4.877 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3772
+t=26: Selected seed 195 with value = 0.3772
+Query 1/1: Action query time = 4.806 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4414
+t=42: Selected seed 195 with value = 0.4414
+Query 1/1: Action query time = 5.162 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5156
+t=58: Selected seed 195 with value = 0.5156
+Query 1/1: Action query time = 5.292 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5777
+t=74: Selected seed 195 with value = 0.5777
+Query 1/1: Action query time = 4.546 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6774
+t=90: Selected seed 195 with value = 0.6774
+Query 1/1: Action query time = 3.727 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8522
+t=106: Selected seed 195 with value = 0.8522
+Query 1/1: Action query time = 2.759 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9924
+t=122: Selected seed 195 with value = 0.9924
+Saved rollout MP4 at path ./rollouts/realcl800_t0_s02/2026_08_02-03_34_48--with_future_img--episode=1--success=True--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: True
+# episodes completed so far: 1
+# successes: 1 (100.0%)
+
+Task: open the middle drawer of the cabinet
+Starting episode 2...
+Query 1/1: Action query time = 4.636 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2572
+t=10: Selected seed 195 with value = 0.2572
+Query 1/1: Action query time = 5.194 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3828
+t=26: Selected seed 195 with value = 0.3828
+Query 1/1: Action query time = 4.983 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4338
+t=42: Selected seed 195 with value = 0.4338
+Query 1/1: Action query time = 4.636 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5109
+t=58: Selected seed 195 with value = 0.5109
+Query 1/1: Action query time = 4.915 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5120
+t=74: Selected seed 195 with value = 0.5120
+Query 1/1: Action query time = 4.524 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6259
+t=90: Selected seed 195 with value = 0.6259
+Query 1/1: Action query time = 4.433 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5606
+t=106: Selected seed 195 with value = 0.5606
+Query 1/1: Action query time = 4.486 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5162
+t=122: Selected seed 195 with value = 0.5162
+Query 1/1: Action query time = 3.794 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7364
+t=138: Selected seed 195 with value = 0.7364
+Query 1/1: Action query time = 4.155 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8825
+t=154: Selected seed 195 with value = 0.8825
+Query 1/1: Action query time = 5.408 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9922
+t=170: Selected seed 195 with value = 0.9922
+Saved rollout MP4 at path ./rollouts/realcl800_t0_s02/2026_08_02-03_34_48--with_future_img--episode=2--success=True--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: True
+# episodes completed so far: 2
+# successes: 2 (100.0%)
+
+Task: open the middle drawer of the cabinet
+Starting episode 3...
+Query 1/1: Action query time = 5.408 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2819
+t=10: Selected seed 195 with value = 0.2819
+Query 1/1: Action query time = 3.555 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.1950
+t=26: Selected seed 195 with value = 0.1950
+Query 1/1: Action query time = 4.484 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2288
+t=42: Selected seed 195 with value = 0.2288
+Query 1/1: Action query time = 4.716 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2751
+t=58: Selected seed 195 with value = 0.2751
+Query 1/1: Action query time = 4.120 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3287
+t=74: Selected seed 195 with value = 0.3287
+Query 1/1: Action query time = 3.310 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5559
+t=90: Selected seed 195 with value = 0.5559
+Query 1/1: Action query time = 2.492 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8199
+t=106: Selected seed 195 with value = 0.8199
+Query 1/1: Action query time = 2.449 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9707
+t=122: Selected seed 195 with value = 0.9707
+Saved rollout MP4 at path ./rollouts/realcl800_t0_s02/2026_08_02-03_34_48--with_future_img--episode=3--success=True--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: True
+# episodes completed so far: 3
+# successes: 3 (100.0%)
+Current task success rate: 1.0
+Current total success rate: 1.0
+Final results:
+Total episodes: 3
+Total successes: 3
+Overall success rate: 1.0000 (100.0%)
diff --git a/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-03_34_48--realcl800_t0_s07.txt b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-03_34_48--realcl800_t0_s07.txt
new file mode 100644
index 0000000000000000000000000000000000000000..a0512750e215dd79e383d2a1fc8cc3857e4cb6c3
--- /dev/null
+++ b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-03_34_48--realcl800_t0_s07.txt
@@ -0,0 +1,137 @@
+Eval config: PolicyEvalConfig(suite='libero', model_family='cosmos', config='cosmos_predict2_2b_480p_libero_cl_stage_inference_only', ckpt_path='/home/azureuser/REGEN-main/old/cosmos_policy/cosmos_v2_finetune/cosmos_predict2_2b_480p_libero_goal_task6_real_cl_from40k_2gpu/checkpoints/iter_000000800/model', planning_model_config_name='', planning_model_ckpt_path='', config_file='cosmos_policy/config/config.py', packnet_mask_path='', packnet_first_cl_libero_task=6, use_third_person_image=True, num_third_person_images=1, use_wrist_image=True, num_wrist_images=1, use_proprio=True, flip_images=True, use_variance_scale=False, use_jpeg_compression=True, ar_future_prediction=False, ar_value_prediction=False, ar_qvalue_prediction=False, num_denoising_steps_action=5, num_denoising_steps_future_state=1, num_denoising_steps_value=1, unnormalize_actions=True, normalize_proprio=True, dataset_stats_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/libero_goal_regen/dataset_statistics.json', t5_text_embeddings_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/t5_embeddings.pkl', trained_with_image_aug=True, chunk_size=16, num_open_loop_steps=16, deterministic=True, deterministic_reset=False, deterministic_reset_seed=None, use_ensemble_future_state_predictions=False, num_future_state_predictions_in_ensemble=3, future_state_ensemble_aggregation_scheme='average', use_ensemble_value_predictions=False, num_value_predictions_in_ensemble=5, value_ensemble_aggregation_scheme='average', search_depth=1, mask_current_state_action_for_value_prediction=False, mask_future_state_for_qvalue_prediction=False, num_queries_best_of_n=1, use_parallel_inference=False, available_gpus='0', parallel_timeout=15, parallel_tasks_across_gpus=False, task_suite_name='libero_goal', num_trials_per_task=50, task_ids_to_run='0', initial_states_path='DEFAULT', env_img_res=256, local_log_dir='/home/azureuser/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal', run_id_note='realcl800_t0_s07', use_wandb=False, wandb_entity='YOUR_ENTITY', wandb_project='YOUR_PROJECT', seed=195, randomize_seed=False, data_collection=False, jpeg_compress=True, reward_stop_threshold=None, reward_stop_consecutive_steps=3, use_gpt_reward=False, gpt_reward_model='gpt-5.4-mini', gpt_reward_stop_threshold=4, gpt_reward_timeout_s=30.0, save_rollout_video=False, eval_hdf5_path='', eval_hdf5_demo_key='demo_0', data_gen_demo_ids='', eval_episode_ids='7,23,39', replay_actions=False, replay_action_path_dir='', replay_hdf5_path='', data_generation=False, max_generation_steps=200, simple_task_max_steps=100, complex_task_max_steps=200)
+Using serial inference (parallel inference disabled)
+Task suite: libero_goal
+Number of tasks: 10
+Running only task IDs: [0]
+Using default initial states
+
+Task: open the middle drawer of the cabinet
+Starting episode 1...
+Query 1/1: Action query time = 5.246 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3048
+t=10: Selected seed 195 with value = 0.3048
+Query 1/1: Action query time = 4.701 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3268
+t=26: Selected seed 195 with value = 0.3268
+Query 1/1: Action query time = 4.869 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3913
+t=42: Selected seed 195 with value = 0.3913
+Query 1/1: Action query time = 4.980 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4780
+t=58: Selected seed 195 with value = 0.4780
+Query 1/1: Action query time = 4.599 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5996
+t=74: Selected seed 195 with value = 0.5996
+Query 1/1: Action query time = 5.006 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6526
+t=90: Selected seed 195 with value = 0.6526
+Query 1/1: Action query time = 5.595 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7641
+t=106: Selected seed 195 with value = 0.7641
+Query 1/1: Action query time = 3.927 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8865
+t=122: Selected seed 195 with value = 0.8865
+Query 1/1: Action query time = 1.203 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9957
+t=138: Selected seed 195 with value = 0.9957
+Saved rollout MP4 at path ./rollouts/realcl800_t0_s07/2026_08_02-03_34_48--with_future_img--episode=1--success=True--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: True
+# episodes completed so far: 1
+# successes: 1 (100.0%)
+
+Task: open the middle drawer of the cabinet
+Starting episode 2...
+Query 1/1: Action query time = 5.509 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3022
+t=10: Selected seed 195 with value = 0.3022
+Query 1/1: Action query time = 5.467 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3162
+t=26: Selected seed 195 with value = 0.3162
+Query 1/1: Action query time = 5.512 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3736
+t=42: Selected seed 195 with value = 0.3736
+Query 1/1: Action query time = 5.533 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4607
+t=58: Selected seed 195 with value = 0.4607
+Query 1/1: Action query time = 4.345 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5560
+t=74: Selected seed 195 with value = 0.5560
+Query 1/1: Action query time = 4.579 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6347
+t=90: Selected seed 195 with value = 0.6347
+Query 1/1: Action query time = 4.299 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7642
+t=106: Selected seed 195 with value = 0.7642
+Query 1/1: Action query time = 2.302 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8977
+t=122: Selected seed 195 with value = 0.8977
+Saved rollout MP4 at path ./rollouts/realcl800_t0_s07/2026_08_02-03_34_48--with_future_img--episode=2--success=True--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: True
+# episodes completed so far: 2
+# successes: 2 (100.0%)
+
+Task: open the middle drawer of the cabinet
+Starting episode 3...
+Query 1/1: Action query time = 4.896 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3342
+t=10: Selected seed 195 with value = 0.3342
+Query 1/1: Action query time = 4.582 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3709
+t=26: Selected seed 195 with value = 0.3709
+Query 1/1: Action query time = 4.760 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4256
+t=42: Selected seed 195 with value = 0.4256
+Query 1/1: Action query time = 4.885 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4909
+t=58: Selected seed 195 with value = 0.4909
+Query 1/1: Action query time = 5.875 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5828
+t=74: Selected seed 195 with value = 0.5828
+Query 1/1: Action query time = 4.698 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6786
+t=90: Selected seed 195 with value = 0.6786
+Query 1/1: Action query time = 3.733 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7603
+t=106: Selected seed 195 with value = 0.7603
+Query 1/1: Action query time = 3.489 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8880
+t=122: Selected seed 195 with value = 0.8880
+Query 1/1: Action query time = 2.827 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9941
+t=138: Selected seed 195 with value = 0.9941
+Saved rollout MP4 at path ./rollouts/realcl800_t0_s07/2026_08_02-03_34_48--with_future_img--episode=3--success=True--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: True
+# episodes completed so far: 3
+# successes: 3 (100.0%)
+Current task success rate: 1.0
+Current total success rate: 1.0
+Final results:
+Total episodes: 3
+Total successes: 3
+Overall success rate: 1.0000 (100.0%)
diff --git a/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-03_34_48--realcl800_t0_s11.txt b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-03_34_48--realcl800_t0_s11.txt
new file mode 100644
index 0000000000000000000000000000000000000000..dc1a2c7037bb24741ed8fe91854dbd58bcd15553
--- /dev/null
+++ b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-03_34_48--realcl800_t0_s11.txt
@@ -0,0 +1,129 @@
+Eval config: PolicyEvalConfig(suite='libero', model_family='cosmos', config='cosmos_predict2_2b_480p_libero_cl_stage_inference_only', ckpt_path='/home/azureuser/REGEN-main/old/cosmos_policy/cosmos_v2_finetune/cosmos_predict2_2b_480p_libero_goal_task6_real_cl_from40k_2gpu/checkpoints/iter_000000800/model', planning_model_config_name='', planning_model_ckpt_path='', config_file='cosmos_policy/config/config.py', packnet_mask_path='', packnet_first_cl_libero_task=6, use_third_person_image=True, num_third_person_images=1, use_wrist_image=True, num_wrist_images=1, use_proprio=True, flip_images=True, use_variance_scale=False, use_jpeg_compression=True, ar_future_prediction=False, ar_value_prediction=False, ar_qvalue_prediction=False, num_denoising_steps_action=5, num_denoising_steps_future_state=1, num_denoising_steps_value=1, unnormalize_actions=True, normalize_proprio=True, dataset_stats_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/libero_goal_regen/dataset_statistics.json', t5_text_embeddings_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/t5_embeddings.pkl', trained_with_image_aug=True, chunk_size=16, num_open_loop_steps=16, deterministic=True, deterministic_reset=False, deterministic_reset_seed=None, use_ensemble_future_state_predictions=False, num_future_state_predictions_in_ensemble=3, future_state_ensemble_aggregation_scheme='average', use_ensemble_value_predictions=False, num_value_predictions_in_ensemble=5, value_ensemble_aggregation_scheme='average', search_depth=1, mask_current_state_action_for_value_prediction=False, mask_future_state_for_qvalue_prediction=False, num_queries_best_of_n=1, use_parallel_inference=False, available_gpus='0', parallel_timeout=15, parallel_tasks_across_gpus=False, task_suite_name='libero_goal', num_trials_per_task=50, task_ids_to_run='0', initial_states_path='DEFAULT', env_img_res=256, local_log_dir='/home/azureuser/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal', run_id_note='realcl800_t0_s11', use_wandb=False, wandb_entity='YOUR_ENTITY', wandb_project='YOUR_PROJECT', seed=195, randomize_seed=False, data_collection=False, jpeg_compress=True, reward_stop_threshold=None, reward_stop_consecutive_steps=3, use_gpt_reward=False, gpt_reward_model='gpt-5.4-mini', gpt_reward_stop_threshold=4, gpt_reward_timeout_s=30.0, save_rollout_video=False, eval_hdf5_path='', eval_hdf5_demo_key='demo_0', data_gen_demo_ids='', eval_episode_ids='11,27,43', replay_actions=False, replay_action_path_dir='', replay_hdf5_path='', data_generation=False, max_generation_steps=200, simple_task_max_steps=100, complex_task_max_steps=200)
+Using serial inference (parallel inference disabled)
+Task suite: libero_goal
+Number of tasks: 10
+Running only task IDs: [0]
+Using default initial states
+
+Task: open the middle drawer of the cabinet
+Starting episode 1...
+Query 1/1: Action query time = 6.421 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3081
+t=10: Selected seed 195 with value = 0.3081
+Query 1/1: Action query time = 4.997 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3076
+t=26: Selected seed 195 with value = 0.3076
+Query 1/1: Action query time = 5.079 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4020
+t=42: Selected seed 195 with value = 0.4020
+Query 1/1: Action query time = 5.395 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4931
+t=58: Selected seed 195 with value = 0.4931
+Query 1/1: Action query time = 5.325 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6143
+t=74: Selected seed 195 with value = 0.6143
+Query 1/1: Action query time = 4.132 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7261
+t=90: Selected seed 195 with value = 0.7261
+Query 1/1: Action query time = 4.066 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9154
+t=106: Selected seed 195 with value = 0.9154
+Query 1/1: Action query time = 4.909 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9905
+t=122: Selected seed 195 with value = 0.9905
+Saved rollout MP4 at path ./rollouts/realcl800_t0_s11/2026_08_02-03_34_48--with_future_img--episode=1--success=True--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: True
+# episodes completed so far: 1
+# successes: 1 (100.0%)
+
+Task: open the middle drawer of the cabinet
+Starting episode 2...
+Query 1/1: Action query time = 3.505 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3475
+t=10: Selected seed 195 with value = 0.3475
+Query 1/1: Action query time = 4.994 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4115
+t=26: Selected seed 195 with value = 0.4115
+Query 1/1: Action query time = 4.900 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4773
+t=42: Selected seed 195 with value = 0.4773
+Query 1/1: Action query time = 4.888 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5648
+t=58: Selected seed 195 with value = 0.5648
+Query 1/1: Action query time = 4.706 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6749
+t=74: Selected seed 195 with value = 0.6749
+Query 1/1: Action query time = 5.836 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7874
+t=90: Selected seed 195 with value = 0.7874
+Query 1/1: Action query time = 5.327 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9351
+t=106: Selected seed 195 with value = 0.9351
+Saved rollout MP4 at path ./rollouts/realcl800_t0_s11/2026_08_02-03_34_48--with_future_img--episode=2--success=True--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: True
+# episodes completed so far: 2
+# successes: 2 (100.0%)
+
+Task: open the middle drawer of the cabinet
+Starting episode 3...
+Query 1/1: Action query time = 3.797 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2755
+t=10: Selected seed 195 with value = 0.2755
+Query 1/1: Action query time = 3.463 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2213
+t=26: Selected seed 195 with value = 0.2213
+Query 1/1: Action query time = 4.380 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2444
+t=42: Selected seed 195 with value = 0.2444
+Query 1/1: Action query time = 4.701 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2699
+t=58: Selected seed 195 with value = 0.2699
+Query 1/1: Action query time = 4.585 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3127
+t=74: Selected seed 195 with value = 0.3127
+Query 1/1: Action query time = 3.675 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3718
+t=90: Selected seed 195 with value = 0.3718
+Query 1/1: Action query time = 4.918 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4701
+t=106: Selected seed 195 with value = 0.4701
+Query 1/1: Action query time = 4.789 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5650
+t=122: Selected seed 195 with value = 0.5650
+Query 1/1: Action query time = 4.523 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6161
+t=138: Selected seed 195 with value = 0.6161
+Saved rollout MP4 at path ./rollouts/realcl800_t0_s11/2026_08_02-03_34_48--with_future_img--episode=3--success=True--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: True
+# episodes completed so far: 3
+# successes: 3 (100.0%)
+Current task success rate: 1.0
+Current total success rate: 1.0
+Final results:
+Total episodes: 3
+Total successes: 3
+Overall success rate: 1.0000 (100.0%)
diff --git a/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-03_34_49--realcl800_t0_s12.txt b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-03_34_49--realcl800_t0_s12.txt
new file mode 100644
index 0000000000000000000000000000000000000000..bd944ffdae31a2b12c5e1c65c4d8fbadd38dc757
--- /dev/null
+++ b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-03_34_49--realcl800_t0_s12.txt
@@ -0,0 +1,129 @@
+Eval config: PolicyEvalConfig(suite='libero', model_family='cosmos', config='cosmos_predict2_2b_480p_libero_cl_stage_inference_only', ckpt_path='/home/azureuser/REGEN-main/old/cosmos_policy/cosmos_v2_finetune/cosmos_predict2_2b_480p_libero_goal_task6_real_cl_from40k_2gpu/checkpoints/iter_000000800/model', planning_model_config_name='', planning_model_ckpt_path='', config_file='cosmos_policy/config/config.py', packnet_mask_path='', packnet_first_cl_libero_task=6, use_third_person_image=True, num_third_person_images=1, use_wrist_image=True, num_wrist_images=1, use_proprio=True, flip_images=True, use_variance_scale=False, use_jpeg_compression=True, ar_future_prediction=False, ar_value_prediction=False, ar_qvalue_prediction=False, num_denoising_steps_action=5, num_denoising_steps_future_state=1, num_denoising_steps_value=1, unnormalize_actions=True, normalize_proprio=True, dataset_stats_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/libero_goal_regen/dataset_statistics.json', t5_text_embeddings_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/t5_embeddings.pkl', trained_with_image_aug=True, chunk_size=16, num_open_loop_steps=16, deterministic=True, deterministic_reset=False, deterministic_reset_seed=None, use_ensemble_future_state_predictions=False, num_future_state_predictions_in_ensemble=3, future_state_ensemble_aggregation_scheme='average', use_ensemble_value_predictions=False, num_value_predictions_in_ensemble=5, value_ensemble_aggregation_scheme='average', search_depth=1, mask_current_state_action_for_value_prediction=False, mask_future_state_for_qvalue_prediction=False, num_queries_best_of_n=1, use_parallel_inference=False, available_gpus='0', parallel_timeout=15, parallel_tasks_across_gpus=False, task_suite_name='libero_goal', num_trials_per_task=50, task_ids_to_run='0', initial_states_path='DEFAULT', env_img_res=256, local_log_dir='/home/azureuser/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal', run_id_note='realcl800_t0_s12', use_wandb=False, wandb_entity='YOUR_ENTITY', wandb_project='YOUR_PROJECT', seed=195, randomize_seed=False, data_collection=False, jpeg_compress=True, reward_stop_threshold=None, reward_stop_consecutive_steps=3, use_gpt_reward=False, gpt_reward_model='gpt-5.4-mini', gpt_reward_stop_threshold=4, gpt_reward_timeout_s=30.0, save_rollout_video=False, eval_hdf5_path='', eval_hdf5_demo_key='demo_0', data_gen_demo_ids='', eval_episode_ids='12,28,44', replay_actions=False, replay_action_path_dir='', replay_hdf5_path='', data_generation=False, max_generation_steps=200, simple_task_max_steps=100, complex_task_max_steps=200)
+Using serial inference (parallel inference disabled)
+Task suite: libero_goal
+Number of tasks: 10
+Running only task IDs: [0]
+Using default initial states
+
+Task: open the middle drawer of the cabinet
+Starting episode 1...
+Query 1/1: Action query time = 5.620 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3169
+t=10: Selected seed 195 with value = 0.3169
+Query 1/1: Action query time = 4.421 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3314
+t=26: Selected seed 195 with value = 0.3314
+Query 1/1: Action query time = 4.738 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3864
+t=42: Selected seed 195 with value = 0.3864
+Query 1/1: Action query time = 5.089 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4538
+t=58: Selected seed 195 with value = 0.4538
+Query 1/1: Action query time = 4.505 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5529
+t=74: Selected seed 195 with value = 0.5529
+Query 1/1: Action query time = 3.644 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6648
+t=90: Selected seed 195 with value = 0.6648
+Query 1/1: Action query time = 4.883 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7963
+t=106: Selected seed 195 with value = 0.7963
+Query 1/1: Action query time = 5.221 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9415
+t=122: Selected seed 195 with value = 0.9415
+Saved rollout MP4 at path ./rollouts/realcl800_t0_s12/2026_08_02-03_34_49--with_future_img--episode=1--success=True--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: True
+# episodes completed so far: 1
+# successes: 1 (100.0%)
+
+Task: open the middle drawer of the cabinet
+Starting episode 2...
+Query 1/1: Action query time = 3.221 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3080
+t=10: Selected seed 195 with value = 0.3080
+Query 1/1: Action query time = 3.672 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3073
+t=26: Selected seed 195 with value = 0.3073
+Query 1/1: Action query time = 4.824 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3648
+t=42: Selected seed 195 with value = 0.3648
+Query 1/1: Action query time = 5.262 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4381
+t=58: Selected seed 195 with value = 0.4381
+Query 1/1: Action query time = 5.124 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5494
+t=74: Selected seed 195 with value = 0.5494
+Query 1/1: Action query time = 3.900 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6482
+t=90: Selected seed 195 with value = 0.6482
+Query 1/1: Action query time = 4.625 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7759
+t=106: Selected seed 195 with value = 0.7759
+Query 1/1: Action query time = 4.835 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9250
+t=122: Selected seed 195 with value = 0.9250
+Saved rollout MP4 at path ./rollouts/realcl800_t0_s12/2026_08_02-03_34_49--with_future_img--episode=2--success=True--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: True
+# episodes completed so far: 2
+# successes: 2 (100.0%)
+
+Task: open the middle drawer of the cabinet
+Starting episode 3...
+Query 1/1: Action query time = 3.205 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3090
+t=10: Selected seed 195 with value = 0.3090
+Query 1/1: Action query time = 5.059 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3620
+t=26: Selected seed 195 with value = 0.3620
+Query 1/1: Action query time = 4.605 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4300
+t=42: Selected seed 195 with value = 0.4300
+Query 1/1: Action query time = 5.368 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4872
+t=58: Selected seed 195 with value = 0.4872
+Query 1/1: Action query time = 3.629 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5768
+t=74: Selected seed 195 with value = 0.5768
+Query 1/1: Action query time = 4.859 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6938
+t=90: Selected seed 195 with value = 0.6938
+Query 1/1: Action query time = 4.183 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7866
+t=106: Selected seed 195 with value = 0.7866
+Query 1/1: Action query time = 4.012 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9241
+t=122: Selected seed 195 with value = 0.9241
+Saved rollout MP4 at path ./rollouts/realcl800_t0_s12/2026_08_02-03_34_49--with_future_img--episode=3--success=True--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: True
+# episodes completed so far: 3
+# successes: 3 (100.0%)
+Current task success rate: 1.0
+Current total success rate: 1.0
+Final results:
+Total episodes: 3
+Total successes: 3
+Overall success rate: 1.0000 (100.0%)
diff --git a/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-03_34_49--realcl800_t0_s13.txt b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-03_34_49--realcl800_t0_s13.txt
new file mode 100644
index 0000000000000000000000000000000000000000..352bd1b8164a2830078b6ad3e1fc15bb1d133bb8
--- /dev/null
+++ b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-03_34_49--realcl800_t0_s13.txt
@@ -0,0 +1,133 @@
+Eval config: PolicyEvalConfig(suite='libero', model_family='cosmos', config='cosmos_predict2_2b_480p_libero_cl_stage_inference_only', ckpt_path='/home/azureuser/REGEN-main/old/cosmos_policy/cosmos_v2_finetune/cosmos_predict2_2b_480p_libero_goal_task6_real_cl_from40k_2gpu/checkpoints/iter_000000800/model', planning_model_config_name='', planning_model_ckpt_path='', config_file='cosmos_policy/config/config.py', packnet_mask_path='', packnet_first_cl_libero_task=6, use_third_person_image=True, num_third_person_images=1, use_wrist_image=True, num_wrist_images=1, use_proprio=True, flip_images=True, use_variance_scale=False, use_jpeg_compression=True, ar_future_prediction=False, ar_value_prediction=False, ar_qvalue_prediction=False, num_denoising_steps_action=5, num_denoising_steps_future_state=1, num_denoising_steps_value=1, unnormalize_actions=True, normalize_proprio=True, dataset_stats_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/libero_goal_regen/dataset_statistics.json', t5_text_embeddings_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/t5_embeddings.pkl', trained_with_image_aug=True, chunk_size=16, num_open_loop_steps=16, deterministic=True, deterministic_reset=False, deterministic_reset_seed=None, use_ensemble_future_state_predictions=False, num_future_state_predictions_in_ensemble=3, future_state_ensemble_aggregation_scheme='average', use_ensemble_value_predictions=False, num_value_predictions_in_ensemble=5, value_ensemble_aggregation_scheme='average', search_depth=1, mask_current_state_action_for_value_prediction=False, mask_future_state_for_qvalue_prediction=False, num_queries_best_of_n=1, use_parallel_inference=False, available_gpus='0', parallel_timeout=15, parallel_tasks_across_gpus=False, task_suite_name='libero_goal', num_trials_per_task=50, task_ids_to_run='0', initial_states_path='DEFAULT', env_img_res=256, local_log_dir='/home/azureuser/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal', run_id_note='realcl800_t0_s13', use_wandb=False, wandb_entity='YOUR_ENTITY', wandb_project='YOUR_PROJECT', seed=195, randomize_seed=False, data_collection=False, jpeg_compress=True, reward_stop_threshold=None, reward_stop_consecutive_steps=3, use_gpt_reward=False, gpt_reward_model='gpt-5.4-mini', gpt_reward_stop_threshold=4, gpt_reward_timeout_s=30.0, save_rollout_video=False, eval_hdf5_path='', eval_hdf5_demo_key='demo_0', data_gen_demo_ids='', eval_episode_ids='13,29,45', replay_actions=False, replay_action_path_dir='', replay_hdf5_path='', data_generation=False, max_generation_steps=200, simple_task_max_steps=100, complex_task_max_steps=200)
+Using serial inference (parallel inference disabled)
+Task suite: libero_goal
+Number of tasks: 10
+Running only task IDs: [0]
+Using default initial states
+
+Task: open the middle drawer of the cabinet
+Starting episode 1...
+Query 1/1: Action query time = 4.934 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3169
+t=10: Selected seed 195 with value = 0.3169
+Query 1/1: Action query time = 5.023 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3435
+t=26: Selected seed 195 with value = 0.3435
+Query 1/1: Action query time = 5.506 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4172
+t=42: Selected seed 195 with value = 0.4172
+Query 1/1: Action query time = 5.027 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4826
+t=58: Selected seed 195 with value = 0.4826
+Query 1/1: Action query time = 4.873 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4862
+t=74: Selected seed 195 with value = 0.4862
+Query 1/1: Action query time = 4.404 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6401
+t=90: Selected seed 195 with value = 0.6401
+Query 1/1: Action query time = 5.751 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7431
+t=106: Selected seed 195 with value = 0.7431
+Query 1/1: Action query time = 5.500 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8176
+t=122: Selected seed 195 with value = 0.8176
+Query 1/1: Action query time = 2.872 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9357
+t=138: Selected seed 195 with value = 0.9357
+Saved rollout MP4 at path ./rollouts/realcl800_t0_s13/2026_08_02-03_34_49--with_future_img--episode=1--success=True--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: True
+# episodes completed so far: 1
+# successes: 1 (100.0%)
+
+Task: open the middle drawer of the cabinet
+Starting episode 2...
+Query 1/1: Action query time = 4.369 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3017
+t=10: Selected seed 195 with value = 0.3017
+Query 1/1: Action query time = 4.915 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3245
+t=26: Selected seed 195 with value = 0.3245
+Query 1/1: Action query time = 4.800 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4014
+t=42: Selected seed 195 with value = 0.4014
+Query 1/1: Action query time = 4.655 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4857
+t=58: Selected seed 195 with value = 0.4857
+Query 1/1: Action query time = 5.520 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5674
+t=74: Selected seed 195 with value = 0.5674
+Query 1/1: Action query time = 3.944 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6432
+t=90: Selected seed 195 with value = 0.6432
+Query 1/1: Action query time = 4.834 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7876
+t=106: Selected seed 195 with value = 0.7876
+Query 1/1: Action query time = 2.246 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9244
+t=122: Selected seed 195 with value = 0.9244
+Saved rollout MP4 at path ./rollouts/realcl800_t0_s13/2026_08_02-03_34_49--with_future_img--episode=2--success=True--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: True
+# episodes completed so far: 2
+# successes: 2 (100.0%)
+
+Task: open the middle drawer of the cabinet
+Starting episode 3...
+Query 1/1: Action query time = 5.010 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3076
+t=10: Selected seed 195 with value = 0.3076
+Query 1/1: Action query time = 4.673 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3181
+t=26: Selected seed 195 with value = 0.3181
+Query 1/1: Action query time = 5.012 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3493
+t=42: Selected seed 195 with value = 0.3493
+Query 1/1: Action query time = 3.649 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4242
+t=58: Selected seed 195 with value = 0.4242
+Query 1/1: Action query time = 5.195 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4855
+t=74: Selected seed 195 with value = 0.4855
+Query 1/1: Action query time = 4.175 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5697
+t=90: Selected seed 195 with value = 0.5697
+Query 1/1: Action query time = 4.124 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7799
+t=106: Selected seed 195 with value = 0.7799
+Query 1/1: Action query time = 2.546 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9032
+t=122: Selected seed 195 with value = 0.9032
+Saved rollout MP4 at path ./rollouts/realcl800_t0_s13/2026_08_02-03_34_49--with_future_img--episode=3--success=True--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: True
+# episodes completed so far: 3
+# successes: 3 (100.0%)
+Current task success rate: 1.0
+Current total success rate: 1.0
+Final results:
+Total episodes: 3
+Total successes: 3
+Overall success rate: 1.0000 (100.0%)
diff --git a/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-03_34_49--realcl800_t0_s15.txt b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-03_34_49--realcl800_t0_s15.txt
new file mode 100644
index 0000000000000000000000000000000000000000..8a5c7ce81eb3d454d5f6c0c2c6d27d951def2272
--- /dev/null
+++ b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-03_34_49--realcl800_t0_s15.txt
@@ -0,0 +1,133 @@
+Eval config: PolicyEvalConfig(suite='libero', model_family='cosmos', config='cosmos_predict2_2b_480p_libero_cl_stage_inference_only', ckpt_path='/home/azureuser/REGEN-main/old/cosmos_policy/cosmos_v2_finetune/cosmos_predict2_2b_480p_libero_goal_task6_real_cl_from40k_2gpu/checkpoints/iter_000000800/model', planning_model_config_name='', planning_model_ckpt_path='', config_file='cosmos_policy/config/config.py', packnet_mask_path='', packnet_first_cl_libero_task=6, use_third_person_image=True, num_third_person_images=1, use_wrist_image=True, num_wrist_images=1, use_proprio=True, flip_images=True, use_variance_scale=False, use_jpeg_compression=True, ar_future_prediction=False, ar_value_prediction=False, ar_qvalue_prediction=False, num_denoising_steps_action=5, num_denoising_steps_future_state=1, num_denoising_steps_value=1, unnormalize_actions=True, normalize_proprio=True, dataset_stats_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/libero_goal_regen/dataset_statistics.json', t5_text_embeddings_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/t5_embeddings.pkl', trained_with_image_aug=True, chunk_size=16, num_open_loop_steps=16, deterministic=True, deterministic_reset=False, deterministic_reset_seed=None, use_ensemble_future_state_predictions=False, num_future_state_predictions_in_ensemble=3, future_state_ensemble_aggregation_scheme='average', use_ensemble_value_predictions=False, num_value_predictions_in_ensemble=5, value_ensemble_aggregation_scheme='average', search_depth=1, mask_current_state_action_for_value_prediction=False, mask_future_state_for_qvalue_prediction=False, num_queries_best_of_n=1, use_parallel_inference=False, available_gpus='0', parallel_timeout=15, parallel_tasks_across_gpus=False, task_suite_name='libero_goal', num_trials_per_task=50, task_ids_to_run='0', initial_states_path='DEFAULT', env_img_res=256, local_log_dir='/home/azureuser/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal', run_id_note='realcl800_t0_s15', use_wandb=False, wandb_entity='YOUR_ENTITY', wandb_project='YOUR_PROJECT', seed=195, randomize_seed=False, data_collection=False, jpeg_compress=True, reward_stop_threshold=None, reward_stop_consecutive_steps=3, use_gpt_reward=False, gpt_reward_model='gpt-5.4-mini', gpt_reward_stop_threshold=4, gpt_reward_timeout_s=30.0, save_rollout_video=False, eval_hdf5_path='', eval_hdf5_demo_key='demo_0', data_gen_demo_ids='', eval_episode_ids='15,31,47', replay_actions=False, replay_action_path_dir='', replay_hdf5_path='', data_generation=False, max_generation_steps=200, simple_task_max_steps=100, complex_task_max_steps=200)
+Using serial inference (parallel inference disabled)
+Task suite: libero_goal
+Number of tasks: 10
+Running only task IDs: [0]
+Using default initial states
+
+Task: open the middle drawer of the cabinet
+Starting episode 1...
+Query 1/1: Action query time = 5.576 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2975
+t=10: Selected seed 195 with value = 0.2975
+Query 1/1: Action query time = 5.344 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3170
+t=26: Selected seed 195 with value = 0.3170
+Query 1/1: Action query time = 4.698 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3513
+t=42: Selected seed 195 with value = 0.3513
+Query 1/1: Action query time = 4.545 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4226
+t=58: Selected seed 195 with value = 0.4226
+Query 1/1: Action query time = 4.575 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4707
+t=74: Selected seed 195 with value = 0.4707
+Query 1/1: Action query time = 5.919 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5665
+t=90: Selected seed 195 with value = 0.5665
+Query 1/1: Action query time = 5.255 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6698
+t=106: Selected seed 195 with value = 0.6698
+Query 1/1: Action query time = 2.964 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8073
+t=122: Selected seed 195 with value = 0.8073
+Query 1/1: Action query time = 1.481 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9392
+t=138: Selected seed 195 with value = 0.9392
+Saved rollout MP4 at path ./rollouts/realcl800_t0_s15/2026_08_02-03_34_49--with_future_img--episode=1--success=True--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: True
+# episodes completed so far: 1
+# successes: 1 (100.0%)
+
+Task: open the middle drawer of the cabinet
+Starting episode 2...
+Query 1/1: Action query time = 5.615 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2101
+t=10: Selected seed 195 with value = 0.2101
+Query 1/1: Action query time = 5.196 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3228
+t=26: Selected seed 195 with value = 0.3228
+Query 1/1: Action query time = 5.081 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4024
+t=42: Selected seed 195 with value = 0.4024
+Query 1/1: Action query time = 4.090 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4824
+t=58: Selected seed 195 with value = 0.4824
+Query 1/1: Action query time = 4.785 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5942
+t=74: Selected seed 195 with value = 0.5942
+Query 1/1: Action query time = 5.337 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6275
+t=90: Selected seed 195 with value = 0.6275
+Query 1/1: Action query time = 2.769 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7530
+t=106: Selected seed 195 with value = 0.7530
+Query 1/1: Action query time = 3.036 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8971
+t=122: Selected seed 195 with value = 0.8971
+Query 1/1: Action query time = 4.435 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9926
+t=138: Selected seed 195 with value = 0.9926
+Saved rollout MP4 at path ./rollouts/realcl800_t0_s15/2026_08_02-03_34_49--with_future_img--episode=2--success=True--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: True
+# episodes completed so far: 2
+# successes: 2 (100.0%)
+
+Task: open the middle drawer of the cabinet
+Starting episode 3...
+Query 1/1: Action query time = 5.229 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3592
+t=10: Selected seed 195 with value = 0.3592
+Query 1/1: Action query time = 5.306 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4049
+t=26: Selected seed 195 with value = 0.4049
+Query 1/1: Action query time = 4.418 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4756
+t=42: Selected seed 195 with value = 0.4756
+Query 1/1: Action query time = 3.996 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5420
+t=58: Selected seed 195 with value = 0.5420
+Query 1/1: Action query time = 4.126 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6115
+t=74: Selected seed 195 with value = 0.6115
+Query 1/1: Action query time = 3.804 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7686
+t=90: Selected seed 195 with value = 0.7686
+Query 1/1: Action query time = 1.067 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9090
+t=106: Selected seed 195 with value = 0.9090
+Saved rollout MP4 at path ./rollouts/realcl800_t0_s15/2026_08_02-03_34_49--with_future_img--episode=3--success=True--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: True
+# episodes completed so far: 3
+# successes: 3 (100.0%)
+Current task success rate: 1.0
+Current total success rate: 1.0
+Final results:
+Total episodes: 3
+Total successes: 3
+Overall success rate: 1.0000 (100.0%)
diff --git a/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-03_38_03--realcl800_t1_s00.txt b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-03_38_03--realcl800_t1_s00.txt
new file mode 100644
index 0000000000000000000000000000000000000000..acb50aed3c9e9466e6a1c2079ce92a74435e949b
--- /dev/null
+++ b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-03_38_03--realcl800_t1_s00.txt
@@ -0,0 +1,136 @@
+Eval config: PolicyEvalConfig(suite='libero', model_family='cosmos', config='cosmos_predict2_2b_480p_libero_cl_stage_inference_only', ckpt_path='/home/azureuser/REGEN-main/old/cosmos_policy/cosmos_v2_finetune/cosmos_predict2_2b_480p_libero_goal_task6_real_cl_from40k_2gpu/checkpoints/iter_000000800/model', planning_model_config_name='', planning_model_ckpt_path='', config_file='cosmos_policy/config/config.py', packnet_mask_path='', packnet_first_cl_libero_task=6, use_third_person_image=True, num_third_person_images=1, use_wrist_image=True, num_wrist_images=1, use_proprio=True, flip_images=True, use_variance_scale=False, use_jpeg_compression=True, ar_future_prediction=False, ar_value_prediction=False, ar_qvalue_prediction=False, num_denoising_steps_action=5, num_denoising_steps_future_state=1, num_denoising_steps_value=1, unnormalize_actions=True, normalize_proprio=True, dataset_stats_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/libero_goal_regen/dataset_statistics.json', t5_text_embeddings_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/t5_embeddings.pkl', trained_with_image_aug=True, chunk_size=16, num_open_loop_steps=16, deterministic=True, deterministic_reset=False, deterministic_reset_seed=None, use_ensemble_future_state_predictions=False, num_future_state_predictions_in_ensemble=3, future_state_ensemble_aggregation_scheme='average', use_ensemble_value_predictions=False, num_value_predictions_in_ensemble=5, value_ensemble_aggregation_scheme='average', search_depth=1, mask_current_state_action_for_value_prediction=False, mask_future_state_for_qvalue_prediction=False, num_queries_best_of_n=1, use_parallel_inference=False, available_gpus='0', parallel_timeout=15, parallel_tasks_across_gpus=False, task_suite_name='libero_goal', num_trials_per_task=50, task_ids_to_run='1', initial_states_path='DEFAULT', env_img_res=256, local_log_dir='/home/azureuser/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal', run_id_note='realcl800_t1_s00', use_wandb=False, wandb_entity='YOUR_ENTITY', wandb_project='YOUR_PROJECT', seed=195, randomize_seed=False, data_collection=False, jpeg_compress=True, reward_stop_threshold=None, reward_stop_consecutive_steps=3, use_gpt_reward=False, gpt_reward_model='gpt-5.4-mini', gpt_reward_stop_threshold=4, gpt_reward_timeout_s=30.0, save_rollout_video=False, eval_hdf5_path='', eval_hdf5_demo_key='demo_0', data_gen_demo_ids='', eval_episode_ids='0,16,32,48', replay_actions=False, replay_action_path_dir='', replay_hdf5_path='', data_generation=False, max_generation_steps=200, simple_task_max_steps=100, complex_task_max_steps=200)
+Using serial inference (parallel inference disabled)
+Task suite: libero_goal
+Number of tasks: 10
+Running only task IDs: [1]
+Using default initial states
+
+Task: put the bowl on the stove
+Starting episode 1...
+Query 1/1: Action query time = 2.572 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4460
+t=10: Selected seed 195 with value = 0.4460
+Query 1/1: Action query time = 4.333 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5352
+t=26: Selected seed 195 with value = 0.5352
+Query 1/1: Action query time = 4.674 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6350
+t=42: Selected seed 195 with value = 0.6350
+Query 1/1: Action query time = 5.286 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7448
+t=58: Selected seed 195 with value = 0.7448
+Query 1/1: Action query time = 5.162 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8729
+t=74: Selected seed 195 with value = 0.8729
+Query 1/1: Action query time = 4.785 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9930
+t=90: Selected seed 195 with value = 0.9930
+Saved rollout MP4 at path ./rollouts/realcl800_t1_s00/2026_08_02-03_38_03--with_future_img--episode=1--success=True--task=put_the_bowl_on_the_stove.mp4
+Success: True
+# episodes completed so far: 1
+# successes: 1 (100.0%)
+
+Task: put the bowl on the stove
+Starting episode 2...
+Query 1/1: Action query time = 3.154 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4258
+t=10: Selected seed 195 with value = 0.4258
+Query 1/1: Action query time = 3.848 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5498
+t=26: Selected seed 195 with value = 0.5498
+Query 1/1: Action query time = 5.256 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6286
+t=42: Selected seed 195 with value = 0.6286
+Query 1/1: Action query time = 4.120 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7494
+t=58: Selected seed 195 with value = 0.7494
+Query 1/1: Action query time = 4.676 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8890
+t=74: Selected seed 195 with value = 0.8890
+Query 1/1: Action query time = 4.989 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9912
+t=90: Selected seed 195 with value = 0.9912
+Saved rollout MP4 at path ./rollouts/realcl800_t1_s00/2026_08_02-03_38_03--with_future_img--episode=2--success=True--task=put_the_bowl_on_the_stove.mp4
+Success: True
+# episodes completed so far: 2
+# successes: 2 (100.0%)
+
+Task: put the bowl on the stove
+Starting episode 3...
+Query 1/1: Action query time = 2.674 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4740
+t=10: Selected seed 195 with value = 0.4740
+Query 1/1: Action query time = 3.600 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5144
+t=26: Selected seed 195 with value = 0.5144
+Query 1/1: Action query time = 4.531 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6248
+t=42: Selected seed 195 with value = 0.6248
+Query 1/1: Action query time = 5.012 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7348
+t=58: Selected seed 195 with value = 0.7348
+Query 1/1: Action query time = 5.179 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8422
+t=74: Selected seed 195 with value = 0.8422
+Query 1/1: Action query time = 4.872 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9913
+t=90: Selected seed 195 with value = 0.9913
+Saved rollout MP4 at path ./rollouts/realcl800_t1_s00/2026_08_02-03_38_03--with_future_img--episode=3--success=True--task=put_the_bowl_on_the_stove.mp4
+Success: True
+# episodes completed so far: 3
+# successes: 3 (100.0%)
+
+Task: put the bowl on the stove
+Starting episode 4...
+Query 1/1: Action query time = 2.332 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4505
+t=10: Selected seed 195 with value = 0.4505
+Query 1/1: Action query time = 1.423 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5264
+t=26: Selected seed 195 with value = 0.5264
+Query 1/1: Action query time = 1.572 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6136
+t=42: Selected seed 195 with value = 0.6136
+Query 1/1: Action query time = 1.280 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7046
+t=58: Selected seed 195 with value = 0.7046
+Query 1/1: Action query time = 1.246 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8187
+t=74: Selected seed 195 with value = 0.8187
+Query 1/1: Action query time = 1.233 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9816
+t=90: Selected seed 195 with value = 0.9816
+Saved rollout MP4 at path ./rollouts/realcl800_t1_s00/2026_08_02-03_38_03--with_future_img--episode=4--success=True--task=put_the_bowl_on_the_stove.mp4
+Success: True
+# episodes completed so far: 4
+# successes: 4 (100.0%)
+Current task success rate: 1.0
+Current total success rate: 1.0
+Final results:
+Total episodes: 4
+Total successes: 4
+Overall success rate: 1.0000 (100.0%)
diff --git a/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-03_38_03--realcl800_t1_s02.txt b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-03_38_03--realcl800_t1_s02.txt
new file mode 100644
index 0000000000000000000000000000000000000000..6bbf09f145980db169f140f07048ff214c127ae9
--- /dev/null
+++ b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-03_38_03--realcl800_t1_s02.txt
@@ -0,0 +1,105 @@
+Eval config: PolicyEvalConfig(suite='libero', model_family='cosmos', config='cosmos_predict2_2b_480p_libero_cl_stage_inference_only', ckpt_path='/home/azureuser/REGEN-main/old/cosmos_policy/cosmos_v2_finetune/cosmos_predict2_2b_480p_libero_goal_task6_real_cl_from40k_2gpu/checkpoints/iter_000000800/model', planning_model_config_name='', planning_model_ckpt_path='', config_file='cosmos_policy/config/config.py', packnet_mask_path='', packnet_first_cl_libero_task=6, use_third_person_image=True, num_third_person_images=1, use_wrist_image=True, num_wrist_images=1, use_proprio=True, flip_images=True, use_variance_scale=False, use_jpeg_compression=True, ar_future_prediction=False, ar_value_prediction=False, ar_qvalue_prediction=False, num_denoising_steps_action=5, num_denoising_steps_future_state=1, num_denoising_steps_value=1, unnormalize_actions=True, normalize_proprio=True, dataset_stats_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/libero_goal_regen/dataset_statistics.json', t5_text_embeddings_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/t5_embeddings.pkl', trained_with_image_aug=True, chunk_size=16, num_open_loop_steps=16, deterministic=True, deterministic_reset=False, deterministic_reset_seed=None, use_ensemble_future_state_predictions=False, num_future_state_predictions_in_ensemble=3, future_state_ensemble_aggregation_scheme='average', use_ensemble_value_predictions=False, num_value_predictions_in_ensemble=5, value_ensemble_aggregation_scheme='average', search_depth=1, mask_current_state_action_for_value_prediction=False, mask_future_state_for_qvalue_prediction=False, num_queries_best_of_n=1, use_parallel_inference=False, available_gpus='0', parallel_timeout=15, parallel_tasks_across_gpus=False, task_suite_name='libero_goal', num_trials_per_task=50, task_ids_to_run='1', initial_states_path='DEFAULT', env_img_res=256, local_log_dir='/home/azureuser/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal', run_id_note='realcl800_t1_s02', use_wandb=False, wandb_entity='YOUR_ENTITY', wandb_project='YOUR_PROJECT', seed=195, randomize_seed=False, data_collection=False, jpeg_compress=True, reward_stop_threshold=None, reward_stop_consecutive_steps=3, use_gpt_reward=False, gpt_reward_model='gpt-5.4-mini', gpt_reward_stop_threshold=4, gpt_reward_timeout_s=30.0, save_rollout_video=False, eval_hdf5_path='', eval_hdf5_demo_key='demo_0', data_gen_demo_ids='', eval_episode_ids='2,18,34', replay_actions=False, replay_action_path_dir='', replay_hdf5_path='', data_generation=False, max_generation_steps=200, simple_task_max_steps=100, complex_task_max_steps=200)
+Using serial inference (parallel inference disabled)
+Task suite: libero_goal
+Number of tasks: 10
+Running only task IDs: [1]
+Using default initial states
+
+Task: put the bowl on the stove
+Starting episode 1...
+Query 1/1: Action query time = 4.608 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4304
+t=10: Selected seed 195 with value = 0.4304
+Query 1/1: Action query time = 4.940 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4881
+t=26: Selected seed 195 with value = 0.4881
+Query 1/1: Action query time = 5.521 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5609
+t=42: Selected seed 195 with value = 0.5609
+Query 1/1: Action query time = 5.137 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6801
+t=58: Selected seed 195 with value = 0.6801
+Query 1/1: Action query time = 5.091 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8159
+t=74: Selected seed 195 with value = 0.8159
+Query 1/1: Action query time = 3.349 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9906
+t=90: Selected seed 195 with value = 0.9906
+Saved rollout MP4 at path ./rollouts/realcl800_t1_s02/2026_08_02-03_38_03--with_future_img--episode=1--success=True--task=put_the_bowl_on_the_stove.mp4
+Success: True
+# episodes completed so far: 1
+# successes: 1 (100.0%)
+
+Task: put the bowl on the stove
+Starting episode 2...
+Query 1/1: Action query time = 4.103 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4057
+t=10: Selected seed 195 with value = 0.4057
+Query 1/1: Action query time = 5.830 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5128
+t=26: Selected seed 195 with value = 0.5128
+Query 1/1: Action query time = 4.899 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5600
+t=42: Selected seed 195 with value = 0.5600
+Query 1/1: Action query time = 4.515 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6481
+t=58: Selected seed 195 with value = 0.6481
+Query 1/1: Action query time = 4.478 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7540
+t=74: Selected seed 195 with value = 0.7540
+Query 1/1: Action query time = 4.039 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8780
+t=90: Selected seed 195 with value = 0.8780
+Saved rollout MP4 at path ./rollouts/realcl800_t1_s02/2026_08_02-03_38_03--with_future_img--episode=2--success=True--task=put_the_bowl_on_the_stove.mp4
+Success: True
+# episodes completed so far: 2
+# successes: 2 (100.0%)
+
+Task: put the bowl on the stove
+Starting episode 3...
+Query 1/1: Action query time = 4.493 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4431
+t=10: Selected seed 195 with value = 0.4431
+Query 1/1: Action query time = 4.555 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5305
+t=26: Selected seed 195 with value = 0.5305
+Query 1/1: Action query time = 4.532 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6195
+t=42: Selected seed 195 with value = 0.6195
+Query 1/1: Action query time = 4.993 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7289
+t=58: Selected seed 195 with value = 0.7289
+Query 1/1: Action query time = 4.565 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8623
+t=74: Selected seed 195 with value = 0.8623
+Query 1/1: Action query time = 2.933 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9955
+t=90: Selected seed 195 with value = 0.9955
+Saved rollout MP4 at path ./rollouts/realcl800_t1_s02/2026_08_02-03_38_03--with_future_img--episode=3--success=True--task=put_the_bowl_on_the_stove.mp4
+Success: True
+# episodes completed so far: 3
+# successes: 3 (100.0%)
+Current task success rate: 1.0
+Current total success rate: 1.0
+Final results:
+Total episodes: 3
+Total successes: 3
+Overall success rate: 1.0000 (100.0%)
diff --git a/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-03_38_03--realcl800_t1_s03.txt b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-03_38_03--realcl800_t1_s03.txt
new file mode 100644
index 0000000000000000000000000000000000000000..8a646b7bbfd94b5ae7897c23e408b19b8e56f6dd
--- /dev/null
+++ b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-03_38_03--realcl800_t1_s03.txt
@@ -0,0 +1,105 @@
+Eval config: PolicyEvalConfig(suite='libero', model_family='cosmos', config='cosmos_predict2_2b_480p_libero_cl_stage_inference_only', ckpt_path='/home/azureuser/REGEN-main/old/cosmos_policy/cosmos_v2_finetune/cosmos_predict2_2b_480p_libero_goal_task6_real_cl_from40k_2gpu/checkpoints/iter_000000800/model', planning_model_config_name='', planning_model_ckpt_path='', config_file='cosmos_policy/config/config.py', packnet_mask_path='', packnet_first_cl_libero_task=6, use_third_person_image=True, num_third_person_images=1, use_wrist_image=True, num_wrist_images=1, use_proprio=True, flip_images=True, use_variance_scale=False, use_jpeg_compression=True, ar_future_prediction=False, ar_value_prediction=False, ar_qvalue_prediction=False, num_denoising_steps_action=5, num_denoising_steps_future_state=1, num_denoising_steps_value=1, unnormalize_actions=True, normalize_proprio=True, dataset_stats_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/libero_goal_regen/dataset_statistics.json', t5_text_embeddings_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/t5_embeddings.pkl', trained_with_image_aug=True, chunk_size=16, num_open_loop_steps=16, deterministic=True, deterministic_reset=False, deterministic_reset_seed=None, use_ensemble_future_state_predictions=False, num_future_state_predictions_in_ensemble=3, future_state_ensemble_aggregation_scheme='average', use_ensemble_value_predictions=False, num_value_predictions_in_ensemble=5, value_ensemble_aggregation_scheme='average', search_depth=1, mask_current_state_action_for_value_prediction=False, mask_future_state_for_qvalue_prediction=False, num_queries_best_of_n=1, use_parallel_inference=False, available_gpus='0', parallel_timeout=15, parallel_tasks_across_gpus=False, task_suite_name='libero_goal', num_trials_per_task=50, task_ids_to_run='1', initial_states_path='DEFAULT', env_img_res=256, local_log_dir='/home/azureuser/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal', run_id_note='realcl800_t1_s03', use_wandb=False, wandb_entity='YOUR_ENTITY', wandb_project='YOUR_PROJECT', seed=195, randomize_seed=False, data_collection=False, jpeg_compress=True, reward_stop_threshold=None, reward_stop_consecutive_steps=3, use_gpt_reward=False, gpt_reward_model='gpt-5.4-mini', gpt_reward_stop_threshold=4, gpt_reward_timeout_s=30.0, save_rollout_video=False, eval_hdf5_path='', eval_hdf5_demo_key='demo_0', data_gen_demo_ids='', eval_episode_ids='3,19,35', replay_actions=False, replay_action_path_dir='', replay_hdf5_path='', data_generation=False, max_generation_steps=200, simple_task_max_steps=100, complex_task_max_steps=200)
+Using serial inference (parallel inference disabled)
+Task suite: libero_goal
+Number of tasks: 10
+Running only task IDs: [1]
+Using default initial states
+
+Task: put the bowl on the stove
+Starting episode 1...
+Query 1/1: Action query time = 1.796 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4377
+t=10: Selected seed 195 with value = 0.4377
+Query 1/1: Action query time = 2.859 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5396
+t=26: Selected seed 195 with value = 0.5396
+Query 1/1: Action query time = 5.148 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6059
+t=42: Selected seed 195 with value = 0.6059
+Query 1/1: Action query time = 5.307 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7191
+t=58: Selected seed 195 with value = 0.7191
+Query 1/1: Action query time = 5.203 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8514
+t=74: Selected seed 195 with value = 0.8514
+Query 1/1: Action query time = 5.362 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9920
+t=90: Selected seed 195 with value = 0.9920
+Saved rollout MP4 at path ./rollouts/realcl800_t1_s03/2026_08_02-03_38_03--with_future_img--episode=1--success=True--task=put_the_bowl_on_the_stove.mp4
+Success: True
+# episodes completed so far: 1
+# successes: 1 (100.0%)
+
+Task: put the bowl on the stove
+Starting episode 2...
+Query 1/1: Action query time = 2.945 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4618
+t=10: Selected seed 195 with value = 0.4618
+Query 1/1: Action query time = 3.020 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5230
+t=26: Selected seed 195 with value = 0.5230
+Query 1/1: Action query time = 3.523 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6184
+t=42: Selected seed 195 with value = 0.6184
+Query 1/1: Action query time = 5.206 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7417
+t=58: Selected seed 195 with value = 0.7417
+Query 1/1: Action query time = 5.517 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8584
+t=74: Selected seed 195 with value = 0.8584
+Query 1/1: Action query time = 5.055 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9954
+t=90: Selected seed 195 with value = 0.9954
+Saved rollout MP4 at path ./rollouts/realcl800_t1_s03/2026_08_02-03_38_03--with_future_img--episode=2--success=True--task=put_the_bowl_on_the_stove.mp4
+Success: True
+# episodes completed so far: 2
+# successes: 2 (100.0%)
+
+Task: put the bowl on the stove
+Starting episode 3...
+Query 1/1: Action query time = 4.157 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4056
+t=10: Selected seed 195 with value = 0.4056
+Query 1/1: Action query time = 2.827 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4901
+t=26: Selected seed 195 with value = 0.4901
+Query 1/1: Action query time = 4.774 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5931
+t=42: Selected seed 195 with value = 0.5931
+Query 1/1: Action query time = 5.485 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7029
+t=58: Selected seed 195 with value = 0.7029
+Query 1/1: Action query time = 4.532 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8231
+t=74: Selected seed 195 with value = 0.8231
+Query 1/1: Action query time = 4.773 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9605
+t=90: Selected seed 195 with value = 0.9605
+Saved rollout MP4 at path ./rollouts/realcl800_t1_s03/2026_08_02-03_38_03--with_future_img--episode=3--success=True--task=put_the_bowl_on_the_stove.mp4
+Success: True
+# episodes completed so far: 3
+# successes: 3 (100.0%)
+Current task success rate: 1.0
+Current total success rate: 1.0
+Final results:
+Total episodes: 3
+Total successes: 3
+Overall success rate: 1.0000 (100.0%)
diff --git a/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-03_38_04--realcl800_t1_s07.txt b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-03_38_04--realcl800_t1_s07.txt
new file mode 100644
index 0000000000000000000000000000000000000000..327d8dda3dc6364ea706748ce3692f65e3882ee6
--- /dev/null
+++ b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-03_38_04--realcl800_t1_s07.txt
@@ -0,0 +1,105 @@
+Eval config: PolicyEvalConfig(suite='libero', model_family='cosmos', config='cosmos_predict2_2b_480p_libero_cl_stage_inference_only', ckpt_path='/home/azureuser/REGEN-main/old/cosmos_policy/cosmos_v2_finetune/cosmos_predict2_2b_480p_libero_goal_task6_real_cl_from40k_2gpu/checkpoints/iter_000000800/model', planning_model_config_name='', planning_model_ckpt_path='', config_file='cosmos_policy/config/config.py', packnet_mask_path='', packnet_first_cl_libero_task=6, use_third_person_image=True, num_third_person_images=1, use_wrist_image=True, num_wrist_images=1, use_proprio=True, flip_images=True, use_variance_scale=False, use_jpeg_compression=True, ar_future_prediction=False, ar_value_prediction=False, ar_qvalue_prediction=False, num_denoising_steps_action=5, num_denoising_steps_future_state=1, num_denoising_steps_value=1, unnormalize_actions=True, normalize_proprio=True, dataset_stats_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/libero_goal_regen/dataset_statistics.json', t5_text_embeddings_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/t5_embeddings.pkl', trained_with_image_aug=True, chunk_size=16, num_open_loop_steps=16, deterministic=True, deterministic_reset=False, deterministic_reset_seed=None, use_ensemble_future_state_predictions=False, num_future_state_predictions_in_ensemble=3, future_state_ensemble_aggregation_scheme='average', use_ensemble_value_predictions=False, num_value_predictions_in_ensemble=5, value_ensemble_aggregation_scheme='average', search_depth=1, mask_current_state_action_for_value_prediction=False, mask_future_state_for_qvalue_prediction=False, num_queries_best_of_n=1, use_parallel_inference=False, available_gpus='0', parallel_timeout=15, parallel_tasks_across_gpus=False, task_suite_name='libero_goal', num_trials_per_task=50, task_ids_to_run='1', initial_states_path='DEFAULT', env_img_res=256, local_log_dir='/home/azureuser/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal', run_id_note='realcl800_t1_s07', use_wandb=False, wandb_entity='YOUR_ENTITY', wandb_project='YOUR_PROJECT', seed=195, randomize_seed=False, data_collection=False, jpeg_compress=True, reward_stop_threshold=None, reward_stop_consecutive_steps=3, use_gpt_reward=False, gpt_reward_model='gpt-5.4-mini', gpt_reward_stop_threshold=4, gpt_reward_timeout_s=30.0, save_rollout_video=False, eval_hdf5_path='', eval_hdf5_demo_key='demo_0', data_gen_demo_ids='', eval_episode_ids='7,23,39', replay_actions=False, replay_action_path_dir='', replay_hdf5_path='', data_generation=False, max_generation_steps=200, simple_task_max_steps=100, complex_task_max_steps=200)
+Using serial inference (parallel inference disabled)
+Task suite: libero_goal
+Number of tasks: 10
+Running only task IDs: [1]
+Using default initial states
+
+Task: put the bowl on the stove
+Starting episode 1...
+Query 1/1: Action query time = 4.782 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4400
+t=10: Selected seed 195 with value = 0.4400
+Query 1/1: Action query time = 4.840 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5157
+t=26: Selected seed 195 with value = 0.5157
+Query 1/1: Action query time = 5.532 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6132
+t=42: Selected seed 195 with value = 0.6132
+Query 1/1: Action query time = 5.019 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7208
+t=58: Selected seed 195 with value = 0.7208
+Query 1/1: Action query time = 4.990 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8500
+t=74: Selected seed 195 with value = 0.8500
+Query 1/1: Action query time = 3.434 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9932
+t=90: Selected seed 195 with value = 0.9932
+Saved rollout MP4 at path ./rollouts/realcl800_t1_s07/2026_08_02-03_38_04--with_future_img--episode=1--success=True--task=put_the_bowl_on_the_stove.mp4
+Success: True
+# episodes completed so far: 1
+# successes: 1 (100.0%)
+
+Task: put the bowl on the stove
+Starting episode 2...
+Query 1/1: Action query time = 3.964 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4590
+t=10: Selected seed 195 with value = 0.4590
+Query 1/1: Action query time = 5.866 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5317
+t=26: Selected seed 195 with value = 0.5317
+Query 1/1: Action query time = 4.372 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6168
+t=42: Selected seed 195 with value = 0.6168
+Query 1/1: Action query time = 4.397 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6985
+t=58: Selected seed 195 with value = 0.6985
+Query 1/1: Action query time = 4.664 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7710
+t=74: Selected seed 195 with value = 0.7710
+Query 1/1: Action query time = 3.768 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9579
+t=90: Selected seed 195 with value = 0.9579
+Saved rollout MP4 at path ./rollouts/realcl800_t1_s07/2026_08_02-03_38_04--with_future_img--episode=2--success=True--task=put_the_bowl_on_the_stove.mp4
+Success: True
+# episodes completed so far: 2
+# successes: 2 (100.0%)
+
+Task: put the bowl on the stove
+Starting episode 3...
+Query 1/1: Action query time = 4.215 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4626
+t=10: Selected seed 195 with value = 0.4626
+Query 1/1: Action query time = 4.318 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5273
+t=26: Selected seed 195 with value = 0.5273
+Query 1/1: Action query time = 4.897 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5957
+t=42: Selected seed 195 with value = 0.5957
+Query 1/1: Action query time = 5.071 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6695
+t=58: Selected seed 195 with value = 0.6695
+Query 1/1: Action query time = 4.805 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7880
+t=74: Selected seed 195 with value = 0.7880
+Query 1/1: Action query time = 3.148 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9703
+t=90: Selected seed 195 with value = 0.9703
+Saved rollout MP4 at path ./rollouts/realcl800_t1_s07/2026_08_02-03_38_04--with_future_img--episode=3--success=True--task=put_the_bowl_on_the_stove.mp4
+Success: True
+# episodes completed so far: 3
+# successes: 3 (100.0%)
+Current task success rate: 1.0
+Current total success rate: 1.0
+Final results:
+Total episodes: 3
+Total successes: 3
+Overall success rate: 1.0000 (100.0%)
diff --git a/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-03_38_04--realcl800_t1_s10.txt b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-03_38_04--realcl800_t1_s10.txt
new file mode 100644
index 0000000000000000000000000000000000000000..5e44362bd9d0e1d185b1343fa622ef24d609a7da
--- /dev/null
+++ b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-03_38_04--realcl800_t1_s10.txt
@@ -0,0 +1,105 @@
+Eval config: PolicyEvalConfig(suite='libero', model_family='cosmos', config='cosmos_predict2_2b_480p_libero_cl_stage_inference_only', ckpt_path='/home/azureuser/REGEN-main/old/cosmos_policy/cosmos_v2_finetune/cosmos_predict2_2b_480p_libero_goal_task6_real_cl_from40k_2gpu/checkpoints/iter_000000800/model', planning_model_config_name='', planning_model_ckpt_path='', config_file='cosmos_policy/config/config.py', packnet_mask_path='', packnet_first_cl_libero_task=6, use_third_person_image=True, num_third_person_images=1, use_wrist_image=True, num_wrist_images=1, use_proprio=True, flip_images=True, use_variance_scale=False, use_jpeg_compression=True, ar_future_prediction=False, ar_value_prediction=False, ar_qvalue_prediction=False, num_denoising_steps_action=5, num_denoising_steps_future_state=1, num_denoising_steps_value=1, unnormalize_actions=True, normalize_proprio=True, dataset_stats_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/libero_goal_regen/dataset_statistics.json', t5_text_embeddings_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/t5_embeddings.pkl', trained_with_image_aug=True, chunk_size=16, num_open_loop_steps=16, deterministic=True, deterministic_reset=False, deterministic_reset_seed=None, use_ensemble_future_state_predictions=False, num_future_state_predictions_in_ensemble=3, future_state_ensemble_aggregation_scheme='average', use_ensemble_value_predictions=False, num_value_predictions_in_ensemble=5, value_ensemble_aggregation_scheme='average', search_depth=1, mask_current_state_action_for_value_prediction=False, mask_future_state_for_qvalue_prediction=False, num_queries_best_of_n=1, use_parallel_inference=False, available_gpus='0', parallel_timeout=15, parallel_tasks_across_gpus=False, task_suite_name='libero_goal', num_trials_per_task=50, task_ids_to_run='1', initial_states_path='DEFAULT', env_img_res=256, local_log_dir='/home/azureuser/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal', run_id_note='realcl800_t1_s10', use_wandb=False, wandb_entity='YOUR_ENTITY', wandb_project='YOUR_PROJECT', seed=195, randomize_seed=False, data_collection=False, jpeg_compress=True, reward_stop_threshold=None, reward_stop_consecutive_steps=3, use_gpt_reward=False, gpt_reward_model='gpt-5.4-mini', gpt_reward_stop_threshold=4, gpt_reward_timeout_s=30.0, save_rollout_video=False, eval_hdf5_path='', eval_hdf5_demo_key='demo_0', data_gen_demo_ids='', eval_episode_ids='10,26,42', replay_actions=False, replay_action_path_dir='', replay_hdf5_path='', data_generation=False, max_generation_steps=200, simple_task_max_steps=100, complex_task_max_steps=200)
+Using serial inference (parallel inference disabled)
+Task suite: libero_goal
+Number of tasks: 10
+Running only task IDs: [1]
+Using default initial states
+
+Task: put the bowl on the stove
+Starting episode 1...
+Query 1/1: Action query time = 4.641 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4037
+t=10: Selected seed 195 with value = 0.4037
+Query 1/1: Action query time = 4.725 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5171
+t=26: Selected seed 195 with value = 0.5171
+Query 1/1: Action query time = 4.902 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6130
+t=42: Selected seed 195 with value = 0.6130
+Query 1/1: Action query time = 4.881 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7073
+t=58: Selected seed 195 with value = 0.7073
+Query 1/1: Action query time = 4.898 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8387
+t=74: Selected seed 195 with value = 0.8387
+Query 1/1: Action query time = 4.711 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9792
+t=90: Selected seed 195 with value = 0.9792
+Saved rollout MP4 at path ./rollouts/realcl800_t1_s10/2026_08_02-03_38_04--with_future_img--episode=1--success=True--task=put_the_bowl_on_the_stove.mp4
+Success: True
+# episodes completed so far: 1
+# successes: 1 (100.0%)
+
+Task: put the bowl on the stove
+Starting episode 2...
+Query 1/1: Action query time = 2.286 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4505
+t=10: Selected seed 195 with value = 0.4505
+Query 1/1: Action query time = 5.859 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5303
+t=26: Selected seed 195 with value = 0.5303
+Query 1/1: Action query time = 5.304 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6119
+t=42: Selected seed 195 with value = 0.6119
+Query 1/1: Action query time = 4.667 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7595
+t=58: Selected seed 195 with value = 0.7595
+Query 1/1: Action query time = 4.421 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8618
+t=74: Selected seed 195 with value = 0.8618
+Query 1/1: Action query time = 5.528 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9660
+t=90: Selected seed 195 with value = 0.9660
+Saved rollout MP4 at path ./rollouts/realcl800_t1_s10/2026_08_02-03_38_04--with_future_img--episode=2--success=True--task=put_the_bowl_on_the_stove.mp4
+Success: True
+# episodes completed so far: 2
+# successes: 2 (100.0%)
+
+Task: put the bowl on the stove
+Starting episode 3...
+Query 1/1: Action query time = 2.796 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4384
+t=10: Selected seed 195 with value = 0.4384
+Query 1/1: Action query time = 5.654 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5323
+t=26: Selected seed 195 with value = 0.5323
+Query 1/1: Action query time = 5.344 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6239
+t=42: Selected seed 195 with value = 0.6239
+Query 1/1: Action query time = 4.813 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7188
+t=58: Selected seed 195 with value = 0.7188
+Query 1/1: Action query time = 4.069 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8364
+t=74: Selected seed 195 with value = 0.8364
+Query 1/1: Action query time = 4.201 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9716
+t=90: Selected seed 195 with value = 0.9716
+Saved rollout MP4 at path ./rollouts/realcl800_t1_s10/2026_08_02-03_38_04--with_future_img--episode=3--success=True--task=put_the_bowl_on_the_stove.mp4
+Success: True
+# episodes completed so far: 3
+# successes: 3 (100.0%)
+Current task success rate: 1.0
+Current total success rate: 1.0
+Final results:
+Total episodes: 3
+Total successes: 3
+Overall success rate: 1.0000 (100.0%)
diff --git a/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-03_38_04--realcl800_t1_s14.txt b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-03_38_04--realcl800_t1_s14.txt
new file mode 100644
index 0000000000000000000000000000000000000000..bfa59afc84d418e036e5336220301ea0f224d134
--- /dev/null
+++ b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-03_38_04--realcl800_t1_s14.txt
@@ -0,0 +1,105 @@
+Eval config: PolicyEvalConfig(suite='libero', model_family='cosmos', config='cosmos_predict2_2b_480p_libero_cl_stage_inference_only', ckpt_path='/home/azureuser/REGEN-main/old/cosmos_policy/cosmos_v2_finetune/cosmos_predict2_2b_480p_libero_goal_task6_real_cl_from40k_2gpu/checkpoints/iter_000000800/model', planning_model_config_name='', planning_model_ckpt_path='', config_file='cosmos_policy/config/config.py', packnet_mask_path='', packnet_first_cl_libero_task=6, use_third_person_image=True, num_third_person_images=1, use_wrist_image=True, num_wrist_images=1, use_proprio=True, flip_images=True, use_variance_scale=False, use_jpeg_compression=True, ar_future_prediction=False, ar_value_prediction=False, ar_qvalue_prediction=False, num_denoising_steps_action=5, num_denoising_steps_future_state=1, num_denoising_steps_value=1, unnormalize_actions=True, normalize_proprio=True, dataset_stats_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/libero_goal_regen/dataset_statistics.json', t5_text_embeddings_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/t5_embeddings.pkl', trained_with_image_aug=True, chunk_size=16, num_open_loop_steps=16, deterministic=True, deterministic_reset=False, deterministic_reset_seed=None, use_ensemble_future_state_predictions=False, num_future_state_predictions_in_ensemble=3, future_state_ensemble_aggregation_scheme='average', use_ensemble_value_predictions=False, num_value_predictions_in_ensemble=5, value_ensemble_aggregation_scheme='average', search_depth=1, mask_current_state_action_for_value_prediction=False, mask_future_state_for_qvalue_prediction=False, num_queries_best_of_n=1, use_parallel_inference=False, available_gpus='0', parallel_timeout=15, parallel_tasks_across_gpus=False, task_suite_name='libero_goal', num_trials_per_task=50, task_ids_to_run='1', initial_states_path='DEFAULT', env_img_res=256, local_log_dir='/home/azureuser/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal', run_id_note='realcl800_t1_s14', use_wandb=False, wandb_entity='YOUR_ENTITY', wandb_project='YOUR_PROJECT', seed=195, randomize_seed=False, data_collection=False, jpeg_compress=True, reward_stop_threshold=None, reward_stop_consecutive_steps=3, use_gpt_reward=False, gpt_reward_model='gpt-5.4-mini', gpt_reward_stop_threshold=4, gpt_reward_timeout_s=30.0, save_rollout_video=False, eval_hdf5_path='', eval_hdf5_demo_key='demo_0', data_gen_demo_ids='', eval_episode_ids='14,30,46', replay_actions=False, replay_action_path_dir='', replay_hdf5_path='', data_generation=False, max_generation_steps=200, simple_task_max_steps=100, complex_task_max_steps=200)
+Using serial inference (parallel inference disabled)
+Task suite: libero_goal
+Number of tasks: 10
+Running only task IDs: [1]
+Using default initial states
+
+Task: put the bowl on the stove
+Starting episode 1...
+Query 1/1: Action query time = 5.860 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4128
+t=10: Selected seed 195 with value = 0.4128
+Query 1/1: Action query time = 5.021 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5433
+t=26: Selected seed 195 with value = 0.5433
+Query 1/1: Action query time = 5.086 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6411
+t=42: Selected seed 195 with value = 0.6411
+Query 1/1: Action query time = 4.939 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7512
+t=58: Selected seed 195 with value = 0.7512
+Query 1/1: Action query time = 4.720 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8667
+t=74: Selected seed 195 with value = 0.8667
+Query 1/1: Action query time = 2.137 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9932
+t=90: Selected seed 195 with value = 0.9932
+Saved rollout MP4 at path ./rollouts/realcl800_t1_s14/2026_08_02-03_38_04--with_future_img--episode=1--success=True--task=put_the_bowl_on_the_stove.mp4
+Success: True
+# episodes completed so far: 1
+# successes: 1 (100.0%)
+
+Task: put the bowl on the stove
+Starting episode 2...
+Query 1/1: Action query time = 5.850 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4470
+t=10: Selected seed 195 with value = 0.4470
+Query 1/1: Action query time = 4.744 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5232
+t=26: Selected seed 195 with value = 0.5232
+Query 1/1: Action query time = 4.579 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6283
+t=42: Selected seed 195 with value = 0.6283
+Query 1/1: Action query time = 4.870 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7369
+t=58: Selected seed 195 with value = 0.7369
+Query 1/1: Action query time = 4.170 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8603
+t=74: Selected seed 195 with value = 0.8603
+Query 1/1: Action query time = 3.606 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9946
+t=90: Selected seed 195 with value = 0.9946
+Saved rollout MP4 at path ./rollouts/realcl800_t1_s14/2026_08_02-03_38_04--with_future_img--episode=2--success=True--task=put_the_bowl_on_the_stove.mp4
+Success: True
+# episodes completed so far: 2
+# successes: 2 (100.0%)
+
+Task: put the bowl on the stove
+Starting episode 3...
+Query 1/1: Action query time = 4.829 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4237
+t=10: Selected seed 195 with value = 0.4237
+Query 1/1: Action query time = 4.762 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4992
+t=26: Selected seed 195 with value = 0.4992
+Query 1/1: Action query time = 5.140 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6005
+t=42: Selected seed 195 with value = 0.6005
+Query 1/1: Action query time = 4.825 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7067
+t=58: Selected seed 195 with value = 0.7067
+Query 1/1: Action query time = 4.416 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8203
+t=74: Selected seed 195 with value = 0.8203
+Query 1/1: Action query time = 3.940 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9566
+t=90: Selected seed 195 with value = 0.9566
+Saved rollout MP4 at path ./rollouts/realcl800_t1_s14/2026_08_02-03_38_04--with_future_img--episode=3--success=True--task=put_the_bowl_on_the_stove.mp4
+Success: True
+# episodes completed so far: 3
+# successes: 3 (100.0%)
+Current task success rate: 1.0
+Current total success rate: 1.0
+Final results:
+Total episodes: 3
+Total successes: 3
+Overall success rate: 1.0000 (100.0%)
diff --git a/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-03_40_30--realcl800_t2_s00.txt b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-03_40_30--realcl800_t2_s00.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0bb886252db34cd108274fa0115eb09f46751a40
--- /dev/null
+++ b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-03_40_30--realcl800_t2_s00.txt
@@ -0,0 +1,132 @@
+Eval config: PolicyEvalConfig(suite='libero', model_family='cosmos', config='cosmos_predict2_2b_480p_libero_cl_stage_inference_only', ckpt_path='/home/azureuser/REGEN-main/old/cosmos_policy/cosmos_v2_finetune/cosmos_predict2_2b_480p_libero_goal_task6_real_cl_from40k_2gpu/checkpoints/iter_000000800/model', planning_model_config_name='', planning_model_ckpt_path='', config_file='cosmos_policy/config/config.py', packnet_mask_path='', packnet_first_cl_libero_task=6, use_third_person_image=True, num_third_person_images=1, use_wrist_image=True, num_wrist_images=1, use_proprio=True, flip_images=True, use_variance_scale=False, use_jpeg_compression=True, ar_future_prediction=False, ar_value_prediction=False, ar_qvalue_prediction=False, num_denoising_steps_action=5, num_denoising_steps_future_state=1, num_denoising_steps_value=1, unnormalize_actions=True, normalize_proprio=True, dataset_stats_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/libero_goal_regen/dataset_statistics.json', t5_text_embeddings_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/t5_embeddings.pkl', trained_with_image_aug=True, chunk_size=16, num_open_loop_steps=16, deterministic=True, deterministic_reset=False, deterministic_reset_seed=None, use_ensemble_future_state_predictions=False, num_future_state_predictions_in_ensemble=3, future_state_ensemble_aggregation_scheme='average', use_ensemble_value_predictions=False, num_value_predictions_in_ensemble=5, value_ensemble_aggregation_scheme='average', search_depth=1, mask_current_state_action_for_value_prediction=False, mask_future_state_for_qvalue_prediction=False, num_queries_best_of_n=1, use_parallel_inference=False, available_gpus='0', parallel_timeout=15, parallel_tasks_across_gpus=False, task_suite_name='libero_goal', num_trials_per_task=50, task_ids_to_run='2', initial_states_path='DEFAULT', env_img_res=256, local_log_dir='/home/azureuser/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal', run_id_note='realcl800_t2_s00', use_wandb=False, wandb_entity='YOUR_ENTITY', wandb_project='YOUR_PROJECT', seed=195, randomize_seed=False, data_collection=False, jpeg_compress=True, reward_stop_threshold=None, reward_stop_consecutive_steps=3, use_gpt_reward=False, gpt_reward_model='gpt-5.4-mini', gpt_reward_stop_threshold=4, gpt_reward_timeout_s=30.0, save_rollout_video=False, eval_hdf5_path='', eval_hdf5_demo_key='demo_0', data_gen_demo_ids='', eval_episode_ids='0,16,32,48', replay_actions=False, replay_action_path_dir='', replay_hdf5_path='', data_generation=False, max_generation_steps=200, simple_task_max_steps=100, complex_task_max_steps=200)
+Using serial inference (parallel inference disabled)
+Task suite: libero_goal
+Number of tasks: 10
+Running only task IDs: [2]
+Using default initial states
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 1...
+Query 1/1: Action query time = 6.530 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4871
+t=10: Selected seed 195 with value = 0.4871
+Query 1/1: Action query time = 5.044 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5786
+t=26: Selected seed 195 with value = 0.5786
+Query 1/1: Action query time = 4.868 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6509
+t=42: Selected seed 195 with value = 0.6509
+Query 1/1: Action query time = 4.182 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7341
+t=58: Selected seed 195 with value = 0.7341
+Query 1/1: Action query time = 3.975 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8302
+t=74: Selected seed 195 with value = 0.8302
+Saved rollout MP4 at path ./rollouts/realcl800_t2_s00/2026_08_02-03_40_30--with_future_img--episode=1--success=True--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: True
+# episodes completed so far: 1
+# successes: 1 (100.0%)
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 2...
+Query 1/1: Action query time = 2.304 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4069
+t=10: Selected seed 195 with value = 0.4069
+Query 1/1: Action query time = 2.356 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4304
+t=26: Selected seed 195 with value = 0.4304
+Query 1/1: Action query time = 5.198 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5139
+t=42: Selected seed 195 with value = 0.5139
+Query 1/1: Action query time = 5.019 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6282
+t=58: Selected seed 195 with value = 0.6282
+Query 1/1: Action query time = 4.494 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7528
+t=74: Selected seed 195 with value = 0.7528
+Query 1/1: Action query time = 4.675 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9058
+t=90: Selected seed 195 with value = 0.9058
+Saved rollout MP4 at path ./rollouts/realcl800_t2_s00/2026_08_02-03_40_30--with_future_img--episode=2--success=True--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: True
+# episodes completed so far: 2
+# successes: 2 (100.0%)
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 3...
+Query 1/1: Action query time = 4.132 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4520
+t=10: Selected seed 195 with value = 0.4520
+Query 1/1: Action query time = 2.478 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4946
+t=26: Selected seed 195 with value = 0.4946
+Query 1/1: Action query time = 4.712 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5423
+t=42: Selected seed 195 with value = 0.5423
+Query 1/1: Action query time = 4.902 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6259
+t=58: Selected seed 195 with value = 0.6259
+Query 1/1: Action query time = 4.319 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7836
+t=74: Selected seed 195 with value = 0.7836
+Query 1/1: Action query time = 3.117 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9149
+t=90: Selected seed 195 with value = 0.9149
+Saved rollout MP4 at path ./rollouts/realcl800_t2_s00/2026_08_02-03_40_30--with_future_img--episode=3--success=True--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: True
+# episodes completed so far: 3
+# successes: 3 (100.0%)
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 4...
+Query 1/1: Action query time = 2.811 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3843
+t=10: Selected seed 195 with value = 0.3843
+Query 1/1: Action query time = 1.065 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4662
+t=26: Selected seed 195 with value = 0.4662
+Query 1/1: Action query time = 1.432 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6183
+t=42: Selected seed 195 with value = 0.6183
+Query 1/1: Action query time = 1.315 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7476
+t=58: Selected seed 195 with value = 0.7476
+Query 1/1: Action query time = 1.402 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8702
+t=74: Selected seed 195 with value = 0.8702
+Query 1/1: Action query time = 1.484 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9955
+t=90: Selected seed 195 with value = 0.9955
+Saved rollout MP4 at path ./rollouts/realcl800_t2_s00/2026_08_02-03_40_30--with_future_img--episode=4--success=True--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: True
+# episodes completed so far: 4
+# successes: 4 (100.0%)
+Current task success rate: 1.0
+Current total success rate: 1.0
+Final results:
+Total episodes: 4
+Total successes: 4
+Overall success rate: 1.0000 (100.0%)
diff --git a/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-03_40_30--realcl800_t2_s01.txt b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-03_40_30--realcl800_t2_s01.txt
new file mode 100644
index 0000000000000000000000000000000000000000..cd40c66ddef62d99b5ed9259a539254744c551af
--- /dev/null
+++ b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-03_40_30--realcl800_t2_s01.txt
@@ -0,0 +1,136 @@
+Eval config: PolicyEvalConfig(suite='libero', model_family='cosmos', config='cosmos_predict2_2b_480p_libero_cl_stage_inference_only', ckpt_path='/home/azureuser/REGEN-main/old/cosmos_policy/cosmos_v2_finetune/cosmos_predict2_2b_480p_libero_goal_task6_real_cl_from40k_2gpu/checkpoints/iter_000000800/model', planning_model_config_name='', planning_model_ckpt_path='', config_file='cosmos_policy/config/config.py', packnet_mask_path='', packnet_first_cl_libero_task=6, use_third_person_image=True, num_third_person_images=1, use_wrist_image=True, num_wrist_images=1, use_proprio=True, flip_images=True, use_variance_scale=False, use_jpeg_compression=True, ar_future_prediction=False, ar_value_prediction=False, ar_qvalue_prediction=False, num_denoising_steps_action=5, num_denoising_steps_future_state=1, num_denoising_steps_value=1, unnormalize_actions=True, normalize_proprio=True, dataset_stats_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/libero_goal_regen/dataset_statistics.json', t5_text_embeddings_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/t5_embeddings.pkl', trained_with_image_aug=True, chunk_size=16, num_open_loop_steps=16, deterministic=True, deterministic_reset=False, deterministic_reset_seed=None, use_ensemble_future_state_predictions=False, num_future_state_predictions_in_ensemble=3, future_state_ensemble_aggregation_scheme='average', use_ensemble_value_predictions=False, num_value_predictions_in_ensemble=5, value_ensemble_aggregation_scheme='average', search_depth=1, mask_current_state_action_for_value_prediction=False, mask_future_state_for_qvalue_prediction=False, num_queries_best_of_n=1, use_parallel_inference=False, available_gpus='0', parallel_timeout=15, parallel_tasks_across_gpus=False, task_suite_name='libero_goal', num_trials_per_task=50, task_ids_to_run='2', initial_states_path='DEFAULT', env_img_res=256, local_log_dir='/home/azureuser/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal', run_id_note='realcl800_t2_s01', use_wandb=False, wandb_entity='YOUR_ENTITY', wandb_project='YOUR_PROJECT', seed=195, randomize_seed=False, data_collection=False, jpeg_compress=True, reward_stop_threshold=None, reward_stop_consecutive_steps=3, use_gpt_reward=False, gpt_reward_model='gpt-5.4-mini', gpt_reward_stop_threshold=4, gpt_reward_timeout_s=30.0, save_rollout_video=False, eval_hdf5_path='', eval_hdf5_demo_key='demo_0', data_gen_demo_ids='', eval_episode_ids='1,17,33,49', replay_actions=False, replay_action_path_dir='', replay_hdf5_path='', data_generation=False, max_generation_steps=200, simple_task_max_steps=100, complex_task_max_steps=200)
+Using serial inference (parallel inference disabled)
+Task suite: libero_goal
+Number of tasks: 10
+Running only task IDs: [2]
+Using default initial states
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 1...
+Query 1/1: Action query time = 6.056 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4386
+t=10: Selected seed 195 with value = 0.4386
+Query 1/1: Action query time = 4.686 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4069
+t=26: Selected seed 195 with value = 0.4069
+Query 1/1: Action query time = 4.692 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5654
+t=42: Selected seed 195 with value = 0.5654
+Query 1/1: Action query time = 4.599 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6739
+t=58: Selected seed 195 with value = 0.6739
+Query 1/1: Action query time = 3.599 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8084
+t=74: Selected seed 195 with value = 0.8084
+Query 1/1: Action query time = 4.457 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9577
+t=90: Selected seed 195 with value = 0.9577
+Saved rollout MP4 at path ./rollouts/realcl800_t2_s01/2026_08_02-03_40_30--with_future_img--episode=1--success=True--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: True
+# episodes completed so far: 1
+# successes: 1 (100.0%)
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 2...
+Query 1/1: Action query time = 5.335 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4000
+t=10: Selected seed 195 with value = 0.4000
+Query 1/1: Action query time = 5.107 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4707
+t=26: Selected seed 195 with value = 0.4707
+Query 1/1: Action query time = 4.989 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6159
+t=42: Selected seed 195 with value = 0.6159
+Query 1/1: Action query time = 4.395 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7492
+t=58: Selected seed 195 with value = 0.7492
+Query 1/1: Action query time = 3.418 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9045
+t=74: Selected seed 195 with value = 0.9045
+Query 1/1: Action query time = 4.334 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9949
+t=90: Selected seed 195 with value = 0.9949
+Saved rollout MP4 at path ./rollouts/realcl800_t2_s01/2026_08_02-03_40_30--with_future_img--episode=2--success=True--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: True
+# episodes completed so far: 2
+# successes: 2 (100.0%)
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 3...
+Query 1/1: Action query time = 5.263 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3822
+t=10: Selected seed 195 with value = 0.3822
+Query 1/1: Action query time = 5.383 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4392
+t=26: Selected seed 195 with value = 0.4392
+Query 1/1: Action query time = 4.089 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5479
+t=42: Selected seed 195 with value = 0.5479
+Query 1/1: Action query time = 3.193 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6317
+t=58: Selected seed 195 with value = 0.6317
+Query 1/1: Action query time = 2.487 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7323
+t=74: Selected seed 195 with value = 0.7323
+Query 1/1: Action query time = 2.834 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8781
+t=90: Selected seed 195 with value = 0.8781
+Saved rollout MP4 at path ./rollouts/realcl800_t2_s01/2026_08_02-03_40_30--with_future_img--episode=3--success=True--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: True
+# episodes completed so far: 3
+# successes: 3 (100.0%)
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 4...
+Query 1/1: Action query time = 1.701 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4432
+t=10: Selected seed 195 with value = 0.4432
+Query 1/1: Action query time = 1.505 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4954
+t=26: Selected seed 195 with value = 0.4954
+Query 1/1: Action query time = 0.971 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5822
+t=42: Selected seed 195 with value = 0.5822
+Query 1/1: Action query time = 1.504 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7544
+t=58: Selected seed 195 with value = 0.7544
+Query 1/1: Action query time = 0.973 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8903
+t=74: Selected seed 195 with value = 0.8903
+Query 1/1: Action query time = 1.435 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9936
+t=90: Selected seed 195 with value = 0.9936
+Saved rollout MP4 at path ./rollouts/realcl800_t2_s01/2026_08_02-03_40_30--with_future_img--episode=4--success=True--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: True
+# episodes completed so far: 4
+# successes: 4 (100.0%)
+Current task success rate: 1.0
+Current total success rate: 1.0
+Final results:
+Total episodes: 4
+Total successes: 4
+Overall success rate: 1.0000 (100.0%)
diff --git a/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-03_40_30--realcl800_t2_s02.txt b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-03_40_30--realcl800_t2_s02.txt
new file mode 100644
index 0000000000000000000000000000000000000000..9f8f09554031a51280fbf265105cd2db16d1303d
--- /dev/null
+++ b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-03_40_30--realcl800_t2_s02.txt
@@ -0,0 +1,105 @@
+Eval config: PolicyEvalConfig(suite='libero', model_family='cosmos', config='cosmos_predict2_2b_480p_libero_cl_stage_inference_only', ckpt_path='/home/azureuser/REGEN-main/old/cosmos_policy/cosmos_v2_finetune/cosmos_predict2_2b_480p_libero_goal_task6_real_cl_from40k_2gpu/checkpoints/iter_000000800/model', planning_model_config_name='', planning_model_ckpt_path='', config_file='cosmos_policy/config/config.py', packnet_mask_path='', packnet_first_cl_libero_task=6, use_third_person_image=True, num_third_person_images=1, use_wrist_image=True, num_wrist_images=1, use_proprio=True, flip_images=True, use_variance_scale=False, use_jpeg_compression=True, ar_future_prediction=False, ar_value_prediction=False, ar_qvalue_prediction=False, num_denoising_steps_action=5, num_denoising_steps_future_state=1, num_denoising_steps_value=1, unnormalize_actions=True, normalize_proprio=True, dataset_stats_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/libero_goal_regen/dataset_statistics.json', t5_text_embeddings_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/t5_embeddings.pkl', trained_with_image_aug=True, chunk_size=16, num_open_loop_steps=16, deterministic=True, deterministic_reset=False, deterministic_reset_seed=None, use_ensemble_future_state_predictions=False, num_future_state_predictions_in_ensemble=3, future_state_ensemble_aggregation_scheme='average', use_ensemble_value_predictions=False, num_value_predictions_in_ensemble=5, value_ensemble_aggregation_scheme='average', search_depth=1, mask_current_state_action_for_value_prediction=False, mask_future_state_for_qvalue_prediction=False, num_queries_best_of_n=1, use_parallel_inference=False, available_gpus='0', parallel_timeout=15, parallel_tasks_across_gpus=False, task_suite_name='libero_goal', num_trials_per_task=50, task_ids_to_run='2', initial_states_path='DEFAULT', env_img_res=256, local_log_dir='/home/azureuser/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal', run_id_note='realcl800_t2_s02', use_wandb=False, wandb_entity='YOUR_ENTITY', wandb_project='YOUR_PROJECT', seed=195, randomize_seed=False, data_collection=False, jpeg_compress=True, reward_stop_threshold=None, reward_stop_consecutive_steps=3, use_gpt_reward=False, gpt_reward_model='gpt-5.4-mini', gpt_reward_stop_threshold=4, gpt_reward_timeout_s=30.0, save_rollout_video=False, eval_hdf5_path='', eval_hdf5_demo_key='demo_0', data_gen_demo_ids='', eval_episode_ids='2,18,34', replay_actions=False, replay_action_path_dir='', replay_hdf5_path='', data_generation=False, max_generation_steps=200, simple_task_max_steps=100, complex_task_max_steps=200)
+Using serial inference (parallel inference disabled)
+Task suite: libero_goal
+Number of tasks: 10
+Running only task IDs: [2]
+Using default initial states
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 1...
+Query 1/1: Action query time = 2.149 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4299
+t=10: Selected seed 195 with value = 0.4299
+Query 1/1: Action query time = 2.297 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5059
+t=26: Selected seed 195 with value = 0.5059
+Query 1/1: Action query time = 4.341 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5906
+t=42: Selected seed 195 with value = 0.5906
+Query 1/1: Action query time = 4.682 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7152
+t=58: Selected seed 195 with value = 0.7152
+Query 1/1: Action query time = 5.044 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8263
+t=74: Selected seed 195 with value = 0.8263
+Query 1/1: Action query time = 5.155 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9802
+t=90: Selected seed 195 with value = 0.9802
+Saved rollout MP4 at path ./rollouts/realcl800_t2_s02/2026_08_02-03_40_30--with_future_img--episode=1--success=True--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: True
+# episodes completed so far: 1
+# successes: 1 (100.0%)
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 2...
+Query 1/1: Action query time = 5.606 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4398
+t=10: Selected seed 195 with value = 0.4398
+Query 1/1: Action query time = 1.974 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5046
+t=26: Selected seed 195 with value = 0.5046
+Query 1/1: Action query time = 2.405 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5789
+t=42: Selected seed 195 with value = 0.5789
+Query 1/1: Action query time = 5.182 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6975
+t=58: Selected seed 195 with value = 0.6975
+Query 1/1: Action query time = 4.775 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8097
+t=74: Selected seed 195 with value = 0.8097
+Query 1/1: Action query time = 4.995 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9744
+t=90: Selected seed 195 with value = 0.9744
+Saved rollout MP4 at path ./rollouts/realcl800_t2_s02/2026_08_02-03_40_30--with_future_img--episode=2--success=True--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: True
+# episodes completed so far: 2
+# successes: 2 (100.0%)
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 3...
+Query 1/1: Action query time = 4.916 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3677
+t=10: Selected seed 195 with value = 0.3677
+Query 1/1: Action query time = 2.544 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4809
+t=26: Selected seed 195 with value = 0.4809
+Query 1/1: Action query time = 3.987 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5203
+t=42: Selected seed 195 with value = 0.5203
+Query 1/1: Action query time = 5.049 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6816
+t=58: Selected seed 195 with value = 0.6816
+Query 1/1: Action query time = 4.459 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8639
+t=74: Selected seed 195 with value = 0.8639
+Query 1/1: Action query time = 4.838 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9871
+t=90: Selected seed 195 with value = 0.9871
+Saved rollout MP4 at path ./rollouts/realcl800_t2_s02/2026_08_02-03_40_30--with_future_img--episode=3--success=True--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: True
+# episodes completed so far: 3
+# successes: 3 (100.0%)
+Current task success rate: 1.0
+Current total success rate: 1.0
+Final results:
+Total episodes: 3
+Total successes: 3
+Overall success rate: 1.0000 (100.0%)
diff --git a/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-03_40_30--realcl800_t2_s04.txt b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-03_40_30--realcl800_t2_s04.txt
new file mode 100644
index 0000000000000000000000000000000000000000..1e91723810f74a770699aa5f7523c4da269b00a0
--- /dev/null
+++ b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-03_40_30--realcl800_t2_s04.txt
@@ -0,0 +1,105 @@
+Eval config: PolicyEvalConfig(suite='libero', model_family='cosmos', config='cosmos_predict2_2b_480p_libero_cl_stage_inference_only', ckpt_path='/home/azureuser/REGEN-main/old/cosmos_policy/cosmos_v2_finetune/cosmos_predict2_2b_480p_libero_goal_task6_real_cl_from40k_2gpu/checkpoints/iter_000000800/model', planning_model_config_name='', planning_model_ckpt_path='', config_file='cosmos_policy/config/config.py', packnet_mask_path='', packnet_first_cl_libero_task=6, use_third_person_image=True, num_third_person_images=1, use_wrist_image=True, num_wrist_images=1, use_proprio=True, flip_images=True, use_variance_scale=False, use_jpeg_compression=True, ar_future_prediction=False, ar_value_prediction=False, ar_qvalue_prediction=False, num_denoising_steps_action=5, num_denoising_steps_future_state=1, num_denoising_steps_value=1, unnormalize_actions=True, normalize_proprio=True, dataset_stats_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/libero_goal_regen/dataset_statistics.json', t5_text_embeddings_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/t5_embeddings.pkl', trained_with_image_aug=True, chunk_size=16, num_open_loop_steps=16, deterministic=True, deterministic_reset=False, deterministic_reset_seed=None, use_ensemble_future_state_predictions=False, num_future_state_predictions_in_ensemble=3, future_state_ensemble_aggregation_scheme='average', use_ensemble_value_predictions=False, num_value_predictions_in_ensemble=5, value_ensemble_aggregation_scheme='average', search_depth=1, mask_current_state_action_for_value_prediction=False, mask_future_state_for_qvalue_prediction=False, num_queries_best_of_n=1, use_parallel_inference=False, available_gpus='0', parallel_timeout=15, parallel_tasks_across_gpus=False, task_suite_name='libero_goal', num_trials_per_task=50, task_ids_to_run='2', initial_states_path='DEFAULT', env_img_res=256, local_log_dir='/home/azureuser/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal', run_id_note='realcl800_t2_s04', use_wandb=False, wandb_entity='YOUR_ENTITY', wandb_project='YOUR_PROJECT', seed=195, randomize_seed=False, data_collection=False, jpeg_compress=True, reward_stop_threshold=None, reward_stop_consecutive_steps=3, use_gpt_reward=False, gpt_reward_model='gpt-5.4-mini', gpt_reward_stop_threshold=4, gpt_reward_timeout_s=30.0, save_rollout_video=False, eval_hdf5_path='', eval_hdf5_demo_key='demo_0', data_gen_demo_ids='', eval_episode_ids='4,20,36', replay_actions=False, replay_action_path_dir='', replay_hdf5_path='', data_generation=False, max_generation_steps=200, simple_task_max_steps=100, complex_task_max_steps=200)
+Using serial inference (parallel inference disabled)
+Task suite: libero_goal
+Number of tasks: 10
+Running only task IDs: [2]
+Using default initial states
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 1...
+Query 1/1: Action query time = 4.314 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4656
+t=10: Selected seed 195 with value = 0.4656
+Query 1/1: Action query time = 5.261 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5580
+t=26: Selected seed 195 with value = 0.5580
+Query 1/1: Action query time = 5.305 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6354
+t=42: Selected seed 195 with value = 0.6354
+Query 1/1: Action query time = 5.306 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7399
+t=58: Selected seed 195 with value = 0.7399
+Query 1/1: Action query time = 4.167 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8420
+t=74: Selected seed 195 with value = 0.8420
+Query 1/1: Action query time = 5.307 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9956
+t=90: Selected seed 195 with value = 0.9956
+Saved rollout MP4 at path ./rollouts/realcl800_t2_s04/2026_08_02-03_40_30--with_future_img--episode=1--success=True--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: True
+# episodes completed so far: 1
+# successes: 1 (100.0%)
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 2...
+Query 1/1: Action query time = 4.289 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4683
+t=10: Selected seed 195 with value = 0.4683
+Query 1/1: Action query time = 4.848 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5552
+t=26: Selected seed 195 with value = 0.5552
+Query 1/1: Action query time = 5.193 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6455
+t=42: Selected seed 195 with value = 0.6455
+Query 1/1: Action query time = 4.077 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7691
+t=58: Selected seed 195 with value = 0.7691
+Query 1/1: Action query time = 4.817 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9049
+t=74: Selected seed 195 with value = 0.9049
+Saved rollout MP4 at path ./rollouts/realcl800_t2_s04/2026_08_02-03_40_30--with_future_img--episode=2--success=True--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: True
+# episodes completed so far: 2
+# successes: 2 (100.0%)
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 3...
+Query 1/1: Action query time = 3.018 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3791
+t=10: Selected seed 195 with value = 0.3791
+Query 1/1: Action query time = 5.141 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4566
+t=26: Selected seed 195 with value = 0.4566
+Query 1/1: Action query time = 4.655 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5405
+t=42: Selected seed 195 with value = 0.5405
+Query 1/1: Action query time = 4.378 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6502
+t=58: Selected seed 195 with value = 0.6502
+Query 1/1: Action query time = 3.175 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7586
+t=74: Selected seed 195 with value = 0.7586
+Query 1/1: Action query time = 3.259 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8932
+t=90: Selected seed 195 with value = 0.8932
+Query 1/1: Action query time = 3.252 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9940
+t=106: Selected seed 195 with value = 0.9940
+Saved rollout MP4 at path ./rollouts/realcl800_t2_s04/2026_08_02-03_40_30--with_future_img--episode=3--success=True--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: True
+# episodes completed so far: 3
+# successes: 3 (100.0%)
+Current task success rate: 1.0
+Current total success rate: 1.0
+Final results:
+Total episodes: 3
+Total successes: 3
+Overall success rate: 1.0000 (100.0%)
diff --git a/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-03_40_31--realcl800_t2_s07.txt b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-03_40_31--realcl800_t2_s07.txt
new file mode 100644
index 0000000000000000000000000000000000000000..d0199e6161dc92e61514290d30b7a49a179d1cd1
--- /dev/null
+++ b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-03_40_31--realcl800_t2_s07.txt
@@ -0,0 +1,105 @@
+Eval config: PolicyEvalConfig(suite='libero', model_family='cosmos', config='cosmos_predict2_2b_480p_libero_cl_stage_inference_only', ckpt_path='/home/azureuser/REGEN-main/old/cosmos_policy/cosmos_v2_finetune/cosmos_predict2_2b_480p_libero_goal_task6_real_cl_from40k_2gpu/checkpoints/iter_000000800/model', planning_model_config_name='', planning_model_ckpt_path='', config_file='cosmos_policy/config/config.py', packnet_mask_path='', packnet_first_cl_libero_task=6, use_third_person_image=True, num_third_person_images=1, use_wrist_image=True, num_wrist_images=1, use_proprio=True, flip_images=True, use_variance_scale=False, use_jpeg_compression=True, ar_future_prediction=False, ar_value_prediction=False, ar_qvalue_prediction=False, num_denoising_steps_action=5, num_denoising_steps_future_state=1, num_denoising_steps_value=1, unnormalize_actions=True, normalize_proprio=True, dataset_stats_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/libero_goal_regen/dataset_statistics.json', t5_text_embeddings_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/t5_embeddings.pkl', trained_with_image_aug=True, chunk_size=16, num_open_loop_steps=16, deterministic=True, deterministic_reset=False, deterministic_reset_seed=None, use_ensemble_future_state_predictions=False, num_future_state_predictions_in_ensemble=3, future_state_ensemble_aggregation_scheme='average', use_ensemble_value_predictions=False, num_value_predictions_in_ensemble=5, value_ensemble_aggregation_scheme='average', search_depth=1, mask_current_state_action_for_value_prediction=False, mask_future_state_for_qvalue_prediction=False, num_queries_best_of_n=1, use_parallel_inference=False, available_gpus='0', parallel_timeout=15, parallel_tasks_across_gpus=False, task_suite_name='libero_goal', num_trials_per_task=50, task_ids_to_run='2', initial_states_path='DEFAULT', env_img_res=256, local_log_dir='/home/azureuser/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal', run_id_note='realcl800_t2_s07', use_wandb=False, wandb_entity='YOUR_ENTITY', wandb_project='YOUR_PROJECT', seed=195, randomize_seed=False, data_collection=False, jpeg_compress=True, reward_stop_threshold=None, reward_stop_consecutive_steps=3, use_gpt_reward=False, gpt_reward_model='gpt-5.4-mini', gpt_reward_stop_threshold=4, gpt_reward_timeout_s=30.0, save_rollout_video=False, eval_hdf5_path='', eval_hdf5_demo_key='demo_0', data_gen_demo_ids='', eval_episode_ids='7,23,39', replay_actions=False, replay_action_path_dir='', replay_hdf5_path='', data_generation=False, max_generation_steps=200, simple_task_max_steps=100, complex_task_max_steps=200)
+Using serial inference (parallel inference disabled)
+Task suite: libero_goal
+Number of tasks: 10
+Running only task IDs: [2]
+Using default initial states
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 1...
+Query 1/1: Action query time = 4.746 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3986
+t=10: Selected seed 195 with value = 0.3986
+Query 1/1: Action query time = 4.868 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4836
+t=26: Selected seed 195 with value = 0.4836
+Query 1/1: Action query time = 5.444 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5638
+t=42: Selected seed 195 with value = 0.5638
+Query 1/1: Action query time = 5.225 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5907
+t=58: Selected seed 195 with value = 0.5907
+Query 1/1: Action query time = 3.739 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6571
+t=74: Selected seed 195 with value = 0.6571
+Query 1/1: Action query time = 5.225 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7765
+t=90: Selected seed 195 with value = 0.7765
+Saved rollout MP4 at path ./rollouts/realcl800_t2_s07/2026_08_02-03_40_31--with_future_img--episode=1--success=True--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: True
+# episodes completed so far: 1
+# successes: 1 (100.0%)
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 2...
+Query 1/1: Action query time = 5.444 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3960
+t=10: Selected seed 195 with value = 0.3960
+Query 1/1: Action query time = 5.176 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4698
+t=26: Selected seed 195 with value = 0.4698
+Query 1/1: Action query time = 4.959 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5446
+t=42: Selected seed 195 with value = 0.5446
+Query 1/1: Action query time = 3.912 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6632
+t=58: Selected seed 195 with value = 0.6632
+Query 1/1: Action query time = 4.090 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8294
+t=74: Selected seed 195 with value = 0.8294
+Query 1/1: Action query time = 4.304 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9387
+t=90: Selected seed 195 with value = 0.9387
+Saved rollout MP4 at path ./rollouts/realcl800_t2_s07/2026_08_02-03_40_31--with_future_img--episode=2--success=True--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: True
+# episodes completed so far: 2
+# successes: 2 (100.0%)
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 3...
+Query 1/1: Action query time = 5.047 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3436
+t=10: Selected seed 195 with value = 0.3436
+Query 1/1: Action query time = 5.305 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4129
+t=26: Selected seed 195 with value = 0.4129
+Query 1/1: Action query time = 4.064 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4877
+t=42: Selected seed 195 with value = 0.4877
+Query 1/1: Action query time = 3.814 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6061
+t=58: Selected seed 195 with value = 0.6061
+Query 1/1: Action query time = 2.285 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7041
+t=74: Selected seed 195 with value = 0.7041
+Query 1/1: Action query time = 2.389 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7999
+t=90: Selected seed 195 with value = 0.7999
+Saved rollout MP4 at path ./rollouts/realcl800_t2_s07/2026_08_02-03_40_31--with_future_img--episode=3--success=True--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: True
+# episodes completed so far: 3
+# successes: 3 (100.0%)
+Current task success rate: 1.0
+Current total success rate: 1.0
+Final results:
+Total episodes: 3
+Total successes: 3
+Overall success rate: 1.0000 (100.0%)
diff --git a/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-03_40_31--realcl800_t2_s13.txt b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-03_40_31--realcl800_t2_s13.txt
new file mode 100644
index 0000000000000000000000000000000000000000..571ff0784b52e19a4bf903fa4de8829dd07832f1
--- /dev/null
+++ b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-03_40_31--realcl800_t2_s13.txt
@@ -0,0 +1,101 @@
+Eval config: PolicyEvalConfig(suite='libero', model_family='cosmos', config='cosmos_predict2_2b_480p_libero_cl_stage_inference_only', ckpt_path='/home/azureuser/REGEN-main/old/cosmos_policy/cosmos_v2_finetune/cosmos_predict2_2b_480p_libero_goal_task6_real_cl_from40k_2gpu/checkpoints/iter_000000800/model', planning_model_config_name='', planning_model_ckpt_path='', config_file='cosmos_policy/config/config.py', packnet_mask_path='', packnet_first_cl_libero_task=6, use_third_person_image=True, num_third_person_images=1, use_wrist_image=True, num_wrist_images=1, use_proprio=True, flip_images=True, use_variance_scale=False, use_jpeg_compression=True, ar_future_prediction=False, ar_value_prediction=False, ar_qvalue_prediction=False, num_denoising_steps_action=5, num_denoising_steps_future_state=1, num_denoising_steps_value=1, unnormalize_actions=True, normalize_proprio=True, dataset_stats_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/libero_goal_regen/dataset_statistics.json', t5_text_embeddings_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/t5_embeddings.pkl', trained_with_image_aug=True, chunk_size=16, num_open_loop_steps=16, deterministic=True, deterministic_reset=False, deterministic_reset_seed=None, use_ensemble_future_state_predictions=False, num_future_state_predictions_in_ensemble=3, future_state_ensemble_aggregation_scheme='average', use_ensemble_value_predictions=False, num_value_predictions_in_ensemble=5, value_ensemble_aggregation_scheme='average', search_depth=1, mask_current_state_action_for_value_prediction=False, mask_future_state_for_qvalue_prediction=False, num_queries_best_of_n=1, use_parallel_inference=False, available_gpus='0', parallel_timeout=15, parallel_tasks_across_gpus=False, task_suite_name='libero_goal', num_trials_per_task=50, task_ids_to_run='2', initial_states_path='DEFAULT', env_img_res=256, local_log_dir='/home/azureuser/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal', run_id_note='realcl800_t2_s13', use_wandb=False, wandb_entity='YOUR_ENTITY', wandb_project='YOUR_PROJECT', seed=195, randomize_seed=False, data_collection=False, jpeg_compress=True, reward_stop_threshold=None, reward_stop_consecutive_steps=3, use_gpt_reward=False, gpt_reward_model='gpt-5.4-mini', gpt_reward_stop_threshold=4, gpt_reward_timeout_s=30.0, save_rollout_video=False, eval_hdf5_path='', eval_hdf5_demo_key='demo_0', data_gen_demo_ids='', eval_episode_ids='13,29,45', replay_actions=False, replay_action_path_dir='', replay_hdf5_path='', data_generation=False, max_generation_steps=200, simple_task_max_steps=100, complex_task_max_steps=200)
+Using serial inference (parallel inference disabled)
+Task suite: libero_goal
+Number of tasks: 10
+Running only task IDs: [2]
+Using default initial states
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 1...
+Query 1/1: Action query time = 3.765 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4349
+t=10: Selected seed 195 with value = 0.4349
+Query 1/1: Action query time = 5.155 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4906
+t=26: Selected seed 195 with value = 0.4906
+Query 1/1: Action query time = 5.068 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5568
+t=42: Selected seed 195 with value = 0.5568
+Query 1/1: Action query time = 4.992 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6302
+t=58: Selected seed 195 with value = 0.6302
+Query 1/1: Action query time = 4.785 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7728
+t=74: Selected seed 195 with value = 0.7728
+Query 1/1: Action query time = 4.436 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9189
+t=90: Selected seed 195 with value = 0.9189
+Saved rollout MP4 at path ./rollouts/realcl800_t2_s13/2026_08_02-03_40_31--with_future_img--episode=1--success=True--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: True
+# episodes completed so far: 1
+# successes: 1 (100.0%)
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 2...
+Query 1/1: Action query time = 2.211 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4543
+t=10: Selected seed 195 with value = 0.4543
+Query 1/1: Action query time = 3.907 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5513
+t=26: Selected seed 195 with value = 0.5513
+Query 1/1: Action query time = 5.093 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6236
+t=42: Selected seed 195 with value = 0.6236
+Query 1/1: Action query time = 4.897 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7296
+t=58: Selected seed 195 with value = 0.7296
+Query 1/1: Action query time = 4.923 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8506
+t=74: Selected seed 195 with value = 0.8506
+Query 1/1: Action query time = 5.075 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9942
+t=90: Selected seed 195 with value = 0.9942
+Saved rollout MP4 at path ./rollouts/realcl800_t2_s13/2026_08_02-03_40_31--with_future_img--episode=2--success=True--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: True
+# episodes completed so far: 2
+# successes: 2 (100.0%)
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 3...
+Query 1/1: Action query time = 4.423 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4803
+t=10: Selected seed 195 with value = 0.4803
+Query 1/1: Action query time = 2.789 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5486
+t=26: Selected seed 195 with value = 0.5486
+Query 1/1: Action query time = 5.061 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6273
+t=42: Selected seed 195 with value = 0.6273
+Query 1/1: Action query time = 5.385 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7766
+t=58: Selected seed 195 with value = 0.7766
+Query 1/1: Action query time = 5.244 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9126
+t=74: Selected seed 195 with value = 0.9126
+Saved rollout MP4 at path ./rollouts/realcl800_t2_s13/2026_08_02-03_40_31--with_future_img--episode=3--success=True--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: True
+# episodes completed so far: 3
+# successes: 3 (100.0%)
+Current task success rate: 1.0
+Current total success rate: 1.0
+Final results:
+Total episodes: 3
+Total successes: 3
+Overall success rate: 1.0000 (100.0%)
diff --git a/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-03_40_31--realcl800_t2_s14.txt b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-03_40_31--realcl800_t2_s14.txt
new file mode 100644
index 0000000000000000000000000000000000000000..916b58b6f553344bdee994f6a3b530083652c9ec
--- /dev/null
+++ b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-03_40_31--realcl800_t2_s14.txt
@@ -0,0 +1,101 @@
+Eval config: PolicyEvalConfig(suite='libero', model_family='cosmos', config='cosmos_predict2_2b_480p_libero_cl_stage_inference_only', ckpt_path='/home/azureuser/REGEN-main/old/cosmos_policy/cosmos_v2_finetune/cosmos_predict2_2b_480p_libero_goal_task6_real_cl_from40k_2gpu/checkpoints/iter_000000800/model', planning_model_config_name='', planning_model_ckpt_path='', config_file='cosmos_policy/config/config.py', packnet_mask_path='', packnet_first_cl_libero_task=6, use_third_person_image=True, num_third_person_images=1, use_wrist_image=True, num_wrist_images=1, use_proprio=True, flip_images=True, use_variance_scale=False, use_jpeg_compression=True, ar_future_prediction=False, ar_value_prediction=False, ar_qvalue_prediction=False, num_denoising_steps_action=5, num_denoising_steps_future_state=1, num_denoising_steps_value=1, unnormalize_actions=True, normalize_proprio=True, dataset_stats_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/libero_goal_regen/dataset_statistics.json', t5_text_embeddings_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/t5_embeddings.pkl', trained_with_image_aug=True, chunk_size=16, num_open_loop_steps=16, deterministic=True, deterministic_reset=False, deterministic_reset_seed=None, use_ensemble_future_state_predictions=False, num_future_state_predictions_in_ensemble=3, future_state_ensemble_aggregation_scheme='average', use_ensemble_value_predictions=False, num_value_predictions_in_ensemble=5, value_ensemble_aggregation_scheme='average', search_depth=1, mask_current_state_action_for_value_prediction=False, mask_future_state_for_qvalue_prediction=False, num_queries_best_of_n=1, use_parallel_inference=False, available_gpus='0', parallel_timeout=15, parallel_tasks_across_gpus=False, task_suite_name='libero_goal', num_trials_per_task=50, task_ids_to_run='2', initial_states_path='DEFAULT', env_img_res=256, local_log_dir='/home/azureuser/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal', run_id_note='realcl800_t2_s14', use_wandb=False, wandb_entity='YOUR_ENTITY', wandb_project='YOUR_PROJECT', seed=195, randomize_seed=False, data_collection=False, jpeg_compress=True, reward_stop_threshold=None, reward_stop_consecutive_steps=3, use_gpt_reward=False, gpt_reward_model='gpt-5.4-mini', gpt_reward_stop_threshold=4, gpt_reward_timeout_s=30.0, save_rollout_video=False, eval_hdf5_path='', eval_hdf5_demo_key='demo_0', data_gen_demo_ids='', eval_episode_ids='14,30,46', replay_actions=False, replay_action_path_dir='', replay_hdf5_path='', data_generation=False, max_generation_steps=200, simple_task_max_steps=100, complex_task_max_steps=200)
+Using serial inference (parallel inference disabled)
+Task suite: libero_goal
+Number of tasks: 10
+Running only task IDs: [2]
+Using default initial states
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 1...
+Query 1/1: Action query time = 3.830 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4217
+t=10: Selected seed 195 with value = 0.4217
+Query 1/1: Action query time = 5.518 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5081
+t=26: Selected seed 195 with value = 0.5081
+Query 1/1: Action query time = 4.908 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5831
+t=42: Selected seed 195 with value = 0.5831
+Query 1/1: Action query time = 5.017 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6753
+t=58: Selected seed 195 with value = 0.6753
+Query 1/1: Action query time = 4.840 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8772
+t=74: Selected seed 195 with value = 0.8772
+Query 1/1: Action query time = 4.664 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9939
+t=90: Selected seed 195 with value = 0.9939
+Saved rollout MP4 at path ./rollouts/realcl800_t2_s14/2026_08_02-03_40_31--with_future_img--episode=1--success=True--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: True
+# episodes completed so far: 1
+# successes: 1 (100.0%)
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 2...
+Query 1/1: Action query time = 2.223 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3919
+t=10: Selected seed 195 with value = 0.3919
+Query 1/1: Action query time = 3.664 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4325
+t=26: Selected seed 195 with value = 0.4325
+Query 1/1: Action query time = 5.087 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5558
+t=42: Selected seed 195 with value = 0.5558
+Query 1/1: Action query time = 4.908 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6928
+t=58: Selected seed 195 with value = 0.6928
+Query 1/1: Action query time = 5.005 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8354
+t=74: Selected seed 195 with value = 0.8354
+Query 1/1: Action query time = 4.937 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9569
+t=90: Selected seed 195 with value = 0.9569
+Saved rollout MP4 at path ./rollouts/realcl800_t2_s14/2026_08_02-03_40_31--with_future_img--episode=2--success=True--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: True
+# episodes completed so far: 2
+# successes: 2 (100.0%)
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 3...
+Query 1/1: Action query time = 4.649 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4762
+t=10: Selected seed 195 with value = 0.4762
+Query 1/1: Action query time = 4.125 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5680
+t=26: Selected seed 195 with value = 0.5680
+Query 1/1: Action query time = 4.419 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6412
+t=42: Selected seed 195 with value = 0.6412
+Query 1/1: Action query time = 5.188 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7521
+t=58: Selected seed 195 with value = 0.7521
+Query 1/1: Action query time = 4.702 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8920
+t=74: Selected seed 195 with value = 0.8920
+Saved rollout MP4 at path ./rollouts/realcl800_t2_s14/2026_08_02-03_40_31--with_future_img--episode=3--success=True--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: True
+# episodes completed so far: 3
+# successes: 3 (100.0%)
+Current task success rate: 1.0
+Current total success rate: 1.0
+Final results:
+Total episodes: 3
+Total successes: 3
+Overall success rate: 1.0000 (100.0%)
diff --git a/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-03_43_24--realcl800_t3_s01.txt b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-03_43_24--realcl800_t3_s01.txt
new file mode 100644
index 0000000000000000000000000000000000000000..7a1ab4164df41679fc14db21a3d5a7ec44997a8f
--- /dev/null
+++ b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-03_43_24--realcl800_t3_s01.txt
@@ -0,0 +1,256 @@
+Eval config: PolicyEvalConfig(suite='libero', model_family='cosmos', config='cosmos_predict2_2b_480p_libero_cl_stage_inference_only', ckpt_path='/home/azureuser/REGEN-main/old/cosmos_policy/cosmos_v2_finetune/cosmos_predict2_2b_480p_libero_goal_task6_real_cl_from40k_2gpu/checkpoints/iter_000000800/model', planning_model_config_name='', planning_model_ckpt_path='', config_file='cosmos_policy/config/config.py', packnet_mask_path='', packnet_first_cl_libero_task=6, use_third_person_image=True, num_third_person_images=1, use_wrist_image=True, num_wrist_images=1, use_proprio=True, flip_images=True, use_variance_scale=False, use_jpeg_compression=True, ar_future_prediction=False, ar_value_prediction=False, ar_qvalue_prediction=False, num_denoising_steps_action=5, num_denoising_steps_future_state=1, num_denoising_steps_value=1, unnormalize_actions=True, normalize_proprio=True, dataset_stats_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/libero_goal_regen/dataset_statistics.json', t5_text_embeddings_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/t5_embeddings.pkl', trained_with_image_aug=True, chunk_size=16, num_open_loop_steps=16, deterministic=True, deterministic_reset=False, deterministic_reset_seed=None, use_ensemble_future_state_predictions=False, num_future_state_predictions_in_ensemble=3, future_state_ensemble_aggregation_scheme='average', use_ensemble_value_predictions=False, num_value_predictions_in_ensemble=5, value_ensemble_aggregation_scheme='average', search_depth=1, mask_current_state_action_for_value_prediction=False, mask_future_state_for_qvalue_prediction=False, num_queries_best_of_n=1, use_parallel_inference=False, available_gpus='0', parallel_timeout=15, parallel_tasks_across_gpus=False, task_suite_name='libero_goal', num_trials_per_task=50, task_ids_to_run='3', initial_states_path='DEFAULT', env_img_res=256, local_log_dir='/home/azureuser/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal', run_id_note='realcl800_t3_s01', use_wandb=False, wandb_entity='YOUR_ENTITY', wandb_project='YOUR_PROJECT', seed=195, randomize_seed=False, data_collection=False, jpeg_compress=True, reward_stop_threshold=None, reward_stop_consecutive_steps=3, use_gpt_reward=False, gpt_reward_model='gpt-5.4-mini', gpt_reward_stop_threshold=4, gpt_reward_timeout_s=30.0, save_rollout_video=False, eval_hdf5_path='', eval_hdf5_demo_key='demo_0', data_gen_demo_ids='', eval_episode_ids='1,17,33,49', replay_actions=False, replay_action_path_dir='', replay_hdf5_path='', data_generation=False, max_generation_steps=200, simple_task_max_steps=100, complex_task_max_steps=200)
+Using serial inference (parallel inference disabled)
+Task suite: libero_goal
+Number of tasks: 10
+Running only task IDs: [3]
+Using default initial states
+
+Task: open the top drawer and put the bowl inside
+Starting episode 1...
+Query 1/1: Action query time = 2.732 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.1945
+t=10: Selected seed 195 with value = 0.1945
+Query 1/1: Action query time = 2.578 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2369
+t=26: Selected seed 195 with value = 0.2369
+Query 1/1: Action query time = 5.219 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2441
+t=42: Selected seed 195 with value = 0.2441
+Query 1/1: Action query time = 5.995 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3150
+t=58: Selected seed 195 with value = 0.3150
+Query 1/1: Action query time = 5.190 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3611
+t=74: Selected seed 195 with value = 0.3611
+Query 1/1: Action query time = 4.876 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4245
+t=90: Selected seed 195 with value = 0.4245
+Query 1/1: Action query time = 4.845 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5014
+t=106: Selected seed 195 with value = 0.5014
+Query 1/1: Action query time = 4.634 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5843
+t=122: Selected seed 195 with value = 0.5843
+Query 1/1: Action query time = 4.760 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6768
+t=138: Selected seed 195 with value = 0.6768
+Query 1/1: Action query time = 5.118 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8426
+t=154: Selected seed 195 with value = 0.8426
+Query 1/1: Action query time = 5.313 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9781
+t=170: Selected seed 195 with value = 0.9781
+Saved rollout MP4 at path ./rollouts/realcl800_t3_s01/2026_08_02-03_43_24--with_future_img--episode=1--success=True--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: True
+# episodes completed so far: 1
+# successes: 1 (100.0%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 2...
+Query 1/1: Action query time = 4.364 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.1909
+t=10: Selected seed 195 with value = 0.1909
+Query 1/1: Action query time = 2.820 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.1933
+t=26: Selected seed 195 with value = 0.1933
+Query 1/1: Action query time = 2.822 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2046
+t=42: Selected seed 195 with value = 0.2046
+Query 1/1: Action query time = 3.480 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2252
+t=58: Selected seed 195 with value = 0.2252
+Query 1/1: Action query time = 5.216 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2104
+t=74: Selected seed 195 with value = 0.2104
+Query 1/1: Action query time = 5.707 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3423
+t=90: Selected seed 195 with value = 0.3423
+Query 1/1: Action query time = 5.234 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2540
+t=106: Selected seed 195 with value = 0.2540
+Query 1/1: Action query time = 3.745 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5202
+t=122: Selected seed 195 with value = 0.5202
+Query 1/1: Action query time = 4.968 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4961
+t=138: Selected seed 195 with value = 0.4961
+Query 1/1: Action query time = 5.369 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6607
+t=154: Selected seed 195 with value = 0.6607
+Query 1/1: Action query time = 5.217 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7839
+t=170: Selected seed 195 with value = 0.7839
+Query 1/1: Action query time = 5.020 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9233
+t=186: Selected seed 195 with value = 0.9233
+Saved rollout MP4 at path ./rollouts/realcl800_t3_s01/2026_08_02-03_43_24--with_future_img--episode=2--success=True--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: True
+# episodes completed so far: 2
+# successes: 2 (100.0%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 3...
+Query 1/1: Action query time = 5.002 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.1761
+t=10: Selected seed 195 with value = 0.1761
+Query 1/1: Action query time = 3.668 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2090
+t=26: Selected seed 195 with value = 0.2090
+Query 1/1: Action query time = 2.504 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2233
+t=42: Selected seed 195 with value = 0.2233
+Query 1/1: Action query time = 2.968 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2474
+t=58: Selected seed 195 with value = 0.2474
+Query 1/1: Action query time = 6.096 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2761
+t=74: Selected seed 195 with value = 0.2761
+Query 1/1: Action query time = 5.314 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3949
+t=90: Selected seed 195 with value = 0.3949
+Query 1/1: Action query time = 5.126 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2150
+t=106: Selected seed 195 with value = 0.2150
+Query 1/1: Action query time = 4.594 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2575
+t=122: Selected seed 195 with value = 0.2575
+Query 1/1: Action query time = 4.845 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5983
+t=138: Selected seed 195 with value = 0.5983
+Query 1/1: Action query time = 4.923 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7456
+t=154: Selected seed 195 with value = 0.7456
+Query 1/1: Action query time = 5.263 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8561
+t=170: Selected seed 195 with value = 0.8561
+Query 1/1: Action query time = 4.729 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9887
+t=186: Selected seed 195 with value = 0.9887
+Saved rollout MP4 at path ./rollouts/realcl800_t3_s01/2026_08_02-03_43_24--with_future_img--episode=3--success=True--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: True
+# episodes completed so far: 3
+# successes: 3 (100.0%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 4...
+Query 1/1: Action query time = 3.796 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2039
+t=10: Selected seed 195 with value = 0.2039
+Query 1/1: Action query time = 3.968 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2000
+t=26: Selected seed 195 with value = 0.2000
+Query 1/1: Action query time = 2.398 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.1957
+t=42: Selected seed 195 with value = 0.1957
+Query 1/1: Action query time = 2.337 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2352
+t=58: Selected seed 195 with value = 0.2352
+Query 1/1: Action query time = 1.465 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2942
+t=74: Selected seed 195 with value = 0.2942
+Query 1/1: Action query time = 1.868 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2418
+t=90: Selected seed 195 with value = 0.2418
+Query 1/1: Action query time = 2.190 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.1768
+t=106: Selected seed 195 with value = 0.1768
+Query 1/1: Action query time = 1.645 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.1663
+t=122: Selected seed 195 with value = 0.1663
+Query 1/1: Action query time = 1.152 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.1757
+t=138: Selected seed 195 with value = 0.1757
+Query 1/1: Action query time = 1.469 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4875
+t=154: Selected seed 195 with value = 0.4875
+Query 1/1: Action query time = 1.214 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4976
+t=170: Selected seed 195 with value = 0.4976
+Query 1/1: Action query time = 1.122 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.1582
+t=186: Selected seed 195 with value = 0.1582
+Query 1/1: Action query time = 0.985 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5283
+t=202: Selected seed 195 with value = 0.5283
+Query 1/1: Action query time = 0.970 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4260
+t=218: Selected seed 195 with value = 0.4260
+Query 1/1: Action query time = 0.969 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5256
+t=234: Selected seed 195 with value = 0.5256
+Query 1/1: Action query time = 1.009 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4759
+t=250: Selected seed 195 with value = 0.4759
+Query 1/1: Action query time = 1.197 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5361
+t=266: Selected seed 195 with value = 0.5361
+Query 1/1: Action query time = 1.208 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5198
+t=282: Selected seed 195 with value = 0.5198
+Query 1/1: Action query time = 1.225 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7513
+t=298: Selected seed 195 with value = 0.7513
+Saved rollout MP4 at path ./rollouts/realcl800_t3_s01/2026_08_02-03_43_24--with_future_img--episode=4--success=False--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: False
+# episodes completed so far: 4
+# successes: 3 (75.0%)
+Current task success rate: 0.75
+Current total success rate: 0.75
+Final results:
+Total episodes: 4
+Total successes: 3
+Overall success rate: 0.7500 (75.0%)
diff --git a/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-03_43_25--realcl800_t3_s05.txt b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-03_43_25--realcl800_t3_s05.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0da9eefb66c5d75436079c05e2dece6227276d4f
--- /dev/null
+++ b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-03_43_25--realcl800_t3_s05.txt
@@ -0,0 +1,177 @@
+Eval config: PolicyEvalConfig(suite='libero', model_family='cosmos', config='cosmos_predict2_2b_480p_libero_cl_stage_inference_only', ckpt_path='/home/azureuser/REGEN-main/old/cosmos_policy/cosmos_v2_finetune/cosmos_predict2_2b_480p_libero_goal_task6_real_cl_from40k_2gpu/checkpoints/iter_000000800/model', planning_model_config_name='', planning_model_ckpt_path='', config_file='cosmos_policy/config/config.py', packnet_mask_path='', packnet_first_cl_libero_task=6, use_third_person_image=True, num_third_person_images=1, use_wrist_image=True, num_wrist_images=1, use_proprio=True, flip_images=True, use_variance_scale=False, use_jpeg_compression=True, ar_future_prediction=False, ar_value_prediction=False, ar_qvalue_prediction=False, num_denoising_steps_action=5, num_denoising_steps_future_state=1, num_denoising_steps_value=1, unnormalize_actions=True, normalize_proprio=True, dataset_stats_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/libero_goal_regen/dataset_statistics.json', t5_text_embeddings_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/t5_embeddings.pkl', trained_with_image_aug=True, chunk_size=16, num_open_loop_steps=16, deterministic=True, deterministic_reset=False, deterministic_reset_seed=None, use_ensemble_future_state_predictions=False, num_future_state_predictions_in_ensemble=3, future_state_ensemble_aggregation_scheme='average', use_ensemble_value_predictions=False, num_value_predictions_in_ensemble=5, value_ensemble_aggregation_scheme='average', search_depth=1, mask_current_state_action_for_value_prediction=False, mask_future_state_for_qvalue_prediction=False, num_queries_best_of_n=1, use_parallel_inference=False, available_gpus='0', parallel_timeout=15, parallel_tasks_across_gpus=False, task_suite_name='libero_goal', num_trials_per_task=50, task_ids_to_run='3', initial_states_path='DEFAULT', env_img_res=256, local_log_dir='/home/azureuser/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal', run_id_note='realcl800_t3_s05', use_wandb=False, wandb_entity='YOUR_ENTITY', wandb_project='YOUR_PROJECT', seed=195, randomize_seed=False, data_collection=False, jpeg_compress=True, reward_stop_threshold=None, reward_stop_consecutive_steps=3, use_gpt_reward=False, gpt_reward_model='gpt-5.4-mini', gpt_reward_stop_threshold=4, gpt_reward_timeout_s=30.0, save_rollout_video=False, eval_hdf5_path='', eval_hdf5_demo_key='demo_0', data_gen_demo_ids='', eval_episode_ids='5,21,37', replay_actions=False, replay_action_path_dir='', replay_hdf5_path='', data_generation=False, max_generation_steps=200, simple_task_max_steps=100, complex_task_max_steps=200)
+Using serial inference (parallel inference disabled)
+Task suite: libero_goal
+Number of tasks: 10
+Running only task IDs: [3]
+Using default initial states
+
+Task: open the top drawer and put the bowl inside
+Starting episode 1...
+Query 1/1: Action query time = 5.216 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.1409
+t=10: Selected seed 195 with value = 0.1409
+Query 1/1: Action query time = 4.073 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.1793
+t=26: Selected seed 195 with value = 0.1793
+Query 1/1: Action query time = 5.116 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2364
+t=42: Selected seed 195 with value = 0.2364
+Query 1/1: Action query time = 5.530 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2461
+t=58: Selected seed 195 with value = 0.2461
+Query 1/1: Action query time = 4.795 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3277
+t=74: Selected seed 195 with value = 0.3277
+Query 1/1: Action query time = 4.616 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3864
+t=90: Selected seed 195 with value = 0.3864
+Query 1/1: Action query time = 4.999 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4387
+t=106: Selected seed 195 with value = 0.4387
+Query 1/1: Action query time = 4.629 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5420
+t=122: Selected seed 195 with value = 0.5420
+Query 1/1: Action query time = 5.103 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6188
+t=138: Selected seed 195 with value = 0.6188
+Query 1/1: Action query time = 5.155 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7217
+t=154: Selected seed 195 with value = 0.7217
+Query 1/1: Action query time = 3.920 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8171
+t=170: Selected seed 195 with value = 0.8171
+Query 1/1: Action query time = 4.221 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9470
+t=186: Selected seed 195 with value = 0.9470
+Saved rollout MP4 at path ./rollouts/realcl800_t3_s05/2026_08_02-03_43_25--with_future_img--episode=1--success=True--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: True
+# episodes completed so far: 1
+# successes: 1 (100.0%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 2...
+Query 1/1: Action query time = 3.567 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.1913
+t=10: Selected seed 195 with value = 0.1913
+Query 1/1: Action query time = 5.275 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2062
+t=26: Selected seed 195 with value = 0.2062
+Query 1/1: Action query time = 5.213 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2074
+t=42: Selected seed 195 with value = 0.2074
+Query 1/1: Action query time = 4.841 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2331
+t=58: Selected seed 195 with value = 0.2331
+Query 1/1: Action query time = 4.691 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2335
+t=74: Selected seed 195 with value = 0.2335
+Query 1/1: Action query time = 4.483 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2633
+t=90: Selected seed 195 with value = 0.2633
+Query 1/1: Action query time = 4.559 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2920
+t=106: Selected seed 195 with value = 0.2920
+Query 1/1: Action query time = 4.711 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5361
+t=122: Selected seed 195 with value = 0.5361
+Query 1/1: Action query time = 5.125 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6247
+t=138: Selected seed 195 with value = 0.6247
+Query 1/1: Action query time = 4.162 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7234
+t=154: Selected seed 195 with value = 0.7234
+Query 1/1: Action query time = 4.090 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7989
+t=170: Selected seed 195 with value = 0.7989
+Query 1/1: Action query time = 4.825 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9296
+t=186: Selected seed 195 with value = 0.9296
+Saved rollout MP4 at path ./rollouts/realcl800_t3_s05/2026_08_02-03_43_25--with_future_img--episode=2--success=True--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: True
+# episodes completed so far: 2
+# successes: 2 (100.0%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 3...
+Query 1/1: Action query time = 3.625 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.1565
+t=10: Selected seed 195 with value = 0.1565
+Query 1/1: Action query time = 6.148 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2165
+t=26: Selected seed 195 with value = 0.2165
+Query 1/1: Action query time = 5.380 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2085
+t=42: Selected seed 195 with value = 0.2085
+Query 1/1: Action query time = 5.100 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2369
+t=58: Selected seed 195 with value = 0.2369
+Query 1/1: Action query time = 4.601 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3170
+t=74: Selected seed 195 with value = 0.3170
+Query 1/1: Action query time = 4.847 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3838
+t=90: Selected seed 195 with value = 0.3838
+Query 1/1: Action query time = 5.065 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4417
+t=106: Selected seed 195 with value = 0.4417
+Query 1/1: Action query time = 4.019 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5281
+t=122: Selected seed 195 with value = 0.5281
+Query 1/1: Action query time = 4.885 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6156
+t=138: Selected seed 195 with value = 0.6156
+Query 1/1: Action query time = 3.823 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7116
+t=154: Selected seed 195 with value = 0.7116
+Query 1/1: Action query time = 3.207 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8391
+t=170: Selected seed 195 with value = 0.8391
+Query 1/1: Action query time = 3.697 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9902
+t=186: Selected seed 195 with value = 0.9902
+Saved rollout MP4 at path ./rollouts/realcl800_t3_s05/2026_08_02-03_43_25--with_future_img--episode=3--success=True--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: True
+# episodes completed so far: 3
+# successes: 3 (100.0%)
+Current task success rate: 1.0
+Current total success rate: 1.0
+Final results:
+Total episodes: 3
+Total successes: 3
+Overall success rate: 1.0000 (100.0%)
diff --git a/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-03_43_26--realcl800_t3_s11.txt b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-03_43_26--realcl800_t3_s11.txt
new file mode 100644
index 0000000000000000000000000000000000000000..2d25dad869ed54eae9adacd0a6b7eaa7bdedc375
--- /dev/null
+++ b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-03_43_26--realcl800_t3_s11.txt
@@ -0,0 +1,177 @@
+Eval config: PolicyEvalConfig(suite='libero', model_family='cosmos', config='cosmos_predict2_2b_480p_libero_cl_stage_inference_only', ckpt_path='/home/azureuser/REGEN-main/old/cosmos_policy/cosmos_v2_finetune/cosmos_predict2_2b_480p_libero_goal_task6_real_cl_from40k_2gpu/checkpoints/iter_000000800/model', planning_model_config_name='', planning_model_ckpt_path='', config_file='cosmos_policy/config/config.py', packnet_mask_path='', packnet_first_cl_libero_task=6, use_third_person_image=True, num_third_person_images=1, use_wrist_image=True, num_wrist_images=1, use_proprio=True, flip_images=True, use_variance_scale=False, use_jpeg_compression=True, ar_future_prediction=False, ar_value_prediction=False, ar_qvalue_prediction=False, num_denoising_steps_action=5, num_denoising_steps_future_state=1, num_denoising_steps_value=1, unnormalize_actions=True, normalize_proprio=True, dataset_stats_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/libero_goal_regen/dataset_statistics.json', t5_text_embeddings_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/t5_embeddings.pkl', trained_with_image_aug=True, chunk_size=16, num_open_loop_steps=16, deterministic=True, deterministic_reset=False, deterministic_reset_seed=None, use_ensemble_future_state_predictions=False, num_future_state_predictions_in_ensemble=3, future_state_ensemble_aggregation_scheme='average', use_ensemble_value_predictions=False, num_value_predictions_in_ensemble=5, value_ensemble_aggregation_scheme='average', search_depth=1, mask_current_state_action_for_value_prediction=False, mask_future_state_for_qvalue_prediction=False, num_queries_best_of_n=1, use_parallel_inference=False, available_gpus='0', parallel_timeout=15, parallel_tasks_across_gpus=False, task_suite_name='libero_goal', num_trials_per_task=50, task_ids_to_run='3', initial_states_path='DEFAULT', env_img_res=256, local_log_dir='/home/azureuser/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal', run_id_note='realcl800_t3_s11', use_wandb=False, wandb_entity='YOUR_ENTITY', wandb_project='YOUR_PROJECT', seed=195, randomize_seed=False, data_collection=False, jpeg_compress=True, reward_stop_threshold=None, reward_stop_consecutive_steps=3, use_gpt_reward=False, gpt_reward_model='gpt-5.4-mini', gpt_reward_stop_threshold=4, gpt_reward_timeout_s=30.0, save_rollout_video=False, eval_hdf5_path='', eval_hdf5_demo_key='demo_0', data_gen_demo_ids='', eval_episode_ids='11,27,43', replay_actions=False, replay_action_path_dir='', replay_hdf5_path='', data_generation=False, max_generation_steps=200, simple_task_max_steps=100, complex_task_max_steps=200)
+Using serial inference (parallel inference disabled)
+Task suite: libero_goal
+Number of tasks: 10
+Running only task IDs: [3]
+Using default initial states
+
+Task: open the top drawer and put the bowl inside
+Starting episode 1...
+Query 1/1: Action query time = 6.004 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.1715
+t=10: Selected seed 195 with value = 0.1715
+Query 1/1: Action query time = 5.201 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2172
+t=26: Selected seed 195 with value = 0.2172
+Query 1/1: Action query time = 5.219 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2359
+t=42: Selected seed 195 with value = 0.2359
+Query 1/1: Action query time = 5.191 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2217
+t=58: Selected seed 195 with value = 0.2217
+Query 1/1: Action query time = 5.333 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2575
+t=74: Selected seed 195 with value = 0.2575
+Query 1/1: Action query time = 4.639 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3617
+t=90: Selected seed 195 with value = 0.3617
+Query 1/1: Action query time = 4.764 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4803
+t=106: Selected seed 195 with value = 0.4803
+Query 1/1: Action query time = 5.047 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5833
+t=122: Selected seed 195 with value = 0.5833
+Query 1/1: Action query time = 5.478 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6641
+t=138: Selected seed 195 with value = 0.6641
+Query 1/1: Action query time = 5.271 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7655
+t=154: Selected seed 195 with value = 0.7655
+Query 1/1: Action query time = 3.953 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8932
+t=170: Selected seed 195 with value = 0.8932
+Saved rollout MP4 at path ./rollouts/realcl800_t3_s11/2026_08_02-03_43_26--with_future_img--episode=1--success=True--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: True
+# episodes completed so far: 1
+# successes: 1 (100.0%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 2...
+Query 1/1: Action query time = 5.736 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.1901
+t=10: Selected seed 195 with value = 0.1901
+Query 1/1: Action query time = 5.539 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2201
+t=26: Selected seed 195 with value = 0.2201
+Query 1/1: Action query time = 4.856 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2330
+t=42: Selected seed 195 with value = 0.2330
+Query 1/1: Action query time = 4.535 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2798
+t=58: Selected seed 195 with value = 0.2798
+Query 1/1: Action query time = 4.977 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3376
+t=74: Selected seed 195 with value = 0.3376
+Query 1/1: Action query time = 3.508 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4069
+t=90: Selected seed 195 with value = 0.4069
+Query 1/1: Action query time = 3.585 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4517
+t=106: Selected seed 195 with value = 0.4517
+Query 1/1: Action query time = 4.414 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5718
+t=122: Selected seed 195 with value = 0.5718
+Query 1/1: Action query time = 5.046 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6464
+t=138: Selected seed 195 with value = 0.6464
+Query 1/1: Action query time = 4.910 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7533
+t=154: Selected seed 195 with value = 0.7533
+Query 1/1: Action query time = 4.752 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8980
+t=170: Selected seed 195 with value = 0.8980
+Saved rollout MP4 at path ./rollouts/realcl800_t3_s11/2026_08_02-03_43_26--with_future_img--episode=2--success=True--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: True
+# episodes completed so far: 2
+# successes: 2 (100.0%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 3...
+Query 1/1: Action query time = 4.010 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.1873
+t=10: Selected seed 195 with value = 0.1873
+Query 1/1: Action query time = 5.246 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2321
+t=26: Selected seed 195 with value = 0.2321
+Query 1/1: Action query time = 4.631 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2215
+t=42: Selected seed 195 with value = 0.2215
+Query 1/1: Action query time = 4.459 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2372
+t=58: Selected seed 195 with value = 0.2372
+Query 1/1: Action query time = 4.371 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2459
+t=74: Selected seed 195 with value = 0.2459
+Query 1/1: Action query time = 3.860 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2690
+t=90: Selected seed 195 with value = 0.2690
+Query 1/1: Action query time = 4.541 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4651
+t=106: Selected seed 195 with value = 0.4651
+Query 1/1: Action query time = 4.442 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5658
+t=122: Selected seed 195 with value = 0.5658
+Query 1/1: Action query time = 5.385 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5162
+t=138: Selected seed 195 with value = 0.5162
+Query 1/1: Action query time = 5.355 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5569
+t=154: Selected seed 195 with value = 0.5569
+Query 1/1: Action query time = 5.405 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6575
+t=170: Selected seed 195 with value = 0.6575
+Query 1/1: Action query time = 3.810 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7449
+t=186: Selected seed 195 with value = 0.7449
+Query 1/1: Action query time = 3.926 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8883
+t=202: Selected seed 195 with value = 0.8883
+Query 1/1: Action query time = 3.619 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9918
+t=218: Selected seed 195 with value = 0.9918
+Saved rollout MP4 at path ./rollouts/realcl800_t3_s11/2026_08_02-03_43_26--with_future_img--episode=3--success=True--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: True
+# episodes completed so far: 3
+# successes: 3 (100.0%)
+Current task success rate: 1.0
+Current total success rate: 1.0
+Final results:
+Total episodes: 3
+Total successes: 3
+Overall success rate: 1.0000 (100.0%)
diff --git a/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-03_43_26--realcl800_t3_s14.txt b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-03_43_26--realcl800_t3_s14.txt
new file mode 100644
index 0000000000000000000000000000000000000000..4e426c071dd17ffb09620ae7562b25e3b1f695af
--- /dev/null
+++ b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-03_43_26--realcl800_t3_s14.txt
@@ -0,0 +1,173 @@
+Eval config: PolicyEvalConfig(suite='libero', model_family='cosmos', config='cosmos_predict2_2b_480p_libero_cl_stage_inference_only', ckpt_path='/home/azureuser/REGEN-main/old/cosmos_policy/cosmos_v2_finetune/cosmos_predict2_2b_480p_libero_goal_task6_real_cl_from40k_2gpu/checkpoints/iter_000000800/model', planning_model_config_name='', planning_model_ckpt_path='', config_file='cosmos_policy/config/config.py', packnet_mask_path='', packnet_first_cl_libero_task=6, use_third_person_image=True, num_third_person_images=1, use_wrist_image=True, num_wrist_images=1, use_proprio=True, flip_images=True, use_variance_scale=False, use_jpeg_compression=True, ar_future_prediction=False, ar_value_prediction=False, ar_qvalue_prediction=False, num_denoising_steps_action=5, num_denoising_steps_future_state=1, num_denoising_steps_value=1, unnormalize_actions=True, normalize_proprio=True, dataset_stats_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/libero_goal_regen/dataset_statistics.json', t5_text_embeddings_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/t5_embeddings.pkl', trained_with_image_aug=True, chunk_size=16, num_open_loop_steps=16, deterministic=True, deterministic_reset=False, deterministic_reset_seed=None, use_ensemble_future_state_predictions=False, num_future_state_predictions_in_ensemble=3, future_state_ensemble_aggregation_scheme='average', use_ensemble_value_predictions=False, num_value_predictions_in_ensemble=5, value_ensemble_aggregation_scheme='average', search_depth=1, mask_current_state_action_for_value_prediction=False, mask_future_state_for_qvalue_prediction=False, num_queries_best_of_n=1, use_parallel_inference=False, available_gpus='0', parallel_timeout=15, parallel_tasks_across_gpus=False, task_suite_name='libero_goal', num_trials_per_task=50, task_ids_to_run='3', initial_states_path='DEFAULT', env_img_res=256, local_log_dir='/home/azureuser/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal', run_id_note='realcl800_t3_s14', use_wandb=False, wandb_entity='YOUR_ENTITY', wandb_project='YOUR_PROJECT', seed=195, randomize_seed=False, data_collection=False, jpeg_compress=True, reward_stop_threshold=None, reward_stop_consecutive_steps=3, use_gpt_reward=False, gpt_reward_model='gpt-5.4-mini', gpt_reward_stop_threshold=4, gpt_reward_timeout_s=30.0, save_rollout_video=False, eval_hdf5_path='', eval_hdf5_demo_key='demo_0', data_gen_demo_ids='', eval_episode_ids='14,30,46', replay_actions=False, replay_action_path_dir='', replay_hdf5_path='', data_generation=False, max_generation_steps=200, simple_task_max_steps=100, complex_task_max_steps=200)
+Using serial inference (parallel inference disabled)
+Task suite: libero_goal
+Number of tasks: 10
+Running only task IDs: [3]
+Using default initial states
+
+Task: open the top drawer and put the bowl inside
+Starting episode 1...
+Query 1/1: Action query time = 5.378 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.1868
+t=10: Selected seed 195 with value = 0.1868
+Query 1/1: Action query time = 4.561 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2343
+t=26: Selected seed 195 with value = 0.2343
+Query 1/1: Action query time = 3.814 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2484
+t=42: Selected seed 195 with value = 0.2484
+Query 1/1: Action query time = 5.404 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2508
+t=58: Selected seed 195 with value = 0.2508
+Query 1/1: Action query time = 5.210 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3235
+t=74: Selected seed 195 with value = 0.3235
+Query 1/1: Action query time = 4.702 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3968
+t=90: Selected seed 195 with value = 0.3968
+Query 1/1: Action query time = 5.570 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4814
+t=106: Selected seed 195 with value = 0.4814
+Query 1/1: Action query time = 5.350 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5589
+t=122: Selected seed 195 with value = 0.5589
+Query 1/1: Action query time = 4.895 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6668
+t=138: Selected seed 195 with value = 0.6668
+Query 1/1: Action query time = 4.807 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7704
+t=154: Selected seed 195 with value = 0.7704
+Query 1/1: Action query time = 4.991 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8932
+t=170: Selected seed 195 with value = 0.8932
+Saved rollout MP4 at path ./rollouts/realcl800_t3_s14/2026_08_02-03_43_26--with_future_img--episode=1--success=True--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: True
+# episodes completed so far: 1
+# successes: 1 (100.0%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 2...
+Query 1/1: Action query time = 2.976 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.1787
+t=10: Selected seed 195 with value = 0.1787
+Query 1/1: Action query time = 5.321 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2111
+t=26: Selected seed 195 with value = 0.2111
+Query 1/1: Action query time = 4.442 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2606
+t=42: Selected seed 195 with value = 0.2606
+Query 1/1: Action query time = 5.016 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2260
+t=58: Selected seed 195 with value = 0.2260
+Query 1/1: Action query time = 5.151 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2568
+t=74: Selected seed 195 with value = 0.2568
+Query 1/1: Action query time = 4.734 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2782
+t=90: Selected seed 195 with value = 0.2782
+Query 1/1: Action query time = 3.582 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4307
+t=106: Selected seed 195 with value = 0.4307
+Query 1/1: Action query time = 4.118 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5529
+t=122: Selected seed 195 with value = 0.5529
+Query 1/1: Action query time = 5.040 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6341
+t=138: Selected seed 195 with value = 0.6341
+Query 1/1: Action query time = 5.178 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7533
+t=154: Selected seed 195 with value = 0.7533
+Query 1/1: Action query time = 4.906 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8853
+t=170: Selected seed 195 with value = 0.8853
+Query 1/1: Action query time = 4.735 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9916
+t=186: Selected seed 195 with value = 0.9916
+Saved rollout MP4 at path ./rollouts/realcl800_t3_s14/2026_08_02-03_43_26--with_future_img--episode=2--success=True--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: True
+# episodes completed so far: 2
+# successes: 2 (100.0%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 3...
+Query 1/1: Action query time = 4.057 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.1442
+t=10: Selected seed 195 with value = 0.1442
+Query 1/1: Action query time = 4.382 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2046
+t=26: Selected seed 195 with value = 0.2046
+Query 1/1: Action query time = 4.453 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2230
+t=42: Selected seed 195 with value = 0.2230
+Query 1/1: Action query time = 5.146 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2417
+t=58: Selected seed 195 with value = 0.2417
+Query 1/1: Action query time = 5.703 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3030
+t=74: Selected seed 195 with value = 0.3030
+Query 1/1: Action query time = 4.390 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3411
+t=90: Selected seed 195 with value = 0.3411
+Query 1/1: Action query time = 4.172 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4424
+t=106: Selected seed 195 with value = 0.4424
+Query 1/1: Action query time = 4.283 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5648
+t=122: Selected seed 195 with value = 0.5648
+Query 1/1: Action query time = 5.250 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6605
+t=138: Selected seed 195 with value = 0.6605
+Query 1/1: Action query time = 4.243 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7520
+t=154: Selected seed 195 with value = 0.7520
+Query 1/1: Action query time = 3.851 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8881
+t=170: Selected seed 195 with value = 0.8881
+Query 1/1: Action query time = 5.037 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9930
+t=186: Selected seed 195 with value = 0.9930
+Saved rollout MP4 at path ./rollouts/realcl800_t3_s14/2026_08_02-03_43_26--with_future_img--episode=3--success=True--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: True
+# episodes completed so far: 3
+# successes: 3 (100.0%)
+Current task success rate: 1.0
+Current total success rate: 1.0
+Final results:
+Total episodes: 3
+Total successes: 3
+Overall success rate: 1.0000 (100.0%)
diff --git a/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-03_48_19--realcl800_t4_s01.txt b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-03_48_19--realcl800_t4_s01.txt
new file mode 100644
index 0000000000000000000000000000000000000000..87375cfe3d9732d2ef1c000da4c04d590561c44a
--- /dev/null
+++ b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-03_48_19--realcl800_t4_s01.txt
@@ -0,0 +1,136 @@
+Eval config: PolicyEvalConfig(suite='libero', model_family='cosmos', config='cosmos_predict2_2b_480p_libero_cl_stage_inference_only', ckpt_path='/home/azureuser/REGEN-main/old/cosmos_policy/cosmos_v2_finetune/cosmos_predict2_2b_480p_libero_goal_task6_real_cl_from40k_2gpu/checkpoints/iter_000000800/model', planning_model_config_name='', planning_model_ckpt_path='', config_file='cosmos_policy/config/config.py', packnet_mask_path='', packnet_first_cl_libero_task=6, use_third_person_image=True, num_third_person_images=1, use_wrist_image=True, num_wrist_images=1, use_proprio=True, flip_images=True, use_variance_scale=False, use_jpeg_compression=True, ar_future_prediction=False, ar_value_prediction=False, ar_qvalue_prediction=False, num_denoising_steps_action=5, num_denoising_steps_future_state=1, num_denoising_steps_value=1, unnormalize_actions=True, normalize_proprio=True, dataset_stats_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/libero_goal_regen/dataset_statistics.json', t5_text_embeddings_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/t5_embeddings.pkl', trained_with_image_aug=True, chunk_size=16, num_open_loop_steps=16, deterministic=True, deterministic_reset=False, deterministic_reset_seed=None, use_ensemble_future_state_predictions=False, num_future_state_predictions_in_ensemble=3, future_state_ensemble_aggregation_scheme='average', use_ensemble_value_predictions=False, num_value_predictions_in_ensemble=5, value_ensemble_aggregation_scheme='average', search_depth=1, mask_current_state_action_for_value_prediction=False, mask_future_state_for_qvalue_prediction=False, num_queries_best_of_n=1, use_parallel_inference=False, available_gpus='0', parallel_timeout=15, parallel_tasks_across_gpus=False, task_suite_name='libero_goal', num_trials_per_task=50, task_ids_to_run='4', initial_states_path='DEFAULT', env_img_res=256, local_log_dir='/home/azureuser/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal', run_id_note='realcl800_t4_s01', use_wandb=False, wandb_entity='YOUR_ENTITY', wandb_project='YOUR_PROJECT', seed=195, randomize_seed=False, data_collection=False, jpeg_compress=True, reward_stop_threshold=None, reward_stop_consecutive_steps=3, use_gpt_reward=False, gpt_reward_model='gpt-5.4-mini', gpt_reward_stop_threshold=4, gpt_reward_timeout_s=30.0, save_rollout_video=False, eval_hdf5_path='', eval_hdf5_demo_key='demo_0', data_gen_demo_ids='', eval_episode_ids='1,17,33,49', replay_actions=False, replay_action_path_dir='', replay_hdf5_path='', data_generation=False, max_generation_steps=200, simple_task_max_steps=100, complex_task_max_steps=200)
+Using serial inference (parallel inference disabled)
+Task suite: libero_goal
+Number of tasks: 10
+Running only task IDs: [4]
+Using default initial states
+
+Task: put the bowl on top of the cabinet
+Starting episode 1...
+Query 1/1: Action query time = 1.703 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4670
+t=10: Selected seed 195 with value = 0.4670
+Query 1/1: Action query time = 2.185 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5312
+t=26: Selected seed 195 with value = 0.5312
+Query 1/1: Action query time = 4.608 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5955
+t=42: Selected seed 195 with value = 0.5955
+Query 1/1: Action query time = 5.390 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7183
+t=58: Selected seed 195 with value = 0.7183
+Query 1/1: Action query time = 5.412 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8554
+t=74: Selected seed 195 with value = 0.8554
+Query 1/1: Action query time = 5.516 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9958
+t=90: Selected seed 195 with value = 0.9958
+Saved rollout MP4 at path ./rollouts/realcl800_t4_s01/2026_08_02-03_48_19--with_future_img--episode=1--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Success: True
+# episodes completed so far: 1
+# successes: 1 (100.0%)
+
+Task: put the bowl on top of the cabinet
+Starting episode 2...
+Query 1/1: Action query time = 2.168 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4527
+t=10: Selected seed 195 with value = 0.4527
+Query 1/1: Action query time = 3.167 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5425
+t=26: Selected seed 195 with value = 0.5425
+Query 1/1: Action query time = 3.824 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6190
+t=42: Selected seed 195 with value = 0.6190
+Query 1/1: Action query time = 5.024 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7154
+t=58: Selected seed 195 with value = 0.7154
+Query 1/1: Action query time = 4.763 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8316
+t=74: Selected seed 195 with value = 0.8316
+Query 1/1: Action query time = 4.983 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9893
+t=90: Selected seed 195 with value = 0.9893
+Saved rollout MP4 at path ./rollouts/realcl800_t4_s01/2026_08_02-03_48_19--with_future_img--episode=2--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Success: True
+# episodes completed so far: 2
+# successes: 2 (100.0%)
+
+Task: put the bowl on top of the cabinet
+Starting episode 3...
+Query 1/1: Action query time = 3.346 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4525
+t=10: Selected seed 195 with value = 0.4525
+Query 1/1: Action query time = 3.527 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5195
+t=26: Selected seed 195 with value = 0.5195
+Query 1/1: Action query time = 4.664 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6196
+t=42: Selected seed 195 with value = 0.6196
+Query 1/1: Action query time = 5.072 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7296
+t=58: Selected seed 195 with value = 0.7296
+Query 1/1: Action query time = 4.844 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8943
+t=74: Selected seed 195 with value = 0.8943
+Query 1/1: Action query time = 4.492 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9929
+t=90: Selected seed 195 with value = 0.9929
+Saved rollout MP4 at path ./rollouts/realcl800_t4_s01/2026_08_02-03_48_19--with_future_img--episode=3--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Success: True
+# episodes completed so far: 3
+# successes: 3 (100.0%)
+
+Task: put the bowl on top of the cabinet
+Starting episode 4...
+Query 1/1: Action query time = 3.311 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4241
+t=10: Selected seed 195 with value = 0.4241
+Query 1/1: Action query time = 3.231 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5120
+t=26: Selected seed 195 with value = 0.5120
+Query 1/1: Action query time = 2.342 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5838
+t=42: Selected seed 195 with value = 0.5838
+Query 1/1: Action query time = 1.969 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7137
+t=58: Selected seed 195 with value = 0.7137
+Query 1/1: Action query time = 1.810 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8400
+t=74: Selected seed 195 with value = 0.8400
+Query 1/1: Action query time = 1.932 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9886
+t=90: Selected seed 195 with value = 0.9886
+Saved rollout MP4 at path ./rollouts/realcl800_t4_s01/2026_08_02-03_48_19--with_future_img--episode=4--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Success: True
+# episodes completed so far: 4
+# successes: 4 (100.0%)
+Current task success rate: 1.0
+Current total success rate: 1.0
+Final results:
+Total episodes: 4
+Total successes: 4
+Overall success rate: 1.0000 (100.0%)
diff --git a/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-03_48_20--realcl800_t4_s04.txt b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-03_48_20--realcl800_t4_s04.txt
new file mode 100644
index 0000000000000000000000000000000000000000..91ec680abed9a2b8977bc9860308ccfbbc0b6058
--- /dev/null
+++ b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-03_48_20--realcl800_t4_s04.txt
@@ -0,0 +1,105 @@
+Eval config: PolicyEvalConfig(suite='libero', model_family='cosmos', config='cosmos_predict2_2b_480p_libero_cl_stage_inference_only', ckpt_path='/home/azureuser/REGEN-main/old/cosmos_policy/cosmos_v2_finetune/cosmos_predict2_2b_480p_libero_goal_task6_real_cl_from40k_2gpu/checkpoints/iter_000000800/model', planning_model_config_name='', planning_model_ckpt_path='', config_file='cosmos_policy/config/config.py', packnet_mask_path='', packnet_first_cl_libero_task=6, use_third_person_image=True, num_third_person_images=1, use_wrist_image=True, num_wrist_images=1, use_proprio=True, flip_images=True, use_variance_scale=False, use_jpeg_compression=True, ar_future_prediction=False, ar_value_prediction=False, ar_qvalue_prediction=False, num_denoising_steps_action=5, num_denoising_steps_future_state=1, num_denoising_steps_value=1, unnormalize_actions=True, normalize_proprio=True, dataset_stats_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/libero_goal_regen/dataset_statistics.json', t5_text_embeddings_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/t5_embeddings.pkl', trained_with_image_aug=True, chunk_size=16, num_open_loop_steps=16, deterministic=True, deterministic_reset=False, deterministic_reset_seed=None, use_ensemble_future_state_predictions=False, num_future_state_predictions_in_ensemble=3, future_state_ensemble_aggregation_scheme='average', use_ensemble_value_predictions=False, num_value_predictions_in_ensemble=5, value_ensemble_aggregation_scheme='average', search_depth=1, mask_current_state_action_for_value_prediction=False, mask_future_state_for_qvalue_prediction=False, num_queries_best_of_n=1, use_parallel_inference=False, available_gpus='0', parallel_timeout=15, parallel_tasks_across_gpus=False, task_suite_name='libero_goal', num_trials_per_task=50, task_ids_to_run='4', initial_states_path='DEFAULT', env_img_res=256, local_log_dir='/home/azureuser/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal', run_id_note='realcl800_t4_s04', use_wandb=False, wandb_entity='YOUR_ENTITY', wandb_project='YOUR_PROJECT', seed=195, randomize_seed=False, data_collection=False, jpeg_compress=True, reward_stop_threshold=None, reward_stop_consecutive_steps=3, use_gpt_reward=False, gpt_reward_model='gpt-5.4-mini', gpt_reward_stop_threshold=4, gpt_reward_timeout_s=30.0, save_rollout_video=False, eval_hdf5_path='', eval_hdf5_demo_key='demo_0', data_gen_demo_ids='', eval_episode_ids='4,20,36', replay_actions=False, replay_action_path_dir='', replay_hdf5_path='', data_generation=False, max_generation_steps=200, simple_task_max_steps=100, complex_task_max_steps=200)
+Using serial inference (parallel inference disabled)
+Task suite: libero_goal
+Number of tasks: 10
+Running only task IDs: [4]
+Using default initial states
+
+Task: put the bowl on top of the cabinet
+Starting episode 1...
+Query 1/1: Action query time = 5.430 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4352
+t=10: Selected seed 195 with value = 0.4352
+Query 1/1: Action query time = 4.811 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5124
+t=26: Selected seed 195 with value = 0.5124
+Query 1/1: Action query time = 4.802 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5829
+t=42: Selected seed 195 with value = 0.5829
+Query 1/1: Action query time = 4.918 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7222
+t=58: Selected seed 195 with value = 0.7222
+Query 1/1: Action query time = 3.419 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8573
+t=74: Selected seed 195 with value = 0.8573
+Query 1/1: Action query time = 2.323 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9556
+t=90: Selected seed 195 with value = 0.9556
+Saved rollout MP4 at path ./rollouts/realcl800_t4_s04/2026_08_02-03_48_20--with_future_img--episode=1--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Success: True
+# episodes completed so far: 1
+# successes: 1 (100.0%)
+
+Task: put the bowl on top of the cabinet
+Starting episode 2...
+Query 1/1: Action query time = 5.146 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4368
+t=10: Selected seed 195 with value = 0.4368
+Query 1/1: Action query time = 4.931 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5094
+t=26: Selected seed 195 with value = 0.5094
+Query 1/1: Action query time = 5.207 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6163
+t=42: Selected seed 195 with value = 0.6163
+Query 1/1: Action query time = 4.957 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7269
+t=58: Selected seed 195 with value = 0.7269
+Query 1/1: Action query time = 3.710 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8618
+t=74: Selected seed 195 with value = 0.8618
+Query 1/1: Action query time = 4.028 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9981
+t=90: Selected seed 195 with value = 0.9981
+Saved rollout MP4 at path ./rollouts/realcl800_t4_s04/2026_08_02-03_48_20--with_future_img--episode=2--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Success: True
+# episodes completed so far: 2
+# successes: 2 (100.0%)
+
+Task: put the bowl on top of the cabinet
+Starting episode 3...
+Query 1/1: Action query time = 4.886 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4442
+t=10: Selected seed 195 with value = 0.4442
+Query 1/1: Action query time = 4.959 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5315
+t=26: Selected seed 195 with value = 0.5315
+Query 1/1: Action query time = 4.991 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6070
+t=42: Selected seed 195 with value = 0.6070
+Query 1/1: Action query time = 4.421 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7040
+t=58: Selected seed 195 with value = 0.7040
+Query 1/1: Action query time = 3.730 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8775
+t=74: Selected seed 195 with value = 0.8775
+Query 1/1: Action query time = 2.859 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9935
+t=90: Selected seed 195 with value = 0.9935
+Saved rollout MP4 at path ./rollouts/realcl800_t4_s04/2026_08_02-03_48_20--with_future_img--episode=3--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Success: True
+# episodes completed so far: 3
+# successes: 3 (100.0%)
+Current task success rate: 1.0
+Current total success rate: 1.0
+Final results:
+Total episodes: 3
+Total successes: 3
+Overall success rate: 1.0000 (100.0%)
diff --git a/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-03_48_20--realcl800_t4_s15.txt b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-03_48_20--realcl800_t4_s15.txt
new file mode 100644
index 0000000000000000000000000000000000000000..713bf805e99c365de6d867862b9ac1d45d8c9e00
--- /dev/null
+++ b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-03_48_20--realcl800_t4_s15.txt
@@ -0,0 +1,105 @@
+Eval config: PolicyEvalConfig(suite='libero', model_family='cosmos', config='cosmos_predict2_2b_480p_libero_cl_stage_inference_only', ckpt_path='/home/azureuser/REGEN-main/old/cosmos_policy/cosmos_v2_finetune/cosmos_predict2_2b_480p_libero_goal_task6_real_cl_from40k_2gpu/checkpoints/iter_000000800/model', planning_model_config_name='', planning_model_ckpt_path='', config_file='cosmos_policy/config/config.py', packnet_mask_path='', packnet_first_cl_libero_task=6, use_third_person_image=True, num_third_person_images=1, use_wrist_image=True, num_wrist_images=1, use_proprio=True, flip_images=True, use_variance_scale=False, use_jpeg_compression=True, ar_future_prediction=False, ar_value_prediction=False, ar_qvalue_prediction=False, num_denoising_steps_action=5, num_denoising_steps_future_state=1, num_denoising_steps_value=1, unnormalize_actions=True, normalize_proprio=True, dataset_stats_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/libero_goal_regen/dataset_statistics.json', t5_text_embeddings_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/t5_embeddings.pkl', trained_with_image_aug=True, chunk_size=16, num_open_loop_steps=16, deterministic=True, deterministic_reset=False, deterministic_reset_seed=None, use_ensemble_future_state_predictions=False, num_future_state_predictions_in_ensemble=3, future_state_ensemble_aggregation_scheme='average', use_ensemble_value_predictions=False, num_value_predictions_in_ensemble=5, value_ensemble_aggregation_scheme='average', search_depth=1, mask_current_state_action_for_value_prediction=False, mask_future_state_for_qvalue_prediction=False, num_queries_best_of_n=1, use_parallel_inference=False, available_gpus='0', parallel_timeout=15, parallel_tasks_across_gpus=False, task_suite_name='libero_goal', num_trials_per_task=50, task_ids_to_run='4', initial_states_path='DEFAULT', env_img_res=256, local_log_dir='/home/azureuser/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal', run_id_note='realcl800_t4_s15', use_wandb=False, wandb_entity='YOUR_ENTITY', wandb_project='YOUR_PROJECT', seed=195, randomize_seed=False, data_collection=False, jpeg_compress=True, reward_stop_threshold=None, reward_stop_consecutive_steps=3, use_gpt_reward=False, gpt_reward_model='gpt-5.4-mini', gpt_reward_stop_threshold=4, gpt_reward_timeout_s=30.0, save_rollout_video=False, eval_hdf5_path='', eval_hdf5_demo_key='demo_0', data_gen_demo_ids='', eval_episode_ids='15,31,47', replay_actions=False, replay_action_path_dir='', replay_hdf5_path='', data_generation=False, max_generation_steps=200, simple_task_max_steps=100, complex_task_max_steps=200)
+Using serial inference (parallel inference disabled)
+Task suite: libero_goal
+Number of tasks: 10
+Running only task IDs: [4]
+Using default initial states
+
+Task: put the bowl on top of the cabinet
+Starting episode 1...
+Query 1/1: Action query time = 5.989 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4710
+t=10: Selected seed 195 with value = 0.4710
+Query 1/1: Action query time = 4.996 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5435
+t=26: Selected seed 195 with value = 0.5435
+Query 1/1: Action query time = 4.912 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5703
+t=42: Selected seed 195 with value = 0.5703
+Query 1/1: Action query time = 5.006 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7201
+t=58: Selected seed 195 with value = 0.7201
+Query 1/1: Action query time = 3.321 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8394
+t=74: Selected seed 195 with value = 0.8394
+Query 1/1: Action query time = 4.919 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9755
+t=90: Selected seed 195 with value = 0.9755
+Saved rollout MP4 at path ./rollouts/realcl800_t4_s15/2026_08_02-03_48_20--with_future_img--episode=1--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Success: True
+# episodes completed so far: 1
+# successes: 1 (100.0%)
+
+Task: put the bowl on top of the cabinet
+Starting episode 2...
+Query 1/1: Action query time = 5.402 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4311
+t=10: Selected seed 195 with value = 0.4311
+Query 1/1: Action query time = 5.243 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5025
+t=26: Selected seed 195 with value = 0.5025
+Query 1/1: Action query time = 5.095 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5981
+t=42: Selected seed 195 with value = 0.5981
+Query 1/1: Action query time = 4.530 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7407
+t=58: Selected seed 195 with value = 0.7407
+Query 1/1: Action query time = 2.719 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8724
+t=74: Selected seed 195 with value = 0.8724
+Query 1/1: Action query time = 3.397 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9846
+t=90: Selected seed 195 with value = 0.9846
+Saved rollout MP4 at path ./rollouts/realcl800_t4_s15/2026_08_02-03_48_20--with_future_img--episode=2--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Success: True
+# episodes completed so far: 2
+# successes: 2 (100.0%)
+
+Task: put the bowl on top of the cabinet
+Starting episode 3...
+Query 1/1: Action query time = 5.410 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4250
+t=10: Selected seed 195 with value = 0.4250
+Query 1/1: Action query time = 5.434 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5179
+t=26: Selected seed 195 with value = 0.5179
+Query 1/1: Action query time = 5.168 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5937
+t=42: Selected seed 195 with value = 0.5937
+Query 1/1: Action query time = 4.517 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6915
+t=58: Selected seed 195 with value = 0.6915
+Query 1/1: Action query time = 2.842 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8326
+t=74: Selected seed 195 with value = 0.8326
+Query 1/1: Action query time = 1.818 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9910
+t=90: Selected seed 195 with value = 0.9910
+Saved rollout MP4 at path ./rollouts/realcl800_t4_s15/2026_08_02-03_48_20--with_future_img--episode=3--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Success: True
+# episodes completed so far: 3
+# successes: 3 (100.0%)
+Current task success rate: 1.0
+Current total success rate: 1.0
+Final results:
+Total episodes: 3
+Total successes: 3
+Overall success rate: 1.0000 (100.0%)
diff --git a/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-03_48_21--realcl800_t4_s13.txt b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-03_48_21--realcl800_t4_s13.txt
new file mode 100644
index 0000000000000000000000000000000000000000..64b8ef7bd0ca2c697b957e69c9303b93fd566eec
--- /dev/null
+++ b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-03_48_21--realcl800_t4_s13.txt
@@ -0,0 +1,101 @@
+Eval config: PolicyEvalConfig(suite='libero', model_family='cosmos', config='cosmos_predict2_2b_480p_libero_cl_stage_inference_only', ckpt_path='/home/azureuser/REGEN-main/old/cosmos_policy/cosmos_v2_finetune/cosmos_predict2_2b_480p_libero_goal_task6_real_cl_from40k_2gpu/checkpoints/iter_000000800/model', planning_model_config_name='', planning_model_ckpt_path='', config_file='cosmos_policy/config/config.py', packnet_mask_path='', packnet_first_cl_libero_task=6, use_third_person_image=True, num_third_person_images=1, use_wrist_image=True, num_wrist_images=1, use_proprio=True, flip_images=True, use_variance_scale=False, use_jpeg_compression=True, ar_future_prediction=False, ar_value_prediction=False, ar_qvalue_prediction=False, num_denoising_steps_action=5, num_denoising_steps_future_state=1, num_denoising_steps_value=1, unnormalize_actions=True, normalize_proprio=True, dataset_stats_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/libero_goal_regen/dataset_statistics.json', t5_text_embeddings_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/t5_embeddings.pkl', trained_with_image_aug=True, chunk_size=16, num_open_loop_steps=16, deterministic=True, deterministic_reset=False, deterministic_reset_seed=None, use_ensemble_future_state_predictions=False, num_future_state_predictions_in_ensemble=3, future_state_ensemble_aggregation_scheme='average', use_ensemble_value_predictions=False, num_value_predictions_in_ensemble=5, value_ensemble_aggregation_scheme='average', search_depth=1, mask_current_state_action_for_value_prediction=False, mask_future_state_for_qvalue_prediction=False, num_queries_best_of_n=1, use_parallel_inference=False, available_gpus='0', parallel_timeout=15, parallel_tasks_across_gpus=False, task_suite_name='libero_goal', num_trials_per_task=50, task_ids_to_run='4', initial_states_path='DEFAULT', env_img_res=256, local_log_dir='/home/azureuser/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal', run_id_note='realcl800_t4_s13', use_wandb=False, wandb_entity='YOUR_ENTITY', wandb_project='YOUR_PROJECT', seed=195, randomize_seed=False, data_collection=False, jpeg_compress=True, reward_stop_threshold=None, reward_stop_consecutive_steps=3, use_gpt_reward=False, gpt_reward_model='gpt-5.4-mini', gpt_reward_stop_threshold=4, gpt_reward_timeout_s=30.0, save_rollout_video=False, eval_hdf5_path='', eval_hdf5_demo_key='demo_0', data_gen_demo_ids='', eval_episode_ids='13,29,45', replay_actions=False, replay_action_path_dir='', replay_hdf5_path='', data_generation=False, max_generation_steps=200, simple_task_max_steps=100, complex_task_max_steps=200)
+Using serial inference (parallel inference disabled)
+Task suite: libero_goal
+Number of tasks: 10
+Running only task IDs: [4]
+Using default initial states
+
+Task: put the bowl on top of the cabinet
+Starting episode 1...
+Query 1/1: Action query time = 6.589 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4398
+t=10: Selected seed 195 with value = 0.4398
+Query 1/1: Action query time = 5.113 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5230
+t=26: Selected seed 195 with value = 0.5230
+Query 1/1: Action query time = 4.905 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6001
+t=42: Selected seed 195 with value = 0.6001
+Query 1/1: Action query time = 5.013 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7394
+t=58: Selected seed 195 with value = 0.7394
+Query 1/1: Action query time = 3.693 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8573
+t=74: Selected seed 195 with value = 0.8573
+Query 1/1: Action query time = 4.898 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9773
+t=90: Selected seed 195 with value = 0.9773
+Saved rollout MP4 at path ./rollouts/realcl800_t4_s13/2026_08_02-03_48_21--with_future_img--episode=1--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Success: True
+# episodes completed so far: 1
+# successes: 1 (100.0%)
+
+Task: put the bowl on top of the cabinet
+Starting episode 2...
+Query 1/1: Action query time = 5.021 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4465
+t=10: Selected seed 195 with value = 0.4465
+Query 1/1: Action query time = 4.997 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5438
+t=26: Selected seed 195 with value = 0.5438
+Query 1/1: Action query time = 5.020 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6016
+t=42: Selected seed 195 with value = 0.6016
+Query 1/1: Action query time = 4.236 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6777
+t=58: Selected seed 195 with value = 0.6777
+Query 1/1: Action query time = 2.627 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7929
+t=74: Selected seed 195 with value = 0.7929
+Saved rollout MP4 at path ./rollouts/realcl800_t4_s13/2026_08_02-03_48_21--with_future_img--episode=2--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Success: True
+# episodes completed so far: 2
+# successes: 2 (100.0%)
+
+Task: put the bowl on top of the cabinet
+Starting episode 3...
+Query 1/1: Action query time = 4.574 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4402
+t=10: Selected seed 195 with value = 0.4402
+Query 1/1: Action query time = 4.861 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5182
+t=26: Selected seed 195 with value = 0.5182
+Query 1/1: Action query time = 4.847 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6030
+t=42: Selected seed 195 with value = 0.6030
+Query 1/1: Action query time = 5.735 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7238
+t=58: Selected seed 195 with value = 0.7238
+Query 1/1: Action query time = 4.804 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8358
+t=74: Selected seed 195 with value = 0.8358
+Query 1/1: Action query time = 1.946 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9925
+t=90: Selected seed 195 with value = 0.9925
+Saved rollout MP4 at path ./rollouts/realcl800_t4_s13/2026_08_02-03_48_21--with_future_img--episode=3--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Success: True
+# episodes completed so far: 3
+# successes: 3 (100.0%)
+Current task success rate: 1.0
+Current total success rate: 1.0
+Final results:
+Total episodes: 3
+Total successes: 3
+Overall success rate: 1.0000 (100.0%)
diff --git a/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-03_51_07--realcl800_t5_s01.txt b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-03_51_07--realcl800_t5_s01.txt
new file mode 100644
index 0000000000000000000000000000000000000000..5b0b84f11b86a5b0cd04e679e421f3699554d59a
--- /dev/null
+++ b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-03_51_07--realcl800_t5_s01.txt
@@ -0,0 +1,220 @@
+Eval config: PolicyEvalConfig(suite='libero', model_family='cosmos', config='cosmos_predict2_2b_480p_libero_cl_stage_inference_only', ckpt_path='/home/azureuser/REGEN-main/old/cosmos_policy/cosmos_v2_finetune/cosmos_predict2_2b_480p_libero_goal_task6_real_cl_from40k_2gpu/checkpoints/iter_000000800/model', planning_model_config_name='', planning_model_ckpt_path='', config_file='cosmos_policy/config/config.py', packnet_mask_path='', packnet_first_cl_libero_task=6, use_third_person_image=True, num_third_person_images=1, use_wrist_image=True, num_wrist_images=1, use_proprio=True, flip_images=True, use_variance_scale=False, use_jpeg_compression=True, ar_future_prediction=False, ar_value_prediction=False, ar_qvalue_prediction=False, num_denoising_steps_action=5, num_denoising_steps_future_state=1, num_denoising_steps_value=1, unnormalize_actions=True, normalize_proprio=True, dataset_stats_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/libero_goal_regen/dataset_statistics.json', t5_text_embeddings_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/t5_embeddings.pkl', trained_with_image_aug=True, chunk_size=16, num_open_loop_steps=16, deterministic=True, deterministic_reset=False, deterministic_reset_seed=None, use_ensemble_future_state_predictions=False, num_future_state_predictions_in_ensemble=3, future_state_ensemble_aggregation_scheme='average', use_ensemble_value_predictions=False, num_value_predictions_in_ensemble=5, value_ensemble_aggregation_scheme='average', search_depth=1, mask_current_state_action_for_value_prediction=False, mask_future_state_for_qvalue_prediction=False, num_queries_best_of_n=1, use_parallel_inference=False, available_gpus='0', parallel_timeout=15, parallel_tasks_across_gpus=False, task_suite_name='libero_goal', num_trials_per_task=50, task_ids_to_run='5', initial_states_path='DEFAULT', env_img_res=256, local_log_dir='/home/azureuser/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal', run_id_note='realcl800_t5_s01', use_wandb=False, wandb_entity='YOUR_ENTITY', wandb_project='YOUR_PROJECT', seed=195, randomize_seed=False, data_collection=False, jpeg_compress=True, reward_stop_threshold=None, reward_stop_consecutive_steps=3, use_gpt_reward=False, gpt_reward_model='gpt-5.4-mini', gpt_reward_stop_threshold=4, gpt_reward_timeout_s=30.0, save_rollout_video=False, eval_hdf5_path='', eval_hdf5_demo_key='demo_0', data_gen_demo_ids='', eval_episode_ids='1,17,33,49', replay_actions=False, replay_action_path_dir='', replay_hdf5_path='', data_generation=False, max_generation_steps=200, simple_task_max_steps=100, complex_task_max_steps=200)
+Using serial inference (parallel inference disabled)
+Task suite: libero_goal
+Number of tasks: 10
+Running only task IDs: [5]
+Using default initial states
+
+Task: push the plate to the front of the stove
+Starting episode 1...
+Query 1/1: Action query time = 5.958 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2199
+t=10: Selected seed 195 with value = 0.2199
+Query 1/1: Action query time = 4.353 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2211
+t=26: Selected seed 195 with value = 0.2211
+Query 1/1: Action query time = 4.468 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4552
+t=42: Selected seed 195 with value = 0.4552
+Query 1/1: Action query time = 5.505 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3333
+t=58: Selected seed 195 with value = 0.3333
+Query 1/1: Action query time = 5.028 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2632
+t=74: Selected seed 195 with value = 0.2632
+Query 1/1: Action query time = 4.481 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2936
+t=90: Selected seed 195 with value = 0.2936
+Query 1/1: Action query time = 4.198 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3448
+t=106: Selected seed 195 with value = 0.3448
+Query 1/1: Action query time = 3.536 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6717
+t=122: Selected seed 195 with value = 0.6717
+Query 1/1: Action query time = 3.872 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7396
+t=138: Selected seed 195 with value = 0.7396
+Query 1/1: Action query time = 3.703 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7954
+t=154: Selected seed 195 with value = 0.7954
+Query 1/1: Action query time = 4.928 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9948
+t=170: Selected seed 195 with value = 0.9948
+Query 1/1: Action query time = 5.804 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9943
+t=186: Selected seed 195 with value = 0.9943
+Query 1/1: Action query time = 4.024 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9881
+t=202: Selected seed 195 with value = 0.9881
+Query 1/1: Action query time = 4.686 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9796
+t=218: Selected seed 195 with value = 0.9796
+Query 1/1: Action query time = 4.682 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9194
+t=234: Selected seed 195 with value = 0.9194
+Query 1/1: Action query time = 3.726 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7886
+t=250: Selected seed 195 with value = 0.7886
+Query 1/1: Action query time = 4.184 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7617
+t=266: Selected seed 195 with value = 0.7617
+Query 1/1: Action query time = 3.918 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8969
+t=282: Selected seed 195 with value = 0.8969
+Query 1/1: Action query time = 4.136 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8901
+t=298: Selected seed 195 with value = 0.8901
+Saved rollout MP4 at path ./rollouts/realcl800_t5_s01/2026_08_02-03_51_07--with_future_img--episode=1--success=False--task=push_the_plate_to_the_front_of_the_.mp4
+Success: False
+# episodes completed so far: 1
+# successes: 0 (0.0%)
+
+Task: push the plate to the front of the stove
+Starting episode 2...
+Query 1/1: Action query time = 5.120 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2385
+t=10: Selected seed 195 with value = 0.2385
+Query 1/1: Action query time = 4.962 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2040
+t=26: Selected seed 195 with value = 0.2040
+Query 1/1: Action query time = 5.459 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4547
+t=42: Selected seed 195 with value = 0.4547
+Query 1/1: Action query time = 4.305 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5450
+t=58: Selected seed 195 with value = 0.5450
+Query 1/1: Action query time = 4.410 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6372
+t=74: Selected seed 195 with value = 0.6372
+Query 1/1: Action query time = 3.070 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7333
+t=90: Selected seed 195 with value = 0.7333
+Query 1/1: Action query time = 2.020 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8717
+t=106: Selected seed 195 with value = 0.8717
+Query 1/1: Action query time = 1.931 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9843
+t=122: Selected seed 195 with value = 0.9843
+Saved rollout MP4 at path ./rollouts/realcl800_t5_s01/2026_08_02-03_51_07--with_future_img--episode=2--success=True--task=push_the_plate_to_the_front_of_the_.mp4
+Success: True
+# episodes completed so far: 2
+# successes: 1 (50.0%)
+
+Task: push the plate to the front of the stove
+Starting episode 3...
+Query 1/1: Action query time = 2.366 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2034
+t=10: Selected seed 195 with value = 0.2034
+Query 1/1: Action query time = 2.334 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2212
+t=26: Selected seed 195 with value = 0.2212
+Query 1/1: Action query time = 1.883 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2125
+t=42: Selected seed 195 with value = 0.2125
+Query 1/1: Action query time = 0.992 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3272
+t=58: Selected seed 195 with value = 0.3272
+Query 1/1: Action query time = 0.991 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2968
+t=74: Selected seed 195 with value = 0.2968
+Query 1/1: Action query time = 1.898 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3423
+t=90: Selected seed 195 with value = 0.3423
+Query 1/1: Action query time = 1.822 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4052
+t=106: Selected seed 195 with value = 0.4052
+Query 1/1: Action query time = 1.692 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6357
+t=122: Selected seed 195 with value = 0.6357
+Query 1/1: Action query time = 1.573 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8819
+t=138: Selected seed 195 with value = 0.8819
+Saved rollout MP4 at path ./rollouts/realcl800_t5_s01/2026_08_02-03_51_07--with_future_img--episode=3--success=True--task=push_the_plate_to_the_front_of_the_.mp4
+Success: True
+# episodes completed so far: 3
+# successes: 2 (66.7%)
+
+Task: push the plate to the front of the stove
+Starting episode 4...
+Query 1/1: Action query time = 1.454 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.1674
+t=10: Selected seed 195 with value = 0.1674
+Query 1/1: Action query time = 1.519 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3215
+t=26: Selected seed 195 with value = 0.3215
+Query 1/1: Action query time = 1.617 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3694
+t=42: Selected seed 195 with value = 0.3694
+Query 1/1: Action query time = 0.952 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2629
+t=58: Selected seed 195 with value = 0.2629
+Query 1/1: Action query time = 0.964 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2895
+t=74: Selected seed 195 with value = 0.2895
+Query 1/1: Action query time = 0.953 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3253
+t=90: Selected seed 195 with value = 0.3253
+Query 1/1: Action query time = 0.963 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4046
+t=106: Selected seed 195 with value = 0.4046
+Query 1/1: Action query time = 0.958 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5607
+t=122: Selected seed 195 with value = 0.5607
+Query 1/1: Action query time = 0.957 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9581
+t=138: Selected seed 195 with value = 0.9581
+Saved rollout MP4 at path ./rollouts/realcl800_t5_s01/2026_08_02-03_51_07--with_future_img--episode=4--success=True--task=push_the_plate_to_the_front_of_the_.mp4
+Success: True
+# episodes completed so far: 4
+# successes: 3 (75.0%)
+Current task success rate: 0.75
+Current total success rate: 0.75
+Final results:
+Total episodes: 4
+Total successes: 3
+Overall success rate: 0.7500 (75.0%)
diff --git a/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-03_51_07--realcl800_t5_s03.txt b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-03_51_07--realcl800_t5_s03.txt
new file mode 100644
index 0000000000000000000000000000000000000000..90865a22e7c7973b34dc1918254629bf76fe7b74
--- /dev/null
+++ b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-03_51_07--realcl800_t5_s03.txt
@@ -0,0 +1,129 @@
+Eval config: PolicyEvalConfig(suite='libero', model_family='cosmos', config='cosmos_predict2_2b_480p_libero_cl_stage_inference_only', ckpt_path='/home/azureuser/REGEN-main/old/cosmos_policy/cosmos_v2_finetune/cosmos_predict2_2b_480p_libero_goal_task6_real_cl_from40k_2gpu/checkpoints/iter_000000800/model', planning_model_config_name='', planning_model_ckpt_path='', config_file='cosmos_policy/config/config.py', packnet_mask_path='', packnet_first_cl_libero_task=6, use_third_person_image=True, num_third_person_images=1, use_wrist_image=True, num_wrist_images=1, use_proprio=True, flip_images=True, use_variance_scale=False, use_jpeg_compression=True, ar_future_prediction=False, ar_value_prediction=False, ar_qvalue_prediction=False, num_denoising_steps_action=5, num_denoising_steps_future_state=1, num_denoising_steps_value=1, unnormalize_actions=True, normalize_proprio=True, dataset_stats_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/libero_goal_regen/dataset_statistics.json', t5_text_embeddings_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/t5_embeddings.pkl', trained_with_image_aug=True, chunk_size=16, num_open_loop_steps=16, deterministic=True, deterministic_reset=False, deterministic_reset_seed=None, use_ensemble_future_state_predictions=False, num_future_state_predictions_in_ensemble=3, future_state_ensemble_aggregation_scheme='average', use_ensemble_value_predictions=False, num_value_predictions_in_ensemble=5, value_ensemble_aggregation_scheme='average', search_depth=1, mask_current_state_action_for_value_prediction=False, mask_future_state_for_qvalue_prediction=False, num_queries_best_of_n=1, use_parallel_inference=False, available_gpus='0', parallel_timeout=15, parallel_tasks_across_gpus=False, task_suite_name='libero_goal', num_trials_per_task=50, task_ids_to_run='5', initial_states_path='DEFAULT', env_img_res=256, local_log_dir='/home/azureuser/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal', run_id_note='realcl800_t5_s03', use_wandb=False, wandb_entity='YOUR_ENTITY', wandb_project='YOUR_PROJECT', seed=195, randomize_seed=False, data_collection=False, jpeg_compress=True, reward_stop_threshold=None, reward_stop_consecutive_steps=3, use_gpt_reward=False, gpt_reward_model='gpt-5.4-mini', gpt_reward_stop_threshold=4, gpt_reward_timeout_s=30.0, save_rollout_video=False, eval_hdf5_path='', eval_hdf5_demo_key='demo_0', data_gen_demo_ids='', eval_episode_ids='3,19,35', replay_actions=False, replay_action_path_dir='', replay_hdf5_path='', data_generation=False, max_generation_steps=200, simple_task_max_steps=100, complex_task_max_steps=200)
+Using serial inference (parallel inference disabled)
+Task suite: libero_goal
+Number of tasks: 10
+Running only task IDs: [5]
+Using default initial states
+
+Task: push the plate to the front of the stove
+Starting episode 1...
+Query 1/1: Action query time = 4.396 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2197
+t=10: Selected seed 195 with value = 0.2197
+Query 1/1: Action query time = 5.401 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2215
+t=26: Selected seed 195 with value = 0.2215
+Query 1/1: Action query time = 4.705 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2874
+t=42: Selected seed 195 with value = 0.2874
+Query 1/1: Action query time = 4.333 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4825
+t=58: Selected seed 195 with value = 0.4825
+Query 1/1: Action query time = 5.282 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5980
+t=74: Selected seed 195 with value = 0.5980
+Query 1/1: Action query time = 4.848 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7139
+t=90: Selected seed 195 with value = 0.7139
+Query 1/1: Action query time = 4.260 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7840
+t=106: Selected seed 195 with value = 0.7840
+Query 1/1: Action query time = 4.128 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9046
+t=122: Selected seed 195 with value = 0.9046
+Saved rollout MP4 at path ./rollouts/realcl800_t5_s03/2026_08_02-03_51_07--with_future_img--episode=1--success=True--task=push_the_plate_to_the_front_of_the_.mp4
+Success: True
+# episodes completed so far: 1
+# successes: 1 (100.0%)
+
+Task: push the plate to the front of the stove
+Starting episode 2...
+Query 1/1: Action query time = 4.259 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2849
+t=10: Selected seed 195 with value = 0.2849
+Query 1/1: Action query time = 4.667 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3405
+t=26: Selected seed 195 with value = 0.3405
+Query 1/1: Action query time = 3.524 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4050
+t=42: Selected seed 195 with value = 0.4050
+Query 1/1: Action query time = 4.956 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3988
+t=58: Selected seed 195 with value = 0.3988
+Query 1/1: Action query time = 4.374 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2586
+t=74: Selected seed 195 with value = 0.2586
+Query 1/1: Action query time = 5.288 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5930
+t=90: Selected seed 195 with value = 0.5930
+Query 1/1: Action query time = 5.297 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7625
+t=106: Selected seed 195 with value = 0.7625
+Query 1/1: Action query time = 4.382 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8777
+t=122: Selected seed 195 with value = 0.8777
+Saved rollout MP4 at path ./rollouts/realcl800_t5_s03/2026_08_02-03_51_07--with_future_img--episode=2--success=True--task=push_the_plate_to_the_front_of_the_.mp4
+Success: True
+# episodes completed so far: 2
+# successes: 2 (100.0%)
+
+Task: push the plate to the front of the stove
+Starting episode 3...
+Query 1/1: Action query time = 4.680 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3176
+t=10: Selected seed 195 with value = 0.3176
+Query 1/1: Action query time = 4.543 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3709
+t=26: Selected seed 195 with value = 0.3709
+Query 1/1: Action query time = 4.570 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2615
+t=42: Selected seed 195 with value = 0.2615
+Query 1/1: Action query time = 4.616 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3241
+t=58: Selected seed 195 with value = 0.3241
+Query 1/1: Action query time = 5.014 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5925
+t=74: Selected seed 195 with value = 0.5925
+Query 1/1: Action query time = 4.344 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6774
+t=90: Selected seed 195 with value = 0.6774
+Query 1/1: Action query time = 4.351 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5530
+t=106: Selected seed 195 with value = 0.5530
+Query 1/1: Action query time = 3.404 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9834
+t=122: Selected seed 195 with value = 0.9834
+Saved rollout MP4 at path ./rollouts/realcl800_t5_s03/2026_08_02-03_51_07--with_future_img--episode=3--success=True--task=push_the_plate_to_the_front_of_the_.mp4
+Success: True
+# episodes completed so far: 3
+# successes: 3 (100.0%)
+Current task success rate: 1.0
+Current total success rate: 1.0
+Final results:
+Total episodes: 3
+Total successes: 3
+Overall success rate: 1.0000 (100.0%)
diff --git a/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-03_51_07--realcl800_t5_s06.txt b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-03_51_07--realcl800_t5_s06.txt
new file mode 100644
index 0000000000000000000000000000000000000000..595c43ff30e707773519c21bc1cd19d44c7a2e56
--- /dev/null
+++ b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-03_51_07--realcl800_t5_s06.txt
@@ -0,0 +1,133 @@
+Eval config: PolicyEvalConfig(suite='libero', model_family='cosmos', config='cosmos_predict2_2b_480p_libero_cl_stage_inference_only', ckpt_path='/home/azureuser/REGEN-main/old/cosmos_policy/cosmos_v2_finetune/cosmos_predict2_2b_480p_libero_goal_task6_real_cl_from40k_2gpu/checkpoints/iter_000000800/model', planning_model_config_name='', planning_model_ckpt_path='', config_file='cosmos_policy/config/config.py', packnet_mask_path='', packnet_first_cl_libero_task=6, use_third_person_image=True, num_third_person_images=1, use_wrist_image=True, num_wrist_images=1, use_proprio=True, flip_images=True, use_variance_scale=False, use_jpeg_compression=True, ar_future_prediction=False, ar_value_prediction=False, ar_qvalue_prediction=False, num_denoising_steps_action=5, num_denoising_steps_future_state=1, num_denoising_steps_value=1, unnormalize_actions=True, normalize_proprio=True, dataset_stats_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/libero_goal_regen/dataset_statistics.json', t5_text_embeddings_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/t5_embeddings.pkl', trained_with_image_aug=True, chunk_size=16, num_open_loop_steps=16, deterministic=True, deterministic_reset=False, deterministic_reset_seed=None, use_ensemble_future_state_predictions=False, num_future_state_predictions_in_ensemble=3, future_state_ensemble_aggregation_scheme='average', use_ensemble_value_predictions=False, num_value_predictions_in_ensemble=5, value_ensemble_aggregation_scheme='average', search_depth=1, mask_current_state_action_for_value_prediction=False, mask_future_state_for_qvalue_prediction=False, num_queries_best_of_n=1, use_parallel_inference=False, available_gpus='0', parallel_timeout=15, parallel_tasks_across_gpus=False, task_suite_name='libero_goal', num_trials_per_task=50, task_ids_to_run='5', initial_states_path='DEFAULT', env_img_res=256, local_log_dir='/home/azureuser/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal', run_id_note='realcl800_t5_s06', use_wandb=False, wandb_entity='YOUR_ENTITY', wandb_project='YOUR_PROJECT', seed=195, randomize_seed=False, data_collection=False, jpeg_compress=True, reward_stop_threshold=None, reward_stop_consecutive_steps=3, use_gpt_reward=False, gpt_reward_model='gpt-5.4-mini', gpt_reward_stop_threshold=4, gpt_reward_timeout_s=30.0, save_rollout_video=False, eval_hdf5_path='', eval_hdf5_demo_key='demo_0', data_gen_demo_ids='', eval_episode_ids='6,22,38', replay_actions=False, replay_action_path_dir='', replay_hdf5_path='', data_generation=False, max_generation_steps=200, simple_task_max_steps=100, complex_task_max_steps=200)
+Using serial inference (parallel inference disabled)
+Task suite: libero_goal
+Number of tasks: 10
+Running only task IDs: [5]
+Using default initial states
+
+Task: push the plate to the front of the stove
+Starting episode 1...
+Query 1/1: Action query time = 2.383 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2757
+t=10: Selected seed 195 with value = 0.2757
+Query 1/1: Action query time = 3.416 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3244
+t=26: Selected seed 195 with value = 0.3244
+Query 1/1: Action query time = 5.450 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3695
+t=42: Selected seed 195 with value = 0.3695
+Query 1/1: Action query time = 5.565 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5033
+t=58: Selected seed 195 with value = 0.5033
+Query 1/1: Action query time = 4.099 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4862
+t=74: Selected seed 195 with value = 0.4862
+Query 1/1: Action query time = 4.738 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5605
+t=90: Selected seed 195 with value = 0.5605
+Query 1/1: Action query time = 5.140 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6597
+t=106: Selected seed 195 with value = 0.6597
+Query 1/1: Action query time = 4.956 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7910
+t=122: Selected seed 195 with value = 0.7910
+Query 1/1: Action query time = 3.902 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8787
+t=138: Selected seed 195 with value = 0.8787
+Saved rollout MP4 at path ./rollouts/realcl800_t5_s06/2026_08_02-03_51_07--with_future_img--episode=1--success=True--task=push_the_plate_to_the_front_of_the_.mp4
+Success: True
+# episodes completed so far: 1
+# successes: 1 (100.0%)
+
+Task: push the plate to the front of the stove
+Starting episode 2...
+Query 1/1: Action query time = 4.244 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2456
+t=10: Selected seed 195 with value = 0.2456
+Query 1/1: Action query time = 5.220 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2396
+t=26: Selected seed 195 with value = 0.2396
+Query 1/1: Action query time = 4.467 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2766
+t=42: Selected seed 195 with value = 0.2766
+Query 1/1: Action query time = 3.200 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5189
+t=58: Selected seed 195 with value = 0.5189
+Query 1/1: Action query time = 4.162 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5850
+t=74: Selected seed 195 with value = 0.5850
+Query 1/1: Action query time = 5.094 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6490
+t=90: Selected seed 195 with value = 0.6490
+Query 1/1: Action query time = 5.044 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7729
+t=106: Selected seed 195 with value = 0.7729
+Query 1/1: Action query time = 4.451 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8784
+t=122: Selected seed 195 with value = 0.8784
+Saved rollout MP4 at path ./rollouts/realcl800_t5_s06/2026_08_02-03_51_07--with_future_img--episode=2--success=True--task=push_the_plate_to_the_front_of_the_.mp4
+Success: True
+# episodes completed so far: 2
+# successes: 2 (100.0%)
+
+Task: push the plate to the front of the stove
+Starting episode 3...
+Query 1/1: Action query time = 4.580 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2391
+t=10: Selected seed 195 with value = 0.2391
+Query 1/1: Action query time = 4.339 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2509
+t=26: Selected seed 195 with value = 0.2509
+Query 1/1: Action query time = 4.672 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3073
+t=42: Selected seed 195 with value = 0.3073
+Query 1/1: Action query time = 5.270 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4627
+t=58: Selected seed 195 with value = 0.4627
+Query 1/1: Action query time = 5.075 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5446
+t=74: Selected seed 195 with value = 0.5446
+Query 1/1: Action query time = 5.400 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6465
+t=90: Selected seed 195 with value = 0.6465
+Query 1/1: Action query time = 4.072 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7786
+t=106: Selected seed 195 with value = 0.7786
+Query 1/1: Action query time = 3.725 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8880
+t=122: Selected seed 195 with value = 0.8880
+Saved rollout MP4 at path ./rollouts/realcl800_t5_s06/2026_08_02-03_51_07--with_future_img--episode=3--success=True--task=push_the_plate_to_the_front_of_the_.mp4
+Success: True
+# episodes completed so far: 3
+# successes: 3 (100.0%)
+Current task success rate: 1.0
+Current total success rate: 1.0
+Final results:
+Total episodes: 3
+Total successes: 3
+Overall success rate: 1.0000 (100.0%)
diff --git a/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-03_51_08--realcl800_t5_s10.txt b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-03_51_08--realcl800_t5_s10.txt
new file mode 100644
index 0000000000000000000000000000000000000000..ac51764a774652bacd86d284838356dad88a33a1
--- /dev/null
+++ b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-03_51_08--realcl800_t5_s10.txt
@@ -0,0 +1,141 @@
+Eval config: PolicyEvalConfig(suite='libero', model_family='cosmos', config='cosmos_predict2_2b_480p_libero_cl_stage_inference_only', ckpt_path='/home/azureuser/REGEN-main/old/cosmos_policy/cosmos_v2_finetune/cosmos_predict2_2b_480p_libero_goal_task6_real_cl_from40k_2gpu/checkpoints/iter_000000800/model', planning_model_config_name='', planning_model_ckpt_path='', config_file='cosmos_policy/config/config.py', packnet_mask_path='', packnet_first_cl_libero_task=6, use_third_person_image=True, num_third_person_images=1, use_wrist_image=True, num_wrist_images=1, use_proprio=True, flip_images=True, use_variance_scale=False, use_jpeg_compression=True, ar_future_prediction=False, ar_value_prediction=False, ar_qvalue_prediction=False, num_denoising_steps_action=5, num_denoising_steps_future_state=1, num_denoising_steps_value=1, unnormalize_actions=True, normalize_proprio=True, dataset_stats_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/libero_goal_regen/dataset_statistics.json', t5_text_embeddings_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/t5_embeddings.pkl', trained_with_image_aug=True, chunk_size=16, num_open_loop_steps=16, deterministic=True, deterministic_reset=False, deterministic_reset_seed=None, use_ensemble_future_state_predictions=False, num_future_state_predictions_in_ensemble=3, future_state_ensemble_aggregation_scheme='average', use_ensemble_value_predictions=False, num_value_predictions_in_ensemble=5, value_ensemble_aggregation_scheme='average', search_depth=1, mask_current_state_action_for_value_prediction=False, mask_future_state_for_qvalue_prediction=False, num_queries_best_of_n=1, use_parallel_inference=False, available_gpus='0', parallel_timeout=15, parallel_tasks_across_gpus=False, task_suite_name='libero_goal', num_trials_per_task=50, task_ids_to_run='5', initial_states_path='DEFAULT', env_img_res=256, local_log_dir='/home/azureuser/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal', run_id_note='realcl800_t5_s10', use_wandb=False, wandb_entity='YOUR_ENTITY', wandb_project='YOUR_PROJECT', seed=195, randomize_seed=False, data_collection=False, jpeg_compress=True, reward_stop_threshold=None, reward_stop_consecutive_steps=3, use_gpt_reward=False, gpt_reward_model='gpt-5.4-mini', gpt_reward_stop_threshold=4, gpt_reward_timeout_s=30.0, save_rollout_video=False, eval_hdf5_path='', eval_hdf5_demo_key='demo_0', data_gen_demo_ids='', eval_episode_ids='10,26,42', replay_actions=False, replay_action_path_dir='', replay_hdf5_path='', data_generation=False, max_generation_steps=200, simple_task_max_steps=100, complex_task_max_steps=200)
+Using serial inference (parallel inference disabled)
+Task suite: libero_goal
+Number of tasks: 10
+Running only task IDs: [5]
+Using default initial states
+
+Task: push the plate to the front of the stove
+Starting episode 1...
+Query 1/1: Action query time = 5.343 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3159
+t=10: Selected seed 195 with value = 0.3159
+Query 1/1: Action query time = 5.120 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3404
+t=26: Selected seed 195 with value = 0.3404
+Query 1/1: Action query time = 5.624 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3944
+t=42: Selected seed 195 with value = 0.3944
+Query 1/1: Action query time = 6.091 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2463
+t=58: Selected seed 195 with value = 0.2463
+Query 1/1: Action query time = 5.182 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2700
+t=74: Selected seed 195 with value = 0.2700
+Query 1/1: Action query time = 4.843 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6735
+t=90: Selected seed 195 with value = 0.6735
+Query 1/1: Action query time = 4.363 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8060
+t=106: Selected seed 195 with value = 0.8060
+Query 1/1: Action query time = 4.861 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9465
+t=122: Selected seed 195 with value = 0.9465
+Saved rollout MP4 at path ./rollouts/realcl800_t5_s10/2026_08_02-03_51_08--with_future_img--episode=1--success=True--task=push_the_plate_to_the_front_of_the_.mp4
+Success: True
+# episodes completed so far: 1
+# successes: 1 (100.0%)
+
+Task: push the plate to the front of the stove
+Starting episode 2...
+Query 1/1: Action query time = 3.437 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2764
+t=10: Selected seed 195 with value = 0.2764
+Query 1/1: Action query time = 3.417 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3008
+t=26: Selected seed 195 with value = 0.3008
+Query 1/1: Action query time = 5.563 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2836
+t=42: Selected seed 195 with value = 0.2836
+Query 1/1: Action query time = 4.677 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3522
+t=58: Selected seed 195 with value = 0.3522
+Query 1/1: Action query time = 5.087 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4260
+t=74: Selected seed 195 with value = 0.4260
+Query 1/1: Action query time = 4.876 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6013
+t=90: Selected seed 195 with value = 0.6013
+Query 1/1: Action query time = 4.323 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7117
+t=106: Selected seed 195 with value = 0.7117
+Query 1/1: Action query time = 5.084 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8322
+t=122: Selected seed 195 with value = 0.8322
+Query 1/1: Action query time = 4.701 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9872
+t=138: Selected seed 195 with value = 0.9872
+Saved rollout MP4 at path ./rollouts/realcl800_t5_s10/2026_08_02-03_51_08--with_future_img--episode=2--success=True--task=push_the_plate_to_the_front_of_the_.mp4
+Success: True
+# episodes completed so far: 2
+# successes: 2 (100.0%)
+
+Task: push the plate to the front of the stove
+Starting episode 3...
+Query 1/1: Action query time = 2.009 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2409
+t=10: Selected seed 195 with value = 0.2409
+Query 1/1: Action query time = 3.407 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2529
+t=26: Selected seed 195 with value = 0.2529
+Query 1/1: Action query time = 3.989 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.1969
+t=42: Selected seed 195 with value = 0.1969
+Query 1/1: Action query time = 4.907 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2474
+t=58: Selected seed 195 with value = 0.2474
+Query 1/1: Action query time = 5.007 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2607
+t=74: Selected seed 195 with value = 0.2607
+Query 1/1: Action query time = 4.808 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3147
+t=90: Selected seed 195 with value = 0.3147
+Query 1/1: Action query time = 5.011 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3597
+t=106: Selected seed 195 with value = 0.3597
+Query 1/1: Action query time = 4.444 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6953
+t=122: Selected seed 195 with value = 0.6953
+Query 1/1: Action query time = 2.422 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7861
+t=138: Selected seed 195 with value = 0.7861
+Query 1/1: Action query time = 2.583 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9108
+t=154: Selected seed 195 with value = 0.9108
+Saved rollout MP4 at path ./rollouts/realcl800_t5_s10/2026_08_02-03_51_08--with_future_img--episode=3--success=True--task=push_the_plate_to_the_front_of_the_.mp4
+Success: True
+# episodes completed so far: 3
+# successes: 3 (100.0%)
+Current task success rate: 1.0
+Current total success rate: 1.0
+Final results:
+Total episodes: 3
+Total successes: 3
+Overall success rate: 1.0000 (100.0%)
diff --git a/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-03_54_49--realcl800_t6_s06.txt b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-03_54_49--realcl800_t6_s06.txt
new file mode 100644
index 0000000000000000000000000000000000000000..4c6270aaf31f71b204fc2efa6b0db4e641fa35f7
--- /dev/null
+++ b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-03_54_49--realcl800_t6_s06.txt
@@ -0,0 +1,157 @@
+Eval config: PolicyEvalConfig(suite='libero', model_family='cosmos', config='cosmos_predict2_2b_480p_libero_cl_stage_inference_only', ckpt_path='/home/azureuser/REGEN-main/old/cosmos_policy/cosmos_v2_finetune/cosmos_predict2_2b_480p_libero_goal_task6_real_cl_from40k_2gpu/checkpoints/iter_000000800/model', planning_model_config_name='', planning_model_ckpt_path='', config_file='cosmos_policy/config/config.py', packnet_mask_path='', packnet_first_cl_libero_task=6, use_third_person_image=True, num_third_person_images=1, use_wrist_image=True, num_wrist_images=1, use_proprio=True, flip_images=True, use_variance_scale=False, use_jpeg_compression=True, ar_future_prediction=False, ar_value_prediction=False, ar_qvalue_prediction=False, num_denoising_steps_action=5, num_denoising_steps_future_state=1, num_denoising_steps_value=1, unnormalize_actions=True, normalize_proprio=True, dataset_stats_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/libero_goal_regen/dataset_statistics.json', t5_text_embeddings_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/t5_embeddings.pkl', trained_with_image_aug=True, chunk_size=16, num_open_loop_steps=16, deterministic=True, deterministic_reset=False, deterministic_reset_seed=None, use_ensemble_future_state_predictions=False, num_future_state_predictions_in_ensemble=3, future_state_ensemble_aggregation_scheme='average', use_ensemble_value_predictions=False, num_value_predictions_in_ensemble=5, value_ensemble_aggregation_scheme='average', search_depth=1, mask_current_state_action_for_value_prediction=False, mask_future_state_for_qvalue_prediction=False, num_queries_best_of_n=1, use_parallel_inference=False, available_gpus='0', parallel_timeout=15, parallel_tasks_across_gpus=False, task_suite_name='libero_goal', num_trials_per_task=50, task_ids_to_run='6', initial_states_path='DEFAULT', env_img_res=256, local_log_dir='/home/azureuser/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal', run_id_note='realcl800_t6_s06', use_wandb=False, wandb_entity='YOUR_ENTITY', wandb_project='YOUR_PROJECT', seed=195, randomize_seed=False, data_collection=False, jpeg_compress=True, reward_stop_threshold=None, reward_stop_consecutive_steps=3, use_gpt_reward=False, gpt_reward_model='gpt-5.4-mini', gpt_reward_stop_threshold=4, gpt_reward_timeout_s=30.0, save_rollout_video=False, eval_hdf5_path='', eval_hdf5_demo_key='demo_0', data_gen_demo_ids='', eval_episode_ids='6,22,38', replay_actions=False, replay_action_path_dir='', replay_hdf5_path='', data_generation=False, max_generation_steps=200, simple_task_max_steps=100, complex_task_max_steps=200)
+Using serial inference (parallel inference disabled)
+Task suite: libero_goal
+Number of tasks: 10
+Running only task IDs: [6]
+Using default initial states
+
+Task: put the cream cheese in the bowl
+Starting episode 1...
+Query 1/1: Action query time = 1.996 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4822
+t=10: Selected seed 195 with value = 0.4822
+Query 1/1: Action query time = 3.113 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5363
+t=26: Selected seed 195 with value = 0.5363
+Query 1/1: Action query time = 5.208 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6667
+t=42: Selected seed 195 with value = 0.6667
+Query 1/1: Action query time = 5.341 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7659
+t=58: Selected seed 195 with value = 0.7659
+Query 1/1: Action query time = 5.249 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9021
+t=74: Selected seed 195 with value = 0.9021
+Query 1/1: Action query time = 4.616 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9991
+t=90: Selected seed 195 with value = 0.9991
+Query 1/1: Action query time = 3.660 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9910
+t=106: Selected seed 195 with value = 0.9910
+Query 1/1: Action query time = 4.238 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9864
+t=122: Selected seed 195 with value = 0.9864
+Query 1/1: Action query time = 4.760 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8962
+t=138: Selected seed 195 with value = 0.8962
+Query 1/1: Action query time = 5.568 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7026
+t=154: Selected seed 195 with value = 0.7026
+Query 1/1: Action query time = 4.537 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7451
+t=170: Selected seed 195 with value = 0.7451
+Query 1/1: Action query time = 4.862 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8044
+t=186: Selected seed 195 with value = 0.8044
+Query 1/1: Action query time = 5.217 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9182
+t=202: Selected seed 195 with value = 0.9182
+Query 1/1: Action query time = 3.858 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9930
+t=218: Selected seed 195 with value = 0.9930
+Query 1/1: Action query time = 4.718 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9987
+t=234: Selected seed 195 with value = 0.9987
+Query 1/1: Action query time = 5.494 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9830
+t=250: Selected seed 195 with value = 0.9830
+Query 1/1: Action query time = 5.127 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9472
+t=266: Selected seed 195 with value = 0.9472
+Query 1/1: Action query time = 5.074 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9303
+t=282: Selected seed 195 with value = 0.9303
+Query 1/1: Action query time = 5.130 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9818
+t=298: Selected seed 195 with value = 0.9818
+Saved rollout MP4 at path ./rollouts/realcl800_t6_s06/2026_08_02-03_54_49--with_future_img--episode=1--success=False--task=put_the_cream_cheese_in_the_bowl.mp4
+Success: False
+# episodes completed so far: 1
+# successes: 0 (0.0%)
+
+Task: put the cream cheese in the bowl
+Starting episode 2...
+Query 1/1: Action query time = 2.908 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4472
+t=10: Selected seed 195 with value = 0.4472
+Query 1/1: Action query time = 4.566 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4594
+t=26: Selected seed 195 with value = 0.4594
+Query 1/1: Action query time = 4.796 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5809
+t=42: Selected seed 195 with value = 0.5809
+Query 1/1: Action query time = 5.048 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6589
+t=58: Selected seed 195 with value = 0.6589
+Query 1/1: Action query time = 4.422 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7771
+t=74: Selected seed 195 with value = 0.7771
+Query 1/1: Action query time = 4.209 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9445
+t=90: Selected seed 195 with value = 0.9445
+Saved rollout MP4 at path ./rollouts/realcl800_t6_s06/2026_08_02-03_54_49--with_future_img--episode=2--success=True--task=put_the_cream_cheese_in_the_bowl.mp4
+Success: True
+# episodes completed so far: 2
+# successes: 1 (50.0%)
+
+Task: put the cream cheese in the bowl
+Starting episode 3...
+Query 1/1: Action query time = 2.316 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4271
+t=10: Selected seed 195 with value = 0.4271
+Query 1/1: Action query time = 3.154 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5291
+t=26: Selected seed 195 with value = 0.5291
+Query 1/1: Action query time = 4.409 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6266
+t=42: Selected seed 195 with value = 0.6266
+Query 1/1: Action query time = 3.806 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6940
+t=58: Selected seed 195 with value = 0.6940
+Query 1/1: Action query time = 4.373 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8266
+t=74: Selected seed 195 with value = 0.8266
+Query 1/1: Action query time = 4.152 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9972
+t=90: Selected seed 195 with value = 0.9972
+Saved rollout MP4 at path ./rollouts/realcl800_t6_s06/2026_08_02-03_54_49--with_future_img--episode=3--success=True--task=put_the_cream_cheese_in_the_bowl.mp4
+Success: True
+# episodes completed so far: 3
+# successes: 2 (66.7%)
+Current task success rate: 0.6666666666666666
+Current total success rate: 0.6666666666666666
+Final results:
+Total episodes: 3
+Total successes: 2
+Overall success rate: 0.6667 (66.7%)
diff --git a/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-03_54_50--realcl800_t6_s07.txt b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-03_54_50--realcl800_t6_s07.txt
new file mode 100644
index 0000000000000000000000000000000000000000..f04113bc35ad5babe019b23edca06eb07e332a4a
--- /dev/null
+++ b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-03_54_50--realcl800_t6_s07.txt
@@ -0,0 +1,153 @@
+Eval config: PolicyEvalConfig(suite='libero', model_family='cosmos', config='cosmos_predict2_2b_480p_libero_cl_stage_inference_only', ckpt_path='/home/azureuser/REGEN-main/old/cosmos_policy/cosmos_v2_finetune/cosmos_predict2_2b_480p_libero_goal_task6_real_cl_from40k_2gpu/checkpoints/iter_000000800/model', planning_model_config_name='', planning_model_ckpt_path='', config_file='cosmos_policy/config/config.py', packnet_mask_path='', packnet_first_cl_libero_task=6, use_third_person_image=True, num_third_person_images=1, use_wrist_image=True, num_wrist_images=1, use_proprio=True, flip_images=True, use_variance_scale=False, use_jpeg_compression=True, ar_future_prediction=False, ar_value_prediction=False, ar_qvalue_prediction=False, num_denoising_steps_action=5, num_denoising_steps_future_state=1, num_denoising_steps_value=1, unnormalize_actions=True, normalize_proprio=True, dataset_stats_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/libero_goal_regen/dataset_statistics.json', t5_text_embeddings_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/t5_embeddings.pkl', trained_with_image_aug=True, chunk_size=16, num_open_loop_steps=16, deterministic=True, deterministic_reset=False, deterministic_reset_seed=None, use_ensemble_future_state_predictions=False, num_future_state_predictions_in_ensemble=3, future_state_ensemble_aggregation_scheme='average', use_ensemble_value_predictions=False, num_value_predictions_in_ensemble=5, value_ensemble_aggregation_scheme='average', search_depth=1, mask_current_state_action_for_value_prediction=False, mask_future_state_for_qvalue_prediction=False, num_queries_best_of_n=1, use_parallel_inference=False, available_gpus='0', parallel_timeout=15, parallel_tasks_across_gpus=False, task_suite_name='libero_goal', num_trials_per_task=50, task_ids_to_run='6', initial_states_path='DEFAULT', env_img_res=256, local_log_dir='/home/azureuser/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal', run_id_note='realcl800_t6_s07', use_wandb=False, wandb_entity='YOUR_ENTITY', wandb_project='YOUR_PROJECT', seed=195, randomize_seed=False, data_collection=False, jpeg_compress=True, reward_stop_threshold=None, reward_stop_consecutive_steps=3, use_gpt_reward=False, gpt_reward_model='gpt-5.4-mini', gpt_reward_stop_threshold=4, gpt_reward_timeout_s=30.0, save_rollout_video=False, eval_hdf5_path='', eval_hdf5_demo_key='demo_0', data_gen_demo_ids='', eval_episode_ids='7,23,39', replay_actions=False, replay_action_path_dir='', replay_hdf5_path='', data_generation=False, max_generation_steps=200, simple_task_max_steps=100, complex_task_max_steps=200)
+Using serial inference (parallel inference disabled)
+Task suite: libero_goal
+Number of tasks: 10
+Running only task IDs: [6]
+Using default initial states
+
+Task: put the cream cheese in the bowl
+Starting episode 1...
+Query 1/1: Action query time = 5.565 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4208
+t=10: Selected seed 195 with value = 0.4208
+Query 1/1: Action query time = 4.491 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5237
+t=26: Selected seed 195 with value = 0.5237
+Query 1/1: Action query time = 4.389 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6135
+t=42: Selected seed 195 with value = 0.6135
+Query 1/1: Action query time = 5.260 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7250
+t=58: Selected seed 195 with value = 0.7250
+Query 1/1: Action query time = 5.388 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8372
+t=74: Selected seed 195 with value = 0.8372
+Query 1/1: Action query time = 4.344 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9885
+t=90: Selected seed 195 with value = 0.9885
+Saved rollout MP4 at path ./rollouts/realcl800_t6_s07/2026_08_02-03_54_50--with_future_img--episode=1--success=True--task=put_the_cream_cheese_in_the_bowl.mp4
+Success: True
+# episodes completed so far: 1
+# successes: 1 (100.0%)
+
+Task: put the cream cheese in the bowl
+Starting episode 2...
+Query 1/1: Action query time = 4.867 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4462
+t=10: Selected seed 195 with value = 0.4462
+Query 1/1: Action query time = 5.372 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3628
+t=26: Selected seed 195 with value = 0.3628
+Query 1/1: Action query time = 5.325 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5744
+t=42: Selected seed 195 with value = 0.5744
+Query 1/1: Action query time = 5.078 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5516
+t=58: Selected seed 195 with value = 0.5516
+Query 1/1: Action query time = 4.654 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6817
+t=74: Selected seed 195 with value = 0.6817
+Query 1/1: Action query time = 4.036 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7525
+t=90: Selected seed 195 with value = 0.7525
+Query 1/1: Action query time = 4.397 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8792
+t=106: Selected seed 195 with value = 0.8792
+Query 1/1: Action query time = 4.690 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9815
+t=122: Selected seed 195 with value = 0.9815
+Query 1/1: Action query time = 5.299 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9912
+t=138: Selected seed 195 with value = 0.9912
+Query 1/1: Action query time = 5.261 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9866
+t=154: Selected seed 195 with value = 0.9866
+Query 1/1: Action query time = 4.722 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9703
+t=170: Selected seed 195 with value = 0.9703
+Query 1/1: Action query time = 2.804 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9590
+t=186: Selected seed 195 with value = 0.9590
+Query 1/1: Action query time = 2.623 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9566
+t=202: Selected seed 195 with value = 0.9566
+Query 1/1: Action query time = 2.189 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9268
+t=218: Selected seed 195 with value = 0.9268
+Query 1/1: Action query time = 3.175 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9464
+t=234: Selected seed 195 with value = 0.9464
+Query 1/1: Action query time = 4.463 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9824
+t=250: Selected seed 195 with value = 0.9824
+Query 1/1: Action query time = 4.888 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8657
+t=266: Selected seed 195 with value = 0.8657
+Query 1/1: Action query time = 4.902 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9886
+t=282: Selected seed 195 with value = 0.9886
+Query 1/1: Action query time = 4.578 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9473
+t=298: Selected seed 195 with value = 0.9473
+Saved rollout MP4 at path ./rollouts/realcl800_t6_s07/2026_08_02-03_54_50--with_future_img--episode=2--success=False--task=put_the_cream_cheese_in_the_bowl.mp4
+Success: False
+# episodes completed so far: 2
+# successes: 1 (50.0%)
+
+Task: put the cream cheese in the bowl
+Starting episode 3...
+Query 1/1: Action query time = 2.376 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4651
+t=10: Selected seed 195 with value = 0.4651
+Query 1/1: Action query time = 4.206 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5218
+t=26: Selected seed 195 with value = 0.5218
+Query 1/1: Action query time = 3.945 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6525
+t=42: Selected seed 195 with value = 0.6525
+Query 1/1: Action query time = 4.380 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6998
+t=58: Selected seed 195 with value = 0.6998
+Query 1/1: Action query time = 4.421 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8587
+t=74: Selected seed 195 with value = 0.8587
+Saved rollout MP4 at path ./rollouts/realcl800_t6_s07/2026_08_02-03_54_50--with_future_img--episode=3--success=True--task=put_the_cream_cheese_in_the_bowl.mp4
+Success: True
+# episodes completed so far: 3
+# successes: 2 (66.7%)
+Current task success rate: 0.6666666666666666
+Current total success rate: 0.6666666666666666
+Final results:
+Total episodes: 3
+Total successes: 2
+Overall success rate: 0.6667 (66.7%)
diff --git a/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-03_54_50--realcl800_t6_s08.txt b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-03_54_50--realcl800_t6_s08.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0c8b1940dbe2acd56ee816fe41d7f6587bf93f3f
--- /dev/null
+++ b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-03_54_50--realcl800_t6_s08.txt
@@ -0,0 +1,153 @@
+Eval config: PolicyEvalConfig(suite='libero', model_family='cosmos', config='cosmos_predict2_2b_480p_libero_cl_stage_inference_only', ckpt_path='/home/azureuser/REGEN-main/old/cosmos_policy/cosmos_v2_finetune/cosmos_predict2_2b_480p_libero_goal_task6_real_cl_from40k_2gpu/checkpoints/iter_000000800/model', planning_model_config_name='', planning_model_ckpt_path='', config_file='cosmos_policy/config/config.py', packnet_mask_path='', packnet_first_cl_libero_task=6, use_third_person_image=True, num_third_person_images=1, use_wrist_image=True, num_wrist_images=1, use_proprio=True, flip_images=True, use_variance_scale=False, use_jpeg_compression=True, ar_future_prediction=False, ar_value_prediction=False, ar_qvalue_prediction=False, num_denoising_steps_action=5, num_denoising_steps_future_state=1, num_denoising_steps_value=1, unnormalize_actions=True, normalize_proprio=True, dataset_stats_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/libero_goal_regen/dataset_statistics.json', t5_text_embeddings_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/t5_embeddings.pkl', trained_with_image_aug=True, chunk_size=16, num_open_loop_steps=16, deterministic=True, deterministic_reset=False, deterministic_reset_seed=None, use_ensemble_future_state_predictions=False, num_future_state_predictions_in_ensemble=3, future_state_ensemble_aggregation_scheme='average', use_ensemble_value_predictions=False, num_value_predictions_in_ensemble=5, value_ensemble_aggregation_scheme='average', search_depth=1, mask_current_state_action_for_value_prediction=False, mask_future_state_for_qvalue_prediction=False, num_queries_best_of_n=1, use_parallel_inference=False, available_gpus='0', parallel_timeout=15, parallel_tasks_across_gpus=False, task_suite_name='libero_goal', num_trials_per_task=50, task_ids_to_run='6', initial_states_path='DEFAULT', env_img_res=256, local_log_dir='/home/azureuser/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal', run_id_note='realcl800_t6_s08', use_wandb=False, wandb_entity='YOUR_ENTITY', wandb_project='YOUR_PROJECT', seed=195, randomize_seed=False, data_collection=False, jpeg_compress=True, reward_stop_threshold=None, reward_stop_consecutive_steps=3, use_gpt_reward=False, gpt_reward_model='gpt-5.4-mini', gpt_reward_stop_threshold=4, gpt_reward_timeout_s=30.0, save_rollout_video=False, eval_hdf5_path='', eval_hdf5_demo_key='demo_0', data_gen_demo_ids='', eval_episode_ids='8,24,40', replay_actions=False, replay_action_path_dir='', replay_hdf5_path='', data_generation=False, max_generation_steps=200, simple_task_max_steps=100, complex_task_max_steps=200)
+Using serial inference (parallel inference disabled)
+Task suite: libero_goal
+Number of tasks: 10
+Running only task IDs: [6]
+Using default initial states
+
+Task: put the cream cheese in the bowl
+Starting episode 1...
+Query 1/1: Action query time = 1.994 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4335
+t=10: Selected seed 195 with value = 0.4335
+Query 1/1: Action query time = 1.864 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4984
+t=26: Selected seed 195 with value = 0.4984
+Query 1/1: Action query time = 5.106 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5768
+t=42: Selected seed 195 with value = 0.5768
+Query 1/1: Action query time = 4.901 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6617
+t=58: Selected seed 195 with value = 0.6617
+Query 1/1: Action query time = 4.504 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7978
+t=74: Selected seed 195 with value = 0.7978
+Query 1/1: Action query time = 4.888 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9342
+t=90: Selected seed 195 with value = 0.9342
+Saved rollout MP4 at path ./rollouts/realcl800_t6_s08/2026_08_02-03_54_50--with_future_img--episode=1--success=True--task=put_the_cream_cheese_in_the_bowl.mp4
+Success: True
+# episodes completed so far: 1
+# successes: 1 (100.0%)
+
+Task: put the cream cheese in the bowl
+Starting episode 2...
+Query 1/1: Action query time = 3.418 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4339
+t=10: Selected seed 195 with value = 0.4339
+Query 1/1: Action query time = 3.737 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5262
+t=26: Selected seed 195 with value = 0.5262
+Query 1/1: Action query time = 2.760 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6183
+t=42: Selected seed 195 with value = 0.6183
+Query 1/1: Action query time = 4.962 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7209
+t=58: Selected seed 195 with value = 0.7209
+Query 1/1: Action query time = 5.054 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8524
+t=74: Selected seed 195 with value = 0.8524
+Saved rollout MP4 at path ./rollouts/realcl800_t6_s08/2026_08_02-03_54_50--with_future_img--episode=2--success=True--task=put_the_cream_cheese_in_the_bowl.mp4
+Success: True
+# episodes completed so far: 2
+# successes: 2 (100.0%)
+
+Task: put the cream cheese in the bowl
+Starting episode 3...
+Query 1/1: Action query time = 4.945 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4435
+t=10: Selected seed 195 with value = 0.4435
+Query 1/1: Action query time = 4.639 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4589
+t=26: Selected seed 195 with value = 0.4589
+Query 1/1: Action query time = 3.344 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5757
+t=42: Selected seed 195 with value = 0.5757
+Query 1/1: Action query time = 4.260 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5770
+t=58: Selected seed 195 with value = 0.5770
+Query 1/1: Action query time = 5.211 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6398
+t=74: Selected seed 195 with value = 0.6398
+Query 1/1: Action query time = 5.407 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6982
+t=90: Selected seed 195 with value = 0.6982
+Query 1/1: Action query time = 5.346 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7350
+t=106: Selected seed 195 with value = 0.7350
+Query 1/1: Action query time = 5.206 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7330
+t=122: Selected seed 195 with value = 0.7330
+Query 1/1: Action query time = 3.479 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7576
+t=138: Selected seed 195 with value = 0.7576
+Query 1/1: Action query time = 2.470 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8109
+t=154: Selected seed 195 with value = 0.8109
+Query 1/1: Action query time = 1.384 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8268
+t=170: Selected seed 195 with value = 0.8268
+Query 1/1: Action query time = 1.254 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9062
+t=186: Selected seed 195 with value = 0.9062
+Query 1/1: Action query time = 1.783 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9343
+t=202: Selected seed 195 with value = 0.9343
+Query 1/1: Action query time = 1.223 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9236
+t=218: Selected seed 195 with value = 0.9236
+Query 1/1: Action query time = 1.409 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9039
+t=234: Selected seed 195 with value = 0.9039
+Query 1/1: Action query time = 1.734 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8456
+t=250: Selected seed 195 with value = 0.8456
+Query 1/1: Action query time = 1.361 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7763
+t=266: Selected seed 195 with value = 0.7763
+Query 1/1: Action query time = 0.980 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8492
+t=282: Selected seed 195 with value = 0.8492
+Query 1/1: Action query time = 1.223 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8789
+t=298: Selected seed 195 with value = 0.8789
+Saved rollout MP4 at path ./rollouts/realcl800_t6_s08/2026_08_02-03_54_50--with_future_img--episode=3--success=False--task=put_the_cream_cheese_in_the_bowl.mp4
+Success: False
+# episodes completed so far: 3
+# successes: 2 (66.7%)
+Current task success rate: 0.6666666666666666
+Current total success rate: 0.6666666666666666
+Final results:
+Total episodes: 3
+Total successes: 2
+Overall success rate: 0.6667 (66.7%)
diff --git a/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-03_54_50--realcl800_t6_s09.txt b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-03_54_50--realcl800_t6_s09.txt
new file mode 100644
index 0000000000000000000000000000000000000000..1920b655102bddd43c18778097f9273c25f94b3e
--- /dev/null
+++ b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-03_54_50--realcl800_t6_s09.txt
@@ -0,0 +1,105 @@
+Eval config: PolicyEvalConfig(suite='libero', model_family='cosmos', config='cosmos_predict2_2b_480p_libero_cl_stage_inference_only', ckpt_path='/home/azureuser/REGEN-main/old/cosmos_policy/cosmos_v2_finetune/cosmos_predict2_2b_480p_libero_goal_task6_real_cl_from40k_2gpu/checkpoints/iter_000000800/model', planning_model_config_name='', planning_model_ckpt_path='', config_file='cosmos_policy/config/config.py', packnet_mask_path='', packnet_first_cl_libero_task=6, use_third_person_image=True, num_third_person_images=1, use_wrist_image=True, num_wrist_images=1, use_proprio=True, flip_images=True, use_variance_scale=False, use_jpeg_compression=True, ar_future_prediction=False, ar_value_prediction=False, ar_qvalue_prediction=False, num_denoising_steps_action=5, num_denoising_steps_future_state=1, num_denoising_steps_value=1, unnormalize_actions=True, normalize_proprio=True, dataset_stats_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/libero_goal_regen/dataset_statistics.json', t5_text_embeddings_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/t5_embeddings.pkl', trained_with_image_aug=True, chunk_size=16, num_open_loop_steps=16, deterministic=True, deterministic_reset=False, deterministic_reset_seed=None, use_ensemble_future_state_predictions=False, num_future_state_predictions_in_ensemble=3, future_state_ensemble_aggregation_scheme='average', use_ensemble_value_predictions=False, num_value_predictions_in_ensemble=5, value_ensemble_aggregation_scheme='average', search_depth=1, mask_current_state_action_for_value_prediction=False, mask_future_state_for_qvalue_prediction=False, num_queries_best_of_n=1, use_parallel_inference=False, available_gpus='0', parallel_timeout=15, parallel_tasks_across_gpus=False, task_suite_name='libero_goal', num_trials_per_task=50, task_ids_to_run='6', initial_states_path='DEFAULT', env_img_res=256, local_log_dir='/home/azureuser/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal', run_id_note='realcl800_t6_s09', use_wandb=False, wandb_entity='YOUR_ENTITY', wandb_project='YOUR_PROJECT', seed=195, randomize_seed=False, data_collection=False, jpeg_compress=True, reward_stop_threshold=None, reward_stop_consecutive_steps=3, use_gpt_reward=False, gpt_reward_model='gpt-5.4-mini', gpt_reward_stop_threshold=4, gpt_reward_timeout_s=30.0, save_rollout_video=False, eval_hdf5_path='', eval_hdf5_demo_key='demo_0', data_gen_demo_ids='', eval_episode_ids='9,25,41', replay_actions=False, replay_action_path_dir='', replay_hdf5_path='', data_generation=False, max_generation_steps=200, simple_task_max_steps=100, complex_task_max_steps=200)
+Using serial inference (parallel inference disabled)
+Task suite: libero_goal
+Number of tasks: 10
+Running only task IDs: [6]
+Using default initial states
+
+Task: put the cream cheese in the bowl
+Starting episode 1...
+Query 1/1: Action query time = 6.080 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4236
+t=10: Selected seed 195 with value = 0.4236
+Query 1/1: Action query time = 5.365 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4892
+t=26: Selected seed 195 with value = 0.4892
+Query 1/1: Action query time = 5.042 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5699
+t=42: Selected seed 195 with value = 0.5699
+Query 1/1: Action query time = 4.408 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6636
+t=58: Selected seed 195 with value = 0.6636
+Query 1/1: Action query time = 4.342 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7702
+t=74: Selected seed 195 with value = 0.7702
+Query 1/1: Action query time = 4.440 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8996
+t=90: Selected seed 195 with value = 0.8996
+Saved rollout MP4 at path ./rollouts/realcl800_t6_s09/2026_08_02-03_54_50--with_future_img--episode=1--success=True--task=put_the_cream_cheese_in_the_bowl.mp4
+Success: True
+# episodes completed so far: 1
+# successes: 1 (100.0%)
+
+Task: put the cream cheese in the bowl
+Starting episode 2...
+Query 1/1: Action query time = 4.885 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4289
+t=10: Selected seed 195 with value = 0.4289
+Query 1/1: Action query time = 4.951 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3812
+t=26: Selected seed 195 with value = 0.3812
+Query 1/1: Action query time = 4.203 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6097
+t=42: Selected seed 195 with value = 0.6097
+Query 1/1: Action query time = 5.377 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7238
+t=58: Selected seed 195 with value = 0.7238
+Query 1/1: Action query time = 3.736 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8454
+t=74: Selected seed 195 with value = 0.8454
+Query 1/1: Action query time = 3.717 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9920
+t=90: Selected seed 195 with value = 0.9920
+Saved rollout MP4 at path ./rollouts/realcl800_t6_s09/2026_08_02-03_54_50--with_future_img--episode=2--success=True--task=put_the_cream_cheese_in_the_bowl.mp4
+Success: True
+# episodes completed so far: 2
+# successes: 2 (100.0%)
+
+Task: put the cream cheese in the bowl
+Starting episode 3...
+Query 1/1: Action query time = 5.327 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4142
+t=10: Selected seed 195 with value = 0.4142
+Query 1/1: Action query time = 5.450 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5478
+t=26: Selected seed 195 with value = 0.5478
+Query 1/1: Action query time = 5.264 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6380
+t=42: Selected seed 195 with value = 0.6380
+Query 1/1: Action query time = 5.097 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5909
+t=58: Selected seed 195 with value = 0.5909
+Query 1/1: Action query time = 3.596 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7882
+t=74: Selected seed 195 with value = 0.7882
+Query 1/1: Action query time = 2.359 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9395
+t=90: Selected seed 195 with value = 0.9395
+Saved rollout MP4 at path ./rollouts/realcl800_t6_s09/2026_08_02-03_54_50--with_future_img--episode=3--success=True--task=put_the_cream_cheese_in_the_bowl.mp4
+Success: True
+# episodes completed so far: 3
+# successes: 3 (100.0%)
+Current task success rate: 1.0
+Current total success rate: 1.0
+Final results:
+Total episodes: 3
+Total successes: 3
+Overall success rate: 1.0000 (100.0%)
diff --git a/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-03_54_51--realcl800_t6_s12.txt b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-03_54_51--realcl800_t6_s12.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0b81eafbcc4f3638affce4cb2729cfeaeb5e6630
--- /dev/null
+++ b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-03_54_51--realcl800_t6_s12.txt
@@ -0,0 +1,109 @@
+Eval config: PolicyEvalConfig(suite='libero', model_family='cosmos', config='cosmos_predict2_2b_480p_libero_cl_stage_inference_only', ckpt_path='/home/azureuser/REGEN-main/old/cosmos_policy/cosmos_v2_finetune/cosmos_predict2_2b_480p_libero_goal_task6_real_cl_from40k_2gpu/checkpoints/iter_000000800/model', planning_model_config_name='', planning_model_ckpt_path='', config_file='cosmos_policy/config/config.py', packnet_mask_path='', packnet_first_cl_libero_task=6, use_third_person_image=True, num_third_person_images=1, use_wrist_image=True, num_wrist_images=1, use_proprio=True, flip_images=True, use_variance_scale=False, use_jpeg_compression=True, ar_future_prediction=False, ar_value_prediction=False, ar_qvalue_prediction=False, num_denoising_steps_action=5, num_denoising_steps_future_state=1, num_denoising_steps_value=1, unnormalize_actions=True, normalize_proprio=True, dataset_stats_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/libero_goal_regen/dataset_statistics.json', t5_text_embeddings_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/t5_embeddings.pkl', trained_with_image_aug=True, chunk_size=16, num_open_loop_steps=16, deterministic=True, deterministic_reset=False, deterministic_reset_seed=None, use_ensemble_future_state_predictions=False, num_future_state_predictions_in_ensemble=3, future_state_ensemble_aggregation_scheme='average', use_ensemble_value_predictions=False, num_value_predictions_in_ensemble=5, value_ensemble_aggregation_scheme='average', search_depth=1, mask_current_state_action_for_value_prediction=False, mask_future_state_for_qvalue_prediction=False, num_queries_best_of_n=1, use_parallel_inference=False, available_gpus='0', parallel_timeout=15, parallel_tasks_across_gpus=False, task_suite_name='libero_goal', num_trials_per_task=50, task_ids_to_run='6', initial_states_path='DEFAULT', env_img_res=256, local_log_dir='/home/azureuser/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal', run_id_note='realcl800_t6_s12', use_wandb=False, wandb_entity='YOUR_ENTITY', wandb_project='YOUR_PROJECT', seed=195, randomize_seed=False, data_collection=False, jpeg_compress=True, reward_stop_threshold=None, reward_stop_consecutive_steps=3, use_gpt_reward=False, gpt_reward_model='gpt-5.4-mini', gpt_reward_stop_threshold=4, gpt_reward_timeout_s=30.0, save_rollout_video=False, eval_hdf5_path='', eval_hdf5_demo_key='demo_0', data_gen_demo_ids='', eval_episode_ids='12,28,44', replay_actions=False, replay_action_path_dir='', replay_hdf5_path='', data_generation=False, max_generation_steps=200, simple_task_max_steps=100, complex_task_max_steps=200)
+Using serial inference (parallel inference disabled)
+Task suite: libero_goal
+Number of tasks: 10
+Running only task IDs: [6]
+Using default initial states
+
+Task: put the cream cheese in the bowl
+Starting episode 1...
+Query 1/1: Action query time = 5.054 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4470
+t=10: Selected seed 195 with value = 0.4470
+Query 1/1: Action query time = 4.544 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4757
+t=26: Selected seed 195 with value = 0.4757
+Query 1/1: Action query time = 4.970 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5034
+t=42: Selected seed 195 with value = 0.5034
+Query 1/1: Action query time = 5.499 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6942
+t=58: Selected seed 195 with value = 0.6942
+Query 1/1: Action query time = 4.820 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7739
+t=74: Selected seed 195 with value = 0.7739
+Query 1/1: Action query time = 3.965 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8980
+t=90: Selected seed 195 with value = 0.8980
+Query 1/1: Action query time = 3.267 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9479
+t=106: Selected seed 195 with value = 0.9479
+Saved rollout MP4 at path ./rollouts/realcl800_t6_s12/2026_08_02-03_54_51--with_future_img--episode=1--success=True--task=put_the_cream_cheese_in_the_bowl.mp4
+Success: True
+# episodes completed so far: 1
+# successes: 1 (100.0%)
+
+Task: put the cream cheese in the bowl
+Starting episode 2...
+Query 1/1: Action query time = 5.216 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4248
+t=10: Selected seed 195 with value = 0.4248
+Query 1/1: Action query time = 4.555 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4935
+t=26: Selected seed 195 with value = 0.4935
+Query 1/1: Action query time = 4.801 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5837
+t=42: Selected seed 195 with value = 0.5837
+Query 1/1: Action query time = 5.129 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6713
+t=58: Selected seed 195 with value = 0.6713
+Query 1/1: Action query time = 2.920 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7754
+t=74: Selected seed 195 with value = 0.7754
+Query 1/1: Action query time = 3.680 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9134
+t=90: Selected seed 195 with value = 0.9134
+Saved rollout MP4 at path ./rollouts/realcl800_t6_s12/2026_08_02-03_54_51--with_future_img--episode=2--success=True--task=put_the_cream_cheese_in_the_bowl.mp4
+Success: True
+# episodes completed so far: 2
+# successes: 2 (100.0%)
+
+Task: put the cream cheese in the bowl
+Starting episode 3...
+Query 1/1: Action query time = 4.631 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4267
+t=10: Selected seed 195 with value = 0.4267
+Query 1/1: Action query time = 4.668 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4592
+t=26: Selected seed 195 with value = 0.4592
+Query 1/1: Action query time = 4.889 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6245
+t=42: Selected seed 195 with value = 0.6245
+Query 1/1: Action query time = 4.942 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6651
+t=58: Selected seed 195 with value = 0.6651
+Query 1/1: Action query time = 2.044 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7842
+t=74: Selected seed 195 with value = 0.7842
+Query 1/1: Action query time = 2.054 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9311
+t=90: Selected seed 195 with value = 0.9311
+Saved rollout MP4 at path ./rollouts/realcl800_t6_s12/2026_08_02-03_54_51--with_future_img--episode=3--success=True--task=put_the_cream_cheese_in_the_bowl.mp4
+Success: True
+# episodes completed so far: 3
+# successes: 3 (100.0%)
+Current task success rate: 1.0
+Current total success rate: 1.0
+Final results:
+Total episodes: 3
+Total successes: 3
+Overall success rate: 1.0000 (100.0%)
diff --git a/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-04_44_19--fcv2_175_t0_s00.txt b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-04_44_19--fcv2_175_t0_s00.txt
new file mode 100644
index 0000000000000000000000000000000000000000..b411181c462f6c9c6a9af6796db3f337df51f060
--- /dev/null
+++ b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-04_44_19--fcv2_175_t0_s00.txt
@@ -0,0 +1,172 @@
+Eval config: PolicyEvalConfig(suite='libero', model_family='cosmos', config='cosmos_predict2_2b_480p_libero_cl_stage_inference_only', ckpt_path='/home/azureuser/REGEN-main/new/cosmos_policy/cosmos_v2_finetune/cosmos_predict2_2b_480p_libero_goal_task6_forget_cl_v2_from350_constlr_2gpu/checkpoints/iter_000000175/model', planning_model_config_name='', planning_model_ckpt_path='', config_file='cosmos_policy/config/config.py', packnet_mask_path='', packnet_first_cl_libero_task=6, use_third_person_image=True, num_third_person_images=1, use_wrist_image=True, num_wrist_images=1, use_proprio=True, flip_images=True, use_variance_scale=False, use_jpeg_compression=True, ar_future_prediction=False, ar_value_prediction=False, ar_qvalue_prediction=False, num_denoising_steps_action=5, num_denoising_steps_future_state=1, num_denoising_steps_value=1, unnormalize_actions=True, normalize_proprio=True, dataset_stats_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/libero_goal_regen/dataset_statistics.json', t5_text_embeddings_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/t5_embeddings.pkl', trained_with_image_aug=True, chunk_size=16, num_open_loop_steps=16, deterministic=True, deterministic_reset=False, deterministic_reset_seed=None, use_ensemble_future_state_predictions=False, num_future_state_predictions_in_ensemble=3, future_state_ensemble_aggregation_scheme='average', use_ensemble_value_predictions=False, num_value_predictions_in_ensemble=5, value_ensemble_aggregation_scheme='average', search_depth=1, mask_current_state_action_for_value_prediction=False, mask_future_state_for_qvalue_prediction=False, num_queries_best_of_n=1, use_parallel_inference=False, available_gpus='0', parallel_timeout=15, parallel_tasks_across_gpus=False, task_suite_name='libero_goal', num_trials_per_task=50, task_ids_to_run='0', initial_states_path='DEFAULT', env_img_res=256, local_log_dir='/home/azureuser/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal', run_id_note='fcv2_175_t0_s00', use_wandb=False, wandb_entity='YOUR_ENTITY', wandb_project='YOUR_PROJECT', seed=195, randomize_seed=False, data_collection=False, jpeg_compress=True, reward_stop_threshold=None, reward_stop_consecutive_steps=3, use_gpt_reward=False, gpt_reward_model='gpt-5.4-mini', gpt_reward_stop_threshold=4, gpt_reward_timeout_s=30.0, save_rollout_video=False, eval_hdf5_path='', eval_hdf5_demo_key='demo_0', data_gen_demo_ids='', eval_episode_ids='0,16,32,48', replay_actions=False, replay_action_path_dir='', replay_hdf5_path='', data_generation=False, max_generation_steps=200, simple_task_max_steps=100, complex_task_max_steps=200)
+Using serial inference (parallel inference disabled)
+Task suite: libero_goal
+Number of tasks: 10
+Running only task IDs: [0]
+Using default initial states
+
+Task: open the middle drawer of the cabinet
+Starting episode 1...
+Query 1/1: Action query time = 2.041 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3718
+t=10: Selected seed 195 with value = 0.3718
+Query 1/1: Action query time = 3.035 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4300
+t=26: Selected seed 195 with value = 0.4300
+Query 1/1: Action query time = 6.225 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5085
+t=42: Selected seed 195 with value = 0.5085
+Query 1/1: Action query time = 4.702 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5883
+t=58: Selected seed 195 with value = 0.5883
+Query 1/1: Action query time = 5.266 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6723
+t=74: Selected seed 195 with value = 0.6723
+Query 1/1: Action query time = 4.971 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7634
+t=90: Selected seed 195 with value = 0.7634
+Query 1/1: Action query time = 4.344 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9072
+t=106: Selected seed 195 with value = 0.9072
+Query 1/1: Action query time = 4.922 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9880
+t=122: Selected seed 195 with value = 0.9880
+Saved rollout MP4 at path ./rollouts/fcv2_175_t0_s00/2026_08_02-04_44_19--with_future_img--episode=1--success=True--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: True
+# episodes completed so far: 1
+# successes: 1 (100.0%)
+
+Task: open the middle drawer of the cabinet
+Starting episode 2...
+Query 1/1: Action query time = 2.937 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3790
+t=10: Selected seed 195 with value = 0.3790
+Query 1/1: Action query time = 2.901 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4317
+t=26: Selected seed 195 with value = 0.4317
+Query 1/1: Action query time = 3.927 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5218
+t=42: Selected seed 195 with value = 0.5218
+Query 1/1: Action query time = 5.545 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6036
+t=58: Selected seed 195 with value = 0.6036
+Query 1/1: Action query time = 5.848 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7102
+t=74: Selected seed 195 with value = 0.7102
+Query 1/1: Action query time = 5.104 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8319
+t=90: Selected seed 195 with value = 0.8319
+Query 1/1: Action query time = 5.111 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9335
+t=106: Selected seed 195 with value = 0.9335
+Query 1/1: Action query time = 4.868 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=122: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/fcv2_175_t0_s00/2026_08_02-04_44_19--with_future_img--episode=2--success=True--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: True
+# episodes completed so far: 2
+# successes: 2 (100.0%)
+
+Task: open the middle drawer of the cabinet
+Starting episode 3...
+Query 1/1: Action query time = 2.862 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3620
+t=10: Selected seed 195 with value = 0.3620
+Query 1/1: Action query time = 3.674 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4266
+t=26: Selected seed 195 with value = 0.4266
+Query 1/1: Action query time = 3.071 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5062
+t=42: Selected seed 195 with value = 0.5062
+Query 1/1: Action query time = 4.995 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4691
+t=58: Selected seed 195 with value = 0.4691
+Query 1/1: Action query time = 5.181 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5602
+t=74: Selected seed 195 with value = 0.5602
+Query 1/1: Action query time = 4.808 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6219
+t=90: Selected seed 195 with value = 0.6219
+Query 1/1: Action query time = 5.066 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7995
+t=106: Selected seed 195 with value = 0.7995
+Query 1/1: Action query time = 5.008 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9288
+t=122: Selected seed 195 with value = 0.9288
+Query 1/1: Action query time = 5.223 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=138: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/fcv2_175_t0_s00/2026_08_02-04_44_19--with_future_img--episode=3--success=True--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: True
+# episodes completed so far: 3
+# successes: 3 (100.0%)
+
+Task: open the middle drawer of the cabinet
+Starting episode 4...
+Query 1/1: Action query time = 3.111 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3749
+t=10: Selected seed 195 with value = 0.3749
+Query 1/1: Action query time = 2.797 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4170
+t=26: Selected seed 195 with value = 0.4170
+Query 1/1: Action query time = 2.443 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4718
+t=42: Selected seed 195 with value = 0.4718
+Query 1/1: Action query time = 1.681 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5949
+t=58: Selected seed 195 with value = 0.5949
+Query 1/1: Action query time = 1.607 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6793
+t=74: Selected seed 195 with value = 0.6793
+Query 1/1: Action query time = 1.439 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7954
+t=90: Selected seed 195 with value = 0.7954
+Query 1/1: Action query time = 1.734 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9058
+t=106: Selected seed 195 with value = 0.9058
+Query 1/1: Action query time = 1.887 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9926
+t=122: Selected seed 195 with value = 0.9926
+Saved rollout MP4 at path ./rollouts/fcv2_175_t0_s00/2026_08_02-04_44_19--with_future_img--episode=4--success=True--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: True
+# episodes completed so far: 4
+# successes: 4 (100.0%)
+Current task success rate: 1.0
+Current total success rate: 1.0
+Final results:
+Total episodes: 4
+Total successes: 4
+Overall success rate: 1.0000 (100.0%)
diff --git a/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-04_44_19--fcv2_175_t0_s03.txt b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-04_44_19--fcv2_175_t0_s03.txt
new file mode 100644
index 0000000000000000000000000000000000000000..03ae8a709f3bf88b1e41b9e43e58d742121fcd7d
--- /dev/null
+++ b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-04_44_19--fcv2_175_t0_s03.txt
@@ -0,0 +1,133 @@
+Eval config: PolicyEvalConfig(suite='libero', model_family='cosmos', config='cosmos_predict2_2b_480p_libero_cl_stage_inference_only', ckpt_path='/home/azureuser/REGEN-main/new/cosmos_policy/cosmos_v2_finetune/cosmos_predict2_2b_480p_libero_goal_task6_forget_cl_v2_from350_constlr_2gpu/checkpoints/iter_000000175/model', planning_model_config_name='', planning_model_ckpt_path='', config_file='cosmos_policy/config/config.py', packnet_mask_path='', packnet_first_cl_libero_task=6, use_third_person_image=True, num_third_person_images=1, use_wrist_image=True, num_wrist_images=1, use_proprio=True, flip_images=True, use_variance_scale=False, use_jpeg_compression=True, ar_future_prediction=False, ar_value_prediction=False, ar_qvalue_prediction=False, num_denoising_steps_action=5, num_denoising_steps_future_state=1, num_denoising_steps_value=1, unnormalize_actions=True, normalize_proprio=True, dataset_stats_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/libero_goal_regen/dataset_statistics.json', t5_text_embeddings_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/t5_embeddings.pkl', trained_with_image_aug=True, chunk_size=16, num_open_loop_steps=16, deterministic=True, deterministic_reset=False, deterministic_reset_seed=None, use_ensemble_future_state_predictions=False, num_future_state_predictions_in_ensemble=3, future_state_ensemble_aggregation_scheme='average', use_ensemble_value_predictions=False, num_value_predictions_in_ensemble=5, value_ensemble_aggregation_scheme='average', search_depth=1, mask_current_state_action_for_value_prediction=False, mask_future_state_for_qvalue_prediction=False, num_queries_best_of_n=1, use_parallel_inference=False, available_gpus='0', parallel_timeout=15, parallel_tasks_across_gpus=False, task_suite_name='libero_goal', num_trials_per_task=50, task_ids_to_run='0', initial_states_path='DEFAULT', env_img_res=256, local_log_dir='/home/azureuser/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal', run_id_note='fcv2_175_t0_s03', use_wandb=False, wandb_entity='YOUR_ENTITY', wandb_project='YOUR_PROJECT', seed=195, randomize_seed=False, data_collection=False, jpeg_compress=True, reward_stop_threshold=None, reward_stop_consecutive_steps=3, use_gpt_reward=False, gpt_reward_model='gpt-5.4-mini', gpt_reward_stop_threshold=4, gpt_reward_timeout_s=30.0, save_rollout_video=False, eval_hdf5_path='', eval_hdf5_demo_key='demo_0', data_gen_demo_ids='', eval_episode_ids='3,19,35', replay_actions=False, replay_action_path_dir='', replay_hdf5_path='', data_generation=False, max_generation_steps=200, simple_task_max_steps=100, complex_task_max_steps=200)
+Using serial inference (parallel inference disabled)
+Task suite: libero_goal
+Number of tasks: 10
+Running only task IDs: [0]
+Using default initial states
+
+Task: open the middle drawer of the cabinet
+Starting episode 1...
+Query 1/1: Action query time = 7.571 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3461
+t=10: Selected seed 195 with value = 0.3461
+Query 1/1: Action query time = 5.084 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3756
+t=26: Selected seed 195 with value = 0.3756
+Query 1/1: Action query time = 4.913 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5076
+t=42: Selected seed 195 with value = 0.5076
+Query 1/1: Action query time = 5.398 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5760
+t=58: Selected seed 195 with value = 0.5760
+Query 1/1: Action query time = 4.846 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6480
+t=74: Selected seed 195 with value = 0.6480
+Query 1/1: Action query time = 4.735 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8652
+t=90: Selected seed 195 with value = 0.8652
+Query 1/1: Action query time = 3.036 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9852
+t=106: Selected seed 195 with value = 0.9852
+Query 1/1: Action query time = 1.866 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9955
+t=122: Selected seed 195 with value = 0.9955
+Saved rollout MP4 at path ./rollouts/fcv2_175_t0_s03/2026_08_02-04_44_19--with_future_img--episode=1--success=True--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: True
+# episodes completed so far: 1
+# successes: 1 (100.0%)
+
+Task: open the middle drawer of the cabinet
+Starting episode 2...
+Query 1/1: Action query time = 4.048 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4177
+t=10: Selected seed 195 with value = 0.4177
+Query 1/1: Action query time = 5.514 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4814
+t=26: Selected seed 195 with value = 0.4814
+Query 1/1: Action query time = 5.610 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5489
+t=42: Selected seed 195 with value = 0.5489
+Query 1/1: Action query time = 5.118 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6291
+t=58: Selected seed 195 with value = 0.6291
+Query 1/1: Action query time = 4.936 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7097
+t=74: Selected seed 195 with value = 0.7097
+Query 1/1: Action query time = 4.898 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8329
+t=90: Selected seed 195 with value = 0.8329
+Query 1/1: Action query time = 4.036 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9958
+t=106: Selected seed 195 with value = 0.9958
+Query 1/1: Action query time = 3.325 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=122: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/fcv2_175_t0_s03/2026_08_02-04_44_19--with_future_img--episode=2--success=True--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: True
+# episodes completed so far: 2
+# successes: 2 (100.0%)
+
+Task: open the middle drawer of the cabinet
+Starting episode 3...
+Query 1/1: Action query time = 2.473 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3643
+t=10: Selected seed 195 with value = 0.3643
+Query 1/1: Action query time = 4.610 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3855
+t=26: Selected seed 195 with value = 0.3855
+Query 1/1: Action query time = 4.707 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4334
+t=42: Selected seed 195 with value = 0.4334
+Query 1/1: Action query time = 4.905 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5215
+t=58: Selected seed 195 with value = 0.5215
+Query 1/1: Action query time = 5.144 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5652
+t=74: Selected seed 195 with value = 0.5652
+Query 1/1: Action query time = 5.088 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6674
+t=90: Selected seed 195 with value = 0.6674
+Query 1/1: Action query time = 5.094 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8628
+t=106: Selected seed 195 with value = 0.8628
+Query 1/1: Action query time = 4.035 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9836
+t=122: Selected seed 195 with value = 0.9836
+Query 1/1: Action query time = 2.222 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9958
+t=138: Selected seed 195 with value = 0.9958
+Saved rollout MP4 at path ./rollouts/fcv2_175_t0_s03/2026_08_02-04_44_19--with_future_img--episode=3--success=True--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: True
+# episodes completed so far: 3
+# successes: 3 (100.0%)
+Current task success rate: 1.0
+Current total success rate: 1.0
+Final results:
+Total episodes: 3
+Total successes: 3
+Overall success rate: 1.0000 (100.0%)
diff --git a/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-04_44_19--fcv2_175_t0_s06.txt b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-04_44_19--fcv2_175_t0_s06.txt
new file mode 100644
index 0000000000000000000000000000000000000000..11d7699b6f08a787b4fdf33b98035c12f84a53ae
--- /dev/null
+++ b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-04_44_19--fcv2_175_t0_s06.txt
@@ -0,0 +1,129 @@
+Eval config: PolicyEvalConfig(suite='libero', model_family='cosmos', config='cosmos_predict2_2b_480p_libero_cl_stage_inference_only', ckpt_path='/home/azureuser/REGEN-main/new/cosmos_policy/cosmos_v2_finetune/cosmos_predict2_2b_480p_libero_goal_task6_forget_cl_v2_from350_constlr_2gpu/checkpoints/iter_000000175/model', planning_model_config_name='', planning_model_ckpt_path='', config_file='cosmos_policy/config/config.py', packnet_mask_path='', packnet_first_cl_libero_task=6, use_third_person_image=True, num_third_person_images=1, use_wrist_image=True, num_wrist_images=1, use_proprio=True, flip_images=True, use_variance_scale=False, use_jpeg_compression=True, ar_future_prediction=False, ar_value_prediction=False, ar_qvalue_prediction=False, num_denoising_steps_action=5, num_denoising_steps_future_state=1, num_denoising_steps_value=1, unnormalize_actions=True, normalize_proprio=True, dataset_stats_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/libero_goal_regen/dataset_statistics.json', t5_text_embeddings_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/t5_embeddings.pkl', trained_with_image_aug=True, chunk_size=16, num_open_loop_steps=16, deterministic=True, deterministic_reset=False, deterministic_reset_seed=None, use_ensemble_future_state_predictions=False, num_future_state_predictions_in_ensemble=3, future_state_ensemble_aggregation_scheme='average', use_ensemble_value_predictions=False, num_value_predictions_in_ensemble=5, value_ensemble_aggregation_scheme='average', search_depth=1, mask_current_state_action_for_value_prediction=False, mask_future_state_for_qvalue_prediction=False, num_queries_best_of_n=1, use_parallel_inference=False, available_gpus='0', parallel_timeout=15, parallel_tasks_across_gpus=False, task_suite_name='libero_goal', num_trials_per_task=50, task_ids_to_run='0', initial_states_path='DEFAULT', env_img_res=256, local_log_dir='/home/azureuser/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal', run_id_note='fcv2_175_t0_s06', use_wandb=False, wandb_entity='YOUR_ENTITY', wandb_project='YOUR_PROJECT', seed=195, randomize_seed=False, data_collection=False, jpeg_compress=True, reward_stop_threshold=None, reward_stop_consecutive_steps=3, use_gpt_reward=False, gpt_reward_model='gpt-5.4-mini', gpt_reward_stop_threshold=4, gpt_reward_timeout_s=30.0, save_rollout_video=False, eval_hdf5_path='', eval_hdf5_demo_key='demo_0', data_gen_demo_ids='', eval_episode_ids='6,22,38', replay_actions=False, replay_action_path_dir='', replay_hdf5_path='', data_generation=False, max_generation_steps=200, simple_task_max_steps=100, complex_task_max_steps=200)
+Using serial inference (parallel inference disabled)
+Task suite: libero_goal
+Number of tasks: 10
+Running only task IDs: [0]
+Using default initial states
+
+Task: open the middle drawer of the cabinet
+Starting episode 1...
+Query 1/1: Action query time = 3.139 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3326
+t=10: Selected seed 195 with value = 0.3326
+Query 1/1: Action query time = 4.700 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3361
+t=26: Selected seed 195 with value = 0.3361
+Query 1/1: Action query time = 4.228 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4812
+t=42: Selected seed 195 with value = 0.4812
+Query 1/1: Action query time = 5.123 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6048
+t=58: Selected seed 195 with value = 0.6048
+Query 1/1: Action query time = 4.789 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7294
+t=74: Selected seed 195 with value = 0.7294
+Query 1/1: Action query time = 5.022 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8742
+t=90: Selected seed 195 with value = 0.8742
+Query 1/1: Action query time = 5.264 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9912
+t=106: Selected seed 195 with value = 0.9912
+Query 1/1: Action query time = 4.296 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9975
+t=122: Selected seed 195 with value = 0.9975
+Saved rollout MP4 at path ./rollouts/fcv2_175_t0_s06/2026_08_02-04_44_19--with_future_img--episode=1--success=True--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: True
+# episodes completed so far: 1
+# successes: 1 (100.0%)
+
+Task: open the middle drawer of the cabinet
+Starting episode 2...
+Query 1/1: Action query time = 2.773 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3911
+t=10: Selected seed 195 with value = 0.3911
+Query 1/1: Action query time = 4.932 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4542
+t=26: Selected seed 195 with value = 0.4542
+Query 1/1: Action query time = 5.080 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5173
+t=42: Selected seed 195 with value = 0.5173
+Query 1/1: Action query time = 5.623 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6193
+t=58: Selected seed 195 with value = 0.6193
+Query 1/1: Action query time = 5.033 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7156
+t=74: Selected seed 195 with value = 0.7156
+Query 1/1: Action query time = 5.107 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8482
+t=90: Selected seed 195 with value = 0.8482
+Query 1/1: Action query time = 4.936 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9466
+t=106: Selected seed 195 with value = 0.9466
+Query 1/1: Action query time = 4.045 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9926
+t=122: Selected seed 195 with value = 0.9926
+Saved rollout MP4 at path ./rollouts/fcv2_175_t0_s06/2026_08_02-04_44_19--with_future_img--episode=2--success=True--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: True
+# episodes completed so far: 2
+# successes: 2 (100.0%)
+
+Task: open the middle drawer of the cabinet
+Starting episode 3...
+Query 1/1: Action query time = 2.892 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3656
+t=10: Selected seed 195 with value = 0.3656
+Query 1/1: Action query time = 4.501 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4388
+t=26: Selected seed 195 with value = 0.4388
+Query 1/1: Action query time = 4.792 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5255
+t=42: Selected seed 195 with value = 0.5255
+Query 1/1: Action query time = 5.705 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6008
+t=58: Selected seed 195 with value = 0.6008
+Query 1/1: Action query time = 5.240 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7171
+t=74: Selected seed 195 with value = 0.7171
+Query 1/1: Action query time = 4.913 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8480
+t=90: Selected seed 195 with value = 0.8480
+Query 1/1: Action query time = 4.873 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9701
+t=106: Selected seed 195 with value = 0.9701
+Query 1/1: Action query time = 4.262 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=122: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/fcv2_175_t0_s06/2026_08_02-04_44_19--with_future_img--episode=3--success=True--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: True
+# episodes completed so far: 3
+# successes: 3 (100.0%)
+Current task success rate: 1.0
+Current total success rate: 1.0
+Final results:
+Total episodes: 3
+Total successes: 3
+Overall success rate: 1.0000 (100.0%)
diff --git a/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-04_44_20--fcv2_175_t0_s08.txt b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-04_44_20--fcv2_175_t0_s08.txt
new file mode 100644
index 0000000000000000000000000000000000000000..6a8a6d82dab0fed6a9937c13df5dcd6f75fca421
--- /dev/null
+++ b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-04_44_20--fcv2_175_t0_s08.txt
@@ -0,0 +1,129 @@
+Eval config: PolicyEvalConfig(suite='libero', model_family='cosmos', config='cosmos_predict2_2b_480p_libero_cl_stage_inference_only', ckpt_path='/home/azureuser/REGEN-main/new/cosmos_policy/cosmos_v2_finetune/cosmos_predict2_2b_480p_libero_goal_task6_forget_cl_v2_from350_constlr_2gpu/checkpoints/iter_000000175/model', planning_model_config_name='', planning_model_ckpt_path='', config_file='cosmos_policy/config/config.py', packnet_mask_path='', packnet_first_cl_libero_task=6, use_third_person_image=True, num_third_person_images=1, use_wrist_image=True, num_wrist_images=1, use_proprio=True, flip_images=True, use_variance_scale=False, use_jpeg_compression=True, ar_future_prediction=False, ar_value_prediction=False, ar_qvalue_prediction=False, num_denoising_steps_action=5, num_denoising_steps_future_state=1, num_denoising_steps_value=1, unnormalize_actions=True, normalize_proprio=True, dataset_stats_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/libero_goal_regen/dataset_statistics.json', t5_text_embeddings_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/t5_embeddings.pkl', trained_with_image_aug=True, chunk_size=16, num_open_loop_steps=16, deterministic=True, deterministic_reset=False, deterministic_reset_seed=None, use_ensemble_future_state_predictions=False, num_future_state_predictions_in_ensemble=3, future_state_ensemble_aggregation_scheme='average', use_ensemble_value_predictions=False, num_value_predictions_in_ensemble=5, value_ensemble_aggregation_scheme='average', search_depth=1, mask_current_state_action_for_value_prediction=False, mask_future_state_for_qvalue_prediction=False, num_queries_best_of_n=1, use_parallel_inference=False, available_gpus='0', parallel_timeout=15, parallel_tasks_across_gpus=False, task_suite_name='libero_goal', num_trials_per_task=50, task_ids_to_run='0', initial_states_path='DEFAULT', env_img_res=256, local_log_dir='/home/azureuser/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal', run_id_note='fcv2_175_t0_s08', use_wandb=False, wandb_entity='YOUR_ENTITY', wandb_project='YOUR_PROJECT', seed=195, randomize_seed=False, data_collection=False, jpeg_compress=True, reward_stop_threshold=None, reward_stop_consecutive_steps=3, use_gpt_reward=False, gpt_reward_model='gpt-5.4-mini', gpt_reward_stop_threshold=4, gpt_reward_timeout_s=30.0, save_rollout_video=False, eval_hdf5_path='', eval_hdf5_demo_key='demo_0', data_gen_demo_ids='', eval_episode_ids='8,24,40', replay_actions=False, replay_action_path_dir='', replay_hdf5_path='', data_generation=False, max_generation_steps=200, simple_task_max_steps=100, complex_task_max_steps=200)
+Using serial inference (parallel inference disabled)
+Task suite: libero_goal
+Number of tasks: 10
+Running only task IDs: [0]
+Using default initial states
+
+Task: open the middle drawer of the cabinet
+Starting episode 1...
+Query 1/1: Action query time = 2.134 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3513
+t=10: Selected seed 195 with value = 0.3513
+Query 1/1: Action query time = 5.749 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4425
+t=26: Selected seed 195 with value = 0.4425
+Query 1/1: Action query time = 5.177 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4910
+t=42: Selected seed 195 with value = 0.4910
+Query 1/1: Action query time = 5.498 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6029
+t=58: Selected seed 195 with value = 0.6029
+Query 1/1: Action query time = 5.332 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7043
+t=74: Selected seed 195 with value = 0.7043
+Query 1/1: Action query time = 3.958 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8782
+t=90: Selected seed 195 with value = 0.8782
+Query 1/1: Action query time = 4.995 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9578
+t=106: Selected seed 195 with value = 0.9578
+Query 1/1: Action query time = 5.420 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9940
+t=122: Selected seed 195 with value = 0.9940
+Saved rollout MP4 at path ./rollouts/fcv2_175_t0_s08/2026_08_02-04_44_20--with_future_img--episode=1--success=True--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: True
+# episodes completed so far: 1
+# successes: 1 (100.0%)
+
+Task: open the middle drawer of the cabinet
+Starting episode 2...
+Query 1/1: Action query time = 2.528 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3780
+t=10: Selected seed 195 with value = 0.3780
+Query 1/1: Action query time = 4.854 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4000
+t=26: Selected seed 195 with value = 0.4000
+Query 1/1: Action query time = 4.295 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4582
+t=42: Selected seed 195 with value = 0.4582
+Query 1/1: Action query time = 5.577 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5354
+t=58: Selected seed 195 with value = 0.5354
+Query 1/1: Action query time = 5.329 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6853
+t=74: Selected seed 195 with value = 0.6853
+Query 1/1: Action query time = 4.991 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7988
+t=90: Selected seed 195 with value = 0.7988
+Query 1/1: Action query time = 4.822 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9109
+t=106: Selected seed 195 with value = 0.9109
+Query 1/1: Action query time = 5.129 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9986
+t=122: Selected seed 195 with value = 0.9986
+Saved rollout MP4 at path ./rollouts/fcv2_175_t0_s08/2026_08_02-04_44_20--with_future_img--episode=2--success=True--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: True
+# episodes completed so far: 2
+# successes: 2 (100.0%)
+
+Task: open the middle drawer of the cabinet
+Starting episode 3...
+Query 1/1: Action query time = 3.993 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3771
+t=10: Selected seed 195 with value = 0.3771
+Query 1/1: Action query time = 2.515 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4367
+t=26: Selected seed 195 with value = 0.4367
+Query 1/1: Action query time = 3.368 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4901
+t=42: Selected seed 195 with value = 0.4901
+Query 1/1: Action query time = 5.272 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6036
+t=58: Selected seed 195 with value = 0.6036
+Query 1/1: Action query time = 5.438 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6856
+t=74: Selected seed 195 with value = 0.6856
+Query 1/1: Action query time = 5.117 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7996
+t=90: Selected seed 195 with value = 0.7996
+Query 1/1: Action query time = 5.185 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9297
+t=106: Selected seed 195 with value = 0.9297
+Query 1/1: Action query time = 5.081 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=122: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/fcv2_175_t0_s08/2026_08_02-04_44_20--with_future_img--episode=3--success=True--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: True
+# episodes completed so far: 3
+# successes: 3 (100.0%)
+Current task success rate: 1.0
+Current total success rate: 1.0
+Final results:
+Total episodes: 3
+Total successes: 3
+Overall success rate: 1.0000 (100.0%)
diff --git a/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-04_44_20--fcv2_175_t0_s10.txt b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-04_44_20--fcv2_175_t0_s10.txt
new file mode 100644
index 0000000000000000000000000000000000000000..d6b590f64203c75d7eb30be118302750b652b6b7
--- /dev/null
+++ b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-04_44_20--fcv2_175_t0_s10.txt
@@ -0,0 +1,141 @@
+Eval config: PolicyEvalConfig(suite='libero', model_family='cosmos', config='cosmos_predict2_2b_480p_libero_cl_stage_inference_only', ckpt_path='/home/azureuser/REGEN-main/new/cosmos_policy/cosmos_v2_finetune/cosmos_predict2_2b_480p_libero_goal_task6_forget_cl_v2_from350_constlr_2gpu/checkpoints/iter_000000175/model', planning_model_config_name='', planning_model_ckpt_path='', config_file='cosmos_policy/config/config.py', packnet_mask_path='', packnet_first_cl_libero_task=6, use_third_person_image=True, num_third_person_images=1, use_wrist_image=True, num_wrist_images=1, use_proprio=True, flip_images=True, use_variance_scale=False, use_jpeg_compression=True, ar_future_prediction=False, ar_value_prediction=False, ar_qvalue_prediction=False, num_denoising_steps_action=5, num_denoising_steps_future_state=1, num_denoising_steps_value=1, unnormalize_actions=True, normalize_proprio=True, dataset_stats_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/libero_goal_regen/dataset_statistics.json', t5_text_embeddings_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/t5_embeddings.pkl', trained_with_image_aug=True, chunk_size=16, num_open_loop_steps=16, deterministic=True, deterministic_reset=False, deterministic_reset_seed=None, use_ensemble_future_state_predictions=False, num_future_state_predictions_in_ensemble=3, future_state_ensemble_aggregation_scheme='average', use_ensemble_value_predictions=False, num_value_predictions_in_ensemble=5, value_ensemble_aggregation_scheme='average', search_depth=1, mask_current_state_action_for_value_prediction=False, mask_future_state_for_qvalue_prediction=False, num_queries_best_of_n=1, use_parallel_inference=False, available_gpus='0', parallel_timeout=15, parallel_tasks_across_gpus=False, task_suite_name='libero_goal', num_trials_per_task=50, task_ids_to_run='0', initial_states_path='DEFAULT', env_img_res=256, local_log_dir='/home/azureuser/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal', run_id_note='fcv2_175_t0_s10', use_wandb=False, wandb_entity='YOUR_ENTITY', wandb_project='YOUR_PROJECT', seed=195, randomize_seed=False, data_collection=False, jpeg_compress=True, reward_stop_threshold=None, reward_stop_consecutive_steps=3, use_gpt_reward=False, gpt_reward_model='gpt-5.4-mini', gpt_reward_stop_threshold=4, gpt_reward_timeout_s=30.0, save_rollout_video=False, eval_hdf5_path='', eval_hdf5_demo_key='demo_0', data_gen_demo_ids='', eval_episode_ids='10,26,42', replay_actions=False, replay_action_path_dir='', replay_hdf5_path='', data_generation=False, max_generation_steps=200, simple_task_max_steps=100, complex_task_max_steps=200)
+Using serial inference (parallel inference disabled)
+Task suite: libero_goal
+Number of tasks: 10
+Running only task IDs: [0]
+Using default initial states
+
+Task: open the middle drawer of the cabinet
+Starting episode 1...
+Query 1/1: Action query time = 6.560 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3624
+t=10: Selected seed 195 with value = 0.3624
+Query 1/1: Action query time = 5.418 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3819
+t=26: Selected seed 195 with value = 0.3819
+Query 1/1: Action query time = 5.184 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4667
+t=42: Selected seed 195 with value = 0.4667
+Query 1/1: Action query time = 5.111 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5332
+t=58: Selected seed 195 with value = 0.5332
+Query 1/1: Action query time = 4.442 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5311
+t=74: Selected seed 195 with value = 0.5311
+Query 1/1: Action query time = 4.220 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6206
+t=90: Selected seed 195 with value = 0.6206
+Query 1/1: Action query time = 4.204 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7091
+t=106: Selected seed 195 with value = 0.7091
+Query 1/1: Action query time = 4.831 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8712
+t=122: Selected seed 195 with value = 0.8712
+Query 1/1: Action query time = 2.349 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9834
+t=138: Selected seed 195 with value = 0.9834
+Query 1/1: Action query time = 4.442 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9738
+t=154: Selected seed 195 with value = 0.9738
+Saved rollout MP4 at path ./rollouts/fcv2_175_t0_s10/2026_08_02-04_44_20--with_future_img--episode=1--success=True--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: True
+# episodes completed so far: 1
+# successes: 1 (100.0%)
+
+Task: open the middle drawer of the cabinet
+Starting episode 2...
+Query 1/1: Action query time = 5.820 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3314
+t=10: Selected seed 195 with value = 0.3314
+Query 1/1: Action query time = 5.210 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3876
+t=26: Selected seed 195 with value = 0.3876
+Query 1/1: Action query time = 4.795 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4441
+t=42: Selected seed 195 with value = 0.4441
+Query 1/1: Action query time = 5.109 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5250
+t=58: Selected seed 195 with value = 0.5250
+Query 1/1: Action query time = 5.337 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6084
+t=74: Selected seed 195 with value = 0.6084
+Query 1/1: Action query time = 4.820 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7062
+t=90: Selected seed 195 with value = 0.7062
+Query 1/1: Action query time = 4.078 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8020
+t=106: Selected seed 195 with value = 0.8020
+Query 1/1: Action query time = 2.365 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9422
+t=122: Selected seed 195 with value = 0.9422
+Query 1/1: Action query time = 3.961 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9982
+t=138: Selected seed 195 with value = 0.9982
+Saved rollout MP4 at path ./rollouts/fcv2_175_t0_s10/2026_08_02-04_44_20--with_future_img--episode=2--success=True--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: True
+# episodes completed so far: 2
+# successes: 2 (100.0%)
+
+Task: open the middle drawer of the cabinet
+Starting episode 3...
+Query 1/1: Action query time = 5.192 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3898
+t=10: Selected seed 195 with value = 0.3898
+Query 1/1: Action query time = 4.913 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4669
+t=26: Selected seed 195 with value = 0.4669
+Query 1/1: Action query time = 5.097 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5343
+t=42: Selected seed 195 with value = 0.5343
+Query 1/1: Action query time = 5.062 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6265
+t=58: Selected seed 195 with value = 0.6265
+Query 1/1: Action query time = 3.989 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6965
+t=74: Selected seed 195 with value = 0.6965
+Query 1/1: Action query time = 4.331 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8443
+t=90: Selected seed 195 with value = 0.8443
+Query 1/1: Action query time = 3.185 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9946
+t=106: Selected seed 195 with value = 0.9946
+Query 1/1: Action query time = 0.988 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9944
+t=122: Selected seed 195 with value = 0.9944
+Saved rollout MP4 at path ./rollouts/fcv2_175_t0_s10/2026_08_02-04_44_20--with_future_img--episode=3--success=True--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: True
+# episodes completed so far: 3
+# successes: 3 (100.0%)
+Current task success rate: 1.0
+Current total success rate: 1.0
+Final results:
+Total episodes: 3
+Total successes: 3
+Overall success rate: 1.0000 (100.0%)
diff --git a/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-04_44_21--fcv2_175_t0_s12.txt b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-04_44_21--fcv2_175_t0_s12.txt
new file mode 100644
index 0000000000000000000000000000000000000000..99b913e9aa39687784d4cf83d20b89364379468b
--- /dev/null
+++ b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-04_44_21--fcv2_175_t0_s12.txt
@@ -0,0 +1,137 @@
+Eval config: PolicyEvalConfig(suite='libero', model_family='cosmos', config='cosmos_predict2_2b_480p_libero_cl_stage_inference_only', ckpt_path='/home/azureuser/REGEN-main/new/cosmos_policy/cosmos_v2_finetune/cosmos_predict2_2b_480p_libero_goal_task6_forget_cl_v2_from350_constlr_2gpu/checkpoints/iter_000000175/model', planning_model_config_name='', planning_model_ckpt_path='', config_file='cosmos_policy/config/config.py', packnet_mask_path='', packnet_first_cl_libero_task=6, use_third_person_image=True, num_third_person_images=1, use_wrist_image=True, num_wrist_images=1, use_proprio=True, flip_images=True, use_variance_scale=False, use_jpeg_compression=True, ar_future_prediction=False, ar_value_prediction=False, ar_qvalue_prediction=False, num_denoising_steps_action=5, num_denoising_steps_future_state=1, num_denoising_steps_value=1, unnormalize_actions=True, normalize_proprio=True, dataset_stats_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/libero_goal_regen/dataset_statistics.json', t5_text_embeddings_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/t5_embeddings.pkl', trained_with_image_aug=True, chunk_size=16, num_open_loop_steps=16, deterministic=True, deterministic_reset=False, deterministic_reset_seed=None, use_ensemble_future_state_predictions=False, num_future_state_predictions_in_ensemble=3, future_state_ensemble_aggregation_scheme='average', use_ensemble_value_predictions=False, num_value_predictions_in_ensemble=5, value_ensemble_aggregation_scheme='average', search_depth=1, mask_current_state_action_for_value_prediction=False, mask_future_state_for_qvalue_prediction=False, num_queries_best_of_n=1, use_parallel_inference=False, available_gpus='0', parallel_timeout=15, parallel_tasks_across_gpus=False, task_suite_name='libero_goal', num_trials_per_task=50, task_ids_to_run='0', initial_states_path='DEFAULT', env_img_res=256, local_log_dir='/home/azureuser/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal', run_id_note='fcv2_175_t0_s12', use_wandb=False, wandb_entity='YOUR_ENTITY', wandb_project='YOUR_PROJECT', seed=195, randomize_seed=False, data_collection=False, jpeg_compress=True, reward_stop_threshold=None, reward_stop_consecutive_steps=3, use_gpt_reward=False, gpt_reward_model='gpt-5.4-mini', gpt_reward_stop_threshold=4, gpt_reward_timeout_s=30.0, save_rollout_video=False, eval_hdf5_path='', eval_hdf5_demo_key='demo_0', data_gen_demo_ids='', eval_episode_ids='12,28,44', replay_actions=False, replay_action_path_dir='', replay_hdf5_path='', data_generation=False, max_generation_steps=200, simple_task_max_steps=100, complex_task_max_steps=200)
+Using serial inference (parallel inference disabled)
+Task suite: libero_goal
+Number of tasks: 10
+Running only task IDs: [0]
+Using default initial states
+
+Task: open the middle drawer of the cabinet
+Starting episode 1...
+Query 1/1: Action query time = 5.866 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3644
+t=10: Selected seed 195 with value = 0.3644
+Query 1/1: Action query time = 4.747 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4025
+t=26: Selected seed 195 with value = 0.4025
+Query 1/1: Action query time = 4.867 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4593
+t=42: Selected seed 195 with value = 0.4593
+Query 1/1: Action query time = 4.884 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5387
+t=58: Selected seed 195 with value = 0.5387
+Query 1/1: Action query time = 5.048 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6324
+t=74: Selected seed 195 with value = 0.6324
+Query 1/1: Action query time = 5.779 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7527
+t=90: Selected seed 195 with value = 0.7527
+Query 1/1: Action query time = 5.315 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8892
+t=106: Selected seed 195 with value = 0.8892
+Query 1/1: Action query time = 4.614 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=122: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 2.187 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9943
+t=138: Selected seed 195 with value = 0.9943
+Saved rollout MP4 at path ./rollouts/fcv2_175_t0_s12/2026_08_02-04_44_21--with_future_img--episode=1--success=True--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: True
+# episodes completed so far: 1
+# successes: 1 (100.0%)
+
+Task: open the middle drawer of the cabinet
+Starting episode 2...
+Query 1/1: Action query time = 4.649 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3696
+t=10: Selected seed 195 with value = 0.3696
+Query 1/1: Action query time = 5.557 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4050
+t=26: Selected seed 195 with value = 0.4050
+Query 1/1: Action query time = 5.038 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4615
+t=42: Selected seed 195 with value = 0.4615
+Query 1/1: Action query time = 5.041 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5389
+t=58: Selected seed 195 with value = 0.5389
+Query 1/1: Action query time = 5.358 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6483
+t=74: Selected seed 195 with value = 0.6483
+Query 1/1: Action query time = 5.335 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7609
+t=90: Selected seed 195 with value = 0.7609
+Query 1/1: Action query time = 4.630 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8901
+t=106: Selected seed 195 with value = 0.8901
+Query 1/1: Action query time = 3.736 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9995
+t=122: Selected seed 195 with value = 0.9995
+Saved rollout MP4 at path ./rollouts/fcv2_175_t0_s12/2026_08_02-04_44_21--with_future_img--episode=2--success=True--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: True
+# episodes completed so far: 2
+# successes: 2 (100.0%)
+
+Task: open the middle drawer of the cabinet
+Starting episode 3...
+Query 1/1: Action query time = 4.395 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3533
+t=10: Selected seed 195 with value = 0.3533
+Query 1/1: Action query time = 4.190 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4241
+t=26: Selected seed 195 with value = 0.4241
+Query 1/1: Action query time = 5.246 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5076
+t=42: Selected seed 195 with value = 0.5076
+Query 1/1: Action query time = 5.024 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5611
+t=58: Selected seed 195 with value = 0.5611
+Query 1/1: Action query time = 5.050 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6549
+t=74: Selected seed 195 with value = 0.6549
+Query 1/1: Action query time = 4.956 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7366
+t=90: Selected seed 195 with value = 0.7366
+Query 1/1: Action query time = 4.070 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8501
+t=106: Selected seed 195 with value = 0.8501
+Query 1/1: Action query time = 2.970 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9791
+t=122: Selected seed 195 with value = 0.9791
+Query 1/1: Action query time = 2.430 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=138: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/fcv2_175_t0_s12/2026_08_02-04_44_21--with_future_img--episode=3--success=True--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: True
+# episodes completed so far: 3
+# successes: 3 (100.0%)
+Current task success rate: 1.0
+Current total success rate: 1.0
+Final results:
+Total episodes: 3
+Total successes: 3
+Overall success rate: 1.0000 (100.0%)
diff --git a/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-04_44_21--fcv2_175_t0_s14.txt b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-04_44_21--fcv2_175_t0_s14.txt
new file mode 100644
index 0000000000000000000000000000000000000000..6a697a06928d5a1b75bed33fb13fb5079ca2a2e8
--- /dev/null
+++ b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-04_44_21--fcv2_175_t0_s14.txt
@@ -0,0 +1,129 @@
+Eval config: PolicyEvalConfig(suite='libero', model_family='cosmos', config='cosmos_predict2_2b_480p_libero_cl_stage_inference_only', ckpt_path='/home/azureuser/REGEN-main/new/cosmos_policy/cosmos_v2_finetune/cosmos_predict2_2b_480p_libero_goal_task6_forget_cl_v2_from350_constlr_2gpu/checkpoints/iter_000000175/model', planning_model_config_name='', planning_model_ckpt_path='', config_file='cosmos_policy/config/config.py', packnet_mask_path='', packnet_first_cl_libero_task=6, use_third_person_image=True, num_third_person_images=1, use_wrist_image=True, num_wrist_images=1, use_proprio=True, flip_images=True, use_variance_scale=False, use_jpeg_compression=True, ar_future_prediction=False, ar_value_prediction=False, ar_qvalue_prediction=False, num_denoising_steps_action=5, num_denoising_steps_future_state=1, num_denoising_steps_value=1, unnormalize_actions=True, normalize_proprio=True, dataset_stats_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/libero_goal_regen/dataset_statistics.json', t5_text_embeddings_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/t5_embeddings.pkl', trained_with_image_aug=True, chunk_size=16, num_open_loop_steps=16, deterministic=True, deterministic_reset=False, deterministic_reset_seed=None, use_ensemble_future_state_predictions=False, num_future_state_predictions_in_ensemble=3, future_state_ensemble_aggregation_scheme='average', use_ensemble_value_predictions=False, num_value_predictions_in_ensemble=5, value_ensemble_aggregation_scheme='average', search_depth=1, mask_current_state_action_for_value_prediction=False, mask_future_state_for_qvalue_prediction=False, num_queries_best_of_n=1, use_parallel_inference=False, available_gpus='0', parallel_timeout=15, parallel_tasks_across_gpus=False, task_suite_name='libero_goal', num_trials_per_task=50, task_ids_to_run='0', initial_states_path='DEFAULT', env_img_res=256, local_log_dir='/home/azureuser/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal', run_id_note='fcv2_175_t0_s14', use_wandb=False, wandb_entity='YOUR_ENTITY', wandb_project='YOUR_PROJECT', seed=195, randomize_seed=False, data_collection=False, jpeg_compress=True, reward_stop_threshold=None, reward_stop_consecutive_steps=3, use_gpt_reward=False, gpt_reward_model='gpt-5.4-mini', gpt_reward_stop_threshold=4, gpt_reward_timeout_s=30.0, save_rollout_video=False, eval_hdf5_path='', eval_hdf5_demo_key='demo_0', data_gen_demo_ids='', eval_episode_ids='14,30,46', replay_actions=False, replay_action_path_dir='', replay_hdf5_path='', data_generation=False, max_generation_steps=200, simple_task_max_steps=100, complex_task_max_steps=200)
+Using serial inference (parallel inference disabled)
+Task suite: libero_goal
+Number of tasks: 10
+Running only task IDs: [0]
+Using default initial states
+
+Task: open the middle drawer of the cabinet
+Starting episode 1...
+Query 1/1: Action query time = 6.649 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3298
+t=10: Selected seed 195 with value = 0.3298
+Query 1/1: Action query time = 5.023 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4096
+t=26: Selected seed 195 with value = 0.4096
+Query 1/1: Action query time = 5.046 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4847
+t=42: Selected seed 195 with value = 0.4847
+Query 1/1: Action query time = 4.488 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5977
+t=58: Selected seed 195 with value = 0.5977
+Query 1/1: Action query time = 4.574 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6943
+t=74: Selected seed 195 with value = 0.6943
+Query 1/1: Action query time = 5.148 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7650
+t=90: Selected seed 195 with value = 0.7650
+Query 1/1: Action query time = 5.438 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9347
+t=106: Selected seed 195 with value = 0.9347
+Query 1/1: Action query time = 4.809 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=122: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/fcv2_175_t0_s14/2026_08_02-04_44_21--with_future_img--episode=1--success=True--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: True
+# episodes completed so far: 1
+# successes: 1 (100.0%)
+
+Task: open the middle drawer of the cabinet
+Starting episode 2...
+Query 1/1: Action query time = 4.460 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3684
+t=10: Selected seed 195 with value = 0.3684
+Query 1/1: Action query time = 4.004 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4436
+t=26: Selected seed 195 with value = 0.4436
+Query 1/1: Action query time = 4.600 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5205
+t=42: Selected seed 195 with value = 0.5205
+Query 1/1: Action query time = 4.908 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6040
+t=58: Selected seed 195 with value = 0.6040
+Query 1/1: Action query time = 5.254 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7093
+t=74: Selected seed 195 with value = 0.7093
+Query 1/1: Action query time = 5.246 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7925
+t=90: Selected seed 195 with value = 0.7925
+Query 1/1: Action query time = 4.625 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9584
+t=106: Selected seed 195 with value = 0.9584
+Query 1/1: Action query time = 4.041 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9962
+t=122: Selected seed 195 with value = 0.9962
+Saved rollout MP4 at path ./rollouts/fcv2_175_t0_s14/2026_08_02-04_44_21--with_future_img--episode=2--success=True--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: True
+# episodes completed so far: 2
+# successes: 2 (100.0%)
+
+Task: open the middle drawer of the cabinet
+Starting episode 3...
+Query 1/1: Action query time = 2.517 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3820
+t=10: Selected seed 195 with value = 0.3820
+Query 1/1: Action query time = 3.735 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4402
+t=26: Selected seed 195 with value = 0.4402
+Query 1/1: Action query time = 4.091 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5045
+t=42: Selected seed 195 with value = 0.5045
+Query 1/1: Action query time = 5.458 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5881
+t=58: Selected seed 195 with value = 0.5881
+Query 1/1: Action query time = 4.875 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6994
+t=74: Selected seed 195 with value = 0.6994
+Query 1/1: Action query time = 5.193 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8216
+t=90: Selected seed 195 with value = 0.8216
+Query 1/1: Action query time = 4.971 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9814
+t=106: Selected seed 195 with value = 0.9814
+Query 1/1: Action query time = 4.942 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=122: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/fcv2_175_t0_s14/2026_08_02-04_44_21--with_future_img--episode=3--success=True--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: True
+# episodes completed so far: 3
+# successes: 3 (100.0%)
+Current task success rate: 1.0
+Current total success rate: 1.0
+Final results:
+Total episodes: 3
+Total successes: 3
+Overall success rate: 1.0000 (100.0%)
diff --git a/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-04_44_21--fcv2_175_t0_s15.txt b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-04_44_21--fcv2_175_t0_s15.txt
new file mode 100644
index 0000000000000000000000000000000000000000..394f20496fb97084b7e869643dd7d1113edbc900
--- /dev/null
+++ b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-04_44_21--fcv2_175_t0_s15.txt
@@ -0,0 +1,133 @@
+Eval config: PolicyEvalConfig(suite='libero', model_family='cosmos', config='cosmos_predict2_2b_480p_libero_cl_stage_inference_only', ckpt_path='/home/azureuser/REGEN-main/new/cosmos_policy/cosmos_v2_finetune/cosmos_predict2_2b_480p_libero_goal_task6_forget_cl_v2_from350_constlr_2gpu/checkpoints/iter_000000175/model', planning_model_config_name='', planning_model_ckpt_path='', config_file='cosmos_policy/config/config.py', packnet_mask_path='', packnet_first_cl_libero_task=6, use_third_person_image=True, num_third_person_images=1, use_wrist_image=True, num_wrist_images=1, use_proprio=True, flip_images=True, use_variance_scale=False, use_jpeg_compression=True, ar_future_prediction=False, ar_value_prediction=False, ar_qvalue_prediction=False, num_denoising_steps_action=5, num_denoising_steps_future_state=1, num_denoising_steps_value=1, unnormalize_actions=True, normalize_proprio=True, dataset_stats_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/libero_goal_regen/dataset_statistics.json', t5_text_embeddings_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/t5_embeddings.pkl', trained_with_image_aug=True, chunk_size=16, num_open_loop_steps=16, deterministic=True, deterministic_reset=False, deterministic_reset_seed=None, use_ensemble_future_state_predictions=False, num_future_state_predictions_in_ensemble=3, future_state_ensemble_aggregation_scheme='average', use_ensemble_value_predictions=False, num_value_predictions_in_ensemble=5, value_ensemble_aggregation_scheme='average', search_depth=1, mask_current_state_action_for_value_prediction=False, mask_future_state_for_qvalue_prediction=False, num_queries_best_of_n=1, use_parallel_inference=False, available_gpus='0', parallel_timeout=15, parallel_tasks_across_gpus=False, task_suite_name='libero_goal', num_trials_per_task=50, task_ids_to_run='0', initial_states_path='DEFAULT', env_img_res=256, local_log_dir='/home/azureuser/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal', run_id_note='fcv2_175_t0_s15', use_wandb=False, wandb_entity='YOUR_ENTITY', wandb_project='YOUR_PROJECT', seed=195, randomize_seed=False, data_collection=False, jpeg_compress=True, reward_stop_threshold=None, reward_stop_consecutive_steps=3, use_gpt_reward=False, gpt_reward_model='gpt-5.4-mini', gpt_reward_stop_threshold=4, gpt_reward_timeout_s=30.0, save_rollout_video=False, eval_hdf5_path='', eval_hdf5_demo_key='demo_0', data_gen_demo_ids='', eval_episode_ids='15,31,47', replay_actions=False, replay_action_path_dir='', replay_hdf5_path='', data_generation=False, max_generation_steps=200, simple_task_max_steps=100, complex_task_max_steps=200)
+Using serial inference (parallel inference disabled)
+Task suite: libero_goal
+Number of tasks: 10
+Running only task IDs: [0]
+Using default initial states
+
+Task: open the middle drawer of the cabinet
+Starting episode 1...
+Query 1/1: Action query time = 5.854 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3520
+t=10: Selected seed 195 with value = 0.3520
+Query 1/1: Action query time = 4.602 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4179
+t=26: Selected seed 195 with value = 0.4179
+Query 1/1: Action query time = 4.796 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4966
+t=42: Selected seed 195 with value = 0.4966
+Query 1/1: Action query time = 4.892 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5526
+t=58: Selected seed 195 with value = 0.5526
+Query 1/1: Action query time = 5.107 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6718
+t=74: Selected seed 195 with value = 0.6718
+Query 1/1: Action query time = 5.744 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7583
+t=90: Selected seed 195 with value = 0.7583
+Query 1/1: Action query time = 5.202 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9051
+t=106: Selected seed 195 with value = 0.9051
+Query 1/1: Action query time = 4.270 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=122: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/fcv2_175_t0_s15/2026_08_02-04_44_21--with_future_img--episode=1--success=True--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: True
+# episodes completed so far: 1
+# successes: 1 (100.0%)
+
+Task: open the middle drawer of the cabinet
+Starting episode 2...
+Query 1/1: Action query time = 4.585 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2999
+t=10: Selected seed 195 with value = 0.2999
+Query 1/1: Action query time = 4.179 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3649
+t=26: Selected seed 195 with value = 0.3649
+Query 1/1: Action query time = 5.653 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4102
+t=42: Selected seed 195 with value = 0.4102
+Query 1/1: Action query time = 5.342 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5005
+t=58: Selected seed 195 with value = 0.5005
+Query 1/1: Action query time = 5.235 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5339
+t=74: Selected seed 195 with value = 0.5339
+Query 1/1: Action query time = 5.033 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6391
+t=90: Selected seed 195 with value = 0.6391
+Query 1/1: Action query time = 5.348 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8909
+t=106: Selected seed 195 with value = 0.8909
+Query 1/1: Action query time = 4.154 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9896
+t=122: Selected seed 195 with value = 0.9896
+Query 1/1: Action query time = 4.236 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9993
+t=138: Selected seed 195 with value = 0.9993
+Saved rollout MP4 at path ./rollouts/fcv2_175_t0_s15/2026_08_02-04_44_21--with_future_img--episode=2--success=True--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: True
+# episodes completed so far: 2
+# successes: 2 (100.0%)
+
+Task: open the middle drawer of the cabinet
+Starting episode 3...
+Query 1/1: Action query time = 4.542 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3968
+t=10: Selected seed 195 with value = 0.3968
+Query 1/1: Action query time = 4.719 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4563
+t=26: Selected seed 195 with value = 0.4563
+Query 1/1: Action query time = 5.086 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5271
+t=42: Selected seed 195 with value = 0.5271
+Query 1/1: Action query time = 5.364 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6222
+t=58: Selected seed 195 with value = 0.6222
+Query 1/1: Action query time = 5.202 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6546
+t=74: Selected seed 195 with value = 0.6546
+Query 1/1: Action query time = 4.484 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7766
+t=90: Selected seed 195 with value = 0.7766
+Query 1/1: Action query time = 3.896 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9088
+t=106: Selected seed 195 with value = 0.9088
+Query 1/1: Action query time = 2.780 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9927
+t=122: Selected seed 195 with value = 0.9927
+Saved rollout MP4 at path ./rollouts/fcv2_175_t0_s15/2026_08_02-04_44_21--with_future_img--episode=3--success=True--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: True
+# episodes completed so far: 3
+# successes: 3 (100.0%)
+Current task success rate: 1.0
+Current total success rate: 1.0
+Final results:
+Total episodes: 3
+Total successes: 3
+Overall success rate: 1.0000 (100.0%)
diff --git a/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-04_47_40--fcv2_175_t1_s00.txt b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-04_47_40--fcv2_175_t1_s00.txt
new file mode 100644
index 0000000000000000000000000000000000000000..2e00b48316d34613696dbe614932e03ff00a8395
--- /dev/null
+++ b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-04_47_40--fcv2_175_t1_s00.txt
@@ -0,0 +1,136 @@
+Eval config: PolicyEvalConfig(suite='libero', model_family='cosmos', config='cosmos_predict2_2b_480p_libero_cl_stage_inference_only', ckpt_path='/home/azureuser/REGEN-main/new/cosmos_policy/cosmos_v2_finetune/cosmos_predict2_2b_480p_libero_goal_task6_forget_cl_v2_from350_constlr_2gpu/checkpoints/iter_000000175/model', planning_model_config_name='', planning_model_ckpt_path='', config_file='cosmos_policy/config/config.py', packnet_mask_path='', packnet_first_cl_libero_task=6, use_third_person_image=True, num_third_person_images=1, use_wrist_image=True, num_wrist_images=1, use_proprio=True, flip_images=True, use_variance_scale=False, use_jpeg_compression=True, ar_future_prediction=False, ar_value_prediction=False, ar_qvalue_prediction=False, num_denoising_steps_action=5, num_denoising_steps_future_state=1, num_denoising_steps_value=1, unnormalize_actions=True, normalize_proprio=True, dataset_stats_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/libero_goal_regen/dataset_statistics.json', t5_text_embeddings_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/t5_embeddings.pkl', trained_with_image_aug=True, chunk_size=16, num_open_loop_steps=16, deterministic=True, deterministic_reset=False, deterministic_reset_seed=None, use_ensemble_future_state_predictions=False, num_future_state_predictions_in_ensemble=3, future_state_ensemble_aggregation_scheme='average', use_ensemble_value_predictions=False, num_value_predictions_in_ensemble=5, value_ensemble_aggregation_scheme='average', search_depth=1, mask_current_state_action_for_value_prediction=False, mask_future_state_for_qvalue_prediction=False, num_queries_best_of_n=1, use_parallel_inference=False, available_gpus='0', parallel_timeout=15, parallel_tasks_across_gpus=False, task_suite_name='libero_goal', num_trials_per_task=50, task_ids_to_run='1', initial_states_path='DEFAULT', env_img_res=256, local_log_dir='/home/azureuser/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal', run_id_note='fcv2_175_t1_s00', use_wandb=False, wandb_entity='YOUR_ENTITY', wandb_project='YOUR_PROJECT', seed=195, randomize_seed=False, data_collection=False, jpeg_compress=True, reward_stop_threshold=None, reward_stop_consecutive_steps=3, use_gpt_reward=False, gpt_reward_model='gpt-5.4-mini', gpt_reward_stop_threshold=4, gpt_reward_timeout_s=30.0, save_rollout_video=False, eval_hdf5_path='', eval_hdf5_demo_key='demo_0', data_gen_demo_ids='', eval_episode_ids='0,16,32,48', replay_actions=False, replay_action_path_dir='', replay_hdf5_path='', data_generation=False, max_generation_steps=200, simple_task_max_steps=100, complex_task_max_steps=200)
+Using serial inference (parallel inference disabled)
+Task suite: libero_goal
+Number of tasks: 10
+Running only task IDs: [1]
+Using default initial states
+
+Task: put the bowl on the stove
+Starting episode 1...
+Query 1/1: Action query time = 2.157 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4880
+t=10: Selected seed 195 with value = 0.4880
+Query 1/1: Action query time = 3.327 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6144
+t=26: Selected seed 195 with value = 0.6144
+Query 1/1: Action query time = 4.967 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7349
+t=42: Selected seed 195 with value = 0.7349
+Query 1/1: Action query time = 4.540 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8384
+t=58: Selected seed 195 with value = 0.8384
+Query 1/1: Action query time = 4.902 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9690
+t=74: Selected seed 195 with value = 0.9690
+Query 1/1: Action query time = 4.483 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9976
+t=90: Selected seed 195 with value = 0.9976
+Saved rollout MP4 at path ./rollouts/fcv2_175_t1_s00/2026_08_02-04_47_40--with_future_img--episode=1--success=True--task=put_the_bowl_on_the_stove.mp4
+Success: True
+# episodes completed so far: 1
+# successes: 1 (100.0%)
+
+Task: put the bowl on the stove
+Starting episode 2...
+Query 1/1: Action query time = 4.280 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4782
+t=10: Selected seed 195 with value = 0.4782
+Query 1/1: Action query time = 2.706 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6160
+t=26: Selected seed 195 with value = 0.6160
+Query 1/1: Action query time = 4.180 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7241
+t=42: Selected seed 195 with value = 0.7241
+Query 1/1: Action query time = 5.059 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8429
+t=58: Selected seed 195 with value = 0.8429
+Query 1/1: Action query time = 5.527 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9767
+t=74: Selected seed 195 with value = 0.9767
+Query 1/1: Action query time = 4.720 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9949
+t=90: Selected seed 195 with value = 0.9949
+Saved rollout MP4 at path ./rollouts/fcv2_175_t1_s00/2026_08_02-04_47_40--with_future_img--episode=2--success=True--task=put_the_bowl_on_the_stove.mp4
+Success: True
+# episodes completed so far: 2
+# successes: 2 (100.0%)
+
+Task: put the bowl on the stove
+Starting episode 3...
+Query 1/1: Action query time = 3.829 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5194
+t=10: Selected seed 195 with value = 0.5194
+Query 1/1: Action query time = 4.337 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6027
+t=26: Selected seed 195 with value = 0.6027
+Query 1/1: Action query time = 2.112 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7036
+t=42: Selected seed 195 with value = 0.7036
+Query 1/1: Action query time = 4.911 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8172
+t=58: Selected seed 195 with value = 0.8172
+Query 1/1: Action query time = 5.451 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9465
+t=74: Selected seed 195 with value = 0.9465
+Query 1/1: Action query time = 4.729 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/fcv2_175_t1_s00/2026_08_02-04_47_40--with_future_img--episode=3--success=True--task=put_the_bowl_on_the_stove.mp4
+Success: True
+# episodes completed so far: 3
+# successes: 3 (100.0%)
+
+Task: put the bowl on the stove
+Starting episode 4...
+Query 1/1: Action query time = 3.948 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5003
+t=10: Selected seed 195 with value = 0.5003
+Query 1/1: Action query time = 4.018 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5980
+t=26: Selected seed 195 with value = 0.5980
+Query 1/1: Action query time = 1.998 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7057
+t=42: Selected seed 195 with value = 0.7057
+Query 1/1: Action query time = 1.741 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8343
+t=58: Selected seed 195 with value = 0.8343
+Query 1/1: Action query time = 2.200 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9658
+t=74: Selected seed 195 with value = 0.9658
+Query 1/1: Action query time = 2.601 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/fcv2_175_t1_s00/2026_08_02-04_47_40--with_future_img--episode=4--success=True--task=put_the_bowl_on_the_stove.mp4
+Success: True
+# episodes completed so far: 4
+# successes: 4 (100.0%)
+Current task success rate: 1.0
+Current total success rate: 1.0
+Final results:
+Total episodes: 4
+Total successes: 4
+Overall success rate: 1.0000 (100.0%)
diff --git a/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-04_47_40--fcv2_175_t1_s02.txt b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-04_47_40--fcv2_175_t1_s02.txt
new file mode 100644
index 0000000000000000000000000000000000000000..b2cd2b57c264df7b059af65fc722cb33f67e92b3
--- /dev/null
+++ b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-04_47_40--fcv2_175_t1_s02.txt
@@ -0,0 +1,105 @@
+Eval config: PolicyEvalConfig(suite='libero', model_family='cosmos', config='cosmos_predict2_2b_480p_libero_cl_stage_inference_only', ckpt_path='/home/azureuser/REGEN-main/new/cosmos_policy/cosmos_v2_finetune/cosmos_predict2_2b_480p_libero_goal_task6_forget_cl_v2_from350_constlr_2gpu/checkpoints/iter_000000175/model', planning_model_config_name='', planning_model_ckpt_path='', config_file='cosmos_policy/config/config.py', packnet_mask_path='', packnet_first_cl_libero_task=6, use_third_person_image=True, num_third_person_images=1, use_wrist_image=True, num_wrist_images=1, use_proprio=True, flip_images=True, use_variance_scale=False, use_jpeg_compression=True, ar_future_prediction=False, ar_value_prediction=False, ar_qvalue_prediction=False, num_denoising_steps_action=5, num_denoising_steps_future_state=1, num_denoising_steps_value=1, unnormalize_actions=True, normalize_proprio=True, dataset_stats_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/libero_goal_regen/dataset_statistics.json', t5_text_embeddings_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/t5_embeddings.pkl', trained_with_image_aug=True, chunk_size=16, num_open_loop_steps=16, deterministic=True, deterministic_reset=False, deterministic_reset_seed=None, use_ensemble_future_state_predictions=False, num_future_state_predictions_in_ensemble=3, future_state_ensemble_aggregation_scheme='average', use_ensemble_value_predictions=False, num_value_predictions_in_ensemble=5, value_ensemble_aggregation_scheme='average', search_depth=1, mask_current_state_action_for_value_prediction=False, mask_future_state_for_qvalue_prediction=False, num_queries_best_of_n=1, use_parallel_inference=False, available_gpus='0', parallel_timeout=15, parallel_tasks_across_gpus=False, task_suite_name='libero_goal', num_trials_per_task=50, task_ids_to_run='1', initial_states_path='DEFAULT', env_img_res=256, local_log_dir='/home/azureuser/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal', run_id_note='fcv2_175_t1_s02', use_wandb=False, wandb_entity='YOUR_ENTITY', wandb_project='YOUR_PROJECT', seed=195, randomize_seed=False, data_collection=False, jpeg_compress=True, reward_stop_threshold=None, reward_stop_consecutive_steps=3, use_gpt_reward=False, gpt_reward_model='gpt-5.4-mini', gpt_reward_stop_threshold=4, gpt_reward_timeout_s=30.0, save_rollout_video=False, eval_hdf5_path='', eval_hdf5_demo_key='demo_0', data_gen_demo_ids='', eval_episode_ids='2,18,34', replay_actions=False, replay_action_path_dir='', replay_hdf5_path='', data_generation=False, max_generation_steps=200, simple_task_max_steps=100, complex_task_max_steps=200)
+Using serial inference (parallel inference disabled)
+Task suite: libero_goal
+Number of tasks: 10
+Running only task IDs: [1]
+Using default initial states
+
+Task: put the bowl on the stove
+Starting episode 1...
+Query 1/1: Action query time = 6.545 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5003
+t=10: Selected seed 195 with value = 0.5003
+Query 1/1: Action query time = 5.230 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6221
+t=26: Selected seed 195 with value = 0.6221
+Query 1/1: Action query time = 5.281 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7146
+t=42: Selected seed 195 with value = 0.7146
+Query 1/1: Action query time = 4.439 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8089
+t=58: Selected seed 195 with value = 0.8089
+Query 1/1: Action query time = 4.456 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8980
+t=74: Selected seed 195 with value = 0.8980
+Query 1/1: Action query time = 3.394 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9667
+t=90: Selected seed 195 with value = 0.9667
+Saved rollout MP4 at path ./rollouts/fcv2_175_t1_s02/2026_08_02-04_47_40--with_future_img--episode=1--success=True--task=put_the_bowl_on_the_stove.mp4
+Success: True
+# episodes completed so far: 1
+# successes: 1 (100.0%)
+
+Task: put the bowl on the stove
+Starting episode 2...
+Query 1/1: Action query time = 4.737 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4927
+t=10: Selected seed 195 with value = 0.4927
+Query 1/1: Action query time = 4.176 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6001
+t=26: Selected seed 195 with value = 0.6001
+Query 1/1: Action query time = 4.183 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6884
+t=42: Selected seed 195 with value = 0.6884
+Query 1/1: Action query time = 4.287 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7802
+t=58: Selected seed 195 with value = 0.7802
+Query 1/1: Action query time = 4.077 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9297
+t=74: Selected seed 195 with value = 0.9297
+Query 1/1: Action query time = 4.200 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/fcv2_175_t1_s02/2026_08_02-04_47_40--with_future_img--episode=2--success=True--task=put_the_bowl_on_the_stove.mp4
+Success: True
+# episodes completed so far: 2
+# successes: 2 (100.0%)
+
+Task: put the bowl on the stove
+Starting episode 3...
+Query 1/1: Action query time = 4.692 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4904
+t=10: Selected seed 195 with value = 0.4904
+Query 1/1: Action query time = 5.502 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5989
+t=26: Selected seed 195 with value = 0.5989
+Query 1/1: Action query time = 5.251 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7195
+t=42: Selected seed 195 with value = 0.7195
+Query 1/1: Action query time = 2.793 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8265
+t=58: Selected seed 195 with value = 0.8265
+Query 1/1: Action query time = 4.048 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9562
+t=74: Selected seed 195 with value = 0.9562
+Query 1/1: Action query time = 4.200 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9961
+t=90: Selected seed 195 with value = 0.9961
+Saved rollout MP4 at path ./rollouts/fcv2_175_t1_s02/2026_08_02-04_47_40--with_future_img--episode=3--success=True--task=put_the_bowl_on_the_stove.mp4
+Success: True
+# episodes completed so far: 3
+# successes: 3 (100.0%)
+Current task success rate: 1.0
+Current total success rate: 1.0
+Final results:
+Total episodes: 3
+Total successes: 3
+Overall success rate: 1.0000 (100.0%)
diff --git a/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-04_47_40--fcv2_175_t1_s03.txt b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-04_47_40--fcv2_175_t1_s03.txt
new file mode 100644
index 0000000000000000000000000000000000000000..783a23443c8e4da0eba07fc64b2ce82dfdf95e46
--- /dev/null
+++ b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-04_47_40--fcv2_175_t1_s03.txt
@@ -0,0 +1,157 @@
+Eval config: PolicyEvalConfig(suite='libero', model_family='cosmos', config='cosmos_predict2_2b_480p_libero_cl_stage_inference_only', ckpt_path='/home/azureuser/REGEN-main/new/cosmos_policy/cosmos_v2_finetune/cosmos_predict2_2b_480p_libero_goal_task6_forget_cl_v2_from350_constlr_2gpu/checkpoints/iter_000000175/model', planning_model_config_name='', planning_model_ckpt_path='', config_file='cosmos_policy/config/config.py', packnet_mask_path='', packnet_first_cl_libero_task=6, use_third_person_image=True, num_third_person_images=1, use_wrist_image=True, num_wrist_images=1, use_proprio=True, flip_images=True, use_variance_scale=False, use_jpeg_compression=True, ar_future_prediction=False, ar_value_prediction=False, ar_qvalue_prediction=False, num_denoising_steps_action=5, num_denoising_steps_future_state=1, num_denoising_steps_value=1, unnormalize_actions=True, normalize_proprio=True, dataset_stats_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/libero_goal_regen/dataset_statistics.json', t5_text_embeddings_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/t5_embeddings.pkl', trained_with_image_aug=True, chunk_size=16, num_open_loop_steps=16, deterministic=True, deterministic_reset=False, deterministic_reset_seed=None, use_ensemble_future_state_predictions=False, num_future_state_predictions_in_ensemble=3, future_state_ensemble_aggregation_scheme='average', use_ensemble_value_predictions=False, num_value_predictions_in_ensemble=5, value_ensemble_aggregation_scheme='average', search_depth=1, mask_current_state_action_for_value_prediction=False, mask_future_state_for_qvalue_prediction=False, num_queries_best_of_n=1, use_parallel_inference=False, available_gpus='0', parallel_timeout=15, parallel_tasks_across_gpus=False, task_suite_name='libero_goal', num_trials_per_task=50, task_ids_to_run='1', initial_states_path='DEFAULT', env_img_res=256, local_log_dir='/home/azureuser/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal', run_id_note='fcv2_175_t1_s03', use_wandb=False, wandb_entity='YOUR_ENTITY', wandb_project='YOUR_PROJECT', seed=195, randomize_seed=False, data_collection=False, jpeg_compress=True, reward_stop_threshold=None, reward_stop_consecutive_steps=3, use_gpt_reward=False, gpt_reward_model='gpt-5.4-mini', gpt_reward_stop_threshold=4, gpt_reward_timeout_s=30.0, save_rollout_video=False, eval_hdf5_path='', eval_hdf5_demo_key='demo_0', data_gen_demo_ids='', eval_episode_ids='3,19,35', replay_actions=False, replay_action_path_dir='', replay_hdf5_path='', data_generation=False, max_generation_steps=200, simple_task_max_steps=100, complex_task_max_steps=200)
+Using serial inference (parallel inference disabled)
+Task suite: libero_goal
+Number of tasks: 10
+Running only task IDs: [1]
+Using default initial states
+
+Task: put the bowl on the stove
+Starting episode 1...
+Query 1/1: Action query time = 1.990 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5113
+t=10: Selected seed 195 with value = 0.5113
+Query 1/1: Action query time = 2.211 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6055
+t=26: Selected seed 195 with value = 0.6055
+Query 1/1: Action query time = 3.631 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6825
+t=42: Selected seed 195 with value = 0.6825
+Query 1/1: Action query time = 5.170 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8447
+t=58: Selected seed 195 with value = 0.8447
+Query 1/1: Action query time = 4.649 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9659
+t=74: Selected seed 195 with value = 0.9659
+Query 1/1: Action query time = 4.866 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9952
+t=90: Selected seed 195 with value = 0.9952
+Saved rollout MP4 at path ./rollouts/fcv2_175_t1_s03/2026_08_02-04_47_40--with_future_img--episode=1--success=True--task=put_the_bowl_on_the_stove.mp4
+Success: True
+# episodes completed so far: 1
+# successes: 1 (100.0%)
+
+Task: put the bowl on the stove
+Starting episode 2...
+Query 1/1: Action query time = 3.985 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5025
+t=10: Selected seed 195 with value = 0.5025
+Query 1/1: Action query time = 3.689 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6000
+t=26: Selected seed 195 with value = 0.6000
+Query 1/1: Action query time = 2.369 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6942
+t=42: Selected seed 195 with value = 0.6942
+Query 1/1: Action query time = 4.440 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8429
+t=58: Selected seed 195 with value = 0.8429
+Query 1/1: Action query time = 4.488 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9508
+t=74: Selected seed 195 with value = 0.9508
+Query 1/1: Action query time = 5.201 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9942
+t=90: Selected seed 195 with value = 0.9942
+Saved rollout MP4 at path ./rollouts/fcv2_175_t1_s03/2026_08_02-04_47_40--with_future_img--episode=2--success=True--task=put_the_bowl_on_the_stove.mp4
+Success: True
+# episodes completed so far: 2
+# successes: 2 (100.0%)
+
+Task: put the bowl on the stove
+Starting episode 3...
+Query 1/1: Action query time = 4.181 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5123
+t=10: Selected seed 195 with value = 0.5123
+Query 1/1: Action query time = 4.021 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6186
+t=26: Selected seed 195 with value = 0.6186
+Query 1/1: Action query time = 4.152 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7162
+t=42: Selected seed 195 with value = 0.7162
+Query 1/1: Action query time = 4.358 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8450
+t=58: Selected seed 195 with value = 0.8450
+Query 1/1: Action query time = 5.328 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9655
+t=74: Selected seed 195 with value = 0.9655
+Query 1/1: Action query time = 4.917 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.727 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=106: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 3.672 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=122: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 3.467 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=138: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 3.802 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=154: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 2.127 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=170: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 2.587 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=186: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 2.681 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=202: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 1.904 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=218: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 1.870 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=234: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.974 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=250: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.970 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=266: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.956 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=282: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 1.132 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9935
+t=298: Selected seed 195 with value = 0.9935
+Saved rollout MP4 at path ./rollouts/fcv2_175_t1_s03/2026_08_02-04_47_40--with_future_img--episode=3--success=False--task=put_the_bowl_on_the_stove.mp4
+Success: False
+# episodes completed so far: 3
+# successes: 2 (66.7%)
+Current task success rate: 0.6666666666666666
+Current total success rate: 0.6666666666666666
+Final results:
+Total episodes: 3
+Total successes: 2
+Overall success rate: 0.6667 (66.7%)
diff --git a/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-04_47_40--fcv2_175_t1_s04.txt b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-04_47_40--fcv2_175_t1_s04.txt
new file mode 100644
index 0000000000000000000000000000000000000000..98565110b268dd3ea19d42dc9a4a92d013847cc9
--- /dev/null
+++ b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-04_47_40--fcv2_175_t1_s04.txt
@@ -0,0 +1,105 @@
+Eval config: PolicyEvalConfig(suite='libero', model_family='cosmos', config='cosmos_predict2_2b_480p_libero_cl_stage_inference_only', ckpt_path='/home/azureuser/REGEN-main/new/cosmos_policy/cosmos_v2_finetune/cosmos_predict2_2b_480p_libero_goal_task6_forget_cl_v2_from350_constlr_2gpu/checkpoints/iter_000000175/model', planning_model_config_name='', planning_model_ckpt_path='', config_file='cosmos_policy/config/config.py', packnet_mask_path='', packnet_first_cl_libero_task=6, use_third_person_image=True, num_third_person_images=1, use_wrist_image=True, num_wrist_images=1, use_proprio=True, flip_images=True, use_variance_scale=False, use_jpeg_compression=True, ar_future_prediction=False, ar_value_prediction=False, ar_qvalue_prediction=False, num_denoising_steps_action=5, num_denoising_steps_future_state=1, num_denoising_steps_value=1, unnormalize_actions=True, normalize_proprio=True, dataset_stats_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/libero_goal_regen/dataset_statistics.json', t5_text_embeddings_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/t5_embeddings.pkl', trained_with_image_aug=True, chunk_size=16, num_open_loop_steps=16, deterministic=True, deterministic_reset=False, deterministic_reset_seed=None, use_ensemble_future_state_predictions=False, num_future_state_predictions_in_ensemble=3, future_state_ensemble_aggregation_scheme='average', use_ensemble_value_predictions=False, num_value_predictions_in_ensemble=5, value_ensemble_aggregation_scheme='average', search_depth=1, mask_current_state_action_for_value_prediction=False, mask_future_state_for_qvalue_prediction=False, num_queries_best_of_n=1, use_parallel_inference=False, available_gpus='0', parallel_timeout=15, parallel_tasks_across_gpus=False, task_suite_name='libero_goal', num_trials_per_task=50, task_ids_to_run='1', initial_states_path='DEFAULT', env_img_res=256, local_log_dir='/home/azureuser/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal', run_id_note='fcv2_175_t1_s04', use_wandb=False, wandb_entity='YOUR_ENTITY', wandb_project='YOUR_PROJECT', seed=195, randomize_seed=False, data_collection=False, jpeg_compress=True, reward_stop_threshold=None, reward_stop_consecutive_steps=3, use_gpt_reward=False, gpt_reward_model='gpt-5.4-mini', gpt_reward_stop_threshold=4, gpt_reward_timeout_s=30.0, save_rollout_video=False, eval_hdf5_path='', eval_hdf5_demo_key='demo_0', data_gen_demo_ids='', eval_episode_ids='4,20,36', replay_actions=False, replay_action_path_dir='', replay_hdf5_path='', data_generation=False, max_generation_steps=200, simple_task_max_steps=100, complex_task_max_steps=200)
+Using serial inference (parallel inference disabled)
+Task suite: libero_goal
+Number of tasks: 10
+Running only task IDs: [1]
+Using default initial states
+
+Task: put the bowl on the stove
+Starting episode 1...
+Query 1/1: Action query time = 3.900 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4985
+t=10: Selected seed 195 with value = 0.4985
+Query 1/1: Action query time = 4.130 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5902
+t=26: Selected seed 195 with value = 0.5902
+Query 1/1: Action query time = 4.405 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7040
+t=42: Selected seed 195 with value = 0.7040
+Query 1/1: Action query time = 4.733 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8093
+t=58: Selected seed 195 with value = 0.8093
+Query 1/1: Action query time = 4.519 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9508
+t=74: Selected seed 195 with value = 0.9508
+Query 1/1: Action query time = 3.766 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9955
+t=90: Selected seed 195 with value = 0.9955
+Saved rollout MP4 at path ./rollouts/fcv2_175_t1_s04/2026_08_02-04_47_40--with_future_img--episode=1--success=True--task=put_the_bowl_on_the_stove.mp4
+Success: True
+# episodes completed so far: 1
+# successes: 1 (100.0%)
+
+Task: put the bowl on the stove
+Starting episode 2...
+Query 1/1: Action query time = 3.780 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4878
+t=10: Selected seed 195 with value = 0.4878
+Query 1/1: Action query time = 3.189 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5991
+t=26: Selected seed 195 with value = 0.5991
+Query 1/1: Action query time = 4.361 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6998
+t=42: Selected seed 195 with value = 0.6998
+Query 1/1: Action query time = 4.344 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8022
+t=58: Selected seed 195 with value = 0.8022
+Query 1/1: Action query time = 4.543 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9547
+t=74: Selected seed 195 with value = 0.9547
+Query 1/1: Action query time = 4.643 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9935
+t=90: Selected seed 195 with value = 0.9935
+Saved rollout MP4 at path ./rollouts/fcv2_175_t1_s04/2026_08_02-04_47_40--with_future_img--episode=2--success=True--task=put_the_bowl_on_the_stove.mp4
+Success: True
+# episodes completed so far: 2
+# successes: 2 (100.0%)
+
+Task: put the bowl on the stove
+Starting episode 3...
+Query 1/1: Action query time = 4.861 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5053
+t=10: Selected seed 195 with value = 0.5053
+Query 1/1: Action query time = 2.949 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6186
+t=26: Selected seed 195 with value = 0.6186
+Query 1/1: Action query time = 3.250 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7393
+t=42: Selected seed 195 with value = 0.7393
+Query 1/1: Action query time = 4.714 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8456
+t=58: Selected seed 195 with value = 0.8456
+Query 1/1: Action query time = 4.905 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9832
+t=74: Selected seed 195 with value = 0.9832
+Query 1/1: Action query time = 5.404 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/fcv2_175_t1_s04/2026_08_02-04_47_40--with_future_img--episode=3--success=True--task=put_the_bowl_on_the_stove.mp4
+Success: True
+# episodes completed so far: 3
+# successes: 3 (100.0%)
+Current task success rate: 1.0
+Current total success rate: 1.0
+Final results:
+Total episodes: 3
+Total successes: 3
+Overall success rate: 1.0000 (100.0%)
diff --git a/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-04_47_40--fcv2_175_t1_s06.txt b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-04_47_40--fcv2_175_t1_s06.txt
new file mode 100644
index 0000000000000000000000000000000000000000..aca1cc70718605cceef8b25da41116ceb08d852e
--- /dev/null
+++ b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-04_47_40--fcv2_175_t1_s06.txt
@@ -0,0 +1,109 @@
+Eval config: PolicyEvalConfig(suite='libero', model_family='cosmos', config='cosmos_predict2_2b_480p_libero_cl_stage_inference_only', ckpt_path='/home/azureuser/REGEN-main/new/cosmos_policy/cosmos_v2_finetune/cosmos_predict2_2b_480p_libero_goal_task6_forget_cl_v2_from350_constlr_2gpu/checkpoints/iter_000000175/model', planning_model_config_name='', planning_model_ckpt_path='', config_file='cosmos_policy/config/config.py', packnet_mask_path='', packnet_first_cl_libero_task=6, use_third_person_image=True, num_third_person_images=1, use_wrist_image=True, num_wrist_images=1, use_proprio=True, flip_images=True, use_variance_scale=False, use_jpeg_compression=True, ar_future_prediction=False, ar_value_prediction=False, ar_qvalue_prediction=False, num_denoising_steps_action=5, num_denoising_steps_future_state=1, num_denoising_steps_value=1, unnormalize_actions=True, normalize_proprio=True, dataset_stats_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/libero_goal_regen/dataset_statistics.json', t5_text_embeddings_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/t5_embeddings.pkl', trained_with_image_aug=True, chunk_size=16, num_open_loop_steps=16, deterministic=True, deterministic_reset=False, deterministic_reset_seed=None, use_ensemble_future_state_predictions=False, num_future_state_predictions_in_ensemble=3, future_state_ensemble_aggregation_scheme='average', use_ensemble_value_predictions=False, num_value_predictions_in_ensemble=5, value_ensemble_aggregation_scheme='average', search_depth=1, mask_current_state_action_for_value_prediction=False, mask_future_state_for_qvalue_prediction=False, num_queries_best_of_n=1, use_parallel_inference=False, available_gpus='0', parallel_timeout=15, parallel_tasks_across_gpus=False, task_suite_name='libero_goal', num_trials_per_task=50, task_ids_to_run='1', initial_states_path='DEFAULT', env_img_res=256, local_log_dir='/home/azureuser/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal', run_id_note='fcv2_175_t1_s06', use_wandb=False, wandb_entity='YOUR_ENTITY', wandb_project='YOUR_PROJECT', seed=195, randomize_seed=False, data_collection=False, jpeg_compress=True, reward_stop_threshold=None, reward_stop_consecutive_steps=3, use_gpt_reward=False, gpt_reward_model='gpt-5.4-mini', gpt_reward_stop_threshold=4, gpt_reward_timeout_s=30.0, save_rollout_video=False, eval_hdf5_path='', eval_hdf5_demo_key='demo_0', data_gen_demo_ids='', eval_episode_ids='6,22,38', replay_actions=False, replay_action_path_dir='', replay_hdf5_path='', data_generation=False, max_generation_steps=200, simple_task_max_steps=100, complex_task_max_steps=200)
+Using serial inference (parallel inference disabled)
+Task suite: libero_goal
+Number of tasks: 10
+Running only task IDs: [1]
+Using default initial states
+
+Task: put the bowl on the stove
+Starting episode 1...
+Query 1/1: Action query time = 4.279 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4605
+t=10: Selected seed 195 with value = 0.4605
+Query 1/1: Action query time = 5.211 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5418
+t=26: Selected seed 195 with value = 0.5418
+Query 1/1: Action query time = 5.441 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6911
+t=42: Selected seed 195 with value = 0.6911
+Query 1/1: Action query time = 5.224 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7801
+t=58: Selected seed 195 with value = 0.7801
+Query 1/1: Action query time = 4.569 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9086
+t=74: Selected seed 195 with value = 0.9086
+Query 1/1: Action query time = 4.053 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 3.960 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9976
+t=106: Selected seed 195 with value = 0.9976
+Saved rollout MP4 at path ./rollouts/fcv2_175_t1_s06/2026_08_02-04_47_40--with_future_img--episode=1--success=True--task=put_the_bowl_on_the_stove.mp4
+Success: True
+# episodes completed so far: 1
+# successes: 1 (100.0%)
+
+Task: put the bowl on the stove
+Starting episode 2...
+Query 1/1: Action query time = 5.448 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4799
+t=10: Selected seed 195 with value = 0.4799
+Query 1/1: Action query time = 5.232 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5874
+t=26: Selected seed 195 with value = 0.5874
+Query 1/1: Action query time = 3.776 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7004
+t=42: Selected seed 195 with value = 0.7004
+Query 1/1: Action query time = 3.959 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7886
+t=58: Selected seed 195 with value = 0.7886
+Query 1/1: Action query time = 4.626 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9356
+t=74: Selected seed 195 with value = 0.9356
+Query 1/1: Action query time = 4.365 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9954
+t=90: Selected seed 195 with value = 0.9954
+Saved rollout MP4 at path ./rollouts/fcv2_175_t1_s06/2026_08_02-04_47_40--with_future_img--episode=2--success=True--task=put_the_bowl_on_the_stove.mp4
+Success: True
+# episodes completed so far: 2
+# successes: 2 (100.0%)
+
+Task: put the bowl on the stove
+Starting episode 3...
+Query 1/1: Action query time = 5.596 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4972
+t=10: Selected seed 195 with value = 0.4972
+Query 1/1: Action query time = 5.145 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5725
+t=26: Selected seed 195 with value = 0.5725
+Query 1/1: Action query time = 4.838 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7075
+t=42: Selected seed 195 with value = 0.7075
+Query 1/1: Action query time = 4.366 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7914
+t=58: Selected seed 195 with value = 0.7914
+Query 1/1: Action query time = 3.290 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9073
+t=74: Selected seed 195 with value = 0.9073
+Query 1/1: Action query time = 2.964 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9781
+t=90: Selected seed 195 with value = 0.9781
+Saved rollout MP4 at path ./rollouts/fcv2_175_t1_s06/2026_08_02-04_47_40--with_future_img--episode=3--success=True--task=put_the_bowl_on_the_stove.mp4
+Success: True
+# episodes completed so far: 3
+# successes: 3 (100.0%)
+Current task success rate: 1.0
+Current total success rate: 1.0
+Final results:
+Total episodes: 3
+Total successes: 3
+Overall success rate: 1.0000 (100.0%)
diff --git a/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-04_47_40--fcv2_175_t1_s08.txt b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-04_47_40--fcv2_175_t1_s08.txt
new file mode 100644
index 0000000000000000000000000000000000000000..290f0442272000331a488246465e4401ccd28803
--- /dev/null
+++ b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-04_47_40--fcv2_175_t1_s08.txt
@@ -0,0 +1,105 @@
+Eval config: PolicyEvalConfig(suite='libero', model_family='cosmos', config='cosmos_predict2_2b_480p_libero_cl_stage_inference_only', ckpt_path='/home/azureuser/REGEN-main/new/cosmos_policy/cosmos_v2_finetune/cosmos_predict2_2b_480p_libero_goal_task6_forget_cl_v2_from350_constlr_2gpu/checkpoints/iter_000000175/model', planning_model_config_name='', planning_model_ckpt_path='', config_file='cosmos_policy/config/config.py', packnet_mask_path='', packnet_first_cl_libero_task=6, use_third_person_image=True, num_third_person_images=1, use_wrist_image=True, num_wrist_images=1, use_proprio=True, flip_images=True, use_variance_scale=False, use_jpeg_compression=True, ar_future_prediction=False, ar_value_prediction=False, ar_qvalue_prediction=False, num_denoising_steps_action=5, num_denoising_steps_future_state=1, num_denoising_steps_value=1, unnormalize_actions=True, normalize_proprio=True, dataset_stats_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/libero_goal_regen/dataset_statistics.json', t5_text_embeddings_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/t5_embeddings.pkl', trained_with_image_aug=True, chunk_size=16, num_open_loop_steps=16, deterministic=True, deterministic_reset=False, deterministic_reset_seed=None, use_ensemble_future_state_predictions=False, num_future_state_predictions_in_ensemble=3, future_state_ensemble_aggregation_scheme='average', use_ensemble_value_predictions=False, num_value_predictions_in_ensemble=5, value_ensemble_aggregation_scheme='average', search_depth=1, mask_current_state_action_for_value_prediction=False, mask_future_state_for_qvalue_prediction=False, num_queries_best_of_n=1, use_parallel_inference=False, available_gpus='0', parallel_timeout=15, parallel_tasks_across_gpus=False, task_suite_name='libero_goal', num_trials_per_task=50, task_ids_to_run='1', initial_states_path='DEFAULT', env_img_res=256, local_log_dir='/home/azureuser/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal', run_id_note='fcv2_175_t1_s08', use_wandb=False, wandb_entity='YOUR_ENTITY', wandb_project='YOUR_PROJECT', seed=195, randomize_seed=False, data_collection=False, jpeg_compress=True, reward_stop_threshold=None, reward_stop_consecutive_steps=3, use_gpt_reward=False, gpt_reward_model='gpt-5.4-mini', gpt_reward_stop_threshold=4, gpt_reward_timeout_s=30.0, save_rollout_video=False, eval_hdf5_path='', eval_hdf5_demo_key='demo_0', data_gen_demo_ids='', eval_episode_ids='8,24,40', replay_actions=False, replay_action_path_dir='', replay_hdf5_path='', data_generation=False, max_generation_steps=200, simple_task_max_steps=100, complex_task_max_steps=200)
+Using serial inference (parallel inference disabled)
+Task suite: libero_goal
+Number of tasks: 10
+Running only task IDs: [1]
+Using default initial states
+
+Task: put the bowl on the stove
+Starting episode 1...
+Query 1/1: Action query time = 6.258 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4898
+t=10: Selected seed 195 with value = 0.4898
+Query 1/1: Action query time = 4.992 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5865
+t=26: Selected seed 195 with value = 0.5865
+Query 1/1: Action query time = 5.197 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6971
+t=42: Selected seed 195 with value = 0.6971
+Query 1/1: Action query time = 5.327 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7934
+t=58: Selected seed 195 with value = 0.7934
+Query 1/1: Action query time = 3.969 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8921
+t=74: Selected seed 195 with value = 0.8921
+Query 1/1: Action query time = 3.995 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9995
+t=90: Selected seed 195 with value = 0.9995
+Saved rollout MP4 at path ./rollouts/fcv2_175_t1_s08/2026_08_02-04_47_40--with_future_img--episode=1--success=True--task=put_the_bowl_on_the_stove.mp4
+Success: True
+# episodes completed so far: 1
+# successes: 1 (100.0%)
+
+Task: put the bowl on the stove
+Starting episode 2...
+Query 1/1: Action query time = 5.337 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4890
+t=10: Selected seed 195 with value = 0.4890
+Query 1/1: Action query time = 4.599 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5853
+t=26: Selected seed 195 with value = 0.5853
+Query 1/1: Action query time = 4.735 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6880
+t=42: Selected seed 195 with value = 0.6880
+Query 1/1: Action query time = 4.722 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7712
+t=58: Selected seed 195 with value = 0.7712
+Query 1/1: Action query time = 4.491 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8702
+t=74: Selected seed 195 with value = 0.8702
+Query 1/1: Action query time = 3.822 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9869
+t=90: Selected seed 195 with value = 0.9869
+Saved rollout MP4 at path ./rollouts/fcv2_175_t1_s08/2026_08_02-04_47_40--with_future_img--episode=2--success=True--task=put_the_bowl_on_the_stove.mp4
+Success: True
+# episodes completed so far: 2
+# successes: 2 (100.0%)
+
+Task: put the bowl on the stove
+Starting episode 3...
+Query 1/1: Action query time = 5.225 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4926
+t=10: Selected seed 195 with value = 0.4926
+Query 1/1: Action query time = 4.964 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5682
+t=26: Selected seed 195 with value = 0.5682
+Query 1/1: Action query time = 4.595 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6789
+t=42: Selected seed 195 with value = 0.6789
+Query 1/1: Action query time = 4.426 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7771
+t=58: Selected seed 195 with value = 0.7771
+Query 1/1: Action query time = 3.600 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9342
+t=74: Selected seed 195 with value = 0.9342
+Query 1/1: Action query time = 2.967 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9922
+t=90: Selected seed 195 with value = 0.9922
+Saved rollout MP4 at path ./rollouts/fcv2_175_t1_s08/2026_08_02-04_47_40--with_future_img--episode=3--success=True--task=put_the_bowl_on_the_stove.mp4
+Success: True
+# episodes completed so far: 3
+# successes: 3 (100.0%)
+Current task success rate: 1.0
+Current total success rate: 1.0
+Final results:
+Total episodes: 3
+Total successes: 3
+Overall success rate: 1.0000 (100.0%)
diff --git a/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-04_47_41--fcv2_175_t1_s07.txt b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-04_47_41--fcv2_175_t1_s07.txt
new file mode 100644
index 0000000000000000000000000000000000000000..2463ea3736d2e823235d78f922c88fe8298cfeb4
--- /dev/null
+++ b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-04_47_41--fcv2_175_t1_s07.txt
@@ -0,0 +1,105 @@
+Eval config: PolicyEvalConfig(suite='libero', model_family='cosmos', config='cosmos_predict2_2b_480p_libero_cl_stage_inference_only', ckpt_path='/home/azureuser/REGEN-main/new/cosmos_policy/cosmos_v2_finetune/cosmos_predict2_2b_480p_libero_goal_task6_forget_cl_v2_from350_constlr_2gpu/checkpoints/iter_000000175/model', planning_model_config_name='', planning_model_ckpt_path='', config_file='cosmos_policy/config/config.py', packnet_mask_path='', packnet_first_cl_libero_task=6, use_third_person_image=True, num_third_person_images=1, use_wrist_image=True, num_wrist_images=1, use_proprio=True, flip_images=True, use_variance_scale=False, use_jpeg_compression=True, ar_future_prediction=False, ar_value_prediction=False, ar_qvalue_prediction=False, num_denoising_steps_action=5, num_denoising_steps_future_state=1, num_denoising_steps_value=1, unnormalize_actions=True, normalize_proprio=True, dataset_stats_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/libero_goal_regen/dataset_statistics.json', t5_text_embeddings_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/t5_embeddings.pkl', trained_with_image_aug=True, chunk_size=16, num_open_loop_steps=16, deterministic=True, deterministic_reset=False, deterministic_reset_seed=None, use_ensemble_future_state_predictions=False, num_future_state_predictions_in_ensemble=3, future_state_ensemble_aggregation_scheme='average', use_ensemble_value_predictions=False, num_value_predictions_in_ensemble=5, value_ensemble_aggregation_scheme='average', search_depth=1, mask_current_state_action_for_value_prediction=False, mask_future_state_for_qvalue_prediction=False, num_queries_best_of_n=1, use_parallel_inference=False, available_gpus='0', parallel_timeout=15, parallel_tasks_across_gpus=False, task_suite_name='libero_goal', num_trials_per_task=50, task_ids_to_run='1', initial_states_path='DEFAULT', env_img_res=256, local_log_dir='/home/azureuser/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal', run_id_note='fcv2_175_t1_s07', use_wandb=False, wandb_entity='YOUR_ENTITY', wandb_project='YOUR_PROJECT', seed=195, randomize_seed=False, data_collection=False, jpeg_compress=True, reward_stop_threshold=None, reward_stop_consecutive_steps=3, use_gpt_reward=False, gpt_reward_model='gpt-5.4-mini', gpt_reward_stop_threshold=4, gpt_reward_timeout_s=30.0, save_rollout_video=False, eval_hdf5_path='', eval_hdf5_demo_key='demo_0', data_gen_demo_ids='', eval_episode_ids='7,23,39', replay_actions=False, replay_action_path_dir='', replay_hdf5_path='', data_generation=False, max_generation_steps=200, simple_task_max_steps=100, complex_task_max_steps=200)
+Using serial inference (parallel inference disabled)
+Task suite: libero_goal
+Number of tasks: 10
+Running only task IDs: [1]
+Using default initial states
+
+Task: put the bowl on the stove
+Starting episode 1...
+Query 1/1: Action query time = 5.754 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4955
+t=10: Selected seed 195 with value = 0.4955
+Query 1/1: Action query time = 5.028 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5906
+t=26: Selected seed 195 with value = 0.5906
+Query 1/1: Action query time = 4.962 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7045
+t=42: Selected seed 195 with value = 0.7045
+Query 1/1: Action query time = 4.888 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8182
+t=58: Selected seed 195 with value = 0.8182
+Query 1/1: Action query time = 3.905 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9538
+t=74: Selected seed 195 with value = 0.9538
+Query 1/1: Action query time = 4.756 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9945
+t=90: Selected seed 195 with value = 0.9945
+Saved rollout MP4 at path ./rollouts/fcv2_175_t1_s07/2026_08_02-04_47_41--with_future_img--episode=1--success=True--task=put_the_bowl_on_the_stove.mp4
+Success: True
+# episodes completed so far: 1
+# successes: 1 (100.0%)
+
+Task: put the bowl on the stove
+Starting episode 2...
+Query 1/1: Action query time = 4.029 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5133
+t=10: Selected seed 195 with value = 0.5133
+Query 1/1: Action query time = 5.469 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5997
+t=26: Selected seed 195 with value = 0.5997
+Query 1/1: Action query time = 5.729 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7061
+t=42: Selected seed 195 with value = 0.7061
+Query 1/1: Action query time = 4.906 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8189
+t=58: Selected seed 195 with value = 0.8189
+Query 1/1: Action query time = 3.766 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9384
+t=74: Selected seed 195 with value = 0.9384
+Query 1/1: Action query time = 5.030 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9813
+t=90: Selected seed 195 with value = 0.9813
+Saved rollout MP4 at path ./rollouts/fcv2_175_t1_s07/2026_08_02-04_47_41--with_future_img--episode=2--success=True--task=put_the_bowl_on_the_stove.mp4
+Success: True
+# episodes completed so far: 2
+# successes: 2 (100.0%)
+
+Task: put the bowl on the stove
+Starting episode 3...
+Query 1/1: Action query time = 5.078 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5240
+t=10: Selected seed 195 with value = 0.5240
+Query 1/1: Action query time = 4.671 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5972
+t=26: Selected seed 195 with value = 0.5972
+Query 1/1: Action query time = 4.518 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7023
+t=42: Selected seed 195 with value = 0.7023
+Query 1/1: Action query time = 4.227 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8020
+t=58: Selected seed 195 with value = 0.8020
+Query 1/1: Action query time = 4.524 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9506
+t=74: Selected seed 195 with value = 0.9506
+Query 1/1: Action query time = 4.319 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9954
+t=90: Selected seed 195 with value = 0.9954
+Saved rollout MP4 at path ./rollouts/fcv2_175_t1_s07/2026_08_02-04_47_41--with_future_img--episode=3--success=True--task=put_the_bowl_on_the_stove.mp4
+Success: True
+# episodes completed so far: 3
+# successes: 3 (100.0%)
+Current task success rate: 1.0
+Current total success rate: 1.0
+Final results:
+Total episodes: 3
+Total successes: 3
+Overall success rate: 1.0000 (100.0%)
diff --git a/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-04_47_41--fcv2_175_t1_s09.txt b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-04_47_41--fcv2_175_t1_s09.txt
new file mode 100644
index 0000000000000000000000000000000000000000..190e3d894127767224d812cdec0f4d2546ac377b
--- /dev/null
+++ b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-04_47_41--fcv2_175_t1_s09.txt
@@ -0,0 +1,105 @@
+Eval config: PolicyEvalConfig(suite='libero', model_family='cosmos', config='cosmos_predict2_2b_480p_libero_cl_stage_inference_only', ckpt_path='/home/azureuser/REGEN-main/new/cosmos_policy/cosmos_v2_finetune/cosmos_predict2_2b_480p_libero_goal_task6_forget_cl_v2_from350_constlr_2gpu/checkpoints/iter_000000175/model', planning_model_config_name='', planning_model_ckpt_path='', config_file='cosmos_policy/config/config.py', packnet_mask_path='', packnet_first_cl_libero_task=6, use_third_person_image=True, num_third_person_images=1, use_wrist_image=True, num_wrist_images=1, use_proprio=True, flip_images=True, use_variance_scale=False, use_jpeg_compression=True, ar_future_prediction=False, ar_value_prediction=False, ar_qvalue_prediction=False, num_denoising_steps_action=5, num_denoising_steps_future_state=1, num_denoising_steps_value=1, unnormalize_actions=True, normalize_proprio=True, dataset_stats_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/libero_goal_regen/dataset_statistics.json', t5_text_embeddings_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/t5_embeddings.pkl', trained_with_image_aug=True, chunk_size=16, num_open_loop_steps=16, deterministic=True, deterministic_reset=False, deterministic_reset_seed=None, use_ensemble_future_state_predictions=False, num_future_state_predictions_in_ensemble=3, future_state_ensemble_aggregation_scheme='average', use_ensemble_value_predictions=False, num_value_predictions_in_ensemble=5, value_ensemble_aggregation_scheme='average', search_depth=1, mask_current_state_action_for_value_prediction=False, mask_future_state_for_qvalue_prediction=False, num_queries_best_of_n=1, use_parallel_inference=False, available_gpus='0', parallel_timeout=15, parallel_tasks_across_gpus=False, task_suite_name='libero_goal', num_trials_per_task=50, task_ids_to_run='1', initial_states_path='DEFAULT', env_img_res=256, local_log_dir='/home/azureuser/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal', run_id_note='fcv2_175_t1_s09', use_wandb=False, wandb_entity='YOUR_ENTITY', wandb_project='YOUR_PROJECT', seed=195, randomize_seed=False, data_collection=False, jpeg_compress=True, reward_stop_threshold=None, reward_stop_consecutive_steps=3, use_gpt_reward=False, gpt_reward_model='gpt-5.4-mini', gpt_reward_stop_threshold=4, gpt_reward_timeout_s=30.0, save_rollout_video=False, eval_hdf5_path='', eval_hdf5_demo_key='demo_0', data_gen_demo_ids='', eval_episode_ids='9,25,41', replay_actions=False, replay_action_path_dir='', replay_hdf5_path='', data_generation=False, max_generation_steps=200, simple_task_max_steps=100, complex_task_max_steps=200)
+Using serial inference (parallel inference disabled)
+Task suite: libero_goal
+Number of tasks: 10
+Running only task IDs: [1]
+Using default initial states
+
+Task: put the bowl on the stove
+Starting episode 1...
+Query 1/1: Action query time = 1.879 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5145
+t=10: Selected seed 195 with value = 0.5145
+Query 1/1: Action query time = 2.394 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6048
+t=26: Selected seed 195 with value = 0.6048
+Query 1/1: Action query time = 4.925 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7388
+t=42: Selected seed 195 with value = 0.7388
+Query 1/1: Action query time = 5.093 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8411
+t=58: Selected seed 195 with value = 0.8411
+Query 1/1: Action query time = 5.196 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9743
+t=74: Selected seed 195 with value = 0.9743
+Query 1/1: Action query time = 5.418 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9971
+t=90: Selected seed 195 with value = 0.9971
+Saved rollout MP4 at path ./rollouts/fcv2_175_t1_s09/2026_08_02-04_47_41--with_future_img--episode=1--success=True--task=put_the_bowl_on_the_stove.mp4
+Success: True
+# episodes completed so far: 1
+# successes: 1 (100.0%)
+
+Task: put the bowl on the stove
+Starting episode 2...
+Query 1/1: Action query time = 4.235 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5084
+t=10: Selected seed 195 with value = 0.5084
+Query 1/1: Action query time = 1.268 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5855
+t=26: Selected seed 195 with value = 0.5855
+Query 1/1: Action query time = 3.023 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7186
+t=42: Selected seed 195 with value = 0.7186
+Query 1/1: Action query time = 5.485 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8242
+t=58: Selected seed 195 with value = 0.8242
+Query 1/1: Action query time = 5.042 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9658
+t=74: Selected seed 195 with value = 0.9658
+Query 1/1: Action query time = 4.819 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/fcv2_175_t1_s09/2026_08_02-04_47_41--with_future_img--episode=2--success=True--task=put_the_bowl_on_the_stove.mp4
+Success: True
+# episodes completed so far: 2
+# successes: 2 (100.0%)
+
+Task: put the bowl on the stove
+Starting episode 3...
+Query 1/1: Action query time = 3.707 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4725
+t=10: Selected seed 195 with value = 0.4725
+Query 1/1: Action query time = 4.595 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5894
+t=26: Selected seed 195 with value = 0.5894
+Query 1/1: Action query time = 2.585 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6917
+t=42: Selected seed 195 with value = 0.6917
+Query 1/1: Action query time = 4.289 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7870
+t=58: Selected seed 195 with value = 0.7870
+Query 1/1: Action query time = 4.716 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8530
+t=74: Selected seed 195 with value = 0.8530
+Query 1/1: Action query time = 4.493 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9581
+t=90: Selected seed 195 with value = 0.9581
+Saved rollout MP4 at path ./rollouts/fcv2_175_t1_s09/2026_08_02-04_47_41--with_future_img--episode=3--success=True--task=put_the_bowl_on_the_stove.mp4
+Success: True
+# episodes completed so far: 3
+# successes: 3 (100.0%)
+Current task success rate: 1.0
+Current total success rate: 1.0
+Final results:
+Total episodes: 3
+Total successes: 3
+Overall success rate: 1.0000 (100.0%)
diff --git a/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-04_50_27--fcv2_175_t2_s05.txt b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-04_50_27--fcv2_175_t2_s05.txt
new file mode 100644
index 0000000000000000000000000000000000000000..d3c7718ed60fe6c62349a6713345ec76f6426146
--- /dev/null
+++ b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-04_50_27--fcv2_175_t2_s05.txt
@@ -0,0 +1,105 @@
+Eval config: PolicyEvalConfig(suite='libero', model_family='cosmos', config='cosmos_predict2_2b_480p_libero_cl_stage_inference_only', ckpt_path='/home/azureuser/REGEN-main/new/cosmos_policy/cosmos_v2_finetune/cosmos_predict2_2b_480p_libero_goal_task6_forget_cl_v2_from350_constlr_2gpu/checkpoints/iter_000000175/model', planning_model_config_name='', planning_model_ckpt_path='', config_file='cosmos_policy/config/config.py', packnet_mask_path='', packnet_first_cl_libero_task=6, use_third_person_image=True, num_third_person_images=1, use_wrist_image=True, num_wrist_images=1, use_proprio=True, flip_images=True, use_variance_scale=False, use_jpeg_compression=True, ar_future_prediction=False, ar_value_prediction=False, ar_qvalue_prediction=False, num_denoising_steps_action=5, num_denoising_steps_future_state=1, num_denoising_steps_value=1, unnormalize_actions=True, normalize_proprio=True, dataset_stats_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/libero_goal_regen/dataset_statistics.json', t5_text_embeddings_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/t5_embeddings.pkl', trained_with_image_aug=True, chunk_size=16, num_open_loop_steps=16, deterministic=True, deterministic_reset=False, deterministic_reset_seed=None, use_ensemble_future_state_predictions=False, num_future_state_predictions_in_ensemble=3, future_state_ensemble_aggregation_scheme='average', use_ensemble_value_predictions=False, num_value_predictions_in_ensemble=5, value_ensemble_aggregation_scheme='average', search_depth=1, mask_current_state_action_for_value_prediction=False, mask_future_state_for_qvalue_prediction=False, num_queries_best_of_n=1, use_parallel_inference=False, available_gpus='0', parallel_timeout=15, parallel_tasks_across_gpus=False, task_suite_name='libero_goal', num_trials_per_task=50, task_ids_to_run='2', initial_states_path='DEFAULT', env_img_res=256, local_log_dir='/home/azureuser/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal', run_id_note='fcv2_175_t2_s05', use_wandb=False, wandb_entity='YOUR_ENTITY', wandb_project='YOUR_PROJECT', seed=195, randomize_seed=False, data_collection=False, jpeg_compress=True, reward_stop_threshold=None, reward_stop_consecutive_steps=3, use_gpt_reward=False, gpt_reward_model='gpt-5.4-mini', gpt_reward_stop_threshold=4, gpt_reward_timeout_s=30.0, save_rollout_video=False, eval_hdf5_path='', eval_hdf5_demo_key='demo_0', data_gen_demo_ids='', eval_episode_ids='5,21,37', replay_actions=False, replay_action_path_dir='', replay_hdf5_path='', data_generation=False, max_generation_steps=200, simple_task_max_steps=100, complex_task_max_steps=200)
+Using serial inference (parallel inference disabled)
+Task suite: libero_goal
+Number of tasks: 10
+Running only task IDs: [2]
+Using default initial states
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 1...
+Query 1/1: Action query time = 3.396 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5094
+t=10: Selected seed 195 with value = 0.5094
+Query 1/1: Action query time = 3.994 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5940
+t=26: Selected seed 195 with value = 0.5940
+Query 1/1: Action query time = 4.461 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6653
+t=42: Selected seed 195 with value = 0.6653
+Query 1/1: Action query time = 5.521 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7747
+t=58: Selected seed 195 with value = 0.7747
+Query 1/1: Action query time = 4.700 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9655
+t=74: Selected seed 195 with value = 0.9655
+Query 1/1: Action query time = 3.673 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/fcv2_175_t2_s05/2026_08_02-04_50_27--with_future_img--episode=1--success=True--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: True
+# episodes completed so far: 1
+# successes: 1 (100.0%)
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 2...
+Query 1/1: Action query time = 5.104 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5103
+t=10: Selected seed 195 with value = 0.5103
+Query 1/1: Action query time = 5.381 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6244
+t=26: Selected seed 195 with value = 0.6244
+Query 1/1: Action query time = 5.068 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7534
+t=42: Selected seed 195 with value = 0.7534
+Query 1/1: Action query time = 5.095 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8338
+t=58: Selected seed 195 with value = 0.8338
+Query 1/1: Action query time = 5.106 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=74: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.078 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9977
+t=90: Selected seed 195 with value = 0.9977
+Saved rollout MP4 at path ./rollouts/fcv2_175_t2_s05/2026_08_02-04_50_27--with_future_img--episode=2--success=True--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: True
+# episodes completed so far: 2
+# successes: 2 (100.0%)
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 3...
+Query 1/1: Action query time = 3.197 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3529
+t=10: Selected seed 195 with value = 0.3529
+Query 1/1: Action query time = 4.503 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4289
+t=26: Selected seed 195 with value = 0.4289
+Query 1/1: Action query time = 4.862 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6302
+t=42: Selected seed 195 with value = 0.6302
+Query 1/1: Action query time = 5.288 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7091
+t=58: Selected seed 195 with value = 0.7091
+Query 1/1: Action query time = 5.038 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8109
+t=74: Selected seed 195 with value = 0.8109
+Query 1/1: Action query time = 4.556 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9451
+t=90: Selected seed 195 with value = 0.9451
+Saved rollout MP4 at path ./rollouts/fcv2_175_t2_s05/2026_08_02-04_50_27--with_future_img--episode=3--success=True--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: True
+# episodes completed so far: 3
+# successes: 3 (100.0%)
+Current task success rate: 1.0
+Current total success rate: 1.0
+Final results:
+Total episodes: 3
+Total successes: 3
+Overall success rate: 1.0000 (100.0%)
diff --git a/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-04_50_27--fcv2_175_t2_s07.txt b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-04_50_27--fcv2_175_t2_s07.txt
new file mode 100644
index 0000000000000000000000000000000000000000..6250a9619eb84685c258339e24e0a5be3c3d185e
--- /dev/null
+++ b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-04_50_27--fcv2_175_t2_s07.txt
@@ -0,0 +1,157 @@
+Eval config: PolicyEvalConfig(suite='libero', model_family='cosmos', config='cosmos_predict2_2b_480p_libero_cl_stage_inference_only', ckpt_path='/home/azureuser/REGEN-main/new/cosmos_policy/cosmos_v2_finetune/cosmos_predict2_2b_480p_libero_goal_task6_forget_cl_v2_from350_constlr_2gpu/checkpoints/iter_000000175/model', planning_model_config_name='', planning_model_ckpt_path='', config_file='cosmos_policy/config/config.py', packnet_mask_path='', packnet_first_cl_libero_task=6, use_third_person_image=True, num_third_person_images=1, use_wrist_image=True, num_wrist_images=1, use_proprio=True, flip_images=True, use_variance_scale=False, use_jpeg_compression=True, ar_future_prediction=False, ar_value_prediction=False, ar_qvalue_prediction=False, num_denoising_steps_action=5, num_denoising_steps_future_state=1, num_denoising_steps_value=1, unnormalize_actions=True, normalize_proprio=True, dataset_stats_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/libero_goal_regen/dataset_statistics.json', t5_text_embeddings_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/t5_embeddings.pkl', trained_with_image_aug=True, chunk_size=16, num_open_loop_steps=16, deterministic=True, deterministic_reset=False, deterministic_reset_seed=None, use_ensemble_future_state_predictions=False, num_future_state_predictions_in_ensemble=3, future_state_ensemble_aggregation_scheme='average', use_ensemble_value_predictions=False, num_value_predictions_in_ensemble=5, value_ensemble_aggregation_scheme='average', search_depth=1, mask_current_state_action_for_value_prediction=False, mask_future_state_for_qvalue_prediction=False, num_queries_best_of_n=1, use_parallel_inference=False, available_gpus='0', parallel_timeout=15, parallel_tasks_across_gpus=False, task_suite_name='libero_goal', num_trials_per_task=50, task_ids_to_run='2', initial_states_path='DEFAULT', env_img_res=256, local_log_dir='/home/azureuser/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal', run_id_note='fcv2_175_t2_s07', use_wandb=False, wandb_entity='YOUR_ENTITY', wandb_project='YOUR_PROJECT', seed=195, randomize_seed=False, data_collection=False, jpeg_compress=True, reward_stop_threshold=None, reward_stop_consecutive_steps=3, use_gpt_reward=False, gpt_reward_model='gpt-5.4-mini', gpt_reward_stop_threshold=4, gpt_reward_timeout_s=30.0, save_rollout_video=False, eval_hdf5_path='', eval_hdf5_demo_key='demo_0', data_gen_demo_ids='', eval_episode_ids='7,23,39', replay_actions=False, replay_action_path_dir='', replay_hdf5_path='', data_generation=False, max_generation_steps=200, simple_task_max_steps=100, complex_task_max_steps=200)
+Using serial inference (parallel inference disabled)
+Task suite: libero_goal
+Number of tasks: 10
+Running only task IDs: [2]
+Using default initial states
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 1...
+Query 1/1: Action query time = 4.392 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4694
+t=10: Selected seed 195 with value = 0.4694
+Query 1/1: Action query time = 5.505 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5661
+t=26: Selected seed 195 with value = 0.5661
+Query 1/1: Action query time = 5.528 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6714
+t=42: Selected seed 195 with value = 0.6714
+Query 1/1: Action query time = 4.808 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6785
+t=58: Selected seed 195 with value = 0.6785
+Query 1/1: Action query time = 4.126 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8066
+t=74: Selected seed 195 with value = 0.8066
+Query 1/1: Action query time = 3.819 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7727
+t=90: Selected seed 195 with value = 0.7727
+Query 1/1: Action query time = 4.245 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7475
+t=106: Selected seed 195 with value = 0.7475
+Query 1/1: Action query time = 3.082 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6549
+t=122: Selected seed 195 with value = 0.6549
+Query 1/1: Action query time = 4.890 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9708
+t=138: Selected seed 195 with value = 0.9708
+Query 1/1: Action query time = 5.044 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9571
+t=154: Selected seed 195 with value = 0.9571
+Query 1/1: Action query time = 5.263 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9758
+t=170: Selected seed 195 with value = 0.9758
+Query 1/1: Action query time = 5.106 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9445
+t=186: Selected seed 195 with value = 0.9445
+Query 1/1: Action query time = 3.255 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9791
+t=202: Selected seed 195 with value = 0.9791
+Query 1/1: Action query time = 3.912 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9381
+t=218: Selected seed 195 with value = 0.9381
+Query 1/1: Action query time = 5.428 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9811
+t=234: Selected seed 195 with value = 0.9811
+Query 1/1: Action query time = 5.035 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9812
+t=250: Selected seed 195 with value = 0.9812
+Query 1/1: Action query time = 4.464 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9791
+t=266: Selected seed 195 with value = 0.9791
+Query 1/1: Action query time = 4.618 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9547
+t=282: Selected seed 195 with value = 0.9547
+Query 1/1: Action query time = 4.319 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9817
+t=298: Selected seed 195 with value = 0.9817
+Saved rollout MP4 at path ./rollouts/fcv2_175_t2_s07/2026_08_02-04_50_27--with_future_img--episode=1--success=False--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: False
+# episodes completed so far: 1
+# successes: 0 (0.0%)
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 2...
+Query 1/1: Action query time = 3.762 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5019
+t=10: Selected seed 195 with value = 0.5019
+Query 1/1: Action query time = 2.545 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6366
+t=26: Selected seed 195 with value = 0.6366
+Query 1/1: Action query time = 2.763 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7393
+t=42: Selected seed 195 with value = 0.7393
+Query 1/1: Action query time = 2.027 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8555
+t=58: Selected seed 195 with value = 0.8555
+Query 1/1: Action query time = 1.839 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9915
+t=74: Selected seed 195 with value = 0.9915
+Query 1/1: Action query time = 1.612 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/fcv2_175_t2_s07/2026_08_02-04_50_27--with_future_img--episode=2--success=True--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: True
+# episodes completed so far: 2
+# successes: 1 (50.0%)
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 3...
+Query 1/1: Action query time = 2.406 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4178
+t=10: Selected seed 195 with value = 0.4178
+Query 1/1: Action query time = 2.025 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5219
+t=26: Selected seed 195 with value = 0.5219
+Query 1/1: Action query time = 1.989 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5577
+t=42: Selected seed 195 with value = 0.5577
+Query 1/1: Action query time = 1.913 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7804
+t=58: Selected seed 195 with value = 0.7804
+Query 1/1: Action query time = 1.676 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8820
+t=74: Selected seed 195 with value = 0.8820
+Query 1/1: Action query time = 1.186 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9981
+t=90: Selected seed 195 with value = 0.9981
+Saved rollout MP4 at path ./rollouts/fcv2_175_t2_s07/2026_08_02-04_50_27--with_future_img--episode=3--success=True--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: True
+# episodes completed so far: 3
+# successes: 2 (66.7%)
+Current task success rate: 0.6666666666666666
+Current total success rate: 0.6666666666666666
+Final results:
+Total episodes: 3
+Total successes: 2
+Overall success rate: 0.6667 (66.7%)
diff --git a/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-04_50_28--fcv2_175_t2_s10.txt b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-04_50_28--fcv2_175_t2_s10.txt
new file mode 100644
index 0000000000000000000000000000000000000000..813242e51c55bd3513534fe966471f5e286d4cf0
--- /dev/null
+++ b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-04_50_28--fcv2_175_t2_s10.txt
@@ -0,0 +1,109 @@
+Eval config: PolicyEvalConfig(suite='libero', model_family='cosmos', config='cosmos_predict2_2b_480p_libero_cl_stage_inference_only', ckpt_path='/home/azureuser/REGEN-main/new/cosmos_policy/cosmos_v2_finetune/cosmos_predict2_2b_480p_libero_goal_task6_forget_cl_v2_from350_constlr_2gpu/checkpoints/iter_000000175/model', planning_model_config_name='', planning_model_ckpt_path='', config_file='cosmos_policy/config/config.py', packnet_mask_path='', packnet_first_cl_libero_task=6, use_third_person_image=True, num_third_person_images=1, use_wrist_image=True, num_wrist_images=1, use_proprio=True, flip_images=True, use_variance_scale=False, use_jpeg_compression=True, ar_future_prediction=False, ar_value_prediction=False, ar_qvalue_prediction=False, num_denoising_steps_action=5, num_denoising_steps_future_state=1, num_denoising_steps_value=1, unnormalize_actions=True, normalize_proprio=True, dataset_stats_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/libero_goal_regen/dataset_statistics.json', t5_text_embeddings_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/t5_embeddings.pkl', trained_with_image_aug=True, chunk_size=16, num_open_loop_steps=16, deterministic=True, deterministic_reset=False, deterministic_reset_seed=None, use_ensemble_future_state_predictions=False, num_future_state_predictions_in_ensemble=3, future_state_ensemble_aggregation_scheme='average', use_ensemble_value_predictions=False, num_value_predictions_in_ensemble=5, value_ensemble_aggregation_scheme='average', search_depth=1, mask_current_state_action_for_value_prediction=False, mask_future_state_for_qvalue_prediction=False, num_queries_best_of_n=1, use_parallel_inference=False, available_gpus='0', parallel_timeout=15, parallel_tasks_across_gpus=False, task_suite_name='libero_goal', num_trials_per_task=50, task_ids_to_run='2', initial_states_path='DEFAULT', env_img_res=256, local_log_dir='/home/azureuser/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal', run_id_note='fcv2_175_t2_s10', use_wandb=False, wandb_entity='YOUR_ENTITY', wandb_project='YOUR_PROJECT', seed=195, randomize_seed=False, data_collection=False, jpeg_compress=True, reward_stop_threshold=None, reward_stop_consecutive_steps=3, use_gpt_reward=False, gpt_reward_model='gpt-5.4-mini', gpt_reward_stop_threshold=4, gpt_reward_timeout_s=30.0, save_rollout_video=False, eval_hdf5_path='', eval_hdf5_demo_key='demo_0', data_gen_demo_ids='', eval_episode_ids='10,26,42', replay_actions=False, replay_action_path_dir='', replay_hdf5_path='', data_generation=False, max_generation_steps=200, simple_task_max_steps=100, complex_task_max_steps=200)
+Using serial inference (parallel inference disabled)
+Task suite: libero_goal
+Number of tasks: 10
+Running only task IDs: [2]
+Using default initial states
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 1...
+Query 1/1: Action query time = 5.296 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4783
+t=10: Selected seed 195 with value = 0.4783
+Query 1/1: Action query time = 3.708 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5432
+t=26: Selected seed 195 with value = 0.5432
+Query 1/1: Action query time = 5.557 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6519
+t=42: Selected seed 195 with value = 0.6519
+Query 1/1: Action query time = 5.169 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7317
+t=58: Selected seed 195 with value = 0.7317
+Query 1/1: Action query time = 4.640 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8868
+t=74: Selected seed 195 with value = 0.8868
+Query 1/1: Action query time = 3.911 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9961
+t=90: Selected seed 195 with value = 0.9961
+Query 1/1: Action query time = 2.675 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=106: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/fcv2_175_t2_s10/2026_08_02-04_50_28--with_future_img--episode=1--success=True--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: True
+# episodes completed so far: 1
+# successes: 1 (100.0%)
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 2...
+Query 1/1: Action query time = 5.181 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3594
+t=10: Selected seed 195 with value = 0.3594
+Query 1/1: Action query time = 4.888 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4592
+t=26: Selected seed 195 with value = 0.4592
+Query 1/1: Action query time = 5.084 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6521
+t=42: Selected seed 195 with value = 0.6521
+Query 1/1: Action query time = 4.471 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7392
+t=58: Selected seed 195 with value = 0.7392
+Query 1/1: Action query time = 4.679 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8732
+t=74: Selected seed 195 with value = 0.8732
+Query 1/1: Action query time = 4.603 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/fcv2_175_t2_s10/2026_08_02-04_50_28--with_future_img--episode=2--success=True--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: True
+# episodes completed so far: 2
+# successes: 2 (100.0%)
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 3...
+Query 1/1: Action query time = 4.997 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4708
+t=10: Selected seed 195 with value = 0.4708
+Query 1/1: Action query time = 4.829 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5808
+t=26: Selected seed 195 with value = 0.5808
+Query 1/1: Action query time = 4.425 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6497
+t=42: Selected seed 195 with value = 0.6497
+Query 1/1: Action query time = 4.497 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7934
+t=58: Selected seed 195 with value = 0.7934
+Query 1/1: Action query time = 4.021 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8814
+t=74: Selected seed 195 with value = 0.8814
+Query 1/1: Action query time = 2.686 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9998
+t=90: Selected seed 195 with value = 0.9998
+Saved rollout MP4 at path ./rollouts/fcv2_175_t2_s10/2026_08_02-04_50_28--with_future_img--episode=3--success=True--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: True
+# episodes completed so far: 3
+# successes: 3 (100.0%)
+Current task success rate: 1.0
+Current total success rate: 1.0
+Final results:
+Total episodes: 3
+Total successes: 3
+Overall success rate: 1.0000 (100.0%)
diff --git a/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-04_50_28--fcv2_175_t2_s15.txt b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-04_50_28--fcv2_175_t2_s15.txt
new file mode 100644
index 0000000000000000000000000000000000000000..5d605cfbc05b5b8d210b6ba0bf2a33676fefde22
--- /dev/null
+++ b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-04_50_28--fcv2_175_t2_s15.txt
@@ -0,0 +1,157 @@
+Eval config: PolicyEvalConfig(suite='libero', model_family='cosmos', config='cosmos_predict2_2b_480p_libero_cl_stage_inference_only', ckpt_path='/home/azureuser/REGEN-main/new/cosmos_policy/cosmos_v2_finetune/cosmos_predict2_2b_480p_libero_goal_task6_forget_cl_v2_from350_constlr_2gpu/checkpoints/iter_000000175/model', planning_model_config_name='', planning_model_ckpt_path='', config_file='cosmos_policy/config/config.py', packnet_mask_path='', packnet_first_cl_libero_task=6, use_third_person_image=True, num_third_person_images=1, use_wrist_image=True, num_wrist_images=1, use_proprio=True, flip_images=True, use_variance_scale=False, use_jpeg_compression=True, ar_future_prediction=False, ar_value_prediction=False, ar_qvalue_prediction=False, num_denoising_steps_action=5, num_denoising_steps_future_state=1, num_denoising_steps_value=1, unnormalize_actions=True, normalize_proprio=True, dataset_stats_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/libero_goal_regen/dataset_statistics.json', t5_text_embeddings_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/t5_embeddings.pkl', trained_with_image_aug=True, chunk_size=16, num_open_loop_steps=16, deterministic=True, deterministic_reset=False, deterministic_reset_seed=None, use_ensemble_future_state_predictions=False, num_future_state_predictions_in_ensemble=3, future_state_ensemble_aggregation_scheme='average', use_ensemble_value_predictions=False, num_value_predictions_in_ensemble=5, value_ensemble_aggregation_scheme='average', search_depth=1, mask_current_state_action_for_value_prediction=False, mask_future_state_for_qvalue_prediction=False, num_queries_best_of_n=1, use_parallel_inference=False, available_gpus='0', parallel_timeout=15, parallel_tasks_across_gpus=False, task_suite_name='libero_goal', num_trials_per_task=50, task_ids_to_run='2', initial_states_path='DEFAULT', env_img_res=256, local_log_dir='/home/azureuser/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal', run_id_note='fcv2_175_t2_s15', use_wandb=False, wandb_entity='YOUR_ENTITY', wandb_project='YOUR_PROJECT', seed=195, randomize_seed=False, data_collection=False, jpeg_compress=True, reward_stop_threshold=None, reward_stop_consecutive_steps=3, use_gpt_reward=False, gpt_reward_model='gpt-5.4-mini', gpt_reward_stop_threshold=4, gpt_reward_timeout_s=30.0, save_rollout_video=False, eval_hdf5_path='', eval_hdf5_demo_key='demo_0', data_gen_demo_ids='', eval_episode_ids='15,31,47', replay_actions=False, replay_action_path_dir='', replay_hdf5_path='', data_generation=False, max_generation_steps=200, simple_task_max_steps=100, complex_task_max_steps=200)
+Using serial inference (parallel inference disabled)
+Task suite: libero_goal
+Number of tasks: 10
+Running only task IDs: [2]
+Using default initial states
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 1...
+Query 1/1: Action query time = 6.125 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5056
+t=10: Selected seed 195 with value = 0.5056
+Query 1/1: Action query time = 3.854 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5838
+t=26: Selected seed 195 with value = 0.5838
+Query 1/1: Action query time = 5.315 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6975
+t=42: Selected seed 195 with value = 0.6975
+Query 1/1: Action query time = 5.176 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8178
+t=58: Selected seed 195 with value = 0.8178
+Query 1/1: Action query time = 4.947 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9556
+t=74: Selected seed 195 with value = 0.9556
+Query 1/1: Action query time = 4.323 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/fcv2_175_t2_s15/2026_08_02-04_50_28--with_future_img--episode=1--success=True--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: True
+# episodes completed so far: 1
+# successes: 1 (100.0%)
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 2...
+Query 1/1: Action query time = 4.570 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4913
+t=10: Selected seed 195 with value = 0.4913
+Query 1/1: Action query time = 4.969 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5985
+t=26: Selected seed 195 with value = 0.5985
+Query 1/1: Action query time = 5.020 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6608
+t=42: Selected seed 195 with value = 0.6608
+Query 1/1: Action query time = 4.643 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8140
+t=58: Selected seed 195 with value = 0.8140
+Query 1/1: Action query time = 5.454 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9794
+t=74: Selected seed 195 with value = 0.9794
+Query 1/1: Action query time = 3.807 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/fcv2_175_t2_s15/2026_08_02-04_50_28--with_future_img--episode=2--success=True--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: True
+# episodes completed so far: 2
+# successes: 2 (100.0%)
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 3...
+Query 1/1: Action query time = 5.451 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5156
+t=10: Selected seed 195 with value = 0.5156
+Query 1/1: Action query time = 5.076 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6011
+t=26: Selected seed 195 with value = 0.6011
+Query 1/1: Action query time = 5.194 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7028
+t=42: Selected seed 195 with value = 0.7028
+Query 1/1: Action query time = 4.233 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8001
+t=58: Selected seed 195 with value = 0.8001
+Query 1/1: Action query time = 3.777 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9513
+t=74: Selected seed 195 with value = 0.9513
+Query 1/1: Action query time = 2.263 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9954
+t=90: Selected seed 195 with value = 0.9954
+Query 1/1: Action query time = 2.150 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9951
+t=106: Selected seed 195 with value = 0.9951
+Query 1/1: Action query time = 1.465 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=122: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 1.133 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=138: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.995 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=154: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 1.191 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=170: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.981 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=186: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 1.219 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=202: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 1.745 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=218: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 1.575 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=234: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 1.619 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=250: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 1.731 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=266: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 1.860 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=282: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 1.560 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=298: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/fcv2_175_t2_s15/2026_08_02-04_50_28--with_future_img--episode=3--success=False--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: False
+# episodes completed so far: 3
+# successes: 2 (66.7%)
+Current task success rate: 0.6666666666666666
+Current total success rate: 0.6666666666666666
+Final results:
+Total episodes: 3
+Total successes: 2
+Overall success rate: 0.6667 (66.7%)
diff --git a/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-04_53_28--fcv2_175_t3_s01.txt b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-04_53_28--fcv2_175_t3_s01.txt
new file mode 100644
index 0000000000000000000000000000000000000000..f3cecf88e0b94829c7ed1e37f1d4b52f77927015
--- /dev/null
+++ b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-04_53_28--fcv2_175_t3_s01.txt
@@ -0,0 +1,264 @@
+Eval config: PolicyEvalConfig(suite='libero', model_family='cosmos', config='cosmos_predict2_2b_480p_libero_cl_stage_inference_only', ckpt_path='/home/azureuser/REGEN-main/new/cosmos_policy/cosmos_v2_finetune/cosmos_predict2_2b_480p_libero_goal_task6_forget_cl_v2_from350_constlr_2gpu/checkpoints/iter_000000175/model', planning_model_config_name='', planning_model_ckpt_path='', config_file='cosmos_policy/config/config.py', packnet_mask_path='', packnet_first_cl_libero_task=6, use_third_person_image=True, num_third_person_images=1, use_wrist_image=True, num_wrist_images=1, use_proprio=True, flip_images=True, use_variance_scale=False, use_jpeg_compression=True, ar_future_prediction=False, ar_value_prediction=False, ar_qvalue_prediction=False, num_denoising_steps_action=5, num_denoising_steps_future_state=1, num_denoising_steps_value=1, unnormalize_actions=True, normalize_proprio=True, dataset_stats_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/libero_goal_regen/dataset_statistics.json', t5_text_embeddings_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/t5_embeddings.pkl', trained_with_image_aug=True, chunk_size=16, num_open_loop_steps=16, deterministic=True, deterministic_reset=False, deterministic_reset_seed=None, use_ensemble_future_state_predictions=False, num_future_state_predictions_in_ensemble=3, future_state_ensemble_aggregation_scheme='average', use_ensemble_value_predictions=False, num_value_predictions_in_ensemble=5, value_ensemble_aggregation_scheme='average', search_depth=1, mask_current_state_action_for_value_prediction=False, mask_future_state_for_qvalue_prediction=False, num_queries_best_of_n=1, use_parallel_inference=False, available_gpus='0', parallel_timeout=15, parallel_tasks_across_gpus=False, task_suite_name='libero_goal', num_trials_per_task=50, task_ids_to_run='3', initial_states_path='DEFAULT', env_img_res=256, local_log_dir='/home/azureuser/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal', run_id_note='fcv2_175_t3_s01', use_wandb=False, wandb_entity='YOUR_ENTITY', wandb_project='YOUR_PROJECT', seed=195, randomize_seed=False, data_collection=False, jpeg_compress=True, reward_stop_threshold=None, reward_stop_consecutive_steps=3, use_gpt_reward=False, gpt_reward_model='gpt-5.4-mini', gpt_reward_stop_threshold=4, gpt_reward_timeout_s=30.0, save_rollout_video=False, eval_hdf5_path='', eval_hdf5_demo_key='demo_0', data_gen_demo_ids='', eval_episode_ids='1,17,33,49', replay_actions=False, replay_action_path_dir='', replay_hdf5_path='', data_generation=False, max_generation_steps=200, simple_task_max_steps=100, complex_task_max_steps=200)
+Using serial inference (parallel inference disabled)
+Task suite: libero_goal
+Number of tasks: 10
+Running only task IDs: [3]
+Using default initial states
+
+Task: open the top drawer and put the bowl inside
+Starting episode 1...
+Query 1/1: Action query time = 2.773 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4100
+t=10: Selected seed 195 with value = 0.4100
+Query 1/1: Action query time = 3.620 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4965
+t=26: Selected seed 195 with value = 0.4965
+Query 1/1: Action query time = 5.013 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5720
+t=42: Selected seed 195 with value = 0.5720
+Query 1/1: Action query time = 4.657 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6616
+t=58: Selected seed 195 with value = 0.6616
+Query 1/1: Action query time = 4.955 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7431
+t=74: Selected seed 195 with value = 0.7431
+Query 1/1: Action query time = 5.110 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8898
+t=90: Selected seed 195 with value = 0.8898
+Query 1/1: Action query time = 5.160 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9946
+t=106: Selected seed 195 with value = 0.9946
+Query 1/1: Action query time = 5.035 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6992
+t=122: Selected seed 195 with value = 0.6992
+Query 1/1: Action query time = 4.529 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7625
+t=138: Selected seed 195 with value = 0.7625
+Query 1/1: Action query time = 4.712 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8916
+t=154: Selected seed 195 with value = 0.8916
+Query 1/1: Action query time = 4.825 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9635
+t=170: Selected seed 195 with value = 0.9635
+Query 1/1: Action query time = 4.750 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=186: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/fcv2_175_t3_s01/2026_08_02-04_53_28--with_future_img--episode=1--success=True--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: True
+# episodes completed so far: 1
+# successes: 1 (100.0%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 2...
+Query 1/1: Action query time = 2.849 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3519
+t=10: Selected seed 195 with value = 0.3519
+Query 1/1: Action query time = 3.599 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3813
+t=26: Selected seed 195 with value = 0.3813
+Query 1/1: Action query time = 4.005 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6155
+t=42: Selected seed 195 with value = 0.6155
+Query 1/1: Action query time = 4.110 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6835
+t=58: Selected seed 195 with value = 0.6835
+Query 1/1: Action query time = 4.819 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7648
+t=74: Selected seed 195 with value = 0.7648
+Query 1/1: Action query time = 5.375 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8917
+t=90: Selected seed 195 with value = 0.8917
+Query 1/1: Action query time = 5.208 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9975
+t=106: Selected seed 195 with value = 0.9975
+Query 1/1: Action query time = 4.615 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6414
+t=122: Selected seed 195 with value = 0.6414
+Query 1/1: Action query time = 4.007 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7959
+t=138: Selected seed 195 with value = 0.7959
+Query 1/1: Action query time = 4.437 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8174
+t=154: Selected seed 195 with value = 0.8174
+Query 1/1: Action query time = 4.980 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9101
+t=170: Selected seed 195 with value = 0.9101
+Query 1/1: Action query time = 5.201 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9999
+t=186: Selected seed 195 with value = 0.9999
+Saved rollout MP4 at path ./rollouts/fcv2_175_t3_s01/2026_08_02-04_53_28--with_future_img--episode=2--success=True--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: True
+# episodes completed so far: 2
+# successes: 2 (100.0%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 3...
+Query 1/1: Action query time = 4.633 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3433
+t=10: Selected seed 195 with value = 0.3433
+Query 1/1: Action query time = 3.632 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4706
+t=26: Selected seed 195 with value = 0.4706
+Query 1/1: Action query time = 3.662 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5285
+t=42: Selected seed 195 with value = 0.5285
+Query 1/1: Action query time = 4.661 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6372
+t=58: Selected seed 195 with value = 0.6372
+Query 1/1: Action query time = 4.716 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7342
+t=74: Selected seed 195 with value = 0.7342
+Query 1/1: Action query time = 4.358 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8928
+t=90: Selected seed 195 with value = 0.8928
+Query 1/1: Action query time = 4.538 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9644
+t=106: Selected seed 195 with value = 0.9644
+Query 1/1: Action query time = 5.179 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8864
+t=122: Selected seed 195 with value = 0.8864
+Query 1/1: Action query time = 3.765 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6689
+t=138: Selected seed 195 with value = 0.6689
+Query 1/1: Action query time = 4.517 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7632
+t=154: Selected seed 195 with value = 0.7632
+Query 1/1: Action query time = 4.205 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8971
+t=170: Selected seed 195 with value = 0.8971
+Query 1/1: Action query time = 2.990 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9833
+t=186: Selected seed 195 with value = 0.9833
+Query 1/1: Action query time = 5.075 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9993
+t=202: Selected seed 195 with value = 0.9993
+Saved rollout MP4 at path ./rollouts/fcv2_175_t3_s01/2026_08_02-04_53_28--with_future_img--episode=3--success=True--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: True
+# episodes completed so far: 3
+# successes: 3 (100.0%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 4...
+Query 1/1: Action query time = 5.417 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3972
+t=10: Selected seed 195 with value = 0.3972
+Query 1/1: Action query time = 5.308 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4574
+t=26: Selected seed 195 with value = 0.4574
+Query 1/1: Action query time = 4.773 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5557
+t=42: Selected seed 195 with value = 0.5557
+Query 1/1: Action query time = 3.819 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6779
+t=58: Selected seed 195 with value = 0.6779
+Query 1/1: Action query time = 4.629 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7493
+t=74: Selected seed 195 with value = 0.7493
+Query 1/1: Action query time = 4.676 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8904
+t=90: Selected seed 195 with value = 0.8904
+Query 1/1: Action query time = 4.422 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9849
+t=106: Selected seed 195 with value = 0.9849
+Query 1/1: Action query time = 3.383 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6291
+t=122: Selected seed 195 with value = 0.6291
+Query 1/1: Action query time = 2.952 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7543
+t=138: Selected seed 195 with value = 0.7543
+Query 1/1: Action query time = 2.374 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8124
+t=154: Selected seed 195 with value = 0.8124
+Query 1/1: Action query time = 2.301 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8560
+t=170: Selected seed 195 with value = 0.8560
+Query 1/1: Action query time = 2.612 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9343
+t=186: Selected seed 195 with value = 0.9343
+Query 1/1: Action query time = 2.484 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9642
+t=202: Selected seed 195 with value = 0.9642
+Query 1/1: Action query time = 2.579 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9833
+t=218: Selected seed 195 with value = 0.9833
+Query 1/1: Action query time = 1.814 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9740
+t=234: Selected seed 195 with value = 0.9740
+Query 1/1: Action query time = 1.829 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9679
+t=250: Selected seed 195 with value = 0.9679
+Query 1/1: Action query time = 1.831 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9639
+t=266: Selected seed 195 with value = 0.9639
+Query 1/1: Action query time = 1.223 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9631
+t=282: Selected seed 195 with value = 0.9631
+Query 1/1: Action query time = 1.227 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9656
+t=298: Selected seed 195 with value = 0.9656
+Saved rollout MP4 at path ./rollouts/fcv2_175_t3_s01/2026_08_02-04_53_28--with_future_img--episode=4--success=False--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: False
+# episodes completed so far: 4
+# successes: 3 (75.0%)
+Current task success rate: 0.75
+Current total success rate: 0.75
+Final results:
+Total episodes: 4
+Total successes: 3
+Overall success rate: 0.7500 (75.0%)
diff --git a/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-04_53_30--fcv2_175_t3_s02.txt b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-04_53_30--fcv2_175_t3_s02.txt
new file mode 100644
index 0000000000000000000000000000000000000000..181ef06b3d2e4bc5132d6b766e4982d52dba0695
--- /dev/null
+++ b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-04_53_30--fcv2_175_t3_s02.txt
@@ -0,0 +1,205 @@
+Eval config: PolicyEvalConfig(suite='libero', model_family='cosmos', config='cosmos_predict2_2b_480p_libero_cl_stage_inference_only', ckpt_path='/home/azureuser/REGEN-main/new/cosmos_policy/cosmos_v2_finetune/cosmos_predict2_2b_480p_libero_goal_task6_forget_cl_v2_from350_constlr_2gpu/checkpoints/iter_000000175/model', planning_model_config_name='', planning_model_ckpt_path='', config_file='cosmos_policy/config/config.py', packnet_mask_path='', packnet_first_cl_libero_task=6, use_third_person_image=True, num_third_person_images=1, use_wrist_image=True, num_wrist_images=1, use_proprio=True, flip_images=True, use_variance_scale=False, use_jpeg_compression=True, ar_future_prediction=False, ar_value_prediction=False, ar_qvalue_prediction=False, num_denoising_steps_action=5, num_denoising_steps_future_state=1, num_denoising_steps_value=1, unnormalize_actions=True, normalize_proprio=True, dataset_stats_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/libero_goal_regen/dataset_statistics.json', t5_text_embeddings_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/t5_embeddings.pkl', trained_with_image_aug=True, chunk_size=16, num_open_loop_steps=16, deterministic=True, deterministic_reset=False, deterministic_reset_seed=None, use_ensemble_future_state_predictions=False, num_future_state_predictions_in_ensemble=3, future_state_ensemble_aggregation_scheme='average', use_ensemble_value_predictions=False, num_value_predictions_in_ensemble=5, value_ensemble_aggregation_scheme='average', search_depth=1, mask_current_state_action_for_value_prediction=False, mask_future_state_for_qvalue_prediction=False, num_queries_best_of_n=1, use_parallel_inference=False, available_gpus='0', parallel_timeout=15, parallel_tasks_across_gpus=False, task_suite_name='libero_goal', num_trials_per_task=50, task_ids_to_run='3', initial_states_path='DEFAULT', env_img_res=256, local_log_dir='/home/azureuser/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal', run_id_note='fcv2_175_t3_s02', use_wandb=False, wandb_entity='YOUR_ENTITY', wandb_project='YOUR_PROJECT', seed=195, randomize_seed=False, data_collection=False, jpeg_compress=True, reward_stop_threshold=None, reward_stop_consecutive_steps=3, use_gpt_reward=False, gpt_reward_model='gpt-5.4-mini', gpt_reward_stop_threshold=4, gpt_reward_timeout_s=30.0, save_rollout_video=False, eval_hdf5_path='', eval_hdf5_demo_key='demo_0', data_gen_demo_ids='', eval_episode_ids='2,18,34', replay_actions=False, replay_action_path_dir='', replay_hdf5_path='', data_generation=False, max_generation_steps=200, simple_task_max_steps=100, complex_task_max_steps=200)
+Using serial inference (parallel inference disabled)
+Task suite: libero_goal
+Number of tasks: 10
+Running only task IDs: [3]
+Using default initial states
+
+Task: open the top drawer and put the bowl inside
+Starting episode 1...
+Query 1/1: Action query time = 4.660 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3999
+t=10: Selected seed 195 with value = 0.3999
+Query 1/1: Action query time = 5.134 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4690
+t=26: Selected seed 195 with value = 0.4690
+Query 1/1: Action query time = 5.309 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5599
+t=42: Selected seed 195 with value = 0.5599
+Query 1/1: Action query time = 4.961 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6342
+t=58: Selected seed 195 with value = 0.6342
+Query 1/1: Action query time = 4.994 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7979
+t=74: Selected seed 195 with value = 0.7979
+Query 1/1: Action query time = 4.854 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9157
+t=90: Selected seed 195 with value = 0.9157
+Query 1/1: Action query time = 4.902 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9958
+t=106: Selected seed 195 with value = 0.9958
+Query 1/1: Action query time = 5.113 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8316
+t=122: Selected seed 195 with value = 0.8316
+Query 1/1: Action query time = 5.318 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5965
+t=138: Selected seed 195 with value = 0.5965
+Query 1/1: Action query time = 5.168 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7917
+t=154: Selected seed 195 with value = 0.7917
+Query 1/1: Action query time = 4.799 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9609
+t=170: Selected seed 195 with value = 0.9609
+Query 1/1: Action query time = 3.979 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9981
+t=186: Selected seed 195 with value = 0.9981
+Saved rollout MP4 at path ./rollouts/fcv2_175_t3_s02/2026_08_02-04_53_30--with_future_img--episode=1--success=True--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: True
+# episodes completed so far: 1
+# successes: 1 (100.0%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 2...
+Query 1/1: Action query time = 4.013 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3942
+t=10: Selected seed 195 with value = 0.3942
+Query 1/1: Action query time = 4.099 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4647
+t=26: Selected seed 195 with value = 0.4647
+Query 1/1: Action query time = 4.688 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5595
+t=42: Selected seed 195 with value = 0.5595
+Query 1/1: Action query time = 5.235 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6268
+t=58: Selected seed 195 with value = 0.6268
+Query 1/1: Action query time = 4.907 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7065
+t=74: Selected seed 195 with value = 0.7065
+Query 1/1: Action query time = 4.791 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8670
+t=90: Selected seed 195 with value = 0.8670
+Query 1/1: Action query time = 3.713 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9751
+t=106: Selected seed 195 with value = 0.9751
+Query 1/1: Action query time = 4.464 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6644
+t=122: Selected seed 195 with value = 0.6644
+Query 1/1: Action query time = 4.887 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6776
+t=138: Selected seed 195 with value = 0.6776
+Query 1/1: Action query time = 4.957 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7854
+t=154: Selected seed 195 with value = 0.7854
+Query 1/1: Action query time = 4.241 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9066
+t=170: Selected seed 195 with value = 0.9066
+Query 1/1: Action query time = 4.742 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9916
+t=186: Selected seed 195 with value = 0.9916
+Saved rollout MP4 at path ./rollouts/fcv2_175_t3_s02/2026_08_02-04_53_30--with_future_img--episode=2--success=True--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: True
+# episodes completed so far: 2
+# successes: 2 (100.0%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 3...
+Query 1/1: Action query time = 3.537 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4190
+t=10: Selected seed 195 with value = 0.4190
+Query 1/1: Action query time = 5.237 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4691
+t=26: Selected seed 195 with value = 0.4691
+Query 1/1: Action query time = 4.411 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5659
+t=42: Selected seed 195 with value = 0.5659
+Query 1/1: Action query time = 5.031 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6927
+t=58: Selected seed 195 with value = 0.6927
+Query 1/1: Action query time = 5.069 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7119
+t=74: Selected seed 195 with value = 0.7119
+Query 1/1: Action query time = 4.648 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9297
+t=90: Selected seed 195 with value = 0.9297
+Query 1/1: Action query time = 4.432 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9724
+t=106: Selected seed 195 with value = 0.9724
+Query 1/1: Action query time = 4.684 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6857
+t=122: Selected seed 195 with value = 0.6857
+Query 1/1: Action query time = 3.681 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7800
+t=138: Selected seed 195 with value = 0.7800
+Query 1/1: Action query time = 3.958 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9265
+t=154: Selected seed 195 with value = 0.9265
+Query 1/1: Action query time = 4.383 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9471
+t=170: Selected seed 195 with value = 0.9471
+Query 1/1: Action query time = 3.655 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9529
+t=186: Selected seed 195 with value = 0.9529
+Query 1/1: Action query time = 5.547 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6332
+t=202: Selected seed 195 with value = 0.6332
+Query 1/1: Action query time = 5.374 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6399
+t=218: Selected seed 195 with value = 0.6399
+Query 1/1: Action query time = 4.869 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8964
+t=234: Selected seed 195 with value = 0.8964
+Query 1/1: Action query time = 3.746 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8710
+t=250: Selected seed 195 with value = 0.8710
+Query 1/1: Action query time = 4.742 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8768
+t=266: Selected seed 195 with value = 0.8768
+Query 1/1: Action query time = 4.464 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8798
+t=282: Selected seed 195 with value = 0.8798
+Query 1/1: Action query time = 4.727 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8827
+t=298: Selected seed 195 with value = 0.8827
+Saved rollout MP4 at path ./rollouts/fcv2_175_t3_s02/2026_08_02-04_53_30--with_future_img--episode=3--success=False--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: False
+# episodes completed so far: 3
+# successes: 2 (66.7%)
+Current task success rate: 0.6666666666666666
+Current total success rate: 0.6666666666666666
+Final results:
+Total episodes: 3
+Total successes: 2
+Overall success rate: 0.6667 (66.7%)
diff --git a/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-04_53_30--fcv2_175_t3_s03.txt b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-04_53_30--fcv2_175_t3_s03.txt
new file mode 100644
index 0000000000000000000000000000000000000000..76d9ae9584d521f62d93b747a2c742827139f00d
--- /dev/null
+++ b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-04_53_30--fcv2_175_t3_s03.txt
@@ -0,0 +1,185 @@
+Eval config: PolicyEvalConfig(suite='libero', model_family='cosmos', config='cosmos_predict2_2b_480p_libero_cl_stage_inference_only', ckpt_path='/home/azureuser/REGEN-main/new/cosmos_policy/cosmos_v2_finetune/cosmos_predict2_2b_480p_libero_goal_task6_forget_cl_v2_from350_constlr_2gpu/checkpoints/iter_000000175/model', planning_model_config_name='', planning_model_ckpt_path='', config_file='cosmos_policy/config/config.py', packnet_mask_path='', packnet_first_cl_libero_task=6, use_third_person_image=True, num_third_person_images=1, use_wrist_image=True, num_wrist_images=1, use_proprio=True, flip_images=True, use_variance_scale=False, use_jpeg_compression=True, ar_future_prediction=False, ar_value_prediction=False, ar_qvalue_prediction=False, num_denoising_steps_action=5, num_denoising_steps_future_state=1, num_denoising_steps_value=1, unnormalize_actions=True, normalize_proprio=True, dataset_stats_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/libero_goal_regen/dataset_statistics.json', t5_text_embeddings_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/t5_embeddings.pkl', trained_with_image_aug=True, chunk_size=16, num_open_loop_steps=16, deterministic=True, deterministic_reset=False, deterministic_reset_seed=None, use_ensemble_future_state_predictions=False, num_future_state_predictions_in_ensemble=3, future_state_ensemble_aggregation_scheme='average', use_ensemble_value_predictions=False, num_value_predictions_in_ensemble=5, value_ensemble_aggregation_scheme='average', search_depth=1, mask_current_state_action_for_value_prediction=False, mask_future_state_for_qvalue_prediction=False, num_queries_best_of_n=1, use_parallel_inference=False, available_gpus='0', parallel_timeout=15, parallel_tasks_across_gpus=False, task_suite_name='libero_goal', num_trials_per_task=50, task_ids_to_run='3', initial_states_path='DEFAULT', env_img_res=256, local_log_dir='/home/azureuser/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal', run_id_note='fcv2_175_t3_s03', use_wandb=False, wandb_entity='YOUR_ENTITY', wandb_project='YOUR_PROJECT', seed=195, randomize_seed=False, data_collection=False, jpeg_compress=True, reward_stop_threshold=None, reward_stop_consecutive_steps=3, use_gpt_reward=False, gpt_reward_model='gpt-5.4-mini', gpt_reward_stop_threshold=4, gpt_reward_timeout_s=30.0, save_rollout_video=False, eval_hdf5_path='', eval_hdf5_demo_key='demo_0', data_gen_demo_ids='', eval_episode_ids='3,19,35', replay_actions=False, replay_action_path_dir='', replay_hdf5_path='', data_generation=False, max_generation_steps=200, simple_task_max_steps=100, complex_task_max_steps=200)
+Using serial inference (parallel inference disabled)
+Task suite: libero_goal
+Number of tasks: 10
+Running only task IDs: [3]
+Using default initial states
+
+Task: open the top drawer and put the bowl inside
+Starting episode 1...
+Query 1/1: Action query time = 6.556 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3833
+t=10: Selected seed 195 with value = 0.3833
+Query 1/1: Action query time = 5.108 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4694
+t=26: Selected seed 195 with value = 0.4694
+Query 1/1: Action query time = 5.019 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5567
+t=42: Selected seed 195 with value = 0.5567
+Query 1/1: Action query time = 4.941 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6444
+t=58: Selected seed 195 with value = 0.6444
+Query 1/1: Action query time = 4.688 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7603
+t=74: Selected seed 195 with value = 0.7603
+Query 1/1: Action query time = 4.569 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9031
+t=90: Selected seed 195 with value = 0.9031
+Query 1/1: Action query time = 5.057 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9934
+t=106: Selected seed 195 with value = 0.9934
+Query 1/1: Action query time = 4.928 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6804
+t=122: Selected seed 195 with value = 0.6804
+Query 1/1: Action query time = 4.815 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6550
+t=138: Selected seed 195 with value = 0.6550
+Query 1/1: Action query time = 5.112 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6646
+t=154: Selected seed 195 with value = 0.6646
+Query 1/1: Action query time = 3.587 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7320
+t=170: Selected seed 195 with value = 0.7320
+Query 1/1: Action query time = 3.139 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8858
+t=186: Selected seed 195 with value = 0.8858
+Query 1/1: Action query time = 4.045 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9839
+t=202: Selected seed 195 with value = 0.9839
+Query 1/1: Action query time = 3.571 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=218: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/fcv2_175_t3_s03/2026_08_02-04_53_30--with_future_img--episode=1--success=True--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: True
+# episodes completed so far: 1
+# successes: 1 (100.0%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 2...
+Query 1/1: Action query time = 3.999 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3765
+t=10: Selected seed 195 with value = 0.3765
+Query 1/1: Action query time = 4.520 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4743
+t=26: Selected seed 195 with value = 0.4743
+Query 1/1: Action query time = 5.373 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5448
+t=42: Selected seed 195 with value = 0.5448
+Query 1/1: Action query time = 4.721 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6293
+t=58: Selected seed 195 with value = 0.6293
+Query 1/1: Action query time = 4.923 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7476
+t=74: Selected seed 195 with value = 0.7476
+Query 1/1: Action query time = 5.362 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8432
+t=90: Selected seed 195 with value = 0.8432
+Query 1/1: Action query time = 5.051 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9683
+t=106: Selected seed 195 with value = 0.9683
+Query 1/1: Action query time = 3.971 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9662
+t=122: Selected seed 195 with value = 0.9662
+Query 1/1: Action query time = 4.313 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6640
+t=138: Selected seed 195 with value = 0.6640
+Query 1/1: Action query time = 4.608 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6086
+t=154: Selected seed 195 with value = 0.6086
+Query 1/1: Action query time = 3.489 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7779
+t=170: Selected seed 195 with value = 0.7779
+Query 1/1: Action query time = 3.437 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9465
+t=186: Selected seed 195 with value = 0.9465
+Query 1/1: Action query time = 5.721 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9902
+t=202: Selected seed 195 with value = 0.9902
+Saved rollout MP4 at path ./rollouts/fcv2_175_t3_s03/2026_08_02-04_53_30--with_future_img--episode=2--success=True--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: True
+# episodes completed so far: 2
+# successes: 2 (100.0%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 3...
+Query 1/1: Action query time = 4.791 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4463
+t=10: Selected seed 195 with value = 0.4463
+Query 1/1: Action query time = 5.679 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4977
+t=26: Selected seed 195 with value = 0.4977
+Query 1/1: Action query time = 3.971 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5581
+t=42: Selected seed 195 with value = 0.5581
+Query 1/1: Action query time = 4.175 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6514
+t=58: Selected seed 195 with value = 0.6514
+Query 1/1: Action query time = 4.672 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7439
+t=74: Selected seed 195 with value = 0.7439
+Query 1/1: Action query time = 3.680 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9026
+t=90: Selected seed 195 with value = 0.9026
+Query 1/1: Action query time = 5.186 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9516
+t=106: Selected seed 195 with value = 0.9516
+Query 1/1: Action query time = 4.592 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6184
+t=122: Selected seed 195 with value = 0.6184
+Query 1/1: Action query time = 5.567 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7504
+t=138: Selected seed 195 with value = 0.7504
+Query 1/1: Action query time = 4.921 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8256
+t=154: Selected seed 195 with value = 0.8256
+Query 1/1: Action query time = 4.677 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9815
+t=170: Selected seed 195 with value = 0.9815
+Saved rollout MP4 at path ./rollouts/fcv2_175_t3_s03/2026_08_02-04_53_30--with_future_img--episode=3--success=True--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: True
+# episodes completed so far: 3
+# successes: 3 (100.0%)
+Current task success rate: 1.0
+Current total success rate: 1.0
+Final results:
+Total episodes: 3
+Total successes: 3
+Overall success rate: 1.0000 (100.0%)
diff --git a/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-04_53_31--fcv2_175_t3_s11.txt b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-04_53_31--fcv2_175_t3_s11.txt
new file mode 100644
index 0000000000000000000000000000000000000000..c8b9736d388e452f6274c1aca388e946a86e4a37
--- /dev/null
+++ b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-04_53_31--fcv2_175_t3_s11.txt
@@ -0,0 +1,205 @@
+Eval config: PolicyEvalConfig(suite='libero', model_family='cosmos', config='cosmos_predict2_2b_480p_libero_cl_stage_inference_only', ckpt_path='/home/azureuser/REGEN-main/new/cosmos_policy/cosmos_v2_finetune/cosmos_predict2_2b_480p_libero_goal_task6_forget_cl_v2_from350_constlr_2gpu/checkpoints/iter_000000175/model', planning_model_config_name='', planning_model_ckpt_path='', config_file='cosmos_policy/config/config.py', packnet_mask_path='', packnet_first_cl_libero_task=6, use_third_person_image=True, num_third_person_images=1, use_wrist_image=True, num_wrist_images=1, use_proprio=True, flip_images=True, use_variance_scale=False, use_jpeg_compression=True, ar_future_prediction=False, ar_value_prediction=False, ar_qvalue_prediction=False, num_denoising_steps_action=5, num_denoising_steps_future_state=1, num_denoising_steps_value=1, unnormalize_actions=True, normalize_proprio=True, dataset_stats_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/libero_goal_regen/dataset_statistics.json', t5_text_embeddings_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/t5_embeddings.pkl', trained_with_image_aug=True, chunk_size=16, num_open_loop_steps=16, deterministic=True, deterministic_reset=False, deterministic_reset_seed=None, use_ensemble_future_state_predictions=False, num_future_state_predictions_in_ensemble=3, future_state_ensemble_aggregation_scheme='average', use_ensemble_value_predictions=False, num_value_predictions_in_ensemble=5, value_ensemble_aggregation_scheme='average', search_depth=1, mask_current_state_action_for_value_prediction=False, mask_future_state_for_qvalue_prediction=False, num_queries_best_of_n=1, use_parallel_inference=False, available_gpus='0', parallel_timeout=15, parallel_tasks_across_gpus=False, task_suite_name='libero_goal', num_trials_per_task=50, task_ids_to_run='3', initial_states_path='DEFAULT', env_img_res=256, local_log_dir='/home/azureuser/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal', run_id_note='fcv2_175_t3_s11', use_wandb=False, wandb_entity='YOUR_ENTITY', wandb_project='YOUR_PROJECT', seed=195, randomize_seed=False, data_collection=False, jpeg_compress=True, reward_stop_threshold=None, reward_stop_consecutive_steps=3, use_gpt_reward=False, gpt_reward_model='gpt-5.4-mini', gpt_reward_stop_threshold=4, gpt_reward_timeout_s=30.0, save_rollout_video=False, eval_hdf5_path='', eval_hdf5_demo_key='demo_0', data_gen_demo_ids='', eval_episode_ids='11,27,43', replay_actions=False, replay_action_path_dir='', replay_hdf5_path='', data_generation=False, max_generation_steps=200, simple_task_max_steps=100, complex_task_max_steps=200)
+Using serial inference (parallel inference disabled)
+Task suite: libero_goal
+Number of tasks: 10
+Running only task IDs: [3]
+Using default initial states
+
+Task: open the top drawer and put the bowl inside
+Starting episode 1...
+Query 1/1: Action query time = 6.572 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4006
+t=10: Selected seed 195 with value = 0.4006
+Query 1/1: Action query time = 5.380 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4779
+t=26: Selected seed 195 with value = 0.4779
+Query 1/1: Action query time = 5.112 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5473
+t=42: Selected seed 195 with value = 0.5473
+Query 1/1: Action query time = 4.787 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6382
+t=58: Selected seed 195 with value = 0.6382
+Query 1/1: Action query time = 4.458 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6759
+t=74: Selected seed 195 with value = 0.6759
+Query 1/1: Action query time = 4.559 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8543
+t=90: Selected seed 195 with value = 0.8543
+Query 1/1: Action query time = 5.327 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9571
+t=106: Selected seed 195 with value = 0.9571
+Query 1/1: Action query time = 5.036 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6950
+t=122: Selected seed 195 with value = 0.6950
+Query 1/1: Action query time = 5.088 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7759
+t=138: Selected seed 195 with value = 0.7759
+Query 1/1: Action query time = 5.518 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9237
+t=154: Selected seed 195 with value = 0.9237
+Query 1/1: Action query time = 4.399 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9811
+t=170: Selected seed 195 with value = 0.9811
+Saved rollout MP4 at path ./rollouts/fcv2_175_t3_s11/2026_08_02-04_53_31--with_future_img--episode=1--success=True--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: True
+# episodes completed so far: 1
+# successes: 1 (100.0%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 2...
+Query 1/1: Action query time = 4.950 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3730
+t=10: Selected seed 195 with value = 0.3730
+Query 1/1: Action query time = 4.856 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4786
+t=26: Selected seed 195 with value = 0.4786
+Query 1/1: Action query time = 5.065 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5437
+t=42: Selected seed 195 with value = 0.5437
+Query 1/1: Action query time = 5.249 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6175
+t=58: Selected seed 195 with value = 0.6175
+Query 1/1: Action query time = 4.686 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6765
+t=74: Selected seed 195 with value = 0.6765
+Query 1/1: Action query time = 4.072 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8590
+t=90: Selected seed 195 with value = 0.8590
+Query 1/1: Action query time = 2.361 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9740
+t=106: Selected seed 195 with value = 0.9740
+Query 1/1: Action query time = 3.691 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6665
+t=122: Selected seed 195 with value = 0.6665
+Query 1/1: Action query time = 5.634 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6796
+t=138: Selected seed 195 with value = 0.6796
+Query 1/1: Action query time = 5.423 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7530
+t=154: Selected seed 195 with value = 0.7530
+Query 1/1: Action query time = 4.723 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8490
+t=170: Selected seed 195 with value = 0.8490
+Query 1/1: Action query time = 5.239 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9569
+t=186: Selected seed 195 with value = 0.9569
+Query 1/1: Action query time = 5.090 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9993
+t=202: Selected seed 195 with value = 0.9993
+Saved rollout MP4 at path ./rollouts/fcv2_175_t3_s11/2026_08_02-04_53_31--with_future_img--episode=2--success=True--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: True
+# episodes completed so far: 2
+# successes: 2 (100.0%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 3...
+Query 1/1: Action query time = 5.451 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4024
+t=10: Selected seed 195 with value = 0.4024
+Query 1/1: Action query time = 5.113 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4891
+t=26: Selected seed 195 with value = 0.4891
+Query 1/1: Action query time = 3.076 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5543
+t=42: Selected seed 195 with value = 0.5543
+Query 1/1: Action query time = 4.754 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6563
+t=58: Selected seed 195 with value = 0.6563
+Query 1/1: Action query time = 3.951 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7138
+t=74: Selected seed 195 with value = 0.7138
+Query 1/1: Action query time = 3.709 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8397
+t=90: Selected seed 195 with value = 0.8397
+Query 1/1: Action query time = 3.699 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9904
+t=106: Selected seed 195 with value = 0.9904
+Query 1/1: Action query time = 4.584 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9499
+t=122: Selected seed 195 with value = 0.9499
+Query 1/1: Action query time = 4.459 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8298
+t=138: Selected seed 195 with value = 0.8298
+Query 1/1: Action query time = 5.055 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6713
+t=154: Selected seed 195 with value = 0.6713
+Query 1/1: Action query time = 5.039 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6892
+t=170: Selected seed 195 with value = 0.6892
+Query 1/1: Action query time = 5.092 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7312
+t=186: Selected seed 195 with value = 0.7312
+Query 1/1: Action query time = 5.556 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7288
+t=202: Selected seed 195 with value = 0.7288
+Query 1/1: Action query time = 4.832 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7699
+t=218: Selected seed 195 with value = 0.7699
+Query 1/1: Action query time = 4.592 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8429
+t=234: Selected seed 195 with value = 0.8429
+Query 1/1: Action query time = 5.025 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7645
+t=250: Selected seed 195 with value = 0.7645
+Query 1/1: Action query time = 4.082 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7278
+t=266: Selected seed 195 with value = 0.7278
+Query 1/1: Action query time = 4.415 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8132
+t=282: Selected seed 195 with value = 0.8132
+Query 1/1: Action query time = 4.392 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9186
+t=298: Selected seed 195 with value = 0.9186
+Saved rollout MP4 at path ./rollouts/fcv2_175_t3_s11/2026_08_02-04_53_31--with_future_img--episode=3--success=False--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: False
+# episodes completed so far: 3
+# successes: 2 (66.7%)
+Current task success rate: 0.6666666666666666
+Current total success rate: 0.6666666666666666
+Final results:
+Total episodes: 3
+Total successes: 2
+Overall success rate: 0.6667 (66.7%)
diff --git a/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-04_53_31--fcv2_175_t3_s13.txt b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-04_53_31--fcv2_175_t3_s13.txt
new file mode 100644
index 0000000000000000000000000000000000000000..dfd7e4b8d98d37ff6dbb7a36e7c4048482d9ba04
--- /dev/null
+++ b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-04_53_31--fcv2_175_t3_s13.txt
@@ -0,0 +1,205 @@
+Eval config: PolicyEvalConfig(suite='libero', model_family='cosmos', config='cosmos_predict2_2b_480p_libero_cl_stage_inference_only', ckpt_path='/home/azureuser/REGEN-main/new/cosmos_policy/cosmos_v2_finetune/cosmos_predict2_2b_480p_libero_goal_task6_forget_cl_v2_from350_constlr_2gpu/checkpoints/iter_000000175/model', planning_model_config_name='', planning_model_ckpt_path='', config_file='cosmos_policy/config/config.py', packnet_mask_path='', packnet_first_cl_libero_task=6, use_third_person_image=True, num_third_person_images=1, use_wrist_image=True, num_wrist_images=1, use_proprio=True, flip_images=True, use_variance_scale=False, use_jpeg_compression=True, ar_future_prediction=False, ar_value_prediction=False, ar_qvalue_prediction=False, num_denoising_steps_action=5, num_denoising_steps_future_state=1, num_denoising_steps_value=1, unnormalize_actions=True, normalize_proprio=True, dataset_stats_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/libero_goal_regen/dataset_statistics.json', t5_text_embeddings_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/t5_embeddings.pkl', trained_with_image_aug=True, chunk_size=16, num_open_loop_steps=16, deterministic=True, deterministic_reset=False, deterministic_reset_seed=None, use_ensemble_future_state_predictions=False, num_future_state_predictions_in_ensemble=3, future_state_ensemble_aggregation_scheme='average', use_ensemble_value_predictions=False, num_value_predictions_in_ensemble=5, value_ensemble_aggregation_scheme='average', search_depth=1, mask_current_state_action_for_value_prediction=False, mask_future_state_for_qvalue_prediction=False, num_queries_best_of_n=1, use_parallel_inference=False, available_gpus='0', parallel_timeout=15, parallel_tasks_across_gpus=False, task_suite_name='libero_goal', num_trials_per_task=50, task_ids_to_run='3', initial_states_path='DEFAULT', env_img_res=256, local_log_dir='/home/azureuser/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal', run_id_note='fcv2_175_t3_s13', use_wandb=False, wandb_entity='YOUR_ENTITY', wandb_project='YOUR_PROJECT', seed=195, randomize_seed=False, data_collection=False, jpeg_compress=True, reward_stop_threshold=None, reward_stop_consecutive_steps=3, use_gpt_reward=False, gpt_reward_model='gpt-5.4-mini', gpt_reward_stop_threshold=4, gpt_reward_timeout_s=30.0, save_rollout_video=False, eval_hdf5_path='', eval_hdf5_demo_key='demo_0', data_gen_demo_ids='', eval_episode_ids='13,29,45', replay_actions=False, replay_action_path_dir='', replay_hdf5_path='', data_generation=False, max_generation_steps=200, simple_task_max_steps=100, complex_task_max_steps=200)
+Using serial inference (parallel inference disabled)
+Task suite: libero_goal
+Number of tasks: 10
+Running only task IDs: [3]
+Using default initial states
+
+Task: open the top drawer and put the bowl inside
+Starting episode 1...
+Query 1/1: Action query time = 4.433 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3909
+t=10: Selected seed 195 with value = 0.3909
+Query 1/1: Action query time = 5.069 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4861
+t=26: Selected seed 195 with value = 0.4861
+Query 1/1: Action query time = 5.155 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5592
+t=42: Selected seed 195 with value = 0.5592
+Query 1/1: Action query time = 5.196 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6170
+t=58: Selected seed 195 with value = 0.6170
+Query 1/1: Action query time = 5.513 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.1281
+t=74: Selected seed 195 with value = 0.1281
+Query 1/1: Action query time = 5.397 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.1581
+t=90: Selected seed 195 with value = 0.1581
+Query 1/1: Action query time = 3.954 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7699
+t=106: Selected seed 195 with value = 0.7699
+Query 1/1: Action query time = 4.461 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8866
+t=122: Selected seed 195 with value = 0.8866
+Query 1/1: Action query time = 5.059 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9805
+t=138: Selected seed 195 with value = 0.9805
+Query 1/1: Action query time = 4.670 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4787
+t=154: Selected seed 195 with value = 0.4787
+Query 1/1: Action query time = 5.026 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7215
+t=170: Selected seed 195 with value = 0.7215
+Query 1/1: Action query time = 4.121 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8225
+t=186: Selected seed 195 with value = 0.8225
+Query 1/1: Action query time = 3.754 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9529
+t=202: Selected seed 195 with value = 0.9529
+Query 1/1: Action query time = 4.619 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9503
+t=218: Selected seed 195 with value = 0.9503
+Query 1/1: Action query time = 4.764 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9313
+t=234: Selected seed 195 with value = 0.9313
+Query 1/1: Action query time = 4.530 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8274
+t=250: Selected seed 195 with value = 0.8274
+Query 1/1: Action query time = 5.196 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9637
+t=266: Selected seed 195 with value = 0.9637
+Query 1/1: Action query time = 4.862 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9952
+t=282: Selected seed 195 with value = 0.9952
+Query 1/1: Action query time = 4.199 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=298: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/fcv2_175_t3_s13/2026_08_02-04_53_31--with_future_img--episode=1--success=False--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: False
+# episodes completed so far: 1
+# successes: 0 (0.0%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 2...
+Query 1/1: Action query time = 5.444 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4006
+t=10: Selected seed 195 with value = 0.4006
+Query 1/1: Action query time = 4.746 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4915
+t=26: Selected seed 195 with value = 0.4915
+Query 1/1: Action query time = 4.518 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5799
+t=42: Selected seed 195 with value = 0.5799
+Query 1/1: Action query time = 4.974 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6652
+t=58: Selected seed 195 with value = 0.6652
+Query 1/1: Action query time = 5.071 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7275
+t=74: Selected seed 195 with value = 0.7275
+Query 1/1: Action query time = 4.770 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8959
+t=90: Selected seed 195 with value = 0.8959
+Query 1/1: Action query time = 4.890 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9905
+t=106: Selected seed 195 with value = 0.9905
+Query 1/1: Action query time = 5.144 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6111
+t=122: Selected seed 195 with value = 0.6111
+Query 1/1: Action query time = 4.334 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7725
+t=138: Selected seed 195 with value = 0.7725
+Query 1/1: Action query time = 3.873 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9514
+t=154: Selected seed 195 with value = 0.9514
+Query 1/1: Action query time = 4.670 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9953
+t=170: Selected seed 195 with value = 0.9953
+Saved rollout MP4 at path ./rollouts/fcv2_175_t3_s13/2026_08_02-04_53_31--with_future_img--episode=2--success=True--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: True
+# episodes completed so far: 2
+# successes: 1 (50.0%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 3...
+Query 1/1: Action query time = 4.620 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3855
+t=10: Selected seed 195 with value = 0.3855
+Query 1/1: Action query time = 5.170 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4910
+t=26: Selected seed 195 with value = 0.4910
+Query 1/1: Action query time = 5.637 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5630
+t=42: Selected seed 195 with value = 0.5630
+Query 1/1: Action query time = 5.266 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5062
+t=58: Selected seed 195 with value = 0.5062
+Query 1/1: Action query time = 5.296 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6583
+t=74: Selected seed 195 with value = 0.6583
+Query 1/1: Action query time = 4.491 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7142
+t=90: Selected seed 195 with value = 0.7142
+Query 1/1: Action query time = 4.682 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8555
+t=106: Selected seed 195 with value = 0.8555
+Query 1/1: Action query time = 4.728 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9727
+t=122: Selected seed 195 with value = 0.9727
+Query 1/1: Action query time = 5.177 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7250
+t=138: Selected seed 195 with value = 0.7250
+Query 1/1: Action query time = 4.741 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6994
+t=154: Selected seed 195 with value = 0.6994
+Query 1/1: Action query time = 4.459 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8059
+t=170: Selected seed 195 with value = 0.8059
+Query 1/1: Action query time = 4.404 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9125
+t=186: Selected seed 195 with value = 0.9125
+Query 1/1: Action query time = 3.927 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9897
+t=202: Selected seed 195 with value = 0.9897
+Saved rollout MP4 at path ./rollouts/fcv2_175_t3_s13/2026_08_02-04_53_31--with_future_img--episode=3--success=True--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: True
+# episodes completed so far: 3
+# successes: 2 (66.7%)
+Current task success rate: 0.6666666666666666
+Current total success rate: 0.6666666666666666
+Final results:
+Total episodes: 3
+Total successes: 2
+Overall success rate: 0.6667 (66.7%)
diff --git a/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-04_53_31--fcv2_175_t3_s15.txt b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-04_53_31--fcv2_175_t3_s15.txt
new file mode 100644
index 0000000000000000000000000000000000000000..2f89f58e3eb23c4e395cfce93f2911f7d886eec0
--- /dev/null
+++ b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-04_53_31--fcv2_175_t3_s15.txt
@@ -0,0 +1,221 @@
+Eval config: PolicyEvalConfig(suite='libero', model_family='cosmos', config='cosmos_predict2_2b_480p_libero_cl_stage_inference_only', ckpt_path='/home/azureuser/REGEN-main/new/cosmos_policy/cosmos_v2_finetune/cosmos_predict2_2b_480p_libero_goal_task6_forget_cl_v2_from350_constlr_2gpu/checkpoints/iter_000000175/model', planning_model_config_name='', planning_model_ckpt_path='', config_file='cosmos_policy/config/config.py', packnet_mask_path='', packnet_first_cl_libero_task=6, use_third_person_image=True, num_third_person_images=1, use_wrist_image=True, num_wrist_images=1, use_proprio=True, flip_images=True, use_variance_scale=False, use_jpeg_compression=True, ar_future_prediction=False, ar_value_prediction=False, ar_qvalue_prediction=False, num_denoising_steps_action=5, num_denoising_steps_future_state=1, num_denoising_steps_value=1, unnormalize_actions=True, normalize_proprio=True, dataset_stats_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/libero_goal_regen/dataset_statistics.json', t5_text_embeddings_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/t5_embeddings.pkl', trained_with_image_aug=True, chunk_size=16, num_open_loop_steps=16, deterministic=True, deterministic_reset=False, deterministic_reset_seed=None, use_ensemble_future_state_predictions=False, num_future_state_predictions_in_ensemble=3, future_state_ensemble_aggregation_scheme='average', use_ensemble_value_predictions=False, num_value_predictions_in_ensemble=5, value_ensemble_aggregation_scheme='average', search_depth=1, mask_current_state_action_for_value_prediction=False, mask_future_state_for_qvalue_prediction=False, num_queries_best_of_n=1, use_parallel_inference=False, available_gpus='0', parallel_timeout=15, parallel_tasks_across_gpus=False, task_suite_name='libero_goal', num_trials_per_task=50, task_ids_to_run='3', initial_states_path='DEFAULT', env_img_res=256, local_log_dir='/home/azureuser/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal', run_id_note='fcv2_175_t3_s15', use_wandb=False, wandb_entity='YOUR_ENTITY', wandb_project='YOUR_PROJECT', seed=195, randomize_seed=False, data_collection=False, jpeg_compress=True, reward_stop_threshold=None, reward_stop_consecutive_steps=3, use_gpt_reward=False, gpt_reward_model='gpt-5.4-mini', gpt_reward_stop_threshold=4, gpt_reward_timeout_s=30.0, save_rollout_video=False, eval_hdf5_path='', eval_hdf5_demo_key='demo_0', data_gen_demo_ids='', eval_episode_ids='15,31,47', replay_actions=False, replay_action_path_dir='', replay_hdf5_path='', data_generation=False, max_generation_steps=200, simple_task_max_steps=100, complex_task_max_steps=200)
+Using serial inference (parallel inference disabled)
+Task suite: libero_goal
+Number of tasks: 10
+Running only task IDs: [3]
+Using default initial states
+
+Task: open the top drawer and put the bowl inside
+Starting episode 1...
+Query 1/1: Action query time = 5.439 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3707
+t=10: Selected seed 195 with value = 0.3707
+Query 1/1: Action query time = 4.299 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4259
+t=26: Selected seed 195 with value = 0.4259
+Query 1/1: Action query time = 4.496 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5293
+t=42: Selected seed 195 with value = 0.5293
+Query 1/1: Action query time = 5.159 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6339
+t=58: Selected seed 195 with value = 0.6339
+Query 1/1: Action query time = 5.674 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6761
+t=74: Selected seed 195 with value = 0.6761
+Query 1/1: Action query time = 5.668 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8772
+t=90: Selected seed 195 with value = 0.8772
+Query 1/1: Action query time = 5.089 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=106: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.598 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7416
+t=122: Selected seed 195 with value = 0.7416
+Query 1/1: Action query time = 4.982 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7741
+t=138: Selected seed 195 with value = 0.7741
+Query 1/1: Action query time = 4.842 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6164
+t=154: Selected seed 195 with value = 0.6164
+Query 1/1: Action query time = 4.827 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9942
+t=170: Selected seed 195 with value = 0.9942
+Query 1/1: Action query time = 3.582 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9802
+t=186: Selected seed 195 with value = 0.9802
+Query 1/1: Action query time = 3.973 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6873
+t=202: Selected seed 195 with value = 0.6873
+Query 1/1: Action query time = 5.163 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7516
+t=218: Selected seed 195 with value = 0.7516
+Query 1/1: Action query time = 4.844 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8156
+t=234: Selected seed 195 with value = 0.8156
+Query 1/1: Action query time = 4.916 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9403
+t=250: Selected seed 195 with value = 0.9403
+Query 1/1: Action query time = 5.152 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=266: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/fcv2_175_t3_s15/2026_08_02-04_53_31--with_future_img--episode=1--success=True--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: True
+# episodes completed so far: 1
+# successes: 1 (100.0%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 2...
+Query 1/1: Action query time = 4.253 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4013
+t=10: Selected seed 195 with value = 0.4013
+Query 1/1: Action query time = 3.466 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4715
+t=26: Selected seed 195 with value = 0.4715
+Query 1/1: Action query time = 3.560 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5695
+t=42: Selected seed 195 with value = 0.5695
+Query 1/1: Action query time = 5.085 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6465
+t=58: Selected seed 195 with value = 0.6465
+Query 1/1: Action query time = 5.289 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7931
+t=74: Selected seed 195 with value = 0.7931
+Query 1/1: Action query time = 5.451 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9009
+t=90: Selected seed 195 with value = 0.9009
+Query 1/1: Action query time = 4.932 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=106: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.586 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6626
+t=122: Selected seed 195 with value = 0.6626
+Query 1/1: Action query time = 3.765 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7579
+t=138: Selected seed 195 with value = 0.7579
+Query 1/1: Action query time = 5.608 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8616
+t=154: Selected seed 195 with value = 0.8616
+Query 1/1: Action query time = 4.973 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9915
+t=170: Selected seed 195 with value = 0.9915
+Saved rollout MP4 at path ./rollouts/fcv2_175_t3_s15/2026_08_02-04_53_31--with_future_img--episode=2--success=True--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: True
+# episodes completed so far: 2
+# successes: 2 (100.0%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 3...
+Query 1/1: Action query time = 5.477 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3467
+t=10: Selected seed 195 with value = 0.3467
+Query 1/1: Action query time = 3.283 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4576
+t=26: Selected seed 195 with value = 0.4576
+Query 1/1: Action query time = 3.796 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5702
+t=42: Selected seed 195 with value = 0.5702
+Query 1/1: Action query time = 4.445 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6148
+t=58: Selected seed 195 with value = 0.6148
+Query 1/1: Action query time = 4.709 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7019
+t=74: Selected seed 195 with value = 0.7019
+Query 1/1: Action query time = 4.948 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8267
+t=90: Selected seed 195 with value = 0.8267
+Query 1/1: Action query time = 5.282 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9870
+t=106: Selected seed 195 with value = 0.9870
+Query 1/1: Action query time = 5.627 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9797
+t=122: Selected seed 195 with value = 0.9797
+Query 1/1: Action query time = 4.838 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6774
+t=138: Selected seed 195 with value = 0.6774
+Query 1/1: Action query time = 4.244 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8066
+t=154: Selected seed 195 with value = 0.8066
+Query 1/1: Action query time = 4.330 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9186
+t=170: Selected seed 195 with value = 0.9186
+Query 1/1: Action query time = 5.472 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6673
+t=186: Selected seed 195 with value = 0.6673
+Query 1/1: Action query time = 4.811 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7419
+t=202: Selected seed 195 with value = 0.7419
+Query 1/1: Action query time = 4.379 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7431
+t=218: Selected seed 195 with value = 0.7431
+Query 1/1: Action query time = 4.451 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8405
+t=234: Selected seed 195 with value = 0.8405
+Query 1/1: Action query time = 3.938 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7949
+t=250: Selected seed 195 with value = 0.7949
+Query 1/1: Action query time = 3.085 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7287
+t=266: Selected seed 195 with value = 0.7287
+Query 1/1: Action query time = 2.128 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7903
+t=282: Selected seed 195 with value = 0.7903
+Query 1/1: Action query time = 1.173 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9010
+t=298: Selected seed 195 with value = 0.9010
+Saved rollout MP4 at path ./rollouts/fcv2_175_t3_s15/2026_08_02-04_53_31--with_future_img--episode=3--success=False--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: False
+# episodes completed so far: 3
+# successes: 2 (66.7%)
+Current task success rate: 0.6666666666666666
+Current total success rate: 0.6666666666666666
+Final results:
+Total episodes: 3
+Total successes: 2
+Overall success rate: 0.6667 (66.7%)
diff --git a/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-04_58_46--fcv2_175_t4_s03.txt b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-04_58_46--fcv2_175_t4_s03.txt
new file mode 100644
index 0000000000000000000000000000000000000000..5ef082b11bad8098502f1676fa30814cbf9bc3e7
--- /dev/null
+++ b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-04_58_46--fcv2_175_t4_s03.txt
@@ -0,0 +1,105 @@
+Eval config: PolicyEvalConfig(suite='libero', model_family='cosmos', config='cosmos_predict2_2b_480p_libero_cl_stage_inference_only', ckpt_path='/home/azureuser/REGEN-main/new/cosmos_policy/cosmos_v2_finetune/cosmos_predict2_2b_480p_libero_goal_task6_forget_cl_v2_from350_constlr_2gpu/checkpoints/iter_000000175/model', planning_model_config_name='', planning_model_ckpt_path='', config_file='cosmos_policy/config/config.py', packnet_mask_path='', packnet_first_cl_libero_task=6, use_third_person_image=True, num_third_person_images=1, use_wrist_image=True, num_wrist_images=1, use_proprio=True, flip_images=True, use_variance_scale=False, use_jpeg_compression=True, ar_future_prediction=False, ar_value_prediction=False, ar_qvalue_prediction=False, num_denoising_steps_action=5, num_denoising_steps_future_state=1, num_denoising_steps_value=1, unnormalize_actions=True, normalize_proprio=True, dataset_stats_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/libero_goal_regen/dataset_statistics.json', t5_text_embeddings_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/t5_embeddings.pkl', trained_with_image_aug=True, chunk_size=16, num_open_loop_steps=16, deterministic=True, deterministic_reset=False, deterministic_reset_seed=None, use_ensemble_future_state_predictions=False, num_future_state_predictions_in_ensemble=3, future_state_ensemble_aggregation_scheme='average', use_ensemble_value_predictions=False, num_value_predictions_in_ensemble=5, value_ensemble_aggregation_scheme='average', search_depth=1, mask_current_state_action_for_value_prediction=False, mask_future_state_for_qvalue_prediction=False, num_queries_best_of_n=1, use_parallel_inference=False, available_gpus='0', parallel_timeout=15, parallel_tasks_across_gpus=False, task_suite_name='libero_goal', num_trials_per_task=50, task_ids_to_run='4', initial_states_path='DEFAULT', env_img_res=256, local_log_dir='/home/azureuser/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal', run_id_note='fcv2_175_t4_s03', use_wandb=False, wandb_entity='YOUR_ENTITY', wandb_project='YOUR_PROJECT', seed=195, randomize_seed=False, data_collection=False, jpeg_compress=True, reward_stop_threshold=None, reward_stop_consecutive_steps=3, use_gpt_reward=False, gpt_reward_model='gpt-5.4-mini', gpt_reward_stop_threshold=4, gpt_reward_timeout_s=30.0, save_rollout_video=False, eval_hdf5_path='', eval_hdf5_demo_key='demo_0', data_gen_demo_ids='', eval_episode_ids='3,19,35', replay_actions=False, replay_action_path_dir='', replay_hdf5_path='', data_generation=False, max_generation_steps=200, simple_task_max_steps=100, complex_task_max_steps=200)
+Using serial inference (parallel inference disabled)
+Task suite: libero_goal
+Number of tasks: 10
+Running only task IDs: [4]
+Using default initial states
+
+Task: put the bowl on top of the cabinet
+Starting episode 1...
+Query 1/1: Action query time = 4.385 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4893
+t=10: Selected seed 195 with value = 0.4893
+Query 1/1: Action query time = 5.605 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6275
+t=26: Selected seed 195 with value = 0.6275
+Query 1/1: Action query time = 5.392 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6696
+t=42: Selected seed 195 with value = 0.6696
+Query 1/1: Action query time = 4.480 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7884
+t=58: Selected seed 195 with value = 0.7884
+Query 1/1: Action query time = 4.535 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9457
+t=74: Selected seed 195 with value = 0.9457
+Query 1/1: Action query time = 4.147 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/fcv2_175_t4_s03/2026_08_02-04_58_46--with_future_img--episode=1--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Success: True
+# episodes completed so far: 1
+# successes: 1 (100.0%)
+
+Task: put the bowl on top of the cabinet
+Starting episode 2...
+Query 1/1: Action query time = 3.799 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4851
+t=10: Selected seed 195 with value = 0.4851
+Query 1/1: Action query time = 4.246 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5854
+t=26: Selected seed 195 with value = 0.5854
+Query 1/1: Action query time = 4.397 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6738
+t=42: Selected seed 195 with value = 0.6738
+Query 1/1: Action query time = 5.166 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8275
+t=58: Selected seed 195 with value = 0.8275
+Query 1/1: Action query time = 4.647 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9629
+t=74: Selected seed 195 with value = 0.9629
+Query 1/1: Action query time = 2.756 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/fcv2_175_t4_s03/2026_08_02-04_58_46--with_future_img--episode=2--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Success: True
+# episodes completed so far: 2
+# successes: 2 (100.0%)
+
+Task: put the bowl on top of the cabinet
+Starting episode 3...
+Query 1/1: Action query time = 4.132 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5013
+t=10: Selected seed 195 with value = 0.5013
+Query 1/1: Action query time = 5.257 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6101
+t=26: Selected seed 195 with value = 0.6101
+Query 1/1: Action query time = 5.558 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6819
+t=42: Selected seed 195 with value = 0.6819
+Query 1/1: Action query time = 5.312 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8053
+t=58: Selected seed 195 with value = 0.8053
+Query 1/1: Action query time = 4.670 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9587
+t=74: Selected seed 195 with value = 0.9587
+Query 1/1: Action query time = 2.613 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9919
+t=90: Selected seed 195 with value = 0.9919
+Saved rollout MP4 at path ./rollouts/fcv2_175_t4_s03/2026_08_02-04_58_46--with_future_img--episode=3--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Success: True
+# episodes completed so far: 3
+# successes: 3 (100.0%)
+Current task success rate: 1.0
+Current total success rate: 1.0
+Final results:
+Total episodes: 3
+Total successes: 3
+Overall success rate: 1.0000 (100.0%)
diff --git a/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-04_58_46--fcv2_175_t4_s08.txt b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-04_58_46--fcv2_175_t4_s08.txt
new file mode 100644
index 0000000000000000000000000000000000000000..2b8ccf7b5aa0fe1f0ec7718bdf8c9f6e2b38ad05
--- /dev/null
+++ b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-04_58_46--fcv2_175_t4_s08.txt
@@ -0,0 +1,101 @@
+Eval config: PolicyEvalConfig(suite='libero', model_family='cosmos', config='cosmos_predict2_2b_480p_libero_cl_stage_inference_only', ckpt_path='/home/azureuser/REGEN-main/new/cosmos_policy/cosmos_v2_finetune/cosmos_predict2_2b_480p_libero_goal_task6_forget_cl_v2_from350_constlr_2gpu/checkpoints/iter_000000175/model', planning_model_config_name='', planning_model_ckpt_path='', config_file='cosmos_policy/config/config.py', packnet_mask_path='', packnet_first_cl_libero_task=6, use_third_person_image=True, num_third_person_images=1, use_wrist_image=True, num_wrist_images=1, use_proprio=True, flip_images=True, use_variance_scale=False, use_jpeg_compression=True, ar_future_prediction=False, ar_value_prediction=False, ar_qvalue_prediction=False, num_denoising_steps_action=5, num_denoising_steps_future_state=1, num_denoising_steps_value=1, unnormalize_actions=True, normalize_proprio=True, dataset_stats_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/libero_goal_regen/dataset_statistics.json', t5_text_embeddings_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/t5_embeddings.pkl', trained_with_image_aug=True, chunk_size=16, num_open_loop_steps=16, deterministic=True, deterministic_reset=False, deterministic_reset_seed=None, use_ensemble_future_state_predictions=False, num_future_state_predictions_in_ensemble=3, future_state_ensemble_aggregation_scheme='average', use_ensemble_value_predictions=False, num_value_predictions_in_ensemble=5, value_ensemble_aggregation_scheme='average', search_depth=1, mask_current_state_action_for_value_prediction=False, mask_future_state_for_qvalue_prediction=False, num_queries_best_of_n=1, use_parallel_inference=False, available_gpus='0', parallel_timeout=15, parallel_tasks_across_gpus=False, task_suite_name='libero_goal', num_trials_per_task=50, task_ids_to_run='4', initial_states_path='DEFAULT', env_img_res=256, local_log_dir='/home/azureuser/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal', run_id_note='fcv2_175_t4_s08', use_wandb=False, wandb_entity='YOUR_ENTITY', wandb_project='YOUR_PROJECT', seed=195, randomize_seed=False, data_collection=False, jpeg_compress=True, reward_stop_threshold=None, reward_stop_consecutive_steps=3, use_gpt_reward=False, gpt_reward_model='gpt-5.4-mini', gpt_reward_stop_threshold=4, gpt_reward_timeout_s=30.0, save_rollout_video=False, eval_hdf5_path='', eval_hdf5_demo_key='demo_0', data_gen_demo_ids='', eval_episode_ids='8,24,40', replay_actions=False, replay_action_path_dir='', replay_hdf5_path='', data_generation=False, max_generation_steps=200, simple_task_max_steps=100, complex_task_max_steps=200)
+Using serial inference (parallel inference disabled)
+Task suite: libero_goal
+Number of tasks: 10
+Running only task IDs: [4]
+Using default initial states
+
+Task: put the bowl on top of the cabinet
+Starting episode 1...
+Query 1/1: Action query time = 2.514 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5055
+t=10: Selected seed 195 with value = 0.5055
+Query 1/1: Action query time = 5.051 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6097
+t=26: Selected seed 195 with value = 0.6097
+Query 1/1: Action query time = 4.894 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7038
+t=42: Selected seed 195 with value = 0.7038
+Query 1/1: Action query time = 4.376 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8171
+t=58: Selected seed 195 with value = 0.8171
+Query 1/1: Action query time = 4.975 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9794
+t=74: Selected seed 195 with value = 0.9794
+Query 1/1: Action query time = 4.860 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9948
+t=90: Selected seed 195 with value = 0.9948
+Saved rollout MP4 at path ./rollouts/fcv2_175_t4_s08/2026_08_02-04_58_46--with_future_img--episode=1--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Success: True
+# episodes completed so far: 1
+# successes: 1 (100.0%)
+
+Task: put the bowl on top of the cabinet
+Starting episode 2...
+Query 1/1: Action query time = 2.090 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5088
+t=10: Selected seed 195 with value = 0.5088
+Query 1/1: Action query time = 2.120 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6177
+t=26: Selected seed 195 with value = 0.6177
+Query 1/1: Action query time = 4.746 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7011
+t=42: Selected seed 195 with value = 0.7011
+Query 1/1: Action query time = 4.620 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8800
+t=58: Selected seed 195 with value = 0.8800
+Query 1/1: Action query time = 4.648 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=74: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/fcv2_175_t4_s08/2026_08_02-04_58_46--with_future_img--episode=2--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Success: True
+# episodes completed so far: 2
+# successes: 2 (100.0%)
+
+Task: put the bowl on top of the cabinet
+Starting episode 3...
+Query 1/1: Action query time = 4.404 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5012
+t=10: Selected seed 195 with value = 0.5012
+Query 1/1: Action query time = 3.761 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6163
+t=26: Selected seed 195 with value = 0.6163
+Query 1/1: Action query time = 3.271 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6796
+t=42: Selected seed 195 with value = 0.6796
+Query 1/1: Action query time = 3.035 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8064
+t=58: Selected seed 195 with value = 0.8064
+Query 1/1: Action query time = 5.607 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9431
+t=74: Selected seed 195 with value = 0.9431
+Query 1/1: Action query time = 5.071 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/fcv2_175_t4_s08/2026_08_02-04_58_46--with_future_img--episode=3--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Success: True
+# episodes completed so far: 3
+# successes: 3 (100.0%)
+Current task success rate: 1.0
+Current total success rate: 1.0
+Final results:
+Total episodes: 3
+Total successes: 3
+Overall success rate: 1.0000 (100.0%)
diff --git a/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-05_01_14--fcv2_175_t5_s01.txt b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-05_01_14--fcv2_175_t5_s01.txt
new file mode 100644
index 0000000000000000000000000000000000000000..aaf91907a8076e6f84aa42cb75ffdcf201bc8943
--- /dev/null
+++ b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-05_01_14--fcv2_175_t5_s01.txt
@@ -0,0 +1,168 @@
+Eval config: PolicyEvalConfig(suite='libero', model_family='cosmos', config='cosmos_predict2_2b_480p_libero_cl_stage_inference_only', ckpt_path='/home/azureuser/REGEN-main/new/cosmos_policy/cosmos_v2_finetune/cosmos_predict2_2b_480p_libero_goal_task6_forget_cl_v2_from350_constlr_2gpu/checkpoints/iter_000000175/model', planning_model_config_name='', planning_model_ckpt_path='', config_file='cosmos_policy/config/config.py', packnet_mask_path='', packnet_first_cl_libero_task=6, use_third_person_image=True, num_third_person_images=1, use_wrist_image=True, num_wrist_images=1, use_proprio=True, flip_images=True, use_variance_scale=False, use_jpeg_compression=True, ar_future_prediction=False, ar_value_prediction=False, ar_qvalue_prediction=False, num_denoising_steps_action=5, num_denoising_steps_future_state=1, num_denoising_steps_value=1, unnormalize_actions=True, normalize_proprio=True, dataset_stats_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/libero_goal_regen/dataset_statistics.json', t5_text_embeddings_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/t5_embeddings.pkl', trained_with_image_aug=True, chunk_size=16, num_open_loop_steps=16, deterministic=True, deterministic_reset=False, deterministic_reset_seed=None, use_ensemble_future_state_predictions=False, num_future_state_predictions_in_ensemble=3, future_state_ensemble_aggregation_scheme='average', use_ensemble_value_predictions=False, num_value_predictions_in_ensemble=5, value_ensemble_aggregation_scheme='average', search_depth=1, mask_current_state_action_for_value_prediction=False, mask_future_state_for_qvalue_prediction=False, num_queries_best_of_n=1, use_parallel_inference=False, available_gpus='0', parallel_timeout=15, parallel_tasks_across_gpus=False, task_suite_name='libero_goal', num_trials_per_task=50, task_ids_to_run='5', initial_states_path='DEFAULT', env_img_res=256, local_log_dir='/home/azureuser/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal', run_id_note='fcv2_175_t5_s01', use_wandb=False, wandb_entity='YOUR_ENTITY', wandb_project='YOUR_PROJECT', seed=195, randomize_seed=False, data_collection=False, jpeg_compress=True, reward_stop_threshold=None, reward_stop_consecutive_steps=3, use_gpt_reward=False, gpt_reward_model='gpt-5.4-mini', gpt_reward_stop_threshold=4, gpt_reward_timeout_s=30.0, save_rollout_video=False, eval_hdf5_path='', eval_hdf5_demo_key='demo_0', data_gen_demo_ids='', eval_episode_ids='1,17,33,49', replay_actions=False, replay_action_path_dir='', replay_hdf5_path='', data_generation=False, max_generation_steps=200, simple_task_max_steps=100, complex_task_max_steps=200)
+Using serial inference (parallel inference disabled)
+Task suite: libero_goal
+Number of tasks: 10
+Running only task IDs: [5]
+Using default initial states
+
+Task: push the plate to the front of the stove
+Starting episode 1...
+Query 1/1: Action query time = 2.073 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2711
+t=10: Selected seed 195 with value = 0.2711
+Query 1/1: Action query time = 2.556 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4106
+t=26: Selected seed 195 with value = 0.4106
+Query 1/1: Action query time = 4.659 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5026
+t=42: Selected seed 195 with value = 0.5026
+Query 1/1: Action query time = 4.419 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5531
+t=58: Selected seed 195 with value = 0.5531
+Query 1/1: Action query time = 4.806 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6290
+t=74: Selected seed 195 with value = 0.6290
+Query 1/1: Action query time = 5.101 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7893
+t=90: Selected seed 195 with value = 0.7893
+Query 1/1: Action query time = 4.894 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8751
+t=106: Selected seed 195 with value = 0.8751
+Query 1/1: Action query time = 4.591 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9577
+t=122: Selected seed 195 with value = 0.9577
+Saved rollout MP4 at path ./rollouts/fcv2_175_t5_s01/2026_08_02-05_01_14--with_future_img--episode=1--success=True--task=push_the_plate_to_the_front_of_the_.mp4
+Success: True
+# episodes completed so far: 1
+# successes: 1 (100.0%)
+
+Task: push the plate to the front of the stove
+Starting episode 2...
+Query 1/1: Action query time = 4.213 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2855
+t=10: Selected seed 195 with value = 0.2855
+Query 1/1: Action query time = 1.266 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3831
+t=26: Selected seed 195 with value = 0.3831
+Query 1/1: Action query time = 1.998 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5204
+t=42: Selected seed 195 with value = 0.5204
+Query 1/1: Action query time = 4.936 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6067
+t=58: Selected seed 195 with value = 0.6067
+Query 1/1: Action query time = 3.699 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6776
+t=74: Selected seed 195 with value = 0.6776
+Query 1/1: Action query time = 5.082 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7801
+t=90: Selected seed 195 with value = 0.7801
+Query 1/1: Action query time = 5.147 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8950
+t=106: Selected seed 195 with value = 0.8950
+Query 1/1: Action query time = 4.799 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9585
+t=122: Selected seed 195 with value = 0.9585
+Saved rollout MP4 at path ./rollouts/fcv2_175_t5_s01/2026_08_02-05_01_14--with_future_img--episode=2--success=True--task=push_the_plate_to_the_front_of_the_.mp4
+Success: True
+# episodes completed so far: 2
+# successes: 2 (100.0%)
+
+Task: push the plate to the front of the stove
+Starting episode 3...
+Query 1/1: Action query time = 5.102 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2426
+t=10: Selected seed 195 with value = 0.2426
+Query 1/1: Action query time = 5.115 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4420
+t=26: Selected seed 195 with value = 0.4420
+Query 1/1: Action query time = 1.970 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5149
+t=42: Selected seed 195 with value = 0.5149
+Query 1/1: Action query time = 1.950 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5714
+t=58: Selected seed 195 with value = 0.5714
+Query 1/1: Action query time = 5.298 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6647
+t=74: Selected seed 195 with value = 0.6647
+Query 1/1: Action query time = 5.186 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7617
+t=90: Selected seed 195 with value = 0.7617
+Query 1/1: Action query time = 4.429 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7855
+t=106: Selected seed 195 with value = 0.7855
+Query 1/1: Action query time = 4.611 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=122: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/fcv2_175_t5_s01/2026_08_02-05_01_14--with_future_img--episode=3--success=True--task=push_the_plate_to_the_front_of_the_.mp4
+Success: True
+# episodes completed so far: 3
+# successes: 3 (100.0%)
+
+Task: push the plate to the front of the stove
+Starting episode 4...
+Query 1/1: Action query time = 4.896 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2451
+t=10: Selected seed 195 with value = 0.2451
+Query 1/1: Action query time = 4.290 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3855
+t=26: Selected seed 195 with value = 0.3855
+Query 1/1: Action query time = 5.149 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4446
+t=42: Selected seed 195 with value = 0.4446
+Query 1/1: Action query time = 4.327 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4998
+t=58: Selected seed 195 with value = 0.4998
+Query 1/1: Action query time = 1.920 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5807
+t=74: Selected seed 195 with value = 0.5807
+Query 1/1: Action query time = 1.732 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6796
+t=90: Selected seed 195 with value = 0.6796
+Query 1/1: Action query time = 1.899 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8104
+t=106: Selected seed 195 with value = 0.8104
+Query 1/1: Action query time = 1.553 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9637
+t=122: Selected seed 195 with value = 0.9637
+Saved rollout MP4 at path ./rollouts/fcv2_175_t5_s01/2026_08_02-05_01_14--with_future_img--episode=4--success=True--task=push_the_plate_to_the_front_of_the_.mp4
+Success: True
+# episodes completed so far: 4
+# successes: 4 (100.0%)
+Current task success rate: 1.0
+Current total success rate: 1.0
+Final results:
+Total episodes: 4
+Total successes: 4
+Overall success rate: 1.0000 (100.0%)
diff --git a/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-05_01_14--fcv2_175_t5_s02.txt b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-05_01_14--fcv2_175_t5_s02.txt
new file mode 100644
index 0000000000000000000000000000000000000000..a0835c1ed5097836730f253434155b0d8dade7a5
--- /dev/null
+++ b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-05_01_14--fcv2_175_t5_s02.txt
@@ -0,0 +1,141 @@
+Eval config: PolicyEvalConfig(suite='libero', model_family='cosmos', config='cosmos_predict2_2b_480p_libero_cl_stage_inference_only', ckpt_path='/home/azureuser/REGEN-main/new/cosmos_policy/cosmos_v2_finetune/cosmos_predict2_2b_480p_libero_goal_task6_forget_cl_v2_from350_constlr_2gpu/checkpoints/iter_000000175/model', planning_model_config_name='', planning_model_ckpt_path='', config_file='cosmos_policy/config/config.py', packnet_mask_path='', packnet_first_cl_libero_task=6, use_third_person_image=True, num_third_person_images=1, use_wrist_image=True, num_wrist_images=1, use_proprio=True, flip_images=True, use_variance_scale=False, use_jpeg_compression=True, ar_future_prediction=False, ar_value_prediction=False, ar_qvalue_prediction=False, num_denoising_steps_action=5, num_denoising_steps_future_state=1, num_denoising_steps_value=1, unnormalize_actions=True, normalize_proprio=True, dataset_stats_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/libero_goal_regen/dataset_statistics.json', t5_text_embeddings_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/t5_embeddings.pkl', trained_with_image_aug=True, chunk_size=16, num_open_loop_steps=16, deterministic=True, deterministic_reset=False, deterministic_reset_seed=None, use_ensemble_future_state_predictions=False, num_future_state_predictions_in_ensemble=3, future_state_ensemble_aggregation_scheme='average', use_ensemble_value_predictions=False, num_value_predictions_in_ensemble=5, value_ensemble_aggregation_scheme='average', search_depth=1, mask_current_state_action_for_value_prediction=False, mask_future_state_for_qvalue_prediction=False, num_queries_best_of_n=1, use_parallel_inference=False, available_gpus='0', parallel_timeout=15, parallel_tasks_across_gpus=False, task_suite_name='libero_goal', num_trials_per_task=50, task_ids_to_run='5', initial_states_path='DEFAULT', env_img_res=256, local_log_dir='/home/azureuser/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal', run_id_note='fcv2_175_t5_s02', use_wandb=False, wandb_entity='YOUR_ENTITY', wandb_project='YOUR_PROJECT', seed=195, randomize_seed=False, data_collection=False, jpeg_compress=True, reward_stop_threshold=None, reward_stop_consecutive_steps=3, use_gpt_reward=False, gpt_reward_model='gpt-5.4-mini', gpt_reward_stop_threshold=4, gpt_reward_timeout_s=30.0, save_rollout_video=False, eval_hdf5_path='', eval_hdf5_demo_key='demo_0', data_gen_demo_ids='', eval_episode_ids='2,18,34', replay_actions=False, replay_action_path_dir='', replay_hdf5_path='', data_generation=False, max_generation_steps=200, simple_task_max_steps=100, complex_task_max_steps=200)
+Using serial inference (parallel inference disabled)
+Task suite: libero_goal
+Number of tasks: 10
+Running only task IDs: [5]
+Using default initial states
+
+Task: push the plate to the front of the stove
+Starting episode 1...
+Query 1/1: Action query time = 2.495 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3232
+t=10: Selected seed 195 with value = 0.3232
+Query 1/1: Action query time = 2.874 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3785
+t=26: Selected seed 195 with value = 0.3785
+Query 1/1: Action query time = 5.607 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4120
+t=42: Selected seed 195 with value = 0.4120
+Query 1/1: Action query time = 5.141 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4858
+t=58: Selected seed 195 with value = 0.4858
+Query 1/1: Action query time = 4.238 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5281
+t=74: Selected seed 195 with value = 0.5281
+Query 1/1: Action query time = 4.645 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6047
+t=90: Selected seed 195 with value = 0.6047
+Query 1/1: Action query time = 5.341 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6969
+t=106: Selected seed 195 with value = 0.6969
+Query 1/1: Action query time = 4.953 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8806
+t=122: Selected seed 195 with value = 0.8806
+Query 1/1: Action query time = 3.952 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9924
+t=138: Selected seed 195 with value = 0.9924
+Saved rollout MP4 at path ./rollouts/fcv2_175_t5_s02/2026_08_02-05_01_14--with_future_img--episode=1--success=True--task=push_the_plate_to_the_front_of_the_.mp4
+Success: True
+# episodes completed so far: 1
+# successes: 1 (100.0%)
+
+Task: push the plate to the front of the stove
+Starting episode 2...
+Query 1/1: Action query time = 1.823 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3045
+t=10: Selected seed 195 with value = 0.3045
+Query 1/1: Action query time = 2.820 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3758
+t=26: Selected seed 195 with value = 0.3758
+Query 1/1: Action query time = 4.871 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3732
+t=42: Selected seed 195 with value = 0.3732
+Query 1/1: Action query time = 5.499 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4770
+t=58: Selected seed 195 with value = 0.4770
+Query 1/1: Action query time = 4.940 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5835
+t=74: Selected seed 195 with value = 0.5835
+Query 1/1: Action query time = 5.131 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6811
+t=90: Selected seed 195 with value = 0.6811
+Query 1/1: Action query time = 4.324 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7646
+t=106: Selected seed 195 with value = 0.7646
+Query 1/1: Action query time = 5.499 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9365
+t=122: Selected seed 195 with value = 0.9365
+Query 1/1: Action query time = 5.141 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9974
+t=138: Selected seed 195 with value = 0.9974
+Saved rollout MP4 at path ./rollouts/fcv2_175_t5_s02/2026_08_02-05_01_14--with_future_img--episode=2--success=True--task=push_the_plate_to_the_front_of_the_.mp4
+Success: True
+# episodes completed so far: 2
+# successes: 2 (100.0%)
+
+Task: push the plate to the front of the stove
+Starting episode 3...
+Query 1/1: Action query time = 3.839 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2346
+t=10: Selected seed 195 with value = 0.2346
+Query 1/1: Action query time = 4.126 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3720
+t=26: Selected seed 195 with value = 0.3720
+Query 1/1: Action query time = 5.066 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4514
+t=42: Selected seed 195 with value = 0.4514
+Query 1/1: Action query time = 5.504 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4993
+t=58: Selected seed 195 with value = 0.4993
+Query 1/1: Action query time = 4.779 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5779
+t=74: Selected seed 195 with value = 0.5779
+Query 1/1: Action query time = 4.272 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6235
+t=90: Selected seed 195 with value = 0.6235
+Query 1/1: Action query time = 4.817 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7329
+t=106: Selected seed 195 with value = 0.7329
+Query 1/1: Action query time = 5.317 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8553
+t=122: Selected seed 195 with value = 0.8553
+Query 1/1: Action query time = 4.322 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9912
+t=138: Selected seed 195 with value = 0.9912
+Saved rollout MP4 at path ./rollouts/fcv2_175_t5_s02/2026_08_02-05_01_14--with_future_img--episode=3--success=True--task=push_the_plate_to_the_front_of_the_.mp4
+Success: True
+# episodes completed so far: 3
+# successes: 3 (100.0%)
+Current task success rate: 1.0
+Current total success rate: 1.0
+Final results:
+Total episodes: 3
+Total successes: 3
+Overall success rate: 1.0000 (100.0%)
diff --git a/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-05_01_14--fcv2_175_t5_s04.txt b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-05_01_14--fcv2_175_t5_s04.txt
new file mode 100644
index 0000000000000000000000000000000000000000..4ef456f1afd2df3e9359bab61c984fbc0df7e1b7
--- /dev/null
+++ b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-05_01_14--fcv2_175_t5_s04.txt
@@ -0,0 +1,161 @@
+Eval config: PolicyEvalConfig(suite='libero', model_family='cosmos', config='cosmos_predict2_2b_480p_libero_cl_stage_inference_only', ckpt_path='/home/azureuser/REGEN-main/new/cosmos_policy/cosmos_v2_finetune/cosmos_predict2_2b_480p_libero_goal_task6_forget_cl_v2_from350_constlr_2gpu/checkpoints/iter_000000175/model', planning_model_config_name='', planning_model_ckpt_path='', config_file='cosmos_policy/config/config.py', packnet_mask_path='', packnet_first_cl_libero_task=6, use_third_person_image=True, num_third_person_images=1, use_wrist_image=True, num_wrist_images=1, use_proprio=True, flip_images=True, use_variance_scale=False, use_jpeg_compression=True, ar_future_prediction=False, ar_value_prediction=False, ar_qvalue_prediction=False, num_denoising_steps_action=5, num_denoising_steps_future_state=1, num_denoising_steps_value=1, unnormalize_actions=True, normalize_proprio=True, dataset_stats_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/libero_goal_regen/dataset_statistics.json', t5_text_embeddings_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/t5_embeddings.pkl', trained_with_image_aug=True, chunk_size=16, num_open_loop_steps=16, deterministic=True, deterministic_reset=False, deterministic_reset_seed=None, use_ensemble_future_state_predictions=False, num_future_state_predictions_in_ensemble=3, future_state_ensemble_aggregation_scheme='average', use_ensemble_value_predictions=False, num_value_predictions_in_ensemble=5, value_ensemble_aggregation_scheme='average', search_depth=1, mask_current_state_action_for_value_prediction=False, mask_future_state_for_qvalue_prediction=False, num_queries_best_of_n=1, use_parallel_inference=False, available_gpus='0', parallel_timeout=15, parallel_tasks_across_gpus=False, task_suite_name='libero_goal', num_trials_per_task=50, task_ids_to_run='5', initial_states_path='DEFAULT', env_img_res=256, local_log_dir='/home/azureuser/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal', run_id_note='fcv2_175_t5_s04', use_wandb=False, wandb_entity='YOUR_ENTITY', wandb_project='YOUR_PROJECT', seed=195, randomize_seed=False, data_collection=False, jpeg_compress=True, reward_stop_threshold=None, reward_stop_consecutive_steps=3, use_gpt_reward=False, gpt_reward_model='gpt-5.4-mini', gpt_reward_stop_threshold=4, gpt_reward_timeout_s=30.0, save_rollout_video=False, eval_hdf5_path='', eval_hdf5_demo_key='demo_0', data_gen_demo_ids='', eval_episode_ids='4,20,36', replay_actions=False, replay_action_path_dir='', replay_hdf5_path='', data_generation=False, max_generation_steps=200, simple_task_max_steps=100, complex_task_max_steps=200)
+Using serial inference (parallel inference disabled)
+Task suite: libero_goal
+Number of tasks: 10
+Running only task IDs: [5]
+Using default initial states
+
+Task: push the plate to the front of the stove
+Starting episode 1...
+Query 1/1: Action query time = 4.103 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2424
+t=10: Selected seed 195 with value = 0.2424
+Query 1/1: Action query time = 6.096 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3213
+t=26: Selected seed 195 with value = 0.3213
+Query 1/1: Action query time = 5.137 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4800
+t=42: Selected seed 195 with value = 0.4800
+Query 1/1: Action query time = 4.366 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5110
+t=58: Selected seed 195 with value = 0.5110
+Query 1/1: Action query time = 4.693 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6080
+t=74: Selected seed 195 with value = 0.6080
+Query 1/1: Action query time = 5.633 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7355
+t=90: Selected seed 195 with value = 0.7355
+Query 1/1: Action query time = 5.070 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9194
+t=106: Selected seed 195 with value = 0.9194
+Query 1/1: Action query time = 3.680 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9880
+t=122: Selected seed 195 with value = 0.9880
+Saved rollout MP4 at path ./rollouts/fcv2_175_t5_s04/2026_08_02-05_01_14--with_future_img--episode=1--success=True--task=push_the_plate_to_the_front_of_the_.mp4
+Success: True
+# episodes completed so far: 1
+# successes: 1 (100.0%)
+
+Task: push the plate to the front of the stove
+Starting episode 2...
+Query 1/1: Action query time = 1.651 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3172
+t=10: Selected seed 195 with value = 0.3172
+Query 1/1: Action query time = 2.043 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3994
+t=26: Selected seed 195 with value = 0.3994
+Query 1/1: Action query time = 5.633 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4377
+t=42: Selected seed 195 with value = 0.4377
+Query 1/1: Action query time = 5.402 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5078
+t=58: Selected seed 195 with value = 0.5078
+Query 1/1: Action query time = 5.137 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6666
+t=74: Selected seed 195 with value = 0.6666
+Query 1/1: Action query time = 5.287 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7371
+t=90: Selected seed 195 with value = 0.7371
+Query 1/1: Action query time = 4.388 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9005
+t=106: Selected seed 195 with value = 0.9005
+Query 1/1: Action query time = 5.295 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9906
+t=122: Selected seed 195 with value = 0.9906
+Saved rollout MP4 at path ./rollouts/fcv2_175_t5_s04/2026_08_02-05_01_14--with_future_img--episode=2--success=True--task=push_the_plate_to_the_front_of_the_.mp4
+Success: True
+# episodes completed so far: 2
+# successes: 2 (100.0%)
+
+Task: push the plate to the front of the stove
+Starting episode 3...
+Query 1/1: Action query time = 3.063 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3652
+t=10: Selected seed 195 with value = 0.3652
+Query 1/1: Action query time = 1.974 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3820
+t=26: Selected seed 195 with value = 0.3820
+Query 1/1: Action query time = 4.863 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5464
+t=42: Selected seed 195 with value = 0.5464
+Query 1/1: Action query time = 4.237 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5627
+t=58: Selected seed 195 with value = 0.5627
+Query 1/1: Action query time = 4.512 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6299
+t=74: Selected seed 195 with value = 0.6299
+Query 1/1: Action query time = 5.134 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7961
+t=90: Selected seed 195 with value = 0.7961
+Query 1/1: Action query time = 4.851 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8746
+t=106: Selected seed 195 with value = 0.8746
+Query 1/1: Action query time = 5.428 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9708
+t=122: Selected seed 195 with value = 0.9708
+Query 1/1: Action query time = 4.385 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7587
+t=138: Selected seed 195 with value = 0.7587
+Query 1/1: Action query time = 4.947 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9708
+t=154: Selected seed 195 with value = 0.9708
+Query 1/1: Action query time = 4.429 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9409
+t=170: Selected seed 195 with value = 0.9409
+Query 1/1: Action query time = 2.181 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8392
+t=186: Selected seed 195 with value = 0.8392
+Query 1/1: Action query time = 1.499 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8595
+t=202: Selected seed 195 with value = 0.8595
+Query 1/1: Action query time = 2.047 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9723
+t=218: Selected seed 195 with value = 0.9723
+Query 1/1: Action query time = 2.028 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9461
+t=234: Selected seed 195 with value = 0.9461
+Query 1/1: Action query time = 1.774 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9479
+t=250: Selected seed 195 with value = 0.9479
+Saved rollout MP4 at path ./rollouts/fcv2_175_t5_s04/2026_08_02-05_01_14--with_future_img--episode=3--success=True--task=push_the_plate_to_the_front_of_the_.mp4
+Success: True
+# episodes completed so far: 3
+# successes: 3 (100.0%)
+Current task success rate: 1.0
+Current total success rate: 1.0
+Final results:
+Total episodes: 3
+Total successes: 3
+Overall success rate: 1.0000 (100.0%)
diff --git a/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-05_01_15--fcv2_175_t5_s03.txt b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-05_01_15--fcv2_175_t5_s03.txt
new file mode 100644
index 0000000000000000000000000000000000000000..cece8220c2c71d62edd1e2d3ffae4f5e4312c0e2
--- /dev/null
+++ b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-05_01_15--fcv2_175_t5_s03.txt
@@ -0,0 +1,129 @@
+Eval config: PolicyEvalConfig(suite='libero', model_family='cosmos', config='cosmos_predict2_2b_480p_libero_cl_stage_inference_only', ckpt_path='/home/azureuser/REGEN-main/new/cosmos_policy/cosmos_v2_finetune/cosmos_predict2_2b_480p_libero_goal_task6_forget_cl_v2_from350_constlr_2gpu/checkpoints/iter_000000175/model', planning_model_config_name='', planning_model_ckpt_path='', config_file='cosmos_policy/config/config.py', packnet_mask_path='', packnet_first_cl_libero_task=6, use_third_person_image=True, num_third_person_images=1, use_wrist_image=True, num_wrist_images=1, use_proprio=True, flip_images=True, use_variance_scale=False, use_jpeg_compression=True, ar_future_prediction=False, ar_value_prediction=False, ar_qvalue_prediction=False, num_denoising_steps_action=5, num_denoising_steps_future_state=1, num_denoising_steps_value=1, unnormalize_actions=True, normalize_proprio=True, dataset_stats_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/libero_goal_regen/dataset_statistics.json', t5_text_embeddings_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/t5_embeddings.pkl', trained_with_image_aug=True, chunk_size=16, num_open_loop_steps=16, deterministic=True, deterministic_reset=False, deterministic_reset_seed=None, use_ensemble_future_state_predictions=False, num_future_state_predictions_in_ensemble=3, future_state_ensemble_aggregation_scheme='average', use_ensemble_value_predictions=False, num_value_predictions_in_ensemble=5, value_ensemble_aggregation_scheme='average', search_depth=1, mask_current_state_action_for_value_prediction=False, mask_future_state_for_qvalue_prediction=False, num_queries_best_of_n=1, use_parallel_inference=False, available_gpus='0', parallel_timeout=15, parallel_tasks_across_gpus=False, task_suite_name='libero_goal', num_trials_per_task=50, task_ids_to_run='5', initial_states_path='DEFAULT', env_img_res=256, local_log_dir='/home/azureuser/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal', run_id_note='fcv2_175_t5_s03', use_wandb=False, wandb_entity='YOUR_ENTITY', wandb_project='YOUR_PROJECT', seed=195, randomize_seed=False, data_collection=False, jpeg_compress=True, reward_stop_threshold=None, reward_stop_consecutive_steps=3, use_gpt_reward=False, gpt_reward_model='gpt-5.4-mini', gpt_reward_stop_threshold=4, gpt_reward_timeout_s=30.0, save_rollout_video=False, eval_hdf5_path='', eval_hdf5_demo_key='demo_0', data_gen_demo_ids='', eval_episode_ids='3,19,35', replay_actions=False, replay_action_path_dir='', replay_hdf5_path='', data_generation=False, max_generation_steps=200, simple_task_max_steps=100, complex_task_max_steps=200)
+Using serial inference (parallel inference disabled)
+Task suite: libero_goal
+Number of tasks: 10
+Running only task IDs: [5]
+Using default initial states
+
+Task: push the plate to the front of the stove
+Starting episode 1...
+Query 1/1: Action query time = 7.558 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3293
+t=10: Selected seed 195 with value = 0.3293
+Query 1/1: Action query time = 5.676 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3768
+t=26: Selected seed 195 with value = 0.3768
+Query 1/1: Action query time = 5.381 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4869
+t=42: Selected seed 195 with value = 0.4869
+Query 1/1: Action query time = 4.541 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6265
+t=58: Selected seed 195 with value = 0.6265
+Query 1/1: Action query time = 4.539 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7638
+t=74: Selected seed 195 with value = 0.7638
+Query 1/1: Action query time = 4.718 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8722
+t=90: Selected seed 195 with value = 0.8722
+Query 1/1: Action query time = 5.084 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9703
+t=106: Selected seed 195 with value = 0.9703
+Query 1/1: Action query time = 1.269 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9959
+t=122: Selected seed 195 with value = 0.9959
+Saved rollout MP4 at path ./rollouts/fcv2_175_t5_s03/2026_08_02-05_01_15--with_future_img--episode=1--success=True--task=push_the_plate_to_the_front_of_the_.mp4
+Success: True
+# episodes completed so far: 1
+# successes: 1 (100.0%)
+
+Task: push the plate to the front of the stove
+Starting episode 2...
+Query 1/1: Action query time = 5.498 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3175
+t=10: Selected seed 195 with value = 0.3175
+Query 1/1: Action query time = 5.379 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3939
+t=26: Selected seed 195 with value = 0.3939
+Query 1/1: Action query time = 4.954 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4617
+t=42: Selected seed 195 with value = 0.4617
+Query 1/1: Action query time = 5.143 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5750
+t=58: Selected seed 195 with value = 0.5750
+Query 1/1: Action query time = 4.682 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6758
+t=74: Selected seed 195 with value = 0.6758
+Query 1/1: Action query time = 5.267 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7841
+t=90: Selected seed 195 with value = 0.7841
+Query 1/1: Action query time = 3.407 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8881
+t=106: Selected seed 195 with value = 0.8881
+Query 1/1: Action query time = 4.004 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9947
+t=122: Selected seed 195 with value = 0.9947
+Saved rollout MP4 at path ./rollouts/fcv2_175_t5_s03/2026_08_02-05_01_15--with_future_img--episode=2--success=True--task=push_the_plate_to_the_front_of_the_.mp4
+Success: True
+# episodes completed so far: 2
+# successes: 2 (100.0%)
+
+Task: push the plate to the front of the stove
+Starting episode 3...
+Query 1/1: Action query time = 4.618 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3653
+t=10: Selected seed 195 with value = 0.3653
+Query 1/1: Action query time = 5.866 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4089
+t=26: Selected seed 195 with value = 0.4089
+Query 1/1: Action query time = 5.765 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4081
+t=42: Selected seed 195 with value = 0.4081
+Query 1/1: Action query time = 4.656 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4937
+t=58: Selected seed 195 with value = 0.4937
+Query 1/1: Action query time = 4.244 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6237
+t=74: Selected seed 195 with value = 0.6237
+Query 1/1: Action query time = 4.961 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7152
+t=90: Selected seed 195 with value = 0.7152
+Query 1/1: Action query time = 5.484 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8530
+t=106: Selected seed 195 with value = 0.8530
+Query 1/1: Action query time = 4.306 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9845
+t=122: Selected seed 195 with value = 0.9845
+Saved rollout MP4 at path ./rollouts/fcv2_175_t5_s03/2026_08_02-05_01_15--with_future_img--episode=3--success=True--task=push_the_plate_to_the_front_of_the_.mp4
+Success: True
+# episodes completed so far: 3
+# successes: 3 (100.0%)
+Current task success rate: 1.0
+Current total success rate: 1.0
+Final results:
+Total episodes: 3
+Total successes: 3
+Overall success rate: 1.0000 (100.0%)
diff --git a/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-05_01_15--fcv2_175_t5_s06.txt b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-05_01_15--fcv2_175_t5_s06.txt
new file mode 100644
index 0000000000000000000000000000000000000000..c95f1a49e12378eb920c2480e3d4d91a7c406efe
--- /dev/null
+++ b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-05_01_15--fcv2_175_t5_s06.txt
@@ -0,0 +1,133 @@
+Eval config: PolicyEvalConfig(suite='libero', model_family='cosmos', config='cosmos_predict2_2b_480p_libero_cl_stage_inference_only', ckpt_path='/home/azureuser/REGEN-main/new/cosmos_policy/cosmos_v2_finetune/cosmos_predict2_2b_480p_libero_goal_task6_forget_cl_v2_from350_constlr_2gpu/checkpoints/iter_000000175/model', planning_model_config_name='', planning_model_ckpt_path='', config_file='cosmos_policy/config/config.py', packnet_mask_path='', packnet_first_cl_libero_task=6, use_third_person_image=True, num_third_person_images=1, use_wrist_image=True, num_wrist_images=1, use_proprio=True, flip_images=True, use_variance_scale=False, use_jpeg_compression=True, ar_future_prediction=False, ar_value_prediction=False, ar_qvalue_prediction=False, num_denoising_steps_action=5, num_denoising_steps_future_state=1, num_denoising_steps_value=1, unnormalize_actions=True, normalize_proprio=True, dataset_stats_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/libero_goal_regen/dataset_statistics.json', t5_text_embeddings_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/t5_embeddings.pkl', trained_with_image_aug=True, chunk_size=16, num_open_loop_steps=16, deterministic=True, deterministic_reset=False, deterministic_reset_seed=None, use_ensemble_future_state_predictions=False, num_future_state_predictions_in_ensemble=3, future_state_ensemble_aggregation_scheme='average', use_ensemble_value_predictions=False, num_value_predictions_in_ensemble=5, value_ensemble_aggregation_scheme='average', search_depth=1, mask_current_state_action_for_value_prediction=False, mask_future_state_for_qvalue_prediction=False, num_queries_best_of_n=1, use_parallel_inference=False, available_gpus='0', parallel_timeout=15, parallel_tasks_across_gpus=False, task_suite_name='libero_goal', num_trials_per_task=50, task_ids_to_run='5', initial_states_path='DEFAULT', env_img_res=256, local_log_dir='/home/azureuser/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal', run_id_note='fcv2_175_t5_s06', use_wandb=False, wandb_entity='YOUR_ENTITY', wandb_project='YOUR_PROJECT', seed=195, randomize_seed=False, data_collection=False, jpeg_compress=True, reward_stop_threshold=None, reward_stop_consecutive_steps=3, use_gpt_reward=False, gpt_reward_model='gpt-5.4-mini', gpt_reward_stop_threshold=4, gpt_reward_timeout_s=30.0, save_rollout_video=False, eval_hdf5_path='', eval_hdf5_demo_key='demo_0', data_gen_demo_ids='', eval_episode_ids='6,22,38', replay_actions=False, replay_action_path_dir='', replay_hdf5_path='', data_generation=False, max_generation_steps=200, simple_task_max_steps=100, complex_task_max_steps=200)
+Using serial inference (parallel inference disabled)
+Task suite: libero_goal
+Number of tasks: 10
+Running only task IDs: [5]
+Using default initial states
+
+Task: push the plate to the front of the stove
+Starting episode 1...
+Query 1/1: Action query time = 6.433 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3352
+t=10: Selected seed 195 with value = 0.3352
+Query 1/1: Action query time = 4.488 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3480
+t=26: Selected seed 195 with value = 0.3480
+Query 1/1: Action query time = 4.577 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4359
+t=42: Selected seed 195 with value = 0.4359
+Query 1/1: Action query time = 4.904 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5447
+t=58: Selected seed 195 with value = 0.5447
+Query 1/1: Action query time = 5.656 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5862
+t=74: Selected seed 195 with value = 0.5862
+Query 1/1: Action query time = 5.053 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7576
+t=90: Selected seed 195 with value = 0.7576
+Query 1/1: Action query time = 3.673 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9814
+t=106: Selected seed 195 with value = 0.9814
+Query 1/1: Action query time = 4.274 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9996
+t=122: Selected seed 195 with value = 0.9996
+Saved rollout MP4 at path ./rollouts/fcv2_175_t5_s06/2026_08_02-05_01_15--with_future_img--episode=1--success=True--task=push_the_plate_to_the_front_of_the_.mp4
+Success: True
+# episodes completed so far: 1
+# successes: 1 (100.0%)
+
+Task: push the plate to the front of the stove
+Starting episode 2...
+Query 1/1: Action query time = 6.297 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3249
+t=10: Selected seed 195 with value = 0.3249
+Query 1/1: Action query time = 4.643 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4115
+t=26: Selected seed 195 with value = 0.4115
+Query 1/1: Action query time = 4.724 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4695
+t=42: Selected seed 195 with value = 0.4695
+Query 1/1: Action query time = 4.922 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6055
+t=58: Selected seed 195 with value = 0.6055
+Query 1/1: Action query time = 4.477 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6756
+t=74: Selected seed 195 with value = 0.6756
+Query 1/1: Action query time = 3.227 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7659
+t=90: Selected seed 195 with value = 0.7659
+Query 1/1: Action query time = 4.822 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9156
+t=106: Selected seed 195 with value = 0.9156
+Query 1/1: Action query time = 5.001 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9906
+t=122: Selected seed 195 with value = 0.9906
+Saved rollout MP4 at path ./rollouts/fcv2_175_t5_s06/2026_08_02-05_01_15--with_future_img--episode=2--success=True--task=push_the_plate_to_the_front_of_the_.mp4
+Success: True
+# episodes completed so far: 2
+# successes: 2 (100.0%)
+
+Task: push the plate to the front of the stove
+Starting episode 3...
+Query 1/1: Action query time = 5.193 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3071
+t=10: Selected seed 195 with value = 0.3071
+Query 1/1: Action query time = 4.191 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3274
+t=26: Selected seed 195 with value = 0.3274
+Query 1/1: Action query time = 4.303 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3741
+t=42: Selected seed 195 with value = 0.3741
+Query 1/1: Action query time = 4.884 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5197
+t=58: Selected seed 195 with value = 0.5197
+Query 1/1: Action query time = 4.793 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5797
+t=74: Selected seed 195 with value = 0.5797
+Query 1/1: Action query time = 5.447 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6890
+t=90: Selected seed 195 with value = 0.6890
+Query 1/1: Action query time = 4.906 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8842
+t=106: Selected seed 195 with value = 0.8842
+Query 1/1: Action query time = 4.639 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9747
+t=122: Selected seed 195 with value = 0.9747
+Query 1/1: Action query time = 4.361 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9067
+t=138: Selected seed 195 with value = 0.9067
+Saved rollout MP4 at path ./rollouts/fcv2_175_t5_s06/2026_08_02-05_01_15--with_future_img--episode=3--success=True--task=push_the_plate_to_the_front_of_the_.mp4
+Success: True
+# episodes completed so far: 3
+# successes: 3 (100.0%)
+Current task success rate: 1.0
+Current total success rate: 1.0
+Final results:
+Total episodes: 3
+Total successes: 3
+Overall success rate: 1.0000 (100.0%)
diff --git a/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-05_01_15--fcv2_175_t5_s09.txt b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-05_01_15--fcv2_175_t5_s09.txt
new file mode 100644
index 0000000000000000000000000000000000000000..d2d1f5cef56c71c21aefb09d66093c7597e58fb0
--- /dev/null
+++ b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-05_01_15--fcv2_175_t5_s09.txt
@@ -0,0 +1,133 @@
+Eval config: PolicyEvalConfig(suite='libero', model_family='cosmos', config='cosmos_predict2_2b_480p_libero_cl_stage_inference_only', ckpt_path='/home/azureuser/REGEN-main/new/cosmos_policy/cosmos_v2_finetune/cosmos_predict2_2b_480p_libero_goal_task6_forget_cl_v2_from350_constlr_2gpu/checkpoints/iter_000000175/model', planning_model_config_name='', planning_model_ckpt_path='', config_file='cosmos_policy/config/config.py', packnet_mask_path='', packnet_first_cl_libero_task=6, use_third_person_image=True, num_third_person_images=1, use_wrist_image=True, num_wrist_images=1, use_proprio=True, flip_images=True, use_variance_scale=False, use_jpeg_compression=True, ar_future_prediction=False, ar_value_prediction=False, ar_qvalue_prediction=False, num_denoising_steps_action=5, num_denoising_steps_future_state=1, num_denoising_steps_value=1, unnormalize_actions=True, normalize_proprio=True, dataset_stats_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/libero_goal_regen/dataset_statistics.json', t5_text_embeddings_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/t5_embeddings.pkl', trained_with_image_aug=True, chunk_size=16, num_open_loop_steps=16, deterministic=True, deterministic_reset=False, deterministic_reset_seed=None, use_ensemble_future_state_predictions=False, num_future_state_predictions_in_ensemble=3, future_state_ensemble_aggregation_scheme='average', use_ensemble_value_predictions=False, num_value_predictions_in_ensemble=5, value_ensemble_aggregation_scheme='average', search_depth=1, mask_current_state_action_for_value_prediction=False, mask_future_state_for_qvalue_prediction=False, num_queries_best_of_n=1, use_parallel_inference=False, available_gpus='0', parallel_timeout=15, parallel_tasks_across_gpus=False, task_suite_name='libero_goal', num_trials_per_task=50, task_ids_to_run='5', initial_states_path='DEFAULT', env_img_res=256, local_log_dir='/home/azureuser/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal', run_id_note='fcv2_175_t5_s09', use_wandb=False, wandb_entity='YOUR_ENTITY', wandb_project='YOUR_PROJECT', seed=195, randomize_seed=False, data_collection=False, jpeg_compress=True, reward_stop_threshold=None, reward_stop_consecutive_steps=3, use_gpt_reward=False, gpt_reward_model='gpt-5.4-mini', gpt_reward_stop_threshold=4, gpt_reward_timeout_s=30.0, save_rollout_video=False, eval_hdf5_path='', eval_hdf5_demo_key='demo_0', data_gen_demo_ids='', eval_episode_ids='9,25,41', replay_actions=False, replay_action_path_dir='', replay_hdf5_path='', data_generation=False, max_generation_steps=200, simple_task_max_steps=100, complex_task_max_steps=200)
+Using serial inference (parallel inference disabled)
+Task suite: libero_goal
+Number of tasks: 10
+Running only task IDs: [5]
+Using default initial states
+
+Task: push the plate to the front of the stove
+Starting episode 1...
+Query 1/1: Action query time = 3.192 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3809
+t=10: Selected seed 195 with value = 0.3809
+Query 1/1: Action query time = 6.175 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4555
+t=26: Selected seed 195 with value = 0.4555
+Query 1/1: Action query time = 4.774 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5157
+t=42: Selected seed 195 with value = 0.5157
+Query 1/1: Action query time = 4.854 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6006
+t=58: Selected seed 195 with value = 0.6006
+Query 1/1: Action query time = 4.998 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7084
+t=74: Selected seed 195 with value = 0.7084
+Query 1/1: Action query time = 5.648 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8019
+t=90: Selected seed 195 with value = 0.8019
+Query 1/1: Action query time = 5.403 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9469
+t=106: Selected seed 195 with value = 0.9469
+Query 1/1: Action query time = 4.448 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9939
+t=122: Selected seed 195 with value = 0.9939
+Saved rollout MP4 at path ./rollouts/fcv2_175_t5_s09/2026_08_02-05_01_15--with_future_img--episode=1--success=True--task=push_the_plate_to_the_front_of_the_.mp4
+Success: True
+# episodes completed so far: 1
+# successes: 1 (100.0%)
+
+Task: push the plate to the front of the stove
+Starting episode 2...
+Query 1/1: Action query time = 2.231 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2914
+t=10: Selected seed 195 with value = 0.2914
+Query 1/1: Action query time = 3.794 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3424
+t=26: Selected seed 195 with value = 0.3424
+Query 1/1: Action query time = 4.577 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4387
+t=42: Selected seed 195 with value = 0.4387
+Query 1/1: Action query time = 5.133 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4798
+t=58: Selected seed 195 with value = 0.4798
+Query 1/1: Action query time = 5.628 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5796
+t=74: Selected seed 195 with value = 0.5796
+Query 1/1: Action query time = 5.220 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7072
+t=90: Selected seed 195 with value = 0.7072
+Query 1/1: Action query time = 4.991 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7967
+t=106: Selected seed 195 with value = 0.7967
+Query 1/1: Action query time = 4.542 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9582
+t=122: Selected seed 195 with value = 0.9582
+Query 1/1: Action query time = 5.014 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9942
+t=138: Selected seed 195 with value = 0.9942
+Saved rollout MP4 at path ./rollouts/fcv2_175_t5_s09/2026_08_02-05_01_15--with_future_img--episode=2--success=True--task=push_the_plate_to_the_front_of_the_.mp4
+Success: True
+# episodes completed so far: 2
+# successes: 2 (100.0%)
+
+Task: push the plate to the front of the stove
+Starting episode 3...
+Query 1/1: Action query time = 1.584 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3087
+t=10: Selected seed 195 with value = 0.3087
+Query 1/1: Action query time = 3.217 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3947
+t=26: Selected seed 195 with value = 0.3947
+Query 1/1: Action query time = 5.248 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4440
+t=42: Selected seed 195 with value = 0.4440
+Query 1/1: Action query time = 5.234 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5486
+t=58: Selected seed 195 with value = 0.5486
+Query 1/1: Action query time = 4.414 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6429
+t=74: Selected seed 195 with value = 0.6429
+Query 1/1: Action query time = 4.524 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7487
+t=90: Selected seed 195 with value = 0.7487
+Query 1/1: Action query time = 4.796 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8334
+t=106: Selected seed 195 with value = 0.8334
+Query 1/1: Action query time = 5.139 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9870
+t=122: Selected seed 195 with value = 0.9870
+Saved rollout MP4 at path ./rollouts/fcv2_175_t5_s09/2026_08_02-05_01_15--with_future_img--episode=3--success=True--task=push_the_plate_to_the_front_of_the_.mp4
+Success: True
+# episodes completed so far: 3
+# successes: 3 (100.0%)
+Current task success rate: 1.0
+Current total success rate: 1.0
+Final results:
+Total episodes: 3
+Total successes: 3
+Overall success rate: 1.0000 (100.0%)
diff --git a/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-05_01_15--fcv2_175_t5_s14.txt b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-05_01_15--fcv2_175_t5_s14.txt
new file mode 100644
index 0000000000000000000000000000000000000000..a2c7dc49c4c383d330bf3c15c0e7e08e85186621
--- /dev/null
+++ b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-05_01_15--fcv2_175_t5_s14.txt
@@ -0,0 +1,129 @@
+Eval config: PolicyEvalConfig(suite='libero', model_family='cosmos', config='cosmos_predict2_2b_480p_libero_cl_stage_inference_only', ckpt_path='/home/azureuser/REGEN-main/new/cosmos_policy/cosmos_v2_finetune/cosmos_predict2_2b_480p_libero_goal_task6_forget_cl_v2_from350_constlr_2gpu/checkpoints/iter_000000175/model', planning_model_config_name='', planning_model_ckpt_path='', config_file='cosmos_policy/config/config.py', packnet_mask_path='', packnet_first_cl_libero_task=6, use_third_person_image=True, num_third_person_images=1, use_wrist_image=True, num_wrist_images=1, use_proprio=True, flip_images=True, use_variance_scale=False, use_jpeg_compression=True, ar_future_prediction=False, ar_value_prediction=False, ar_qvalue_prediction=False, num_denoising_steps_action=5, num_denoising_steps_future_state=1, num_denoising_steps_value=1, unnormalize_actions=True, normalize_proprio=True, dataset_stats_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/libero_goal_regen/dataset_statistics.json', t5_text_embeddings_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/t5_embeddings.pkl', trained_with_image_aug=True, chunk_size=16, num_open_loop_steps=16, deterministic=True, deterministic_reset=False, deterministic_reset_seed=None, use_ensemble_future_state_predictions=False, num_future_state_predictions_in_ensemble=3, future_state_ensemble_aggregation_scheme='average', use_ensemble_value_predictions=False, num_value_predictions_in_ensemble=5, value_ensemble_aggregation_scheme='average', search_depth=1, mask_current_state_action_for_value_prediction=False, mask_future_state_for_qvalue_prediction=False, num_queries_best_of_n=1, use_parallel_inference=False, available_gpus='0', parallel_timeout=15, parallel_tasks_across_gpus=False, task_suite_name='libero_goal', num_trials_per_task=50, task_ids_to_run='5', initial_states_path='DEFAULT', env_img_res=256, local_log_dir='/home/azureuser/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal', run_id_note='fcv2_175_t5_s14', use_wandb=False, wandb_entity='YOUR_ENTITY', wandb_project='YOUR_PROJECT', seed=195, randomize_seed=False, data_collection=False, jpeg_compress=True, reward_stop_threshold=None, reward_stop_consecutive_steps=3, use_gpt_reward=False, gpt_reward_model='gpt-5.4-mini', gpt_reward_stop_threshold=4, gpt_reward_timeout_s=30.0, save_rollout_video=False, eval_hdf5_path='', eval_hdf5_demo_key='demo_0', data_gen_demo_ids='', eval_episode_ids='14,30,46', replay_actions=False, replay_action_path_dir='', replay_hdf5_path='', data_generation=False, max_generation_steps=200, simple_task_max_steps=100, complex_task_max_steps=200)
+Using serial inference (parallel inference disabled)
+Task suite: libero_goal
+Number of tasks: 10
+Running only task IDs: [5]
+Using default initial states
+
+Task: push the plate to the front of the stove
+Starting episode 1...
+Query 1/1: Action query time = 3.270 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3547
+t=10: Selected seed 195 with value = 0.3547
+Query 1/1: Action query time = 6.276 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3388
+t=26: Selected seed 195 with value = 0.3388
+Query 1/1: Action query time = 4.711 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4676
+t=42: Selected seed 195 with value = 0.4676
+Query 1/1: Action query time = 4.900 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6218
+t=58: Selected seed 195 with value = 0.6218
+Query 1/1: Action query time = 4.704 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7011
+t=74: Selected seed 195 with value = 0.7011
+Query 1/1: Action query time = 5.217 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8930
+t=90: Selected seed 195 with value = 0.8930
+Query 1/1: Action query time = 4.514 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9800
+t=106: Selected seed 195 with value = 0.9800
+Saved rollout MP4 at path ./rollouts/fcv2_175_t5_s14/2026_08_02-05_01_15--with_future_img--episode=1--success=True--task=push_the_plate_to_the_front_of_the_.mp4
+Success: True
+# episodes completed so far: 1
+# successes: 1 (100.0%)
+
+Task: push the plate to the front of the stove
+Starting episode 2...
+Query 1/1: Action query time = 4.078 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2083
+t=10: Selected seed 195 with value = 0.2083
+Query 1/1: Action query time = 2.080 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2695
+t=26: Selected seed 195 with value = 0.2695
+Query 1/1: Action query time = 3.414 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5232
+t=42: Selected seed 195 with value = 0.5232
+Query 1/1: Action query time = 4.710 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6095
+t=58: Selected seed 195 with value = 0.6095
+Query 1/1: Action query time = 5.810 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7093
+t=74: Selected seed 195 with value = 0.7093
+Query 1/1: Action query time = 5.588 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8466
+t=90: Selected seed 195 with value = 0.8466
+Query 1/1: Action query time = 4.826 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9532
+t=106: Selected seed 195 with value = 0.9532
+Query 1/1: Action query time = 4.309 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=122: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/fcv2_175_t5_s14/2026_08_02-05_01_15--with_future_img--episode=2--success=True--task=push_the_plate_to_the_front_of_the_.mp4
+Success: True
+# episodes completed so far: 2
+# successes: 2 (100.0%)
+
+Task: push the plate to the front of the stove
+Starting episode 3...
+Query 1/1: Action query time = 5.208 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2653
+t=10: Selected seed 195 with value = 0.2653
+Query 1/1: Action query time = 4.662 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3835
+t=26: Selected seed 195 with value = 0.3835
+Query 1/1: Action query time = 2.378 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4593
+t=42: Selected seed 195 with value = 0.4593
+Query 1/1: Action query time = 2.175 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5065
+t=58: Selected seed 195 with value = 0.5065
+Query 1/1: Action query time = 3.919 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6054
+t=74: Selected seed 195 with value = 0.6054
+Query 1/1: Action query time = 4.785 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6866
+t=90: Selected seed 195 with value = 0.6866
+Query 1/1: Action query time = 5.371 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7890
+t=106: Selected seed 195 with value = 0.7890
+Query 1/1: Action query time = 5.275 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9513
+t=122: Selected seed 195 with value = 0.9513
+Query 1/1: Action query time = 5.244 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=138: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/fcv2_175_t5_s14/2026_08_02-05_01_15--with_future_img--episode=3--success=True--task=push_the_plate_to_the_front_of_the_.mp4
+Success: True
+# episodes completed so far: 3
+# successes: 3 (100.0%)
+Current task success rate: 1.0
+Current total success rate: 1.0
+Final results:
+Total episodes: 3
+Total successes: 3
+Overall success rate: 1.0000 (100.0%)
diff --git a/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-05_01_16--fcv2_175_t5_s11.txt b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-05_01_16--fcv2_175_t5_s11.txt
new file mode 100644
index 0000000000000000000000000000000000000000..c213cdebf5c6715f75c9f87aaa469ad2b9372cb4
--- /dev/null
+++ b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-05_01_16--fcv2_175_t5_s11.txt
@@ -0,0 +1,137 @@
+Eval config: PolicyEvalConfig(suite='libero', model_family='cosmos', config='cosmos_predict2_2b_480p_libero_cl_stage_inference_only', ckpt_path='/home/azureuser/REGEN-main/new/cosmos_policy/cosmos_v2_finetune/cosmos_predict2_2b_480p_libero_goal_task6_forget_cl_v2_from350_constlr_2gpu/checkpoints/iter_000000175/model', planning_model_config_name='', planning_model_ckpt_path='', config_file='cosmos_policy/config/config.py', packnet_mask_path='', packnet_first_cl_libero_task=6, use_third_person_image=True, num_third_person_images=1, use_wrist_image=True, num_wrist_images=1, use_proprio=True, flip_images=True, use_variance_scale=False, use_jpeg_compression=True, ar_future_prediction=False, ar_value_prediction=False, ar_qvalue_prediction=False, num_denoising_steps_action=5, num_denoising_steps_future_state=1, num_denoising_steps_value=1, unnormalize_actions=True, normalize_proprio=True, dataset_stats_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/libero_goal_regen/dataset_statistics.json', t5_text_embeddings_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/t5_embeddings.pkl', trained_with_image_aug=True, chunk_size=16, num_open_loop_steps=16, deterministic=True, deterministic_reset=False, deterministic_reset_seed=None, use_ensemble_future_state_predictions=False, num_future_state_predictions_in_ensemble=3, future_state_ensemble_aggregation_scheme='average', use_ensemble_value_predictions=False, num_value_predictions_in_ensemble=5, value_ensemble_aggregation_scheme='average', search_depth=1, mask_current_state_action_for_value_prediction=False, mask_future_state_for_qvalue_prediction=False, num_queries_best_of_n=1, use_parallel_inference=False, available_gpus='0', parallel_timeout=15, parallel_tasks_across_gpus=False, task_suite_name='libero_goal', num_trials_per_task=50, task_ids_to_run='5', initial_states_path='DEFAULT', env_img_res=256, local_log_dir='/home/azureuser/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal', run_id_note='fcv2_175_t5_s11', use_wandb=False, wandb_entity='YOUR_ENTITY', wandb_project='YOUR_PROJECT', seed=195, randomize_seed=False, data_collection=False, jpeg_compress=True, reward_stop_threshold=None, reward_stop_consecutive_steps=3, use_gpt_reward=False, gpt_reward_model='gpt-5.4-mini', gpt_reward_stop_threshold=4, gpt_reward_timeout_s=30.0, save_rollout_video=False, eval_hdf5_path='', eval_hdf5_demo_key='demo_0', data_gen_demo_ids='', eval_episode_ids='11,27,43', replay_actions=False, replay_action_path_dir='', replay_hdf5_path='', data_generation=False, max_generation_steps=200, simple_task_max_steps=100, complex_task_max_steps=200)
+Using serial inference (parallel inference disabled)
+Task suite: libero_goal
+Number of tasks: 10
+Running only task IDs: [5]
+Using default initial states
+
+Task: push the plate to the front of the stove
+Starting episode 1...
+Query 1/1: Action query time = 7.613 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3591
+t=10: Selected seed 195 with value = 0.3591
+Query 1/1: Action query time = 5.067 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4156
+t=26: Selected seed 195 with value = 0.4156
+Query 1/1: Action query time = 4.348 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4679
+t=42: Selected seed 195 with value = 0.4679
+Query 1/1: Action query time = 4.109 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5598
+t=58: Selected seed 195 with value = 0.5598
+Query 1/1: Action query time = 5.579 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6200
+t=74: Selected seed 195 with value = 0.6200
+Query 1/1: Action query time = 5.219 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7723
+t=90: Selected seed 195 with value = 0.7723
+Query 1/1: Action query time = 4.398 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9254
+t=106: Selected seed 195 with value = 0.9254
+Query 1/1: Action query time = 4.021 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9944
+t=122: Selected seed 195 with value = 0.9944
+Saved rollout MP4 at path ./rollouts/fcv2_175_t5_s11/2026_08_02-05_01_16--with_future_img--episode=1--success=True--task=push_the_plate_to_the_front_of_the_.mp4
+Success: True
+# episodes completed so far: 1
+# successes: 1 (100.0%)
+
+Task: push the plate to the front of the stove
+Starting episode 2...
+Query 1/1: Action query time = 4.267 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2734
+t=10: Selected seed 195 with value = 0.2734
+Query 1/1: Action query time = 5.110 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3994
+t=26: Selected seed 195 with value = 0.3994
+Query 1/1: Action query time = 4.109 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4209
+t=42: Selected seed 195 with value = 0.4209
+Query 1/1: Action query time = 4.896 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4927
+t=58: Selected seed 195 with value = 0.4927
+Query 1/1: Action query time = 4.875 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5039
+t=74: Selected seed 195 with value = 0.5039
+Query 1/1: Action query time = 4.638 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5741
+t=90: Selected seed 195 with value = 0.5741
+Query 1/1: Action query time = 4.749 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6465
+t=106: Selected seed 195 with value = 0.6465
+Query 1/1: Action query time = 4.889 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7241
+t=122: Selected seed 195 with value = 0.7241
+Query 1/1: Action query time = 2.537 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8842
+t=138: Selected seed 195 with value = 0.8842
+Query 1/1: Action query time = 2.663 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9936
+t=154: Selected seed 195 with value = 0.9936
+Saved rollout MP4 at path ./rollouts/fcv2_175_t5_s11/2026_08_02-05_01_16--with_future_img--episode=2--success=True--task=push_the_plate_to_the_front_of_the_.mp4
+Success: True
+# episodes completed so far: 2
+# successes: 2 (100.0%)
+
+Task: push the plate to the front of the stove
+Starting episode 3...
+Query 1/1: Action query time = 4.495 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2212
+t=10: Selected seed 195 with value = 0.2212
+Query 1/1: Action query time = 5.052 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2687
+t=26: Selected seed 195 with value = 0.2687
+Query 1/1: Action query time = 5.318 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5225
+t=42: Selected seed 195 with value = 0.5225
+Query 1/1: Action query time = 5.561 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6253
+t=58: Selected seed 195 with value = 0.6253
+Query 1/1: Action query time = 3.990 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7101
+t=74: Selected seed 195 with value = 0.7101
+Query 1/1: Action query time = 4.018 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8595
+t=90: Selected seed 195 with value = 0.8595
+Query 1/1: Action query time = 2.925 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9628
+t=106: Selected seed 195 with value = 0.9628
+Query 1/1: Action query time = 2.345 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=122: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/fcv2_175_t5_s11/2026_08_02-05_01_16--with_future_img--episode=3--success=True--task=push_the_plate_to_the_front_of_the_.mp4
+Success: True
+# episodes completed so far: 3
+# successes: 3 (100.0%)
+Current task success rate: 1.0
+Current total success rate: 1.0
+Final results:
+Total episodes: 3
+Total successes: 3
+Overall success rate: 1.0000 (100.0%)
diff --git a/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-05_01_16--fcv2_175_t5_s13.txt b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-05_01_16--fcv2_175_t5_s13.txt
new file mode 100644
index 0000000000000000000000000000000000000000..c886c9ab9c275cd3e59464ff32465fcc39a554cc
--- /dev/null
+++ b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-05_01_16--fcv2_175_t5_s13.txt
@@ -0,0 +1,133 @@
+Eval config: PolicyEvalConfig(suite='libero', model_family='cosmos', config='cosmos_predict2_2b_480p_libero_cl_stage_inference_only', ckpt_path='/home/azureuser/REGEN-main/new/cosmos_policy/cosmos_v2_finetune/cosmos_predict2_2b_480p_libero_goal_task6_forget_cl_v2_from350_constlr_2gpu/checkpoints/iter_000000175/model', planning_model_config_name='', planning_model_ckpt_path='', config_file='cosmos_policy/config/config.py', packnet_mask_path='', packnet_first_cl_libero_task=6, use_third_person_image=True, num_third_person_images=1, use_wrist_image=True, num_wrist_images=1, use_proprio=True, flip_images=True, use_variance_scale=False, use_jpeg_compression=True, ar_future_prediction=False, ar_value_prediction=False, ar_qvalue_prediction=False, num_denoising_steps_action=5, num_denoising_steps_future_state=1, num_denoising_steps_value=1, unnormalize_actions=True, normalize_proprio=True, dataset_stats_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/libero_goal_regen/dataset_statistics.json', t5_text_embeddings_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/t5_embeddings.pkl', trained_with_image_aug=True, chunk_size=16, num_open_loop_steps=16, deterministic=True, deterministic_reset=False, deterministic_reset_seed=None, use_ensemble_future_state_predictions=False, num_future_state_predictions_in_ensemble=3, future_state_ensemble_aggregation_scheme='average', use_ensemble_value_predictions=False, num_value_predictions_in_ensemble=5, value_ensemble_aggregation_scheme='average', search_depth=1, mask_current_state_action_for_value_prediction=False, mask_future_state_for_qvalue_prediction=False, num_queries_best_of_n=1, use_parallel_inference=False, available_gpus='0', parallel_timeout=15, parallel_tasks_across_gpus=False, task_suite_name='libero_goal', num_trials_per_task=50, task_ids_to_run='5', initial_states_path='DEFAULT', env_img_res=256, local_log_dir='/home/azureuser/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal', run_id_note='fcv2_175_t5_s13', use_wandb=False, wandb_entity='YOUR_ENTITY', wandb_project='YOUR_PROJECT', seed=195, randomize_seed=False, data_collection=False, jpeg_compress=True, reward_stop_threshold=None, reward_stop_consecutive_steps=3, use_gpt_reward=False, gpt_reward_model='gpt-5.4-mini', gpt_reward_stop_threshold=4, gpt_reward_timeout_s=30.0, save_rollout_video=False, eval_hdf5_path='', eval_hdf5_demo_key='demo_0', data_gen_demo_ids='', eval_episode_ids='13,29,45', replay_actions=False, replay_action_path_dir='', replay_hdf5_path='', data_generation=False, max_generation_steps=200, simple_task_max_steps=100, complex_task_max_steps=200)
+Using serial inference (parallel inference disabled)
+Task suite: libero_goal
+Number of tasks: 10
+Running only task IDs: [5]
+Using default initial states
+
+Task: push the plate to the front of the stove
+Starting episode 1...
+Query 1/1: Action query time = 4.153 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3051
+t=10: Selected seed 195 with value = 0.3051
+Query 1/1: Action query time = 5.111 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2858
+t=26: Selected seed 195 with value = 0.2858
+Query 1/1: Action query time = 5.671 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3664
+t=42: Selected seed 195 with value = 0.3664
+Query 1/1: Action query time = 5.298 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4824
+t=58: Selected seed 195 with value = 0.4824
+Query 1/1: Action query time = 4.144 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5914
+t=74: Selected seed 195 with value = 0.5914
+Query 1/1: Action query time = 4.581 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7038
+t=90: Selected seed 195 with value = 0.7038
+Query 1/1: Action query time = 4.743 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8168
+t=106: Selected seed 195 with value = 0.8168
+Query 1/1: Action query time = 4.249 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9568
+t=122: Selected seed 195 with value = 0.9568
+Query 1/1: Action query time = 3.605 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=138: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/fcv2_175_t5_s13/2026_08_02-05_01_16--with_future_img--episode=1--success=True--task=push_the_plate_to_the_front_of_the_.mp4
+Success: True
+# episodes completed so far: 1
+# successes: 1 (100.0%)
+
+Task: push the plate to the front of the stove
+Starting episode 2...
+Query 1/1: Action query time = 4.681 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3521
+t=10: Selected seed 195 with value = 0.3521
+Query 1/1: Action query time = 5.651 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4328
+t=26: Selected seed 195 with value = 0.4328
+Query 1/1: Action query time = 5.137 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4733
+t=42: Selected seed 195 with value = 0.4733
+Query 1/1: Action query time = 4.850 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6728
+t=58: Selected seed 195 with value = 0.6728
+Query 1/1: Action query time = 4.476 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6409
+t=74: Selected seed 195 with value = 0.6409
+Query 1/1: Action query time = 4.163 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6754
+t=90: Selected seed 195 with value = 0.6754
+Query 1/1: Action query time = 4.926 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8582
+t=106: Selected seed 195 with value = 0.8582
+Query 1/1: Action query time = 4.571 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=122: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/fcv2_175_t5_s13/2026_08_02-05_01_16--with_future_img--episode=2--success=True--task=push_the_plate_to_the_front_of_the_.mp4
+Success: True
+# episodes completed so far: 2
+# successes: 2 (100.0%)
+
+Task: push the plate to the front of the stove
+Starting episode 3...
+Query 1/1: Action query time = 3.224 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3255
+t=10: Selected seed 195 with value = 0.3255
+Query 1/1: Action query time = 4.813 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4168
+t=26: Selected seed 195 with value = 0.4168
+Query 1/1: Action query time = 5.533 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5065
+t=42: Selected seed 195 with value = 0.5065
+Query 1/1: Action query time = 5.006 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5723
+t=58: Selected seed 195 with value = 0.5723
+Query 1/1: Action query time = 4.236 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6937
+t=74: Selected seed 195 with value = 0.6937
+Query 1/1: Action query time = 3.876 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7787
+t=90: Selected seed 195 with value = 0.7787
+Query 1/1: Action query time = 5.225 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8755
+t=106: Selected seed 195 with value = 0.8755
+Query 1/1: Action query time = 3.556 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=122: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/fcv2_175_t5_s13/2026_08_02-05_01_16--with_future_img--episode=3--success=True--task=push_the_plate_to_the_front_of_the_.mp4
+Success: True
+# episodes completed so far: 3
+# successes: 3 (100.0%)
+Current task success rate: 1.0
+Current total success rate: 1.0
+Final results:
+Total episodes: 3
+Total successes: 3
+Overall success rate: 1.0000 (100.0%)
diff --git a/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-05_04_35--fcv2_175_t6_s02.txt b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-05_04_35--fcv2_175_t6_s02.txt
new file mode 100644
index 0000000000000000000000000000000000000000..6f659a92a2bd12b38531e657aa62eb7e9d47d6dc
--- /dev/null
+++ b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-05_04_35--fcv2_175_t6_s02.txt
@@ -0,0 +1,157 @@
+Eval config: PolicyEvalConfig(suite='libero', model_family='cosmos', config='cosmos_predict2_2b_480p_libero_cl_stage_inference_only', ckpt_path='/home/azureuser/REGEN-main/new/cosmos_policy/cosmos_v2_finetune/cosmos_predict2_2b_480p_libero_goal_task6_forget_cl_v2_from350_constlr_2gpu/checkpoints/iter_000000175/model', planning_model_config_name='', planning_model_ckpt_path='', config_file='cosmos_policy/config/config.py', packnet_mask_path='', packnet_first_cl_libero_task=6, use_third_person_image=True, num_third_person_images=1, use_wrist_image=True, num_wrist_images=1, use_proprio=True, flip_images=True, use_variance_scale=False, use_jpeg_compression=True, ar_future_prediction=False, ar_value_prediction=False, ar_qvalue_prediction=False, num_denoising_steps_action=5, num_denoising_steps_future_state=1, num_denoising_steps_value=1, unnormalize_actions=True, normalize_proprio=True, dataset_stats_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/libero_goal_regen/dataset_statistics.json', t5_text_embeddings_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/t5_embeddings.pkl', trained_with_image_aug=True, chunk_size=16, num_open_loop_steps=16, deterministic=True, deterministic_reset=False, deterministic_reset_seed=None, use_ensemble_future_state_predictions=False, num_future_state_predictions_in_ensemble=3, future_state_ensemble_aggregation_scheme='average', use_ensemble_value_predictions=False, num_value_predictions_in_ensemble=5, value_ensemble_aggregation_scheme='average', search_depth=1, mask_current_state_action_for_value_prediction=False, mask_future_state_for_qvalue_prediction=False, num_queries_best_of_n=1, use_parallel_inference=False, available_gpus='0', parallel_timeout=15, parallel_tasks_across_gpus=False, task_suite_name='libero_goal', num_trials_per_task=50, task_ids_to_run='6', initial_states_path='DEFAULT', env_img_res=256, local_log_dir='/home/azureuser/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal', run_id_note='fcv2_175_t6_s02', use_wandb=False, wandb_entity='YOUR_ENTITY', wandb_project='YOUR_PROJECT', seed=195, randomize_seed=False, data_collection=False, jpeg_compress=True, reward_stop_threshold=None, reward_stop_consecutive_steps=3, use_gpt_reward=False, gpt_reward_model='gpt-5.4-mini', gpt_reward_stop_threshold=4, gpt_reward_timeout_s=30.0, save_rollout_video=False, eval_hdf5_path='', eval_hdf5_demo_key='demo_0', data_gen_demo_ids='', eval_episode_ids='2,18,34', replay_actions=False, replay_action_path_dir='', replay_hdf5_path='', data_generation=False, max_generation_steps=200, simple_task_max_steps=100, complex_task_max_steps=200)
+Using serial inference (parallel inference disabled)
+Task suite: libero_goal
+Number of tasks: 10
+Running only task IDs: [6]
+Using default initial states
+
+Task: put the cream cheese in the bowl
+Starting episode 1...
+Query 1/1: Action query time = 5.599 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4284
+t=10: Selected seed 195 with value = 0.4284
+Query 1/1: Action query time = 3.510 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5360
+t=26: Selected seed 195 with value = 0.5360
+Query 1/1: Action query time = 5.052 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6194
+t=42: Selected seed 195 with value = 0.6194
+Query 1/1: Action query time = 5.999 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7254
+t=58: Selected seed 195 with value = 0.7254
+Query 1/1: Action query time = 2.569 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8093
+t=74: Selected seed 195 with value = 0.8093
+Query 1/1: Action query time = 4.802 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9912
+t=90: Selected seed 195 with value = 0.9912
+Query 1/1: Action query time = 3.187 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=106: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.261 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9940
+t=122: Selected seed 195 with value = 0.9940
+Query 1/1: Action query time = 3.691 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9936
+t=138: Selected seed 195 with value = 0.9936
+Query 1/1: Action query time = 5.313 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9890
+t=154: Selected seed 195 with value = 0.9890
+Query 1/1: Action query time = 5.905 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9869
+t=170: Selected seed 195 with value = 0.9869
+Query 1/1: Action query time = 4.685 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9841
+t=186: Selected seed 195 with value = 0.9841
+Query 1/1: Action query time = 4.086 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9911
+t=202: Selected seed 195 with value = 0.9911
+Query 1/1: Action query time = 4.359 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9909
+t=218: Selected seed 195 with value = 0.9909
+Query 1/1: Action query time = 5.738 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=234: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.634 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9814
+t=250: Selected seed 195 with value = 0.9814
+Query 1/1: Action query time = 4.275 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9712
+t=266: Selected seed 195 with value = 0.9712
+Query 1/1: Action query time = 4.181 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9768
+t=282: Selected seed 195 with value = 0.9768
+Query 1/1: Action query time = 3.701 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=298: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/fcv2_175_t6_s02/2026_08_02-05_04_35--with_future_img--episode=1--success=False--task=put_the_cream_cheese_in_the_bowl.mp4
+Success: False
+# episodes completed so far: 1
+# successes: 0 (0.0%)
+
+Task: put the cream cheese in the bowl
+Starting episode 2...
+Query 1/1: Action query time = 3.501 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4484
+t=10: Selected seed 195 with value = 0.4484
+Query 1/1: Action query time = 2.796 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4599
+t=26: Selected seed 195 with value = 0.4599
+Query 1/1: Action query time = 2.220 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6167
+t=42: Selected seed 195 with value = 0.6167
+Query 1/1: Action query time = 1.205 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7298
+t=58: Selected seed 195 with value = 0.7298
+Query 1/1: Action query time = 1.221 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8506
+t=74: Selected seed 195 with value = 0.8506
+Query 1/1: Action query time = 1.360 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9706
+t=90: Selected seed 195 with value = 0.9706
+Saved rollout MP4 at path ./rollouts/fcv2_175_t6_s02/2026_08_02-05_04_35--with_future_img--episode=2--success=True--task=put_the_cream_cheese_in_the_bowl.mp4
+Success: True
+# episodes completed so far: 2
+# successes: 1 (50.0%)
+
+Task: put the cream cheese in the bowl
+Starting episode 3...
+Query 1/1: Action query time = 1.755 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4444
+t=10: Selected seed 195 with value = 0.4444
+Query 1/1: Action query time = 1.916 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4615
+t=26: Selected seed 195 with value = 0.4615
+Query 1/1: Action query time = 1.781 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5705
+t=42: Selected seed 195 with value = 0.5705
+Query 1/1: Action query time = 2.062 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6768
+t=58: Selected seed 195 with value = 0.6768
+Query 1/1: Action query time = 1.486 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8181
+t=74: Selected seed 195 with value = 0.8181
+Query 1/1: Action query time = 1.926 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9627
+t=90: Selected seed 195 with value = 0.9627
+Saved rollout MP4 at path ./rollouts/fcv2_175_t6_s02/2026_08_02-05_04_35--with_future_img--episode=3--success=True--task=put_the_cream_cheese_in_the_bowl.mp4
+Success: True
+# episodes completed so far: 3
+# successes: 2 (66.7%)
+Current task success rate: 0.6666666666666666
+Current total success rate: 0.6666666666666666
+Final results:
+Total episodes: 3
+Total successes: 2
+Overall success rate: 0.6667 (66.7%)
diff --git a/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-05_04_36--fcv2_175_t6_s03.txt b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-05_04_36--fcv2_175_t6_s03.txt
new file mode 100644
index 0000000000000000000000000000000000000000..c5127ba9688f9217093d4623d6c17e46f0898458
--- /dev/null
+++ b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-05_04_36--fcv2_175_t6_s03.txt
@@ -0,0 +1,101 @@
+Eval config: PolicyEvalConfig(suite='libero', model_family='cosmos', config='cosmos_predict2_2b_480p_libero_cl_stage_inference_only', ckpt_path='/home/azureuser/REGEN-main/new/cosmos_policy/cosmos_v2_finetune/cosmos_predict2_2b_480p_libero_goal_task6_forget_cl_v2_from350_constlr_2gpu/checkpoints/iter_000000175/model', planning_model_config_name='', planning_model_ckpt_path='', config_file='cosmos_policy/config/config.py', packnet_mask_path='', packnet_first_cl_libero_task=6, use_third_person_image=True, num_third_person_images=1, use_wrist_image=True, num_wrist_images=1, use_proprio=True, flip_images=True, use_variance_scale=False, use_jpeg_compression=True, ar_future_prediction=False, ar_value_prediction=False, ar_qvalue_prediction=False, num_denoising_steps_action=5, num_denoising_steps_future_state=1, num_denoising_steps_value=1, unnormalize_actions=True, normalize_proprio=True, dataset_stats_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/libero_goal_regen/dataset_statistics.json', t5_text_embeddings_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/t5_embeddings.pkl', trained_with_image_aug=True, chunk_size=16, num_open_loop_steps=16, deterministic=True, deterministic_reset=False, deterministic_reset_seed=None, use_ensemble_future_state_predictions=False, num_future_state_predictions_in_ensemble=3, future_state_ensemble_aggregation_scheme='average', use_ensemble_value_predictions=False, num_value_predictions_in_ensemble=5, value_ensemble_aggregation_scheme='average', search_depth=1, mask_current_state_action_for_value_prediction=False, mask_future_state_for_qvalue_prediction=False, num_queries_best_of_n=1, use_parallel_inference=False, available_gpus='0', parallel_timeout=15, parallel_tasks_across_gpus=False, task_suite_name='libero_goal', num_trials_per_task=50, task_ids_to_run='6', initial_states_path='DEFAULT', env_img_res=256, local_log_dir='/home/azureuser/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal', run_id_note='fcv2_175_t6_s03', use_wandb=False, wandb_entity='YOUR_ENTITY', wandb_project='YOUR_PROJECT', seed=195, randomize_seed=False, data_collection=False, jpeg_compress=True, reward_stop_threshold=None, reward_stop_consecutive_steps=3, use_gpt_reward=False, gpt_reward_model='gpt-5.4-mini', gpt_reward_stop_threshold=4, gpt_reward_timeout_s=30.0, save_rollout_video=False, eval_hdf5_path='', eval_hdf5_demo_key='demo_0', data_gen_demo_ids='', eval_episode_ids='3,19,35', replay_actions=False, replay_action_path_dir='', replay_hdf5_path='', data_generation=False, max_generation_steps=200, simple_task_max_steps=100, complex_task_max_steps=200)
+Using serial inference (parallel inference disabled)
+Task suite: libero_goal
+Number of tasks: 10
+Running only task IDs: [6]
+Using default initial states
+
+Task: put the cream cheese in the bowl
+Starting episode 1...
+Query 1/1: Action query time = 6.556 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3938
+t=10: Selected seed 195 with value = 0.3938
+Query 1/1: Action query time = 3.668 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5082
+t=26: Selected seed 195 with value = 0.5082
+Query 1/1: Action query time = 4.879 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6004
+t=42: Selected seed 195 with value = 0.6004
+Query 1/1: Action query time = 6.017 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6743
+t=58: Selected seed 195 with value = 0.6743
+Query 1/1: Action query time = 2.962 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8000
+t=74: Selected seed 195 with value = 0.8000
+Query 1/1: Action query time = 4.864 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9152
+t=90: Selected seed 195 with value = 0.9152
+Saved rollout MP4 at path ./rollouts/fcv2_175_t6_s03/2026_08_02-05_04_36--with_future_img--episode=1--success=True--task=put_the_cream_cheese_in_the_bowl.mp4
+Success: True
+# episodes completed so far: 1
+# successes: 1 (100.0%)
+
+Task: put the cream cheese in the bowl
+Starting episode 2...
+Query 1/1: Action query time = 4.875 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4222
+t=10: Selected seed 195 with value = 0.4222
+Query 1/1: Action query time = 2.797 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4894
+t=26: Selected seed 195 with value = 0.4894
+Query 1/1: Action query time = 5.151 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5989
+t=42: Selected seed 195 with value = 0.5989
+Query 1/1: Action query time = 5.922 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6869
+t=58: Selected seed 195 with value = 0.6869
+Query 1/1: Action query time = 5.022 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8039
+t=74: Selected seed 195 with value = 0.8039
+Query 1/1: Action query time = 4.406 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9303
+t=90: Selected seed 195 with value = 0.9303
+Saved rollout MP4 at path ./rollouts/fcv2_175_t6_s03/2026_08_02-05_04_36--with_future_img--episode=2--success=True--task=put_the_cream_cheese_in_the_bowl.mp4
+Success: True
+# episodes completed so far: 2
+# successes: 2 (100.0%)
+
+Task: put the cream cheese in the bowl
+Starting episode 3...
+Query 1/1: Action query time = 5.709 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4083
+t=10: Selected seed 195 with value = 0.4083
+Query 1/1: Action query time = 5.113 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5515
+t=26: Selected seed 195 with value = 0.5515
+Query 1/1: Action query time = 4.381 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6104
+t=42: Selected seed 195 with value = 0.6104
+Query 1/1: Action query time = 4.238 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7433
+t=58: Selected seed 195 with value = 0.7433
+Query 1/1: Action query time = 3.281 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8884
+t=74: Selected seed 195 with value = 0.8884
+Saved rollout MP4 at path ./rollouts/fcv2_175_t6_s03/2026_08_02-05_04_36--with_future_img--episode=3--success=True--task=put_the_cream_cheese_in_the_bowl.mp4
+Success: True
+# episodes completed so far: 3
+# successes: 3 (100.0%)
+Current task success rate: 1.0
+Current total success rate: 1.0
+Final results:
+Total episodes: 3
+Total successes: 3
+Overall success rate: 1.0000 (100.0%)
diff --git a/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-05_04_36--fcv2_175_t6_s09.txt b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-05_04_36--fcv2_175_t6_s09.txt
new file mode 100644
index 0000000000000000000000000000000000000000..7b8296a2862c7f256b5d61f258809ef4f5084d20
--- /dev/null
+++ b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-05_04_36--fcv2_175_t6_s09.txt
@@ -0,0 +1,101 @@
+Eval config: PolicyEvalConfig(suite='libero', model_family='cosmos', config='cosmos_predict2_2b_480p_libero_cl_stage_inference_only', ckpt_path='/home/azureuser/REGEN-main/new/cosmos_policy/cosmos_v2_finetune/cosmos_predict2_2b_480p_libero_goal_task6_forget_cl_v2_from350_constlr_2gpu/checkpoints/iter_000000175/model', planning_model_config_name='', planning_model_ckpt_path='', config_file='cosmos_policy/config/config.py', packnet_mask_path='', packnet_first_cl_libero_task=6, use_third_person_image=True, num_third_person_images=1, use_wrist_image=True, num_wrist_images=1, use_proprio=True, flip_images=True, use_variance_scale=False, use_jpeg_compression=True, ar_future_prediction=False, ar_value_prediction=False, ar_qvalue_prediction=False, num_denoising_steps_action=5, num_denoising_steps_future_state=1, num_denoising_steps_value=1, unnormalize_actions=True, normalize_proprio=True, dataset_stats_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/libero_goal_regen/dataset_statistics.json', t5_text_embeddings_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/t5_embeddings.pkl', trained_with_image_aug=True, chunk_size=16, num_open_loop_steps=16, deterministic=True, deterministic_reset=False, deterministic_reset_seed=None, use_ensemble_future_state_predictions=False, num_future_state_predictions_in_ensemble=3, future_state_ensemble_aggregation_scheme='average', use_ensemble_value_predictions=False, num_value_predictions_in_ensemble=5, value_ensemble_aggregation_scheme='average', search_depth=1, mask_current_state_action_for_value_prediction=False, mask_future_state_for_qvalue_prediction=False, num_queries_best_of_n=1, use_parallel_inference=False, available_gpus='0', parallel_timeout=15, parallel_tasks_across_gpus=False, task_suite_name='libero_goal', num_trials_per_task=50, task_ids_to_run='6', initial_states_path='DEFAULT', env_img_res=256, local_log_dir='/home/azureuser/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal', run_id_note='fcv2_175_t6_s09', use_wandb=False, wandb_entity='YOUR_ENTITY', wandb_project='YOUR_PROJECT', seed=195, randomize_seed=False, data_collection=False, jpeg_compress=True, reward_stop_threshold=None, reward_stop_consecutive_steps=3, use_gpt_reward=False, gpt_reward_model='gpt-5.4-mini', gpt_reward_stop_threshold=4, gpt_reward_timeout_s=30.0, save_rollout_video=False, eval_hdf5_path='', eval_hdf5_demo_key='demo_0', data_gen_demo_ids='', eval_episode_ids='9,25,41', replay_actions=False, replay_action_path_dir='', replay_hdf5_path='', data_generation=False, max_generation_steps=200, simple_task_max_steps=100, complex_task_max_steps=200)
+Using serial inference (parallel inference disabled)
+Task suite: libero_goal
+Number of tasks: 10
+Running only task IDs: [6]
+Using default initial states
+
+Task: put the cream cheese in the bowl
+Starting episode 1...
+Query 1/1: Action query time = 6.778 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4229
+t=10: Selected seed 195 with value = 0.4229
+Query 1/1: Action query time = 5.935 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4941
+t=26: Selected seed 195 with value = 0.4941
+Query 1/1: Action query time = 4.771 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5615
+t=42: Selected seed 195 with value = 0.5615
+Query 1/1: Action query time = 4.646 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6577
+t=58: Selected seed 195 with value = 0.6577
+Query 1/1: Action query time = 5.891 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7933
+t=74: Selected seed 195 with value = 0.7933
+Query 1/1: Action query time = 4.176 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9602
+t=90: Selected seed 195 with value = 0.9602
+Saved rollout MP4 at path ./rollouts/fcv2_175_t6_s09/2026_08_02-05_04_36--with_future_img--episode=1--success=True--task=put_the_cream_cheese_in_the_bowl.mp4
+Success: True
+# episodes completed so far: 1
+# successes: 1 (100.0%)
+
+Task: put the cream cheese in the bowl
+Starting episode 2...
+Query 1/1: Action query time = 4.360 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4238
+t=10: Selected seed 195 with value = 0.4238
+Query 1/1: Action query time = 5.365 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3782
+t=26: Selected seed 195 with value = 0.3782
+Query 1/1: Action query time = 5.433 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4917
+t=42: Selected seed 195 with value = 0.4917
+Query 1/1: Action query time = 4.047 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7176
+t=58: Selected seed 195 with value = 0.7176
+Query 1/1: Action query time = 4.061 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8518
+t=74: Selected seed 195 with value = 0.8518
+Saved rollout MP4 at path ./rollouts/fcv2_175_t6_s09/2026_08_02-05_04_36--with_future_img--episode=2--success=True--task=put_the_cream_cheese_in_the_bowl.mp4
+Success: True
+# episodes completed so far: 2
+# successes: 2 (100.0%)
+
+Task: put the cream cheese in the bowl
+Starting episode 3...
+Query 1/1: Action query time = 5.145 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4073
+t=10: Selected seed 195 with value = 0.4073
+Query 1/1: Action query time = 3.700 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5516
+t=26: Selected seed 195 with value = 0.5516
+Query 1/1: Action query time = 5.093 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6260
+t=42: Selected seed 195 with value = 0.6260
+Query 1/1: Action query time = 5.442 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6546
+t=58: Selected seed 195 with value = 0.6546
+Query 1/1: Action query time = 5.185 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8493
+t=74: Selected seed 195 with value = 0.8493
+Query 1/1: Action query time = 3.048 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9746
+t=90: Selected seed 195 with value = 0.9746
+Saved rollout MP4 at path ./rollouts/fcv2_175_t6_s09/2026_08_02-05_04_36--with_future_img--episode=3--success=True--task=put_the_cream_cheese_in_the_bowl.mp4
+Success: True
+# episodes completed so far: 3
+# successes: 3 (100.0%)
+Current task success rate: 1.0
+Current total success rate: 1.0
+Final results:
+Total episodes: 3
+Total successes: 3
+Overall success rate: 1.0000 (100.0%)
diff --git a/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-05_04_36--fcv2_175_t6_s12.txt b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-05_04_36--fcv2_175_t6_s12.txt
new file mode 100644
index 0000000000000000000000000000000000000000..f1acd920826e58751cc07bab526fde69b4a89df5
--- /dev/null
+++ b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-05_04_36--fcv2_175_t6_s12.txt
@@ -0,0 +1,157 @@
+Eval config: PolicyEvalConfig(suite='libero', model_family='cosmos', config='cosmos_predict2_2b_480p_libero_cl_stage_inference_only', ckpt_path='/home/azureuser/REGEN-main/new/cosmos_policy/cosmos_v2_finetune/cosmos_predict2_2b_480p_libero_goal_task6_forget_cl_v2_from350_constlr_2gpu/checkpoints/iter_000000175/model', planning_model_config_name='', planning_model_ckpt_path='', config_file='cosmos_policy/config/config.py', packnet_mask_path='', packnet_first_cl_libero_task=6, use_third_person_image=True, num_third_person_images=1, use_wrist_image=True, num_wrist_images=1, use_proprio=True, flip_images=True, use_variance_scale=False, use_jpeg_compression=True, ar_future_prediction=False, ar_value_prediction=False, ar_qvalue_prediction=False, num_denoising_steps_action=5, num_denoising_steps_future_state=1, num_denoising_steps_value=1, unnormalize_actions=True, normalize_proprio=True, dataset_stats_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/libero_goal_regen/dataset_statistics.json', t5_text_embeddings_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/t5_embeddings.pkl', trained_with_image_aug=True, chunk_size=16, num_open_loop_steps=16, deterministic=True, deterministic_reset=False, deterministic_reset_seed=None, use_ensemble_future_state_predictions=False, num_future_state_predictions_in_ensemble=3, future_state_ensemble_aggregation_scheme='average', use_ensemble_value_predictions=False, num_value_predictions_in_ensemble=5, value_ensemble_aggregation_scheme='average', search_depth=1, mask_current_state_action_for_value_prediction=False, mask_future_state_for_qvalue_prediction=False, num_queries_best_of_n=1, use_parallel_inference=False, available_gpus='0', parallel_timeout=15, parallel_tasks_across_gpus=False, task_suite_name='libero_goal', num_trials_per_task=50, task_ids_to_run='6', initial_states_path='DEFAULT', env_img_res=256, local_log_dir='/home/azureuser/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal', run_id_note='fcv2_175_t6_s12', use_wandb=False, wandb_entity='YOUR_ENTITY', wandb_project='YOUR_PROJECT', seed=195, randomize_seed=False, data_collection=False, jpeg_compress=True, reward_stop_threshold=None, reward_stop_consecutive_steps=3, use_gpt_reward=False, gpt_reward_model='gpt-5.4-mini', gpt_reward_stop_threshold=4, gpt_reward_timeout_s=30.0, save_rollout_video=False, eval_hdf5_path='', eval_hdf5_demo_key='demo_0', data_gen_demo_ids='', eval_episode_ids='12,28,44', replay_actions=False, replay_action_path_dir='', replay_hdf5_path='', data_generation=False, max_generation_steps=200, simple_task_max_steps=100, complex_task_max_steps=200)
+Using serial inference (parallel inference disabled)
+Task suite: libero_goal
+Number of tasks: 10
+Running only task IDs: [6]
+Using default initial states
+
+Task: put the cream cheese in the bowl
+Starting episode 1...
+Query 1/1: Action query time = 6.691 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4659
+t=10: Selected seed 195 with value = 0.4659
+Query 1/1: Action query time = 5.950 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5174
+t=26: Selected seed 195 with value = 0.5174
+Query 1/1: Action query time = 4.215 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6089
+t=42: Selected seed 195 with value = 0.6089
+Query 1/1: Action query time = 4.770 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7236
+t=58: Selected seed 195 with value = 0.7236
+Query 1/1: Action query time = 5.468 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8516
+t=74: Selected seed 195 with value = 0.8516
+Query 1/1: Action query time = 3.143 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/fcv2_175_t6_s12/2026_08_02-05_04_36--with_future_img--episode=1--success=True--task=put_the_cream_cheese_in_the_bowl.mp4
+Success: True
+# episodes completed so far: 1
+# successes: 1 (100.0%)
+
+Task: put the cream cheese in the bowl
+Starting episode 2...
+Query 1/1: Action query time = 4.631 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4444
+t=10: Selected seed 195 with value = 0.4444
+Query 1/1: Action query time = 5.583 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4177
+t=26: Selected seed 195 with value = 0.4177
+Query 1/1: Action query time = 4.114 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4354
+t=42: Selected seed 195 with value = 0.4354
+Query 1/1: Action query time = 4.800 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5022
+t=58: Selected seed 195 with value = 0.5022
+Query 1/1: Action query time = 5.517 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5690
+t=74: Selected seed 195 with value = 0.5690
+Query 1/1: Action query time = 4.078 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6517
+t=90: Selected seed 195 with value = 0.6517
+Query 1/1: Action query time = 4.757 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7191
+t=106: Selected seed 195 with value = 0.7191
+Query 1/1: Action query time = 4.772 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7757
+t=122: Selected seed 195 with value = 0.7757
+Query 1/1: Action query time = 5.065 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8914
+t=138: Selected seed 195 with value = 0.8914
+Query 1/1: Action query time = 5.574 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9192
+t=154: Selected seed 195 with value = 0.9192
+Query 1/1: Action query time = 5.024 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9367
+t=170: Selected seed 195 with value = 0.9367
+Query 1/1: Action query time = 2.687 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9556
+t=186: Selected seed 195 with value = 0.9556
+Query 1/1: Action query time = 2.232 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9601
+t=202: Selected seed 195 with value = 0.9601
+Query 1/1: Action query time = 3.417 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9431
+t=218: Selected seed 195 with value = 0.9431
+Query 1/1: Action query time = 3.705 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9308
+t=234: Selected seed 195 with value = 0.9308
+Query 1/1: Action query time = 3.304 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9698
+t=250: Selected seed 195 with value = 0.9698
+Query 1/1: Action query time = 3.181 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9736
+t=266: Selected seed 195 with value = 0.9736
+Query 1/1: Action query time = 3.356 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9933
+t=282: Selected seed 195 with value = 0.9933
+Query 1/1: Action query time = 3.105 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9913
+t=298: Selected seed 195 with value = 0.9913
+Saved rollout MP4 at path ./rollouts/fcv2_175_t6_s12/2026_08_02-05_04_36--with_future_img--episode=2--success=False--task=put_the_cream_cheese_in_the_bowl.mp4
+Success: False
+# episodes completed so far: 2
+# successes: 1 (50.0%)
+
+Task: put the cream cheese in the bowl
+Starting episode 3...
+Query 1/1: Action query time = 3.581 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4165
+t=10: Selected seed 195 with value = 0.4165
+Query 1/1: Action query time = 3.401 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5054
+t=26: Selected seed 195 with value = 0.5054
+Query 1/1: Action query time = 2.382 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5498
+t=42: Selected seed 195 with value = 0.5498
+Query 1/1: Action query time = 2.407 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6075
+t=58: Selected seed 195 with value = 0.6075
+Query 1/1: Action query time = 2.263 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7970
+t=74: Selected seed 195 with value = 0.7970
+Query 1/1: Action query time = 1.408 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9415
+t=90: Selected seed 195 with value = 0.9415
+Saved rollout MP4 at path ./rollouts/fcv2_175_t6_s12/2026_08_02-05_04_36--with_future_img--episode=3--success=True--task=put_the_cream_cheese_in_the_bowl.mp4
+Success: True
+# episodes completed so far: 3
+# successes: 2 (66.7%)
+Current task success rate: 0.6666666666666666
+Current total success rate: 0.6666666666666666
+Final results:
+Total episodes: 3
+Total successes: 2
+Overall success rate: 0.6667 (66.7%)
diff --git a/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-05_04_37--fcv2_175_t6_s15.txt b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-05_04_37--fcv2_175_t6_s15.txt
new file mode 100644
index 0000000000000000000000000000000000000000..1fd5d13061673742fb3e7b1bfea2d7468c1b4de0
--- /dev/null
+++ b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-05_04_37--fcv2_175_t6_s15.txt
@@ -0,0 +1,113 @@
+Eval config: PolicyEvalConfig(suite='libero', model_family='cosmos', config='cosmos_predict2_2b_480p_libero_cl_stage_inference_only', ckpt_path='/home/azureuser/REGEN-main/new/cosmos_policy/cosmos_v2_finetune/cosmos_predict2_2b_480p_libero_goal_task6_forget_cl_v2_from350_constlr_2gpu/checkpoints/iter_000000175/model', planning_model_config_name='', planning_model_ckpt_path='', config_file='cosmos_policy/config/config.py', packnet_mask_path='', packnet_first_cl_libero_task=6, use_third_person_image=True, num_third_person_images=1, use_wrist_image=True, num_wrist_images=1, use_proprio=True, flip_images=True, use_variance_scale=False, use_jpeg_compression=True, ar_future_prediction=False, ar_value_prediction=False, ar_qvalue_prediction=False, num_denoising_steps_action=5, num_denoising_steps_future_state=1, num_denoising_steps_value=1, unnormalize_actions=True, normalize_proprio=True, dataset_stats_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/libero_goal_regen/dataset_statistics.json', t5_text_embeddings_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/t5_embeddings.pkl', trained_with_image_aug=True, chunk_size=16, num_open_loop_steps=16, deterministic=True, deterministic_reset=False, deterministic_reset_seed=None, use_ensemble_future_state_predictions=False, num_future_state_predictions_in_ensemble=3, future_state_ensemble_aggregation_scheme='average', use_ensemble_value_predictions=False, num_value_predictions_in_ensemble=5, value_ensemble_aggregation_scheme='average', search_depth=1, mask_current_state_action_for_value_prediction=False, mask_future_state_for_qvalue_prediction=False, num_queries_best_of_n=1, use_parallel_inference=False, available_gpus='0', parallel_timeout=15, parallel_tasks_across_gpus=False, task_suite_name='libero_goal', num_trials_per_task=50, task_ids_to_run='6', initial_states_path='DEFAULT', env_img_res=256, local_log_dir='/home/azureuser/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal', run_id_note='fcv2_175_t6_s15', use_wandb=False, wandb_entity='YOUR_ENTITY', wandb_project='YOUR_PROJECT', seed=195, randomize_seed=False, data_collection=False, jpeg_compress=True, reward_stop_threshold=None, reward_stop_consecutive_steps=3, use_gpt_reward=False, gpt_reward_model='gpt-5.4-mini', gpt_reward_stop_threshold=4, gpt_reward_timeout_s=30.0, save_rollout_video=False, eval_hdf5_path='', eval_hdf5_demo_key='demo_0', data_gen_demo_ids='', eval_episode_ids='15,31,47', replay_actions=False, replay_action_path_dir='', replay_hdf5_path='', data_generation=False, max_generation_steps=200, simple_task_max_steps=100, complex_task_max_steps=200)
+Using serial inference (parallel inference disabled)
+Task suite: libero_goal
+Number of tasks: 10
+Running only task IDs: [6]
+Using default initial states
+
+Task: put the cream cheese in the bowl
+Starting episode 1...
+Query 1/1: Action query time = 6.717 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4322
+t=10: Selected seed 195 with value = 0.4322
+Query 1/1: Action query time = 4.414 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5200
+t=26: Selected seed 195 with value = 0.5200
+Query 1/1: Action query time = 4.428 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6378
+t=42: Selected seed 195 with value = 0.6378
+Query 1/1: Action query time = 5.935 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7545
+t=58: Selected seed 195 with value = 0.7545
+Query 1/1: Action query time = 4.847 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8667
+t=74: Selected seed 195 with value = 0.8667
+Query 1/1: Action query time = 3.616 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9720
+t=90: Selected seed 195 with value = 0.9720
+Saved rollout MP4 at path ./rollouts/fcv2_175_t6_s15/2026_08_02-05_04_37--with_future_img--episode=1--success=True--task=put_the_cream_cheese_in_the_bowl.mp4
+Success: True
+# episodes completed so far: 1
+# successes: 1 (100.0%)
+
+Task: put the cream cheese in the bowl
+Starting episode 2...
+Query 1/1: Action query time = 5.568 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4657
+t=10: Selected seed 195 with value = 0.4657
+Query 1/1: Action query time = 5.538 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4879
+t=26: Selected seed 195 with value = 0.4879
+Query 1/1: Action query time = 4.548 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5978
+t=42: Selected seed 195 with value = 0.5978
+Query 1/1: Action query time = 5.372 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5736
+t=58: Selected seed 195 with value = 0.5736
+Query 1/1: Action query time = 4.669 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6173
+t=74: Selected seed 195 with value = 0.6173
+Query 1/1: Action query time = 3.277 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7009
+t=90: Selected seed 195 with value = 0.7009
+Query 1/1: Action query time = 4.120 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8198
+t=106: Selected seed 195 with value = 0.8198
+Query 1/1: Action query time = 5.345 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9850
+t=122: Selected seed 195 with value = 0.9850
+Saved rollout MP4 at path ./rollouts/fcv2_175_t6_s15/2026_08_02-05_04_37--with_future_img--episode=2--success=True--task=put_the_cream_cheese_in_the_bowl.mp4
+Success: True
+# episodes completed so far: 2
+# successes: 2 (100.0%)
+
+Task: put the cream cheese in the bowl
+Starting episode 3...
+Query 1/1: Action query time = 4.809 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4731
+t=10: Selected seed 195 with value = 0.4731
+Query 1/1: Action query time = 5.119 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5080
+t=26: Selected seed 195 with value = 0.5080
+Query 1/1: Action query time = 4.947 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5972
+t=42: Selected seed 195 with value = 0.5972
+Query 1/1: Action query time = 3.588 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7429
+t=58: Selected seed 195 with value = 0.7429
+Query 1/1: Action query time = 3.160 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8744
+t=74: Selected seed 195 with value = 0.8744
+Query 1/1: Action query time = 3.682 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9869
+t=90: Selected seed 195 with value = 0.9869
+Saved rollout MP4 at path ./rollouts/fcv2_175_t6_s15/2026_08_02-05_04_37--with_future_img--episode=3--success=True--task=put_the_cream_cheese_in_the_bowl.mp4
+Success: True
+# episodes completed so far: 3
+# successes: 3 (100.0%)
+Current task success rate: 1.0
+Current total success rate: 1.0
+Final results:
+Total episodes: 3
+Total successes: 3
+Overall success rate: 1.0000 (100.0%)
diff --git a/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-08_22_12--fcv2_350_t0_s00.txt b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-08_22_12--fcv2_350_t0_s00.txt
new file mode 100644
index 0000000000000000000000000000000000000000..3443cbaca6eeae14994d241310258023b565f8ce
--- /dev/null
+++ b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-08_22_12--fcv2_350_t0_s00.txt
@@ -0,0 +1,172 @@
+Eval config: PolicyEvalConfig(suite='libero', model_family='cosmos', config='cosmos_predict2_2b_480p_libero_cl_stage_inference_only', ckpt_path='/home/azureuser/REGEN-main/new/cosmos_policy/cosmos_v2_finetune/cosmos_predict2_2b_480p_libero_goal_task6_forget_cl_v2_from350_constlr_2gpu/checkpoints/iter_000000350/model', planning_model_config_name='', planning_model_ckpt_path='', config_file='cosmos_policy/config/config.py', packnet_mask_path='', packnet_first_cl_libero_task=6, use_third_person_image=True, num_third_person_images=1, use_wrist_image=True, num_wrist_images=1, use_proprio=True, flip_images=True, use_variance_scale=False, use_jpeg_compression=True, ar_future_prediction=False, ar_value_prediction=False, ar_qvalue_prediction=False, num_denoising_steps_action=5, num_denoising_steps_future_state=1, num_denoising_steps_value=1, unnormalize_actions=True, normalize_proprio=True, dataset_stats_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/libero_goal_regen/dataset_statistics.json', t5_text_embeddings_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/t5_embeddings.pkl', trained_with_image_aug=True, chunk_size=16, num_open_loop_steps=16, deterministic=True, deterministic_reset=False, deterministic_reset_seed=None, use_ensemble_future_state_predictions=False, num_future_state_predictions_in_ensemble=3, future_state_ensemble_aggregation_scheme='average', use_ensemble_value_predictions=False, num_value_predictions_in_ensemble=5, value_ensemble_aggregation_scheme='average', search_depth=1, mask_current_state_action_for_value_prediction=False, mask_future_state_for_qvalue_prediction=False, num_queries_best_of_n=1, use_parallel_inference=False, available_gpus='0', parallel_timeout=15, parallel_tasks_across_gpus=False, task_suite_name='libero_goal', num_trials_per_task=50, task_ids_to_run='0', initial_states_path='DEFAULT', env_img_res=256, local_log_dir='/home/azureuser/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal', run_id_note='fcv2_350_t0_s00', use_wandb=False, wandb_entity='YOUR_ENTITY', wandb_project='YOUR_PROJECT', seed=195, randomize_seed=False, data_collection=False, jpeg_compress=True, reward_stop_threshold=None, reward_stop_consecutive_steps=3, use_gpt_reward=False, gpt_reward_model='gpt-5.4-mini', gpt_reward_stop_threshold=4, gpt_reward_timeout_s=30.0, save_rollout_video=False, eval_hdf5_path='', eval_hdf5_demo_key='demo_0', data_gen_demo_ids='', eval_episode_ids='0,16,32,48', replay_actions=False, replay_action_path_dir='', replay_hdf5_path='', data_generation=False, max_generation_steps=200, simple_task_max_steps=100, complex_task_max_steps=200)
+Using serial inference (parallel inference disabled)
+Task suite: libero_goal
+Number of tasks: 10
+Running only task IDs: [0]
+Using default initial states
+
+Task: open the middle drawer of the cabinet
+Starting episode 1...
+Query 1/1: Action query time = 4.705 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3674
+t=10: Selected seed 195 with value = 0.3674
+Query 1/1: Action query time = 5.643 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4324
+t=26: Selected seed 195 with value = 0.4324
+Query 1/1: Action query time = 5.165 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5093
+t=42: Selected seed 195 with value = 0.5093
+Query 1/1: Action query time = 4.797 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5999
+t=58: Selected seed 195 with value = 0.5999
+Query 1/1: Action query time = 4.876 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7169
+t=74: Selected seed 195 with value = 0.7169
+Query 1/1: Action query time = 4.591 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8401
+t=90: Selected seed 195 with value = 0.8401
+Query 1/1: Action query time = 4.493 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9952
+t=106: Selected seed 195 with value = 0.9952
+Query 1/1: Action query time = 3.989 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=122: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/fcv2_350_t0_s00/2026_08_02-08_22_12--with_future_img--episode=1--success=True--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: True
+# episodes completed so far: 1
+# successes: 1 (100.0%)
+
+Task: open the middle drawer of the cabinet
+Starting episode 2...
+Query 1/1: Action query time = 2.290 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3753
+t=10: Selected seed 195 with value = 0.3753
+Query 1/1: Action query time = 4.249 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4275
+t=26: Selected seed 195 with value = 0.4275
+Query 1/1: Action query time = 5.622 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5224
+t=42: Selected seed 195 with value = 0.5224
+Query 1/1: Action query time = 5.514 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6186
+t=58: Selected seed 195 with value = 0.6186
+Query 1/1: Action query time = 5.387 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7282
+t=74: Selected seed 195 with value = 0.7282
+Query 1/1: Action query time = 5.525 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8567
+t=90: Selected seed 195 with value = 0.8567
+Query 1/1: Action query time = 4.392 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=106: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.616 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=122: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/fcv2_350_t0_s00/2026_08_02-08_22_12--with_future_img--episode=2--success=True--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: True
+# episodes completed so far: 2
+# successes: 2 (100.0%)
+
+Task: open the middle drawer of the cabinet
+Starting episode 3...
+Query 1/1: Action query time = 4.284 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3522
+t=10: Selected seed 195 with value = 0.3522
+Query 1/1: Action query time = 4.555 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4244
+t=26: Selected seed 195 with value = 0.4244
+Query 1/1: Action query time = 4.197 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5015
+t=42: Selected seed 195 with value = 0.5015
+Query 1/1: Action query time = 3.836 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4818
+t=58: Selected seed 195 with value = 0.4818
+Query 1/1: Action query time = 5.363 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5693
+t=74: Selected seed 195 with value = 0.5693
+Query 1/1: Action query time = 5.340 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6518
+t=90: Selected seed 195 with value = 0.6518
+Query 1/1: Action query time = 4.439 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9055
+t=106: Selected seed 195 with value = 0.9055
+Query 1/1: Action query time = 4.181 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=122: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/fcv2_350_t0_s00/2026_08_02-08_22_12--with_future_img--episode=3--success=True--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: True
+# episodes completed so far: 3
+# successes: 3 (100.0%)
+
+Task: open the middle drawer of the cabinet
+Starting episode 4...
+Query 1/1: Action query time = 2.893 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3753
+t=10: Selected seed 195 with value = 0.3753
+Query 1/1: Action query time = 1.866 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4179
+t=26: Selected seed 195 with value = 0.4179
+Query 1/1: Action query time = 1.506 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4752
+t=42: Selected seed 195 with value = 0.4752
+Query 1/1: Action query time = 1.874 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5974
+t=58: Selected seed 195 with value = 0.5974
+Query 1/1: Action query time = 1.891 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6469
+t=74: Selected seed 195 with value = 0.6469
+Query 1/1: Action query time = 1.946 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7742
+t=90: Selected seed 195 with value = 0.7742
+Query 1/1: Action query time = 1.935 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8946
+t=106: Selected seed 195 with value = 0.8946
+Query 1/1: Action query time = 1.919 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9924
+t=122: Selected seed 195 with value = 0.9924
+Query 1/1: Action query time = 1.877 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=138: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/fcv2_350_t0_s00/2026_08_02-08_22_12--with_future_img--episode=4--success=True--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: True
+# episodes completed so far: 4
+# successes: 4 (100.0%)
+Current task success rate: 1.0
+Current total success rate: 1.0
+Final results:
+Total episodes: 4
+Total successes: 4
+Overall success rate: 1.0000 (100.0%)
diff --git a/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-08_22_14--fcv2_350_t0_s12.txt b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-08_22_14--fcv2_350_t0_s12.txt
new file mode 100644
index 0000000000000000000000000000000000000000..4cff859d248e8a976ac98c77e1296ed029584ceb
--- /dev/null
+++ b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-08_22_14--fcv2_350_t0_s12.txt
@@ -0,0 +1,133 @@
+Eval config: PolicyEvalConfig(suite='libero', model_family='cosmos', config='cosmos_predict2_2b_480p_libero_cl_stage_inference_only', ckpt_path='/home/azureuser/REGEN-main/new/cosmos_policy/cosmos_v2_finetune/cosmos_predict2_2b_480p_libero_goal_task6_forget_cl_v2_from350_constlr_2gpu/checkpoints/iter_000000350/model', planning_model_config_name='', planning_model_ckpt_path='', config_file='cosmos_policy/config/config.py', packnet_mask_path='', packnet_first_cl_libero_task=6, use_third_person_image=True, num_third_person_images=1, use_wrist_image=True, num_wrist_images=1, use_proprio=True, flip_images=True, use_variance_scale=False, use_jpeg_compression=True, ar_future_prediction=False, ar_value_prediction=False, ar_qvalue_prediction=False, num_denoising_steps_action=5, num_denoising_steps_future_state=1, num_denoising_steps_value=1, unnormalize_actions=True, normalize_proprio=True, dataset_stats_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/libero_goal_regen/dataset_statistics.json', t5_text_embeddings_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/t5_embeddings.pkl', trained_with_image_aug=True, chunk_size=16, num_open_loop_steps=16, deterministic=True, deterministic_reset=False, deterministic_reset_seed=None, use_ensemble_future_state_predictions=False, num_future_state_predictions_in_ensemble=3, future_state_ensemble_aggregation_scheme='average', use_ensemble_value_predictions=False, num_value_predictions_in_ensemble=5, value_ensemble_aggregation_scheme='average', search_depth=1, mask_current_state_action_for_value_prediction=False, mask_future_state_for_qvalue_prediction=False, num_queries_best_of_n=1, use_parallel_inference=False, available_gpus='0', parallel_timeout=15, parallel_tasks_across_gpus=False, task_suite_name='libero_goal', num_trials_per_task=50, task_ids_to_run='0', initial_states_path='DEFAULT', env_img_res=256, local_log_dir='/home/azureuser/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal', run_id_note='fcv2_350_t0_s12', use_wandb=False, wandb_entity='YOUR_ENTITY', wandb_project='YOUR_PROJECT', seed=195, randomize_seed=False, data_collection=False, jpeg_compress=True, reward_stop_threshold=None, reward_stop_consecutive_steps=3, use_gpt_reward=False, gpt_reward_model='gpt-5.4-mini', gpt_reward_stop_threshold=4, gpt_reward_timeout_s=30.0, save_rollout_video=False, eval_hdf5_path='', eval_hdf5_demo_key='demo_0', data_gen_demo_ids='', eval_episode_ids='12,28,44', replay_actions=False, replay_action_path_dir='', replay_hdf5_path='', data_generation=False, max_generation_steps=200, simple_task_max_steps=100, complex_task_max_steps=200)
+Using serial inference (parallel inference disabled)
+Task suite: libero_goal
+Number of tasks: 10
+Running only task IDs: [0]
+Using default initial states
+
+Task: open the middle drawer of the cabinet
+Starting episode 1...
+Query 1/1: Action query time = 5.891 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3616
+t=10: Selected seed 195 with value = 0.3616
+Query 1/1: Action query time = 4.437 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4059
+t=26: Selected seed 195 with value = 0.4059
+Query 1/1: Action query time = 4.650 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4579
+t=42: Selected seed 195 with value = 0.4579
+Query 1/1: Action query time = 4.996 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5434
+t=58: Selected seed 195 with value = 0.5434
+Query 1/1: Action query time = 5.350 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6432
+t=74: Selected seed 195 with value = 0.6432
+Query 1/1: Action query time = 5.345 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7518
+t=90: Selected seed 195 with value = 0.7518
+Query 1/1: Action query time = 4.320 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9008
+t=106: Selected seed 195 with value = 0.9008
+Query 1/1: Action query time = 2.907 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=122: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 3.149 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=138: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/fcv2_350_t0_s12/2026_08_02-08_22_14--with_future_img--episode=1--success=True--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: True
+# episodes completed so far: 1
+# successes: 1 (100.0%)
+
+Task: open the middle drawer of the cabinet
+Starting episode 2...
+Query 1/1: Action query time = 2.566 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3678
+t=10: Selected seed 195 with value = 0.3678
+Query 1/1: Action query time = 4.117 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4321
+t=26: Selected seed 195 with value = 0.4321
+Query 1/1: Action query time = 4.706 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4963
+t=42: Selected seed 195 with value = 0.4963
+Query 1/1: Action query time = 5.059 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5982
+t=58: Selected seed 195 with value = 0.5982
+Query 1/1: Action query time = 4.883 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6348
+t=74: Selected seed 195 with value = 0.6348
+Query 1/1: Action query time = 5.012 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8227
+t=90: Selected seed 195 with value = 0.8227
+Query 1/1: Action query time = 4.712 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9355
+t=106: Selected seed 195 with value = 0.9355
+Query 1/1: Action query time = 3.997 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9948
+t=122: Selected seed 195 with value = 0.9948
+Saved rollout MP4 at path ./rollouts/fcv2_350_t0_s12/2026_08_02-08_22_14--with_future_img--episode=2--success=True--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: True
+# episodes completed so far: 2
+# successes: 2 (100.0%)
+
+Task: open the middle drawer of the cabinet
+Starting episode 3...
+Query 1/1: Action query time = 3.012 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3491
+t=10: Selected seed 195 with value = 0.3491
+Query 1/1: Action query time = 4.075 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4205
+t=26: Selected seed 195 with value = 0.4205
+Query 1/1: Action query time = 4.706 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5103
+t=42: Selected seed 195 with value = 0.5103
+Query 1/1: Action query time = 5.467 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5659
+t=58: Selected seed 195 with value = 0.5659
+Query 1/1: Action query time = 5.406 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6610
+t=74: Selected seed 195 with value = 0.6610
+Query 1/1: Action query time = 5.332 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8261
+t=90: Selected seed 195 with value = 0.8261
+Query 1/1: Action query time = 4.519 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9954
+t=106: Selected seed 195 with value = 0.9954
+Query 1/1: Action query time = 2.668 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=122: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/fcv2_350_t0_s12/2026_08_02-08_22_14--with_future_img--episode=3--success=True--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: True
+# episodes completed so far: 3
+# successes: 3 (100.0%)
+Current task success rate: 1.0
+Current total success rate: 1.0
+Final results:
+Total episodes: 3
+Total successes: 3
+Overall success rate: 1.0000 (100.0%)
diff --git a/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-08_25_34--fcv2_350_t1_s11.txt b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-08_25_34--fcv2_350_t1_s11.txt
new file mode 100644
index 0000000000000000000000000000000000000000..7e1b209e1c0a7e948e9d4095582957564ed0b166
--- /dev/null
+++ b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-08_25_34--fcv2_350_t1_s11.txt
@@ -0,0 +1,105 @@
+Eval config: PolicyEvalConfig(suite='libero', model_family='cosmos', config='cosmos_predict2_2b_480p_libero_cl_stage_inference_only', ckpt_path='/home/azureuser/REGEN-main/new/cosmos_policy/cosmos_v2_finetune/cosmos_predict2_2b_480p_libero_goal_task6_forget_cl_v2_from350_constlr_2gpu/checkpoints/iter_000000350/model', planning_model_config_name='', planning_model_ckpt_path='', config_file='cosmos_policy/config/config.py', packnet_mask_path='', packnet_first_cl_libero_task=6, use_third_person_image=True, num_third_person_images=1, use_wrist_image=True, num_wrist_images=1, use_proprio=True, flip_images=True, use_variance_scale=False, use_jpeg_compression=True, ar_future_prediction=False, ar_value_prediction=False, ar_qvalue_prediction=False, num_denoising_steps_action=5, num_denoising_steps_future_state=1, num_denoising_steps_value=1, unnormalize_actions=True, normalize_proprio=True, dataset_stats_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/libero_goal_regen/dataset_statistics.json', t5_text_embeddings_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/t5_embeddings.pkl', trained_with_image_aug=True, chunk_size=16, num_open_loop_steps=16, deterministic=True, deterministic_reset=False, deterministic_reset_seed=None, use_ensemble_future_state_predictions=False, num_future_state_predictions_in_ensemble=3, future_state_ensemble_aggregation_scheme='average', use_ensemble_value_predictions=False, num_value_predictions_in_ensemble=5, value_ensemble_aggregation_scheme='average', search_depth=1, mask_current_state_action_for_value_prediction=False, mask_future_state_for_qvalue_prediction=False, num_queries_best_of_n=1, use_parallel_inference=False, available_gpus='0', parallel_timeout=15, parallel_tasks_across_gpus=False, task_suite_name='libero_goal', num_trials_per_task=50, task_ids_to_run='1', initial_states_path='DEFAULT', env_img_res=256, local_log_dir='/home/azureuser/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal', run_id_note='fcv2_350_t1_s11', use_wandb=False, wandb_entity='YOUR_ENTITY', wandb_project='YOUR_PROJECT', seed=195, randomize_seed=False, data_collection=False, jpeg_compress=True, reward_stop_threshold=None, reward_stop_consecutive_steps=3, use_gpt_reward=False, gpt_reward_model='gpt-5.4-mini', gpt_reward_stop_threshold=4, gpt_reward_timeout_s=30.0, save_rollout_video=False, eval_hdf5_path='', eval_hdf5_demo_key='demo_0', data_gen_demo_ids='', eval_episode_ids='11,27,43', replay_actions=False, replay_action_path_dir='', replay_hdf5_path='', data_generation=False, max_generation_steps=200, simple_task_max_steps=100, complex_task_max_steps=200)
+Using serial inference (parallel inference disabled)
+Task suite: libero_goal
+Number of tasks: 10
+Running only task IDs: [1]
+Using default initial states
+
+Task: put the bowl on the stove
+Starting episode 1...
+Query 1/1: Action query time = 6.080 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5092
+t=10: Selected seed 195 with value = 0.5092
+Query 1/1: Action query time = 5.303 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5920
+t=26: Selected seed 195 with value = 0.5920
+Query 1/1: Action query time = 4.665 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7259
+t=42: Selected seed 195 with value = 0.7259
+Query 1/1: Action query time = 4.867 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8113
+t=58: Selected seed 195 with value = 0.8113
+Query 1/1: Action query time = 5.166 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9333
+t=74: Selected seed 195 with value = 0.9333
+Query 1/1: Action query time = 2.639 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/fcv2_350_t1_s11/2026_08_02-08_25_34--with_future_img--episode=1--success=True--task=put_the_bowl_on_the_stove.mp4
+Success: True
+# episodes completed so far: 1
+# successes: 1 (100.0%)
+
+Task: put the bowl on the stove
+Starting episode 2...
+Query 1/1: Action query time = 5.264 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4859
+t=10: Selected seed 195 with value = 0.4859
+Query 1/1: Action query time = 5.208 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6112
+t=26: Selected seed 195 with value = 0.6112
+Query 1/1: Action query time = 4.930 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7184
+t=42: Selected seed 195 with value = 0.7184
+Query 1/1: Action query time = 4.641 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8455
+t=58: Selected seed 195 with value = 0.8455
+Query 1/1: Action query time = 3.380 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9776
+t=74: Selected seed 195 with value = 0.9776
+Query 1/1: Action query time = 4.214 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/fcv2_350_t1_s11/2026_08_02-08_25_34--with_future_img--episode=2--success=True--task=put_the_bowl_on_the_stove.mp4
+Success: True
+# episodes completed so far: 2
+# successes: 2 (100.0%)
+
+Task: put the bowl on the stove
+Starting episode 3...
+Query 1/1: Action query time = 4.875 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5122
+t=10: Selected seed 195 with value = 0.5122
+Query 1/1: Action query time = 5.222 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5903
+t=26: Selected seed 195 with value = 0.5903
+Query 1/1: Action query time = 5.175 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7173
+t=42: Selected seed 195 with value = 0.7173
+Query 1/1: Action query time = 4.576 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7833
+t=58: Selected seed 195 with value = 0.7833
+Query 1/1: Action query time = 3.009 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9519
+t=74: Selected seed 195 with value = 0.9519
+Query 1/1: Action query time = 1.836 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/fcv2_350_t1_s11/2026_08_02-08_25_34--with_future_img--episode=3--success=True--task=put_the_bowl_on_the_stove.mp4
+Success: True
+# episodes completed so far: 3
+# successes: 3 (100.0%)
+Current task success rate: 1.0
+Current total success rate: 1.0
+Final results:
+Total episodes: 3
+Total successes: 3
+Overall success rate: 1.0000 (100.0%)
diff --git a/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-08_25_34--fcv2_350_t1_s13.txt b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-08_25_34--fcv2_350_t1_s13.txt
new file mode 100644
index 0000000000000000000000000000000000000000..356146a1322067bc43071993150b88ea35dcc568
--- /dev/null
+++ b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-08_25_34--fcv2_350_t1_s13.txt
@@ -0,0 +1,105 @@
+Eval config: PolicyEvalConfig(suite='libero', model_family='cosmos', config='cosmos_predict2_2b_480p_libero_cl_stage_inference_only', ckpt_path='/home/azureuser/REGEN-main/new/cosmos_policy/cosmos_v2_finetune/cosmos_predict2_2b_480p_libero_goal_task6_forget_cl_v2_from350_constlr_2gpu/checkpoints/iter_000000350/model', planning_model_config_name='', planning_model_ckpt_path='', config_file='cosmos_policy/config/config.py', packnet_mask_path='', packnet_first_cl_libero_task=6, use_third_person_image=True, num_third_person_images=1, use_wrist_image=True, num_wrist_images=1, use_proprio=True, flip_images=True, use_variance_scale=False, use_jpeg_compression=True, ar_future_prediction=False, ar_value_prediction=False, ar_qvalue_prediction=False, num_denoising_steps_action=5, num_denoising_steps_future_state=1, num_denoising_steps_value=1, unnormalize_actions=True, normalize_proprio=True, dataset_stats_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/libero_goal_regen/dataset_statistics.json', t5_text_embeddings_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/t5_embeddings.pkl', trained_with_image_aug=True, chunk_size=16, num_open_loop_steps=16, deterministic=True, deterministic_reset=False, deterministic_reset_seed=None, use_ensemble_future_state_predictions=False, num_future_state_predictions_in_ensemble=3, future_state_ensemble_aggregation_scheme='average', use_ensemble_value_predictions=False, num_value_predictions_in_ensemble=5, value_ensemble_aggregation_scheme='average', search_depth=1, mask_current_state_action_for_value_prediction=False, mask_future_state_for_qvalue_prediction=False, num_queries_best_of_n=1, use_parallel_inference=False, available_gpus='0', parallel_timeout=15, parallel_tasks_across_gpus=False, task_suite_name='libero_goal', num_trials_per_task=50, task_ids_to_run='1', initial_states_path='DEFAULT', env_img_res=256, local_log_dir='/home/azureuser/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal', run_id_note='fcv2_350_t1_s13', use_wandb=False, wandb_entity='YOUR_ENTITY', wandb_project='YOUR_PROJECT', seed=195, randomize_seed=False, data_collection=False, jpeg_compress=True, reward_stop_threshold=None, reward_stop_consecutive_steps=3, use_gpt_reward=False, gpt_reward_model='gpt-5.4-mini', gpt_reward_stop_threshold=4, gpt_reward_timeout_s=30.0, save_rollout_video=False, eval_hdf5_path='', eval_hdf5_demo_key='demo_0', data_gen_demo_ids='', eval_episode_ids='13,29,45', replay_actions=False, replay_action_path_dir='', replay_hdf5_path='', data_generation=False, max_generation_steps=200, simple_task_max_steps=100, complex_task_max_steps=200)
+Using serial inference (parallel inference disabled)
+Task suite: libero_goal
+Number of tasks: 10
+Running only task IDs: [1]
+Using default initial states
+
+Task: put the bowl on the stove
+Starting episode 1...
+Query 1/1: Action query time = 3.747 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5079
+t=10: Selected seed 195 with value = 0.5079
+Query 1/1: Action query time = 4.960 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5939
+t=26: Selected seed 195 with value = 0.5939
+Query 1/1: Action query time = 5.789 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6896
+t=42: Selected seed 195 with value = 0.6896
+Query 1/1: Action query time = 5.233 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8086
+t=58: Selected seed 195 with value = 0.8086
+Query 1/1: Action query time = 4.825 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9647
+t=74: Selected seed 195 with value = 0.9647
+Query 1/1: Action query time = 4.763 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/fcv2_350_t1_s13/2026_08_02-08_25_34--with_future_img--episode=1--success=True--task=put_the_bowl_on_the_stove.mp4
+Success: True
+# episodes completed so far: 1
+# successes: 1 (100.0%)
+
+Task: put the bowl on the stove
+Starting episode 2...
+Query 1/1: Action query time = 1.467 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5459
+t=10: Selected seed 195 with value = 0.5459
+Query 1/1: Action query time = 5.138 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6172
+t=26: Selected seed 195 with value = 0.6172
+Query 1/1: Action query time = 5.002 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7089
+t=42: Selected seed 195 with value = 0.7089
+Query 1/1: Action query time = 4.948 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8062
+t=58: Selected seed 195 with value = 0.8062
+Query 1/1: Action query time = 5.346 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9385
+t=74: Selected seed 195 with value = 0.9385
+Query 1/1: Action query time = 4.712 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9868
+t=90: Selected seed 195 with value = 0.9868
+Saved rollout MP4 at path ./rollouts/fcv2_350_t1_s13/2026_08_02-08_25_34--with_future_img--episode=2--success=True--task=put_the_bowl_on_the_stove.mp4
+Success: True
+# episodes completed so far: 2
+# successes: 2 (100.0%)
+
+Task: put the bowl on the stove
+Starting episode 3...
+Query 1/1: Action query time = 2.360 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4869
+t=10: Selected seed 195 with value = 0.4869
+Query 1/1: Action query time = 2.851 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5734
+t=26: Selected seed 195 with value = 0.5734
+Query 1/1: Action query time = 5.053 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6543
+t=42: Selected seed 195 with value = 0.6543
+Query 1/1: Action query time = 5.376 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7320
+t=58: Selected seed 195 with value = 0.7320
+Query 1/1: Action query time = 5.211 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8378
+t=74: Selected seed 195 with value = 0.8378
+Query 1/1: Action query time = 4.575 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/fcv2_350_t1_s13/2026_08_02-08_25_34--with_future_img--episode=3--success=True--task=put_the_bowl_on_the_stove.mp4
+Success: True
+# episodes completed so far: 3
+# successes: 3 (100.0%)
+Current task success rate: 1.0
+Current total success rate: 1.0
+Final results:
+Total episodes: 3
+Total successes: 3
+Overall success rate: 1.0000 (100.0%)
diff --git a/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-08_25_35--fcv2_350_t1_s15.txt b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-08_25_35--fcv2_350_t1_s15.txt
new file mode 100644
index 0000000000000000000000000000000000000000..794b4c07c6a24bcb21587b375d6c28d5b43107de
--- /dev/null
+++ b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-08_25_35--fcv2_350_t1_s15.txt
@@ -0,0 +1,101 @@
+Eval config: PolicyEvalConfig(suite='libero', model_family='cosmos', config='cosmos_predict2_2b_480p_libero_cl_stage_inference_only', ckpt_path='/home/azureuser/REGEN-main/new/cosmos_policy/cosmos_v2_finetune/cosmos_predict2_2b_480p_libero_goal_task6_forget_cl_v2_from350_constlr_2gpu/checkpoints/iter_000000350/model', planning_model_config_name='', planning_model_ckpt_path='', config_file='cosmos_policy/config/config.py', packnet_mask_path='', packnet_first_cl_libero_task=6, use_third_person_image=True, num_third_person_images=1, use_wrist_image=True, num_wrist_images=1, use_proprio=True, flip_images=True, use_variance_scale=False, use_jpeg_compression=True, ar_future_prediction=False, ar_value_prediction=False, ar_qvalue_prediction=False, num_denoising_steps_action=5, num_denoising_steps_future_state=1, num_denoising_steps_value=1, unnormalize_actions=True, normalize_proprio=True, dataset_stats_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/libero_goal_regen/dataset_statistics.json', t5_text_embeddings_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/t5_embeddings.pkl', trained_with_image_aug=True, chunk_size=16, num_open_loop_steps=16, deterministic=True, deterministic_reset=False, deterministic_reset_seed=None, use_ensemble_future_state_predictions=False, num_future_state_predictions_in_ensemble=3, future_state_ensemble_aggregation_scheme='average', use_ensemble_value_predictions=False, num_value_predictions_in_ensemble=5, value_ensemble_aggregation_scheme='average', search_depth=1, mask_current_state_action_for_value_prediction=False, mask_future_state_for_qvalue_prediction=False, num_queries_best_of_n=1, use_parallel_inference=False, available_gpus='0', parallel_timeout=15, parallel_tasks_across_gpus=False, task_suite_name='libero_goal', num_trials_per_task=50, task_ids_to_run='1', initial_states_path='DEFAULT', env_img_res=256, local_log_dir='/home/azureuser/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal', run_id_note='fcv2_350_t1_s15', use_wandb=False, wandb_entity='YOUR_ENTITY', wandb_project='YOUR_PROJECT', seed=195, randomize_seed=False, data_collection=False, jpeg_compress=True, reward_stop_threshold=None, reward_stop_consecutive_steps=3, use_gpt_reward=False, gpt_reward_model='gpt-5.4-mini', gpt_reward_stop_threshold=4, gpt_reward_timeout_s=30.0, save_rollout_video=False, eval_hdf5_path='', eval_hdf5_demo_key='demo_0', data_gen_demo_ids='', eval_episode_ids='15,31,47', replay_actions=False, replay_action_path_dir='', replay_hdf5_path='', data_generation=False, max_generation_steps=200, simple_task_max_steps=100, complex_task_max_steps=200)
+Using serial inference (parallel inference disabled)
+Task suite: libero_goal
+Number of tasks: 10
+Running only task IDs: [1]
+Using default initial states
+
+Task: put the bowl on the stove
+Starting episode 1...
+Query 1/1: Action query time = 6.134 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4301
+t=10: Selected seed 195 with value = 0.4301
+Query 1/1: Action query time = 5.653 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5404
+t=26: Selected seed 195 with value = 0.5404
+Query 1/1: Action query time = 5.436 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6770
+t=42: Selected seed 195 with value = 0.6770
+Query 1/1: Action query time = 5.166 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7405
+t=58: Selected seed 195 with value = 0.7405
+Query 1/1: Action query time = 4.604 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9169
+t=74: Selected seed 195 with value = 0.9169
+Query 1/1: Action query time = 2.002 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/fcv2_350_t1_s15/2026_08_02-08_25_35--with_future_img--episode=1--success=True--task=put_the_bowl_on_the_stove.mp4
+Success: True
+# episodes completed so far: 1
+# successes: 1 (100.0%)
+
+Task: put the bowl on the stove
+Starting episode 2...
+Query 1/1: Action query time = 5.256 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4865
+t=10: Selected seed 195 with value = 0.4865
+Query 1/1: Action query time = 5.167 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5763
+t=26: Selected seed 195 with value = 0.5763
+Query 1/1: Action query time = 4.995 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6939
+t=42: Selected seed 195 with value = 0.6939
+Query 1/1: Action query time = 4.861 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7828
+t=58: Selected seed 195 with value = 0.7828
+Query 1/1: Action query time = 3.041 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9243
+t=74: Selected seed 195 with value = 0.9243
+Query 1/1: Action query time = 4.000 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/fcv2_350_t1_s15/2026_08_02-08_25_35--with_future_img--episode=2--success=True--task=put_the_bowl_on_the_stove.mp4
+Success: True
+# episodes completed so far: 2
+# successes: 2 (100.0%)
+
+Task: put the bowl on the stove
+Starting episode 3...
+Query 1/1: Action query time = 5.074 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5143
+t=10: Selected seed 195 with value = 0.5143
+Query 1/1: Action query time = 5.195 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6163
+t=26: Selected seed 195 with value = 0.6163
+Query 1/1: Action query time = 5.509 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7171
+t=42: Selected seed 195 with value = 0.7171
+Query 1/1: Action query time = 4.722 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8470
+t=58: Selected seed 195 with value = 0.8470
+Query 1/1: Action query time = 2.937 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9958
+t=74: Selected seed 195 with value = 0.9958
+Saved rollout MP4 at path ./rollouts/fcv2_350_t1_s15/2026_08_02-08_25_35--with_future_img--episode=3--success=True--task=put_the_bowl_on_the_stove.mp4
+Success: True
+# episodes completed so far: 3
+# successes: 3 (100.0%)
+Current task success rate: 1.0
+Current total success rate: 1.0
+Final results:
+Total episodes: 3
+Total successes: 3
+Overall success rate: 1.0000 (100.0%)
diff --git a/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-08_28_01--fcv2_350_t2_s00.txt b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-08_28_01--fcv2_350_t2_s00.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0843f5de63b02b0f39b6cbf2835c811ef642ea35
--- /dev/null
+++ b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-08_28_01--fcv2_350_t2_s00.txt
@@ -0,0 +1,188 @@
+Eval config: PolicyEvalConfig(suite='libero', model_family='cosmos', config='cosmos_predict2_2b_480p_libero_cl_stage_inference_only', ckpt_path='/home/azureuser/REGEN-main/new/cosmos_policy/cosmos_v2_finetune/cosmos_predict2_2b_480p_libero_goal_task6_forget_cl_v2_from350_constlr_2gpu/checkpoints/iter_000000350/model', planning_model_config_name='', planning_model_ckpt_path='', config_file='cosmos_policy/config/config.py', packnet_mask_path='', packnet_first_cl_libero_task=6, use_third_person_image=True, num_third_person_images=1, use_wrist_image=True, num_wrist_images=1, use_proprio=True, flip_images=True, use_variance_scale=False, use_jpeg_compression=True, ar_future_prediction=False, ar_value_prediction=False, ar_qvalue_prediction=False, num_denoising_steps_action=5, num_denoising_steps_future_state=1, num_denoising_steps_value=1, unnormalize_actions=True, normalize_proprio=True, dataset_stats_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/libero_goal_regen/dataset_statistics.json', t5_text_embeddings_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/t5_embeddings.pkl', trained_with_image_aug=True, chunk_size=16, num_open_loop_steps=16, deterministic=True, deterministic_reset=False, deterministic_reset_seed=None, use_ensemble_future_state_predictions=False, num_future_state_predictions_in_ensemble=3, future_state_ensemble_aggregation_scheme='average', use_ensemble_value_predictions=False, num_value_predictions_in_ensemble=5, value_ensemble_aggregation_scheme='average', search_depth=1, mask_current_state_action_for_value_prediction=False, mask_future_state_for_qvalue_prediction=False, num_queries_best_of_n=1, use_parallel_inference=False, available_gpus='0', parallel_timeout=15, parallel_tasks_across_gpus=False, task_suite_name='libero_goal', num_trials_per_task=50, task_ids_to_run='2', initial_states_path='DEFAULT', env_img_res=256, local_log_dir='/home/azureuser/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal', run_id_note='fcv2_350_t2_s00', use_wandb=False, wandb_entity='YOUR_ENTITY', wandb_project='YOUR_PROJECT', seed=195, randomize_seed=False, data_collection=False, jpeg_compress=True, reward_stop_threshold=None, reward_stop_consecutive_steps=3, use_gpt_reward=False, gpt_reward_model='gpt-5.4-mini', gpt_reward_stop_threshold=4, gpt_reward_timeout_s=30.0, save_rollout_video=False, eval_hdf5_path='', eval_hdf5_demo_key='demo_0', data_gen_demo_ids='', eval_episode_ids='0,16,32,48', replay_actions=False, replay_action_path_dir='', replay_hdf5_path='', data_generation=False, max_generation_steps=200, simple_task_max_steps=100, complex_task_max_steps=200)
+Using serial inference (parallel inference disabled)
+Task suite: libero_goal
+Number of tasks: 10
+Running only task IDs: [2]
+Using default initial states
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 1...
+Query 1/1: Action query time = 2.286 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5455
+t=10: Selected seed 195 with value = 0.5455
+Query 1/1: Action query time = 2.452 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6575
+t=26: Selected seed 195 with value = 0.6575
+Query 1/1: Action query time = 5.514 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7356
+t=42: Selected seed 195 with value = 0.7356
+Query 1/1: Action query time = 4.959 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8433
+t=58: Selected seed 195 with value = 0.8433
+Query 1/1: Action query time = 5.056 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9498
+t=74: Selected seed 195 with value = 0.9498
+Saved rollout MP4 at path ./rollouts/fcv2_350_t2_s00/2026_08_02-08_28_01--with_future_img--episode=1--success=True--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: True
+# episodes completed so far: 1
+# successes: 1 (100.0%)
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 2...
+Query 1/1: Action query time = 5.395 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4612
+t=10: Selected seed 195 with value = 0.4612
+Query 1/1: Action query time = 3.252 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5215
+t=26: Selected seed 195 with value = 0.5215
+Query 1/1: Action query time = 3.388 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6227
+t=42: Selected seed 195 with value = 0.6227
+Query 1/1: Action query time = 4.786 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7343
+t=58: Selected seed 195 with value = 0.7343
+Query 1/1: Action query time = 4.571 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8659
+t=74: Selected seed 195 with value = 0.8659
+Query 1/1: Action query time = 5.190 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/fcv2_350_t2_s00/2026_08_02-08_28_01--with_future_img--episode=2--success=True--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: True
+# episodes completed so far: 2
+# successes: 2 (100.0%)
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 3...
+Query 1/1: Action query time = 5.252 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5008
+t=10: Selected seed 195 with value = 0.5008
+Query 1/1: Action query time = 4.557 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5700
+t=26: Selected seed 195 with value = 0.5700
+Query 1/1: Action query time = 3.073 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6059
+t=42: Selected seed 195 with value = 0.6059
+Query 1/1: Action query time = 4.708 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6696
+t=58: Selected seed 195 with value = 0.6696
+Query 1/1: Action query time = 5.223 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7792
+t=74: Selected seed 195 with value = 0.7792
+Query 1/1: Action query time = 5.372 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9305
+t=90: Selected seed 195 with value = 0.9305
+Query 1/1: Action query time = 4.937 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9988
+t=106: Selected seed 195 with value = 0.9988
+Saved rollout MP4 at path ./rollouts/fcv2_350_t2_s00/2026_08_02-08_28_01--with_future_img--episode=3--success=True--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: True
+# episodes completed so far: 3
+# successes: 3 (100.0%)
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 4...
+Query 1/1: Action query time = 3.451 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4712
+t=10: Selected seed 195 with value = 0.4712
+Query 1/1: Action query time = 1.875 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5082
+t=26: Selected seed 195 with value = 0.5082
+Query 1/1: Action query time = 2.601 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6704
+t=42: Selected seed 195 with value = 0.6704
+Query 1/1: Action query time = 2.427 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6264
+t=58: Selected seed 195 with value = 0.6264
+Query 1/1: Action query time = 2.584 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7203
+t=74: Selected seed 195 with value = 0.7203
+Query 1/1: Action query time = 2.402 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7159
+t=90: Selected seed 195 with value = 0.7159
+Query 1/1: Action query time = 1.649 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5914
+t=106: Selected seed 195 with value = 0.5914
+Query 1/1: Action query time = 1.706 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6940
+t=122: Selected seed 195 with value = 0.6940
+Query 1/1: Action query time = 1.334 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7575
+t=138: Selected seed 195 with value = 0.7575
+Query 1/1: Action query time = 1.444 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6333
+t=154: Selected seed 195 with value = 0.6333
+Query 1/1: Action query time = 2.082 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7029
+t=170: Selected seed 195 with value = 0.7029
+Query 1/1: Action query time = 1.641 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7416
+t=186: Selected seed 195 with value = 0.7416
+Query 1/1: Action query time = 1.598 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7189
+t=202: Selected seed 195 with value = 0.7189
+Query 1/1: Action query time = 1.636 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7410
+t=218: Selected seed 195 with value = 0.7410
+Query 1/1: Action query time = 1.494 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8061
+t=234: Selected seed 195 with value = 0.8061
+Query 1/1: Action query time = 1.674 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8548
+t=250: Selected seed 195 with value = 0.8548
+Query 1/1: Action query time = 1.795 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8531
+t=266: Selected seed 195 with value = 0.8531
+Query 1/1: Action query time = 0.966 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8281
+t=282: Selected seed 195 with value = 0.8281
+Query 1/1: Action query time = 0.966 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8525
+t=298: Selected seed 195 with value = 0.8525
+Saved rollout MP4 at path ./rollouts/fcv2_350_t2_s00/2026_08_02-08_28_01--with_future_img--episode=4--success=False--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: False
+# episodes completed so far: 4
+# successes: 3 (75.0%)
+Current task success rate: 0.75
+Current total success rate: 0.75
+Final results:
+Total episodes: 4
+Total successes: 3
+Overall success rate: 0.7500 (75.0%)
diff --git a/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-08_28_02--fcv2_350_t2_s01.txt b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-08_28_02--fcv2_350_t2_s01.txt
new file mode 100644
index 0000000000000000000000000000000000000000..37bce99a618fd0ee1765297b82645bbf0c09ba64
--- /dev/null
+++ b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-08_28_02--fcv2_350_t2_s01.txt
@@ -0,0 +1,136 @@
+Eval config: PolicyEvalConfig(suite='libero', model_family='cosmos', config='cosmos_predict2_2b_480p_libero_cl_stage_inference_only', ckpt_path='/home/azureuser/REGEN-main/new/cosmos_policy/cosmos_v2_finetune/cosmos_predict2_2b_480p_libero_goal_task6_forget_cl_v2_from350_constlr_2gpu/checkpoints/iter_000000350/model', planning_model_config_name='', planning_model_ckpt_path='', config_file='cosmos_policy/config/config.py', packnet_mask_path='', packnet_first_cl_libero_task=6, use_third_person_image=True, num_third_person_images=1, use_wrist_image=True, num_wrist_images=1, use_proprio=True, flip_images=True, use_variance_scale=False, use_jpeg_compression=True, ar_future_prediction=False, ar_value_prediction=False, ar_qvalue_prediction=False, num_denoising_steps_action=5, num_denoising_steps_future_state=1, num_denoising_steps_value=1, unnormalize_actions=True, normalize_proprio=True, dataset_stats_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/libero_goal_regen/dataset_statistics.json', t5_text_embeddings_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/t5_embeddings.pkl', trained_with_image_aug=True, chunk_size=16, num_open_loop_steps=16, deterministic=True, deterministic_reset=False, deterministic_reset_seed=None, use_ensemble_future_state_predictions=False, num_future_state_predictions_in_ensemble=3, future_state_ensemble_aggregation_scheme='average', use_ensemble_value_predictions=False, num_value_predictions_in_ensemble=5, value_ensemble_aggregation_scheme='average', search_depth=1, mask_current_state_action_for_value_prediction=False, mask_future_state_for_qvalue_prediction=False, num_queries_best_of_n=1, use_parallel_inference=False, available_gpus='0', parallel_timeout=15, parallel_tasks_across_gpus=False, task_suite_name='libero_goal', num_trials_per_task=50, task_ids_to_run='2', initial_states_path='DEFAULT', env_img_res=256, local_log_dir='/home/azureuser/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal', run_id_note='fcv2_350_t2_s01', use_wandb=False, wandb_entity='YOUR_ENTITY', wandb_project='YOUR_PROJECT', seed=195, randomize_seed=False, data_collection=False, jpeg_compress=True, reward_stop_threshold=None, reward_stop_consecutive_steps=3, use_gpt_reward=False, gpt_reward_model='gpt-5.4-mini', gpt_reward_stop_threshold=4, gpt_reward_timeout_s=30.0, save_rollout_video=False, eval_hdf5_path='', eval_hdf5_demo_key='demo_0', data_gen_demo_ids='', eval_episode_ids='1,17,33,49', replay_actions=False, replay_action_path_dir='', replay_hdf5_path='', data_generation=False, max_generation_steps=200, simple_task_max_steps=100, complex_task_max_steps=200)
+Using serial inference (parallel inference disabled)
+Task suite: libero_goal
+Number of tasks: 10
+Running only task IDs: [2]
+Using default initial states
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 1...
+Query 1/1: Action query time = 3.725 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4977
+t=10: Selected seed 195 with value = 0.4977
+Query 1/1: Action query time = 5.483 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5203
+t=26: Selected seed 195 with value = 0.5203
+Query 1/1: Action query time = 5.097 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6597
+t=42: Selected seed 195 with value = 0.6597
+Query 1/1: Action query time = 5.164 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7784
+t=58: Selected seed 195 with value = 0.7784
+Query 1/1: Action query time = 3.892 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9272
+t=74: Selected seed 195 with value = 0.9272
+Query 1/1: Action query time = 5.505 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/fcv2_350_t2_s01/2026_08_02-08_28_02--with_future_img--episode=1--success=True--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: True
+# episodes completed so far: 1
+# successes: 1 (100.0%)
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 2...
+Query 1/1: Action query time = 3.902 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4856
+t=10: Selected seed 195 with value = 0.4856
+Query 1/1: Action query time = 5.326 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5539
+t=26: Selected seed 195 with value = 0.5539
+Query 1/1: Action query time = 5.414 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7096
+t=42: Selected seed 195 with value = 0.7096
+Query 1/1: Action query time = 5.054 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8400
+t=58: Selected seed 195 with value = 0.8400
+Query 1/1: Action query time = 5.202 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=74: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.166 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/fcv2_350_t2_s01/2026_08_02-08_28_02--with_future_img--episode=2--success=True--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: True
+# episodes completed so far: 2
+# successes: 2 (100.0%)
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 3...
+Query 1/1: Action query time = 5.076 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4793
+t=10: Selected seed 195 with value = 0.4793
+Query 1/1: Action query time = 5.196 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5806
+t=26: Selected seed 195 with value = 0.5806
+Query 1/1: Action query time = 5.257 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6458
+t=42: Selected seed 195 with value = 0.6458
+Query 1/1: Action query time = 5.177 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8145
+t=58: Selected seed 195 with value = 0.8145
+Query 1/1: Action query time = 4.465 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9963
+t=74: Selected seed 195 with value = 0.9963
+Query 1/1: Action query time = 3.537 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/fcv2_350_t2_s01/2026_08_02-08_28_02--with_future_img--episode=3--success=True--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: True
+# episodes completed so far: 3
+# successes: 3 (100.0%)
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 4...
+Query 1/1: Action query time = 2.327 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5034
+t=10: Selected seed 195 with value = 0.5034
+Query 1/1: Action query time = 2.418 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5791
+t=26: Selected seed 195 with value = 0.5791
+Query 1/1: Action query time = 2.380 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7172
+t=42: Selected seed 195 with value = 0.7172
+Query 1/1: Action query time = 1.873 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8125
+t=58: Selected seed 195 with value = 0.8125
+Query 1/1: Action query time = 1.650 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9665
+t=74: Selected seed 195 with value = 0.9665
+Query 1/1: Action query time = 1.960 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/fcv2_350_t2_s01/2026_08_02-08_28_02--with_future_img--episode=4--success=True--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: True
+# episodes completed so far: 4
+# successes: 4 (100.0%)
+Current task success rate: 1.0
+Current total success rate: 1.0
+Final results:
+Total episodes: 4
+Total successes: 4
+Overall success rate: 1.0000 (100.0%)
diff --git a/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-08_28_02--fcv2_350_t2_s03.txt b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-08_28_02--fcv2_350_t2_s03.txt
new file mode 100644
index 0000000000000000000000000000000000000000..b1b4ff8c7d546d5979155552cbacb400ae2da565
--- /dev/null
+++ b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-08_28_02--fcv2_350_t2_s03.txt
@@ -0,0 +1,161 @@
+Eval config: PolicyEvalConfig(suite='libero', model_family='cosmos', config='cosmos_predict2_2b_480p_libero_cl_stage_inference_only', ckpt_path='/home/azureuser/REGEN-main/new/cosmos_policy/cosmos_v2_finetune/cosmos_predict2_2b_480p_libero_goal_task6_forget_cl_v2_from350_constlr_2gpu/checkpoints/iter_000000350/model', planning_model_config_name='', planning_model_ckpt_path='', config_file='cosmos_policy/config/config.py', packnet_mask_path='', packnet_first_cl_libero_task=6, use_third_person_image=True, num_third_person_images=1, use_wrist_image=True, num_wrist_images=1, use_proprio=True, flip_images=True, use_variance_scale=False, use_jpeg_compression=True, ar_future_prediction=False, ar_value_prediction=False, ar_qvalue_prediction=False, num_denoising_steps_action=5, num_denoising_steps_future_state=1, num_denoising_steps_value=1, unnormalize_actions=True, normalize_proprio=True, dataset_stats_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/libero_goal_regen/dataset_statistics.json', t5_text_embeddings_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/t5_embeddings.pkl', trained_with_image_aug=True, chunk_size=16, num_open_loop_steps=16, deterministic=True, deterministic_reset=False, deterministic_reset_seed=None, use_ensemble_future_state_predictions=False, num_future_state_predictions_in_ensemble=3, future_state_ensemble_aggregation_scheme='average', use_ensemble_value_predictions=False, num_value_predictions_in_ensemble=5, value_ensemble_aggregation_scheme='average', search_depth=1, mask_current_state_action_for_value_prediction=False, mask_future_state_for_qvalue_prediction=False, num_queries_best_of_n=1, use_parallel_inference=False, available_gpus='0', parallel_timeout=15, parallel_tasks_across_gpus=False, task_suite_name='libero_goal', num_trials_per_task=50, task_ids_to_run='2', initial_states_path='DEFAULT', env_img_res=256, local_log_dir='/home/azureuser/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal', run_id_note='fcv2_350_t2_s03', use_wandb=False, wandb_entity='YOUR_ENTITY', wandb_project='YOUR_PROJECT', seed=195, randomize_seed=False, data_collection=False, jpeg_compress=True, reward_stop_threshold=None, reward_stop_consecutive_steps=3, use_gpt_reward=False, gpt_reward_model='gpt-5.4-mini', gpt_reward_stop_threshold=4, gpt_reward_timeout_s=30.0, save_rollout_video=False, eval_hdf5_path='', eval_hdf5_demo_key='demo_0', data_gen_demo_ids='', eval_episode_ids='3,19,35', replay_actions=False, replay_action_path_dir='', replay_hdf5_path='', data_generation=False, max_generation_steps=200, simple_task_max_steps=100, complex_task_max_steps=200)
+Using serial inference (parallel inference disabled)
+Task suite: libero_goal
+Number of tasks: 10
+Running only task IDs: [2]
+Using default initial states
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 1...
+Query 1/1: Action query time = 3.134 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4925
+t=10: Selected seed 195 with value = 0.4925
+Query 1/1: Action query time = 4.180 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5485
+t=26: Selected seed 195 with value = 0.5485
+Query 1/1: Action query time = 5.074 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7202
+t=42: Selected seed 195 with value = 0.7202
+Query 1/1: Action query time = 5.101 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8130
+t=58: Selected seed 195 with value = 0.8130
+Query 1/1: Action query time = 4.776 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9851
+t=74: Selected seed 195 with value = 0.9851
+Query 1/1: Action query time = 4.845 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/fcv2_350_t2_s03/2026_08_02-08_28_02--with_future_img--episode=1--success=True--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: True
+# episodes completed so far: 1
+# successes: 1 (100.0%)
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 2...
+Query 1/1: Action query time = 3.393 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5012
+t=10: Selected seed 195 with value = 0.5012
+Query 1/1: Action query time = 4.271 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5960
+t=26: Selected seed 195 with value = 0.5960
+Query 1/1: Action query time = 5.311 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7176
+t=42: Selected seed 195 with value = 0.7176
+Query 1/1: Action query time = 4.312 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8042
+t=58: Selected seed 195 with value = 0.8042
+Query 1/1: Action query time = 4.190 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9468
+t=74: Selected seed 195 with value = 0.9468
+Query 1/1: Action query time = 5.309 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9829
+t=90: Selected seed 195 with value = 0.9829
+Query 1/1: Action query time = 4.363 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9951
+t=106: Selected seed 195 with value = 0.9951
+Query 1/1: Action query time = 3.018 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=122: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 5.150 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=138: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 5.059 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=154: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 5.138 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=170: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 5.180 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=186: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.464 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=202: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 3.406 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=218: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 1.859 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=234: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 2.252 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9415
+t=250: Selected seed 195 with value = 0.9415
+Query 1/1: Action query time = 2.380 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7975
+t=266: Selected seed 195 with value = 0.7975
+Query 1/1: Action query time = 2.416 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7549
+t=282: Selected seed 195 with value = 0.7549
+Query 1/1: Action query time = 2.351 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6602
+t=298: Selected seed 195 with value = 0.6602
+Saved rollout MP4 at path ./rollouts/fcv2_350_t2_s03/2026_08_02-08_28_02--with_future_img--episode=2--success=False--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: False
+# episodes completed so far: 2
+# successes: 1 (50.0%)
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 3...
+Query 1/1: Action query time = 1.498 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4725
+t=10: Selected seed 195 with value = 0.4725
+Query 1/1: Action query time = 2.155 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5926
+t=26: Selected seed 195 with value = 0.5926
+Query 1/1: Action query time = 1.896 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6649
+t=42: Selected seed 195 with value = 0.6649
+Query 1/1: Action query time = 1.896 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7568
+t=58: Selected seed 195 with value = 0.7568
+Query 1/1: Action query time = 1.914 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8748
+t=74: Selected seed 195 with value = 0.8748
+Query 1/1: Action query time = 1.914 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9908
+t=90: Selected seed 195 with value = 0.9908
+Query 1/1: Action query time = 1.761 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=106: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/fcv2_350_t2_s03/2026_08_02-08_28_02--with_future_img--episode=3--success=True--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: True
+# episodes completed so far: 3
+# successes: 2 (66.7%)
+Current task success rate: 0.6666666666666666
+Current total success rate: 0.6666666666666666
+Final results:
+Total episodes: 3
+Total successes: 2
+Overall success rate: 0.6667 (66.7%)
diff --git a/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-08_28_02--fcv2_350_t2_s04.txt b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-08_28_02--fcv2_350_t2_s04.txt
new file mode 100644
index 0000000000000000000000000000000000000000..e23cd0a8a83c0f2461789532cf6d6326900a5923
--- /dev/null
+++ b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-08_28_02--fcv2_350_t2_s04.txt
@@ -0,0 +1,105 @@
+Eval config: PolicyEvalConfig(suite='libero', model_family='cosmos', config='cosmos_predict2_2b_480p_libero_cl_stage_inference_only', ckpt_path='/home/azureuser/REGEN-main/new/cosmos_policy/cosmos_v2_finetune/cosmos_predict2_2b_480p_libero_goal_task6_forget_cl_v2_from350_constlr_2gpu/checkpoints/iter_000000350/model', planning_model_config_name='', planning_model_ckpt_path='', config_file='cosmos_policy/config/config.py', packnet_mask_path='', packnet_first_cl_libero_task=6, use_third_person_image=True, num_third_person_images=1, use_wrist_image=True, num_wrist_images=1, use_proprio=True, flip_images=True, use_variance_scale=False, use_jpeg_compression=True, ar_future_prediction=False, ar_value_prediction=False, ar_qvalue_prediction=False, num_denoising_steps_action=5, num_denoising_steps_future_state=1, num_denoising_steps_value=1, unnormalize_actions=True, normalize_proprio=True, dataset_stats_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/libero_goal_regen/dataset_statistics.json', t5_text_embeddings_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/t5_embeddings.pkl', trained_with_image_aug=True, chunk_size=16, num_open_loop_steps=16, deterministic=True, deterministic_reset=False, deterministic_reset_seed=None, use_ensemble_future_state_predictions=False, num_future_state_predictions_in_ensemble=3, future_state_ensemble_aggregation_scheme='average', use_ensemble_value_predictions=False, num_value_predictions_in_ensemble=5, value_ensemble_aggregation_scheme='average', search_depth=1, mask_current_state_action_for_value_prediction=False, mask_future_state_for_qvalue_prediction=False, num_queries_best_of_n=1, use_parallel_inference=False, available_gpus='0', parallel_timeout=15, parallel_tasks_across_gpus=False, task_suite_name='libero_goal', num_trials_per_task=50, task_ids_to_run='2', initial_states_path='DEFAULT', env_img_res=256, local_log_dir='/home/azureuser/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal', run_id_note='fcv2_350_t2_s04', use_wandb=False, wandb_entity='YOUR_ENTITY', wandb_project='YOUR_PROJECT', seed=195, randomize_seed=False, data_collection=False, jpeg_compress=True, reward_stop_threshold=None, reward_stop_consecutive_steps=3, use_gpt_reward=False, gpt_reward_model='gpt-5.4-mini', gpt_reward_stop_threshold=4, gpt_reward_timeout_s=30.0, save_rollout_video=False, eval_hdf5_path='', eval_hdf5_demo_key='demo_0', data_gen_demo_ids='', eval_episode_ids='4,20,36', replay_actions=False, replay_action_path_dir='', replay_hdf5_path='', data_generation=False, max_generation_steps=200, simple_task_max_steps=100, complex_task_max_steps=200)
+Using serial inference (parallel inference disabled)
+Task suite: libero_goal
+Number of tasks: 10
+Running only task IDs: [2]
+Using default initial states
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 1...
+Query 1/1: Action query time = 3.084 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5165
+t=10: Selected seed 195 with value = 0.5165
+Query 1/1: Action query time = 3.900 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6463
+t=26: Selected seed 195 with value = 0.6463
+Query 1/1: Action query time = 5.280 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7221
+t=42: Selected seed 195 with value = 0.7221
+Query 1/1: Action query time = 4.934 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8396
+t=58: Selected seed 195 with value = 0.8396
+Query 1/1: Action query time = 4.627 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9722
+t=74: Selected seed 195 with value = 0.9722
+Query 1/1: Action query time = 4.326 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/fcv2_350_t2_s04/2026_08_02-08_28_02--with_future_img--episode=1--success=True--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: True
+# episodes completed so far: 1
+# successes: 1 (100.0%)
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 2...
+Query 1/1: Action query time = 4.160 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5503
+t=10: Selected seed 195 with value = 0.5503
+Query 1/1: Action query time = 3.710 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6503
+t=26: Selected seed 195 with value = 0.6503
+Query 1/1: Action query time = 5.183 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7801
+t=42: Selected seed 195 with value = 0.7801
+Query 1/1: Action query time = 4.116 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8778
+t=58: Selected seed 195 with value = 0.8778
+Query 1/1: Action query time = 4.768 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=74: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/fcv2_350_t2_s04/2026_08_02-08_28_02--with_future_img--episode=2--success=True--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: True
+# episodes completed so far: 2
+# successes: 2 (100.0%)
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 3...
+Query 1/1: Action query time = 4.776 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4415
+t=10: Selected seed 195 with value = 0.4415
+Query 1/1: Action query time = 4.420 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5198
+t=26: Selected seed 195 with value = 0.5198
+Query 1/1: Action query time = 4.015 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6012
+t=42: Selected seed 195 with value = 0.6012
+Query 1/1: Action query time = 5.592 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6959
+t=58: Selected seed 195 with value = 0.6959
+Query 1/1: Action query time = 4.555 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8083
+t=74: Selected seed 195 with value = 0.8083
+Query 1/1: Action query time = 5.072 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9591
+t=90: Selected seed 195 with value = 0.9591
+Query 1/1: Action query time = 4.946 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=106: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/fcv2_350_t2_s04/2026_08_02-08_28_02--with_future_img--episode=3--success=True--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: True
+# episodes completed so far: 3
+# successes: 3 (100.0%)
+Current task success rate: 1.0
+Current total success rate: 1.0
+Final results:
+Total episodes: 3
+Total successes: 3
+Overall success rate: 1.0000 (100.0%)
diff --git a/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-08_28_03--fcv2_350_t2_s10.txt b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-08_28_03--fcv2_350_t2_s10.txt
new file mode 100644
index 0000000000000000000000000000000000000000..30e31945cc8dac003f72d26989d2f531ebe73162
--- /dev/null
+++ b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-08_28_03--fcv2_350_t2_s10.txt
@@ -0,0 +1,109 @@
+Eval config: PolicyEvalConfig(suite='libero', model_family='cosmos', config='cosmos_predict2_2b_480p_libero_cl_stage_inference_only', ckpt_path='/home/azureuser/REGEN-main/new/cosmos_policy/cosmos_v2_finetune/cosmos_predict2_2b_480p_libero_goal_task6_forget_cl_v2_from350_constlr_2gpu/checkpoints/iter_000000350/model', planning_model_config_name='', planning_model_ckpt_path='', config_file='cosmos_policy/config/config.py', packnet_mask_path='', packnet_first_cl_libero_task=6, use_third_person_image=True, num_third_person_images=1, use_wrist_image=True, num_wrist_images=1, use_proprio=True, flip_images=True, use_variance_scale=False, use_jpeg_compression=True, ar_future_prediction=False, ar_value_prediction=False, ar_qvalue_prediction=False, num_denoising_steps_action=5, num_denoising_steps_future_state=1, num_denoising_steps_value=1, unnormalize_actions=True, normalize_proprio=True, dataset_stats_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/libero_goal_regen/dataset_statistics.json', t5_text_embeddings_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/t5_embeddings.pkl', trained_with_image_aug=True, chunk_size=16, num_open_loop_steps=16, deterministic=True, deterministic_reset=False, deterministic_reset_seed=None, use_ensemble_future_state_predictions=False, num_future_state_predictions_in_ensemble=3, future_state_ensemble_aggregation_scheme='average', use_ensemble_value_predictions=False, num_value_predictions_in_ensemble=5, value_ensemble_aggregation_scheme='average', search_depth=1, mask_current_state_action_for_value_prediction=False, mask_future_state_for_qvalue_prediction=False, num_queries_best_of_n=1, use_parallel_inference=False, available_gpus='0', parallel_timeout=15, parallel_tasks_across_gpus=False, task_suite_name='libero_goal', num_trials_per_task=50, task_ids_to_run='2', initial_states_path='DEFAULT', env_img_res=256, local_log_dir='/home/azureuser/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal', run_id_note='fcv2_350_t2_s10', use_wandb=False, wandb_entity='YOUR_ENTITY', wandb_project='YOUR_PROJECT', seed=195, randomize_seed=False, data_collection=False, jpeg_compress=True, reward_stop_threshold=None, reward_stop_consecutive_steps=3, use_gpt_reward=False, gpt_reward_model='gpt-5.4-mini', gpt_reward_stop_threshold=4, gpt_reward_timeout_s=30.0, save_rollout_video=False, eval_hdf5_path='', eval_hdf5_demo_key='demo_0', data_gen_demo_ids='', eval_episode_ids='10,26,42', replay_actions=False, replay_action_path_dir='', replay_hdf5_path='', data_generation=False, max_generation_steps=200, simple_task_max_steps=100, complex_task_max_steps=200)
+Using serial inference (parallel inference disabled)
+Task suite: libero_goal
+Number of tasks: 10
+Running only task IDs: [2]
+Using default initial states
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 1...
+Query 1/1: Action query time = 5.912 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4764
+t=10: Selected seed 195 with value = 0.4764
+Query 1/1: Action query time = 4.575 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5400
+t=26: Selected seed 195 with value = 0.5400
+Query 1/1: Action query time = 5.294 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6314
+t=42: Selected seed 195 with value = 0.6314
+Query 1/1: Action query time = 5.360 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7548
+t=58: Selected seed 195 with value = 0.7548
+Query 1/1: Action query time = 4.696 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8542
+t=74: Selected seed 195 with value = 0.8542
+Query 1/1: Action query time = 2.583 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9964
+t=90: Selected seed 195 with value = 0.9964
+Query 1/1: Action query time = 4.599 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=106: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/fcv2_350_t2_s10/2026_08_02-08_28_03--with_future_img--episode=1--success=True--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: True
+# episodes completed so far: 1
+# successes: 1 (100.0%)
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 2...
+Query 1/1: Action query time = 5.949 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3507
+t=10: Selected seed 195 with value = 0.3507
+Query 1/1: Action query time = 4.545 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4668
+t=26: Selected seed 195 with value = 0.4668
+Query 1/1: Action query time = 4.593 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6430
+t=42: Selected seed 195 with value = 0.6430
+Query 1/1: Action query time = 5.013 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7362
+t=58: Selected seed 195 with value = 0.7362
+Query 1/1: Action query time = 4.541 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8716
+t=74: Selected seed 195 with value = 0.8716
+Query 1/1: Action query time = 4.523 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/fcv2_350_t2_s10/2026_08_02-08_28_03--with_future_img--episode=2--success=True--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: True
+# episodes completed so far: 2
+# successes: 2 (100.0%)
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 3...
+Query 1/1: Action query time = 4.611 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4653
+t=10: Selected seed 195 with value = 0.4653
+Query 1/1: Action query time = 5.201 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5746
+t=26: Selected seed 195 with value = 0.5746
+Query 1/1: Action query time = 5.540 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6531
+t=42: Selected seed 195 with value = 0.6531
+Query 1/1: Action query time = 4.491 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7990
+t=58: Selected seed 195 with value = 0.7990
+Query 1/1: Action query time = 3.501 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8896
+t=74: Selected seed 195 with value = 0.8896
+Query 1/1: Action query time = 2.263 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/fcv2_350_t2_s10/2026_08_02-08_28_03--with_future_img--episode=3--success=True--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: True
+# episodes completed so far: 3
+# successes: 3 (100.0%)
+Current task success rate: 1.0
+Current total success rate: 1.0
+Final results:
+Total episodes: 3
+Total successes: 3
+Overall success rate: 1.0000 (100.0%)
diff --git a/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-08_28_03--fcv2_350_t2_s11.txt b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-08_28_03--fcv2_350_t2_s11.txt
new file mode 100644
index 0000000000000000000000000000000000000000..5b69e3533404eda63a4b253d99fcdd996147f360
--- /dev/null
+++ b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-08_28_03--fcv2_350_t2_s11.txt
@@ -0,0 +1,101 @@
+Eval config: PolicyEvalConfig(suite='libero', model_family='cosmos', config='cosmos_predict2_2b_480p_libero_cl_stage_inference_only', ckpt_path='/home/azureuser/REGEN-main/new/cosmos_policy/cosmos_v2_finetune/cosmos_predict2_2b_480p_libero_goal_task6_forget_cl_v2_from350_constlr_2gpu/checkpoints/iter_000000350/model', planning_model_config_name='', planning_model_ckpt_path='', config_file='cosmos_policy/config/config.py', packnet_mask_path='', packnet_first_cl_libero_task=6, use_third_person_image=True, num_third_person_images=1, use_wrist_image=True, num_wrist_images=1, use_proprio=True, flip_images=True, use_variance_scale=False, use_jpeg_compression=True, ar_future_prediction=False, ar_value_prediction=False, ar_qvalue_prediction=False, num_denoising_steps_action=5, num_denoising_steps_future_state=1, num_denoising_steps_value=1, unnormalize_actions=True, normalize_proprio=True, dataset_stats_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/libero_goal_regen/dataset_statistics.json', t5_text_embeddings_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/t5_embeddings.pkl', trained_with_image_aug=True, chunk_size=16, num_open_loop_steps=16, deterministic=True, deterministic_reset=False, deterministic_reset_seed=None, use_ensemble_future_state_predictions=False, num_future_state_predictions_in_ensemble=3, future_state_ensemble_aggregation_scheme='average', use_ensemble_value_predictions=False, num_value_predictions_in_ensemble=5, value_ensemble_aggregation_scheme='average', search_depth=1, mask_current_state_action_for_value_prediction=False, mask_future_state_for_qvalue_prediction=False, num_queries_best_of_n=1, use_parallel_inference=False, available_gpus='0', parallel_timeout=15, parallel_tasks_across_gpus=False, task_suite_name='libero_goal', num_trials_per_task=50, task_ids_to_run='2', initial_states_path='DEFAULT', env_img_res=256, local_log_dir='/home/azureuser/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal', run_id_note='fcv2_350_t2_s11', use_wandb=False, wandb_entity='YOUR_ENTITY', wandb_project='YOUR_PROJECT', seed=195, randomize_seed=False, data_collection=False, jpeg_compress=True, reward_stop_threshold=None, reward_stop_consecutive_steps=3, use_gpt_reward=False, gpt_reward_model='gpt-5.4-mini', gpt_reward_stop_threshold=4, gpt_reward_timeout_s=30.0, save_rollout_video=False, eval_hdf5_path='', eval_hdf5_demo_key='demo_0', data_gen_demo_ids='', eval_episode_ids='11,27,43', replay_actions=False, replay_action_path_dir='', replay_hdf5_path='', data_generation=False, max_generation_steps=200, simple_task_max_steps=100, complex_task_max_steps=200)
+Using serial inference (parallel inference disabled)
+Task suite: libero_goal
+Number of tasks: 10
+Running only task IDs: [2]
+Using default initial states
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 1...
+Query 1/1: Action query time = 5.135 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5150
+t=10: Selected seed 195 with value = 0.5150
+Query 1/1: Action query time = 4.884 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6323
+t=26: Selected seed 195 with value = 0.6323
+Query 1/1: Action query time = 5.084 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7473
+t=42: Selected seed 195 with value = 0.7473
+Query 1/1: Action query time = 4.995 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9087
+t=58: Selected seed 195 with value = 0.9087
+Query 1/1: Action query time = 4.809 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9966
+t=74: Selected seed 195 with value = 0.9966
+Saved rollout MP4 at path ./rollouts/fcv2_350_t2_s11/2026_08_02-08_28_03--with_future_img--episode=1--success=True--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: True
+# episodes completed so far: 1
+# successes: 1 (100.0%)
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 2...
+Query 1/1: Action query time = 4.212 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4844
+t=10: Selected seed 195 with value = 0.4844
+Query 1/1: Action query time = 1.920 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5697
+t=26: Selected seed 195 with value = 0.5697
+Query 1/1: Action query time = 4.220 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6835
+t=42: Selected seed 195 with value = 0.6835
+Query 1/1: Action query time = 4.425 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8179
+t=58: Selected seed 195 with value = 0.8179
+Query 1/1: Action query time = 5.354 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9625
+t=74: Selected seed 195 with value = 0.9625
+Query 1/1: Action query time = 5.016 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/fcv2_350_t2_s11/2026_08_02-08_28_03--with_future_img--episode=2--success=True--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: True
+# episodes completed so far: 2
+# successes: 2 (100.0%)
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 3...
+Query 1/1: Action query time = 4.390 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3810
+t=10: Selected seed 195 with value = 0.3810
+Query 1/1: Action query time = 4.810 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4773
+t=26: Selected seed 195 with value = 0.4773
+Query 1/1: Action query time = 5.141 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6387
+t=42: Selected seed 195 with value = 0.6387
+Query 1/1: Action query time = 5.110 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7689
+t=58: Selected seed 195 with value = 0.7689
+Query 1/1: Action query time = 5.352 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9098
+t=74: Selected seed 195 with value = 0.9098
+Query 1/1: Action query time = 4.799 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/fcv2_350_t2_s11/2026_08_02-08_28_03--with_future_img--episode=3--success=True--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: True
+# episodes completed so far: 3
+# successes: 3 (100.0%)
+Current task success rate: 1.0
+Current total success rate: 1.0
+Final results:
+Total episodes: 3
+Total successes: 3
+Overall success rate: 1.0000 (100.0%)
diff --git a/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-08_31_02--fcv2_350_t3_s05.txt b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-08_31_02--fcv2_350_t3_s05.txt
new file mode 100644
index 0000000000000000000000000000000000000000..00f3260eb8ededa0650b1d86a8840a00a91ce23c
--- /dev/null
+++ b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-08_31_02--fcv2_350_t3_s05.txt
@@ -0,0 +1,213 @@
+Eval config: PolicyEvalConfig(suite='libero', model_family='cosmos', config='cosmos_predict2_2b_480p_libero_cl_stage_inference_only', ckpt_path='/home/azureuser/REGEN-main/new/cosmos_policy/cosmos_v2_finetune/cosmos_predict2_2b_480p_libero_goal_task6_forget_cl_v2_from350_constlr_2gpu/checkpoints/iter_000000350/model', planning_model_config_name='', planning_model_ckpt_path='', config_file='cosmos_policy/config/config.py', packnet_mask_path='', packnet_first_cl_libero_task=6, use_third_person_image=True, num_third_person_images=1, use_wrist_image=True, num_wrist_images=1, use_proprio=True, flip_images=True, use_variance_scale=False, use_jpeg_compression=True, ar_future_prediction=False, ar_value_prediction=False, ar_qvalue_prediction=False, num_denoising_steps_action=5, num_denoising_steps_future_state=1, num_denoising_steps_value=1, unnormalize_actions=True, normalize_proprio=True, dataset_stats_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/libero_goal_regen/dataset_statistics.json', t5_text_embeddings_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/t5_embeddings.pkl', trained_with_image_aug=True, chunk_size=16, num_open_loop_steps=16, deterministic=True, deterministic_reset=False, deterministic_reset_seed=None, use_ensemble_future_state_predictions=False, num_future_state_predictions_in_ensemble=3, future_state_ensemble_aggregation_scheme='average', use_ensemble_value_predictions=False, num_value_predictions_in_ensemble=5, value_ensemble_aggregation_scheme='average', search_depth=1, mask_current_state_action_for_value_prediction=False, mask_future_state_for_qvalue_prediction=False, num_queries_best_of_n=1, use_parallel_inference=False, available_gpus='0', parallel_timeout=15, parallel_tasks_across_gpus=False, task_suite_name='libero_goal', num_trials_per_task=50, task_ids_to_run='3', initial_states_path='DEFAULT', env_img_res=256, local_log_dir='/home/azureuser/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal', run_id_note='fcv2_350_t3_s05', use_wandb=False, wandb_entity='YOUR_ENTITY', wandb_project='YOUR_PROJECT', seed=195, randomize_seed=False, data_collection=False, jpeg_compress=True, reward_stop_threshold=None, reward_stop_consecutive_steps=3, use_gpt_reward=False, gpt_reward_model='gpt-5.4-mini', gpt_reward_stop_threshold=4, gpt_reward_timeout_s=30.0, save_rollout_video=False, eval_hdf5_path='', eval_hdf5_demo_key='demo_0', data_gen_demo_ids='', eval_episode_ids='5,21,37', replay_actions=False, replay_action_path_dir='', replay_hdf5_path='', data_generation=False, max_generation_steps=200, simple_task_max_steps=100, complex_task_max_steps=200)
+Using serial inference (parallel inference disabled)
+Task suite: libero_goal
+Number of tasks: 10
+Running only task IDs: [3]
+Using default initial states
+
+Task: open the top drawer and put the bowl inside
+Starting episode 1...
+Query 1/1: Action query time = 5.754 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3142
+t=10: Selected seed 195 with value = 0.3142
+Query 1/1: Action query time = 4.835 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4734
+t=26: Selected seed 195 with value = 0.4734
+Query 1/1: Action query time = 5.248 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5469
+t=42: Selected seed 195 with value = 0.5469
+Query 1/1: Action query time = 5.411 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5381
+t=58: Selected seed 195 with value = 0.5381
+Query 1/1: Action query time = 5.377 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5872
+t=74: Selected seed 195 with value = 0.5872
+Query 1/1: Action query time = 4.959 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6857
+t=90: Selected seed 195 with value = 0.6857
+Query 1/1: Action query time = 4.742 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8230
+t=106: Selected seed 195 with value = 0.8230
+Query 1/1: Action query time = 4.738 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9787
+t=122: Selected seed 195 with value = 0.9787
+Query 1/1: Action query time = 5.089 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9283
+t=138: Selected seed 195 with value = 0.9283
+Query 1/1: Action query time = 5.054 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6565
+t=154: Selected seed 195 with value = 0.6565
+Query 1/1: Action query time = 4.473 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6788
+t=170: Selected seed 195 with value = 0.6788
+Query 1/1: Action query time = 2.148 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8153
+t=186: Selected seed 195 with value = 0.8153
+Query 1/1: Action query time = 3.999 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9461
+t=202: Selected seed 195 with value = 0.9461
+Query 1/1: Action query time = 4.836 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=218: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/fcv2_350_t3_s05/2026_08_02-08_31_02--with_future_img--episode=1--success=True--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: True
+# episodes completed so far: 1
+# successes: 1 (100.0%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 2...
+Query 1/1: Action query time = 5.160 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3551
+t=10: Selected seed 195 with value = 0.3551
+Query 1/1: Action query time = 5.750 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4597
+t=26: Selected seed 195 with value = 0.4597
+Query 1/1: Action query time = 4.452 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5472
+t=42: Selected seed 195 with value = 0.5472
+Query 1/1: Action query time = 5.056 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6134
+t=58: Selected seed 195 with value = 0.6134
+Query 1/1: Action query time = 4.285 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6717
+t=74: Selected seed 195 with value = 0.6717
+Query 1/1: Action query time = 3.813 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8693
+t=90: Selected seed 195 with value = 0.8693
+Query 1/1: Action query time = 5.116 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9913
+t=106: Selected seed 195 with value = 0.9913
+Query 1/1: Action query time = 4.916 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6515
+t=122: Selected seed 195 with value = 0.6515
+Query 1/1: Action query time = 4.894 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7458
+t=138: Selected seed 195 with value = 0.7458
+Query 1/1: Action query time = 4.455 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7559
+t=154: Selected seed 195 with value = 0.7559
+Query 1/1: Action query time = 4.559 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9730
+t=170: Selected seed 195 with value = 0.9730
+Query 1/1: Action query time = 4.788 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9505
+t=186: Selected seed 195 with value = 0.9505
+Query 1/1: Action query time = 5.246 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9552
+t=202: Selected seed 195 with value = 0.9552
+Query 1/1: Action query time = 4.636 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9387
+t=218: Selected seed 195 with value = 0.9387
+Query 1/1: Action query time = 5.441 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8434
+t=234: Selected seed 195 with value = 0.8434
+Query 1/1: Action query time = 5.133 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8528
+t=250: Selected seed 195 with value = 0.8528
+Query 1/1: Action query time = 4.650 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9016
+t=266: Selected seed 195 with value = 0.9016
+Query 1/1: Action query time = 3.766 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9033
+t=282: Selected seed 195 with value = 0.9033
+Query 1/1: Action query time = 3.775 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9251
+t=298: Selected seed 195 with value = 0.9251
+Saved rollout MP4 at path ./rollouts/fcv2_350_t3_s05/2026_08_02-08_31_02--with_future_img--episode=2--success=False--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: False
+# episodes completed so far: 2
+# successes: 1 (50.0%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 3...
+Query 1/1: Action query time = 4.777 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3168
+t=10: Selected seed 195 with value = 0.3168
+Query 1/1: Action query time = 4.095 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4805
+t=26: Selected seed 195 with value = 0.4805
+Query 1/1: Action query time = 2.936 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5464
+t=42: Selected seed 195 with value = 0.5464
+Query 1/1: Action query time = 3.952 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6146
+t=58: Selected seed 195 with value = 0.6146
+Query 1/1: Action query time = 3.634 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7013
+t=74: Selected seed 195 with value = 0.7013
+Query 1/1: Action query time = 4.484 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8654
+t=90: Selected seed 195 with value = 0.8654
+Query 1/1: Action query time = 4.148 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9956
+t=106: Selected seed 195 with value = 0.9956
+Query 1/1: Action query time = 3.883 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6260
+t=122: Selected seed 195 with value = 0.6260
+Query 1/1: Action query time = 3.551 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6930
+t=138: Selected seed 195 with value = 0.6930
+Query 1/1: Action query time = 3.381 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8141
+t=154: Selected seed 195 with value = 0.8141
+Query 1/1: Action query time = 3.066 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9354
+t=170: Selected seed 195 with value = 0.9354
+Query 1/1: Action query time = 2.299 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=186: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/fcv2_350_t3_s05/2026_08_02-08_31_02--with_future_img--episode=3--success=True--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: True
+# episodes completed so far: 3
+# successes: 2 (66.7%)
+Current task success rate: 0.6666666666666666
+Current total success rate: 0.6666666666666666
+Final results:
+Total episodes: 3
+Total successes: 2
+Overall success rate: 0.6667 (66.7%)
diff --git a/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-08_31_03--fcv2_350_t3_s10.txt b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-08_31_03--fcv2_350_t3_s10.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0019433ab611c0c435b10a43c3a0cc60f8be4506
--- /dev/null
+++ b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-08_31_03--fcv2_350_t3_s10.txt
@@ -0,0 +1,185 @@
+Eval config: PolicyEvalConfig(suite='libero', model_family='cosmos', config='cosmos_predict2_2b_480p_libero_cl_stage_inference_only', ckpt_path='/home/azureuser/REGEN-main/new/cosmos_policy/cosmos_v2_finetune/cosmos_predict2_2b_480p_libero_goal_task6_forget_cl_v2_from350_constlr_2gpu/checkpoints/iter_000000350/model', planning_model_config_name='', planning_model_ckpt_path='', config_file='cosmos_policy/config/config.py', packnet_mask_path='', packnet_first_cl_libero_task=6, use_third_person_image=True, num_third_person_images=1, use_wrist_image=True, num_wrist_images=1, use_proprio=True, flip_images=True, use_variance_scale=False, use_jpeg_compression=True, ar_future_prediction=False, ar_value_prediction=False, ar_qvalue_prediction=False, num_denoising_steps_action=5, num_denoising_steps_future_state=1, num_denoising_steps_value=1, unnormalize_actions=True, normalize_proprio=True, dataset_stats_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/libero_goal_regen/dataset_statistics.json', t5_text_embeddings_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/t5_embeddings.pkl', trained_with_image_aug=True, chunk_size=16, num_open_loop_steps=16, deterministic=True, deterministic_reset=False, deterministic_reset_seed=None, use_ensemble_future_state_predictions=False, num_future_state_predictions_in_ensemble=3, future_state_ensemble_aggregation_scheme='average', use_ensemble_value_predictions=False, num_value_predictions_in_ensemble=5, value_ensemble_aggregation_scheme='average', search_depth=1, mask_current_state_action_for_value_prediction=False, mask_future_state_for_qvalue_prediction=False, num_queries_best_of_n=1, use_parallel_inference=False, available_gpus='0', parallel_timeout=15, parallel_tasks_across_gpus=False, task_suite_name='libero_goal', num_trials_per_task=50, task_ids_to_run='3', initial_states_path='DEFAULT', env_img_res=256, local_log_dir='/home/azureuser/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal', run_id_note='fcv2_350_t3_s10', use_wandb=False, wandb_entity='YOUR_ENTITY', wandb_project='YOUR_PROJECT', seed=195, randomize_seed=False, data_collection=False, jpeg_compress=True, reward_stop_threshold=None, reward_stop_consecutive_steps=3, use_gpt_reward=False, gpt_reward_model='gpt-5.4-mini', gpt_reward_stop_threshold=4, gpt_reward_timeout_s=30.0, save_rollout_video=False, eval_hdf5_path='', eval_hdf5_demo_key='demo_0', data_gen_demo_ids='', eval_episode_ids='10,26,42', replay_actions=False, replay_action_path_dir='', replay_hdf5_path='', data_generation=False, max_generation_steps=200, simple_task_max_steps=100, complex_task_max_steps=200)
+Using serial inference (parallel inference disabled)
+Task suite: libero_goal
+Number of tasks: 10
+Running only task IDs: [3]
+Using default initial states
+
+Task: open the top drawer and put the bowl inside
+Starting episode 1...
+Query 1/1: Action query time = 5.405 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4333
+t=10: Selected seed 195 with value = 0.4333
+Query 1/1: Action query time = 4.190 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4744
+t=26: Selected seed 195 with value = 0.4744
+Query 1/1: Action query time = 4.800 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5522
+t=42: Selected seed 195 with value = 0.5522
+Query 1/1: Action query time = 5.097 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6873
+t=58: Selected seed 195 with value = 0.6873
+Query 1/1: Action query time = 5.367 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7988
+t=74: Selected seed 195 with value = 0.7988
+Query 1/1: Action query time = 5.025 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9074
+t=90: Selected seed 195 with value = 0.9074
+Query 1/1: Action query time = 4.888 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9987
+t=106: Selected seed 195 with value = 0.9987
+Query 1/1: Action query time = 5.043 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6493
+t=122: Selected seed 195 with value = 0.6493
+Query 1/1: Action query time = 5.271 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7727
+t=138: Selected seed 195 with value = 0.7727
+Query 1/1: Action query time = 5.277 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8709
+t=154: Selected seed 195 with value = 0.8709
+Query 1/1: Action query time = 4.273 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9818
+t=170: Selected seed 195 with value = 0.9818
+Query 1/1: Action query time = 4.443 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9933
+t=186: Selected seed 195 with value = 0.9933
+Saved rollout MP4 at path ./rollouts/fcv2_350_t3_s10/2026_08_02-08_31_03--with_future_img--episode=1--success=True--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: True
+# episodes completed so far: 1
+# successes: 1 (100.0%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 2...
+Query 1/1: Action query time = 4.423 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3579
+t=10: Selected seed 195 with value = 0.3579
+Query 1/1: Action query time = 4.872 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4440
+t=26: Selected seed 195 with value = 0.4440
+Query 1/1: Action query time = 5.088 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5061
+t=42: Selected seed 195 with value = 0.5061
+Query 1/1: Action query time = 5.174 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6319
+t=58: Selected seed 195 with value = 0.6319
+Query 1/1: Action query time = 5.134 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7016
+t=74: Selected seed 195 with value = 0.7016
+Query 1/1: Action query time = 4.725 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8479
+t=90: Selected seed 195 with value = 0.8479
+Query 1/1: Action query time = 3.259 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9835
+t=106: Selected seed 195 with value = 0.9835
+Query 1/1: Action query time = 3.454 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8537
+t=122: Selected seed 195 with value = 0.8537
+Query 1/1: Action query time = 4.994 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6805
+t=138: Selected seed 195 with value = 0.6805
+Query 1/1: Action query time = 5.067 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7770
+t=154: Selected seed 195 with value = 0.7770
+Query 1/1: Action query time = 4.310 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9673
+t=170: Selected seed 195 with value = 0.9673
+Query 1/1: Action query time = 5.338 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=186: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/fcv2_350_t3_s10/2026_08_02-08_31_03--with_future_img--episode=2--success=True--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: True
+# episodes completed so far: 2
+# successes: 2 (100.0%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 3...
+Query 1/1: Action query time = 5.012 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3729
+t=10: Selected seed 195 with value = 0.3729
+Query 1/1: Action query time = 4.614 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4699
+t=26: Selected seed 195 with value = 0.4699
+Query 1/1: Action query time = 4.500 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5331
+t=42: Selected seed 195 with value = 0.5331
+Query 1/1: Action query time = 4.628 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6628
+t=58: Selected seed 195 with value = 0.6628
+Query 1/1: Action query time = 5.000 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7801
+t=74: Selected seed 195 with value = 0.7801
+Query 1/1: Action query time = 4.798 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9094
+t=90: Selected seed 195 with value = 0.9094
+Query 1/1: Action query time = 4.175 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9999
+t=106: Selected seed 195 with value = 0.9999
+Query 1/1: Action query time = 4.668 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7466
+t=122: Selected seed 195 with value = 0.7466
+Query 1/1: Action query time = 4.942 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5703
+t=138: Selected seed 195 with value = 0.5703
+Query 1/1: Action query time = 4.833 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7134
+t=154: Selected seed 195 with value = 0.7134
+Query 1/1: Action query time = 4.773 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7925
+t=170: Selected seed 195 with value = 0.7925
+Query 1/1: Action query time = 4.274 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9304
+t=186: Selected seed 195 with value = 0.9304
+Query 1/1: Action query time = 3.910 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9972
+t=202: Selected seed 195 with value = 0.9972
+Query 1/1: Action query time = 3.806 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=218: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/fcv2_350_t3_s10/2026_08_02-08_31_03--with_future_img--episode=3--success=True--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: True
+# episodes completed so far: 3
+# successes: 3 (100.0%)
+Current task success rate: 1.0
+Current total success rate: 1.0
+Final results:
+Total episodes: 3
+Total successes: 3
+Overall success rate: 1.0000 (100.0%)
diff --git a/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-08_31_03--fcv2_350_t3_s12.txt b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-08_31_03--fcv2_350_t3_s12.txt
new file mode 100644
index 0000000000000000000000000000000000000000..2d5068846d714492b50552fa028e000c23324fd7
--- /dev/null
+++ b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-08_31_03--fcv2_350_t3_s12.txt
@@ -0,0 +1,237 @@
+Eval config: PolicyEvalConfig(suite='libero', model_family='cosmos', config='cosmos_predict2_2b_480p_libero_cl_stage_inference_only', ckpt_path='/home/azureuser/REGEN-main/new/cosmos_policy/cosmos_v2_finetune/cosmos_predict2_2b_480p_libero_goal_task6_forget_cl_v2_from350_constlr_2gpu/checkpoints/iter_000000350/model', planning_model_config_name='', planning_model_ckpt_path='', config_file='cosmos_policy/config/config.py', packnet_mask_path='', packnet_first_cl_libero_task=6, use_third_person_image=True, num_third_person_images=1, use_wrist_image=True, num_wrist_images=1, use_proprio=True, flip_images=True, use_variance_scale=False, use_jpeg_compression=True, ar_future_prediction=False, ar_value_prediction=False, ar_qvalue_prediction=False, num_denoising_steps_action=5, num_denoising_steps_future_state=1, num_denoising_steps_value=1, unnormalize_actions=True, normalize_proprio=True, dataset_stats_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/libero_goal_regen/dataset_statistics.json', t5_text_embeddings_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/t5_embeddings.pkl', trained_with_image_aug=True, chunk_size=16, num_open_loop_steps=16, deterministic=True, deterministic_reset=False, deterministic_reset_seed=None, use_ensemble_future_state_predictions=False, num_future_state_predictions_in_ensemble=3, future_state_ensemble_aggregation_scheme='average', use_ensemble_value_predictions=False, num_value_predictions_in_ensemble=5, value_ensemble_aggregation_scheme='average', search_depth=1, mask_current_state_action_for_value_prediction=False, mask_future_state_for_qvalue_prediction=False, num_queries_best_of_n=1, use_parallel_inference=False, available_gpus='0', parallel_timeout=15, parallel_tasks_across_gpus=False, task_suite_name='libero_goal', num_trials_per_task=50, task_ids_to_run='3', initial_states_path='DEFAULT', env_img_res=256, local_log_dir='/home/azureuser/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal', run_id_note='fcv2_350_t3_s12', use_wandb=False, wandb_entity='YOUR_ENTITY', wandb_project='YOUR_PROJECT', seed=195, randomize_seed=False, data_collection=False, jpeg_compress=True, reward_stop_threshold=None, reward_stop_consecutive_steps=3, use_gpt_reward=False, gpt_reward_model='gpt-5.4-mini', gpt_reward_stop_threshold=4, gpt_reward_timeout_s=30.0, save_rollout_video=False, eval_hdf5_path='', eval_hdf5_demo_key='demo_0', data_gen_demo_ids='', eval_episode_ids='12,28,44', replay_actions=False, replay_action_path_dir='', replay_hdf5_path='', data_generation=False, max_generation_steps=200, simple_task_max_steps=100, complex_task_max_steps=200)
+Using serial inference (parallel inference disabled)
+Task suite: libero_goal
+Number of tasks: 10
+Running only task IDs: [3]
+Using default initial states
+
+Task: open the top drawer and put the bowl inside
+Starting episode 1...
+Query 1/1: Action query time = 4.392 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3689
+t=10: Selected seed 195 with value = 0.3689
+Query 1/1: Action query time = 4.863 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4425
+t=26: Selected seed 195 with value = 0.4425
+Query 1/1: Action query time = 5.615 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5057
+t=42: Selected seed 195 with value = 0.5057
+Query 1/1: Action query time = 4.898 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5791
+t=58: Selected seed 195 with value = 0.5791
+Query 1/1: Action query time = 5.011 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6703
+t=74: Selected seed 195 with value = 0.6703
+Query 1/1: Action query time = 5.070 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8625
+t=90: Selected seed 195 with value = 0.8625
+Query 1/1: Action query time = 5.439 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9949
+t=106: Selected seed 195 with value = 0.9949
+Query 1/1: Action query time = 5.435 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5539
+t=122: Selected seed 195 with value = 0.5539
+Query 1/1: Action query time = 5.492 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7646
+t=138: Selected seed 195 with value = 0.7646
+Query 1/1: Action query time = 5.138 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7284
+t=154: Selected seed 195 with value = 0.7284
+Query 1/1: Action query time = 4.346 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8436
+t=170: Selected seed 195 with value = 0.8436
+Query 1/1: Action query time = 4.356 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9810
+t=186: Selected seed 195 with value = 0.9810
+Query 1/1: Action query time = 3.529 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=202: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/fcv2_350_t3_s12/2026_08_02-08_31_03--with_future_img--episode=1--success=True--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: True
+# episodes completed so far: 1
+# successes: 1 (100.0%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 2...
+Query 1/1: Action query time = 4.986 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3095
+t=10: Selected seed 195 with value = 0.3095
+Query 1/1: Action query time = 5.159 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4329
+t=26: Selected seed 195 with value = 0.4329
+Query 1/1: Action query time = 5.158 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5719
+t=42: Selected seed 195 with value = 0.5719
+Query 1/1: Action query time = 4.658 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6653
+t=58: Selected seed 195 with value = 0.6653
+Query 1/1: Action query time = 5.122 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7582
+t=74: Selected seed 195 with value = 0.7582
+Query 1/1: Action query time = 3.808 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9098
+t=90: Selected seed 195 with value = 0.9098
+Query 1/1: Action query time = 3.602 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=106: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.289 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7705
+t=122: Selected seed 195 with value = 0.7705
+Query 1/1: Action query time = 4.910 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7387
+t=138: Selected seed 195 with value = 0.7387
+Query 1/1: Action query time = 4.390 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9012
+t=154: Selected seed 195 with value = 0.9012
+Query 1/1: Action query time = 5.101 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9856
+t=170: Selected seed 195 with value = 0.9856
+Query 1/1: Action query time = 3.832 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9425
+t=186: Selected seed 195 with value = 0.9425
+Query 1/1: Action query time = 3.692 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9054
+t=202: Selected seed 195 with value = 0.9054
+Query 1/1: Action query time = 4.658 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8772
+t=218: Selected seed 195 with value = 0.8772
+Query 1/1: Action query time = 4.556 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9289
+t=234: Selected seed 195 with value = 0.9289
+Query 1/1: Action query time = 5.671 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9557
+t=250: Selected seed 195 with value = 0.9557
+Query 1/1: Action query time = 5.730 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9681
+t=266: Selected seed 195 with value = 0.9681
+Query 1/1: Action query time = 5.496 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9717
+t=282: Selected seed 195 with value = 0.9717
+Query 1/1: Action query time = 4.283 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9719
+t=298: Selected seed 195 with value = 0.9719
+Saved rollout MP4 at path ./rollouts/fcv2_350_t3_s12/2026_08_02-08_31_03--with_future_img--episode=2--success=False--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: False
+# episodes completed so far: 2
+# successes: 1 (50.0%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 3...
+Query 1/1: Action query time = 4.617 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3647
+t=10: Selected seed 195 with value = 0.3647
+Query 1/1: Action query time = 5.013 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4507
+t=26: Selected seed 195 with value = 0.4507
+Query 1/1: Action query time = 5.051 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5187
+t=42: Selected seed 195 with value = 0.5187
+Query 1/1: Action query time = 4.058 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6101
+t=58: Selected seed 195 with value = 0.6101
+Query 1/1: Action query time = 3.650 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6897
+t=74: Selected seed 195 with value = 0.6897
+Query 1/1: Action query time = 3.676 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9116
+t=90: Selected seed 195 with value = 0.9116
+Query 1/1: Action query time = 3.214 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9992
+t=106: Selected seed 195 with value = 0.9992
+Query 1/1: Action query time = 4.191 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6779
+t=122: Selected seed 195 with value = 0.6779
+Query 1/1: Action query time = 2.409 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7657
+t=138: Selected seed 195 with value = 0.7657
+Query 1/1: Action query time = 2.222 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8657
+t=154: Selected seed 195 with value = 0.8657
+Query 1/1: Action query time = 2.394 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9795
+t=170: Selected seed 195 with value = 0.9795
+Query 1/1: Action query time = 2.540 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9679
+t=186: Selected seed 195 with value = 0.9679
+Query 1/1: Action query time = 2.357 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8261
+t=202: Selected seed 195 with value = 0.8261
+Query 1/1: Action query time = 2.349 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7675
+t=218: Selected seed 195 with value = 0.7675
+Query 1/1: Action query time = 1.891 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6841
+t=234: Selected seed 195 with value = 0.6841
+Query 1/1: Action query time = 1.892 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8768
+t=250: Selected seed 195 with value = 0.8768
+Query 1/1: Action query time = 1.926 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6670
+t=266: Selected seed 195 with value = 0.6670
+Query 1/1: Action query time = 1.974 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6813
+t=282: Selected seed 195 with value = 0.6813
+Query 1/1: Action query time = 1.919 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6630
+t=298: Selected seed 195 with value = 0.6630
+Saved rollout MP4 at path ./rollouts/fcv2_350_t3_s12/2026_08_02-08_31_03--with_future_img--episode=3--success=False--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: False
+# episodes completed so far: 3
+# successes: 1 (33.3%)
+Current task success rate: 0.3333333333333333
+Current total success rate: 0.3333333333333333
+Final results:
+Total episodes: 3
+Total successes: 1
+Overall success rate: 0.3333 (33.3%)
diff --git a/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-08_31_03--fcv2_350_t3_s14.txt b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-08_31_03--fcv2_350_t3_s14.txt
new file mode 100644
index 0000000000000000000000000000000000000000..8306d553ba93cedb797a435c47e5c29bced0a364
--- /dev/null
+++ b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-08_31_03--fcv2_350_t3_s14.txt
@@ -0,0 +1,201 @@
+Eval config: PolicyEvalConfig(suite='libero', model_family='cosmos', config='cosmos_predict2_2b_480p_libero_cl_stage_inference_only', ckpt_path='/home/azureuser/REGEN-main/new/cosmos_policy/cosmos_v2_finetune/cosmos_predict2_2b_480p_libero_goal_task6_forget_cl_v2_from350_constlr_2gpu/checkpoints/iter_000000350/model', planning_model_config_name='', planning_model_ckpt_path='', config_file='cosmos_policy/config/config.py', packnet_mask_path='', packnet_first_cl_libero_task=6, use_third_person_image=True, num_third_person_images=1, use_wrist_image=True, num_wrist_images=1, use_proprio=True, flip_images=True, use_variance_scale=False, use_jpeg_compression=True, ar_future_prediction=False, ar_value_prediction=False, ar_qvalue_prediction=False, num_denoising_steps_action=5, num_denoising_steps_future_state=1, num_denoising_steps_value=1, unnormalize_actions=True, normalize_proprio=True, dataset_stats_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/libero_goal_regen/dataset_statistics.json', t5_text_embeddings_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/t5_embeddings.pkl', trained_with_image_aug=True, chunk_size=16, num_open_loop_steps=16, deterministic=True, deterministic_reset=False, deterministic_reset_seed=None, use_ensemble_future_state_predictions=False, num_future_state_predictions_in_ensemble=3, future_state_ensemble_aggregation_scheme='average', use_ensemble_value_predictions=False, num_value_predictions_in_ensemble=5, value_ensemble_aggregation_scheme='average', search_depth=1, mask_current_state_action_for_value_prediction=False, mask_future_state_for_qvalue_prediction=False, num_queries_best_of_n=1, use_parallel_inference=False, available_gpus='0', parallel_timeout=15, parallel_tasks_across_gpus=False, task_suite_name='libero_goal', num_trials_per_task=50, task_ids_to_run='3', initial_states_path='DEFAULT', env_img_res=256, local_log_dir='/home/azureuser/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal', run_id_note='fcv2_350_t3_s14', use_wandb=False, wandb_entity='YOUR_ENTITY', wandb_project='YOUR_PROJECT', seed=195, randomize_seed=False, data_collection=False, jpeg_compress=True, reward_stop_threshold=None, reward_stop_consecutive_steps=3, use_gpt_reward=False, gpt_reward_model='gpt-5.4-mini', gpt_reward_stop_threshold=4, gpt_reward_timeout_s=30.0, save_rollout_video=False, eval_hdf5_path='', eval_hdf5_demo_key='demo_0', data_gen_demo_ids='', eval_episode_ids='14,30,46', replay_actions=False, replay_action_path_dir='', replay_hdf5_path='', data_generation=False, max_generation_steps=200, simple_task_max_steps=100, complex_task_max_steps=200)
+Using serial inference (parallel inference disabled)
+Task suite: libero_goal
+Number of tasks: 10
+Running only task IDs: [3]
+Using default initial states
+
+Task: open the top drawer and put the bowl inside
+Starting episode 1...
+Query 1/1: Action query time = 3.310 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4019
+t=10: Selected seed 195 with value = 0.4019
+Query 1/1: Action query time = 5.203 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4752
+t=26: Selected seed 195 with value = 0.4752
+Query 1/1: Action query time = 5.373 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5625
+t=42: Selected seed 195 with value = 0.5625
+Query 1/1: Action query time = 4.754 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6375
+t=58: Selected seed 195 with value = 0.6375
+Query 1/1: Action query time = 4.758 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7051
+t=74: Selected seed 195 with value = 0.7051
+Query 1/1: Action query time = 4.899 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8633
+t=90: Selected seed 195 with value = 0.8633
+Query 1/1: Action query time = 4.842 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9954
+t=106: Selected seed 195 with value = 0.9954
+Query 1/1: Action query time = 4.757 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6141
+t=122: Selected seed 195 with value = 0.6141
+Query 1/1: Action query time = 4.595 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7687
+t=138: Selected seed 195 with value = 0.7687
+Query 1/1: Action query time = 4.605 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8249
+t=154: Selected seed 195 with value = 0.8249
+Query 1/1: Action query time = 4.908 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9928
+t=170: Selected seed 195 with value = 0.9928
+Saved rollout MP4 at path ./rollouts/fcv2_350_t3_s14/2026_08_02-08_31_03--with_future_img--episode=1--success=True--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: True
+# episodes completed so far: 1
+# successes: 1 (100.0%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 2...
+Query 1/1: Action query time = 4.326 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3885
+t=10: Selected seed 195 with value = 0.3885
+Query 1/1: Action query time = 4.027 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4551
+t=26: Selected seed 195 with value = 0.4551
+Query 1/1: Action query time = 4.743 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5583
+t=42: Selected seed 195 with value = 0.5583
+Query 1/1: Action query time = 4.768 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6291
+t=58: Selected seed 195 with value = 0.6291
+Query 1/1: Action query time = 5.060 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7207
+t=74: Selected seed 195 with value = 0.7207
+Query 1/1: Action query time = 5.307 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8572
+t=90: Selected seed 195 with value = 0.8572
+Query 1/1: Action query time = 5.372 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9905
+t=106: Selected seed 195 with value = 0.9905
+Query 1/1: Action query time = 5.098 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6263
+t=122: Selected seed 195 with value = 0.6263
+Query 1/1: Action query time = 2.870 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7636
+t=138: Selected seed 195 with value = 0.7636
+Query 1/1: Action query time = 3.204 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7931
+t=154: Selected seed 195 with value = 0.7931
+Query 1/1: Action query time = 4.949 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9394
+t=170: Selected seed 195 with value = 0.9394
+Query 1/1: Action query time = 4.988 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=186: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/fcv2_350_t3_s14/2026_08_02-08_31_03--with_future_img--episode=2--success=True--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: True
+# episodes completed so far: 2
+# successes: 2 (100.0%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 3...
+Query 1/1: Action query time = 5.247 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3631
+t=10: Selected seed 195 with value = 0.3631
+Query 1/1: Action query time = 3.540 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4836
+t=26: Selected seed 195 with value = 0.4836
+Query 1/1: Action query time = 5.453 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5620
+t=42: Selected seed 195 with value = 0.5620
+Query 1/1: Action query time = 4.737 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6148
+t=58: Selected seed 195 with value = 0.6148
+Query 1/1: Action query time = 3.914 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7119
+t=74: Selected seed 195 with value = 0.7119
+Query 1/1: Action query time = 4.682 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8488
+t=90: Selected seed 195 with value = 0.8488
+Query 1/1: Action query time = 5.265 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9888
+t=106: Selected seed 195 with value = 0.9888
+Query 1/1: Action query time = 5.219 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6373
+t=122: Selected seed 195 with value = 0.6373
+Query 1/1: Action query time = 4.184 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7745
+t=138: Selected seed 195 with value = 0.7745
+Query 1/1: Action query time = 4.086 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8308
+t=154: Selected seed 195 with value = 0.8308
+Query 1/1: Action query time = 4.302 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9228
+t=170: Selected seed 195 with value = 0.9228
+Query 1/1: Action query time = 5.000 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9601
+t=186: Selected seed 195 with value = 0.9601
+Query 1/1: Action query time = 5.157 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9561
+t=202: Selected seed 195 with value = 0.9561
+Query 1/1: Action query time = 4.411 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9327
+t=218: Selected seed 195 with value = 0.9327
+Query 1/1: Action query time = 3.714 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9228
+t=234: Selected seed 195 with value = 0.9228
+Query 1/1: Action query time = 3.595 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9161
+t=250: Selected seed 195 with value = 0.9161
+Query 1/1: Action query time = 3.276 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9090
+t=266: Selected seed 195 with value = 0.9090
+Query 1/1: Action query time = 3.112 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9023
+t=282: Selected seed 195 with value = 0.9023
+Query 1/1: Action query time = 3.824 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8956
+t=298: Selected seed 195 with value = 0.8956
+Saved rollout MP4 at path ./rollouts/fcv2_350_t3_s14/2026_08_02-08_31_03--with_future_img--episode=3--success=False--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: False
+# episodes completed so far: 3
+# successes: 2 (66.7%)
+Current task success rate: 0.6666666666666666
+Current total success rate: 0.6666666666666666
+Final results:
+Total episodes: 3
+Total successes: 2
+Overall success rate: 0.6667 (66.7%)
diff --git a/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-08_36_22--fcv2_350_t4_s07.txt b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-08_36_22--fcv2_350_t4_s07.txt
new file mode 100644
index 0000000000000000000000000000000000000000..f90db3709193eea75d3a6ebc40be8b8f8336cf0e
--- /dev/null
+++ b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-08_36_22--fcv2_350_t4_s07.txt
@@ -0,0 +1,105 @@
+Eval config: PolicyEvalConfig(suite='libero', model_family='cosmos', config='cosmos_predict2_2b_480p_libero_cl_stage_inference_only', ckpt_path='/home/azureuser/REGEN-main/new/cosmos_policy/cosmos_v2_finetune/cosmos_predict2_2b_480p_libero_goal_task6_forget_cl_v2_from350_constlr_2gpu/checkpoints/iter_000000350/model', planning_model_config_name='', planning_model_ckpt_path='', config_file='cosmos_policy/config/config.py', packnet_mask_path='', packnet_first_cl_libero_task=6, use_third_person_image=True, num_third_person_images=1, use_wrist_image=True, num_wrist_images=1, use_proprio=True, flip_images=True, use_variance_scale=False, use_jpeg_compression=True, ar_future_prediction=False, ar_value_prediction=False, ar_qvalue_prediction=False, num_denoising_steps_action=5, num_denoising_steps_future_state=1, num_denoising_steps_value=1, unnormalize_actions=True, normalize_proprio=True, dataset_stats_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/libero_goal_regen/dataset_statistics.json', t5_text_embeddings_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/t5_embeddings.pkl', trained_with_image_aug=True, chunk_size=16, num_open_loop_steps=16, deterministic=True, deterministic_reset=False, deterministic_reset_seed=None, use_ensemble_future_state_predictions=False, num_future_state_predictions_in_ensemble=3, future_state_ensemble_aggregation_scheme='average', use_ensemble_value_predictions=False, num_value_predictions_in_ensemble=5, value_ensemble_aggregation_scheme='average', search_depth=1, mask_current_state_action_for_value_prediction=False, mask_future_state_for_qvalue_prediction=False, num_queries_best_of_n=1, use_parallel_inference=False, available_gpus='0', parallel_timeout=15, parallel_tasks_across_gpus=False, task_suite_name='libero_goal', num_trials_per_task=50, task_ids_to_run='4', initial_states_path='DEFAULT', env_img_res=256, local_log_dir='/home/azureuser/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal', run_id_note='fcv2_350_t4_s07', use_wandb=False, wandb_entity='YOUR_ENTITY', wandb_project='YOUR_PROJECT', seed=195, randomize_seed=False, data_collection=False, jpeg_compress=True, reward_stop_threshold=None, reward_stop_consecutive_steps=3, use_gpt_reward=False, gpt_reward_model='gpt-5.4-mini', gpt_reward_stop_threshold=4, gpt_reward_timeout_s=30.0, save_rollout_video=False, eval_hdf5_path='', eval_hdf5_demo_key='demo_0', data_gen_demo_ids='', eval_episode_ids='7,23,39', replay_actions=False, replay_action_path_dir='', replay_hdf5_path='', data_generation=False, max_generation_steps=200, simple_task_max_steps=100, complex_task_max_steps=200)
+Using serial inference (parallel inference disabled)
+Task suite: libero_goal
+Number of tasks: 10
+Running only task IDs: [4]
+Using default initial states
+
+Task: put the bowl on top of the cabinet
+Starting episode 1...
+Query 1/1: Action query time = 4.841 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5131
+t=10: Selected seed 195 with value = 0.5131
+Query 1/1: Action query time = 4.947 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5870
+t=26: Selected seed 195 with value = 0.5870
+Query 1/1: Action query time = 5.003 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6854
+t=42: Selected seed 195 with value = 0.6854
+Query 1/1: Action query time = 5.216 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8274
+t=58: Selected seed 195 with value = 0.8274
+Query 1/1: Action query time = 3.818 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9613
+t=74: Selected seed 195 with value = 0.9613
+Query 1/1: Action query time = 5.061 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/fcv2_350_t4_s07/2026_08_02-08_36_22--with_future_img--episode=1--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Success: True
+# episodes completed so far: 1
+# successes: 1 (100.0%)
+
+Task: put the bowl on top of the cabinet
+Starting episode 2...
+Query 1/1: Action query time = 3.988 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4852
+t=10: Selected seed 195 with value = 0.4852
+Query 1/1: Action query time = 4.809 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5920
+t=26: Selected seed 195 with value = 0.5920
+Query 1/1: Action query time = 4.947 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7211
+t=42: Selected seed 195 with value = 0.7211
+Query 1/1: Action query time = 5.057 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8326
+t=58: Selected seed 195 with value = 0.8326
+Query 1/1: Action query time = 4.347 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9913
+t=74: Selected seed 195 with value = 0.9913
+Query 1/1: Action query time = 4.950 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9985
+t=90: Selected seed 195 with value = 0.9985
+Saved rollout MP4 at path ./rollouts/fcv2_350_t4_s07/2026_08_02-08_36_22--with_future_img--episode=2--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Success: True
+# episodes completed so far: 2
+# successes: 2 (100.0%)
+
+Task: put the bowl on top of the cabinet
+Starting episode 3...
+Query 1/1: Action query time = 2.508 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4949
+t=10: Selected seed 195 with value = 0.4949
+Query 1/1: Action query time = 4.809 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5762
+t=26: Selected seed 195 with value = 0.5762
+Query 1/1: Action query time = 5.187 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6431
+t=42: Selected seed 195 with value = 0.6431
+Query 1/1: Action query time = 4.691 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7513
+t=58: Selected seed 195 with value = 0.7513
+Query 1/1: Action query time = 2.675 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9795
+t=74: Selected seed 195 with value = 0.9795
+Query 1/1: Action query time = 3.168 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/fcv2_350_t4_s07/2026_08_02-08_36_22--with_future_img--episode=3--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Success: True
+# episodes completed so far: 3
+# successes: 3 (100.0%)
+Current task success rate: 1.0
+Current total success rate: 1.0
+Final results:
+Total episodes: 3
+Total successes: 3
+Overall success rate: 1.0000 (100.0%)
diff --git a/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-08_36_22--fcv2_350_t4_s09.txt b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-08_36_22--fcv2_350_t4_s09.txt
new file mode 100644
index 0000000000000000000000000000000000000000..70c7e860ff085b4c3e3537956382bc566ac64804
--- /dev/null
+++ b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-08_36_22--fcv2_350_t4_s09.txt
@@ -0,0 +1,105 @@
+Eval config: PolicyEvalConfig(suite='libero', model_family='cosmos', config='cosmos_predict2_2b_480p_libero_cl_stage_inference_only', ckpt_path='/home/azureuser/REGEN-main/new/cosmos_policy/cosmos_v2_finetune/cosmos_predict2_2b_480p_libero_goal_task6_forget_cl_v2_from350_constlr_2gpu/checkpoints/iter_000000350/model', planning_model_config_name='', planning_model_ckpt_path='', config_file='cosmos_policy/config/config.py', packnet_mask_path='', packnet_first_cl_libero_task=6, use_third_person_image=True, num_third_person_images=1, use_wrist_image=True, num_wrist_images=1, use_proprio=True, flip_images=True, use_variance_scale=False, use_jpeg_compression=True, ar_future_prediction=False, ar_value_prediction=False, ar_qvalue_prediction=False, num_denoising_steps_action=5, num_denoising_steps_future_state=1, num_denoising_steps_value=1, unnormalize_actions=True, normalize_proprio=True, dataset_stats_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/libero_goal_regen/dataset_statistics.json', t5_text_embeddings_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/t5_embeddings.pkl', trained_with_image_aug=True, chunk_size=16, num_open_loop_steps=16, deterministic=True, deterministic_reset=False, deterministic_reset_seed=None, use_ensemble_future_state_predictions=False, num_future_state_predictions_in_ensemble=3, future_state_ensemble_aggregation_scheme='average', use_ensemble_value_predictions=False, num_value_predictions_in_ensemble=5, value_ensemble_aggregation_scheme='average', search_depth=1, mask_current_state_action_for_value_prediction=False, mask_future_state_for_qvalue_prediction=False, num_queries_best_of_n=1, use_parallel_inference=False, available_gpus='0', parallel_timeout=15, parallel_tasks_across_gpus=False, task_suite_name='libero_goal', num_trials_per_task=50, task_ids_to_run='4', initial_states_path='DEFAULT', env_img_res=256, local_log_dir='/home/azureuser/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal', run_id_note='fcv2_350_t4_s09', use_wandb=False, wandb_entity='YOUR_ENTITY', wandb_project='YOUR_PROJECT', seed=195, randomize_seed=False, data_collection=False, jpeg_compress=True, reward_stop_threshold=None, reward_stop_consecutive_steps=3, use_gpt_reward=False, gpt_reward_model='gpt-5.4-mini', gpt_reward_stop_threshold=4, gpt_reward_timeout_s=30.0, save_rollout_video=False, eval_hdf5_path='', eval_hdf5_demo_key='demo_0', data_gen_demo_ids='', eval_episode_ids='9,25,41', replay_actions=False, replay_action_path_dir='', replay_hdf5_path='', data_generation=False, max_generation_steps=200, simple_task_max_steps=100, complex_task_max_steps=200)
+Using serial inference (parallel inference disabled)
+Task suite: libero_goal
+Number of tasks: 10
+Running only task IDs: [4]
+Using default initial states
+
+Task: put the bowl on top of the cabinet
+Starting episode 1...
+Query 1/1: Action query time = 3.975 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4770
+t=10: Selected seed 195 with value = 0.4770
+Query 1/1: Action query time = 4.926 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5880
+t=26: Selected seed 195 with value = 0.5880
+Query 1/1: Action query time = 5.236 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7184
+t=42: Selected seed 195 with value = 0.7184
+Query 1/1: Action query time = 5.270 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8248
+t=58: Selected seed 195 with value = 0.8248
+Query 1/1: Action query time = 4.882 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9862
+t=74: Selected seed 195 with value = 0.9862
+Query 1/1: Action query time = 4.711 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/fcv2_350_t4_s09/2026_08_02-08_36_22--with_future_img--episode=1--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Success: True
+# episodes completed so far: 1
+# successes: 1 (100.0%)
+
+Task: put the bowl on top of the cabinet
+Starting episode 2...
+Query 1/1: Action query time = 2.690 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4697
+t=10: Selected seed 195 with value = 0.4697
+Query 1/1: Action query time = 4.800 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5544
+t=26: Selected seed 195 with value = 0.5544
+Query 1/1: Action query time = 4.859 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6978
+t=42: Selected seed 195 with value = 0.6978
+Query 1/1: Action query time = 4.926 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8032
+t=58: Selected seed 195 with value = 0.8032
+Query 1/1: Action query time = 4.184 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9492
+t=74: Selected seed 195 with value = 0.9492
+Query 1/1: Action query time = 4.888 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/fcv2_350_t4_s09/2026_08_02-08_36_22--with_future_img--episode=2--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Success: True
+# episodes completed so far: 2
+# successes: 2 (100.0%)
+
+Task: put the bowl on top of the cabinet
+Starting episode 3...
+Query 1/1: Action query time = 3.282 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5323
+t=10: Selected seed 195 with value = 0.5323
+Query 1/1: Action query time = 3.241 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6187
+t=26: Selected seed 195 with value = 0.6187
+Query 1/1: Action query time = 5.047 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6992
+t=42: Selected seed 195 with value = 0.6992
+Query 1/1: Action query time = 5.327 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8231
+t=58: Selected seed 195 with value = 0.8231
+Query 1/1: Action query time = 4.668 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9787
+t=74: Selected seed 195 with value = 0.9787
+Query 1/1: Action query time = 3.888 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/fcv2_350_t4_s09/2026_08_02-08_36_22--with_future_img--episode=3--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Success: True
+# episodes completed so far: 3
+# successes: 3 (100.0%)
+Current task success rate: 1.0
+Current total success rate: 1.0
+Final results:
+Total episodes: 3
+Total successes: 3
+Overall success rate: 1.0000 (100.0%)
diff --git a/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-08_36_22--fcv2_350_t4_s11.txt b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-08_36_22--fcv2_350_t4_s11.txt
new file mode 100644
index 0000000000000000000000000000000000000000..6f08e044043abd4b406a3d0d30da3f5596eb8c44
--- /dev/null
+++ b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-08_36_22--fcv2_350_t4_s11.txt
@@ -0,0 +1,101 @@
+Eval config: PolicyEvalConfig(suite='libero', model_family='cosmos', config='cosmos_predict2_2b_480p_libero_cl_stage_inference_only', ckpt_path='/home/azureuser/REGEN-main/new/cosmos_policy/cosmos_v2_finetune/cosmos_predict2_2b_480p_libero_goal_task6_forget_cl_v2_from350_constlr_2gpu/checkpoints/iter_000000350/model', planning_model_config_name='', planning_model_ckpt_path='', config_file='cosmos_policy/config/config.py', packnet_mask_path='', packnet_first_cl_libero_task=6, use_third_person_image=True, num_third_person_images=1, use_wrist_image=True, num_wrist_images=1, use_proprio=True, flip_images=True, use_variance_scale=False, use_jpeg_compression=True, ar_future_prediction=False, ar_value_prediction=False, ar_qvalue_prediction=False, num_denoising_steps_action=5, num_denoising_steps_future_state=1, num_denoising_steps_value=1, unnormalize_actions=True, normalize_proprio=True, dataset_stats_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/libero_goal_regen/dataset_statistics.json', t5_text_embeddings_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/t5_embeddings.pkl', trained_with_image_aug=True, chunk_size=16, num_open_loop_steps=16, deterministic=True, deterministic_reset=False, deterministic_reset_seed=None, use_ensemble_future_state_predictions=False, num_future_state_predictions_in_ensemble=3, future_state_ensemble_aggregation_scheme='average', use_ensemble_value_predictions=False, num_value_predictions_in_ensemble=5, value_ensemble_aggregation_scheme='average', search_depth=1, mask_current_state_action_for_value_prediction=False, mask_future_state_for_qvalue_prediction=False, num_queries_best_of_n=1, use_parallel_inference=False, available_gpus='0', parallel_timeout=15, parallel_tasks_across_gpus=False, task_suite_name='libero_goal', num_trials_per_task=50, task_ids_to_run='4', initial_states_path='DEFAULT', env_img_res=256, local_log_dir='/home/azureuser/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal', run_id_note='fcv2_350_t4_s11', use_wandb=False, wandb_entity='YOUR_ENTITY', wandb_project='YOUR_PROJECT', seed=195, randomize_seed=False, data_collection=False, jpeg_compress=True, reward_stop_threshold=None, reward_stop_consecutive_steps=3, use_gpt_reward=False, gpt_reward_model='gpt-5.4-mini', gpt_reward_stop_threshold=4, gpt_reward_timeout_s=30.0, save_rollout_video=False, eval_hdf5_path='', eval_hdf5_demo_key='demo_0', data_gen_demo_ids='', eval_episode_ids='11,27,43', replay_actions=False, replay_action_path_dir='', replay_hdf5_path='', data_generation=False, max_generation_steps=200, simple_task_max_steps=100, complex_task_max_steps=200)
+Using serial inference (parallel inference disabled)
+Task suite: libero_goal
+Number of tasks: 10
+Running only task IDs: [4]
+Using default initial states
+
+Task: put the bowl on top of the cabinet
+Starting episode 1...
+Query 1/1: Action query time = 3.006 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5070
+t=10: Selected seed 195 with value = 0.5070
+Query 1/1: Action query time = 4.923 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6047
+t=26: Selected seed 195 with value = 0.6047
+Query 1/1: Action query time = 5.641 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6873
+t=42: Selected seed 195 with value = 0.6873
+Query 1/1: Action query time = 5.088 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8095
+t=58: Selected seed 195 with value = 0.8095
+Query 1/1: Action query time = 4.828 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9409
+t=74: Selected seed 195 with value = 0.9409
+Query 1/1: Action query time = 4.525 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/fcv2_350_t4_s11/2026_08_02-08_36_22--with_future_img--episode=1--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Success: True
+# episodes completed so far: 1
+# successes: 1 (100.0%)
+
+Task: put the bowl on top of the cabinet
+Starting episode 2...
+Query 1/1: Action query time = 2.068 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5122
+t=10: Selected seed 195 with value = 0.5122
+Query 1/1: Action query time = 3.287 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6223
+t=26: Selected seed 195 with value = 0.6223
+Query 1/1: Action query time = 4.892 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7361
+t=42: Selected seed 195 with value = 0.7361
+Query 1/1: Action query time = 4.985 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8377
+t=58: Selected seed 195 with value = 0.8377
+Query 1/1: Action query time = 4.940 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9907
+t=74: Selected seed 195 with value = 0.9907
+Query 1/1: Action query time = 4.537 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/fcv2_350_t4_s11/2026_08_02-08_36_22--with_future_img--episode=2--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Success: True
+# episodes completed so far: 2
+# successes: 2 (100.0%)
+
+Task: put the bowl on top of the cabinet
+Starting episode 3...
+Query 1/1: Action query time = 3.611 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5007
+t=10: Selected seed 195 with value = 0.5007
+Query 1/1: Action query time = 3.272 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5891
+t=26: Selected seed 195 with value = 0.5891
+Query 1/1: Action query time = 6.171 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6600
+t=42: Selected seed 195 with value = 0.6600
+Query 1/1: Action query time = 5.142 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7892
+t=58: Selected seed 195 with value = 0.7892
+Query 1/1: Action query time = 4.482 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9312
+t=74: Selected seed 195 with value = 0.9312
+Saved rollout MP4 at path ./rollouts/fcv2_350_t4_s11/2026_08_02-08_36_22--with_future_img--episode=3--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Success: True
+# episodes completed so far: 3
+# successes: 3 (100.0%)
+Current task success rate: 1.0
+Current total success rate: 1.0
+Final results:
+Total episodes: 3
+Total successes: 3
+Overall success rate: 1.0000 (100.0%)
diff --git a/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-08_36_23--fcv2_350_t4_s12.txt b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-08_36_23--fcv2_350_t4_s12.txt
new file mode 100644
index 0000000000000000000000000000000000000000..4fe3dd8721498a805fdfa9d05c728dee22693290
--- /dev/null
+++ b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-08_36_23--fcv2_350_t4_s12.txt
@@ -0,0 +1,105 @@
+Eval config: PolicyEvalConfig(suite='libero', model_family='cosmos', config='cosmos_predict2_2b_480p_libero_cl_stage_inference_only', ckpt_path='/home/azureuser/REGEN-main/new/cosmos_policy/cosmos_v2_finetune/cosmos_predict2_2b_480p_libero_goal_task6_forget_cl_v2_from350_constlr_2gpu/checkpoints/iter_000000350/model', planning_model_config_name='', planning_model_ckpt_path='', config_file='cosmos_policy/config/config.py', packnet_mask_path='', packnet_first_cl_libero_task=6, use_third_person_image=True, num_third_person_images=1, use_wrist_image=True, num_wrist_images=1, use_proprio=True, flip_images=True, use_variance_scale=False, use_jpeg_compression=True, ar_future_prediction=False, ar_value_prediction=False, ar_qvalue_prediction=False, num_denoising_steps_action=5, num_denoising_steps_future_state=1, num_denoising_steps_value=1, unnormalize_actions=True, normalize_proprio=True, dataset_stats_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/libero_goal_regen/dataset_statistics.json', t5_text_embeddings_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/t5_embeddings.pkl', trained_with_image_aug=True, chunk_size=16, num_open_loop_steps=16, deterministic=True, deterministic_reset=False, deterministic_reset_seed=None, use_ensemble_future_state_predictions=False, num_future_state_predictions_in_ensemble=3, future_state_ensemble_aggregation_scheme='average', use_ensemble_value_predictions=False, num_value_predictions_in_ensemble=5, value_ensemble_aggregation_scheme='average', search_depth=1, mask_current_state_action_for_value_prediction=False, mask_future_state_for_qvalue_prediction=False, num_queries_best_of_n=1, use_parallel_inference=False, available_gpus='0', parallel_timeout=15, parallel_tasks_across_gpus=False, task_suite_name='libero_goal', num_trials_per_task=50, task_ids_to_run='4', initial_states_path='DEFAULT', env_img_res=256, local_log_dir='/home/azureuser/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal', run_id_note='fcv2_350_t4_s12', use_wandb=False, wandb_entity='YOUR_ENTITY', wandb_project='YOUR_PROJECT', seed=195, randomize_seed=False, data_collection=False, jpeg_compress=True, reward_stop_threshold=None, reward_stop_consecutive_steps=3, use_gpt_reward=False, gpt_reward_model='gpt-5.4-mini', gpt_reward_stop_threshold=4, gpt_reward_timeout_s=30.0, save_rollout_video=False, eval_hdf5_path='', eval_hdf5_demo_key='demo_0', data_gen_demo_ids='', eval_episode_ids='12,28,44', replay_actions=False, replay_action_path_dir='', replay_hdf5_path='', data_generation=False, max_generation_steps=200, simple_task_max_steps=100, complex_task_max_steps=200)
+Using serial inference (parallel inference disabled)
+Task suite: libero_goal
+Number of tasks: 10
+Running only task IDs: [4]
+Using default initial states
+
+Task: put the bowl on top of the cabinet
+Starting episode 1...
+Query 1/1: Action query time = 6.334 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4863
+t=10: Selected seed 195 with value = 0.4863
+Query 1/1: Action query time = 4.815 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5866
+t=26: Selected seed 195 with value = 0.5866
+Query 1/1: Action query time = 4.139 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6883
+t=42: Selected seed 195 with value = 0.6883
+Query 1/1: Action query time = 4.755 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7853
+t=58: Selected seed 195 with value = 0.7853
+Query 1/1: Action query time = 4.737 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9674
+t=74: Selected seed 195 with value = 0.9674
+Query 1/1: Action query time = 3.821 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/fcv2_350_t4_s12/2026_08_02-08_36_23--with_future_img--episode=1--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Success: True
+# episodes completed so far: 1
+# successes: 1 (100.0%)
+
+Task: put the bowl on top of the cabinet
+Starting episode 2...
+Query 1/1: Action query time = 3.296 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4877
+t=10: Selected seed 195 with value = 0.4877
+Query 1/1: Action query time = 5.165 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5681
+t=26: Selected seed 195 with value = 0.5681
+Query 1/1: Action query time = 5.041 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7019
+t=42: Selected seed 195 with value = 0.7019
+Query 1/1: Action query time = 4.662 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8072
+t=58: Selected seed 195 with value = 0.8072
+Query 1/1: Action query time = 4.731 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9442
+t=74: Selected seed 195 with value = 0.9442
+Query 1/1: Action query time = 4.331 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/fcv2_350_t4_s12/2026_08_02-08_36_23--with_future_img--episode=2--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Success: True
+# episodes completed so far: 2
+# successes: 2 (100.0%)
+
+Task: put the bowl on top of the cabinet
+Starting episode 3...
+Query 1/1: Action query time = 2.759 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5224
+t=10: Selected seed 195 with value = 0.5224
+Query 1/1: Action query time = 5.438 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6284
+t=26: Selected seed 195 with value = 0.6284
+Query 1/1: Action query time = 5.710 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7087
+t=42: Selected seed 195 with value = 0.7087
+Query 1/1: Action query time = 4.804 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8280
+t=58: Selected seed 195 with value = 0.8280
+Query 1/1: Action query time = 3.498 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9762
+t=74: Selected seed 195 with value = 0.9762
+Query 1/1: Action query time = 2.590 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/fcv2_350_t4_s12/2026_08_02-08_36_23--with_future_img--episode=3--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Success: True
+# episodes completed so far: 3
+# successes: 3 (100.0%)
+Current task success rate: 1.0
+Current total success rate: 1.0
+Final results:
+Total episodes: 3
+Total successes: 3
+Overall success rate: 1.0000 (100.0%)
diff --git a/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-08_36_23--fcv2_350_t4_s13.txt b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-08_36_23--fcv2_350_t4_s13.txt
new file mode 100644
index 0000000000000000000000000000000000000000..9d8f74658235fb7de2d9528825bd025ee03c2b92
--- /dev/null
+++ b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-08_36_23--fcv2_350_t4_s13.txt
@@ -0,0 +1,105 @@
+Eval config: PolicyEvalConfig(suite='libero', model_family='cosmos', config='cosmos_predict2_2b_480p_libero_cl_stage_inference_only', ckpt_path='/home/azureuser/REGEN-main/new/cosmos_policy/cosmos_v2_finetune/cosmos_predict2_2b_480p_libero_goal_task6_forget_cl_v2_from350_constlr_2gpu/checkpoints/iter_000000350/model', planning_model_config_name='', planning_model_ckpt_path='', config_file='cosmos_policy/config/config.py', packnet_mask_path='', packnet_first_cl_libero_task=6, use_third_person_image=True, num_third_person_images=1, use_wrist_image=True, num_wrist_images=1, use_proprio=True, flip_images=True, use_variance_scale=False, use_jpeg_compression=True, ar_future_prediction=False, ar_value_prediction=False, ar_qvalue_prediction=False, num_denoising_steps_action=5, num_denoising_steps_future_state=1, num_denoising_steps_value=1, unnormalize_actions=True, normalize_proprio=True, dataset_stats_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/libero_goal_regen/dataset_statistics.json', t5_text_embeddings_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/t5_embeddings.pkl', trained_with_image_aug=True, chunk_size=16, num_open_loop_steps=16, deterministic=True, deterministic_reset=False, deterministic_reset_seed=None, use_ensemble_future_state_predictions=False, num_future_state_predictions_in_ensemble=3, future_state_ensemble_aggregation_scheme='average', use_ensemble_value_predictions=False, num_value_predictions_in_ensemble=5, value_ensemble_aggregation_scheme='average', search_depth=1, mask_current_state_action_for_value_prediction=False, mask_future_state_for_qvalue_prediction=False, num_queries_best_of_n=1, use_parallel_inference=False, available_gpus='0', parallel_timeout=15, parallel_tasks_across_gpus=False, task_suite_name='libero_goal', num_trials_per_task=50, task_ids_to_run='4', initial_states_path='DEFAULT', env_img_res=256, local_log_dir='/home/azureuser/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal', run_id_note='fcv2_350_t4_s13', use_wandb=False, wandb_entity='YOUR_ENTITY', wandb_project='YOUR_PROJECT', seed=195, randomize_seed=False, data_collection=False, jpeg_compress=True, reward_stop_threshold=None, reward_stop_consecutive_steps=3, use_gpt_reward=False, gpt_reward_model='gpt-5.4-mini', gpt_reward_stop_threshold=4, gpt_reward_timeout_s=30.0, save_rollout_video=False, eval_hdf5_path='', eval_hdf5_demo_key='demo_0', data_gen_demo_ids='', eval_episode_ids='13,29,45', replay_actions=False, replay_action_path_dir='', replay_hdf5_path='', data_generation=False, max_generation_steps=200, simple_task_max_steps=100, complex_task_max_steps=200)
+Using serial inference (parallel inference disabled)
+Task suite: libero_goal
+Number of tasks: 10
+Running only task IDs: [4]
+Using default initial states
+
+Task: put the bowl on top of the cabinet
+Starting episode 1...
+Query 1/1: Action query time = 6.584 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5016
+t=10: Selected seed 195 with value = 0.5016
+Query 1/1: Action query time = 5.667 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5779
+t=26: Selected seed 195 with value = 0.5779
+Query 1/1: Action query time = 4.483 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6781
+t=42: Selected seed 195 with value = 0.6781
+Query 1/1: Action query time = 4.575 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8008
+t=58: Selected seed 195 with value = 0.8008
+Query 1/1: Action query time = 4.414 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9537
+t=74: Selected seed 195 with value = 0.9537
+Query 1/1: Action query time = 3.561 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9969
+t=90: Selected seed 195 with value = 0.9969
+Saved rollout MP4 at path ./rollouts/fcv2_350_t4_s13/2026_08_02-08_36_23--with_future_img--episode=1--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Success: True
+# episodes completed so far: 1
+# successes: 1 (100.0%)
+
+Task: put the bowl on top of the cabinet
+Starting episode 2...
+Query 1/1: Action query time = 4.304 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4980
+t=10: Selected seed 195 with value = 0.4980
+Query 1/1: Action query time = 5.209 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5816
+t=26: Selected seed 195 with value = 0.5816
+Query 1/1: Action query time = 5.163 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6839
+t=42: Selected seed 195 with value = 0.6839
+Query 1/1: Action query time = 4.218 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8003
+t=58: Selected seed 195 with value = 0.8003
+Query 1/1: Action query time = 5.384 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9374
+t=74: Selected seed 195 with value = 0.9374
+Query 1/1: Action query time = 3.752 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/fcv2_350_t4_s13/2026_08_02-08_36_23--with_future_img--episode=2--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Success: True
+# episodes completed so far: 2
+# successes: 2 (100.0%)
+
+Task: put the bowl on top of the cabinet
+Starting episode 3...
+Query 1/1: Action query time = 4.356 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4996
+t=10: Selected seed 195 with value = 0.4996
+Query 1/1: Action query time = 4.350 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5954
+t=26: Selected seed 195 with value = 0.5954
+Query 1/1: Action query time = 4.714 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6918
+t=42: Selected seed 195 with value = 0.6918
+Query 1/1: Action query time = 4.307 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8213
+t=58: Selected seed 195 with value = 0.8213
+Query 1/1: Action query time = 4.267 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9511
+t=74: Selected seed 195 with value = 0.9511
+Query 1/1: Action query time = 2.510 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/fcv2_350_t4_s13/2026_08_02-08_36_23--with_future_img--episode=3--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Success: True
+# episodes completed so far: 3
+# successes: 3 (100.0%)
+Current task success rate: 1.0
+Current total success rate: 1.0
+Final results:
+Total episodes: 3
+Total successes: 3
+Overall success rate: 1.0000 (100.0%)
diff --git a/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-08_39_10--fcv2_350_t5_s04.txt b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-08_39_10--fcv2_350_t5_s04.txt
new file mode 100644
index 0000000000000000000000000000000000000000..7dde6520964e20c2b489770a9896adec322b0902
--- /dev/null
+++ b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-08_39_10--fcv2_350_t5_s04.txt
@@ -0,0 +1,133 @@
+Eval config: PolicyEvalConfig(suite='libero', model_family='cosmos', config='cosmos_predict2_2b_480p_libero_cl_stage_inference_only', ckpt_path='/home/azureuser/REGEN-main/new/cosmos_policy/cosmos_v2_finetune/cosmos_predict2_2b_480p_libero_goal_task6_forget_cl_v2_from350_constlr_2gpu/checkpoints/iter_000000350/model', planning_model_config_name='', planning_model_ckpt_path='', config_file='cosmos_policy/config/config.py', packnet_mask_path='', packnet_first_cl_libero_task=6, use_third_person_image=True, num_third_person_images=1, use_wrist_image=True, num_wrist_images=1, use_proprio=True, flip_images=True, use_variance_scale=False, use_jpeg_compression=True, ar_future_prediction=False, ar_value_prediction=False, ar_qvalue_prediction=False, num_denoising_steps_action=5, num_denoising_steps_future_state=1, num_denoising_steps_value=1, unnormalize_actions=True, normalize_proprio=True, dataset_stats_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/libero_goal_regen/dataset_statistics.json', t5_text_embeddings_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/t5_embeddings.pkl', trained_with_image_aug=True, chunk_size=16, num_open_loop_steps=16, deterministic=True, deterministic_reset=False, deterministic_reset_seed=None, use_ensemble_future_state_predictions=False, num_future_state_predictions_in_ensemble=3, future_state_ensemble_aggregation_scheme='average', use_ensemble_value_predictions=False, num_value_predictions_in_ensemble=5, value_ensemble_aggregation_scheme='average', search_depth=1, mask_current_state_action_for_value_prediction=False, mask_future_state_for_qvalue_prediction=False, num_queries_best_of_n=1, use_parallel_inference=False, available_gpus='0', parallel_timeout=15, parallel_tasks_across_gpus=False, task_suite_name='libero_goal', num_trials_per_task=50, task_ids_to_run='5', initial_states_path='DEFAULT', env_img_res=256, local_log_dir='/home/azureuser/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal', run_id_note='fcv2_350_t5_s04', use_wandb=False, wandb_entity='YOUR_ENTITY', wandb_project='YOUR_PROJECT', seed=195, randomize_seed=False, data_collection=False, jpeg_compress=True, reward_stop_threshold=None, reward_stop_consecutive_steps=3, use_gpt_reward=False, gpt_reward_model='gpt-5.4-mini', gpt_reward_stop_threshold=4, gpt_reward_timeout_s=30.0, save_rollout_video=False, eval_hdf5_path='', eval_hdf5_demo_key='demo_0', data_gen_demo_ids='', eval_episode_ids='4,20,36', replay_actions=False, replay_action_path_dir='', replay_hdf5_path='', data_generation=False, max_generation_steps=200, simple_task_max_steps=100, complex_task_max_steps=200)
+Using serial inference (parallel inference disabled)
+Task suite: libero_goal
+Number of tasks: 10
+Running only task IDs: [5]
+Using default initial states
+
+Task: push the plate to the front of the stove
+Starting episode 1...
+Query 1/1: Action query time = 3.773 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2430
+t=10: Selected seed 195 with value = 0.2430
+Query 1/1: Action query time = 4.317 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2992
+t=26: Selected seed 195 with value = 0.2992
+Query 1/1: Action query time = 4.737 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4031
+t=42: Selected seed 195 with value = 0.4031
+Query 1/1: Action query time = 5.561 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5217
+t=58: Selected seed 195 with value = 0.5217
+Query 1/1: Action query time = 5.391 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6018
+t=74: Selected seed 195 with value = 0.6018
+Query 1/1: Action query time = 4.888 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7095
+t=90: Selected seed 195 with value = 0.7095
+Query 1/1: Action query time = 4.762 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8526
+t=106: Selected seed 195 with value = 0.8526
+Query 1/1: Action query time = 4.922 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9633
+t=122: Selected seed 195 with value = 0.9633
+Query 1/1: Action query time = 4.055 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=138: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/fcv2_350_t5_s04/2026_08_02-08_39_10--with_future_img--episode=1--success=True--task=push_the_plate_to_the_front_of_the_.mp4
+Success: True
+# episodes completed so far: 1
+# successes: 1 (100.0%)
+
+Task: push the plate to the front of the stove
+Starting episode 2...
+Query 1/1: Action query time = 3.788 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3103
+t=10: Selected seed 195 with value = 0.3103
+Query 1/1: Action query time = 4.291 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3908
+t=26: Selected seed 195 with value = 0.3908
+Query 1/1: Action query time = 4.932 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4366
+t=42: Selected seed 195 with value = 0.4366
+Query 1/1: Action query time = 4.743 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4858
+t=58: Selected seed 195 with value = 0.4858
+Query 1/1: Action query time = 4.874 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6386
+t=74: Selected seed 195 with value = 0.6386
+Query 1/1: Action query time = 5.146 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7177
+t=90: Selected seed 195 with value = 0.7177
+Query 1/1: Action query time = 4.520 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8462
+t=106: Selected seed 195 with value = 0.8462
+Query 1/1: Action query time = 2.633 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9896
+t=122: Selected seed 195 with value = 0.9896
+Saved rollout MP4 at path ./rollouts/fcv2_350_t5_s04/2026_08_02-08_39_10--with_future_img--episode=2--success=True--task=push_the_plate_to_the_front_of_the_.mp4
+Success: True
+# episodes completed so far: 2
+# successes: 2 (100.0%)
+
+Task: push the plate to the front of the stove
+Starting episode 3...
+Query 1/1: Action query time = 3.167 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3522
+t=10: Selected seed 195 with value = 0.3522
+Query 1/1: Action query time = 5.116 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4045
+t=26: Selected seed 195 with value = 0.4045
+Query 1/1: Action query time = 4.751 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5559
+t=42: Selected seed 195 with value = 0.5559
+Query 1/1: Action query time = 5.294 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5564
+t=58: Selected seed 195 with value = 0.5564
+Query 1/1: Action query time = 5.218 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6298
+t=74: Selected seed 195 with value = 0.6298
+Query 1/1: Action query time = 4.602 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8053
+t=90: Selected seed 195 with value = 0.8053
+Query 1/1: Action query time = 4.806 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9175
+t=106: Selected seed 195 with value = 0.9175
+Query 1/1: Action query time = 4.052 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9999
+t=122: Selected seed 195 with value = 0.9999
+Saved rollout MP4 at path ./rollouts/fcv2_350_t5_s04/2026_08_02-08_39_10--with_future_img--episode=3--success=True--task=push_the_plate_to_the_front_of_the_.mp4
+Success: True
+# episodes completed so far: 3
+# successes: 3 (100.0%)
+Current task success rate: 1.0
+Current total success rate: 1.0
+Final results:
+Total episodes: 3
+Total successes: 3
+Overall success rate: 1.0000 (100.0%)
diff --git a/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-08_39_11--fcv2_350_t5_s10.txt b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-08_39_11--fcv2_350_t5_s10.txt
new file mode 100644
index 0000000000000000000000000000000000000000..6d6c8e73b58a8942725ec5b319f163f58d51c91b
--- /dev/null
+++ b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-08_39_11--fcv2_350_t5_s10.txt
@@ -0,0 +1,141 @@
+Eval config: PolicyEvalConfig(suite='libero', model_family='cosmos', config='cosmos_predict2_2b_480p_libero_cl_stage_inference_only', ckpt_path='/home/azureuser/REGEN-main/new/cosmos_policy/cosmos_v2_finetune/cosmos_predict2_2b_480p_libero_goal_task6_forget_cl_v2_from350_constlr_2gpu/checkpoints/iter_000000350/model', planning_model_config_name='', planning_model_ckpt_path='', config_file='cosmos_policy/config/config.py', packnet_mask_path='', packnet_first_cl_libero_task=6, use_third_person_image=True, num_third_person_images=1, use_wrist_image=True, num_wrist_images=1, use_proprio=True, flip_images=True, use_variance_scale=False, use_jpeg_compression=True, ar_future_prediction=False, ar_value_prediction=False, ar_qvalue_prediction=False, num_denoising_steps_action=5, num_denoising_steps_future_state=1, num_denoising_steps_value=1, unnormalize_actions=True, normalize_proprio=True, dataset_stats_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/libero_goal_regen/dataset_statistics.json', t5_text_embeddings_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/t5_embeddings.pkl', trained_with_image_aug=True, chunk_size=16, num_open_loop_steps=16, deterministic=True, deterministic_reset=False, deterministic_reset_seed=None, use_ensemble_future_state_predictions=False, num_future_state_predictions_in_ensemble=3, future_state_ensemble_aggregation_scheme='average', use_ensemble_value_predictions=False, num_value_predictions_in_ensemble=5, value_ensemble_aggregation_scheme='average', search_depth=1, mask_current_state_action_for_value_prediction=False, mask_future_state_for_qvalue_prediction=False, num_queries_best_of_n=1, use_parallel_inference=False, available_gpus='0', parallel_timeout=15, parallel_tasks_across_gpus=False, task_suite_name='libero_goal', num_trials_per_task=50, task_ids_to_run='5', initial_states_path='DEFAULT', env_img_res=256, local_log_dir='/home/azureuser/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal', run_id_note='fcv2_350_t5_s10', use_wandb=False, wandb_entity='YOUR_ENTITY', wandb_project='YOUR_PROJECT', seed=195, randomize_seed=False, data_collection=False, jpeg_compress=True, reward_stop_threshold=None, reward_stop_consecutive_steps=3, use_gpt_reward=False, gpt_reward_model='gpt-5.4-mini', gpt_reward_stop_threshold=4, gpt_reward_timeout_s=30.0, save_rollout_video=False, eval_hdf5_path='', eval_hdf5_demo_key='demo_0', data_gen_demo_ids='', eval_episode_ids='10,26,42', replay_actions=False, replay_action_path_dir='', replay_hdf5_path='', data_generation=False, max_generation_steps=200, simple_task_max_steps=100, complex_task_max_steps=200)
+Using serial inference (parallel inference disabled)
+Task suite: libero_goal
+Number of tasks: 10
+Running only task IDs: [5]
+Using default initial states
+
+Task: push the plate to the front of the stove
+Starting episode 1...
+Query 1/1: Action query time = 5.583 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3485
+t=10: Selected seed 195 with value = 0.3485
+Query 1/1: Action query time = 5.218 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3841
+t=26: Selected seed 195 with value = 0.3841
+Query 1/1: Action query time = 4.651 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4575
+t=42: Selected seed 195 with value = 0.4575
+Query 1/1: Action query time = 4.538 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4906
+t=58: Selected seed 195 with value = 0.4906
+Query 1/1: Action query time = 4.884 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5727
+t=74: Selected seed 195 with value = 0.5727
+Query 1/1: Action query time = 4.963 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5903
+t=90: Selected seed 195 with value = 0.5903
+Query 1/1: Action query time = 4.877 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8305
+t=106: Selected seed 195 with value = 0.8305
+Query 1/1: Action query time = 5.004 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9980
+t=122: Selected seed 195 with value = 0.9980
+Query 1/1: Action query time = 3.526 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=138: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/fcv2_350_t5_s10/2026_08_02-08_39_11--with_future_img--episode=1--success=True--task=push_the_plate_to_the_front_of_the_.mp4
+Success: True
+# episodes completed so far: 1
+# successes: 1 (100.0%)
+
+Task: push the plate to the front of the stove
+Starting episode 2...
+Query 1/1: Action query time = 3.727 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3703
+t=10: Selected seed 195 with value = 0.3703
+Query 1/1: Action query time = 5.284 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4003
+t=26: Selected seed 195 with value = 0.4003
+Query 1/1: Action query time = 5.008 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5109
+t=42: Selected seed 195 with value = 0.5109
+Query 1/1: Action query time = 4.691 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5274
+t=58: Selected seed 195 with value = 0.5274
+Query 1/1: Action query time = 4.382 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6412
+t=74: Selected seed 195 with value = 0.6412
+Query 1/1: Action query time = 4.700 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7259
+t=90: Selected seed 195 with value = 0.7259
+Query 1/1: Action query time = 5.248 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8075
+t=106: Selected seed 195 with value = 0.8075
+Query 1/1: Action query time = 4.836 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9214
+t=122: Selected seed 195 with value = 0.9214
+Query 1/1: Action query time = 2.817 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=138: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/fcv2_350_t5_s10/2026_08_02-08_39_11--with_future_img--episode=2--success=True--task=push_the_plate_to_the_front_of_the_.mp4
+Success: True
+# episodes completed so far: 2
+# successes: 2 (100.0%)
+
+Task: push the plate to the front of the stove
+Starting episode 3...
+Query 1/1: Action query time = 4.670 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2898
+t=10: Selected seed 195 with value = 0.2898
+Query 1/1: Action query time = 5.311 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3768
+t=26: Selected seed 195 with value = 0.3768
+Query 1/1: Action query time = 4.810 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4306
+t=42: Selected seed 195 with value = 0.4306
+Query 1/1: Action query time = 4.651 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4906
+t=58: Selected seed 195 with value = 0.4906
+Query 1/1: Action query time = 4.904 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5711
+t=74: Selected seed 195 with value = 0.5711
+Query 1/1: Action query time = 5.210 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6701
+t=90: Selected seed 195 with value = 0.6701
+Query 1/1: Action query time = 4.886 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7768
+t=106: Selected seed 195 with value = 0.7768
+Query 1/1: Action query time = 4.033 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9041
+t=122: Selected seed 195 with value = 0.9041
+Query 1/1: Action query time = 1.942 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=138: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/fcv2_350_t5_s10/2026_08_02-08_39_11--with_future_img--episode=3--success=True--task=push_the_plate_to_the_front_of_the_.mp4
+Success: True
+# episodes completed so far: 3
+# successes: 3 (100.0%)
+Current task success rate: 1.0
+Current total success rate: 1.0
+Final results:
+Total episodes: 3
+Total successes: 3
+Overall success rate: 1.0000 (100.0%)
diff --git a/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-08_42_27--fcv2_350_t6_s00.txt b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-08_42_27--fcv2_350_t6_s00.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0877950b5ee496222b94daf9939925d62ce3cc42
--- /dev/null
+++ b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-08_42_27--fcv2_350_t6_s00.txt
@@ -0,0 +1,144 @@
+Eval config: PolicyEvalConfig(suite='libero', model_family='cosmos', config='cosmos_predict2_2b_480p_libero_cl_stage_inference_only', ckpt_path='/home/azureuser/REGEN-main/new/cosmos_policy/cosmos_v2_finetune/cosmos_predict2_2b_480p_libero_goal_task6_forget_cl_v2_from350_constlr_2gpu/checkpoints/iter_000000350/model', planning_model_config_name='', planning_model_ckpt_path='', config_file='cosmos_policy/config/config.py', packnet_mask_path='', packnet_first_cl_libero_task=6, use_third_person_image=True, num_third_person_images=1, use_wrist_image=True, num_wrist_images=1, use_proprio=True, flip_images=True, use_variance_scale=False, use_jpeg_compression=True, ar_future_prediction=False, ar_value_prediction=False, ar_qvalue_prediction=False, num_denoising_steps_action=5, num_denoising_steps_future_state=1, num_denoising_steps_value=1, unnormalize_actions=True, normalize_proprio=True, dataset_stats_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/libero_goal_regen/dataset_statistics.json', t5_text_embeddings_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/t5_embeddings.pkl', trained_with_image_aug=True, chunk_size=16, num_open_loop_steps=16, deterministic=True, deterministic_reset=False, deterministic_reset_seed=None, use_ensemble_future_state_predictions=False, num_future_state_predictions_in_ensemble=3, future_state_ensemble_aggregation_scheme='average', use_ensemble_value_predictions=False, num_value_predictions_in_ensemble=5, value_ensemble_aggregation_scheme='average', search_depth=1, mask_current_state_action_for_value_prediction=False, mask_future_state_for_qvalue_prediction=False, num_queries_best_of_n=1, use_parallel_inference=False, available_gpus='0', parallel_timeout=15, parallel_tasks_across_gpus=False, task_suite_name='libero_goal', num_trials_per_task=50, task_ids_to_run='6', initial_states_path='DEFAULT', env_img_res=256, local_log_dir='/home/azureuser/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal', run_id_note='fcv2_350_t6_s00', use_wandb=False, wandb_entity='YOUR_ENTITY', wandb_project='YOUR_PROJECT', seed=195, randomize_seed=False, data_collection=False, jpeg_compress=True, reward_stop_threshold=None, reward_stop_consecutive_steps=3, use_gpt_reward=False, gpt_reward_model='gpt-5.4-mini', gpt_reward_stop_threshold=4, gpt_reward_timeout_s=30.0, save_rollout_video=False, eval_hdf5_path='', eval_hdf5_demo_key='demo_0', data_gen_demo_ids='', eval_episode_ids='0,16,32,48', replay_actions=False, replay_action_path_dir='', replay_hdf5_path='', data_generation=False, max_generation_steps=200, simple_task_max_steps=100, complex_task_max_steps=200)
+Using serial inference (parallel inference disabled)
+Task suite: libero_goal
+Number of tasks: 10
+Running only task IDs: [6]
+Using default initial states
+
+Task: put the cream cheese in the bowl
+Starting episode 1...
+Query 1/1: Action query time = 5.879 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4333
+t=10: Selected seed 195 with value = 0.4333
+Query 1/1: Action query time = 4.668 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5518
+t=26: Selected seed 195 with value = 0.5518
+Query 1/1: Action query time = 5.419 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6315
+t=42: Selected seed 195 with value = 0.6315
+Query 1/1: Action query time = 5.202 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5094
+t=58: Selected seed 195 with value = 0.5094
+Query 1/1: Action query time = 4.877 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6263
+t=74: Selected seed 195 with value = 0.6263
+Query 1/1: Action query time = 4.459 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7546
+t=90: Selected seed 195 with value = 0.7546
+Query 1/1: Action query time = 4.761 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8964
+t=106: Selected seed 195 with value = 0.8964
+Query 1/1: Action query time = 4.862 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9919
+t=122: Selected seed 195 with value = 0.9919
+Saved rollout MP4 at path ./rollouts/fcv2_350_t6_s00/2026_08_02-08_42_27--with_future_img--episode=1--success=True--task=put_the_cream_cheese_in_the_bowl.mp4
+Success: True
+# episodes completed so far: 1
+# successes: 1 (100.0%)
+
+Task: put the cream cheese in the bowl
+Starting episode 2...
+Query 1/1: Action query time = 4.973 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4484
+t=10: Selected seed 195 with value = 0.4484
+Query 1/1: Action query time = 5.097 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5551
+t=26: Selected seed 195 with value = 0.5551
+Query 1/1: Action query time = 5.046 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6254
+t=42: Selected seed 195 with value = 0.6254
+Query 1/1: Action query time = 4.343 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6744
+t=58: Selected seed 195 with value = 0.6744
+Query 1/1: Action query time = 4.309 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8323
+t=74: Selected seed 195 with value = 0.8323
+Query 1/1: Action query time = 5.034 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9769
+t=90: Selected seed 195 with value = 0.9769
+Saved rollout MP4 at path ./rollouts/fcv2_350_t6_s00/2026_08_02-08_42_27--with_future_img--episode=2--success=True--task=put_the_cream_cheese_in_the_bowl.mp4
+Success: True
+# episodes completed so far: 2
+# successes: 2 (100.0%)
+
+Task: put the cream cheese in the bowl
+Starting episode 3...
+Query 1/1: Action query time = 4.900 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4300
+t=10: Selected seed 195 with value = 0.4300
+Query 1/1: Action query time = 4.480 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4798
+t=26: Selected seed 195 with value = 0.4798
+Query 1/1: Action query time = 3.971 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6098
+t=42: Selected seed 195 with value = 0.6098
+Query 1/1: Action query time = 2.896 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6757
+t=58: Selected seed 195 with value = 0.6757
+Query 1/1: Action query time = 2.333 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8378
+t=74: Selected seed 195 with value = 0.8378
+Query 1/1: Action query time = 1.998 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9604
+t=90: Selected seed 195 with value = 0.9604
+Saved rollout MP4 at path ./rollouts/fcv2_350_t6_s00/2026_08_02-08_42_27--with_future_img--episode=3--success=True--task=put_the_cream_cheese_in_the_bowl.mp4
+Success: True
+# episodes completed so far: 3
+# successes: 3 (100.0%)
+
+Task: put the cream cheese in the bowl
+Starting episode 4...
+Query 1/1: Action query time = 3.880 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4548
+t=10: Selected seed 195 with value = 0.4548
+Query 1/1: Action query time = 3.860 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5187
+t=26: Selected seed 195 with value = 0.5187
+Query 1/1: Action query time = 3.730 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6284
+t=42: Selected seed 195 with value = 0.6284
+Query 1/1: Action query time = 4.065 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7356
+t=58: Selected seed 195 with value = 0.7356
+Query 1/1: Action query time = 3.157 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8605
+t=74: Selected seed 195 with value = 0.8605
+Query 1/1: Action query time = 2.474 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9798
+t=90: Selected seed 195 with value = 0.9798
+Saved rollout MP4 at path ./rollouts/fcv2_350_t6_s00/2026_08_02-08_42_27--with_future_img--episode=4--success=True--task=put_the_cream_cheese_in_the_bowl.mp4
+Success: True
+# episodes completed so far: 4
+# successes: 4 (100.0%)
+Current task success rate: 1.0
+Current total success rate: 1.0
+Final results:
+Total episodes: 4
+Total successes: 4
+Overall success rate: 1.0000 (100.0%)
diff --git a/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-08_42_27--fcv2_350_t6_s02.txt b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-08_42_27--fcv2_350_t6_s02.txt
new file mode 100644
index 0000000000000000000000000000000000000000..12a9867bf424462e5dd86162f140fd62576ac34b
--- /dev/null
+++ b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-08_42_27--fcv2_350_t6_s02.txt
@@ -0,0 +1,157 @@
+Eval config: PolicyEvalConfig(suite='libero', model_family='cosmos', config='cosmos_predict2_2b_480p_libero_cl_stage_inference_only', ckpt_path='/home/azureuser/REGEN-main/new/cosmos_policy/cosmos_v2_finetune/cosmos_predict2_2b_480p_libero_goal_task6_forget_cl_v2_from350_constlr_2gpu/checkpoints/iter_000000350/model', planning_model_config_name='', planning_model_ckpt_path='', config_file='cosmos_policy/config/config.py', packnet_mask_path='', packnet_first_cl_libero_task=6, use_third_person_image=True, num_third_person_images=1, use_wrist_image=True, num_wrist_images=1, use_proprio=True, flip_images=True, use_variance_scale=False, use_jpeg_compression=True, ar_future_prediction=False, ar_value_prediction=False, ar_qvalue_prediction=False, num_denoising_steps_action=5, num_denoising_steps_future_state=1, num_denoising_steps_value=1, unnormalize_actions=True, normalize_proprio=True, dataset_stats_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/libero_goal_regen/dataset_statistics.json', t5_text_embeddings_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/t5_embeddings.pkl', trained_with_image_aug=True, chunk_size=16, num_open_loop_steps=16, deterministic=True, deterministic_reset=False, deterministic_reset_seed=None, use_ensemble_future_state_predictions=False, num_future_state_predictions_in_ensemble=3, future_state_ensemble_aggregation_scheme='average', use_ensemble_value_predictions=False, num_value_predictions_in_ensemble=5, value_ensemble_aggregation_scheme='average', search_depth=1, mask_current_state_action_for_value_prediction=False, mask_future_state_for_qvalue_prediction=False, num_queries_best_of_n=1, use_parallel_inference=False, available_gpus='0', parallel_timeout=15, parallel_tasks_across_gpus=False, task_suite_name='libero_goal', num_trials_per_task=50, task_ids_to_run='6', initial_states_path='DEFAULT', env_img_res=256, local_log_dir='/home/azureuser/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal', run_id_note='fcv2_350_t6_s02', use_wandb=False, wandb_entity='YOUR_ENTITY', wandb_project='YOUR_PROJECT', seed=195, randomize_seed=False, data_collection=False, jpeg_compress=True, reward_stop_threshold=None, reward_stop_consecutive_steps=3, use_gpt_reward=False, gpt_reward_model='gpt-5.4-mini', gpt_reward_stop_threshold=4, gpt_reward_timeout_s=30.0, save_rollout_video=False, eval_hdf5_path='', eval_hdf5_demo_key='demo_0', data_gen_demo_ids='', eval_episode_ids='2,18,34', replay_actions=False, replay_action_path_dir='', replay_hdf5_path='', data_generation=False, max_generation_steps=200, simple_task_max_steps=100, complex_task_max_steps=200)
+Using serial inference (parallel inference disabled)
+Task suite: libero_goal
+Number of tasks: 10
+Running only task IDs: [6]
+Using default initial states
+
+Task: put the cream cheese in the bowl
+Starting episode 1...
+Query 1/1: Action query time = 4.439 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4266
+t=10: Selected seed 195 with value = 0.4266
+Query 1/1: Action query time = 5.367 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4764
+t=26: Selected seed 195 with value = 0.4764
+Query 1/1: Action query time = 5.504 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6015
+t=42: Selected seed 195 with value = 0.6015
+Query 1/1: Action query time = 4.574 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6298
+t=58: Selected seed 195 with value = 0.6298
+Query 1/1: Action query time = 4.626 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5907
+t=74: Selected seed 195 with value = 0.5907
+Query 1/1: Action query time = 4.832 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6445
+t=90: Selected seed 195 with value = 0.6445
+Query 1/1: Action query time = 2.966 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7145
+t=106: Selected seed 195 with value = 0.7145
+Query 1/1: Action query time = 4.666 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7756
+t=122: Selected seed 195 with value = 0.7756
+Query 1/1: Action query time = 5.258 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8995
+t=138: Selected seed 195 with value = 0.8995
+Query 1/1: Action query time = 4.737 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9369
+t=154: Selected seed 195 with value = 0.9369
+Query 1/1: Action query time = 4.873 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9634
+t=170: Selected seed 195 with value = 0.9634
+Query 1/1: Action query time = 4.951 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9762
+t=186: Selected seed 195 with value = 0.9762
+Query 1/1: Action query time = 4.928 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9731
+t=202: Selected seed 195 with value = 0.9731
+Query 1/1: Action query time = 3.534 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9753
+t=218: Selected seed 195 with value = 0.9753
+Query 1/1: Action query time = 4.492 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9173
+t=234: Selected seed 195 with value = 0.9173
+Query 1/1: Action query time = 4.637 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9711
+t=250: Selected seed 195 with value = 0.9711
+Query 1/1: Action query time = 5.097 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9676
+t=266: Selected seed 195 with value = 0.9676
+Query 1/1: Action query time = 4.944 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9481
+t=282: Selected seed 195 with value = 0.9481
+Query 1/1: Action query time = 4.086 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9652
+t=298: Selected seed 195 with value = 0.9652
+Saved rollout MP4 at path ./rollouts/fcv2_350_t6_s02/2026_08_02-08_42_27--with_future_img--episode=1--success=False--task=put_the_cream_cheese_in_the_bowl.mp4
+Success: False
+# episodes completed so far: 1
+# successes: 0 (0.0%)
+
+Task: put the cream cheese in the bowl
+Starting episode 2...
+Query 1/1: Action query time = 3.249 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4590
+t=10: Selected seed 195 with value = 0.4590
+Query 1/1: Action query time = 3.858 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4884
+t=26: Selected seed 195 with value = 0.4884
+Query 1/1: Action query time = 3.782 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6097
+t=42: Selected seed 195 with value = 0.6097
+Query 1/1: Action query time = 3.589 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6880
+t=58: Selected seed 195 with value = 0.6880
+Query 1/1: Action query time = 3.762 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8270
+t=74: Selected seed 195 with value = 0.8270
+Query 1/1: Action query time = 2.507 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9559
+t=90: Selected seed 195 with value = 0.9559
+Saved rollout MP4 at path ./rollouts/fcv2_350_t6_s02/2026_08_02-08_42_27--with_future_img--episode=2--success=True--task=put_the_cream_cheese_in_the_bowl.mp4
+Success: True
+# episodes completed so far: 2
+# successes: 1 (50.0%)
+
+Task: put the cream cheese in the bowl
+Starting episode 3...
+Query 1/1: Action query time = 3.179 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4352
+t=10: Selected seed 195 with value = 0.4352
+Query 1/1: Action query time = 3.140 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4420
+t=26: Selected seed 195 with value = 0.4420
+Query 1/1: Action query time = 3.145 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5963
+t=42: Selected seed 195 with value = 0.5963
+Query 1/1: Action query time = 3.135 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7242
+t=58: Selected seed 195 with value = 0.7242
+Query 1/1: Action query time = 2.967 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8603
+t=74: Selected seed 195 with value = 0.8603
+Query 1/1: Action query time = 1.594 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/fcv2_350_t6_s02/2026_08_02-08_42_27--with_future_img--episode=3--success=True--task=put_the_cream_cheese_in_the_bowl.mp4
+Success: True
+# episodes completed so far: 3
+# successes: 2 (66.7%)
+Current task success rate: 0.6666666666666666
+Current total success rate: 0.6666666666666666
+Final results:
+Total episodes: 3
+Total successes: 2
+Overall success rate: 0.6667 (66.7%)
diff --git a/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-08_42_28--fcv2_350_t6_s01.txt b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-08_42_28--fcv2_350_t6_s01.txt
new file mode 100644
index 0000000000000000000000000000000000000000..ffb9086a5e8f718eb114ec107a4a8d6a47b06f8a
--- /dev/null
+++ b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-08_42_28--fcv2_350_t6_s01.txt
@@ -0,0 +1,240 @@
+Eval config: PolicyEvalConfig(suite='libero', model_family='cosmos', config='cosmos_predict2_2b_480p_libero_cl_stage_inference_only', ckpt_path='/home/azureuser/REGEN-main/new/cosmos_policy/cosmos_v2_finetune/cosmos_predict2_2b_480p_libero_goal_task6_forget_cl_v2_from350_constlr_2gpu/checkpoints/iter_000000350/model', planning_model_config_name='', planning_model_ckpt_path='', config_file='cosmos_policy/config/config.py', packnet_mask_path='', packnet_first_cl_libero_task=6, use_third_person_image=True, num_third_person_images=1, use_wrist_image=True, num_wrist_images=1, use_proprio=True, flip_images=True, use_variance_scale=False, use_jpeg_compression=True, ar_future_prediction=False, ar_value_prediction=False, ar_qvalue_prediction=False, num_denoising_steps_action=5, num_denoising_steps_future_state=1, num_denoising_steps_value=1, unnormalize_actions=True, normalize_proprio=True, dataset_stats_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/libero_goal_regen/dataset_statistics.json', t5_text_embeddings_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/t5_embeddings.pkl', trained_with_image_aug=True, chunk_size=16, num_open_loop_steps=16, deterministic=True, deterministic_reset=False, deterministic_reset_seed=None, use_ensemble_future_state_predictions=False, num_future_state_predictions_in_ensemble=3, future_state_ensemble_aggregation_scheme='average', use_ensemble_value_predictions=False, num_value_predictions_in_ensemble=5, value_ensemble_aggregation_scheme='average', search_depth=1, mask_current_state_action_for_value_prediction=False, mask_future_state_for_qvalue_prediction=False, num_queries_best_of_n=1, use_parallel_inference=False, available_gpus='0', parallel_timeout=15, parallel_tasks_across_gpus=False, task_suite_name='libero_goal', num_trials_per_task=50, task_ids_to_run='6', initial_states_path='DEFAULT', env_img_res=256, local_log_dir='/home/azureuser/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal', run_id_note='fcv2_350_t6_s01', use_wandb=False, wandb_entity='YOUR_ENTITY', wandb_project='YOUR_PROJECT', seed=195, randomize_seed=False, data_collection=False, jpeg_compress=True, reward_stop_threshold=None, reward_stop_consecutive_steps=3, use_gpt_reward=False, gpt_reward_model='gpt-5.4-mini', gpt_reward_stop_threshold=4, gpt_reward_timeout_s=30.0, save_rollout_video=False, eval_hdf5_path='', eval_hdf5_demo_key='demo_0', data_gen_demo_ids='', eval_episode_ids='1,17,33,49', replay_actions=False, replay_action_path_dir='', replay_hdf5_path='', data_generation=False, max_generation_steps=200, simple_task_max_steps=100, complex_task_max_steps=200)
+Using serial inference (parallel inference disabled)
+Task suite: libero_goal
+Number of tasks: 10
+Running only task IDs: [6]
+Using default initial states
+
+Task: put the cream cheese in the bowl
+Starting episode 1...
+Query 1/1: Action query time = 2.735 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4499
+t=10: Selected seed 195 with value = 0.4499
+Query 1/1: Action query time = 4.434 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4685
+t=26: Selected seed 195 with value = 0.4685
+Query 1/1: Action query time = 4.680 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5770
+t=42: Selected seed 195 with value = 0.5770
+Query 1/1: Action query time = 5.440 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6566
+t=58: Selected seed 195 with value = 0.6566
+Query 1/1: Action query time = 5.308 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5867
+t=74: Selected seed 195 with value = 0.5867
+Query 1/1: Action query time = 4.769 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6222
+t=90: Selected seed 195 with value = 0.6222
+Query 1/1: Action query time = 4.436 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6717
+t=106: Selected seed 195 with value = 0.6717
+Query 1/1: Action query time = 3.884 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8215
+t=122: Selected seed 195 with value = 0.8215
+Query 1/1: Action query time = 4.557 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8918
+t=138: Selected seed 195 with value = 0.8918
+Query 1/1: Action query time = 4.273 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9409
+t=154: Selected seed 195 with value = 0.9409
+Query 1/1: Action query time = 4.964 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9636
+t=170: Selected seed 195 with value = 0.9636
+Query 1/1: Action query time = 5.048 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9662
+t=186: Selected seed 195 with value = 0.9662
+Query 1/1: Action query time = 5.004 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8992
+t=202: Selected seed 195 with value = 0.8992
+Query 1/1: Action query time = 4.291 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9435
+t=218: Selected seed 195 with value = 0.9435
+Query 1/1: Action query time = 4.539 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9427
+t=234: Selected seed 195 with value = 0.9427
+Query 1/1: Action query time = 5.186 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9477
+t=250: Selected seed 195 with value = 0.9477
+Query 1/1: Action query time = 4.762 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9545
+t=266: Selected seed 195 with value = 0.9545
+Query 1/1: Action query time = 5.320 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9599
+t=282: Selected seed 195 with value = 0.9599
+Query 1/1: Action query time = 4.221 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9607
+t=298: Selected seed 195 with value = 0.9607
+Saved rollout MP4 at path ./rollouts/fcv2_350_t6_s01/2026_08_02-08_42_28--with_future_img--episode=1--success=False--task=put_the_cream_cheese_in_the_bowl.mp4
+Success: False
+# episodes completed so far: 1
+# successes: 0 (0.0%)
+
+Task: put the cream cheese in the bowl
+Starting episode 2...
+Query 1/1: Action query time = 2.218 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4427
+t=10: Selected seed 195 with value = 0.4427
+Query 1/1: Action query time = 3.290 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4910
+t=26: Selected seed 195 with value = 0.4910
+Query 1/1: Action query time = 4.095 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5948
+t=42: Selected seed 195 with value = 0.5948
+Query 1/1: Action query time = 3.840 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7161
+t=58: Selected seed 195 with value = 0.7161
+Query 1/1: Action query time = 3.841 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8717
+t=74: Selected seed 195 with value = 0.8717
+Query 1/1: Action query time = 3.654 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9983
+t=90: Selected seed 195 with value = 0.9983
+Saved rollout MP4 at path ./rollouts/fcv2_350_t6_s01/2026_08_02-08_42_28--with_future_img--episode=2--success=True--task=put_the_cream_cheese_in_the_bowl.mp4
+Success: True
+# episodes completed so far: 2
+# successes: 1 (50.0%)
+
+Task: put the cream cheese in the bowl
+Starting episode 3...
+Query 1/1: Action query time = 1.653 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4442
+t=10: Selected seed 195 with value = 0.4442
+Query 1/1: Action query time = 3.511 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5369
+t=26: Selected seed 195 with value = 0.5369
+Query 1/1: Action query time = 3.126 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6356
+t=42: Selected seed 195 with value = 0.6356
+Query 1/1: Action query time = 3.158 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7543
+t=58: Selected seed 195 with value = 0.7543
+Query 1/1: Action query time = 3.105 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8867
+t=74: Selected seed 195 with value = 0.8867
+Query 1/1: Action query time = 2.997 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/fcv2_350_t6_s01/2026_08_02-08_42_28--with_future_img--episode=3--success=True--task=put_the_cream_cheese_in_the_bowl.mp4
+Success: True
+# episodes completed so far: 3
+# successes: 2 (66.7%)
+
+Task: put the cream cheese in the bowl
+Starting episode 4...
+Query 1/1: Action query time = 1.507 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4245
+t=10: Selected seed 195 with value = 0.4245
+Query 1/1: Action query time = 0.965 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4980
+t=26: Selected seed 195 with value = 0.4980
+Query 1/1: Action query time = 0.958 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5963
+t=42: Selected seed 195 with value = 0.5963
+Query 1/1: Action query time = 0.963 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6547
+t=58: Selected seed 195 with value = 0.6547
+Query 1/1: Action query time = 0.958 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5618
+t=74: Selected seed 195 with value = 0.5618
+Query 1/1: Action query time = 0.976 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6213
+t=90: Selected seed 195 with value = 0.6213
+Query 1/1: Action query time = 1.205 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6609
+t=106: Selected seed 195 with value = 0.6609
+Query 1/1: Action query time = 1.171 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7090
+t=122: Selected seed 195 with value = 0.7090
+Query 1/1: Action query time = 1.163 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8001
+t=138: Selected seed 195 with value = 0.8001
+Query 1/1: Action query time = 1.179 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8195
+t=154: Selected seed 195 with value = 0.8195
+Query 1/1: Action query time = 1.210 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8997
+t=170: Selected seed 195 with value = 0.8997
+Query 1/1: Action query time = 1.238 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9607
+t=186: Selected seed 195 with value = 0.9607
+Query 1/1: Action query time = 0.963 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=202: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.964 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=218: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.940 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=234: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.955 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=250: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.951 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9989
+t=266: Selected seed 195 with value = 0.9989
+Query 1/1: Action query time = 0.953 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=282: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.941 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9570
+t=298: Selected seed 195 with value = 0.9570
+Saved rollout MP4 at path ./rollouts/fcv2_350_t6_s01/2026_08_02-08_42_28--with_future_img--episode=4--success=False--task=put_the_cream_cheese_in_the_bowl.mp4
+Success: False
+# episodes completed so far: 4
+# successes: 2 (50.0%)
+Current task success rate: 0.5
+Current total success rate: 0.5
+Final results:
+Total episodes: 4
+Total successes: 2
+Overall success rate: 0.5000 (50.0%)
diff --git a/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-08_42_29--fcv2_350_t6_s14.txt b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-08_42_29--fcv2_350_t6_s14.txt
new file mode 100644
index 0000000000000000000000000000000000000000..1ad9aae538484af03c445d224fc64fdde3dedf2e
--- /dev/null
+++ b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-08_42_29--fcv2_350_t6_s14.txt
@@ -0,0 +1,161 @@
+Eval config: PolicyEvalConfig(suite='libero', model_family='cosmos', config='cosmos_predict2_2b_480p_libero_cl_stage_inference_only', ckpt_path='/home/azureuser/REGEN-main/new/cosmos_policy/cosmos_v2_finetune/cosmos_predict2_2b_480p_libero_goal_task6_forget_cl_v2_from350_constlr_2gpu/checkpoints/iter_000000350/model', planning_model_config_name='', planning_model_ckpt_path='', config_file='cosmos_policy/config/config.py', packnet_mask_path='', packnet_first_cl_libero_task=6, use_third_person_image=True, num_third_person_images=1, use_wrist_image=True, num_wrist_images=1, use_proprio=True, flip_images=True, use_variance_scale=False, use_jpeg_compression=True, ar_future_prediction=False, ar_value_prediction=False, ar_qvalue_prediction=False, num_denoising_steps_action=5, num_denoising_steps_future_state=1, num_denoising_steps_value=1, unnormalize_actions=True, normalize_proprio=True, dataset_stats_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/libero_goal_regen/dataset_statistics.json', t5_text_embeddings_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/t5_embeddings.pkl', trained_with_image_aug=True, chunk_size=16, num_open_loop_steps=16, deterministic=True, deterministic_reset=False, deterministic_reset_seed=None, use_ensemble_future_state_predictions=False, num_future_state_predictions_in_ensemble=3, future_state_ensemble_aggregation_scheme='average', use_ensemble_value_predictions=False, num_value_predictions_in_ensemble=5, value_ensemble_aggregation_scheme='average', search_depth=1, mask_current_state_action_for_value_prediction=False, mask_future_state_for_qvalue_prediction=False, num_queries_best_of_n=1, use_parallel_inference=False, available_gpus='0', parallel_timeout=15, parallel_tasks_across_gpus=False, task_suite_name='libero_goal', num_trials_per_task=50, task_ids_to_run='6', initial_states_path='DEFAULT', env_img_res=256, local_log_dir='/home/azureuser/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal', run_id_note='fcv2_350_t6_s14', use_wandb=False, wandb_entity='YOUR_ENTITY', wandb_project='YOUR_PROJECT', seed=195, randomize_seed=False, data_collection=False, jpeg_compress=True, reward_stop_threshold=None, reward_stop_consecutive_steps=3, use_gpt_reward=False, gpt_reward_model='gpt-5.4-mini', gpt_reward_stop_threshold=4, gpt_reward_timeout_s=30.0, save_rollout_video=False, eval_hdf5_path='', eval_hdf5_demo_key='demo_0', data_gen_demo_ids='', eval_episode_ids='14,30,46', replay_actions=False, replay_action_path_dir='', replay_hdf5_path='', data_generation=False, max_generation_steps=200, simple_task_max_steps=100, complex_task_max_steps=200)
+Using serial inference (parallel inference disabled)
+Task suite: libero_goal
+Number of tasks: 10
+Running only task IDs: [6]
+Using default initial states
+
+Task: put the cream cheese in the bowl
+Starting episode 1...
+Query 1/1: Action query time = 4.321 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4351
+t=10: Selected seed 195 with value = 0.4351
+Query 1/1: Action query time = 4.074 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5432
+t=26: Selected seed 195 with value = 0.5432
+Query 1/1: Action query time = 5.556 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6576
+t=42: Selected seed 195 with value = 0.6576
+Query 1/1: Action query time = 5.045 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7707
+t=58: Selected seed 195 with value = 0.7707
+Query 1/1: Action query time = 4.916 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8662
+t=74: Selected seed 195 with value = 0.8662
+Query 1/1: Action query time = 4.105 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9626
+t=90: Selected seed 195 with value = 0.9626
+Query 1/1: Action query time = 4.372 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9924
+t=106: Selected seed 195 with value = 0.9924
+Query 1/1: Action query time = 3.013 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9851
+t=122: Selected seed 195 with value = 0.9851
+Query 1/1: Action query time = 5.490 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=138: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 5.094 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=154: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 5.116 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9992
+t=170: Selected seed 195 with value = 0.9992
+Query 1/1: Action query time = 4.506 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9990
+t=186: Selected seed 195 with value = 0.9990
+Query 1/1: Action query time = 4.661 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9991
+t=202: Selected seed 195 with value = 0.9991
+Query 1/1: Action query time = 4.264 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9957
+t=218: Selected seed 195 with value = 0.9957
+Query 1/1: Action query time = 3.529 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9911
+t=234: Selected seed 195 with value = 0.9911
+Query 1/1: Action query time = 4.639 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9878
+t=250: Selected seed 195 with value = 0.9878
+Query 1/1: Action query time = 4.861 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9885
+t=266: Selected seed 195 with value = 0.9885
+Query 1/1: Action query time = 4.977 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9856
+t=282: Selected seed 195 with value = 0.9856
+Query 1/1: Action query time = 4.175 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9816
+t=298: Selected seed 195 with value = 0.9816
+Saved rollout MP4 at path ./rollouts/fcv2_350_t6_s14/2026_08_02-08_42_29--with_future_img--episode=1--success=False--task=put_the_cream_cheese_in_the_bowl.mp4
+Success: False
+# episodes completed so far: 1
+# successes: 0 (0.0%)
+
+Task: put the cream cheese in the bowl
+Starting episode 2...
+Query 1/1: Action query time = 1.612 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4193
+t=10: Selected seed 195 with value = 0.4193
+Query 1/1: Action query time = 1.532 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4888
+t=26: Selected seed 195 with value = 0.4888
+Query 1/1: Action query time = 1.815 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5835
+t=42: Selected seed 195 with value = 0.5835
+Query 1/1: Action query time = 1.789 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7064
+t=58: Selected seed 195 with value = 0.7064
+Query 1/1: Action query time = 1.678 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8039
+t=74: Selected seed 195 with value = 0.8039
+Query 1/1: Action query time = 1.378 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9437
+t=90: Selected seed 195 with value = 0.9437
+Saved rollout MP4 at path ./rollouts/fcv2_350_t6_s14/2026_08_02-08_42_29--with_future_img--episode=2--success=True--task=put_the_cream_cheese_in_the_bowl.mp4
+Success: True
+# episodes completed so far: 2
+# successes: 1 (50.0%)
+
+Task: put the cream cheese in the bowl
+Starting episode 3...
+Query 1/1: Action query time = 2.130 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4565
+t=10: Selected seed 195 with value = 0.4565
+Query 1/1: Action query time = 1.524 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5032
+t=26: Selected seed 195 with value = 0.5032
+Query 1/1: Action query time = 1.825 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6237
+t=42: Selected seed 195 with value = 0.6237
+Query 1/1: Action query time = 1.434 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6662
+t=58: Selected seed 195 with value = 0.6662
+Query 1/1: Action query time = 1.285 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7856
+t=74: Selected seed 195 with value = 0.7856
+Query 1/1: Action query time = 1.849 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9522
+t=90: Selected seed 195 with value = 0.9522
+Query 1/1: Action query time = 0.972 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=106: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/fcv2_350_t6_s14/2026_08_02-08_42_29--with_future_img--episode=3--success=True--task=put_the_cream_cheese_in_the_bowl.mp4
+Success: True
+# episodes completed so far: 3
+# successes: 2 (66.7%)
+Current task success rate: 0.6666666666666666
+Current total success rate: 0.6666666666666666
+Final results:
+Total episodes: 3
+Total successes: 2
+Overall success rate: 0.6667 (66.7%)
diff --git a/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-08_49_15--ft6100_t0_s00.txt b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-08_49_15--ft6100_t0_s00.txt
new file mode 100644
index 0000000000000000000000000000000000000000..03364f643b8d2b5365f69174bcf8e9729aa06b5b
--- /dev/null
+++ b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-08_49_15--ft6100_t0_s00.txt
@@ -0,0 +1,192 @@
+Eval config: PolicyEvalConfig(suite='libero', model_family='cosmos', config='cosmos_predict2_2b_480p_libero_cl_stage_inference_only', ckpt_path='/home/azureuser/REGEN-main/new/cosmos_policy/cosmos_v2_finetune/cosmos_predict2_2b_480p_libero_goal_task6_ft_from40k_2gpu_100step/checkpoints/iter_000000100/model', planning_model_config_name='', planning_model_ckpt_path='', config_file='cosmos_policy/config/config.py', packnet_mask_path='', packnet_first_cl_libero_task=6, use_third_person_image=True, num_third_person_images=1, use_wrist_image=True, num_wrist_images=1, use_proprio=True, flip_images=True, use_variance_scale=False, use_jpeg_compression=True, ar_future_prediction=False, ar_value_prediction=False, ar_qvalue_prediction=False, num_denoising_steps_action=5, num_denoising_steps_future_state=1, num_denoising_steps_value=1, unnormalize_actions=True, normalize_proprio=True, dataset_stats_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/libero_goal_regen/dataset_statistics.json', t5_text_embeddings_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/t5_embeddings.pkl', trained_with_image_aug=True, chunk_size=16, num_open_loop_steps=16, deterministic=True, deterministic_reset=False, deterministic_reset_seed=None, use_ensemble_future_state_predictions=False, num_future_state_predictions_in_ensemble=3, future_state_ensemble_aggregation_scheme='average', use_ensemble_value_predictions=False, num_value_predictions_in_ensemble=5, value_ensemble_aggregation_scheme='average', search_depth=1, mask_current_state_action_for_value_prediction=False, mask_future_state_for_qvalue_prediction=False, num_queries_best_of_n=1, use_parallel_inference=False, available_gpus='0', parallel_timeout=15, parallel_tasks_across_gpus=False, task_suite_name='libero_goal', num_trials_per_task=50, task_ids_to_run='0', initial_states_path='DEFAULT', env_img_res=256, local_log_dir='/home/azureuser/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal', run_id_note='ft6100_t0_s00', use_wandb=False, wandb_entity='YOUR_ENTITY', wandb_project='YOUR_PROJECT', seed=195, randomize_seed=False, data_collection=False, jpeg_compress=True, reward_stop_threshold=None, reward_stop_consecutive_steps=3, use_gpt_reward=False, gpt_reward_model='gpt-5.4-mini', gpt_reward_stop_threshold=4, gpt_reward_timeout_s=30.0, save_rollout_video=False, eval_hdf5_path='', eval_hdf5_demo_key='demo_0', data_gen_demo_ids='', eval_episode_ids='0,16,32,48', replay_actions=False, replay_action_path_dir='', replay_hdf5_path='', data_generation=False, max_generation_steps=200, simple_task_max_steps=100, complex_task_max_steps=200)
+Using serial inference (parallel inference disabled)
+Task suite: libero_goal
+Number of tasks: 10
+Running only task IDs: [0]
+Using default initial states
+
+Task: open the middle drawer of the cabinet
+Starting episode 1...
+Query 1/1: Action query time = 6.434 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3411
+t=10: Selected seed 195 with value = 0.3411
+Query 1/1: Action query time = 3.488 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3401
+t=26: Selected seed 195 with value = 0.3401
+Query 1/1: Action query time = 4.965 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4443
+t=42: Selected seed 195 with value = 0.4443
+Query 1/1: Action query time = 6.136 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5584
+t=58: Selected seed 195 with value = 0.5584
+Query 1/1: Action query time = 5.347 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5961
+t=74: Selected seed 195 with value = 0.5961
+Query 1/1: Action query time = 4.434 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5663
+t=90: Selected seed 195 with value = 0.5663
+Query 1/1: Action query time = 4.925 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5659
+t=106: Selected seed 195 with value = 0.5659
+Query 1/1: Action query time = 4.958 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8023
+t=122: Selected seed 195 with value = 0.8023
+Query 1/1: Action query time = 4.876 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9162
+t=138: Selected seed 195 with value = 0.9162
+Saved rollout MP4 at path ./rollouts/ft6100_t0_s00/2026_08_02-08_49_15--with_future_img--episode=1--success=True--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: True
+# episodes completed so far: 1
+# successes: 1 (100.0%)
+
+Task: open the middle drawer of the cabinet
+Starting episode 2...
+Query 1/1: Action query time = 2.557 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3396
+t=10: Selected seed 195 with value = 0.3396
+Query 1/1: Action query time = 5.222 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3428
+t=26: Selected seed 195 with value = 0.3428
+Query 1/1: Action query time = 4.338 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4367
+t=42: Selected seed 195 with value = 0.4367
+Query 1/1: Action query time = 5.539 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5388
+t=58: Selected seed 195 with value = 0.5388
+Query 1/1: Action query time = 5.294 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5978
+t=74: Selected seed 195 with value = 0.5978
+Query 1/1: Action query time = 4.791 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5714
+t=90: Selected seed 195 with value = 0.5714
+Query 1/1: Action query time = 4.880 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5443
+t=106: Selected seed 195 with value = 0.5443
+Query 1/1: Action query time = 5.311 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8115
+t=122: Selected seed 195 with value = 0.8115
+Query 1/1: Action query time = 4.144 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9182
+t=138: Selected seed 195 with value = 0.9182
+Saved rollout MP4 at path ./rollouts/ft6100_t0_s00/2026_08_02-08_49_15--with_future_img--episode=2--success=True--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: True
+# episodes completed so far: 2
+# successes: 2 (100.0%)
+
+Task: open the middle drawer of the cabinet
+Starting episode 3...
+Query 1/1: Action query time = 5.419 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3477
+t=10: Selected seed 195 with value = 0.3477
+Query 1/1: Action query time = 3.433 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3168
+t=26: Selected seed 195 with value = 0.3168
+Query 1/1: Action query time = 4.339 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4490
+t=42: Selected seed 195 with value = 0.4490
+Query 1/1: Action query time = 4.916 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6416
+t=58: Selected seed 195 with value = 0.6416
+Query 1/1: Action query time = 4.540 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7324
+t=74: Selected seed 195 with value = 0.7324
+Query 1/1: Action query time = 4.971 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6409
+t=90: Selected seed 195 with value = 0.6409
+Query 1/1: Action query time = 4.545 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5710
+t=106: Selected seed 195 with value = 0.5710
+Query 1/1: Action query time = 5.248 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7071
+t=122: Selected seed 195 with value = 0.7071
+Query 1/1: Action query time = 5.326 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7956
+t=138: Selected seed 195 with value = 0.7956
+Query 1/1: Action query time = 4.704 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9241
+t=154: Selected seed 195 with value = 0.9241
+Saved rollout MP4 at path ./rollouts/ft6100_t0_s00/2026_08_02-08_49_15--with_future_img--episode=3--success=True--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: True
+# episodes completed so far: 3
+# successes: 3 (100.0%)
+
+Task: open the middle drawer of the cabinet
+Starting episode 4...
+Query 1/1: Action query time = 3.418 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3585
+t=10: Selected seed 195 with value = 0.3585
+Query 1/1: Action query time = 3.615 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3771
+t=26: Selected seed 195 with value = 0.3771
+Query 1/1: Action query time = 4.205 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4486
+t=42: Selected seed 195 with value = 0.4486
+Query 1/1: Action query time = 4.142 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5674
+t=58: Selected seed 195 with value = 0.5674
+Query 1/1: Action query time = 3.423 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6224
+t=74: Selected seed 195 with value = 0.6224
+Query 1/1: Action query time = 2.239 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6400
+t=90: Selected seed 195 with value = 0.6400
+Query 1/1: Action query time = 2.837 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7352
+t=106: Selected seed 195 with value = 0.7352
+Query 1/1: Action query time = 2.195 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7223
+t=122: Selected seed 195 with value = 0.7223
+Query 1/1: Action query time = 2.459 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8677
+t=138: Selected seed 195 with value = 0.8677
+Query 1/1: Action query time = 2.118 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=154: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/ft6100_t0_s00/2026_08_02-08_49_15--with_future_img--episode=4--success=True--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: True
+# episodes completed so far: 4
+# successes: 4 (100.0%)
+Current task success rate: 1.0
+Current total success rate: 1.0
+Final results:
+Total episodes: 4
+Total successes: 4
+Overall success rate: 1.0000 (100.0%)
diff --git a/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-08_49_15--ft6100_t0_s04.txt b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-08_49_15--ft6100_t0_s04.txt
new file mode 100644
index 0000000000000000000000000000000000000000..a6b097189e3de09a69051e7bf0f0f8168a983ab8
--- /dev/null
+++ b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-08_49_15--ft6100_t0_s04.txt
@@ -0,0 +1,169 @@
+Eval config: PolicyEvalConfig(suite='libero', model_family='cosmos', config='cosmos_predict2_2b_480p_libero_cl_stage_inference_only', ckpt_path='/home/azureuser/REGEN-main/new/cosmos_policy/cosmos_v2_finetune/cosmos_predict2_2b_480p_libero_goal_task6_ft_from40k_2gpu_100step/checkpoints/iter_000000100/model', planning_model_config_name='', planning_model_ckpt_path='', config_file='cosmos_policy/config/config.py', packnet_mask_path='', packnet_first_cl_libero_task=6, use_third_person_image=True, num_third_person_images=1, use_wrist_image=True, num_wrist_images=1, use_proprio=True, flip_images=True, use_variance_scale=False, use_jpeg_compression=True, ar_future_prediction=False, ar_value_prediction=False, ar_qvalue_prediction=False, num_denoising_steps_action=5, num_denoising_steps_future_state=1, num_denoising_steps_value=1, unnormalize_actions=True, normalize_proprio=True, dataset_stats_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/libero_goal_regen/dataset_statistics.json', t5_text_embeddings_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/t5_embeddings.pkl', trained_with_image_aug=True, chunk_size=16, num_open_loop_steps=16, deterministic=True, deterministic_reset=False, deterministic_reset_seed=None, use_ensemble_future_state_predictions=False, num_future_state_predictions_in_ensemble=3, future_state_ensemble_aggregation_scheme='average', use_ensemble_value_predictions=False, num_value_predictions_in_ensemble=5, value_ensemble_aggregation_scheme='average', search_depth=1, mask_current_state_action_for_value_prediction=False, mask_future_state_for_qvalue_prediction=False, num_queries_best_of_n=1, use_parallel_inference=False, available_gpus='0', parallel_timeout=15, parallel_tasks_across_gpus=False, task_suite_name='libero_goal', num_trials_per_task=50, task_ids_to_run='0', initial_states_path='DEFAULT', env_img_res=256, local_log_dir='/home/azureuser/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal', run_id_note='ft6100_t0_s04', use_wandb=False, wandb_entity='YOUR_ENTITY', wandb_project='YOUR_PROJECT', seed=195, randomize_seed=False, data_collection=False, jpeg_compress=True, reward_stop_threshold=None, reward_stop_consecutive_steps=3, use_gpt_reward=False, gpt_reward_model='gpt-5.4-mini', gpt_reward_stop_threshold=4, gpt_reward_timeout_s=30.0, save_rollout_video=False, eval_hdf5_path='', eval_hdf5_demo_key='demo_0', data_gen_demo_ids='', eval_episode_ids='4,20,36', replay_actions=False, replay_action_path_dir='', replay_hdf5_path='', data_generation=False, max_generation_steps=200, simple_task_max_steps=100, complex_task_max_steps=200)
+Using serial inference (parallel inference disabled)
+Task suite: libero_goal
+Number of tasks: 10
+Running only task IDs: [0]
+Using default initial states
+
+Task: open the middle drawer of the cabinet
+Starting episode 1...
+Query 1/1: Action query time = 6.932 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3573
+t=10: Selected seed 195 with value = 0.3573
+Query 1/1: Action query time = 3.454 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3602
+t=26: Selected seed 195 with value = 0.3602
+Query 1/1: Action query time = 4.674 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4382
+t=42: Selected seed 195 with value = 0.4382
+Query 1/1: Action query time = 5.713 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5211
+t=58: Selected seed 195 with value = 0.5211
+Query 1/1: Action query time = 5.621 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6389
+t=74: Selected seed 195 with value = 0.6389
+Query 1/1: Action query time = 4.876 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6239
+t=90: Selected seed 195 with value = 0.6239
+Query 1/1: Action query time = 5.170 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7228
+t=106: Selected seed 195 with value = 0.7228
+Query 1/1: Action query time = 5.179 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7063
+t=122: Selected seed 195 with value = 0.7063
+Query 1/1: Action query time = 4.850 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7297
+t=138: Selected seed 195 with value = 0.7297
+Query 1/1: Action query time = 2.313 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7500
+t=154: Selected seed 195 with value = 0.7500
+Query 1/1: Action query time = 3.180 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8535
+t=170: Selected seed 195 with value = 0.8535
+Query 1/1: Action query time = 5.272 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9817
+t=186: Selected seed 195 with value = 0.9817
+Saved rollout MP4 at path ./rollouts/ft6100_t0_s04/2026_08_02-08_49_15--with_future_img--episode=1--success=True--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: True
+# episodes completed so far: 1
+# successes: 1 (100.0%)
+
+Task: open the middle drawer of the cabinet
+Starting episode 2...
+Query 1/1: Action query time = 5.300 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3147
+t=10: Selected seed 195 with value = 0.3147
+Query 1/1: Action query time = 5.402 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3102
+t=26: Selected seed 195 with value = 0.3102
+Query 1/1: Action query time = 5.359 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4394
+t=42: Selected seed 195 with value = 0.4394
+Query 1/1: Action query time = 4.860 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6459
+t=58: Selected seed 195 with value = 0.6459
+Query 1/1: Action query time = 5.099 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7452
+t=74: Selected seed 195 with value = 0.7452
+Query 1/1: Action query time = 3.667 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7269
+t=90: Selected seed 195 with value = 0.7269
+Query 1/1: Action query time = 3.926 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5910
+t=106: Selected seed 195 with value = 0.5910
+Query 1/1: Action query time = 5.303 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6136
+t=122: Selected seed 195 with value = 0.6136
+Query 1/1: Action query time = 3.423 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7269
+t=138: Selected seed 195 with value = 0.7269
+Query 1/1: Action query time = 4.591 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7622
+t=154: Selected seed 195 with value = 0.7622
+Query 1/1: Action query time = 5.879 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7442
+t=170: Selected seed 195 with value = 0.7442
+Query 1/1: Action query time = 4.898 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8457
+t=186: Selected seed 195 with value = 0.8457
+Query 1/1: Action query time = 4.934 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9952
+t=202: Selected seed 195 with value = 0.9952
+Saved rollout MP4 at path ./rollouts/ft6100_t0_s04/2026_08_02-08_49_15--with_future_img--episode=2--success=True--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: True
+# episodes completed so far: 2
+# successes: 2 (100.0%)
+
+Task: open the middle drawer of the cabinet
+Starting episode 3...
+Query 1/1: Action query time = 5.039 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2834
+t=10: Selected seed 195 with value = 0.2834
+Query 1/1: Action query time = 5.152 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3604
+t=26: Selected seed 195 with value = 0.3604
+Query 1/1: Action query time = 4.350 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3537
+t=42: Selected seed 195 with value = 0.3537
+Query 1/1: Action query time = 4.000 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4308
+t=58: Selected seed 195 with value = 0.4308
+Query 1/1: Action query time = 5.124 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6064
+t=74: Selected seed 195 with value = 0.6064
+Query 1/1: Action query time = 3.329 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5695
+t=90: Selected seed 195 with value = 0.5695
+Query 1/1: Action query time = 3.585 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7122
+t=106: Selected seed 195 with value = 0.7122
+Query 1/1: Action query time = 3.826 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8215
+t=122: Selected seed 195 with value = 0.8215
+Query 1/1: Action query time = 3.400 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9397
+t=138: Selected seed 195 with value = 0.9397
+Saved rollout MP4 at path ./rollouts/ft6100_t0_s04/2026_08_02-08_49_15--with_future_img--episode=3--success=True--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: True
+# episodes completed so far: 3
+# successes: 3 (100.0%)
+Current task success rate: 1.0
+Current total success rate: 1.0
+Final results:
+Total episodes: 3
+Total successes: 3
+Overall success rate: 1.0000 (100.0%)
diff --git a/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-08_49_15--ft6100_t0_s07.txt b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-08_49_15--ft6100_t0_s07.txt
new file mode 100644
index 0000000000000000000000000000000000000000..3330337d250f6965bc5dc851a11c77bc92cdba30
--- /dev/null
+++ b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-08_49_15--ft6100_t0_s07.txt
@@ -0,0 +1,189 @@
+Eval config: PolicyEvalConfig(suite='libero', model_family='cosmos', config='cosmos_predict2_2b_480p_libero_cl_stage_inference_only', ckpt_path='/home/azureuser/REGEN-main/new/cosmos_policy/cosmos_v2_finetune/cosmos_predict2_2b_480p_libero_goal_task6_ft_from40k_2gpu_100step/checkpoints/iter_000000100/model', planning_model_config_name='', planning_model_ckpt_path='', config_file='cosmos_policy/config/config.py', packnet_mask_path='', packnet_first_cl_libero_task=6, use_third_person_image=True, num_third_person_images=1, use_wrist_image=True, num_wrist_images=1, use_proprio=True, flip_images=True, use_variance_scale=False, use_jpeg_compression=True, ar_future_prediction=False, ar_value_prediction=False, ar_qvalue_prediction=False, num_denoising_steps_action=5, num_denoising_steps_future_state=1, num_denoising_steps_value=1, unnormalize_actions=True, normalize_proprio=True, dataset_stats_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/libero_goal_regen/dataset_statistics.json', t5_text_embeddings_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/t5_embeddings.pkl', trained_with_image_aug=True, chunk_size=16, num_open_loop_steps=16, deterministic=True, deterministic_reset=False, deterministic_reset_seed=None, use_ensemble_future_state_predictions=False, num_future_state_predictions_in_ensemble=3, future_state_ensemble_aggregation_scheme='average', use_ensemble_value_predictions=False, num_value_predictions_in_ensemble=5, value_ensemble_aggregation_scheme='average', search_depth=1, mask_current_state_action_for_value_prediction=False, mask_future_state_for_qvalue_prediction=False, num_queries_best_of_n=1, use_parallel_inference=False, available_gpus='0', parallel_timeout=15, parallel_tasks_across_gpus=False, task_suite_name='libero_goal', num_trials_per_task=50, task_ids_to_run='0', initial_states_path='DEFAULT', env_img_res=256, local_log_dir='/home/azureuser/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal', run_id_note='ft6100_t0_s07', use_wandb=False, wandb_entity='YOUR_ENTITY', wandb_project='YOUR_PROJECT', seed=195, randomize_seed=False, data_collection=False, jpeg_compress=True, reward_stop_threshold=None, reward_stop_consecutive_steps=3, use_gpt_reward=False, gpt_reward_model='gpt-5.4-mini', gpt_reward_stop_threshold=4, gpt_reward_timeout_s=30.0, save_rollout_video=False, eval_hdf5_path='', eval_hdf5_demo_key='demo_0', data_gen_demo_ids='', eval_episode_ids='7,23,39', replay_actions=False, replay_action_path_dir='', replay_hdf5_path='', data_generation=False, max_generation_steps=200, simple_task_max_steps=100, complex_task_max_steps=200)
+Using serial inference (parallel inference disabled)
+Task suite: libero_goal
+Number of tasks: 10
+Running only task IDs: [0]
+Using default initial states
+
+Task: open the middle drawer of the cabinet
+Starting episode 1...
+Query 1/1: Action query time = 7.581 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3088
+t=10: Selected seed 195 with value = 0.3088
+Query 1/1: Action query time = 6.091 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3487
+t=26: Selected seed 195 with value = 0.3487
+Query 1/1: Action query time = 6.161 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4104
+t=42: Selected seed 195 with value = 0.4104
+Query 1/1: Action query time = 4.633 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5227
+t=58: Selected seed 195 with value = 0.5227
+Query 1/1: Action query time = 5.032 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6071
+t=74: Selected seed 195 with value = 0.6071
+Query 1/1: Action query time = 5.426 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6315
+t=90: Selected seed 195 with value = 0.6315
+Query 1/1: Action query time = 5.195 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7167
+t=106: Selected seed 195 with value = 0.7167
+Query 1/1: Action query time = 5.023 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7708
+t=122: Selected seed 195 with value = 0.7708
+Query 1/1: Action query time = 3.159 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8654
+t=138: Selected seed 195 with value = 0.8654
+Query 1/1: Action query time = 2.567 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=154: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/ft6100_t0_s07/2026_08_02-08_49_15--with_future_img--episode=1--success=True--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: True
+# episodes completed so far: 1
+# successes: 1 (100.0%)
+
+Task: open the middle drawer of the cabinet
+Starting episode 2...
+Query 1/1: Action query time = 5.153 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3066
+t=10: Selected seed 195 with value = 0.3066
+Query 1/1: Action query time = 4.109 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3015
+t=26: Selected seed 195 with value = 0.3015
+Query 1/1: Action query time = 4.903 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4203
+t=42: Selected seed 195 with value = 0.4203
+Query 1/1: Action query time = 5.422 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5335
+t=58: Selected seed 195 with value = 0.5335
+Query 1/1: Action query time = 5.255 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6640
+t=74: Selected seed 195 with value = 0.6640
+Query 1/1: Action query time = 5.091 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6238
+t=90: Selected seed 195 with value = 0.6238
+Query 1/1: Action query time = 4.285 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7243
+t=106: Selected seed 195 with value = 0.7243
+Query 1/1: Action query time = 2.804 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7733
+t=122: Selected seed 195 with value = 0.7733
+Query 1/1: Action query time = 3.712 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9023
+t=138: Selected seed 195 with value = 0.9023
+Query 1/1: Action query time = 4.981 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=154: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/ft6100_t0_s07/2026_08_02-08_49_15--with_future_img--episode=2--success=True--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: True
+# episodes completed so far: 2
+# successes: 2 (100.0%)
+
+Task: open the middle drawer of the cabinet
+Starting episode 3...
+Query 1/1: Action query time = 4.435 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3257
+t=10: Selected seed 195 with value = 0.3257
+Query 1/1: Action query time = 5.340 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3390
+t=26: Selected seed 195 with value = 0.3390
+Query 1/1: Action query time = 5.612 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4722
+t=42: Selected seed 195 with value = 0.4722
+Query 1/1: Action query time = 4.794 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8353
+t=58: Selected seed 195 with value = 0.8353
+Query 1/1: Action query time = 3.931 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7147
+t=74: Selected seed 195 with value = 0.7147
+Query 1/1: Action query time = 5.092 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7861
+t=90: Selected seed 195 with value = 0.7861
+Query 1/1: Action query time = 5.267 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8969
+t=106: Selected seed 195 with value = 0.8969
+Query 1/1: Action query time = 4.377 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9319
+t=122: Selected seed 195 with value = 0.9319
+Query 1/1: Action query time = 3.737 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9623
+t=138: Selected seed 195 with value = 0.9623
+Query 1/1: Action query time = 4.987 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9162
+t=154: Selected seed 195 with value = 0.9162
+Query 1/1: Action query time = 3.240 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8312
+t=170: Selected seed 195 with value = 0.8312
+Query 1/1: Action query time = 3.520 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8381
+t=186: Selected seed 195 with value = 0.8381
+Query 1/1: Action query time = 3.762 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8202
+t=202: Selected seed 195 with value = 0.8202
+Query 1/1: Action query time = 3.886 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7635
+t=218: Selected seed 195 with value = 0.7635
+Query 1/1: Action query time = 2.767 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7717
+t=234: Selected seed 195 with value = 0.7717
+Query 1/1: Action query time = 2.664 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7839
+t=250: Selected seed 195 with value = 0.7839
+Query 1/1: Action query time = 1.957 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7982
+t=266: Selected seed 195 with value = 0.7982
+Query 1/1: Action query time = 1.487 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8310
+t=282: Selected seed 195 with value = 0.8310
+Query 1/1: Action query time = 1.789 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7633
+t=298: Selected seed 195 with value = 0.7633
+Saved rollout MP4 at path ./rollouts/ft6100_t0_s07/2026_08_02-08_49_15--with_future_img--episode=3--success=False--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: False
+# episodes completed so far: 3
+# successes: 2 (66.7%)
+Current task success rate: 0.6666666666666666
+Current total success rate: 0.6666666666666666
+Final results:
+Total episodes: 3
+Total successes: 2
+Overall success rate: 0.6667 (66.7%)
diff --git a/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-08_49_16--ft6100_t0_s08.txt b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-08_49_16--ft6100_t0_s08.txt
new file mode 100644
index 0000000000000000000000000000000000000000..e6d7a9c127f53315916dac630400567c76712d13
--- /dev/null
+++ b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-08_49_16--ft6100_t0_s08.txt
@@ -0,0 +1,225 @@
+Eval config: PolicyEvalConfig(suite='libero', model_family='cosmos', config='cosmos_predict2_2b_480p_libero_cl_stage_inference_only', ckpt_path='/home/azureuser/REGEN-main/new/cosmos_policy/cosmos_v2_finetune/cosmos_predict2_2b_480p_libero_goal_task6_ft_from40k_2gpu_100step/checkpoints/iter_000000100/model', planning_model_config_name='', planning_model_ckpt_path='', config_file='cosmos_policy/config/config.py', packnet_mask_path='', packnet_first_cl_libero_task=6, use_third_person_image=True, num_third_person_images=1, use_wrist_image=True, num_wrist_images=1, use_proprio=True, flip_images=True, use_variance_scale=False, use_jpeg_compression=True, ar_future_prediction=False, ar_value_prediction=False, ar_qvalue_prediction=False, num_denoising_steps_action=5, num_denoising_steps_future_state=1, num_denoising_steps_value=1, unnormalize_actions=True, normalize_proprio=True, dataset_stats_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/libero_goal_regen/dataset_statistics.json', t5_text_embeddings_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/t5_embeddings.pkl', trained_with_image_aug=True, chunk_size=16, num_open_loop_steps=16, deterministic=True, deterministic_reset=False, deterministic_reset_seed=None, use_ensemble_future_state_predictions=False, num_future_state_predictions_in_ensemble=3, future_state_ensemble_aggregation_scheme='average', use_ensemble_value_predictions=False, num_value_predictions_in_ensemble=5, value_ensemble_aggregation_scheme='average', search_depth=1, mask_current_state_action_for_value_prediction=False, mask_future_state_for_qvalue_prediction=False, num_queries_best_of_n=1, use_parallel_inference=False, available_gpus='0', parallel_timeout=15, parallel_tasks_across_gpus=False, task_suite_name='libero_goal', num_trials_per_task=50, task_ids_to_run='0', initial_states_path='DEFAULT', env_img_res=256, local_log_dir='/home/azureuser/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal', run_id_note='ft6100_t0_s08', use_wandb=False, wandb_entity='YOUR_ENTITY', wandb_project='YOUR_PROJECT', seed=195, randomize_seed=False, data_collection=False, jpeg_compress=True, reward_stop_threshold=None, reward_stop_consecutive_steps=3, use_gpt_reward=False, gpt_reward_model='gpt-5.4-mini', gpt_reward_stop_threshold=4, gpt_reward_timeout_s=30.0, save_rollout_video=False, eval_hdf5_path='', eval_hdf5_demo_key='demo_0', data_gen_demo_ids='', eval_episode_ids='8,24,40', replay_actions=False, replay_action_path_dir='', replay_hdf5_path='', data_generation=False, max_generation_steps=200, simple_task_max_steps=100, complex_task_max_steps=200)
+Using serial inference (parallel inference disabled)
+Task suite: libero_goal
+Number of tasks: 10
+Running only task IDs: [0]
+Using default initial states
+
+Task: open the middle drawer of the cabinet
+Starting episode 1...
+Query 1/1: Action query time = 7.210 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3211
+t=10: Selected seed 195 with value = 0.3211
+Query 1/1: Action query time = 4.831 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3264
+t=26: Selected seed 195 with value = 0.3264
+Query 1/1: Action query time = 3.881 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4452
+t=42: Selected seed 195 with value = 0.4452
+Query 1/1: Action query time = 5.349 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6208
+t=58: Selected seed 195 with value = 0.6208
+Query 1/1: Action query time = 5.774 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8285
+t=74: Selected seed 195 with value = 0.8285
+Query 1/1: Action query time = 4.721 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6963
+t=90: Selected seed 195 with value = 0.6963
+Query 1/1: Action query time = 4.916 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6041
+t=106: Selected seed 195 with value = 0.6041
+Query 1/1: Action query time = 5.172 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7117
+t=122: Selected seed 195 with value = 0.7117
+Query 1/1: Action query time = 4.626 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7866
+t=138: Selected seed 195 with value = 0.7866
+Query 1/1: Action query time = 4.090 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6797
+t=154: Selected seed 195 with value = 0.6797
+Query 1/1: Action query time = 2.911 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5660
+t=170: Selected seed 195 with value = 0.5660
+Query 1/1: Action query time = 4.948 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6221
+t=186: Selected seed 195 with value = 0.6221
+Query 1/1: Action query time = 5.141 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6667
+t=202: Selected seed 195 with value = 0.6667
+Query 1/1: Action query time = 5.122 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7371
+t=218: Selected seed 195 with value = 0.7371
+Query 1/1: Action query time = 5.297 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7673
+t=234: Selected seed 195 with value = 0.7673
+Query 1/1: Action query time = 5.197 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7653
+t=250: Selected seed 195 with value = 0.7653
+Query 1/1: Action query time = 5.473 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7976
+t=266: Selected seed 195 with value = 0.7976
+Query 1/1: Action query time = 5.377 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5658
+t=282: Selected seed 195 with value = 0.5658
+Query 1/1: Action query time = 4.813 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3057
+t=298: Selected seed 195 with value = 0.3057
+Saved rollout MP4 at path ./rollouts/ft6100_t0_s08/2026_08_02-08_49_16--with_future_img--episode=1--success=False--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: False
+# episodes completed so far: 1
+# successes: 0 (0.0%)
+
+Task: open the middle drawer of the cabinet
+Starting episode 2...
+Query 1/1: Action query time = 4.991 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3675
+t=10: Selected seed 195 with value = 0.3675
+Query 1/1: Action query time = 4.334 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3667
+t=26: Selected seed 195 with value = 0.3667
+Query 1/1: Action query time = 4.772 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4271
+t=42: Selected seed 195 with value = 0.4271
+Query 1/1: Action query time = 5.327 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5086
+t=58: Selected seed 195 with value = 0.5086
+Query 1/1: Action query time = 5.267 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6066
+t=74: Selected seed 195 with value = 0.6066
+Query 1/1: Action query time = 4.980 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6263
+t=90: Selected seed 195 with value = 0.6263
+Query 1/1: Action query time = 4.773 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7277
+t=106: Selected seed 195 with value = 0.7277
+Query 1/1: Action query time = 5.264 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7325
+t=122: Selected seed 195 with value = 0.7325
+Query 1/1: Action query time = 4.940 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8686
+t=138: Selected seed 195 with value = 0.8686
+Query 1/1: Action query time = 3.771 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=154: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/ft6100_t0_s08/2026_08_02-08_49_16--with_future_img--episode=2--success=True--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: True
+# episodes completed so far: 2
+# successes: 1 (50.0%)
+
+Task: open the middle drawer of the cabinet
+Starting episode 3...
+Query 1/1: Action query time = 3.440 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3584
+t=10: Selected seed 195 with value = 0.3584
+Query 1/1: Action query time = 3.410 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3723
+t=26: Selected seed 195 with value = 0.3723
+Query 1/1: Action query time = 3.458 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4385
+t=42: Selected seed 195 with value = 0.4385
+Query 1/1: Action query time = 3.825 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5571
+t=58: Selected seed 195 with value = 0.5571
+Query 1/1: Action query time = 4.463 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6471
+t=74: Selected seed 195 with value = 0.6471
+Query 1/1: Action query time = 2.587 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6555
+t=90: Selected seed 195 with value = 0.6555
+Query 1/1: Action query time = 2.927 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7296
+t=106: Selected seed 195 with value = 0.7296
+Query 1/1: Action query time = 2.556 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7357
+t=122: Selected seed 195 with value = 0.7357
+Query 1/1: Action query time = 1.908 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7624
+t=138: Selected seed 195 with value = 0.7624
+Query 1/1: Action query time = 2.052 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7629
+t=154: Selected seed 195 with value = 0.7629
+Query 1/1: Action query time = 1.783 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7561
+t=170: Selected seed 195 with value = 0.7561
+Query 1/1: Action query time = 2.182 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7531
+t=186: Selected seed 195 with value = 0.7531
+Query 1/1: Action query time = 1.754 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7557
+t=202: Selected seed 195 with value = 0.7557
+Query 1/1: Action query time = 2.626 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7679
+t=218: Selected seed 195 with value = 0.7679
+Query 1/1: Action query time = 2.809 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7635
+t=234: Selected seed 195 with value = 0.7635
+Query 1/1: Action query time = 2.765 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7271
+t=250: Selected seed 195 with value = 0.7271
+Query 1/1: Action query time = 2.821 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7129
+t=266: Selected seed 195 with value = 0.7129
+Query 1/1: Action query time = 2.607 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7066
+t=282: Selected seed 195 with value = 0.7066
+Query 1/1: Action query time = 1.754 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7037
+t=298: Selected seed 195 with value = 0.7037
+Saved rollout MP4 at path ./rollouts/ft6100_t0_s08/2026_08_02-08_49_16--with_future_img--episode=3--success=False--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: False
+# episodes completed so far: 3
+# successes: 1 (33.3%)
+Current task success rate: 0.3333333333333333
+Current total success rate: 0.3333333333333333
+Final results:
+Total episodes: 3
+Total successes: 1
+Overall success rate: 0.3333 (33.3%)
diff --git a/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-08_49_16--ft6100_t0_s11.txt b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-08_49_16--ft6100_t0_s11.txt
new file mode 100644
index 0000000000000000000000000000000000000000..5464e031f35b3e88b2ee8bd91b924b3bc19145bd
--- /dev/null
+++ b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-08_49_16--ft6100_t0_s11.txt
@@ -0,0 +1,229 @@
+Eval config: PolicyEvalConfig(suite='libero', model_family='cosmos', config='cosmos_predict2_2b_480p_libero_cl_stage_inference_only', ckpt_path='/home/azureuser/REGEN-main/new/cosmos_policy/cosmos_v2_finetune/cosmos_predict2_2b_480p_libero_goal_task6_ft_from40k_2gpu_100step/checkpoints/iter_000000100/model', planning_model_config_name='', planning_model_ckpt_path='', config_file='cosmos_policy/config/config.py', packnet_mask_path='', packnet_first_cl_libero_task=6, use_third_person_image=True, num_third_person_images=1, use_wrist_image=True, num_wrist_images=1, use_proprio=True, flip_images=True, use_variance_scale=False, use_jpeg_compression=True, ar_future_prediction=False, ar_value_prediction=False, ar_qvalue_prediction=False, num_denoising_steps_action=5, num_denoising_steps_future_state=1, num_denoising_steps_value=1, unnormalize_actions=True, normalize_proprio=True, dataset_stats_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/libero_goal_regen/dataset_statistics.json', t5_text_embeddings_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/t5_embeddings.pkl', trained_with_image_aug=True, chunk_size=16, num_open_loop_steps=16, deterministic=True, deterministic_reset=False, deterministic_reset_seed=None, use_ensemble_future_state_predictions=False, num_future_state_predictions_in_ensemble=3, future_state_ensemble_aggregation_scheme='average', use_ensemble_value_predictions=False, num_value_predictions_in_ensemble=5, value_ensemble_aggregation_scheme='average', search_depth=1, mask_current_state_action_for_value_prediction=False, mask_future_state_for_qvalue_prediction=False, num_queries_best_of_n=1, use_parallel_inference=False, available_gpus='0', parallel_timeout=15, parallel_tasks_across_gpus=False, task_suite_name='libero_goal', num_trials_per_task=50, task_ids_to_run='0', initial_states_path='DEFAULT', env_img_res=256, local_log_dir='/home/azureuser/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal', run_id_note='ft6100_t0_s11', use_wandb=False, wandb_entity='YOUR_ENTITY', wandb_project='YOUR_PROJECT', seed=195, randomize_seed=False, data_collection=False, jpeg_compress=True, reward_stop_threshold=None, reward_stop_consecutive_steps=3, use_gpt_reward=False, gpt_reward_model='gpt-5.4-mini', gpt_reward_stop_threshold=4, gpt_reward_timeout_s=30.0, save_rollout_video=False, eval_hdf5_path='', eval_hdf5_demo_key='demo_0', data_gen_demo_ids='', eval_episode_ids='11,27,43', replay_actions=False, replay_action_path_dir='', replay_hdf5_path='', data_generation=False, max_generation_steps=200, simple_task_max_steps=100, complex_task_max_steps=200)
+Using serial inference (parallel inference disabled)
+Task suite: libero_goal
+Number of tasks: 10
+Running only task IDs: [0]
+Using default initial states
+
+Task: open the middle drawer of the cabinet
+Starting episode 1...
+Query 1/1: Action query time = 7.097 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3216
+t=10: Selected seed 195 with value = 0.3216
+Query 1/1: Action query time = 5.366 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3479
+t=26: Selected seed 195 with value = 0.3479
+Query 1/1: Action query time = 3.880 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4195
+t=42: Selected seed 195 with value = 0.4195
+Query 1/1: Action query time = 4.866 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5011
+t=58: Selected seed 195 with value = 0.5011
+Query 1/1: Action query time = 5.676 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5747
+t=74: Selected seed 195 with value = 0.5747
+Query 1/1: Action query time = 5.579 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6341
+t=90: Selected seed 195 with value = 0.6341
+Query 1/1: Action query time = 5.243 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7047
+t=106: Selected seed 195 with value = 0.7047
+Query 1/1: Action query time = 5.149 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7308
+t=122: Selected seed 195 with value = 0.7308
+Query 1/1: Action query time = 3.834 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7210
+t=138: Selected seed 195 with value = 0.7210
+Query 1/1: Action query time = 4.478 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7238
+t=154: Selected seed 195 with value = 0.7238
+Query 1/1: Action query time = 3.799 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7224
+t=170: Selected seed 195 with value = 0.7224
+Query 1/1: Action query time = 5.164 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7208
+t=186: Selected seed 195 with value = 0.7208
+Query 1/1: Action query time = 4.766 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7290
+t=202: Selected seed 195 with value = 0.7290
+Query 1/1: Action query time = 4.752 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7133
+t=218: Selected seed 195 with value = 0.7133
+Query 1/1: Action query time = 4.971 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7193
+t=234: Selected seed 195 with value = 0.7193
+Query 1/1: Action query time = 5.035 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7183
+t=250: Selected seed 195 with value = 0.7183
+Query 1/1: Action query time = 5.246 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7193
+t=266: Selected seed 195 with value = 0.7193
+Query 1/1: Action query time = 5.231 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7124
+t=282: Selected seed 195 with value = 0.7124
+Query 1/1: Action query time = 4.148 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7128
+t=298: Selected seed 195 with value = 0.7128
+Saved rollout MP4 at path ./rollouts/ft6100_t0_s11/2026_08_02-08_49_16--with_future_img--episode=1--success=False--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: False
+# episodes completed so far: 1
+# successes: 0 (0.0%)
+
+Task: open the middle drawer of the cabinet
+Starting episode 2...
+Query 1/1: Action query time = 5.255 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3538
+t=10: Selected seed 195 with value = 0.3538
+Query 1/1: Action query time = 5.568 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3629
+t=26: Selected seed 195 with value = 0.3629
+Query 1/1: Action query time = 4.731 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4560
+t=42: Selected seed 195 with value = 0.4560
+Query 1/1: Action query time = 4.787 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5444
+t=58: Selected seed 195 with value = 0.5444
+Query 1/1: Action query time = 5.050 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6396
+t=74: Selected seed 195 with value = 0.6396
+Query 1/1: Action query time = 5.248 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6171
+t=90: Selected seed 195 with value = 0.6171
+Query 1/1: Action query time = 5.035 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7256
+t=106: Selected seed 195 with value = 0.7256
+Query 1/1: Action query time = 5.040 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7019
+t=122: Selected seed 195 with value = 0.7019
+Query 1/1: Action query time = 4.453 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7356
+t=138: Selected seed 195 with value = 0.7356
+Query 1/1: Action query time = 4.296 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7282
+t=154: Selected seed 195 with value = 0.7282
+Query 1/1: Action query time = 2.587 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7377
+t=170: Selected seed 195 with value = 0.7377
+Query 1/1: Action query time = 3.389 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7187
+t=186: Selected seed 195 with value = 0.7187
+Query 1/1: Action query time = 4.071 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7332
+t=202: Selected seed 195 with value = 0.7332
+Query 1/1: Action query time = 3.016 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7157
+t=218: Selected seed 195 with value = 0.7157
+Query 1/1: Action query time = 3.431 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7398
+t=234: Selected seed 195 with value = 0.7398
+Query 1/1: Action query time = 3.949 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7127
+t=250: Selected seed 195 with value = 0.7127
+Query 1/1: Action query time = 3.178 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7369
+t=266: Selected seed 195 with value = 0.7369
+Query 1/1: Action query time = 2.500 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7088
+t=282: Selected seed 195 with value = 0.7088
+Query 1/1: Action query time = 2.436 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7432
+t=298: Selected seed 195 with value = 0.7432
+Saved rollout MP4 at path ./rollouts/ft6100_t0_s11/2026_08_02-08_49_16--with_future_img--episode=2--success=False--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: False
+# episodes completed so far: 2
+# successes: 0 (0.0%)
+
+Task: open the middle drawer of the cabinet
+Starting episode 3...
+Query 1/1: Action query time = 2.762 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3187
+t=10: Selected seed 195 with value = 0.3187
+Query 1/1: Action query time = 2.810 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3122
+t=26: Selected seed 195 with value = 0.3122
+Query 1/1: Action query time = 1.968 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4409
+t=42: Selected seed 195 with value = 0.4409
+Query 1/1: Action query time = 2.095 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6575
+t=58: Selected seed 195 with value = 0.6575
+Query 1/1: Action query time = 2.434 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7481
+t=74: Selected seed 195 with value = 0.7481
+Query 1/1: Action query time = 2.623 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7232
+t=90: Selected seed 195 with value = 0.7232
+Query 1/1: Action query time = 2.660 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5911
+t=106: Selected seed 195 with value = 0.5911
+Query 1/1: Action query time = 2.192 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6394
+t=122: Selected seed 195 with value = 0.6394
+Query 1/1: Action query time = 1.636 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7523
+t=138: Selected seed 195 with value = 0.7523
+Query 1/1: Action query time = 0.952 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8605
+t=154: Selected seed 195 with value = 0.8605
+Query 1/1: Action query time = 0.965 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9920
+t=170: Selected seed 195 with value = 0.9920
+Saved rollout MP4 at path ./rollouts/ft6100_t0_s11/2026_08_02-08_49_16--with_future_img--episode=3--success=True--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: True
+# episodes completed so far: 3
+# successes: 1 (33.3%)
+Current task success rate: 0.3333333333333333
+Current total success rate: 0.3333333333333333
+Final results:
+Total episodes: 3
+Total successes: 1
+Overall success rate: 0.3333 (33.3%)
diff --git a/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-08_49_16--ft6100_t0_s13.txt b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-08_49_16--ft6100_t0_s13.txt
new file mode 100644
index 0000000000000000000000000000000000000000..c64dd8a4946559f4ae50ddb915f0d7c7ab0a38a8
--- /dev/null
+++ b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-08_49_16--ft6100_t0_s13.txt
@@ -0,0 +1,185 @@
+Eval config: PolicyEvalConfig(suite='libero', model_family='cosmos', config='cosmos_predict2_2b_480p_libero_cl_stage_inference_only', ckpt_path='/home/azureuser/REGEN-main/new/cosmos_policy/cosmos_v2_finetune/cosmos_predict2_2b_480p_libero_goal_task6_ft_from40k_2gpu_100step/checkpoints/iter_000000100/model', planning_model_config_name='', planning_model_ckpt_path='', config_file='cosmos_policy/config/config.py', packnet_mask_path='', packnet_first_cl_libero_task=6, use_third_person_image=True, num_third_person_images=1, use_wrist_image=True, num_wrist_images=1, use_proprio=True, flip_images=True, use_variance_scale=False, use_jpeg_compression=True, ar_future_prediction=False, ar_value_prediction=False, ar_qvalue_prediction=False, num_denoising_steps_action=5, num_denoising_steps_future_state=1, num_denoising_steps_value=1, unnormalize_actions=True, normalize_proprio=True, dataset_stats_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/libero_goal_regen/dataset_statistics.json', t5_text_embeddings_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/t5_embeddings.pkl', trained_with_image_aug=True, chunk_size=16, num_open_loop_steps=16, deterministic=True, deterministic_reset=False, deterministic_reset_seed=None, use_ensemble_future_state_predictions=False, num_future_state_predictions_in_ensemble=3, future_state_ensemble_aggregation_scheme='average', use_ensemble_value_predictions=False, num_value_predictions_in_ensemble=5, value_ensemble_aggregation_scheme='average', search_depth=1, mask_current_state_action_for_value_prediction=False, mask_future_state_for_qvalue_prediction=False, num_queries_best_of_n=1, use_parallel_inference=False, available_gpus='0', parallel_timeout=15, parallel_tasks_across_gpus=False, task_suite_name='libero_goal', num_trials_per_task=50, task_ids_to_run='0', initial_states_path='DEFAULT', env_img_res=256, local_log_dir='/home/azureuser/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal', run_id_note='ft6100_t0_s13', use_wandb=False, wandb_entity='YOUR_ENTITY', wandb_project='YOUR_PROJECT', seed=195, randomize_seed=False, data_collection=False, jpeg_compress=True, reward_stop_threshold=None, reward_stop_consecutive_steps=3, use_gpt_reward=False, gpt_reward_model='gpt-5.4-mini', gpt_reward_stop_threshold=4, gpt_reward_timeout_s=30.0, save_rollout_video=False, eval_hdf5_path='', eval_hdf5_demo_key='demo_0', data_gen_demo_ids='', eval_episode_ids='13,29,45', replay_actions=False, replay_action_path_dir='', replay_hdf5_path='', data_generation=False, max_generation_steps=200, simple_task_max_steps=100, complex_task_max_steps=200)
+Using serial inference (parallel inference disabled)
+Task suite: libero_goal
+Number of tasks: 10
+Running only task IDs: [0]
+Using default initial states
+
+Task: open the middle drawer of the cabinet
+Starting episode 1...
+Query 1/1: Action query time = 4.679 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3296
+t=10: Selected seed 195 with value = 0.3296
+Query 1/1: Action query time = 4.149 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3381
+t=26: Selected seed 195 with value = 0.3381
+Query 1/1: Action query time = 6.113 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4132
+t=42: Selected seed 195 with value = 0.4132
+Query 1/1: Action query time = 5.369 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5012
+t=58: Selected seed 195 with value = 0.5012
+Query 1/1: Action query time = 3.372 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5835
+t=74: Selected seed 195 with value = 0.5835
+Query 1/1: Action query time = 4.788 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6376
+t=90: Selected seed 195 with value = 0.6376
+Query 1/1: Action query time = 5.252 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7303
+t=106: Selected seed 195 with value = 0.7303
+Query 1/1: Action query time = 5.060 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9051
+t=122: Selected seed 195 with value = 0.9051
+Query 1/1: Action query time = 5.063 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=138: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/ft6100_t0_s13/2026_08_02-08_49_16--with_future_img--episode=1--success=True--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: True
+# episodes completed so far: 1
+# successes: 1 (100.0%)
+
+Task: open the middle drawer of the cabinet
+Starting episode 2...
+Query 1/1: Action query time = 4.423 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3461
+t=10: Selected seed 195 with value = 0.3461
+Query 1/1: Action query time = 4.559 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3686
+t=26: Selected seed 195 with value = 0.3686
+Query 1/1: Action query time = 4.906 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3755
+t=42: Selected seed 195 with value = 0.3755
+Query 1/1: Action query time = 4.582 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4998
+t=58: Selected seed 195 with value = 0.4998
+Query 1/1: Action query time = 5.150 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6104
+t=74: Selected seed 195 with value = 0.6104
+Query 1/1: Action query time = 5.352 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6161
+t=90: Selected seed 195 with value = 0.6161
+Query 1/1: Action query time = 4.994 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7207
+t=106: Selected seed 195 with value = 0.7207
+Query 1/1: Action query time = 4.930 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7424
+t=122: Selected seed 195 with value = 0.7424
+Query 1/1: Action query time = 5.314 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7611
+t=138: Selected seed 195 with value = 0.7611
+Query 1/1: Action query time = 4.997 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9009
+t=154: Selected seed 195 with value = 0.9009
+Query 1/1: Action query time = 1.937 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=170: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/ft6100_t0_s13/2026_08_02-08_49_16--with_future_img--episode=2--success=True--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: True
+# episodes completed so far: 2
+# successes: 2 (100.0%)
+
+Task: open the middle drawer of the cabinet
+Starting episode 3...
+Query 1/1: Action query time = 4.293 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2978
+t=10: Selected seed 195 with value = 0.2978
+Query 1/1: Action query time = 4.549 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3770
+t=26: Selected seed 195 with value = 0.3770
+Query 1/1: Action query time = 5.168 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4301
+t=42: Selected seed 195 with value = 0.4301
+Query 1/1: Action query time = 5.177 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5007
+t=58: Selected seed 195 with value = 0.5007
+Query 1/1: Action query time = 4.811 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6167
+t=74: Selected seed 195 with value = 0.6167
+Query 1/1: Action query time = 4.814 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6468
+t=90: Selected seed 195 with value = 0.6468
+Query 1/1: Action query time = 5.235 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7424
+t=106: Selected seed 195 with value = 0.7424
+Query 1/1: Action query time = 5.133 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8822
+t=122: Selected seed 195 with value = 0.8822
+Query 1/1: Action query time = 5.139 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8409
+t=138: Selected seed 195 with value = 0.8409
+Query 1/1: Action query time = 3.983 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7096
+t=154: Selected seed 195 with value = 0.7096
+Query 1/1: Action query time = 3.671 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7791
+t=170: Selected seed 195 with value = 0.7791
+Query 1/1: Action query time = 1.799 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7494
+t=186: Selected seed 195 with value = 0.7494
+Query 1/1: Action query time = 3.158 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7854
+t=202: Selected seed 195 with value = 0.7854
+Query 1/1: Action query time = 4.342 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6715
+t=218: Selected seed 195 with value = 0.6715
+Query 1/1: Action query time = 3.553 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7308
+t=234: Selected seed 195 with value = 0.7308
+Query 1/1: Action query time = 3.006 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7678
+t=250: Selected seed 195 with value = 0.7678
+Query 1/1: Action query time = 3.681 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8756
+t=266: Selected seed 195 with value = 0.8756
+Query 1/1: Action query time = 3.504 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=282: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/ft6100_t0_s13/2026_08_02-08_49_16--with_future_img--episode=3--success=True--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: True
+# episodes completed so far: 3
+# successes: 3 (100.0%)
+Current task success rate: 1.0
+Current total success rate: 1.0
+Final results:
+Total episodes: 3
+Total successes: 3
+Overall success rate: 1.0000 (100.0%)
diff --git a/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-08_49_17--ft6100_t0_s10.txt b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-08_49_17--ft6100_t0_s10.txt
new file mode 100644
index 0000000000000000000000000000000000000000..c9f1b46a49a90debf87bc182ba795fef8ed6345c
--- /dev/null
+++ b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-08_49_17--ft6100_t0_s10.txt
@@ -0,0 +1,229 @@
+Eval config: PolicyEvalConfig(suite='libero', model_family='cosmos', config='cosmos_predict2_2b_480p_libero_cl_stage_inference_only', ckpt_path='/home/azureuser/REGEN-main/new/cosmos_policy/cosmos_v2_finetune/cosmos_predict2_2b_480p_libero_goal_task6_ft_from40k_2gpu_100step/checkpoints/iter_000000100/model', planning_model_config_name='', planning_model_ckpt_path='', config_file='cosmos_policy/config/config.py', packnet_mask_path='', packnet_first_cl_libero_task=6, use_third_person_image=True, num_third_person_images=1, use_wrist_image=True, num_wrist_images=1, use_proprio=True, flip_images=True, use_variance_scale=False, use_jpeg_compression=True, ar_future_prediction=False, ar_value_prediction=False, ar_qvalue_prediction=False, num_denoising_steps_action=5, num_denoising_steps_future_state=1, num_denoising_steps_value=1, unnormalize_actions=True, normalize_proprio=True, dataset_stats_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/libero_goal_regen/dataset_statistics.json', t5_text_embeddings_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/t5_embeddings.pkl', trained_with_image_aug=True, chunk_size=16, num_open_loop_steps=16, deterministic=True, deterministic_reset=False, deterministic_reset_seed=None, use_ensemble_future_state_predictions=False, num_future_state_predictions_in_ensemble=3, future_state_ensemble_aggregation_scheme='average', use_ensemble_value_predictions=False, num_value_predictions_in_ensemble=5, value_ensemble_aggregation_scheme='average', search_depth=1, mask_current_state_action_for_value_prediction=False, mask_future_state_for_qvalue_prediction=False, num_queries_best_of_n=1, use_parallel_inference=False, available_gpus='0', parallel_timeout=15, parallel_tasks_across_gpus=False, task_suite_name='libero_goal', num_trials_per_task=50, task_ids_to_run='0', initial_states_path='DEFAULT', env_img_res=256, local_log_dir='/home/azureuser/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal', run_id_note='ft6100_t0_s10', use_wandb=False, wandb_entity='YOUR_ENTITY', wandb_project='YOUR_PROJECT', seed=195, randomize_seed=False, data_collection=False, jpeg_compress=True, reward_stop_threshold=None, reward_stop_consecutive_steps=3, use_gpt_reward=False, gpt_reward_model='gpt-5.4-mini', gpt_reward_stop_threshold=4, gpt_reward_timeout_s=30.0, save_rollout_video=False, eval_hdf5_path='', eval_hdf5_demo_key='demo_0', data_gen_demo_ids='', eval_episode_ids='10,26,42', replay_actions=False, replay_action_path_dir='', replay_hdf5_path='', data_generation=False, max_generation_steps=200, simple_task_max_steps=100, complex_task_max_steps=200)
+Using serial inference (parallel inference disabled)
+Task suite: libero_goal
+Number of tasks: 10
+Running only task IDs: [0]
+Using default initial states
+
+Task: open the middle drawer of the cabinet
+Starting episode 1...
+Query 1/1: Action query time = 6.987 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3293
+t=10: Selected seed 195 with value = 0.3293
+Query 1/1: Action query time = 3.577 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2902
+t=26: Selected seed 195 with value = 0.2902
+Query 1/1: Action query time = 4.783 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3843
+t=42: Selected seed 195 with value = 0.3843
+Query 1/1: Action query time = 5.707 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5624
+t=58: Selected seed 195 with value = 0.5624
+Query 1/1: Action query time = 5.538 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8847
+t=74: Selected seed 195 with value = 0.8847
+Query 1/1: Action query time = 4.906 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8855
+t=90: Selected seed 195 with value = 0.8855
+Query 1/1: Action query time = 5.183 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8271
+t=106: Selected seed 195 with value = 0.8271
+Query 1/1: Action query time = 5.182 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8309
+t=122: Selected seed 195 with value = 0.8309
+Query 1/1: Action query time = 4.705 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8288
+t=138: Selected seed 195 with value = 0.8288
+Query 1/1: Action query time = 3.684 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8014
+t=154: Selected seed 195 with value = 0.8014
+Query 1/1: Action query time = 3.475 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7582
+t=170: Selected seed 195 with value = 0.7582
+Query 1/1: Action query time = 5.078 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7416
+t=186: Selected seed 195 with value = 0.7416
+Query 1/1: Action query time = 5.367 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7641
+t=202: Selected seed 195 with value = 0.7641
+Query 1/1: Action query time = 5.374 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7347
+t=218: Selected seed 195 with value = 0.7347
+Query 1/1: Action query time = 5.301 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3865
+t=234: Selected seed 195 with value = 0.3865
+Query 1/1: Action query time = 5.206 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3256
+t=250: Selected seed 195 with value = 0.3256
+Query 1/1: Action query time = 5.609 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2997
+t=266: Selected seed 195 with value = 0.2997
+Query 1/1: Action query time = 5.533 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3135
+t=282: Selected seed 195 with value = 0.3135
+Query 1/1: Action query time = 5.012 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4455
+t=298: Selected seed 195 with value = 0.4455
+Saved rollout MP4 at path ./rollouts/ft6100_t0_s10/2026_08_02-08_49_17--with_future_img--episode=1--success=False--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: False
+# episodes completed so far: 1
+# successes: 0 (0.0%)
+
+Task: open the middle drawer of the cabinet
+Starting episode 2...
+Query 1/1: Action query time = 5.203 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3115
+t=10: Selected seed 195 with value = 0.3115
+Query 1/1: Action query time = 5.033 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3374
+t=26: Selected seed 195 with value = 0.3374
+Query 1/1: Action query time = 4.946 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4415
+t=42: Selected seed 195 with value = 0.4415
+Query 1/1: Action query time = 5.234 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8587
+t=58: Selected seed 195 with value = 0.8587
+Query 1/1: Action query time = 5.129 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7108
+t=74: Selected seed 195 with value = 0.7108
+Query 1/1: Action query time = 4.688 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7070
+t=90: Selected seed 195 with value = 0.7070
+Query 1/1: Action query time = 4.747 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5995
+t=106: Selected seed 195 with value = 0.5995
+Query 1/1: Action query time = 4.967 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5663
+t=122: Selected seed 195 with value = 0.5663
+Query 1/1: Action query time = 4.957 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7025
+t=138: Selected seed 195 with value = 0.7025
+Query 1/1: Action query time = 3.821 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8280
+t=154: Selected seed 195 with value = 0.8280
+Query 1/1: Action query time = 3.600 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9491
+t=170: Selected seed 195 with value = 0.9491
+Saved rollout MP4 at path ./rollouts/ft6100_t0_s10/2026_08_02-08_49_17--with_future_img--episode=2--success=True--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: True
+# episodes completed so far: 2
+# successes: 1 (50.0%)
+
+Task: open the middle drawer of the cabinet
+Starting episode 3...
+Query 1/1: Action query time = 3.806 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3542
+t=10: Selected seed 195 with value = 0.3542
+Query 1/1: Action query time = 4.137 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3815
+t=26: Selected seed 195 with value = 0.3815
+Query 1/1: Action query time = 3.264 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4579
+t=42: Selected seed 195 with value = 0.4579
+Query 1/1: Action query time = 2.895 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5494
+t=58: Selected seed 195 with value = 0.5494
+Query 1/1: Action query time = 3.069 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6442
+t=74: Selected seed 195 with value = 0.6442
+Query 1/1: Action query time = 2.124 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6152
+t=90: Selected seed 195 with value = 0.6152
+Query 1/1: Action query time = 2.583 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7146
+t=106: Selected seed 195 with value = 0.7146
+Query 1/1: Action query time = 1.641 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6976
+t=122: Selected seed 195 with value = 0.6976
+Query 1/1: Action query time = 1.741 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7317
+t=138: Selected seed 195 with value = 0.7317
+Query 1/1: Action query time = 1.994 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7424
+t=154: Selected seed 195 with value = 0.7424
+Query 1/1: Action query time = 2.804 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7242
+t=170: Selected seed 195 with value = 0.7242
+Query 1/1: Action query time = 2.861 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7306
+t=186: Selected seed 195 with value = 0.7306
+Query 1/1: Action query time = 2.504 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7319
+t=202: Selected seed 195 with value = 0.7319
+Query 1/1: Action query time = 2.223 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7326
+t=218: Selected seed 195 with value = 0.7326
+Query 1/1: Action query time = 2.195 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7317
+t=234: Selected seed 195 with value = 0.7317
+Query 1/1: Action query time = 2.159 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7346
+t=250: Selected seed 195 with value = 0.7346
+Query 1/1: Action query time = 2.480 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7290
+t=266: Selected seed 195 with value = 0.7290
+Query 1/1: Action query time = 2.056 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7354
+t=282: Selected seed 195 with value = 0.7354
+Query 1/1: Action query time = 1.671 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7241
+t=298: Selected seed 195 with value = 0.7241
+Saved rollout MP4 at path ./rollouts/ft6100_t0_s10/2026_08_02-08_49_17--with_future_img--episode=3--success=False--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: False
+# episodes completed so far: 3
+# successes: 1 (33.3%)
+Current task success rate: 0.3333333333333333
+Current total success rate: 0.3333333333333333
+Final results:
+Total episodes: 3
+Total successes: 1
+Overall success rate: 0.3333 (33.3%)
diff --git a/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-08_49_17--ft6100_t0_s12.txt b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-08_49_17--ft6100_t0_s12.txt
new file mode 100644
index 0000000000000000000000000000000000000000..9fe6c4d8bb7119b422278f0a1587c37ca8c39808
--- /dev/null
+++ b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-08_49_17--ft6100_t0_s12.txt
@@ -0,0 +1,225 @@
+Eval config: PolicyEvalConfig(suite='libero', model_family='cosmos', config='cosmos_predict2_2b_480p_libero_cl_stage_inference_only', ckpt_path='/home/azureuser/REGEN-main/new/cosmos_policy/cosmos_v2_finetune/cosmos_predict2_2b_480p_libero_goal_task6_ft_from40k_2gpu_100step/checkpoints/iter_000000100/model', planning_model_config_name='', planning_model_ckpt_path='', config_file='cosmos_policy/config/config.py', packnet_mask_path='', packnet_first_cl_libero_task=6, use_third_person_image=True, num_third_person_images=1, use_wrist_image=True, num_wrist_images=1, use_proprio=True, flip_images=True, use_variance_scale=False, use_jpeg_compression=True, ar_future_prediction=False, ar_value_prediction=False, ar_qvalue_prediction=False, num_denoising_steps_action=5, num_denoising_steps_future_state=1, num_denoising_steps_value=1, unnormalize_actions=True, normalize_proprio=True, dataset_stats_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/libero_goal_regen/dataset_statistics.json', t5_text_embeddings_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/t5_embeddings.pkl', trained_with_image_aug=True, chunk_size=16, num_open_loop_steps=16, deterministic=True, deterministic_reset=False, deterministic_reset_seed=None, use_ensemble_future_state_predictions=False, num_future_state_predictions_in_ensemble=3, future_state_ensemble_aggregation_scheme='average', use_ensemble_value_predictions=False, num_value_predictions_in_ensemble=5, value_ensemble_aggregation_scheme='average', search_depth=1, mask_current_state_action_for_value_prediction=False, mask_future_state_for_qvalue_prediction=False, num_queries_best_of_n=1, use_parallel_inference=False, available_gpus='0', parallel_timeout=15, parallel_tasks_across_gpus=False, task_suite_name='libero_goal', num_trials_per_task=50, task_ids_to_run='0', initial_states_path='DEFAULT', env_img_res=256, local_log_dir='/home/azureuser/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal', run_id_note='ft6100_t0_s12', use_wandb=False, wandb_entity='YOUR_ENTITY', wandb_project='YOUR_PROJECT', seed=195, randomize_seed=False, data_collection=False, jpeg_compress=True, reward_stop_threshold=None, reward_stop_consecutive_steps=3, use_gpt_reward=False, gpt_reward_model='gpt-5.4-mini', gpt_reward_stop_threshold=4, gpt_reward_timeout_s=30.0, save_rollout_video=False, eval_hdf5_path='', eval_hdf5_demo_key='demo_0', data_gen_demo_ids='', eval_episode_ids='12,28,44', replay_actions=False, replay_action_path_dir='', replay_hdf5_path='', data_generation=False, max_generation_steps=200, simple_task_max_steps=100, complex_task_max_steps=200)
+Using serial inference (parallel inference disabled)
+Task suite: libero_goal
+Number of tasks: 10
+Running only task IDs: [0]
+Using default initial states
+
+Task: open the middle drawer of the cabinet
+Starting episode 1...
+Query 1/1: Action query time = 6.586 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3337
+t=10: Selected seed 195 with value = 0.3337
+Query 1/1: Action query time = 3.615 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3416
+t=26: Selected seed 195 with value = 0.3416
+Query 1/1: Action query time = 4.756 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3900
+t=42: Selected seed 195 with value = 0.3900
+Query 1/1: Action query time = 5.945 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4977
+t=58: Selected seed 195 with value = 0.4977
+Query 1/1: Action query time = 5.277 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5876
+t=74: Selected seed 195 with value = 0.5876
+Query 1/1: Action query time = 4.521 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6502
+t=90: Selected seed 195 with value = 0.6502
+Query 1/1: Action query time = 4.844 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7654
+t=106: Selected seed 195 with value = 0.7654
+Query 1/1: Action query time = 4.565 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9340
+t=122: Selected seed 195 with value = 0.9340
+Query 1/1: Action query time = 4.580 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8168
+t=138: Selected seed 195 with value = 0.8168
+Query 1/1: Action query time = 3.278 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6961
+t=154: Selected seed 195 with value = 0.6961
+Query 1/1: Action query time = 4.295 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7470
+t=170: Selected seed 195 with value = 0.7470
+Query 1/1: Action query time = 5.266 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7402
+t=186: Selected seed 195 with value = 0.7402
+Query 1/1: Action query time = 5.380 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7345
+t=202: Selected seed 195 with value = 0.7345
+Query 1/1: Action query time = 5.469 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7858
+t=218: Selected seed 195 with value = 0.7858
+Query 1/1: Action query time = 5.164 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8258
+t=234: Selected seed 195 with value = 0.8258
+Query 1/1: Action query time = 4.525 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9262
+t=250: Selected seed 195 with value = 0.9262
+Query 1/1: Action query time = 4.666 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9752
+t=266: Selected seed 195 with value = 0.9752
+Query 1/1: Action query time = 4.569 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9897
+t=282: Selected seed 195 with value = 0.9897
+Query 1/1: Action query time = 4.759 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9860
+t=298: Selected seed 195 with value = 0.9860
+Saved rollout MP4 at path ./rollouts/ft6100_t0_s12/2026_08_02-08_49_17--with_future_img--episode=1--success=False--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: False
+# episodes completed so far: 1
+# successes: 0 (0.0%)
+
+Task: open the middle drawer of the cabinet
+Starting episode 2...
+Query 1/1: Action query time = 1.809 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2838
+t=10: Selected seed 195 with value = 0.2838
+Query 1/1: Action query time = 2.591 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3873
+t=26: Selected seed 195 with value = 0.3873
+Query 1/1: Action query time = 5.425 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4760
+t=42: Selected seed 195 with value = 0.4760
+Query 1/1: Action query time = 5.669 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5512
+t=58: Selected seed 195 with value = 0.5512
+Query 1/1: Action query time = 5.303 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6146
+t=74: Selected seed 195 with value = 0.6146
+Query 1/1: Action query time = 4.671 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6749
+t=90: Selected seed 195 with value = 0.6749
+Query 1/1: Action query time = 4.916 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7346
+t=106: Selected seed 195 with value = 0.7346
+Query 1/1: Action query time = 5.053 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7747
+t=122: Selected seed 195 with value = 0.7747
+Query 1/1: Action query time = 5.081 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8848
+t=138: Selected seed 195 with value = 0.8848
+Query 1/1: Action query time = 5.085 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=154: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/ft6100_t0_s12/2026_08_02-08_49_17--with_future_img--episode=2--success=True--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: True
+# episodes completed so far: 2
+# successes: 1 (50.0%)
+
+Task: open the middle drawer of the cabinet
+Starting episode 3...
+Query 1/1: Action query time = 4.065 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3349
+t=10: Selected seed 195 with value = 0.3349
+Query 1/1: Action query time = 3.495 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3278
+t=26: Selected seed 195 with value = 0.3278
+Query 1/1: Action query time = 3.268 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4650
+t=42: Selected seed 195 with value = 0.4650
+Query 1/1: Action query time = 3.310 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6859
+t=58: Selected seed 195 with value = 0.6859
+Query 1/1: Action query time = 3.965 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7338
+t=74: Selected seed 195 with value = 0.7338
+Query 1/1: Action query time = 4.335 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8343
+t=90: Selected seed 195 with value = 0.8343
+Query 1/1: Action query time = 2.801 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9656
+t=106: Selected seed 195 with value = 0.9656
+Query 1/1: Action query time = 2.891 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9774
+t=122: Selected seed 195 with value = 0.9774
+Query 1/1: Action query time = 2.421 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9655
+t=138: Selected seed 195 with value = 0.9655
+Query 1/1: Action query time = 1.926 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9525
+t=154: Selected seed 195 with value = 0.9525
+Query 1/1: Action query time = 1.917 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9521
+t=170: Selected seed 195 with value = 0.9521
+Query 1/1: Action query time = 1.955 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9533
+t=186: Selected seed 195 with value = 0.9533
+Query 1/1: Action query time = 1.689 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9698
+t=202: Selected seed 195 with value = 0.9698
+Query 1/1: Action query time = 2.281 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9595
+t=218: Selected seed 195 with value = 0.9595
+Query 1/1: Action query time = 2.720 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9231
+t=234: Selected seed 195 with value = 0.9231
+Query 1/1: Action query time = 2.784 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8304
+t=250: Selected seed 195 with value = 0.8304
+Query 1/1: Action query time = 2.755 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7682
+t=266: Selected seed 195 with value = 0.7682
+Query 1/1: Action query time = 2.714 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7437
+t=282: Selected seed 195 with value = 0.7437
+Query 1/1: Action query time = 2.165 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7749
+t=298: Selected seed 195 with value = 0.7749
+Saved rollout MP4 at path ./rollouts/ft6100_t0_s12/2026_08_02-08_49_17--with_future_img--episode=3--success=False--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: False
+# episodes completed so far: 3
+# successes: 1 (33.3%)
+Current task success rate: 0.3333333333333333
+Current total success rate: 0.3333333333333333
+Final results:
+Total episodes: 3
+Total successes: 1
+Overall success rate: 0.3333 (33.3%)
diff --git a/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-08_49_17--ft6100_t0_s15.txt b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-08_49_17--ft6100_t0_s15.txt
new file mode 100644
index 0000000000000000000000000000000000000000..9d833914b46fcef3d20f4c684236a969027b80d0
--- /dev/null
+++ b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-08_49_17--ft6100_t0_s15.txt
@@ -0,0 +1,181 @@
+Eval config: PolicyEvalConfig(suite='libero', model_family='cosmos', config='cosmos_predict2_2b_480p_libero_cl_stage_inference_only', ckpt_path='/home/azureuser/REGEN-main/new/cosmos_policy/cosmos_v2_finetune/cosmos_predict2_2b_480p_libero_goal_task6_ft_from40k_2gpu_100step/checkpoints/iter_000000100/model', planning_model_config_name='', planning_model_ckpt_path='', config_file='cosmos_policy/config/config.py', packnet_mask_path='', packnet_first_cl_libero_task=6, use_third_person_image=True, num_third_person_images=1, use_wrist_image=True, num_wrist_images=1, use_proprio=True, flip_images=True, use_variance_scale=False, use_jpeg_compression=True, ar_future_prediction=False, ar_value_prediction=False, ar_qvalue_prediction=False, num_denoising_steps_action=5, num_denoising_steps_future_state=1, num_denoising_steps_value=1, unnormalize_actions=True, normalize_proprio=True, dataset_stats_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/libero_goal_regen/dataset_statistics.json', t5_text_embeddings_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/t5_embeddings.pkl', trained_with_image_aug=True, chunk_size=16, num_open_loop_steps=16, deterministic=True, deterministic_reset=False, deterministic_reset_seed=None, use_ensemble_future_state_predictions=False, num_future_state_predictions_in_ensemble=3, future_state_ensemble_aggregation_scheme='average', use_ensemble_value_predictions=False, num_value_predictions_in_ensemble=5, value_ensemble_aggregation_scheme='average', search_depth=1, mask_current_state_action_for_value_prediction=False, mask_future_state_for_qvalue_prediction=False, num_queries_best_of_n=1, use_parallel_inference=False, available_gpus='0', parallel_timeout=15, parallel_tasks_across_gpus=False, task_suite_name='libero_goal', num_trials_per_task=50, task_ids_to_run='0', initial_states_path='DEFAULT', env_img_res=256, local_log_dir='/home/azureuser/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal', run_id_note='ft6100_t0_s15', use_wandb=False, wandb_entity='YOUR_ENTITY', wandb_project='YOUR_PROJECT', seed=195, randomize_seed=False, data_collection=False, jpeg_compress=True, reward_stop_threshold=None, reward_stop_consecutive_steps=3, use_gpt_reward=False, gpt_reward_model='gpt-5.4-mini', gpt_reward_stop_threshold=4, gpt_reward_timeout_s=30.0, save_rollout_video=False, eval_hdf5_path='', eval_hdf5_demo_key='demo_0', data_gen_demo_ids='', eval_episode_ids='15,31,47', replay_actions=False, replay_action_path_dir='', replay_hdf5_path='', data_generation=False, max_generation_steps=200, simple_task_max_steps=100, complex_task_max_steps=200)
+Using serial inference (parallel inference disabled)
+Task suite: libero_goal
+Number of tasks: 10
+Running only task IDs: [0]
+Using default initial states
+
+Task: open the middle drawer of the cabinet
+Starting episode 1...
+Query 1/1: Action query time = 4.794 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2894
+t=10: Selected seed 195 with value = 0.2894
+Query 1/1: Action query time = 4.749 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3920
+t=26: Selected seed 195 with value = 0.3920
+Query 1/1: Action query time = 6.039 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3677
+t=42: Selected seed 195 with value = 0.3677
+Query 1/1: Action query time = 6.215 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4637
+t=58: Selected seed 195 with value = 0.4637
+Query 1/1: Action query time = 4.272 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6256
+t=74: Selected seed 195 with value = 0.6256
+Query 1/1: Action query time = 4.896 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5880
+t=90: Selected seed 195 with value = 0.5880
+Query 1/1: Action query time = 5.161 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7147
+t=106: Selected seed 195 with value = 0.7147
+Query 1/1: Action query time = 4.861 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8854
+t=122: Selected seed 195 with value = 0.8854
+Query 1/1: Action query time = 4.835 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=138: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/ft6100_t0_s15/2026_08_02-08_49_17--with_future_img--episode=1--success=True--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: True
+# episodes completed so far: 1
+# successes: 1 (100.0%)
+
+Task: open the middle drawer of the cabinet
+Starting episode 2...
+Query 1/1: Action query time = 3.829 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2656
+t=10: Selected seed 195 with value = 0.2656
+Query 1/1: Action query time = 5.269 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3462
+t=26: Selected seed 195 with value = 0.3462
+Query 1/1: Action query time = 5.383 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4677
+t=42: Selected seed 195 with value = 0.4677
+Query 1/1: Action query time = 5.361 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5298
+t=58: Selected seed 195 with value = 0.5298
+Query 1/1: Action query time = 4.866 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6137
+t=74: Selected seed 195 with value = 0.6137
+Query 1/1: Action query time = 4.408 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6597
+t=90: Selected seed 195 with value = 0.6597
+Query 1/1: Action query time = 4.586 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7355
+t=106: Selected seed 195 with value = 0.7355
+Query 1/1: Action query time = 4.391 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9060
+t=122: Selected seed 195 with value = 0.9060
+Query 1/1: Action query time = 4.538 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=138: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/ft6100_t0_s15/2026_08_02-08_49_17--with_future_img--episode=2--success=True--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: True
+# episodes completed so far: 2
+# successes: 2 (100.0%)
+
+Task: open the middle drawer of the cabinet
+Starting episode 3...
+Query 1/1: Action query time = 2.452 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3665
+t=10: Selected seed 195 with value = 0.3665
+Query 1/1: Action query time = 1.466 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3776
+t=26: Selected seed 195 with value = 0.3776
+Query 1/1: Action query time = 2.007 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4369
+t=42: Selected seed 195 with value = 0.4369
+Query 1/1: Action query time = 3.826 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5497
+t=58: Selected seed 195 with value = 0.5497
+Query 1/1: Action query time = 4.820 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6616
+t=74: Selected seed 195 with value = 0.6616
+Query 1/1: Action query time = 5.163 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6877
+t=90: Selected seed 195 with value = 0.6877
+Query 1/1: Action query time = 5.102 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7733
+t=106: Selected seed 195 with value = 0.7733
+Query 1/1: Action query time = 4.937 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7175
+t=122: Selected seed 195 with value = 0.7175
+Query 1/1: Action query time = 4.804 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7213
+t=138: Selected seed 195 with value = 0.7213
+Query 1/1: Action query time = 5.210 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7248
+t=154: Selected seed 195 with value = 0.7248
+Query 1/1: Action query time = 5.107 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7280
+t=170: Selected seed 195 with value = 0.7280
+Query 1/1: Action query time = 5.127 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7330
+t=186: Selected seed 195 with value = 0.7330
+Query 1/1: Action query time = 4.120 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7361
+t=202: Selected seed 195 with value = 0.7361
+Query 1/1: Action query time = 3.953 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7367
+t=218: Selected seed 195 with value = 0.7367
+Query 1/1: Action query time = 3.172 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7384
+t=234: Selected seed 195 with value = 0.7384
+Query 1/1: Action query time = 2.474 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7419
+t=250: Selected seed 195 with value = 0.7419
+Query 1/1: Action query time = 3.938 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7426
+t=266: Selected seed 195 with value = 0.7426
+Query 1/1: Action query time = 4.430 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7420
+t=282: Selected seed 195 with value = 0.7420
+Query 1/1: Action query time = 3.973 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7432
+t=298: Selected seed 195 with value = 0.7432
+Saved rollout MP4 at path ./rollouts/ft6100_t0_s15/2026_08_02-08_49_17--with_future_img--episode=3--success=False--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: False
+# episodes completed so far: 3
+# successes: 2 (66.7%)
+Current task success rate: 0.6666666666666666
+Current total success rate: 0.6666666666666666
+Final results:
+Total episodes: 3
+Total successes: 2
+Overall success rate: 0.6667 (66.7%)
diff --git a/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-08_53_54--ft6100_t1_s12.txt b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-08_53_54--ft6100_t1_s12.txt
new file mode 100644
index 0000000000000000000000000000000000000000..d5e75b9873228b56e65882883118efd720a04108
--- /dev/null
+++ b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-08_53_54--ft6100_t1_s12.txt
@@ -0,0 +1,261 @@
+Eval config: PolicyEvalConfig(suite='libero', model_family='cosmos', config='cosmos_predict2_2b_480p_libero_cl_stage_inference_only', ckpt_path='/home/azureuser/REGEN-main/new/cosmos_policy/cosmos_v2_finetune/cosmos_predict2_2b_480p_libero_goal_task6_ft_from40k_2gpu_100step/checkpoints/iter_000000100/model', planning_model_config_name='', planning_model_ckpt_path='', config_file='cosmos_policy/config/config.py', packnet_mask_path='', packnet_first_cl_libero_task=6, use_third_person_image=True, num_third_person_images=1, use_wrist_image=True, num_wrist_images=1, use_proprio=True, flip_images=True, use_variance_scale=False, use_jpeg_compression=True, ar_future_prediction=False, ar_value_prediction=False, ar_qvalue_prediction=False, num_denoising_steps_action=5, num_denoising_steps_future_state=1, num_denoising_steps_value=1, unnormalize_actions=True, normalize_proprio=True, dataset_stats_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/libero_goal_regen/dataset_statistics.json', t5_text_embeddings_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/t5_embeddings.pkl', trained_with_image_aug=True, chunk_size=16, num_open_loop_steps=16, deterministic=True, deterministic_reset=False, deterministic_reset_seed=None, use_ensemble_future_state_predictions=False, num_future_state_predictions_in_ensemble=3, future_state_ensemble_aggregation_scheme='average', use_ensemble_value_predictions=False, num_value_predictions_in_ensemble=5, value_ensemble_aggregation_scheme='average', search_depth=1, mask_current_state_action_for_value_prediction=False, mask_future_state_for_qvalue_prediction=False, num_queries_best_of_n=1, use_parallel_inference=False, available_gpus='0', parallel_timeout=15, parallel_tasks_across_gpus=False, task_suite_name='libero_goal', num_trials_per_task=50, task_ids_to_run='1', initial_states_path='DEFAULT', env_img_res=256, local_log_dir='/home/azureuser/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal', run_id_note='ft6100_t1_s12', use_wandb=False, wandb_entity='YOUR_ENTITY', wandb_project='YOUR_PROJECT', seed=195, randomize_seed=False, data_collection=False, jpeg_compress=True, reward_stop_threshold=None, reward_stop_consecutive_steps=3, use_gpt_reward=False, gpt_reward_model='gpt-5.4-mini', gpt_reward_stop_threshold=4, gpt_reward_timeout_s=30.0, save_rollout_video=False, eval_hdf5_path='', eval_hdf5_demo_key='demo_0', data_gen_demo_ids='', eval_episode_ids='12,28,44', replay_actions=False, replay_action_path_dir='', replay_hdf5_path='', data_generation=False, max_generation_steps=200, simple_task_max_steps=100, complex_task_max_steps=200)
+Using serial inference (parallel inference disabled)
+Task suite: libero_goal
+Number of tasks: 10
+Running only task IDs: [1]
+Using default initial states
+
+Task: put the bowl on the stove
+Starting episode 1...
+Query 1/1: Action query time = 3.836 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5027
+t=10: Selected seed 195 with value = 0.5027
+Query 1/1: Action query time = 5.278 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5320
+t=26: Selected seed 195 with value = 0.5320
+Query 1/1: Action query time = 4.833 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6262
+t=42: Selected seed 195 with value = 0.6262
+Query 1/1: Action query time = 4.450 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7595
+t=58: Selected seed 195 with value = 0.7595
+Query 1/1: Action query time = 4.763 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8328
+t=74: Selected seed 195 with value = 0.8328
+Query 1/1: Action query time = 4.953 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9351
+t=90: Selected seed 195 with value = 0.9351
+Query 1/1: Action query time = 4.916 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=106: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 5.126 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=122: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.896 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=138: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 5.481 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=154: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 5.256 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=170: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 5.220 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9996
+t=186: Selected seed 195 with value = 0.9996
+Query 1/1: Action query time = 4.977 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9983
+t=202: Selected seed 195 with value = 0.9983
+Query 1/1: Action query time = 4.927 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9942
+t=218: Selected seed 195 with value = 0.9942
+Query 1/1: Action query time = 5.015 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9919
+t=234: Selected seed 195 with value = 0.9919
+Query 1/1: Action query time = 5.182 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9654
+t=250: Selected seed 195 with value = 0.9654
+Query 1/1: Action query time = 5.218 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9810
+t=266: Selected seed 195 with value = 0.9810
+Query 1/1: Action query time = 5.311 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9752
+t=282: Selected seed 195 with value = 0.9752
+Query 1/1: Action query time = 4.187 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9475
+t=298: Selected seed 195 with value = 0.9475
+Saved rollout MP4 at path ./rollouts/ft6100_t1_s12/2026_08_02-08_53_54--with_future_img--episode=1--success=False--task=put_the_bowl_on_the_stove.mp4
+Success: False
+# episodes completed so far: 1
+# successes: 0 (0.0%)
+
+Task: put the bowl on the stove
+Starting episode 2...
+Query 1/1: Action query time = 1.323 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4616
+t=10: Selected seed 195 with value = 0.4616
+Query 1/1: Action query time = 1.658 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5459
+t=26: Selected seed 195 with value = 0.5459
+Query 1/1: Action query time = 5.540 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6252
+t=42: Selected seed 195 with value = 0.6252
+Query 1/1: Action query time = 4.370 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7312
+t=58: Selected seed 195 with value = 0.7312
+Query 1/1: Action query time = 4.913 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8389
+t=74: Selected seed 195 with value = 0.8389
+Query 1/1: Action query time = 4.859 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9628
+t=90: Selected seed 195 with value = 0.9628
+Query 1/1: Action query time = 4.404 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=106: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.967 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=122: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 5.127 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=138: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 5.325 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=154: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 5.466 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=170: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 5.498 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=186: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.787 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=202: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.536 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9964
+t=218: Selected seed 195 with value = 0.9964
+Query 1/1: Action query time = 5.476 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9898
+t=234: Selected seed 195 with value = 0.9898
+Query 1/1: Action query time = 5.199 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9609
+t=250: Selected seed 195 with value = 0.9609
+Query 1/1: Action query time = 5.596 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9155
+t=266: Selected seed 195 with value = 0.9155
+Query 1/1: Action query time = 4.758 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9743
+t=282: Selected seed 195 with value = 0.9743
+Query 1/1: Action query time = 5.541 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9983
+t=298: Selected seed 195 with value = 0.9983
+Saved rollout MP4 at path ./rollouts/ft6100_t1_s12/2026_08_02-08_53_54--with_future_img--episode=2--success=False--task=put_the_bowl_on_the_stove.mp4
+Success: False
+# episodes completed so far: 2
+# successes: 0 (0.0%)
+
+Task: put the bowl on the stove
+Starting episode 3...
+Query 1/1: Action query time = 2.394 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4972
+t=10: Selected seed 195 with value = 0.4972
+Query 1/1: Action query time = 1.440 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5419
+t=26: Selected seed 195 with value = 0.5419
+Query 1/1: Action query time = 1.942 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6359
+t=42: Selected seed 195 with value = 0.6359
+Query 1/1: Action query time = 4.719 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7480
+t=58: Selected seed 195 with value = 0.7480
+Query 1/1: Action query time = 5.417 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8514
+t=74: Selected seed 195 with value = 0.8514
+Query 1/1: Action query time = 4.921 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9768
+t=90: Selected seed 195 with value = 0.9768
+Query 1/1: Action query time = 4.656 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=106: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.619 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=122: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 5.328 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=138: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.922 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=154: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.795 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9970
+t=170: Selected seed 195 with value = 0.9970
+Query 1/1: Action query time = 5.128 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9865
+t=186: Selected seed 195 with value = 0.9865
+Query 1/1: Action query time = 5.017 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9796
+t=202: Selected seed 195 with value = 0.9796
+Query 1/1: Action query time = 5.104 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8590
+t=218: Selected seed 195 with value = 0.8590
+Query 1/1: Action query time = 5.098 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8755
+t=234: Selected seed 195 with value = 0.8755
+Query 1/1: Action query time = 5.047 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8389
+t=250: Selected seed 195 with value = 0.8389
+Query 1/1: Action query time = 4.292 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8680
+t=266: Selected seed 195 with value = 0.8680
+Query 1/1: Action query time = 4.137 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9784
+t=282: Selected seed 195 with value = 0.9784
+Query 1/1: Action query time = 4.764 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9848
+t=298: Selected seed 195 with value = 0.9848
+Saved rollout MP4 at path ./rollouts/ft6100_t1_s12/2026_08_02-08_53_54--with_future_img--episode=3--success=False--task=put_the_bowl_on_the_stove.mp4
+Success: False
+# episodes completed so far: 3
+# successes: 0 (0.0%)
+Current task success rate: 0.0
+Current total success rate: 0.0
+Final results:
+Total episodes: 3
+Total successes: 0
+Overall success rate: 0.0000 (0.0%)
diff --git a/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-08_53_54--ft6100_t1_s13.txt b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-08_53_54--ft6100_t1_s13.txt
new file mode 100644
index 0000000000000000000000000000000000000000..6fbfbcd88627b8dd2ff8423091f0c1f1f9befb0e
--- /dev/null
+++ b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-08_53_54--ft6100_t1_s13.txt
@@ -0,0 +1,261 @@
+Eval config: PolicyEvalConfig(suite='libero', model_family='cosmos', config='cosmos_predict2_2b_480p_libero_cl_stage_inference_only', ckpt_path='/home/azureuser/REGEN-main/new/cosmos_policy/cosmos_v2_finetune/cosmos_predict2_2b_480p_libero_goal_task6_ft_from40k_2gpu_100step/checkpoints/iter_000000100/model', planning_model_config_name='', planning_model_ckpt_path='', config_file='cosmos_policy/config/config.py', packnet_mask_path='', packnet_first_cl_libero_task=6, use_third_person_image=True, num_third_person_images=1, use_wrist_image=True, num_wrist_images=1, use_proprio=True, flip_images=True, use_variance_scale=False, use_jpeg_compression=True, ar_future_prediction=False, ar_value_prediction=False, ar_qvalue_prediction=False, num_denoising_steps_action=5, num_denoising_steps_future_state=1, num_denoising_steps_value=1, unnormalize_actions=True, normalize_proprio=True, dataset_stats_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/libero_goal_regen/dataset_statistics.json', t5_text_embeddings_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/t5_embeddings.pkl', trained_with_image_aug=True, chunk_size=16, num_open_loop_steps=16, deterministic=True, deterministic_reset=False, deterministic_reset_seed=None, use_ensemble_future_state_predictions=False, num_future_state_predictions_in_ensemble=3, future_state_ensemble_aggregation_scheme='average', use_ensemble_value_predictions=False, num_value_predictions_in_ensemble=5, value_ensemble_aggregation_scheme='average', search_depth=1, mask_current_state_action_for_value_prediction=False, mask_future_state_for_qvalue_prediction=False, num_queries_best_of_n=1, use_parallel_inference=False, available_gpus='0', parallel_timeout=15, parallel_tasks_across_gpus=False, task_suite_name='libero_goal', num_trials_per_task=50, task_ids_to_run='1', initial_states_path='DEFAULT', env_img_res=256, local_log_dir='/home/azureuser/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal', run_id_note='ft6100_t1_s13', use_wandb=False, wandb_entity='YOUR_ENTITY', wandb_project='YOUR_PROJECT', seed=195, randomize_seed=False, data_collection=False, jpeg_compress=True, reward_stop_threshold=None, reward_stop_consecutive_steps=3, use_gpt_reward=False, gpt_reward_model='gpt-5.4-mini', gpt_reward_stop_threshold=4, gpt_reward_timeout_s=30.0, save_rollout_video=False, eval_hdf5_path='', eval_hdf5_demo_key='demo_0', data_gen_demo_ids='', eval_episode_ids='13,29,45', replay_actions=False, replay_action_path_dir='', replay_hdf5_path='', data_generation=False, max_generation_steps=200, simple_task_max_steps=100, complex_task_max_steps=200)
+Using serial inference (parallel inference disabled)
+Task suite: libero_goal
+Number of tasks: 10
+Running only task IDs: [1]
+Using default initial states
+
+Task: put the bowl on the stove
+Starting episode 1...
+Query 1/1: Action query time = 4.961 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5038
+t=10: Selected seed 195 with value = 0.5038
+Query 1/1: Action query time = 4.133 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5767
+t=26: Selected seed 195 with value = 0.5767
+Query 1/1: Action query time = 5.081 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6450
+t=42: Selected seed 195 with value = 0.6450
+Query 1/1: Action query time = 5.212 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7523
+t=58: Selected seed 195 with value = 0.7523
+Query 1/1: Action query time = 4.896 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8522
+t=74: Selected seed 195 with value = 0.8522
+Query 1/1: Action query time = 4.922 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9753
+t=90: Selected seed 195 with value = 0.9753
+Query 1/1: Action query time = 5.181 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=106: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.998 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=122: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.977 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=138: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 5.019 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9968
+t=154: Selected seed 195 with value = 0.9968
+Query 1/1: Action query time = 4.993 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9958
+t=170: Selected seed 195 with value = 0.9958
+Query 1/1: Action query time = 4.962 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9955
+t=186: Selected seed 195 with value = 0.9955
+Query 1/1: Action query time = 5.095 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9966
+t=202: Selected seed 195 with value = 0.9966
+Query 1/1: Action query time = 5.261 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9926
+t=218: Selected seed 195 with value = 0.9926
+Query 1/1: Action query time = 5.286 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9921
+t=234: Selected seed 195 with value = 0.9921
+Query 1/1: Action query time = 5.066 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9923
+t=250: Selected seed 195 with value = 0.9923
+Query 1/1: Action query time = 5.051 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9697
+t=266: Selected seed 195 with value = 0.9697
+Query 1/1: Action query time = 5.040 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9491
+t=282: Selected seed 195 with value = 0.9491
+Query 1/1: Action query time = 4.428 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9699
+t=298: Selected seed 195 with value = 0.9699
+Saved rollout MP4 at path ./rollouts/ft6100_t1_s13/2026_08_02-08_53_54--with_future_img--episode=1--success=False--task=put_the_bowl_on_the_stove.mp4
+Success: False
+# episodes completed so far: 1
+# successes: 0 (0.0%)
+
+Task: put the bowl on the stove
+Starting episode 2...
+Query 1/1: Action query time = 4.237 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5313
+t=10: Selected seed 195 with value = 0.5313
+Query 1/1: Action query time = 4.695 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5842
+t=26: Selected seed 195 with value = 0.5842
+Query 1/1: Action query time = 5.411 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6365
+t=42: Selected seed 195 with value = 0.6365
+Query 1/1: Action query time = 5.135 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7457
+t=58: Selected seed 195 with value = 0.7457
+Query 1/1: Action query time = 5.192 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8494
+t=74: Selected seed 195 with value = 0.8494
+Query 1/1: Action query time = 5.394 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9665
+t=90: Selected seed 195 with value = 0.9665
+Query 1/1: Action query time = 5.430 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=106: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 5.256 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=122: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.901 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=138: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.895 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=154: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.987 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=170: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 5.144 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=186: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 5.993 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=202: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 5.227 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9966
+t=218: Selected seed 195 with value = 0.9966
+Query 1/1: Action query time = 4.738 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9781
+t=234: Selected seed 195 with value = 0.9781
+Query 1/1: Action query time = 3.923 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9321
+t=250: Selected seed 195 with value = 0.9321
+Query 1/1: Action query time = 4.089 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8222
+t=266: Selected seed 195 with value = 0.8222
+Query 1/1: Action query time = 5.071 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9017
+t=282: Selected seed 195 with value = 0.9017
+Query 1/1: Action query time = 4.550 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=298: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/ft6100_t1_s13/2026_08_02-08_53_54--with_future_img--episode=2--success=False--task=put_the_bowl_on_the_stove.mp4
+Success: False
+# episodes completed so far: 2
+# successes: 0 (0.0%)
+
+Task: put the bowl on the stove
+Starting episode 3...
+Query 1/1: Action query time = 5.193 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5084
+t=10: Selected seed 195 with value = 0.5084
+Query 1/1: Action query time = 5.571 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5639
+t=26: Selected seed 195 with value = 0.5639
+Query 1/1: Action query time = 4.842 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6462
+t=42: Selected seed 195 with value = 0.6462
+Query 1/1: Action query time = 4.675 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7560
+t=58: Selected seed 195 with value = 0.7560
+Query 1/1: Action query time = 4.871 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8582
+t=74: Selected seed 195 with value = 0.8582
+Query 1/1: Action query time = 5.075 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9751
+t=90: Selected seed 195 with value = 0.9751
+Query 1/1: Action query time = 5.205 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=106: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 5.125 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=122: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 5.014 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=138: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 5.001 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=154: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 5.048 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=170: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 5.025 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=186: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.876 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=202: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.171 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9943
+t=218: Selected seed 195 with value = 0.9943
+Query 1/1: Action query time = 4.147 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9812
+t=234: Selected seed 195 with value = 0.9812
+Query 1/1: Action query time = 4.481 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9645
+t=250: Selected seed 195 with value = 0.9645
+Query 1/1: Action query time = 3.915 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9266
+t=266: Selected seed 195 with value = 0.9266
+Query 1/1: Action query time = 3.993 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9835
+t=282: Selected seed 195 with value = 0.9835
+Query 1/1: Action query time = 3.209 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9760
+t=298: Selected seed 195 with value = 0.9760
+Saved rollout MP4 at path ./rollouts/ft6100_t1_s13/2026_08_02-08_53_54--with_future_img--episode=3--success=False--task=put_the_bowl_on_the_stove.mp4
+Success: False
+# episodes completed so far: 3
+# successes: 0 (0.0%)
+Current task success rate: 0.0
+Current total success rate: 0.0
+Final results:
+Total episodes: 3
+Total successes: 0
+Overall success rate: 0.0000 (0.0%)
diff --git a/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-08_53_54--ft6100_t1_s15.txt b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-08_53_54--ft6100_t1_s15.txt
new file mode 100644
index 0000000000000000000000000000000000000000..a15c3241a217da64c1ffe250dba1ab609d7ab3f6
--- /dev/null
+++ b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-08_53_54--ft6100_t1_s15.txt
@@ -0,0 +1,261 @@
+Eval config: PolicyEvalConfig(suite='libero', model_family='cosmos', config='cosmos_predict2_2b_480p_libero_cl_stage_inference_only', ckpt_path='/home/azureuser/REGEN-main/new/cosmos_policy/cosmos_v2_finetune/cosmos_predict2_2b_480p_libero_goal_task6_ft_from40k_2gpu_100step/checkpoints/iter_000000100/model', planning_model_config_name='', planning_model_ckpt_path='', config_file='cosmos_policy/config/config.py', packnet_mask_path='', packnet_first_cl_libero_task=6, use_third_person_image=True, num_third_person_images=1, use_wrist_image=True, num_wrist_images=1, use_proprio=True, flip_images=True, use_variance_scale=False, use_jpeg_compression=True, ar_future_prediction=False, ar_value_prediction=False, ar_qvalue_prediction=False, num_denoising_steps_action=5, num_denoising_steps_future_state=1, num_denoising_steps_value=1, unnormalize_actions=True, normalize_proprio=True, dataset_stats_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/libero_goal_regen/dataset_statistics.json', t5_text_embeddings_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/t5_embeddings.pkl', trained_with_image_aug=True, chunk_size=16, num_open_loop_steps=16, deterministic=True, deterministic_reset=False, deterministic_reset_seed=None, use_ensemble_future_state_predictions=False, num_future_state_predictions_in_ensemble=3, future_state_ensemble_aggregation_scheme='average', use_ensemble_value_predictions=False, num_value_predictions_in_ensemble=5, value_ensemble_aggregation_scheme='average', search_depth=1, mask_current_state_action_for_value_prediction=False, mask_future_state_for_qvalue_prediction=False, num_queries_best_of_n=1, use_parallel_inference=False, available_gpus='0', parallel_timeout=15, parallel_tasks_across_gpus=False, task_suite_name='libero_goal', num_trials_per_task=50, task_ids_to_run='1', initial_states_path='DEFAULT', env_img_res=256, local_log_dir='/home/azureuser/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal', run_id_note='ft6100_t1_s15', use_wandb=False, wandb_entity='YOUR_ENTITY', wandb_project='YOUR_PROJECT', seed=195, randomize_seed=False, data_collection=False, jpeg_compress=True, reward_stop_threshold=None, reward_stop_consecutive_steps=3, use_gpt_reward=False, gpt_reward_model='gpt-5.4-mini', gpt_reward_stop_threshold=4, gpt_reward_timeout_s=30.0, save_rollout_video=False, eval_hdf5_path='', eval_hdf5_demo_key='demo_0', data_gen_demo_ids='', eval_episode_ids='15,31,47', replay_actions=False, replay_action_path_dir='', replay_hdf5_path='', data_generation=False, max_generation_steps=200, simple_task_max_steps=100, complex_task_max_steps=200)
+Using serial inference (parallel inference disabled)
+Task suite: libero_goal
+Number of tasks: 10
+Running only task IDs: [1]
+Using default initial states
+
+Task: put the bowl on the stove
+Starting episode 1...
+Query 1/1: Action query time = 5.358 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4798
+t=10: Selected seed 195 with value = 0.4798
+Query 1/1: Action query time = 4.520 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5408
+t=26: Selected seed 195 with value = 0.5408
+Query 1/1: Action query time = 4.889 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6401
+t=42: Selected seed 195 with value = 0.6401
+Query 1/1: Action query time = 5.183 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7849
+t=58: Selected seed 195 with value = 0.7849
+Query 1/1: Action query time = 5.327 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8491
+t=74: Selected seed 195 with value = 0.8491
+Query 1/1: Action query time = 4.850 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9634
+t=90: Selected seed 195 with value = 0.9634
+Query 1/1: Action query time = 4.601 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=106: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 5.189 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=122: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 5.287 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=138: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.838 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=154: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.854 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=170: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.827 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=186: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.880 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9999
+t=202: Selected seed 195 with value = 0.9999
+Query 1/1: Action query time = 5.063 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9961
+t=218: Selected seed 195 with value = 0.9961
+Query 1/1: Action query time = 5.113 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9977
+t=234: Selected seed 195 with value = 0.9977
+Query 1/1: Action query time = 5.166 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9926
+t=250: Selected seed 195 with value = 0.9926
+Query 1/1: Action query time = 5.104 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9863
+t=266: Selected seed 195 with value = 0.9863
+Query 1/1: Action query time = 4.644 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9782
+t=282: Selected seed 195 with value = 0.9782
+Query 1/1: Action query time = 4.220 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8925
+t=298: Selected seed 195 with value = 0.8925
+Saved rollout MP4 at path ./rollouts/ft6100_t1_s15/2026_08_02-08_53_54--with_future_img--episode=1--success=False--task=put_the_bowl_on_the_stove.mp4
+Success: False
+# episodes completed so far: 1
+# successes: 0 (0.0%)
+
+Task: put the bowl on the stove
+Starting episode 2...
+Query 1/1: Action query time = 4.320 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5004
+t=10: Selected seed 195 with value = 0.5004
+Query 1/1: Action query time = 4.583 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5478
+t=26: Selected seed 195 with value = 0.5478
+Query 1/1: Action query time = 5.392 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6392
+t=42: Selected seed 195 with value = 0.6392
+Query 1/1: Action query time = 5.199 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7268
+t=58: Selected seed 195 with value = 0.7268
+Query 1/1: Action query time = 5.020 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8241
+t=74: Selected seed 195 with value = 0.8241
+Query 1/1: Action query time = 5.225 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9098
+t=90: Selected seed 195 with value = 0.9098
+Query 1/1: Action query time = 5.463 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9769
+t=106: Selected seed 195 with value = 0.9769
+Query 1/1: Action query time = 5.448 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=122: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 5.422 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=138: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 5.446 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=154: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.803 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=170: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.583 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=186: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 5.443 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9977
+t=202: Selected seed 195 with value = 0.9977
+Query 1/1: Action query time = 5.565 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9912
+t=218: Selected seed 195 with value = 0.9912
+Query 1/1: Action query time = 5.394 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9823
+t=234: Selected seed 195 with value = 0.9823
+Query 1/1: Action query time = 4.221 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9311
+t=250: Selected seed 195 with value = 0.9311
+Query 1/1: Action query time = 3.822 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9096
+t=266: Selected seed 195 with value = 0.9096
+Query 1/1: Action query time = 4.562 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8448
+t=282: Selected seed 195 with value = 0.8448
+Query 1/1: Action query time = 4.494 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8784
+t=298: Selected seed 195 with value = 0.8784
+Saved rollout MP4 at path ./rollouts/ft6100_t1_s15/2026_08_02-08_53_54--with_future_img--episode=2--success=False--task=put_the_bowl_on_the_stove.mp4
+Success: False
+# episodes completed so far: 2
+# successes: 0 (0.0%)
+
+Task: put the bowl on the stove
+Starting episode 3...
+Query 1/1: Action query time = 4.014 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4785
+t=10: Selected seed 195 with value = 0.4785
+Query 1/1: Action query time = 5.074 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5672
+t=26: Selected seed 195 with value = 0.5672
+Query 1/1: Action query time = 4.374 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6251
+t=42: Selected seed 195 with value = 0.6251
+Query 1/1: Action query time = 4.668 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7703
+t=58: Selected seed 195 with value = 0.7703
+Query 1/1: Action query time = 5.123 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8203
+t=74: Selected seed 195 with value = 0.8203
+Query 1/1: Action query time = 5.420 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9206
+t=90: Selected seed 195 with value = 0.9206
+Query 1/1: Action query time = 5.172 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9671
+t=106: Selected seed 195 with value = 0.9671
+Query 1/1: Action query time = 4.970 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=122: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 5.278 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=138: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 5.152 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=154: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 5.196 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=170: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.926 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=186: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.922 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=202: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.758 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9993
+t=218: Selected seed 195 with value = 0.9993
+Query 1/1: Action query time = 4.528 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9959
+t=234: Selected seed 195 with value = 0.9959
+Query 1/1: Action query time = 4.720 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9905
+t=250: Selected seed 195 with value = 0.9905
+Query 1/1: Action query time = 3.664 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9590
+t=266: Selected seed 195 with value = 0.9590
+Query 1/1: Action query time = 3.632 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8619
+t=282: Selected seed 195 with value = 0.8619
+Query 1/1: Action query time = 3.256 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8631
+t=298: Selected seed 195 with value = 0.8631
+Saved rollout MP4 at path ./rollouts/ft6100_t1_s15/2026_08_02-08_53_54--with_future_img--episode=3--success=False--task=put_the_bowl_on_the_stove.mp4
+Success: False
+# episodes completed so far: 3
+# successes: 0 (0.0%)
+Current task success rate: 0.0
+Current total success rate: 0.0
+Final results:
+Total episodes: 3
+Total successes: 0
+Overall success rate: 0.0000 (0.0%)
diff --git a/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-09_00_33--ft6100_t2_s04.txt b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-09_00_33--ft6100_t2_s04.txt
new file mode 100644
index 0000000000000000000000000000000000000000..efde97623d40de27ca572862309724e891d420b2
--- /dev/null
+++ b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-09_00_33--ft6100_t2_s04.txt
@@ -0,0 +1,105 @@
+Eval config: PolicyEvalConfig(suite='libero', model_family='cosmos', config='cosmos_predict2_2b_480p_libero_cl_stage_inference_only', ckpt_path='/home/azureuser/REGEN-main/new/cosmos_policy/cosmos_v2_finetune/cosmos_predict2_2b_480p_libero_goal_task6_ft_from40k_2gpu_100step/checkpoints/iter_000000100/model', planning_model_config_name='', planning_model_ckpt_path='', config_file='cosmos_policy/config/config.py', packnet_mask_path='', packnet_first_cl_libero_task=6, use_third_person_image=True, num_third_person_images=1, use_wrist_image=True, num_wrist_images=1, use_proprio=True, flip_images=True, use_variance_scale=False, use_jpeg_compression=True, ar_future_prediction=False, ar_value_prediction=False, ar_qvalue_prediction=False, num_denoising_steps_action=5, num_denoising_steps_future_state=1, num_denoising_steps_value=1, unnormalize_actions=True, normalize_proprio=True, dataset_stats_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/libero_goal_regen/dataset_statistics.json', t5_text_embeddings_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/t5_embeddings.pkl', trained_with_image_aug=True, chunk_size=16, num_open_loop_steps=16, deterministic=True, deterministic_reset=False, deterministic_reset_seed=None, use_ensemble_future_state_predictions=False, num_future_state_predictions_in_ensemble=3, future_state_ensemble_aggregation_scheme='average', use_ensemble_value_predictions=False, num_value_predictions_in_ensemble=5, value_ensemble_aggregation_scheme='average', search_depth=1, mask_current_state_action_for_value_prediction=False, mask_future_state_for_qvalue_prediction=False, num_queries_best_of_n=1, use_parallel_inference=False, available_gpus='0', parallel_timeout=15, parallel_tasks_across_gpus=False, task_suite_name='libero_goal', num_trials_per_task=50, task_ids_to_run='2', initial_states_path='DEFAULT', env_img_res=256, local_log_dir='/home/azureuser/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal', run_id_note='ft6100_t2_s04', use_wandb=False, wandb_entity='YOUR_ENTITY', wandb_project='YOUR_PROJECT', seed=195, randomize_seed=False, data_collection=False, jpeg_compress=True, reward_stop_threshold=None, reward_stop_consecutive_steps=3, use_gpt_reward=False, gpt_reward_model='gpt-5.4-mini', gpt_reward_stop_threshold=4, gpt_reward_timeout_s=30.0, save_rollout_video=False, eval_hdf5_path='', eval_hdf5_demo_key='demo_0', data_gen_demo_ids='', eval_episode_ids='4,20,36', replay_actions=False, replay_action_path_dir='', replay_hdf5_path='', data_generation=False, max_generation_steps=200, simple_task_max_steps=100, complex_task_max_steps=200)
+Using serial inference (parallel inference disabled)
+Task suite: libero_goal
+Number of tasks: 10
+Running only task IDs: [2]
+Using default initial states
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 1...
+Query 1/1: Action query time = 1.670 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5354
+t=10: Selected seed 195 with value = 0.5354
+Query 1/1: Action query time = 1.776 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6479
+t=26: Selected seed 195 with value = 0.6479
+Query 1/1: Action query time = 3.473 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7007
+t=42: Selected seed 195 with value = 0.7007
+Query 1/1: Action query time = 5.553 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7578
+t=58: Selected seed 195 with value = 0.7578
+Query 1/1: Action query time = 5.487 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8719
+t=74: Selected seed 195 with value = 0.8719
+Query 1/1: Action query time = 5.283 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/ft6100_t2_s04/2026_08_02-09_00_33--with_future_img--episode=1--success=True--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: True
+# episodes completed so far: 1
+# successes: 1 (100.0%)
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 2...
+Query 1/1: Action query time = 5.771 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5168
+t=10: Selected seed 195 with value = 0.5168
+Query 1/1: Action query time = 4.879 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7055
+t=26: Selected seed 195 with value = 0.7055
+Query 1/1: Action query time = 5.046 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8407
+t=42: Selected seed 195 with value = 0.8407
+Query 1/1: Action query time = 5.611 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7902
+t=58: Selected seed 195 with value = 0.7902
+Query 1/1: Action query time = 5.471 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7993
+t=74: Selected seed 195 with value = 0.7993
+Query 1/1: Action query time = 5.229 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9330
+t=90: Selected seed 195 with value = 0.9330
+Saved rollout MP4 at path ./rollouts/ft6100_t2_s04/2026_08_02-09_00_33--with_future_img--episode=2--success=True--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: True
+# episodes completed so far: 2
+# successes: 2 (100.0%)
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 3...
+Query 1/1: Action query time = 5.745 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3821
+t=10: Selected seed 195 with value = 0.3821
+Query 1/1: Action query time = 4.743 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5294
+t=26: Selected seed 195 with value = 0.5294
+Query 1/1: Action query time = 5.199 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7797
+t=42: Selected seed 195 with value = 0.7797
+Query 1/1: Action query time = 5.269 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7246
+t=58: Selected seed 195 with value = 0.7246
+Query 1/1: Action query time = 5.479 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8271
+t=74: Selected seed 195 with value = 0.8271
+Query 1/1: Action query time = 5.073 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9599
+t=90: Selected seed 195 with value = 0.9599
+Saved rollout MP4 at path ./rollouts/ft6100_t2_s04/2026_08_02-09_00_33--with_future_img--episode=3--success=True--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: True
+# episodes completed so far: 3
+# successes: 3 (100.0%)
+Current task success rate: 1.0
+Current total success rate: 1.0
+Final results:
+Total episodes: 3
+Total successes: 3
+Overall success rate: 1.0000 (100.0%)
diff --git a/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-09_00_34--ft6100_t2_s07.txt b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-09_00_34--ft6100_t2_s07.txt
new file mode 100644
index 0000000000000000000000000000000000000000..a094a42e89eca64a0426b9ba800a1ff06f882f9e
--- /dev/null
+++ b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-09_00_34--ft6100_t2_s07.txt
@@ -0,0 +1,261 @@
+Eval config: PolicyEvalConfig(suite='libero', model_family='cosmos', config='cosmos_predict2_2b_480p_libero_cl_stage_inference_only', ckpt_path='/home/azureuser/REGEN-main/new/cosmos_policy/cosmos_v2_finetune/cosmos_predict2_2b_480p_libero_goal_task6_ft_from40k_2gpu_100step/checkpoints/iter_000000100/model', planning_model_config_name='', planning_model_ckpt_path='', config_file='cosmos_policy/config/config.py', packnet_mask_path='', packnet_first_cl_libero_task=6, use_third_person_image=True, num_third_person_images=1, use_wrist_image=True, num_wrist_images=1, use_proprio=True, flip_images=True, use_variance_scale=False, use_jpeg_compression=True, ar_future_prediction=False, ar_value_prediction=False, ar_qvalue_prediction=False, num_denoising_steps_action=5, num_denoising_steps_future_state=1, num_denoising_steps_value=1, unnormalize_actions=True, normalize_proprio=True, dataset_stats_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/libero_goal_regen/dataset_statistics.json', t5_text_embeddings_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/t5_embeddings.pkl', trained_with_image_aug=True, chunk_size=16, num_open_loop_steps=16, deterministic=True, deterministic_reset=False, deterministic_reset_seed=None, use_ensemble_future_state_predictions=False, num_future_state_predictions_in_ensemble=3, future_state_ensemble_aggregation_scheme='average', use_ensemble_value_predictions=False, num_value_predictions_in_ensemble=5, value_ensemble_aggregation_scheme='average', search_depth=1, mask_current_state_action_for_value_prediction=False, mask_future_state_for_qvalue_prediction=False, num_queries_best_of_n=1, use_parallel_inference=False, available_gpus='0', parallel_timeout=15, parallel_tasks_across_gpus=False, task_suite_name='libero_goal', num_trials_per_task=50, task_ids_to_run='2', initial_states_path='DEFAULT', env_img_res=256, local_log_dir='/home/azureuser/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal', run_id_note='ft6100_t2_s07', use_wandb=False, wandb_entity='YOUR_ENTITY', wandb_project='YOUR_PROJECT', seed=195, randomize_seed=False, data_collection=False, jpeg_compress=True, reward_stop_threshold=None, reward_stop_consecutive_steps=3, use_gpt_reward=False, gpt_reward_model='gpt-5.4-mini', gpt_reward_stop_threshold=4, gpt_reward_timeout_s=30.0, save_rollout_video=False, eval_hdf5_path='', eval_hdf5_demo_key='demo_0', data_gen_demo_ids='', eval_episode_ids='7,23,39', replay_actions=False, replay_action_path_dir='', replay_hdf5_path='', data_generation=False, max_generation_steps=200, simple_task_max_steps=100, complex_task_max_steps=200)
+Using serial inference (parallel inference disabled)
+Task suite: libero_goal
+Number of tasks: 10
+Running only task IDs: [2]
+Using default initial states
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 1...
+Query 1/1: Action query time = 5.923 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4058
+t=10: Selected seed 195 with value = 0.4058
+Query 1/1: Action query time = 4.969 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3617
+t=26: Selected seed 195 with value = 0.3617
+Query 1/1: Action query time = 5.187 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4244
+t=42: Selected seed 195 with value = 0.4244
+Query 1/1: Action query time = 4.939 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7251
+t=58: Selected seed 195 with value = 0.7251
+Query 1/1: Action query time = 5.562 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7604
+t=74: Selected seed 195 with value = 0.7604
+Query 1/1: Action query time = 4.495 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7765
+t=90: Selected seed 195 with value = 0.7765
+Query 1/1: Action query time = 4.603 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5909
+t=106: Selected seed 195 with value = 0.5909
+Query 1/1: Action query time = 4.959 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7318
+t=122: Selected seed 195 with value = 0.7318
+Query 1/1: Action query time = 4.957 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7936
+t=138: Selected seed 195 with value = 0.7936
+Query 1/1: Action query time = 4.664 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8061
+t=154: Selected seed 195 with value = 0.8061
+Query 1/1: Action query time = 5.233 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8031
+t=170: Selected seed 195 with value = 0.8031
+Query 1/1: Action query time = 4.804 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8014
+t=186: Selected seed 195 with value = 0.8014
+Query 1/1: Action query time = 4.383 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7530
+t=202: Selected seed 195 with value = 0.7530
+Query 1/1: Action query time = 5.219 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7897
+t=218: Selected seed 195 with value = 0.7897
+Query 1/1: Action query time = 5.372 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7244
+t=234: Selected seed 195 with value = 0.7244
+Query 1/1: Action query time = 5.202 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7181
+t=250: Selected seed 195 with value = 0.7181
+Query 1/1: Action query time = 5.342 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6581
+t=266: Selected seed 195 with value = 0.6581
+Query 1/1: Action query time = 4.354 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6643
+t=282: Selected seed 195 with value = 0.6643
+Query 1/1: Action query time = 3.169 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6669
+t=298: Selected seed 195 with value = 0.6669
+Saved rollout MP4 at path ./rollouts/ft6100_t2_s07/2026_08_02-09_00_34--with_future_img--episode=1--success=False--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: False
+# episodes completed so far: 1
+# successes: 0 (0.0%)
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 2...
+Query 1/1: Action query time = 3.248 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4713
+t=10: Selected seed 195 with value = 0.4713
+Query 1/1: Action query time = 3.409 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5227
+t=26: Selected seed 195 with value = 0.5227
+Query 1/1: Action query time = 3.330 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6052
+t=42: Selected seed 195 with value = 0.6052
+Query 1/1: Action query time = 3.378 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7722
+t=58: Selected seed 195 with value = 0.7722
+Query 1/1: Action query time = 3.252 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7741
+t=74: Selected seed 195 with value = 0.7741
+Query 1/1: Action query time = 3.585 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8583
+t=90: Selected seed 195 with value = 0.8583
+Query 1/1: Action query time = 3.703 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=106: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 2.843 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=122: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 3.859 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9963
+t=138: Selected seed 195 with value = 0.9963
+Query 1/1: Action query time = 3.804 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=154: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 3.678 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=170: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 3.481 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=186: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 3.078 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9994
+t=202: Selected seed 195 with value = 0.9994
+Query 1/1: Action query time = 2.503 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9937
+t=218: Selected seed 195 with value = 0.9937
+Query 1/1: Action query time = 2.981 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9875
+t=234: Selected seed 195 with value = 0.9875
+Query 1/1: Action query time = 3.042 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9824
+t=250: Selected seed 195 with value = 0.9824
+Query 1/1: Action query time = 2.620 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9758
+t=266: Selected seed 195 with value = 0.9758
+Query 1/1: Action query time = 1.685 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9642
+t=282: Selected seed 195 with value = 0.9642
+Query 1/1: Action query time = 1.761 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9455
+t=298: Selected seed 195 with value = 0.9455
+Saved rollout MP4 at path ./rollouts/ft6100_t2_s07/2026_08_02-09_00_34--with_future_img--episode=2--success=False--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: False
+# episodes completed so far: 2
+# successes: 0 (0.0%)
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 3...
+Query 1/1: Action query time = 2.023 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3727
+t=10: Selected seed 195 with value = 0.3727
+Query 1/1: Action query time = 2.048 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3764
+t=26: Selected seed 195 with value = 0.3764
+Query 1/1: Action query time = 2.347 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4165
+t=42: Selected seed 195 with value = 0.4165
+Query 1/1: Action query time = 2.182 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7541
+t=58: Selected seed 195 with value = 0.7541
+Query 1/1: Action query time = 2.618 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6556
+t=74: Selected seed 195 with value = 0.6556
+Query 1/1: Action query time = 2.482 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7501
+t=90: Selected seed 195 with value = 0.7501
+Query 1/1: Action query time = 1.998 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8225
+t=106: Selected seed 195 with value = 0.8225
+Query 1/1: Action query time = 2.128 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7905
+t=122: Selected seed 195 with value = 0.7905
+Query 1/1: Action query time = 2.084 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7805
+t=138: Selected seed 195 with value = 0.7805
+Query 1/1: Action query time = 1.685 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8403
+t=154: Selected seed 195 with value = 0.8403
+Query 1/1: Action query time = 1.191 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8527
+t=170: Selected seed 195 with value = 0.8527
+Query 1/1: Action query time = 1.716 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8542
+t=186: Selected seed 195 with value = 0.8542
+Query 1/1: Action query time = 1.735 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8401
+t=202: Selected seed 195 with value = 0.8401
+Query 1/1: Action query time = 1.910 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8547
+t=218: Selected seed 195 with value = 0.8547
+Query 1/1: Action query time = 1.840 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8564
+t=234: Selected seed 195 with value = 0.8564
+Query 1/1: Action query time = 1.894 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8646
+t=250: Selected seed 195 with value = 0.8646
+Query 1/1: Action query time = 1.094 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8529
+t=266: Selected seed 195 with value = 0.8529
+Query 1/1: Action query time = 0.970 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8639
+t=282: Selected seed 195 with value = 0.8639
+Query 1/1: Action query time = 0.973 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8415
+t=298: Selected seed 195 with value = 0.8415
+Saved rollout MP4 at path ./rollouts/ft6100_t2_s07/2026_08_02-09_00_34--with_future_img--episode=3--success=False--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: False
+# episodes completed so far: 3
+# successes: 0 (0.0%)
+Current task success rate: 0.0
+Current total success rate: 0.0
+Final results:
+Total episodes: 3
+Total successes: 0
+Overall success rate: 0.0000 (0.0%)
diff --git a/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-09_00_34--ft6100_t2_s13.txt b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-09_00_34--ft6100_t2_s13.txt
new file mode 100644
index 0000000000000000000000000000000000000000..017966ee4ed669c352e6bf368c074a26f3fbf443
--- /dev/null
+++ b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-09_00_34--ft6100_t2_s13.txt
@@ -0,0 +1,133 @@
+Eval config: PolicyEvalConfig(suite='libero', model_family='cosmos', config='cosmos_predict2_2b_480p_libero_cl_stage_inference_only', ckpt_path='/home/azureuser/REGEN-main/new/cosmos_policy/cosmos_v2_finetune/cosmos_predict2_2b_480p_libero_goal_task6_ft_from40k_2gpu_100step/checkpoints/iter_000000100/model', planning_model_config_name='', planning_model_ckpt_path='', config_file='cosmos_policy/config/config.py', packnet_mask_path='', packnet_first_cl_libero_task=6, use_third_person_image=True, num_third_person_images=1, use_wrist_image=True, num_wrist_images=1, use_proprio=True, flip_images=True, use_variance_scale=False, use_jpeg_compression=True, ar_future_prediction=False, ar_value_prediction=False, ar_qvalue_prediction=False, num_denoising_steps_action=5, num_denoising_steps_future_state=1, num_denoising_steps_value=1, unnormalize_actions=True, normalize_proprio=True, dataset_stats_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/libero_goal_regen/dataset_statistics.json', t5_text_embeddings_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/t5_embeddings.pkl', trained_with_image_aug=True, chunk_size=16, num_open_loop_steps=16, deterministic=True, deterministic_reset=False, deterministic_reset_seed=None, use_ensemble_future_state_predictions=False, num_future_state_predictions_in_ensemble=3, future_state_ensemble_aggregation_scheme='average', use_ensemble_value_predictions=False, num_value_predictions_in_ensemble=5, value_ensemble_aggregation_scheme='average', search_depth=1, mask_current_state_action_for_value_prediction=False, mask_future_state_for_qvalue_prediction=False, num_queries_best_of_n=1, use_parallel_inference=False, available_gpus='0', parallel_timeout=15, parallel_tasks_across_gpus=False, task_suite_name='libero_goal', num_trials_per_task=50, task_ids_to_run='2', initial_states_path='DEFAULT', env_img_res=256, local_log_dir='/home/azureuser/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal', run_id_note='ft6100_t2_s13', use_wandb=False, wandb_entity='YOUR_ENTITY', wandb_project='YOUR_PROJECT', seed=195, randomize_seed=False, data_collection=False, jpeg_compress=True, reward_stop_threshold=None, reward_stop_consecutive_steps=3, use_gpt_reward=False, gpt_reward_model='gpt-5.4-mini', gpt_reward_stop_threshold=4, gpt_reward_timeout_s=30.0, save_rollout_video=False, eval_hdf5_path='', eval_hdf5_demo_key='demo_0', data_gen_demo_ids='', eval_episode_ids='13,29,45', replay_actions=False, replay_action_path_dir='', replay_hdf5_path='', data_generation=False, max_generation_steps=200, simple_task_max_steps=100, complex_task_max_steps=200)
+Using serial inference (parallel inference disabled)
+Task suite: libero_goal
+Number of tasks: 10
+Running only task IDs: [2]
+Using default initial states
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 1...
+Query 1/1: Action query time = 5.053 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4944
+t=10: Selected seed 195 with value = 0.4944
+Query 1/1: Action query time = 4.956 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5123
+t=26: Selected seed 195 with value = 0.5123
+Query 1/1: Action query time = 5.185 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7241
+t=42: Selected seed 195 with value = 0.7241
+Query 1/1: Action query time = 5.237 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7188
+t=58: Selected seed 195 with value = 0.7188
+Query 1/1: Action query time = 4.960 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7608
+t=74: Selected seed 195 with value = 0.7608
+Query 1/1: Action query time = 5.111 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8660
+t=90: Selected seed 195 with value = 0.8660
+Query 1/1: Action query time = 3.119 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=106: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/ft6100_t2_s13/2026_08_02-09_00_34--with_future_img--episode=1--success=True--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: True
+# episodes completed so far: 1
+# successes: 1 (100.0%)
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 2...
+Query 1/1: Action query time = 4.885 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4837
+t=10: Selected seed 195 with value = 0.4837
+Query 1/1: Action query time = 4.697 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6077
+t=26: Selected seed 195 with value = 0.6077
+Query 1/1: Action query time = 4.725 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7397
+t=42: Selected seed 195 with value = 0.7397
+Query 1/1: Action query time = 5.373 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7496
+t=58: Selected seed 195 with value = 0.7496
+Query 1/1: Action query time = 5.633 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8610
+t=74: Selected seed 195 with value = 0.8610
+Query 1/1: Action query time = 5.360 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/ft6100_t2_s13/2026_08_02-09_00_34--with_future_img--episode=2--success=True--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: True
+# episodes completed so far: 2
+# successes: 2 (100.0%)
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 3...
+Query 1/1: Action query time = 5.106 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4998
+t=10: Selected seed 195 with value = 0.4998
+Query 1/1: Action query time = 5.197 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6021
+t=26: Selected seed 195 with value = 0.6021
+Query 1/1: Action query time = 5.213 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7764
+t=42: Selected seed 195 with value = 0.7764
+Query 1/1: Action query time = 5.159 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7654
+t=58: Selected seed 195 with value = 0.7654
+Query 1/1: Action query time = 3.382 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9231
+t=74: Selected seed 195 with value = 0.9231
+Query 1/1: Action query time = 2.912 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8430
+t=90: Selected seed 195 with value = 0.8430
+Query 1/1: Action query time = 3.651 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8725
+t=106: Selected seed 195 with value = 0.8725
+Query 1/1: Action query time = 5.182 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8556
+t=122: Selected seed 195 with value = 0.8556
+Query 1/1: Action query time = 5.041 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8804
+t=138: Selected seed 195 with value = 0.8804
+Query 1/1: Action query time = 5.463 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8114
+t=154: Selected seed 195 with value = 0.8114
+Query 1/1: Action query time = 5.261 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7251
+t=170: Selected seed 195 with value = 0.7251
+Query 1/1: Action query time = 3.243 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8000
+t=186: Selected seed 195 with value = 0.8000
+Saved rollout MP4 at path ./rollouts/ft6100_t2_s13/2026_08_02-09_00_34--with_future_img--episode=3--success=True--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: True
+# episodes completed so far: 3
+# successes: 3 (100.0%)
+Current task success rate: 1.0
+Current total success rate: 1.0
+Final results:
+Total episodes: 3
+Total successes: 3
+Overall success rate: 1.0000 (100.0%)
diff --git a/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-09_00_35--ft6100_t2_s09.txt b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-09_00_35--ft6100_t2_s09.txt
new file mode 100644
index 0000000000000000000000000000000000000000..16460489917e4c18396360e4ea6742fb75300be2
--- /dev/null
+++ b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-09_00_35--ft6100_t2_s09.txt
@@ -0,0 +1,209 @@
+Eval config: PolicyEvalConfig(suite='libero', model_family='cosmos', config='cosmos_predict2_2b_480p_libero_cl_stage_inference_only', ckpt_path='/home/azureuser/REGEN-main/new/cosmos_policy/cosmos_v2_finetune/cosmos_predict2_2b_480p_libero_goal_task6_ft_from40k_2gpu_100step/checkpoints/iter_000000100/model', planning_model_config_name='', planning_model_ckpt_path='', config_file='cosmos_policy/config/config.py', packnet_mask_path='', packnet_first_cl_libero_task=6, use_third_person_image=True, num_third_person_images=1, use_wrist_image=True, num_wrist_images=1, use_proprio=True, flip_images=True, use_variance_scale=False, use_jpeg_compression=True, ar_future_prediction=False, ar_value_prediction=False, ar_qvalue_prediction=False, num_denoising_steps_action=5, num_denoising_steps_future_state=1, num_denoising_steps_value=1, unnormalize_actions=True, normalize_proprio=True, dataset_stats_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/libero_goal_regen/dataset_statistics.json', t5_text_embeddings_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/t5_embeddings.pkl', trained_with_image_aug=True, chunk_size=16, num_open_loop_steps=16, deterministic=True, deterministic_reset=False, deterministic_reset_seed=None, use_ensemble_future_state_predictions=False, num_future_state_predictions_in_ensemble=3, future_state_ensemble_aggregation_scheme='average', use_ensemble_value_predictions=False, num_value_predictions_in_ensemble=5, value_ensemble_aggregation_scheme='average', search_depth=1, mask_current_state_action_for_value_prediction=False, mask_future_state_for_qvalue_prediction=False, num_queries_best_of_n=1, use_parallel_inference=False, available_gpus='0', parallel_timeout=15, parallel_tasks_across_gpus=False, task_suite_name='libero_goal', num_trials_per_task=50, task_ids_to_run='2', initial_states_path='DEFAULT', env_img_res=256, local_log_dir='/home/azureuser/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal', run_id_note='ft6100_t2_s09', use_wandb=False, wandb_entity='YOUR_ENTITY', wandb_project='YOUR_PROJECT', seed=195, randomize_seed=False, data_collection=False, jpeg_compress=True, reward_stop_threshold=None, reward_stop_consecutive_steps=3, use_gpt_reward=False, gpt_reward_model='gpt-5.4-mini', gpt_reward_stop_threshold=4, gpt_reward_timeout_s=30.0, save_rollout_video=False, eval_hdf5_path='', eval_hdf5_demo_key='demo_0', data_gen_demo_ids='', eval_episode_ids='9,25,41', replay_actions=False, replay_action_path_dir='', replay_hdf5_path='', data_generation=False, max_generation_steps=200, simple_task_max_steps=100, complex_task_max_steps=200)
+Using serial inference (parallel inference disabled)
+Task suite: libero_goal
+Number of tasks: 10
+Running only task IDs: [2]
+Using default initial states
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 1...
+Query 1/1: Action query time = 5.131 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4742
+t=10: Selected seed 195 with value = 0.4742
+Query 1/1: Action query time = 5.026 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4798
+t=26: Selected seed 195 with value = 0.4798
+Query 1/1: Action query time = 5.132 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6418
+t=42: Selected seed 195 with value = 0.6418
+Query 1/1: Action query time = 5.235 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7379
+t=58: Selected seed 195 with value = 0.7379
+Query 1/1: Action query time = 5.067 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7947
+t=74: Selected seed 195 with value = 0.7947
+Query 1/1: Action query time = 5.115 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9194
+t=90: Selected seed 195 with value = 0.9194
+Saved rollout MP4 at path ./rollouts/ft6100_t2_s09/2026_08_02-09_00_35--with_future_img--episode=1--success=True--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: True
+# episodes completed so far: 1
+# successes: 1 (100.0%)
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 2...
+Query 1/1: Action query time = 4.166 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4924
+t=10: Selected seed 195 with value = 0.4924
+Query 1/1: Action query time = 4.854 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5239
+t=26: Selected seed 195 with value = 0.5239
+Query 1/1: Action query time = 4.450 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6674
+t=42: Selected seed 195 with value = 0.6674
+Query 1/1: Action query time = 4.172 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6973
+t=58: Selected seed 195 with value = 0.6973
+Query 1/1: Action query time = 5.354 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8514
+t=74: Selected seed 195 with value = 0.8514
+Query 1/1: Action query time = 5.650 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7488
+t=90: Selected seed 195 with value = 0.7488
+Query 1/1: Action query time = 4.936 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7663
+t=106: Selected seed 195 with value = 0.7663
+Query 1/1: Action query time = 4.371 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8591
+t=122: Selected seed 195 with value = 0.8591
+Query 1/1: Action query time = 4.948 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8055
+t=138: Selected seed 195 with value = 0.8055
+Query 1/1: Action query time = 4.886 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8467
+t=154: Selected seed 195 with value = 0.8467
+Query 1/1: Action query time = 4.992 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7978
+t=170: Selected seed 195 with value = 0.7978
+Query 1/1: Action query time = 4.946 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8265
+t=186: Selected seed 195 with value = 0.8265
+Query 1/1: Action query time = 3.248 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8465
+t=202: Selected seed 195 with value = 0.8465
+Query 1/1: Action query time = 2.931 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8342
+t=218: Selected seed 195 with value = 0.8342
+Query 1/1: Action query time = 3.786 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8687
+t=234: Selected seed 195 with value = 0.8687
+Query 1/1: Action query time = 5.246 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8574
+t=250: Selected seed 195 with value = 0.8574
+Query 1/1: Action query time = 4.456 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8587
+t=266: Selected seed 195 with value = 0.8587
+Query 1/1: Action query time = 5.414 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8586
+t=282: Selected seed 195 with value = 0.8586
+Query 1/1: Action query time = 5.292 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8530
+t=298: Selected seed 195 with value = 0.8530
+Saved rollout MP4 at path ./rollouts/ft6100_t2_s09/2026_08_02-09_00_35--with_future_img--episode=2--success=False--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: False
+# episodes completed so far: 2
+# successes: 1 (50.0%)
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 3...
+Query 1/1: Action query time = 3.560 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4496
+t=10: Selected seed 195 with value = 0.4496
+Query 1/1: Action query time = 4.355 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4935
+t=26: Selected seed 195 with value = 0.4935
+Query 1/1: Action query time = 4.212 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5893
+t=42: Selected seed 195 with value = 0.5893
+Query 1/1: Action query time = 4.139 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7300
+t=58: Selected seed 195 with value = 0.7300
+Query 1/1: Action query time = 4.453 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7766
+t=74: Selected seed 195 with value = 0.7766
+Query 1/1: Action query time = 4.305 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8491
+t=90: Selected seed 195 with value = 0.8491
+Query 1/1: Action query time = 4.245 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=106: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 2.439 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=122: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 2.131 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=138: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 2.304 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=154: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 2.475 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=170: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 2.252 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9996
+t=186: Selected seed 195 with value = 0.9996
+Query 1/1: Action query time = 1.773 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9953
+t=202: Selected seed 195 with value = 0.9953
+Query 1/1: Action query time = 1.781 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9879
+t=218: Selected seed 195 with value = 0.9879
+Query 1/1: Action query time = 1.531 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9780
+t=234: Selected seed 195 with value = 0.9780
+Query 1/1: Action query time = 1.565 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9585
+t=250: Selected seed 195 with value = 0.9585
+Query 1/1: Action query time = 2.580 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9361
+t=266: Selected seed 195 with value = 0.9361
+Query 1/1: Action query time = 2.930 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9255
+t=282: Selected seed 195 with value = 0.9255
+Query 1/1: Action query time = 2.821 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9051
+t=298: Selected seed 195 with value = 0.9051
+Saved rollout MP4 at path ./rollouts/ft6100_t2_s09/2026_08_02-09_00_35--with_future_img--episode=3--success=False--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: False
+# episodes completed so far: 3
+# successes: 1 (33.3%)
+Current task success rate: 0.3333333333333333
+Current total success rate: 0.3333333333333333
+Final results:
+Total episodes: 3
+Total successes: 1
+Overall success rate: 0.3333 (33.3%)
diff --git a/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-09_00_35--ft6100_t2_s15.txt b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-09_00_35--ft6100_t2_s15.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0736c5cc80cfacf242036c8bb9f9f88d955dc5e6
--- /dev/null
+++ b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-09_00_35--ft6100_t2_s15.txt
@@ -0,0 +1,261 @@
+Eval config: PolicyEvalConfig(suite='libero', model_family='cosmos', config='cosmos_predict2_2b_480p_libero_cl_stage_inference_only', ckpt_path='/home/azureuser/REGEN-main/new/cosmos_policy/cosmos_v2_finetune/cosmos_predict2_2b_480p_libero_goal_task6_ft_from40k_2gpu_100step/checkpoints/iter_000000100/model', planning_model_config_name='', planning_model_ckpt_path='', config_file='cosmos_policy/config/config.py', packnet_mask_path='', packnet_first_cl_libero_task=6, use_third_person_image=True, num_third_person_images=1, use_wrist_image=True, num_wrist_images=1, use_proprio=True, flip_images=True, use_variance_scale=False, use_jpeg_compression=True, ar_future_prediction=False, ar_value_prediction=False, ar_qvalue_prediction=False, num_denoising_steps_action=5, num_denoising_steps_future_state=1, num_denoising_steps_value=1, unnormalize_actions=True, normalize_proprio=True, dataset_stats_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/libero_goal_regen/dataset_statistics.json', t5_text_embeddings_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/t5_embeddings.pkl', trained_with_image_aug=True, chunk_size=16, num_open_loop_steps=16, deterministic=True, deterministic_reset=False, deterministic_reset_seed=None, use_ensemble_future_state_predictions=False, num_future_state_predictions_in_ensemble=3, future_state_ensemble_aggregation_scheme='average', use_ensemble_value_predictions=False, num_value_predictions_in_ensemble=5, value_ensemble_aggregation_scheme='average', search_depth=1, mask_current_state_action_for_value_prediction=False, mask_future_state_for_qvalue_prediction=False, num_queries_best_of_n=1, use_parallel_inference=False, available_gpus='0', parallel_timeout=15, parallel_tasks_across_gpus=False, task_suite_name='libero_goal', num_trials_per_task=50, task_ids_to_run='2', initial_states_path='DEFAULT', env_img_res=256, local_log_dir='/home/azureuser/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal', run_id_note='ft6100_t2_s15', use_wandb=False, wandb_entity='YOUR_ENTITY', wandb_project='YOUR_PROJECT', seed=195, randomize_seed=False, data_collection=False, jpeg_compress=True, reward_stop_threshold=None, reward_stop_consecutive_steps=3, use_gpt_reward=False, gpt_reward_model='gpt-5.4-mini', gpt_reward_stop_threshold=4, gpt_reward_timeout_s=30.0, save_rollout_video=False, eval_hdf5_path='', eval_hdf5_demo_key='demo_0', data_gen_demo_ids='', eval_episode_ids='15,31,47', replay_actions=False, replay_action_path_dir='', replay_hdf5_path='', data_generation=False, max_generation_steps=200, simple_task_max_steps=100, complex_task_max_steps=200)
+Using serial inference (parallel inference disabled)
+Task suite: libero_goal
+Number of tasks: 10
+Running only task IDs: [2]
+Using default initial states
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 1...
+Query 1/1: Action query time = 6.028 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4747
+t=10: Selected seed 195 with value = 0.4747
+Query 1/1: Action query time = 4.757 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5260
+t=26: Selected seed 195 with value = 0.5260
+Query 1/1: Action query time = 4.932 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5780
+t=42: Selected seed 195 with value = 0.5780
+Query 1/1: Action query time = 5.069 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7584
+t=58: Selected seed 195 with value = 0.7584
+Query 1/1: Action query time = 4.999 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8187
+t=74: Selected seed 195 with value = 0.8187
+Query 1/1: Action query time = 5.047 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9629
+t=90: Selected seed 195 with value = 0.9629
+Query 1/1: Action query time = 3.620 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=106: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.869 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=122: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 5.494 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=138: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 5.198 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=154: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.709 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=170: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.941 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=186: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.930 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9971
+t=202: Selected seed 195 with value = 0.9971
+Query 1/1: Action query time = 5.148 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9833
+t=218: Selected seed 195 with value = 0.9833
+Query 1/1: Action query time = 4.959 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9480
+t=234: Selected seed 195 with value = 0.9480
+Query 1/1: Action query time = 4.988 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9055
+t=250: Selected seed 195 with value = 0.9055
+Query 1/1: Action query time = 4.793 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8948
+t=266: Selected seed 195 with value = 0.8948
+Query 1/1: Action query time = 4.809 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8883
+t=282: Selected seed 195 with value = 0.8883
+Query 1/1: Action query time = 4.168 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8686
+t=298: Selected seed 195 with value = 0.8686
+Saved rollout MP4 at path ./rollouts/ft6100_t2_s15/2026_08_02-09_00_35--with_future_img--episode=1--success=False--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: False
+# episodes completed so far: 1
+# successes: 0 (0.0%)
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 2...
+Query 1/1: Action query time = 5.158 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4823
+t=10: Selected seed 195 with value = 0.4823
+Query 1/1: Action query time = 5.161 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4994
+t=26: Selected seed 195 with value = 0.4994
+Query 1/1: Action query time = 5.008 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6023
+t=42: Selected seed 195 with value = 0.6023
+Query 1/1: Action query time = 5.042 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7598
+t=58: Selected seed 195 with value = 0.7598
+Query 1/1: Action query time = 4.017 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7985
+t=74: Selected seed 195 with value = 0.7985
+Query 1/1: Action query time = 2.238 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8996
+t=90: Selected seed 195 with value = 0.8996
+Query 1/1: Action query time = 2.848 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=106: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.180 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=122: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.528 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=138: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.726 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=154: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.501 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=170: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.022 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=186: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.232 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9965
+t=202: Selected seed 195 with value = 0.9965
+Query 1/1: Action query time = 3.061 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9913
+t=218: Selected seed 195 with value = 0.9913
+Query 1/1: Action query time = 2.905 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9866
+t=234: Selected seed 195 with value = 0.9866
+Query 1/1: Action query time = 2.653 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9829
+t=250: Selected seed 195 with value = 0.9829
+Query 1/1: Action query time = 2.434 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9786
+t=266: Selected seed 195 with value = 0.9786
+Query 1/1: Action query time = 2.643 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9729
+t=282: Selected seed 195 with value = 0.9729
+Query 1/1: Action query time = 2.442 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9598
+t=298: Selected seed 195 with value = 0.9598
+Saved rollout MP4 at path ./rollouts/ft6100_t2_s15/2026_08_02-09_00_35--with_future_img--episode=2--success=False--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: False
+# episodes completed so far: 2
+# successes: 0 (0.0%)
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 3...
+Query 1/1: Action query time = 2.150 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4894
+t=10: Selected seed 195 with value = 0.4894
+Query 1/1: Action query time = 2.556 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5961
+t=26: Selected seed 195 with value = 0.5961
+Query 1/1: Action query time = 2.659 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6846
+t=42: Selected seed 195 with value = 0.6846
+Query 1/1: Action query time = 1.494 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7469
+t=58: Selected seed 195 with value = 0.7469
+Query 1/1: Action query time = 1.248 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8275
+t=74: Selected seed 195 with value = 0.8275
+Query 1/1: Action query time = 1.230 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9979
+t=90: Selected seed 195 with value = 0.9979
+Query 1/1: Action query time = 1.258 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=106: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 1.270 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=122: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 1.293 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=138: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 1.175 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=154: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 1.253 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9981
+t=170: Selected seed 195 with value = 0.9981
+Query 1/1: Action query time = 1.406 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9836
+t=186: Selected seed 195 with value = 0.9836
+Query 1/1: Action query time = 1.539 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9436
+t=202: Selected seed 195 with value = 0.9436
+Query 1/1: Action query time = 1.678 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9017
+t=218: Selected seed 195 with value = 0.9017
+Query 1/1: Action query time = 1.386 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8865
+t=234: Selected seed 195 with value = 0.8865
+Query 1/1: Action query time = 1.427 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8783
+t=250: Selected seed 195 with value = 0.8783
+Query 1/1: Action query time = 1.485 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8525
+t=266: Selected seed 195 with value = 0.8525
+Query 1/1: Action query time = 1.502 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8270
+t=282: Selected seed 195 with value = 0.8270
+Query 1/1: Action query time = 1.463 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8061
+t=298: Selected seed 195 with value = 0.8061
+Saved rollout MP4 at path ./rollouts/ft6100_t2_s15/2026_08_02-09_00_35--with_future_img--episode=3--success=False--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: False
+# episodes completed so far: 3
+# successes: 0 (0.0%)
+Current task success rate: 0.0
+Current total success rate: 0.0
+Final results:
+Total episodes: 3
+Total successes: 0
+Overall success rate: 0.0000 (0.0%)
diff --git a/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-09_05_12--ft6100_t3_s03.txt b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-09_05_12--ft6100_t3_s03.txt
new file mode 100644
index 0000000000000000000000000000000000000000..778acc83faa092e1f40179838c21b9e382272ac7
--- /dev/null
+++ b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-09_05_12--ft6100_t3_s03.txt
@@ -0,0 +1,261 @@
+Eval config: PolicyEvalConfig(suite='libero', model_family='cosmos', config='cosmos_predict2_2b_480p_libero_cl_stage_inference_only', ckpt_path='/home/azureuser/REGEN-main/new/cosmos_policy/cosmos_v2_finetune/cosmos_predict2_2b_480p_libero_goal_task6_ft_from40k_2gpu_100step/checkpoints/iter_000000100/model', planning_model_config_name='', planning_model_ckpt_path='', config_file='cosmos_policy/config/config.py', packnet_mask_path='', packnet_first_cl_libero_task=6, use_third_person_image=True, num_third_person_images=1, use_wrist_image=True, num_wrist_images=1, use_proprio=True, flip_images=True, use_variance_scale=False, use_jpeg_compression=True, ar_future_prediction=False, ar_value_prediction=False, ar_qvalue_prediction=False, num_denoising_steps_action=5, num_denoising_steps_future_state=1, num_denoising_steps_value=1, unnormalize_actions=True, normalize_proprio=True, dataset_stats_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/libero_goal_regen/dataset_statistics.json', t5_text_embeddings_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/t5_embeddings.pkl', trained_with_image_aug=True, chunk_size=16, num_open_loop_steps=16, deterministic=True, deterministic_reset=False, deterministic_reset_seed=None, use_ensemble_future_state_predictions=False, num_future_state_predictions_in_ensemble=3, future_state_ensemble_aggregation_scheme='average', use_ensemble_value_predictions=False, num_value_predictions_in_ensemble=5, value_ensemble_aggregation_scheme='average', search_depth=1, mask_current_state_action_for_value_prediction=False, mask_future_state_for_qvalue_prediction=False, num_queries_best_of_n=1, use_parallel_inference=False, available_gpus='0', parallel_timeout=15, parallel_tasks_across_gpus=False, task_suite_name='libero_goal', num_trials_per_task=50, task_ids_to_run='3', initial_states_path='DEFAULT', env_img_res=256, local_log_dir='/home/azureuser/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal', run_id_note='ft6100_t3_s03', use_wandb=False, wandb_entity='YOUR_ENTITY', wandb_project='YOUR_PROJECT', seed=195, randomize_seed=False, data_collection=False, jpeg_compress=True, reward_stop_threshold=None, reward_stop_consecutive_steps=3, use_gpt_reward=False, gpt_reward_model='gpt-5.4-mini', gpt_reward_stop_threshold=4, gpt_reward_timeout_s=30.0, save_rollout_video=False, eval_hdf5_path='', eval_hdf5_demo_key='demo_0', data_gen_demo_ids='', eval_episode_ids='3,19,35', replay_actions=False, replay_action_path_dir='', replay_hdf5_path='', data_generation=False, max_generation_steps=200, simple_task_max_steps=100, complex_task_max_steps=200)
+Using serial inference (parallel inference disabled)
+Task suite: libero_goal
+Number of tasks: 10
+Running only task IDs: [3]
+Using default initial states
+
+Task: open the top drawer and put the bowl inside
+Starting episode 1...
+Query 1/1: Action query time = 4.834 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.1999
+t=10: Selected seed 195 with value = 0.1999
+Query 1/1: Action query time = 4.689 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2257
+t=26: Selected seed 195 with value = 0.2257
+Query 1/1: Action query time = 5.816 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2624
+t=42: Selected seed 195 with value = 0.2624
+Query 1/1: Action query time = 6.261 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2521
+t=58: Selected seed 195 with value = 0.2521
+Query 1/1: Action query time = 5.611 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2474
+t=74: Selected seed 195 with value = 0.2474
+Query 1/1: Action query time = 4.884 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2909
+t=90: Selected seed 195 with value = 0.2909
+Query 1/1: Action query time = 4.957 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4627
+t=106: Selected seed 195 with value = 0.4627
+Query 1/1: Action query time = 5.609 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5361
+t=122: Selected seed 195 with value = 0.5361
+Query 1/1: Action query time = 5.598 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5423
+t=138: Selected seed 195 with value = 0.5423
+Query 1/1: Action query time = 5.292 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5899
+t=154: Selected seed 195 with value = 0.5899
+Query 1/1: Action query time = 5.254 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9016
+t=170: Selected seed 195 with value = 0.9016
+Query 1/1: Action query time = 5.150 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9659
+t=186: Selected seed 195 with value = 0.9659
+Query 1/1: Action query time = 5.122 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9367
+t=202: Selected seed 195 with value = 0.9367
+Query 1/1: Action query time = 5.226 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7725
+t=218: Selected seed 195 with value = 0.7725
+Query 1/1: Action query time = 5.303 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8831
+t=234: Selected seed 195 with value = 0.8831
+Query 1/1: Action query time = 5.504 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8503
+t=250: Selected seed 195 with value = 0.8503
+Query 1/1: Action query time = 5.189 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8373
+t=266: Selected seed 195 with value = 0.8373
+Query 1/1: Action query time = 4.581 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8787
+t=282: Selected seed 195 with value = 0.8787
+Query 1/1: Action query time = 2.375 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9188
+t=298: Selected seed 195 with value = 0.9188
+Saved rollout MP4 at path ./rollouts/ft6100_t3_s03/2026_08_02-09_05_12--with_future_img--episode=1--success=False--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: False
+# episodes completed so far: 1
+# successes: 0 (0.0%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 2...
+Query 1/1: Action query time = 4.568 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2217
+t=10: Selected seed 195 with value = 0.2217
+Query 1/1: Action query time = 4.970 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2770
+t=26: Selected seed 195 with value = 0.2770
+Query 1/1: Action query time = 6.012 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2459
+t=42: Selected seed 195 with value = 0.2459
+Query 1/1: Action query time = 5.684 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3185
+t=58: Selected seed 195 with value = 0.3185
+Query 1/1: Action query time = 5.096 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3986
+t=74: Selected seed 195 with value = 0.3986
+Query 1/1: Action query time = 4.999 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5019
+t=90: Selected seed 195 with value = 0.5019
+Query 1/1: Action query time = 5.032 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4427
+t=106: Selected seed 195 with value = 0.4427
+Query 1/1: Action query time = 4.993 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6224
+t=122: Selected seed 195 with value = 0.6224
+Query 1/1: Action query time = 5.216 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7440
+t=138: Selected seed 195 with value = 0.7440
+Query 1/1: Action query time = 5.508 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8685
+t=154: Selected seed 195 with value = 0.8685
+Query 1/1: Action query time = 5.246 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9227
+t=170: Selected seed 195 with value = 0.9227
+Query 1/1: Action query time = 5.189 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6705
+t=186: Selected seed 195 with value = 0.6705
+Query 1/1: Action query time = 5.260 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8033
+t=202: Selected seed 195 with value = 0.8033
+Query 1/1: Action query time = 5.413 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9199
+t=218: Selected seed 195 with value = 0.9199
+Query 1/1: Action query time = 5.567 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9430
+t=234: Selected seed 195 with value = 0.9430
+Query 1/1: Action query time = 5.180 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9463
+t=250: Selected seed 195 with value = 0.9463
+Query 1/1: Action query time = 4.020 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9567
+t=266: Selected seed 195 with value = 0.9567
+Query 1/1: Action query time = 3.270 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9513
+t=282: Selected seed 195 with value = 0.9513
+Query 1/1: Action query time = 4.923 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9297
+t=298: Selected seed 195 with value = 0.9297
+Saved rollout MP4 at path ./rollouts/ft6100_t3_s03/2026_08_02-09_05_12--with_future_img--episode=2--success=False--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: False
+# episodes completed so far: 2
+# successes: 0 (0.0%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 3...
+Query 1/1: Action query time = 4.606 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.1950
+t=10: Selected seed 195 with value = 0.1950
+Query 1/1: Action query time = 5.011 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2395
+t=26: Selected seed 195 with value = 0.2395
+Query 1/1: Action query time = 5.014 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2122
+t=42: Selected seed 195 with value = 0.2122
+Query 1/1: Action query time = 5.046 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2434
+t=58: Selected seed 195 with value = 0.2434
+Query 1/1: Action query time = 5.296 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3356
+t=74: Selected seed 195 with value = 0.3356
+Query 1/1: Action query time = 5.046 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2454
+t=90: Selected seed 195 with value = 0.2454
+Query 1/1: Action query time = 5.241 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8950
+t=106: Selected seed 195 with value = 0.8950
+Query 1/1: Action query time = 5.341 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5085
+t=122: Selected seed 195 with value = 0.5085
+Query 1/1: Action query time = 5.406 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5242
+t=138: Selected seed 195 with value = 0.5242
+Query 1/1: Action query time = 5.567 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6094
+t=154: Selected seed 195 with value = 0.6094
+Query 1/1: Action query time = 5.264 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5755
+t=170: Selected seed 195 with value = 0.5755
+Query 1/1: Action query time = 5.066 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6053
+t=186: Selected seed 195 with value = 0.6053
+Query 1/1: Action query time = 4.953 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6199
+t=202: Selected seed 195 with value = 0.6199
+Query 1/1: Action query time = 5.143 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6152
+t=218: Selected seed 195 with value = 0.6152
+Query 1/1: Action query time = 5.208 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6391
+t=234: Selected seed 195 with value = 0.6391
+Query 1/1: Action query time = 4.402 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6191
+t=250: Selected seed 195 with value = 0.6191
+Query 1/1: Action query time = 3.783 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6635
+t=266: Selected seed 195 with value = 0.6635
+Query 1/1: Action query time = 3.779 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6517
+t=282: Selected seed 195 with value = 0.6517
+Query 1/1: Action query time = 3.648 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6676
+t=298: Selected seed 195 with value = 0.6676
+Saved rollout MP4 at path ./rollouts/ft6100_t3_s03/2026_08_02-09_05_12--with_future_img--episode=3--success=False--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: False
+# episodes completed so far: 3
+# successes: 0 (0.0%)
+Current task success rate: 0.0
+Current total success rate: 0.0
+Final results:
+Total episodes: 3
+Total successes: 0
+Overall success rate: 0.0000 (0.0%)
diff --git a/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-09_05_12--ft6100_t3_s14.txt b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-09_05_12--ft6100_t3_s14.txt
new file mode 100644
index 0000000000000000000000000000000000000000..23d85d7109d866946871f63d21a4ce0efc42f1bf
--- /dev/null
+++ b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-09_05_12--ft6100_t3_s14.txt
@@ -0,0 +1,261 @@
+Eval config: PolicyEvalConfig(suite='libero', model_family='cosmos', config='cosmos_predict2_2b_480p_libero_cl_stage_inference_only', ckpt_path='/home/azureuser/REGEN-main/new/cosmos_policy/cosmos_v2_finetune/cosmos_predict2_2b_480p_libero_goal_task6_ft_from40k_2gpu_100step/checkpoints/iter_000000100/model', planning_model_config_name='', planning_model_ckpt_path='', config_file='cosmos_policy/config/config.py', packnet_mask_path='', packnet_first_cl_libero_task=6, use_third_person_image=True, num_third_person_images=1, use_wrist_image=True, num_wrist_images=1, use_proprio=True, flip_images=True, use_variance_scale=False, use_jpeg_compression=True, ar_future_prediction=False, ar_value_prediction=False, ar_qvalue_prediction=False, num_denoising_steps_action=5, num_denoising_steps_future_state=1, num_denoising_steps_value=1, unnormalize_actions=True, normalize_proprio=True, dataset_stats_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/libero_goal_regen/dataset_statistics.json', t5_text_embeddings_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/t5_embeddings.pkl', trained_with_image_aug=True, chunk_size=16, num_open_loop_steps=16, deterministic=True, deterministic_reset=False, deterministic_reset_seed=None, use_ensemble_future_state_predictions=False, num_future_state_predictions_in_ensemble=3, future_state_ensemble_aggregation_scheme='average', use_ensemble_value_predictions=False, num_value_predictions_in_ensemble=5, value_ensemble_aggregation_scheme='average', search_depth=1, mask_current_state_action_for_value_prediction=False, mask_future_state_for_qvalue_prediction=False, num_queries_best_of_n=1, use_parallel_inference=False, available_gpus='0', parallel_timeout=15, parallel_tasks_across_gpus=False, task_suite_name='libero_goal', num_trials_per_task=50, task_ids_to_run='3', initial_states_path='DEFAULT', env_img_res=256, local_log_dir='/home/azureuser/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal', run_id_note='ft6100_t3_s14', use_wandb=False, wandb_entity='YOUR_ENTITY', wandb_project='YOUR_PROJECT', seed=195, randomize_seed=False, data_collection=False, jpeg_compress=True, reward_stop_threshold=None, reward_stop_consecutive_steps=3, use_gpt_reward=False, gpt_reward_model='gpt-5.4-mini', gpt_reward_stop_threshold=4, gpt_reward_timeout_s=30.0, save_rollout_video=False, eval_hdf5_path='', eval_hdf5_demo_key='demo_0', data_gen_demo_ids='', eval_episode_ids='14,30,46', replay_actions=False, replay_action_path_dir='', replay_hdf5_path='', data_generation=False, max_generation_steps=200, simple_task_max_steps=100, complex_task_max_steps=200)
+Using serial inference (parallel inference disabled)
+Task suite: libero_goal
+Number of tasks: 10
+Running only task IDs: [3]
+Using default initial states
+
+Task: open the top drawer and put the bowl inside
+Starting episode 1...
+Query 1/1: Action query time = 6.281 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2012
+t=10: Selected seed 195 with value = 0.2012
+Query 1/1: Action query time = 5.164 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2072
+t=26: Selected seed 195 with value = 0.2072
+Query 1/1: Action query time = 5.036 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2433
+t=42: Selected seed 195 with value = 0.2433
+Query 1/1: Action query time = 5.222 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2459
+t=58: Selected seed 195 with value = 0.2459
+Query 1/1: Action query time = 5.917 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2469
+t=74: Selected seed 195 with value = 0.2469
+Query 1/1: Action query time = 5.732 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2533
+t=90: Selected seed 195 with value = 0.2533
+Query 1/1: Action query time = 5.255 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2383
+t=106: Selected seed 195 with value = 0.2383
+Query 1/1: Action query time = 5.115 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2426
+t=122: Selected seed 195 with value = 0.2426
+Query 1/1: Action query time = 5.361 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3046
+t=138: Selected seed 195 with value = 0.3046
+Query 1/1: Action query time = 5.142 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2509
+t=154: Selected seed 195 with value = 0.2509
+Query 1/1: Action query time = 5.167 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2881
+t=170: Selected seed 195 with value = 0.2881
+Query 1/1: Action query time = 5.270 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2469
+t=186: Selected seed 195 with value = 0.2469
+Query 1/1: Action query time = 5.223 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3528
+t=202: Selected seed 195 with value = 0.3528
+Query 1/1: Action query time = 5.158 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5479
+t=218: Selected seed 195 with value = 0.5479
+Query 1/1: Action query time = 4.960 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5413
+t=234: Selected seed 195 with value = 0.5413
+Query 1/1: Action query time = 4.985 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5494
+t=250: Selected seed 195 with value = 0.5494
+Query 1/1: Action query time = 5.137 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8438
+t=266: Selected seed 195 with value = 0.8438
+Query 1/1: Action query time = 4.607 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7738
+t=282: Selected seed 195 with value = 0.7738
+Query 1/1: Action query time = 2.387 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8873
+t=298: Selected seed 195 with value = 0.8873
+Saved rollout MP4 at path ./rollouts/ft6100_t3_s14/2026_08_02-09_05_12--with_future_img--episode=1--success=False--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: False
+# episodes completed so far: 1
+# successes: 0 (0.0%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 2...
+Query 1/1: Action query time = 6.141 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2132
+t=10: Selected seed 195 with value = 0.2132
+Query 1/1: Action query time = 5.813 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2818
+t=26: Selected seed 195 with value = 0.2818
+Query 1/1: Action query time = 4.894 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2934
+t=42: Selected seed 195 with value = 0.2934
+Query 1/1: Action query time = 4.922 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3369
+t=58: Selected seed 195 with value = 0.3369
+Query 1/1: Action query time = 4.922 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4365
+t=74: Selected seed 195 with value = 0.4365
+Query 1/1: Action query time = 4.969 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5078
+t=90: Selected seed 195 with value = 0.5078
+Query 1/1: Action query time = 5.054 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4740
+t=106: Selected seed 195 with value = 0.4740
+Query 1/1: Action query time = 5.313 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6614
+t=122: Selected seed 195 with value = 0.6614
+Query 1/1: Action query time = 5.339 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8455
+t=138: Selected seed 195 with value = 0.8455
+Query 1/1: Action query time = 5.166 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9558
+t=154: Selected seed 195 with value = 0.9558
+Query 1/1: Action query time = 4.986 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8713
+t=170: Selected seed 195 with value = 0.8713
+Query 1/1: Action query time = 4.997 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7242
+t=186: Selected seed 195 with value = 0.7242
+Query 1/1: Action query time = 5.049 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8436
+t=202: Selected seed 195 with value = 0.8436
+Query 1/1: Action query time = 4.703 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9122
+t=218: Selected seed 195 with value = 0.9122
+Query 1/1: Action query time = 4.965 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9444
+t=234: Selected seed 195 with value = 0.9444
+Query 1/1: Action query time = 4.403 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9482
+t=250: Selected seed 195 with value = 0.9482
+Query 1/1: Action query time = 4.291 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9818
+t=266: Selected seed 195 with value = 0.9818
+Query 1/1: Action query time = 4.921 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9847
+t=282: Selected seed 195 with value = 0.9847
+Query 1/1: Action query time = 2.369 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9644
+t=298: Selected seed 195 with value = 0.9644
+Saved rollout MP4 at path ./rollouts/ft6100_t3_s14/2026_08_02-09_05_12--with_future_img--episode=2--success=False--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: False
+# episodes completed so far: 2
+# successes: 0 (0.0%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 3...
+Query 1/1: Action query time = 4.985 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2099
+t=10: Selected seed 195 with value = 0.2099
+Query 1/1: Action query time = 4.707 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2748
+t=26: Selected seed 195 with value = 0.2748
+Query 1/1: Action query time = 5.093 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2148
+t=42: Selected seed 195 with value = 0.2148
+Query 1/1: Action query time = 5.055 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2792
+t=58: Selected seed 195 with value = 0.2792
+Query 1/1: Action query time = 4.800 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4028
+t=74: Selected seed 195 with value = 0.4028
+Query 1/1: Action query time = 5.035 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5382
+t=90: Selected seed 195 with value = 0.5382
+Query 1/1: Action query time = 5.328 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5465
+t=106: Selected seed 195 with value = 0.5465
+Query 1/1: Action query time = 5.252 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3263
+t=122: Selected seed 195 with value = 0.3263
+Query 1/1: Action query time = 5.183 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6583
+t=138: Selected seed 195 with value = 0.6583
+Query 1/1: Action query time = 4.994 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6688
+t=154: Selected seed 195 with value = 0.6688
+Query 1/1: Action query time = 5.131 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8730
+t=170: Selected seed 195 with value = 0.8730
+Query 1/1: Action query time = 5.145 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8663
+t=186: Selected seed 195 with value = 0.8663
+Query 1/1: Action query time = 5.285 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9264
+t=202: Selected seed 195 with value = 0.9264
+Query 1/1: Action query time = 4.402 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9458
+t=218: Selected seed 195 with value = 0.9458
+Query 1/1: Action query time = 4.283 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9715
+t=234: Selected seed 195 with value = 0.9715
+Query 1/1: Action query time = 3.987 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9873
+t=250: Selected seed 195 with value = 0.9873
+Query 1/1: Action query time = 3.349 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9644
+t=266: Selected seed 195 with value = 0.9644
+Query 1/1: Action query time = 3.198 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9533
+t=282: Selected seed 195 with value = 0.9533
+Query 1/1: Action query time = 1.852 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9421
+t=298: Selected seed 195 with value = 0.9421
+Saved rollout MP4 at path ./rollouts/ft6100_t3_s14/2026_08_02-09_05_12--with_future_img--episode=3--success=False--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: False
+# episodes completed so far: 3
+# successes: 0 (0.0%)
+Current task success rate: 0.0
+Current total success rate: 0.0
+Final results:
+Total episodes: 3
+Total successes: 0
+Overall success rate: 0.0000 (0.0%)
diff --git a/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-09_05_13--ft6100_t3_s11.txt b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-09_05_13--ft6100_t3_s11.txt
new file mode 100644
index 0000000000000000000000000000000000000000..d48621c3fe27eef5044f149970dc5371a4badb5e
--- /dev/null
+++ b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-09_05_13--ft6100_t3_s11.txt
@@ -0,0 +1,261 @@
+Eval config: PolicyEvalConfig(suite='libero', model_family='cosmos', config='cosmos_predict2_2b_480p_libero_cl_stage_inference_only', ckpt_path='/home/azureuser/REGEN-main/new/cosmos_policy/cosmos_v2_finetune/cosmos_predict2_2b_480p_libero_goal_task6_ft_from40k_2gpu_100step/checkpoints/iter_000000100/model', planning_model_config_name='', planning_model_ckpt_path='', config_file='cosmos_policy/config/config.py', packnet_mask_path='', packnet_first_cl_libero_task=6, use_third_person_image=True, num_third_person_images=1, use_wrist_image=True, num_wrist_images=1, use_proprio=True, flip_images=True, use_variance_scale=False, use_jpeg_compression=True, ar_future_prediction=False, ar_value_prediction=False, ar_qvalue_prediction=False, num_denoising_steps_action=5, num_denoising_steps_future_state=1, num_denoising_steps_value=1, unnormalize_actions=True, normalize_proprio=True, dataset_stats_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/libero_goal_regen/dataset_statistics.json', t5_text_embeddings_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/t5_embeddings.pkl', trained_with_image_aug=True, chunk_size=16, num_open_loop_steps=16, deterministic=True, deterministic_reset=False, deterministic_reset_seed=None, use_ensemble_future_state_predictions=False, num_future_state_predictions_in_ensemble=3, future_state_ensemble_aggregation_scheme='average', use_ensemble_value_predictions=False, num_value_predictions_in_ensemble=5, value_ensemble_aggregation_scheme='average', search_depth=1, mask_current_state_action_for_value_prediction=False, mask_future_state_for_qvalue_prediction=False, num_queries_best_of_n=1, use_parallel_inference=False, available_gpus='0', parallel_timeout=15, parallel_tasks_across_gpus=False, task_suite_name='libero_goal', num_trials_per_task=50, task_ids_to_run='3', initial_states_path='DEFAULT', env_img_res=256, local_log_dir='/home/azureuser/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal', run_id_note='ft6100_t3_s11', use_wandb=False, wandb_entity='YOUR_ENTITY', wandb_project='YOUR_PROJECT', seed=195, randomize_seed=False, data_collection=False, jpeg_compress=True, reward_stop_threshold=None, reward_stop_consecutive_steps=3, use_gpt_reward=False, gpt_reward_model='gpt-5.4-mini', gpt_reward_stop_threshold=4, gpt_reward_timeout_s=30.0, save_rollout_video=False, eval_hdf5_path='', eval_hdf5_demo_key='demo_0', data_gen_demo_ids='', eval_episode_ids='11,27,43', replay_actions=False, replay_action_path_dir='', replay_hdf5_path='', data_generation=False, max_generation_steps=200, simple_task_max_steps=100, complex_task_max_steps=200)
+Using serial inference (parallel inference disabled)
+Task suite: libero_goal
+Number of tasks: 10
+Running only task IDs: [3]
+Using default initial states
+
+Task: open the top drawer and put the bowl inside
+Starting episode 1...
+Query 1/1: Action query time = 6.456 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.1994
+t=10: Selected seed 195 with value = 0.1994
+Query 1/1: Action query time = 5.459 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.1948
+t=26: Selected seed 195 with value = 0.1948
+Query 1/1: Action query time = 5.023 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2521
+t=42: Selected seed 195 with value = 0.2521
+Query 1/1: Action query time = 5.222 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2642
+t=58: Selected seed 195 with value = 0.2642
+Query 1/1: Action query time = 5.832 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2769
+t=74: Selected seed 195 with value = 0.2769
+Query 1/1: Action query time = 5.739 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2586
+t=90: Selected seed 195 with value = 0.2586
+Query 1/1: Action query time = 5.084 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3275
+t=106: Selected seed 195 with value = 0.3275
+Query 1/1: Action query time = 4.902 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2613
+t=122: Selected seed 195 with value = 0.2613
+Query 1/1: Action query time = 4.983 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.1817
+t=138: Selected seed 195 with value = 0.1817
+Query 1/1: Action query time = 4.942 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.1848
+t=154: Selected seed 195 with value = 0.1848
+Query 1/1: Action query time = 5.021 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2848
+t=170: Selected seed 195 with value = 0.2848
+Query 1/1: Action query time = 5.016 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2720
+t=186: Selected seed 195 with value = 0.2720
+Query 1/1: Action query time = 4.523 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5587
+t=202: Selected seed 195 with value = 0.5587
+Query 1/1: Action query time = 4.573 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5657
+t=218: Selected seed 195 with value = 0.5657
+Query 1/1: Action query time = 4.931 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5511
+t=234: Selected seed 195 with value = 0.5511
+Query 1/1: Action query time = 5.280 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5174
+t=250: Selected seed 195 with value = 0.5174
+Query 1/1: Action query time = 5.236 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5877
+t=266: Selected seed 195 with value = 0.5877
+Query 1/1: Action query time = 4.717 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6198
+t=282: Selected seed 195 with value = 0.6198
+Query 1/1: Action query time = 2.849 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5762
+t=298: Selected seed 195 with value = 0.5762
+Saved rollout MP4 at path ./rollouts/ft6100_t3_s11/2026_08_02-09_05_13--with_future_img--episode=1--success=False--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: False
+# episodes completed so far: 1
+# successes: 0 (0.0%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 2...
+Query 1/1: Action query time = 5.921 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2168
+t=10: Selected seed 195 with value = 0.2168
+Query 1/1: Action query time = 4.516 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3074
+t=26: Selected seed 195 with value = 0.3074
+Query 1/1: Action query time = 4.841 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2560
+t=42: Selected seed 195 with value = 0.2560
+Query 1/1: Action query time = 5.207 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3350
+t=58: Selected seed 195 with value = 0.3350
+Query 1/1: Action query time = 5.152 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4369
+t=74: Selected seed 195 with value = 0.4369
+Query 1/1: Action query time = 5.287 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5512
+t=90: Selected seed 195 with value = 0.5512
+Query 1/1: Action query time = 5.050 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5615
+t=106: Selected seed 195 with value = 0.5615
+Query 1/1: Action query time = 4.787 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3815
+t=122: Selected seed 195 with value = 0.3815
+Query 1/1: Action query time = 4.821 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6355
+t=138: Selected seed 195 with value = 0.6355
+Query 1/1: Action query time = 4.937 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7401
+t=154: Selected seed 195 with value = 0.7401
+Query 1/1: Action query time = 5.011 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9076
+t=170: Selected seed 195 with value = 0.9076
+Query 1/1: Action query time = 5.041 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8771
+t=186: Selected seed 195 with value = 0.8771
+Query 1/1: Action query time = 5.256 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9457
+t=202: Selected seed 195 with value = 0.9457
+Query 1/1: Action query time = 5.088 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9302
+t=218: Selected seed 195 with value = 0.9302
+Query 1/1: Action query time = 5.463 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9625
+t=234: Selected seed 195 with value = 0.9625
+Query 1/1: Action query time = 4.843 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9542
+t=250: Selected seed 195 with value = 0.9542
+Query 1/1: Action query time = 4.292 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9406
+t=266: Selected seed 195 with value = 0.9406
+Query 1/1: Action query time = 3.723 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9378
+t=282: Selected seed 195 with value = 0.9378
+Query 1/1: Action query time = 4.329 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9363
+t=298: Selected seed 195 with value = 0.9363
+Saved rollout MP4 at path ./rollouts/ft6100_t3_s11/2026_08_02-09_05_13--with_future_img--episode=2--success=False--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: False
+# episodes completed so far: 2
+# successes: 0 (0.0%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 3...
+Query 1/1: Action query time = 5.481 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2089
+t=10: Selected seed 195 with value = 0.2089
+Query 1/1: Action query time = 5.421 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2137
+t=26: Selected seed 195 with value = 0.2137
+Query 1/1: Action query time = 5.157 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2600
+t=42: Selected seed 195 with value = 0.2600
+Query 1/1: Action query time = 5.022 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2463
+t=58: Selected seed 195 with value = 0.2463
+Query 1/1: Action query time = 5.289 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2348
+t=74: Selected seed 195 with value = 0.2348
+Query 1/1: Action query time = 5.490 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2289
+t=90: Selected seed 195 with value = 0.2289
+Query 1/1: Action query time = 5.027 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2619
+t=106: Selected seed 195 with value = 0.2619
+Query 1/1: Action query time = 4.695 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4612
+t=122: Selected seed 195 with value = 0.4612
+Query 1/1: Action query time = 4.955 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3772
+t=138: Selected seed 195 with value = 0.3772
+Query 1/1: Action query time = 5.357 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3444
+t=154: Selected seed 195 with value = 0.3444
+Query 1/1: Action query time = 5.405 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6631
+t=170: Selected seed 195 with value = 0.6631
+Query 1/1: Action query time = 5.377 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6396
+t=186: Selected seed 195 with value = 0.6396
+Query 1/1: Action query time = 5.068 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7875
+t=202: Selected seed 195 with value = 0.7875
+Query 1/1: Action query time = 4.353 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8050
+t=218: Selected seed 195 with value = 0.8050
+Query 1/1: Action query time = 4.506 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6989
+t=234: Selected seed 195 with value = 0.6989
+Query 1/1: Action query time = 3.629 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6385
+t=250: Selected seed 195 with value = 0.6385
+Query 1/1: Action query time = 3.344 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8975
+t=266: Selected seed 195 with value = 0.8975
+Query 1/1: Action query time = 3.151 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7259
+t=282: Selected seed 195 with value = 0.7259
+Query 1/1: Action query time = 2.895 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9192
+t=298: Selected seed 195 with value = 0.9192
+Saved rollout MP4 at path ./rollouts/ft6100_t3_s11/2026_08_02-09_05_13--with_future_img--episode=3--success=False--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: False
+# episodes completed so far: 3
+# successes: 0 (0.0%)
+Current task success rate: 0.0
+Current total success rate: 0.0
+Final results:
+Total episodes: 3
+Total successes: 0
+Overall success rate: 0.0000 (0.0%)
diff --git a/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-09_05_13--ft6100_t3_s13.txt b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-09_05_13--ft6100_t3_s13.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0909cdcef1fe017601918023e0985a19282b9315
--- /dev/null
+++ b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-09_05_13--ft6100_t3_s13.txt
@@ -0,0 +1,261 @@
+Eval config: PolicyEvalConfig(suite='libero', model_family='cosmos', config='cosmos_predict2_2b_480p_libero_cl_stage_inference_only', ckpt_path='/home/azureuser/REGEN-main/new/cosmos_policy/cosmos_v2_finetune/cosmos_predict2_2b_480p_libero_goal_task6_ft_from40k_2gpu_100step/checkpoints/iter_000000100/model', planning_model_config_name='', planning_model_ckpt_path='', config_file='cosmos_policy/config/config.py', packnet_mask_path='', packnet_first_cl_libero_task=6, use_third_person_image=True, num_third_person_images=1, use_wrist_image=True, num_wrist_images=1, use_proprio=True, flip_images=True, use_variance_scale=False, use_jpeg_compression=True, ar_future_prediction=False, ar_value_prediction=False, ar_qvalue_prediction=False, num_denoising_steps_action=5, num_denoising_steps_future_state=1, num_denoising_steps_value=1, unnormalize_actions=True, normalize_proprio=True, dataset_stats_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/libero_goal_regen/dataset_statistics.json', t5_text_embeddings_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/t5_embeddings.pkl', trained_with_image_aug=True, chunk_size=16, num_open_loop_steps=16, deterministic=True, deterministic_reset=False, deterministic_reset_seed=None, use_ensemble_future_state_predictions=False, num_future_state_predictions_in_ensemble=3, future_state_ensemble_aggregation_scheme='average', use_ensemble_value_predictions=False, num_value_predictions_in_ensemble=5, value_ensemble_aggregation_scheme='average', search_depth=1, mask_current_state_action_for_value_prediction=False, mask_future_state_for_qvalue_prediction=False, num_queries_best_of_n=1, use_parallel_inference=False, available_gpus='0', parallel_timeout=15, parallel_tasks_across_gpus=False, task_suite_name='libero_goal', num_trials_per_task=50, task_ids_to_run='3', initial_states_path='DEFAULT', env_img_res=256, local_log_dir='/home/azureuser/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal', run_id_note='ft6100_t3_s13', use_wandb=False, wandb_entity='YOUR_ENTITY', wandb_project='YOUR_PROJECT', seed=195, randomize_seed=False, data_collection=False, jpeg_compress=True, reward_stop_threshold=None, reward_stop_consecutive_steps=3, use_gpt_reward=False, gpt_reward_model='gpt-5.4-mini', gpt_reward_stop_threshold=4, gpt_reward_timeout_s=30.0, save_rollout_video=False, eval_hdf5_path='', eval_hdf5_demo_key='demo_0', data_gen_demo_ids='', eval_episode_ids='13,29,45', replay_actions=False, replay_action_path_dir='', replay_hdf5_path='', data_generation=False, max_generation_steps=200, simple_task_max_steps=100, complex_task_max_steps=200)
+Using serial inference (parallel inference disabled)
+Task suite: libero_goal
+Number of tasks: 10
+Running only task IDs: [3]
+Using default initial states
+
+Task: open the top drawer and put the bowl inside
+Starting episode 1...
+Query 1/1: Action query time = 2.752 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2113
+t=10: Selected seed 195 with value = 0.2113
+Query 1/1: Action query time = 5.255 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2760
+t=26: Selected seed 195 with value = 0.2760
+Query 1/1: Action query time = 5.519 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2801
+t=42: Selected seed 195 with value = 0.2801
+Query 1/1: Action query time = 4.965 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3323
+t=58: Selected seed 195 with value = 0.3323
+Query 1/1: Action query time = 5.067 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4253
+t=74: Selected seed 195 with value = 0.4253
+Query 1/1: Action query time = 4.989 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5141
+t=90: Selected seed 195 with value = 0.5141
+Query 1/1: Action query time = 4.587 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5123
+t=106: Selected seed 195 with value = 0.5123
+Query 1/1: Action query time = 3.950 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6643
+t=122: Selected seed 195 with value = 0.6643
+Query 1/1: Action query time = 5.333 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8864
+t=138: Selected seed 195 with value = 0.8864
+Query 1/1: Action query time = 5.304 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9079
+t=154: Selected seed 195 with value = 0.9079
+Query 1/1: Action query time = 5.136 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8992
+t=170: Selected seed 195 with value = 0.8992
+Query 1/1: Action query time = 5.227 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7729
+t=186: Selected seed 195 with value = 0.7729
+Query 1/1: Action query time = 5.127 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6420
+t=202: Selected seed 195 with value = 0.6420
+Query 1/1: Action query time = 4.991 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8259
+t=218: Selected seed 195 with value = 0.8259
+Query 1/1: Action query time = 5.348 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8709
+t=234: Selected seed 195 with value = 0.8709
+Query 1/1: Action query time = 5.332 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9962
+t=250: Selected seed 195 with value = 0.9962
+Query 1/1: Action query time = 5.413 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9749
+t=266: Selected seed 195 with value = 0.9749
+Query 1/1: Action query time = 5.259 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9694
+t=282: Selected seed 195 with value = 0.9694
+Query 1/1: Action query time = 4.947 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9515
+t=298: Selected seed 195 with value = 0.9515
+Saved rollout MP4 at path ./rollouts/ft6100_t3_s13/2026_08_02-09_05_13--with_future_img--episode=1--success=False--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: False
+# episodes completed so far: 1
+# successes: 0 (0.0%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 2...
+Query 1/1: Action query time = 1.398 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2036
+t=10: Selected seed 195 with value = 0.2036
+Query 1/1: Action query time = 1.986 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.1897
+t=26: Selected seed 195 with value = 0.1897
+Query 1/1: Action query time = 4.349 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2530
+t=42: Selected seed 195 with value = 0.2530
+Query 1/1: Action query time = 4.260 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2526
+t=58: Selected seed 195 with value = 0.2526
+Query 1/1: Action query time = 5.489 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2465
+t=74: Selected seed 195 with value = 0.2465
+Query 1/1: Action query time = 4.807 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2411
+t=90: Selected seed 195 with value = 0.2411
+Query 1/1: Action query time = 5.029 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2863
+t=106: Selected seed 195 with value = 0.2863
+Query 1/1: Action query time = 5.150 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4570
+t=122: Selected seed 195 with value = 0.4570
+Query 1/1: Action query time = 5.024 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5373
+t=138: Selected seed 195 with value = 0.5373
+Query 1/1: Action query time = 4.883 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2456
+t=154: Selected seed 195 with value = 0.2456
+Query 1/1: Action query time = 5.154 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7605
+t=170: Selected seed 195 with value = 0.7605
+Query 1/1: Action query time = 5.187 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8102
+t=186: Selected seed 195 with value = 0.8102
+Query 1/1: Action query time = 5.294 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8219
+t=202: Selected seed 195 with value = 0.8219
+Query 1/1: Action query time = 5.248 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8013
+t=218: Selected seed 195 with value = 0.8013
+Query 1/1: Action query time = 5.152 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8855
+t=234: Selected seed 195 with value = 0.8855
+Query 1/1: Action query time = 5.156 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8025
+t=250: Selected seed 195 with value = 0.8025
+Query 1/1: Action query time = 5.066 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7469
+t=266: Selected seed 195 with value = 0.7469
+Query 1/1: Action query time = 5.212 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7839
+t=282: Selected seed 195 with value = 0.7839
+Query 1/1: Action query time = 4.230 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9093
+t=298: Selected seed 195 with value = 0.9093
+Saved rollout MP4 at path ./rollouts/ft6100_t3_s13/2026_08_02-09_05_13--with_future_img--episode=2--success=False--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: False
+# episodes completed so far: 2
+# successes: 0 (0.0%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 3...
+Query 1/1: Action query time = 3.237 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2174
+t=10: Selected seed 195 with value = 0.2174
+Query 1/1: Action query time = 1.424 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2659
+t=26: Selected seed 195 with value = 0.2659
+Query 1/1: Action query time = 1.793 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2155
+t=42: Selected seed 195 with value = 0.2155
+Query 1/1: Action query time = 1.979 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2776
+t=58: Selected seed 195 with value = 0.2776
+Query 1/1: Action query time = 5.024 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3811
+t=74: Selected seed 195 with value = 0.3811
+Query 1/1: Action query time = 5.171 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5055
+t=90: Selected seed 195 with value = 0.5055
+Query 1/1: Action query time = 5.069 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5089
+t=106: Selected seed 195 with value = 0.5089
+Query 1/1: Action query time = 5.144 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3828
+t=122: Selected seed 195 with value = 0.3828
+Query 1/1: Action query time = 5.445 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6273
+t=138: Selected seed 195 with value = 0.6273
+Query 1/1: Action query time = 5.245 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7018
+t=154: Selected seed 195 with value = 0.7018
+Query 1/1: Action query time = 4.889 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7685
+t=170: Selected seed 195 with value = 0.7685
+Query 1/1: Action query time = 5.207 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8385
+t=186: Selected seed 195 with value = 0.8385
+Query 1/1: Action query time = 5.363 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9277
+t=202: Selected seed 195 with value = 0.9277
+Query 1/1: Action query time = 5.228 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9633
+t=218: Selected seed 195 with value = 0.9633
+Query 1/1: Action query time = 5.088 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9974
+t=234: Selected seed 195 with value = 0.9974
+Query 1/1: Action query time = 4.889 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9726
+t=250: Selected seed 195 with value = 0.9726
+Query 1/1: Action query time = 4.883 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9566
+t=266: Selected seed 195 with value = 0.9566
+Query 1/1: Action query time = 4.647 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9390
+t=282: Selected seed 195 with value = 0.9390
+Query 1/1: Action query time = 4.376 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8481
+t=298: Selected seed 195 with value = 0.8481
+Saved rollout MP4 at path ./rollouts/ft6100_t3_s13/2026_08_02-09_05_13--with_future_img--episode=3--success=False--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: False
+# episodes completed so far: 3
+# successes: 0 (0.0%)
+Current task success rate: 0.0
+Current total success rate: 0.0
+Final results:
+Total episodes: 3
+Total successes: 0
+Overall success rate: 0.0000 (0.0%)
diff --git a/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-09_05_13--ft6100_t3_s15.txt b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-09_05_13--ft6100_t3_s15.txt
new file mode 100644
index 0000000000000000000000000000000000000000..4b07e94306e92e9be26070b95553226dc5dfee92
--- /dev/null
+++ b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-09_05_13--ft6100_t3_s15.txt
@@ -0,0 +1,261 @@
+Eval config: PolicyEvalConfig(suite='libero', model_family='cosmos', config='cosmos_predict2_2b_480p_libero_cl_stage_inference_only', ckpt_path='/home/azureuser/REGEN-main/new/cosmos_policy/cosmos_v2_finetune/cosmos_predict2_2b_480p_libero_goal_task6_ft_from40k_2gpu_100step/checkpoints/iter_000000100/model', planning_model_config_name='', planning_model_ckpt_path='', config_file='cosmos_policy/config/config.py', packnet_mask_path='', packnet_first_cl_libero_task=6, use_third_person_image=True, num_third_person_images=1, use_wrist_image=True, num_wrist_images=1, use_proprio=True, flip_images=True, use_variance_scale=False, use_jpeg_compression=True, ar_future_prediction=False, ar_value_prediction=False, ar_qvalue_prediction=False, num_denoising_steps_action=5, num_denoising_steps_future_state=1, num_denoising_steps_value=1, unnormalize_actions=True, normalize_proprio=True, dataset_stats_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/libero_goal_regen/dataset_statistics.json', t5_text_embeddings_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/t5_embeddings.pkl', trained_with_image_aug=True, chunk_size=16, num_open_loop_steps=16, deterministic=True, deterministic_reset=False, deterministic_reset_seed=None, use_ensemble_future_state_predictions=False, num_future_state_predictions_in_ensemble=3, future_state_ensemble_aggregation_scheme='average', use_ensemble_value_predictions=False, num_value_predictions_in_ensemble=5, value_ensemble_aggregation_scheme='average', search_depth=1, mask_current_state_action_for_value_prediction=False, mask_future_state_for_qvalue_prediction=False, num_queries_best_of_n=1, use_parallel_inference=False, available_gpus='0', parallel_timeout=15, parallel_tasks_across_gpus=False, task_suite_name='libero_goal', num_trials_per_task=50, task_ids_to_run='3', initial_states_path='DEFAULT', env_img_res=256, local_log_dir='/home/azureuser/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal', run_id_note='ft6100_t3_s15', use_wandb=False, wandb_entity='YOUR_ENTITY', wandb_project='YOUR_PROJECT', seed=195, randomize_seed=False, data_collection=False, jpeg_compress=True, reward_stop_threshold=None, reward_stop_consecutive_steps=3, use_gpt_reward=False, gpt_reward_model='gpt-5.4-mini', gpt_reward_stop_threshold=4, gpt_reward_timeout_s=30.0, save_rollout_video=False, eval_hdf5_path='', eval_hdf5_demo_key='demo_0', data_gen_demo_ids='', eval_episode_ids='15,31,47', replay_actions=False, replay_action_path_dir='', replay_hdf5_path='', data_generation=False, max_generation_steps=200, simple_task_max_steps=100, complex_task_max_steps=200)
+Using serial inference (parallel inference disabled)
+Task suite: libero_goal
+Number of tasks: 10
+Running only task IDs: [3]
+Using default initial states
+
+Task: open the top drawer and put the bowl inside
+Starting episode 1...
+Query 1/1: Action query time = 3.523 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.1886
+t=10: Selected seed 195 with value = 0.1886
+Query 1/1: Action query time = 4.612 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2743
+t=26: Selected seed 195 with value = 0.2743
+Query 1/1: Action query time = 5.689 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2818
+t=42: Selected seed 195 with value = 0.2818
+Query 1/1: Action query time = 4.687 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2584
+t=58: Selected seed 195 with value = 0.2584
+Query 1/1: Action query time = 4.519 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4322
+t=74: Selected seed 195 with value = 0.4322
+Query 1/1: Action query time = 5.302 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2656
+t=90: Selected seed 195 with value = 0.2656
+Query 1/1: Action query time = 5.367 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.1557
+t=106: Selected seed 195 with value = 0.1557
+Query 1/1: Action query time = 5.168 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2154
+t=122: Selected seed 195 with value = 0.2154
+Query 1/1: Action query time = 4.772 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2862
+t=138: Selected seed 195 with value = 0.2862
+Query 1/1: Action query time = 5.253 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3564
+t=154: Selected seed 195 with value = 0.3564
+Query 1/1: Action query time = 5.237 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2689
+t=170: Selected seed 195 with value = 0.2689
+Query 1/1: Action query time = 5.250 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9501
+t=186: Selected seed 195 with value = 0.9501
+Query 1/1: Action query time = 5.223 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9541
+t=202: Selected seed 195 with value = 0.9541
+Query 1/1: Action query time = 5.044 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8951
+t=218: Selected seed 195 with value = 0.8951
+Query 1/1: Action query time = 5.256 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6922
+t=234: Selected seed 195 with value = 0.6922
+Query 1/1: Action query time = 5.017 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8796
+t=250: Selected seed 195 with value = 0.8796
+Query 1/1: Action query time = 5.068 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8809
+t=266: Selected seed 195 with value = 0.8809
+Query 1/1: Action query time = 5.222 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9351
+t=282: Selected seed 195 with value = 0.9351
+Query 1/1: Action query time = 4.709 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9857
+t=298: Selected seed 195 with value = 0.9857
+Saved rollout MP4 at path ./rollouts/ft6100_t3_s15/2026_08_02-09_05_13--with_future_img--episode=1--success=False--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: False
+# episodes completed so far: 1
+# successes: 0 (0.0%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 2...
+Query 1/1: Action query time = 2.372 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2093
+t=10: Selected seed 195 with value = 0.2093
+Query 1/1: Action query time = 5.969 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2761
+t=26: Selected seed 195 with value = 0.2761
+Query 1/1: Action query time = 5.947 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3013
+t=42: Selected seed 195 with value = 0.3013
+Query 1/1: Action query time = 5.244 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3426
+t=58: Selected seed 195 with value = 0.3426
+Query 1/1: Action query time = 5.244 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4310
+t=74: Selected seed 195 with value = 0.4310
+Query 1/1: Action query time = 5.029 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4851
+t=90: Selected seed 195 with value = 0.4851
+Query 1/1: Action query time = 5.029 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3960
+t=106: Selected seed 195 with value = 0.3960
+Query 1/1: Action query time = 5.085 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4302
+t=122: Selected seed 195 with value = 0.4302
+Query 1/1: Action query time = 5.395 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9317
+t=138: Selected seed 195 with value = 0.9317
+Query 1/1: Action query time = 5.316 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9531
+t=154: Selected seed 195 with value = 0.9531
+Query 1/1: Action query time = 5.323 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9332
+t=170: Selected seed 195 with value = 0.9332
+Query 1/1: Action query time = 5.148 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9047
+t=186: Selected seed 195 with value = 0.9047
+Query 1/1: Action query time = 5.198 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7162
+t=202: Selected seed 195 with value = 0.7162
+Query 1/1: Action query time = 5.285 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6536
+t=218: Selected seed 195 with value = 0.6536
+Query 1/1: Action query time = 5.034 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7564
+t=234: Selected seed 195 with value = 0.7564
+Query 1/1: Action query time = 5.014 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8463
+t=250: Selected seed 195 with value = 0.8463
+Query 1/1: Action query time = 4.229 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9599
+t=266: Selected seed 195 with value = 0.9599
+Query 1/1: Action query time = 3.918 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=282: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 5.005 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9913
+t=298: Selected seed 195 with value = 0.9913
+Saved rollout MP4 at path ./rollouts/ft6100_t3_s15/2026_08_02-09_05_13--with_future_img--episode=2--success=False--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: False
+# episodes completed so far: 2
+# successes: 0 (0.0%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 3...
+Query 1/1: Action query time = 2.363 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2142
+t=10: Selected seed 195 with value = 0.2142
+Query 1/1: Action query time = 5.025 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2493
+t=26: Selected seed 195 with value = 0.2493
+Query 1/1: Action query time = 5.147 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3507
+t=42: Selected seed 195 with value = 0.3507
+Query 1/1: Action query time = 5.206 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4671
+t=58: Selected seed 195 with value = 0.4671
+Query 1/1: Action query time = 4.891 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2478
+t=74: Selected seed 195 with value = 0.2478
+Query 1/1: Action query time = 5.034 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6047
+t=90: Selected seed 195 with value = 0.6047
+Query 1/1: Action query time = 5.422 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8152
+t=106: Selected seed 195 with value = 0.8152
+Query 1/1: Action query time = 5.388 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6836
+t=122: Selected seed 195 with value = 0.6836
+Query 1/1: Action query time = 5.031 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9057
+t=138: Selected seed 195 with value = 0.9057
+Query 1/1: Action query time = 4.883 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9021
+t=154: Selected seed 195 with value = 0.9021
+Query 1/1: Action query time = 5.003 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9178
+t=170: Selected seed 195 with value = 0.9178
+Query 1/1: Action query time = 5.076 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9076
+t=186: Selected seed 195 with value = 0.9076
+Query 1/1: Action query time = 5.112 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9327
+t=202: Selected seed 195 with value = 0.9327
+Query 1/1: Action query time = 5.419 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9504
+t=218: Selected seed 195 with value = 0.9504
+Query 1/1: Action query time = 4.722 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9413
+t=234: Selected seed 195 with value = 0.9413
+Query 1/1: Action query time = 4.525 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9265
+t=250: Selected seed 195 with value = 0.9265
+Query 1/1: Action query time = 4.067 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9166
+t=266: Selected seed 195 with value = 0.9166
+Query 1/1: Action query time = 3.324 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9104
+t=282: Selected seed 195 with value = 0.9104
+Query 1/1: Action query time = 3.135 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8940
+t=298: Selected seed 195 with value = 0.8940
+Saved rollout MP4 at path ./rollouts/ft6100_t3_s15/2026_08_02-09_05_13--with_future_img--episode=3--success=False--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: False
+# episodes completed so far: 3
+# successes: 0 (0.0%)
+Current task success rate: 0.0
+Current total success rate: 0.0
+Final results:
+Total episodes: 3
+Total successes: 0
+Overall success rate: 0.0000 (0.0%)
diff --git a/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-09_12_01--ft6100_t4_s01.txt b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-09_12_01--ft6100_t4_s01.txt
new file mode 100644
index 0000000000000000000000000000000000000000..6ccc1b513c71733bfb440a1b18ab38f8dd6db91a
--- /dev/null
+++ b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-09_12_01--ft6100_t4_s01.txt
@@ -0,0 +1,344 @@
+Eval config: PolicyEvalConfig(suite='libero', model_family='cosmos', config='cosmos_predict2_2b_480p_libero_cl_stage_inference_only', ckpt_path='/home/azureuser/REGEN-main/new/cosmos_policy/cosmos_v2_finetune/cosmos_predict2_2b_480p_libero_goal_task6_ft_from40k_2gpu_100step/checkpoints/iter_000000100/model', planning_model_config_name='', planning_model_ckpt_path='', config_file='cosmos_policy/config/config.py', packnet_mask_path='', packnet_first_cl_libero_task=6, use_third_person_image=True, num_third_person_images=1, use_wrist_image=True, num_wrist_images=1, use_proprio=True, flip_images=True, use_variance_scale=False, use_jpeg_compression=True, ar_future_prediction=False, ar_value_prediction=False, ar_qvalue_prediction=False, num_denoising_steps_action=5, num_denoising_steps_future_state=1, num_denoising_steps_value=1, unnormalize_actions=True, normalize_proprio=True, dataset_stats_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/libero_goal_regen/dataset_statistics.json', t5_text_embeddings_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/t5_embeddings.pkl', trained_with_image_aug=True, chunk_size=16, num_open_loop_steps=16, deterministic=True, deterministic_reset=False, deterministic_reset_seed=None, use_ensemble_future_state_predictions=False, num_future_state_predictions_in_ensemble=3, future_state_ensemble_aggregation_scheme='average', use_ensemble_value_predictions=False, num_value_predictions_in_ensemble=5, value_ensemble_aggregation_scheme='average', search_depth=1, mask_current_state_action_for_value_prediction=False, mask_future_state_for_qvalue_prediction=False, num_queries_best_of_n=1, use_parallel_inference=False, available_gpus='0', parallel_timeout=15, parallel_tasks_across_gpus=False, task_suite_name='libero_goal', num_trials_per_task=50, task_ids_to_run='4', initial_states_path='DEFAULT', env_img_res=256, local_log_dir='/home/azureuser/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal', run_id_note='ft6100_t4_s01', use_wandb=False, wandb_entity='YOUR_ENTITY', wandb_project='YOUR_PROJECT', seed=195, randomize_seed=False, data_collection=False, jpeg_compress=True, reward_stop_threshold=None, reward_stop_consecutive_steps=3, use_gpt_reward=False, gpt_reward_model='gpt-5.4-mini', gpt_reward_stop_threshold=4, gpt_reward_timeout_s=30.0, save_rollout_video=False, eval_hdf5_path='', eval_hdf5_demo_key='demo_0', data_gen_demo_ids='', eval_episode_ids='1,17,33,49', replay_actions=False, replay_action_path_dir='', replay_hdf5_path='', data_generation=False, max_generation_steps=200, simple_task_max_steps=100, complex_task_max_steps=200)
+Using serial inference (parallel inference disabled)
+Task suite: libero_goal
+Number of tasks: 10
+Running only task IDs: [4]
+Using default initial states
+
+Task: put the bowl on top of the cabinet
+Starting episode 1...
+Query 1/1: Action query time = 1.809 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5110
+t=10: Selected seed 195 with value = 0.5110
+Query 1/1: Action query time = 3.117 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5204
+t=26: Selected seed 195 with value = 0.5204
+Query 1/1: Action query time = 5.194 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6158
+t=42: Selected seed 195 with value = 0.6158
+Query 1/1: Action query time = 4.576 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7599
+t=58: Selected seed 195 with value = 0.7599
+Query 1/1: Action query time = 4.677 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9160
+t=74: Selected seed 195 with value = 0.9160
+Query 1/1: Action query time = 5.086 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9924
+t=90: Selected seed 195 with value = 0.9924
+Query 1/1: Action query time = 5.530 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=106: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 5.103 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9958
+t=122: Selected seed 195 with value = 0.9958
+Query 1/1: Action query time = 4.996 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9900
+t=138: Selected seed 195 with value = 0.9900
+Query 1/1: Action query time = 4.951 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9835
+t=154: Selected seed 195 with value = 0.9835
+Query 1/1: Action query time = 5.143 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9760
+t=170: Selected seed 195 with value = 0.9760
+Query 1/1: Action query time = 5.453 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9669
+t=186: Selected seed 195 with value = 0.9669
+Query 1/1: Action query time = 5.457 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9591
+t=202: Selected seed 195 with value = 0.9591
+Query 1/1: Action query time = 5.338 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9414
+t=218: Selected seed 195 with value = 0.9414
+Query 1/1: Action query time = 5.049 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9204
+t=234: Selected seed 195 with value = 0.9204
+Query 1/1: Action query time = 5.407 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9233
+t=250: Selected seed 195 with value = 0.9233
+Query 1/1: Action query time = 5.359 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9349
+t=266: Selected seed 195 with value = 0.9349
+Query 1/1: Action query time = 5.139 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9489
+t=282: Selected seed 195 with value = 0.9489
+Query 1/1: Action query time = 4.834 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9449
+t=298: Selected seed 195 with value = 0.9449
+Saved rollout MP4 at path ./rollouts/ft6100_t4_s01/2026_08_02-09_12_01--with_future_img--episode=1--success=False--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Success: False
+# episodes completed so far: 1
+# successes: 0 (0.0%)
+
+Task: put the bowl on top of the cabinet
+Starting episode 2...
+Query 1/1: Action query time = 1.302 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4663
+t=10: Selected seed 195 with value = 0.4663
+Query 1/1: Action query time = 1.090 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5030
+t=26: Selected seed 195 with value = 0.5030
+Query 1/1: Action query time = 1.906 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5849
+t=42: Selected seed 195 with value = 0.5849
+Query 1/1: Action query time = 2.873 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5721
+t=58: Selected seed 195 with value = 0.5721
+Query 1/1: Action query time = 6.365 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5819
+t=74: Selected seed 195 with value = 0.5819
+Query 1/1: Action query time = 4.201 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6106
+t=90: Selected seed 195 with value = 0.6106
+Query 1/1: Action query time = 4.782 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5798
+t=106: Selected seed 195 with value = 0.5798
+Query 1/1: Action query time = 4.852 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6632
+t=122: Selected seed 195 with value = 0.6632
+Query 1/1: Action query time = 4.981 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8075
+t=138: Selected seed 195 with value = 0.8075
+Query 1/1: Action query time = 5.249 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7182
+t=154: Selected seed 195 with value = 0.7182
+Query 1/1: Action query time = 5.044 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8590
+t=170: Selected seed 195 with value = 0.8590
+Query 1/1: Action query time = 5.294 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6869
+t=186: Selected seed 195 with value = 0.6869
+Query 1/1: Action query time = 5.495 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7002
+t=202: Selected seed 195 with value = 0.7002
+Query 1/1: Action query time = 5.357 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6312
+t=218: Selected seed 195 with value = 0.6312
+Query 1/1: Action query time = 5.620 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6349
+t=234: Selected seed 195 with value = 0.6349
+Query 1/1: Action query time = 4.716 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6156
+t=250: Selected seed 195 with value = 0.6156
+Query 1/1: Action query time = 4.637 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6175
+t=266: Selected seed 195 with value = 0.6175
+Query 1/1: Action query time = 5.042 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5780
+t=282: Selected seed 195 with value = 0.5780
+Query 1/1: Action query time = 5.747 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5957
+t=298: Selected seed 195 with value = 0.5957
+Saved rollout MP4 at path ./rollouts/ft6100_t4_s01/2026_08_02-09_12_01--with_future_img--episode=2--success=False--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Success: False
+# episodes completed so far: 2
+# successes: 0 (0.0%)
+
+Task: put the bowl on top of the cabinet
+Starting episode 3...
+Query 1/1: Action query time = 4.371 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4934
+t=10: Selected seed 195 with value = 0.4934
+Query 1/1: Action query time = 4.014 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5126
+t=26: Selected seed 195 with value = 0.5126
+Query 1/1: Action query time = 2.879 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5970
+t=42: Selected seed 195 with value = 0.5970
+Query 1/1: Action query time = 2.412 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5634
+t=58: Selected seed 195 with value = 0.5634
+Query 1/1: Action query time = 2.331 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5982
+t=74: Selected seed 195 with value = 0.5982
+Query 1/1: Action query time = 5.760 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6047
+t=90: Selected seed 195 with value = 0.6047
+Query 1/1: Action query time = 5.008 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6231
+t=106: Selected seed 195 with value = 0.6231
+Query 1/1: Action query time = 5.005 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6359
+t=122: Selected seed 195 with value = 0.6359
+Query 1/1: Action query time = 5.186 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8633
+t=138: Selected seed 195 with value = 0.8633
+Query 1/1: Action query time = 4.949 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6556
+t=154: Selected seed 195 with value = 0.6556
+Query 1/1: Action query time = 5.196 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7893
+t=170: Selected seed 195 with value = 0.7893
+Query 1/1: Action query time = 5.193 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6711
+t=186: Selected seed 195 with value = 0.6711
+Query 1/1: Action query time = 5.513 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6717
+t=202: Selected seed 195 with value = 0.6717
+Query 1/1: Action query time = 5.220 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6240
+t=218: Selected seed 195 with value = 0.6240
+Query 1/1: Action query time = 5.013 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5866
+t=234: Selected seed 195 with value = 0.5866
+Query 1/1: Action query time = 5.273 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5752
+t=250: Selected seed 195 with value = 0.5752
+Query 1/1: Action query time = 5.214 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5978
+t=266: Selected seed 195 with value = 0.5978
+Query 1/1: Action query time = 5.295 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5603
+t=282: Selected seed 195 with value = 0.5603
+Query 1/1: Action query time = 5.035 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6012
+t=298: Selected seed 195 with value = 0.6012
+Saved rollout MP4 at path ./rollouts/ft6100_t4_s01/2026_08_02-09_12_01--with_future_img--episode=3--success=False--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Success: False
+# episodes completed so far: 3
+# successes: 0 (0.0%)
+
+Task: put the bowl on top of the cabinet
+Starting episode 4...
+Query 1/1: Action query time = 4.601 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4691
+t=10: Selected seed 195 with value = 0.4691
+Query 1/1: Action query time = 4.375 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5076
+t=26: Selected seed 195 with value = 0.5076
+Query 1/1: Action query time = 4.593 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5909
+t=42: Selected seed 195 with value = 0.5909
+Query 1/1: Action query time = 3.682 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5608
+t=58: Selected seed 195 with value = 0.5608
+Query 1/1: Action query time = 1.245 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6792
+t=74: Selected seed 195 with value = 0.6792
+Query 1/1: Action query time = 1.267 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7368
+t=90: Selected seed 195 with value = 0.7368
+Query 1/1: Action query time = 1.139 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9644
+t=106: Selected seed 195 with value = 0.9644
+Query 1/1: Action query time = 1.223 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9886
+t=122: Selected seed 195 with value = 0.9886
+Query 1/1: Action query time = 1.214 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9827
+t=138: Selected seed 195 with value = 0.9827
+Query 1/1: Action query time = 1.248 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9750
+t=154: Selected seed 195 with value = 0.9750
+Query 1/1: Action query time = 1.236 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9679
+t=170: Selected seed 195 with value = 0.9679
+Query 1/1: Action query time = 1.236 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9596
+t=186: Selected seed 195 with value = 0.9596
+Query 1/1: Action query time = 1.193 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9445
+t=202: Selected seed 195 with value = 0.9445
+Query 1/1: Action query time = 1.212 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9038
+t=218: Selected seed 195 with value = 0.9038
+Query 1/1: Action query time = 1.212 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9421
+t=234: Selected seed 195 with value = 0.9421
+Query 1/1: Action query time = 1.211 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9359
+t=250: Selected seed 195 with value = 0.9359
+Query 1/1: Action query time = 1.226 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8829
+t=266: Selected seed 195 with value = 0.8829
+Query 1/1: Action query time = 1.219 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9190
+t=282: Selected seed 195 with value = 0.9190
+Query 1/1: Action query time = 1.206 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9759
+t=298: Selected seed 195 with value = 0.9759
+Saved rollout MP4 at path ./rollouts/ft6100_t4_s01/2026_08_02-09_12_01--with_future_img--episode=4--success=False--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Success: False
+# episodes completed so far: 4
+# successes: 0 (0.0%)
+Current task success rate: 0.0
+Current total success rate: 0.0
+Final results:
+Total episodes: 4
+Total successes: 0
+Overall success rate: 0.0000 (0.0%)
diff --git a/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-09_12_01--ft6100_t4_s02.txt b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-09_12_01--ft6100_t4_s02.txt
new file mode 100644
index 0000000000000000000000000000000000000000..e46f46d3c88e3df95954d11b8f0aca810edd23fb
--- /dev/null
+++ b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-09_12_01--ft6100_t4_s02.txt
@@ -0,0 +1,261 @@
+Eval config: PolicyEvalConfig(suite='libero', model_family='cosmos', config='cosmos_predict2_2b_480p_libero_cl_stage_inference_only', ckpt_path='/home/azureuser/REGEN-main/new/cosmos_policy/cosmos_v2_finetune/cosmos_predict2_2b_480p_libero_goal_task6_ft_from40k_2gpu_100step/checkpoints/iter_000000100/model', planning_model_config_name='', planning_model_ckpt_path='', config_file='cosmos_policy/config/config.py', packnet_mask_path='', packnet_first_cl_libero_task=6, use_third_person_image=True, num_third_person_images=1, use_wrist_image=True, num_wrist_images=1, use_proprio=True, flip_images=True, use_variance_scale=False, use_jpeg_compression=True, ar_future_prediction=False, ar_value_prediction=False, ar_qvalue_prediction=False, num_denoising_steps_action=5, num_denoising_steps_future_state=1, num_denoising_steps_value=1, unnormalize_actions=True, normalize_proprio=True, dataset_stats_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/libero_goal_regen/dataset_statistics.json', t5_text_embeddings_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/t5_embeddings.pkl', trained_with_image_aug=True, chunk_size=16, num_open_loop_steps=16, deterministic=True, deterministic_reset=False, deterministic_reset_seed=None, use_ensemble_future_state_predictions=False, num_future_state_predictions_in_ensemble=3, future_state_ensemble_aggregation_scheme='average', use_ensemble_value_predictions=False, num_value_predictions_in_ensemble=5, value_ensemble_aggregation_scheme='average', search_depth=1, mask_current_state_action_for_value_prediction=False, mask_future_state_for_qvalue_prediction=False, num_queries_best_of_n=1, use_parallel_inference=False, available_gpus='0', parallel_timeout=15, parallel_tasks_across_gpus=False, task_suite_name='libero_goal', num_trials_per_task=50, task_ids_to_run='4', initial_states_path='DEFAULT', env_img_res=256, local_log_dir='/home/azureuser/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal', run_id_note='ft6100_t4_s02', use_wandb=False, wandb_entity='YOUR_ENTITY', wandb_project='YOUR_PROJECT', seed=195, randomize_seed=False, data_collection=False, jpeg_compress=True, reward_stop_threshold=None, reward_stop_consecutive_steps=3, use_gpt_reward=False, gpt_reward_model='gpt-5.4-mini', gpt_reward_stop_threshold=4, gpt_reward_timeout_s=30.0, save_rollout_video=False, eval_hdf5_path='', eval_hdf5_demo_key='demo_0', data_gen_demo_ids='', eval_episode_ids='2,18,34', replay_actions=False, replay_action_path_dir='', replay_hdf5_path='', data_generation=False, max_generation_steps=200, simple_task_max_steps=100, complex_task_max_steps=200)
+Using serial inference (parallel inference disabled)
+Task suite: libero_goal
+Number of tasks: 10
+Running only task IDs: [4]
+Using default initial states
+
+Task: put the bowl on top of the cabinet
+Starting episode 1...
+Query 1/1: Action query time = 5.006 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4484
+t=10: Selected seed 195 with value = 0.4484
+Query 1/1: Action query time = 5.051 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4898
+t=26: Selected seed 195 with value = 0.4898
+Query 1/1: Action query time = 5.349 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5946
+t=42: Selected seed 195 with value = 0.5946
+Query 1/1: Action query time = 4.743 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7244
+t=58: Selected seed 195 with value = 0.7244
+Query 1/1: Action query time = 4.609 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8646
+t=74: Selected seed 195 with value = 0.8646
+Query 1/1: Action query time = 4.868 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9647
+t=90: Selected seed 195 with value = 0.9647
+Query 1/1: Action query time = 5.469 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9923
+t=106: Selected seed 195 with value = 0.9923
+Query 1/1: Action query time = 5.351 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9833
+t=122: Selected seed 195 with value = 0.9833
+Query 1/1: Action query time = 5.148 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9679
+t=138: Selected seed 195 with value = 0.9679
+Query 1/1: Action query time = 4.914 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9598
+t=154: Selected seed 195 with value = 0.9598
+Query 1/1: Action query time = 4.912 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9591
+t=170: Selected seed 195 with value = 0.9591
+Query 1/1: Action query time = 4.916 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9275
+t=186: Selected seed 195 with value = 0.9275
+Query 1/1: Action query time = 5.105 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9027
+t=202: Selected seed 195 with value = 0.9027
+Query 1/1: Action query time = 5.103 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9361
+t=218: Selected seed 195 with value = 0.9361
+Query 1/1: Action query time = 5.282 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8708
+t=234: Selected seed 195 with value = 0.8708
+Query 1/1: Action query time = 5.487 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9259
+t=250: Selected seed 195 with value = 0.9259
+Query 1/1: Action query time = 5.211 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9622
+t=266: Selected seed 195 with value = 0.9622
+Query 1/1: Action query time = 5.087 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9654
+t=282: Selected seed 195 with value = 0.9654
+Query 1/1: Action query time = 3.667 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9827
+t=298: Selected seed 195 with value = 0.9827
+Saved rollout MP4 at path ./rollouts/ft6100_t4_s02/2026_08_02-09_12_01--with_future_img--episode=1--success=False--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Success: False
+# episodes completed so far: 1
+# successes: 0 (0.0%)
+
+Task: put the bowl on top of the cabinet
+Starting episode 2...
+Query 1/1: Action query time = 2.951 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4644
+t=10: Selected seed 195 with value = 0.4644
+Query 1/1: Action query time = 6.107 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4962
+t=26: Selected seed 195 with value = 0.4962
+Query 1/1: Action query time = 5.912 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5943
+t=42: Selected seed 195 with value = 0.5943
+Query 1/1: Action query time = 4.804 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7231
+t=58: Selected seed 195 with value = 0.7231
+Query 1/1: Action query time = 4.918 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8767
+t=74: Selected seed 195 with value = 0.8767
+Query 1/1: Action query time = 4.075 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9336
+t=90: Selected seed 195 with value = 0.9336
+Query 1/1: Action query time = 4.768 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9703
+t=106: Selected seed 195 with value = 0.9703
+Query 1/1: Action query time = 4.872 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9592
+t=122: Selected seed 195 with value = 0.9592
+Query 1/1: Action query time = 5.019 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9744
+t=138: Selected seed 195 with value = 0.9744
+Query 1/1: Action query time = 5.132 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9686
+t=154: Selected seed 195 with value = 0.9686
+Query 1/1: Action query time = 5.313 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9775
+t=170: Selected seed 195 with value = 0.9775
+Query 1/1: Action query time = 5.797 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9639
+t=186: Selected seed 195 with value = 0.9639
+Query 1/1: Action query time = 4.776 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9724
+t=202: Selected seed 195 with value = 0.9724
+Query 1/1: Action query time = 4.509 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9511
+t=218: Selected seed 195 with value = 0.9511
+Query 1/1: Action query time = 5.203 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9482
+t=234: Selected seed 195 with value = 0.9482
+Query 1/1: Action query time = 5.667 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8931
+t=250: Selected seed 195 with value = 0.8931
+Query 1/1: Action query time = 4.312 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8618
+t=266: Selected seed 195 with value = 0.8618
+Query 1/1: Action query time = 3.740 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7801
+t=282: Selected seed 195 with value = 0.7801
+Query 1/1: Action query time = 4.394 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8083
+t=298: Selected seed 195 with value = 0.8083
+Saved rollout MP4 at path ./rollouts/ft6100_t4_s02/2026_08_02-09_12_01--with_future_img--episode=2--success=False--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Success: False
+# episodes completed so far: 2
+# successes: 0 (0.0%)
+
+Task: put the bowl on top of the cabinet
+Starting episode 3...
+Query 1/1: Action query time = 1.577 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4691
+t=10: Selected seed 195 with value = 0.4691
+Query 1/1: Action query time = 2.307 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5045
+t=26: Selected seed 195 with value = 0.5045
+Query 1/1: Action query time = 4.673 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6005
+t=42: Selected seed 195 with value = 0.6005
+Query 1/1: Action query time = 4.555 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7238
+t=58: Selected seed 195 with value = 0.7238
+Query 1/1: Action query time = 4.998 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8651
+t=74: Selected seed 195 with value = 0.8651
+Query 1/1: Action query time = 5.163 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9519
+t=90: Selected seed 195 with value = 0.9519
+Query 1/1: Action query time = 5.296 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9982
+t=106: Selected seed 195 with value = 0.9982
+Query 1/1: Action query time = 5.195 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9874
+t=122: Selected seed 195 with value = 0.9874
+Query 1/1: Action query time = 5.366 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9656
+t=138: Selected seed 195 with value = 0.9656
+Query 1/1: Action query time = 4.975 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8983
+t=154: Selected seed 195 with value = 0.8983
+Query 1/1: Action query time = 5.352 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8695
+t=170: Selected seed 195 with value = 0.8695
+Query 1/1: Action query time = 4.926 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9303
+t=186: Selected seed 195 with value = 0.9303
+Query 1/1: Action query time = 5.075 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9088
+t=202: Selected seed 195 with value = 0.9088
+Query 1/1: Action query time = 5.203 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9486
+t=218: Selected seed 195 with value = 0.9486
+Query 1/1: Action query time = 5.594 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9306
+t=234: Selected seed 195 with value = 0.9306
+Query 1/1: Action query time = 4.872 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9177
+t=250: Selected seed 195 with value = 0.9177
+Query 1/1: Action query time = 4.653 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9277
+t=266: Selected seed 195 with value = 0.9277
+Query 1/1: Action query time = 4.726 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8913
+t=282: Selected seed 195 with value = 0.8913
+Query 1/1: Action query time = 4.604 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9543
+t=298: Selected seed 195 with value = 0.9543
+Saved rollout MP4 at path ./rollouts/ft6100_t4_s02/2026_08_02-09_12_01--with_future_img--episode=3--success=False--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Success: False
+# episodes completed so far: 3
+# successes: 0 (0.0%)
+Current task success rate: 0.0
+Current total success rate: 0.0
+Final results:
+Total episodes: 3
+Total successes: 0
+Overall success rate: 0.0000 (0.0%)
diff --git a/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-09_12_01--ft6100_t4_s06.txt b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-09_12_01--ft6100_t4_s06.txt
new file mode 100644
index 0000000000000000000000000000000000000000..b313b4933b4c994cfba64167a2c6348c6250d7e3
--- /dev/null
+++ b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-09_12_01--ft6100_t4_s06.txt
@@ -0,0 +1,261 @@
+Eval config: PolicyEvalConfig(suite='libero', model_family='cosmos', config='cosmos_predict2_2b_480p_libero_cl_stage_inference_only', ckpt_path='/home/azureuser/REGEN-main/new/cosmos_policy/cosmos_v2_finetune/cosmos_predict2_2b_480p_libero_goal_task6_ft_from40k_2gpu_100step/checkpoints/iter_000000100/model', planning_model_config_name='', planning_model_ckpt_path='', config_file='cosmos_policy/config/config.py', packnet_mask_path='', packnet_first_cl_libero_task=6, use_third_person_image=True, num_third_person_images=1, use_wrist_image=True, num_wrist_images=1, use_proprio=True, flip_images=True, use_variance_scale=False, use_jpeg_compression=True, ar_future_prediction=False, ar_value_prediction=False, ar_qvalue_prediction=False, num_denoising_steps_action=5, num_denoising_steps_future_state=1, num_denoising_steps_value=1, unnormalize_actions=True, normalize_proprio=True, dataset_stats_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/libero_goal_regen/dataset_statistics.json', t5_text_embeddings_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/t5_embeddings.pkl', trained_with_image_aug=True, chunk_size=16, num_open_loop_steps=16, deterministic=True, deterministic_reset=False, deterministic_reset_seed=None, use_ensemble_future_state_predictions=False, num_future_state_predictions_in_ensemble=3, future_state_ensemble_aggregation_scheme='average', use_ensemble_value_predictions=False, num_value_predictions_in_ensemble=5, value_ensemble_aggregation_scheme='average', search_depth=1, mask_current_state_action_for_value_prediction=False, mask_future_state_for_qvalue_prediction=False, num_queries_best_of_n=1, use_parallel_inference=False, available_gpus='0', parallel_timeout=15, parallel_tasks_across_gpus=False, task_suite_name='libero_goal', num_trials_per_task=50, task_ids_to_run='4', initial_states_path='DEFAULT', env_img_res=256, local_log_dir='/home/azureuser/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal', run_id_note='ft6100_t4_s06', use_wandb=False, wandb_entity='YOUR_ENTITY', wandb_project='YOUR_PROJECT', seed=195, randomize_seed=False, data_collection=False, jpeg_compress=True, reward_stop_threshold=None, reward_stop_consecutive_steps=3, use_gpt_reward=False, gpt_reward_model='gpt-5.4-mini', gpt_reward_stop_threshold=4, gpt_reward_timeout_s=30.0, save_rollout_video=False, eval_hdf5_path='', eval_hdf5_demo_key='demo_0', data_gen_demo_ids='', eval_episode_ids='6,22,38', replay_actions=False, replay_action_path_dir='', replay_hdf5_path='', data_generation=False, max_generation_steps=200, simple_task_max_steps=100, complex_task_max_steps=200)
+Using serial inference (parallel inference disabled)
+Task suite: libero_goal
+Number of tasks: 10
+Running only task IDs: [4]
+Using default initial states
+
+Task: put the bowl on top of the cabinet
+Starting episode 1...
+Query 1/1: Action query time = 6.716 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4886
+t=10: Selected seed 195 with value = 0.4886
+Query 1/1: Action query time = 4.457 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5726
+t=26: Selected seed 195 with value = 0.5726
+Query 1/1: Action query time = 4.778 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6118
+t=42: Selected seed 195 with value = 0.6118
+Query 1/1: Action query time = 5.205 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6764
+t=58: Selected seed 195 with value = 0.6764
+Query 1/1: Action query time = 5.444 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8317
+t=74: Selected seed 195 with value = 0.8317
+Query 1/1: Action query time = 4.924 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8801
+t=90: Selected seed 195 with value = 0.8801
+Query 1/1: Action query time = 4.862 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9844
+t=106: Selected seed 195 with value = 0.9844
+Query 1/1: Action query time = 5.074 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9839
+t=122: Selected seed 195 with value = 0.9839
+Query 1/1: Action query time = 5.266 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9594
+t=138: Selected seed 195 with value = 0.9594
+Query 1/1: Action query time = 5.595 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9699
+t=154: Selected seed 195 with value = 0.9699
+Query 1/1: Action query time = 5.612 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9682
+t=170: Selected seed 195 with value = 0.9682
+Query 1/1: Action query time = 5.334 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9506
+t=186: Selected seed 195 with value = 0.9506
+Query 1/1: Action query time = 5.101 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9528
+t=202: Selected seed 195 with value = 0.9528
+Query 1/1: Action query time = 5.284 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9614
+t=218: Selected seed 195 with value = 0.9614
+Query 1/1: Action query time = 5.423 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9490
+t=234: Selected seed 195 with value = 0.9490
+Query 1/1: Action query time = 5.134 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9306
+t=250: Selected seed 195 with value = 0.9306
+Query 1/1: Action query time = 4.984 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9165
+t=266: Selected seed 195 with value = 0.9165
+Query 1/1: Action query time = 3.508 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9112
+t=282: Selected seed 195 with value = 0.9112
+Query 1/1: Action query time = 3.576 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9110
+t=298: Selected seed 195 with value = 0.9110
+Saved rollout MP4 at path ./rollouts/ft6100_t4_s06/2026_08_02-09_12_01--with_future_img--episode=1--success=False--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Success: False
+# episodes completed so far: 1
+# successes: 0 (0.0%)
+
+Task: put the bowl on top of the cabinet
+Starting episode 2...
+Query 1/1: Action query time = 5.065 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4860
+t=10: Selected seed 195 with value = 0.4860
+Query 1/1: Action query time = 4.729 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5604
+t=26: Selected seed 195 with value = 0.5604
+Query 1/1: Action query time = 5.074 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5725
+t=42: Selected seed 195 with value = 0.5725
+Query 1/1: Action query time = 5.105 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5948
+t=58: Selected seed 195 with value = 0.5948
+Query 1/1: Action query time = 5.241 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5756
+t=74: Selected seed 195 with value = 0.5756
+Query 1/1: Action query time = 5.438 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6357
+t=90: Selected seed 195 with value = 0.6357
+Query 1/1: Action query time = 5.280 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9240
+t=106: Selected seed 195 with value = 0.9240
+Query 1/1: Action query time = 5.392 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9008
+t=122: Selected seed 195 with value = 0.9008
+Query 1/1: Action query time = 5.475 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9841
+t=138: Selected seed 195 with value = 0.9841
+Query 1/1: Action query time = 5.527 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9725
+t=154: Selected seed 195 with value = 0.9725
+Query 1/1: Action query time = 3.871 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9512
+t=170: Selected seed 195 with value = 0.9512
+Query 1/1: Action query time = 5.034 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9019
+t=186: Selected seed 195 with value = 0.9019
+Query 1/1: Action query time = 5.419 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9360
+t=202: Selected seed 195 with value = 0.9360
+Query 1/1: Action query time = 5.591 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8764
+t=218: Selected seed 195 with value = 0.8764
+Query 1/1: Action query time = 4.866 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9530
+t=234: Selected seed 195 with value = 0.9530
+Query 1/1: Action query time = 4.682 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9236
+t=250: Selected seed 195 with value = 0.9236
+Query 1/1: Action query time = 4.444 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9594
+t=266: Selected seed 195 with value = 0.9594
+Query 1/1: Action query time = 4.986 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9473
+t=282: Selected seed 195 with value = 0.9473
+Query 1/1: Action query time = 4.546 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9686
+t=298: Selected seed 195 with value = 0.9686
+Saved rollout MP4 at path ./rollouts/ft6100_t4_s06/2026_08_02-09_12_01--with_future_img--episode=2--success=False--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Success: False
+# episodes completed so far: 2
+# successes: 0 (0.0%)
+
+Task: put the bowl on top of the cabinet
+Starting episode 3...
+Query 1/1: Action query time = 5.548 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4587
+t=10: Selected seed 195 with value = 0.4587
+Query 1/1: Action query time = 5.520 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5261
+t=26: Selected seed 195 with value = 0.5261
+Query 1/1: Action query time = 4.991 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6021
+t=42: Selected seed 195 with value = 0.6021
+Query 1/1: Action query time = 5.092 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5604
+t=58: Selected seed 195 with value = 0.5604
+Query 1/1: Action query time = 5.350 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5942
+t=74: Selected seed 195 with value = 0.5942
+Query 1/1: Action query time = 5.185 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5864
+t=90: Selected seed 195 with value = 0.5864
+Query 1/1: Action query time = 4.990 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6086
+t=106: Selected seed 195 with value = 0.6086
+Query 1/1: Action query time = 5.151 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6937
+t=122: Selected seed 195 with value = 0.6937
+Query 1/1: Action query time = 5.176 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9591
+t=138: Selected seed 195 with value = 0.9591
+Query 1/1: Action query time = 5.210 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9497
+t=154: Selected seed 195 with value = 0.9497
+Query 1/1: Action query time = 5.474 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9331
+t=170: Selected seed 195 with value = 0.9331
+Query 1/1: Action query time = 4.958 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8770
+t=186: Selected seed 195 with value = 0.8770
+Query 1/1: Action query time = 5.314 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9051
+t=202: Selected seed 195 with value = 0.9051
+Query 1/1: Action query time = 5.319 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7102
+t=218: Selected seed 195 with value = 0.7102
+Query 1/1: Action query time = 4.868 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7653
+t=234: Selected seed 195 with value = 0.7653
+Query 1/1: Action query time = 4.604 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6401
+t=250: Selected seed 195 with value = 0.6401
+Query 1/1: Action query time = 4.387 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6515
+t=266: Selected seed 195 with value = 0.6515
+Query 1/1: Action query time = 4.580 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6171
+t=282: Selected seed 195 with value = 0.6171
+Query 1/1: Action query time = 3.624 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6297
+t=298: Selected seed 195 with value = 0.6297
+Saved rollout MP4 at path ./rollouts/ft6100_t4_s06/2026_08_02-09_12_01--with_future_img--episode=3--success=False--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Success: False
+# episodes completed so far: 3
+# successes: 0 (0.0%)
+Current task success rate: 0.0
+Current total success rate: 0.0
+Final results:
+Total episodes: 3
+Total successes: 0
+Overall success rate: 0.0000 (0.0%)
diff --git a/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-09_12_02--ft6100_t4_s11.txt b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-09_12_02--ft6100_t4_s11.txt
new file mode 100644
index 0000000000000000000000000000000000000000..420efddcc108eed43ca47b0d92e1886c9fdeb2dc
--- /dev/null
+++ b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-09_12_02--ft6100_t4_s11.txt
@@ -0,0 +1,261 @@
+Eval config: PolicyEvalConfig(suite='libero', model_family='cosmos', config='cosmos_predict2_2b_480p_libero_cl_stage_inference_only', ckpt_path='/home/azureuser/REGEN-main/new/cosmos_policy/cosmos_v2_finetune/cosmos_predict2_2b_480p_libero_goal_task6_ft_from40k_2gpu_100step/checkpoints/iter_000000100/model', planning_model_config_name='', planning_model_ckpt_path='', config_file='cosmos_policy/config/config.py', packnet_mask_path='', packnet_first_cl_libero_task=6, use_third_person_image=True, num_third_person_images=1, use_wrist_image=True, num_wrist_images=1, use_proprio=True, flip_images=True, use_variance_scale=False, use_jpeg_compression=True, ar_future_prediction=False, ar_value_prediction=False, ar_qvalue_prediction=False, num_denoising_steps_action=5, num_denoising_steps_future_state=1, num_denoising_steps_value=1, unnormalize_actions=True, normalize_proprio=True, dataset_stats_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/libero_goal_regen/dataset_statistics.json', t5_text_embeddings_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/t5_embeddings.pkl', trained_with_image_aug=True, chunk_size=16, num_open_loop_steps=16, deterministic=True, deterministic_reset=False, deterministic_reset_seed=None, use_ensemble_future_state_predictions=False, num_future_state_predictions_in_ensemble=3, future_state_ensemble_aggregation_scheme='average', use_ensemble_value_predictions=False, num_value_predictions_in_ensemble=5, value_ensemble_aggregation_scheme='average', search_depth=1, mask_current_state_action_for_value_prediction=False, mask_future_state_for_qvalue_prediction=False, num_queries_best_of_n=1, use_parallel_inference=False, available_gpus='0', parallel_timeout=15, parallel_tasks_across_gpus=False, task_suite_name='libero_goal', num_trials_per_task=50, task_ids_to_run='4', initial_states_path='DEFAULT', env_img_res=256, local_log_dir='/home/azureuser/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal', run_id_note='ft6100_t4_s11', use_wandb=False, wandb_entity='YOUR_ENTITY', wandb_project='YOUR_PROJECT', seed=195, randomize_seed=False, data_collection=False, jpeg_compress=True, reward_stop_threshold=None, reward_stop_consecutive_steps=3, use_gpt_reward=False, gpt_reward_model='gpt-5.4-mini', gpt_reward_stop_threshold=4, gpt_reward_timeout_s=30.0, save_rollout_video=False, eval_hdf5_path='', eval_hdf5_demo_key='demo_0', data_gen_demo_ids='', eval_episode_ids='11,27,43', replay_actions=False, replay_action_path_dir='', replay_hdf5_path='', data_generation=False, max_generation_steps=200, simple_task_max_steps=100, complex_task_max_steps=200)
+Using serial inference (parallel inference disabled)
+Task suite: libero_goal
+Number of tasks: 10
+Running only task IDs: [4]
+Using default initial states
+
+Task: put the bowl on top of the cabinet
+Starting episode 1...
+Query 1/1: Action query time = 5.154 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4910
+t=10: Selected seed 195 with value = 0.4910
+Query 1/1: Action query time = 4.048 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5128
+t=26: Selected seed 195 with value = 0.5128
+Query 1/1: Action query time = 5.492 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5972
+t=42: Selected seed 195 with value = 0.5972
+Query 1/1: Action query time = 5.464 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5608
+t=58: Selected seed 195 with value = 0.5608
+Query 1/1: Action query time = 5.152 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5862
+t=74: Selected seed 195 with value = 0.5862
+Query 1/1: Action query time = 4.497 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6080
+t=90: Selected seed 195 with value = 0.6080
+Query 1/1: Action query time = 5.156 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7052
+t=106: Selected seed 195 with value = 0.7052
+Query 1/1: Action query time = 5.381 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7159
+t=122: Selected seed 195 with value = 0.7159
+Query 1/1: Action query time = 5.407 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8845
+t=138: Selected seed 195 with value = 0.8845
+Query 1/1: Action query time = 5.339 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6904
+t=154: Selected seed 195 with value = 0.6904
+Query 1/1: Action query time = 4.449 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8681
+t=170: Selected seed 195 with value = 0.8681
+Query 1/1: Action query time = 4.240 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6956
+t=186: Selected seed 195 with value = 0.6956
+Query 1/1: Action query time = 4.833 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7436
+t=202: Selected seed 195 with value = 0.7436
+Query 1/1: Action query time = 4.824 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6402
+t=218: Selected seed 195 with value = 0.6402
+Query 1/1: Action query time = 4.970 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6478
+t=234: Selected seed 195 with value = 0.6478
+Query 1/1: Action query time = 5.227 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6144
+t=250: Selected seed 195 with value = 0.6144
+Query 1/1: Action query time = 5.005 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5985
+t=266: Selected seed 195 with value = 0.5985
+Query 1/1: Action query time = 5.022 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5844
+t=282: Selected seed 195 with value = 0.5844
+Query 1/1: Action query time = 4.903 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5997
+t=298: Selected seed 195 with value = 0.5997
+Saved rollout MP4 at path ./rollouts/ft6100_t4_s11/2026_08_02-09_12_02--with_future_img--episode=1--success=False--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Success: False
+# episodes completed so far: 1
+# successes: 0 (0.0%)
+
+Task: put the bowl on top of the cabinet
+Starting episode 2...
+Query 1/1: Action query time = 2.202 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4938
+t=10: Selected seed 195 with value = 0.4938
+Query 1/1: Action query time = 6.396 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5049
+t=26: Selected seed 195 with value = 0.5049
+Query 1/1: Action query time = 5.718 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5976
+t=42: Selected seed 195 with value = 0.5976
+Query 1/1: Action query time = 5.032 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7319
+t=58: Selected seed 195 with value = 0.7319
+Query 1/1: Action query time = 4.967 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8882
+t=74: Selected seed 195 with value = 0.8882
+Query 1/1: Action query time = 4.658 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9685
+t=90: Selected seed 195 with value = 0.9685
+Query 1/1: Action query time = 5.041 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9953
+t=106: Selected seed 195 with value = 0.9953
+Query 1/1: Action query time = 4.982 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9783
+t=122: Selected seed 195 with value = 0.9783
+Query 1/1: Action query time = 5.036 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9440
+t=138: Selected seed 195 with value = 0.9440
+Query 1/1: Action query time = 5.538 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9354
+t=154: Selected seed 195 with value = 0.9354
+Query 1/1: Action query time = 5.035 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9454
+t=170: Selected seed 195 with value = 0.9454
+Query 1/1: Action query time = 5.298 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9531
+t=186: Selected seed 195 with value = 0.9531
+Query 1/1: Action query time = 4.658 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9617
+t=202: Selected seed 195 with value = 0.9617
+Query 1/1: Action query time = 4.893 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9029
+t=218: Selected seed 195 with value = 0.9029
+Query 1/1: Action query time = 4.823 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8155
+t=234: Selected seed 195 with value = 0.8155
+Query 1/1: Action query time = 5.647 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8771
+t=250: Selected seed 195 with value = 0.8771
+Query 1/1: Action query time = 5.311 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9698
+t=266: Selected seed 195 with value = 0.9698
+Query 1/1: Action query time = 5.059 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9886
+t=282: Selected seed 195 with value = 0.9886
+Query 1/1: Action query time = 4.966 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9746
+t=298: Selected seed 195 with value = 0.9746
+Saved rollout MP4 at path ./rollouts/ft6100_t4_s11/2026_08_02-09_12_02--with_future_img--episode=2--success=False--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Success: False
+# episodes completed so far: 2
+# successes: 0 (0.0%)
+
+Task: put the bowl on top of the cabinet
+Starting episode 3...
+Query 1/1: Action query time = 3.883 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4658
+t=10: Selected seed 195 with value = 0.4658
+Query 1/1: Action query time = 4.942 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5184
+t=26: Selected seed 195 with value = 0.5184
+Query 1/1: Action query time = 5.431 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5902
+t=42: Selected seed 195 with value = 0.5902
+Query 1/1: Action query time = 4.805 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5618
+t=58: Selected seed 195 with value = 0.5618
+Query 1/1: Action query time = 4.496 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5924
+t=74: Selected seed 195 with value = 0.5924
+Query 1/1: Action query time = 4.839 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5912
+t=90: Selected seed 195 with value = 0.5912
+Query 1/1: Action query time = 4.495 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6026
+t=106: Selected seed 195 with value = 0.6026
+Query 1/1: Action query time = 4.586 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6554
+t=122: Selected seed 195 with value = 0.6554
+Query 1/1: Action query time = 3.337 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7383
+t=138: Selected seed 195 with value = 0.7383
+Query 1/1: Action query time = 3.903 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7378
+t=154: Selected seed 195 with value = 0.7378
+Query 1/1: Action query time = 3.522 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9708
+t=170: Selected seed 195 with value = 0.9708
+Query 1/1: Action query time = 3.703 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9251
+t=186: Selected seed 195 with value = 0.9251
+Query 1/1: Action query time = 3.425 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8586
+t=202: Selected seed 195 with value = 0.8586
+Query 1/1: Action query time = 3.213 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8479
+t=218: Selected seed 195 with value = 0.8479
+Query 1/1: Action query time = 2.756 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7227
+t=234: Selected seed 195 with value = 0.7227
+Query 1/1: Action query time = 3.757 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7204
+t=250: Selected seed 195 with value = 0.7204
+Query 1/1: Action query time = 3.397 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6261
+t=266: Selected seed 195 with value = 0.6261
+Query 1/1: Action query time = 3.623 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6276
+t=282: Selected seed 195 with value = 0.6276
+Query 1/1: Action query time = 2.340 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6076
+t=298: Selected seed 195 with value = 0.6076
+Saved rollout MP4 at path ./rollouts/ft6100_t4_s11/2026_08_02-09_12_02--with_future_img--episode=3--success=False--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Success: False
+# episodes completed so far: 3
+# successes: 0 (0.0%)
+Current task success rate: 0.0
+Current total success rate: 0.0
+Final results:
+Total episodes: 3
+Total successes: 0
+Overall success rate: 0.0000 (0.0%)
diff --git a/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-09_18_46--ft6100_t5_s04.txt b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-09_18_46--ft6100_t5_s04.txt
new file mode 100644
index 0000000000000000000000000000000000000000..6ca106cbc74c54ea750c9f3419fcd083da27341c
--- /dev/null
+++ b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-09_18_46--ft6100_t5_s04.txt
@@ -0,0 +1,261 @@
+Eval config: PolicyEvalConfig(suite='libero', model_family='cosmos', config='cosmos_predict2_2b_480p_libero_cl_stage_inference_only', ckpt_path='/home/azureuser/REGEN-main/new/cosmos_policy/cosmos_v2_finetune/cosmos_predict2_2b_480p_libero_goal_task6_ft_from40k_2gpu_100step/checkpoints/iter_000000100/model', planning_model_config_name='', planning_model_ckpt_path='', config_file='cosmos_policy/config/config.py', packnet_mask_path='', packnet_first_cl_libero_task=6, use_third_person_image=True, num_third_person_images=1, use_wrist_image=True, num_wrist_images=1, use_proprio=True, flip_images=True, use_variance_scale=False, use_jpeg_compression=True, ar_future_prediction=False, ar_value_prediction=False, ar_qvalue_prediction=False, num_denoising_steps_action=5, num_denoising_steps_future_state=1, num_denoising_steps_value=1, unnormalize_actions=True, normalize_proprio=True, dataset_stats_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/libero_goal_regen/dataset_statistics.json', t5_text_embeddings_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/t5_embeddings.pkl', trained_with_image_aug=True, chunk_size=16, num_open_loop_steps=16, deterministic=True, deterministic_reset=False, deterministic_reset_seed=None, use_ensemble_future_state_predictions=False, num_future_state_predictions_in_ensemble=3, future_state_ensemble_aggregation_scheme='average', use_ensemble_value_predictions=False, num_value_predictions_in_ensemble=5, value_ensemble_aggregation_scheme='average', search_depth=1, mask_current_state_action_for_value_prediction=False, mask_future_state_for_qvalue_prediction=False, num_queries_best_of_n=1, use_parallel_inference=False, available_gpus='0', parallel_timeout=15, parallel_tasks_across_gpus=False, task_suite_name='libero_goal', num_trials_per_task=50, task_ids_to_run='5', initial_states_path='DEFAULT', env_img_res=256, local_log_dir='/home/azureuser/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal', run_id_note='ft6100_t5_s04', use_wandb=False, wandb_entity='YOUR_ENTITY', wandb_project='YOUR_PROJECT', seed=195, randomize_seed=False, data_collection=False, jpeg_compress=True, reward_stop_threshold=None, reward_stop_consecutive_steps=3, use_gpt_reward=False, gpt_reward_model='gpt-5.4-mini', gpt_reward_stop_threshold=4, gpt_reward_timeout_s=30.0, save_rollout_video=False, eval_hdf5_path='', eval_hdf5_demo_key='demo_0', data_gen_demo_ids='', eval_episode_ids='4,20,36', replay_actions=False, replay_action_path_dir='', replay_hdf5_path='', data_generation=False, max_generation_steps=200, simple_task_max_steps=100, complex_task_max_steps=200)
+Using serial inference (parallel inference disabled)
+Task suite: libero_goal
+Number of tasks: 10
+Running only task IDs: [5]
+Using default initial states
+
+Task: push the plate to the front of the stove
+Starting episode 1...
+Query 1/1: Action query time = 5.849 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2574
+t=10: Selected seed 195 with value = 0.2574
+Query 1/1: Action query time = 5.624 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3319
+t=26: Selected seed 195 with value = 0.3319
+Query 1/1: Action query time = 4.654 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6273
+t=42: Selected seed 195 with value = 0.6273
+Query 1/1: Action query time = 4.862 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3746
+t=58: Selected seed 195 with value = 0.3746
+Query 1/1: Action query time = 5.000 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7450
+t=74: Selected seed 195 with value = 0.7450
+Query 1/1: Action query time = 5.322 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8056
+t=90: Selected seed 195 with value = 0.8056
+Query 1/1: Action query time = 5.146 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4435
+t=106: Selected seed 195 with value = 0.4435
+Query 1/1: Action query time = 5.199 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9363
+t=122: Selected seed 195 with value = 0.9363
+Query 1/1: Action query time = 5.104 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7777
+t=138: Selected seed 195 with value = 0.7777
+Query 1/1: Action query time = 3.615 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4100
+t=154: Selected seed 195 with value = 0.4100
+Query 1/1: Action query time = 5.063 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9383
+t=170: Selected seed 195 with value = 0.9383
+Query 1/1: Action query time = 5.178 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8419
+t=186: Selected seed 195 with value = 0.8419
+Query 1/1: Action query time = 5.483 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4061
+t=202: Selected seed 195 with value = 0.4061
+Query 1/1: Action query time = 4.655 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9561
+t=218: Selected seed 195 with value = 0.9561
+Query 1/1: Action query time = 4.069 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8830
+t=234: Selected seed 195 with value = 0.8830
+Query 1/1: Action query time = 5.132 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4325
+t=250: Selected seed 195 with value = 0.4325
+Query 1/1: Action query time = 4.842 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8243
+t=266: Selected seed 195 with value = 0.8243
+Query 1/1: Action query time = 4.902 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5378
+t=282: Selected seed 195 with value = 0.5378
+Query 1/1: Action query time = 2.672 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9046
+t=298: Selected seed 195 with value = 0.9046
+Saved rollout MP4 at path ./rollouts/ft6100_t5_s04/2026_08_02-09_18_46--with_future_img--episode=1--success=False--task=push_the_plate_to_the_front_of_the_.mp4
+Success: False
+# episodes completed so far: 1
+# successes: 0 (0.0%)
+
+Task: push the plate to the front of the stove
+Starting episode 2...
+Query 1/1: Action query time = 4.049 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3242
+t=10: Selected seed 195 with value = 0.3242
+Query 1/1: Action query time = 4.995 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3652
+t=26: Selected seed 195 with value = 0.3652
+Query 1/1: Action query time = 5.138 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6128
+t=42: Selected seed 195 with value = 0.6128
+Query 1/1: Action query time = 5.350 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3269
+t=58: Selected seed 195 with value = 0.3269
+Query 1/1: Action query time = 5.099 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7790
+t=74: Selected seed 195 with value = 0.7790
+Query 1/1: Action query time = 5.400 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6965
+t=90: Selected seed 195 with value = 0.6965
+Query 1/1: Action query time = 5.194 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8168
+t=106: Selected seed 195 with value = 0.8168
+Query 1/1: Action query time = 4.973 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4452
+t=122: Selected seed 195 with value = 0.4452
+Query 1/1: Action query time = 4.244 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8456
+t=138: Selected seed 195 with value = 0.8456
+Query 1/1: Action query time = 5.030 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7184
+t=154: Selected seed 195 with value = 0.7184
+Query 1/1: Action query time = 5.216 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4695
+t=170: Selected seed 195 with value = 0.4695
+Query 1/1: Action query time = 5.141 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7308
+t=186: Selected seed 195 with value = 0.7308
+Query 1/1: Action query time = 5.234 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4466
+t=202: Selected seed 195 with value = 0.4466
+Query 1/1: Action query time = 3.947 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7677
+t=218: Selected seed 195 with value = 0.7677
+Query 1/1: Action query time = 4.610 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4261
+t=234: Selected seed 195 with value = 0.4261
+Query 1/1: Action query time = 4.630 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8908
+t=250: Selected seed 195 with value = 0.8908
+Query 1/1: Action query time = 4.704 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7069
+t=266: Selected seed 195 with value = 0.7069
+Query 1/1: Action query time = 4.712 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4085
+t=282: Selected seed 195 with value = 0.4085
+Query 1/1: Action query time = 2.889 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8892
+t=298: Selected seed 195 with value = 0.8892
+Saved rollout MP4 at path ./rollouts/ft6100_t5_s04/2026_08_02-09_18_46--with_future_img--episode=2--success=False--task=push_the_plate_to_the_front_of_the_.mp4
+Success: False
+# episodes completed so far: 2
+# successes: 0 (0.0%)
+
+Task: push the plate to the front of the stove
+Starting episode 3...
+Query 1/1: Action query time = 4.007 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3718
+t=10: Selected seed 195 with value = 0.3718
+Query 1/1: Action query time = 4.361 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3769
+t=26: Selected seed 195 with value = 0.3769
+Query 1/1: Action query time = 4.391 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6244
+t=42: Selected seed 195 with value = 0.6244
+Query 1/1: Action query time = 4.408 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6631
+t=58: Selected seed 195 with value = 0.6631
+Query 1/1: Action query time = 4.407 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7658
+t=74: Selected seed 195 with value = 0.7658
+Query 1/1: Action query time = 4.425 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8805
+t=90: Selected seed 195 with value = 0.8805
+Query 1/1: Action query time = 4.054 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9724
+t=106: Selected seed 195 with value = 0.9724
+Query 1/1: Action query time = 3.406 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8976
+t=122: Selected seed 195 with value = 0.8976
+Query 1/1: Action query time = 3.244 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9514
+t=138: Selected seed 195 with value = 0.9514
+Query 1/1: Action query time = 4.015 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9921
+t=154: Selected seed 195 with value = 0.9921
+Query 1/1: Action query time = 3.991 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9832
+t=170: Selected seed 195 with value = 0.9832
+Query 1/1: Action query time = 3.937 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9937
+t=186: Selected seed 195 with value = 0.9937
+Query 1/1: Action query time = 3.153 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9873
+t=202: Selected seed 195 with value = 0.9873
+Query 1/1: Action query time = 2.902 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9779
+t=218: Selected seed 195 with value = 0.9779
+Query 1/1: Action query time = 3.004 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9693
+t=234: Selected seed 195 with value = 0.9693
+Query 1/1: Action query time = 2.980 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9768
+t=250: Selected seed 195 with value = 0.9768
+Query 1/1: Action query time = 3.060 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9573
+t=266: Selected seed 195 with value = 0.9573
+Query 1/1: Action query time = 3.108 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9001
+t=282: Selected seed 195 with value = 0.9001
+Query 1/1: Action query time = 2.806 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8746
+t=298: Selected seed 195 with value = 0.8746
+Saved rollout MP4 at path ./rollouts/ft6100_t5_s04/2026_08_02-09_18_46--with_future_img--episode=3--success=False--task=push_the_plate_to_the_front_of_the_.mp4
+Success: False
+# episodes completed so far: 3
+# successes: 0 (0.0%)
+Current task success rate: 0.0
+Current total success rate: 0.0
+Final results:
+Total episodes: 3
+Total successes: 0
+Overall success rate: 0.0000 (0.0%)
diff --git a/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-09_18_47--ft6100_t5_s06.txt b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-09_18_47--ft6100_t5_s06.txt
new file mode 100644
index 0000000000000000000000000000000000000000..6d89349bfd7df87999216e7a0aab718527973b3a
--- /dev/null
+++ b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-09_18_47--ft6100_t5_s06.txt
@@ -0,0 +1,213 @@
+Eval config: PolicyEvalConfig(suite='libero', model_family='cosmos', config='cosmos_predict2_2b_480p_libero_cl_stage_inference_only', ckpt_path='/home/azureuser/REGEN-main/new/cosmos_policy/cosmos_v2_finetune/cosmos_predict2_2b_480p_libero_goal_task6_ft_from40k_2gpu_100step/checkpoints/iter_000000100/model', planning_model_config_name='', planning_model_ckpt_path='', config_file='cosmos_policy/config/config.py', packnet_mask_path='', packnet_first_cl_libero_task=6, use_third_person_image=True, num_third_person_images=1, use_wrist_image=True, num_wrist_images=1, use_proprio=True, flip_images=True, use_variance_scale=False, use_jpeg_compression=True, ar_future_prediction=False, ar_value_prediction=False, ar_qvalue_prediction=False, num_denoising_steps_action=5, num_denoising_steps_future_state=1, num_denoising_steps_value=1, unnormalize_actions=True, normalize_proprio=True, dataset_stats_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/libero_goal_regen/dataset_statistics.json', t5_text_embeddings_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/t5_embeddings.pkl', trained_with_image_aug=True, chunk_size=16, num_open_loop_steps=16, deterministic=True, deterministic_reset=False, deterministic_reset_seed=None, use_ensemble_future_state_predictions=False, num_future_state_predictions_in_ensemble=3, future_state_ensemble_aggregation_scheme='average', use_ensemble_value_predictions=False, num_value_predictions_in_ensemble=5, value_ensemble_aggregation_scheme='average', search_depth=1, mask_current_state_action_for_value_prediction=False, mask_future_state_for_qvalue_prediction=False, num_queries_best_of_n=1, use_parallel_inference=False, available_gpus='0', parallel_timeout=15, parallel_tasks_across_gpus=False, task_suite_name='libero_goal', num_trials_per_task=50, task_ids_to_run='5', initial_states_path='DEFAULT', env_img_res=256, local_log_dir='/home/azureuser/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal', run_id_note='ft6100_t5_s06', use_wandb=False, wandb_entity='YOUR_ENTITY', wandb_project='YOUR_PROJECT', seed=195, randomize_seed=False, data_collection=False, jpeg_compress=True, reward_stop_threshold=None, reward_stop_consecutive_steps=3, use_gpt_reward=False, gpt_reward_model='gpt-5.4-mini', gpt_reward_stop_threshold=4, gpt_reward_timeout_s=30.0, save_rollout_video=False, eval_hdf5_path='', eval_hdf5_demo_key='demo_0', data_gen_demo_ids='', eval_episode_ids='6,22,38', replay_actions=False, replay_action_path_dir='', replay_hdf5_path='', data_generation=False, max_generation_steps=200, simple_task_max_steps=100, complex_task_max_steps=200)
+Using serial inference (parallel inference disabled)
+Task suite: libero_goal
+Number of tasks: 10
+Running only task IDs: [5]
+Using default initial states
+
+Task: push the plate to the front of the stove
+Starting episode 1...
+Query 1/1: Action query time = 3.847 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3357
+t=10: Selected seed 195 with value = 0.3357
+Query 1/1: Action query time = 4.961 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3513
+t=26: Selected seed 195 with value = 0.3513
+Query 1/1: Action query time = 4.855 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6120
+t=42: Selected seed 195 with value = 0.6120
+Query 1/1: Action query time = 5.529 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6546
+t=58: Selected seed 195 with value = 0.6546
+Query 1/1: Action query time = 5.186 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7077
+t=74: Selected seed 195 with value = 0.7077
+Query 1/1: Action query time = 5.013 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7808
+t=90: Selected seed 195 with value = 0.7808
+Query 1/1: Action query time = 5.182 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6462
+t=106: Selected seed 195 with value = 0.6462
+Query 1/1: Action query time = 5.113 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7401
+t=122: Selected seed 195 with value = 0.7401
+Query 1/1: Action query time = 5.198 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8489
+t=138: Selected seed 195 with value = 0.8489
+Query 1/1: Action query time = 4.921 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9352
+t=154: Selected seed 195 with value = 0.9352
+Query 1/1: Action query time = 3.684 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8580
+t=170: Selected seed 195 with value = 0.8580
+Query 1/1: Action query time = 4.912 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9493
+t=186: Selected seed 195 with value = 0.9493
+Query 1/1: Action query time = 5.160 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9769
+t=202: Selected seed 195 with value = 0.9769
+Query 1/1: Action query time = 5.265 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9192
+t=218: Selected seed 195 with value = 0.9192
+Query 1/1: Action query time = 4.871 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4906
+t=234: Selected seed 195 with value = 0.4906
+Query 1/1: Action query time = 4.744 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8416
+t=250: Selected seed 195 with value = 0.8416
+Query 1/1: Action query time = 5.046 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9015
+t=266: Selected seed 195 with value = 0.9015
+Query 1/1: Action query time = 5.180 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8864
+t=282: Selected seed 195 with value = 0.8864
+Query 1/1: Action query time = 4.657 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6372
+t=298: Selected seed 195 with value = 0.6372
+Saved rollout MP4 at path ./rollouts/ft6100_t5_s06/2026_08_02-09_18_47--with_future_img--episode=1--success=False--task=push_the_plate_to_the_front_of_the_.mp4
+Success: False
+# episodes completed so far: 1
+# successes: 0 (0.0%)
+
+Task: push the plate to the front of the stove
+Starting episode 2...
+Query 1/1: Action query time = 4.107 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3040
+t=10: Selected seed 195 with value = 0.3040
+Query 1/1: Action query time = 4.628 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4037
+t=26: Selected seed 195 with value = 0.4037
+Query 1/1: Action query time = 5.205 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6868
+t=42: Selected seed 195 with value = 0.6868
+Query 1/1: Action query time = 4.973 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6517
+t=58: Selected seed 195 with value = 0.6517
+Query 1/1: Action query time = 4.927 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7374
+t=74: Selected seed 195 with value = 0.7374
+Query 1/1: Action query time = 4.841 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8406
+t=90: Selected seed 195 with value = 0.8406
+Query 1/1: Action query time = 5.141 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9789
+t=106: Selected seed 195 with value = 0.9789
+Query 1/1: Action query time = 4.915 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9342
+t=122: Selected seed 195 with value = 0.9342
+Query 1/1: Action query time = 4.833 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8772
+t=138: Selected seed 195 with value = 0.8772
+Query 1/1: Action query time = 4.210 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4058
+t=154: Selected seed 195 with value = 0.4058
+Query 1/1: Action query time = 5.064 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7381
+t=170: Selected seed 195 with value = 0.7381
+Query 1/1: Action query time = 5.150 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4118
+t=186: Selected seed 195 with value = 0.4118
+Query 1/1: Action query time = 5.051 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8624
+t=202: Selected seed 195 with value = 0.8624
+Query 1/1: Action query time = 5.380 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4052
+t=218: Selected seed 195 with value = 0.4052
+Query 1/1: Action query time = 4.622 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8518
+t=234: Selected seed 195 with value = 0.8518
+Query 1/1: Action query time = 4.969 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9073
+t=250: Selected seed 195 with value = 0.9073
+Query 1/1: Action query time = 4.660 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9141
+t=266: Selected seed 195 with value = 0.9141
+Query 1/1: Action query time = 4.068 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8189
+t=282: Selected seed 195 with value = 0.8189
+Query 1/1: Action query time = 4.661 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4368
+t=298: Selected seed 195 with value = 0.4368
+Saved rollout MP4 at path ./rollouts/ft6100_t5_s06/2026_08_02-09_18_47--with_future_img--episode=2--success=False--task=push_the_plate_to_the_front_of_the_.mp4
+Success: False
+# episodes completed so far: 2
+# successes: 0 (0.0%)
+
+Task: push the plate to the front of the stove
+Starting episode 3...
+Query 1/1: Action query time = 2.975 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3287
+t=10: Selected seed 195 with value = 0.3287
+Query 1/1: Action query time = 4.465 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3832
+t=26: Selected seed 195 with value = 0.3832
+Query 1/1: Action query time = 4.594 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6218
+t=42: Selected seed 195 with value = 0.6218
+Query 1/1: Action query time = 4.600 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6251
+t=58: Selected seed 195 with value = 0.6251
+Query 1/1: Action query time = 4.570 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7072
+t=74: Selected seed 195 with value = 0.7072
+Query 1/1: Action query time = 4.558 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7587
+t=90: Selected seed 195 with value = 0.7587
+Query 1/1: Action query time = 4.601 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9908
+t=106: Selected seed 195 with value = 0.9908
+Saved rollout MP4 at path ./rollouts/ft6100_t5_s06/2026_08_02-09_18_47--with_future_img--episode=3--success=True--task=push_the_plate_to_the_front_of_the_.mp4
+Success: True
+# episodes completed so far: 3
+# successes: 1 (33.3%)
+Current task success rate: 0.3333333333333333
+Current total success rate: 0.3333333333333333
+Final results:
+Total episodes: 3
+Total successes: 1
+Overall success rate: 0.3333 (33.3%)
diff --git a/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-09_18_47--ft6100_t5_s07.txt b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-09_18_47--ft6100_t5_s07.txt
new file mode 100644
index 0000000000000000000000000000000000000000..fafa9499f9bb3419d0ce2aac68234c9b60bb7a60
--- /dev/null
+++ b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-09_18_47--ft6100_t5_s07.txt
@@ -0,0 +1,237 @@
+Eval config: PolicyEvalConfig(suite='libero', model_family='cosmos', config='cosmos_predict2_2b_480p_libero_cl_stage_inference_only', ckpt_path='/home/azureuser/REGEN-main/new/cosmos_policy/cosmos_v2_finetune/cosmos_predict2_2b_480p_libero_goal_task6_ft_from40k_2gpu_100step/checkpoints/iter_000000100/model', planning_model_config_name='', planning_model_ckpt_path='', config_file='cosmos_policy/config/config.py', packnet_mask_path='', packnet_first_cl_libero_task=6, use_third_person_image=True, num_third_person_images=1, use_wrist_image=True, num_wrist_images=1, use_proprio=True, flip_images=True, use_variance_scale=False, use_jpeg_compression=True, ar_future_prediction=False, ar_value_prediction=False, ar_qvalue_prediction=False, num_denoising_steps_action=5, num_denoising_steps_future_state=1, num_denoising_steps_value=1, unnormalize_actions=True, normalize_proprio=True, dataset_stats_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/libero_goal_regen/dataset_statistics.json', t5_text_embeddings_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/t5_embeddings.pkl', trained_with_image_aug=True, chunk_size=16, num_open_loop_steps=16, deterministic=True, deterministic_reset=False, deterministic_reset_seed=None, use_ensemble_future_state_predictions=False, num_future_state_predictions_in_ensemble=3, future_state_ensemble_aggregation_scheme='average', use_ensemble_value_predictions=False, num_value_predictions_in_ensemble=5, value_ensemble_aggregation_scheme='average', search_depth=1, mask_current_state_action_for_value_prediction=False, mask_future_state_for_qvalue_prediction=False, num_queries_best_of_n=1, use_parallel_inference=False, available_gpus='0', parallel_timeout=15, parallel_tasks_across_gpus=False, task_suite_name='libero_goal', num_trials_per_task=50, task_ids_to_run='5', initial_states_path='DEFAULT', env_img_res=256, local_log_dir='/home/azureuser/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal', run_id_note='ft6100_t5_s07', use_wandb=False, wandb_entity='YOUR_ENTITY', wandb_project='YOUR_PROJECT', seed=195, randomize_seed=False, data_collection=False, jpeg_compress=True, reward_stop_threshold=None, reward_stop_consecutive_steps=3, use_gpt_reward=False, gpt_reward_model='gpt-5.4-mini', gpt_reward_stop_threshold=4, gpt_reward_timeout_s=30.0, save_rollout_video=False, eval_hdf5_path='', eval_hdf5_demo_key='demo_0', data_gen_demo_ids='', eval_episode_ids='7,23,39', replay_actions=False, replay_action_path_dir='', replay_hdf5_path='', data_generation=False, max_generation_steps=200, simple_task_max_steps=100, complex_task_max_steps=200)
+Using serial inference (parallel inference disabled)
+Task suite: libero_goal
+Number of tasks: 10
+Running only task IDs: [5]
+Using default initial states
+
+Task: push the plate to the front of the stove
+Starting episode 1...
+Query 1/1: Action query time = 6.017 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3281
+t=10: Selected seed 195 with value = 0.3281
+Query 1/1: Action query time = 4.997 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3538
+t=26: Selected seed 195 with value = 0.3538
+Query 1/1: Action query time = 5.579 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5511
+t=42: Selected seed 195 with value = 0.5511
+Query 1/1: Action query time = 5.358 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6164
+t=58: Selected seed 195 with value = 0.6164
+Query 1/1: Action query time = 5.184 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6912
+t=74: Selected seed 195 with value = 0.6912
+Query 1/1: Action query time = 5.152 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7786
+t=90: Selected seed 195 with value = 0.7786
+Query 1/1: Action query time = 5.098 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8901
+t=106: Selected seed 195 with value = 0.8901
+Query 1/1: Action query time = 5.236 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=122: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.744 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9614
+t=138: Selected seed 195 with value = 0.9614
+Query 1/1: Action query time = 4.255 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8185
+t=154: Selected seed 195 with value = 0.8185
+Query 1/1: Action query time = 4.825 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8901
+t=170: Selected seed 195 with value = 0.8901
+Query 1/1: Action query time = 5.303 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9211
+t=186: Selected seed 195 with value = 0.9211
+Query 1/1: Action query time = 5.457 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8771
+t=202: Selected seed 195 with value = 0.8771
+Saved rollout MP4 at path ./rollouts/ft6100_t5_s07/2026_08_02-09_18_47--with_future_img--episode=1--success=True--task=push_the_plate_to_the_front_of_the_.mp4
+Success: True
+# episodes completed so far: 1
+# successes: 1 (100.0%)
+
+Task: push the plate to the front of the stove
+Starting episode 2...
+Query 1/1: Action query time = 5.120 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2929
+t=10: Selected seed 195 with value = 0.2929
+Query 1/1: Action query time = 4.925 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3341
+t=26: Selected seed 195 with value = 0.3341
+Query 1/1: Action query time = 5.145 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6118
+t=42: Selected seed 195 with value = 0.6118
+Query 1/1: Action query time = 3.143 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5060
+t=58: Selected seed 195 with value = 0.5060
+Query 1/1: Action query time = 2.554 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6482
+t=74: Selected seed 195 with value = 0.6482
+Query 1/1: Action query time = 2.397 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8554
+t=90: Selected seed 195 with value = 0.8554
+Query 1/1: Action query time = 4.655 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8124
+t=106: Selected seed 195 with value = 0.8124
+Query 1/1: Action query time = 5.642 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5232
+t=122: Selected seed 195 with value = 0.5232
+Query 1/1: Action query time = 5.109 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8223
+t=138: Selected seed 195 with value = 0.8223
+Query 1/1: Action query time = 4.933 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4295
+t=154: Selected seed 195 with value = 0.4295
+Query 1/1: Action query time = 4.957 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9183
+t=170: Selected seed 195 with value = 0.9183
+Query 1/1: Action query time = 4.930 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8844
+t=186: Selected seed 195 with value = 0.8844
+Query 1/1: Action query time = 5.125 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4671
+t=202: Selected seed 195 with value = 0.4671
+Query 1/1: Action query time = 5.639 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7954
+t=218: Selected seed 195 with value = 0.7954
+Query 1/1: Action query time = 4.521 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4486
+t=234: Selected seed 195 with value = 0.4486
+Query 1/1: Action query time = 5.006 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7867
+t=250: Selected seed 195 with value = 0.7867
+Query 1/1: Action query time = 5.339 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4179
+t=266: Selected seed 195 with value = 0.4179
+Query 1/1: Action query time = 5.163 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8770
+t=282: Selected seed 195 with value = 0.8770
+Query 1/1: Action query time = 4.854 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8856
+t=298: Selected seed 195 with value = 0.8856
+Saved rollout MP4 at path ./rollouts/ft6100_t5_s07/2026_08_02-09_18_47--with_future_img--episode=2--success=False--task=push_the_plate_to_the_front_of_the_.mp4
+Success: False
+# episodes completed so far: 2
+# successes: 1 (50.0%)
+
+Task: push the plate to the front of the stove
+Starting episode 3...
+Query 1/1: Action query time = 5.265 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3464
+t=10: Selected seed 195 with value = 0.3464
+Query 1/1: Action query time = 4.506 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3970
+t=26: Selected seed 195 with value = 0.3970
+Query 1/1: Action query time = 4.287 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6570
+t=42: Selected seed 195 with value = 0.6570
+Query 1/1: Action query time = 4.096 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3165
+t=58: Selected seed 195 with value = 0.3165
+Query 1/1: Action query time = 2.534 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6567
+t=74: Selected seed 195 with value = 0.6567
+Query 1/1: Action query time = 1.752 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8978
+t=90: Selected seed 195 with value = 0.8978
+Query 1/1: Action query time = 2.584 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8383
+t=106: Selected seed 195 with value = 0.8383
+Query 1/1: Action query time = 3.726 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4414
+t=122: Selected seed 195 with value = 0.4414
+Query 1/1: Action query time = 4.478 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8332
+t=138: Selected seed 195 with value = 0.8332
+Query 1/1: Action query time = 4.480 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7760
+t=154: Selected seed 195 with value = 0.7760
+Query 1/1: Action query time = 4.483 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8540
+t=170: Selected seed 195 with value = 0.8540
+Query 1/1: Action query time = 4.513 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4175
+t=186: Selected seed 195 with value = 0.4175
+Query 1/1: Action query time = 4.514 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8471
+t=202: Selected seed 195 with value = 0.8471
+Query 1/1: Action query time = 4.274 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7289
+t=218: Selected seed 195 with value = 0.7289
+Query 1/1: Action query time = 3.594 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8853
+t=234: Selected seed 195 with value = 0.8853
+Query 1/1: Action query time = 3.305 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9349
+t=250: Selected seed 195 with value = 0.9349
+Query 1/1: Action query time = 3.820 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8745
+t=266: Selected seed 195 with value = 0.8745
+Query 1/1: Action query time = 3.737 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5018
+t=282: Selected seed 195 with value = 0.5018
+Query 1/1: Action query time = 3.744 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8589
+t=298: Selected seed 195 with value = 0.8589
+Saved rollout MP4 at path ./rollouts/ft6100_t5_s07/2026_08_02-09_18_47--with_future_img--episode=3--success=False--task=push_the_plate_to_the_front_of_the_.mp4
+Success: False
+# episodes completed so far: 3
+# successes: 1 (33.3%)
+Current task success rate: 0.3333333333333333
+Current total success rate: 0.3333333333333333
+Final results:
+Total episodes: 3
+Total successes: 1
+Overall success rate: 0.3333 (33.3%)
diff --git a/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-09_18_47--ft6100_t5_s08.txt b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-09_18_47--ft6100_t5_s08.txt
new file mode 100644
index 0000000000000000000000000000000000000000..1bf0ee25e8529813bbe91224f953003a47d1b6e7
--- /dev/null
+++ b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-09_18_47--ft6100_t5_s08.txt
@@ -0,0 +1,209 @@
+Eval config: PolicyEvalConfig(suite='libero', model_family='cosmos', config='cosmos_predict2_2b_480p_libero_cl_stage_inference_only', ckpt_path='/home/azureuser/REGEN-main/new/cosmos_policy/cosmos_v2_finetune/cosmos_predict2_2b_480p_libero_goal_task6_ft_from40k_2gpu_100step/checkpoints/iter_000000100/model', planning_model_config_name='', planning_model_ckpt_path='', config_file='cosmos_policy/config/config.py', packnet_mask_path='', packnet_first_cl_libero_task=6, use_third_person_image=True, num_third_person_images=1, use_wrist_image=True, num_wrist_images=1, use_proprio=True, flip_images=True, use_variance_scale=False, use_jpeg_compression=True, ar_future_prediction=False, ar_value_prediction=False, ar_qvalue_prediction=False, num_denoising_steps_action=5, num_denoising_steps_future_state=1, num_denoising_steps_value=1, unnormalize_actions=True, normalize_proprio=True, dataset_stats_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/libero_goal_regen/dataset_statistics.json', t5_text_embeddings_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/t5_embeddings.pkl', trained_with_image_aug=True, chunk_size=16, num_open_loop_steps=16, deterministic=True, deterministic_reset=False, deterministic_reset_seed=None, use_ensemble_future_state_predictions=False, num_future_state_predictions_in_ensemble=3, future_state_ensemble_aggregation_scheme='average', use_ensemble_value_predictions=False, num_value_predictions_in_ensemble=5, value_ensemble_aggregation_scheme='average', search_depth=1, mask_current_state_action_for_value_prediction=False, mask_future_state_for_qvalue_prediction=False, num_queries_best_of_n=1, use_parallel_inference=False, available_gpus='0', parallel_timeout=15, parallel_tasks_across_gpus=False, task_suite_name='libero_goal', num_trials_per_task=50, task_ids_to_run='5', initial_states_path='DEFAULT', env_img_res=256, local_log_dir='/home/azureuser/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal', run_id_note='ft6100_t5_s08', use_wandb=False, wandb_entity='YOUR_ENTITY', wandb_project='YOUR_PROJECT', seed=195, randomize_seed=False, data_collection=False, jpeg_compress=True, reward_stop_threshold=None, reward_stop_consecutive_steps=3, use_gpt_reward=False, gpt_reward_model='gpt-5.4-mini', gpt_reward_stop_threshold=4, gpt_reward_timeout_s=30.0, save_rollout_video=False, eval_hdf5_path='', eval_hdf5_demo_key='demo_0', data_gen_demo_ids='', eval_episode_ids='8,24,40', replay_actions=False, replay_action_path_dir='', replay_hdf5_path='', data_generation=False, max_generation_steps=200, simple_task_max_steps=100, complex_task_max_steps=200)
+Using serial inference (parallel inference disabled)
+Task suite: libero_goal
+Number of tasks: 10
+Running only task IDs: [5]
+Using default initial states
+
+Task: push the plate to the front of the stove
+Starting episode 1...
+Query 1/1: Action query time = 6.179 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3579
+t=10: Selected seed 195 with value = 0.3579
+Query 1/1: Action query time = 5.246 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3385
+t=26: Selected seed 195 with value = 0.3385
+Query 1/1: Action query time = 5.113 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6455
+t=42: Selected seed 195 with value = 0.6455
+Query 1/1: Action query time = 5.008 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5325
+t=58: Selected seed 195 with value = 0.5325
+Query 1/1: Action query time = 5.192 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6857
+t=74: Selected seed 195 with value = 0.6857
+Query 1/1: Action query time = 5.379 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8933
+t=90: Selected seed 195 with value = 0.8933
+Query 1/1: Action query time = 4.556 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9280
+t=106: Selected seed 195 with value = 0.9280
+Query 1/1: Action query time = 5.212 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8669
+t=122: Selected seed 195 with value = 0.8669
+Query 1/1: Action query time = 4.591 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9153
+t=138: Selected seed 195 with value = 0.9153
+Query 1/1: Action query time = 4.963 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9822
+t=154: Selected seed 195 with value = 0.9822
+Query 1/1: Action query time = 3.890 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9978
+t=170: Selected seed 195 with value = 0.9978
+Query 1/1: Action query time = 5.036 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9838
+t=186: Selected seed 195 with value = 0.9838
+Query 1/1: Action query time = 4.500 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9092
+t=202: Selected seed 195 with value = 0.9092
+Query 1/1: Action query time = 3.920 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6734
+t=218: Selected seed 195 with value = 0.6734
+Query 1/1: Action query time = 4.657 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9249
+t=234: Selected seed 195 with value = 0.9249
+Query 1/1: Action query time = 4.984 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9344
+t=250: Selected seed 195 with value = 0.9344
+Query 1/1: Action query time = 4.983 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9456
+t=266: Selected seed 195 with value = 0.9456
+Query 1/1: Action query time = 5.134 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9766
+t=282: Selected seed 195 with value = 0.9766
+Query 1/1: Action query time = 3.707 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9610
+t=298: Selected seed 195 with value = 0.9610
+Saved rollout MP4 at path ./rollouts/ft6100_t5_s08/2026_08_02-09_18_47--with_future_img--episode=1--success=False--task=push_the_plate_to_the_front_of_the_.mp4
+Success: False
+# episodes completed so far: 1
+# successes: 0 (0.0%)
+
+Task: push the plate to the front of the stove
+Starting episode 2...
+Query 1/1: Action query time = 4.156 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3160
+t=10: Selected seed 195 with value = 0.3160
+Query 1/1: Action query time = 5.299 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3350
+t=26: Selected seed 195 with value = 0.3350
+Query 1/1: Action query time = 5.308 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6149
+t=42: Selected seed 195 with value = 0.6149
+Query 1/1: Action query time = 5.019 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2704
+t=58: Selected seed 195 with value = 0.2704
+Query 1/1: Action query time = 3.617 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2961
+t=74: Selected seed 195 with value = 0.2961
+Query 1/1: Action query time = 3.998 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7395
+t=90: Selected seed 195 with value = 0.7395
+Query 1/1: Action query time = 3.528 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6034
+t=106: Selected seed 195 with value = 0.6034
+Query 1/1: Action query time = 4.365 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7116
+t=122: Selected seed 195 with value = 0.7116
+Query 1/1: Action query time = 3.914 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7979
+t=138: Selected seed 195 with value = 0.7979
+Query 1/1: Action query time = 3.276 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8975
+t=154: Selected seed 195 with value = 0.8975
+Saved rollout MP4 at path ./rollouts/ft6100_t5_s08/2026_08_02-09_18_47--with_future_img--episode=2--success=True--task=push_the_plate_to_the_front_of_the_.mp4
+Success: True
+# episodes completed so far: 2
+# successes: 1 (50.0%)
+
+Task: push the plate to the front of the stove
+Starting episode 3...
+Query 1/1: Action query time = 3.619 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2676
+t=10: Selected seed 195 with value = 0.2676
+Query 1/1: Action query time = 3.516 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3808
+t=26: Selected seed 195 with value = 0.3808
+Query 1/1: Action query time = 3.418 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6524
+t=42: Selected seed 195 with value = 0.6524
+Query 1/1: Action query time = 2.807 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3002
+t=58: Selected seed 195 with value = 0.3002
+Query 1/1: Action query time = 3.519 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6935
+t=74: Selected seed 195 with value = 0.6935
+Query 1/1: Action query time = 4.502 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7659
+t=90: Selected seed 195 with value = 0.7659
+Query 1/1: Action query time = 3.926 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6105
+t=106: Selected seed 195 with value = 0.6105
+Query 1/1: Action query time = 2.658 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6966
+t=122: Selected seed 195 with value = 0.6966
+Query 1/1: Action query time = 3.289 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7546
+t=138: Selected seed 195 with value = 0.7546
+Query 1/1: Action query time = 2.261 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4624
+t=154: Selected seed 195 with value = 0.4624
+Query 1/1: Action query time = 2.141 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6573
+t=170: Selected seed 195 with value = 0.6573
+Query 1/1: Action query time = 2.187 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7439
+t=186: Selected seed 195 with value = 0.7439
+Query 1/1: Action query time = 2.289 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7794
+t=202: Selected seed 195 with value = 0.7794
+Query 1/1: Action query time = 2.331 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6024
+t=218: Selected seed 195 with value = 0.6024
+Query 1/1: Action query time = 1.034 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8209
+t=234: Selected seed 195 with value = 0.8209
+Saved rollout MP4 at path ./rollouts/ft6100_t5_s08/2026_08_02-09_18_47--with_future_img--episode=3--success=True--task=push_the_plate_to_the_front_of_the_.mp4
+Success: True
+# episodes completed so far: 3
+# successes: 2 (66.7%)
+Current task success rate: 0.6666666666666666
+Current total success rate: 0.6666666666666666
+Final results:
+Total episodes: 3
+Total successes: 2
+Overall success rate: 0.6667 (66.7%)
diff --git a/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-09_18_47--ft6100_t5_s11.txt b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-09_18_47--ft6100_t5_s11.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0566e546bba45ca0e246c27e72c4978593fad20a
--- /dev/null
+++ b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-09_18_47--ft6100_t5_s11.txt
@@ -0,0 +1,189 @@
+Eval config: PolicyEvalConfig(suite='libero', model_family='cosmos', config='cosmos_predict2_2b_480p_libero_cl_stage_inference_only', ckpt_path='/home/azureuser/REGEN-main/new/cosmos_policy/cosmos_v2_finetune/cosmos_predict2_2b_480p_libero_goal_task6_ft_from40k_2gpu_100step/checkpoints/iter_000000100/model', planning_model_config_name='', planning_model_ckpt_path='', config_file='cosmos_policy/config/config.py', packnet_mask_path='', packnet_first_cl_libero_task=6, use_third_person_image=True, num_third_person_images=1, use_wrist_image=True, num_wrist_images=1, use_proprio=True, flip_images=True, use_variance_scale=False, use_jpeg_compression=True, ar_future_prediction=False, ar_value_prediction=False, ar_qvalue_prediction=False, num_denoising_steps_action=5, num_denoising_steps_future_state=1, num_denoising_steps_value=1, unnormalize_actions=True, normalize_proprio=True, dataset_stats_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/libero_goal_regen/dataset_statistics.json', t5_text_embeddings_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/t5_embeddings.pkl', trained_with_image_aug=True, chunk_size=16, num_open_loop_steps=16, deterministic=True, deterministic_reset=False, deterministic_reset_seed=None, use_ensemble_future_state_predictions=False, num_future_state_predictions_in_ensemble=3, future_state_ensemble_aggregation_scheme='average', use_ensemble_value_predictions=False, num_value_predictions_in_ensemble=5, value_ensemble_aggregation_scheme='average', search_depth=1, mask_current_state_action_for_value_prediction=False, mask_future_state_for_qvalue_prediction=False, num_queries_best_of_n=1, use_parallel_inference=False, available_gpus='0', parallel_timeout=15, parallel_tasks_across_gpus=False, task_suite_name='libero_goal', num_trials_per_task=50, task_ids_to_run='5', initial_states_path='DEFAULT', env_img_res=256, local_log_dir='/home/azureuser/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal', run_id_note='ft6100_t5_s11', use_wandb=False, wandb_entity='YOUR_ENTITY', wandb_project='YOUR_PROJECT', seed=195, randomize_seed=False, data_collection=False, jpeg_compress=True, reward_stop_threshold=None, reward_stop_consecutive_steps=3, use_gpt_reward=False, gpt_reward_model='gpt-5.4-mini', gpt_reward_stop_threshold=4, gpt_reward_timeout_s=30.0, save_rollout_video=False, eval_hdf5_path='', eval_hdf5_demo_key='demo_0', data_gen_demo_ids='', eval_episode_ids='11,27,43', replay_actions=False, replay_action_path_dir='', replay_hdf5_path='', data_generation=False, max_generation_steps=200, simple_task_max_steps=100, complex_task_max_steps=200)
+Using serial inference (parallel inference disabled)
+Task suite: libero_goal
+Number of tasks: 10
+Running only task IDs: [5]
+Using default initial states
+
+Task: push the plate to the front of the stove
+Starting episode 1...
+Query 1/1: Action query time = 2.477 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3654
+t=10: Selected seed 195 with value = 0.3654
+Query 1/1: Action query time = 4.522 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4049
+t=26: Selected seed 195 with value = 0.4049
+Query 1/1: Action query time = 5.128 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6823
+t=42: Selected seed 195 with value = 0.6823
+Query 1/1: Action query time = 4.775 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6787
+t=58: Selected seed 195 with value = 0.6787
+Query 1/1: Action query time = 4.657 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7339
+t=74: Selected seed 195 with value = 0.7339
+Query 1/1: Action query time = 4.958 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4757
+t=90: Selected seed 195 with value = 0.4757
+Query 1/1: Action query time = 4.807 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6236
+t=106: Selected seed 195 with value = 0.6236
+Query 1/1: Action query time = 4.775 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7937
+t=122: Selected seed 195 with value = 0.7937
+Query 1/1: Action query time = 4.757 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8723
+t=138: Selected seed 195 with value = 0.8723
+Query 1/1: Action query time = 5.100 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8789
+t=154: Selected seed 195 with value = 0.8789
+Saved rollout MP4 at path ./rollouts/ft6100_t5_s11/2026_08_02-09_18_47--with_future_img--episode=1--success=True--task=push_the_plate_to_the_front_of_the_.mp4
+Success: True
+# episodes completed so far: 1
+# successes: 1 (100.0%)
+
+Task: push the plate to the front of the stove
+Starting episode 2...
+Query 1/1: Action query time = 5.498 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3102
+t=10: Selected seed 195 with value = 0.3102
+Query 1/1: Action query time = 3.908 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3707
+t=26: Selected seed 195 with value = 0.3707
+Query 1/1: Action query time = 4.888 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6345
+t=42: Selected seed 195 with value = 0.6345
+Query 1/1: Action query time = 4.410 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3008
+t=58: Selected seed 195 with value = 0.3008
+Query 1/1: Action query time = 4.768 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6829
+t=74: Selected seed 195 with value = 0.6829
+Query 1/1: Action query time = 5.347 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7456
+t=90: Selected seed 195 with value = 0.7456
+Query 1/1: Action query time = 5.486 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6596
+t=106: Selected seed 195 with value = 0.6596
+Query 1/1: Action query time = 4.920 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7623
+t=122: Selected seed 195 with value = 0.7623
+Query 1/1: Action query time = 4.563 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8696
+t=138: Selected seed 195 with value = 0.8696
+Query 1/1: Action query time = 3.667 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8596
+t=154: Selected seed 195 with value = 0.8596
+Saved rollout MP4 at path ./rollouts/ft6100_t5_s11/2026_08_02-09_18_47--with_future_img--episode=2--success=True--task=push_the_plate_to_the_front_of_the_.mp4
+Success: True
+# episodes completed so far: 2
+# successes: 2 (100.0%)
+
+Task: push the plate to the front of the stove
+Starting episode 3...
+Query 1/1: Action query time = 4.397 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2521
+t=10: Selected seed 195 with value = 0.2521
+Query 1/1: Action query time = 5.354 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3380
+t=26: Selected seed 195 with value = 0.3380
+Query 1/1: Action query time = 5.089 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6269
+t=42: Selected seed 195 with value = 0.6269
+Query 1/1: Action query time = 4.818 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3772
+t=58: Selected seed 195 with value = 0.3772
+Query 1/1: Action query time = 4.648 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6410
+t=74: Selected seed 195 with value = 0.6410
+Query 1/1: Action query time = 4.037 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8414
+t=90: Selected seed 195 with value = 0.8414
+Query 1/1: Action query time = 3.522 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8133
+t=106: Selected seed 195 with value = 0.8133
+Query 1/1: Action query time = 3.142 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6295
+t=122: Selected seed 195 with value = 0.6295
+Query 1/1: Action query time = 3.305 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7575
+t=138: Selected seed 195 with value = 0.7575
+Query 1/1: Action query time = 4.229 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6803
+t=154: Selected seed 195 with value = 0.6803
+Query 1/1: Action query time = 3.746 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4418
+t=170: Selected seed 195 with value = 0.4418
+Query 1/1: Action query time = 2.565 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6192
+t=186: Selected seed 195 with value = 0.6192
+Query 1/1: Action query time = 3.545 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4362
+t=202: Selected seed 195 with value = 0.4362
+Query 1/1: Action query time = 3.526 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7036
+t=218: Selected seed 195 with value = 0.7036
+Query 1/1: Action query time = 3.739 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4185
+t=234: Selected seed 195 with value = 0.4185
+Query 1/1: Action query time = 3.245 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8396
+t=250: Selected seed 195 with value = 0.8396
+Query 1/1: Action query time = 3.443 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4761
+t=266: Selected seed 195 with value = 0.4761
+Query 1/1: Action query time = 3.985 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9017
+t=282: Selected seed 195 with value = 0.9017
+Query 1/1: Action query time = 3.745 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5479
+t=298: Selected seed 195 with value = 0.5479
+Saved rollout MP4 at path ./rollouts/ft6100_t5_s11/2026_08_02-09_18_47--with_future_img--episode=3--success=False--task=push_the_plate_to_the_front_of_the_.mp4
+Success: False
+# episodes completed so far: 3
+# successes: 2 (66.7%)
+Current task success rate: 0.6666666666666666
+Current total success rate: 0.6666666666666666
+Final results:
+Total episodes: 3
+Total successes: 2
+Overall success rate: 0.6667 (66.7%)
diff --git a/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-09_18_47--ft6100_t5_s15.txt b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-09_18_47--ft6100_t5_s15.txt
new file mode 100644
index 0000000000000000000000000000000000000000..7afb21d0f4d304cddd9dde32ae2187c96692138a
--- /dev/null
+++ b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-09_18_47--ft6100_t5_s15.txt
@@ -0,0 +1,141 @@
+Eval config: PolicyEvalConfig(suite='libero', model_family='cosmos', config='cosmos_predict2_2b_480p_libero_cl_stage_inference_only', ckpt_path='/home/azureuser/REGEN-main/new/cosmos_policy/cosmos_v2_finetune/cosmos_predict2_2b_480p_libero_goal_task6_ft_from40k_2gpu_100step/checkpoints/iter_000000100/model', planning_model_config_name='', planning_model_ckpt_path='', config_file='cosmos_policy/config/config.py', packnet_mask_path='', packnet_first_cl_libero_task=6, use_third_person_image=True, num_third_person_images=1, use_wrist_image=True, num_wrist_images=1, use_proprio=True, flip_images=True, use_variance_scale=False, use_jpeg_compression=True, ar_future_prediction=False, ar_value_prediction=False, ar_qvalue_prediction=False, num_denoising_steps_action=5, num_denoising_steps_future_state=1, num_denoising_steps_value=1, unnormalize_actions=True, normalize_proprio=True, dataset_stats_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/libero_goal_regen/dataset_statistics.json', t5_text_embeddings_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/t5_embeddings.pkl', trained_with_image_aug=True, chunk_size=16, num_open_loop_steps=16, deterministic=True, deterministic_reset=False, deterministic_reset_seed=None, use_ensemble_future_state_predictions=False, num_future_state_predictions_in_ensemble=3, future_state_ensemble_aggregation_scheme='average', use_ensemble_value_predictions=False, num_value_predictions_in_ensemble=5, value_ensemble_aggregation_scheme='average', search_depth=1, mask_current_state_action_for_value_prediction=False, mask_future_state_for_qvalue_prediction=False, num_queries_best_of_n=1, use_parallel_inference=False, available_gpus='0', parallel_timeout=15, parallel_tasks_across_gpus=False, task_suite_name='libero_goal', num_trials_per_task=50, task_ids_to_run='5', initial_states_path='DEFAULT', env_img_res=256, local_log_dir='/home/azureuser/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal', run_id_note='ft6100_t5_s15', use_wandb=False, wandb_entity='YOUR_ENTITY', wandb_project='YOUR_PROJECT', seed=195, randomize_seed=False, data_collection=False, jpeg_compress=True, reward_stop_threshold=None, reward_stop_consecutive_steps=3, use_gpt_reward=False, gpt_reward_model='gpt-5.4-mini', gpt_reward_stop_threshold=4, gpt_reward_timeout_s=30.0, save_rollout_video=False, eval_hdf5_path='', eval_hdf5_demo_key='demo_0', data_gen_demo_ids='', eval_episode_ids='15,31,47', replay_actions=False, replay_action_path_dir='', replay_hdf5_path='', data_generation=False, max_generation_steps=200, simple_task_max_steps=100, complex_task_max_steps=200)
+Using serial inference (parallel inference disabled)
+Task suite: libero_goal
+Number of tasks: 10
+Running only task IDs: [5]
+Using default initial states
+
+Task: push the plate to the front of the stove
+Starting episode 1...
+Query 1/1: Action query time = 6.212 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3544
+t=10: Selected seed 195 with value = 0.3544
+Query 1/1: Action query time = 5.106 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3235
+t=26: Selected seed 195 with value = 0.3235
+Query 1/1: Action query time = 5.160 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5144
+t=42: Selected seed 195 with value = 0.5144
+Query 1/1: Action query time = 4.625 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3584
+t=58: Selected seed 195 with value = 0.3584
+Query 1/1: Action query time = 4.620 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3462
+t=74: Selected seed 195 with value = 0.3462
+Query 1/1: Action query time = 4.876 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7428
+t=90: Selected seed 195 with value = 0.7428
+Query 1/1: Action query time = 4.563 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8172
+t=106: Selected seed 195 with value = 0.8172
+Query 1/1: Action query time = 4.957 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5954
+t=122: Selected seed 195 with value = 0.5954
+Query 1/1: Action query time = 4.915 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7352
+t=138: Selected seed 195 with value = 0.7352
+Query 1/1: Action query time = 4.179 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7466
+t=154: Selected seed 195 with value = 0.7466
+Query 1/1: Action query time = 4.869 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4770
+t=170: Selected seed 195 with value = 0.4770
+Query 1/1: Action query time = 5.333 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6199
+t=186: Selected seed 195 with value = 0.6199
+Query 1/1: Action query time = 5.034 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=202: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/ft6100_t5_s15/2026_08_02-09_18_47--with_future_img--episode=1--success=True--task=push_the_plate_to_the_front_of_the_.mp4
+Success: True
+# episodes completed so far: 1
+# successes: 1 (100.0%)
+
+Task: push the plate to the front of the stove
+Starting episode 2...
+Query 1/1: Action query time = 4.659 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3387
+t=10: Selected seed 195 with value = 0.3387
+Query 1/1: Action query time = 5.212 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3789
+t=26: Selected seed 195 with value = 0.3789
+Query 1/1: Action query time = 5.089 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6232
+t=42: Selected seed 195 with value = 0.6232
+Query 1/1: Action query time = 5.405 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6696
+t=58: Selected seed 195 with value = 0.6696
+Query 1/1: Action query time = 3.890 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7257
+t=74: Selected seed 195 with value = 0.7257
+Query 1/1: Action query time = 2.619 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8121
+t=90: Selected seed 195 with value = 0.8121
+Query 1/1: Action query time = 3.397 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9942
+t=106: Selected seed 195 with value = 0.9942
+Saved rollout MP4 at path ./rollouts/ft6100_t5_s15/2026_08_02-09_18_47--with_future_img--episode=2--success=True--task=push_the_plate_to_the_front_of_the_.mp4
+Success: True
+# episodes completed so far: 2
+# successes: 2 (100.0%)
+
+Task: push the plate to the front of the stove
+Starting episode 3...
+Query 1/1: Action query time = 4.783 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3576
+t=10: Selected seed 195 with value = 0.3576
+Query 1/1: Action query time = 4.671 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3550
+t=26: Selected seed 195 with value = 0.3550
+Query 1/1: Action query time = 5.034 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6260
+t=42: Selected seed 195 with value = 0.6260
+Query 1/1: Action query time = 5.055 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6649
+t=58: Selected seed 195 with value = 0.6649
+Query 1/1: Action query time = 3.520 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7218
+t=74: Selected seed 195 with value = 0.7218
+Query 1/1: Action query time = 3.555 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8016
+t=90: Selected seed 195 with value = 0.8016
+Query 1/1: Action query time = 2.741 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9811
+t=106: Selected seed 195 with value = 0.9811
+Saved rollout MP4 at path ./rollouts/ft6100_t5_s15/2026_08_02-09_18_47--with_future_img--episode=3--success=True--task=push_the_plate_to_the_front_of_the_.mp4
+Success: True
+# episodes completed so far: 3
+# successes: 3 (100.0%)
+Current task success rate: 1.0
+Current total success rate: 1.0
+Final results:
+Total episodes: 3
+Total successes: 3
+Overall success rate: 1.0000 (100.0%)
diff --git a/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-09_24_41--ft6100_t6_s00.txt b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-09_24_41--ft6100_t6_s00.txt
new file mode 100644
index 0000000000000000000000000000000000000000..10455a156f94cbfd0afbc1750578c29662948bb4
--- /dev/null
+++ b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-09_24_41--ft6100_t6_s00.txt
@@ -0,0 +1,240 @@
+Eval config: PolicyEvalConfig(suite='libero', model_family='cosmos', config='cosmos_predict2_2b_480p_libero_cl_stage_inference_only', ckpt_path='/home/azureuser/REGEN-main/new/cosmos_policy/cosmos_v2_finetune/cosmos_predict2_2b_480p_libero_goal_task6_ft_from40k_2gpu_100step/checkpoints/iter_000000100/model', planning_model_config_name='', planning_model_ckpt_path='', config_file='cosmos_policy/config/config.py', packnet_mask_path='', packnet_first_cl_libero_task=6, use_third_person_image=True, num_third_person_images=1, use_wrist_image=True, num_wrist_images=1, use_proprio=True, flip_images=True, use_variance_scale=False, use_jpeg_compression=True, ar_future_prediction=False, ar_value_prediction=False, ar_qvalue_prediction=False, num_denoising_steps_action=5, num_denoising_steps_future_state=1, num_denoising_steps_value=1, unnormalize_actions=True, normalize_proprio=True, dataset_stats_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/libero_goal_regen/dataset_statistics.json', t5_text_embeddings_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/t5_embeddings.pkl', trained_with_image_aug=True, chunk_size=16, num_open_loop_steps=16, deterministic=True, deterministic_reset=False, deterministic_reset_seed=None, use_ensemble_future_state_predictions=False, num_future_state_predictions_in_ensemble=3, future_state_ensemble_aggregation_scheme='average', use_ensemble_value_predictions=False, num_value_predictions_in_ensemble=5, value_ensemble_aggregation_scheme='average', search_depth=1, mask_current_state_action_for_value_prediction=False, mask_future_state_for_qvalue_prediction=False, num_queries_best_of_n=1, use_parallel_inference=False, available_gpus='0', parallel_timeout=15, parallel_tasks_across_gpus=False, task_suite_name='libero_goal', num_trials_per_task=50, task_ids_to_run='6', initial_states_path='DEFAULT', env_img_res=256, local_log_dir='/home/azureuser/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal', run_id_note='ft6100_t6_s00', use_wandb=False, wandb_entity='YOUR_ENTITY', wandb_project='YOUR_PROJECT', seed=195, randomize_seed=False, data_collection=False, jpeg_compress=True, reward_stop_threshold=None, reward_stop_consecutive_steps=3, use_gpt_reward=False, gpt_reward_model='gpt-5.4-mini', gpt_reward_stop_threshold=4, gpt_reward_timeout_s=30.0, save_rollout_video=False, eval_hdf5_path='', eval_hdf5_demo_key='demo_0', data_gen_demo_ids='', eval_episode_ids='0,16,32,48', replay_actions=False, replay_action_path_dir='', replay_hdf5_path='', data_generation=False, max_generation_steps=200, simple_task_max_steps=100, complex_task_max_steps=200)
+Using serial inference (parallel inference disabled)
+Task suite: libero_goal
+Number of tasks: 10
+Running only task IDs: [6]
+Using default initial states
+
+Task: put the cream cheese in the bowl
+Starting episode 1...
+Query 1/1: Action query time = 1.744 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4195
+t=10: Selected seed 195 with value = 0.4195
+Query 1/1: Action query time = 2.871 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4629
+t=26: Selected seed 195 with value = 0.4629
+Query 1/1: Action query time = 5.866 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5933
+t=42: Selected seed 195 with value = 0.5933
+Query 1/1: Action query time = 5.670 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6389
+t=58: Selected seed 195 with value = 0.6389
+Query 1/1: Action query time = 5.156 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6339
+t=74: Selected seed 195 with value = 0.6339
+Query 1/1: Action query time = 5.053 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5969
+t=90: Selected seed 195 with value = 0.5969
+Query 1/1: Action query time = 4.941 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6231
+t=106: Selected seed 195 with value = 0.6231
+Query 1/1: Action query time = 4.409 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6361
+t=122: Selected seed 195 with value = 0.6361
+Query 1/1: Action query time = 4.890 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6592
+t=138: Selected seed 195 with value = 0.6592
+Query 1/1: Action query time = 5.113 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6326
+t=154: Selected seed 195 with value = 0.6326
+Query 1/1: Action query time = 5.082 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6300
+t=170: Selected seed 195 with value = 0.6300
+Query 1/1: Action query time = 5.110 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7958
+t=186: Selected seed 195 with value = 0.7958
+Query 1/1: Action query time = 4.283 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7474
+t=202: Selected seed 195 with value = 0.7474
+Query 1/1: Action query time = 5.659 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9887
+t=218: Selected seed 195 with value = 0.9887
+Query 1/1: Action query time = 4.053 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9954
+t=234: Selected seed 195 with value = 0.9954
+Query 1/1: Action query time = 4.677 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9986
+t=250: Selected seed 195 with value = 0.9986
+Query 1/1: Action query time = 5.969 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9975
+t=266: Selected seed 195 with value = 0.9975
+Query 1/1: Action query time = 5.142 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9968
+t=282: Selected seed 195 with value = 0.9968
+Query 1/1: Action query time = 4.969 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9953
+t=298: Selected seed 195 with value = 0.9953
+Saved rollout MP4 at path ./rollouts/ft6100_t6_s00/2026_08_02-09_24_41--with_future_img--episode=1--success=False--task=put_the_cream_cheese_in_the_bowl.mp4
+Success: False
+# episodes completed so far: 1
+# successes: 0 (0.0%)
+
+Task: put the cream cheese in the bowl
+Starting episode 2...
+Query 1/1: Action query time = 1.889 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4529
+t=10: Selected seed 195 with value = 0.4529
+Query 1/1: Action query time = 2.195 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4972
+t=26: Selected seed 195 with value = 0.4972
+Query 1/1: Action query time = 3.257 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5723
+t=42: Selected seed 195 with value = 0.5723
+Query 1/1: Action query time = 4.229 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7171
+t=58: Selected seed 195 with value = 0.7171
+Query 1/1: Action query time = 4.836 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8294
+t=74: Selected seed 195 with value = 0.8294
+Query 1/1: Action query time = 4.873 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9625
+t=90: Selected seed 195 with value = 0.9625
+Saved rollout MP4 at path ./rollouts/ft6100_t6_s00/2026_08_02-09_24_41--with_future_img--episode=2--success=True--task=put_the_cream_cheese_in_the_bowl.mp4
+Success: True
+# episodes completed so far: 2
+# successes: 1 (50.0%)
+
+Task: put the cream cheese in the bowl
+Starting episode 3...
+Query 1/1: Action query time = 3.671 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4649
+t=10: Selected seed 195 with value = 0.4649
+Query 1/1: Action query time = 3.218 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5094
+t=26: Selected seed 195 with value = 0.5094
+Query 1/1: Action query time = 2.889 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5736
+t=42: Selected seed 195 with value = 0.5736
+Query 1/1: Action query time = 4.794 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7341
+t=58: Selected seed 195 with value = 0.7341
+Query 1/1: Action query time = 4.193 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8436
+t=74: Selected seed 195 with value = 0.8436
+Query 1/1: Action query time = 3.985 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9769
+t=90: Selected seed 195 with value = 0.9769
+Saved rollout MP4 at path ./rollouts/ft6100_t6_s00/2026_08_02-09_24_41--with_future_img--episode=3--success=True--task=put_the_cream_cheese_in_the_bowl.mp4
+Success: True
+# episodes completed so far: 3
+# successes: 2 (66.7%)
+
+Task: put the cream cheese in the bowl
+Starting episode 4...
+Query 1/1: Action query time = 4.580 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4617
+t=10: Selected seed 195 with value = 0.4617
+Query 1/1: Action query time = 3.661 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5112
+t=26: Selected seed 195 with value = 0.5112
+Query 1/1: Action query time = 2.957 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5958
+t=42: Selected seed 195 with value = 0.5958
+Query 1/1: Action query time = 2.451 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7294
+t=58: Selected seed 195 with value = 0.7294
+Query 1/1: Action query time = 2.410 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8572
+t=74: Selected seed 195 with value = 0.8572
+Query 1/1: Action query time = 1.888 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9725
+t=90: Selected seed 195 with value = 0.9725
+Query 1/1: Action query time = 2.664 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=106: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 2.819 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9971
+t=122: Selected seed 195 with value = 0.9971
+Query 1/1: Action query time = 2.534 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9946
+t=138: Selected seed 195 with value = 0.9946
+Query 1/1: Action query time = 2.472 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9925
+t=154: Selected seed 195 with value = 0.9925
+Query 1/1: Action query time = 2.428 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9891
+t=170: Selected seed 195 with value = 0.9891
+Query 1/1: Action query time = 2.366 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9849
+t=186: Selected seed 195 with value = 0.9849
+Query 1/1: Action query time = 1.931 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9615
+t=202: Selected seed 195 with value = 0.9615
+Query 1/1: Action query time = 1.783 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9634
+t=218: Selected seed 195 with value = 0.9634
+Query 1/1: Action query time = 1.807 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9985
+t=234: Selected seed 195 with value = 0.9985
+Query 1/1: Action query time = 1.290 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9819
+t=250: Selected seed 195 with value = 0.9819
+Query 1/1: Action query time = 1.284 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9228
+t=266: Selected seed 195 with value = 0.9228
+Query 1/1: Action query time = 1.273 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9351
+t=282: Selected seed 195 with value = 0.9351
+Query 1/1: Action query time = 1.241 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9541
+t=298: Selected seed 195 with value = 0.9541
+Saved rollout MP4 at path ./rollouts/ft6100_t6_s00/2026_08_02-09_24_41--with_future_img--episode=4--success=False--task=put_the_cream_cheese_in_the_bowl.mp4
+Success: False
+# episodes completed so far: 4
+# successes: 2 (50.0%)
+Current task success rate: 0.5
+Current total success rate: 0.5
+Final results:
+Total episodes: 4
+Total successes: 2
+Overall success rate: 0.5000 (50.0%)
diff --git a/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-09_24_41--ft6100_t6_s01.txt b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-09_24_41--ft6100_t6_s01.txt
new file mode 100644
index 0000000000000000000000000000000000000000..f296819e5f1db99fe05cc049c90e8ae520b39628
--- /dev/null
+++ b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-09_24_41--ft6100_t6_s01.txt
@@ -0,0 +1,256 @@
+Eval config: PolicyEvalConfig(suite='libero', model_family='cosmos', config='cosmos_predict2_2b_480p_libero_cl_stage_inference_only', ckpt_path='/home/azureuser/REGEN-main/new/cosmos_policy/cosmos_v2_finetune/cosmos_predict2_2b_480p_libero_goal_task6_ft_from40k_2gpu_100step/checkpoints/iter_000000100/model', planning_model_config_name='', planning_model_ckpt_path='', config_file='cosmos_policy/config/config.py', packnet_mask_path='', packnet_first_cl_libero_task=6, use_third_person_image=True, num_third_person_images=1, use_wrist_image=True, num_wrist_images=1, use_proprio=True, flip_images=True, use_variance_scale=False, use_jpeg_compression=True, ar_future_prediction=False, ar_value_prediction=False, ar_qvalue_prediction=False, num_denoising_steps_action=5, num_denoising_steps_future_state=1, num_denoising_steps_value=1, unnormalize_actions=True, normalize_proprio=True, dataset_stats_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/libero_goal_regen/dataset_statistics.json', t5_text_embeddings_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/t5_embeddings.pkl', trained_with_image_aug=True, chunk_size=16, num_open_loop_steps=16, deterministic=True, deterministic_reset=False, deterministic_reset_seed=None, use_ensemble_future_state_predictions=False, num_future_state_predictions_in_ensemble=3, future_state_ensemble_aggregation_scheme='average', use_ensemble_value_predictions=False, num_value_predictions_in_ensemble=5, value_ensemble_aggregation_scheme='average', search_depth=1, mask_current_state_action_for_value_prediction=False, mask_future_state_for_qvalue_prediction=False, num_queries_best_of_n=1, use_parallel_inference=False, available_gpus='0', parallel_timeout=15, parallel_tasks_across_gpus=False, task_suite_name='libero_goal', num_trials_per_task=50, task_ids_to_run='6', initial_states_path='DEFAULT', env_img_res=256, local_log_dir='/home/azureuser/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal', run_id_note='ft6100_t6_s01', use_wandb=False, wandb_entity='YOUR_ENTITY', wandb_project='YOUR_PROJECT', seed=195, randomize_seed=False, data_collection=False, jpeg_compress=True, reward_stop_threshold=None, reward_stop_consecutive_steps=3, use_gpt_reward=False, gpt_reward_model='gpt-5.4-mini', gpt_reward_stop_threshold=4, gpt_reward_timeout_s=30.0, save_rollout_video=False, eval_hdf5_path='', eval_hdf5_demo_key='demo_0', data_gen_demo_ids='', eval_episode_ids='1,17,33,49', replay_actions=False, replay_action_path_dir='', replay_hdf5_path='', data_generation=False, max_generation_steps=200, simple_task_max_steps=100, complex_task_max_steps=200)
+Using serial inference (parallel inference disabled)
+Task suite: libero_goal
+Number of tasks: 10
+Running only task IDs: [6]
+Using default initial states
+
+Task: put the cream cheese in the bowl
+Starting episode 1...
+Query 1/1: Action query time = 6.636 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4472
+t=10: Selected seed 195 with value = 0.4472
+Query 1/1: Action query time = 5.546 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4939
+t=26: Selected seed 195 with value = 0.4939
+Query 1/1: Action query time = 5.133 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5484
+t=42: Selected seed 195 with value = 0.5484
+Query 1/1: Action query time = 4.802 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6556
+t=58: Selected seed 195 with value = 0.6556
+Query 1/1: Action query time = 4.914 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5926
+t=74: Selected seed 195 with value = 0.5926
+Query 1/1: Action query time = 4.411 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5883
+t=90: Selected seed 195 with value = 0.5883
+Query 1/1: Action query time = 4.819 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5609
+t=106: Selected seed 195 with value = 0.5609
+Query 1/1: Action query time = 5.287 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6223
+t=122: Selected seed 195 with value = 0.6223
+Query 1/1: Action query time = 5.243 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7441
+t=138: Selected seed 195 with value = 0.7441
+Query 1/1: Action query time = 5.181 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9028
+t=154: Selected seed 195 with value = 0.9028
+Saved rollout MP4 at path ./rollouts/ft6100_t6_s01/2026_08_02-09_24_41--with_future_img--episode=1--success=True--task=put_the_cream_cheese_in_the_bowl.mp4
+Success: True
+# episodes completed so far: 1
+# successes: 1 (100.0%)
+
+Task: put the cream cheese in the bowl
+Starting episode 2...
+Query 1/1: Action query time = 5.696 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4259
+t=10: Selected seed 195 with value = 0.4259
+Query 1/1: Action query time = 5.065 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4979
+t=26: Selected seed 195 with value = 0.4979
+Query 1/1: Action query time = 3.874 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5732
+t=42: Selected seed 195 with value = 0.5732
+Query 1/1: Action query time = 5.807 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6979
+t=58: Selected seed 195 with value = 0.6979
+Query 1/1: Action query time = 5.188 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6696
+t=74: Selected seed 195 with value = 0.6696
+Query 1/1: Action query time = 4.978 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6834
+t=90: Selected seed 195 with value = 0.6834
+Query 1/1: Action query time = 3.857 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6567
+t=106: Selected seed 195 with value = 0.6567
+Query 1/1: Action query time = 1.489 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6994
+t=122: Selected seed 195 with value = 0.6994
+Query 1/1: Action query time = 1.811 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7269
+t=138: Selected seed 195 with value = 0.7269
+Query 1/1: Action query time = 2.107 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8212
+t=154: Selected seed 195 with value = 0.8212
+Query 1/1: Action query time = 2.710 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=170: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.603 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=186: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.598 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9981
+t=202: Selected seed 195 with value = 0.9981
+Query 1/1: Action query time = 4.290 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9858
+t=218: Selected seed 195 with value = 0.9858
+Query 1/1: Action query time = 4.202 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9734
+t=234: Selected seed 195 with value = 0.9734
+Query 1/1: Action query time = 3.740 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9741
+t=250: Selected seed 195 with value = 0.9741
+Query 1/1: Action query time = 2.627 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9762
+t=266: Selected seed 195 with value = 0.9762
+Query 1/1: Action query time = 2.795 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9914
+t=282: Selected seed 195 with value = 0.9914
+Query 1/1: Action query time = 4.659 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9979
+t=298: Selected seed 195 with value = 0.9979
+Saved rollout MP4 at path ./rollouts/ft6100_t6_s01/2026_08_02-09_24_41--with_future_img--episode=2--success=False--task=put_the_cream_cheese_in_the_bowl.mp4
+Success: False
+# episodes completed so far: 2
+# successes: 1 (50.0%)
+
+Task: put the cream cheese in the bowl
+Starting episode 3...
+Query 1/1: Action query time = 4.843 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4435
+t=10: Selected seed 195 with value = 0.4435
+Query 1/1: Action query time = 5.213 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4912
+t=26: Selected seed 195 with value = 0.4912
+Query 1/1: Action query time = 3.683 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5792
+t=42: Selected seed 195 with value = 0.5792
+Query 1/1: Action query time = 2.606 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7282
+t=58: Selected seed 195 with value = 0.7282
+Query 1/1: Action query time = 3.071 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8308
+t=74: Selected seed 195 with value = 0.8308
+Query 1/1: Action query time = 2.263 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9756
+t=90: Selected seed 195 with value = 0.9756
+Saved rollout MP4 at path ./rollouts/ft6100_t6_s01/2026_08_02-09_24_41--with_future_img--episode=3--success=True--task=put_the_cream_cheese_in_the_bowl.mp4
+Success: True
+# episodes completed so far: 3
+# successes: 2 (66.7%)
+
+Task: put the cream cheese in the bowl
+Starting episode 4...
+Query 1/1: Action query time = 2.378 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4221
+t=10: Selected seed 195 with value = 0.4221
+Query 1/1: Action query time = 2.331 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4693
+t=26: Selected seed 195 with value = 0.4693
+Query 1/1: Action query time = 2.313 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5643
+t=42: Selected seed 195 with value = 0.5643
+Query 1/1: Action query time = 2.398 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6453
+t=58: Selected seed 195 with value = 0.6453
+Query 1/1: Action query time = 2.399 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6530
+t=74: Selected seed 195 with value = 0.6530
+Query 1/1: Action query time = 2.425 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6541
+t=90: Selected seed 195 with value = 0.6541
+Query 1/1: Action query time = 2.473 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6477
+t=106: Selected seed 195 with value = 0.6477
+Query 1/1: Action query time = 1.732 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6034
+t=122: Selected seed 195 with value = 0.6034
+Query 1/1: Action query time = 1.739 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7173
+t=138: Selected seed 195 with value = 0.7173
+Query 1/1: Action query time = 1.767 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8021
+t=154: Selected seed 195 with value = 0.8021
+Query 1/1: Action query time = 1.273 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=170: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 1.271 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=186: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 1.242 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9970
+t=202: Selected seed 195 with value = 0.9970
+Query 1/1: Action query time = 1.000 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9844
+t=218: Selected seed 195 with value = 0.9844
+Query 1/1: Action query time = 0.974 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9770
+t=234: Selected seed 195 with value = 0.9770
+Query 1/1: Action query time = 0.968 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9855
+t=250: Selected seed 195 with value = 0.9855
+Query 1/1: Action query time = 0.961 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9867
+t=266: Selected seed 195 with value = 0.9867
+Query 1/1: Action query time = 0.974 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9881
+t=282: Selected seed 195 with value = 0.9881
+Query 1/1: Action query time = 0.962 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9890
+t=298: Selected seed 195 with value = 0.9890
+Saved rollout MP4 at path ./rollouts/ft6100_t6_s01/2026_08_02-09_24_41--with_future_img--episode=4--success=False--task=put_the_cream_cheese_in_the_bowl.mp4
+Success: False
+# episodes completed so far: 4
+# successes: 2 (50.0%)
+Current task success rate: 0.5
+Current total success rate: 0.5
+Final results:
+Total episodes: 4
+Total successes: 2
+Overall success rate: 0.5000 (50.0%)
diff --git a/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-09_24_41--ft6100_t6_s03.txt b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-09_24_41--ft6100_t6_s03.txt
new file mode 100644
index 0000000000000000000000000000000000000000..dde919bb845d80b32219ec778468f1124837df57
--- /dev/null
+++ b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-09_24_41--ft6100_t6_s03.txt
@@ -0,0 +1,101 @@
+Eval config: PolicyEvalConfig(suite='libero', model_family='cosmos', config='cosmos_predict2_2b_480p_libero_cl_stage_inference_only', ckpt_path='/home/azureuser/REGEN-main/new/cosmos_policy/cosmos_v2_finetune/cosmos_predict2_2b_480p_libero_goal_task6_ft_from40k_2gpu_100step/checkpoints/iter_000000100/model', planning_model_config_name='', planning_model_ckpt_path='', config_file='cosmos_policy/config/config.py', packnet_mask_path='', packnet_first_cl_libero_task=6, use_third_person_image=True, num_third_person_images=1, use_wrist_image=True, num_wrist_images=1, use_proprio=True, flip_images=True, use_variance_scale=False, use_jpeg_compression=True, ar_future_prediction=False, ar_value_prediction=False, ar_qvalue_prediction=False, num_denoising_steps_action=5, num_denoising_steps_future_state=1, num_denoising_steps_value=1, unnormalize_actions=True, normalize_proprio=True, dataset_stats_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/libero_goal_regen/dataset_statistics.json', t5_text_embeddings_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/t5_embeddings.pkl', trained_with_image_aug=True, chunk_size=16, num_open_loop_steps=16, deterministic=True, deterministic_reset=False, deterministic_reset_seed=None, use_ensemble_future_state_predictions=False, num_future_state_predictions_in_ensemble=3, future_state_ensemble_aggregation_scheme='average', use_ensemble_value_predictions=False, num_value_predictions_in_ensemble=5, value_ensemble_aggregation_scheme='average', search_depth=1, mask_current_state_action_for_value_prediction=False, mask_future_state_for_qvalue_prediction=False, num_queries_best_of_n=1, use_parallel_inference=False, available_gpus='0', parallel_timeout=15, parallel_tasks_across_gpus=False, task_suite_name='libero_goal', num_trials_per_task=50, task_ids_to_run='6', initial_states_path='DEFAULT', env_img_res=256, local_log_dir='/home/azureuser/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal', run_id_note='ft6100_t6_s03', use_wandb=False, wandb_entity='YOUR_ENTITY', wandb_project='YOUR_PROJECT', seed=195, randomize_seed=False, data_collection=False, jpeg_compress=True, reward_stop_threshold=None, reward_stop_consecutive_steps=3, use_gpt_reward=False, gpt_reward_model='gpt-5.4-mini', gpt_reward_stop_threshold=4, gpt_reward_timeout_s=30.0, save_rollout_video=False, eval_hdf5_path='', eval_hdf5_demo_key='demo_0', data_gen_demo_ids='', eval_episode_ids='3,19,35', replay_actions=False, replay_action_path_dir='', replay_hdf5_path='', data_generation=False, max_generation_steps=200, simple_task_max_steps=100, complex_task_max_steps=200)
+Using serial inference (parallel inference disabled)
+Task suite: libero_goal
+Number of tasks: 10
+Running only task IDs: [6]
+Using default initial states
+
+Task: put the cream cheese in the bowl
+Starting episode 1...
+Query 1/1: Action query time = 4.429 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4606
+t=10: Selected seed 195 with value = 0.4606
+Query 1/1: Action query time = 4.858 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5155
+t=26: Selected seed 195 with value = 0.5155
+Query 1/1: Action query time = 5.724 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5747
+t=42: Selected seed 195 with value = 0.5747
+Query 1/1: Action query time = 5.213 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7254
+t=58: Selected seed 195 with value = 0.7254
+Query 1/1: Action query time = 4.821 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8306
+t=74: Selected seed 195 with value = 0.8306
+Query 1/1: Action query time = 5.084 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9700
+t=90: Selected seed 195 with value = 0.9700
+Saved rollout MP4 at path ./rollouts/ft6100_t6_s03/2026_08_02-09_24_41--with_future_img--episode=1--success=True--task=put_the_cream_cheese_in_the_bowl.mp4
+Success: True
+# episodes completed so far: 1
+# successes: 1 (100.0%)
+
+Task: put the cream cheese in the bowl
+Starting episode 2...
+Query 1/1: Action query time = 4.525 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4662
+t=10: Selected seed 195 with value = 0.4662
+Query 1/1: Action query time = 5.154 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5018
+t=26: Selected seed 195 with value = 0.5018
+Query 1/1: Action query time = 5.174 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5784
+t=42: Selected seed 195 with value = 0.5784
+Query 1/1: Action query time = 5.132 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7077
+t=58: Selected seed 195 with value = 0.7077
+Query 1/1: Action query time = 4.768 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8211
+t=74: Selected seed 195 with value = 0.8211
+Query 1/1: Action query time = 5.127 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9449
+t=90: Selected seed 195 with value = 0.9449
+Saved rollout MP4 at path ./rollouts/ft6100_t6_s03/2026_08_02-09_24_41--with_future_img--episode=2--success=True--task=put_the_cream_cheese_in_the_bowl.mp4
+Success: True
+# episodes completed so far: 2
+# successes: 2 (100.0%)
+
+Task: put the cream cheese in the bowl
+Starting episode 3...
+Query 1/1: Action query time = 5.541 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4688
+t=10: Selected seed 195 with value = 0.4688
+Query 1/1: Action query time = 4.741 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5308
+t=26: Selected seed 195 with value = 0.5308
+Query 1/1: Action query time = 4.578 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6010
+t=42: Selected seed 195 with value = 0.6010
+Query 1/1: Action query time = 5.216 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7203
+t=58: Selected seed 195 with value = 0.7203
+Query 1/1: Action query time = 5.072 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8496
+t=74: Selected seed 195 with value = 0.8496
+Saved rollout MP4 at path ./rollouts/ft6100_t6_s03/2026_08_02-09_24_41--with_future_img--episode=3--success=True--task=put_the_cream_cheese_in_the_bowl.mp4
+Success: True
+# episodes completed so far: 3
+# successes: 3 (100.0%)
+Current task success rate: 1.0
+Current total success rate: 1.0
+Final results:
+Total episodes: 3
+Total successes: 3
+Overall success rate: 1.0000 (100.0%)
diff --git a/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-09_24_41--ft6100_t6_s04.txt b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-09_24_41--ft6100_t6_s04.txt
new file mode 100644
index 0000000000000000000000000000000000000000..9c3a210fb10f3a2c0464565c99ef8b751cf0b7d8
--- /dev/null
+++ b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-09_24_41--ft6100_t6_s04.txt
@@ -0,0 +1,157 @@
+Eval config: PolicyEvalConfig(suite='libero', model_family='cosmos', config='cosmos_predict2_2b_480p_libero_cl_stage_inference_only', ckpt_path='/home/azureuser/REGEN-main/new/cosmos_policy/cosmos_v2_finetune/cosmos_predict2_2b_480p_libero_goal_task6_ft_from40k_2gpu_100step/checkpoints/iter_000000100/model', planning_model_config_name='', planning_model_ckpt_path='', config_file='cosmos_policy/config/config.py', packnet_mask_path='', packnet_first_cl_libero_task=6, use_third_person_image=True, num_third_person_images=1, use_wrist_image=True, num_wrist_images=1, use_proprio=True, flip_images=True, use_variance_scale=False, use_jpeg_compression=True, ar_future_prediction=False, ar_value_prediction=False, ar_qvalue_prediction=False, num_denoising_steps_action=5, num_denoising_steps_future_state=1, num_denoising_steps_value=1, unnormalize_actions=True, normalize_proprio=True, dataset_stats_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/libero_goal_regen/dataset_statistics.json', t5_text_embeddings_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/t5_embeddings.pkl', trained_with_image_aug=True, chunk_size=16, num_open_loop_steps=16, deterministic=True, deterministic_reset=False, deterministic_reset_seed=None, use_ensemble_future_state_predictions=False, num_future_state_predictions_in_ensemble=3, future_state_ensemble_aggregation_scheme='average', use_ensemble_value_predictions=False, num_value_predictions_in_ensemble=5, value_ensemble_aggregation_scheme='average', search_depth=1, mask_current_state_action_for_value_prediction=False, mask_future_state_for_qvalue_prediction=False, num_queries_best_of_n=1, use_parallel_inference=False, available_gpus='0', parallel_timeout=15, parallel_tasks_across_gpus=False, task_suite_name='libero_goal', num_trials_per_task=50, task_ids_to_run='6', initial_states_path='DEFAULT', env_img_res=256, local_log_dir='/home/azureuser/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal', run_id_note='ft6100_t6_s04', use_wandb=False, wandb_entity='YOUR_ENTITY', wandb_project='YOUR_PROJECT', seed=195, randomize_seed=False, data_collection=False, jpeg_compress=True, reward_stop_threshold=None, reward_stop_consecutive_steps=3, use_gpt_reward=False, gpt_reward_model='gpt-5.4-mini', gpt_reward_stop_threshold=4, gpt_reward_timeout_s=30.0, save_rollout_video=False, eval_hdf5_path='', eval_hdf5_demo_key='demo_0', data_gen_demo_ids='', eval_episode_ids='4,20,36', replay_actions=False, replay_action_path_dir='', replay_hdf5_path='', data_generation=False, max_generation_steps=200, simple_task_max_steps=100, complex_task_max_steps=200)
+Using serial inference (parallel inference disabled)
+Task suite: libero_goal
+Number of tasks: 10
+Running only task IDs: [6]
+Using default initial states
+
+Task: put the cream cheese in the bowl
+Starting episode 1...
+Query 1/1: Action query time = 2.685 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4473
+t=10: Selected seed 195 with value = 0.4473
+Query 1/1: Action query time = 4.496 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5057
+t=26: Selected seed 195 with value = 0.5057
+Query 1/1: Action query time = 4.958 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5744
+t=42: Selected seed 195 with value = 0.5744
+Query 1/1: Action query time = 5.078 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6899
+t=58: Selected seed 195 with value = 0.6899
+Query 1/1: Action query time = 5.603 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6724
+t=74: Selected seed 195 with value = 0.6724
+Query 1/1: Action query time = 5.358 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6658
+t=90: Selected seed 195 with value = 0.6658
+Query 1/1: Action query time = 5.061 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6497
+t=106: Selected seed 195 with value = 0.6497
+Query 1/1: Action query time = 4.375 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6618
+t=122: Selected seed 195 with value = 0.6618
+Query 1/1: Action query time = 5.381 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6566
+t=138: Selected seed 195 with value = 0.6566
+Query 1/1: Action query time = 5.392 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9147
+t=154: Selected seed 195 with value = 0.9147
+Query 1/1: Action query time = 5.266 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=170: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.879 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=186: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.921 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=202: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.147 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9994
+t=218: Selected seed 195 with value = 0.9994
+Query 1/1: Action query time = 5.503 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9899
+t=234: Selected seed 195 with value = 0.9899
+Query 1/1: Action query time = 5.703 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9843
+t=250: Selected seed 195 with value = 0.9843
+Query 1/1: Action query time = 3.983 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9823
+t=266: Selected seed 195 with value = 0.9823
+Query 1/1: Action query time = 5.010 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9896
+t=282: Selected seed 195 with value = 0.9896
+Query 1/1: Action query time = 5.274 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9985
+t=298: Selected seed 195 with value = 0.9985
+Saved rollout MP4 at path ./rollouts/ft6100_t6_s04/2026_08_02-09_24_41--with_future_img--episode=1--success=False--task=put_the_cream_cheese_in_the_bowl.mp4
+Success: False
+# episodes completed so far: 1
+# successes: 0 (0.0%)
+
+Task: put the cream cheese in the bowl
+Starting episode 2...
+Query 1/1: Action query time = 2.965 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4507
+t=10: Selected seed 195 with value = 0.4507
+Query 1/1: Action query time = 5.143 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5045
+t=26: Selected seed 195 with value = 0.5045
+Query 1/1: Action query time = 4.529 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5782
+t=42: Selected seed 195 with value = 0.5782
+Query 1/1: Action query time = 4.219 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7359
+t=58: Selected seed 195 with value = 0.7359
+Query 1/1: Action query time = 4.421 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8343
+t=74: Selected seed 195 with value = 0.8343
+Query 1/1: Action query time = 3.396 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9906
+t=90: Selected seed 195 with value = 0.9906
+Saved rollout MP4 at path ./rollouts/ft6100_t6_s04/2026_08_02-09_24_41--with_future_img--episode=2--success=True--task=put_the_cream_cheese_in_the_bowl.mp4
+Success: True
+# episodes completed so far: 2
+# successes: 1 (50.0%)
+
+Task: put the cream cheese in the bowl
+Starting episode 3...
+Query 1/1: Action query time = 3.328 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4249
+t=10: Selected seed 195 with value = 0.4249
+Query 1/1: Action query time = 4.421 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4921
+t=26: Selected seed 195 with value = 0.4921
+Query 1/1: Action query time = 3.891 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5757
+t=42: Selected seed 195 with value = 0.5757
+Query 1/1: Action query time = 3.291 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7120
+t=58: Selected seed 195 with value = 0.7120
+Query 1/1: Action query time = 4.829 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8313
+t=74: Selected seed 195 with value = 0.8313
+Query 1/1: Action query time = 5.107 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9759
+t=90: Selected seed 195 with value = 0.9759
+Saved rollout MP4 at path ./rollouts/ft6100_t6_s04/2026_08_02-09_24_41--with_future_img--episode=3--success=True--task=put_the_cream_cheese_in_the_bowl.mp4
+Success: True
+# episodes completed so far: 3
+# successes: 2 (66.7%)
+Current task success rate: 0.6666666666666666
+Current total success rate: 0.6666666666666666
+Final results:
+Total episodes: 3
+Total successes: 2
+Overall success rate: 0.6667 (66.7%)
diff --git a/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-09_24_42--ft6100_t6_s08.txt b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-09_24_42--ft6100_t6_s08.txt
new file mode 100644
index 0000000000000000000000000000000000000000..1faf29c7161cf199615bdd1415e3f1f8a45a70eb
--- /dev/null
+++ b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-09_24_42--ft6100_t6_s08.txt
@@ -0,0 +1,153 @@
+Eval config: PolicyEvalConfig(suite='libero', model_family='cosmos', config='cosmos_predict2_2b_480p_libero_cl_stage_inference_only', ckpt_path='/home/azureuser/REGEN-main/new/cosmos_policy/cosmos_v2_finetune/cosmos_predict2_2b_480p_libero_goal_task6_ft_from40k_2gpu_100step/checkpoints/iter_000000100/model', planning_model_config_name='', planning_model_ckpt_path='', config_file='cosmos_policy/config/config.py', packnet_mask_path='', packnet_first_cl_libero_task=6, use_third_person_image=True, num_third_person_images=1, use_wrist_image=True, num_wrist_images=1, use_proprio=True, flip_images=True, use_variance_scale=False, use_jpeg_compression=True, ar_future_prediction=False, ar_value_prediction=False, ar_qvalue_prediction=False, num_denoising_steps_action=5, num_denoising_steps_future_state=1, num_denoising_steps_value=1, unnormalize_actions=True, normalize_proprio=True, dataset_stats_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/libero_goal_regen/dataset_statistics.json', t5_text_embeddings_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/t5_embeddings.pkl', trained_with_image_aug=True, chunk_size=16, num_open_loop_steps=16, deterministic=True, deterministic_reset=False, deterministic_reset_seed=None, use_ensemble_future_state_predictions=False, num_future_state_predictions_in_ensemble=3, future_state_ensemble_aggregation_scheme='average', use_ensemble_value_predictions=False, num_value_predictions_in_ensemble=5, value_ensemble_aggregation_scheme='average', search_depth=1, mask_current_state_action_for_value_prediction=False, mask_future_state_for_qvalue_prediction=False, num_queries_best_of_n=1, use_parallel_inference=False, available_gpus='0', parallel_timeout=15, parallel_tasks_across_gpus=False, task_suite_name='libero_goal', num_trials_per_task=50, task_ids_to_run='6', initial_states_path='DEFAULT', env_img_res=256, local_log_dir='/home/azureuser/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal', run_id_note='ft6100_t6_s08', use_wandb=False, wandb_entity='YOUR_ENTITY', wandb_project='YOUR_PROJECT', seed=195, randomize_seed=False, data_collection=False, jpeg_compress=True, reward_stop_threshold=None, reward_stop_consecutive_steps=3, use_gpt_reward=False, gpt_reward_model='gpt-5.4-mini', gpt_reward_stop_threshold=4, gpt_reward_timeout_s=30.0, save_rollout_video=False, eval_hdf5_path='', eval_hdf5_demo_key='demo_0', data_gen_demo_ids='', eval_episode_ids='8,24,40', replay_actions=False, replay_action_path_dir='', replay_hdf5_path='', data_generation=False, max_generation_steps=200, simple_task_max_steps=100, complex_task_max_steps=200)
+Using serial inference (parallel inference disabled)
+Task suite: libero_goal
+Number of tasks: 10
+Running only task IDs: [6]
+Using default initial states
+
+Task: put the cream cheese in the bowl
+Starting episode 1...
+Query 1/1: Action query time = 4.813 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4586
+t=10: Selected seed 195 with value = 0.4586
+Query 1/1: Action query time = 4.289 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5000
+t=26: Selected seed 195 with value = 0.5000
+Query 1/1: Action query time = 5.655 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5823
+t=42: Selected seed 195 with value = 0.5823
+Query 1/1: Action query time = 5.624 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7465
+t=58: Selected seed 195 with value = 0.7465
+Query 1/1: Action query time = 4.972 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8444
+t=74: Selected seed 195 with value = 0.8444
+Saved rollout MP4 at path ./rollouts/ft6100_t6_s08/2026_08_02-09_24_42--with_future_img--episode=1--success=True--task=put_the_cream_cheese_in_the_bowl.mp4
+Success: True
+# episodes completed so far: 1
+# successes: 1 (100.0%)
+
+Task: put the cream cheese in the bowl
+Starting episode 2...
+Query 1/1: Action query time = 4.047 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4469
+t=10: Selected seed 195 with value = 0.4469
+Query 1/1: Action query time = 5.239 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4672
+t=26: Selected seed 195 with value = 0.4672
+Query 1/1: Action query time = 5.134 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5700
+t=42: Selected seed 195 with value = 0.5700
+Query 1/1: Action query time = 5.128 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6860
+t=58: Selected seed 195 with value = 0.6860
+Query 1/1: Action query time = 5.259 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8491
+t=74: Selected seed 195 with value = 0.8491
+Query 1/1: Action query time = 4.856 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9666
+t=90: Selected seed 195 with value = 0.9666
+Saved rollout MP4 at path ./rollouts/ft6100_t6_s08/2026_08_02-09_24_42--with_future_img--episode=2--success=True--task=put_the_cream_cheese_in_the_bowl.mp4
+Success: True
+# episodes completed so far: 2
+# successes: 2 (100.0%)
+
+Task: put the cream cheese in the bowl
+Starting episode 3...
+Query 1/1: Action query time = 4.269 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4535
+t=10: Selected seed 195 with value = 0.4535
+Query 1/1: Action query time = 5.078 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4745
+t=26: Selected seed 195 with value = 0.4745
+Query 1/1: Action query time = 5.660 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5712
+t=42: Selected seed 195 with value = 0.5712
+Query 1/1: Action query time = 5.037 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6627
+t=58: Selected seed 195 with value = 0.6627
+Query 1/1: Action query time = 4.818 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6916
+t=74: Selected seed 195 with value = 0.6916
+Query 1/1: Action query time = 5.031 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6537
+t=90: Selected seed 195 with value = 0.6537
+Query 1/1: Action query time = 4.537 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6403
+t=106: Selected seed 195 with value = 0.6403
+Query 1/1: Action query time = 2.357 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6507
+t=122: Selected seed 195 with value = 0.6507
+Query 1/1: Action query time = 1.930 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6465
+t=138: Selected seed 195 with value = 0.6465
+Query 1/1: Action query time = 2.679 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6264
+t=154: Selected seed 195 with value = 0.6264
+Query 1/1: Action query time = 3.964 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6053
+t=170: Selected seed 195 with value = 0.6053
+Query 1/1: Action query time = 4.053 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6142
+t=186: Selected seed 195 with value = 0.6142
+Query 1/1: Action query time = 3.320 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6038
+t=202: Selected seed 195 with value = 0.6038
+Query 1/1: Action query time = 2.547 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6366
+t=218: Selected seed 195 with value = 0.6366
+Query 1/1: Action query time = 2.770 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6191
+t=234: Selected seed 195 with value = 0.6191
+Query 1/1: Action query time = 3.747 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6672
+t=250: Selected seed 195 with value = 0.6672
+Query 1/1: Action query time = 4.143 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6311
+t=266: Selected seed 195 with value = 0.6311
+Query 1/1: Action query time = 4.301 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7460
+t=282: Selected seed 195 with value = 0.7460
+Query 1/1: Action query time = 3.942 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7008
+t=298: Selected seed 195 with value = 0.7008
+Saved rollout MP4 at path ./rollouts/ft6100_t6_s08/2026_08_02-09_24_42--with_future_img--episode=3--success=False--task=put_the_cream_cheese_in_the_bowl.mp4
+Success: False
+# episodes completed so far: 3
+# successes: 2 (66.7%)
+Current task success rate: 0.6666666666666666
+Current total success rate: 0.6666666666666666
+Final results:
+Total episodes: 3
+Total successes: 2
+Overall success rate: 0.6667 (66.7%)
diff --git a/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-09_24_42--ft6100_t6_s12.txt b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-09_24_42--ft6100_t6_s12.txt
new file mode 100644
index 0000000000000000000000000000000000000000..632947217533145af796dadacf7e6a2b426f6609
--- /dev/null
+++ b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-09_24_42--ft6100_t6_s12.txt
@@ -0,0 +1,209 @@
+Eval config: PolicyEvalConfig(suite='libero', model_family='cosmos', config='cosmos_predict2_2b_480p_libero_cl_stage_inference_only', ckpt_path='/home/azureuser/REGEN-main/new/cosmos_policy/cosmos_v2_finetune/cosmos_predict2_2b_480p_libero_goal_task6_ft_from40k_2gpu_100step/checkpoints/iter_000000100/model', planning_model_config_name='', planning_model_ckpt_path='', config_file='cosmos_policy/config/config.py', packnet_mask_path='', packnet_first_cl_libero_task=6, use_third_person_image=True, num_third_person_images=1, use_wrist_image=True, num_wrist_images=1, use_proprio=True, flip_images=True, use_variance_scale=False, use_jpeg_compression=True, ar_future_prediction=False, ar_value_prediction=False, ar_qvalue_prediction=False, num_denoising_steps_action=5, num_denoising_steps_future_state=1, num_denoising_steps_value=1, unnormalize_actions=True, normalize_proprio=True, dataset_stats_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/libero_goal_regen/dataset_statistics.json', t5_text_embeddings_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/t5_embeddings.pkl', trained_with_image_aug=True, chunk_size=16, num_open_loop_steps=16, deterministic=True, deterministic_reset=False, deterministic_reset_seed=None, use_ensemble_future_state_predictions=False, num_future_state_predictions_in_ensemble=3, future_state_ensemble_aggregation_scheme='average', use_ensemble_value_predictions=False, num_value_predictions_in_ensemble=5, value_ensemble_aggregation_scheme='average', search_depth=1, mask_current_state_action_for_value_prediction=False, mask_future_state_for_qvalue_prediction=False, num_queries_best_of_n=1, use_parallel_inference=False, available_gpus='0', parallel_timeout=15, parallel_tasks_across_gpus=False, task_suite_name='libero_goal', num_trials_per_task=50, task_ids_to_run='6', initial_states_path='DEFAULT', env_img_res=256, local_log_dir='/home/azureuser/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal', run_id_note='ft6100_t6_s12', use_wandb=False, wandb_entity='YOUR_ENTITY', wandb_project='YOUR_PROJECT', seed=195, randomize_seed=False, data_collection=False, jpeg_compress=True, reward_stop_threshold=None, reward_stop_consecutive_steps=3, use_gpt_reward=False, gpt_reward_model='gpt-5.4-mini', gpt_reward_stop_threshold=4, gpt_reward_timeout_s=30.0, save_rollout_video=False, eval_hdf5_path='', eval_hdf5_demo_key='demo_0', data_gen_demo_ids='', eval_episode_ids='12,28,44', replay_actions=False, replay_action_path_dir='', replay_hdf5_path='', data_generation=False, max_generation_steps=200, simple_task_max_steps=100, complex_task_max_steps=200)
+Using serial inference (parallel inference disabled)
+Task suite: libero_goal
+Number of tasks: 10
+Running only task IDs: [6]
+Using default initial states
+
+Task: put the cream cheese in the bowl
+Starting episode 1...
+Query 1/1: Action query time = 6.354 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4486
+t=10: Selected seed 195 with value = 0.4486
+Query 1/1: Action query time = 5.089 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4735
+t=26: Selected seed 195 with value = 0.4735
+Query 1/1: Action query time = 4.649 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5713
+t=42: Selected seed 195 with value = 0.5713
+Query 1/1: Action query time = 4.924 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6714
+t=58: Selected seed 195 with value = 0.6714
+Query 1/1: Action query time = 4.679 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6111
+t=74: Selected seed 195 with value = 0.6111
+Query 1/1: Action query time = 3.726 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5909
+t=90: Selected seed 195 with value = 0.5909
+Query 1/1: Action query time = 3.939 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5395
+t=106: Selected seed 195 with value = 0.5395
+Query 1/1: Action query time = 4.932 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6108
+t=122: Selected seed 195 with value = 0.6108
+Query 1/1: Action query time = 4.939 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5920
+t=138: Selected seed 195 with value = 0.5920
+Query 1/1: Action query time = 4.767 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6377
+t=154: Selected seed 195 with value = 0.6377
+Query 1/1: Action query time = 5.035 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6163
+t=170: Selected seed 195 with value = 0.6163
+Query 1/1: Action query time = 5.566 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6593
+t=186: Selected seed 195 with value = 0.6593
+Query 1/1: Action query time = 4.465 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6230
+t=202: Selected seed 195 with value = 0.6230
+Query 1/1: Action query time = 3.767 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7574
+t=218: Selected seed 195 with value = 0.7574
+Query 1/1: Action query time = 4.544 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8405
+t=234: Selected seed 195 with value = 0.8405
+Query 1/1: Action query time = 5.277 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7435
+t=250: Selected seed 195 with value = 0.7435
+Query 1/1: Action query time = 5.454 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7989
+t=266: Selected seed 195 with value = 0.7989
+Query 1/1: Action query time = 5.583 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8413
+t=282: Selected seed 195 with value = 0.8413
+Query 1/1: Action query time = 5.247 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8859
+t=298: Selected seed 195 with value = 0.8859
+Saved rollout MP4 at path ./rollouts/ft6100_t6_s12/2026_08_02-09_24_42--with_future_img--episode=1--success=False--task=put_the_cream_cheese_in_the_bowl.mp4
+Success: False
+# episodes completed so far: 1
+# successes: 0 (0.0%)
+
+Task: put the cream cheese in the bowl
+Starting episode 2...
+Query 1/1: Action query time = 2.779 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4450
+t=10: Selected seed 195 with value = 0.4450
+Query 1/1: Action query time = 3.479 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4721
+t=26: Selected seed 195 with value = 0.4721
+Query 1/1: Action query time = 3.555 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5695
+t=42: Selected seed 195 with value = 0.5695
+Query 1/1: Action query time = 3.957 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6644
+t=58: Selected seed 195 with value = 0.6644
+Query 1/1: Action query time = 4.006 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8145
+t=74: Selected seed 195 with value = 0.8145
+Query 1/1: Action query time = 2.376 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9590
+t=90: Selected seed 195 with value = 0.9590
+Saved rollout MP4 at path ./rollouts/ft6100_t6_s12/2026_08_02-09_24_42--with_future_img--episode=2--success=True--task=put_the_cream_cheese_in_the_bowl.mp4
+Success: True
+# episodes completed so far: 2
+# successes: 1 (50.0%)
+
+Task: put the cream cheese in the bowl
+Starting episode 3...
+Query 1/1: Action query time = 3.130 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4463
+t=10: Selected seed 195 with value = 0.4463
+Query 1/1: Action query time = 4.146 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5247
+t=26: Selected seed 195 with value = 0.5247
+Query 1/1: Action query time = 3.887 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5816
+t=42: Selected seed 195 with value = 0.5816
+Query 1/1: Action query time = 2.613 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5912
+t=58: Selected seed 195 with value = 0.5912
+Query 1/1: Action query time = 3.448 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6451
+t=74: Selected seed 195 with value = 0.6451
+Query 1/1: Action query time = 1.808 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6743
+t=90: Selected seed 195 with value = 0.6743
+Query 1/1: Action query time = 2.341 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6531
+t=106: Selected seed 195 with value = 0.6531
+Query 1/1: Action query time = 2.373 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6333
+t=122: Selected seed 195 with value = 0.6333
+Query 1/1: Action query time = 2.052 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7069
+t=138: Selected seed 195 with value = 0.7069
+Query 1/1: Action query time = 1.855 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8901
+t=154: Selected seed 195 with value = 0.8901
+Query 1/1: Action query time = 1.930 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=170: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 1.841 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=186: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 1.270 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9985
+t=202: Selected seed 195 with value = 0.9985
+Query 1/1: Action query time = 1.490 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9905
+t=218: Selected seed 195 with value = 0.9905
+Query 1/1: Action query time = 1.253 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9816
+t=234: Selected seed 195 with value = 0.9816
+Query 1/1: Action query time = 1.376 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9983
+t=250: Selected seed 195 with value = 0.9983
+Query 1/1: Action query time = 1.311 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9817
+t=266: Selected seed 195 with value = 0.9817
+Query 1/1: Action query time = 1.113 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9851
+t=282: Selected seed 195 with value = 0.9851
+Query 1/1: Action query time = 1.431 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9774
+t=298: Selected seed 195 with value = 0.9774
+Saved rollout MP4 at path ./rollouts/ft6100_t6_s12/2026_08_02-09_24_42--with_future_img--episode=3--success=False--task=put_the_cream_cheese_in_the_bowl.mp4
+Success: False
+# episodes completed so far: 3
+# successes: 1 (33.3%)
+Current task success rate: 0.3333333333333333
+Current total success rate: 0.3333333333333333
+Final results:
+Total episodes: 3
+Total successes: 1
+Overall success rate: 0.3333 (33.3%)
diff --git a/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-09_24_42--ft6100_t6_s13.txt b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-09_24_42--ft6100_t6_s13.txt
new file mode 100644
index 0000000000000000000000000000000000000000..f48bcf77efd159b1ab9b59f05f58aaa8f15bd26c
--- /dev/null
+++ b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-09_24_42--ft6100_t6_s13.txt
@@ -0,0 +1,205 @@
+Eval config: PolicyEvalConfig(suite='libero', model_family='cosmos', config='cosmos_predict2_2b_480p_libero_cl_stage_inference_only', ckpt_path='/home/azureuser/REGEN-main/new/cosmos_policy/cosmos_v2_finetune/cosmos_predict2_2b_480p_libero_goal_task6_ft_from40k_2gpu_100step/checkpoints/iter_000000100/model', planning_model_config_name='', planning_model_ckpt_path='', config_file='cosmos_policy/config/config.py', packnet_mask_path='', packnet_first_cl_libero_task=6, use_third_person_image=True, num_third_person_images=1, use_wrist_image=True, num_wrist_images=1, use_proprio=True, flip_images=True, use_variance_scale=False, use_jpeg_compression=True, ar_future_prediction=False, ar_value_prediction=False, ar_qvalue_prediction=False, num_denoising_steps_action=5, num_denoising_steps_future_state=1, num_denoising_steps_value=1, unnormalize_actions=True, normalize_proprio=True, dataset_stats_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/libero_goal_regen/dataset_statistics.json', t5_text_embeddings_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/t5_embeddings.pkl', trained_with_image_aug=True, chunk_size=16, num_open_loop_steps=16, deterministic=True, deterministic_reset=False, deterministic_reset_seed=None, use_ensemble_future_state_predictions=False, num_future_state_predictions_in_ensemble=3, future_state_ensemble_aggregation_scheme='average', use_ensemble_value_predictions=False, num_value_predictions_in_ensemble=5, value_ensemble_aggregation_scheme='average', search_depth=1, mask_current_state_action_for_value_prediction=False, mask_future_state_for_qvalue_prediction=False, num_queries_best_of_n=1, use_parallel_inference=False, available_gpus='0', parallel_timeout=15, parallel_tasks_across_gpus=False, task_suite_name='libero_goal', num_trials_per_task=50, task_ids_to_run='6', initial_states_path='DEFAULT', env_img_res=256, local_log_dir='/home/azureuser/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal', run_id_note='ft6100_t6_s13', use_wandb=False, wandb_entity='YOUR_ENTITY', wandb_project='YOUR_PROJECT', seed=195, randomize_seed=False, data_collection=False, jpeg_compress=True, reward_stop_threshold=None, reward_stop_consecutive_steps=3, use_gpt_reward=False, gpt_reward_model='gpt-5.4-mini', gpt_reward_stop_threshold=4, gpt_reward_timeout_s=30.0, save_rollout_video=False, eval_hdf5_path='', eval_hdf5_demo_key='demo_0', data_gen_demo_ids='', eval_episode_ids='13,29,45', replay_actions=False, replay_action_path_dir='', replay_hdf5_path='', data_generation=False, max_generation_steps=200, simple_task_max_steps=100, complex_task_max_steps=200)
+Using serial inference (parallel inference disabled)
+Task suite: libero_goal
+Number of tasks: 10
+Running only task IDs: [6]
+Using default initial states
+
+Task: put the cream cheese in the bowl
+Starting episode 1...
+Query 1/1: Action query time = 6.233 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4647
+t=10: Selected seed 195 with value = 0.4647
+Query 1/1: Action query time = 4.960 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5157
+t=26: Selected seed 195 with value = 0.5157
+Query 1/1: Action query time = 4.410 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5941
+t=42: Selected seed 195 with value = 0.5941
+Query 1/1: Action query time = 4.945 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7381
+t=58: Selected seed 195 with value = 0.7381
+Query 1/1: Action query time = 4.796 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8458
+t=74: Selected seed 195 with value = 0.8458
+Saved rollout MP4 at path ./rollouts/ft6100_t6_s13/2026_08_02-09_24_42--with_future_img--episode=1--success=True--task=put_the_cream_cheese_in_the_bowl.mp4
+Success: True
+# episodes completed so far: 1
+# successes: 1 (100.0%)
+
+Task: put the cream cheese in the bowl
+Starting episode 2...
+Query 1/1: Action query time = 3.536 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4382
+t=10: Selected seed 195 with value = 0.4382
+Query 1/1: Action query time = 5.291 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4895
+t=26: Selected seed 195 with value = 0.4895
+Query 1/1: Action query time = 5.068 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5870
+t=42: Selected seed 195 with value = 0.5870
+Query 1/1: Action query time = 5.019 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7394
+t=58: Selected seed 195 with value = 0.7394
+Query 1/1: Action query time = 5.251 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8539
+t=74: Selected seed 195 with value = 0.8539
+Query 1/1: Action query time = 5.287 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9732
+t=90: Selected seed 195 with value = 0.9732
+Query 1/1: Action query time = 4.326 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=106: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 3.542 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=122: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.097 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9981
+t=138: Selected seed 195 with value = 0.9981
+Query 1/1: Action query time = 5.899 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9950
+t=154: Selected seed 195 with value = 0.9950
+Query 1/1: Action query time = 4.640 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9892
+t=170: Selected seed 195 with value = 0.9892
+Query 1/1: Action query time = 4.559 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9842
+t=186: Selected seed 195 with value = 0.9842
+Query 1/1: Action query time = 4.959 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9787
+t=202: Selected seed 195 with value = 0.9787
+Query 1/1: Action query time = 4.265 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9870
+t=218: Selected seed 195 with value = 0.9870
+Query 1/1: Action query time = 2.351 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9757
+t=234: Selected seed 195 with value = 0.9757
+Query 1/1: Action query time = 1.996 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9827
+t=250: Selected seed 195 with value = 0.9827
+Query 1/1: Action query time = 2.487 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9878
+t=266: Selected seed 195 with value = 0.9878
+Query 1/1: Action query time = 3.590 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9475
+t=282: Selected seed 195 with value = 0.9475
+Query 1/1: Action query time = 3.227 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8801
+t=298: Selected seed 195 with value = 0.8801
+Saved rollout MP4 at path ./rollouts/ft6100_t6_s13/2026_08_02-09_24_42--with_future_img--episode=2--success=False--task=put_the_cream_cheese_in_the_bowl.mp4
+Success: False
+# episodes completed so far: 2
+# successes: 1 (50.0%)
+
+Task: put the cream cheese in the bowl
+Starting episode 3...
+Query 1/1: Action query time = 3.584 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4528
+t=10: Selected seed 195 with value = 0.4528
+Query 1/1: Action query time = 3.901 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5134
+t=26: Selected seed 195 with value = 0.5134
+Query 1/1: Action query time = 3.802 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5782
+t=42: Selected seed 195 with value = 0.5782
+Query 1/1: Action query time = 3.027 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5763
+t=58: Selected seed 195 with value = 0.5763
+Query 1/1: Action query time = 3.630 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6242
+t=74: Selected seed 195 with value = 0.6242
+Query 1/1: Action query time = 3.116 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6768
+t=90: Selected seed 195 with value = 0.6768
+Query 1/1: Action query time = 2.793 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6882
+t=106: Selected seed 195 with value = 0.6882
+Query 1/1: Action query time = 2.928 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7774
+t=122: Selected seed 195 with value = 0.7774
+Query 1/1: Action query time = 3.382 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7878
+t=138: Selected seed 195 with value = 0.7878
+Query 1/1: Action query time = 2.506 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8936
+t=154: Selected seed 195 with value = 0.8936
+Query 1/1: Action query time = 1.847 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9924
+t=170: Selected seed 195 with value = 0.9924
+Query 1/1: Action query time = 1.734 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9997
+t=186: Selected seed 195 with value = 0.9997
+Query 1/1: Action query time = 1.635 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9970
+t=202: Selected seed 195 with value = 0.9970
+Query 1/1: Action query time = 1.755 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9910
+t=218: Selected seed 195 with value = 0.9910
+Query 1/1: Action query time = 1.766 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9876
+t=234: Selected seed 195 with value = 0.9876
+Query 1/1: Action query time = 1.346 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9870
+t=250: Selected seed 195 with value = 0.9870
+Query 1/1: Action query time = 1.202 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9809
+t=266: Selected seed 195 with value = 0.9809
+Query 1/1: Action query time = 1.218 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9924
+t=282: Selected seed 195 with value = 0.9924
+Query 1/1: Action query time = 1.312 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9930
+t=298: Selected seed 195 with value = 0.9930
+Saved rollout MP4 at path ./rollouts/ft6100_t6_s13/2026_08_02-09_24_42--with_future_img--episode=3--success=False--task=put_the_cream_cheese_in_the_bowl.mp4
+Success: False
+# episodes completed so far: 3
+# successes: 1 (33.3%)
+Current task success rate: 0.3333333333333333
+Current total success rate: 0.3333333333333333
+Final results:
+Total episodes: 3
+Total successes: 1
+Overall success rate: 0.3333 (33.3%)
diff --git a/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-14_32_31--base40kRE_t0_s01.txt b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-14_32_31--base40kRE_t0_s01.txt
new file mode 100644
index 0000000000000000000000000000000000000000..5f2a1a18247c3b1d9152a0d9a71133f87adccd25
--- /dev/null
+++ b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-14_32_31--base40kRE_t0_s01.txt
@@ -0,0 +1,172 @@
+Eval config: PolicyEvalConfig(suite='libero', model_family='cosmos', config='cosmos_predict2_2b_480p_libero_cl_stage_inference_only', ckpt_path='/home/azureuser/REGEN-main/checkpoints/imaginaire4-output/cosmos_policy/cosmos_v2_finetune/cosmos_predict2_2b_480p_libero_goal_base_stage_3gpu_40k_save4k_20260726/checkpoints/iter_000040000/model', planning_model_config_name='', planning_model_ckpt_path='', config_file='cosmos_policy/config/config.py', packnet_mask_path='', packnet_first_cl_libero_task=6, use_third_person_image=True, num_third_person_images=1, use_wrist_image=True, num_wrist_images=1, use_proprio=True, flip_images=True, use_variance_scale=False, use_jpeg_compression=True, ar_future_prediction=False, ar_value_prediction=False, ar_qvalue_prediction=False, num_denoising_steps_action=5, num_denoising_steps_future_state=1, num_denoising_steps_value=1, unnormalize_actions=True, normalize_proprio=True, dataset_stats_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/libero_goal_regen/dataset_statistics.json', t5_text_embeddings_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/t5_embeddings.pkl', trained_with_image_aug=True, chunk_size=16, num_open_loop_steps=16, deterministic=True, deterministic_reset=False, deterministic_reset_seed=None, use_ensemble_future_state_predictions=False, num_future_state_predictions_in_ensemble=3, future_state_ensemble_aggregation_scheme='average', use_ensemble_value_predictions=False, num_value_predictions_in_ensemble=5, value_ensemble_aggregation_scheme='average', search_depth=1, mask_current_state_action_for_value_prediction=False, mask_future_state_for_qvalue_prediction=False, num_queries_best_of_n=1, use_parallel_inference=False, available_gpus='0', parallel_timeout=15, parallel_tasks_across_gpus=False, task_suite_name='libero_goal', num_trials_per_task=50, task_ids_to_run='0', initial_states_path='DEFAULT', env_img_res=256, local_log_dir='/home/azureuser/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal', run_id_note='base40kRE_t0_s01', use_wandb=False, wandb_entity='YOUR_ENTITY', wandb_project='YOUR_PROJECT', seed=195, randomize_seed=False, data_collection=False, jpeg_compress=True, reward_stop_threshold=None, reward_stop_consecutive_steps=3, use_gpt_reward=False, gpt_reward_model='gpt-5.4-mini', gpt_reward_stop_threshold=4, gpt_reward_timeout_s=30.0, save_rollout_video=False, eval_hdf5_path='', eval_hdf5_demo_key='demo_0', data_gen_demo_ids='', eval_episode_ids='1,17,33,49', replay_actions=False, replay_action_path_dir='', replay_hdf5_path='', data_generation=False, max_generation_steps=200, simple_task_max_steps=100, complex_task_max_steps=200)
+Using serial inference (parallel inference disabled)
+Task suite: libero_goal
+Number of tasks: 10
+Running only task IDs: [0]
+Using default initial states
+
+Task: open the middle drawer of the cabinet
+Starting episode 1...
+Query 1/1: Action query time = 5.226 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3209
+t=10: Selected seed 195 with value = 0.3209
+Query 1/1: Action query time = 5.179 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3262
+t=26: Selected seed 195 with value = 0.3262
+Query 1/1: Action query time = 5.353 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3801
+t=42: Selected seed 195 with value = 0.3801
+Query 1/1: Action query time = 4.800 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4662
+t=58: Selected seed 195 with value = 0.4662
+Query 1/1: Action query time = 4.899 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5577
+t=74: Selected seed 195 with value = 0.5577
+Query 1/1: Action query time = 4.807 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6454
+t=90: Selected seed 195 with value = 0.6454
+Query 1/1: Action query time = 5.084 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7519
+t=106: Selected seed 195 with value = 0.7519
+Query 1/1: Action query time = 4.092 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8987
+t=122: Selected seed 195 with value = 0.8987
+Query 1/1: Action query time = 3.675 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9996
+t=138: Selected seed 195 with value = 0.9996
+Saved rollout MP4 at path ./rollouts/base40kRE_t0_s01/2026_08_02-14_32_31--with_future_img--episode=1--success=True--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: True
+# episodes completed so far: 1
+# successes: 1 (100.0%)
+
+Task: open the middle drawer of the cabinet
+Starting episode 2...
+Query 1/1: Action query time = 5.292 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3110
+t=10: Selected seed 195 with value = 0.3110
+Query 1/1: Action query time = 5.106 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3675
+t=26: Selected seed 195 with value = 0.3675
+Query 1/1: Action query time = 5.164 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4473
+t=42: Selected seed 195 with value = 0.4473
+Query 1/1: Action query time = 4.808 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4243
+t=58: Selected seed 195 with value = 0.4243
+Query 1/1: Action query time = 4.760 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4640
+t=74: Selected seed 195 with value = 0.4640
+Query 1/1: Action query time = 5.196 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5799
+t=90: Selected seed 195 with value = 0.5799
+Query 1/1: Action query time = 3.440 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7803
+t=106: Selected seed 195 with value = 0.7803
+Query 1/1: Action query time = 4.069 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9242
+t=122: Selected seed 195 with value = 0.9242
+Saved rollout MP4 at path ./rollouts/base40kRE_t0_s01/2026_08_02-14_32_31--with_future_img--episode=2--success=True--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: True
+# episodes completed so far: 2
+# successes: 2 (100.0%)
+
+Task: open the middle drawer of the cabinet
+Starting episode 3...
+Query 1/1: Action query time = 3.708 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3057
+t=10: Selected seed 195 with value = 0.3057
+Query 1/1: Action query time = 5.039 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2796
+t=26: Selected seed 195 with value = 0.2796
+Query 1/1: Action query time = 4.944 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3709
+t=42: Selected seed 195 with value = 0.3709
+Query 1/1: Action query time = 5.165 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4525
+t=58: Selected seed 195 with value = 0.4525
+Query 1/1: Action query time = 5.052 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5516
+t=74: Selected seed 195 with value = 0.5516
+Query 1/1: Action query time = 4.821 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6596
+t=90: Selected seed 195 with value = 0.6596
+Query 1/1: Action query time = 3.822 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7744
+t=106: Selected seed 195 with value = 0.7744
+Query 1/1: Action query time = 3.831 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9228
+t=122: Selected seed 195 with value = 0.9228
+Saved rollout MP4 at path ./rollouts/base40kRE_t0_s01/2026_08_02-14_32_31--with_future_img--episode=3--success=True--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: True
+# episodes completed so far: 3
+# successes: 3 (100.0%)
+
+Task: open the middle drawer of the cabinet
+Starting episode 4...
+Query 1/1: Action query time = 1.992 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3047
+t=10: Selected seed 195 with value = 0.3047
+Query 1/1: Action query time = 1.631 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3308
+t=26: Selected seed 195 with value = 0.3308
+Query 1/1: Action query time = 1.665 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3930
+t=42: Selected seed 195 with value = 0.3930
+Query 1/1: Action query time = 1.770 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4943
+t=58: Selected seed 195 with value = 0.4943
+Query 1/1: Action query time = 1.846 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5893
+t=74: Selected seed 195 with value = 0.5893
+Query 1/1: Action query time = 1.146 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7262
+t=90: Selected seed 195 with value = 0.7262
+Query 1/1: Action query time = 1.196 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8361
+t=106: Selected seed 195 with value = 0.8361
+Query 1/1: Action query time = 0.973 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9866
+t=122: Selected seed 195 with value = 0.9866
+Saved rollout MP4 at path ./rollouts/base40kRE_t0_s01/2026_08_02-14_32_31--with_future_img--episode=4--success=True--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: True
+# episodes completed so far: 4
+# successes: 4 (100.0%)
+Current task success rate: 1.0
+Current total success rate: 1.0
+Final results:
+Total episodes: 4
+Total successes: 4
+Overall success rate: 1.0000 (100.0%)
diff --git a/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-14_32_31--base40kRE_t0_s03.txt b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-14_32_31--base40kRE_t0_s03.txt
new file mode 100644
index 0000000000000000000000000000000000000000..e534ffebe4b383c0f65e7829cbd4010fcc8b608a
--- /dev/null
+++ b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-14_32_31--base40kRE_t0_s03.txt
@@ -0,0 +1,137 @@
+Eval config: PolicyEvalConfig(suite='libero', model_family='cosmos', config='cosmos_predict2_2b_480p_libero_cl_stage_inference_only', ckpt_path='/home/azureuser/REGEN-main/checkpoints/imaginaire4-output/cosmos_policy/cosmos_v2_finetune/cosmos_predict2_2b_480p_libero_goal_base_stage_3gpu_40k_save4k_20260726/checkpoints/iter_000040000/model', planning_model_config_name='', planning_model_ckpt_path='', config_file='cosmos_policy/config/config.py', packnet_mask_path='', packnet_first_cl_libero_task=6, use_third_person_image=True, num_third_person_images=1, use_wrist_image=True, num_wrist_images=1, use_proprio=True, flip_images=True, use_variance_scale=False, use_jpeg_compression=True, ar_future_prediction=False, ar_value_prediction=False, ar_qvalue_prediction=False, num_denoising_steps_action=5, num_denoising_steps_future_state=1, num_denoising_steps_value=1, unnormalize_actions=True, normalize_proprio=True, dataset_stats_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/libero_goal_regen/dataset_statistics.json', t5_text_embeddings_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/t5_embeddings.pkl', trained_with_image_aug=True, chunk_size=16, num_open_loop_steps=16, deterministic=True, deterministic_reset=False, deterministic_reset_seed=None, use_ensemble_future_state_predictions=False, num_future_state_predictions_in_ensemble=3, future_state_ensemble_aggregation_scheme='average', use_ensemble_value_predictions=False, num_value_predictions_in_ensemble=5, value_ensemble_aggregation_scheme='average', search_depth=1, mask_current_state_action_for_value_prediction=False, mask_future_state_for_qvalue_prediction=False, num_queries_best_of_n=1, use_parallel_inference=False, available_gpus='0', parallel_timeout=15, parallel_tasks_across_gpus=False, task_suite_name='libero_goal', num_trials_per_task=50, task_ids_to_run='0', initial_states_path='DEFAULT', env_img_res=256, local_log_dir='/home/azureuser/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal', run_id_note='base40kRE_t0_s03', use_wandb=False, wandb_entity='YOUR_ENTITY', wandb_project='YOUR_PROJECT', seed=195, randomize_seed=False, data_collection=False, jpeg_compress=True, reward_stop_threshold=None, reward_stop_consecutive_steps=3, use_gpt_reward=False, gpt_reward_model='gpt-5.4-mini', gpt_reward_stop_threshold=4, gpt_reward_timeout_s=30.0, save_rollout_video=False, eval_hdf5_path='', eval_hdf5_demo_key='demo_0', data_gen_demo_ids='', eval_episode_ids='3,19,35', replay_actions=False, replay_action_path_dir='', replay_hdf5_path='', data_generation=False, max_generation_steps=200, simple_task_max_steps=100, complex_task_max_steps=200)
+Using serial inference (parallel inference disabled)
+Task suite: libero_goal
+Number of tasks: 10
+Running only task IDs: [0]
+Using default initial states
+
+Task: open the middle drawer of the cabinet
+Starting episode 1...
+Query 1/1: Action query time = 2.636 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2107
+t=10: Selected seed 195 with value = 0.2107
+Query 1/1: Action query time = 3.576 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2681
+t=26: Selected seed 195 with value = 0.2681
+Query 1/1: Action query time = 4.601 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4295
+t=42: Selected seed 195 with value = 0.4295
+Query 1/1: Action query time = 3.892 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4660
+t=58: Selected seed 195 with value = 0.4660
+Query 1/1: Action query time = 4.881 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5391
+t=74: Selected seed 195 with value = 0.5391
+Query 1/1: Action query time = 5.279 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6880
+t=90: Selected seed 195 with value = 0.6880
+Query 1/1: Action query time = 5.240 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6814
+t=106: Selected seed 195 with value = 0.6814
+Query 1/1: Action query time = 5.338 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7610
+t=122: Selected seed 195 with value = 0.7610
+Query 1/1: Action query time = 3.931 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9075
+t=138: Selected seed 195 with value = 0.9075
+Query 1/1: Action query time = 3.335 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9998
+t=154: Selected seed 195 with value = 0.9998
+Saved rollout MP4 at path ./rollouts/base40kRE_t0_s03/2026_08_02-14_32_31--with_future_img--episode=1--success=True--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: True
+# episodes completed so far: 1
+# successes: 1 (100.0%)
+
+Task: open the middle drawer of the cabinet
+Starting episode 2...
+Query 1/1: Action query time = 2.880 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3696
+t=10: Selected seed 195 with value = 0.3696
+Query 1/1: Action query time = 5.058 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4154
+t=26: Selected seed 195 with value = 0.4154
+Query 1/1: Action query time = 5.101 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4837
+t=42: Selected seed 195 with value = 0.4837
+Query 1/1: Action query time = 5.157 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5609
+t=58: Selected seed 195 with value = 0.5609
+Query 1/1: Action query time = 5.019 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6602
+t=74: Selected seed 195 with value = 0.6602
+Query 1/1: Action query time = 5.253 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7813
+t=90: Selected seed 195 with value = 0.7813
+Query 1/1: Action query time = 4.838 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9035
+t=106: Selected seed 195 with value = 0.9035
+Saved rollout MP4 at path ./rollouts/base40kRE_t0_s03/2026_08_02-14_32_31--with_future_img--episode=2--success=True--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: True
+# episodes completed so far: 2
+# successes: 2 (100.0%)
+
+Task: open the middle drawer of the cabinet
+Starting episode 3...
+Query 1/1: Action query time = 3.254 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3008
+t=10: Selected seed 195 with value = 0.3008
+Query 1/1: Action query time = 4.594 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3037
+t=26: Selected seed 195 with value = 0.3037
+Query 1/1: Action query time = 4.716 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3527
+t=42: Selected seed 195 with value = 0.3527
+Query 1/1: Action query time = 4.822 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4319
+t=58: Selected seed 195 with value = 0.4319
+Query 1/1: Action query time = 4.799 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4738
+t=74: Selected seed 195 with value = 0.4738
+Query 1/1: Action query time = 4.816 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5486
+t=90: Selected seed 195 with value = 0.5486
+Query 1/1: Action query time = 4.987 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6343
+t=106: Selected seed 195 with value = 0.6343
+Query 1/1: Action query time = 4.603 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7836
+t=122: Selected seed 195 with value = 0.7836
+Query 1/1: Action query time = 3.734 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9086
+t=138: Selected seed 195 with value = 0.9086
+Saved rollout MP4 at path ./rollouts/base40kRE_t0_s03/2026_08_02-14_32_31--with_future_img--episode=3--success=True--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: True
+# episodes completed so far: 3
+# successes: 3 (100.0%)
+Current task success rate: 1.0
+Current total success rate: 1.0
+Final results:
+Total episodes: 3
+Total successes: 3
+Overall success rate: 1.0000 (100.0%)
diff --git a/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-14_32_31--base40kRE_t0_s04.txt b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-14_32_31--base40kRE_t0_s04.txt
new file mode 100644
index 0000000000000000000000000000000000000000..820ee8728c345852608c41fe2945cef668abc082
--- /dev/null
+++ b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-14_32_31--base40kRE_t0_s04.txt
@@ -0,0 +1,129 @@
+Eval config: PolicyEvalConfig(suite='libero', model_family='cosmos', config='cosmos_predict2_2b_480p_libero_cl_stage_inference_only', ckpt_path='/home/azureuser/REGEN-main/checkpoints/imaginaire4-output/cosmos_policy/cosmos_v2_finetune/cosmos_predict2_2b_480p_libero_goal_base_stage_3gpu_40k_save4k_20260726/checkpoints/iter_000040000/model', planning_model_config_name='', planning_model_ckpt_path='', config_file='cosmos_policy/config/config.py', packnet_mask_path='', packnet_first_cl_libero_task=6, use_third_person_image=True, num_third_person_images=1, use_wrist_image=True, num_wrist_images=1, use_proprio=True, flip_images=True, use_variance_scale=False, use_jpeg_compression=True, ar_future_prediction=False, ar_value_prediction=False, ar_qvalue_prediction=False, num_denoising_steps_action=5, num_denoising_steps_future_state=1, num_denoising_steps_value=1, unnormalize_actions=True, normalize_proprio=True, dataset_stats_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/libero_goal_regen/dataset_statistics.json', t5_text_embeddings_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/t5_embeddings.pkl', trained_with_image_aug=True, chunk_size=16, num_open_loop_steps=16, deterministic=True, deterministic_reset=False, deterministic_reset_seed=None, use_ensemble_future_state_predictions=False, num_future_state_predictions_in_ensemble=3, future_state_ensemble_aggregation_scheme='average', use_ensemble_value_predictions=False, num_value_predictions_in_ensemble=5, value_ensemble_aggregation_scheme='average', search_depth=1, mask_current_state_action_for_value_prediction=False, mask_future_state_for_qvalue_prediction=False, num_queries_best_of_n=1, use_parallel_inference=False, available_gpus='0', parallel_timeout=15, parallel_tasks_across_gpus=False, task_suite_name='libero_goal', num_trials_per_task=50, task_ids_to_run='0', initial_states_path='DEFAULT', env_img_res=256, local_log_dir='/home/azureuser/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal', run_id_note='base40kRE_t0_s04', use_wandb=False, wandb_entity='YOUR_ENTITY', wandb_project='YOUR_PROJECT', seed=195, randomize_seed=False, data_collection=False, jpeg_compress=True, reward_stop_threshold=None, reward_stop_consecutive_steps=3, use_gpt_reward=False, gpt_reward_model='gpt-5.4-mini', gpt_reward_stop_threshold=4, gpt_reward_timeout_s=30.0, save_rollout_video=False, eval_hdf5_path='', eval_hdf5_demo_key='demo_0', data_gen_demo_ids='', eval_episode_ids='4,20,36', replay_actions=False, replay_action_path_dir='', replay_hdf5_path='', data_generation=False, max_generation_steps=200, simple_task_max_steps=100, complex_task_max_steps=200)
+Using serial inference (parallel inference disabled)
+Task suite: libero_goal
+Number of tasks: 10
+Running only task IDs: [0]
+Using default initial states
+
+Task: open the middle drawer of the cabinet
+Starting episode 1...
+Query 1/1: Action query time = 2.821 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3341
+t=10: Selected seed 195 with value = 0.3341
+Query 1/1: Action query time = 4.512 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3870
+t=26: Selected seed 195 with value = 0.3870
+Query 1/1: Action query time = 4.941 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4600
+t=42: Selected seed 195 with value = 0.4600
+Query 1/1: Action query time = 5.717 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5170
+t=58: Selected seed 195 with value = 0.5170
+Query 1/1: Action query time = 5.196 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6183
+t=74: Selected seed 195 with value = 0.6183
+Query 1/1: Action query time = 5.034 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7126
+t=90: Selected seed 195 with value = 0.7126
+Query 1/1: Action query time = 5.035 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8215
+t=106: Selected seed 195 with value = 0.8215
+Query 1/1: Action query time = 4.839 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9697
+t=122: Selected seed 195 with value = 0.9697
+Saved rollout MP4 at path ./rollouts/base40kRE_t0_s04/2026_08_02-14_32_31--with_future_img--episode=1--success=True--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: True
+# episodes completed so far: 1
+# successes: 1 (100.0%)
+
+Task: open the middle drawer of the cabinet
+Starting episode 2...
+Query 1/1: Action query time = 3.422 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.1979
+t=10: Selected seed 195 with value = 0.1979
+Query 1/1: Action query time = 3.533 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2359
+t=26: Selected seed 195 with value = 0.2359
+Query 1/1: Action query time = 5.444 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4335
+t=42: Selected seed 195 with value = 0.4335
+Query 1/1: Action query time = 4.926 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5192
+t=58: Selected seed 195 with value = 0.5192
+Query 1/1: Action query time = 5.283 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6062
+t=74: Selected seed 195 with value = 0.6062
+Query 1/1: Action query time = 5.049 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6643
+t=90: Selected seed 195 with value = 0.6643
+Query 1/1: Action query time = 4.887 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8278
+t=106: Selected seed 195 with value = 0.8278
+Query 1/1: Action query time = 4.799 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9834
+t=122: Selected seed 195 with value = 0.9834
+Saved rollout MP4 at path ./rollouts/base40kRE_t0_s04/2026_08_02-14_32_31--with_future_img--episode=2--success=True--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: True
+# episodes completed so far: 2
+# successes: 2 (100.0%)
+
+Task: open the middle drawer of the cabinet
+Starting episode 3...
+Query 1/1: Action query time = 4.495 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2323
+t=10: Selected seed 195 with value = 0.2323
+Query 1/1: Action query time = 3.752 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2323
+t=26: Selected seed 195 with value = 0.2323
+Query 1/1: Action query time = 3.615 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2714
+t=42: Selected seed 195 with value = 0.2714
+Query 1/1: Action query time = 4.847 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3192
+t=58: Selected seed 195 with value = 0.3192
+Query 1/1: Action query time = 5.154 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3731
+t=74: Selected seed 195 with value = 0.3731
+Query 1/1: Action query time = 5.075 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4344
+t=90: Selected seed 195 with value = 0.4344
+Query 1/1: Action query time = 5.010 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5224
+t=106: Selected seed 195 with value = 0.5224
+Query 1/1: Action query time = 4.904 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9388
+t=122: Selected seed 195 with value = 0.9388
+Saved rollout MP4 at path ./rollouts/base40kRE_t0_s04/2026_08_02-14_32_31--with_future_img--episode=3--success=True--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: True
+# episodes completed so far: 3
+# successes: 3 (100.0%)
+Current task success rate: 1.0
+Current total success rate: 1.0
+Final results:
+Total episodes: 3
+Total successes: 3
+Overall success rate: 1.0000 (100.0%)
diff --git a/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-14_32_32--base40kRE_t0_s02.txt b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-14_32_32--base40kRE_t0_s02.txt
new file mode 100644
index 0000000000000000000000000000000000000000..a41919941fb25de265b88225d4b2cadcb05b90fe
--- /dev/null
+++ b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-14_32_32--base40kRE_t0_s02.txt
@@ -0,0 +1,153 @@
+Eval config: PolicyEvalConfig(suite='libero', model_family='cosmos', config='cosmos_predict2_2b_480p_libero_cl_stage_inference_only', ckpt_path='/home/azureuser/REGEN-main/checkpoints/imaginaire4-output/cosmos_policy/cosmos_v2_finetune/cosmos_predict2_2b_480p_libero_goal_base_stage_3gpu_40k_save4k_20260726/checkpoints/iter_000040000/model', planning_model_config_name='', planning_model_ckpt_path='', config_file='cosmos_policy/config/config.py', packnet_mask_path='', packnet_first_cl_libero_task=6, use_third_person_image=True, num_third_person_images=1, use_wrist_image=True, num_wrist_images=1, use_proprio=True, flip_images=True, use_variance_scale=False, use_jpeg_compression=True, ar_future_prediction=False, ar_value_prediction=False, ar_qvalue_prediction=False, num_denoising_steps_action=5, num_denoising_steps_future_state=1, num_denoising_steps_value=1, unnormalize_actions=True, normalize_proprio=True, dataset_stats_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/libero_goal_regen/dataset_statistics.json', t5_text_embeddings_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/t5_embeddings.pkl', trained_with_image_aug=True, chunk_size=16, num_open_loop_steps=16, deterministic=True, deterministic_reset=False, deterministic_reset_seed=None, use_ensemble_future_state_predictions=False, num_future_state_predictions_in_ensemble=3, future_state_ensemble_aggregation_scheme='average', use_ensemble_value_predictions=False, num_value_predictions_in_ensemble=5, value_ensemble_aggregation_scheme='average', search_depth=1, mask_current_state_action_for_value_prediction=False, mask_future_state_for_qvalue_prediction=False, num_queries_best_of_n=1, use_parallel_inference=False, available_gpus='0', parallel_timeout=15, parallel_tasks_across_gpus=False, task_suite_name='libero_goal', num_trials_per_task=50, task_ids_to_run='0', initial_states_path='DEFAULT', env_img_res=256, local_log_dir='/home/azureuser/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal', run_id_note='base40kRE_t0_s02', use_wandb=False, wandb_entity='YOUR_ENTITY', wandb_project='YOUR_PROJECT', seed=195, randomize_seed=False, data_collection=False, jpeg_compress=True, reward_stop_threshold=None, reward_stop_consecutive_steps=3, use_gpt_reward=False, gpt_reward_model='gpt-5.4-mini', gpt_reward_stop_threshold=4, gpt_reward_timeout_s=30.0, save_rollout_video=False, eval_hdf5_path='', eval_hdf5_demo_key='demo_0', data_gen_demo_ids='', eval_episode_ids='2,18,34', replay_actions=False, replay_action_path_dir='', replay_hdf5_path='', data_generation=False, max_generation_steps=200, simple_task_max_steps=100, complex_task_max_steps=200)
+Using serial inference (parallel inference disabled)
+Task suite: libero_goal
+Number of tasks: 10
+Running only task IDs: [0]
+Using default initial states
+
+Task: open the middle drawer of the cabinet
+Starting episode 1...
+Query 1/1: Action query time = 6.498 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3466
+t=10: Selected seed 195 with value = 0.3466
+Query 1/1: Action query time = 4.572 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3318
+t=26: Selected seed 195 with value = 0.3318
+Query 1/1: Action query time = 4.632 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3876
+t=42: Selected seed 195 with value = 0.3876
+Query 1/1: Action query time = 4.741 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4952
+t=58: Selected seed 195 with value = 0.4952
+Query 1/1: Action query time = 4.712 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5625
+t=74: Selected seed 195 with value = 0.5625
+Query 1/1: Action query time = 5.492 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6612
+t=90: Selected seed 195 with value = 0.6612
+Query 1/1: Action query time = 4.333 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7605
+t=106: Selected seed 195 with value = 0.7605
+Query 1/1: Action query time = 3.969 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8984
+t=122: Selected seed 195 with value = 0.8984
+Query 1/1: Action query time = 4.029 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=138: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/base40kRE_t0_s02/2026_08_02-14_32_32--with_future_img--episode=1--success=True--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: True
+# episodes completed so far: 1
+# successes: 1 (100.0%)
+
+Task: open the middle drawer of the cabinet
+Starting episode 2...
+Query 1/1: Action query time = 4.809 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3213
+t=10: Selected seed 195 with value = 0.3213
+Query 1/1: Action query time = 4.806 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4008
+t=26: Selected seed 195 with value = 0.4008
+Query 1/1: Action query time = 5.016 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4608
+t=42: Selected seed 195 with value = 0.4608
+Query 1/1: Action query time = 5.065 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5301
+t=58: Selected seed 195 with value = 0.5301
+Query 1/1: Action query time = 5.247 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5741
+t=74: Selected seed 195 with value = 0.5741
+Query 1/1: Action query time = 3.516 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6761
+t=90: Selected seed 195 with value = 0.6761
+Query 1/1: Action query time = 3.697 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8334
+t=106: Selected seed 195 with value = 0.8334
+Query 1/1: Action query time = 3.554 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9762
+t=122: Selected seed 195 with value = 0.9762
+Saved rollout MP4 at path ./rollouts/base40kRE_t0_s02/2026_08_02-14_32_32--with_future_img--episode=2--success=True--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: True
+# episodes completed so far: 2
+# successes: 2 (100.0%)
+
+Task: open the middle drawer of the cabinet
+Starting episode 3...
+Query 1/1: Action query time = 5.026 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2889
+t=10: Selected seed 195 with value = 0.2889
+Query 1/1: Action query time = 5.419 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2061
+t=26: Selected seed 195 with value = 0.2061
+Query 1/1: Action query time = 4.911 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2386
+t=42: Selected seed 195 with value = 0.2386
+Query 1/1: Action query time = 4.845 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2827
+t=58: Selected seed 195 with value = 0.2827
+Query 1/1: Action query time = 4.866 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3254
+t=74: Selected seed 195 with value = 0.3254
+Query 1/1: Action query time = 4.176 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3727
+t=90: Selected seed 195 with value = 0.3727
+Query 1/1: Action query time = 4.470 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4643
+t=106: Selected seed 195 with value = 0.4643
+Query 1/1: Action query time = 2.923 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4834
+t=122: Selected seed 195 with value = 0.4834
+Query 1/1: Action query time = 2.992 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5640
+t=138: Selected seed 195 with value = 0.5640
+Query 1/1: Action query time = 1.956 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6548
+t=154: Selected seed 195 with value = 0.6548
+Query 1/1: Action query time = 1.938 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7490
+t=170: Selected seed 195 with value = 0.7490
+Query 1/1: Action query time = 1.934 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8522
+t=186: Selected seed 195 with value = 0.8522
+Query 1/1: Action query time = 1.918 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9957
+t=202: Selected seed 195 with value = 0.9957
+Saved rollout MP4 at path ./rollouts/base40kRE_t0_s02/2026_08_02-14_32_32--with_future_img--episode=3--success=True--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: True
+# episodes completed so far: 3
+# successes: 3 (100.0%)
+Current task success rate: 1.0
+Current total success rate: 1.0
+Final results:
+Total episodes: 3
+Total successes: 3
+Overall success rate: 1.0000 (100.0%)
diff --git a/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-14_32_32--base40kRE_t0_s07.txt b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-14_32_32--base40kRE_t0_s07.txt
new file mode 100644
index 0000000000000000000000000000000000000000..e9f4c3255cc4dbe1f0494b26e9242f19167ac13b
--- /dev/null
+++ b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-14_32_32--base40kRE_t0_s07.txt
@@ -0,0 +1,141 @@
+Eval config: PolicyEvalConfig(suite='libero', model_family='cosmos', config='cosmos_predict2_2b_480p_libero_cl_stage_inference_only', ckpt_path='/home/azureuser/REGEN-main/checkpoints/imaginaire4-output/cosmos_policy/cosmos_v2_finetune/cosmos_predict2_2b_480p_libero_goal_base_stage_3gpu_40k_save4k_20260726/checkpoints/iter_000040000/model', planning_model_config_name='', planning_model_ckpt_path='', config_file='cosmos_policy/config/config.py', packnet_mask_path='', packnet_first_cl_libero_task=6, use_third_person_image=True, num_third_person_images=1, use_wrist_image=True, num_wrist_images=1, use_proprio=True, flip_images=True, use_variance_scale=False, use_jpeg_compression=True, ar_future_prediction=False, ar_value_prediction=False, ar_qvalue_prediction=False, num_denoising_steps_action=5, num_denoising_steps_future_state=1, num_denoising_steps_value=1, unnormalize_actions=True, normalize_proprio=True, dataset_stats_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/libero_goal_regen/dataset_statistics.json', t5_text_embeddings_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/t5_embeddings.pkl', trained_with_image_aug=True, chunk_size=16, num_open_loop_steps=16, deterministic=True, deterministic_reset=False, deterministic_reset_seed=None, use_ensemble_future_state_predictions=False, num_future_state_predictions_in_ensemble=3, future_state_ensemble_aggregation_scheme='average', use_ensemble_value_predictions=False, num_value_predictions_in_ensemble=5, value_ensemble_aggregation_scheme='average', search_depth=1, mask_current_state_action_for_value_prediction=False, mask_future_state_for_qvalue_prediction=False, num_queries_best_of_n=1, use_parallel_inference=False, available_gpus='0', parallel_timeout=15, parallel_tasks_across_gpus=False, task_suite_name='libero_goal', num_trials_per_task=50, task_ids_to_run='0', initial_states_path='DEFAULT', env_img_res=256, local_log_dir='/home/azureuser/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal', run_id_note='base40kRE_t0_s07', use_wandb=False, wandb_entity='YOUR_ENTITY', wandb_project='YOUR_PROJECT', seed=195, randomize_seed=False, data_collection=False, jpeg_compress=True, reward_stop_threshold=None, reward_stop_consecutive_steps=3, use_gpt_reward=False, gpt_reward_model='gpt-5.4-mini', gpt_reward_stop_threshold=4, gpt_reward_timeout_s=30.0, save_rollout_video=False, eval_hdf5_path='', eval_hdf5_demo_key='demo_0', data_gen_demo_ids='', eval_episode_ids='7,23,39', replay_actions=False, replay_action_path_dir='', replay_hdf5_path='', data_generation=False, max_generation_steps=200, simple_task_max_steps=100, complex_task_max_steps=200)
+Using serial inference (parallel inference disabled)
+Task suite: libero_goal
+Number of tasks: 10
+Running only task IDs: [0]
+Using default initial states
+
+Task: open the middle drawer of the cabinet
+Starting episode 1...
+Query 1/1: Action query time = 5.494 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2936
+t=10: Selected seed 195 with value = 0.2936
+Query 1/1: Action query time = 4.520 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3377
+t=26: Selected seed 195 with value = 0.3377
+Query 1/1: Action query time = 4.754 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3891
+t=42: Selected seed 195 with value = 0.3891
+Query 1/1: Action query time = 4.910 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4636
+t=58: Selected seed 195 with value = 0.4636
+Query 1/1: Action query time = 4.956 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5533
+t=74: Selected seed 195 with value = 0.5533
+Query 1/1: Action query time = 4.779 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6553
+t=90: Selected seed 195 with value = 0.6553
+Query 1/1: Action query time = 4.450 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7700
+t=106: Selected seed 195 with value = 0.7700
+Query 1/1: Action query time = 3.488 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8909
+t=122: Selected seed 195 with value = 0.8909
+Query 1/1: Action query time = 3.028 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=138: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/base40kRE_t0_s07/2026_08_02-14_32_32--with_future_img--episode=1--success=True--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: True
+# episodes completed so far: 1
+# successes: 1 (100.0%)
+
+Task: open the middle drawer of the cabinet
+Starting episode 2...
+Query 1/1: Action query time = 5.689 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2913
+t=10: Selected seed 195 with value = 0.2913
+Query 1/1: Action query time = 5.156 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3181
+t=26: Selected seed 195 with value = 0.3181
+Query 1/1: Action query time = 5.284 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3746
+t=42: Selected seed 195 with value = 0.3746
+Query 1/1: Action query time = 5.019 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4483
+t=58: Selected seed 195 with value = 0.4483
+Query 1/1: Action query time = 4.964 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5378
+t=74: Selected seed 195 with value = 0.5378
+Query 1/1: Action query time = 4.693 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6206
+t=90: Selected seed 195 with value = 0.6206
+Query 1/1: Action query time = 3.233 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7472
+t=106: Selected seed 195 with value = 0.7472
+Query 1/1: Action query time = 4.441 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8781
+t=122: Selected seed 195 with value = 0.8781
+Query 1/1: Action query time = 3.955 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9992
+t=138: Selected seed 195 with value = 0.9992
+Saved rollout MP4 at path ./rollouts/base40kRE_t0_s07/2026_08_02-14_32_32--with_future_img--episode=2--success=True--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: True
+# episodes completed so far: 2
+# successes: 2 (100.0%)
+
+Task: open the middle drawer of the cabinet
+Starting episode 3...
+Query 1/1: Action query time = 5.024 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3170
+t=10: Selected seed 195 with value = 0.3170
+Query 1/1: Action query time = 4.841 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3641
+t=26: Selected seed 195 with value = 0.3641
+Query 1/1: Action query time = 5.062 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4087
+t=42: Selected seed 195 with value = 0.4087
+Query 1/1: Action query time = 5.378 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4875
+t=58: Selected seed 195 with value = 0.4875
+Query 1/1: Action query time = 5.166 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5673
+t=74: Selected seed 195 with value = 0.5673
+Query 1/1: Action query time = 3.675 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6413
+t=90: Selected seed 195 with value = 0.6413
+Query 1/1: Action query time = 2.836 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7628
+t=106: Selected seed 195 with value = 0.7628
+Query 1/1: Action query time = 2.176 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8852
+t=122: Selected seed 195 with value = 0.8852
+Query 1/1: Action query time = 2.978 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=138: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/base40kRE_t0_s07/2026_08_02-14_32_32--with_future_img--episode=3--success=True--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: True
+# episodes completed so far: 3
+# successes: 3 (100.0%)
+Current task success rate: 1.0
+Current total success rate: 1.0
+Final results:
+Total episodes: 3
+Total successes: 3
+Overall success rate: 1.0000 (100.0%)
diff --git a/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-14_32_33--base40kRE_t0_s12.txt b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-14_32_33--base40kRE_t0_s12.txt
new file mode 100644
index 0000000000000000000000000000000000000000..f120a56338a68779143d851f516fd6f3e8be33c8
--- /dev/null
+++ b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-14_32_33--base40kRE_t0_s12.txt
@@ -0,0 +1,141 @@
+Eval config: PolicyEvalConfig(suite='libero', model_family='cosmos', config='cosmos_predict2_2b_480p_libero_cl_stage_inference_only', ckpt_path='/home/azureuser/REGEN-main/checkpoints/imaginaire4-output/cosmos_policy/cosmos_v2_finetune/cosmos_predict2_2b_480p_libero_goal_base_stage_3gpu_40k_save4k_20260726/checkpoints/iter_000040000/model', planning_model_config_name='', planning_model_ckpt_path='', config_file='cosmos_policy/config/config.py', packnet_mask_path='', packnet_first_cl_libero_task=6, use_third_person_image=True, num_third_person_images=1, use_wrist_image=True, num_wrist_images=1, use_proprio=True, flip_images=True, use_variance_scale=False, use_jpeg_compression=True, ar_future_prediction=False, ar_value_prediction=False, ar_qvalue_prediction=False, num_denoising_steps_action=5, num_denoising_steps_future_state=1, num_denoising_steps_value=1, unnormalize_actions=True, normalize_proprio=True, dataset_stats_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/libero_goal_regen/dataset_statistics.json', t5_text_embeddings_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/t5_embeddings.pkl', trained_with_image_aug=True, chunk_size=16, num_open_loop_steps=16, deterministic=True, deterministic_reset=False, deterministic_reset_seed=None, use_ensemble_future_state_predictions=False, num_future_state_predictions_in_ensemble=3, future_state_ensemble_aggregation_scheme='average', use_ensemble_value_predictions=False, num_value_predictions_in_ensemble=5, value_ensemble_aggregation_scheme='average', search_depth=1, mask_current_state_action_for_value_prediction=False, mask_future_state_for_qvalue_prediction=False, num_queries_best_of_n=1, use_parallel_inference=False, available_gpus='0', parallel_timeout=15, parallel_tasks_across_gpus=False, task_suite_name='libero_goal', num_trials_per_task=50, task_ids_to_run='0', initial_states_path='DEFAULT', env_img_res=256, local_log_dir='/home/azureuser/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal', run_id_note='base40kRE_t0_s12', use_wandb=False, wandb_entity='YOUR_ENTITY', wandb_project='YOUR_PROJECT', seed=195, randomize_seed=False, data_collection=False, jpeg_compress=True, reward_stop_threshold=None, reward_stop_consecutive_steps=3, use_gpt_reward=False, gpt_reward_model='gpt-5.4-mini', gpt_reward_stop_threshold=4, gpt_reward_timeout_s=30.0, save_rollout_video=False, eval_hdf5_path='', eval_hdf5_demo_key='demo_0', data_gen_demo_ids='', eval_episode_ids='12,28,44', replay_actions=False, replay_action_path_dir='', replay_hdf5_path='', data_generation=False, max_generation_steps=200, simple_task_max_steps=100, complex_task_max_steps=200)
+Using serial inference (parallel inference disabled)
+Task suite: libero_goal
+Number of tasks: 10
+Running only task IDs: [0]
+Using default initial states
+
+Task: open the middle drawer of the cabinet
+Starting episode 1...
+Query 1/1: Action query time = 5.218 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3013
+t=10: Selected seed 195 with value = 0.3013
+Query 1/1: Action query time = 4.335 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3320
+t=26: Selected seed 195 with value = 0.3320
+Query 1/1: Action query time = 5.197 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3840
+t=42: Selected seed 195 with value = 0.3840
+Query 1/1: Action query time = 5.157 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4592
+t=58: Selected seed 195 with value = 0.4592
+Query 1/1: Action query time = 4.652 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5486
+t=74: Selected seed 195 with value = 0.5486
+Query 1/1: Action query time = 4.694 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6540
+t=90: Selected seed 195 with value = 0.6540
+Query 1/1: Action query time = 4.837 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7636
+t=106: Selected seed 195 with value = 0.7636
+Query 1/1: Action query time = 4.214 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8757
+t=122: Selected seed 195 with value = 0.8757
+Query 1/1: Action query time = 3.426 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=138: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/base40kRE_t0_s12/2026_08_02-14_32_33--with_future_img--episode=1--success=True--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: True
+# episodes completed so far: 1
+# successes: 1 (100.0%)
+
+Task: open the middle drawer of the cabinet
+Starting episode 2...
+Query 1/1: Action query time = 5.383 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2973
+t=10: Selected seed 195 with value = 0.2973
+Query 1/1: Action query time = 5.004 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2954
+t=26: Selected seed 195 with value = 0.2954
+Query 1/1: Action query time = 5.147 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3453
+t=42: Selected seed 195 with value = 0.3453
+Query 1/1: Action query time = 4.906 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4125
+t=58: Selected seed 195 with value = 0.4125
+Query 1/1: Action query time = 5.077 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4689
+t=74: Selected seed 195 with value = 0.4689
+Query 1/1: Action query time = 4.770 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5540
+t=90: Selected seed 195 with value = 0.5540
+Query 1/1: Action query time = 3.504 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6264
+t=106: Selected seed 195 with value = 0.6264
+Query 1/1: Action query time = 5.158 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7479
+t=122: Selected seed 195 with value = 0.7479
+Query 1/1: Action query time = 4.925 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8796
+t=138: Selected seed 195 with value = 0.8796
+Query 1/1: Action query time = 4.279 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9733
+t=154: Selected seed 195 with value = 0.9733
+Saved rollout MP4 at path ./rollouts/base40kRE_t0_s12/2026_08_02-14_32_33--with_future_img--episode=2--success=True--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: True
+# episodes completed so far: 2
+# successes: 2 (100.0%)
+
+Task: open the middle drawer of the cabinet
+Starting episode 3...
+Query 1/1: Action query time = 4.782 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2993
+t=10: Selected seed 195 with value = 0.2993
+Query 1/1: Action query time = 4.810 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3643
+t=26: Selected seed 195 with value = 0.3643
+Query 1/1: Action query time = 5.093 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4351
+t=42: Selected seed 195 with value = 0.4351
+Query 1/1: Action query time = 5.293 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5024
+t=58: Selected seed 195 with value = 0.5024
+Query 1/1: Action query time = 3.686 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5911
+t=74: Selected seed 195 with value = 0.5911
+Query 1/1: Action query time = 2.983 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6873
+t=90: Selected seed 195 with value = 0.6873
+Query 1/1: Action query time = 2.764 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8047
+t=106: Selected seed 195 with value = 0.8047
+Query 1/1: Action query time = 2.281 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9466
+t=122: Selected seed 195 with value = 0.9466
+Saved rollout MP4 at path ./rollouts/base40kRE_t0_s12/2026_08_02-14_32_33--with_future_img--episode=3--success=True--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: True
+# episodes completed so far: 3
+# successes: 3 (100.0%)
+Current task success rate: 1.0
+Current total success rate: 1.0
+Final results:
+Total episodes: 3
+Total successes: 3
+Overall success rate: 1.0000 (100.0%)
diff --git a/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-14_32_33--base40kRE_t0_s13.txt b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-14_32_33--base40kRE_t0_s13.txt
new file mode 100644
index 0000000000000000000000000000000000000000..5aa122607588d23b951bc31e6807f60a1a0bd51b
--- /dev/null
+++ b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-14_32_33--base40kRE_t0_s13.txt
@@ -0,0 +1,137 @@
+Eval config: PolicyEvalConfig(suite='libero', model_family='cosmos', config='cosmos_predict2_2b_480p_libero_cl_stage_inference_only', ckpt_path='/home/azureuser/REGEN-main/checkpoints/imaginaire4-output/cosmos_policy/cosmos_v2_finetune/cosmos_predict2_2b_480p_libero_goal_base_stage_3gpu_40k_save4k_20260726/checkpoints/iter_000040000/model', planning_model_config_name='', planning_model_ckpt_path='', config_file='cosmos_policy/config/config.py', packnet_mask_path='', packnet_first_cl_libero_task=6, use_third_person_image=True, num_third_person_images=1, use_wrist_image=True, num_wrist_images=1, use_proprio=True, flip_images=True, use_variance_scale=False, use_jpeg_compression=True, ar_future_prediction=False, ar_value_prediction=False, ar_qvalue_prediction=False, num_denoising_steps_action=5, num_denoising_steps_future_state=1, num_denoising_steps_value=1, unnormalize_actions=True, normalize_proprio=True, dataset_stats_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/libero_goal_regen/dataset_statistics.json', t5_text_embeddings_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/t5_embeddings.pkl', trained_with_image_aug=True, chunk_size=16, num_open_loop_steps=16, deterministic=True, deterministic_reset=False, deterministic_reset_seed=None, use_ensemble_future_state_predictions=False, num_future_state_predictions_in_ensemble=3, future_state_ensemble_aggregation_scheme='average', use_ensemble_value_predictions=False, num_value_predictions_in_ensemble=5, value_ensemble_aggregation_scheme='average', search_depth=1, mask_current_state_action_for_value_prediction=False, mask_future_state_for_qvalue_prediction=False, num_queries_best_of_n=1, use_parallel_inference=False, available_gpus='0', parallel_timeout=15, parallel_tasks_across_gpus=False, task_suite_name='libero_goal', num_trials_per_task=50, task_ids_to_run='0', initial_states_path='DEFAULT', env_img_res=256, local_log_dir='/home/azureuser/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal', run_id_note='base40kRE_t0_s13', use_wandb=False, wandb_entity='YOUR_ENTITY', wandb_project='YOUR_PROJECT', seed=195, randomize_seed=False, data_collection=False, jpeg_compress=True, reward_stop_threshold=None, reward_stop_consecutive_steps=3, use_gpt_reward=False, gpt_reward_model='gpt-5.4-mini', gpt_reward_stop_threshold=4, gpt_reward_timeout_s=30.0, save_rollout_video=False, eval_hdf5_path='', eval_hdf5_demo_key='demo_0', data_gen_demo_ids='', eval_episode_ids='13,29,45', replay_actions=False, replay_action_path_dir='', replay_hdf5_path='', data_generation=False, max_generation_steps=200, simple_task_max_steps=100, complex_task_max_steps=200)
+Using serial inference (parallel inference disabled)
+Task suite: libero_goal
+Number of tasks: 10
+Running only task IDs: [0]
+Using default initial states
+
+Task: open the middle drawer of the cabinet
+Starting episode 1...
+Query 1/1: Action query time = 3.336 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3051
+t=10: Selected seed 195 with value = 0.3051
+Query 1/1: Action query time = 5.283 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3414
+t=26: Selected seed 195 with value = 0.3414
+Query 1/1: Action query time = 5.331 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3981
+t=42: Selected seed 195 with value = 0.3981
+Query 1/1: Action query time = 4.668 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4738
+t=58: Selected seed 195 with value = 0.4738
+Query 1/1: Action query time = 5.080 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5455
+t=74: Selected seed 195 with value = 0.5455
+Query 1/1: Action query time = 5.332 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6571
+t=90: Selected seed 195 with value = 0.6571
+Query 1/1: Action query time = 5.272 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7508
+t=106: Selected seed 195 with value = 0.7508
+Query 1/1: Action query time = 5.000 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8834
+t=122: Selected seed 195 with value = 0.8834
+Query 1/1: Action query time = 3.180 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=138: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/base40kRE_t0_s13/2026_08_02-14_32_33--with_future_img--episode=1--success=True--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: True
+# episodes completed so far: 1
+# successes: 1 (100.0%)
+
+Task: open the middle drawer of the cabinet
+Starting episode 2...
+Query 1/1: Action query time = 4.756 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2895
+t=10: Selected seed 195 with value = 0.2895
+Query 1/1: Action query time = 5.019 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3177
+t=26: Selected seed 195 with value = 0.3177
+Query 1/1: Action query time = 4.774 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3719
+t=42: Selected seed 195 with value = 0.3719
+Query 1/1: Action query time = 4.860 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4522
+t=58: Selected seed 195 with value = 0.4522
+Query 1/1: Action query time = 4.856 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5460
+t=74: Selected seed 195 with value = 0.5460
+Query 1/1: Action query time = 4.944 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6727
+t=90: Selected seed 195 with value = 0.6727
+Query 1/1: Action query time = 4.382 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7890
+t=106: Selected seed 195 with value = 0.7890
+Query 1/1: Action query time = 5.248 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9232
+t=122: Selected seed 195 with value = 0.9232
+Saved rollout MP4 at path ./rollouts/base40kRE_t0_s13/2026_08_02-14_32_33--with_future_img--episode=2--success=True--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: True
+# episodes completed so far: 2
+# successes: 2 (100.0%)
+
+Task: open the middle drawer of the cabinet
+Starting episode 3...
+Query 1/1: Action query time = 4.736 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2937
+t=10: Selected seed 195 with value = 0.2937
+Query 1/1: Action query time = 3.410 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3000
+t=26: Selected seed 195 with value = 0.3000
+Query 1/1: Action query time = 4.614 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3494
+t=42: Selected seed 195 with value = 0.3494
+Query 1/1: Action query time = 5.109 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4164
+t=58: Selected seed 195 with value = 0.4164
+Query 1/1: Action query time = 5.424 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4686
+t=74: Selected seed 195 with value = 0.4686
+Query 1/1: Action query time = 5.503 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5608
+t=90: Selected seed 195 with value = 0.5608
+Query 1/1: Action query time = 3.658 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6342
+t=106: Selected seed 195 with value = 0.6342
+Query 1/1: Action query time = 2.521 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7793
+t=122: Selected seed 195 with value = 0.7793
+Query 1/1: Action query time = 2.936 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9059
+t=138: Selected seed 195 with value = 0.9059
+Saved rollout MP4 at path ./rollouts/base40kRE_t0_s13/2026_08_02-14_32_33--with_future_img--episode=3--success=True--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: True
+# episodes completed so far: 3
+# successes: 3 (100.0%)
+Current task success rate: 1.0
+Current total success rate: 1.0
+Final results:
+Total episodes: 3
+Total successes: 3
+Overall success rate: 1.0000 (100.0%)
diff --git a/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-14_32_33--base40kRE_t0_s15.txt b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-14_32_33--base40kRE_t0_s15.txt
new file mode 100644
index 0000000000000000000000000000000000000000..74f67b8431233840badb578b2999f028860c4c4a
--- /dev/null
+++ b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-14_32_33--base40kRE_t0_s15.txt
@@ -0,0 +1,181 @@
+Eval config: PolicyEvalConfig(suite='libero', model_family='cosmos', config='cosmos_predict2_2b_480p_libero_cl_stage_inference_only', ckpt_path='/home/azureuser/REGEN-main/checkpoints/imaginaire4-output/cosmos_policy/cosmos_v2_finetune/cosmos_predict2_2b_480p_libero_goal_base_stage_3gpu_40k_save4k_20260726/checkpoints/iter_000040000/model', planning_model_config_name='', planning_model_ckpt_path='', config_file='cosmos_policy/config/config.py', packnet_mask_path='', packnet_first_cl_libero_task=6, use_third_person_image=True, num_third_person_images=1, use_wrist_image=True, num_wrist_images=1, use_proprio=True, flip_images=True, use_variance_scale=False, use_jpeg_compression=True, ar_future_prediction=False, ar_value_prediction=False, ar_qvalue_prediction=False, num_denoising_steps_action=5, num_denoising_steps_future_state=1, num_denoising_steps_value=1, unnormalize_actions=True, normalize_proprio=True, dataset_stats_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/libero_goal_regen/dataset_statistics.json', t5_text_embeddings_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/t5_embeddings.pkl', trained_with_image_aug=True, chunk_size=16, num_open_loop_steps=16, deterministic=True, deterministic_reset=False, deterministic_reset_seed=None, use_ensemble_future_state_predictions=False, num_future_state_predictions_in_ensemble=3, future_state_ensemble_aggregation_scheme='average', use_ensemble_value_predictions=False, num_value_predictions_in_ensemble=5, value_ensemble_aggregation_scheme='average', search_depth=1, mask_current_state_action_for_value_prediction=False, mask_future_state_for_qvalue_prediction=False, num_queries_best_of_n=1, use_parallel_inference=False, available_gpus='0', parallel_timeout=15, parallel_tasks_across_gpus=False, task_suite_name='libero_goal', num_trials_per_task=50, task_ids_to_run='0', initial_states_path='DEFAULT', env_img_res=256, local_log_dir='/home/azureuser/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal', run_id_note='base40kRE_t0_s15', use_wandb=False, wandb_entity='YOUR_ENTITY', wandb_project='YOUR_PROJECT', seed=195, randomize_seed=False, data_collection=False, jpeg_compress=True, reward_stop_threshold=None, reward_stop_consecutive_steps=3, use_gpt_reward=False, gpt_reward_model='gpt-5.4-mini', gpt_reward_stop_threshold=4, gpt_reward_timeout_s=30.0, save_rollout_video=False, eval_hdf5_path='', eval_hdf5_demo_key='demo_0', data_gen_demo_ids='', eval_episode_ids='15,31,47', replay_actions=False, replay_action_path_dir='', replay_hdf5_path='', data_generation=False, max_generation_steps=200, simple_task_max_steps=100, complex_task_max_steps=200)
+Using serial inference (parallel inference disabled)
+Task suite: libero_goal
+Number of tasks: 10
+Running only task IDs: [0]
+Using default initial states
+
+Task: open the middle drawer of the cabinet
+Starting episode 1...
+Query 1/1: Action query time = 5.598 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2873
+t=10: Selected seed 195 with value = 0.2873
+Query 1/1: Action query time = 4.884 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3314
+t=26: Selected seed 195 with value = 0.3314
+Query 1/1: Action query time = 4.863 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3950
+t=42: Selected seed 195 with value = 0.3950
+Query 1/1: Action query time = 5.356 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4565
+t=58: Selected seed 195 with value = 0.4565
+Query 1/1: Action query time = 5.254 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4811
+t=74: Selected seed 195 with value = 0.4811
+Query 1/1: Action query time = 5.110 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5734
+t=90: Selected seed 195 with value = 0.5734
+Query 1/1: Action query time = 4.811 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7091
+t=106: Selected seed 195 with value = 0.7091
+Query 1/1: Action query time = 3.366 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8070
+t=122: Selected seed 195 with value = 0.8070
+Query 1/1: Action query time = 3.274 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5902
+t=138: Selected seed 195 with value = 0.5902
+Saved rollout MP4 at path ./rollouts/base40kRE_t0_s15/2026_08_02-14_32_33--with_future_img--episode=1--success=True--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: True
+# episodes completed so far: 1
+# successes: 1 (100.0%)
+
+Task: open the middle drawer of the cabinet
+Starting episode 2...
+Query 1/1: Action query time = 4.957 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2026
+t=10: Selected seed 195 with value = 0.2026
+Query 1/1: Action query time = 5.187 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2802
+t=26: Selected seed 195 with value = 0.2802
+Query 1/1: Action query time = 5.332 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3461
+t=42: Selected seed 195 with value = 0.3461
+Query 1/1: Action query time = 5.319 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4681
+t=58: Selected seed 195 with value = 0.4681
+Query 1/1: Action query time = 5.052 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5657
+t=74: Selected seed 195 with value = 0.5657
+Query 1/1: Action query time = 4.754 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7062
+t=90: Selected seed 195 with value = 0.7062
+Query 1/1: Action query time = 2.868 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9199
+t=106: Selected seed 195 with value = 0.9199
+Query 1/1: Action query time = 4.093 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5435
+t=122: Selected seed 195 with value = 0.5435
+Query 1/1: Action query time = 4.210 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5954
+t=138: Selected seed 195 with value = 0.5954
+Query 1/1: Action query time = 4.174 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9689
+t=154: Selected seed 195 with value = 0.9689
+Query 1/1: Action query time = 4.770 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6588
+t=170: Selected seed 195 with value = 0.6588
+Query 1/1: Action query time = 5.250 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6348
+t=186: Selected seed 195 with value = 0.6348
+Query 1/1: Action query time = 4.887 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5515
+t=202: Selected seed 195 with value = 0.5515
+Query 1/1: Action query time = 5.106 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6990
+t=218: Selected seed 195 with value = 0.6990
+Query 1/1: Action query time = 5.033 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5456
+t=234: Selected seed 195 with value = 0.5456
+Query 1/1: Action query time = 3.234 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6016
+t=250: Selected seed 195 with value = 0.6016
+Query 1/1: Action query time = 3.264 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7314
+t=266: Selected seed 195 with value = 0.7314
+Query 1/1: Action query time = 2.650 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7932
+t=282: Selected seed 195 with value = 0.7932
+Query 1/1: Action query time = 1.663 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9125
+t=298: Selected seed 195 with value = 0.9125
+Saved rollout MP4 at path ./rollouts/base40kRE_t0_s15/2026_08_02-14_32_33--with_future_img--episode=2--success=True--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: True
+# episodes completed so far: 2
+# successes: 2 (100.0%)
+
+Task: open the middle drawer of the cabinet
+Starting episode 3...
+Query 1/1: Action query time = 0.982 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3465
+t=10: Selected seed 195 with value = 0.3465
+Query 1/1: Action query time = 1.079 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3818
+t=26: Selected seed 195 with value = 0.3818
+Query 1/1: Action query time = 0.975 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4559
+t=42: Selected seed 195 with value = 0.4559
+Query 1/1: Action query time = 0.954 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5312
+t=58: Selected seed 195 with value = 0.5312
+Query 1/1: Action query time = 0.947 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5980
+t=74: Selected seed 195 with value = 0.5980
+Query 1/1: Action query time = 0.951 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6857
+t=90: Selected seed 195 with value = 0.6857
+Query 1/1: Action query time = 0.965 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7424
+t=106: Selected seed 195 with value = 0.7424
+Query 1/1: Action query time = 0.961 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8580
+t=122: Selected seed 195 with value = 0.8580
+Query 1/1: Action query time = 0.953 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9997
+t=138: Selected seed 195 with value = 0.9997
+Saved rollout MP4 at path ./rollouts/base40kRE_t0_s15/2026_08_02-14_32_33--with_future_img--episode=3--success=True--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: True
+# episodes completed so far: 3
+# successes: 3 (100.0%)
+Current task success rate: 1.0
+Current total success rate: 1.0
+Final results:
+Total episodes: 3
+Total successes: 3
+Overall success rate: 1.0000 (100.0%)
diff --git a/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-14_35_55--base40kRE_t1_s00.txt b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-14_35_55--base40kRE_t1_s00.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0038780f0a211ae71f788021fae9c7e44696caac
--- /dev/null
+++ b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-14_35_55--base40kRE_t1_s00.txt
@@ -0,0 +1,136 @@
+Eval config: PolicyEvalConfig(suite='libero', model_family='cosmos', config='cosmos_predict2_2b_480p_libero_cl_stage_inference_only', ckpt_path='/home/azureuser/REGEN-main/checkpoints/imaginaire4-output/cosmos_policy/cosmos_v2_finetune/cosmos_predict2_2b_480p_libero_goal_base_stage_3gpu_40k_save4k_20260726/checkpoints/iter_000040000/model', planning_model_config_name='', planning_model_ckpt_path='', config_file='cosmos_policy/config/config.py', packnet_mask_path='', packnet_first_cl_libero_task=6, use_third_person_image=True, num_third_person_images=1, use_wrist_image=True, num_wrist_images=1, use_proprio=True, flip_images=True, use_variance_scale=False, use_jpeg_compression=True, ar_future_prediction=False, ar_value_prediction=False, ar_qvalue_prediction=False, num_denoising_steps_action=5, num_denoising_steps_future_state=1, num_denoising_steps_value=1, unnormalize_actions=True, normalize_proprio=True, dataset_stats_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/libero_goal_regen/dataset_statistics.json', t5_text_embeddings_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/t5_embeddings.pkl', trained_with_image_aug=True, chunk_size=16, num_open_loop_steps=16, deterministic=True, deterministic_reset=False, deterministic_reset_seed=None, use_ensemble_future_state_predictions=False, num_future_state_predictions_in_ensemble=3, future_state_ensemble_aggregation_scheme='average', use_ensemble_value_predictions=False, num_value_predictions_in_ensemble=5, value_ensemble_aggregation_scheme='average', search_depth=1, mask_current_state_action_for_value_prediction=False, mask_future_state_for_qvalue_prediction=False, num_queries_best_of_n=1, use_parallel_inference=False, available_gpus='0', parallel_timeout=15, parallel_tasks_across_gpus=False, task_suite_name='libero_goal', num_trials_per_task=50, task_ids_to_run='1', initial_states_path='DEFAULT', env_img_res=256, local_log_dir='/home/azureuser/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal', run_id_note='base40kRE_t1_s00', use_wandb=False, wandb_entity='YOUR_ENTITY', wandb_project='YOUR_PROJECT', seed=195, randomize_seed=False, data_collection=False, jpeg_compress=True, reward_stop_threshold=None, reward_stop_consecutive_steps=3, use_gpt_reward=False, gpt_reward_model='gpt-5.4-mini', gpt_reward_stop_threshold=4, gpt_reward_timeout_s=30.0, save_rollout_video=False, eval_hdf5_path='', eval_hdf5_demo_key='demo_0', data_gen_demo_ids='', eval_episode_ids='0,16,32,48', replay_actions=False, replay_action_path_dir='', replay_hdf5_path='', data_generation=False, max_generation_steps=200, simple_task_max_steps=100, complex_task_max_steps=200)
+Using serial inference (parallel inference disabled)
+Task suite: libero_goal
+Number of tasks: 10
+Running only task IDs: [1]
+Using default initial states
+
+Task: put the bowl on the stove
+Starting episode 1...
+Query 1/1: Action query time = 2.786 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4285
+t=10: Selected seed 195 with value = 0.4285
+Query 1/1: Action query time = 4.891 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5211
+t=26: Selected seed 195 with value = 0.5211
+Query 1/1: Action query time = 5.388 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6239
+t=42: Selected seed 195 with value = 0.6239
+Query 1/1: Action query time = 4.813 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7354
+t=58: Selected seed 195 with value = 0.7354
+Query 1/1: Action query time = 4.674 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8562
+t=74: Selected seed 195 with value = 0.8562
+Query 1/1: Action query time = 4.841 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9949
+t=90: Selected seed 195 with value = 0.9949
+Saved rollout MP4 at path ./rollouts/base40kRE_t1_s00/2026_08_02-14_35_55--with_future_img--episode=1--success=True--task=put_the_bowl_on_the_stove.mp4
+Success: True
+# episodes completed so far: 1
+# successes: 1 (100.0%)
+
+Task: put the bowl on the stove
+Starting episode 2...
+Query 1/1: Action query time = 3.874 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4092
+t=10: Selected seed 195 with value = 0.4092
+Query 1/1: Action query time = 3.585 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5207
+t=26: Selected seed 195 with value = 0.5207
+Query 1/1: Action query time = 6.290 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5987
+t=42: Selected seed 195 with value = 0.5987
+Query 1/1: Action query time = 5.114 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7256
+t=58: Selected seed 195 with value = 0.7256
+Query 1/1: Action query time = 4.738 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8688
+t=74: Selected seed 195 with value = 0.8688
+Query 1/1: Action query time = 5.019 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9990
+t=90: Selected seed 195 with value = 0.9990
+Saved rollout MP4 at path ./rollouts/base40kRE_t1_s00/2026_08_02-14_35_55--with_future_img--episode=2--success=True--task=put_the_bowl_on_the_stove.mp4
+Success: True
+# episodes completed so far: 2
+# successes: 2 (100.0%)
+
+Task: put the bowl on the stove
+Starting episode 3...
+Query 1/1: Action query time = 3.739 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4574
+t=10: Selected seed 195 with value = 0.4574
+Query 1/1: Action query time = 3.085 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5217
+t=26: Selected seed 195 with value = 0.5217
+Query 1/1: Action query time = 4.708 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6377
+t=42: Selected seed 195 with value = 0.6377
+Query 1/1: Action query time = 4.639 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7352
+t=58: Selected seed 195 with value = 0.7352
+Query 1/1: Action query time = 4.901 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8706
+t=74: Selected seed 195 with value = 0.8706
+Query 1/1: Action query time = 4.711 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/base40kRE_t1_s00/2026_08_02-14_35_55--with_future_img--episode=3--success=True--task=put_the_bowl_on_the_stove.mp4
+Success: True
+# episodes completed so far: 3
+# successes: 3 (100.0%)
+
+Task: put the bowl on the stove
+Starting episode 4...
+Query 1/1: Action query time = 3.093 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4334
+t=10: Selected seed 195 with value = 0.4334
+Query 1/1: Action query time = 1.959 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5096
+t=26: Selected seed 195 with value = 0.5096
+Query 1/1: Action query time = 1.908 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5902
+t=42: Selected seed 195 with value = 0.5902
+Query 1/1: Action query time = 2.147 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6876
+t=58: Selected seed 195 with value = 0.6876
+Query 1/1: Action query time = 1.069 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7772
+t=74: Selected seed 195 with value = 0.7772
+Query 1/1: Action query time = 1.666 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9184
+t=90: Selected seed 195 with value = 0.9184
+Saved rollout MP4 at path ./rollouts/base40kRE_t1_s00/2026_08_02-14_35_55--with_future_img--episode=4--success=True--task=put_the_bowl_on_the_stove.mp4
+Success: True
+# episodes completed so far: 4
+# successes: 4 (100.0%)
+Current task success rate: 1.0
+Current total success rate: 1.0
+Final results:
+Total episodes: 4
+Total successes: 4
+Overall success rate: 1.0000 (100.0%)
diff --git a/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-14_35_55--base40kRE_t1_s01.txt b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-14_35_55--base40kRE_t1_s01.txt
new file mode 100644
index 0000000000000000000000000000000000000000..d1f16a1523c430756b82793377e8d37d2bb3a33b
--- /dev/null
+++ b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-14_35_55--base40kRE_t1_s01.txt
@@ -0,0 +1,136 @@
+Eval config: PolicyEvalConfig(suite='libero', model_family='cosmos', config='cosmos_predict2_2b_480p_libero_cl_stage_inference_only', ckpt_path='/home/azureuser/REGEN-main/checkpoints/imaginaire4-output/cosmos_policy/cosmos_v2_finetune/cosmos_predict2_2b_480p_libero_goal_base_stage_3gpu_40k_save4k_20260726/checkpoints/iter_000040000/model', planning_model_config_name='', planning_model_ckpt_path='', config_file='cosmos_policy/config/config.py', packnet_mask_path='', packnet_first_cl_libero_task=6, use_third_person_image=True, num_third_person_images=1, use_wrist_image=True, num_wrist_images=1, use_proprio=True, flip_images=True, use_variance_scale=False, use_jpeg_compression=True, ar_future_prediction=False, ar_value_prediction=False, ar_qvalue_prediction=False, num_denoising_steps_action=5, num_denoising_steps_future_state=1, num_denoising_steps_value=1, unnormalize_actions=True, normalize_proprio=True, dataset_stats_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/libero_goal_regen/dataset_statistics.json', t5_text_embeddings_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/t5_embeddings.pkl', trained_with_image_aug=True, chunk_size=16, num_open_loop_steps=16, deterministic=True, deterministic_reset=False, deterministic_reset_seed=None, use_ensemble_future_state_predictions=False, num_future_state_predictions_in_ensemble=3, future_state_ensemble_aggregation_scheme='average', use_ensemble_value_predictions=False, num_value_predictions_in_ensemble=5, value_ensemble_aggregation_scheme='average', search_depth=1, mask_current_state_action_for_value_prediction=False, mask_future_state_for_qvalue_prediction=False, num_queries_best_of_n=1, use_parallel_inference=False, available_gpus='0', parallel_timeout=15, parallel_tasks_across_gpus=False, task_suite_name='libero_goal', num_trials_per_task=50, task_ids_to_run='1', initial_states_path='DEFAULT', env_img_res=256, local_log_dir='/home/azureuser/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal', run_id_note='base40kRE_t1_s01', use_wandb=False, wandb_entity='YOUR_ENTITY', wandb_project='YOUR_PROJECT', seed=195, randomize_seed=False, data_collection=False, jpeg_compress=True, reward_stop_threshold=None, reward_stop_consecutive_steps=3, use_gpt_reward=False, gpt_reward_model='gpt-5.4-mini', gpt_reward_stop_threshold=4, gpt_reward_timeout_s=30.0, save_rollout_video=False, eval_hdf5_path='', eval_hdf5_demo_key='demo_0', data_gen_demo_ids='', eval_episode_ids='1,17,33,49', replay_actions=False, replay_action_path_dir='', replay_hdf5_path='', data_generation=False, max_generation_steps=200, simple_task_max_steps=100, complex_task_max_steps=200)
+Using serial inference (parallel inference disabled)
+Task suite: libero_goal
+Number of tasks: 10
+Running only task IDs: [1]
+Using default initial states
+
+Task: put the bowl on the stove
+Starting episode 1...
+Query 1/1: Action query time = 5.805 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4491
+t=10: Selected seed 195 with value = 0.4491
+Query 1/1: Action query time = 5.368 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4941
+t=26: Selected seed 195 with value = 0.4941
+Query 1/1: Action query time = 5.216 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5857
+t=42: Selected seed 195 with value = 0.5857
+Query 1/1: Action query time = 4.996 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6347
+t=58: Selected seed 195 with value = 0.6347
+Query 1/1: Action query time = 4.841 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8274
+t=74: Selected seed 195 with value = 0.8274
+Query 1/1: Action query time = 3.540 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9863
+t=90: Selected seed 195 with value = 0.9863
+Saved rollout MP4 at path ./rollouts/base40kRE_t1_s01/2026_08_02-14_35_55--with_future_img--episode=1--success=True--task=put_the_bowl_on_the_stove.mp4
+Success: True
+# episodes completed so far: 1
+# successes: 1 (100.0%)
+
+Task: put the bowl on the stove
+Starting episode 2...
+Query 1/1: Action query time = 3.684 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4304
+t=10: Selected seed 195 with value = 0.4304
+Query 1/1: Action query time = 5.486 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5135
+t=26: Selected seed 195 with value = 0.5135
+Query 1/1: Action query time = 5.315 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6009
+t=42: Selected seed 195 with value = 0.6009
+Query 1/1: Action query time = 5.245 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7323
+t=58: Selected seed 195 with value = 0.7323
+Query 1/1: Action query time = 4.921 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8365
+t=74: Selected seed 195 with value = 0.8365
+Query 1/1: Action query time = 4.021 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9853
+t=90: Selected seed 195 with value = 0.9853
+Saved rollout MP4 at path ./rollouts/base40kRE_t1_s01/2026_08_02-14_35_55--with_future_img--episode=2--success=True--task=put_the_bowl_on_the_stove.mp4
+Success: True
+# episodes completed so far: 2
+# successes: 2 (100.0%)
+
+Task: put the bowl on the stove
+Starting episode 3...
+Query 1/1: Action query time = 4.244 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4092
+t=10: Selected seed 195 with value = 0.4092
+Query 1/1: Action query time = 5.225 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5086
+t=26: Selected seed 195 with value = 0.5086
+Query 1/1: Action query time = 5.521 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5936
+t=42: Selected seed 195 with value = 0.5936
+Query 1/1: Action query time = 4.128 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6875
+t=58: Selected seed 195 with value = 0.6875
+Query 1/1: Action query time = 4.026 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7995
+t=74: Selected seed 195 with value = 0.7995
+Query 1/1: Action query time = 4.045 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9546
+t=90: Selected seed 195 with value = 0.9546
+Saved rollout MP4 at path ./rollouts/base40kRE_t1_s01/2026_08_02-14_35_55--with_future_img--episode=3--success=True--task=put_the_bowl_on_the_stove.mp4
+Success: True
+# episodes completed so far: 3
+# successes: 3 (100.0%)
+
+Task: put the bowl on the stove
+Starting episode 4...
+Query 1/1: Action query time = 1.717 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4776
+t=10: Selected seed 195 with value = 0.4776
+Query 1/1: Action query time = 2.220 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5607
+t=26: Selected seed 195 with value = 0.5607
+Query 1/1: Action query time = 2.237 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6184
+t=42: Selected seed 195 with value = 0.6184
+Query 1/1: Action query time = 1.056 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7172
+t=58: Selected seed 195 with value = 0.7172
+Query 1/1: Action query time = 1.079 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8839
+t=74: Selected seed 195 with value = 0.8839
+Query 1/1: Action query time = 1.424 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/base40kRE_t1_s01/2026_08_02-14_35_55--with_future_img--episode=4--success=True--task=put_the_bowl_on_the_stove.mp4
+Success: True
+# episodes completed so far: 4
+# successes: 4 (100.0%)
+Current task success rate: 1.0
+Current total success rate: 1.0
+Final results:
+Total episodes: 4
+Total successes: 4
+Overall success rate: 1.0000 (100.0%)
diff --git a/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-14_35_55--base40kRE_t1_s02.txt b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-14_35_55--base40kRE_t1_s02.txt
new file mode 100644
index 0000000000000000000000000000000000000000..6198185b8dcd0ba2df2c1dd1036d3f0b7deb4e03
--- /dev/null
+++ b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-14_35_55--base40kRE_t1_s02.txt
@@ -0,0 +1,105 @@
+Eval config: PolicyEvalConfig(suite='libero', model_family='cosmos', config='cosmos_predict2_2b_480p_libero_cl_stage_inference_only', ckpt_path='/home/azureuser/REGEN-main/checkpoints/imaginaire4-output/cosmos_policy/cosmos_v2_finetune/cosmos_predict2_2b_480p_libero_goal_base_stage_3gpu_40k_save4k_20260726/checkpoints/iter_000040000/model', planning_model_config_name='', planning_model_ckpt_path='', config_file='cosmos_policy/config/config.py', packnet_mask_path='', packnet_first_cl_libero_task=6, use_third_person_image=True, num_third_person_images=1, use_wrist_image=True, num_wrist_images=1, use_proprio=True, flip_images=True, use_variance_scale=False, use_jpeg_compression=True, ar_future_prediction=False, ar_value_prediction=False, ar_qvalue_prediction=False, num_denoising_steps_action=5, num_denoising_steps_future_state=1, num_denoising_steps_value=1, unnormalize_actions=True, normalize_proprio=True, dataset_stats_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/libero_goal_regen/dataset_statistics.json', t5_text_embeddings_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/t5_embeddings.pkl', trained_with_image_aug=True, chunk_size=16, num_open_loop_steps=16, deterministic=True, deterministic_reset=False, deterministic_reset_seed=None, use_ensemble_future_state_predictions=False, num_future_state_predictions_in_ensemble=3, future_state_ensemble_aggregation_scheme='average', use_ensemble_value_predictions=False, num_value_predictions_in_ensemble=5, value_ensemble_aggregation_scheme='average', search_depth=1, mask_current_state_action_for_value_prediction=False, mask_future_state_for_qvalue_prediction=False, num_queries_best_of_n=1, use_parallel_inference=False, available_gpus='0', parallel_timeout=15, parallel_tasks_across_gpus=False, task_suite_name='libero_goal', num_trials_per_task=50, task_ids_to_run='1', initial_states_path='DEFAULT', env_img_res=256, local_log_dir='/home/azureuser/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal', run_id_note='base40kRE_t1_s02', use_wandb=False, wandb_entity='YOUR_ENTITY', wandb_project='YOUR_PROJECT', seed=195, randomize_seed=False, data_collection=False, jpeg_compress=True, reward_stop_threshold=None, reward_stop_consecutive_steps=3, use_gpt_reward=False, gpt_reward_model='gpt-5.4-mini', gpt_reward_stop_threshold=4, gpt_reward_timeout_s=30.0, save_rollout_video=False, eval_hdf5_path='', eval_hdf5_demo_key='demo_0', data_gen_demo_ids='', eval_episode_ids='2,18,34', replay_actions=False, replay_action_path_dir='', replay_hdf5_path='', data_generation=False, max_generation_steps=200, simple_task_max_steps=100, complex_task_max_steps=200)
+Using serial inference (parallel inference disabled)
+Task suite: libero_goal
+Number of tasks: 10
+Running only task IDs: [1]
+Using default initial states
+
+Task: put the bowl on the stove
+Starting episode 1...
+Query 1/1: Action query time = 5.627 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4441
+t=10: Selected seed 195 with value = 0.4441
+Query 1/1: Action query time = 5.480 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4834
+t=26: Selected seed 195 with value = 0.4834
+Query 1/1: Action query time = 5.106 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5525
+t=42: Selected seed 195 with value = 0.5525
+Query 1/1: Action query time = 4.874 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6993
+t=58: Selected seed 195 with value = 0.6993
+Query 1/1: Action query time = 4.974 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8265
+t=74: Selected seed 195 with value = 0.8265
+Query 1/1: Action query time = 3.348 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9828
+t=90: Selected seed 195 with value = 0.9828
+Saved rollout MP4 at path ./rollouts/base40kRE_t1_s02/2026_08_02-14_35_55--with_future_img--episode=1--success=True--task=put_the_bowl_on_the_stove.mp4
+Success: True
+# episodes completed so far: 1
+# successes: 1 (100.0%)
+
+Task: put the bowl on the stove
+Starting episode 2...
+Query 1/1: Action query time = 3.214 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4200
+t=10: Selected seed 195 with value = 0.4200
+Query 1/1: Action query time = 3.556 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5173
+t=26: Selected seed 195 with value = 0.5173
+Query 1/1: Action query time = 4.142 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5937
+t=42: Selected seed 195 with value = 0.5937
+Query 1/1: Action query time = 6.262 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6762
+t=58: Selected seed 195 with value = 0.6762
+Query 1/1: Action query time = 4.996 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8275
+t=74: Selected seed 195 with value = 0.8275
+Query 1/1: Action query time = 4.331 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9875
+t=90: Selected seed 195 with value = 0.9875
+Saved rollout MP4 at path ./rollouts/base40kRE_t1_s02/2026_08_02-14_35_55--with_future_img--episode=2--success=True--task=put_the_bowl_on_the_stove.mp4
+Success: True
+# episodes completed so far: 2
+# successes: 2 (100.0%)
+
+Task: put the bowl on the stove
+Starting episode 3...
+Query 1/1: Action query time = 3.087 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4380
+t=10: Selected seed 195 with value = 0.4380
+Query 1/1: Action query time = 3.679 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5240
+t=26: Selected seed 195 with value = 0.5240
+Query 1/1: Action query time = 5.106 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6170
+t=42: Selected seed 195 with value = 0.6170
+Query 1/1: Action query time = 5.334 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7127
+t=58: Selected seed 195 with value = 0.7127
+Query 1/1: Action query time = 4.083 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8533
+t=74: Selected seed 195 with value = 0.8533
+Query 1/1: Action query time = 4.050 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9993
+t=90: Selected seed 195 with value = 0.9993
+Saved rollout MP4 at path ./rollouts/base40kRE_t1_s02/2026_08_02-14_35_55--with_future_img--episode=3--success=True--task=put_the_bowl_on_the_stove.mp4
+Success: True
+# episodes completed so far: 3
+# successes: 3 (100.0%)
+Current task success rate: 1.0
+Current total success rate: 1.0
+Final results:
+Total episodes: 3
+Total successes: 3
+Overall success rate: 1.0000 (100.0%)
diff --git a/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-14_35_55--base40kRE_t1_s07.txt b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-14_35_55--base40kRE_t1_s07.txt
new file mode 100644
index 0000000000000000000000000000000000000000..4b1076fbab7df759c06bc3e1e28925518aae7ac2
--- /dev/null
+++ b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-14_35_55--base40kRE_t1_s07.txt
@@ -0,0 +1,105 @@
+Eval config: PolicyEvalConfig(suite='libero', model_family='cosmos', config='cosmos_predict2_2b_480p_libero_cl_stage_inference_only', ckpt_path='/home/azureuser/REGEN-main/checkpoints/imaginaire4-output/cosmos_policy/cosmos_v2_finetune/cosmos_predict2_2b_480p_libero_goal_base_stage_3gpu_40k_save4k_20260726/checkpoints/iter_000040000/model', planning_model_config_name='', planning_model_ckpt_path='', config_file='cosmos_policy/config/config.py', packnet_mask_path='', packnet_first_cl_libero_task=6, use_third_person_image=True, num_third_person_images=1, use_wrist_image=True, num_wrist_images=1, use_proprio=True, flip_images=True, use_variance_scale=False, use_jpeg_compression=True, ar_future_prediction=False, ar_value_prediction=False, ar_qvalue_prediction=False, num_denoising_steps_action=5, num_denoising_steps_future_state=1, num_denoising_steps_value=1, unnormalize_actions=True, normalize_proprio=True, dataset_stats_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/libero_goal_regen/dataset_statistics.json', t5_text_embeddings_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/t5_embeddings.pkl', trained_with_image_aug=True, chunk_size=16, num_open_loop_steps=16, deterministic=True, deterministic_reset=False, deterministic_reset_seed=None, use_ensemble_future_state_predictions=False, num_future_state_predictions_in_ensemble=3, future_state_ensemble_aggregation_scheme='average', use_ensemble_value_predictions=False, num_value_predictions_in_ensemble=5, value_ensemble_aggregation_scheme='average', search_depth=1, mask_current_state_action_for_value_prediction=False, mask_future_state_for_qvalue_prediction=False, num_queries_best_of_n=1, use_parallel_inference=False, available_gpus='0', parallel_timeout=15, parallel_tasks_across_gpus=False, task_suite_name='libero_goal', num_trials_per_task=50, task_ids_to_run='1', initial_states_path='DEFAULT', env_img_res=256, local_log_dir='/home/azureuser/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal', run_id_note='base40kRE_t1_s07', use_wandb=False, wandb_entity='YOUR_ENTITY', wandb_project='YOUR_PROJECT', seed=195, randomize_seed=False, data_collection=False, jpeg_compress=True, reward_stop_threshold=None, reward_stop_consecutive_steps=3, use_gpt_reward=False, gpt_reward_model='gpt-5.4-mini', gpt_reward_stop_threshold=4, gpt_reward_timeout_s=30.0, save_rollout_video=False, eval_hdf5_path='', eval_hdf5_demo_key='demo_0', data_gen_demo_ids='', eval_episode_ids='7,23,39', replay_actions=False, replay_action_path_dir='', replay_hdf5_path='', data_generation=False, max_generation_steps=200, simple_task_max_steps=100, complex_task_max_steps=200)
+Using serial inference (parallel inference disabled)
+Task suite: libero_goal
+Number of tasks: 10
+Running only task IDs: [1]
+Using default initial states
+
+Task: put the bowl on the stove
+Starting episode 1...
+Query 1/1: Action query time = 6.268 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4298
+t=10: Selected seed 195 with value = 0.4298
+Query 1/1: Action query time = 5.253 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5083
+t=26: Selected seed 195 with value = 0.5083
+Query 1/1: Action query time = 5.107 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6190
+t=42: Selected seed 195 with value = 0.6190
+Query 1/1: Action query time = 4.948 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7209
+t=58: Selected seed 195 with value = 0.7209
+Query 1/1: Action query time = 4.684 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8605
+t=74: Selected seed 195 with value = 0.8605
+Query 1/1: Action query time = 4.431 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9983
+t=90: Selected seed 195 with value = 0.9983
+Saved rollout MP4 at path ./rollouts/base40kRE_t1_s07/2026_08_02-14_35_55--with_future_img--episode=1--success=True--task=put_the_bowl_on_the_stove.mp4
+Success: True
+# episodes completed so far: 1
+# successes: 1 (100.0%)
+
+Task: put the bowl on the stove
+Starting episode 2...
+Query 1/1: Action query time = 3.949 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4550
+t=10: Selected seed 195 with value = 0.4550
+Query 1/1: Action query time = 3.875 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5286
+t=26: Selected seed 195 with value = 0.5286
+Query 1/1: Action query time = 6.169 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6109
+t=42: Selected seed 195 with value = 0.6109
+Query 1/1: Action query time = 5.365 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6941
+t=58: Selected seed 195 with value = 0.6941
+Query 1/1: Action query time = 4.189 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8147
+t=74: Selected seed 195 with value = 0.8147
+Query 1/1: Action query time = 3.542 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9512
+t=90: Selected seed 195 with value = 0.9512
+Saved rollout MP4 at path ./rollouts/base40kRE_t1_s07/2026_08_02-14_35_55--with_future_img--episode=2--success=True--task=put_the_bowl_on_the_stove.mp4
+Success: True
+# episodes completed so far: 2
+# successes: 2 (100.0%)
+
+Task: put the bowl on the stove
+Starting episode 3...
+Query 1/1: Action query time = 4.203 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4562
+t=10: Selected seed 195 with value = 0.4562
+Query 1/1: Action query time = 4.411 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5170
+t=26: Selected seed 195 with value = 0.5170
+Query 1/1: Action query time = 5.555 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5972
+t=42: Selected seed 195 with value = 0.5972
+Query 1/1: Action query time = 4.101 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7214
+t=58: Selected seed 195 with value = 0.7214
+Query 1/1: Action query time = 3.959 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8231
+t=74: Selected seed 195 with value = 0.8231
+Query 1/1: Action query time = 3.715 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9662
+t=90: Selected seed 195 with value = 0.9662
+Saved rollout MP4 at path ./rollouts/base40kRE_t1_s07/2026_08_02-14_35_55--with_future_img--episode=3--success=True--task=put_the_bowl_on_the_stove.mp4
+Success: True
+# episodes completed so far: 3
+# successes: 3 (100.0%)
+Current task success rate: 1.0
+Current total success rate: 1.0
+Final results:
+Total episodes: 3
+Total successes: 3
+Overall success rate: 1.0000 (100.0%)
diff --git a/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-14_35_56--base40kRE_t1_s08.txt b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-14_35_56--base40kRE_t1_s08.txt
new file mode 100644
index 0000000000000000000000000000000000000000..c55fc528c1ce15d74593433d9e7a8738f6e72936
--- /dev/null
+++ b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-14_35_56--base40kRE_t1_s08.txt
@@ -0,0 +1,109 @@
+Eval config: PolicyEvalConfig(suite='libero', model_family='cosmos', config='cosmos_predict2_2b_480p_libero_cl_stage_inference_only', ckpt_path='/home/azureuser/REGEN-main/checkpoints/imaginaire4-output/cosmos_policy/cosmos_v2_finetune/cosmos_predict2_2b_480p_libero_goal_base_stage_3gpu_40k_save4k_20260726/checkpoints/iter_000040000/model', planning_model_config_name='', planning_model_ckpt_path='', config_file='cosmos_policy/config/config.py', packnet_mask_path='', packnet_first_cl_libero_task=6, use_third_person_image=True, num_third_person_images=1, use_wrist_image=True, num_wrist_images=1, use_proprio=True, flip_images=True, use_variance_scale=False, use_jpeg_compression=True, ar_future_prediction=False, ar_value_prediction=False, ar_qvalue_prediction=False, num_denoising_steps_action=5, num_denoising_steps_future_state=1, num_denoising_steps_value=1, unnormalize_actions=True, normalize_proprio=True, dataset_stats_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/libero_goal_regen/dataset_statistics.json', t5_text_embeddings_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/t5_embeddings.pkl', trained_with_image_aug=True, chunk_size=16, num_open_loop_steps=16, deterministic=True, deterministic_reset=False, deterministic_reset_seed=None, use_ensemble_future_state_predictions=False, num_future_state_predictions_in_ensemble=3, future_state_ensemble_aggregation_scheme='average', use_ensemble_value_predictions=False, num_value_predictions_in_ensemble=5, value_ensemble_aggregation_scheme='average', search_depth=1, mask_current_state_action_for_value_prediction=False, mask_future_state_for_qvalue_prediction=False, num_queries_best_of_n=1, use_parallel_inference=False, available_gpus='0', parallel_timeout=15, parallel_tasks_across_gpus=False, task_suite_name='libero_goal', num_trials_per_task=50, task_ids_to_run='1', initial_states_path='DEFAULT', env_img_res=256, local_log_dir='/home/azureuser/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal', run_id_note='base40kRE_t1_s08', use_wandb=False, wandb_entity='YOUR_ENTITY', wandb_project='YOUR_PROJECT', seed=195, randomize_seed=False, data_collection=False, jpeg_compress=True, reward_stop_threshold=None, reward_stop_consecutive_steps=3, use_gpt_reward=False, gpt_reward_model='gpt-5.4-mini', gpt_reward_stop_threshold=4, gpt_reward_timeout_s=30.0, save_rollout_video=False, eval_hdf5_path='', eval_hdf5_demo_key='demo_0', data_gen_demo_ids='', eval_episode_ids='8,24,40', replay_actions=False, replay_action_path_dir='', replay_hdf5_path='', data_generation=False, max_generation_steps=200, simple_task_max_steps=100, complex_task_max_steps=200)
+Using serial inference (parallel inference disabled)
+Task suite: libero_goal
+Number of tasks: 10
+Running only task IDs: [1]
+Using default initial states
+
+Task: put the bowl on the stove
+Starting episode 1...
+Query 1/1: Action query time = 6.246 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4448
+t=10: Selected seed 195 with value = 0.4448
+Query 1/1: Action query time = 5.268 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5055
+t=26: Selected seed 195 with value = 0.5055
+Query 1/1: Action query time = 5.251 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5842
+t=42: Selected seed 195 with value = 0.5842
+Query 1/1: Action query time = 5.073 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6993
+t=58: Selected seed 195 with value = 0.6993
+Query 1/1: Action query time = 4.397 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7937
+t=74: Selected seed 195 with value = 0.7937
+Query 1/1: Action query time = 3.278 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9646
+t=90: Selected seed 195 with value = 0.9646
+Saved rollout MP4 at path ./rollouts/base40kRE_t1_s08/2026_08_02-14_35_56--with_future_img--episode=1--success=True--task=put_the_bowl_on_the_stove.mp4
+Success: True
+# episodes completed so far: 1
+# successes: 1 (100.0%)
+
+Task: put the bowl on the stove
+Starting episode 2...
+Query 1/1: Action query time = 4.696 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4244
+t=10: Selected seed 195 with value = 0.4244
+Query 1/1: Action query time = 3.717 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4910
+t=26: Selected seed 195 with value = 0.4910
+Query 1/1: Action query time = 5.901 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5863
+t=42: Selected seed 195 with value = 0.5863
+Query 1/1: Action query time = 5.795 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6763
+t=58: Selected seed 195 with value = 0.6763
+Query 1/1: Action query time = 4.219 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7895
+t=74: Selected seed 195 with value = 0.7895
+Query 1/1: Action query time = 4.434 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9337
+t=90: Selected seed 195 with value = 0.9337
+Saved rollout MP4 at path ./rollouts/base40kRE_t1_s08/2026_08_02-14_35_56--with_future_img--episode=2--success=True--task=put_the_bowl_on_the_stove.mp4
+Success: True
+# episodes completed so far: 2
+# successes: 2 (100.0%)
+
+Task: put the bowl on the stove
+Starting episode 3...
+Query 1/1: Action query time = 4.457 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3858
+t=10: Selected seed 195 with value = 0.3858
+Query 1/1: Action query time = 5.095 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4426
+t=26: Selected seed 195 with value = 0.4426
+Query 1/1: Action query time = 4.828 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5327
+t=42: Selected seed 195 with value = 0.5327
+Query 1/1: Action query time = 4.893 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5997
+t=58: Selected seed 195 with value = 0.5997
+Query 1/1: Action query time = 3.465 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7266
+t=74: Selected seed 195 with value = 0.7266
+Query 1/1: Action query time = 2.643 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8725
+t=90: Selected seed 195 with value = 0.8725
+Query 1/1: Action query time = 2.291 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9982
+t=106: Selected seed 195 with value = 0.9982
+Saved rollout MP4 at path ./rollouts/base40kRE_t1_s08/2026_08_02-14_35_56--with_future_img--episode=3--success=True--task=put_the_bowl_on_the_stove.mp4
+Success: True
+# episodes completed so far: 3
+# successes: 3 (100.0%)
+Current task success rate: 1.0
+Current total success rate: 1.0
+Final results:
+Total episodes: 3
+Total successes: 3
+Overall success rate: 1.0000 (100.0%)
diff --git a/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-14_35_56--base40kRE_t1_s11.txt b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-14_35_56--base40kRE_t1_s11.txt
new file mode 100644
index 0000000000000000000000000000000000000000..b47db620da7d20778fcc8a574ae0d19a69e6b622
--- /dev/null
+++ b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-14_35_56--base40kRE_t1_s11.txt
@@ -0,0 +1,157 @@
+Eval config: PolicyEvalConfig(suite='libero', model_family='cosmos', config='cosmos_predict2_2b_480p_libero_cl_stage_inference_only', ckpt_path='/home/azureuser/REGEN-main/checkpoints/imaginaire4-output/cosmos_policy/cosmos_v2_finetune/cosmos_predict2_2b_480p_libero_goal_base_stage_3gpu_40k_save4k_20260726/checkpoints/iter_000040000/model', planning_model_config_name='', planning_model_ckpt_path='', config_file='cosmos_policy/config/config.py', packnet_mask_path='', packnet_first_cl_libero_task=6, use_third_person_image=True, num_third_person_images=1, use_wrist_image=True, num_wrist_images=1, use_proprio=True, flip_images=True, use_variance_scale=False, use_jpeg_compression=True, ar_future_prediction=False, ar_value_prediction=False, ar_qvalue_prediction=False, num_denoising_steps_action=5, num_denoising_steps_future_state=1, num_denoising_steps_value=1, unnormalize_actions=True, normalize_proprio=True, dataset_stats_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/libero_goal_regen/dataset_statistics.json', t5_text_embeddings_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/t5_embeddings.pkl', trained_with_image_aug=True, chunk_size=16, num_open_loop_steps=16, deterministic=True, deterministic_reset=False, deterministic_reset_seed=None, use_ensemble_future_state_predictions=False, num_future_state_predictions_in_ensemble=3, future_state_ensemble_aggregation_scheme='average', use_ensemble_value_predictions=False, num_value_predictions_in_ensemble=5, value_ensemble_aggregation_scheme='average', search_depth=1, mask_current_state_action_for_value_prediction=False, mask_future_state_for_qvalue_prediction=False, num_queries_best_of_n=1, use_parallel_inference=False, available_gpus='0', parallel_timeout=15, parallel_tasks_across_gpus=False, task_suite_name='libero_goal', num_trials_per_task=50, task_ids_to_run='1', initial_states_path='DEFAULT', env_img_res=256, local_log_dir='/home/azureuser/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal', run_id_note='base40kRE_t1_s11', use_wandb=False, wandb_entity='YOUR_ENTITY', wandb_project='YOUR_PROJECT', seed=195, randomize_seed=False, data_collection=False, jpeg_compress=True, reward_stop_threshold=None, reward_stop_consecutive_steps=3, use_gpt_reward=False, gpt_reward_model='gpt-5.4-mini', gpt_reward_stop_threshold=4, gpt_reward_timeout_s=30.0, save_rollout_video=False, eval_hdf5_path='', eval_hdf5_demo_key='demo_0', data_gen_demo_ids='', eval_episode_ids='11,27,43', replay_actions=False, replay_action_path_dir='', replay_hdf5_path='', data_generation=False, max_generation_steps=200, simple_task_max_steps=100, complex_task_max_steps=200)
+Using serial inference (parallel inference disabled)
+Task suite: libero_goal
+Number of tasks: 10
+Running only task IDs: [1]
+Using default initial states
+
+Task: put the bowl on the stove
+Starting episode 1...
+Query 1/1: Action query time = 5.597 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4470
+t=10: Selected seed 195 with value = 0.4470
+Query 1/1: Action query time = 4.883 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5154
+t=26: Selected seed 195 with value = 0.5154
+Query 1/1: Action query time = 5.132 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6042
+t=42: Selected seed 195 with value = 0.6042
+Query 1/1: Action query time = 5.547 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7033
+t=58: Selected seed 195 with value = 0.7033
+Query 1/1: Action query time = 4.593 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8253
+t=74: Selected seed 195 with value = 0.8253
+Query 1/1: Action query time = 3.830 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9651
+t=90: Selected seed 195 with value = 0.9651
+Saved rollout MP4 at path ./rollouts/base40kRE_t1_s11/2026_08_02-14_35_56--with_future_img--episode=1--success=True--task=put_the_bowl_on_the_stove.mp4
+Success: True
+# episodes completed so far: 1
+# successes: 1 (100.0%)
+
+Task: put the bowl on the stove
+Starting episode 2...
+Query 1/1: Action query time = 5.650 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4016
+t=10: Selected seed 195 with value = 0.4016
+Query 1/1: Action query time = 6.498 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5139
+t=26: Selected seed 195 with value = 0.5139
+Query 1/1: Action query time = 4.639 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5989
+t=42: Selected seed 195 with value = 0.5989
+Query 1/1: Action query time = 4.128 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6954
+t=58: Selected seed 195 with value = 0.6954
+Query 1/1: Action query time = 3.402 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8400
+t=74: Selected seed 195 with value = 0.8400
+Query 1/1: Action query time = 3.711 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9944
+t=90: Selected seed 195 with value = 0.9944
+Saved rollout MP4 at path ./rollouts/base40kRE_t1_s11/2026_08_02-14_35_56--with_future_img--episode=2--success=True--task=put_the_bowl_on_the_stove.mp4
+Success: True
+# episodes completed so far: 2
+# successes: 2 (100.0%)
+
+Task: put the bowl on the stove
+Starting episode 3...
+Query 1/1: Action query time = 4.519 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4676
+t=10: Selected seed 195 with value = 0.4676
+Query 1/1: Action query time = 5.121 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5308
+t=26: Selected seed 195 with value = 0.5308
+Query 1/1: Action query time = 4.645 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6230
+t=42: Selected seed 195 with value = 0.6230
+Query 1/1: Action query time = 4.250 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7069
+t=58: Selected seed 195 with value = 0.7069
+Query 1/1: Action query time = 2.674 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7994
+t=74: Selected seed 195 with value = 0.7994
+Query 1/1: Action query time = 2.533 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9810
+t=90: Selected seed 195 with value = 0.9810
+Query 1/1: Action query time = 2.088 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9985
+t=106: Selected seed 195 with value = 0.9985
+Query 1/1: Action query time = 1.008 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9922
+t=122: Selected seed 195 with value = 0.9922
+Query 1/1: Action query time = 1.405 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9875
+t=138: Selected seed 195 with value = 0.9875
+Query 1/1: Action query time = 0.975 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9851
+t=154: Selected seed 195 with value = 0.9851
+Query 1/1: Action query time = 1.400 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9849
+t=170: Selected seed 195 with value = 0.9849
+Query 1/1: Action query time = 0.963 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9858
+t=186: Selected seed 195 with value = 0.9858
+Query 1/1: Action query time = 1.056 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9861
+t=202: Selected seed 195 with value = 0.9861
+Query 1/1: Action query time = 1.076 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9870
+t=218: Selected seed 195 with value = 0.9870
+Query 1/1: Action query time = 1.080 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9886
+t=234: Selected seed 195 with value = 0.9886
+Query 1/1: Action query time = 0.975 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9872
+t=250: Selected seed 195 with value = 0.9872
+Query 1/1: Action query time = 0.977 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9850
+t=266: Selected seed 195 with value = 0.9850
+Query 1/1: Action query time = 0.972 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9802
+t=282: Selected seed 195 with value = 0.9802
+Query 1/1: Action query time = 0.981 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9786
+t=298: Selected seed 195 with value = 0.9786
+Saved rollout MP4 at path ./rollouts/base40kRE_t1_s11/2026_08_02-14_35_56--with_future_img--episode=3--success=False--task=put_the_bowl_on_the_stove.mp4
+Success: False
+# episodes completed so far: 3
+# successes: 2 (66.7%)
+Current task success rate: 0.6666666666666666
+Current total success rate: 0.6666666666666666
+Final results:
+Total episodes: 3
+Total successes: 2
+Overall success rate: 0.6667 (66.7%)
diff --git a/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-14_35_56--base40kRE_t1_s12.txt b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-14_35_56--base40kRE_t1_s12.txt
new file mode 100644
index 0000000000000000000000000000000000000000..538bc35b07c0d389285762d56a95b6c3a68fc63d
--- /dev/null
+++ b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-14_35_56--base40kRE_t1_s12.txt
@@ -0,0 +1,105 @@
+Eval config: PolicyEvalConfig(suite='libero', model_family='cosmos', config='cosmos_predict2_2b_480p_libero_cl_stage_inference_only', ckpt_path='/home/azureuser/REGEN-main/checkpoints/imaginaire4-output/cosmos_policy/cosmos_v2_finetune/cosmos_predict2_2b_480p_libero_goal_base_stage_3gpu_40k_save4k_20260726/checkpoints/iter_000040000/model', planning_model_config_name='', planning_model_ckpt_path='', config_file='cosmos_policy/config/config.py', packnet_mask_path='', packnet_first_cl_libero_task=6, use_third_person_image=True, num_third_person_images=1, use_wrist_image=True, num_wrist_images=1, use_proprio=True, flip_images=True, use_variance_scale=False, use_jpeg_compression=True, ar_future_prediction=False, ar_value_prediction=False, ar_qvalue_prediction=False, num_denoising_steps_action=5, num_denoising_steps_future_state=1, num_denoising_steps_value=1, unnormalize_actions=True, normalize_proprio=True, dataset_stats_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/libero_goal_regen/dataset_statistics.json', t5_text_embeddings_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/t5_embeddings.pkl', trained_with_image_aug=True, chunk_size=16, num_open_loop_steps=16, deterministic=True, deterministic_reset=False, deterministic_reset_seed=None, use_ensemble_future_state_predictions=False, num_future_state_predictions_in_ensemble=3, future_state_ensemble_aggregation_scheme='average', use_ensemble_value_predictions=False, num_value_predictions_in_ensemble=5, value_ensemble_aggregation_scheme='average', search_depth=1, mask_current_state_action_for_value_prediction=False, mask_future_state_for_qvalue_prediction=False, num_queries_best_of_n=1, use_parallel_inference=False, available_gpus='0', parallel_timeout=15, parallel_tasks_across_gpus=False, task_suite_name='libero_goal', num_trials_per_task=50, task_ids_to_run='1', initial_states_path='DEFAULT', env_img_res=256, local_log_dir='/home/azureuser/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal', run_id_note='base40kRE_t1_s12', use_wandb=False, wandb_entity='YOUR_ENTITY', wandb_project='YOUR_PROJECT', seed=195, randomize_seed=False, data_collection=False, jpeg_compress=True, reward_stop_threshold=None, reward_stop_consecutive_steps=3, use_gpt_reward=False, gpt_reward_model='gpt-5.4-mini', gpt_reward_stop_threshold=4, gpt_reward_timeout_s=30.0, save_rollout_video=False, eval_hdf5_path='', eval_hdf5_demo_key='demo_0', data_gen_demo_ids='', eval_episode_ids='12,28,44', replay_actions=False, replay_action_path_dir='', replay_hdf5_path='', data_generation=False, max_generation_steps=200, simple_task_max_steps=100, complex_task_max_steps=200)
+Using serial inference (parallel inference disabled)
+Task suite: libero_goal
+Number of tasks: 10
+Running only task IDs: [1]
+Using default initial states
+
+Task: put the bowl on the stove
+Starting episode 1...
+Query 1/1: Action query time = 6.160 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4574
+t=10: Selected seed 195 with value = 0.4574
+Query 1/1: Action query time = 5.453 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5080
+t=26: Selected seed 195 with value = 0.5080
+Query 1/1: Action query time = 4.750 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6137
+t=42: Selected seed 195 with value = 0.6137
+Query 1/1: Action query time = 4.232 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7211
+t=58: Selected seed 195 with value = 0.7211
+Query 1/1: Action query time = 4.761 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8172
+t=74: Selected seed 195 with value = 0.8172
+Query 1/1: Action query time = 3.512 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9856
+t=90: Selected seed 195 with value = 0.9856
+Saved rollout MP4 at path ./rollouts/base40kRE_t1_s12/2026_08_02-14_35_56--with_future_img--episode=1--success=True--task=put_the_bowl_on_the_stove.mp4
+Success: True
+# episodes completed so far: 1
+# successes: 1 (100.0%)
+
+Task: put the bowl on the stove
+Starting episode 2...
+Query 1/1: Action query time = 3.878 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4247
+t=10: Selected seed 195 with value = 0.4247
+Query 1/1: Action query time = 5.710 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5153
+t=26: Selected seed 195 with value = 0.5153
+Query 1/1: Action query time = 6.153 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5894
+t=42: Selected seed 195 with value = 0.5894
+Query 1/1: Action query time = 2.467 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6945
+t=58: Selected seed 195 with value = 0.6945
+Query 1/1: Action query time = 5.119 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7960
+t=74: Selected seed 195 with value = 0.7960
+Query 1/1: Action query time = 3.906 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9723
+t=90: Selected seed 195 with value = 0.9723
+Saved rollout MP4 at path ./rollouts/base40kRE_t1_s12/2026_08_02-14_35_56--with_future_img--episode=2--success=True--task=put_the_bowl_on_the_stove.mp4
+Success: True
+# episodes completed so far: 2
+# successes: 2 (100.0%)
+
+Task: put the bowl on the stove
+Starting episode 3...
+Query 1/1: Action query time = 3.014 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4187
+t=10: Selected seed 195 with value = 0.4187
+Query 1/1: Action query time = 4.008 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5133
+t=26: Selected seed 195 with value = 0.5133
+Query 1/1: Action query time = 4.455 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6001
+t=42: Selected seed 195 with value = 0.6001
+Query 1/1: Action query time = 5.131 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6348
+t=58: Selected seed 195 with value = 0.6348
+Query 1/1: Action query time = 5.110 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8054
+t=74: Selected seed 195 with value = 0.8054
+Query 1/1: Action query time = 3.084 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9902
+t=90: Selected seed 195 with value = 0.9902
+Saved rollout MP4 at path ./rollouts/base40kRE_t1_s12/2026_08_02-14_35_56--with_future_img--episode=3--success=True--task=put_the_bowl_on_the_stove.mp4
+Success: True
+# episodes completed so far: 3
+# successes: 3 (100.0%)
+Current task success rate: 1.0
+Current total success rate: 1.0
+Final results:
+Total episodes: 3
+Total successes: 3
+Overall success rate: 1.0000 (100.0%)
diff --git a/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-14_35_56--base40kRE_t1_s15.txt b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-14_35_56--base40kRE_t1_s15.txt
new file mode 100644
index 0000000000000000000000000000000000000000..d94d3fa031f4c7731e04b367683f0e288a33e99e
--- /dev/null
+++ b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-14_35_56--base40kRE_t1_s15.txt
@@ -0,0 +1,109 @@
+Eval config: PolicyEvalConfig(suite='libero', model_family='cosmos', config='cosmos_predict2_2b_480p_libero_cl_stage_inference_only', ckpt_path='/home/azureuser/REGEN-main/checkpoints/imaginaire4-output/cosmos_policy/cosmos_v2_finetune/cosmos_predict2_2b_480p_libero_goal_base_stage_3gpu_40k_save4k_20260726/checkpoints/iter_000040000/model', planning_model_config_name='', planning_model_ckpt_path='', config_file='cosmos_policy/config/config.py', packnet_mask_path='', packnet_first_cl_libero_task=6, use_third_person_image=True, num_third_person_images=1, use_wrist_image=True, num_wrist_images=1, use_proprio=True, flip_images=True, use_variance_scale=False, use_jpeg_compression=True, ar_future_prediction=False, ar_value_prediction=False, ar_qvalue_prediction=False, num_denoising_steps_action=5, num_denoising_steps_future_state=1, num_denoising_steps_value=1, unnormalize_actions=True, normalize_proprio=True, dataset_stats_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/libero_goal_regen/dataset_statistics.json', t5_text_embeddings_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/t5_embeddings.pkl', trained_with_image_aug=True, chunk_size=16, num_open_loop_steps=16, deterministic=True, deterministic_reset=False, deterministic_reset_seed=None, use_ensemble_future_state_predictions=False, num_future_state_predictions_in_ensemble=3, future_state_ensemble_aggregation_scheme='average', use_ensemble_value_predictions=False, num_value_predictions_in_ensemble=5, value_ensemble_aggregation_scheme='average', search_depth=1, mask_current_state_action_for_value_prediction=False, mask_future_state_for_qvalue_prediction=False, num_queries_best_of_n=1, use_parallel_inference=False, available_gpus='0', parallel_timeout=15, parallel_tasks_across_gpus=False, task_suite_name='libero_goal', num_trials_per_task=50, task_ids_to_run='1', initial_states_path='DEFAULT', env_img_res=256, local_log_dir='/home/azureuser/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal', run_id_note='base40kRE_t1_s15', use_wandb=False, wandb_entity='YOUR_ENTITY', wandb_project='YOUR_PROJECT', seed=195, randomize_seed=False, data_collection=False, jpeg_compress=True, reward_stop_threshold=None, reward_stop_consecutive_steps=3, use_gpt_reward=False, gpt_reward_model='gpt-5.4-mini', gpt_reward_stop_threshold=4, gpt_reward_timeout_s=30.0, save_rollout_video=False, eval_hdf5_path='', eval_hdf5_demo_key='demo_0', data_gen_demo_ids='', eval_episode_ids='15,31,47', replay_actions=False, replay_action_path_dir='', replay_hdf5_path='', data_generation=False, max_generation_steps=200, simple_task_max_steps=100, complex_task_max_steps=200)
+Using serial inference (parallel inference disabled)
+Task suite: libero_goal
+Number of tasks: 10
+Running only task IDs: [1]
+Using default initial states
+
+Task: put the bowl on the stove
+Starting episode 1...
+Query 1/1: Action query time = 5.473 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3643
+t=10: Selected seed 195 with value = 0.3643
+Query 1/1: Action query time = 5.256 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4192
+t=26: Selected seed 195 with value = 0.4192
+Query 1/1: Action query time = 5.341 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5009
+t=42: Selected seed 195 with value = 0.5009
+Query 1/1: Action query time = 5.576 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5923
+t=58: Selected seed 195 with value = 0.5923
+Query 1/1: Action query time = 4.589 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6995
+t=74: Selected seed 195 with value = 0.6995
+Query 1/1: Action query time = 3.843 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8514
+t=90: Selected seed 195 with value = 0.8514
+Query 1/1: Action query time = 3.195 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=106: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/base40kRE_t1_s15/2026_08_02-14_35_56--with_future_img--episode=1--success=True--task=put_the_bowl_on_the_stove.mp4
+Success: True
+# episodes completed so far: 1
+# successes: 1 (100.0%)
+
+Task: put the bowl on the stove
+Starting episode 2...
+Query 1/1: Action query time = 3.911 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4365
+t=10: Selected seed 195 with value = 0.4365
+Query 1/1: Action query time = 5.355 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5121
+t=26: Selected seed 195 with value = 0.5121
+Query 1/1: Action query time = 5.798 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6019
+t=42: Selected seed 195 with value = 0.6019
+Query 1/1: Action query time = 4.228 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6871
+t=58: Selected seed 195 with value = 0.6871
+Query 1/1: Action query time = 4.604 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8047
+t=74: Selected seed 195 with value = 0.8047
+Query 1/1: Action query time = 3.548 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9754
+t=90: Selected seed 195 with value = 0.9754
+Saved rollout MP4 at path ./rollouts/base40kRE_t1_s15/2026_08_02-14_35_56--with_future_img--episode=2--success=True--task=put_the_bowl_on_the_stove.mp4
+Success: True
+# episodes completed so far: 2
+# successes: 2 (100.0%)
+
+Task: put the bowl on the stove
+Starting episode 3...
+Query 1/1: Action query time = 5.034 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4401
+t=10: Selected seed 195 with value = 0.4401
+Query 1/1: Action query time = 4.991 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5449
+t=26: Selected seed 195 with value = 0.5449
+Query 1/1: Action query time = 5.295 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6168
+t=42: Selected seed 195 with value = 0.6168
+Query 1/1: Action query time = 3.606 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7223
+t=58: Selected seed 195 with value = 0.7223
+Query 1/1: Action query time = 2.387 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8447
+t=74: Selected seed 195 with value = 0.8447
+Query 1/1: Action query time = 2.206 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9838
+t=90: Selected seed 195 with value = 0.9838
+Saved rollout MP4 at path ./rollouts/base40kRE_t1_s15/2026_08_02-14_35_56--with_future_img--episode=3--success=True--task=put_the_bowl_on_the_stove.mp4
+Success: True
+# episodes completed so far: 3
+# successes: 3 (100.0%)
+Current task success rate: 1.0
+Current total success rate: 1.0
+Final results:
+Total episodes: 3
+Total successes: 3
+Overall success rate: 1.0000 (100.0%)
diff --git a/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-14_38_39--base40kRE_t2_s00.txt b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-14_38_39--base40kRE_t2_s00.txt
new file mode 100644
index 0000000000000000000000000000000000000000..e8065f010aa5b03fe6c17f6b29a614be2d5c788b
--- /dev/null
+++ b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-14_38_39--base40kRE_t2_s00.txt
@@ -0,0 +1,132 @@
+Eval config: PolicyEvalConfig(suite='libero', model_family='cosmos', config='cosmos_predict2_2b_480p_libero_cl_stage_inference_only', ckpt_path='/home/azureuser/REGEN-main/checkpoints/imaginaire4-output/cosmos_policy/cosmos_v2_finetune/cosmos_predict2_2b_480p_libero_goal_base_stage_3gpu_40k_save4k_20260726/checkpoints/iter_000040000/model', planning_model_config_name='', planning_model_ckpt_path='', config_file='cosmos_policy/config/config.py', packnet_mask_path='', packnet_first_cl_libero_task=6, use_third_person_image=True, num_third_person_images=1, use_wrist_image=True, num_wrist_images=1, use_proprio=True, flip_images=True, use_variance_scale=False, use_jpeg_compression=True, ar_future_prediction=False, ar_value_prediction=False, ar_qvalue_prediction=False, num_denoising_steps_action=5, num_denoising_steps_future_state=1, num_denoising_steps_value=1, unnormalize_actions=True, normalize_proprio=True, dataset_stats_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/libero_goal_regen/dataset_statistics.json', t5_text_embeddings_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/t5_embeddings.pkl', trained_with_image_aug=True, chunk_size=16, num_open_loop_steps=16, deterministic=True, deterministic_reset=False, deterministic_reset_seed=None, use_ensemble_future_state_predictions=False, num_future_state_predictions_in_ensemble=3, future_state_ensemble_aggregation_scheme='average', use_ensemble_value_predictions=False, num_value_predictions_in_ensemble=5, value_ensemble_aggregation_scheme='average', search_depth=1, mask_current_state_action_for_value_prediction=False, mask_future_state_for_qvalue_prediction=False, num_queries_best_of_n=1, use_parallel_inference=False, available_gpus='0', parallel_timeout=15, parallel_tasks_across_gpus=False, task_suite_name='libero_goal', num_trials_per_task=50, task_ids_to_run='2', initial_states_path='DEFAULT', env_img_res=256, local_log_dir='/home/azureuser/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal', run_id_note='base40kRE_t2_s00', use_wandb=False, wandb_entity='YOUR_ENTITY', wandb_project='YOUR_PROJECT', seed=195, randomize_seed=False, data_collection=False, jpeg_compress=True, reward_stop_threshold=None, reward_stop_consecutive_steps=3, use_gpt_reward=False, gpt_reward_model='gpt-5.4-mini', gpt_reward_stop_threshold=4, gpt_reward_timeout_s=30.0, save_rollout_video=False, eval_hdf5_path='', eval_hdf5_demo_key='demo_0', data_gen_demo_ids='', eval_episode_ids='0,16,32,48', replay_actions=False, replay_action_path_dir='', replay_hdf5_path='', data_generation=False, max_generation_steps=200, simple_task_max_steps=100, complex_task_max_steps=200)
+Using serial inference (parallel inference disabled)
+Task suite: libero_goal
+Number of tasks: 10
+Running only task IDs: [2]
+Using default initial states
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 1...
+Query 1/1: Action query time = 2.001 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4822
+t=10: Selected seed 195 with value = 0.4822
+Query 1/1: Action query time = 2.145 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5771
+t=26: Selected seed 195 with value = 0.5771
+Query 1/1: Action query time = 4.527 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6510
+t=42: Selected seed 195 with value = 0.6510
+Query 1/1: Action query time = 4.911 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7458
+t=58: Selected seed 195 with value = 0.7458
+Query 1/1: Action query time = 5.660 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8383
+t=74: Selected seed 195 with value = 0.8383
+Saved rollout MP4 at path ./rollouts/base40kRE_t2_s00/2026_08_02-14_38_39--with_future_img--episode=1--success=True--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: True
+# episodes completed so far: 1
+# successes: 1 (100.0%)
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 2...
+Query 1/1: Action query time = 3.785 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3913
+t=10: Selected seed 195 with value = 0.3913
+Query 1/1: Action query time = 3.967 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4295
+t=26: Selected seed 195 with value = 0.4295
+Query 1/1: Action query time = 3.522 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5161
+t=42: Selected seed 195 with value = 0.5161
+Query 1/1: Action query time = 2.961 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6250
+t=58: Selected seed 195 with value = 0.6250
+Query 1/1: Action query time = 5.683 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7536
+t=74: Selected seed 195 with value = 0.7536
+Query 1/1: Action query time = 5.485 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9366
+t=90: Selected seed 195 with value = 0.9366
+Saved rollout MP4 at path ./rollouts/base40kRE_t2_s00/2026_08_02-14_38_39--with_future_img--episode=2--success=True--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: True
+# episodes completed so far: 2
+# successes: 2 (100.0%)
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 3...
+Query 1/1: Action query time = 4.402 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4369
+t=10: Selected seed 195 with value = 0.4369
+Query 1/1: Action query time = 4.202 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4806
+t=26: Selected seed 195 with value = 0.4806
+Query 1/1: Action query time = 4.542 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5291
+t=42: Selected seed 195 with value = 0.5291
+Query 1/1: Action query time = 3.436 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6006
+t=58: Selected seed 195 with value = 0.6006
+Query 1/1: Action query time = 5.033 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7138
+t=74: Selected seed 195 with value = 0.7138
+Query 1/1: Action query time = 5.019 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8186
+t=90: Selected seed 195 with value = 0.8186
+Saved rollout MP4 at path ./rollouts/base40kRE_t2_s00/2026_08_02-14_38_39--with_future_img--episode=3--success=True--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: True
+# episodes completed so far: 3
+# successes: 3 (100.0%)
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 4...
+Query 1/1: Action query time = 5.757 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3779
+t=10: Selected seed 195 with value = 0.3779
+Query 1/1: Action query time = 3.911 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4247
+t=26: Selected seed 195 with value = 0.4247
+Query 1/1: Action query time = 2.697 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5812
+t=42: Selected seed 195 with value = 0.5812
+Query 1/1: Action query time = 2.535 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7260
+t=58: Selected seed 195 with value = 0.7260
+Query 1/1: Action query time = 2.514 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8806
+t=74: Selected seed 195 with value = 0.8806
+Query 1/1: Action query time = 2.275 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/base40kRE_t2_s00/2026_08_02-14_38_39--with_future_img--episode=4--success=True--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: True
+# episodes completed so far: 4
+# successes: 4 (100.0%)
+Current task success rate: 1.0
+Current total success rate: 1.0
+Final results:
+Total episodes: 4
+Total successes: 4
+Overall success rate: 1.0000 (100.0%)
diff --git a/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-14_38_39--base40kRE_t2_s02.txt b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-14_38_39--base40kRE_t2_s02.txt
new file mode 100644
index 0000000000000000000000000000000000000000..cbf275395226a80a737a4203eb00964dd6d18d5d
--- /dev/null
+++ b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-14_38_39--base40kRE_t2_s02.txt
@@ -0,0 +1,105 @@
+Eval config: PolicyEvalConfig(suite='libero', model_family='cosmos', config='cosmos_predict2_2b_480p_libero_cl_stage_inference_only', ckpt_path='/home/azureuser/REGEN-main/checkpoints/imaginaire4-output/cosmos_policy/cosmos_v2_finetune/cosmos_predict2_2b_480p_libero_goal_base_stage_3gpu_40k_save4k_20260726/checkpoints/iter_000040000/model', planning_model_config_name='', planning_model_ckpt_path='', config_file='cosmos_policy/config/config.py', packnet_mask_path='', packnet_first_cl_libero_task=6, use_third_person_image=True, num_third_person_images=1, use_wrist_image=True, num_wrist_images=1, use_proprio=True, flip_images=True, use_variance_scale=False, use_jpeg_compression=True, ar_future_prediction=False, ar_value_prediction=False, ar_qvalue_prediction=False, num_denoising_steps_action=5, num_denoising_steps_future_state=1, num_denoising_steps_value=1, unnormalize_actions=True, normalize_proprio=True, dataset_stats_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/libero_goal_regen/dataset_statistics.json', t5_text_embeddings_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/t5_embeddings.pkl', trained_with_image_aug=True, chunk_size=16, num_open_loop_steps=16, deterministic=True, deterministic_reset=False, deterministic_reset_seed=None, use_ensemble_future_state_predictions=False, num_future_state_predictions_in_ensemble=3, future_state_ensemble_aggregation_scheme='average', use_ensemble_value_predictions=False, num_value_predictions_in_ensemble=5, value_ensemble_aggregation_scheme='average', search_depth=1, mask_current_state_action_for_value_prediction=False, mask_future_state_for_qvalue_prediction=False, num_queries_best_of_n=1, use_parallel_inference=False, available_gpus='0', parallel_timeout=15, parallel_tasks_across_gpus=False, task_suite_name='libero_goal', num_trials_per_task=50, task_ids_to_run='2', initial_states_path='DEFAULT', env_img_res=256, local_log_dir='/home/azureuser/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal', run_id_note='base40kRE_t2_s02', use_wandb=False, wandb_entity='YOUR_ENTITY', wandb_project='YOUR_PROJECT', seed=195, randomize_seed=False, data_collection=False, jpeg_compress=True, reward_stop_threshold=None, reward_stop_consecutive_steps=3, use_gpt_reward=False, gpt_reward_model='gpt-5.4-mini', gpt_reward_stop_threshold=4, gpt_reward_timeout_s=30.0, save_rollout_video=False, eval_hdf5_path='', eval_hdf5_demo_key='demo_0', data_gen_demo_ids='', eval_episode_ids='2,18,34', replay_actions=False, replay_action_path_dir='', replay_hdf5_path='', data_generation=False, max_generation_steps=200, simple_task_max_steps=100, complex_task_max_steps=200)
+Using serial inference (parallel inference disabled)
+Task suite: libero_goal
+Number of tasks: 10
+Running only task IDs: [2]
+Using default initial states
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 1...
+Query 1/1: Action query time = 6.458 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4209
+t=10: Selected seed 195 with value = 0.4209
+Query 1/1: Action query time = 4.343 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4943
+t=26: Selected seed 195 with value = 0.4943
+Query 1/1: Action query time = 5.268 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5548
+t=42: Selected seed 195 with value = 0.5548
+Query 1/1: Action query time = 4.692 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6672
+t=58: Selected seed 195 with value = 0.6672
+Query 1/1: Action query time = 5.504 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7868
+t=74: Selected seed 195 with value = 0.7868
+Query 1/1: Action query time = 2.882 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9082
+t=90: Selected seed 195 with value = 0.9082
+Saved rollout MP4 at path ./rollouts/base40kRE_t2_s02/2026_08_02-14_38_39--with_future_img--episode=1--success=True--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: True
+# episodes completed so far: 1
+# successes: 1 (100.0%)
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 2...
+Query 1/1: Action query time = 5.519 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4264
+t=10: Selected seed 195 with value = 0.4264
+Query 1/1: Action query time = 4.410 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5022
+t=26: Selected seed 195 with value = 0.5022
+Query 1/1: Action query time = 3.813 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5894
+t=42: Selected seed 195 with value = 0.5894
+Query 1/1: Action query time = 4.745 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7086
+t=58: Selected seed 195 with value = 0.7086
+Query 1/1: Action query time = 3.993 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8508
+t=74: Selected seed 195 with value = 0.8508
+Query 1/1: Action query time = 4.380 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9997
+t=90: Selected seed 195 with value = 0.9997
+Saved rollout MP4 at path ./rollouts/base40kRE_t2_s02/2026_08_02-14_38_39--with_future_img--episode=2--success=True--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: True
+# episodes completed so far: 2
+# successes: 2 (100.0%)
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 3...
+Query 1/1: Action query time = 5.075 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3455
+t=10: Selected seed 195 with value = 0.3455
+Query 1/1: Action query time = 4.843 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4564
+t=26: Selected seed 195 with value = 0.4564
+Query 1/1: Action query time = 4.532 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5450
+t=42: Selected seed 195 with value = 0.5450
+Query 1/1: Action query time = 4.368 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6701
+t=58: Selected seed 195 with value = 0.6701
+Query 1/1: Action query time = 4.059 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8404
+t=74: Selected seed 195 with value = 0.8404
+Query 1/1: Action query time = 2.726 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9608
+t=90: Selected seed 195 with value = 0.9608
+Saved rollout MP4 at path ./rollouts/base40kRE_t2_s02/2026_08_02-14_38_39--with_future_img--episode=3--success=True--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: True
+# episodes completed so far: 3
+# successes: 3 (100.0%)
+Current task success rate: 1.0
+Current total success rate: 1.0
+Final results:
+Total episodes: 3
+Total successes: 3
+Overall success rate: 1.0000 (100.0%)
diff --git a/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-14_38_39--base40kRE_t2_s05.txt b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-14_38_39--base40kRE_t2_s05.txt
new file mode 100644
index 0000000000000000000000000000000000000000..865a4c091937b5f95b78beb85c9666eaa3724d82
--- /dev/null
+++ b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-14_38_39--base40kRE_t2_s05.txt
@@ -0,0 +1,117 @@
+Eval config: PolicyEvalConfig(suite='libero', model_family='cosmos', config='cosmos_predict2_2b_480p_libero_cl_stage_inference_only', ckpt_path='/home/azureuser/REGEN-main/checkpoints/imaginaire4-output/cosmos_policy/cosmos_v2_finetune/cosmos_predict2_2b_480p_libero_goal_base_stage_3gpu_40k_save4k_20260726/checkpoints/iter_000040000/model', planning_model_config_name='', planning_model_ckpt_path='', config_file='cosmos_policy/config/config.py', packnet_mask_path='', packnet_first_cl_libero_task=6, use_third_person_image=True, num_third_person_images=1, use_wrist_image=True, num_wrist_images=1, use_proprio=True, flip_images=True, use_variance_scale=False, use_jpeg_compression=True, ar_future_prediction=False, ar_value_prediction=False, ar_qvalue_prediction=False, num_denoising_steps_action=5, num_denoising_steps_future_state=1, num_denoising_steps_value=1, unnormalize_actions=True, normalize_proprio=True, dataset_stats_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/libero_goal_regen/dataset_statistics.json', t5_text_embeddings_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/t5_embeddings.pkl', trained_with_image_aug=True, chunk_size=16, num_open_loop_steps=16, deterministic=True, deterministic_reset=False, deterministic_reset_seed=None, use_ensemble_future_state_predictions=False, num_future_state_predictions_in_ensemble=3, future_state_ensemble_aggregation_scheme='average', use_ensemble_value_predictions=False, num_value_predictions_in_ensemble=5, value_ensemble_aggregation_scheme='average', search_depth=1, mask_current_state_action_for_value_prediction=False, mask_future_state_for_qvalue_prediction=False, num_queries_best_of_n=1, use_parallel_inference=False, available_gpus='0', parallel_timeout=15, parallel_tasks_across_gpus=False, task_suite_name='libero_goal', num_trials_per_task=50, task_ids_to_run='2', initial_states_path='DEFAULT', env_img_res=256, local_log_dir='/home/azureuser/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal', run_id_note='base40kRE_t2_s05', use_wandb=False, wandb_entity='YOUR_ENTITY', wandb_project='YOUR_PROJECT', seed=195, randomize_seed=False, data_collection=False, jpeg_compress=True, reward_stop_threshold=None, reward_stop_consecutive_steps=3, use_gpt_reward=False, gpt_reward_model='gpt-5.4-mini', gpt_reward_stop_threshold=4, gpt_reward_timeout_s=30.0, save_rollout_video=False, eval_hdf5_path='', eval_hdf5_demo_key='demo_0', data_gen_demo_ids='', eval_episode_ids='5,21,37', replay_actions=False, replay_action_path_dir='', replay_hdf5_path='', data_generation=False, max_generation_steps=200, simple_task_max_steps=100, complex_task_max_steps=200)
+Using serial inference (parallel inference disabled)
+Task suite: libero_goal
+Number of tasks: 10
+Running only task IDs: [2]
+Using default initial states
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 1...
+Query 1/1: Action query time = 5.165 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4324
+t=10: Selected seed 195 with value = 0.4324
+Query 1/1: Action query time = 4.916 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5072
+t=26: Selected seed 195 with value = 0.5072
+Query 1/1: Action query time = 5.755 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5793
+t=42: Selected seed 195 with value = 0.5793
+Query 1/1: Action query time = 3.775 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7205
+t=58: Selected seed 195 with value = 0.7205
+Query 1/1: Action query time = 4.229 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8445
+t=74: Selected seed 195 with value = 0.8445
+Query 1/1: Action query time = 3.444 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/base40kRE_t2_s05/2026_08_02-14_38_39--with_future_img--episode=1--success=True--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: True
+# episodes completed so far: 1
+# successes: 1 (100.0%)
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 2...
+Query 1/1: Action query time = 3.852 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4415
+t=10: Selected seed 195 with value = 0.4415
+Query 1/1: Action query time = 5.168 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5422
+t=26: Selected seed 195 with value = 0.5422
+Query 1/1: Action query time = 5.355 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6457
+t=42: Selected seed 195 with value = 0.6457
+Query 1/1: Action query time = 4.669 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6961
+t=58: Selected seed 195 with value = 0.6961
+Query 1/1: Action query time = 4.414 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8194
+t=74: Selected seed 195 with value = 0.8194
+Query 1/1: Action query time = 5.107 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9706
+t=90: Selected seed 195 with value = 0.9706
+Saved rollout MP4 at path ./rollouts/base40kRE_t2_s05/2026_08_02-14_38_39--with_future_img--episode=2--success=True--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: True
+# episodes completed so far: 2
+# successes: 2 (100.0%)
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 3...
+Query 1/1: Action query time = 3.536 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3147
+t=10: Selected seed 195 with value = 0.3147
+Query 1/1: Action query time = 4.959 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3396
+t=26: Selected seed 195 with value = 0.3396
+Query 1/1: Action query time = 5.041 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3977
+t=42: Selected seed 195 with value = 0.3977
+Query 1/1: Action query time = 4.034 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4651
+t=58: Selected seed 195 with value = 0.4651
+Query 1/1: Action query time = 5.629 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5427
+t=74: Selected seed 195 with value = 0.5427
+Query 1/1: Action query time = 3.225 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6034
+t=90: Selected seed 195 with value = 0.6034
+Query 1/1: Action query time = 2.776 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6592
+t=106: Selected seed 195 with value = 0.6592
+Query 1/1: Action query time = 2.317 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7622
+t=122: Selected seed 195 with value = 0.7622
+Query 1/1: Action query time = 3.092 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9982
+t=138: Selected seed 195 with value = 0.9982
+Saved rollout MP4 at path ./rollouts/base40kRE_t2_s05/2026_08_02-14_38_39--with_future_img--episode=3--success=True--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: True
+# episodes completed so far: 3
+# successes: 3 (100.0%)
+Current task success rate: 1.0
+Current total success rate: 1.0
+Final results:
+Total episodes: 3
+Total successes: 3
+Overall success rate: 1.0000 (100.0%)
diff --git a/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-14_38_39--base40kRE_t2_s07.txt b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-14_38_39--base40kRE_t2_s07.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0040160644fba38b40d8b9805d56247f7abba6ee
--- /dev/null
+++ b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-14_38_39--base40kRE_t2_s07.txt
@@ -0,0 +1,157 @@
+Eval config: PolicyEvalConfig(suite='libero', model_family='cosmos', config='cosmos_predict2_2b_480p_libero_cl_stage_inference_only', ckpt_path='/home/azureuser/REGEN-main/checkpoints/imaginaire4-output/cosmos_policy/cosmos_v2_finetune/cosmos_predict2_2b_480p_libero_goal_base_stage_3gpu_40k_save4k_20260726/checkpoints/iter_000040000/model', planning_model_config_name='', planning_model_ckpt_path='', config_file='cosmos_policy/config/config.py', packnet_mask_path='', packnet_first_cl_libero_task=6, use_third_person_image=True, num_third_person_images=1, use_wrist_image=True, num_wrist_images=1, use_proprio=True, flip_images=True, use_variance_scale=False, use_jpeg_compression=True, ar_future_prediction=False, ar_value_prediction=False, ar_qvalue_prediction=False, num_denoising_steps_action=5, num_denoising_steps_future_state=1, num_denoising_steps_value=1, unnormalize_actions=True, normalize_proprio=True, dataset_stats_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/libero_goal_regen/dataset_statistics.json', t5_text_embeddings_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/t5_embeddings.pkl', trained_with_image_aug=True, chunk_size=16, num_open_loop_steps=16, deterministic=True, deterministic_reset=False, deterministic_reset_seed=None, use_ensemble_future_state_predictions=False, num_future_state_predictions_in_ensemble=3, future_state_ensemble_aggregation_scheme='average', use_ensemble_value_predictions=False, num_value_predictions_in_ensemble=5, value_ensemble_aggregation_scheme='average', search_depth=1, mask_current_state_action_for_value_prediction=False, mask_future_state_for_qvalue_prediction=False, num_queries_best_of_n=1, use_parallel_inference=False, available_gpus='0', parallel_timeout=15, parallel_tasks_across_gpus=False, task_suite_name='libero_goal', num_trials_per_task=50, task_ids_to_run='2', initial_states_path='DEFAULT', env_img_res=256, local_log_dir='/home/azureuser/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal', run_id_note='base40kRE_t2_s07', use_wandb=False, wandb_entity='YOUR_ENTITY', wandb_project='YOUR_PROJECT', seed=195, randomize_seed=False, data_collection=False, jpeg_compress=True, reward_stop_threshold=None, reward_stop_consecutive_steps=3, use_gpt_reward=False, gpt_reward_model='gpt-5.4-mini', gpt_reward_stop_threshold=4, gpt_reward_timeout_s=30.0, save_rollout_video=False, eval_hdf5_path='', eval_hdf5_demo_key='demo_0', data_gen_demo_ids='', eval_episode_ids='7,23,39', replay_actions=False, replay_action_path_dir='', replay_hdf5_path='', data_generation=False, max_generation_steps=200, simple_task_max_steps=100, complex_task_max_steps=200)
+Using serial inference (parallel inference disabled)
+Task suite: libero_goal
+Number of tasks: 10
+Running only task IDs: [2]
+Using default initial states
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 1...
+Query 1/1: Action query time = 6.331 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3898
+t=10: Selected seed 195 with value = 0.3898
+Query 1/1: Action query time = 4.614 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4650
+t=26: Selected seed 195 with value = 0.4650
+Query 1/1: Action query time = 5.354 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5764
+t=42: Selected seed 195 with value = 0.5764
+Query 1/1: Action query time = 4.692 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5477
+t=58: Selected seed 195 with value = 0.5477
+Query 1/1: Action query time = 5.400 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5010
+t=74: Selected seed 195 with value = 0.5010
+Query 1/1: Action query time = 2.219 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5124
+t=90: Selected seed 195 with value = 0.5124
+Query 1/1: Action query time = 3.042 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4441
+t=106: Selected seed 195 with value = 0.4441
+Query 1/1: Action query time = 4.554 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4351
+t=122: Selected seed 195 with value = 0.4351
+Query 1/1: Action query time = 4.447 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4339
+t=138: Selected seed 195 with value = 0.4339
+Query 1/1: Action query time = 4.760 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4333
+t=154: Selected seed 195 with value = 0.4333
+Query 1/1: Action query time = 4.586 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4334
+t=170: Selected seed 195 with value = 0.4334
+Query 1/1: Action query time = 4.309 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4324
+t=186: Selected seed 195 with value = 0.4324
+Query 1/1: Action query time = 4.817 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4306
+t=202: Selected seed 195 with value = 0.4306
+Query 1/1: Action query time = 4.087 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4304
+t=218: Selected seed 195 with value = 0.4304
+Query 1/1: Action query time = 4.535 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4298
+t=234: Selected seed 195 with value = 0.4298
+Query 1/1: Action query time = 5.388 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4303
+t=250: Selected seed 195 with value = 0.4303
+Query 1/1: Action query time = 5.198 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4310
+t=266: Selected seed 195 with value = 0.4310
+Query 1/1: Action query time = 3.980 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4316
+t=282: Selected seed 195 with value = 0.4316
+Query 1/1: Action query time = 4.564 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4328
+t=298: Selected seed 195 with value = 0.4328
+Saved rollout MP4 at path ./rollouts/base40kRE_t2_s07/2026_08_02-14_38_39--with_future_img--episode=1--success=False--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: False
+# episodes completed so far: 1
+# successes: 0 (0.0%)
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 2...
+Query 1/1: Action query time = 2.372 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4134
+t=10: Selected seed 195 with value = 0.4134
+Query 1/1: Action query time = 3.180 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5258
+t=26: Selected seed 195 with value = 0.5258
+Query 1/1: Action query time = 2.275 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6206
+t=42: Selected seed 195 with value = 0.6206
+Query 1/1: Action query time = 2.113 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6730
+t=58: Selected seed 195 with value = 0.6730
+Query 1/1: Action query time = 1.209 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8234
+t=74: Selected seed 195 with value = 0.8234
+Query 1/1: Action query time = 1.262 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9699
+t=90: Selected seed 195 with value = 0.9699
+Saved rollout MP4 at path ./rollouts/base40kRE_t2_s07/2026_08_02-14_38_39--with_future_img--episode=2--success=True--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: True
+# episodes completed so far: 2
+# successes: 1 (50.0%)
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 3...
+Query 1/1: Action query time = 1.652 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3189
+t=10: Selected seed 195 with value = 0.3189
+Query 1/1: Action query time = 1.614 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4233
+t=26: Selected seed 195 with value = 0.4233
+Query 1/1: Action query time = 1.684 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4786
+t=42: Selected seed 195 with value = 0.4786
+Query 1/1: Action query time = 1.668 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6609
+t=58: Selected seed 195 with value = 0.6609
+Query 1/1: Action query time = 1.563 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7276
+t=74: Selected seed 195 with value = 0.7276
+Query 1/1: Action query time = 1.608 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8779
+t=90: Selected seed 195 with value = 0.8779
+Saved rollout MP4 at path ./rollouts/base40kRE_t2_s07/2026_08_02-14_38_39--with_future_img--episode=3--success=True--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: True
+# episodes completed so far: 3
+# successes: 2 (66.7%)
+Current task success rate: 0.6666666666666666
+Current total success rate: 0.6666666666666666
+Final results:
+Total episodes: 3
+Total successes: 2
+Overall success rate: 0.6667 (66.7%)
diff --git a/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-14_38_39--base40kRE_t2_s09.txt b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-14_38_39--base40kRE_t2_s09.txt
new file mode 100644
index 0000000000000000000000000000000000000000..2c10db3d49117c78bb2c55e9ebbbfd95903dc21b
--- /dev/null
+++ b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-14_38_39--base40kRE_t2_s09.txt
@@ -0,0 +1,105 @@
+Eval config: PolicyEvalConfig(suite='libero', model_family='cosmos', config='cosmos_predict2_2b_480p_libero_cl_stage_inference_only', ckpt_path='/home/azureuser/REGEN-main/checkpoints/imaginaire4-output/cosmos_policy/cosmos_v2_finetune/cosmos_predict2_2b_480p_libero_goal_base_stage_3gpu_40k_save4k_20260726/checkpoints/iter_000040000/model', planning_model_config_name='', planning_model_ckpt_path='', config_file='cosmos_policy/config/config.py', packnet_mask_path='', packnet_first_cl_libero_task=6, use_third_person_image=True, num_third_person_images=1, use_wrist_image=True, num_wrist_images=1, use_proprio=True, flip_images=True, use_variance_scale=False, use_jpeg_compression=True, ar_future_prediction=False, ar_value_prediction=False, ar_qvalue_prediction=False, num_denoising_steps_action=5, num_denoising_steps_future_state=1, num_denoising_steps_value=1, unnormalize_actions=True, normalize_proprio=True, dataset_stats_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/libero_goal_regen/dataset_statistics.json', t5_text_embeddings_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/t5_embeddings.pkl', trained_with_image_aug=True, chunk_size=16, num_open_loop_steps=16, deterministic=True, deterministic_reset=False, deterministic_reset_seed=None, use_ensemble_future_state_predictions=False, num_future_state_predictions_in_ensemble=3, future_state_ensemble_aggregation_scheme='average', use_ensemble_value_predictions=False, num_value_predictions_in_ensemble=5, value_ensemble_aggregation_scheme='average', search_depth=1, mask_current_state_action_for_value_prediction=False, mask_future_state_for_qvalue_prediction=False, num_queries_best_of_n=1, use_parallel_inference=False, available_gpus='0', parallel_timeout=15, parallel_tasks_across_gpus=False, task_suite_name='libero_goal', num_trials_per_task=50, task_ids_to_run='2', initial_states_path='DEFAULT', env_img_res=256, local_log_dir='/home/azureuser/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal', run_id_note='base40kRE_t2_s09', use_wandb=False, wandb_entity='YOUR_ENTITY', wandb_project='YOUR_PROJECT', seed=195, randomize_seed=False, data_collection=False, jpeg_compress=True, reward_stop_threshold=None, reward_stop_consecutive_steps=3, use_gpt_reward=False, gpt_reward_model='gpt-5.4-mini', gpt_reward_stop_threshold=4, gpt_reward_timeout_s=30.0, save_rollout_video=False, eval_hdf5_path='', eval_hdf5_demo_key='demo_0', data_gen_demo_ids='', eval_episode_ids='9,25,41', replay_actions=False, replay_action_path_dir='', replay_hdf5_path='', data_generation=False, max_generation_steps=200, simple_task_max_steps=100, complex_task_max_steps=200)
+Using serial inference (parallel inference disabled)
+Task suite: libero_goal
+Number of tasks: 10
+Running only task IDs: [2]
+Using default initial states
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 1...
+Query 1/1: Action query time = 4.664 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4191
+t=10: Selected seed 195 with value = 0.4191
+Query 1/1: Action query time = 5.343 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4901
+t=26: Selected seed 195 with value = 0.4901
+Query 1/1: Action query time = 5.137 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5870
+t=42: Selected seed 195 with value = 0.5870
+Query 1/1: Action query time = 5.149 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7126
+t=58: Selected seed 195 with value = 0.7126
+Query 1/1: Action query time = 4.436 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8192
+t=74: Selected seed 195 with value = 0.8192
+Query 1/1: Action query time = 4.313 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9916
+t=90: Selected seed 195 with value = 0.9916
+Saved rollout MP4 at path ./rollouts/base40kRE_t2_s09/2026_08_02-14_38_39--with_future_img--episode=1--success=True--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: True
+# episodes completed so far: 1
+# successes: 1 (100.0%)
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 2...
+Query 1/1: Action query time = 3.215 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4529
+t=10: Selected seed 195 with value = 0.4529
+Query 1/1: Action query time = 5.303 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5159
+t=26: Selected seed 195 with value = 0.5159
+Query 1/1: Action query time = 4.859 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5953
+t=42: Selected seed 195 with value = 0.5953
+Query 1/1: Action query time = 4.635 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7149
+t=58: Selected seed 195 with value = 0.7149
+Query 1/1: Action query time = 5.233 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8515
+t=74: Selected seed 195 with value = 0.8515
+Query 1/1: Action query time = 4.285 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9909
+t=90: Selected seed 195 with value = 0.9909
+Saved rollout MP4 at path ./rollouts/base40kRE_t2_s09/2026_08_02-14_38_39--with_future_img--episode=2--success=True--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: True
+# episodes completed so far: 2
+# successes: 2 (100.0%)
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 3...
+Query 1/1: Action query time = 4.710 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4132
+t=10: Selected seed 195 with value = 0.4132
+Query 1/1: Action query time = 4.787 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4826
+t=26: Selected seed 195 with value = 0.4826
+Query 1/1: Action query time = 4.688 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4988
+t=42: Selected seed 195 with value = 0.4988
+Query 1/1: Action query time = 3.790 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5721
+t=58: Selected seed 195 with value = 0.5721
+Query 1/1: Action query time = 4.494 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6697
+t=74: Selected seed 195 with value = 0.6697
+Query 1/1: Action query time = 3.982 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7917
+t=90: Selected seed 195 with value = 0.7917
+Saved rollout MP4 at path ./rollouts/base40kRE_t2_s09/2026_08_02-14_38_39--with_future_img--episode=3--success=True--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: True
+# episodes completed so far: 3
+# successes: 3 (100.0%)
+Current task success rate: 1.0
+Current total success rate: 1.0
+Final results:
+Total episodes: 3
+Total successes: 3
+Overall success rate: 1.0000 (100.0%)
diff --git a/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-14_38_40--base40kRE_t2_s10.txt b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-14_38_40--base40kRE_t2_s10.txt
new file mode 100644
index 0000000000000000000000000000000000000000..ee7db2ddcc8a1b09b62ac35df9a4097afc033f43
--- /dev/null
+++ b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-14_38_40--base40kRE_t2_s10.txt
@@ -0,0 +1,105 @@
+Eval config: PolicyEvalConfig(suite='libero', model_family='cosmos', config='cosmos_predict2_2b_480p_libero_cl_stage_inference_only', ckpt_path='/home/azureuser/REGEN-main/checkpoints/imaginaire4-output/cosmos_policy/cosmos_v2_finetune/cosmos_predict2_2b_480p_libero_goal_base_stage_3gpu_40k_save4k_20260726/checkpoints/iter_000040000/model', planning_model_config_name='', planning_model_ckpt_path='', config_file='cosmos_policy/config/config.py', packnet_mask_path='', packnet_first_cl_libero_task=6, use_third_person_image=True, num_third_person_images=1, use_wrist_image=True, num_wrist_images=1, use_proprio=True, flip_images=True, use_variance_scale=False, use_jpeg_compression=True, ar_future_prediction=False, ar_value_prediction=False, ar_qvalue_prediction=False, num_denoising_steps_action=5, num_denoising_steps_future_state=1, num_denoising_steps_value=1, unnormalize_actions=True, normalize_proprio=True, dataset_stats_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/libero_goal_regen/dataset_statistics.json', t5_text_embeddings_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/t5_embeddings.pkl', trained_with_image_aug=True, chunk_size=16, num_open_loop_steps=16, deterministic=True, deterministic_reset=False, deterministic_reset_seed=None, use_ensemble_future_state_predictions=False, num_future_state_predictions_in_ensemble=3, future_state_ensemble_aggregation_scheme='average', use_ensemble_value_predictions=False, num_value_predictions_in_ensemble=5, value_ensemble_aggregation_scheme='average', search_depth=1, mask_current_state_action_for_value_prediction=False, mask_future_state_for_qvalue_prediction=False, num_queries_best_of_n=1, use_parallel_inference=False, available_gpus='0', parallel_timeout=15, parallel_tasks_across_gpus=False, task_suite_name='libero_goal', num_trials_per_task=50, task_ids_to_run='2', initial_states_path='DEFAULT', env_img_res=256, local_log_dir='/home/azureuser/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal', run_id_note='base40kRE_t2_s10', use_wandb=False, wandb_entity='YOUR_ENTITY', wandb_project='YOUR_PROJECT', seed=195, randomize_seed=False, data_collection=False, jpeg_compress=True, reward_stop_threshold=None, reward_stop_consecutive_steps=3, use_gpt_reward=False, gpt_reward_model='gpt-5.4-mini', gpt_reward_stop_threshold=4, gpt_reward_timeout_s=30.0, save_rollout_video=False, eval_hdf5_path='', eval_hdf5_demo_key='demo_0', data_gen_demo_ids='', eval_episode_ids='10,26,42', replay_actions=False, replay_action_path_dir='', replay_hdf5_path='', data_generation=False, max_generation_steps=200, simple_task_max_steps=100, complex_task_max_steps=200)
+Using serial inference (parallel inference disabled)
+Task suite: libero_goal
+Number of tasks: 10
+Running only task IDs: [2]
+Using default initial states
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 1...
+Query 1/1: Action query time = 6.506 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4018
+t=10: Selected seed 195 with value = 0.4018
+Query 1/1: Action query time = 5.740 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4532
+t=26: Selected seed 195 with value = 0.4532
+Query 1/1: Action query time = 5.230 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5515
+t=42: Selected seed 195 with value = 0.5515
+Query 1/1: Action query time = 4.430 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6974
+t=58: Selected seed 195 with value = 0.6974
+Query 1/1: Action query time = 4.211 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8448
+t=74: Selected seed 195 with value = 0.8448
+Query 1/1: Action query time = 2.080 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9990
+t=90: Selected seed 195 with value = 0.9990
+Saved rollout MP4 at path ./rollouts/base40kRE_t2_s10/2026_08_02-14_38_40--with_future_img--episode=1--success=True--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: True
+# episodes completed so far: 1
+# successes: 1 (100.0%)
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 2...
+Query 1/1: Action query time = 5.216 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3088
+t=10: Selected seed 195 with value = 0.3088
+Query 1/1: Action query time = 4.713 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3577
+t=26: Selected seed 195 with value = 0.3577
+Query 1/1: Action query time = 5.267 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5225
+t=42: Selected seed 195 with value = 0.5225
+Query 1/1: Action query time = 5.312 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6401
+t=58: Selected seed 195 with value = 0.6401
+Query 1/1: Action query time = 4.101 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7829
+t=74: Selected seed 195 with value = 0.7829
+Query 1/1: Action query time = 3.164 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9400
+t=90: Selected seed 195 with value = 0.9400
+Saved rollout MP4 at path ./rollouts/base40kRE_t2_s10/2026_08_02-14_38_40--with_future_img--episode=2--success=True--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: True
+# episodes completed so far: 2
+# successes: 2 (100.0%)
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 3...
+Query 1/1: Action query time = 5.816 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3997
+t=10: Selected seed 195 with value = 0.3997
+Query 1/1: Action query time = 5.199 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4690
+t=26: Selected seed 195 with value = 0.4690
+Query 1/1: Action query time = 4.246 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5408
+t=42: Selected seed 195 with value = 0.5408
+Query 1/1: Action query time = 5.637 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6093
+t=58: Selected seed 195 with value = 0.6093
+Query 1/1: Action query time = 3.644 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6741
+t=74: Selected seed 195 with value = 0.6741
+Query 1/1: Action query time = 1.947 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7891
+t=90: Selected seed 195 with value = 0.7891
+Saved rollout MP4 at path ./rollouts/base40kRE_t2_s10/2026_08_02-14_38_40--with_future_img--episode=3--success=True--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: True
+# episodes completed so far: 3
+# successes: 3 (100.0%)
+Current task success rate: 1.0
+Current total success rate: 1.0
+Final results:
+Total episodes: 3
+Total successes: 3
+Overall success rate: 1.0000 (100.0%)
diff --git a/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-14_38_40--base40kRE_t2_s11.txt b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-14_38_40--base40kRE_t2_s11.txt
new file mode 100644
index 0000000000000000000000000000000000000000..78c565069bd5b0c95d5a1be41a3ff8869b54cf8b
--- /dev/null
+++ b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-14_38_40--base40kRE_t2_s11.txt
@@ -0,0 +1,101 @@
+Eval config: PolicyEvalConfig(suite='libero', model_family='cosmos', config='cosmos_predict2_2b_480p_libero_cl_stage_inference_only', ckpt_path='/home/azureuser/REGEN-main/checkpoints/imaginaire4-output/cosmos_policy/cosmos_v2_finetune/cosmos_predict2_2b_480p_libero_goal_base_stage_3gpu_40k_save4k_20260726/checkpoints/iter_000040000/model', planning_model_config_name='', planning_model_ckpt_path='', config_file='cosmos_policy/config/config.py', packnet_mask_path='', packnet_first_cl_libero_task=6, use_third_person_image=True, num_third_person_images=1, use_wrist_image=True, num_wrist_images=1, use_proprio=True, flip_images=True, use_variance_scale=False, use_jpeg_compression=True, ar_future_prediction=False, ar_value_prediction=False, ar_qvalue_prediction=False, num_denoising_steps_action=5, num_denoising_steps_future_state=1, num_denoising_steps_value=1, unnormalize_actions=True, normalize_proprio=True, dataset_stats_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/libero_goal_regen/dataset_statistics.json', t5_text_embeddings_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/t5_embeddings.pkl', trained_with_image_aug=True, chunk_size=16, num_open_loop_steps=16, deterministic=True, deterministic_reset=False, deterministic_reset_seed=None, use_ensemble_future_state_predictions=False, num_future_state_predictions_in_ensemble=3, future_state_ensemble_aggregation_scheme='average', use_ensemble_value_predictions=False, num_value_predictions_in_ensemble=5, value_ensemble_aggregation_scheme='average', search_depth=1, mask_current_state_action_for_value_prediction=False, mask_future_state_for_qvalue_prediction=False, num_queries_best_of_n=1, use_parallel_inference=False, available_gpus='0', parallel_timeout=15, parallel_tasks_across_gpus=False, task_suite_name='libero_goal', num_trials_per_task=50, task_ids_to_run='2', initial_states_path='DEFAULT', env_img_res=256, local_log_dir='/home/azureuser/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal', run_id_note='base40kRE_t2_s11', use_wandb=False, wandb_entity='YOUR_ENTITY', wandb_project='YOUR_PROJECT', seed=195, randomize_seed=False, data_collection=False, jpeg_compress=True, reward_stop_threshold=None, reward_stop_consecutive_steps=3, use_gpt_reward=False, gpt_reward_model='gpt-5.4-mini', gpt_reward_stop_threshold=4, gpt_reward_timeout_s=30.0, save_rollout_video=False, eval_hdf5_path='', eval_hdf5_demo_key='demo_0', data_gen_demo_ids='', eval_episode_ids='11,27,43', replay_actions=False, replay_action_path_dir='', replay_hdf5_path='', data_generation=False, max_generation_steps=200, simple_task_max_steps=100, complex_task_max_steps=200)
+Using serial inference (parallel inference disabled)
+Task suite: libero_goal
+Number of tasks: 10
+Running only task IDs: [2]
+Using default initial states
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 1...
+Query 1/1: Action query time = 4.340 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4466
+t=10: Selected seed 195 with value = 0.4466
+Query 1/1: Action query time = 5.510 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5431
+t=26: Selected seed 195 with value = 0.5431
+Query 1/1: Action query time = 5.687 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6430
+t=42: Selected seed 195 with value = 0.6430
+Query 1/1: Action query time = 4.984 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7538
+t=58: Selected seed 195 with value = 0.7538
+Query 1/1: Action query time = 5.339 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8942
+t=74: Selected seed 195 with value = 0.8942
+Saved rollout MP4 at path ./rollouts/base40kRE_t2_s11/2026_08_02-14_38_40--with_future_img--episode=1--success=True--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: True
+# episodes completed so far: 1
+# successes: 1 (100.0%)
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 2...
+Query 1/1: Action query time = 2.177 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4176
+t=10: Selected seed 195 with value = 0.4176
+Query 1/1: Action query time = 2.420 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5068
+t=26: Selected seed 195 with value = 0.5068
+Query 1/1: Action query time = 5.170 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5963
+t=42: Selected seed 195 with value = 0.5963
+Query 1/1: Action query time = 5.039 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7253
+t=58: Selected seed 195 with value = 0.7253
+Query 1/1: Action query time = 5.159 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8725
+t=74: Selected seed 195 with value = 0.8725
+Query 1/1: Action query time = 5.291 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9876
+t=90: Selected seed 195 with value = 0.9876
+Saved rollout MP4 at path ./rollouts/base40kRE_t2_s11/2026_08_02-14_38_40--with_future_img--episode=2--success=True--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: True
+# episodes completed so far: 2
+# successes: 2 (100.0%)
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 3...
+Query 1/1: Action query time = 3.200 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3488
+t=10: Selected seed 195 with value = 0.3488
+Query 1/1: Action query time = 3.847 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3801
+t=26: Selected seed 195 with value = 0.3801
+Query 1/1: Action query time = 4.857 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5315
+t=42: Selected seed 195 with value = 0.5315
+Query 1/1: Action query time = 4.801 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6347
+t=58: Selected seed 195 with value = 0.6347
+Query 1/1: Action query time = 4.633 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7983
+t=74: Selected seed 195 with value = 0.7983
+Query 1/1: Action query time = 4.845 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9620
+t=90: Selected seed 195 with value = 0.9620
+Saved rollout MP4 at path ./rollouts/base40kRE_t2_s11/2026_08_02-14_38_40--with_future_img--episode=3--success=True--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: True
+# episodes completed so far: 3
+# successes: 3 (100.0%)
+Current task success rate: 1.0
+Current total success rate: 1.0
+Final results:
+Total episodes: 3
+Total successes: 3
+Overall success rate: 1.0000 (100.0%)
diff --git a/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-14_41_32--base40kRE_t3_s05.txt b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-14_41_32--base40kRE_t3_s05.txt
new file mode 100644
index 0000000000000000000000000000000000000000..acd7a9210d2c9e1d82124b5a384a2be665a5b036
--- /dev/null
+++ b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-14_41_32--base40kRE_t3_s05.txt
@@ -0,0 +1,181 @@
+Eval config: PolicyEvalConfig(suite='libero', model_family='cosmos', config='cosmos_predict2_2b_480p_libero_cl_stage_inference_only', ckpt_path='/home/azureuser/REGEN-main/checkpoints/imaginaire4-output/cosmos_policy/cosmos_v2_finetune/cosmos_predict2_2b_480p_libero_goal_base_stage_3gpu_40k_save4k_20260726/checkpoints/iter_000040000/model', planning_model_config_name='', planning_model_ckpt_path='', config_file='cosmos_policy/config/config.py', packnet_mask_path='', packnet_first_cl_libero_task=6, use_third_person_image=True, num_third_person_images=1, use_wrist_image=True, num_wrist_images=1, use_proprio=True, flip_images=True, use_variance_scale=False, use_jpeg_compression=True, ar_future_prediction=False, ar_value_prediction=False, ar_qvalue_prediction=False, num_denoising_steps_action=5, num_denoising_steps_future_state=1, num_denoising_steps_value=1, unnormalize_actions=True, normalize_proprio=True, dataset_stats_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/libero_goal_regen/dataset_statistics.json', t5_text_embeddings_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/t5_embeddings.pkl', trained_with_image_aug=True, chunk_size=16, num_open_loop_steps=16, deterministic=True, deterministic_reset=False, deterministic_reset_seed=None, use_ensemble_future_state_predictions=False, num_future_state_predictions_in_ensemble=3, future_state_ensemble_aggregation_scheme='average', use_ensemble_value_predictions=False, num_value_predictions_in_ensemble=5, value_ensemble_aggregation_scheme='average', search_depth=1, mask_current_state_action_for_value_prediction=False, mask_future_state_for_qvalue_prediction=False, num_queries_best_of_n=1, use_parallel_inference=False, available_gpus='0', parallel_timeout=15, parallel_tasks_across_gpus=False, task_suite_name='libero_goal', num_trials_per_task=50, task_ids_to_run='3', initial_states_path='DEFAULT', env_img_res=256, local_log_dir='/home/azureuser/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal', run_id_note='base40kRE_t3_s05', use_wandb=False, wandb_entity='YOUR_ENTITY', wandb_project='YOUR_PROJECT', seed=195, randomize_seed=False, data_collection=False, jpeg_compress=True, reward_stop_threshold=None, reward_stop_consecutive_steps=3, use_gpt_reward=False, gpt_reward_model='gpt-5.4-mini', gpt_reward_stop_threshold=4, gpt_reward_timeout_s=30.0, save_rollout_video=False, eval_hdf5_path='', eval_hdf5_demo_key='demo_0', data_gen_demo_ids='', eval_episode_ids='5,21,37', replay_actions=False, replay_action_path_dir='', replay_hdf5_path='', data_generation=False, max_generation_steps=200, simple_task_max_steps=100, complex_task_max_steps=200)
+Using serial inference (parallel inference disabled)
+Task suite: libero_goal
+Number of tasks: 10
+Running only task IDs: [3]
+Using default initial states
+
+Task: open the top drawer and put the bowl inside
+Starting episode 1...
+Query 1/1: Action query time = 3.714 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.1331
+t=10: Selected seed 195 with value = 0.1331
+Query 1/1: Action query time = 5.058 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.1905
+t=26: Selected seed 195 with value = 0.1905
+Query 1/1: Action query time = 4.699 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2110
+t=42: Selected seed 195 with value = 0.2110
+Query 1/1: Action query time = 4.861 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2092
+t=58: Selected seed 195 with value = 0.2092
+Query 1/1: Action query time = 4.992 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2439
+t=74: Selected seed 195 with value = 0.2439
+Query 1/1: Action query time = 5.044 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3032
+t=90: Selected seed 195 with value = 0.3032
+Query 1/1: Action query time = 4.877 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3552
+t=106: Selected seed 195 with value = 0.3552
+Query 1/1: Action query time = 5.216 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4228
+t=122: Selected seed 195 with value = 0.4228
+Query 1/1: Action query time = 5.163 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5140
+t=138: Selected seed 195 with value = 0.5140
+Query 1/1: Action query time = 4.932 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5824
+t=154: Selected seed 195 with value = 0.5824
+Query 1/1: Action query time = 4.896 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7076
+t=170: Selected seed 195 with value = 0.7076
+Query 1/1: Action query time = 3.687 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7964
+t=186: Selected seed 195 with value = 0.7964
+Query 1/1: Action query time = 4.493 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9268
+t=202: Selected seed 195 with value = 0.9268
+Saved rollout MP4 at path ./rollouts/base40kRE_t3_s05/2026_08_02-14_41_32--with_future_img--episode=1--success=True--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: True
+# episodes completed so far: 1
+# successes: 1 (100.0%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 2...
+Query 1/1: Action query time = 5.437 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.1842
+t=10: Selected seed 195 with value = 0.1842
+Query 1/1: Action query time = 5.247 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.1845
+t=26: Selected seed 195 with value = 0.1845
+Query 1/1: Action query time = 5.568 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2022
+t=42: Selected seed 195 with value = 0.2022
+Query 1/1: Action query time = 5.662 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2436
+t=58: Selected seed 195 with value = 0.2436
+Query 1/1: Action query time = 3.712 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3059
+t=74: Selected seed 195 with value = 0.3059
+Query 1/1: Action query time = 2.717 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4020
+t=90: Selected seed 195 with value = 0.4020
+Query 1/1: Action query time = 5.193 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4638
+t=106: Selected seed 195 with value = 0.4638
+Query 1/1: Action query time = 5.043 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5768
+t=122: Selected seed 195 with value = 0.5768
+Query 1/1: Action query time = 4.746 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6568
+t=138: Selected seed 195 with value = 0.6568
+Query 1/1: Action query time = 3.774 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7073
+t=154: Selected seed 195 with value = 0.7073
+Query 1/1: Action query time = 4.909 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7749
+t=170: Selected seed 195 with value = 0.7749
+Query 1/1: Action query time = 3.977 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9261
+t=186: Selected seed 195 with value = 0.9261
+Saved rollout MP4 at path ./rollouts/base40kRE_t3_s05/2026_08_02-14_41_32--with_future_img--episode=2--success=True--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: True
+# episodes completed so far: 2
+# successes: 2 (100.0%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 3...
+Query 1/1: Action query time = 5.051 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.1486
+t=10: Selected seed 195 with value = 0.1486
+Query 1/1: Action query time = 5.213 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.1660
+t=26: Selected seed 195 with value = 0.1660
+Query 1/1: Action query time = 4.937 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.1768
+t=42: Selected seed 195 with value = 0.1768
+Query 1/1: Action query time = 4.842 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.1969
+t=58: Selected seed 195 with value = 0.1969
+Query 1/1: Action query time = 4.017 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2232
+t=74: Selected seed 195 with value = 0.2232
+Query 1/1: Action query time = 3.932 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3735
+t=90: Selected seed 195 with value = 0.3735
+Query 1/1: Action query time = 4.909 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4399
+t=106: Selected seed 195 with value = 0.4399
+Query 1/1: Action query time = 5.451 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5580
+t=122: Selected seed 195 with value = 0.5580
+Query 1/1: Action query time = 4.291 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6435
+t=138: Selected seed 195 with value = 0.6435
+Query 1/1: Action query time = 3.669 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7666
+t=154: Selected seed 195 with value = 0.7666
+Query 1/1: Action query time = 3.103 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8998
+t=170: Selected seed 195 with value = 0.8998
+Query 1/1: Action query time = 3.678 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=186: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/base40kRE_t3_s05/2026_08_02-14_41_32--with_future_img--episode=3--success=True--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: True
+# episodes completed so far: 3
+# successes: 3 (100.0%)
+Current task success rate: 1.0
+Current total success rate: 1.0
+Final results:
+Total episodes: 3
+Total successes: 3
+Overall success rate: 1.0000 (100.0%)
diff --git a/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-14_41_33--base40kRE_t3_s03.txt b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-14_41_33--base40kRE_t3_s03.txt
new file mode 100644
index 0000000000000000000000000000000000000000..28ce4063930ef7dfe99424bf716fd878123c6ca5
--- /dev/null
+++ b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-14_41_33--base40kRE_t3_s03.txt
@@ -0,0 +1,173 @@
+Eval config: PolicyEvalConfig(suite='libero', model_family='cosmos', config='cosmos_predict2_2b_480p_libero_cl_stage_inference_only', ckpt_path='/home/azureuser/REGEN-main/checkpoints/imaginaire4-output/cosmos_policy/cosmos_v2_finetune/cosmos_predict2_2b_480p_libero_goal_base_stage_3gpu_40k_save4k_20260726/checkpoints/iter_000040000/model', planning_model_config_name='', planning_model_ckpt_path='', config_file='cosmos_policy/config/config.py', packnet_mask_path='', packnet_first_cl_libero_task=6, use_third_person_image=True, num_third_person_images=1, use_wrist_image=True, num_wrist_images=1, use_proprio=True, flip_images=True, use_variance_scale=False, use_jpeg_compression=True, ar_future_prediction=False, ar_value_prediction=False, ar_qvalue_prediction=False, num_denoising_steps_action=5, num_denoising_steps_future_state=1, num_denoising_steps_value=1, unnormalize_actions=True, normalize_proprio=True, dataset_stats_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/libero_goal_regen/dataset_statistics.json', t5_text_embeddings_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/t5_embeddings.pkl', trained_with_image_aug=True, chunk_size=16, num_open_loop_steps=16, deterministic=True, deterministic_reset=False, deterministic_reset_seed=None, use_ensemble_future_state_predictions=False, num_future_state_predictions_in_ensemble=3, future_state_ensemble_aggregation_scheme='average', use_ensemble_value_predictions=False, num_value_predictions_in_ensemble=5, value_ensemble_aggregation_scheme='average', search_depth=1, mask_current_state_action_for_value_prediction=False, mask_future_state_for_qvalue_prediction=False, num_queries_best_of_n=1, use_parallel_inference=False, available_gpus='0', parallel_timeout=15, parallel_tasks_across_gpus=False, task_suite_name='libero_goal', num_trials_per_task=50, task_ids_to_run='3', initial_states_path='DEFAULT', env_img_res=256, local_log_dir='/home/azureuser/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal', run_id_note='base40kRE_t3_s03', use_wandb=False, wandb_entity='YOUR_ENTITY', wandb_project='YOUR_PROJECT', seed=195, randomize_seed=False, data_collection=False, jpeg_compress=True, reward_stop_threshold=None, reward_stop_consecutive_steps=3, use_gpt_reward=False, gpt_reward_model='gpt-5.4-mini', gpt_reward_stop_threshold=4, gpt_reward_timeout_s=30.0, save_rollout_video=False, eval_hdf5_path='', eval_hdf5_demo_key='demo_0', data_gen_demo_ids='', eval_episode_ids='3,19,35', replay_actions=False, replay_action_path_dir='', replay_hdf5_path='', data_generation=False, max_generation_steps=200, simple_task_max_steps=100, complex_task_max_steps=200)
+Using serial inference (parallel inference disabled)
+Task suite: libero_goal
+Number of tasks: 10
+Running only task IDs: [3]
+Using default initial states
+
+Task: open the top drawer and put the bowl inside
+Starting episode 1...
+Query 1/1: Action query time = 5.916 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.1501
+t=10: Selected seed 195 with value = 0.1501
+Query 1/1: Action query time = 4.562 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.1909
+t=26: Selected seed 195 with value = 0.1909
+Query 1/1: Action query time = 5.158 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2193
+t=42: Selected seed 195 with value = 0.2193
+Query 1/1: Action query time = 5.312 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2338
+t=58: Selected seed 195 with value = 0.2338
+Query 1/1: Action query time = 5.137 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3547
+t=74: Selected seed 195 with value = 0.3547
+Query 1/1: Action query time = 5.233 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4080
+t=90: Selected seed 195 with value = 0.4080
+Query 1/1: Action query time = 5.179 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4736
+t=106: Selected seed 195 with value = 0.4736
+Query 1/1: Action query time = 4.885 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4560
+t=122: Selected seed 195 with value = 0.4560
+Query 1/1: Action query time = 4.610 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5284
+t=138: Selected seed 195 with value = 0.5284
+Query 1/1: Action query time = 5.060 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6724
+t=154: Selected seed 195 with value = 0.6724
+Query 1/1: Action query time = 4.512 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7525
+t=170: Selected seed 195 with value = 0.7525
+Query 1/1: Action query time = 3.801 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9379
+t=186: Selected seed 195 with value = 0.9379
+Saved rollout MP4 at path ./rollouts/base40kRE_t3_s03/2026_08_02-14_41_33--with_future_img--episode=1--success=True--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: True
+# episodes completed so far: 1
+# successes: 1 (100.0%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 2...
+Query 1/1: Action query time = 4.385 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.1670
+t=10: Selected seed 195 with value = 0.1670
+Query 1/1: Action query time = 4.960 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.1999
+t=26: Selected seed 195 with value = 0.1999
+Query 1/1: Action query time = 4.756 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2339
+t=42: Selected seed 195 with value = 0.2339
+Query 1/1: Action query time = 4.841 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2443
+t=58: Selected seed 195 with value = 0.2443
+Query 1/1: Action query time = 5.083 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2867
+t=74: Selected seed 195 with value = 0.2867
+Query 1/1: Action query time = 3.747 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3556
+t=90: Selected seed 195 with value = 0.3556
+Query 1/1: Action query time = 2.520 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4020
+t=106: Selected seed 195 with value = 0.4020
+Query 1/1: Action query time = 5.001 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5343
+t=122: Selected seed 195 with value = 0.5343
+Query 1/1: Action query time = 5.064 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6163
+t=138: Selected seed 195 with value = 0.6163
+Query 1/1: Action query time = 5.005 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7112
+t=154: Selected seed 195 with value = 0.7112
+Query 1/1: Action query time = 3.737 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8284
+t=170: Selected seed 195 with value = 0.8284
+Query 1/1: Action query time = 5.451 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9741
+t=186: Selected seed 195 with value = 0.9741
+Saved rollout MP4 at path ./rollouts/base40kRE_t3_s03/2026_08_02-14_41_33--with_future_img--episode=2--success=True--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: True
+# episodes completed so far: 2
+# successes: 2 (100.0%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 3...
+Query 1/1: Action query time = 3.843 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.1793
+t=10: Selected seed 195 with value = 0.1793
+Query 1/1: Action query time = 4.983 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2075
+t=26: Selected seed 195 with value = 0.2075
+Query 1/1: Action query time = 4.864 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2563
+t=42: Selected seed 195 with value = 0.2563
+Query 1/1: Action query time = 4.943 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2941
+t=58: Selected seed 195 with value = 0.2941
+Query 1/1: Action query time = 4.930 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3363
+t=74: Selected seed 195 with value = 0.3363
+Query 1/1: Action query time = 4.370 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4038
+t=90: Selected seed 195 with value = 0.4038
+Query 1/1: Action query time = 4.231 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4757
+t=106: Selected seed 195 with value = 0.4757
+Query 1/1: Action query time = 5.096 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5637
+t=122: Selected seed 195 with value = 0.5637
+Query 1/1: Action query time = 4.965 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6193
+t=138: Selected seed 195 with value = 0.6193
+Query 1/1: Action query time = 4.727 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7651
+t=154: Selected seed 195 with value = 0.7651
+Query 1/1: Action query time = 4.224 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9020
+t=170: Selected seed 195 with value = 0.9020
+Saved rollout MP4 at path ./rollouts/base40kRE_t3_s03/2026_08_02-14_41_33--with_future_img--episode=3--success=True--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: True
+# episodes completed so far: 3
+# successes: 3 (100.0%)
+Current task success rate: 1.0
+Current total success rate: 1.0
+Final results:
+Total episodes: 3
+Total successes: 3
+Overall success rate: 1.0000 (100.0%)
diff --git a/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-14_41_33--base40kRE_t3_s06.txt b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-14_41_33--base40kRE_t3_s06.txt
new file mode 100644
index 0000000000000000000000000000000000000000..950af17cf93dcc8f4357b6ce86f50fa954ba35e4
--- /dev/null
+++ b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-14_41_33--base40kRE_t3_s06.txt
@@ -0,0 +1,233 @@
+Eval config: PolicyEvalConfig(suite='libero', model_family='cosmos', config='cosmos_predict2_2b_480p_libero_cl_stage_inference_only', ckpt_path='/home/azureuser/REGEN-main/checkpoints/imaginaire4-output/cosmos_policy/cosmos_v2_finetune/cosmos_predict2_2b_480p_libero_goal_base_stage_3gpu_40k_save4k_20260726/checkpoints/iter_000040000/model', planning_model_config_name='', planning_model_ckpt_path='', config_file='cosmos_policy/config/config.py', packnet_mask_path='', packnet_first_cl_libero_task=6, use_third_person_image=True, num_third_person_images=1, use_wrist_image=True, num_wrist_images=1, use_proprio=True, flip_images=True, use_variance_scale=False, use_jpeg_compression=True, ar_future_prediction=False, ar_value_prediction=False, ar_qvalue_prediction=False, num_denoising_steps_action=5, num_denoising_steps_future_state=1, num_denoising_steps_value=1, unnormalize_actions=True, normalize_proprio=True, dataset_stats_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/libero_goal_regen/dataset_statistics.json', t5_text_embeddings_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/t5_embeddings.pkl', trained_with_image_aug=True, chunk_size=16, num_open_loop_steps=16, deterministic=True, deterministic_reset=False, deterministic_reset_seed=None, use_ensemble_future_state_predictions=False, num_future_state_predictions_in_ensemble=3, future_state_ensemble_aggregation_scheme='average', use_ensemble_value_predictions=False, num_value_predictions_in_ensemble=5, value_ensemble_aggregation_scheme='average', search_depth=1, mask_current_state_action_for_value_prediction=False, mask_future_state_for_qvalue_prediction=False, num_queries_best_of_n=1, use_parallel_inference=False, available_gpus='0', parallel_timeout=15, parallel_tasks_across_gpus=False, task_suite_name='libero_goal', num_trials_per_task=50, task_ids_to_run='3', initial_states_path='DEFAULT', env_img_res=256, local_log_dir='/home/azureuser/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal', run_id_note='base40kRE_t3_s06', use_wandb=False, wandb_entity='YOUR_ENTITY', wandb_project='YOUR_PROJECT', seed=195, randomize_seed=False, data_collection=False, jpeg_compress=True, reward_stop_threshold=None, reward_stop_consecutive_steps=3, use_gpt_reward=False, gpt_reward_model='gpt-5.4-mini', gpt_reward_stop_threshold=4, gpt_reward_timeout_s=30.0, save_rollout_video=False, eval_hdf5_path='', eval_hdf5_demo_key='demo_0', data_gen_demo_ids='', eval_episode_ids='6,22,38', replay_actions=False, replay_action_path_dir='', replay_hdf5_path='', data_generation=False, max_generation_steps=200, simple_task_max_steps=100, complex_task_max_steps=200)
+Using serial inference (parallel inference disabled)
+Task suite: libero_goal
+Number of tasks: 10
+Running only task IDs: [3]
+Using default initial states
+
+Task: open the top drawer and put the bowl inside
+Starting episode 1...
+Query 1/1: Action query time = 3.529 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.1916
+t=10: Selected seed 195 with value = 0.1916
+Query 1/1: Action query time = 4.623 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2171
+t=26: Selected seed 195 with value = 0.2171
+Query 1/1: Action query time = 4.505 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2475
+t=42: Selected seed 195 with value = 0.2475
+Query 1/1: Action query time = 5.293 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2690
+t=58: Selected seed 195 with value = 0.2690
+Query 1/1: Action query time = 4.885 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3431
+t=74: Selected seed 195 with value = 0.3431
+Query 1/1: Action query time = 5.000 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4268
+t=90: Selected seed 195 with value = 0.4268
+Query 1/1: Action query time = 4.916 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5209
+t=106: Selected seed 195 with value = 0.5209
+Query 1/1: Action query time = 4.813 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6008
+t=122: Selected seed 195 with value = 0.6008
+Query 1/1: Action query time = 4.674 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7365
+t=138: Selected seed 195 with value = 0.7365
+Query 1/1: Action query time = 4.679 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8284
+t=154: Selected seed 195 with value = 0.8284
+Query 1/1: Action query time = 5.407 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9019
+t=170: Selected seed 195 with value = 0.9019
+Query 1/1: Action query time = 4.830 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2113
+t=186: Selected seed 195 with value = 0.2113
+Query 1/1: Action query time = 3.226 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2625
+t=202: Selected seed 195 with value = 0.2625
+Query 1/1: Action query time = 3.993 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2821
+t=218: Selected seed 195 with value = 0.2821
+Query 1/1: Action query time = 4.010 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2949
+t=234: Selected seed 195 with value = 0.2949
+Query 1/1: Action query time = 5.473 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3022
+t=250: Selected seed 195 with value = 0.3022
+Query 1/1: Action query time = 5.165 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3164
+t=266: Selected seed 195 with value = 0.3164
+Query 1/1: Action query time = 5.440 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3312
+t=282: Selected seed 195 with value = 0.3312
+Query 1/1: Action query time = 5.004 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3492
+t=298: Selected seed 195 with value = 0.3492
+Saved rollout MP4 at path ./rollouts/base40kRE_t3_s06/2026_08_02-14_41_33--with_future_img--episode=1--success=False--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: False
+# episodes completed so far: 1
+# successes: 0 (0.0%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 2...
+Query 1/1: Action query time = 4.480 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.1705
+t=10: Selected seed 195 with value = 0.1705
+Query 1/1: Action query time = 4.951 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2091
+t=26: Selected seed 195 with value = 0.2091
+Query 1/1: Action query time = 4.730 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2247
+t=42: Selected seed 195 with value = 0.2247
+Query 1/1: Action query time = 4.101 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2422
+t=58: Selected seed 195 with value = 0.2422
+Query 1/1: Action query time = 3.758 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2087
+t=74: Selected seed 195 with value = 0.2087
+Query 1/1: Action query time = 4.665 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3632
+t=90: Selected seed 195 with value = 0.3632
+Query 1/1: Action query time = 3.048 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4710
+t=106: Selected seed 195 with value = 0.4710
+Query 1/1: Action query time = 3.660 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5529
+t=122: Selected seed 195 with value = 0.5529
+Query 1/1: Action query time = 4.685 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6271
+t=138: Selected seed 195 with value = 0.6271
+Query 1/1: Action query time = 4.862 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7506
+t=154: Selected seed 195 with value = 0.7506
+Query 1/1: Action query time = 4.972 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9016
+t=170: Selected seed 195 with value = 0.9016
+Query 1/1: Action query time = 5.032 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=186: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/base40kRE_t3_s06/2026_08_02-14_41_33--with_future_img--episode=2--success=True--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: True
+# episodes completed so far: 2
+# successes: 1 (50.0%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 3...
+Query 1/1: Action query time = 3.986 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.1795
+t=10: Selected seed 195 with value = 0.1795
+Query 1/1: Action query time = 4.240 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.1647
+t=26: Selected seed 195 with value = 0.1647
+Query 1/1: Action query time = 4.373 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2052
+t=42: Selected seed 195 with value = 0.2052
+Query 1/1: Action query time = 4.767 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.1680
+t=58: Selected seed 195 with value = 0.1680
+Query 1/1: Action query time = 4.142 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2568
+t=74: Selected seed 195 with value = 0.2568
+Query 1/1: Action query time = 3.260 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2107
+t=90: Selected seed 195 with value = 0.2107
+Query 1/1: Action query time = 4.367 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2702
+t=106: Selected seed 195 with value = 0.2702
+Query 1/1: Action query time = 3.309 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5247
+t=122: Selected seed 195 with value = 0.5247
+Query 1/1: Action query time = 3.025 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4642
+t=138: Selected seed 195 with value = 0.4642
+Query 1/1: Action query time = 2.510 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7277
+t=154: Selected seed 195 with value = 0.7277
+Query 1/1: Action query time = 1.854 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8120
+t=170: Selected seed 195 with value = 0.8120
+Query 1/1: Action query time = 2.116 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8234
+t=186: Selected seed 195 with value = 0.8234
+Query 1/1: Action query time = 2.528 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2745
+t=202: Selected seed 195 with value = 0.2745
+Query 1/1: Action query time = 2.295 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2427
+t=218: Selected seed 195 with value = 0.2427
+Query 1/1: Action query time = 2.272 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2462
+t=234: Selected seed 195 with value = 0.2462
+Query 1/1: Action query time = 2.180 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2470
+t=250: Selected seed 195 with value = 0.2470
+Query 1/1: Action query time = 1.999 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2487
+t=266: Selected seed 195 with value = 0.2487
+Query 1/1: Action query time = 1.735 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2499
+t=282: Selected seed 195 with value = 0.2499
+Query 1/1: Action query time = 1.775 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2505
+t=298: Selected seed 195 with value = 0.2505
+Saved rollout MP4 at path ./rollouts/base40kRE_t3_s06/2026_08_02-14_41_33--with_future_img--episode=3--success=False--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: False
+# episodes completed so far: 3
+# successes: 1 (33.3%)
+Current task success rate: 0.3333333333333333
+Current total success rate: 0.3333333333333333
+Final results:
+Total episodes: 3
+Total successes: 1
+Overall success rate: 0.3333 (33.3%)
diff --git a/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-14_41_33--base40kRE_t3_s08.txt b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-14_41_33--base40kRE_t3_s08.txt
new file mode 100644
index 0000000000000000000000000000000000000000..d6d467f2027cf77f913ccb480a012db66e80c9ca
--- /dev/null
+++ b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-14_41_33--base40kRE_t3_s08.txt
@@ -0,0 +1,177 @@
+Eval config: PolicyEvalConfig(suite='libero', model_family='cosmos', config='cosmos_predict2_2b_480p_libero_cl_stage_inference_only', ckpt_path='/home/azureuser/REGEN-main/checkpoints/imaginaire4-output/cosmos_policy/cosmos_v2_finetune/cosmos_predict2_2b_480p_libero_goal_base_stage_3gpu_40k_save4k_20260726/checkpoints/iter_000040000/model', planning_model_config_name='', planning_model_ckpt_path='', config_file='cosmos_policy/config/config.py', packnet_mask_path='', packnet_first_cl_libero_task=6, use_third_person_image=True, num_third_person_images=1, use_wrist_image=True, num_wrist_images=1, use_proprio=True, flip_images=True, use_variance_scale=False, use_jpeg_compression=True, ar_future_prediction=False, ar_value_prediction=False, ar_qvalue_prediction=False, num_denoising_steps_action=5, num_denoising_steps_future_state=1, num_denoising_steps_value=1, unnormalize_actions=True, normalize_proprio=True, dataset_stats_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/libero_goal_regen/dataset_statistics.json', t5_text_embeddings_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/t5_embeddings.pkl', trained_with_image_aug=True, chunk_size=16, num_open_loop_steps=16, deterministic=True, deterministic_reset=False, deterministic_reset_seed=None, use_ensemble_future_state_predictions=False, num_future_state_predictions_in_ensemble=3, future_state_ensemble_aggregation_scheme='average', use_ensemble_value_predictions=False, num_value_predictions_in_ensemble=5, value_ensemble_aggregation_scheme='average', search_depth=1, mask_current_state_action_for_value_prediction=False, mask_future_state_for_qvalue_prediction=False, num_queries_best_of_n=1, use_parallel_inference=False, available_gpus='0', parallel_timeout=15, parallel_tasks_across_gpus=False, task_suite_name='libero_goal', num_trials_per_task=50, task_ids_to_run='3', initial_states_path='DEFAULT', env_img_res=256, local_log_dir='/home/azureuser/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal', run_id_note='base40kRE_t3_s08', use_wandb=False, wandb_entity='YOUR_ENTITY', wandb_project='YOUR_PROJECT', seed=195, randomize_seed=False, data_collection=False, jpeg_compress=True, reward_stop_threshold=None, reward_stop_consecutive_steps=3, use_gpt_reward=False, gpt_reward_model='gpt-5.4-mini', gpt_reward_stop_threshold=4, gpt_reward_timeout_s=30.0, save_rollout_video=False, eval_hdf5_path='', eval_hdf5_demo_key='demo_0', data_gen_demo_ids='', eval_episode_ids='8,24,40', replay_actions=False, replay_action_path_dir='', replay_hdf5_path='', data_generation=False, max_generation_steps=200, simple_task_max_steps=100, complex_task_max_steps=200)
+Using serial inference (parallel inference disabled)
+Task suite: libero_goal
+Number of tasks: 10
+Running only task IDs: [3]
+Using default initial states
+
+Task: open the top drawer and put the bowl inside
+Starting episode 1...
+Query 1/1: Action query time = 3.279 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2107
+t=10: Selected seed 195 with value = 0.2107
+Query 1/1: Action query time = 5.430 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2306
+t=26: Selected seed 195 with value = 0.2306
+Query 1/1: Action query time = 5.794 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2400
+t=42: Selected seed 195 with value = 0.2400
+Query 1/1: Action query time = 5.018 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2828
+t=58: Selected seed 195 with value = 0.2828
+Query 1/1: Action query time = 4.553 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3196
+t=74: Selected seed 195 with value = 0.3196
+Query 1/1: Action query time = 4.831 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2981
+t=90: Selected seed 195 with value = 0.2981
+Query 1/1: Action query time = 4.862 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3174
+t=106: Selected seed 195 with value = 0.3174
+Query 1/1: Action query time = 5.223 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3589
+t=122: Selected seed 195 with value = 0.3589
+Query 1/1: Action query time = 5.458 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3940
+t=138: Selected seed 195 with value = 0.3940
+Query 1/1: Action query time = 5.453 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5796
+t=154: Selected seed 195 with value = 0.5796
+Query 1/1: Action query time = 4.788 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6709
+t=170: Selected seed 195 with value = 0.6709
+Query 1/1: Action query time = 3.626 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7992
+t=186: Selected seed 195 with value = 0.7992
+Query 1/1: Action query time = 4.277 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9375
+t=202: Selected seed 195 with value = 0.9375
+Saved rollout MP4 at path ./rollouts/base40kRE_t3_s08/2026_08_02-14_41_33--with_future_img--episode=1--success=True--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: True
+# episodes completed so far: 1
+# successes: 1 (100.0%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 2...
+Query 1/1: Action query time = 5.310 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.1701
+t=10: Selected seed 195 with value = 0.1701
+Query 1/1: Action query time = 4.779 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.1949
+t=26: Selected seed 195 with value = 0.1949
+Query 1/1: Action query time = 4.949 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2319
+t=42: Selected seed 195 with value = 0.2319
+Query 1/1: Action query time = 5.277 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2498
+t=58: Selected seed 195 with value = 0.2498
+Query 1/1: Action query time = 4.071 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3452
+t=74: Selected seed 195 with value = 0.3452
+Query 1/1: Action query time = 2.929 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4049
+t=90: Selected seed 195 with value = 0.4049
+Query 1/1: Action query time = 4.693 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4796
+t=106: Selected seed 195 with value = 0.4796
+Query 1/1: Action query time = 5.249 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5488
+t=122: Selected seed 195 with value = 0.5488
+Query 1/1: Action query time = 5.000 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6288
+t=138: Selected seed 195 with value = 0.6288
+Query 1/1: Action query time = 4.209 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7816
+t=154: Selected seed 195 with value = 0.7816
+Query 1/1: Action query time = 4.542 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9429
+t=170: Selected seed 195 with value = 0.9429
+Saved rollout MP4 at path ./rollouts/base40kRE_t3_s08/2026_08_02-14_41_33--with_future_img--episode=2--success=True--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: True
+# episodes completed so far: 2
+# successes: 2 (100.0%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 3...
+Query 1/1: Action query time = 4.934 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.1772
+t=10: Selected seed 195 with value = 0.1772
+Query 1/1: Action query time = 5.039 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.1551
+t=26: Selected seed 195 with value = 0.1551
+Query 1/1: Action query time = 4.652 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.1638
+t=42: Selected seed 195 with value = 0.1638
+Query 1/1: Action query time = 5.236 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2701
+t=58: Selected seed 195 with value = 0.2701
+Query 1/1: Action query time = 4.896 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2729
+t=74: Selected seed 195 with value = 0.2729
+Query 1/1: Action query time = 3.520 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2370
+t=90: Selected seed 195 with value = 0.2370
+Query 1/1: Action query time = 4.432 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4272
+t=106: Selected seed 195 with value = 0.4272
+Query 1/1: Action query time = 4.269 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4649
+t=122: Selected seed 195 with value = 0.4649
+Query 1/1: Action query time = 4.624 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5907
+t=138: Selected seed 195 with value = 0.5907
+Query 1/1: Action query time = 4.361 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6616
+t=154: Selected seed 195 with value = 0.6616
+Query 1/1: Action query time = 4.157 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8005
+t=170: Selected seed 195 with value = 0.8005
+Query 1/1: Action query time = 3.172 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9580
+t=186: Selected seed 195 with value = 0.9580
+Saved rollout MP4 at path ./rollouts/base40kRE_t3_s08/2026_08_02-14_41_33--with_future_img--episode=3--success=True--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: True
+# episodes completed so far: 3
+# successes: 3 (100.0%)
+Current task success rate: 1.0
+Current total success rate: 1.0
+Final results:
+Total episodes: 3
+Total successes: 3
+Overall success rate: 1.0000 (100.0%)
diff --git a/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-14_41_33--base40kRE_t3_s13.txt b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-14_41_33--base40kRE_t3_s13.txt
new file mode 100644
index 0000000000000000000000000000000000000000..5f4ea6a35f22fc5dc72f0b101acf50e7d162d379
--- /dev/null
+++ b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-14_41_33--base40kRE_t3_s13.txt
@@ -0,0 +1,213 @@
+Eval config: PolicyEvalConfig(suite='libero', model_family='cosmos', config='cosmos_predict2_2b_480p_libero_cl_stage_inference_only', ckpt_path='/home/azureuser/REGEN-main/checkpoints/imaginaire4-output/cosmos_policy/cosmos_v2_finetune/cosmos_predict2_2b_480p_libero_goal_base_stage_3gpu_40k_save4k_20260726/checkpoints/iter_000040000/model', planning_model_config_name='', planning_model_ckpt_path='', config_file='cosmos_policy/config/config.py', packnet_mask_path='', packnet_first_cl_libero_task=6, use_third_person_image=True, num_third_person_images=1, use_wrist_image=True, num_wrist_images=1, use_proprio=True, flip_images=True, use_variance_scale=False, use_jpeg_compression=True, ar_future_prediction=False, ar_value_prediction=False, ar_qvalue_prediction=False, num_denoising_steps_action=5, num_denoising_steps_future_state=1, num_denoising_steps_value=1, unnormalize_actions=True, normalize_proprio=True, dataset_stats_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/libero_goal_regen/dataset_statistics.json', t5_text_embeddings_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/t5_embeddings.pkl', trained_with_image_aug=True, chunk_size=16, num_open_loop_steps=16, deterministic=True, deterministic_reset=False, deterministic_reset_seed=None, use_ensemble_future_state_predictions=False, num_future_state_predictions_in_ensemble=3, future_state_ensemble_aggregation_scheme='average', use_ensemble_value_predictions=False, num_value_predictions_in_ensemble=5, value_ensemble_aggregation_scheme='average', search_depth=1, mask_current_state_action_for_value_prediction=False, mask_future_state_for_qvalue_prediction=False, num_queries_best_of_n=1, use_parallel_inference=False, available_gpus='0', parallel_timeout=15, parallel_tasks_across_gpus=False, task_suite_name='libero_goal', num_trials_per_task=50, task_ids_to_run='3', initial_states_path='DEFAULT', env_img_res=256, local_log_dir='/home/azureuser/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal', run_id_note='base40kRE_t3_s13', use_wandb=False, wandb_entity='YOUR_ENTITY', wandb_project='YOUR_PROJECT', seed=195, randomize_seed=False, data_collection=False, jpeg_compress=True, reward_stop_threshold=None, reward_stop_consecutive_steps=3, use_gpt_reward=False, gpt_reward_model='gpt-5.4-mini', gpt_reward_stop_threshold=4, gpt_reward_timeout_s=30.0, save_rollout_video=False, eval_hdf5_path='', eval_hdf5_demo_key='demo_0', data_gen_demo_ids='', eval_episode_ids='13,29,45', replay_actions=False, replay_action_path_dir='', replay_hdf5_path='', data_generation=False, max_generation_steps=200, simple_task_max_steps=100, complex_task_max_steps=200)
+Using serial inference (parallel inference disabled)
+Task suite: libero_goal
+Number of tasks: 10
+Running only task IDs: [3]
+Using default initial states
+
+Task: open the top drawer and put the bowl inside
+Starting episode 1...
+Query 1/1: Action query time = 7.101 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.1211
+t=10: Selected seed 195 with value = 0.1211
+Query 1/1: Action query time = 5.575 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.1912
+t=26: Selected seed 195 with value = 0.1912
+Query 1/1: Action query time = 5.131 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2377
+t=42: Selected seed 195 with value = 0.2377
+Query 1/1: Action query time = 4.750 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2476
+t=58: Selected seed 195 with value = 0.2476
+Query 1/1: Action query time = 4.846 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3217
+t=74: Selected seed 195 with value = 0.3217
+Query 1/1: Action query time = 4.837 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4177
+t=90: Selected seed 195 with value = 0.4177
+Query 1/1: Action query time = 4.897 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4878
+t=106: Selected seed 195 with value = 0.4878
+Query 1/1: Action query time = 5.430 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5400
+t=122: Selected seed 195 with value = 0.5400
+Query 1/1: Action query time = 5.550 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6499
+t=138: Selected seed 195 with value = 0.6499
+Query 1/1: Action query time = 4.701 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7103
+t=154: Selected seed 195 with value = 0.7103
+Query 1/1: Action query time = 3.425 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8249
+t=170: Selected seed 195 with value = 0.8249
+Query 1/1: Action query time = 4.373 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9880
+t=186: Selected seed 195 with value = 0.9880
+Saved rollout MP4 at path ./rollouts/base40kRE_t3_s13/2026_08_02-14_41_33--with_future_img--episode=1--success=True--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: True
+# episodes completed so far: 1
+# successes: 1 (100.0%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 2...
+Query 1/1: Action query time = 5.382 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.1682
+t=10: Selected seed 195 with value = 0.1682
+Query 1/1: Action query time = 4.783 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2062
+t=26: Selected seed 195 with value = 0.2062
+Query 1/1: Action query time = 5.021 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2006
+t=42: Selected seed 195 with value = 0.2006
+Query 1/1: Action query time = 5.260 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2572
+t=58: Selected seed 195 with value = 0.2572
+Query 1/1: Action query time = 3.988 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2473
+t=74: Selected seed 195 with value = 0.2473
+Query 1/1: Action query time = 3.905 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3726
+t=90: Selected seed 195 with value = 0.3726
+Query 1/1: Action query time = 4.528 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4643
+t=106: Selected seed 195 with value = 0.4643
+Query 1/1: Action query time = 4.745 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5357
+t=122: Selected seed 195 with value = 0.5357
+Query 1/1: Action query time = 4.983 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5904
+t=138: Selected seed 195 with value = 0.5904
+Query 1/1: Action query time = 5.097 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7571
+t=154: Selected seed 195 with value = 0.7571
+Query 1/1: Action query time = 4.664 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8780
+t=170: Selected seed 195 with value = 0.8780
+Query 1/1: Action query time = 4.086 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8624
+t=186: Selected seed 195 with value = 0.8624
+Query 1/1: Action query time = 4.770 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2276
+t=202: Selected seed 195 with value = 0.2276
+Query 1/1: Action query time = 4.877 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2728
+t=218: Selected seed 195 with value = 0.2728
+Query 1/1: Action query time = 4.532 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2963
+t=234: Selected seed 195 with value = 0.2963
+Query 1/1: Action query time = 5.301 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2969
+t=250: Selected seed 195 with value = 0.2969
+Query 1/1: Action query time = 5.163 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2954
+t=266: Selected seed 195 with value = 0.2954
+Query 1/1: Action query time = 3.417 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3139
+t=282: Selected seed 195 with value = 0.3139
+Query 1/1: Action query time = 4.088 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3190
+t=298: Selected seed 195 with value = 0.3190
+Saved rollout MP4 at path ./rollouts/base40kRE_t3_s13/2026_08_02-14_41_33--with_future_img--episode=2--success=False--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: False
+# episodes completed so far: 2
+# successes: 1 (50.0%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 3...
+Query 1/1: Action query time = 4.291 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.1513
+t=10: Selected seed 195 with value = 0.1513
+Query 1/1: Action query time = 4.324 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.1977
+t=26: Selected seed 195 with value = 0.1977
+Query 1/1: Action query time = 2.615 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2344
+t=42: Selected seed 195 with value = 0.2344
+Query 1/1: Action query time = 3.163 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2845
+t=58: Selected seed 195 with value = 0.2845
+Query 1/1: Action query time = 2.231 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3410
+t=74: Selected seed 195 with value = 0.3410
+Query 1/1: Action query time = 2.362 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4028
+t=90: Selected seed 195 with value = 0.4028
+Query 1/1: Action query time = 2.281 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4663
+t=106: Selected seed 195 with value = 0.4663
+Query 1/1: Action query time = 2.011 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5453
+t=122: Selected seed 195 with value = 0.5453
+Query 1/1: Action query time = 1.414 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6254
+t=138: Selected seed 195 with value = 0.6254
+Query 1/1: Action query time = 1.734 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7122
+t=154: Selected seed 195 with value = 0.7122
+Query 1/1: Action query time = 0.980 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6544
+t=170: Selected seed 195 with value = 0.6544
+Query 1/1: Action query time = 1.538 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7470
+t=186: Selected seed 195 with value = 0.7470
+Query 1/1: Action query time = 0.974 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8529
+t=202: Selected seed 195 with value = 0.8529
+Query 1/1: Action query time = 1.029 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9868
+t=218: Selected seed 195 with value = 0.9868
+Saved rollout MP4 at path ./rollouts/base40kRE_t3_s13/2026_08_02-14_41_33--with_future_img--episode=3--success=True--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: True
+# episodes completed so far: 3
+# successes: 2 (66.7%)
+Current task success rate: 0.6666666666666666
+Current total success rate: 0.6666666666666666
+Final results:
+Total episodes: 3
+Total successes: 2
+Overall success rate: 0.6667 (66.7%)
diff --git a/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-14_41_34--base40kRE_t3_s12.txt b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-14_41_34--base40kRE_t3_s12.txt
new file mode 100644
index 0000000000000000000000000000000000000000..5d8861f14a7de568cd27dedbfa76eede934870e9
--- /dev/null
+++ b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-14_41_34--base40kRE_t3_s12.txt
@@ -0,0 +1,185 @@
+Eval config: PolicyEvalConfig(suite='libero', model_family='cosmos', config='cosmos_predict2_2b_480p_libero_cl_stage_inference_only', ckpt_path='/home/azureuser/REGEN-main/checkpoints/imaginaire4-output/cosmos_policy/cosmos_v2_finetune/cosmos_predict2_2b_480p_libero_goal_base_stage_3gpu_40k_save4k_20260726/checkpoints/iter_000040000/model', planning_model_config_name='', planning_model_ckpt_path='', config_file='cosmos_policy/config/config.py', packnet_mask_path='', packnet_first_cl_libero_task=6, use_third_person_image=True, num_third_person_images=1, use_wrist_image=True, num_wrist_images=1, use_proprio=True, flip_images=True, use_variance_scale=False, use_jpeg_compression=True, ar_future_prediction=False, ar_value_prediction=False, ar_qvalue_prediction=False, num_denoising_steps_action=5, num_denoising_steps_future_state=1, num_denoising_steps_value=1, unnormalize_actions=True, normalize_proprio=True, dataset_stats_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/libero_goal_regen/dataset_statistics.json', t5_text_embeddings_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/t5_embeddings.pkl', trained_with_image_aug=True, chunk_size=16, num_open_loop_steps=16, deterministic=True, deterministic_reset=False, deterministic_reset_seed=None, use_ensemble_future_state_predictions=False, num_future_state_predictions_in_ensemble=3, future_state_ensemble_aggregation_scheme='average', use_ensemble_value_predictions=False, num_value_predictions_in_ensemble=5, value_ensemble_aggregation_scheme='average', search_depth=1, mask_current_state_action_for_value_prediction=False, mask_future_state_for_qvalue_prediction=False, num_queries_best_of_n=1, use_parallel_inference=False, available_gpus='0', parallel_timeout=15, parallel_tasks_across_gpus=False, task_suite_name='libero_goal', num_trials_per_task=50, task_ids_to_run='3', initial_states_path='DEFAULT', env_img_res=256, local_log_dir='/home/azureuser/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal', run_id_note='base40kRE_t3_s12', use_wandb=False, wandb_entity='YOUR_ENTITY', wandb_project='YOUR_PROJECT', seed=195, randomize_seed=False, data_collection=False, jpeg_compress=True, reward_stop_threshold=None, reward_stop_consecutive_steps=3, use_gpt_reward=False, gpt_reward_model='gpt-5.4-mini', gpt_reward_stop_threshold=4, gpt_reward_timeout_s=30.0, save_rollout_video=False, eval_hdf5_path='', eval_hdf5_demo_key='demo_0', data_gen_demo_ids='', eval_episode_ids='12,28,44', replay_actions=False, replay_action_path_dir='', replay_hdf5_path='', data_generation=False, max_generation_steps=200, simple_task_max_steps=100, complex_task_max_steps=200)
+Using serial inference (parallel inference disabled)
+Task suite: libero_goal
+Number of tasks: 10
+Running only task IDs: [3]
+Using default initial states
+
+Task: open the top drawer and put the bowl inside
+Starting episode 1...
+Query 1/1: Action query time = 5.549 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.1994
+t=10: Selected seed 195 with value = 0.1994
+Query 1/1: Action query time = 4.010 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2098
+t=26: Selected seed 195 with value = 0.2098
+Query 1/1: Action query time = 5.035 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2418
+t=42: Selected seed 195 with value = 0.2418
+Query 1/1: Action query time = 5.307 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2725
+t=58: Selected seed 195 with value = 0.2725
+Query 1/1: Action query time = 5.474 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3015
+t=74: Selected seed 195 with value = 0.3015
+Query 1/1: Action query time = 5.148 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3562
+t=90: Selected seed 195 with value = 0.3562
+Query 1/1: Action query time = 5.215 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4542
+t=106: Selected seed 195 with value = 0.4542
+Query 1/1: Action query time = 4.735 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5005
+t=122: Selected seed 195 with value = 0.5005
+Query 1/1: Action query time = 4.393 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5981
+t=138: Selected seed 195 with value = 0.5981
+Query 1/1: Action query time = 4.958 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7072
+t=154: Selected seed 195 with value = 0.7072
+Query 1/1: Action query time = 3.884 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8201
+t=170: Selected seed 195 with value = 0.8201
+Query 1/1: Action query time = 4.044 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9842
+t=186: Selected seed 195 with value = 0.9842
+Saved rollout MP4 at path ./rollouts/base40kRE_t3_s12/2026_08_02-14_41_34--with_future_img--episode=1--success=True--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: True
+# episodes completed so far: 1
+# successes: 1 (100.0%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 2...
+Query 1/1: Action query time = 4.467 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.1654
+t=10: Selected seed 195 with value = 0.1654
+Query 1/1: Action query time = 5.449 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.1835
+t=26: Selected seed 195 with value = 0.1835
+Query 1/1: Action query time = 5.502 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2521
+t=42: Selected seed 195 with value = 0.2521
+Query 1/1: Action query time = 4.392 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3031
+t=58: Selected seed 195 with value = 0.3031
+Query 1/1: Action query time = 4.631 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3503
+t=74: Selected seed 195 with value = 0.3503
+Query 1/1: Action query time = 4.227 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3768
+t=90: Selected seed 195 with value = 0.3768
+Query 1/1: Action query time = 5.448 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3886
+t=106: Selected seed 195 with value = 0.3886
+Query 1/1: Action query time = 5.327 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5561
+t=122: Selected seed 195 with value = 0.5561
+Query 1/1: Action query time = 4.904 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4451
+t=138: Selected seed 195 with value = 0.4451
+Query 1/1: Action query time = 4.333 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5098
+t=154: Selected seed 195 with value = 0.5098
+Query 1/1: Action query time = 4.813 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5461
+t=170: Selected seed 195 with value = 0.5461
+Query 1/1: Action query time = 3.583 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6494
+t=186: Selected seed 195 with value = 0.6494
+Query 1/1: Action query time = 4.481 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7689
+t=202: Selected seed 195 with value = 0.7689
+Query 1/1: Action query time = 5.075 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9658
+t=218: Selected seed 195 with value = 0.9658
+Saved rollout MP4 at path ./rollouts/base40kRE_t3_s12/2026_08_02-14_41_34--with_future_img--episode=2--success=True--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: True
+# episodes completed so far: 2
+# successes: 2 (100.0%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 3...
+Query 1/1: Action query time = 5.024 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.1835
+t=10: Selected seed 195 with value = 0.1835
+Query 1/1: Action query time = 5.210 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2057
+t=26: Selected seed 195 with value = 0.2057
+Query 1/1: Action query time = 4.471 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2258
+t=42: Selected seed 195 with value = 0.2258
+Query 1/1: Action query time = 4.447 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2811
+t=58: Selected seed 195 with value = 0.2811
+Query 1/1: Action query time = 4.512 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3329
+t=74: Selected seed 195 with value = 0.3329
+Query 1/1: Action query time = 4.670 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3981
+t=90: Selected seed 195 with value = 0.3981
+Query 1/1: Action query time = 4.344 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4651
+t=106: Selected seed 195 with value = 0.4651
+Query 1/1: Action query time = 4.401 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5475
+t=122: Selected seed 195 with value = 0.5475
+Query 1/1: Action query time = 2.904 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6295
+t=138: Selected seed 195 with value = 0.6295
+Query 1/1: Action query time = 2.676 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7375
+t=154: Selected seed 195 with value = 0.7375
+Query 1/1: Action query time = 2.770 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8753
+t=170: Selected seed 195 with value = 0.8753
+Query 1/1: Action query time = 2.314 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=186: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/base40kRE_t3_s12/2026_08_02-14_41_34--with_future_img--episode=3--success=True--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: True
+# episodes completed so far: 3
+# successes: 3 (100.0%)
+Current task success rate: 1.0
+Current total success rate: 1.0
+Final results:
+Total episodes: 3
+Total successes: 3
+Overall success rate: 1.0000 (100.0%)
diff --git a/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-14_41_34--base40kRE_t3_s15.txt b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-14_41_34--base40kRE_t3_s15.txt
new file mode 100644
index 0000000000000000000000000000000000000000..bfd9c555056276cfb00a892ea0e65221983834de
--- /dev/null
+++ b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-14_41_34--base40kRE_t3_s15.txt
@@ -0,0 +1,197 @@
+Eval config: PolicyEvalConfig(suite='libero', model_family='cosmos', config='cosmos_predict2_2b_480p_libero_cl_stage_inference_only', ckpt_path='/home/azureuser/REGEN-main/checkpoints/imaginaire4-output/cosmos_policy/cosmos_v2_finetune/cosmos_predict2_2b_480p_libero_goal_base_stage_3gpu_40k_save4k_20260726/checkpoints/iter_000040000/model', planning_model_config_name='', planning_model_ckpt_path='', config_file='cosmos_policy/config/config.py', packnet_mask_path='', packnet_first_cl_libero_task=6, use_third_person_image=True, num_third_person_images=1, use_wrist_image=True, num_wrist_images=1, use_proprio=True, flip_images=True, use_variance_scale=False, use_jpeg_compression=True, ar_future_prediction=False, ar_value_prediction=False, ar_qvalue_prediction=False, num_denoising_steps_action=5, num_denoising_steps_future_state=1, num_denoising_steps_value=1, unnormalize_actions=True, normalize_proprio=True, dataset_stats_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/libero_goal_regen/dataset_statistics.json', t5_text_embeddings_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/t5_embeddings.pkl', trained_with_image_aug=True, chunk_size=16, num_open_loop_steps=16, deterministic=True, deterministic_reset=False, deterministic_reset_seed=None, use_ensemble_future_state_predictions=False, num_future_state_predictions_in_ensemble=3, future_state_ensemble_aggregation_scheme='average', use_ensemble_value_predictions=False, num_value_predictions_in_ensemble=5, value_ensemble_aggregation_scheme='average', search_depth=1, mask_current_state_action_for_value_prediction=False, mask_future_state_for_qvalue_prediction=False, num_queries_best_of_n=1, use_parallel_inference=False, available_gpus='0', parallel_timeout=15, parallel_tasks_across_gpus=False, task_suite_name='libero_goal', num_trials_per_task=50, task_ids_to_run='3', initial_states_path='DEFAULT', env_img_res=256, local_log_dir='/home/azureuser/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal', run_id_note='base40kRE_t3_s15', use_wandb=False, wandb_entity='YOUR_ENTITY', wandb_project='YOUR_PROJECT', seed=195, randomize_seed=False, data_collection=False, jpeg_compress=True, reward_stop_threshold=None, reward_stop_consecutive_steps=3, use_gpt_reward=False, gpt_reward_model='gpt-5.4-mini', gpt_reward_stop_threshold=4, gpt_reward_timeout_s=30.0, save_rollout_video=False, eval_hdf5_path='', eval_hdf5_demo_key='demo_0', data_gen_demo_ids='', eval_episode_ids='15,31,47', replay_actions=False, replay_action_path_dir='', replay_hdf5_path='', data_generation=False, max_generation_steps=200, simple_task_max_steps=100, complex_task_max_steps=200)
+Using serial inference (parallel inference disabled)
+Task suite: libero_goal
+Number of tasks: 10
+Running only task IDs: [3]
+Using default initial states
+
+Task: open the top drawer and put the bowl inside
+Starting episode 1...
+Query 1/1: Action query time = 6.732 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.1639
+t=10: Selected seed 195 with value = 0.1639
+Query 1/1: Action query time = 5.128 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.1848
+t=26: Selected seed 195 with value = 0.1848
+Query 1/1: Action query time = 5.010 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2330
+t=42: Selected seed 195 with value = 0.2330
+Query 1/1: Action query time = 4.901 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2588
+t=58: Selected seed 195 with value = 0.2588
+Query 1/1: Action query time = 5.214 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3527
+t=74: Selected seed 195 with value = 0.3527
+Query 1/1: Action query time = 5.213 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3030
+t=90: Selected seed 195 with value = 0.3030
+Query 1/1: Action query time = 4.740 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5016
+t=106: Selected seed 195 with value = 0.5016
+Query 1/1: Action query time = 4.571 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5438
+t=122: Selected seed 195 with value = 0.5438
+Query 1/1: Action query time = 4.906 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4094
+t=138: Selected seed 195 with value = 0.4094
+Query 1/1: Action query time = 5.023 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7688
+t=154: Selected seed 195 with value = 0.7688
+Query 1/1: Action query time = 3.580 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9139
+t=170: Selected seed 195 with value = 0.9139
+Query 1/1: Action query time = 3.879 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9369
+t=186: Selected seed 195 with value = 0.9369
+Query 1/1: Action query time = 3.489 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2679
+t=202: Selected seed 195 with value = 0.2679
+Query 1/1: Action query time = 3.389 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2846
+t=218: Selected seed 195 with value = 0.2846
+Query 1/1: Action query time = 4.261 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6839
+t=234: Selected seed 195 with value = 0.6839
+Query 1/1: Action query time = 4.075 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2999
+t=250: Selected seed 195 with value = 0.2999
+Query 1/1: Action query time = 4.947 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8052
+t=266: Selected seed 195 with value = 0.8052
+Query 1/1: Action query time = 5.292 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2935
+t=282: Selected seed 195 with value = 0.2935
+Query 1/1: Action query time = 3.828 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3351
+t=298: Selected seed 195 with value = 0.3351
+Saved rollout MP4 at path ./rollouts/base40kRE_t3_s15/2026_08_02-14_41_34--with_future_img--episode=1--success=False--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: False
+# episodes completed so far: 1
+# successes: 0 (0.0%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 2...
+Query 1/1: Action query time = 4.801 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.1817
+t=10: Selected seed 195 with value = 0.1817
+Query 1/1: Action query time = 4.394 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2231
+t=26: Selected seed 195 with value = 0.2231
+Query 1/1: Action query time = 4.243 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2235
+t=42: Selected seed 195 with value = 0.2235
+Query 1/1: Action query time = 4.395 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2924
+t=58: Selected seed 195 with value = 0.2924
+Query 1/1: Action query time = 4.660 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3489
+t=74: Selected seed 195 with value = 0.3489
+Query 1/1: Action query time = 3.498 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4331
+t=90: Selected seed 195 with value = 0.4331
+Query 1/1: Action query time = 4.954 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5055
+t=106: Selected seed 195 with value = 0.5055
+Query 1/1: Action query time = 4.935 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6075
+t=122: Selected seed 195 with value = 0.6075
+Query 1/1: Action query time = 4.684 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6444
+t=138: Selected seed 195 with value = 0.6444
+Query 1/1: Action query time = 5.364 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7605
+t=154: Selected seed 195 with value = 0.7605
+Query 1/1: Action query time = 5.157 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8788
+t=170: Selected seed 195 with value = 0.8788
+Saved rollout MP4 at path ./rollouts/base40kRE_t3_s15/2026_08_02-14_41_34--with_future_img--episode=2--success=True--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: True
+# episodes completed so far: 2
+# successes: 1 (50.0%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 3...
+Query 1/1: Action query time = 4.116 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.1636
+t=10: Selected seed 195 with value = 0.1636
+Query 1/1: Action query time = 3.478 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2030
+t=26: Selected seed 195 with value = 0.2030
+Query 1/1: Action query time = 4.772 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2215
+t=42: Selected seed 195 with value = 0.2215
+Query 1/1: Action query time = 4.427 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2598
+t=58: Selected seed 195 with value = 0.2598
+Query 1/1: Action query time = 3.970 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3127
+t=74: Selected seed 195 with value = 0.3127
+Query 1/1: Action query time = 3.187 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3847
+t=90: Selected seed 195 with value = 0.3847
+Query 1/1: Action query time = 2.251 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4559
+t=106: Selected seed 195 with value = 0.4559
+Query 1/1: Action query time = 2.378 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5535
+t=122: Selected seed 195 with value = 0.5535
+Query 1/1: Action query time = 1.871 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6528
+t=138: Selected seed 195 with value = 0.6528
+Query 1/1: Action query time = 1.741 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7771
+t=154: Selected seed 195 with value = 0.7771
+Query 1/1: Action query time = 1.756 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9119
+t=170: Selected seed 195 with value = 0.9119
+Saved rollout MP4 at path ./rollouts/base40kRE_t3_s15/2026_08_02-14_41_34--with_future_img--episode=3--success=True--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: True
+# episodes completed so far: 3
+# successes: 2 (66.7%)
+Current task success rate: 0.6666666666666666
+Current total success rate: 0.6666666666666666
+Final results:
+Total episodes: 3
+Total successes: 2
+Overall success rate: 0.6667 (66.7%)
diff --git a/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-14_46_42--base40kRE_t4_s04.txt b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-14_46_42--base40kRE_t4_s04.txt
new file mode 100644
index 0000000000000000000000000000000000000000..bd58844f98709455cfcf073333c13b0a5c864035
--- /dev/null
+++ b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-14_46_42--base40kRE_t4_s04.txt
@@ -0,0 +1,105 @@
+Eval config: PolicyEvalConfig(suite='libero', model_family='cosmos', config='cosmos_predict2_2b_480p_libero_cl_stage_inference_only', ckpt_path='/home/azureuser/REGEN-main/checkpoints/imaginaire4-output/cosmos_policy/cosmos_v2_finetune/cosmos_predict2_2b_480p_libero_goal_base_stage_3gpu_40k_save4k_20260726/checkpoints/iter_000040000/model', planning_model_config_name='', planning_model_ckpt_path='', config_file='cosmos_policy/config/config.py', packnet_mask_path='', packnet_first_cl_libero_task=6, use_third_person_image=True, num_third_person_images=1, use_wrist_image=True, num_wrist_images=1, use_proprio=True, flip_images=True, use_variance_scale=False, use_jpeg_compression=True, ar_future_prediction=False, ar_value_prediction=False, ar_qvalue_prediction=False, num_denoising_steps_action=5, num_denoising_steps_future_state=1, num_denoising_steps_value=1, unnormalize_actions=True, normalize_proprio=True, dataset_stats_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/libero_goal_regen/dataset_statistics.json', t5_text_embeddings_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/t5_embeddings.pkl', trained_with_image_aug=True, chunk_size=16, num_open_loop_steps=16, deterministic=True, deterministic_reset=False, deterministic_reset_seed=None, use_ensemble_future_state_predictions=False, num_future_state_predictions_in_ensemble=3, future_state_ensemble_aggregation_scheme='average', use_ensemble_value_predictions=False, num_value_predictions_in_ensemble=5, value_ensemble_aggregation_scheme='average', search_depth=1, mask_current_state_action_for_value_prediction=False, mask_future_state_for_qvalue_prediction=False, num_queries_best_of_n=1, use_parallel_inference=False, available_gpus='0', parallel_timeout=15, parallel_tasks_across_gpus=False, task_suite_name='libero_goal', num_trials_per_task=50, task_ids_to_run='4', initial_states_path='DEFAULT', env_img_res=256, local_log_dir='/home/azureuser/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal', run_id_note='base40kRE_t4_s04', use_wandb=False, wandb_entity='YOUR_ENTITY', wandb_project='YOUR_PROJECT', seed=195, randomize_seed=False, data_collection=False, jpeg_compress=True, reward_stop_threshold=None, reward_stop_consecutive_steps=3, use_gpt_reward=False, gpt_reward_model='gpt-5.4-mini', gpt_reward_stop_threshold=4, gpt_reward_timeout_s=30.0, save_rollout_video=False, eval_hdf5_path='', eval_hdf5_demo_key='demo_0', data_gen_demo_ids='', eval_episode_ids='4,20,36', replay_actions=False, replay_action_path_dir='', replay_hdf5_path='', data_generation=False, max_generation_steps=200, simple_task_max_steps=100, complex_task_max_steps=200)
+Using serial inference (parallel inference disabled)
+Task suite: libero_goal
+Number of tasks: 10
+Running only task IDs: [4]
+Using default initial states
+
+Task: put the bowl on top of the cabinet
+Starting episode 1...
+Query 1/1: Action query time = 5.786 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4296
+t=10: Selected seed 195 with value = 0.4296
+Query 1/1: Action query time = 4.799 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5025
+t=26: Selected seed 195 with value = 0.5025
+Query 1/1: Action query time = 6.225 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5811
+t=42: Selected seed 195 with value = 0.5811
+Query 1/1: Action query time = 4.269 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7142
+t=58: Selected seed 195 with value = 0.7142
+Query 1/1: Action query time = 3.791 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8456
+t=74: Selected seed 195 with value = 0.8456
+Query 1/1: Action query time = 3.721 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9352
+t=90: Selected seed 195 with value = 0.9352
+Saved rollout MP4 at path ./rollouts/base40kRE_t4_s04/2026_08_02-14_46_42--with_future_img--episode=1--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Success: True
+# episodes completed so far: 1
+# successes: 1 (100.0%)
+
+Task: put the bowl on top of the cabinet
+Starting episode 2...
+Query 1/1: Action query time = 3.038 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4307
+t=10: Selected seed 195 with value = 0.4307
+Query 1/1: Action query time = 4.870 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5009
+t=26: Selected seed 195 with value = 0.5009
+Query 1/1: Action query time = 4.818 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6196
+t=42: Selected seed 195 with value = 0.6196
+Query 1/1: Action query time = 4.027 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7475
+t=58: Selected seed 195 with value = 0.7475
+Query 1/1: Action query time = 4.527 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8817
+t=74: Selected seed 195 with value = 0.8817
+Query 1/1: Action query time = 3.888 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/base40kRE_t4_s04/2026_08_02-14_46_42--with_future_img--episode=2--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Success: True
+# episodes completed so far: 2
+# successes: 2 (100.0%)
+
+Task: put the bowl on top of the cabinet
+Starting episode 3...
+Query 1/1: Action query time = 4.098 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4334
+t=10: Selected seed 195 with value = 0.4334
+Query 1/1: Action query time = 4.054 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5304
+t=26: Selected seed 195 with value = 0.5304
+Query 1/1: Action query time = 4.663 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6161
+t=42: Selected seed 195 with value = 0.6161
+Query 1/1: Action query time = 5.185 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7093
+t=58: Selected seed 195 with value = 0.7093
+Query 1/1: Action query time = 4.522 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8373
+t=74: Selected seed 195 with value = 0.8373
+Query 1/1: Action query time = 3.376 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9854
+t=90: Selected seed 195 with value = 0.9854
+Saved rollout MP4 at path ./rollouts/base40kRE_t4_s04/2026_08_02-14_46_42--with_future_img--episode=3--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Success: True
+# episodes completed so far: 3
+# successes: 3 (100.0%)
+Current task success rate: 1.0
+Current total success rate: 1.0
+Final results:
+Total episodes: 3
+Total successes: 3
+Overall success rate: 1.0000 (100.0%)
diff --git a/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-14_46_43--base40kRE_t4_s01.txt b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-14_46_43--base40kRE_t4_s01.txt
new file mode 100644
index 0000000000000000000000000000000000000000..5537d4fe396bde4d4b44c2f440236225cfa4eb48
--- /dev/null
+++ b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-14_46_43--base40kRE_t4_s01.txt
@@ -0,0 +1,136 @@
+Eval config: PolicyEvalConfig(suite='libero', model_family='cosmos', config='cosmos_predict2_2b_480p_libero_cl_stage_inference_only', ckpt_path='/home/azureuser/REGEN-main/checkpoints/imaginaire4-output/cosmos_policy/cosmos_v2_finetune/cosmos_predict2_2b_480p_libero_goal_base_stage_3gpu_40k_save4k_20260726/checkpoints/iter_000040000/model', planning_model_config_name='', planning_model_ckpt_path='', config_file='cosmos_policy/config/config.py', packnet_mask_path='', packnet_first_cl_libero_task=6, use_third_person_image=True, num_third_person_images=1, use_wrist_image=True, num_wrist_images=1, use_proprio=True, flip_images=True, use_variance_scale=False, use_jpeg_compression=True, ar_future_prediction=False, ar_value_prediction=False, ar_qvalue_prediction=False, num_denoising_steps_action=5, num_denoising_steps_future_state=1, num_denoising_steps_value=1, unnormalize_actions=True, normalize_proprio=True, dataset_stats_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/libero_goal_regen/dataset_statistics.json', t5_text_embeddings_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/t5_embeddings.pkl', trained_with_image_aug=True, chunk_size=16, num_open_loop_steps=16, deterministic=True, deterministic_reset=False, deterministic_reset_seed=None, use_ensemble_future_state_predictions=False, num_future_state_predictions_in_ensemble=3, future_state_ensemble_aggregation_scheme='average', use_ensemble_value_predictions=False, num_value_predictions_in_ensemble=5, value_ensemble_aggregation_scheme='average', search_depth=1, mask_current_state_action_for_value_prediction=False, mask_future_state_for_qvalue_prediction=False, num_queries_best_of_n=1, use_parallel_inference=False, available_gpus='0', parallel_timeout=15, parallel_tasks_across_gpus=False, task_suite_name='libero_goal', num_trials_per_task=50, task_ids_to_run='4', initial_states_path='DEFAULT', env_img_res=256, local_log_dir='/home/azureuser/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal', run_id_note='base40kRE_t4_s01', use_wandb=False, wandb_entity='YOUR_ENTITY', wandb_project='YOUR_PROJECT', seed=195, randomize_seed=False, data_collection=False, jpeg_compress=True, reward_stop_threshold=None, reward_stop_consecutive_steps=3, use_gpt_reward=False, gpt_reward_model='gpt-5.4-mini', gpt_reward_stop_threshold=4, gpt_reward_timeout_s=30.0, save_rollout_video=False, eval_hdf5_path='', eval_hdf5_demo_key='demo_0', data_gen_demo_ids='', eval_episode_ids='1,17,33,49', replay_actions=False, replay_action_path_dir='', replay_hdf5_path='', data_generation=False, max_generation_steps=200, simple_task_max_steps=100, complex_task_max_steps=200)
+Using serial inference (parallel inference disabled)
+Task suite: libero_goal
+Number of tasks: 10
+Running only task IDs: [4]
+Using default initial states
+
+Task: put the bowl on top of the cabinet
+Starting episode 1...
+Query 1/1: Action query time = 5.845 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4642
+t=10: Selected seed 195 with value = 0.4642
+Query 1/1: Action query time = 4.401 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5117
+t=26: Selected seed 195 with value = 0.5117
+Query 1/1: Action query time = 5.320 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5765
+t=42: Selected seed 195 with value = 0.5765
+Query 1/1: Action query time = 5.722 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6851
+t=58: Selected seed 195 with value = 0.6851
+Query 1/1: Action query time = 3.477 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8231
+t=74: Selected seed 195 with value = 0.8231
+Query 1/1: Action query time = 4.447 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9874
+t=90: Selected seed 195 with value = 0.9874
+Saved rollout MP4 at path ./rollouts/base40kRE_t4_s01/2026_08_02-14_46_43--with_future_img--episode=1--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Success: True
+# episodes completed so far: 1
+# successes: 1 (100.0%)
+
+Task: put the bowl on top of the cabinet
+Starting episode 2...
+Query 1/1: Action query time = 5.335 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4370
+t=10: Selected seed 195 with value = 0.4370
+Query 1/1: Action query time = 4.946 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5448
+t=26: Selected seed 195 with value = 0.5448
+Query 1/1: Action query time = 4.733 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5982
+t=42: Selected seed 195 with value = 0.5982
+Query 1/1: Action query time = 4.231 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7063
+t=58: Selected seed 195 with value = 0.7063
+Query 1/1: Action query time = 3.758 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8408
+t=74: Selected seed 195 with value = 0.8408
+Query 1/1: Action query time = 4.189 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9966
+t=90: Selected seed 195 with value = 0.9966
+Saved rollout MP4 at path ./rollouts/base40kRE_t4_s01/2026_08_02-14_46_43--with_future_img--episode=2--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Success: True
+# episodes completed so far: 2
+# successes: 2 (100.0%)
+
+Task: put the bowl on top of the cabinet
+Starting episode 3...
+Query 1/1: Action query time = 4.186 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4396
+t=10: Selected seed 195 with value = 0.4396
+Query 1/1: Action query time = 3.600 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5142
+t=26: Selected seed 195 with value = 0.5142
+Query 1/1: Action query time = 5.373 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6104
+t=42: Selected seed 195 with value = 0.6104
+Query 1/1: Action query time = 4.810 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7215
+t=58: Selected seed 195 with value = 0.7215
+Query 1/1: Action query time = 3.725 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8714
+t=74: Selected seed 195 with value = 0.8714
+Query 1/1: Action query time = 2.769 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9990
+t=90: Selected seed 195 with value = 0.9990
+Saved rollout MP4 at path ./rollouts/base40kRE_t4_s01/2026_08_02-14_46_43--with_future_img--episode=3--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Success: True
+# episodes completed so far: 3
+# successes: 3 (100.0%)
+
+Task: put the bowl on top of the cabinet
+Starting episode 4...
+Query 1/1: Action query time = 1.340 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4119
+t=10: Selected seed 195 with value = 0.4119
+Query 1/1: Action query time = 1.324 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5034
+t=26: Selected seed 195 with value = 0.5034
+Query 1/1: Action query time = 1.326 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5941
+t=42: Selected seed 195 with value = 0.5941
+Query 1/1: Action query time = 0.971 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6927
+t=58: Selected seed 195 with value = 0.6927
+Query 1/1: Action query time = 0.975 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8091
+t=74: Selected seed 195 with value = 0.8091
+Query 1/1: Action query time = 0.966 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9809
+t=90: Selected seed 195 with value = 0.9809
+Saved rollout MP4 at path ./rollouts/base40kRE_t4_s01/2026_08_02-14_46_43--with_future_img--episode=4--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Success: True
+# episodes completed so far: 4
+# successes: 4 (100.0%)
+Current task success rate: 1.0
+Current total success rate: 1.0
+Final results:
+Total episodes: 4
+Total successes: 4
+Overall success rate: 1.0000 (100.0%)
diff --git a/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-14_46_43--base40kRE_t4_s09.txt b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-14_46_43--base40kRE_t4_s09.txt
new file mode 100644
index 0000000000000000000000000000000000000000..a37fbaae4266d0f863ab963fcf6af3cb35a0ac80
--- /dev/null
+++ b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-14_46_43--base40kRE_t4_s09.txt
@@ -0,0 +1,101 @@
+Eval config: PolicyEvalConfig(suite='libero', model_family='cosmos', config='cosmos_predict2_2b_480p_libero_cl_stage_inference_only', ckpt_path='/home/azureuser/REGEN-main/checkpoints/imaginaire4-output/cosmos_policy/cosmos_v2_finetune/cosmos_predict2_2b_480p_libero_goal_base_stage_3gpu_40k_save4k_20260726/checkpoints/iter_000040000/model', planning_model_config_name='', planning_model_ckpt_path='', config_file='cosmos_policy/config/config.py', packnet_mask_path='', packnet_first_cl_libero_task=6, use_third_person_image=True, num_third_person_images=1, use_wrist_image=True, num_wrist_images=1, use_proprio=True, flip_images=True, use_variance_scale=False, use_jpeg_compression=True, ar_future_prediction=False, ar_value_prediction=False, ar_qvalue_prediction=False, num_denoising_steps_action=5, num_denoising_steps_future_state=1, num_denoising_steps_value=1, unnormalize_actions=True, normalize_proprio=True, dataset_stats_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/libero_goal_regen/dataset_statistics.json', t5_text_embeddings_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/t5_embeddings.pkl', trained_with_image_aug=True, chunk_size=16, num_open_loop_steps=16, deterministic=True, deterministic_reset=False, deterministic_reset_seed=None, use_ensemble_future_state_predictions=False, num_future_state_predictions_in_ensemble=3, future_state_ensemble_aggregation_scheme='average', use_ensemble_value_predictions=False, num_value_predictions_in_ensemble=5, value_ensemble_aggregation_scheme='average', search_depth=1, mask_current_state_action_for_value_prediction=False, mask_future_state_for_qvalue_prediction=False, num_queries_best_of_n=1, use_parallel_inference=False, available_gpus='0', parallel_timeout=15, parallel_tasks_across_gpus=False, task_suite_name='libero_goal', num_trials_per_task=50, task_ids_to_run='4', initial_states_path='DEFAULT', env_img_res=256, local_log_dir='/home/azureuser/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal', run_id_note='base40kRE_t4_s09', use_wandb=False, wandb_entity='YOUR_ENTITY', wandb_project='YOUR_PROJECT', seed=195, randomize_seed=False, data_collection=False, jpeg_compress=True, reward_stop_threshold=None, reward_stop_consecutive_steps=3, use_gpt_reward=False, gpt_reward_model='gpt-5.4-mini', gpt_reward_stop_threshold=4, gpt_reward_timeout_s=30.0, save_rollout_video=False, eval_hdf5_path='', eval_hdf5_demo_key='demo_0', data_gen_demo_ids='', eval_episode_ids='9,25,41', replay_actions=False, replay_action_path_dir='', replay_hdf5_path='', data_generation=False, max_generation_steps=200, simple_task_max_steps=100, complex_task_max_steps=200)
+Using serial inference (parallel inference disabled)
+Task suite: libero_goal
+Number of tasks: 10
+Running only task IDs: [4]
+Using default initial states
+
+Task: put the bowl on top of the cabinet
+Starting episode 1...
+Query 1/1: Action query time = 2.398 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4190
+t=10: Selected seed 195 with value = 0.4190
+Query 1/1: Action query time = 2.982 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5150
+t=26: Selected seed 195 with value = 0.5150
+Query 1/1: Action query time = 5.533 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6191
+t=42: Selected seed 195 with value = 0.6191
+Query 1/1: Action query time = 4.733 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7585
+t=58: Selected seed 195 with value = 0.7585
+Query 1/1: Action query time = 4.077 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8938
+t=74: Selected seed 195 with value = 0.8938
+Query 1/1: Action query time = 5.526 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9998
+t=90: Selected seed 195 with value = 0.9998
+Saved rollout MP4 at path ./rollouts/base40kRE_t4_s09/2026_08_02-14_46_43--with_future_img--episode=1--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Success: True
+# episodes completed so far: 1
+# successes: 1 (100.0%)
+
+Task: put the bowl on top of the cabinet
+Starting episode 2...
+Query 1/1: Action query time = 3.579 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3799
+t=10: Selected seed 195 with value = 0.3799
+Query 1/1: Action query time = 1.519 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4733
+t=26: Selected seed 195 with value = 0.4733
+Query 1/1: Action query time = 4.940 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5489
+t=42: Selected seed 195 with value = 0.5489
+Query 1/1: Action query time = 5.637 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6667
+t=58: Selected seed 195 with value = 0.6667
+Query 1/1: Action query time = 5.683 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8136
+t=74: Selected seed 195 with value = 0.8136
+Query 1/1: Action query time = 4.825 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9498
+t=90: Selected seed 195 with value = 0.9498
+Saved rollout MP4 at path ./rollouts/base40kRE_t4_s09/2026_08_02-14_46_43--with_future_img--episode=2--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Success: True
+# episodes completed so far: 2
+# successes: 2 (100.0%)
+
+Task: put the bowl on top of the cabinet
+Starting episode 3...
+Query 1/1: Action query time = 3.905 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4640
+t=10: Selected seed 195 with value = 0.4640
+Query 1/1: Action query time = 3.276 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5399
+t=26: Selected seed 195 with value = 0.5399
+Query 1/1: Action query time = 4.646 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6168
+t=42: Selected seed 195 with value = 0.6168
+Query 1/1: Action query time = 4.986 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7438
+t=58: Selected seed 195 with value = 0.7438
+Query 1/1: Action query time = 5.183 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9025
+t=74: Selected seed 195 with value = 0.9025
+Saved rollout MP4 at path ./rollouts/base40kRE_t4_s09/2026_08_02-14_46_43--with_future_img--episode=3--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Success: True
+# episodes completed so far: 3
+# successes: 3 (100.0%)
+Current task success rate: 1.0
+Current total success rate: 1.0
+Final results:
+Total episodes: 3
+Total successes: 3
+Overall success rate: 1.0000 (100.0%)
diff --git a/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-14_46_44--base40kRE_t4_s15.txt b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-14_46_44--base40kRE_t4_s15.txt
new file mode 100644
index 0000000000000000000000000000000000000000..016963cd350f5f5b0b280553d376c92c25d1dabb
--- /dev/null
+++ b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-14_46_44--base40kRE_t4_s15.txt
@@ -0,0 +1,105 @@
+Eval config: PolicyEvalConfig(suite='libero', model_family='cosmos', config='cosmos_predict2_2b_480p_libero_cl_stage_inference_only', ckpt_path='/home/azureuser/REGEN-main/checkpoints/imaginaire4-output/cosmos_policy/cosmos_v2_finetune/cosmos_predict2_2b_480p_libero_goal_base_stage_3gpu_40k_save4k_20260726/checkpoints/iter_000040000/model', planning_model_config_name='', planning_model_ckpt_path='', config_file='cosmos_policy/config/config.py', packnet_mask_path='', packnet_first_cl_libero_task=6, use_third_person_image=True, num_third_person_images=1, use_wrist_image=True, num_wrist_images=1, use_proprio=True, flip_images=True, use_variance_scale=False, use_jpeg_compression=True, ar_future_prediction=False, ar_value_prediction=False, ar_qvalue_prediction=False, num_denoising_steps_action=5, num_denoising_steps_future_state=1, num_denoising_steps_value=1, unnormalize_actions=True, normalize_proprio=True, dataset_stats_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/libero_goal_regen/dataset_statistics.json', t5_text_embeddings_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/t5_embeddings.pkl', trained_with_image_aug=True, chunk_size=16, num_open_loop_steps=16, deterministic=True, deterministic_reset=False, deterministic_reset_seed=None, use_ensemble_future_state_predictions=False, num_future_state_predictions_in_ensemble=3, future_state_ensemble_aggregation_scheme='average', use_ensemble_value_predictions=False, num_value_predictions_in_ensemble=5, value_ensemble_aggregation_scheme='average', search_depth=1, mask_current_state_action_for_value_prediction=False, mask_future_state_for_qvalue_prediction=False, num_queries_best_of_n=1, use_parallel_inference=False, available_gpus='0', parallel_timeout=15, parallel_tasks_across_gpus=False, task_suite_name='libero_goal', num_trials_per_task=50, task_ids_to_run='4', initial_states_path='DEFAULT', env_img_res=256, local_log_dir='/home/azureuser/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal', run_id_note='base40kRE_t4_s15', use_wandb=False, wandb_entity='YOUR_ENTITY', wandb_project='YOUR_PROJECT', seed=195, randomize_seed=False, data_collection=False, jpeg_compress=True, reward_stop_threshold=None, reward_stop_consecutive_steps=3, use_gpt_reward=False, gpt_reward_model='gpt-5.4-mini', gpt_reward_stop_threshold=4, gpt_reward_timeout_s=30.0, save_rollout_video=False, eval_hdf5_path='', eval_hdf5_demo_key='demo_0', data_gen_demo_ids='', eval_episode_ids='15,31,47', replay_actions=False, replay_action_path_dir='', replay_hdf5_path='', data_generation=False, max_generation_steps=200, simple_task_max_steps=100, complex_task_max_steps=200)
+Using serial inference (parallel inference disabled)
+Task suite: libero_goal
+Number of tasks: 10
+Running only task IDs: [4]
+Using default initial states
+
+Task: put the bowl on top of the cabinet
+Starting episode 1...
+Query 1/1: Action query time = 6.525 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4608
+t=10: Selected seed 195 with value = 0.4608
+Query 1/1: Action query time = 6.285 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5376
+t=26: Selected seed 195 with value = 0.5376
+Query 1/1: Action query time = 4.921 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5759
+t=42: Selected seed 195 with value = 0.5759
+Query 1/1: Action query time = 4.433 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6969
+t=58: Selected seed 195 with value = 0.6969
+Query 1/1: Action query time = 4.693 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8066
+t=74: Selected seed 195 with value = 0.8066
+Query 1/1: Action query time = 1.383 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9679
+t=90: Selected seed 195 with value = 0.9679
+Saved rollout MP4 at path ./rollouts/base40kRE_t4_s15/2026_08_02-14_46_44--with_future_img--episode=1--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Success: True
+# episodes completed so far: 1
+# successes: 1 (100.0%)
+
+Task: put the bowl on top of the cabinet
+Starting episode 2...
+Query 1/1: Action query time = 4.795 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4224
+t=10: Selected seed 195 with value = 0.4224
+Query 1/1: Action query time = 4.287 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5058
+t=26: Selected seed 195 with value = 0.5058
+Query 1/1: Action query time = 4.991 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5966
+t=42: Selected seed 195 with value = 0.5966
+Query 1/1: Action query time = 5.266 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7089
+t=58: Selected seed 195 with value = 0.7089
+Query 1/1: Action query time = 3.903 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8386
+t=74: Selected seed 195 with value = 0.8386
+Query 1/1: Action query time = 3.629 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9939
+t=90: Selected seed 195 with value = 0.9939
+Saved rollout MP4 at path ./rollouts/base40kRE_t4_s15/2026_08_02-14_46_44--with_future_img--episode=2--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Success: True
+# episodes completed so far: 2
+# successes: 2 (100.0%)
+
+Task: put the bowl on top of the cabinet
+Starting episode 3...
+Query 1/1: Action query time = 5.494 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4196
+t=10: Selected seed 195 with value = 0.4196
+Query 1/1: Action query time = 5.712 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5022
+t=26: Selected seed 195 with value = 0.5022
+Query 1/1: Action query time = 4.847 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5919
+t=42: Selected seed 195 with value = 0.5919
+Query 1/1: Action query time = 3.686 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6905
+t=58: Selected seed 195 with value = 0.6905
+Query 1/1: Action query time = 2.565 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8298
+t=74: Selected seed 195 with value = 0.8298
+Query 1/1: Action query time = 1.036 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9842
+t=90: Selected seed 195 with value = 0.9842
+Saved rollout MP4 at path ./rollouts/base40kRE_t4_s15/2026_08_02-14_46_44--with_future_img--episode=3--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Success: True
+# episodes completed so far: 3
+# successes: 3 (100.0%)
+Current task success rate: 1.0
+Current total success rate: 1.0
+Final results:
+Total episodes: 3
+Total successes: 3
+Overall success rate: 1.0000 (100.0%)
diff --git a/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-14_49_43--base40kRE_t5_s00.txt b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-14_49_43--base40kRE_t5_s00.txt
new file mode 100644
index 0000000000000000000000000000000000000000..31dee4ee01ae98920b1031748e142d26d2c43dbe
--- /dev/null
+++ b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-14_49_43--base40kRE_t5_s00.txt
@@ -0,0 +1,220 @@
+Eval config: PolicyEvalConfig(suite='libero', model_family='cosmos', config='cosmos_predict2_2b_480p_libero_cl_stage_inference_only', ckpt_path='/home/azureuser/REGEN-main/checkpoints/imaginaire4-output/cosmos_policy/cosmos_v2_finetune/cosmos_predict2_2b_480p_libero_goal_base_stage_3gpu_40k_save4k_20260726/checkpoints/iter_000040000/model', planning_model_config_name='', planning_model_ckpt_path='', config_file='cosmos_policy/config/config.py', packnet_mask_path='', packnet_first_cl_libero_task=6, use_third_person_image=True, num_third_person_images=1, use_wrist_image=True, num_wrist_images=1, use_proprio=True, flip_images=True, use_variance_scale=False, use_jpeg_compression=True, ar_future_prediction=False, ar_value_prediction=False, ar_qvalue_prediction=False, num_denoising_steps_action=5, num_denoising_steps_future_state=1, num_denoising_steps_value=1, unnormalize_actions=True, normalize_proprio=True, dataset_stats_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/libero_goal_regen/dataset_statistics.json', t5_text_embeddings_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/t5_embeddings.pkl', trained_with_image_aug=True, chunk_size=16, num_open_loop_steps=16, deterministic=True, deterministic_reset=False, deterministic_reset_seed=None, use_ensemble_future_state_predictions=False, num_future_state_predictions_in_ensemble=3, future_state_ensemble_aggregation_scheme='average', use_ensemble_value_predictions=False, num_value_predictions_in_ensemble=5, value_ensemble_aggregation_scheme='average', search_depth=1, mask_current_state_action_for_value_prediction=False, mask_future_state_for_qvalue_prediction=False, num_queries_best_of_n=1, use_parallel_inference=False, available_gpus='0', parallel_timeout=15, parallel_tasks_across_gpus=False, task_suite_name='libero_goal', num_trials_per_task=50, task_ids_to_run='5', initial_states_path='DEFAULT', env_img_res=256, local_log_dir='/home/azureuser/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal', run_id_note='base40kRE_t5_s00', use_wandb=False, wandb_entity='YOUR_ENTITY', wandb_project='YOUR_PROJECT', seed=195, randomize_seed=False, data_collection=False, jpeg_compress=True, reward_stop_threshold=None, reward_stop_consecutive_steps=3, use_gpt_reward=False, gpt_reward_model='gpt-5.4-mini', gpt_reward_stop_threshold=4, gpt_reward_timeout_s=30.0, save_rollout_video=False, eval_hdf5_path='', eval_hdf5_demo_key='demo_0', data_gen_demo_ids='', eval_episode_ids='0,16,32,48', replay_actions=False, replay_action_path_dir='', replay_hdf5_path='', data_generation=False, max_generation_steps=200, simple_task_max_steps=100, complex_task_max_steps=200)
+Using serial inference (parallel inference disabled)
+Task suite: libero_goal
+Number of tasks: 10
+Running only task IDs: [5]
+Using default initial states
+
+Task: push the plate to the front of the stove
+Starting episode 1...
+Query 1/1: Action query time = 6.802 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.1553
+t=10: Selected seed 195 with value = 0.1553
+Query 1/1: Action query time = 5.677 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2800
+t=26: Selected seed 195 with value = 0.2800
+Query 1/1: Action query time = 4.536 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3307
+t=42: Selected seed 195 with value = 0.3307
+Query 1/1: Action query time = 4.591 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3190
+t=58: Selected seed 195 with value = 0.3190
+Query 1/1: Action query time = 4.197 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3265
+t=74: Selected seed 195 with value = 0.3265
+Query 1/1: Action query time = 5.179 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3044
+t=90: Selected seed 195 with value = 0.3044
+Query 1/1: Action query time = 4.705 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2896
+t=106: Selected seed 195 with value = 0.2896
+Query 1/1: Action query time = 3.213 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3280
+t=122: Selected seed 195 with value = 0.3280
+Query 1/1: Action query time = 4.358 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3704
+t=138: Selected seed 195 with value = 0.3704
+Query 1/1: Action query time = 4.811 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3768
+t=154: Selected seed 195 with value = 0.3768
+Query 1/1: Action query time = 4.567 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3503
+t=170: Selected seed 195 with value = 0.3503
+Query 1/1: Action query time = 5.271 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3409
+t=186: Selected seed 195 with value = 0.3409
+Query 1/1: Action query time = 4.480 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3354
+t=202: Selected seed 195 with value = 0.3354
+Query 1/1: Action query time = 4.285 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3311
+t=218: Selected seed 195 with value = 0.3311
+Query 1/1: Action query time = 4.010 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3325
+t=234: Selected seed 195 with value = 0.3325
+Query 1/1: Action query time = 5.364 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3356
+t=250: Selected seed 195 with value = 0.3356
+Query 1/1: Action query time = 3.745 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3393
+t=266: Selected seed 195 with value = 0.3393
+Query 1/1: Action query time = 5.040 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3434
+t=282: Selected seed 195 with value = 0.3434
+Query 1/1: Action query time = 5.336 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3488
+t=298: Selected seed 195 with value = 0.3488
+Saved rollout MP4 at path ./rollouts/base40kRE_t5_s00/2026_08_02-14_49_43--with_future_img--episode=1--success=False--task=push_the_plate_to_the_front_of_the_.mp4
+Success: False
+# episodes completed so far: 1
+# successes: 0 (0.0%)
+
+Task: push the plate to the front of the stove
+Starting episode 2...
+Query 1/1: Action query time = 4.715 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2947
+t=10: Selected seed 195 with value = 0.2947
+Query 1/1: Action query time = 4.695 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3425
+t=26: Selected seed 195 with value = 0.3425
+Query 1/1: Action query time = 4.005 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3116
+t=42: Selected seed 195 with value = 0.3116
+Query 1/1: Action query time = 4.574 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3419
+t=58: Selected seed 195 with value = 0.3419
+Query 1/1: Action query time = 4.734 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3914
+t=74: Selected seed 195 with value = 0.3914
+Query 1/1: Action query time = 4.667 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5026
+t=90: Selected seed 195 with value = 0.5026
+Query 1/1: Action query time = 4.434 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5270
+t=106: Selected seed 195 with value = 0.5270
+Query 1/1: Action query time = 4.220 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6627
+t=122: Selected seed 195 with value = 0.6627
+Saved rollout MP4 at path ./rollouts/base40kRE_t5_s00/2026_08_02-14_49_43--with_future_img--episode=2--success=True--task=push_the_plate_to_the_front_of_the_.mp4
+Success: True
+# episodes completed so far: 2
+# successes: 1 (50.0%)
+
+Task: push the plate to the front of the stove
+Starting episode 3...
+Query 1/1: Action query time = 2.608 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3430
+t=10: Selected seed 195 with value = 0.3430
+Query 1/1: Action query time = 2.570 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3911
+t=26: Selected seed 195 with value = 0.3911
+Query 1/1: Action query time = 1.896 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.1933
+t=42: Selected seed 195 with value = 0.1933
+Query 1/1: Action query time = 1.667 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2432
+t=58: Selected seed 195 with value = 0.2432
+Query 1/1: Action query time = 1.628 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6454
+t=74: Selected seed 195 with value = 0.6454
+Query 1/1: Action query time = 1.342 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7059
+t=90: Selected seed 195 with value = 0.7059
+Query 1/1: Action query time = 0.947 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8098
+t=106: Selected seed 195 with value = 0.8098
+Query 1/1: Action query time = 0.940 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9284
+t=122: Selected seed 195 with value = 0.9284
+Saved rollout MP4 at path ./rollouts/base40kRE_t5_s00/2026_08_02-14_49_43--with_future_img--episode=3--success=True--task=push_the_plate_to_the_front_of_the_.mp4
+Success: True
+# episodes completed so far: 3
+# successes: 2 (66.7%)
+
+Task: push the plate to the front of the stove
+Starting episode 4...
+Query 1/1: Action query time = 0.969 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2436
+t=10: Selected seed 195 with value = 0.2436
+Query 1/1: Action query time = 1.218 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.1866
+t=26: Selected seed 195 with value = 0.1866
+Query 1/1: Action query time = 1.260 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2328
+t=42: Selected seed 195 with value = 0.2328
+Query 1/1: Action query time = 1.252 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4201
+t=58: Selected seed 195 with value = 0.4201
+Query 1/1: Action query time = 1.207 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3328
+t=74: Selected seed 195 with value = 0.3328
+Query 1/1: Action query time = 1.200 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4317
+t=90: Selected seed 195 with value = 0.4317
+Query 1/1: Action query time = 1.190 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5875
+t=106: Selected seed 195 with value = 0.5875
+Query 1/1: Action query time = 1.146 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6871
+t=122: Selected seed 195 with value = 0.6871
+Query 1/1: Action query time = 1.159 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7827
+t=138: Selected seed 195 with value = 0.7827
+Query 1/1: Action query time = 0.937 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8972
+t=154: Selected seed 195 with value = 0.8972
+Saved rollout MP4 at path ./rollouts/base40kRE_t5_s00/2026_08_02-14_49_43--with_future_img--episode=4--success=True--task=push_the_plate_to_the_front_of_the_.mp4
+Success: True
+# episodes completed so far: 4
+# successes: 3 (75.0%)
+Current task success rate: 0.75
+Current total success rate: 0.75
+Final results:
+Total episodes: 4
+Total successes: 3
+Overall success rate: 0.7500 (75.0%)
diff --git a/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-14_49_43--base40kRE_t5_s09.txt b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-14_49_43--base40kRE_t5_s09.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0d5941f2442fd18961cd4450adda4a4d06f8075d
--- /dev/null
+++ b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-14_49_43--base40kRE_t5_s09.txt
@@ -0,0 +1,133 @@
+Eval config: PolicyEvalConfig(suite='libero', model_family='cosmos', config='cosmos_predict2_2b_480p_libero_cl_stage_inference_only', ckpt_path='/home/azureuser/REGEN-main/checkpoints/imaginaire4-output/cosmos_policy/cosmos_v2_finetune/cosmos_predict2_2b_480p_libero_goal_base_stage_3gpu_40k_save4k_20260726/checkpoints/iter_000040000/model', planning_model_config_name='', planning_model_ckpt_path='', config_file='cosmos_policy/config/config.py', packnet_mask_path='', packnet_first_cl_libero_task=6, use_third_person_image=True, num_third_person_images=1, use_wrist_image=True, num_wrist_images=1, use_proprio=True, flip_images=True, use_variance_scale=False, use_jpeg_compression=True, ar_future_prediction=False, ar_value_prediction=False, ar_qvalue_prediction=False, num_denoising_steps_action=5, num_denoising_steps_future_state=1, num_denoising_steps_value=1, unnormalize_actions=True, normalize_proprio=True, dataset_stats_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/libero_goal_regen/dataset_statistics.json', t5_text_embeddings_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/t5_embeddings.pkl', trained_with_image_aug=True, chunk_size=16, num_open_loop_steps=16, deterministic=True, deterministic_reset=False, deterministic_reset_seed=None, use_ensemble_future_state_predictions=False, num_future_state_predictions_in_ensemble=3, future_state_ensemble_aggregation_scheme='average', use_ensemble_value_predictions=False, num_value_predictions_in_ensemble=5, value_ensemble_aggregation_scheme='average', search_depth=1, mask_current_state_action_for_value_prediction=False, mask_future_state_for_qvalue_prediction=False, num_queries_best_of_n=1, use_parallel_inference=False, available_gpus='0', parallel_timeout=15, parallel_tasks_across_gpus=False, task_suite_name='libero_goal', num_trials_per_task=50, task_ids_to_run='5', initial_states_path='DEFAULT', env_img_res=256, local_log_dir='/home/azureuser/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal', run_id_note='base40kRE_t5_s09', use_wandb=False, wandb_entity='YOUR_ENTITY', wandb_project='YOUR_PROJECT', seed=195, randomize_seed=False, data_collection=False, jpeg_compress=True, reward_stop_threshold=None, reward_stop_consecutive_steps=3, use_gpt_reward=False, gpt_reward_model='gpt-5.4-mini', gpt_reward_stop_threshold=4, gpt_reward_timeout_s=30.0, save_rollout_video=False, eval_hdf5_path='', eval_hdf5_demo_key='demo_0', data_gen_demo_ids='', eval_episode_ids='9,25,41', replay_actions=False, replay_action_path_dir='', replay_hdf5_path='', data_generation=False, max_generation_steps=200, simple_task_max_steps=100, complex_task_max_steps=200)
+Using serial inference (parallel inference disabled)
+Task suite: libero_goal
+Number of tasks: 10
+Running only task IDs: [5]
+Using default initial states
+
+Task: push the plate to the front of the stove
+Starting episode 1...
+Query 1/1: Action query time = 6.092 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2811
+t=10: Selected seed 195 with value = 0.2811
+Query 1/1: Action query time = 4.870 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3981
+t=26: Selected seed 195 with value = 0.3981
+Query 1/1: Action query time = 4.653 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2985
+t=42: Selected seed 195 with value = 0.2985
+Query 1/1: Action query time = 4.914 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2318
+t=58: Selected seed 195 with value = 0.2318
+Query 1/1: Action query time = 5.099 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6121
+t=74: Selected seed 195 with value = 0.6121
+Query 1/1: Action query time = 5.251 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7273
+t=90: Selected seed 195 with value = 0.7273
+Query 1/1: Action query time = 4.179 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8056
+t=106: Selected seed 195 with value = 0.8056
+Query 1/1: Action query time = 4.918 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9181
+t=122: Selected seed 195 with value = 0.9181
+Saved rollout MP4 at path ./rollouts/base40kRE_t5_s09/2026_08_02-14_49_43--with_future_img--episode=1--success=True--task=push_the_plate_to_the_front_of_the_.mp4
+Success: True
+# episodes completed so far: 1
+# successes: 1 (100.0%)
+
+Task: push the plate to the front of the stove
+Starting episode 2...
+Query 1/1: Action query time = 4.099 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2144
+t=10: Selected seed 195 with value = 0.2144
+Query 1/1: Action query time = 5.065 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2601
+t=26: Selected seed 195 with value = 0.2601
+Query 1/1: Action query time = 5.377 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3538
+t=42: Selected seed 195 with value = 0.3538
+Query 1/1: Action query time = 4.074 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4234
+t=58: Selected seed 195 with value = 0.4234
+Query 1/1: Action query time = 5.527 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4905
+t=74: Selected seed 195 with value = 0.4905
+Query 1/1: Action query time = 4.465 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5712
+t=90: Selected seed 195 with value = 0.5712
+Query 1/1: Action query time = 5.049 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6797
+t=106: Selected seed 195 with value = 0.6797
+Query 1/1: Action query time = 4.749 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7882
+t=122: Selected seed 195 with value = 0.7882
+Query 1/1: Action query time = 3.643 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9932
+t=138: Selected seed 195 with value = 0.9932
+Saved rollout MP4 at path ./rollouts/base40kRE_t5_s09/2026_08_02-14_49_43--with_future_img--episode=2--success=True--task=push_the_plate_to_the_front_of_the_.mp4
+Success: True
+# episodes completed so far: 2
+# successes: 2 (100.0%)
+
+Task: push the plate to the front of the stove
+Starting episode 3...
+Query 1/1: Action query time = 2.178 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2633
+t=10: Selected seed 195 with value = 0.2633
+Query 1/1: Action query time = 4.576 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3314
+t=26: Selected seed 195 with value = 0.3314
+Query 1/1: Action query time = 5.354 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3846
+t=42: Selected seed 195 with value = 0.3846
+Query 1/1: Action query time = 5.229 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3844
+t=58: Selected seed 195 with value = 0.3844
+Query 1/1: Action query time = 4.256 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2888
+t=74: Selected seed 195 with value = 0.2888
+Query 1/1: Action query time = 5.031 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5424
+t=90: Selected seed 195 with value = 0.5424
+Query 1/1: Action query time = 4.760 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7225
+t=106: Selected seed 195 with value = 0.7225
+Query 1/1: Action query time = 3.511 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8718
+t=122: Selected seed 195 with value = 0.8718
+Saved rollout MP4 at path ./rollouts/base40kRE_t5_s09/2026_08_02-14_49_43--with_future_img--episode=3--success=True--task=push_the_plate_to_the_front_of_the_.mp4
+Success: True
+# episodes completed so far: 3
+# successes: 3 (100.0%)
+Current task success rate: 1.0
+Current total success rate: 1.0
+Final results:
+Total episodes: 3
+Total successes: 3
+Overall success rate: 1.0000 (100.0%)
diff --git a/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-14_49_44--base40kRE_t5_s06.txt b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-14_49_44--base40kRE_t5_s06.txt
new file mode 100644
index 0000000000000000000000000000000000000000..70eb771a1a6fe118975a8bc46a982a6eba0df00a
--- /dev/null
+++ b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-14_49_44--base40kRE_t5_s06.txt
@@ -0,0 +1,141 @@
+Eval config: PolicyEvalConfig(suite='libero', model_family='cosmos', config='cosmos_predict2_2b_480p_libero_cl_stage_inference_only', ckpt_path='/home/azureuser/REGEN-main/checkpoints/imaginaire4-output/cosmos_policy/cosmos_v2_finetune/cosmos_predict2_2b_480p_libero_goal_base_stage_3gpu_40k_save4k_20260726/checkpoints/iter_000040000/model', planning_model_config_name='', planning_model_ckpt_path='', config_file='cosmos_policy/config/config.py', packnet_mask_path='', packnet_first_cl_libero_task=6, use_third_person_image=True, num_third_person_images=1, use_wrist_image=True, num_wrist_images=1, use_proprio=True, flip_images=True, use_variance_scale=False, use_jpeg_compression=True, ar_future_prediction=False, ar_value_prediction=False, ar_qvalue_prediction=False, num_denoising_steps_action=5, num_denoising_steps_future_state=1, num_denoising_steps_value=1, unnormalize_actions=True, normalize_proprio=True, dataset_stats_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/libero_goal_regen/dataset_statistics.json', t5_text_embeddings_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/t5_embeddings.pkl', trained_with_image_aug=True, chunk_size=16, num_open_loop_steps=16, deterministic=True, deterministic_reset=False, deterministic_reset_seed=None, use_ensemble_future_state_predictions=False, num_future_state_predictions_in_ensemble=3, future_state_ensemble_aggregation_scheme='average', use_ensemble_value_predictions=False, num_value_predictions_in_ensemble=5, value_ensemble_aggregation_scheme='average', search_depth=1, mask_current_state_action_for_value_prediction=False, mask_future_state_for_qvalue_prediction=False, num_queries_best_of_n=1, use_parallel_inference=False, available_gpus='0', parallel_timeout=15, parallel_tasks_across_gpus=False, task_suite_name='libero_goal', num_trials_per_task=50, task_ids_to_run='5', initial_states_path='DEFAULT', env_img_res=256, local_log_dir='/home/azureuser/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal', run_id_note='base40kRE_t5_s06', use_wandb=False, wandb_entity='YOUR_ENTITY', wandb_project='YOUR_PROJECT', seed=195, randomize_seed=False, data_collection=False, jpeg_compress=True, reward_stop_threshold=None, reward_stop_consecutive_steps=3, use_gpt_reward=False, gpt_reward_model='gpt-5.4-mini', gpt_reward_stop_threshold=4, gpt_reward_timeout_s=30.0, save_rollout_video=False, eval_hdf5_path='', eval_hdf5_demo_key='demo_0', data_gen_demo_ids='', eval_episode_ids='6,22,38', replay_actions=False, replay_action_path_dir='', replay_hdf5_path='', data_generation=False, max_generation_steps=200, simple_task_max_steps=100, complex_task_max_steps=200)
+Using serial inference (parallel inference disabled)
+Task suite: libero_goal
+Number of tasks: 10
+Running only task IDs: [5]
+Using default initial states
+
+Task: push the plate to the front of the stove
+Starting episode 1...
+Query 1/1: Action query time = 5.141 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2717
+t=10: Selected seed 195 with value = 0.2717
+Query 1/1: Action query time = 4.554 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3059
+t=26: Selected seed 195 with value = 0.3059
+Query 1/1: Action query time = 5.636 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4239
+t=42: Selected seed 195 with value = 0.4239
+Query 1/1: Action query time = 5.394 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4773
+t=58: Selected seed 195 with value = 0.4773
+Query 1/1: Action query time = 5.249 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5195
+t=74: Selected seed 195 with value = 0.5195
+Query 1/1: Action query time = 4.831 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6227
+t=90: Selected seed 195 with value = 0.6227
+Query 1/1: Action query time = 5.221 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7300
+t=106: Selected seed 195 with value = 0.7300
+Query 1/1: Action query time = 3.961 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8952
+t=122: Selected seed 195 with value = 0.8952
+Saved rollout MP4 at path ./rollouts/base40kRE_t5_s06/2026_08_02-14_49_44--with_future_img--episode=1--success=True--task=push_the_plate_to_the_front_of_the_.mp4
+Success: True
+# episodes completed so far: 1
+# successes: 1 (100.0%)
+
+Task: push the plate to the front of the stove
+Starting episode 2...
+Query 1/1: Action query time = 3.930 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2529
+t=10: Selected seed 195 with value = 0.2529
+Query 1/1: Action query time = 5.150 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2532
+t=26: Selected seed 195 with value = 0.2532
+Query 1/1: Action query time = 4.086 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3679
+t=42: Selected seed 195 with value = 0.3679
+Query 1/1: Action query time = 5.050 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3440
+t=58: Selected seed 195 with value = 0.3440
+Query 1/1: Action query time = 4.758 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2973
+t=74: Selected seed 195 with value = 0.2973
+Query 1/1: Action query time = 4.596 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3214
+t=90: Selected seed 195 with value = 0.3214
+Query 1/1: Action query time = 4.742 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6717
+t=106: Selected seed 195 with value = 0.6717
+Query 1/1: Action query time = 4.580 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8589
+t=122: Selected seed 195 with value = 0.8589
+Query 1/1: Action query time = 2.836 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9975
+t=138: Selected seed 195 with value = 0.9975
+Saved rollout MP4 at path ./rollouts/base40kRE_t5_s06/2026_08_02-14_49_44--with_future_img--episode=2--success=True--task=push_the_plate_to_the_front_of_the_.mp4
+Success: True
+# episodes completed so far: 2
+# successes: 2 (100.0%)
+
+Task: push the plate to the front of the stove
+Starting episode 3...
+Query 1/1: Action query time = 5.704 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2256
+t=10: Selected seed 195 with value = 0.2256
+Query 1/1: Action query time = 4.083 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2452
+t=26: Selected seed 195 with value = 0.2452
+Query 1/1: Action query time = 3.685 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2794
+t=42: Selected seed 195 with value = 0.2794
+Query 1/1: Action query time = 5.306 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3654
+t=58: Selected seed 195 with value = 0.3654
+Query 1/1: Action query time = 4.736 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4550
+t=74: Selected seed 195 with value = 0.4550
+Query 1/1: Action query time = 4.586 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5186
+t=90: Selected seed 195 with value = 0.5186
+Query 1/1: Action query time = 4.432 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5722
+t=106: Selected seed 195 with value = 0.5722
+Query 1/1: Action query time = 5.138 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6604
+t=122: Selected seed 195 with value = 0.6604
+Query 1/1: Action query time = 4.948 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7720
+t=138: Selected seed 195 with value = 0.7720
+Query 1/1: Action query time = 4.298 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9099
+t=154: Selected seed 195 with value = 0.9099
+Saved rollout MP4 at path ./rollouts/base40kRE_t5_s06/2026_08_02-14_49_44--with_future_img--episode=3--success=True--task=push_the_plate_to_the_front_of_the_.mp4
+Success: True
+# episodes completed so far: 3
+# successes: 3 (100.0%)
+Current task success rate: 1.0
+Current total success rate: 1.0
+Final results:
+Total episodes: 3
+Total successes: 3
+Overall success rate: 1.0000 (100.0%)
diff --git a/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-14_49_44--base40kRE_t5_s08.txt b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-14_49_44--base40kRE_t5_s08.txt
new file mode 100644
index 0000000000000000000000000000000000000000..da7395d0fa96b801c1302b39f5d7f7d4f6aa0c83
--- /dev/null
+++ b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-14_49_44--base40kRE_t5_s08.txt
@@ -0,0 +1,165 @@
+Eval config: PolicyEvalConfig(suite='libero', model_family='cosmos', config='cosmos_predict2_2b_480p_libero_cl_stage_inference_only', ckpt_path='/home/azureuser/REGEN-main/checkpoints/imaginaire4-output/cosmos_policy/cosmos_v2_finetune/cosmos_predict2_2b_480p_libero_goal_base_stage_3gpu_40k_save4k_20260726/checkpoints/iter_000040000/model', planning_model_config_name='', planning_model_ckpt_path='', config_file='cosmos_policy/config/config.py', packnet_mask_path='', packnet_first_cl_libero_task=6, use_third_person_image=True, num_third_person_images=1, use_wrist_image=True, num_wrist_images=1, use_proprio=True, flip_images=True, use_variance_scale=False, use_jpeg_compression=True, ar_future_prediction=False, ar_value_prediction=False, ar_qvalue_prediction=False, num_denoising_steps_action=5, num_denoising_steps_future_state=1, num_denoising_steps_value=1, unnormalize_actions=True, normalize_proprio=True, dataset_stats_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/libero_goal_regen/dataset_statistics.json', t5_text_embeddings_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/t5_embeddings.pkl', trained_with_image_aug=True, chunk_size=16, num_open_loop_steps=16, deterministic=True, deterministic_reset=False, deterministic_reset_seed=None, use_ensemble_future_state_predictions=False, num_future_state_predictions_in_ensemble=3, future_state_ensemble_aggregation_scheme='average', use_ensemble_value_predictions=False, num_value_predictions_in_ensemble=5, value_ensemble_aggregation_scheme='average', search_depth=1, mask_current_state_action_for_value_prediction=False, mask_future_state_for_qvalue_prediction=False, num_queries_best_of_n=1, use_parallel_inference=False, available_gpus='0', parallel_timeout=15, parallel_tasks_across_gpus=False, task_suite_name='libero_goal', num_trials_per_task=50, task_ids_to_run='5', initial_states_path='DEFAULT', env_img_res=256, local_log_dir='/home/azureuser/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal', run_id_note='base40kRE_t5_s08', use_wandb=False, wandb_entity='YOUR_ENTITY', wandb_project='YOUR_PROJECT', seed=195, randomize_seed=False, data_collection=False, jpeg_compress=True, reward_stop_threshold=None, reward_stop_consecutive_steps=3, use_gpt_reward=False, gpt_reward_model='gpt-5.4-mini', gpt_reward_stop_threshold=4, gpt_reward_timeout_s=30.0, save_rollout_video=False, eval_hdf5_path='', eval_hdf5_demo_key='demo_0', data_gen_demo_ids='', eval_episode_ids='8,24,40', replay_actions=False, replay_action_path_dir='', replay_hdf5_path='', data_generation=False, max_generation_steps=200, simple_task_max_steps=100, complex_task_max_steps=200)
+Using serial inference (parallel inference disabled)
+Task suite: libero_goal
+Number of tasks: 10
+Running only task IDs: [5]
+Using default initial states
+
+Task: push the plate to the front of the stove
+Starting episode 1...
+Query 1/1: Action query time = 3.931 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3125
+t=10: Selected seed 195 with value = 0.3125
+Query 1/1: Action query time = 4.790 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2519
+t=26: Selected seed 195 with value = 0.2519
+Query 1/1: Action query time = 5.724 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2203
+t=42: Selected seed 195 with value = 0.2203
+Query 1/1: Action query time = 5.275 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4114
+t=58: Selected seed 195 with value = 0.4114
+Query 1/1: Action query time = 4.729 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4609
+t=74: Selected seed 195 with value = 0.4609
+Query 1/1: Action query time = 4.445 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4707
+t=90: Selected seed 195 with value = 0.4707
+Query 1/1: Action query time = 4.915 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5033
+t=106: Selected seed 195 with value = 0.5033
+Query 1/1: Action query time = 4.448 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4945
+t=122: Selected seed 195 with value = 0.4945
+Query 1/1: Action query time = 3.910 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5630
+t=138: Selected seed 195 with value = 0.5630
+Query 1/1: Action query time = 2.449 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6139
+t=154: Selected seed 195 with value = 0.6139
+Query 1/1: Action query time = 4.388 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7172
+t=170: Selected seed 195 with value = 0.7172
+Query 1/1: Action query time = 5.353 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8538
+t=186: Selected seed 195 with value = 0.8538
+Query 1/1: Action query time = 4.908 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9937
+t=202: Selected seed 195 with value = 0.9937
+Saved rollout MP4 at path ./rollouts/base40kRE_t5_s08/2026_08_02-14_49_44--with_future_img--episode=1--success=True--task=push_the_plate_to_the_front_of_the_.mp4
+Success: True
+# episodes completed so far: 1
+# successes: 1 (100.0%)
+
+Task: push the plate to the front of the stove
+Starting episode 2...
+Query 1/1: Action query time = 5.439 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2922
+t=10: Selected seed 195 with value = 0.2922
+Query 1/1: Action query time = 4.574 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3626
+t=26: Selected seed 195 with value = 0.3626
+Query 1/1: Action query time = 5.231 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3199
+t=42: Selected seed 195 with value = 0.3199
+Query 1/1: Action query time = 4.681 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3225
+t=58: Selected seed 195 with value = 0.3225
+Query 1/1: Action query time = 3.916 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3870
+t=74: Selected seed 195 with value = 0.3870
+Query 1/1: Action query time = 4.491 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4562
+t=90: Selected seed 195 with value = 0.4562
+Query 1/1: Action query time = 3.705 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5387
+t=106: Selected seed 195 with value = 0.5387
+Query 1/1: Action query time = 4.242 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6698
+t=122: Selected seed 195 with value = 0.6698
+Query 1/1: Action query time = 4.720 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7910
+t=138: Selected seed 195 with value = 0.7910
+Query 1/1: Action query time = 4.857 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9572
+t=154: Selected seed 195 with value = 0.9572
+Saved rollout MP4 at path ./rollouts/base40kRE_t5_s08/2026_08_02-14_49_44--with_future_img--episode=2--success=True--task=push_the_plate_to_the_front_of_the_.mp4
+Success: True
+# episodes completed so far: 2
+# successes: 2 (100.0%)
+
+Task: push the plate to the front of the stove
+Starting episode 3...
+Query 1/1: Action query time = 4.820 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2127
+t=10: Selected seed 195 with value = 0.2127
+Query 1/1: Action query time = 4.712 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2333
+t=26: Selected seed 195 with value = 0.2333
+Query 1/1: Action query time = 3.492 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4326
+t=42: Selected seed 195 with value = 0.4326
+Query 1/1: Action query time = 2.316 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3220
+t=58: Selected seed 195 with value = 0.3220
+Query 1/1: Action query time = 1.529 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3974
+t=74: Selected seed 195 with value = 0.3974
+Query 1/1: Action query time = 1.030 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4546
+t=90: Selected seed 195 with value = 0.4546
+Query 1/1: Action query time = 0.999 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5626
+t=106: Selected seed 195 with value = 0.5626
+Query 1/1: Action query time = 1.013 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6420
+t=122: Selected seed 195 with value = 0.6420
+Query 1/1: Action query time = 1.061 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7507
+t=138: Selected seed 195 with value = 0.7507
+Query 1/1: Action query time = 0.978 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8714
+t=154: Selected seed 195 with value = 0.8714
+Saved rollout MP4 at path ./rollouts/base40kRE_t5_s08/2026_08_02-14_49_44--with_future_img--episode=3--success=True--task=push_the_plate_to_the_front_of_the_.mp4
+Success: True
+# episodes completed so far: 3
+# successes: 3 (100.0%)
+Current task success rate: 1.0
+Current total success rate: 1.0
+Final results:
+Total episodes: 3
+Total successes: 3
+Overall success rate: 1.0000 (100.0%)
diff --git a/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-14_49_44--base40kRE_t5_s11.txt b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-14_49_44--base40kRE_t5_s11.txt
new file mode 100644
index 0000000000000000000000000000000000000000..9bc3f645a6d5e594e0e6fc865eb6ccf132f3452e
--- /dev/null
+++ b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-14_49_44--base40kRE_t5_s11.txt
@@ -0,0 +1,133 @@
+Eval config: PolicyEvalConfig(suite='libero', model_family='cosmos', config='cosmos_predict2_2b_480p_libero_cl_stage_inference_only', ckpt_path='/home/azureuser/REGEN-main/checkpoints/imaginaire4-output/cosmos_policy/cosmos_v2_finetune/cosmos_predict2_2b_480p_libero_goal_base_stage_3gpu_40k_save4k_20260726/checkpoints/iter_000040000/model', planning_model_config_name='', planning_model_ckpt_path='', config_file='cosmos_policy/config/config.py', packnet_mask_path='', packnet_first_cl_libero_task=6, use_third_person_image=True, num_third_person_images=1, use_wrist_image=True, num_wrist_images=1, use_proprio=True, flip_images=True, use_variance_scale=False, use_jpeg_compression=True, ar_future_prediction=False, ar_value_prediction=False, ar_qvalue_prediction=False, num_denoising_steps_action=5, num_denoising_steps_future_state=1, num_denoising_steps_value=1, unnormalize_actions=True, normalize_proprio=True, dataset_stats_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/libero_goal_regen/dataset_statistics.json', t5_text_embeddings_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/t5_embeddings.pkl', trained_with_image_aug=True, chunk_size=16, num_open_loop_steps=16, deterministic=True, deterministic_reset=False, deterministic_reset_seed=None, use_ensemble_future_state_predictions=False, num_future_state_predictions_in_ensemble=3, future_state_ensemble_aggregation_scheme='average', use_ensemble_value_predictions=False, num_value_predictions_in_ensemble=5, value_ensemble_aggregation_scheme='average', search_depth=1, mask_current_state_action_for_value_prediction=False, mask_future_state_for_qvalue_prediction=False, num_queries_best_of_n=1, use_parallel_inference=False, available_gpus='0', parallel_timeout=15, parallel_tasks_across_gpus=False, task_suite_name='libero_goal', num_trials_per_task=50, task_ids_to_run='5', initial_states_path='DEFAULT', env_img_res=256, local_log_dir='/home/azureuser/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal', run_id_note='base40kRE_t5_s11', use_wandb=False, wandb_entity='YOUR_ENTITY', wandb_project='YOUR_PROJECT', seed=195, randomize_seed=False, data_collection=False, jpeg_compress=True, reward_stop_threshold=None, reward_stop_consecutive_steps=3, use_gpt_reward=False, gpt_reward_model='gpt-5.4-mini', gpt_reward_stop_threshold=4, gpt_reward_timeout_s=30.0, save_rollout_video=False, eval_hdf5_path='', eval_hdf5_demo_key='demo_0', data_gen_demo_ids='', eval_episode_ids='11,27,43', replay_actions=False, replay_action_path_dir='', replay_hdf5_path='', data_generation=False, max_generation_steps=200, simple_task_max_steps=100, complex_task_max_steps=200)
+Using serial inference (parallel inference disabled)
+Task suite: libero_goal
+Number of tasks: 10
+Running only task IDs: [5]
+Using default initial states
+
+Task: push the plate to the front of the stove
+Starting episode 1...
+Query 1/1: Action query time = 3.227 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3114
+t=10: Selected seed 195 with value = 0.3114
+Query 1/1: Action query time = 5.108 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3853
+t=26: Selected seed 195 with value = 0.3853
+Query 1/1: Action query time = 5.050 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4028
+t=42: Selected seed 195 with value = 0.4028
+Query 1/1: Action query time = 4.677 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5590
+t=58: Selected seed 195 with value = 0.5590
+Query 1/1: Action query time = 4.876 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6718
+t=74: Selected seed 195 with value = 0.6718
+Query 1/1: Action query time = 5.233 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7930
+t=90: Selected seed 195 with value = 0.7930
+Query 1/1: Action query time = 5.075 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9149
+t=106: Selected seed 195 with value = 0.9149
+Saved rollout MP4 at path ./rollouts/base40kRE_t5_s11/2026_08_02-14_49_44--with_future_img--episode=1--success=True--task=push_the_plate_to_the_front_of_the_.mp4
+Success: True
+# episodes completed so far: 1
+# successes: 1 (100.0%)
+
+Task: push the plate to the front of the stove
+Starting episode 2...
+Query 1/1: Action query time = 5.017 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.1774
+t=10: Selected seed 195 with value = 0.1774
+Query 1/1: Action query time = 2.360 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3262
+t=26: Selected seed 195 with value = 0.3262
+Query 1/1: Action query time = 2.391 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3966
+t=42: Selected seed 195 with value = 0.3966
+Query 1/1: Action query time = 4.368 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3997
+t=58: Selected seed 195 with value = 0.3997
+Query 1/1: Action query time = 4.685 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3705
+t=74: Selected seed 195 with value = 0.3705
+Query 1/1: Action query time = 5.301 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5867
+t=90: Selected seed 195 with value = 0.5867
+Query 1/1: Action query time = 4.346 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5447
+t=106: Selected seed 195 with value = 0.5447
+Query 1/1: Action query time = 5.130 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9735
+t=122: Selected seed 195 with value = 0.9735
+Saved rollout MP4 at path ./rollouts/base40kRE_t5_s11/2026_08_02-14_49_44--with_future_img--episode=2--success=True--task=push_the_plate_to_the_front_of_the_.mp4
+Success: True
+# episodes completed so far: 2
+# successes: 2 (100.0%)
+
+Task: push the plate to the front of the stove
+Starting episode 3...
+Query 1/1: Action query time = 5.066 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.1570
+t=10: Selected seed 195 with value = 0.1570
+Query 1/1: Action query time = 4.868 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2205
+t=26: Selected seed 195 with value = 0.2205
+Query 1/1: Action query time = 3.716 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2827
+t=42: Selected seed 195 with value = 0.2827
+Query 1/1: Action query time = 4.124 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3141
+t=58: Selected seed 195 with value = 0.3141
+Query 1/1: Action query time = 3.962 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4787
+t=74: Selected seed 195 with value = 0.4787
+Query 1/1: Action query time = 4.710 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6815
+t=90: Selected seed 195 with value = 0.6815
+Query 1/1: Action query time = 5.357 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5499
+t=106: Selected seed 195 with value = 0.5499
+Query 1/1: Action query time = 5.397 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6605
+t=122: Selected seed 195 with value = 0.6605
+Query 1/1: Action query time = 4.961 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7258
+t=138: Selected seed 195 with value = 0.7258
+Query 1/1: Action query time = 5.282 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8621
+t=154: Selected seed 195 with value = 0.8621
+Saved rollout MP4 at path ./rollouts/base40kRE_t5_s11/2026_08_02-14_49_44--with_future_img--episode=3--success=True--task=push_the_plate_to_the_front_of_the_.mp4
+Success: True
+# episodes completed so far: 3
+# successes: 3 (100.0%)
+Current task success rate: 1.0
+Current total success rate: 1.0
+Final results:
+Total episodes: 3
+Total successes: 3
+Overall success rate: 1.0000 (100.0%)
diff --git a/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-14_49_44--base40kRE_t5_s13.txt b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-14_49_44--base40kRE_t5_s13.txt
new file mode 100644
index 0000000000000000000000000000000000000000..fb9a87f09a0293adcf0da63625228d51c8d53d6b
--- /dev/null
+++ b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-14_49_44--base40kRE_t5_s13.txt
@@ -0,0 +1,133 @@
+Eval config: PolicyEvalConfig(suite='libero', model_family='cosmos', config='cosmos_predict2_2b_480p_libero_cl_stage_inference_only', ckpt_path='/home/azureuser/REGEN-main/checkpoints/imaginaire4-output/cosmos_policy/cosmos_v2_finetune/cosmos_predict2_2b_480p_libero_goal_base_stage_3gpu_40k_save4k_20260726/checkpoints/iter_000040000/model', planning_model_config_name='', planning_model_ckpt_path='', config_file='cosmos_policy/config/config.py', packnet_mask_path='', packnet_first_cl_libero_task=6, use_third_person_image=True, num_third_person_images=1, use_wrist_image=True, num_wrist_images=1, use_proprio=True, flip_images=True, use_variance_scale=False, use_jpeg_compression=True, ar_future_prediction=False, ar_value_prediction=False, ar_qvalue_prediction=False, num_denoising_steps_action=5, num_denoising_steps_future_state=1, num_denoising_steps_value=1, unnormalize_actions=True, normalize_proprio=True, dataset_stats_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/libero_goal_regen/dataset_statistics.json', t5_text_embeddings_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/t5_embeddings.pkl', trained_with_image_aug=True, chunk_size=16, num_open_loop_steps=16, deterministic=True, deterministic_reset=False, deterministic_reset_seed=None, use_ensemble_future_state_predictions=False, num_future_state_predictions_in_ensemble=3, future_state_ensemble_aggregation_scheme='average', use_ensemble_value_predictions=False, num_value_predictions_in_ensemble=5, value_ensemble_aggregation_scheme='average', search_depth=1, mask_current_state_action_for_value_prediction=False, mask_future_state_for_qvalue_prediction=False, num_queries_best_of_n=1, use_parallel_inference=False, available_gpus='0', parallel_timeout=15, parallel_tasks_across_gpus=False, task_suite_name='libero_goal', num_trials_per_task=50, task_ids_to_run='5', initial_states_path='DEFAULT', env_img_res=256, local_log_dir='/home/azureuser/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal', run_id_note='base40kRE_t5_s13', use_wandb=False, wandb_entity='YOUR_ENTITY', wandb_project='YOUR_PROJECT', seed=195, randomize_seed=False, data_collection=False, jpeg_compress=True, reward_stop_threshold=None, reward_stop_consecutive_steps=3, use_gpt_reward=False, gpt_reward_model='gpt-5.4-mini', gpt_reward_stop_threshold=4, gpt_reward_timeout_s=30.0, save_rollout_video=False, eval_hdf5_path='', eval_hdf5_demo_key='demo_0', data_gen_demo_ids='', eval_episode_ids='13,29,45', replay_actions=False, replay_action_path_dir='', replay_hdf5_path='', data_generation=False, max_generation_steps=200, simple_task_max_steps=100, complex_task_max_steps=200)
+Using serial inference (parallel inference disabled)
+Task suite: libero_goal
+Number of tasks: 10
+Running only task IDs: [5]
+Using default initial states
+
+Task: push the plate to the front of the stove
+Starting episode 1...
+Query 1/1: Action query time = 5.063 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2207
+t=10: Selected seed 195 with value = 0.2207
+Query 1/1: Action query time = 3.643 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2210
+t=26: Selected seed 195 with value = 0.2210
+Query 1/1: Action query time = 5.446 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4525
+t=42: Selected seed 195 with value = 0.4525
+Query 1/1: Action query time = 5.150 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3591
+t=58: Selected seed 195 with value = 0.3591
+Query 1/1: Action query time = 5.044 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3705
+t=74: Selected seed 195 with value = 0.3705
+Query 1/1: Action query time = 4.780 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5048
+t=90: Selected seed 195 with value = 0.5048
+Query 1/1: Action query time = 5.021 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5340
+t=106: Selected seed 195 with value = 0.5340
+Query 1/1: Action query time = 5.381 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9632
+t=122: Selected seed 195 with value = 0.9632
+Saved rollout MP4 at path ./rollouts/base40kRE_t5_s13/2026_08_02-14_49_44--with_future_img--episode=1--success=True--task=push_the_plate_to_the_front_of_the_.mp4
+Success: True
+# episodes completed so far: 1
+# successes: 1 (100.0%)
+
+Task: push the plate to the front of the stove
+Starting episode 2...
+Query 1/1: Action query time = 3.104 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3025
+t=10: Selected seed 195 with value = 0.3025
+Query 1/1: Action query time = 4.826 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3643
+t=26: Selected seed 195 with value = 0.3643
+Query 1/1: Action query time = 4.518 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5350
+t=42: Selected seed 195 with value = 0.5350
+Query 1/1: Action query time = 4.952 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5962
+t=58: Selected seed 195 with value = 0.5962
+Query 1/1: Action query time = 5.066 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5487
+t=74: Selected seed 195 with value = 0.5487
+Query 1/1: Action query time = 4.744 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6190
+t=90: Selected seed 195 with value = 0.6190
+Query 1/1: Action query time = 4.448 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7547
+t=106: Selected seed 195 with value = 0.7547
+Query 1/1: Action query time = 4.974 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8541
+t=122: Selected seed 195 with value = 0.8541
+Query 1/1: Action query time = 4.662 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9933
+t=138: Selected seed 195 with value = 0.9933
+Saved rollout MP4 at path ./rollouts/base40kRE_t5_s13/2026_08_02-14_49_44--with_future_img--episode=2--success=True--task=push_the_plate_to_the_front_of_the_.mp4
+Success: True
+# episodes completed so far: 2
+# successes: 2 (100.0%)
+
+Task: push the plate to the front of the stove
+Starting episode 3...
+Query 1/1: Action query time = 2.957 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2690
+t=10: Selected seed 195 with value = 0.2690
+Query 1/1: Action query time = 5.379 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3433
+t=26: Selected seed 195 with value = 0.3433
+Query 1/1: Action query time = 5.335 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3442
+t=42: Selected seed 195 with value = 0.3442
+Query 1/1: Action query time = 4.838 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2644
+t=58: Selected seed 195 with value = 0.2644
+Query 1/1: Action query time = 4.015 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2856
+t=74: Selected seed 195 with value = 0.2856
+Query 1/1: Action query time = 4.740 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3483
+t=90: Selected seed 195 with value = 0.3483
+Query 1/1: Action query time = 5.356 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4871
+t=106: Selected seed 195 with value = 0.4871
+Query 1/1: Action query time = 3.244 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8768
+t=122: Selected seed 195 with value = 0.8768
+Saved rollout MP4 at path ./rollouts/base40kRE_t5_s13/2026_08_02-14_49_44--with_future_img--episode=3--success=True--task=push_the_plate_to_the_front_of_the_.mp4
+Success: True
+# episodes completed so far: 3
+# successes: 3 (100.0%)
+Current task success rate: 1.0
+Current total success rate: 1.0
+Final results:
+Total episodes: 3
+Total successes: 3
+Overall success rate: 1.0000 (100.0%)
diff --git a/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-14_49_44--base40kRE_t5_s14.txt b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-14_49_44--base40kRE_t5_s14.txt
new file mode 100644
index 0000000000000000000000000000000000000000..e976c6194eb14052f908e00df335087a7bca3548
--- /dev/null
+++ b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_02-14_49_44--base40kRE_t5_s14.txt
@@ -0,0 +1,141 @@
+Eval config: PolicyEvalConfig(suite='libero', model_family='cosmos', config='cosmos_predict2_2b_480p_libero_cl_stage_inference_only', ckpt_path='/home/azureuser/REGEN-main/checkpoints/imaginaire4-output/cosmos_policy/cosmos_v2_finetune/cosmos_predict2_2b_480p_libero_goal_base_stage_3gpu_40k_save4k_20260726/checkpoints/iter_000040000/model', planning_model_config_name='', planning_model_ckpt_path='', config_file='cosmos_policy/config/config.py', packnet_mask_path='', packnet_first_cl_libero_task=6, use_third_person_image=True, num_third_person_images=1, use_wrist_image=True, num_wrist_images=1, use_proprio=True, flip_images=True, use_variance_scale=False, use_jpeg_compression=True, ar_future_prediction=False, ar_value_prediction=False, ar_qvalue_prediction=False, num_denoising_steps_action=5, num_denoising_steps_future_state=1, num_denoising_steps_value=1, unnormalize_actions=True, normalize_proprio=True, dataset_stats_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/libero_goal_regen/dataset_statistics.json', t5_text_embeddings_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/t5_embeddings.pkl', trained_with_image_aug=True, chunk_size=16, num_open_loop_steps=16, deterministic=True, deterministic_reset=False, deterministic_reset_seed=None, use_ensemble_future_state_predictions=False, num_future_state_predictions_in_ensemble=3, future_state_ensemble_aggregation_scheme='average', use_ensemble_value_predictions=False, num_value_predictions_in_ensemble=5, value_ensemble_aggregation_scheme='average', search_depth=1, mask_current_state_action_for_value_prediction=False, mask_future_state_for_qvalue_prediction=False, num_queries_best_of_n=1, use_parallel_inference=False, available_gpus='0', parallel_timeout=15, parallel_tasks_across_gpus=False, task_suite_name='libero_goal', num_trials_per_task=50, task_ids_to_run='5', initial_states_path='DEFAULT', env_img_res=256, local_log_dir='/home/azureuser/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal', run_id_note='base40kRE_t5_s14', use_wandb=False, wandb_entity='YOUR_ENTITY', wandb_project='YOUR_PROJECT', seed=195, randomize_seed=False, data_collection=False, jpeg_compress=True, reward_stop_threshold=None, reward_stop_consecutive_steps=3, use_gpt_reward=False, gpt_reward_model='gpt-5.4-mini', gpt_reward_stop_threshold=4, gpt_reward_timeout_s=30.0, save_rollout_video=False, eval_hdf5_path='', eval_hdf5_demo_key='demo_0', data_gen_demo_ids='', eval_episode_ids='14,30,46', replay_actions=False, replay_action_path_dir='', replay_hdf5_path='', data_generation=False, max_generation_steps=200, simple_task_max_steps=100, complex_task_max_steps=200)
+Using serial inference (parallel inference disabled)
+Task suite: libero_goal
+Number of tasks: 10
+Running only task IDs: [5]
+Using default initial states
+
+Task: push the plate to the front of the stove
+Starting episode 1...
+Query 1/1: Action query time = 6.253 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2997
+t=10: Selected seed 195 with value = 0.2997
+Query 1/1: Action query time = 5.230 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2548
+t=26: Selected seed 195 with value = 0.2548
+Query 1/1: Action query time = 4.583 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2980
+t=42: Selected seed 195 with value = 0.2980
+Query 1/1: Action query time = 4.957 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2823
+t=58: Selected seed 195 with value = 0.2823
+Query 1/1: Action query time = 5.086 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5789
+t=74: Selected seed 195 with value = 0.5789
+Query 1/1: Action query time = 4.788 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7324
+t=90: Selected seed 195 with value = 0.7324
+Query 1/1: Action query time = 4.306 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8325
+t=106: Selected seed 195 with value = 0.8325
+Query 1/1: Action query time = 4.743 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9178
+t=122: Selected seed 195 with value = 0.9178
+Saved rollout MP4 at path ./rollouts/base40kRE_t5_s14/2026_08_02-14_49_44--with_future_img--episode=1--success=True--task=push_the_plate_to_the_front_of_the_.mp4
+Success: True
+# episodes completed so far: 1
+# successes: 1 (100.0%)
+
+Task: push the plate to the front of the stove
+Starting episode 2...
+Query 1/1: Action query time = 4.436 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.1562
+t=10: Selected seed 195 with value = 0.1562
+Query 1/1: Action query time = 5.203 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2279
+t=26: Selected seed 195 with value = 0.2279
+Query 1/1: Action query time = 5.369 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2743
+t=42: Selected seed 195 with value = 0.2743
+Query 1/1: Action query time = 3.918 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3195
+t=58: Selected seed 195 with value = 0.3195
+Query 1/1: Action query time = 5.404 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3749
+t=74: Selected seed 195 with value = 0.3749
+Query 1/1: Action query time = 4.346 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5313
+t=90: Selected seed 195 with value = 0.5313
+Query 1/1: Action query time = 4.907 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5821
+t=106: Selected seed 195 with value = 0.5821
+Query 1/1: Action query time = 4.541 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6294
+t=122: Selected seed 195 with value = 0.6294
+Query 1/1: Action query time = 4.100 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7238
+t=138: Selected seed 195 with value = 0.7238
+Query 1/1: Action query time = 4.169 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8433
+t=154: Selected seed 195 with value = 0.8433
+Saved rollout MP4 at path ./rollouts/base40kRE_t5_s14/2026_08_02-14_49_44--with_future_img--episode=2--success=True--task=push_the_plate_to_the_front_of_the_.mp4
+Success: True
+# episodes completed so far: 2
+# successes: 2 (100.0%)
+
+Task: push the plate to the front of the stove
+Starting episode 3...
+Query 1/1: Action query time = 4.720 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2042
+t=10: Selected seed 195 with value = 0.2042
+Query 1/1: Action query time = 5.362 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.1894
+t=26: Selected seed 195 with value = 0.1894
+Query 1/1: Action query time = 5.460 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3991
+t=42: Selected seed 195 with value = 0.3991
+Query 1/1: Action query time = 4.845 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4423
+t=58: Selected seed 195 with value = 0.4423
+Query 1/1: Action query time = 5.225 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5333
+t=74: Selected seed 195 with value = 0.5333
+Query 1/1: Action query time = 3.738 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5968
+t=90: Selected seed 195 with value = 0.5968
+Query 1/1: Action query time = 3.207 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7070
+t=106: Selected seed 195 with value = 0.7070
+Query 1/1: Action query time = 2.313 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8343
+t=122: Selected seed 195 with value = 0.8343
+Query 1/1: Action query time = 1.275 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9889
+t=138: Selected seed 195 with value = 0.9889
+Saved rollout MP4 at path ./rollouts/base40kRE_t5_s14/2026_08_02-14_49_44--with_future_img--episode=3--success=True--task=push_the_plate_to_the_front_of_the_.mp4
+Success: True
+# episodes completed so far: 3
+# successes: 3 (100.0%)
+Current task success rate: 1.0
+Current total success rate: 1.0
+Final results:
+Total episodes: 3
+Total successes: 3
+Overall success rate: 1.0000 (100.0%)
diff --git a/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_03-00_48_00--t7realcl800_t2.txt b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_03-00_48_00--t7realcl800_t2.txt
new file mode 100644
index 0000000000000000000000000000000000000000..498191fb555b135f509f756d806e2fdc0e2c7b03
--- /dev/null
+++ b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_03-00_48_00--t7realcl800_t2.txt
@@ -0,0 +1,842 @@
+Eval config: PolicyEvalConfig(suite='libero', model_family='cosmos', config='cosmos_predict2_2b_480p_libero_cl_stage_inference_only', ckpt_path='/home/azureuser/REGEN-main/new_task7/cosmos_policy/cosmos_v2_finetune/cosmos_predict2_2b_480p_libero_goal_task7_cl_from_realcl800_2gpu/checkpoints/iter_000000800/model', planning_model_config_name='', planning_model_ckpt_path='', config_file='cosmos_policy/config/config.py', packnet_mask_path='', packnet_first_cl_libero_task=6, use_third_person_image=True, num_third_person_images=1, use_wrist_image=True, num_wrist_images=1, use_proprio=True, flip_images=True, use_variance_scale=False, use_jpeg_compression=True, ar_future_prediction=False, ar_value_prediction=False, ar_qvalue_prediction=False, num_denoising_steps_action=5, num_denoising_steps_future_state=1, num_denoising_steps_value=1, unnormalize_actions=True, normalize_proprio=True, dataset_stats_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/libero_goal_regen/dataset_statistics.json', t5_text_embeddings_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/t5_embeddings.pkl', trained_with_image_aug=True, chunk_size=16, num_open_loop_steps=16, deterministic=True, deterministic_reset=False, deterministic_reset_seed=None, use_ensemble_future_state_predictions=False, num_future_state_predictions_in_ensemble=3, future_state_ensemble_aggregation_scheme='average', use_ensemble_value_predictions=False, num_value_predictions_in_ensemble=5, value_ensemble_aggregation_scheme='average', search_depth=1, mask_current_state_action_for_value_prediction=False, mask_future_state_for_qvalue_prediction=False, num_queries_best_of_n=1, use_parallel_inference=False, available_gpus='0', parallel_timeout=15, parallel_tasks_across_gpus=False, task_suite_name='libero_goal', num_trials_per_task=10, task_ids_to_run='2', initial_states_path='DEFAULT', env_img_res=256, local_log_dir='/home/azureuser/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal', run_id_note='t7realcl800_t2', use_wandb=False, wandb_entity='YOUR_ENTITY', wandb_project='YOUR_PROJECT', seed=195, randomize_seed=False, data_collection=False, jpeg_compress=True, reward_stop_threshold=None, reward_stop_consecutive_steps=3, use_gpt_reward=False, gpt_reward_model='gpt-5.4-mini', gpt_reward_stop_threshold=4, gpt_reward_timeout_s=30.0, save_rollout_video=False, eval_hdf5_path='', eval_hdf5_demo_key='demo_0', data_gen_demo_ids='', eval_episode_ids='', replay_actions=False, replay_action_path_dir='', replay_hdf5_path='', data_generation=False, max_generation_steps=200, simple_task_max_steps=100, complex_task_max_steps=200, disable_value_stop=False)
+Using serial inference (parallel inference disabled)
+Task suite: libero_goal
+Number of tasks: 10
+Running only task IDs: [2]
+Using default initial states
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 1...
+Query 1/1: Action query time = 3.694 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5961
+t=10: Selected seed 195 with value = 0.5961
+Query 1/1: Action query time = 3.172 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6984
+t=26: Selected seed 195 with value = 0.6984
+Query 1/1: Action query time = 3.198 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8001
+t=42: Selected seed 195 with value = 0.8001
+Query 1/1: Action query time = 3.064 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8617
+t=58: Selected seed 195 with value = 0.8617
+Query 1/1: Action query time = 3.469 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9953
+t=74: Selected seed 195 with value = 0.9953
+Query 1/1: Action query time = 2.803 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 2.317 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=106: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 2.729 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=122: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 2.121 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=138: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 2.106 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=154: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 2.551 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=170: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 2.640 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=186: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 3.816 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=202: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 2.974 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=218: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 2.395 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=234: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 2.707 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=250: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 3.277 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=266: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 3.376 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=282: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 3.413 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=298: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/t7realcl800_t2/2026_08_03-00_48_00--with_future_img--episode=1--success=False--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: False
+# episodes completed so far: 1
+# successes: 0 (0.0%)
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 2...
+Query 1/1: Action query time = 3.408 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5554
+t=10: Selected seed 195 with value = 0.5554
+Query 1/1: Action query time = 3.670 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6356
+t=26: Selected seed 195 with value = 0.6356
+Query 1/1: Action query time = 3.285 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7391
+t=42: Selected seed 195 with value = 0.7391
+Query 1/1: Action query time = 2.767 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8782
+t=58: Selected seed 195 with value = 0.8782
+Query 1/1: Action query time = 3.030 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9822
+t=74: Selected seed 195 with value = 0.9822
+Query 1/1: Action query time = 3.012 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 2.871 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=106: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 1.698 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=122: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 2.947 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=138: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 2.631 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=154: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 2.444 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=170: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 3.513 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=186: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 2.810 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=202: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 2.802 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=218: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 2.675 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=234: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 3.109 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=250: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 2.917 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=266: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 3.177 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=282: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 2.526 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=298: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/t7realcl800_t2/2026_08_03-00_48_00--with_future_img--episode=2--success=False--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: False
+# episodes completed so far: 2
+# successes: 0 (0.0%)
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 3...
+Query 1/1: Action query time = 2.860 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5842
+t=10: Selected seed 195 with value = 0.5842
+Query 1/1: Action query time = 3.204 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7359
+t=26: Selected seed 195 with value = 0.7359
+Query 1/1: Action query time = 2.027 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7345
+t=42: Selected seed 195 with value = 0.7345
+Query 1/1: Action query time = 3.009 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8790
+t=58: Selected seed 195 with value = 0.8790
+Query 1/1: Action query time = 2.382 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9388
+t=74: Selected seed 195 with value = 0.9388
+Query 1/1: Action query time = 2.384 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 2.412 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=106: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 2.322 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9861
+t=122: Selected seed 195 with value = 0.9861
+Query 1/1: Action query time = 2.051 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9723
+t=138: Selected seed 195 with value = 0.9723
+Query 1/1: Action query time = 2.341 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9555
+t=154: Selected seed 195 with value = 0.9555
+Query 1/1: Action query time = 2.920 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9761
+t=170: Selected seed 195 with value = 0.9761
+Query 1/1: Action query time = 3.220 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9882
+t=186: Selected seed 195 with value = 0.9882
+Query 1/1: Action query time = 2.760 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9927
+t=202: Selected seed 195 with value = 0.9927
+Query 1/1: Action query time = 2.956 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=218: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 2.935 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9856
+t=234: Selected seed 195 with value = 0.9856
+Query 1/1: Action query time = 3.004 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8795
+t=250: Selected seed 195 with value = 0.8795
+Query 1/1: Action query time = 2.508 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9683
+t=266: Selected seed 195 with value = 0.9683
+Query 1/1: Action query time = 3.170 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8678
+t=282: Selected seed 195 with value = 0.8678
+Query 1/1: Action query time = 3.003 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8961
+t=298: Selected seed 195 with value = 0.8961
+Saved rollout MP4 at path ./rollouts/t7realcl800_t2/2026_08_03-00_48_00--with_future_img--episode=3--success=False--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: False
+# episodes completed so far: 3
+# successes: 0 (0.0%)
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 4...
+Query 1/1: Action query time = 1.953 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5677
+t=10: Selected seed 195 with value = 0.5677
+Query 1/1: Action query time = 3.852 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6623
+t=26: Selected seed 195 with value = 0.6623
+Query 1/1: Action query time = 3.552 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6471
+t=42: Selected seed 195 with value = 0.6471
+Query 1/1: Action query time = 4.286 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8277
+t=58: Selected seed 195 with value = 0.8277
+Query 1/1: Action query time = 3.668 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7466
+t=74: Selected seed 195 with value = 0.7466
+Query 1/1: Action query time = 3.288 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8687
+t=90: Selected seed 195 with value = 0.8687
+Query 1/1: Action query time = 2.434 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9200
+t=106: Selected seed 195 with value = 0.9200
+Query 1/1: Action query time = 2.807 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9273
+t=122: Selected seed 195 with value = 0.9273
+Query 1/1: Action query time = 2.446 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9359
+t=138: Selected seed 195 with value = 0.9359
+Query 1/1: Action query time = 1.459 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9424
+t=154: Selected seed 195 with value = 0.9424
+Query 1/1: Action query time = 2.821 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9247
+t=170: Selected seed 195 with value = 0.9247
+Query 1/1: Action query time = 2.842 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9263
+t=186: Selected seed 195 with value = 0.9263
+Query 1/1: Action query time = 2.215 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8782
+t=202: Selected seed 195 with value = 0.8782
+Query 1/1: Action query time = 2.246 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8832
+t=218: Selected seed 195 with value = 0.8832
+Query 1/1: Action query time = 3.114 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8934
+t=234: Selected seed 195 with value = 0.8934
+Query 1/1: Action query time = 2.433 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8966
+t=250: Selected seed 195 with value = 0.8966
+Query 1/1: Action query time = 3.175 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8587
+t=266: Selected seed 195 with value = 0.8587
+Query 1/1: Action query time = 3.127 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8300
+t=282: Selected seed 195 with value = 0.8300
+Query 1/1: Action query time = 3.059 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8160
+t=298: Selected seed 195 with value = 0.8160
+Saved rollout MP4 at path ./rollouts/t7realcl800_t2/2026_08_03-00_48_00--with_future_img--episode=4--success=False--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: False
+# episodes completed so far: 4
+# successes: 0 (0.0%)
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 5...
+Query 1/1: Action query time = 2.573 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5640
+t=10: Selected seed 195 with value = 0.5640
+Query 1/1: Action query time = 2.181 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6729
+t=26: Selected seed 195 with value = 0.6729
+Query 1/1: Action query time = 2.680 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6918
+t=42: Selected seed 195 with value = 0.6918
+Query 1/1: Action query time = 2.816 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7694
+t=58: Selected seed 195 with value = 0.7694
+Query 1/1: Action query time = 2.762 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9330
+t=74: Selected seed 195 with value = 0.9330
+Query 1/1: Action query time = 2.892 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 2.628 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=106: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 2.096 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=122: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 1.500 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=138: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 1.352 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=154: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 1.670 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=170: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 2.683 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=186: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 3.165 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=202: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 3.191 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=218: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 2.865 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=234: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 2.929 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=250: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 3.066 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=266: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 2.875 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=282: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 2.175 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=298: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/t7realcl800_t2/2026_08_03-00_48_00--with_future_img--episode=5--success=False--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: False
+# episodes completed so far: 5
+# successes: 0 (0.0%)
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 6...
+Query 1/1: Action query time = 3.380 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5874
+t=10: Selected seed 195 with value = 0.5874
+Query 1/1: Action query time = 2.995 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6141
+t=26: Selected seed 195 with value = 0.6141
+Query 1/1: Action query time = 3.247 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7113
+t=42: Selected seed 195 with value = 0.7113
+Query 1/1: Action query time = 2.443 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8610
+t=58: Selected seed 195 with value = 0.8610
+Query 1/1: Action query time = 3.368 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7630
+t=74: Selected seed 195 with value = 0.7630
+Query 1/1: Action query time = 2.389 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7778
+t=90: Selected seed 195 with value = 0.7778
+Query 1/1: Action query time = 3.167 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7868
+t=106: Selected seed 195 with value = 0.7868
+Query 1/1: Action query time = 2.526 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9184
+t=122: Selected seed 195 with value = 0.9184
+Query 1/1: Action query time = 2.159 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9482
+t=138: Selected seed 195 with value = 0.9482
+Query 1/1: Action query time = 2.304 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9342
+t=154: Selected seed 195 with value = 0.9342
+Query 1/1: Action query time = 2.820 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9309
+t=170: Selected seed 195 with value = 0.9309
+Query 1/1: Action query time = 3.682 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9374
+t=186: Selected seed 195 with value = 0.9374
+Query 1/1: Action query time = 3.478 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8820
+t=202: Selected seed 195 with value = 0.8820
+Query 1/1: Action query time = 2.358 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7865
+t=218: Selected seed 195 with value = 0.7865
+Query 1/1: Action query time = 2.529 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8626
+t=234: Selected seed 195 with value = 0.8626
+Query 1/1: Action query time = 2.502 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9114
+t=250: Selected seed 195 with value = 0.9114
+Query 1/1: Action query time = 3.456 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8827
+t=266: Selected seed 195 with value = 0.8827
+Query 1/1: Action query time = 1.384 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8705
+t=282: Selected seed 195 with value = 0.8705
+Query 1/1: Action query time = 1.938 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8583
+t=298: Selected seed 195 with value = 0.8583
+Saved rollout MP4 at path ./rollouts/t7realcl800_t2/2026_08_03-00_48_00--with_future_img--episode=6--success=False--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: False
+# episodes completed so far: 6
+# successes: 0 (0.0%)
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 7...
+Query 1/1: Action query time = 3.052 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5593
+t=10: Selected seed 195 with value = 0.5593
+Query 1/1: Action query time = 3.540 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6819
+t=26: Selected seed 195 with value = 0.6819
+Query 1/1: Action query time = 3.053 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7576
+t=42: Selected seed 195 with value = 0.7576
+Query 1/1: Action query time = 2.422 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8711
+t=58: Selected seed 195 with value = 0.8711
+Query 1/1: Action query time = 1.823 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9673
+t=74: Selected seed 195 with value = 0.9673
+Query 1/1: Action query time = 1.421 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 2.240 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=106: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 3.135 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9327
+t=122: Selected seed 195 with value = 0.9327
+Query 1/1: Action query time = 2.194 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9919
+t=138: Selected seed 195 with value = 0.9919
+Query 1/1: Action query time = 2.305 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=154: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 2.399 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=170: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 2.383 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=186: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 1.533 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=202: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 2.947 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=218: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 2.400 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9840
+t=234: Selected seed 195 with value = 0.9840
+Query 1/1: Action query time = 2.526 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=250: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 2.885 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9594
+t=266: Selected seed 195 with value = 0.9594
+Query 1/1: Action query time = 1.713 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=282: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 1.994 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9107
+t=298: Selected seed 195 with value = 0.9107
+Saved rollout MP4 at path ./rollouts/t7realcl800_t2/2026_08_03-00_48_00--with_future_img--episode=7--success=False--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: False
+# episodes completed so far: 7
+# successes: 0 (0.0%)
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 8...
+Query 1/1: Action query time = 2.072 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5766
+t=10: Selected seed 195 with value = 0.5766
+Query 1/1: Action query time = 2.307 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6933
+t=26: Selected seed 195 with value = 0.6933
+Query 1/1: Action query time = 2.878 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6933
+t=42: Selected seed 195 with value = 0.6933
+Query 1/1: Action query time = 2.885 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9093
+t=58: Selected seed 195 with value = 0.9093
+Query 1/1: Action query time = 2.937 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7684
+t=74: Selected seed 195 with value = 0.7684
+Query 1/1: Action query time = 2.701 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8683
+t=90: Selected seed 195 with value = 0.8683
+Query 1/1: Action query time = 2.810 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8258
+t=106: Selected seed 195 with value = 0.8258
+Query 1/1: Action query time = 1.748 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8572
+t=122: Selected seed 195 with value = 0.8572
+Query 1/1: Action query time = 2.438 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8355
+t=138: Selected seed 195 with value = 0.8355
+Query 1/1: Action query time = 2.384 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8140
+t=154: Selected seed 195 with value = 0.8140
+Query 1/1: Action query time = 2.399 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8394
+t=170: Selected seed 195 with value = 0.8394
+Query 1/1: Action query time = 2.324 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8582
+t=186: Selected seed 195 with value = 0.8582
+Query 1/1: Action query time = 2.614 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9011
+t=202: Selected seed 195 with value = 0.9011
+Query 1/1: Action query time = 2.282 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9064
+t=218: Selected seed 195 with value = 0.9064
+Query 1/1: Action query time = 2.385 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9071
+t=234: Selected seed 195 with value = 0.9071
+Query 1/1: Action query time = 2.246 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9231
+t=250: Selected seed 195 with value = 0.9231
+Query 1/1: Action query time = 2.348 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8648
+t=266: Selected seed 195 with value = 0.8648
+Query 1/1: Action query time = 1.882 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8733
+t=282: Selected seed 195 with value = 0.8733
+Query 1/1: Action query time = 1.359 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9109
+t=298: Selected seed 195 with value = 0.9109
+Saved rollout MP4 at path ./rollouts/t7realcl800_t2/2026_08_03-00_48_00--with_future_img--episode=8--success=False--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: False
+# episodes completed so far: 8
+# successes: 0 (0.0%)
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 9...
+Query 1/1: Action query time = 1.736 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5840
+t=10: Selected seed 195 with value = 0.5840
+Query 1/1: Action query time = 2.049 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6209
+t=26: Selected seed 195 with value = 0.6209
+Query 1/1: Action query time = 2.087 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6933
+t=42: Selected seed 195 with value = 0.6933
+Query 1/1: Action query time = 2.268 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8612
+t=58: Selected seed 195 with value = 0.8612
+Query 1/1: Action query time = 2.169 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7363
+t=74: Selected seed 195 with value = 0.7363
+Query 1/1: Action query time = 2.511 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7428
+t=90: Selected seed 195 with value = 0.7428
+Query 1/1: Action query time = 2.097 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7761
+t=106: Selected seed 195 with value = 0.7761
+Query 1/1: Action query time = 2.075 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8602
+t=122: Selected seed 195 with value = 0.8602
+Query 1/1: Action query time = 1.927 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8837
+t=138: Selected seed 195 with value = 0.8837
+Query 1/1: Action query time = 1.842 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8369
+t=154: Selected seed 195 with value = 0.8369
+Query 1/1: Action query time = 1.744 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8358
+t=170: Selected seed 195 with value = 0.8358
+Query 1/1: Action query time = 1.710 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8700
+t=186: Selected seed 195 with value = 0.8700
+Query 1/1: Action query time = 1.775 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8771
+t=202: Selected seed 195 with value = 0.8771
+Query 1/1: Action query time = 1.744 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9007
+t=218: Selected seed 195 with value = 0.9007
+Query 1/1: Action query time = 2.133 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8667
+t=234: Selected seed 195 with value = 0.8667
+Query 1/1: Action query time = 2.018 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8709
+t=250: Selected seed 195 with value = 0.8709
+Query 1/1: Action query time = 1.032 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8718
+t=266: Selected seed 195 with value = 0.8718
+Query 1/1: Action query time = 1.609 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8434
+t=282: Selected seed 195 with value = 0.8434
+Query 1/1: Action query time = 1.094 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8278
+t=298: Selected seed 195 with value = 0.8278
+Saved rollout MP4 at path ./rollouts/t7realcl800_t2/2026_08_03-00_48_00--with_future_img--episode=9--success=False--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: False
+# episodes completed so far: 9
+# successes: 0 (0.0%)
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 10...
+Query 1/1: Action query time = 1.494 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5866
+t=10: Selected seed 195 with value = 0.5866
+Query 1/1: Action query time = 1.902 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6221
+t=26: Selected seed 195 with value = 0.6221
+Query 1/1: Action query time = 1.725 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6944
+t=42: Selected seed 195 with value = 0.6944
+Query 1/1: Action query time = 1.606 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8060
+t=58: Selected seed 195 with value = 0.8060
+Query 1/1: Action query time = 1.690 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7425
+t=74: Selected seed 195 with value = 0.7425
+Query 1/1: Action query time = 1.832 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8434
+t=90: Selected seed 195 with value = 0.8434
+Query 1/1: Action query time = 1.465 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9110
+t=106: Selected seed 195 with value = 0.9110
+Query 1/1: Action query time = 1.230 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9291
+t=122: Selected seed 195 with value = 0.9291
+Query 1/1: Action query time = 1.343 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9206
+t=138: Selected seed 195 with value = 0.9206
+Query 1/1: Action query time = 1.524 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9166
+t=154: Selected seed 195 with value = 0.9166
+Query 1/1: Action query time = 1.215 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9271
+t=170: Selected seed 195 with value = 0.9271
+Query 1/1: Action query time = 1.065 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8559
+t=186: Selected seed 195 with value = 0.8559
+Query 1/1: Action query time = 1.101 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8609
+t=202: Selected seed 195 with value = 0.8609
+Query 1/1: Action query time = 1.368 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8860
+t=218: Selected seed 195 with value = 0.8860
+Query 1/1: Action query time = 1.808 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8576
+t=234: Selected seed 195 with value = 0.8576
+Query 1/1: Action query time = 1.693 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8684
+t=250: Selected seed 195 with value = 0.8684
+Query 1/1: Action query time = 0.973 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8563
+t=266: Selected seed 195 with value = 0.8563
+Query 1/1: Action query time = 0.971 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8376
+t=282: Selected seed 195 with value = 0.8376
+Query 1/1: Action query time = 0.975 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8259
+t=298: Selected seed 195 with value = 0.8259
+Saved rollout MP4 at path ./rollouts/t7realcl800_t2/2026_08_03-00_48_00--with_future_img--episode=10--success=False--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: False
+# episodes completed so far: 10
+# successes: 0 (0.0%)
+Current task success rate: 0.0
+Current total success rate: 0.0
+Final results:
+Total episodes: 10
+Total successes: 0
+Overall success rate: 0.0000 (0.0%)
diff --git a/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_03-00_48_00--t7realcl800_t4.txt b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_03-00_48_00--t7realcl800_t4.txt
new file mode 100644
index 0000000000000000000000000000000000000000..69077edc6a7cfb72472c874fefb43780bc8c16e6
--- /dev/null
+++ b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_03-00_48_00--t7realcl800_t4.txt
@@ -0,0 +1,374 @@
+Eval config: PolicyEvalConfig(suite='libero', model_family='cosmos', config='cosmos_predict2_2b_480p_libero_cl_stage_inference_only', ckpt_path='/home/azureuser/REGEN-main/new_task7/cosmos_policy/cosmos_v2_finetune/cosmos_predict2_2b_480p_libero_goal_task7_cl_from_realcl800_2gpu/checkpoints/iter_000000800/model', planning_model_config_name='', planning_model_ckpt_path='', config_file='cosmos_policy/config/config.py', packnet_mask_path='', packnet_first_cl_libero_task=6, use_third_person_image=True, num_third_person_images=1, use_wrist_image=True, num_wrist_images=1, use_proprio=True, flip_images=True, use_variance_scale=False, use_jpeg_compression=True, ar_future_prediction=False, ar_value_prediction=False, ar_qvalue_prediction=False, num_denoising_steps_action=5, num_denoising_steps_future_state=1, num_denoising_steps_value=1, unnormalize_actions=True, normalize_proprio=True, dataset_stats_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/libero_goal_regen/dataset_statistics.json', t5_text_embeddings_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/t5_embeddings.pkl', trained_with_image_aug=True, chunk_size=16, num_open_loop_steps=16, deterministic=True, deterministic_reset=False, deterministic_reset_seed=None, use_ensemble_future_state_predictions=False, num_future_state_predictions_in_ensemble=3, future_state_ensemble_aggregation_scheme='average', use_ensemble_value_predictions=False, num_value_predictions_in_ensemble=5, value_ensemble_aggregation_scheme='average', search_depth=1, mask_current_state_action_for_value_prediction=False, mask_future_state_for_qvalue_prediction=False, num_queries_best_of_n=1, use_parallel_inference=False, available_gpus='0', parallel_timeout=15, parallel_tasks_across_gpus=False, task_suite_name='libero_goal', num_trials_per_task=10, task_ids_to_run='4', initial_states_path='DEFAULT', env_img_res=256, local_log_dir='/home/azureuser/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal', run_id_note='t7realcl800_t4', use_wandb=False, wandb_entity='YOUR_ENTITY', wandb_project='YOUR_PROJECT', seed=195, randomize_seed=False, data_collection=False, jpeg_compress=True, reward_stop_threshold=None, reward_stop_consecutive_steps=3, use_gpt_reward=False, gpt_reward_model='gpt-5.4-mini', gpt_reward_stop_threshold=4, gpt_reward_timeout_s=30.0, save_rollout_video=False, eval_hdf5_path='', eval_hdf5_demo_key='demo_0', data_gen_demo_ids='', eval_episode_ids='', replay_actions=False, replay_action_path_dir='', replay_hdf5_path='', data_generation=False, max_generation_steps=200, simple_task_max_steps=100, complex_task_max_steps=200, disable_value_stop=False)
+Using serial inference (parallel inference disabled)
+Task suite: libero_goal
+Number of tasks: 10
+Running only task IDs: [4]
+Using default initial states
+
+Task: put the bowl on top of the cabinet
+Starting episode 1...
+Query 1/1: Action query time = 4.567 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5439
+t=10: Selected seed 195 with value = 0.5439
+Query 1/1: Action query time = 2.977 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5986
+t=26: Selected seed 195 with value = 0.5986
+Query 1/1: Action query time = 2.919 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7314
+t=42: Selected seed 195 with value = 0.7314
+Query 1/1: Action query time = 4.026 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8178
+t=58: Selected seed 195 with value = 0.8178
+Query 1/1: Action query time = 3.447 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9788
+t=74: Selected seed 195 with value = 0.9788
+Query 1/1: Action query time = 2.759 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/t7realcl800_t4/2026_08_03-00_48_00--with_future_img--episode=1--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Success: True
+# episodes completed so far: 1
+# successes: 1 (100.0%)
+
+Task: put the bowl on top of the cabinet
+Starting episode 2...
+Query 1/1: Action query time = 3.037 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5740
+t=10: Selected seed 195 with value = 0.5740
+Query 1/1: Action query time = 2.201 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7040
+t=26: Selected seed 195 with value = 0.7040
+Query 1/1: Action query time = 3.130 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7866
+t=42: Selected seed 195 with value = 0.7866
+Query 1/1: Action query time = 2.277 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9734
+t=58: Selected seed 195 with value = 0.9734
+Query 1/1: Action query time = 2.780 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=74: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 3.223 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/t7realcl800_t4/2026_08_03-00_48_00--with_future_img--episode=2--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Success: True
+# episodes completed so far: 2
+# successes: 2 (100.0%)
+
+Task: put the bowl on top of the cabinet
+Starting episode 3...
+Query 1/1: Action query time = 2.642 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5404
+t=10: Selected seed 195 with value = 0.5404
+Query 1/1: Action query time = 3.029 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6407
+t=26: Selected seed 195 with value = 0.6407
+Query 1/1: Action query time = 2.079 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7324
+t=42: Selected seed 195 with value = 0.7324
+Query 1/1: Action query time = 1.512 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9431
+t=58: Selected seed 195 with value = 0.9431
+Query 1/1: Action query time = 3.211 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9645
+t=74: Selected seed 195 with value = 0.9645
+Query 1/1: Action query time = 2.703 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9797
+t=90: Selected seed 195 with value = 0.9797
+Query 1/1: Action query time = 2.928 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9841
+t=106: Selected seed 195 with value = 0.9841
+Query 1/1: Action query time = 3.023 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9867
+t=122: Selected seed 195 with value = 0.9867
+Query 1/1: Action query time = 3.837 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9926
+t=138: Selected seed 195 with value = 0.9926
+Query 1/1: Action query time = 2.714 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9890
+t=154: Selected seed 195 with value = 0.9890
+Query 1/1: Action query time = 2.393 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9982
+t=170: Selected seed 195 with value = 0.9982
+Query 1/1: Action query time = 3.047 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9997
+t=186: Selected seed 195 with value = 0.9997
+Query 1/1: Action query time = 2.972 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9911
+t=202: Selected seed 195 with value = 0.9911
+Query 1/1: Action query time = 2.869 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9945
+t=218: Selected seed 195 with value = 0.9945
+Query 1/1: Action query time = 3.020 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=234: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 2.729 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9965
+t=250: Selected seed 195 with value = 0.9965
+Query 1/1: Action query time = 2.327 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=266: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 2.713 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9976
+t=282: Selected seed 195 with value = 0.9976
+Query 1/1: Action query time = 2.661 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=298: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/t7realcl800_t4/2026_08_03-00_48_00--with_future_img--episode=3--success=False--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Success: False
+# episodes completed so far: 3
+# successes: 2 (66.7%)
+
+Task: put the bowl on top of the cabinet
+Starting episode 4...
+Query 1/1: Action query time = 2.637 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5078
+t=10: Selected seed 195 with value = 0.5078
+Query 1/1: Action query time = 2.356 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6225
+t=26: Selected seed 195 with value = 0.6225
+Query 1/1: Action query time = 2.450 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7233
+t=42: Selected seed 195 with value = 0.7233
+Query 1/1: Action query time = 2.501 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8444
+t=58: Selected seed 195 with value = 0.8444
+Query 1/1: Action query time = 2.439 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9508
+t=74: Selected seed 195 with value = 0.9508
+Query 1/1: Action query time = 2.794 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9876
+t=90: Selected seed 195 with value = 0.9876
+Saved rollout MP4 at path ./rollouts/t7realcl800_t4/2026_08_03-00_48_00--with_future_img--episode=4--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Success: True
+# episodes completed so far: 4
+# successes: 3 (75.0%)
+
+Task: put the bowl on top of the cabinet
+Starting episode 5...
+Query 1/1: Action query time = 2.497 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5616
+t=10: Selected seed 195 with value = 0.5616
+Query 1/1: Action query time = 3.205 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6674
+t=26: Selected seed 195 with value = 0.6674
+Query 1/1: Action query time = 3.730 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7697
+t=42: Selected seed 195 with value = 0.7697
+Query 1/1: Action query time = 4.010 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8128
+t=58: Selected seed 195 with value = 0.8128
+Query 1/1: Action query time = 3.558 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9891
+t=74: Selected seed 195 with value = 0.9891
+Query 1/1: Action query time = 3.468 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9976
+t=90: Selected seed 195 with value = 0.9976
+Saved rollout MP4 at path ./rollouts/t7realcl800_t4/2026_08_03-00_48_00--with_future_img--episode=5--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Success: True
+# episodes completed so far: 5
+# successes: 4 (80.0%)
+
+Task: put the bowl on top of the cabinet
+Starting episode 6...
+Query 1/1: Action query time = 2.184 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5802
+t=10: Selected seed 195 with value = 0.5802
+Query 1/1: Action query time = 2.786 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6473
+t=26: Selected seed 195 with value = 0.6473
+Query 1/1: Action query time = 2.824 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7237
+t=42: Selected seed 195 with value = 0.7237
+Query 1/1: Action query time = 3.197 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8176
+t=58: Selected seed 195 with value = 0.8176
+Query 1/1: Action query time = 3.598 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9537
+t=74: Selected seed 195 with value = 0.9537
+Query 1/1: Action query time = 3.093 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/t7realcl800_t4/2026_08_03-00_48_00--with_future_img--episode=6--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Success: True
+# episodes completed so far: 6
+# successes: 5 (83.3%)
+
+Task: put the bowl on top of the cabinet
+Starting episode 7...
+Query 1/1: Action query time = 2.276 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5273
+t=10: Selected seed 195 with value = 0.5273
+Query 1/1: Action query time = 3.578 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6374
+t=26: Selected seed 195 with value = 0.6374
+Query 1/1: Action query time = 3.230 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6831
+t=42: Selected seed 195 with value = 0.6831
+Query 1/1: Action query time = 3.602 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7756
+t=58: Selected seed 195 with value = 0.7756
+Query 1/1: Action query time = 3.151 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8382
+t=74: Selected seed 195 with value = 0.8382
+Query 1/1: Action query time = 3.286 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9195
+t=90: Selected seed 195 with value = 0.9195
+Query 1/1: Action query time = 2.219 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9822
+t=106: Selected seed 195 with value = 0.9822
+Saved rollout MP4 at path ./rollouts/t7realcl800_t4/2026_08_03-00_48_00--with_future_img--episode=7--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Success: True
+# episodes completed so far: 7
+# successes: 6 (85.7%)
+
+Task: put the bowl on top of the cabinet
+Starting episode 8...
+Query 1/1: Action query time = 2.965 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4945
+t=10: Selected seed 195 with value = 0.4945
+Query 1/1: Action query time = 2.014 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6306
+t=26: Selected seed 195 with value = 0.6306
+Query 1/1: Action query time = 2.627 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7468
+t=42: Selected seed 195 with value = 0.7468
+Query 1/1: Action query time = 1.671 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8697
+t=58: Selected seed 195 with value = 0.8697
+Query 1/1: Action query time = 1.144 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9594
+t=74: Selected seed 195 with value = 0.9594
+Query 1/1: Action query time = 1.927 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/t7realcl800_t4/2026_08_03-00_48_00--with_future_img--episode=8--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Success: True
+# episodes completed so far: 8
+# successes: 7 (87.5%)
+
+Task: put the bowl on top of the cabinet
+Starting episode 9...
+Query 1/1: Action query time = 2.760 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5762
+t=10: Selected seed 195 with value = 0.5762
+Query 1/1: Action query time = 2.197 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6609
+t=26: Selected seed 195 with value = 0.6609
+Query 1/1: Action query time = 3.300 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7253
+t=42: Selected seed 195 with value = 0.7253
+Query 1/1: Action query time = 2.612 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8287
+t=58: Selected seed 195 with value = 0.8287
+Query 1/1: Action query time = 1.997 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9453
+t=74: Selected seed 195 with value = 0.9453
+Saved rollout MP4 at path ./rollouts/t7realcl800_t4/2026_08_03-00_48_00--with_future_img--episode=9--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Success: True
+# episodes completed so far: 9
+# successes: 8 (88.9%)
+
+Task: put the bowl on top of the cabinet
+Starting episode 10...
+Query 1/1: Action query time = 3.641 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5434
+t=10: Selected seed 195 with value = 0.5434
+Query 1/1: Action query time = 3.049 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6587
+t=26: Selected seed 195 with value = 0.6587
+Query 1/1: Action query time = 2.517 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8067
+t=42: Selected seed 195 with value = 0.8067
+Query 1/1: Action query time = 2.513 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8393
+t=58: Selected seed 195 with value = 0.8393
+Query 1/1: Action query time = 2.978 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9246
+t=74: Selected seed 195 with value = 0.9246
+Query 1/1: Action query time = 1.414 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/t7realcl800_t4/2026_08_03-00_48_00--with_future_img--episode=10--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Success: True
+# episodes completed so far: 10
+# successes: 9 (90.0%)
+Current task success rate: 0.9
+Current total success rate: 0.9
+Final results:
+Total episodes: 10
+Total successes: 9
+Overall success rate: 0.9000 (90.0%)
diff --git a/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_03-00_48_01--t7demochan800_t3.txt b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_03-00_48_01--t7demochan800_t3.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0e77654149ba10f757cd9cdb5aa3aaa982344ebe
--- /dev/null
+++ b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_03-00_48_01--t7demochan800_t3.txt
@@ -0,0 +1,842 @@
+Eval config: PolicyEvalConfig(suite='libero', model_family='cosmos', config='cosmos_predict2_2b_480p_libero_cl_stage_inference_only', ckpt_path='/home/azureuser/REGEN-main/new_task7/cosmos_policy/cosmos_v2_finetune/cosmos_predict2_2b_480p_libero_goal_task7_cl_from_demochan800_2gpu/checkpoints/iter_000000800/model', planning_model_config_name='', planning_model_ckpt_path='', config_file='cosmos_policy/config/config.py', packnet_mask_path='', packnet_first_cl_libero_task=6, use_third_person_image=True, num_third_person_images=1, use_wrist_image=True, num_wrist_images=1, use_proprio=True, flip_images=True, use_variance_scale=False, use_jpeg_compression=True, ar_future_prediction=False, ar_value_prediction=False, ar_qvalue_prediction=False, num_denoising_steps_action=5, num_denoising_steps_future_state=1, num_denoising_steps_value=1, unnormalize_actions=True, normalize_proprio=True, dataset_stats_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/libero_goal_regen/dataset_statistics.json', t5_text_embeddings_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/t5_embeddings.pkl', trained_with_image_aug=True, chunk_size=16, num_open_loop_steps=16, deterministic=True, deterministic_reset=False, deterministic_reset_seed=None, use_ensemble_future_state_predictions=False, num_future_state_predictions_in_ensemble=3, future_state_ensemble_aggregation_scheme='average', use_ensemble_value_predictions=False, num_value_predictions_in_ensemble=5, value_ensemble_aggregation_scheme='average', search_depth=1, mask_current_state_action_for_value_prediction=False, mask_future_state_for_qvalue_prediction=False, num_queries_best_of_n=1, use_parallel_inference=False, available_gpus='0', parallel_timeout=15, parallel_tasks_across_gpus=False, task_suite_name='libero_goal', num_trials_per_task=10, task_ids_to_run='3', initial_states_path='DEFAULT', env_img_res=256, local_log_dir='/home/azureuser/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal', run_id_note='t7demochan800_t3', use_wandb=False, wandb_entity='YOUR_ENTITY', wandb_project='YOUR_PROJECT', seed=195, randomize_seed=False, data_collection=False, jpeg_compress=True, reward_stop_threshold=None, reward_stop_consecutive_steps=3, use_gpt_reward=False, gpt_reward_model='gpt-5.4-mini', gpt_reward_stop_threshold=4, gpt_reward_timeout_s=30.0, save_rollout_video=False, eval_hdf5_path='', eval_hdf5_demo_key='demo_0', data_gen_demo_ids='', eval_episode_ids='', replay_actions=False, replay_action_path_dir='', replay_hdf5_path='', data_generation=False, max_generation_steps=200, simple_task_max_steps=100, complex_task_max_steps=200, disable_value_stop=False)
+Using serial inference (parallel inference disabled)
+Task suite: libero_goal
+Number of tasks: 10
+Running only task IDs: [3]
+Using default initial states
+
+Task: open the top drawer and put the bowl inside
+Starting episode 1...
+Query 1/1: Action query time = 3.520 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6441
+t=10: Selected seed 195 with value = 0.6441
+Query 1/1: Action query time = 3.030 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7339
+t=26: Selected seed 195 with value = 0.7339
+Query 1/1: Action query time = 2.593 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8199
+t=42: Selected seed 195 with value = 0.8199
+Query 1/1: Action query time = 2.600 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8981
+t=58: Selected seed 195 with value = 0.8981
+Query 1/1: Action query time = 2.439 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9796
+t=74: Selected seed 195 with value = 0.9796
+Query 1/1: Action query time = 3.507 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9395
+t=90: Selected seed 195 with value = 0.9395
+Query 1/1: Action query time = 3.170 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9280
+t=106: Selected seed 195 with value = 0.9280
+Query 1/1: Action query time = 2.922 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9599
+t=122: Selected seed 195 with value = 0.9599
+Query 1/1: Action query time = 2.253 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8975
+t=138: Selected seed 195 with value = 0.8975
+Query 1/1: Action query time = 2.829 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8911
+t=154: Selected seed 195 with value = 0.8911
+Query 1/1: Action query time = 3.273 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9093
+t=170: Selected seed 195 with value = 0.9093
+Query 1/1: Action query time = 3.130 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8866
+t=186: Selected seed 195 with value = 0.8866
+Query 1/1: Action query time = 2.341 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8893
+t=202: Selected seed 195 with value = 0.8893
+Query 1/1: Action query time = 3.119 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8831
+t=218: Selected seed 195 with value = 0.8831
+Query 1/1: Action query time = 3.025 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9050
+t=234: Selected seed 195 with value = 0.9050
+Query 1/1: Action query time = 2.268 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8888
+t=250: Selected seed 195 with value = 0.8888
+Query 1/1: Action query time = 2.917 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8740
+t=266: Selected seed 195 with value = 0.8740
+Query 1/1: Action query time = 2.546 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8569
+t=282: Selected seed 195 with value = 0.8569
+Query 1/1: Action query time = 2.574 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8573
+t=298: Selected seed 195 with value = 0.8573
+Saved rollout MP4 at path ./rollouts/t7demochan800_t3/2026_08_03-00_48_01--with_future_img--episode=1--success=False--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: False
+# episodes completed so far: 1
+# successes: 0 (0.0%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 2...
+Query 1/1: Action query time = 2.995 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4910
+t=10: Selected seed 195 with value = 0.4910
+Query 1/1: Action query time = 2.359 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6332
+t=26: Selected seed 195 with value = 0.6332
+Query 1/1: Action query time = 2.483 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8093
+t=42: Selected seed 195 with value = 0.8093
+Query 1/1: Action query time = 3.335 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9341
+t=58: Selected seed 195 with value = 0.9341
+Query 1/1: Action query time = 2.876 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9482
+t=74: Selected seed 195 with value = 0.9482
+Query 1/1: Action query time = 2.480 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9398
+t=90: Selected seed 195 with value = 0.9398
+Query 1/1: Action query time = 2.714 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8129
+t=106: Selected seed 195 with value = 0.8129
+Query 1/1: Action query time = 2.603 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9501
+t=122: Selected seed 195 with value = 0.9501
+Query 1/1: Action query time = 3.272 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8894
+t=138: Selected seed 195 with value = 0.8894
+Query 1/1: Action query time = 2.612 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8374
+t=154: Selected seed 195 with value = 0.8374
+Query 1/1: Action query time = 3.366 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9426
+t=170: Selected seed 195 with value = 0.9426
+Query 1/1: Action query time = 3.971 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9190
+t=186: Selected seed 195 with value = 0.9190
+Query 1/1: Action query time = 3.341 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9104
+t=202: Selected seed 195 with value = 0.9104
+Query 1/1: Action query time = 2.959 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8156
+t=218: Selected seed 195 with value = 0.8156
+Query 1/1: Action query time = 3.607 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8757
+t=234: Selected seed 195 with value = 0.8757
+Query 1/1: Action query time = 2.935 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9324
+t=250: Selected seed 195 with value = 0.9324
+Query 1/1: Action query time = 2.242 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8272
+t=266: Selected seed 195 with value = 0.8272
+Query 1/1: Action query time = 3.199 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9256
+t=282: Selected seed 195 with value = 0.9256
+Query 1/1: Action query time = 2.326 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8859
+t=298: Selected seed 195 with value = 0.8859
+Saved rollout MP4 at path ./rollouts/t7demochan800_t3/2026_08_03-00_48_01--with_future_img--episode=2--success=False--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: False
+# episodes completed so far: 2
+# successes: 0 (0.0%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 3...
+Query 1/1: Action query time = 3.009 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5281
+t=10: Selected seed 195 with value = 0.5281
+Query 1/1: Action query time = 2.612 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6264
+t=26: Selected seed 195 with value = 0.6264
+Query 1/1: Action query time = 2.795 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8174
+t=42: Selected seed 195 with value = 0.8174
+Query 1/1: Action query time = 3.355 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9324
+t=58: Selected seed 195 with value = 0.9324
+Query 1/1: Action query time = 3.739 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9870
+t=74: Selected seed 195 with value = 0.9870
+Query 1/1: Action query time = 3.061 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9897
+t=90: Selected seed 195 with value = 0.9897
+Query 1/1: Action query time = 1.695 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9356
+t=106: Selected seed 195 with value = 0.9356
+Query 1/1: Action query time = 2.546 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8852
+t=122: Selected seed 195 with value = 0.8852
+Query 1/1: Action query time = 3.353 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8826
+t=138: Selected seed 195 with value = 0.8826
+Query 1/1: Action query time = 2.149 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9235
+t=154: Selected seed 195 with value = 0.9235
+Query 1/1: Action query time = 2.617 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9018
+t=170: Selected seed 195 with value = 0.9018
+Query 1/1: Action query time = 3.146 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8909
+t=186: Selected seed 195 with value = 0.8909
+Query 1/1: Action query time = 2.711 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8701
+t=202: Selected seed 195 with value = 0.8701
+Query 1/1: Action query time = 2.617 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8492
+t=218: Selected seed 195 with value = 0.8492
+Query 1/1: Action query time = 3.537 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8608
+t=234: Selected seed 195 with value = 0.8608
+Query 1/1: Action query time = 2.862 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8316
+t=250: Selected seed 195 with value = 0.8316
+Query 1/1: Action query time = 3.045 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8834
+t=266: Selected seed 195 with value = 0.8834
+Query 1/1: Action query time = 3.436 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9342
+t=282: Selected seed 195 with value = 0.9342
+Query 1/1: Action query time = 2.562 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8868
+t=298: Selected seed 195 with value = 0.8868
+Saved rollout MP4 at path ./rollouts/t7demochan800_t3/2026_08_03-00_48_01--with_future_img--episode=3--success=False--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: False
+# episodes completed so far: 3
+# successes: 0 (0.0%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 4...
+Query 1/1: Action query time = 3.462 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4711
+t=10: Selected seed 195 with value = 0.4711
+Query 1/1: Action query time = 3.601 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6088
+t=26: Selected seed 195 with value = 0.6088
+Query 1/1: Action query time = 3.225 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8141
+t=42: Selected seed 195 with value = 0.8141
+Query 1/1: Action query time = 3.414 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9349
+t=58: Selected seed 195 with value = 0.9349
+Query 1/1: Action query time = 2.792 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9160
+t=74: Selected seed 195 with value = 0.9160
+Query 1/1: Action query time = 3.299 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9221
+t=90: Selected seed 195 with value = 0.9221
+Query 1/1: Action query time = 2.338 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8786
+t=106: Selected seed 195 with value = 0.8786
+Query 1/1: Action query time = 2.559 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8498
+t=122: Selected seed 195 with value = 0.8498
+Query 1/1: Action query time = 2.766 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8817
+t=138: Selected seed 195 with value = 0.8817
+Query 1/1: Action query time = 3.257 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9117
+t=154: Selected seed 195 with value = 0.9117
+Query 1/1: Action query time = 2.274 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9012
+t=170: Selected seed 195 with value = 0.9012
+Query 1/1: Action query time = 2.285 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9217
+t=186: Selected seed 195 with value = 0.9217
+Query 1/1: Action query time = 3.883 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8933
+t=202: Selected seed 195 with value = 0.8933
+Query 1/1: Action query time = 4.080 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9093
+t=218: Selected seed 195 with value = 0.9093
+Query 1/1: Action query time = 3.566 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8390
+t=234: Selected seed 195 with value = 0.8390
+Query 1/1: Action query time = 2.996 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8630
+t=250: Selected seed 195 with value = 0.8630
+Query 1/1: Action query time = 2.775 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8595
+t=266: Selected seed 195 with value = 0.8595
+Query 1/1: Action query time = 3.719 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8815
+t=282: Selected seed 195 with value = 0.8815
+Query 1/1: Action query time = 3.695 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8503
+t=298: Selected seed 195 with value = 0.8503
+Saved rollout MP4 at path ./rollouts/t7demochan800_t3/2026_08_03-00_48_01--with_future_img--episode=4--success=False--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: False
+# episodes completed so far: 4
+# successes: 0 (0.0%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 5...
+Query 1/1: Action query time = 2.371 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7077
+t=10: Selected seed 195 with value = 0.7077
+Query 1/1: Action query time = 2.650 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7351
+t=26: Selected seed 195 with value = 0.7351
+Query 1/1: Action query time = 2.332 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8449
+t=42: Selected seed 195 with value = 0.8449
+Query 1/1: Action query time = 2.671 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9306
+t=58: Selected seed 195 with value = 0.9306
+Query 1/1: Action query time = 2.712 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9825
+t=74: Selected seed 195 with value = 0.9825
+Query 1/1: Action query time = 2.749 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9995
+t=90: Selected seed 195 with value = 0.9995
+Query 1/1: Action query time = 2.240 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9960
+t=106: Selected seed 195 with value = 0.9960
+Query 1/1: Action query time = 2.705 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9936
+t=122: Selected seed 195 with value = 0.9936
+Query 1/1: Action query time = 2.169 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9928
+t=138: Selected seed 195 with value = 0.9928
+Query 1/1: Action query time = 3.054 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9918
+t=154: Selected seed 195 with value = 0.9918
+Query 1/1: Action query time = 1.920 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9884
+t=170: Selected seed 195 with value = 0.9884
+Query 1/1: Action query time = 1.809 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9827
+t=186: Selected seed 195 with value = 0.9827
+Query 1/1: Action query time = 2.658 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9753
+t=202: Selected seed 195 with value = 0.9753
+Query 1/1: Action query time = 2.007 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9674
+t=218: Selected seed 195 with value = 0.9674
+Query 1/1: Action query time = 2.617 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9517
+t=234: Selected seed 195 with value = 0.9517
+Query 1/1: Action query time = 1.986 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9810
+t=250: Selected seed 195 with value = 0.9810
+Query 1/1: Action query time = 3.189 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9731
+t=266: Selected seed 195 with value = 0.9731
+Query 1/1: Action query time = 2.865 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9856
+t=282: Selected seed 195 with value = 0.9856
+Query 1/1: Action query time = 2.050 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9772
+t=298: Selected seed 195 with value = 0.9772
+Saved rollout MP4 at path ./rollouts/t7demochan800_t3/2026_08_03-00_48_01--with_future_img--episode=5--success=False--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: False
+# episodes completed so far: 5
+# successes: 0 (0.0%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 6...
+Query 1/1: Action query time = 2.228 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4739
+t=10: Selected seed 195 with value = 0.4739
+Query 1/1: Action query time = 2.925 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6768
+t=26: Selected seed 195 with value = 0.6768
+Query 1/1: Action query time = 2.329 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8168
+t=42: Selected seed 195 with value = 0.8168
+Query 1/1: Action query time = 2.878 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9166
+t=58: Selected seed 195 with value = 0.9166
+Query 1/1: Action query time = 2.705 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9298
+t=74: Selected seed 195 with value = 0.9298
+Query 1/1: Action query time = 2.611 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9975
+t=90: Selected seed 195 with value = 0.9975
+Query 1/1: Action query time = 2.738 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9691
+t=106: Selected seed 195 with value = 0.9691
+Query 1/1: Action query time = 2.152 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9606
+t=122: Selected seed 195 with value = 0.9606
+Query 1/1: Action query time = 1.977 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9662
+t=138: Selected seed 195 with value = 0.9662
+Query 1/1: Action query time = 2.536 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9582
+t=154: Selected seed 195 with value = 0.9582
+Query 1/1: Action query time = 2.693 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9760
+t=170: Selected seed 195 with value = 0.9760
+Query 1/1: Action query time = 2.604 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9743
+t=186: Selected seed 195 with value = 0.9743
+Query 1/1: Action query time = 2.798 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9744
+t=202: Selected seed 195 with value = 0.9744
+Query 1/1: Action query time = 2.985 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9579
+t=218: Selected seed 195 with value = 0.9579
+Query 1/1: Action query time = 2.331 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9481
+t=234: Selected seed 195 with value = 0.9481
+Query 1/1: Action query time = 2.094 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9484
+t=250: Selected seed 195 with value = 0.9484
+Query 1/1: Action query time = 2.958 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9487
+t=266: Selected seed 195 with value = 0.9487
+Query 1/1: Action query time = 3.078 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9376
+t=282: Selected seed 195 with value = 0.9376
+Query 1/1: Action query time = 2.748 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8796
+t=298: Selected seed 195 with value = 0.8796
+Saved rollout MP4 at path ./rollouts/t7demochan800_t3/2026_08_03-00_48_01--with_future_img--episode=6--success=False--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: False
+# episodes completed so far: 6
+# successes: 0 (0.0%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 7...
+Query 1/1: Action query time = 1.307 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4972
+t=10: Selected seed 195 with value = 0.4972
+Query 1/1: Action query time = 3.255 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7577
+t=26: Selected seed 195 with value = 0.7577
+Query 1/1: Action query time = 3.580 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8236
+t=42: Selected seed 195 with value = 0.8236
+Query 1/1: Action query time = 3.331 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8785
+t=58: Selected seed 195 with value = 0.8785
+Query 1/1: Action query time = 2.716 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9509
+t=74: Selected seed 195 with value = 0.9509
+Query 1/1: Action query time = 2.932 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9317
+t=90: Selected seed 195 with value = 0.9317
+Query 1/1: Action query time = 2.804 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8939
+t=106: Selected seed 195 with value = 0.8939
+Query 1/1: Action query time = 3.034 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8199
+t=122: Selected seed 195 with value = 0.8199
+Query 1/1: Action query time = 2.910 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7904
+t=138: Selected seed 195 with value = 0.7904
+Query 1/1: Action query time = 2.633 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8306
+t=154: Selected seed 195 with value = 0.8306
+Query 1/1: Action query time = 2.303 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8016
+t=170: Selected seed 195 with value = 0.8016
+Query 1/1: Action query time = 3.607 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7966
+t=186: Selected seed 195 with value = 0.7966
+Query 1/1: Action query time = 3.452 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8529
+t=202: Selected seed 195 with value = 0.8529
+Query 1/1: Action query time = 2.644 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8689
+t=218: Selected seed 195 with value = 0.8689
+Query 1/1: Action query time = 2.597 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8652
+t=234: Selected seed 195 with value = 0.8652
+Query 1/1: Action query time = 2.753 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8840
+t=250: Selected seed 195 with value = 0.8840
+Query 1/1: Action query time = 2.995 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8765
+t=266: Selected seed 195 with value = 0.8765
+Query 1/1: Action query time = 3.048 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8780
+t=282: Selected seed 195 with value = 0.8780
+Query 1/1: Action query time = 1.532 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8650
+t=298: Selected seed 195 with value = 0.8650
+Saved rollout MP4 at path ./rollouts/t7demochan800_t3/2026_08_03-00_48_01--with_future_img--episode=7--success=False--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: False
+# episodes completed so far: 7
+# successes: 0 (0.0%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 8...
+Query 1/1: Action query time = 2.623 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5137
+t=10: Selected seed 195 with value = 0.5137
+Query 1/1: Action query time = 2.425 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6525
+t=26: Selected seed 195 with value = 0.6525
+Query 1/1: Action query time = 2.208 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8426
+t=42: Selected seed 195 with value = 0.8426
+Query 1/1: Action query time = 2.043 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9433
+t=58: Selected seed 195 with value = 0.9433
+Query 1/1: Action query time = 2.525 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9314
+t=74: Selected seed 195 with value = 0.9314
+Query 1/1: Action query time = 1.361 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9312
+t=90: Selected seed 195 with value = 0.9312
+Query 1/1: Action query time = 1.437 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9828
+t=106: Selected seed 195 with value = 0.9828
+Query 1/1: Action query time = 1.737 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8944
+t=122: Selected seed 195 with value = 0.8944
+Query 1/1: Action query time = 1.882 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9618
+t=138: Selected seed 195 with value = 0.9618
+Query 1/1: Action query time = 2.003 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9675
+t=154: Selected seed 195 with value = 0.9675
+Query 1/1: Action query time = 1.828 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9730
+t=170: Selected seed 195 with value = 0.9730
+Query 1/1: Action query time = 1.642 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9448
+t=186: Selected seed 195 with value = 0.9448
+Query 1/1: Action query time = 1.811 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8277
+t=202: Selected seed 195 with value = 0.8277
+Query 1/1: Action query time = 1.661 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8769
+t=218: Selected seed 195 with value = 0.8769
+Query 1/1: Action query time = 1.680 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9440
+t=234: Selected seed 195 with value = 0.9440
+Query 1/1: Action query time = 1.866 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9515
+t=250: Selected seed 195 with value = 0.9515
+Query 1/1: Action query time = 1.992 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8457
+t=266: Selected seed 195 with value = 0.8457
+Query 1/1: Action query time = 2.133 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8539
+t=282: Selected seed 195 with value = 0.8539
+Query 1/1: Action query time = 1.084 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7992
+t=298: Selected seed 195 with value = 0.7992
+Saved rollout MP4 at path ./rollouts/t7demochan800_t3/2026_08_03-00_48_01--with_future_img--episode=8--success=False--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: False
+# episodes completed so far: 8
+# successes: 0 (0.0%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 9...
+Query 1/1: Action query time = 2.059 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4660
+t=10: Selected seed 195 with value = 0.4660
+Query 1/1: Action query time = 1.764 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7310
+t=26: Selected seed 195 with value = 0.7310
+Query 1/1: Action query time = 1.678 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7998
+t=42: Selected seed 195 with value = 0.7998
+Query 1/1: Action query time = 1.747 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9221
+t=58: Selected seed 195 with value = 0.9221
+Query 1/1: Action query time = 1.867 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8950
+t=74: Selected seed 195 with value = 0.8950
+Query 1/1: Action query time = 1.701 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8862
+t=90: Selected seed 195 with value = 0.8862
+Query 1/1: Action query time = 1.502 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9126
+t=106: Selected seed 195 with value = 0.9126
+Query 1/1: Action query time = 1.641 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8883
+t=122: Selected seed 195 with value = 0.8883
+Query 1/1: Action query time = 1.829 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8973
+t=138: Selected seed 195 with value = 0.8973
+Query 1/1: Action query time = 1.799 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8761
+t=154: Selected seed 195 with value = 0.8761
+Query 1/1: Action query time = 2.149 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8312
+t=170: Selected seed 195 with value = 0.8312
+Query 1/1: Action query time = 2.293 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8469
+t=186: Selected seed 195 with value = 0.8469
+Query 1/1: Action query time = 2.398 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8496
+t=202: Selected seed 195 with value = 0.8496
+Query 1/1: Action query time = 2.283 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8272
+t=218: Selected seed 195 with value = 0.8272
+Query 1/1: Action query time = 2.726 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8698
+t=234: Selected seed 195 with value = 0.8698
+Query 1/1: Action query time = 2.321 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8259
+t=250: Selected seed 195 with value = 0.8259
+Query 1/1: Action query time = 0.981 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8751
+t=266: Selected seed 195 with value = 0.8751
+Query 1/1: Action query time = 1.814 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8966
+t=282: Selected seed 195 with value = 0.8966
+Query 1/1: Action query time = 1.770 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8721
+t=298: Selected seed 195 with value = 0.8721
+Saved rollout MP4 at path ./rollouts/t7demochan800_t3/2026_08_03-00_48_01--with_future_img--episode=9--success=False--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: False
+# episodes completed so far: 9
+# successes: 0 (0.0%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 10...
+Query 1/1: Action query time = 2.518 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5635
+t=10: Selected seed 195 with value = 0.5635
+Query 1/1: Action query time = 2.335 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7369
+t=26: Selected seed 195 with value = 0.7369
+Query 1/1: Action query time = 2.186 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7964
+t=42: Selected seed 195 with value = 0.7964
+Query 1/1: Action query time = 1.940 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9372
+t=58: Selected seed 195 with value = 0.9372
+Query 1/1: Action query time = 2.037 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8734
+t=74: Selected seed 195 with value = 0.8734
+Query 1/1: Action query time = 1.750 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8503
+t=90: Selected seed 195 with value = 0.8503
+Query 1/1: Action query time = 1.611 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8621
+t=106: Selected seed 195 with value = 0.8621
+Query 1/1: Action query time = 1.579 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8515
+t=122: Selected seed 195 with value = 0.8515
+Query 1/1: Action query time = 1.725 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9267
+t=138: Selected seed 195 with value = 0.9267
+Query 1/1: Action query time = 1.911 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8783
+t=154: Selected seed 195 with value = 0.8783
+Query 1/1: Action query time = 1.942 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9605
+t=170: Selected seed 195 with value = 0.9605
+Query 1/1: Action query time = 1.875 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9300
+t=186: Selected seed 195 with value = 0.9300
+Query 1/1: Action query time = 1.676 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9146
+t=202: Selected seed 195 with value = 0.9146
+Query 1/1: Action query time = 1.567 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8924
+t=218: Selected seed 195 with value = 0.8924
+Query 1/1: Action query time = 1.665 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8410
+t=234: Selected seed 195 with value = 0.8410
+Query 1/1: Action query time = 1.745 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8765
+t=250: Selected seed 195 with value = 0.8765
+Query 1/1: Action query time = 1.824 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9250
+t=266: Selected seed 195 with value = 0.9250
+Query 1/1: Action query time = 1.875 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8364
+t=282: Selected seed 195 with value = 0.8364
+Query 1/1: Action query time = 1.463 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9440
+t=298: Selected seed 195 with value = 0.9440
+Saved rollout MP4 at path ./rollouts/t7demochan800_t3/2026_08_03-00_48_01--with_future_img--episode=10--success=False--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: False
+# episodes completed so far: 10
+# successes: 0 (0.0%)
+Current task success rate: 0.0
+Current total success rate: 0.0
+Final results:
+Total episodes: 10
+Total successes: 0
+Overall success rate: 0.0000 (0.0%)
diff --git a/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_03-00_48_01--t7realcl800_t6.txt b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_03-00_48_01--t7realcl800_t6.txt
new file mode 100644
index 0000000000000000000000000000000000000000..1465a1660e3e56f93e342fbc69f9b889feff11da
--- /dev/null
+++ b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_03-00_48_01--t7realcl800_t6.txt
@@ -0,0 +1,710 @@
+Eval config: PolicyEvalConfig(suite='libero', model_family='cosmos', config='cosmos_predict2_2b_480p_libero_cl_stage_inference_only', ckpt_path='/home/azureuser/REGEN-main/new_task7/cosmos_policy/cosmos_v2_finetune/cosmos_predict2_2b_480p_libero_goal_task7_cl_from_realcl800_2gpu/checkpoints/iter_000000800/model', planning_model_config_name='', planning_model_ckpt_path='', config_file='cosmos_policy/config/config.py', packnet_mask_path='', packnet_first_cl_libero_task=6, use_third_person_image=True, num_third_person_images=1, use_wrist_image=True, num_wrist_images=1, use_proprio=True, flip_images=True, use_variance_scale=False, use_jpeg_compression=True, ar_future_prediction=False, ar_value_prediction=False, ar_qvalue_prediction=False, num_denoising_steps_action=5, num_denoising_steps_future_state=1, num_denoising_steps_value=1, unnormalize_actions=True, normalize_proprio=True, dataset_stats_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/libero_goal_regen/dataset_statistics.json', t5_text_embeddings_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/t5_embeddings.pkl', trained_with_image_aug=True, chunk_size=16, num_open_loop_steps=16, deterministic=True, deterministic_reset=False, deterministic_reset_seed=None, use_ensemble_future_state_predictions=False, num_future_state_predictions_in_ensemble=3, future_state_ensemble_aggregation_scheme='average', use_ensemble_value_predictions=False, num_value_predictions_in_ensemble=5, value_ensemble_aggregation_scheme='average', search_depth=1, mask_current_state_action_for_value_prediction=False, mask_future_state_for_qvalue_prediction=False, num_queries_best_of_n=1, use_parallel_inference=False, available_gpus='0', parallel_timeout=15, parallel_tasks_across_gpus=False, task_suite_name='libero_goal', num_trials_per_task=10, task_ids_to_run='6', initial_states_path='DEFAULT', env_img_res=256, local_log_dir='/home/azureuser/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal', run_id_note='t7realcl800_t6', use_wandb=False, wandb_entity='YOUR_ENTITY', wandb_project='YOUR_PROJECT', seed=195, randomize_seed=False, data_collection=False, jpeg_compress=True, reward_stop_threshold=None, reward_stop_consecutive_steps=3, use_gpt_reward=False, gpt_reward_model='gpt-5.4-mini', gpt_reward_stop_threshold=4, gpt_reward_timeout_s=30.0, save_rollout_video=False, eval_hdf5_path='', eval_hdf5_demo_key='demo_0', data_gen_demo_ids='', eval_episode_ids='', replay_actions=False, replay_action_path_dir='', replay_hdf5_path='', data_generation=False, max_generation_steps=200, simple_task_max_steps=100, complex_task_max_steps=200, disable_value_stop=False)
+Using serial inference (parallel inference disabled)
+Task suite: libero_goal
+Number of tasks: 10
+Running only task IDs: [6]
+Using default initial states
+
+Task: put the cream cheese in the bowl
+Starting episode 1...
+Query 1/1: Action query time = 4.672 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4568
+t=10: Selected seed 195 with value = 0.4568
+Query 1/1: Action query time = 3.451 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5685
+t=26: Selected seed 195 with value = 0.5685
+Query 1/1: Action query time = 2.803 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6887
+t=42: Selected seed 195 with value = 0.6887
+Query 1/1: Action query time = 3.802 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7817
+t=58: Selected seed 195 with value = 0.7817
+Query 1/1: Action query time = 3.195 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9034
+t=74: Selected seed 195 with value = 0.9034
+Query 1/1: Action query time = 2.629 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9996
+t=90: Selected seed 195 with value = 0.9996
+Query 1/1: Action query time = 2.683 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=106: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 2.507 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=122: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 3.641 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9649
+t=138: Selected seed 195 with value = 0.9649
+Query 1/1: Action query time = 2.789 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9686
+t=154: Selected seed 195 with value = 0.9686
+Query 1/1: Action query time = 2.170 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9875
+t=170: Selected seed 195 with value = 0.9875
+Query 1/1: Action query time = 2.958 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9938
+t=186: Selected seed 195 with value = 0.9938
+Query 1/1: Action query time = 2.332 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9845
+t=202: Selected seed 195 with value = 0.9845
+Query 1/1: Action query time = 2.260 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9815
+t=218: Selected seed 195 with value = 0.9815
+Saved rollout MP4 at path ./rollouts/t7realcl800_t6/2026_08_03-00_48_01--with_future_img--episode=1--success=True--task=put_the_cream_cheese_in_the_bowl.mp4
+Success: True
+# episodes completed so far: 1
+# successes: 1 (100.0%)
+
+Task: put the cream cheese in the bowl
+Starting episode 2...
+Query 1/1: Action query time = 2.365 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4698
+t=10: Selected seed 195 with value = 0.4698
+Query 1/1: Action query time = 2.005 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5710
+t=26: Selected seed 195 with value = 0.5710
+Query 1/1: Action query time = 3.006 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6770
+t=42: Selected seed 195 with value = 0.6770
+Query 1/1: Action query time = 3.119 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7666
+t=58: Selected seed 195 with value = 0.7666
+Query 1/1: Action query time = 2.954 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7235
+t=74: Selected seed 195 with value = 0.7235
+Query 1/1: Action query time = 3.278 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7832
+t=90: Selected seed 195 with value = 0.7832
+Query 1/1: Action query time = 4.069 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8666
+t=106: Selected seed 195 with value = 0.8666
+Query 1/1: Action query time = 2.734 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9893
+t=122: Selected seed 195 with value = 0.9893
+Query 1/1: Action query time = 2.779 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8310
+t=138: Selected seed 195 with value = 0.8310
+Query 1/1: Action query time = 3.278 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9388
+t=154: Selected seed 195 with value = 0.9388
+Query 1/1: Action query time = 3.194 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9595
+t=170: Selected seed 195 with value = 0.9595
+Query 1/1: Action query time = 3.196 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9808
+t=186: Selected seed 195 with value = 0.9808
+Query 1/1: Action query time = 2.009 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9941
+t=202: Selected seed 195 with value = 0.9941
+Query 1/1: Action query time = 2.734 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9554
+t=218: Selected seed 195 with value = 0.9554
+Query 1/1: Action query time = 2.615 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9849
+t=234: Selected seed 195 with value = 0.9849
+Query 1/1: Action query time = 3.175 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8821
+t=250: Selected seed 195 with value = 0.8821
+Query 1/1: Action query time = 2.955 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9632
+t=266: Selected seed 195 with value = 0.9632
+Query 1/1: Action query time = 1.782 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9291
+t=282: Selected seed 195 with value = 0.9291
+Query 1/1: Action query time = 2.913 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8899
+t=298: Selected seed 195 with value = 0.8899
+Saved rollout MP4 at path ./rollouts/t7realcl800_t6/2026_08_03-00_48_01--with_future_img--episode=2--success=False--task=put_the_cream_cheese_in_the_bowl.mp4
+Success: False
+# episodes completed so far: 2
+# successes: 1 (50.0%)
+
+Task: put the cream cheese in the bowl
+Starting episode 3...
+Query 1/1: Action query time = 2.903 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4650
+t=10: Selected seed 195 with value = 0.4650
+Query 1/1: Action query time = 2.990 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5515
+t=26: Selected seed 195 with value = 0.5515
+Query 1/1: Action query time = 2.818 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6727
+t=42: Selected seed 195 with value = 0.6727
+Query 1/1: Action query time = 3.467 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7663
+t=58: Selected seed 195 with value = 0.7663
+Query 1/1: Action query time = 2.972 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8777
+t=74: Selected seed 195 with value = 0.8777
+Query 1/1: Action query time = 2.043 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9801
+t=90: Selected seed 195 with value = 0.9801
+Query 1/1: Action query time = 3.165 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=106: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 3.407 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9875
+t=122: Selected seed 195 with value = 0.9875
+Query 1/1: Action query time = 2.709 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9923
+t=138: Selected seed 195 with value = 0.9923
+Query 1/1: Action query time = 2.898 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9919
+t=154: Selected seed 195 with value = 0.9919
+Query 1/1: Action query time = 2.833 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9632
+t=170: Selected seed 195 with value = 0.9632
+Query 1/1: Action query time = 3.398 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9728
+t=186: Selected seed 195 with value = 0.9728
+Saved rollout MP4 at path ./rollouts/t7realcl800_t6/2026_08_03-00_48_01--with_future_img--episode=3--success=True--task=put_the_cream_cheese_in_the_bowl.mp4
+Success: True
+# episodes completed so far: 3
+# successes: 2 (66.7%)
+
+Task: put the cream cheese in the bowl
+Starting episode 4...
+Query 1/1: Action query time = 2.467 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4866
+t=10: Selected seed 195 with value = 0.4866
+Query 1/1: Action query time = 2.841 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5397
+t=26: Selected seed 195 with value = 0.5397
+Query 1/1: Action query time = 3.550 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6967
+t=42: Selected seed 195 with value = 0.6967
+Query 1/1: Action query time = 3.027 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8071
+t=58: Selected seed 195 with value = 0.8071
+Query 1/1: Action query time = 3.276 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8805
+t=74: Selected seed 195 with value = 0.8805
+Query 1/1: Action query time = 2.299 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9730
+t=90: Selected seed 195 with value = 0.9730
+Query 1/1: Action query time = 2.079 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=106: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 2.785 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9950
+t=122: Selected seed 195 with value = 0.9950
+Query 1/1: Action query time = 3.435 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9910
+t=138: Selected seed 195 with value = 0.9910
+Query 1/1: Action query time = 2.876 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9736
+t=154: Selected seed 195 with value = 0.9736
+Query 1/1: Action query time = 3.687 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9271
+t=170: Selected seed 195 with value = 0.9271
+Query 1/1: Action query time = 3.153 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9528
+t=186: Selected seed 195 with value = 0.9528
+Query 1/1: Action query time = 2.503 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9914
+t=202: Selected seed 195 with value = 0.9914
+Query 1/1: Action query time = 2.001 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9067
+t=218: Selected seed 195 with value = 0.9067
+Query 1/1: Action query time = 2.627 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9424
+t=234: Selected seed 195 with value = 0.9424
+Query 1/1: Action query time = 2.710 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9739
+t=250: Selected seed 195 with value = 0.9739
+Query 1/1: Action query time = 2.835 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9201
+t=266: Selected seed 195 with value = 0.9201
+Query 1/1: Action query time = 2.313 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9877
+t=282: Selected seed 195 with value = 0.9877
+Query 1/1: Action query time = 2.662 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9469
+t=298: Selected seed 195 with value = 0.9469
+Saved rollout MP4 at path ./rollouts/t7realcl800_t6/2026_08_03-00_48_01--with_future_img--episode=4--success=False--task=put_the_cream_cheese_in_the_bowl.mp4
+Success: False
+# episodes completed so far: 4
+# successes: 2 (50.0%)
+
+Task: put the cream cheese in the bowl
+Starting episode 5...
+Query 1/1: Action query time = 1.810 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5253
+t=10: Selected seed 195 with value = 0.5253
+Query 1/1: Action query time = 2.498 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6305
+t=26: Selected seed 195 with value = 0.6305
+Query 1/1: Action query time = 1.964 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7281
+t=42: Selected seed 195 with value = 0.7281
+Query 1/1: Action query time = 2.129 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7441
+t=58: Selected seed 195 with value = 0.7441
+Query 1/1: Action query time = 2.728 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7514
+t=74: Selected seed 195 with value = 0.7514
+Query 1/1: Action query time = 1.745 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8138
+t=90: Selected seed 195 with value = 0.8138
+Query 1/1: Action query time = 2.212 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8770
+t=106: Selected seed 195 with value = 0.8770
+Query 1/1: Action query time = 1.794 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9025
+t=122: Selected seed 195 with value = 0.9025
+Query 1/1: Action query time = 2.999 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9655
+t=138: Selected seed 195 with value = 0.9655
+Query 1/1: Action query time = 2.936 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9857
+t=154: Selected seed 195 with value = 0.9857
+Query 1/1: Action query time = 2.200 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=170: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 2.621 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=186: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 3.091 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9840
+t=202: Selected seed 195 with value = 0.9840
+Query 1/1: Action query time = 2.016 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8613
+t=218: Selected seed 195 with value = 0.8613
+Query 1/1: Action query time = 1.266 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9227
+t=234: Selected seed 195 with value = 0.9227
+Query 1/1: Action query time = 1.329 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9613
+t=250: Selected seed 195 with value = 0.9613
+Query 1/1: Action query time = 2.115 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9808
+t=266: Selected seed 195 with value = 0.9808
+Query 1/1: Action query time = 2.350 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=282: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 2.077 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9660
+t=298: Selected seed 195 with value = 0.9660
+Saved rollout MP4 at path ./rollouts/t7realcl800_t6/2026_08_03-00_48_01--with_future_img--episode=5--success=False--task=put_the_cream_cheese_in_the_bowl.mp4
+Success: False
+# episodes completed so far: 5
+# successes: 2 (40.0%)
+
+Task: put the cream cheese in the bowl
+Starting episode 6...
+Query 1/1: Action query time = 1.542 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5136
+t=10: Selected seed 195 with value = 0.5136
+Query 1/1: Action query time = 2.156 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6070
+t=26: Selected seed 195 with value = 0.6070
+Query 1/1: Action query time = 2.210 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7116
+t=42: Selected seed 195 with value = 0.7116
+Query 1/1: Action query time = 2.219 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7462
+t=58: Selected seed 195 with value = 0.7462
+Query 1/1: Action query time = 2.556 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8923
+t=74: Selected seed 195 with value = 0.8923
+Query 1/1: Action query time = 1.841 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/t7realcl800_t6/2026_08_03-00_48_01--with_future_img--episode=6--success=True--task=put_the_cream_cheese_in_the_bowl.mp4
+Success: True
+# episodes completed so far: 6
+# successes: 3 (50.0%)
+
+Task: put the cream cheese in the bowl
+Starting episode 7...
+Query 1/1: Action query time = 1.886 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5152
+t=10: Selected seed 195 with value = 0.5152
+Query 1/1: Action query time = 2.027 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6457
+t=26: Selected seed 195 with value = 0.6457
+Query 1/1: Action query time = 1.888 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6687
+t=42: Selected seed 195 with value = 0.6687
+Query 1/1: Action query time = 2.428 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7755
+t=58: Selected seed 195 with value = 0.7755
+Query 1/1: Action query time = 1.992 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8596
+t=74: Selected seed 195 with value = 0.8596
+Query 1/1: Action query time = 1.772 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8749
+t=90: Selected seed 195 with value = 0.8749
+Query 1/1: Action query time = 1.696 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8612
+t=106: Selected seed 195 with value = 0.8612
+Query 1/1: Action query time = 1.507 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9839
+t=122: Selected seed 195 with value = 0.9839
+Query 1/1: Action query time = 2.269 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=138: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 2.681 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9708
+t=154: Selected seed 195 with value = 0.9708
+Query 1/1: Action query time = 1.701 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9468
+t=170: Selected seed 195 with value = 0.9468
+Query 1/1: Action query time = 1.918 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8524
+t=186: Selected seed 195 with value = 0.8524
+Query 1/1: Action query time = 2.333 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9790
+t=202: Selected seed 195 with value = 0.9790
+Query 1/1: Action query time = 1.982 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9906
+t=218: Selected seed 195 with value = 0.9906
+Query 1/1: Action query time = 2.197 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9995
+t=234: Selected seed 195 with value = 0.9995
+Query 1/1: Action query time = 2.442 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9307
+t=250: Selected seed 195 with value = 0.9307
+Query 1/1: Action query time = 2.300 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9242
+t=266: Selected seed 195 with value = 0.9242
+Query 1/1: Action query time = 1.748 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9398
+t=282: Selected seed 195 with value = 0.9398
+Query 1/1: Action query time = 2.204 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9647
+t=298: Selected seed 195 with value = 0.9647
+Saved rollout MP4 at path ./rollouts/t7realcl800_t6/2026_08_03-00_48_01--with_future_img--episode=7--success=False--task=put_the_cream_cheese_in_the_bowl.mp4
+Success: False
+# episodes completed so far: 7
+# successes: 3 (42.9%)
+
+Task: put the cream cheese in the bowl
+Starting episode 8...
+Query 1/1: Action query time = 1.116 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4598
+t=10: Selected seed 195 with value = 0.4598
+Query 1/1: Action query time = 2.373 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5498
+t=26: Selected seed 195 with value = 0.5498
+Query 1/1: Action query time = 1.326 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6693
+t=42: Selected seed 195 with value = 0.6693
+Query 1/1: Action query time = 2.412 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7851
+t=58: Selected seed 195 with value = 0.7851
+Query 1/1: Action query time = 1.801 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8863
+t=74: Selected seed 195 with value = 0.8863
+Query 1/1: Action query time = 2.402 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9770
+t=90: Selected seed 195 with value = 0.9770
+Query 1/1: Action query time = 1.523 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=106: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 2.552 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9977
+t=122: Selected seed 195 with value = 0.9977
+Query 1/1: Action query time = 1.919 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9915
+t=138: Selected seed 195 with value = 0.9915
+Query 1/1: Action query time = 2.140 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9699
+t=154: Selected seed 195 with value = 0.9699
+Query 1/1: Action query time = 2.106 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9450
+t=170: Selected seed 195 with value = 0.9450
+Saved rollout MP4 at path ./rollouts/t7realcl800_t6/2026_08_03-00_48_01--with_future_img--episode=8--success=True--task=put_the_cream_cheese_in_the_bowl.mp4
+Success: True
+# episodes completed so far: 8
+# successes: 4 (50.0%)
+
+Task: put the cream cheese in the bowl
+Starting episode 9...
+Query 1/1: Action query time = 1.473 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4683
+t=10: Selected seed 195 with value = 0.4683
+Query 1/1: Action query time = 2.227 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5335
+t=26: Selected seed 195 with value = 0.5335
+Query 1/1: Action query time = 2.453 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6700
+t=42: Selected seed 195 with value = 0.6700
+Query 1/1: Action query time = 1.098 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7484
+t=58: Selected seed 195 with value = 0.7484
+Query 1/1: Action query time = 2.600 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8923
+t=74: Selected seed 195 with value = 0.8923
+Query 1/1: Action query time = 1.509 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9498
+t=90: Selected seed 195 with value = 0.9498
+Query 1/1: Action query time = 2.358 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9921
+t=106: Selected seed 195 with value = 0.9921
+Query 1/1: Action query time = 1.695 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9841
+t=122: Selected seed 195 with value = 0.9841
+Query 1/1: Action query time = 1.631 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9895
+t=138: Selected seed 195 with value = 0.9895
+Query 1/1: Action query time = 2.333 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9788
+t=154: Selected seed 195 with value = 0.9788
+Query 1/1: Action query time = 2.096 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9630
+t=170: Selected seed 195 with value = 0.9630
+Query 1/1: Action query time = 2.047 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9594
+t=186: Selected seed 195 with value = 0.9594
+Query 1/1: Action query time = 1.932 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9913
+t=202: Selected seed 195 with value = 0.9913
+Query 1/1: Action query time = 2.326 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=218: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 1.918 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9975
+t=234: Selected seed 195 with value = 0.9975
+Query 1/1: Action query time = 2.428 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=250: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 1.542 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=266: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 1.949 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9660
+t=282: Selected seed 195 with value = 0.9660
+Query 1/1: Action query time = 1.753 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9585
+t=298: Selected seed 195 with value = 0.9585
+Saved rollout MP4 at path ./rollouts/t7realcl800_t6/2026_08_03-00_48_01--with_future_img--episode=9--success=False--task=put_the_cream_cheese_in_the_bowl.mp4
+Success: False
+# episodes completed so far: 9
+# successes: 4 (44.4%)
+
+Task: put the cream cheese in the bowl
+Starting episode 10...
+Query 1/1: Action query time = 1.990 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4795
+t=10: Selected seed 195 with value = 0.4795
+Query 1/1: Action query time = 1.126 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5408
+t=26: Selected seed 195 with value = 0.5408
+Query 1/1: Action query time = 1.724 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6739
+t=42: Selected seed 195 with value = 0.6739
+Query 1/1: Action query time = 0.964 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7878
+t=58: Selected seed 195 with value = 0.7878
+Query 1/1: Action query time = 1.613 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8875
+t=74: Selected seed 195 with value = 0.8875
+Query 1/1: Action query time = 1.292 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9869
+t=90: Selected seed 195 with value = 0.9869
+Query 1/1: Action query time = 1.732 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9947
+t=106: Selected seed 195 with value = 0.9947
+Query 1/1: Action query time = 1.239 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9869
+t=122: Selected seed 195 with value = 0.9869
+Query 1/1: Action query time = 1.468 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9782
+t=138: Selected seed 195 with value = 0.9782
+Query 1/1: Action query time = 2.212 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9239
+t=154: Selected seed 195 with value = 0.9239
+Query 1/1: Action query time = 1.850 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9768
+t=170: Selected seed 195 with value = 0.9768
+Query 1/1: Action query time = 1.756 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9641
+t=186: Selected seed 195 with value = 0.9641
+Query 1/1: Action query time = 1.042 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9827
+t=202: Selected seed 195 with value = 0.9827
+Query 1/1: Action query time = 1.227 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9648
+t=218: Selected seed 195 with value = 0.9648
+Query 1/1: Action query time = 1.405 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=234: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 1.958 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9730
+t=250: Selected seed 195 with value = 0.9730
+Query 1/1: Action query time = 0.967 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9863
+t=266: Selected seed 195 with value = 0.9863
+Query 1/1: Action query time = 1.704 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9959
+t=282: Selected seed 195 with value = 0.9959
+Query 1/1: Action query time = 1.062 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8802
+t=298: Selected seed 195 with value = 0.8802
+Saved rollout MP4 at path ./rollouts/t7realcl800_t6/2026_08_03-00_48_01--with_future_img--episode=10--success=False--task=put_the_cream_cheese_in_the_bowl.mp4
+Success: False
+# episodes completed so far: 10
+# successes: 4 (40.0%)
+Current task success rate: 0.4
+Current total success rate: 0.4
+Final results:
+Total episodes: 10
+Total successes: 4
+Overall success rate: 0.4000 (40.0%)
diff --git a/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_03-01_09_11--t7dc800x50_t1_s0.txt b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_03-01_09_11--t7dc800x50_t1_s0.txt
new file mode 100644
index 0000000000000000000000000000000000000000..bed65b3e693a92a87f9883c2a6d636e8ee94f5ef
--- /dev/null
+++ b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_03-01_09_11--t7dc800x50_t1_s0.txt
@@ -0,0 +1,166 @@
+Eval config: PolicyEvalConfig(suite='libero', model_family='cosmos', config='cosmos_predict2_2b_480p_libero_cl_stage_inference_only', ckpt_path='/home/azureuser/REGEN-main/new_task7/cosmos_policy/cosmos_v2_finetune/cosmos_predict2_2b_480p_libero_goal_task7_cl_from_demochan800_2gpu/checkpoints/iter_000000800/model', planning_model_config_name='', planning_model_ckpt_path='', config_file='cosmos_policy/config/config.py', packnet_mask_path='', packnet_first_cl_libero_task=6, use_third_person_image=True, num_third_person_images=1, use_wrist_image=True, num_wrist_images=1, use_proprio=True, flip_images=True, use_variance_scale=False, use_jpeg_compression=True, ar_future_prediction=False, ar_value_prediction=False, ar_qvalue_prediction=False, num_denoising_steps_action=5, num_denoising_steps_future_state=1, num_denoising_steps_value=1, unnormalize_actions=True, normalize_proprio=True, dataset_stats_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/libero_goal_regen/dataset_statistics.json', t5_text_embeddings_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/t5_embeddings.pkl', trained_with_image_aug=True, chunk_size=16, num_open_loop_steps=16, deterministic=True, deterministic_reset=False, deterministic_reset_seed=None, use_ensemble_future_state_predictions=False, num_future_state_predictions_in_ensemble=3, future_state_ensemble_aggregation_scheme='average', use_ensemble_value_predictions=False, num_value_predictions_in_ensemble=5, value_ensemble_aggregation_scheme='average', search_depth=1, mask_current_state_action_for_value_prediction=False, mask_future_state_for_qvalue_prediction=False, num_queries_best_of_n=1, use_parallel_inference=False, available_gpus='0', parallel_timeout=15, parallel_tasks_across_gpus=False, task_suite_name='libero_goal', num_trials_per_task=50, task_ids_to_run='1', initial_states_path='DEFAULT', env_img_res=256, local_log_dir='/home/azureuser/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal', run_id_note='t7dc800x50_t1_s0', use_wandb=False, wandb_entity='YOUR_ENTITY', wandb_project='YOUR_PROJECT', seed=195, randomize_seed=False, data_collection=False, jpeg_compress=True, reward_stop_threshold=None, reward_stop_consecutive_steps=3, use_gpt_reward=False, gpt_reward_model='gpt-5.4-mini', gpt_reward_stop_threshold=4, gpt_reward_timeout_s=30.0, save_rollout_video=False, eval_hdf5_path='', eval_hdf5_demo_key='demo_0', data_gen_demo_ids='', eval_episode_ids='0,5,10,15,20,25,30,35,40,45', replay_actions=False, replay_action_path_dir='', replay_hdf5_path='', data_generation=False, max_generation_steps=200, simple_task_max_steps=100, complex_task_max_steps=200, disable_value_stop=False)
+Using serial inference (parallel inference disabled)
+Task suite: libero_goal
+Number of tasks: 10
+Running only task IDs: [1]
+Using default initial states
+
+Task: put the bowl on the stove
+Starting episode 1...
+Query 1/1: Action query time = 4.058 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5108
+t=10: Selected seed 195 with value = 0.5108
+Query 1/1: Action query time = 2.602 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5662
+t=26: Selected seed 195 with value = 0.5662
+Query 1/1: Action query time = 4.087 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7119
+t=42: Selected seed 195 with value = 0.7119
+Query 1/1: Action query time = 7.016 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7821
+t=58: Selected seed 195 with value = 0.7821
+Query 1/1: Action query time = 6.894 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8812
+t=74: Selected seed 195 with value = 0.8812
+Query 1/1: Action query time = 6.513 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9793
+t=90: Selected seed 195 with value = 0.9793
+Saved rollout MP4 at path ./rollouts/t7dc800x50_t1_s0/2026_08_03-01_09_11--with_future_img--episode=1--success=True--task=put_the_bowl_on_the_stove.mp4
+Success: True
+# episodes completed so far: 1
+# successes: 1 (100.0%)
+
+Task: put the bowl on the stove
+Starting episode 2...
+Query 1/1: Action query time = 7.175 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5084
+t=10: Selected seed 195 with value = 0.5084
+Query 1/1: Action query time = 7.478 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5805
+t=26: Selected seed 195 with value = 0.5805
+Query 1/1: Action query time = 6.549 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6733
+t=42: Selected seed 195 with value = 0.6733
+Query 1/1: Action query time = 7.638 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8633
+t=58: Selected seed 195 with value = 0.8633
+Query 1/1: Action query time = 7.800 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9282
+t=74: Selected seed 195 with value = 0.9282
+Query 1/1: Action query time = 7.366 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9959
+t=90: Selected seed 195 with value = 0.9959
+Saved rollout MP4 at path ./rollouts/t7dc800x50_t1_s0/2026_08_03-01_09_11--with_future_img--episode=2--success=True--task=put_the_bowl_on_the_stove.mp4
+Success: True
+# episodes completed so far: 2
+# successes: 2 (100.0%)
+
+Task: put the bowl on the stove
+Starting episode 3...
+Query 1/1: Action query time = 7.584 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5093
+t=10: Selected seed 195 with value = 0.5093
+Query 1/1: Action query time = 5.964 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5767
+t=26: Selected seed 195 with value = 0.5767
+Query 1/1: Action query time = 7.318 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7127
+t=42: Selected seed 195 with value = 0.7127
+Query 1/1: Action query time = 4.121 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7799
+t=58: Selected seed 195 with value = 0.7799
+Query 1/1: Action query time = 5.621 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8944
+t=74: Selected seed 195 with value = 0.8944
+Query 1/1: Action query time = 6.626 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9637
+t=90: Selected seed 195 with value = 0.9637
+Query 1/1: Action query time = 4.818 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9825
+t=106: Selected seed 195 with value = 0.9825
+Query 1/1: Action query time = 4.981 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9906
+t=122: Selected seed 195 with value = 0.9906
+Query 1/1: Action query time = 4.650 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9723
+t=138: Selected seed 195 with value = 0.9723
+Query 1/1: Action query time = 4.192 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9475
+t=154: Selected seed 195 with value = 0.9475
+Query 1/1: Action query time = 6.696 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9152
+t=170: Selected seed 195 with value = 0.9152
+Query 1/1: Action query time = 5.792 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9050
+t=186: Selected seed 195 with value = 0.9050
+Query 1/1: Action query time = 6.582 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8992
+t=202: Selected seed 195 with value = 0.8992
+Query 1/1: Action query time = 7.494 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8947
+t=218: Selected seed 195 with value = 0.8947
+Query 1/1: Action query time = 6.837 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9045
+t=234: Selected seed 195 with value = 0.9045
+Query 1/1: Action query time = 8.295 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9054
+t=250: Selected seed 195 with value = 0.9054
+Query 1/1: Action query time = 7.537 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8701
+t=266: Selected seed 195 with value = 0.8701
+Query 1/1: Action query time = 7.535 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8405
+t=282: Selected seed 195 with value = 0.8405
+Query 1/1: Action query time = 7.704 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8540
+t=298: Selected seed 195 with value = 0.8540
+Saved rollout MP4 at path ./rollouts/t7dc800x50_t1_s0/2026_08_03-01_09_11--with_future_img--episode=3--success=False--task=put_the_bowl_on_the_stove.mp4
+Success: False
+# episodes completed so far: 3
+# successes: 2 (66.7%)
+
+Task: put the bowl on the stove
+Starting episode 4...
+Query 1/1: Action query time = 9.755 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5107
+t=10: Selected seed 195 with value = 0.5107
+Query 1/1: Action query time = 6.057 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6021
+t=26: Selected seed 195 with value = 0.6021
+Query 1/1: Action query time = 6.790 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6738
+t=42: Selected seed 195 with value = 0.6738
diff --git a/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_03-01_09_11--t7dc800x50_t1_s1.txt b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_03-01_09_11--t7dc800x50_t1_s1.txt
new file mode 100644
index 0000000000000000000000000000000000000000..53d29b088b32a3ec8c2da07f5b4e309878ccd9d1
--- /dev/null
+++ b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_03-01_09_11--t7dc800x50_t1_s1.txt
@@ -0,0 +1,164 @@
+Eval config: PolicyEvalConfig(suite='libero', model_family='cosmos', config='cosmos_predict2_2b_480p_libero_cl_stage_inference_only', ckpt_path='/home/azureuser/REGEN-main/new_task7/cosmos_policy/cosmos_v2_finetune/cosmos_predict2_2b_480p_libero_goal_task7_cl_from_demochan800_2gpu/checkpoints/iter_000000800/model', planning_model_config_name='', planning_model_ckpt_path='', config_file='cosmos_policy/config/config.py', packnet_mask_path='', packnet_first_cl_libero_task=6, use_third_person_image=True, num_third_person_images=1, use_wrist_image=True, num_wrist_images=1, use_proprio=True, flip_images=True, use_variance_scale=False, use_jpeg_compression=True, ar_future_prediction=False, ar_value_prediction=False, ar_qvalue_prediction=False, num_denoising_steps_action=5, num_denoising_steps_future_state=1, num_denoising_steps_value=1, unnormalize_actions=True, normalize_proprio=True, dataset_stats_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/libero_goal_regen/dataset_statistics.json', t5_text_embeddings_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/t5_embeddings.pkl', trained_with_image_aug=True, chunk_size=16, num_open_loop_steps=16, deterministic=True, deterministic_reset=False, deterministic_reset_seed=None, use_ensemble_future_state_predictions=False, num_future_state_predictions_in_ensemble=3, future_state_ensemble_aggregation_scheme='average', use_ensemble_value_predictions=False, num_value_predictions_in_ensemble=5, value_ensemble_aggregation_scheme='average', search_depth=1, mask_current_state_action_for_value_prediction=False, mask_future_state_for_qvalue_prediction=False, num_queries_best_of_n=1, use_parallel_inference=False, available_gpus='0', parallel_timeout=15, parallel_tasks_across_gpus=False, task_suite_name='libero_goal', num_trials_per_task=50, task_ids_to_run='1', initial_states_path='DEFAULT', env_img_res=256, local_log_dir='/home/azureuser/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal', run_id_note='t7dc800x50_t1_s1', use_wandb=False, wandb_entity='YOUR_ENTITY', wandb_project='YOUR_PROJECT', seed=195, randomize_seed=False, data_collection=False, jpeg_compress=True, reward_stop_threshold=None, reward_stop_consecutive_steps=3, use_gpt_reward=False, gpt_reward_model='gpt-5.4-mini', gpt_reward_stop_threshold=4, gpt_reward_timeout_s=30.0, save_rollout_video=False, eval_hdf5_path='', eval_hdf5_demo_key='demo_0', data_gen_demo_ids='', eval_episode_ids='1,6,11,16,21,26,31,36,41,46', replay_actions=False, replay_action_path_dir='', replay_hdf5_path='', data_generation=False, max_generation_steps=200, simple_task_max_steps=100, complex_task_max_steps=200, disable_value_stop=False)
+Using serial inference (parallel inference disabled)
+Task suite: libero_goal
+Number of tasks: 10
+Running only task IDs: [1]
+Using default initial states
+
+Task: put the bowl on the stove
+Starting episode 1...
+Query 1/1: Action query time = 10.041 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5181
+t=10: Selected seed 195 with value = 0.5181
+Query 1/1: Action query time = 7.005 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6237
+t=26: Selected seed 195 with value = 0.6237
+Query 1/1: Action query time = 6.730 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7248
+t=42: Selected seed 195 with value = 0.7248
+Query 1/1: Action query time = 6.498 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9675
+t=58: Selected seed 195 with value = 0.9675
+Query 1/1: Action query time = 7.830 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9545
+t=74: Selected seed 195 with value = 0.9545
+Query 1/1: Action query time = 7.166 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9812
+t=90: Selected seed 195 with value = 0.9812
+Query 1/1: Action query time = 6.260 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9852
+t=106: Selected seed 195 with value = 0.9852
+Query 1/1: Action query time = 5.122 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9782
+t=122: Selected seed 195 with value = 0.9782
+Query 1/1: Action query time = 6.797 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9688
+t=138: Selected seed 195 with value = 0.9688
+Query 1/1: Action query time = 6.938 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9535
+t=154: Selected seed 195 with value = 0.9535
+Query 1/1: Action query time = 6.107 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9804
+t=170: Selected seed 195 with value = 0.9804
+Query 1/1: Action query time = 6.561 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9704
+t=186: Selected seed 195 with value = 0.9704
+Query 1/1: Action query time = 6.566 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9640
+t=202: Selected seed 195 with value = 0.9640
+Query 1/1: Action query time = 5.065 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9601
+t=218: Selected seed 195 with value = 0.9601
+Query 1/1: Action query time = 4.170 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9550
+t=234: Selected seed 195 with value = 0.9550
+Query 1/1: Action query time = 6.256 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9521
+t=250: Selected seed 195 with value = 0.9521
+Query 1/1: Action query time = 7.451 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9476
+t=266: Selected seed 195 with value = 0.9476
+Query 1/1: Action query time = 5.341 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9478
+t=282: Selected seed 195 with value = 0.9478
+Query 1/1: Action query time = 5.916 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9472
+t=298: Selected seed 195 with value = 0.9472
+Saved rollout MP4 at path ./rollouts/t7dc800x50_t1_s1/2026_08_03-01_09_11--with_future_img--episode=1--success=False--task=put_the_bowl_on_the_stove.mp4
+Success: False
+# episodes completed so far: 1
+# successes: 0 (0.0%)
+
+Task: put the bowl on the stove
+Starting episode 2...
+Query 1/1: Action query time = 4.461 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5128
+t=10: Selected seed 195 with value = 0.5128
+Query 1/1: Action query time = 2.967 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6034
+t=26: Selected seed 195 with value = 0.6034
+Query 1/1: Action query time = 6.830 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6903
+t=42: Selected seed 195 with value = 0.6903
+Query 1/1: Action query time = 4.339 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9247
+t=58: Selected seed 195 with value = 0.9247
+Query 1/1: Action query time = 6.158 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9828
+t=74: Selected seed 195 with value = 0.9828
+Query 1/1: Action query time = 7.066 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9741
+t=90: Selected seed 195 with value = 0.9741
+Query 1/1: Action query time = 6.639 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9599
+t=106: Selected seed 195 with value = 0.9599
+Query 1/1: Action query time = 7.310 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9526
+t=122: Selected seed 195 with value = 0.9526
+Query 1/1: Action query time = 5.807 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9529
+t=138: Selected seed 195 with value = 0.9529
+Query 1/1: Action query time = 4.741 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9379
+t=154: Selected seed 195 with value = 0.9379
+Query 1/1: Action query time = 5.831 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9341
+t=170: Selected seed 195 with value = 0.9341
+Query 1/1: Action query time = 6.169 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9651
+t=186: Selected seed 195 with value = 0.9651
+Query 1/1: Action query time = 6.448 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9308
+t=202: Selected seed 195 with value = 0.9308
+Query 1/1: Action query time = 6.991 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9181
+t=218: Selected seed 195 with value = 0.9181
+Query 1/1: Action query time = 6.549 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8955
+t=234: Selected seed 195 with value = 0.8955
+Query 1/1: Action query time = 9.207 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8810
+t=250: Selected seed 195 with value = 0.8810
+Query 1/1: Action query time = 7.787 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8956
+t=266: Selected seed 195 with value = 0.8956
+Query 1/1: Action query time = 5.907 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9018
+t=282: Selected seed 195 with value = 0.9018
diff --git a/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_03-01_09_11--t7dc800x50_t1_s3.txt b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_03-01_09_11--t7dc800x50_t1_s3.txt
new file mode 100644
index 0000000000000000000000000000000000000000..7ae1e100cf8d539c46832ec951420d7e7d4671c5
--- /dev/null
+++ b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_03-01_09_11--t7dc800x50_t1_s3.txt
@@ -0,0 +1,160 @@
+Eval config: PolicyEvalConfig(suite='libero', model_family='cosmos', config='cosmos_predict2_2b_480p_libero_cl_stage_inference_only', ckpt_path='/home/azureuser/REGEN-main/new_task7/cosmos_policy/cosmos_v2_finetune/cosmos_predict2_2b_480p_libero_goal_task7_cl_from_demochan800_2gpu/checkpoints/iter_000000800/model', planning_model_config_name='', planning_model_ckpt_path='', config_file='cosmos_policy/config/config.py', packnet_mask_path='', packnet_first_cl_libero_task=6, use_third_person_image=True, num_third_person_images=1, use_wrist_image=True, num_wrist_images=1, use_proprio=True, flip_images=True, use_variance_scale=False, use_jpeg_compression=True, ar_future_prediction=False, ar_value_prediction=False, ar_qvalue_prediction=False, num_denoising_steps_action=5, num_denoising_steps_future_state=1, num_denoising_steps_value=1, unnormalize_actions=True, normalize_proprio=True, dataset_stats_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/libero_goal_regen/dataset_statistics.json', t5_text_embeddings_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/t5_embeddings.pkl', trained_with_image_aug=True, chunk_size=16, num_open_loop_steps=16, deterministic=True, deterministic_reset=False, deterministic_reset_seed=None, use_ensemble_future_state_predictions=False, num_future_state_predictions_in_ensemble=3, future_state_ensemble_aggregation_scheme='average', use_ensemble_value_predictions=False, num_value_predictions_in_ensemble=5, value_ensemble_aggregation_scheme='average', search_depth=1, mask_current_state_action_for_value_prediction=False, mask_future_state_for_qvalue_prediction=False, num_queries_best_of_n=1, use_parallel_inference=False, available_gpus='0', parallel_timeout=15, parallel_tasks_across_gpus=False, task_suite_name='libero_goal', num_trials_per_task=50, task_ids_to_run='1', initial_states_path='DEFAULT', env_img_res=256, local_log_dir='/home/azureuser/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal', run_id_note='t7dc800x50_t1_s3', use_wandb=False, wandb_entity='YOUR_ENTITY', wandb_project='YOUR_PROJECT', seed=195, randomize_seed=False, data_collection=False, jpeg_compress=True, reward_stop_threshold=None, reward_stop_consecutive_steps=3, use_gpt_reward=False, gpt_reward_model='gpt-5.4-mini', gpt_reward_stop_threshold=4, gpt_reward_timeout_s=30.0, save_rollout_video=False, eval_hdf5_path='', eval_hdf5_demo_key='demo_0', data_gen_demo_ids='', eval_episode_ids='3,8,13,18,23,28,33,38,43,48', replay_actions=False, replay_action_path_dir='', replay_hdf5_path='', data_generation=False, max_generation_steps=200, simple_task_max_steps=100, complex_task_max_steps=200, disable_value_stop=False)
+Using serial inference (parallel inference disabled)
+Task suite: libero_goal
+Number of tasks: 10
+Running only task IDs: [1]
+Using default initial states
+
+Task: put the bowl on the stove
+Starting episode 1...
+Query 1/1: Action query time = 5.550 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5165
+t=10: Selected seed 195 with value = 0.5165
+Query 1/1: Action query time = 6.353 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6143
+t=26: Selected seed 195 with value = 0.6143
+Query 1/1: Action query time = 7.394 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7507
+t=42: Selected seed 195 with value = 0.7507
+Query 1/1: Action query time = 6.574 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8428
+t=58: Selected seed 195 with value = 0.8428
+Query 1/1: Action query time = 5.433 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9728
+t=74: Selected seed 195 with value = 0.9728
+Query 1/1: Action query time = 7.026 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9754
+t=90: Selected seed 195 with value = 0.9754
+Query 1/1: Action query time = 3.949 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9662
+t=106: Selected seed 195 with value = 0.9662
+Query 1/1: Action query time = 7.393 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9822
+t=122: Selected seed 195 with value = 0.9822
+Query 1/1: Action query time = 7.411 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9839
+t=138: Selected seed 195 with value = 0.9839
+Query 1/1: Action query time = 7.046 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9525
+t=154: Selected seed 195 with value = 0.9525
+Query 1/1: Action query time = 6.731 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9809
+t=170: Selected seed 195 with value = 0.9809
+Query 1/1: Action query time = 6.715 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9623
+t=186: Selected seed 195 with value = 0.9623
+Query 1/1: Action query time = 6.847 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9667
+t=202: Selected seed 195 with value = 0.9667
+Query 1/1: Action query time = 5.872 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9627
+t=218: Selected seed 195 with value = 0.9627
+Query 1/1: Action query time = 6.471 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9641
+t=234: Selected seed 195 with value = 0.9641
+Query 1/1: Action query time = 7.814 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9582
+t=250: Selected seed 195 with value = 0.9582
+Query 1/1: Action query time = 6.937 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9463
+t=266: Selected seed 195 with value = 0.9463
+Query 1/1: Action query time = 6.929 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9458
+t=282: Selected seed 195 with value = 0.9458
+Query 1/1: Action query time = 6.721 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9416
+t=298: Selected seed 195 with value = 0.9416
+Saved rollout MP4 at path ./rollouts/t7dc800x50_t1_s3/2026_08_03-01_09_11--with_future_img--episode=1--success=False--task=put_the_bowl_on_the_stove.mp4
+Success: False
+# episodes completed so far: 1
+# successes: 0 (0.0%)
+
+Task: put the bowl on the stove
+Starting episode 2...
+Query 1/1: Action query time = 4.375 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4726
+t=10: Selected seed 195 with value = 0.4726
+Query 1/1: Action query time = 5.938 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5843
+t=26: Selected seed 195 with value = 0.5843
+Query 1/1: Action query time = 5.624 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6776
+t=42: Selected seed 195 with value = 0.6776
+Query 1/1: Action query time = 4.954 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8784
+t=58: Selected seed 195 with value = 0.8784
+Query 1/1: Action query time = 6.679 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9663
+t=74: Selected seed 195 with value = 0.9663
+Query 1/1: Action query time = 5.674 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9987
+t=90: Selected seed 195 with value = 0.9987
+Query 1/1: Action query time = 7.814 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9909
+t=106: Selected seed 195 with value = 0.9909
+Query 1/1: Action query time = 8.688 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9969
+t=122: Selected seed 195 with value = 0.9969
+Query 1/1: Action query time = 8.037 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9951
+t=138: Selected seed 195 with value = 0.9951
+Query 1/1: Action query time = 7.599 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9926
+t=154: Selected seed 195 with value = 0.9926
+Query 1/1: Action query time = 8.346 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9903
+t=170: Selected seed 195 with value = 0.9903
+Query 1/1: Action query time = 5.969 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9889
+t=186: Selected seed 195 with value = 0.9889
+Query 1/1: Action query time = 7.009 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9871
+t=202: Selected seed 195 with value = 0.9871
+Query 1/1: Action query time = 8.254 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9867
+t=218: Selected seed 195 with value = 0.9867
+Query 1/1: Action query time = 9.668 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9852
+t=234: Selected seed 195 with value = 0.9852
+Query 1/1: Action query time = 7.869 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9849
+t=250: Selected seed 195 with value = 0.9849
+Query 1/1: Action query time = 6.420 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9803
+t=266: Selected seed 195 with value = 0.9803
diff --git a/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_03-01_09_11--t7rc800x50_t0_s4.txt b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_03-01_09_11--t7rc800x50_t0_s4.txt
new file mode 100644
index 0000000000000000000000000000000000000000..22c8cd6e06cdc69fb862df9ff756b525d5fb62ff
--- /dev/null
+++ b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_03-01_09_11--t7rc800x50_t0_s4.txt
@@ -0,0 +1,160 @@
+Eval config: PolicyEvalConfig(suite='libero', model_family='cosmos', config='cosmos_predict2_2b_480p_libero_cl_stage_inference_only', ckpt_path='/home/azureuser/REGEN-main/new_task7/cosmos_policy/cosmos_v2_finetune/cosmos_predict2_2b_480p_libero_goal_task7_cl_from_realcl800_2gpu/checkpoints/iter_000000800/model', planning_model_config_name='', planning_model_ckpt_path='', config_file='cosmos_policy/config/config.py', packnet_mask_path='', packnet_first_cl_libero_task=6, use_third_person_image=True, num_third_person_images=1, use_wrist_image=True, num_wrist_images=1, use_proprio=True, flip_images=True, use_variance_scale=False, use_jpeg_compression=True, ar_future_prediction=False, ar_value_prediction=False, ar_qvalue_prediction=False, num_denoising_steps_action=5, num_denoising_steps_future_state=1, num_denoising_steps_value=1, unnormalize_actions=True, normalize_proprio=True, dataset_stats_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/libero_goal_regen/dataset_statistics.json', t5_text_embeddings_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/t5_embeddings.pkl', trained_with_image_aug=True, chunk_size=16, num_open_loop_steps=16, deterministic=True, deterministic_reset=False, deterministic_reset_seed=None, use_ensemble_future_state_predictions=False, num_future_state_predictions_in_ensemble=3, future_state_ensemble_aggregation_scheme='average', use_ensemble_value_predictions=False, num_value_predictions_in_ensemble=5, value_ensemble_aggregation_scheme='average', search_depth=1, mask_current_state_action_for_value_prediction=False, mask_future_state_for_qvalue_prediction=False, num_queries_best_of_n=1, use_parallel_inference=False, available_gpus='0', parallel_timeout=15, parallel_tasks_across_gpus=False, task_suite_name='libero_goal', num_trials_per_task=50, task_ids_to_run='0', initial_states_path='DEFAULT', env_img_res=256, local_log_dir='/home/azureuser/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal', run_id_note='t7rc800x50_t0_s4', use_wandb=False, wandb_entity='YOUR_ENTITY', wandb_project='YOUR_PROJECT', seed=195, randomize_seed=False, data_collection=False, jpeg_compress=True, reward_stop_threshold=None, reward_stop_consecutive_steps=3, use_gpt_reward=False, gpt_reward_model='gpt-5.4-mini', gpt_reward_stop_threshold=4, gpt_reward_timeout_s=30.0, save_rollout_video=False, eval_hdf5_path='', eval_hdf5_demo_key='demo_0', data_gen_demo_ids='', eval_episode_ids='4,9,14,19,24,29,34,39,44,49', replay_actions=False, replay_action_path_dir='', replay_hdf5_path='', data_generation=False, max_generation_steps=200, simple_task_max_steps=100, complex_task_max_steps=200, disable_value_stop=False)
+Using serial inference (parallel inference disabled)
+Task suite: libero_goal
+Number of tasks: 10
+Running only task IDs: [0]
+Using default initial states
+
+Task: open the middle drawer of the cabinet
+Starting episode 1...
+Query 1/1: Action query time = 4.716 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4467
+t=10: Selected seed 195 with value = 0.4467
+Query 1/1: Action query time = 4.194 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5107
+t=26: Selected seed 195 with value = 0.5107
+Query 1/1: Action query time = 5.943 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5809
+t=42: Selected seed 195 with value = 0.5809
+Query 1/1: Action query time = 6.375 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7008
+t=58: Selected seed 195 with value = 0.7008
+Query 1/1: Action query time = 5.896 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8173
+t=74: Selected seed 195 with value = 0.8173
+Query 1/1: Action query time = 8.453 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9128
+t=90: Selected seed 195 with value = 0.9128
+Query 1/1: Action query time = 7.078 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8424
+t=106: Selected seed 195 with value = 0.8424
+Query 1/1: Action query time = 7.420 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8961
+t=122: Selected seed 195 with value = 0.8961
+Query 1/1: Action query time = 6.179 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9099
+t=138: Selected seed 195 with value = 0.9099
+Query 1/1: Action query time = 7.145 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8756
+t=154: Selected seed 195 with value = 0.8756
+Query 1/1: Action query time = 7.361 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8787
+t=170: Selected seed 195 with value = 0.8787
+Query 1/1: Action query time = 6.036 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8773
+t=186: Selected seed 195 with value = 0.8773
+Query 1/1: Action query time = 5.206 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8484
+t=202: Selected seed 195 with value = 0.8484
+Query 1/1: Action query time = 7.505 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8482
+t=218: Selected seed 195 with value = 0.8482
+Query 1/1: Action query time = 8.303 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8630
+t=234: Selected seed 195 with value = 0.8630
+Query 1/1: Action query time = 7.725 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8553
+t=250: Selected seed 195 with value = 0.8553
+Query 1/1: Action query time = 7.638 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8532
+t=266: Selected seed 195 with value = 0.8532
+Query 1/1: Action query time = 7.394 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8445
+t=282: Selected seed 195 with value = 0.8445
+Query 1/1: Action query time = 6.287 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8396
+t=298: Selected seed 195 with value = 0.8396
+Saved rollout MP4 at path ./rollouts/t7rc800x50_t0_s4/2026_08_03-01_09_11--with_future_img--episode=1--success=False--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: False
+# episodes completed so far: 1
+# successes: 0 (0.0%)
+
+Task: open the middle drawer of the cabinet
+Starting episode 2...
+Query 1/1: Action query time = 4.737 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4676
+t=10: Selected seed 195 with value = 0.4676
+Query 1/1: Action query time = 5.981 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5368
+t=26: Selected seed 195 with value = 0.5368
+Query 1/1: Action query time = 7.887 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5950
+t=42: Selected seed 195 with value = 0.5950
+Query 1/1: Action query time = 6.559 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7346
+t=58: Selected seed 195 with value = 0.7346
+Query 1/1: Action query time = 6.373 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8602
+t=74: Selected seed 195 with value = 0.8602
+Query 1/1: Action query time = 7.619 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9134
+t=90: Selected seed 195 with value = 0.9134
+Query 1/1: Action query time = 7.540 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8556
+t=106: Selected seed 195 with value = 0.8556
+Query 1/1: Action query time = 3.963 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9323
+t=122: Selected seed 195 with value = 0.9323
+Query 1/1: Action query time = 4.908 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9570
+t=138: Selected seed 195 with value = 0.9570
+Query 1/1: Action query time = 7.705 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9245
+t=154: Selected seed 195 with value = 0.9245
+Query 1/1: Action query time = 7.027 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8704
+t=170: Selected seed 195 with value = 0.8704
+Query 1/1: Action query time = 6.521 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8662
+t=186: Selected seed 195 with value = 0.8662
+Query 1/1: Action query time = 6.547 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8609
+t=202: Selected seed 195 with value = 0.8609
+Query 1/1: Action query time = 8.078 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8638
+t=218: Selected seed 195 with value = 0.8638
+Query 1/1: Action query time = 8.573 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8665
+t=234: Selected seed 195 with value = 0.8665
+Query 1/1: Action query time = 7.808 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8689
+t=250: Selected seed 195 with value = 0.8689
+Query 1/1: Action query time = 7.946 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8704
+t=266: Selected seed 195 with value = 0.8704
diff --git a/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_03-01_09_12--t7dc800x50_t1_s4.txt b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_03-01_09_12--t7dc800x50_t1_s4.txt
new file mode 100644
index 0000000000000000000000000000000000000000..58b0d7482622699b3c540fdf29dd33e06325fbe4
--- /dev/null
+++ b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_03-01_09_12--t7dc800x50_t1_s4.txt
@@ -0,0 +1,143 @@
+Eval config: PolicyEvalConfig(suite='libero', model_family='cosmos', config='cosmos_predict2_2b_480p_libero_cl_stage_inference_only', ckpt_path='/home/azureuser/REGEN-main/new_task7/cosmos_policy/cosmos_v2_finetune/cosmos_predict2_2b_480p_libero_goal_task7_cl_from_demochan800_2gpu/checkpoints/iter_000000800/model', planning_model_config_name='', planning_model_ckpt_path='', config_file='cosmos_policy/config/config.py', packnet_mask_path='', packnet_first_cl_libero_task=6, use_third_person_image=True, num_third_person_images=1, use_wrist_image=True, num_wrist_images=1, use_proprio=True, flip_images=True, use_variance_scale=False, use_jpeg_compression=True, ar_future_prediction=False, ar_value_prediction=False, ar_qvalue_prediction=False, num_denoising_steps_action=5, num_denoising_steps_future_state=1, num_denoising_steps_value=1, unnormalize_actions=True, normalize_proprio=True, dataset_stats_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/libero_goal_regen/dataset_statistics.json', t5_text_embeddings_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/t5_embeddings.pkl', trained_with_image_aug=True, chunk_size=16, num_open_loop_steps=16, deterministic=True, deterministic_reset=False, deterministic_reset_seed=None, use_ensemble_future_state_predictions=False, num_future_state_predictions_in_ensemble=3, future_state_ensemble_aggregation_scheme='average', use_ensemble_value_predictions=False, num_value_predictions_in_ensemble=5, value_ensemble_aggregation_scheme='average', search_depth=1, mask_current_state_action_for_value_prediction=False, mask_future_state_for_qvalue_prediction=False, num_queries_best_of_n=1, use_parallel_inference=False, available_gpus='0', parallel_timeout=15, parallel_tasks_across_gpus=False, task_suite_name='libero_goal', num_trials_per_task=50, task_ids_to_run='1', initial_states_path='DEFAULT', env_img_res=256, local_log_dir='/home/azureuser/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal', run_id_note='t7dc800x50_t1_s4', use_wandb=False, wandb_entity='YOUR_ENTITY', wandb_project='YOUR_PROJECT', seed=195, randomize_seed=False, data_collection=False, jpeg_compress=True, reward_stop_threshold=None, reward_stop_consecutive_steps=3, use_gpt_reward=False, gpt_reward_model='gpt-5.4-mini', gpt_reward_stop_threshold=4, gpt_reward_timeout_s=30.0, save_rollout_video=False, eval_hdf5_path='', eval_hdf5_demo_key='demo_0', data_gen_demo_ids='', eval_episode_ids='4,9,14,19,24,29,34,39,44,49', replay_actions=False, replay_action_path_dir='', replay_hdf5_path='', data_generation=False, max_generation_steps=200, simple_task_max_steps=100, complex_task_max_steps=200, disable_value_stop=False)
+Using serial inference (parallel inference disabled)
+Task suite: libero_goal
+Number of tasks: 10
+Running only task IDs: [1]
+Using default initial states
+
+Task: put the bowl on the stove
+Starting episode 1...
+Query 1/1: Action query time = 10.050 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5135
+t=10: Selected seed 195 with value = 0.5135
+Query 1/1: Action query time = 6.869 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5950
+t=26: Selected seed 195 with value = 0.5950
+Query 1/1: Action query time = 6.566 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7640
+t=42: Selected seed 195 with value = 0.7640
+Query 1/1: Action query time = 8.414 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9596
+t=58: Selected seed 195 with value = 0.9596
+Query 1/1: Action query time = 6.879 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9893
+t=74: Selected seed 195 with value = 0.9893
+Query 1/1: Action query time = 6.998 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9863
+t=90: Selected seed 195 with value = 0.9863
+Query 1/1: Action query time = 8.774 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9915
+t=106: Selected seed 195 with value = 0.9915
+Query 1/1: Action query time = 8.469 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9898
+t=122: Selected seed 195 with value = 0.9898
+Query 1/1: Action query time = 6.986 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9833
+t=138: Selected seed 195 with value = 0.9833
+Query 1/1: Action query time = 8.726 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9978
+t=154: Selected seed 195 with value = 0.9978
+Query 1/1: Action query time = 8.590 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9956
+t=170: Selected seed 195 with value = 0.9956
+Query 1/1: Action query time = 5.881 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9978
+t=186: Selected seed 195 with value = 0.9978
+Query 1/1: Action query time = 8.620 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9843
+t=202: Selected seed 195 with value = 0.9843
+Query 1/1: Action query time = 6.873 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=218: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 5.769 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9789
+t=234: Selected seed 195 with value = 0.9789
+Query 1/1: Action query time = 6.137 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9877
+t=250: Selected seed 195 with value = 0.9877
+Query 1/1: Action query time = 4.077 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9766
+t=266: Selected seed 195 with value = 0.9766
+Query 1/1: Action query time = 5.032 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9710
+t=282: Selected seed 195 with value = 0.9710
+Query 1/1: Action query time = 4.406 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9639
+t=298: Selected seed 195 with value = 0.9639
+Saved rollout MP4 at path ./rollouts/t7dc800x50_t1_s4/2026_08_03-01_09_12--with_future_img--episode=1--success=False--task=put_the_bowl_on_the_stove.mp4
+Success: False
+# episodes completed so far: 1
+# successes: 0 (0.0%)
+
+Task: put the bowl on the stove
+Starting episode 2...
+Query 1/1: Action query time = 4.642 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5200
+t=10: Selected seed 195 with value = 0.5200
+Query 1/1: Action query time = 7.477 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5759
+t=26: Selected seed 195 with value = 0.5759
+Query 1/1: Action query time = 7.776 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6902
+t=42: Selected seed 195 with value = 0.6902
+Query 1/1: Action query time = 7.636 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8143
+t=58: Selected seed 195 with value = 0.8143
+Query 1/1: Action query time = 9.496 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9612
+t=74: Selected seed 195 with value = 0.9612
+Query 1/1: Action query time = 7.394 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9866
+t=90: Selected seed 195 with value = 0.9866
+Saved rollout MP4 at path ./rollouts/t7dc800x50_t1_s4/2026_08_03-01_09_12--with_future_img--episode=2--success=True--task=put_the_bowl_on_the_stove.mp4
+Success: True
+# episodes completed so far: 2
+# successes: 1 (50.0%)
+
+Task: put the bowl on the stove
+Starting episode 3...
+Query 1/1: Action query time = 6.667 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5148
+t=10: Selected seed 195 with value = 0.5148
+Query 1/1: Action query time = 5.503 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6037
+t=26: Selected seed 195 with value = 0.6037
+Query 1/1: Action query time = 9.976 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7193
+t=42: Selected seed 195 with value = 0.7193
+Query 1/1: Action query time = 7.523 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8402
+t=58: Selected seed 195 with value = 0.8402
+Query 1/1: Action query time = 6.427 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9256
+t=74: Selected seed 195 with value = 0.9256
diff --git a/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_03-01_09_12--t7rc800x50_t1_s3.txt b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_03-01_09_12--t7rc800x50_t1_s3.txt
new file mode 100644
index 0000000000000000000000000000000000000000..bec1a1db5bbe7b6266318b09737c1d8103492053
--- /dev/null
+++ b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_03-01_09_12--t7rc800x50_t1_s3.txt
@@ -0,0 +1,156 @@
+Eval config: PolicyEvalConfig(suite='libero', model_family='cosmos', config='cosmos_predict2_2b_480p_libero_cl_stage_inference_only', ckpt_path='/home/azureuser/REGEN-main/new_task7/cosmos_policy/cosmos_v2_finetune/cosmos_predict2_2b_480p_libero_goal_task7_cl_from_realcl800_2gpu/checkpoints/iter_000000800/model', planning_model_config_name='', planning_model_ckpt_path='', config_file='cosmos_policy/config/config.py', packnet_mask_path='', packnet_first_cl_libero_task=6, use_third_person_image=True, num_third_person_images=1, use_wrist_image=True, num_wrist_images=1, use_proprio=True, flip_images=True, use_variance_scale=False, use_jpeg_compression=True, ar_future_prediction=False, ar_value_prediction=False, ar_qvalue_prediction=False, num_denoising_steps_action=5, num_denoising_steps_future_state=1, num_denoising_steps_value=1, unnormalize_actions=True, normalize_proprio=True, dataset_stats_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/libero_goal_regen/dataset_statistics.json', t5_text_embeddings_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/t5_embeddings.pkl', trained_with_image_aug=True, chunk_size=16, num_open_loop_steps=16, deterministic=True, deterministic_reset=False, deterministic_reset_seed=None, use_ensemble_future_state_predictions=False, num_future_state_predictions_in_ensemble=3, future_state_ensemble_aggregation_scheme='average', use_ensemble_value_predictions=False, num_value_predictions_in_ensemble=5, value_ensemble_aggregation_scheme='average', search_depth=1, mask_current_state_action_for_value_prediction=False, mask_future_state_for_qvalue_prediction=False, num_queries_best_of_n=1, use_parallel_inference=False, available_gpus='0', parallel_timeout=15, parallel_tasks_across_gpus=False, task_suite_name='libero_goal', num_trials_per_task=50, task_ids_to_run='1', initial_states_path='DEFAULT', env_img_res=256, local_log_dir='/home/azureuser/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal', run_id_note='t7rc800x50_t1_s3', use_wandb=False, wandb_entity='YOUR_ENTITY', wandb_project='YOUR_PROJECT', seed=195, randomize_seed=False, data_collection=False, jpeg_compress=True, reward_stop_threshold=None, reward_stop_consecutive_steps=3, use_gpt_reward=False, gpt_reward_model='gpt-5.4-mini', gpt_reward_stop_threshold=4, gpt_reward_timeout_s=30.0, save_rollout_video=False, eval_hdf5_path='', eval_hdf5_demo_key='demo_0', data_gen_demo_ids='', eval_episode_ids='3,8,13,18,23,28,33,38,43,48', replay_actions=False, replay_action_path_dir='', replay_hdf5_path='', data_generation=False, max_generation_steps=200, simple_task_max_steps=100, complex_task_max_steps=200, disable_value_stop=False)
+Using serial inference (parallel inference disabled)
+Task suite: libero_goal
+Number of tasks: 10
+Running only task IDs: [1]
+Using default initial states
+
+Task: put the bowl on the stove
+Starting episode 1...
+Query 1/1: Action query time = 10.289 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4969
+t=10: Selected seed 195 with value = 0.4969
+Query 1/1: Action query time = 5.774 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6114
+t=26: Selected seed 195 with value = 0.6114
+Query 1/1: Action query time = 9.016 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7296
+t=42: Selected seed 195 with value = 0.7296
+Query 1/1: Action query time = 6.999 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9314
+t=58: Selected seed 195 with value = 0.9314
+Query 1/1: Action query time = 6.102 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9739
+t=74: Selected seed 195 with value = 0.9739
+Query 1/1: Action query time = 7.713 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9811
+t=90: Selected seed 195 with value = 0.9811
+Query 1/1: Action query time = 5.556 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9811
+t=106: Selected seed 195 with value = 0.9811
+Query 1/1: Action query time = 7.523 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9819
+t=122: Selected seed 195 with value = 0.9819
+Query 1/1: Action query time = 6.787 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9846
+t=138: Selected seed 195 with value = 0.9846
+Query 1/1: Action query time = 4.429 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9868
+t=154: Selected seed 195 with value = 0.9868
+Query 1/1: Action query time = 5.435 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9882
+t=170: Selected seed 195 with value = 0.9882
+Query 1/1: Action query time = 7.713 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9890
+t=186: Selected seed 195 with value = 0.9890
+Query 1/1: Action query time = 5.660 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9890
+t=202: Selected seed 195 with value = 0.9890
+Query 1/1: Action query time = 6.466 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9878
+t=218: Selected seed 195 with value = 0.9878
+Query 1/1: Action query time = 4.114 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9882
+t=234: Selected seed 195 with value = 0.9882
+Query 1/1: Action query time = 5.967 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9877
+t=250: Selected seed 195 with value = 0.9877
+Query 1/1: Action query time = 5.401 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9881
+t=266: Selected seed 195 with value = 0.9881
+Query 1/1: Action query time = 6.689 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9858
+t=282: Selected seed 195 with value = 0.9858
+Query 1/1: Action query time = 4.142 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9863
+t=298: Selected seed 195 with value = 0.9863
+Saved rollout MP4 at path ./rollouts/t7rc800x50_t1_s3/2026_08_03-01_09_12--with_future_img--episode=1--success=False--task=put_the_bowl_on_the_stove.mp4
+Success: False
+# episodes completed so far: 1
+# successes: 0 (0.0%)
+
+Task: put the bowl on the stove
+Starting episode 2...
+Query 1/1: Action query time = 5.757 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4595
+t=10: Selected seed 195 with value = 0.4595
+Query 1/1: Action query time = 6.693 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5965
+t=26: Selected seed 195 with value = 0.5965
+Query 1/1: Action query time = 5.737 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6577
+t=42: Selected seed 195 with value = 0.6577
+Query 1/1: Action query time = 6.929 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7833
+t=58: Selected seed 195 with value = 0.7833
+Query 1/1: Action query time = 5.594 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9669
+t=74: Selected seed 195 with value = 0.9669
+Query 1/1: Action query time = 5.034 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7509
+t=90: Selected seed 195 with value = 0.7509
+Query 1/1: Action query time = 5.531 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8742
+t=106: Selected seed 195 with value = 0.8742
+Query 1/1: Action query time = 3.437 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9220
+t=122: Selected seed 195 with value = 0.9220
+Query 1/1: Action query time = 7.197 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8914
+t=138: Selected seed 195 with value = 0.8914
+Query 1/1: Action query time = 6.510 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9751
+t=154: Selected seed 195 with value = 0.9751
+Query 1/1: Action query time = 7.513 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9213
+t=170: Selected seed 195 with value = 0.9213
+Query 1/1: Action query time = 4.607 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9537
+t=186: Selected seed 195 with value = 0.9537
+Query 1/1: Action query time = 7.513 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7913
+t=202: Selected seed 195 with value = 0.7913
+Query 1/1: Action query time = 6.052 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8054
+t=218: Selected seed 195 with value = 0.8054
+Query 1/1: Action query time = 6.311 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8213
+t=234: Selected seed 195 with value = 0.8213
+Query 1/1: Action query time = 5.489 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9277
+t=250: Selected seed 195 with value = 0.9277
diff --git a/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_03-01_09_12--t7rc800x50_t1_s4.txt b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_03-01_09_12--t7rc800x50_t1_s4.txt
new file mode 100644
index 0000000000000000000000000000000000000000..2140b1fdb0cfd132de4ea453f5fd3c9ec4fa8a00
--- /dev/null
+++ b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_03-01_09_12--t7rc800x50_t1_s4.txt
@@ -0,0 +1,120 @@
+Eval config: PolicyEvalConfig(suite='libero', model_family='cosmos', config='cosmos_predict2_2b_480p_libero_cl_stage_inference_only', ckpt_path='/home/azureuser/REGEN-main/new_task7/cosmos_policy/cosmos_v2_finetune/cosmos_predict2_2b_480p_libero_goal_task7_cl_from_realcl800_2gpu/checkpoints/iter_000000800/model', planning_model_config_name='', planning_model_ckpt_path='', config_file='cosmos_policy/config/config.py', packnet_mask_path='', packnet_first_cl_libero_task=6, use_third_person_image=True, num_third_person_images=1, use_wrist_image=True, num_wrist_images=1, use_proprio=True, flip_images=True, use_variance_scale=False, use_jpeg_compression=True, ar_future_prediction=False, ar_value_prediction=False, ar_qvalue_prediction=False, num_denoising_steps_action=5, num_denoising_steps_future_state=1, num_denoising_steps_value=1, unnormalize_actions=True, normalize_proprio=True, dataset_stats_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/libero_goal_regen/dataset_statistics.json', t5_text_embeddings_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/t5_embeddings.pkl', trained_with_image_aug=True, chunk_size=16, num_open_loop_steps=16, deterministic=True, deterministic_reset=False, deterministic_reset_seed=None, use_ensemble_future_state_predictions=False, num_future_state_predictions_in_ensemble=3, future_state_ensemble_aggregation_scheme='average', use_ensemble_value_predictions=False, num_value_predictions_in_ensemble=5, value_ensemble_aggregation_scheme='average', search_depth=1, mask_current_state_action_for_value_prediction=False, mask_future_state_for_qvalue_prediction=False, num_queries_best_of_n=1, use_parallel_inference=False, available_gpus='0', parallel_timeout=15, parallel_tasks_across_gpus=False, task_suite_name='libero_goal', num_trials_per_task=50, task_ids_to_run='1', initial_states_path='DEFAULT', env_img_res=256, local_log_dir='/home/azureuser/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal', run_id_note='t7rc800x50_t1_s4', use_wandb=False, wandb_entity='YOUR_ENTITY', wandb_project='YOUR_PROJECT', seed=195, randomize_seed=False, data_collection=False, jpeg_compress=True, reward_stop_threshold=None, reward_stop_consecutive_steps=3, use_gpt_reward=False, gpt_reward_model='gpt-5.4-mini', gpt_reward_stop_threshold=4, gpt_reward_timeout_s=30.0, save_rollout_video=False, eval_hdf5_path='', eval_hdf5_demo_key='demo_0', data_gen_demo_ids='', eval_episode_ids='4,9,14,19,24,29,34,39,44,49', replay_actions=False, replay_action_path_dir='', replay_hdf5_path='', data_generation=False, max_generation_steps=200, simple_task_max_steps=100, complex_task_max_steps=200, disable_value_stop=False)
+Using serial inference (parallel inference disabled)
+Task suite: libero_goal
+Number of tasks: 10
+Running only task IDs: [1]
+Using default initial states
+
+Task: put the bowl on the stove
+Starting episode 1...
+Query 1/1: Action query time = 13.011 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5134
+t=10: Selected seed 195 with value = 0.5134
+Query 1/1: Action query time = 8.296 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5887
+t=26: Selected seed 195 with value = 0.5887
+Query 1/1: Action query time = 8.409 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7354
+t=42: Selected seed 195 with value = 0.7354
+Query 1/1: Action query time = 9.498 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9619
+t=58: Selected seed 195 with value = 0.9619
+Query 1/1: Action query time = 6.416 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9668
+t=74: Selected seed 195 with value = 0.9668
+Query 1/1: Action query time = 10.307 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 7.436 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9932
+t=106: Selected seed 195 with value = 0.9932
+Query 1/1: Action query time = 6.789 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9802
+t=122: Selected seed 195 with value = 0.9802
+Query 1/1: Action query time = 8.213 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9636
+t=138: Selected seed 195 with value = 0.9636
+Query 1/1: Action query time = 9.397 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8704
+t=154: Selected seed 195 with value = 0.8704
+Query 1/1: Action query time = 7.623 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=170: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 9.636 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9444
+t=186: Selected seed 195 with value = 0.9444
+Query 1/1: Action query time = 6.821 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8212
+t=202: Selected seed 195 with value = 0.8212
+Query 1/1: Action query time = 8.001 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8504
+t=218: Selected seed 195 with value = 0.8504
+Query 1/1: Action query time = 9.763 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8925
+t=234: Selected seed 195 with value = 0.8925
+Query 1/1: Action query time = 6.070 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8249
+t=250: Selected seed 195 with value = 0.8249
+Query 1/1: Action query time = 5.877 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8589
+t=266: Selected seed 195 with value = 0.8589
+Query 1/1: Action query time = 7.075 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8523
+t=282: Selected seed 195 with value = 0.8523
+Query 1/1: Action query time = 4.328 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8702
+t=298: Selected seed 195 with value = 0.8702
+Saved rollout MP4 at path ./rollouts/t7rc800x50_t1_s4/2026_08_03-01_09_12--with_future_img--episode=1--success=False--task=put_the_bowl_on_the_stove.mp4
+Success: False
+# episodes completed so far: 1
+# successes: 0 (0.0%)
+
+Task: put the bowl on the stove
+Starting episode 2...
+Query 1/1: Action query time = 7.809 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5097
+t=10: Selected seed 195 with value = 0.5097
+Query 1/1: Action query time = 7.632 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5994
+t=26: Selected seed 195 with value = 0.5994
+Query 1/1: Action query time = 9.918 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6747
+t=42: Selected seed 195 with value = 0.6747
+Query 1/1: Action query time = 10.599 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7653
+t=58: Selected seed 195 with value = 0.7653
+Query 1/1: Action query time = 8.746 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8488
+t=74: Selected seed 195 with value = 0.8488
+Query 1/1: Action query time = 4.840 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8847
+t=90: Selected seed 195 with value = 0.8847
+Query 1/1: Action query time = 8.001 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9847
+t=106: Selected seed 195 with value = 0.9847
diff --git a/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_03-01_09_12--t7rc800x50_t3_s4.txt b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_03-01_09_12--t7rc800x50_t3_s4.txt
new file mode 100644
index 0000000000000000000000000000000000000000..bf4dff8d719ba9f973d8658471f69701d35e69b4
--- /dev/null
+++ b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_03-01_09_12--t7rc800x50_t3_s4.txt
@@ -0,0 +1,156 @@
+Eval config: PolicyEvalConfig(suite='libero', model_family='cosmos', config='cosmos_predict2_2b_480p_libero_cl_stage_inference_only', ckpt_path='/home/azureuser/REGEN-main/new_task7/cosmos_policy/cosmos_v2_finetune/cosmos_predict2_2b_480p_libero_goal_task7_cl_from_realcl800_2gpu/checkpoints/iter_000000800/model', planning_model_config_name='', planning_model_ckpt_path='', config_file='cosmos_policy/config/config.py', packnet_mask_path='', packnet_first_cl_libero_task=6, use_third_person_image=True, num_third_person_images=1, use_wrist_image=True, num_wrist_images=1, use_proprio=True, flip_images=True, use_variance_scale=False, use_jpeg_compression=True, ar_future_prediction=False, ar_value_prediction=False, ar_qvalue_prediction=False, num_denoising_steps_action=5, num_denoising_steps_future_state=1, num_denoising_steps_value=1, unnormalize_actions=True, normalize_proprio=True, dataset_stats_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/libero_goal_regen/dataset_statistics.json', t5_text_embeddings_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/t5_embeddings.pkl', trained_with_image_aug=True, chunk_size=16, num_open_loop_steps=16, deterministic=True, deterministic_reset=False, deterministic_reset_seed=None, use_ensemble_future_state_predictions=False, num_future_state_predictions_in_ensemble=3, future_state_ensemble_aggregation_scheme='average', use_ensemble_value_predictions=False, num_value_predictions_in_ensemble=5, value_ensemble_aggregation_scheme='average', search_depth=1, mask_current_state_action_for_value_prediction=False, mask_future_state_for_qvalue_prediction=False, num_queries_best_of_n=1, use_parallel_inference=False, available_gpus='0', parallel_timeout=15, parallel_tasks_across_gpus=False, task_suite_name='libero_goal', num_trials_per_task=50, task_ids_to_run='3', initial_states_path='DEFAULT', env_img_res=256, local_log_dir='/home/azureuser/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal', run_id_note='t7rc800x50_t3_s4', use_wandb=False, wandb_entity='YOUR_ENTITY', wandb_project='YOUR_PROJECT', seed=195, randomize_seed=False, data_collection=False, jpeg_compress=True, reward_stop_threshold=None, reward_stop_consecutive_steps=3, use_gpt_reward=False, gpt_reward_model='gpt-5.4-mini', gpt_reward_stop_threshold=4, gpt_reward_timeout_s=30.0, save_rollout_video=False, eval_hdf5_path='', eval_hdf5_demo_key='demo_0', data_gen_demo_ids='', eval_episode_ids='4,9,14,19,24,29,34,39,44,49', replay_actions=False, replay_action_path_dir='', replay_hdf5_path='', data_generation=False, max_generation_steps=200, simple_task_max_steps=100, complex_task_max_steps=200, disable_value_stop=False)
+Using serial inference (parallel inference disabled)
+Task suite: libero_goal
+Number of tasks: 10
+Running only task IDs: [3]
+Using default initial states
+
+Task: open the top drawer and put the bowl inside
+Starting episode 1...
+Query 1/1: Action query time = 8.032 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6099
+t=10: Selected seed 195 with value = 0.6099
+Query 1/1: Action query time = 6.234 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8436
+t=26: Selected seed 195 with value = 0.8436
+Query 1/1: Action query time = 6.259 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8554
+t=42: Selected seed 195 with value = 0.8554
+Query 1/1: Action query time = 5.668 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8452
+t=58: Selected seed 195 with value = 0.8452
+Query 1/1: Action query time = 5.574 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8726
+t=74: Selected seed 195 with value = 0.8726
+Query 1/1: Action query time = 8.722 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8811
+t=90: Selected seed 195 with value = 0.8811
+Query 1/1: Action query time = 6.583 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9574
+t=106: Selected seed 195 with value = 0.9574
+Query 1/1: Action query time = 5.868 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8895
+t=122: Selected seed 195 with value = 0.8895
+Query 1/1: Action query time = 8.975 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7211
+t=138: Selected seed 195 with value = 0.7211
+Query 1/1: Action query time = 7.361 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9253
+t=154: Selected seed 195 with value = 0.9253
+Query 1/1: Action query time = 5.593 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9549
+t=170: Selected seed 195 with value = 0.9549
+Query 1/1: Action query time = 5.317 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9540
+t=186: Selected seed 195 with value = 0.9540
+Query 1/1: Action query time = 7.234 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8416
+t=202: Selected seed 195 with value = 0.8416
+Query 1/1: Action query time = 9.018 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8882
+t=218: Selected seed 195 with value = 0.8882
+Query 1/1: Action query time = 5.930 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9801
+t=234: Selected seed 195 with value = 0.9801
+Query 1/1: Action query time = 6.635 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9654
+t=250: Selected seed 195 with value = 0.9654
+Query 1/1: Action query time = 5.309 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9846
+t=266: Selected seed 195 with value = 0.9846
+Query 1/1: Action query time = 4.640 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9283
+t=282: Selected seed 195 with value = 0.9283
+Query 1/1: Action query time = 6.457 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9320
+t=298: Selected seed 195 with value = 0.9320
+Saved rollout MP4 at path ./rollouts/t7rc800x50_t3_s4/2026_08_03-01_09_12--with_future_img--episode=1--success=False--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: False
+# episodes completed so far: 1
+# successes: 0 (0.0%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 2...
+Query 1/1: Action query time = 4.665 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5045
+t=10: Selected seed 195 with value = 0.5045
+Query 1/1: Action query time = 8.872 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7875
+t=26: Selected seed 195 with value = 0.7875
+Query 1/1: Action query time = 5.640 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8315
+t=42: Selected seed 195 with value = 0.8315
+Query 1/1: Action query time = 7.169 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8907
+t=58: Selected seed 195 with value = 0.8907
+Query 1/1: Action query time = 4.503 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8516
+t=74: Selected seed 195 with value = 0.8516
+Query 1/1: Action query time = 5.013 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8065
+t=90: Selected seed 195 with value = 0.8065
+Query 1/1: Action query time = 5.601 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8771
+t=106: Selected seed 195 with value = 0.8771
+Query 1/1: Action query time = 4.944 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8959
+t=122: Selected seed 195 with value = 0.8959
+Query 1/1: Action query time = 8.268 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9044
+t=138: Selected seed 195 with value = 0.9044
+Query 1/1: Action query time = 8.119 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9298
+t=154: Selected seed 195 with value = 0.9298
+Query 1/1: Action query time = 7.119 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9280
+t=170: Selected seed 195 with value = 0.9280
+Query 1/1: Action query time = 6.392 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7845
+t=186: Selected seed 195 with value = 0.7845
+Query 1/1: Action query time = 7.326 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8856
+t=202: Selected seed 195 with value = 0.8856
+Query 1/1: Action query time = 5.511 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8327
+t=218: Selected seed 195 with value = 0.8327
+Query 1/1: Action query time = 7.959 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8766
+t=234: Selected seed 195 with value = 0.8766
+Query 1/1: Action query time = 5.860 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9271
+t=250: Selected seed 195 with value = 0.9271
diff --git a/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_03-01_09_13--t7dc800x50_t3_s4.txt b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_03-01_09_13--t7dc800x50_t3_s4.txt
new file mode 100644
index 0000000000000000000000000000000000000000..d058851cf9bdc1ea1896f15e7579f8d0f717eeb5
--- /dev/null
+++ b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_03-01_09_13--t7dc800x50_t3_s4.txt
@@ -0,0 +1,148 @@
+Eval config: PolicyEvalConfig(suite='libero', model_family='cosmos', config='cosmos_predict2_2b_480p_libero_cl_stage_inference_only', ckpt_path='/home/azureuser/REGEN-main/new_task7/cosmos_policy/cosmos_v2_finetune/cosmos_predict2_2b_480p_libero_goal_task7_cl_from_demochan800_2gpu/checkpoints/iter_000000800/model', planning_model_config_name='', planning_model_ckpt_path='', config_file='cosmos_policy/config/config.py', packnet_mask_path='', packnet_first_cl_libero_task=6, use_third_person_image=True, num_third_person_images=1, use_wrist_image=True, num_wrist_images=1, use_proprio=True, flip_images=True, use_variance_scale=False, use_jpeg_compression=True, ar_future_prediction=False, ar_value_prediction=False, ar_qvalue_prediction=False, num_denoising_steps_action=5, num_denoising_steps_future_state=1, num_denoising_steps_value=1, unnormalize_actions=True, normalize_proprio=True, dataset_stats_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/libero_goal_regen/dataset_statistics.json', t5_text_embeddings_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/t5_embeddings.pkl', trained_with_image_aug=True, chunk_size=16, num_open_loop_steps=16, deterministic=True, deterministic_reset=False, deterministic_reset_seed=None, use_ensemble_future_state_predictions=False, num_future_state_predictions_in_ensemble=3, future_state_ensemble_aggregation_scheme='average', use_ensemble_value_predictions=False, num_value_predictions_in_ensemble=5, value_ensemble_aggregation_scheme='average', search_depth=1, mask_current_state_action_for_value_prediction=False, mask_future_state_for_qvalue_prediction=False, num_queries_best_of_n=1, use_parallel_inference=False, available_gpus='0', parallel_timeout=15, parallel_tasks_across_gpus=False, task_suite_name='libero_goal', num_trials_per_task=50, task_ids_to_run='3', initial_states_path='DEFAULT', env_img_res=256, local_log_dir='/home/azureuser/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal', run_id_note='t7dc800x50_t3_s4', use_wandb=False, wandb_entity='YOUR_ENTITY', wandb_project='YOUR_PROJECT', seed=195, randomize_seed=False, data_collection=False, jpeg_compress=True, reward_stop_threshold=None, reward_stop_consecutive_steps=3, use_gpt_reward=False, gpt_reward_model='gpt-5.4-mini', gpt_reward_stop_threshold=4, gpt_reward_timeout_s=30.0, save_rollout_video=False, eval_hdf5_path='', eval_hdf5_demo_key='demo_0', data_gen_demo_ids='', eval_episode_ids='4,9,14,19,24,29,34,39,44,49', replay_actions=False, replay_action_path_dir='', replay_hdf5_path='', data_generation=False, max_generation_steps=200, simple_task_max_steps=100, complex_task_max_steps=200, disable_value_stop=False)
+Using serial inference (parallel inference disabled)
+Task suite: libero_goal
+Number of tasks: 10
+Running only task IDs: [3]
+Using default initial states
+
+Task: open the top drawer and put the bowl inside
+Starting episode 1...
+Query 1/1: Action query time = 10.476 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7075
+t=10: Selected seed 195 with value = 0.7075
+Query 1/1: Action query time = 6.271 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7407
+t=26: Selected seed 195 with value = 0.7407
+Query 1/1: Action query time = 5.721 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8472
+t=42: Selected seed 195 with value = 0.8472
+Query 1/1: Action query time = 6.645 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9308
+t=58: Selected seed 195 with value = 0.9308
+Query 1/1: Action query time = 4.665 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9853
+t=74: Selected seed 195 with value = 0.9853
+Query 1/1: Action query time = 5.733 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9998
+t=90: Selected seed 195 with value = 0.9998
+Query 1/1: Action query time = 5.962 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9956
+t=106: Selected seed 195 with value = 0.9956
+Query 1/1: Action query time = 5.499 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9942
+t=122: Selected seed 195 with value = 0.9942
+Query 1/1: Action query time = 5.898 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9930
+t=138: Selected seed 195 with value = 0.9930
+Query 1/1: Action query time = 6.797 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9921
+t=154: Selected seed 195 with value = 0.9921
+Query 1/1: Action query time = 4.899 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9888
+t=170: Selected seed 195 with value = 0.9888
+Query 1/1: Action query time = 6.928 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9825
+t=186: Selected seed 195 with value = 0.9825
+Query 1/1: Action query time = 9.008 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9752
+t=202: Selected seed 195 with value = 0.9752
+Query 1/1: Action query time = 5.392 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9677
+t=218: Selected seed 195 with value = 0.9677
+Query 1/1: Action query time = 7.771 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9538
+t=234: Selected seed 195 with value = 0.9538
+Query 1/1: Action query time = 7.111 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9796
+t=250: Selected seed 195 with value = 0.9796
+Query 1/1: Action query time = 7.008 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9628
+t=266: Selected seed 195 with value = 0.9628
+Query 1/1: Action query time = 5.690 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9935
+t=282: Selected seed 195 with value = 0.9935
+Query 1/1: Action query time = 3.582 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9580
+t=298: Selected seed 195 with value = 0.9580
+Saved rollout MP4 at path ./rollouts/t7dc800x50_t3_s4/2026_08_03-01_09_13--with_future_img--episode=1--success=False--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: False
+# episodes completed so far: 1
+# successes: 0 (0.0%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 2...
+Query 1/1: Action query time = 6.498 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5635
+t=10: Selected seed 195 with value = 0.5635
+Query 1/1: Action query time = 6.538 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7362
+t=26: Selected seed 195 with value = 0.7362
+Query 1/1: Action query time = 8.163 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7966
+t=42: Selected seed 195 with value = 0.7966
+Query 1/1: Action query time = 5.529 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9376
+t=58: Selected seed 195 with value = 0.9376
+Query 1/1: Action query time = 7.710 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8662
+t=74: Selected seed 195 with value = 0.8662
+Query 1/1: Action query time = 7.704 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8529
+t=90: Selected seed 195 with value = 0.8529
+Query 1/1: Action query time = 7.607 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8756
+t=106: Selected seed 195 with value = 0.8756
+Query 1/1: Action query time = 9.506 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8465
+t=122: Selected seed 195 with value = 0.8465
+Query 1/1: Action query time = 7.999 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9338
+t=138: Selected seed 195 with value = 0.9338
+Query 1/1: Action query time = 6.548 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9094
+t=154: Selected seed 195 with value = 0.9094
+Query 1/1: Action query time = 7.471 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8617
+t=170: Selected seed 195 with value = 0.8617
+Query 1/1: Action query time = 9.098 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8473
+t=186: Selected seed 195 with value = 0.8473
+Query 1/1: Action query time = 7.272 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8682
+t=202: Selected seed 195 with value = 0.8682
+Query 1/1: Action query time = 6.134 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8768
+t=218: Selected seed 195 with value = 0.8768
diff --git a/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_03-01_09_13--t7rc800x50_t1_s1.txt b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_03-01_09_13--t7rc800x50_t1_s1.txt
new file mode 100644
index 0000000000000000000000000000000000000000..a408b879610c7f3f1018c555149155e65bb856a0
--- /dev/null
+++ b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_03-01_09_13--t7rc800x50_t1_s1.txt
@@ -0,0 +1,132 @@
+Eval config: PolicyEvalConfig(suite='libero', model_family='cosmos', config='cosmos_predict2_2b_480p_libero_cl_stage_inference_only', ckpt_path='/home/azureuser/REGEN-main/new_task7/cosmos_policy/cosmos_v2_finetune/cosmos_predict2_2b_480p_libero_goal_task7_cl_from_realcl800_2gpu/checkpoints/iter_000000800/model', planning_model_config_name='', planning_model_ckpt_path='', config_file='cosmos_policy/config/config.py', packnet_mask_path='', packnet_first_cl_libero_task=6, use_third_person_image=True, num_third_person_images=1, use_wrist_image=True, num_wrist_images=1, use_proprio=True, flip_images=True, use_variance_scale=False, use_jpeg_compression=True, ar_future_prediction=False, ar_value_prediction=False, ar_qvalue_prediction=False, num_denoising_steps_action=5, num_denoising_steps_future_state=1, num_denoising_steps_value=1, unnormalize_actions=True, normalize_proprio=True, dataset_stats_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/libero_goal_regen/dataset_statistics.json', t5_text_embeddings_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/t5_embeddings.pkl', trained_with_image_aug=True, chunk_size=16, num_open_loop_steps=16, deterministic=True, deterministic_reset=False, deterministic_reset_seed=None, use_ensemble_future_state_predictions=False, num_future_state_predictions_in_ensemble=3, future_state_ensemble_aggregation_scheme='average', use_ensemble_value_predictions=False, num_value_predictions_in_ensemble=5, value_ensemble_aggregation_scheme='average', search_depth=1, mask_current_state_action_for_value_prediction=False, mask_future_state_for_qvalue_prediction=False, num_queries_best_of_n=1, use_parallel_inference=False, available_gpus='0', parallel_timeout=15, parallel_tasks_across_gpus=False, task_suite_name='libero_goal', num_trials_per_task=50, task_ids_to_run='1', initial_states_path='DEFAULT', env_img_res=256, local_log_dir='/home/azureuser/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal', run_id_note='t7rc800x50_t1_s1', use_wandb=False, wandb_entity='YOUR_ENTITY', wandb_project='YOUR_PROJECT', seed=195, randomize_seed=False, data_collection=False, jpeg_compress=True, reward_stop_threshold=None, reward_stop_consecutive_steps=3, use_gpt_reward=False, gpt_reward_model='gpt-5.4-mini', gpt_reward_stop_threshold=4, gpt_reward_timeout_s=30.0, save_rollout_video=False, eval_hdf5_path='', eval_hdf5_demo_key='demo_0', data_gen_demo_ids='', eval_episode_ids='1,6,11,16,21,26,31,36,41,46', replay_actions=False, replay_action_path_dir='', replay_hdf5_path='', data_generation=False, max_generation_steps=200, simple_task_max_steps=100, complex_task_max_steps=200, disable_value_stop=False)
+Using serial inference (parallel inference disabled)
+Task suite: libero_goal
+Number of tasks: 10
+Running only task IDs: [1]
+Using default initial states
+
+Task: put the bowl on the stove
+Starting episode 1...
+Query 1/1: Action query time = 7.277 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5255
+t=10: Selected seed 195 with value = 0.5255
+Query 1/1: Action query time = 6.421 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6313
+t=26: Selected seed 195 with value = 0.6313
+Query 1/1: Action query time = 7.551 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7331
+t=42: Selected seed 195 with value = 0.7331
+Query 1/1: Action query time = 10.219 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8906
+t=58: Selected seed 195 with value = 0.8906
+Query 1/1: Action query time = 9.103 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9713
+t=74: Selected seed 195 with value = 0.9713
+Query 1/1: Action query time = 8.223 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9859
+t=90: Selected seed 195 with value = 0.9859
+Query 1/1: Action query time = 5.896 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9899
+t=106: Selected seed 195 with value = 0.9899
+Query 1/1: Action query time = 6.685 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9997
+t=122: Selected seed 195 with value = 0.9997
+Query 1/1: Action query time = 7.505 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=138: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 8.222 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=154: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 9.224 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=170: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 6.920 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=186: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 6.069 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=202: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 10.080 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=218: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 7.144 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=234: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 5.849 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=250: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 7.972 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9998
+t=266: Selected seed 195 with value = 0.9998
+Query 1/1: Action query time = 7.599 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=282: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 8.050 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9042
+t=298: Selected seed 195 with value = 0.9042
+Saved rollout MP4 at path ./rollouts/t7rc800x50_t1_s1/2026_08_03-01_09_13--with_future_img--episode=1--success=False--task=put_the_bowl_on_the_stove.mp4
+Success: False
+# episodes completed so far: 1
+# successes: 0 (0.0%)
+
+Task: put the bowl on the stove
+Starting episode 2...
+Query 1/1: Action query time = 4.930 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4964
+t=10: Selected seed 195 with value = 0.4964
+Query 1/1: Action query time = 6.933 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6136
+t=26: Selected seed 195 with value = 0.6136
+Query 1/1: Action query time = 4.625 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7083
+t=42: Selected seed 195 with value = 0.7083
+Query 1/1: Action query time = 6.336 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7901
+t=58: Selected seed 195 with value = 0.7901
+Query 1/1: Action query time = 8.714 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9699
+t=74: Selected seed 195 with value = 0.9699
+Query 1/1: Action query time = 9.704 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9082
+t=90: Selected seed 195 with value = 0.9082
+Query 1/1: Action query time = 7.726 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9690
+t=106: Selected seed 195 with value = 0.9690
+Query 1/1: Action query time = 8.225 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9210
+t=122: Selected seed 195 with value = 0.9210
+Query 1/1: Action query time = 9.008 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9106
+t=138: Selected seed 195 with value = 0.9106
+Query 1/1: Action query time = 10.337 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8739
+t=154: Selected seed 195 with value = 0.8739
diff --git a/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_03-01_09_13--t7rc800x50_t2_s3.txt b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_03-01_09_13--t7rc800x50_t2_s3.txt
new file mode 100644
index 0000000000000000000000000000000000000000..3077504941910f8a438fa7bfc62f7fc2675038cf
--- /dev/null
+++ b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_03-01_09_13--t7rc800x50_t2_s3.txt
@@ -0,0 +1,148 @@
+Eval config: PolicyEvalConfig(suite='libero', model_family='cosmos', config='cosmos_predict2_2b_480p_libero_cl_stage_inference_only', ckpt_path='/home/azureuser/REGEN-main/new_task7/cosmos_policy/cosmos_v2_finetune/cosmos_predict2_2b_480p_libero_goal_task7_cl_from_realcl800_2gpu/checkpoints/iter_000000800/model', planning_model_config_name='', planning_model_ckpt_path='', config_file='cosmos_policy/config/config.py', packnet_mask_path='', packnet_first_cl_libero_task=6, use_third_person_image=True, num_third_person_images=1, use_wrist_image=True, num_wrist_images=1, use_proprio=True, flip_images=True, use_variance_scale=False, use_jpeg_compression=True, ar_future_prediction=False, ar_value_prediction=False, ar_qvalue_prediction=False, num_denoising_steps_action=5, num_denoising_steps_future_state=1, num_denoising_steps_value=1, unnormalize_actions=True, normalize_proprio=True, dataset_stats_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/libero_goal_regen/dataset_statistics.json', t5_text_embeddings_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/t5_embeddings.pkl', trained_with_image_aug=True, chunk_size=16, num_open_loop_steps=16, deterministic=True, deterministic_reset=False, deterministic_reset_seed=None, use_ensemble_future_state_predictions=False, num_future_state_predictions_in_ensemble=3, future_state_ensemble_aggregation_scheme='average', use_ensemble_value_predictions=False, num_value_predictions_in_ensemble=5, value_ensemble_aggregation_scheme='average', search_depth=1, mask_current_state_action_for_value_prediction=False, mask_future_state_for_qvalue_prediction=False, num_queries_best_of_n=1, use_parallel_inference=False, available_gpus='0', parallel_timeout=15, parallel_tasks_across_gpus=False, task_suite_name='libero_goal', num_trials_per_task=50, task_ids_to_run='2', initial_states_path='DEFAULT', env_img_res=256, local_log_dir='/home/azureuser/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal', run_id_note='t7rc800x50_t2_s3', use_wandb=False, wandb_entity='YOUR_ENTITY', wandb_project='YOUR_PROJECT', seed=195, randomize_seed=False, data_collection=False, jpeg_compress=True, reward_stop_threshold=None, reward_stop_consecutive_steps=3, use_gpt_reward=False, gpt_reward_model='gpt-5.4-mini', gpt_reward_stop_threshold=4, gpt_reward_timeout_s=30.0, save_rollout_video=False, eval_hdf5_path='', eval_hdf5_demo_key='demo_0', data_gen_demo_ids='', eval_episode_ids='3,8,13,18,23,28,33,38,43,48', replay_actions=False, replay_action_path_dir='', replay_hdf5_path='', data_generation=False, max_generation_steps=200, simple_task_max_steps=100, complex_task_max_steps=200, disable_value_stop=False)
+Using serial inference (parallel inference disabled)
+Task suite: libero_goal
+Number of tasks: 10
+Running only task IDs: [2]
+Using default initial states
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 1...
+Query 1/1: Action query time = 8.805 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5677
+t=10: Selected seed 195 with value = 0.5677
+Query 1/1: Action query time = 6.761 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6627
+t=26: Selected seed 195 with value = 0.6627
+Query 1/1: Action query time = 6.494 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6469
+t=42: Selected seed 195 with value = 0.6469
+Query 1/1: Action query time = 4.807 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8252
+t=58: Selected seed 195 with value = 0.8252
+Query 1/1: Action query time = 8.183 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7447
+t=74: Selected seed 195 with value = 0.7447
+Query 1/1: Action query time = 5.106 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7645
+t=90: Selected seed 195 with value = 0.7645
+Query 1/1: Action query time = 5.552 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9090
+t=106: Selected seed 195 with value = 0.9090
+Query 1/1: Action query time = 6.709 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9243
+t=122: Selected seed 195 with value = 0.9243
+Query 1/1: Action query time = 6.878 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9361
+t=138: Selected seed 195 with value = 0.9361
+Query 1/1: Action query time = 6.877 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9329
+t=154: Selected seed 195 with value = 0.9329
+Query 1/1: Action query time = 8.086 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9032
+t=170: Selected seed 195 with value = 0.9032
+Query 1/1: Action query time = 5.945 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9147
+t=186: Selected seed 195 with value = 0.9147
+Query 1/1: Action query time = 9.303 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9370
+t=202: Selected seed 195 with value = 0.9370
+Query 1/1: Action query time = 6.522 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8447
+t=218: Selected seed 195 with value = 0.8447
+Query 1/1: Action query time = 6.058 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8779
+t=234: Selected seed 195 with value = 0.8779
+Query 1/1: Action query time = 7.331 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8909
+t=250: Selected seed 195 with value = 0.8909
+Query 1/1: Action query time = 6.010 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8726
+t=266: Selected seed 195 with value = 0.8726
+Query 1/1: Action query time = 5.315 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8736
+t=282: Selected seed 195 with value = 0.8736
+Query 1/1: Action query time = 3.622 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8506
+t=298: Selected seed 195 with value = 0.8506
+Saved rollout MP4 at path ./rollouts/t7rc800x50_t2_s3/2026_08_03-01_09_13--with_future_img--episode=1--success=False--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: False
+# episodes completed so far: 1
+# successes: 0 (0.0%)
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 2...
+Query 1/1: Action query time = 5.711 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5839
+t=10: Selected seed 195 with value = 0.5839
+Query 1/1: Action query time = 6.918 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6219
+t=26: Selected seed 195 with value = 0.6219
+Query 1/1: Action query time = 8.363 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6941
+t=42: Selected seed 195 with value = 0.6941
+Query 1/1: Action query time = 8.555 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8622
+t=58: Selected seed 195 with value = 0.8622
+Query 1/1: Action query time = 7.394 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7332
+t=74: Selected seed 195 with value = 0.7332
+Query 1/1: Action query time = 7.540 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7430
+t=90: Selected seed 195 with value = 0.7430
+Query 1/1: Action query time = 8.492 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8068
+t=106: Selected seed 195 with value = 0.8068
+Query 1/1: Action query time = 6.544 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8839
+t=122: Selected seed 195 with value = 0.8839
+Query 1/1: Action query time = 7.516 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8874
+t=138: Selected seed 195 with value = 0.8874
+Query 1/1: Action query time = 8.840 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8377
+t=154: Selected seed 195 with value = 0.8377
+Query 1/1: Action query time = 6.252 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8545
+t=170: Selected seed 195 with value = 0.8545
+Query 1/1: Action query time = 8.729 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8949
+t=186: Selected seed 195 with value = 0.8949
+Query 1/1: Action query time = 8.557 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8998
+t=202: Selected seed 195 with value = 0.8998
+Query 1/1: Action query time = 9.177 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8886
+t=218: Selected seed 195 with value = 0.8886
diff --git a/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_03-01_09_13--t7rc800x50_t3_s1.txt b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_03-01_09_13--t7rc800x50_t3_s1.txt
new file mode 100644
index 0000000000000000000000000000000000000000..cb717222c336aa6b925aa057bf2d5dc41249d138
--- /dev/null
+++ b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_03-01_09_13--t7rc800x50_t3_s1.txt
@@ -0,0 +1,144 @@
+Eval config: PolicyEvalConfig(suite='libero', model_family='cosmos', config='cosmos_predict2_2b_480p_libero_cl_stage_inference_only', ckpt_path='/home/azureuser/REGEN-main/new_task7/cosmos_policy/cosmos_v2_finetune/cosmos_predict2_2b_480p_libero_goal_task7_cl_from_realcl800_2gpu/checkpoints/iter_000000800/model', planning_model_config_name='', planning_model_ckpt_path='', config_file='cosmos_policy/config/config.py', packnet_mask_path='', packnet_first_cl_libero_task=6, use_third_person_image=True, num_third_person_images=1, use_wrist_image=True, num_wrist_images=1, use_proprio=True, flip_images=True, use_variance_scale=False, use_jpeg_compression=True, ar_future_prediction=False, ar_value_prediction=False, ar_qvalue_prediction=False, num_denoising_steps_action=5, num_denoising_steps_future_state=1, num_denoising_steps_value=1, unnormalize_actions=True, normalize_proprio=True, dataset_stats_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/libero_goal_regen/dataset_statistics.json', t5_text_embeddings_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/t5_embeddings.pkl', trained_with_image_aug=True, chunk_size=16, num_open_loop_steps=16, deterministic=True, deterministic_reset=False, deterministic_reset_seed=None, use_ensemble_future_state_predictions=False, num_future_state_predictions_in_ensemble=3, future_state_ensemble_aggregation_scheme='average', use_ensemble_value_predictions=False, num_value_predictions_in_ensemble=5, value_ensemble_aggregation_scheme='average', search_depth=1, mask_current_state_action_for_value_prediction=False, mask_future_state_for_qvalue_prediction=False, num_queries_best_of_n=1, use_parallel_inference=False, available_gpus='0', parallel_timeout=15, parallel_tasks_across_gpus=False, task_suite_name='libero_goal', num_trials_per_task=50, task_ids_to_run='3', initial_states_path='DEFAULT', env_img_res=256, local_log_dir='/home/azureuser/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal', run_id_note='t7rc800x50_t3_s1', use_wandb=False, wandb_entity='YOUR_ENTITY', wandb_project='YOUR_PROJECT', seed=195, randomize_seed=False, data_collection=False, jpeg_compress=True, reward_stop_threshold=None, reward_stop_consecutive_steps=3, use_gpt_reward=False, gpt_reward_model='gpt-5.4-mini', gpt_reward_stop_threshold=4, gpt_reward_timeout_s=30.0, save_rollout_video=False, eval_hdf5_path='', eval_hdf5_demo_key='demo_0', data_gen_demo_ids='', eval_episode_ids='1,6,11,16,21,26,31,36,41,46', replay_actions=False, replay_action_path_dir='', replay_hdf5_path='', data_generation=False, max_generation_steps=200, simple_task_max_steps=100, complex_task_max_steps=200, disable_value_stop=False)
+Using serial inference (parallel inference disabled)
+Task suite: libero_goal
+Number of tasks: 10
+Running only task IDs: [3]
+Using default initial states
+
+Task: open the top drawer and put the bowl inside
+Starting episode 1...
+Query 1/1: Action query time = 8.079 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5279
+t=10: Selected seed 195 with value = 0.5279
+Query 1/1: Action query time = 6.927 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6772
+t=26: Selected seed 195 with value = 0.6772
+Query 1/1: Action query time = 5.601 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7771
+t=42: Selected seed 195 with value = 0.7771
+Query 1/1: Action query time = 6.543 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9153
+t=58: Selected seed 195 with value = 0.9153
+Query 1/1: Action query time = 7.778 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9303
+t=74: Selected seed 195 with value = 0.9303
+Query 1/1: Action query time = 5.121 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9308
+t=90: Selected seed 195 with value = 0.9308
+Query 1/1: Action query time = 6.591 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9484
+t=106: Selected seed 195 with value = 0.9484
+Query 1/1: Action query time = 5.810 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8691
+t=122: Selected seed 195 with value = 0.8691
+Query 1/1: Action query time = 6.735 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9232
+t=138: Selected seed 195 with value = 0.9232
+Query 1/1: Action query time = 6.072 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8270
+t=154: Selected seed 195 with value = 0.8270
+Query 1/1: Action query time = 5.115 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8391
+t=170: Selected seed 195 with value = 0.8391
+Query 1/1: Action query time = 8.218 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7512
+t=186: Selected seed 195 with value = 0.7512
+Query 1/1: Action query time = 9.146 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8101
+t=202: Selected seed 195 with value = 0.8101
+Query 1/1: Action query time = 6.619 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7944
+t=218: Selected seed 195 with value = 0.7944
+Query 1/1: Action query time = 7.700 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7977
+t=234: Selected seed 195 with value = 0.7977
+Query 1/1: Action query time = 6.547 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8185
+t=250: Selected seed 195 with value = 0.8185
+Query 1/1: Action query time = 6.467 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7860
+t=266: Selected seed 195 with value = 0.7860
+Query 1/1: Action query time = 6.551 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8982
+t=282: Selected seed 195 with value = 0.8982
+Query 1/1: Action query time = 4.039 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9055
+t=298: Selected seed 195 with value = 0.9055
+Saved rollout MP4 at path ./rollouts/t7rc800x50_t3_s1/2026_08_03-01_09_13--with_future_img--episode=1--success=False--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: False
+# episodes completed so far: 1
+# successes: 0 (0.0%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 2...
+Query 1/1: Action query time = 7.691 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5026
+t=10: Selected seed 195 with value = 0.5026
+Query 1/1: Action query time = 6.897 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6997
+t=26: Selected seed 195 with value = 0.6997
+Query 1/1: Action query time = 6.863 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8072
+t=42: Selected seed 195 with value = 0.8072
+Query 1/1: Action query time = 8.406 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8657
+t=58: Selected seed 195 with value = 0.8657
+Query 1/1: Action query time = 8.212 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8108
+t=74: Selected seed 195 with value = 0.8108
+Query 1/1: Action query time = 6.925 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7776
+t=90: Selected seed 195 with value = 0.7776
+Query 1/1: Action query time = 7.010 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9127
+t=106: Selected seed 195 with value = 0.9127
+Query 1/1: Action query time = 7.683 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9375
+t=122: Selected seed 195 with value = 0.9375
+Query 1/1: Action query time = 7.477 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8621
+t=138: Selected seed 195 with value = 0.8621
+Query 1/1: Action query time = 4.322 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8806
+t=154: Selected seed 195 with value = 0.8806
+Query 1/1: Action query time = 7.451 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9375
+t=170: Selected seed 195 with value = 0.9375
+Query 1/1: Action query time = 6.981 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8870
+t=186: Selected seed 195 with value = 0.8870
+Query 1/1: Action query time = 8.018 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8832
+t=202: Selected seed 195 with value = 0.8832
diff --git a/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_03-01_09_14--t7dc800x50_t2_s4.txt b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_03-01_09_14--t7dc800x50_t2_s4.txt
new file mode 100644
index 0000000000000000000000000000000000000000..3b2af74d613afcaaae5db22fcbf45b906679f6e1
--- /dev/null
+++ b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_03-01_09_14--t7dc800x50_t2_s4.txt
@@ -0,0 +1,132 @@
+Eval config: PolicyEvalConfig(suite='libero', model_family='cosmos', config='cosmos_predict2_2b_480p_libero_cl_stage_inference_only', ckpt_path='/home/azureuser/REGEN-main/new_task7/cosmos_policy/cosmos_v2_finetune/cosmos_predict2_2b_480p_libero_goal_task7_cl_from_demochan800_2gpu/checkpoints/iter_000000800/model', planning_model_config_name='', planning_model_ckpt_path='', config_file='cosmos_policy/config/config.py', packnet_mask_path='', packnet_first_cl_libero_task=6, use_third_person_image=True, num_third_person_images=1, use_wrist_image=True, num_wrist_images=1, use_proprio=True, flip_images=True, use_variance_scale=False, use_jpeg_compression=True, ar_future_prediction=False, ar_value_prediction=False, ar_qvalue_prediction=False, num_denoising_steps_action=5, num_denoising_steps_future_state=1, num_denoising_steps_value=1, unnormalize_actions=True, normalize_proprio=True, dataset_stats_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/libero_goal_regen/dataset_statistics.json', t5_text_embeddings_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/t5_embeddings.pkl', trained_with_image_aug=True, chunk_size=16, num_open_loop_steps=16, deterministic=True, deterministic_reset=False, deterministic_reset_seed=None, use_ensemble_future_state_predictions=False, num_future_state_predictions_in_ensemble=3, future_state_ensemble_aggregation_scheme='average', use_ensemble_value_predictions=False, num_value_predictions_in_ensemble=5, value_ensemble_aggregation_scheme='average', search_depth=1, mask_current_state_action_for_value_prediction=False, mask_future_state_for_qvalue_prediction=False, num_queries_best_of_n=1, use_parallel_inference=False, available_gpus='0', parallel_timeout=15, parallel_tasks_across_gpus=False, task_suite_name='libero_goal', num_trials_per_task=50, task_ids_to_run='2', initial_states_path='DEFAULT', env_img_res=256, local_log_dir='/home/azureuser/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal', run_id_note='t7dc800x50_t2_s4', use_wandb=False, wandb_entity='YOUR_ENTITY', wandb_project='YOUR_PROJECT', seed=195, randomize_seed=False, data_collection=False, jpeg_compress=True, reward_stop_threshold=None, reward_stop_consecutive_steps=3, use_gpt_reward=False, gpt_reward_model='gpt-5.4-mini', gpt_reward_stop_threshold=4, gpt_reward_timeout_s=30.0, save_rollout_video=False, eval_hdf5_path='', eval_hdf5_demo_key='demo_0', data_gen_demo_ids='', eval_episode_ids='4,9,14,19,24,29,34,39,44,49', replay_actions=False, replay_action_path_dir='', replay_hdf5_path='', data_generation=False, max_generation_steps=200, simple_task_max_steps=100, complex_task_max_steps=200, disable_value_stop=False)
+Using serial inference (parallel inference disabled)
+Task suite: libero_goal
+Number of tasks: 10
+Running only task IDs: [2]
+Using default initial states
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 1...
+Query 1/1: Action query time = 5.848 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5610
+t=10: Selected seed 195 with value = 0.5610
+Query 1/1: Action query time = 5.321 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6380
+t=26: Selected seed 195 with value = 0.6380
+Query 1/1: Action query time = 8.650 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6966
+t=42: Selected seed 195 with value = 0.6966
+Query 1/1: Action query time = 6.658 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8728
+t=58: Selected seed 195 with value = 0.8728
+Query 1/1: Action query time = 8.541 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9557
+t=74: Selected seed 195 with value = 0.9557
+Query 1/1: Action query time = 9.238 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9597
+t=90: Selected seed 195 with value = 0.9597
+Query 1/1: Action query time = 8.847 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9596
+t=106: Selected seed 195 with value = 0.9596
+Query 1/1: Action query time = 7.597 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9563
+t=122: Selected seed 195 with value = 0.9563
+Query 1/1: Action query time = 9.477 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9484
+t=138: Selected seed 195 with value = 0.9484
+Query 1/1: Action query time = 8.871 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9407
+t=154: Selected seed 195 with value = 0.9407
+Query 1/1: Action query time = 8.333 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9333
+t=170: Selected seed 195 with value = 0.9333
+Query 1/1: Action query time = 5.619 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9264
+t=186: Selected seed 195 with value = 0.9264
+Query 1/1: Action query time = 8.863 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9059
+t=202: Selected seed 195 with value = 0.9059
+Query 1/1: Action query time = 9.376 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8901
+t=218: Selected seed 195 with value = 0.8901
+Query 1/1: Action query time = 9.675 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8488
+t=234: Selected seed 195 with value = 0.8488
+Query 1/1: Action query time = 7.499 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8433
+t=250: Selected seed 195 with value = 0.8433
+Query 1/1: Action query time = 7.336 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8406
+t=266: Selected seed 195 with value = 0.8406
+Query 1/1: Action query time = 8.548 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8412
+t=282: Selected seed 195 with value = 0.8412
+Query 1/1: Action query time = 8.028 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8574
+t=298: Selected seed 195 with value = 0.8574
+Saved rollout MP4 at path ./rollouts/t7dc800x50_t2_s4/2026_08_03-01_09_14--with_future_img--episode=1--success=False--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: False
+# episodes completed so far: 1
+# successes: 0 (0.0%)
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 2...
+Query 1/1: Action query time = 5.209 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5859
+t=10: Selected seed 195 with value = 0.5859
+Query 1/1: Action query time = 6.672 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6147
+t=26: Selected seed 195 with value = 0.6147
+Query 1/1: Action query time = 8.826 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7042
+t=42: Selected seed 195 with value = 0.7042
+Query 1/1: Action query time = 9.310 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7808
+t=58: Selected seed 195 with value = 0.7808
+Query 1/1: Action query time = 11.231 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9115
+t=74: Selected seed 195 with value = 0.9115
+Query 1/1: Action query time = 10.005 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9043
+t=90: Selected seed 195 with value = 0.9043
+Query 1/1: Action query time = 8.377 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9098
+t=106: Selected seed 195 with value = 0.9098
+Query 1/1: Action query time = 7.212 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9154
+t=122: Selected seed 195 with value = 0.9154
+Query 1/1: Action query time = 8.199 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9276
+t=138: Selected seed 195 with value = 0.9276
+Query 1/1: Action query time = 9.679 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9307
+t=154: Selected seed 195 with value = 0.9307
diff --git a/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_03-01_09_14--t7rc800x50_t2_s4.txt b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_03-01_09_14--t7rc800x50_t2_s4.txt
new file mode 100644
index 0000000000000000000000000000000000000000..e34daaf98f496ca09924be121f9137395438ab82
--- /dev/null
+++ b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_03-01_09_14--t7rc800x50_t2_s4.txt
@@ -0,0 +1,124 @@
+Eval config: PolicyEvalConfig(suite='libero', model_family='cosmos', config='cosmos_predict2_2b_480p_libero_cl_stage_inference_only', ckpt_path='/home/azureuser/REGEN-main/new_task7/cosmos_policy/cosmos_v2_finetune/cosmos_predict2_2b_480p_libero_goal_task7_cl_from_realcl800_2gpu/checkpoints/iter_000000800/model', planning_model_config_name='', planning_model_ckpt_path='', config_file='cosmos_policy/config/config.py', packnet_mask_path='', packnet_first_cl_libero_task=6, use_third_person_image=True, num_third_person_images=1, use_wrist_image=True, num_wrist_images=1, use_proprio=True, flip_images=True, use_variance_scale=False, use_jpeg_compression=True, ar_future_prediction=False, ar_value_prediction=False, ar_qvalue_prediction=False, num_denoising_steps_action=5, num_denoising_steps_future_state=1, num_denoising_steps_value=1, unnormalize_actions=True, normalize_proprio=True, dataset_stats_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/libero_goal_regen/dataset_statistics.json', t5_text_embeddings_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/t5_embeddings.pkl', trained_with_image_aug=True, chunk_size=16, num_open_loop_steps=16, deterministic=True, deterministic_reset=False, deterministic_reset_seed=None, use_ensemble_future_state_predictions=False, num_future_state_predictions_in_ensemble=3, future_state_ensemble_aggregation_scheme='average', use_ensemble_value_predictions=False, num_value_predictions_in_ensemble=5, value_ensemble_aggregation_scheme='average', search_depth=1, mask_current_state_action_for_value_prediction=False, mask_future_state_for_qvalue_prediction=False, num_queries_best_of_n=1, use_parallel_inference=False, available_gpus='0', parallel_timeout=15, parallel_tasks_across_gpus=False, task_suite_name='libero_goal', num_trials_per_task=50, task_ids_to_run='2', initial_states_path='DEFAULT', env_img_res=256, local_log_dir='/home/azureuser/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal', run_id_note='t7rc800x50_t2_s4', use_wandb=False, wandb_entity='YOUR_ENTITY', wandb_project='YOUR_PROJECT', seed=195, randomize_seed=False, data_collection=False, jpeg_compress=True, reward_stop_threshold=None, reward_stop_consecutive_steps=3, use_gpt_reward=False, gpt_reward_model='gpt-5.4-mini', gpt_reward_stop_threshold=4, gpt_reward_timeout_s=30.0, save_rollout_video=False, eval_hdf5_path='', eval_hdf5_demo_key='demo_0', data_gen_demo_ids='', eval_episode_ids='4,9,14,19,24,29,34,39,44,49', replay_actions=False, replay_action_path_dir='', replay_hdf5_path='', data_generation=False, max_generation_steps=200, simple_task_max_steps=100, complex_task_max_steps=200, disable_value_stop=False)
+Using serial inference (parallel inference disabled)
+Task suite: libero_goal
+Number of tasks: 10
+Running only task IDs: [2]
+Using default initial states
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 1...
+Query 1/1: Action query time = 14.836 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5640
+t=10: Selected seed 195 with value = 0.5640
+Query 1/1: Action query time = 8.215 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6729
+t=26: Selected seed 195 with value = 0.6729
+Query 1/1: Action query time = 10.095 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6918
+t=42: Selected seed 195 with value = 0.6918
+Query 1/1: Action query time = 8.395 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7693
+t=58: Selected seed 195 with value = 0.7693
+Query 1/1: Action query time = 7.857 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9347
+t=74: Selected seed 195 with value = 0.9347
+Query 1/1: Action query time = 9.386 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 6.424 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=106: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 9.438 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=122: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 10.440 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=138: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 8.336 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=154: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 8.057 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=170: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 7.411 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=186: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 6.578 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=202: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 8.098 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=218: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 6.455 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=234: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 8.675 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=250: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 7.218 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=266: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 5.535 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=282: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.826 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=298: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/t7rc800x50_t2_s4/2026_08_03-01_09_14--with_future_img--episode=1--success=False--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: False
+# episodes completed so far: 1
+# successes: 0 (0.0%)
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 2...
+Query 1/1: Action query time = 8.735 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5866
+t=10: Selected seed 195 with value = 0.5866
+Query 1/1: Action query time = 8.200 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6221
+t=26: Selected seed 195 with value = 0.6221
+Query 1/1: Action query time = 8.249 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6944
+t=42: Selected seed 195 with value = 0.6944
+Query 1/1: Action query time = 8.712 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8061
+t=58: Selected seed 195 with value = 0.8061
+Query 1/1: Action query time = 8.463 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7434
+t=74: Selected seed 195 with value = 0.7434
+Query 1/1: Action query time = 10.346 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8441
+t=90: Selected seed 195 with value = 0.8441
+Query 1/1: Action query time = 6.974 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9117
+t=106: Selected seed 195 with value = 0.9117
+Query 1/1: Action query time = 6.017 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9293
+t=122: Selected seed 195 with value = 0.9293
diff --git a/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_03-01_09_14--t7rc800x50_t3_s0.txt b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_03-01_09_14--t7rc800x50_t3_s0.txt
new file mode 100644
index 0000000000000000000000000000000000000000..f8a5c7223ca82adf6831e2955aee1f50e107d9bb
--- /dev/null
+++ b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_03-01_09_14--t7rc800x50_t3_s0.txt
@@ -0,0 +1,128 @@
+Eval config: PolicyEvalConfig(suite='libero', model_family='cosmos', config='cosmos_predict2_2b_480p_libero_cl_stage_inference_only', ckpt_path='/home/azureuser/REGEN-main/new_task7/cosmos_policy/cosmos_v2_finetune/cosmos_predict2_2b_480p_libero_goal_task7_cl_from_realcl800_2gpu/checkpoints/iter_000000800/model', planning_model_config_name='', planning_model_ckpt_path='', config_file='cosmos_policy/config/config.py', packnet_mask_path='', packnet_first_cl_libero_task=6, use_third_person_image=True, num_third_person_images=1, use_wrist_image=True, num_wrist_images=1, use_proprio=True, flip_images=True, use_variance_scale=False, use_jpeg_compression=True, ar_future_prediction=False, ar_value_prediction=False, ar_qvalue_prediction=False, num_denoising_steps_action=5, num_denoising_steps_future_state=1, num_denoising_steps_value=1, unnormalize_actions=True, normalize_proprio=True, dataset_stats_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/libero_goal_regen/dataset_statistics.json', t5_text_embeddings_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/t5_embeddings.pkl', trained_with_image_aug=True, chunk_size=16, num_open_loop_steps=16, deterministic=True, deterministic_reset=False, deterministic_reset_seed=None, use_ensemble_future_state_predictions=False, num_future_state_predictions_in_ensemble=3, future_state_ensemble_aggregation_scheme='average', use_ensemble_value_predictions=False, num_value_predictions_in_ensemble=5, value_ensemble_aggregation_scheme='average', search_depth=1, mask_current_state_action_for_value_prediction=False, mask_future_state_for_qvalue_prediction=False, num_queries_best_of_n=1, use_parallel_inference=False, available_gpus='0', parallel_timeout=15, parallel_tasks_across_gpus=False, task_suite_name='libero_goal', num_trials_per_task=50, task_ids_to_run='3', initial_states_path='DEFAULT', env_img_res=256, local_log_dir='/home/azureuser/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal', run_id_note='t7rc800x50_t3_s0', use_wandb=False, wandb_entity='YOUR_ENTITY', wandb_project='YOUR_PROJECT', seed=195, randomize_seed=False, data_collection=False, jpeg_compress=True, reward_stop_threshold=None, reward_stop_consecutive_steps=3, use_gpt_reward=False, gpt_reward_model='gpt-5.4-mini', gpt_reward_stop_threshold=4, gpt_reward_timeout_s=30.0, save_rollout_video=False, eval_hdf5_path='', eval_hdf5_demo_key='demo_0', data_gen_demo_ids='', eval_episode_ids='0,5,10,15,20,25,30,35,40,45', replay_actions=False, replay_action_path_dir='', replay_hdf5_path='', data_generation=False, max_generation_steps=200, simple_task_max_steps=100, complex_task_max_steps=200, disable_value_stop=False)
+Using serial inference (parallel inference disabled)
+Task suite: libero_goal
+Number of tasks: 10
+Running only task IDs: [3]
+Using default initial states
+
+Task: open the top drawer and put the bowl inside
+Starting episode 1...
+Query 1/1: Action query time = 7.739 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5129
+t=10: Selected seed 195 with value = 0.5129
+Query 1/1: Action query time = 7.747 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7492
+t=26: Selected seed 195 with value = 0.7492
+Query 1/1: Action query time = 7.684 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8332
+t=42: Selected seed 195 with value = 0.8332
+Query 1/1: Action query time = 8.047 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8626
+t=58: Selected seed 195 with value = 0.8626
+Query 1/1: Action query time = 9.763 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8857
+t=74: Selected seed 195 with value = 0.8857
+Query 1/1: Action query time = 8.319 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7827
+t=90: Selected seed 195 with value = 0.7827
+Query 1/1: Action query time = 7.714 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9147
+t=106: Selected seed 195 with value = 0.9147
+Query 1/1: Action query time = 7.178 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9640
+t=122: Selected seed 195 with value = 0.9640
+Query 1/1: Action query time = 7.923 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8707
+t=138: Selected seed 195 with value = 0.8707
+Query 1/1: Action query time = 7.756 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8463
+t=154: Selected seed 195 with value = 0.8463
+Query 1/1: Action query time = 9.032 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9289
+t=170: Selected seed 195 with value = 0.9289
+Query 1/1: Action query time = 8.524 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9567
+t=186: Selected seed 195 with value = 0.9567
+Query 1/1: Action query time = 7.414 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8600
+t=202: Selected seed 195 with value = 0.8600
+Query 1/1: Action query time = 8.314 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8731
+t=218: Selected seed 195 with value = 0.8731
+Query 1/1: Action query time = 7.934 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9396
+t=234: Selected seed 195 with value = 0.9396
+Query 1/1: Action query time = 7.114 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8965
+t=250: Selected seed 195 with value = 0.8965
+Query 1/1: Action query time = 5.110 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7969
+t=266: Selected seed 195 with value = 0.7969
+Query 1/1: Action query time = 7.829 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8674
+t=282: Selected seed 195 with value = 0.8674
+Query 1/1: Action query time = 6.860 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7864
+t=298: Selected seed 195 with value = 0.7864
+Saved rollout MP4 at path ./rollouts/t7rc800x50_t3_s0/2026_08_03-01_09_14--with_future_img--episode=1--success=False--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: False
+# episodes completed so far: 1
+# successes: 0 (0.0%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 2...
+Query 1/1: Action query time = 5.352 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4646
+t=10: Selected seed 195 with value = 0.4646
+Query 1/1: Action query time = 6.438 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6460
+t=26: Selected seed 195 with value = 0.6460
+Query 1/1: Action query time = 9.336 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8703
+t=42: Selected seed 195 with value = 0.8703
+Query 1/1: Action query time = 5.941 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8477
+t=58: Selected seed 195 with value = 0.8477
+Query 1/1: Action query time = 9.271 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8713
+t=74: Selected seed 195 with value = 0.8713
+Query 1/1: Action query time = 10.353 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8726
+t=90: Selected seed 195 with value = 0.8726
+Query 1/1: Action query time = 8.995 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8721
+t=106: Selected seed 195 with value = 0.8721
+Query 1/1: Action query time = 7.234 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8974
+t=122: Selected seed 195 with value = 0.8974
+Query 1/1: Action query time = 9.292 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9246
+t=138: Selected seed 195 with value = 0.9246
diff --git a/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_03-01_09_14--t7rc800x50_t3_s2.txt b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_03-01_09_14--t7rc800x50_t3_s2.txt
new file mode 100644
index 0000000000000000000000000000000000000000..da68cae4c64992c6a9cbe09212fa66cb2e075633
--- /dev/null
+++ b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_03-01_09_14--t7rc800x50_t3_s2.txt
@@ -0,0 +1,128 @@
+Eval config: PolicyEvalConfig(suite='libero', model_family='cosmos', config='cosmos_predict2_2b_480p_libero_cl_stage_inference_only', ckpt_path='/home/azureuser/REGEN-main/new_task7/cosmos_policy/cosmos_v2_finetune/cosmos_predict2_2b_480p_libero_goal_task7_cl_from_realcl800_2gpu/checkpoints/iter_000000800/model', planning_model_config_name='', planning_model_ckpt_path='', config_file='cosmos_policy/config/config.py', packnet_mask_path='', packnet_first_cl_libero_task=6, use_third_person_image=True, num_third_person_images=1, use_wrist_image=True, num_wrist_images=1, use_proprio=True, flip_images=True, use_variance_scale=False, use_jpeg_compression=True, ar_future_prediction=False, ar_value_prediction=False, ar_qvalue_prediction=False, num_denoising_steps_action=5, num_denoising_steps_future_state=1, num_denoising_steps_value=1, unnormalize_actions=True, normalize_proprio=True, dataset_stats_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/libero_goal_regen/dataset_statistics.json', t5_text_embeddings_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/t5_embeddings.pkl', trained_with_image_aug=True, chunk_size=16, num_open_loop_steps=16, deterministic=True, deterministic_reset=False, deterministic_reset_seed=None, use_ensemble_future_state_predictions=False, num_future_state_predictions_in_ensemble=3, future_state_ensemble_aggregation_scheme='average', use_ensemble_value_predictions=False, num_value_predictions_in_ensemble=5, value_ensemble_aggregation_scheme='average', search_depth=1, mask_current_state_action_for_value_prediction=False, mask_future_state_for_qvalue_prediction=False, num_queries_best_of_n=1, use_parallel_inference=False, available_gpus='0', parallel_timeout=15, parallel_tasks_across_gpus=False, task_suite_name='libero_goal', num_trials_per_task=50, task_ids_to_run='3', initial_states_path='DEFAULT', env_img_res=256, local_log_dir='/home/azureuser/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal', run_id_note='t7rc800x50_t3_s2', use_wandb=False, wandb_entity='YOUR_ENTITY', wandb_project='YOUR_PROJECT', seed=195, randomize_seed=False, data_collection=False, jpeg_compress=True, reward_stop_threshold=None, reward_stop_consecutive_steps=3, use_gpt_reward=False, gpt_reward_model='gpt-5.4-mini', gpt_reward_stop_threshold=4, gpt_reward_timeout_s=30.0, save_rollout_video=False, eval_hdf5_path='', eval_hdf5_demo_key='demo_0', data_gen_demo_ids='', eval_episode_ids='2,7,12,17,22,27,32,37,42,47', replay_actions=False, replay_action_path_dir='', replay_hdf5_path='', data_generation=False, max_generation_steps=200, simple_task_max_steps=100, complex_task_max_steps=200, disable_value_stop=False)
+Using serial inference (parallel inference disabled)
+Task suite: libero_goal
+Number of tasks: 10
+Running only task IDs: [3]
+Using default initial states
+
+Task: open the top drawer and put the bowl inside
+Starting episode 1...
+Query 1/1: Action query time = 8.910 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4745
+t=10: Selected seed 195 with value = 0.4745
+Query 1/1: Action query time = 8.164 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6287
+t=26: Selected seed 195 with value = 0.6287
+Query 1/1: Action query time = 9.102 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8268
+t=42: Selected seed 195 with value = 0.8268
+Query 1/1: Action query time = 8.996 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8517
+t=58: Selected seed 195 with value = 0.8517
+Query 1/1: Action query time = 7.140 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9045
+t=74: Selected seed 195 with value = 0.9045
+Query 1/1: Action query time = 7.217 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9542
+t=90: Selected seed 195 with value = 0.9542
+Query 1/1: Action query time = 9.167 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9014
+t=106: Selected seed 195 with value = 0.9014
+Query 1/1: Action query time = 9.839 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9058
+t=122: Selected seed 195 with value = 0.9058
+Query 1/1: Action query time = 9.516 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9788
+t=138: Selected seed 195 with value = 0.9788
+Query 1/1: Action query time = 9.768 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8673
+t=154: Selected seed 195 with value = 0.8673
+Query 1/1: Action query time = 9.301 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8925
+t=170: Selected seed 195 with value = 0.8925
+Query 1/1: Action query time = 7.963 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9041
+t=186: Selected seed 195 with value = 0.9041
+Query 1/1: Action query time = 8.651 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8731
+t=202: Selected seed 195 with value = 0.8731
+Query 1/1: Action query time = 6.584 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9658
+t=218: Selected seed 195 with value = 0.9658
+Query 1/1: Action query time = 6.778 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8700
+t=234: Selected seed 195 with value = 0.8700
+Query 1/1: Action query time = 7.628 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9135
+t=250: Selected seed 195 with value = 0.9135
+Query 1/1: Action query time = 6.501 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8774
+t=266: Selected seed 195 with value = 0.8774
+Query 1/1: Action query time = 4.615 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8337
+t=282: Selected seed 195 with value = 0.8337
+Query 1/1: Action query time = 6.753 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8810
+t=298: Selected seed 195 with value = 0.8810
+Saved rollout MP4 at path ./rollouts/t7rc800x50_t3_s2/2026_08_03-01_09_14--with_future_img--episode=1--success=False--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: False
+# episodes completed so far: 1
+# successes: 0 (0.0%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 2...
+Query 1/1: Action query time = 5.221 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5317
+t=10: Selected seed 195 with value = 0.5317
+Query 1/1: Action query time = 5.388 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6086
+t=26: Selected seed 195 with value = 0.6086
+Query 1/1: Action query time = 6.864 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8135
+t=42: Selected seed 195 with value = 0.8135
+Query 1/1: Action query time = 8.536 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9128
+t=58: Selected seed 195 with value = 0.9128
+Query 1/1: Action query time = 9.599 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9303
+t=74: Selected seed 195 with value = 0.9303
+Query 1/1: Action query time = 10.614 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9743
+t=90: Selected seed 195 with value = 0.9743
+Query 1/1: Action query time = 7.664 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8753
+t=106: Selected seed 195 with value = 0.8753
+Query 1/1: Action query time = 6.870 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8801
+t=122: Selected seed 195 with value = 0.8801
+Query 1/1: Action query time = 9.003 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9788
+t=138: Selected seed 195 with value = 0.9788
diff --git a/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_03-01_16_45--t7dc800x50_t0_s2.txt b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_03-01_16_45--t7dc800x50_t0_s2.txt
new file mode 100644
index 0000000000000000000000000000000000000000..4abd757a4b84c0dfa85e67c0ce1237c5c657d9fc
--- /dev/null
+++ b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_03-01_16_45--t7dc800x50_t0_s2.txt
@@ -0,0 +1,992 @@
+Eval config: PolicyEvalConfig(suite='libero', model_family='cosmos', config='cosmos_predict2_2b_480p_libero_cl_stage_inference_only', ckpt_path='/home/azureuser/REGEN-main/new_task7/cosmos_policy/cosmos_v2_finetune/cosmos_predict2_2b_480p_libero_goal_task7_cl_from_demochan800_2gpu/checkpoints/iter_000000800/model', planning_model_config_name='', planning_model_ckpt_path='', config_file='cosmos_policy/config/config.py', packnet_mask_path='', packnet_first_cl_libero_task=6, use_third_person_image=True, num_third_person_images=1, use_wrist_image=True, num_wrist_images=1, use_proprio=True, flip_images=True, use_variance_scale=False, use_jpeg_compression=True, ar_future_prediction=False, ar_value_prediction=False, ar_qvalue_prediction=False, num_denoising_steps_action=5, num_denoising_steps_future_state=1, num_denoising_steps_value=1, unnormalize_actions=True, normalize_proprio=True, dataset_stats_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/libero_goal_regen/dataset_statistics.json', t5_text_embeddings_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/t5_embeddings.pkl', trained_with_image_aug=True, chunk_size=16, num_open_loop_steps=16, deterministic=True, deterministic_reset=False, deterministic_reset_seed=None, use_ensemble_future_state_predictions=False, num_future_state_predictions_in_ensemble=3, future_state_ensemble_aggregation_scheme='average', use_ensemble_value_predictions=False, num_value_predictions_in_ensemble=5, value_ensemble_aggregation_scheme='average', search_depth=1, mask_current_state_action_for_value_prediction=False, mask_future_state_for_qvalue_prediction=False, num_queries_best_of_n=1, use_parallel_inference=False, available_gpus='0', parallel_timeout=15, parallel_tasks_across_gpus=False, task_suite_name='libero_goal', num_trials_per_task=50, task_ids_to_run='0', initial_states_path='DEFAULT', env_img_res=256, local_log_dir='/home/azureuser/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal', run_id_note='t7dc800x50_t0_s2', use_wandb=False, wandb_entity='YOUR_ENTITY', wandb_project='YOUR_PROJECT', seed=195, randomize_seed=False, data_collection=False, jpeg_compress=True, reward_stop_threshold=None, reward_stop_consecutive_steps=3, use_gpt_reward=False, gpt_reward_model='gpt-5.4-mini', gpt_reward_stop_threshold=4, gpt_reward_timeout_s=30.0, save_rollout_video=False, eval_hdf5_path='', eval_hdf5_demo_key='demo_0', data_gen_demo_ids='', eval_episode_ids='2,6,10,14,18,22,26,30,34,38,42,46', replay_actions=False, replay_action_path_dir='', replay_hdf5_path='', data_generation=False, max_generation_steps=200, simple_task_max_steps=100, complex_task_max_steps=200, disable_value_stop=False)
+Using serial inference (parallel inference disabled)
+Task suite: libero_goal
+Number of tasks: 10
+Running only task IDs: [0]
+Using default initial states
+
+Task: open the middle drawer of the cabinet
+Starting episode 1...
+Query 1/1: Action query time = 5.563 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4610
+t=10: Selected seed 195 with value = 0.4610
+Query 1/1: Action query time = 6.115 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5109
+t=26: Selected seed 195 with value = 0.5109
+Query 1/1: Action query time = 4.842 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5770
+t=42: Selected seed 195 with value = 0.5770
+Query 1/1: Action query time = 5.696 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6845
+t=58: Selected seed 195 with value = 0.6845
+Query 1/1: Action query time = 5.217 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8748
+t=74: Selected seed 195 with value = 0.8748
+Query 1/1: Action query time = 4.933 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 6.003 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8971
+t=106: Selected seed 195 with value = 0.8971
+Query 1/1: Action query time = 5.499 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8495
+t=122: Selected seed 195 with value = 0.8495
+Query 1/1: Action query time = 6.099 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8163
+t=138: Selected seed 195 with value = 0.8163
+Query 1/1: Action query time = 4.826 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8045
+t=154: Selected seed 195 with value = 0.8045
+Query 1/1: Action query time = 7.459 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8105
+t=170: Selected seed 195 with value = 0.8105
+Query 1/1: Action query time = 6.455 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8136
+t=186: Selected seed 195 with value = 0.8136
+Query 1/1: Action query time = 6.863 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8154
+t=202: Selected seed 195 with value = 0.8154
+Query 1/1: Action query time = 6.232 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8187
+t=218: Selected seed 195 with value = 0.8187
+Query 1/1: Action query time = 7.411 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8141
+t=234: Selected seed 195 with value = 0.8141
+Query 1/1: Action query time = 6.376 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8129
+t=250: Selected seed 195 with value = 0.8129
+Query 1/1: Action query time = 5.076 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8420
+t=266: Selected seed 195 with value = 0.8420
+Query 1/1: Action query time = 4.034 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8486
+t=282: Selected seed 195 with value = 0.8486
+Query 1/1: Action query time = 3.854 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8495
+t=298: Selected seed 195 with value = 0.8495
+Saved rollout MP4 at path ./rollouts/t7dc800x50_t0_s2/2026_08_03-01_16_45--with_future_img--episode=1--success=False--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: False
+# episodes completed so far: 1
+# successes: 0 (0.0%)
+
+Task: open the middle drawer of the cabinet
+Starting episode 2...
+Query 1/1: Action query time = 6.380 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4241
+t=10: Selected seed 195 with value = 0.4241
+Query 1/1: Action query time = 8.274 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4971
+t=26: Selected seed 195 with value = 0.4971
+Query 1/1: Action query time = 4.982 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5609
+t=42: Selected seed 195 with value = 0.5609
+Query 1/1: Action query time = 4.463 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6656
+t=58: Selected seed 195 with value = 0.6656
+Query 1/1: Action query time = 4.698 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7526
+t=74: Selected seed 195 with value = 0.7526
+Query 1/1: Action query time = 5.117 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9403
+t=90: Selected seed 195 with value = 0.9403
+Query 1/1: Action query time = 4.063 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9968
+t=106: Selected seed 195 with value = 0.9968
+Query 1/1: Action query time = 5.412 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=122: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.274 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9901
+t=138: Selected seed 195 with value = 0.9901
+Query 1/1: Action query time = 7.626 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9903
+t=154: Selected seed 195 with value = 0.9903
+Query 1/1: Action query time = 6.389 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9908
+t=170: Selected seed 195 with value = 0.9908
+Query 1/1: Action query time = 6.455 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9911
+t=186: Selected seed 195 with value = 0.9911
+Query 1/1: Action query time = 6.167 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9916
+t=202: Selected seed 195 with value = 0.9916
+Query 1/1: Action query time = 8.287 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9924
+t=218: Selected seed 195 with value = 0.9924
+Query 1/1: Action query time = 6.678 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9928
+t=234: Selected seed 195 with value = 0.9928
+Query 1/1: Action query time = 4.296 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9934
+t=250: Selected seed 195 with value = 0.9934
+Query 1/1: Action query time = 4.110 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9936
+t=266: Selected seed 195 with value = 0.9936
+Query 1/1: Action query time = 4.226 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9939
+t=282: Selected seed 195 with value = 0.9939
+Query 1/1: Action query time = 5.346 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9941
+t=298: Selected seed 195 with value = 0.9941
+Saved rollout MP4 at path ./rollouts/t7dc800x50_t0_s2/2026_08_03-01_16_45--with_future_img--episode=2--success=False--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: False
+# episodes completed so far: 2
+# successes: 0 (0.0%)
+
+Task: open the middle drawer of the cabinet
+Starting episode 3...
+Query 1/1: Action query time = 5.045 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4520
+t=10: Selected seed 195 with value = 0.4520
+Query 1/1: Action query time = 6.144 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5103
+t=26: Selected seed 195 with value = 0.5103
+Query 1/1: Action query time = 5.539 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5699
+t=42: Selected seed 195 with value = 0.5699
+Query 1/1: Action query time = 4.545 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6626
+t=58: Selected seed 195 with value = 0.6626
+Query 1/1: Action query time = 6.807 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7670
+t=74: Selected seed 195 with value = 0.7670
+Query 1/1: Action query time = 6.298 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9832
+t=90: Selected seed 195 with value = 0.9832
+Query 1/1: Action query time = 6.346 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=106: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 6.644 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9976
+t=122: Selected seed 195 with value = 0.9976
+Query 1/1: Action query time = 5.677 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9976
+t=138: Selected seed 195 with value = 0.9976
+Query 1/1: Action query time = 5.419 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=154: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 5.466 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=170: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 5.688 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=186: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 6.483 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=202: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 5.639 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9193
+t=218: Selected seed 195 with value = 0.9193
+Query 1/1: Action query time = 5.431 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=234: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/t7dc800x50_t0_s2/2026_08_03-01_16_45--with_future_img--episode=3--success=True--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: True
+# episodes completed so far: 3
+# successes: 1 (33.3%)
+
+Task: open the middle drawer of the cabinet
+Starting episode 4...
+Query 1/1: Action query time = 4.449 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4258
+t=10: Selected seed 195 with value = 0.4258
+Query 1/1: Action query time = 5.684 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5183
+t=26: Selected seed 195 with value = 0.5183
+Query 1/1: Action query time = 5.862 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5991
+t=42: Selected seed 195 with value = 0.5991
+Query 1/1: Action query time = 4.978 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7068
+t=58: Selected seed 195 with value = 0.7068
+Query 1/1: Action query time = 2.938 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8569
+t=74: Selected seed 195 with value = 0.8569
+Query 1/1: Action query time = 4.896 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 5.764 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9595
+t=106: Selected seed 195 with value = 0.9595
+Query 1/1: Action query time = 4.485 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9526
+t=122: Selected seed 195 with value = 0.9526
+Query 1/1: Action query time = 6.914 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8767
+t=138: Selected seed 195 with value = 0.8767
+Query 1/1: Action query time = 5.897 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8729
+t=154: Selected seed 195 with value = 0.8729
+Query 1/1: Action query time = 4.083 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8717
+t=170: Selected seed 195 with value = 0.8717
+Query 1/1: Action query time = 5.623 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8762
+t=186: Selected seed 195 with value = 0.8762
+Query 1/1: Action query time = 6.779 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8695
+t=202: Selected seed 195 with value = 0.8695
+Query 1/1: Action query time = 5.308 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8664
+t=218: Selected seed 195 with value = 0.8664
+Query 1/1: Action query time = 6.453 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8599
+t=234: Selected seed 195 with value = 0.8599
+Query 1/1: Action query time = 5.835 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8503
+t=250: Selected seed 195 with value = 0.8503
+Query 1/1: Action query time = 4.838 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8386
+t=266: Selected seed 195 with value = 0.8386
+Query 1/1: Action query time = 5.337 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8289
+t=282: Selected seed 195 with value = 0.8289
+Query 1/1: Action query time = 4.537 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8264
+t=298: Selected seed 195 with value = 0.8264
+Saved rollout MP4 at path ./rollouts/t7dc800x50_t0_s2/2026_08_03-01_16_45--with_future_img--episode=4--success=False--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: False
+# episodes completed so far: 4
+# successes: 1 (25.0%)
+
+Task: open the middle drawer of the cabinet
+Starting episode 5...
+Query 1/1: Action query time = 4.433 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4302
+t=10: Selected seed 195 with value = 0.4302
+Query 1/1: Action query time = 6.202 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5046
+t=26: Selected seed 195 with value = 0.5046
+Query 1/1: Action query time = 5.032 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5739
+t=42: Selected seed 195 with value = 0.5739
+Query 1/1: Action query time = 3.981 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6621
+t=58: Selected seed 195 with value = 0.6621
+Query 1/1: Action query time = 5.310 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7949
+t=74: Selected seed 195 with value = 0.7949
+Query 1/1: Action query time = 5.679 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 6.359 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9824
+t=106: Selected seed 195 with value = 0.9824
+Query 1/1: Action query time = 5.055 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9281
+t=122: Selected seed 195 with value = 0.9281
+Query 1/1: Action query time = 5.637 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8855
+t=138: Selected seed 195 with value = 0.8855
+Query 1/1: Action query time = 6.067 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8814
+t=154: Selected seed 195 with value = 0.8814
+Query 1/1: Action query time = 6.594 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8753
+t=170: Selected seed 195 with value = 0.8753
+Query 1/1: Action query time = 6.681 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8696
+t=186: Selected seed 195 with value = 0.8696
+Query 1/1: Action query time = 7.383 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8759
+t=202: Selected seed 195 with value = 0.8759
+Query 1/1: Action query time = 6.968 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8680
+t=218: Selected seed 195 with value = 0.8680
+Query 1/1: Action query time = 6.992 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8603
+t=234: Selected seed 195 with value = 0.8603
+Query 1/1: Action query time = 6.613 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8620
+t=250: Selected seed 195 with value = 0.8620
+Query 1/1: Action query time = 6.354 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8548
+t=266: Selected seed 195 with value = 0.8548
+Query 1/1: Action query time = 5.289 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8376
+t=282: Selected seed 195 with value = 0.8376
+Query 1/1: Action query time = 5.913 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8326
+t=298: Selected seed 195 with value = 0.8326
+Saved rollout MP4 at path ./rollouts/t7dc800x50_t0_s2/2026_08_03-01_16_45--with_future_img--episode=5--success=False--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: False
+# episodes completed so far: 5
+# successes: 1 (20.0%)
+
+Task: open the middle drawer of the cabinet
+Starting episode 6...
+Query 1/1: Action query time = 3.992 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4490
+t=10: Selected seed 195 with value = 0.4490
+Query 1/1: Action query time = 2.829 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5049
+t=26: Selected seed 195 with value = 0.5049
+Query 1/1: Action query time = 4.052 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5847
+t=42: Selected seed 195 with value = 0.5847
+Query 1/1: Action query time = 4.780 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6843
+t=58: Selected seed 195 with value = 0.6843
+Query 1/1: Action query time = 4.445 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8371
+t=74: Selected seed 195 with value = 0.8371
+Query 1/1: Action query time = 5.410 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 5.713 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8833
+t=106: Selected seed 195 with value = 0.8833
+Query 1/1: Action query time = 5.246 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8609
+t=122: Selected seed 195 with value = 0.8609
+Query 1/1: Action query time = 6.864 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8491
+t=138: Selected seed 195 with value = 0.8491
+Query 1/1: Action query time = 6.348 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8328
+t=154: Selected seed 195 with value = 0.8328
+Query 1/1: Action query time = 6.179 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7949
+t=170: Selected seed 195 with value = 0.7949
+Query 1/1: Action query time = 6.631 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7894
+t=186: Selected seed 195 with value = 0.7894
+Query 1/1: Action query time = 6.825 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7924
+t=202: Selected seed 195 with value = 0.7924
+Query 1/1: Action query time = 5.380 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7957
+t=218: Selected seed 195 with value = 0.7957
+Query 1/1: Action query time = 6.393 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7963
+t=234: Selected seed 195 with value = 0.7963
+Query 1/1: Action query time = 7.087 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7989
+t=250: Selected seed 195 with value = 0.7989
+Query 1/1: Action query time = 6.996 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8021
+t=266: Selected seed 195 with value = 0.8021
+Query 1/1: Action query time = 7.342 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8038
+t=282: Selected seed 195 with value = 0.8038
+Query 1/1: Action query time = 5.019 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8024
+t=298: Selected seed 195 with value = 0.8024
+Saved rollout MP4 at path ./rollouts/t7dc800x50_t0_s2/2026_08_03-01_16_45--with_future_img--episode=6--success=False--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: False
+# episodes completed so far: 6
+# successes: 1 (16.7%)
+
+Task: open the middle drawer of the cabinet
+Starting episode 7...
+Query 1/1: Action query time = 4.522 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4520
+t=10: Selected seed 195 with value = 0.4520
+Query 1/1: Action query time = 5.516 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5237
+t=26: Selected seed 195 with value = 0.5237
+Query 1/1: Action query time = 6.417 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6290
+t=42: Selected seed 195 with value = 0.6290
+Query 1/1: Action query time = 7.187 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7785
+t=58: Selected seed 195 with value = 0.7785
+Query 1/1: Action query time = 5.470 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8369
+t=74: Selected seed 195 with value = 0.8369
+Query 1/1: Action query time = 5.279 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9508
+t=90: Selected seed 195 with value = 0.9508
+Query 1/1: Action query time = 5.971 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9759
+t=106: Selected seed 195 with value = 0.9759
+Query 1/1: Action query time = 7.329 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9727
+t=122: Selected seed 195 with value = 0.9727
+Query 1/1: Action query time = 5.934 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9694
+t=138: Selected seed 195 with value = 0.9694
+Query 1/1: Action query time = 6.097 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9663
+t=154: Selected seed 195 with value = 0.9663
+Query 1/1: Action query time = 5.314 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9656
+t=170: Selected seed 195 with value = 0.9656
+Query 1/1: Action query time = 3.708 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9632
+t=186: Selected seed 195 with value = 0.9632
+Query 1/1: Action query time = 5.276 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9581
+t=202: Selected seed 195 with value = 0.9581
+Query 1/1: Action query time = 6.654 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9544
+t=218: Selected seed 195 with value = 0.9544
+Query 1/1: Action query time = 6.886 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=234: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 5.312 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=250: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 6.113 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=266: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 6.614 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=282: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.884 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9965
+t=298: Selected seed 195 with value = 0.9965
+Saved rollout MP4 at path ./rollouts/t7dc800x50_t0_s2/2026_08_03-01_16_45--with_future_img--episode=7--success=False--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: False
+# episodes completed so far: 7
+# successes: 1 (14.3%)
+
+Task: open the middle drawer of the cabinet
+Starting episode 8...
+Query 1/1: Action query time = 5.486 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4381
+t=10: Selected seed 195 with value = 0.4381
+Query 1/1: Action query time = 5.505 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5031
+t=26: Selected seed 195 with value = 0.5031
+Query 1/1: Action query time = 6.204 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5705
+t=42: Selected seed 195 with value = 0.5705
+Query 1/1: Action query time = 6.050 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6575
+t=58: Selected seed 195 with value = 0.6575
+Query 1/1: Action query time = 6.646 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8252
+t=74: Selected seed 195 with value = 0.8252
+Query 1/1: Action query time = 6.514 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 6.428 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9465
+t=106: Selected seed 195 with value = 0.9465
+Query 1/1: Action query time = 7.811 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8826
+t=122: Selected seed 195 with value = 0.8826
+Query 1/1: Action query time = 5.142 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8738
+t=138: Selected seed 195 with value = 0.8738
+Query 1/1: Action query time = 4.472 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8649
+t=154: Selected seed 195 with value = 0.8649
+Query 1/1: Action query time = 5.761 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8595
+t=170: Selected seed 195 with value = 0.8595
+Query 1/1: Action query time = 5.433 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8376
+t=186: Selected seed 195 with value = 0.8376
+Query 1/1: Action query time = 6.339 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8244
+t=202: Selected seed 195 with value = 0.8244
+Query 1/1: Action query time = 5.422 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8260
+t=218: Selected seed 195 with value = 0.8260
+Query 1/1: Action query time = 4.213 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8291
+t=234: Selected seed 195 with value = 0.8291
+Query 1/1: Action query time = 5.164 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7919
+t=250: Selected seed 195 with value = 0.7919
+Query 1/1: Action query time = 5.320 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8433
+t=266: Selected seed 195 with value = 0.8433
+Query 1/1: Action query time = 4.762 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8881
+t=282: Selected seed 195 with value = 0.8881
+Query 1/1: Action query time = 4.374 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8577
+t=298: Selected seed 195 with value = 0.8577
+Saved rollout MP4 at path ./rollouts/t7dc800x50_t0_s2/2026_08_03-01_16_45--with_future_img--episode=8--success=False--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: False
+# episodes completed so far: 8
+# successes: 1 (12.5%)
+
+Task: open the middle drawer of the cabinet
+Starting episode 9...
+Query 1/1: Action query time = 5.769 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4447
+t=10: Selected seed 195 with value = 0.4447
+Query 1/1: Action query time = 8.390 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5086
+t=26: Selected seed 195 with value = 0.5086
+Query 1/1: Action query time = 7.348 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5972
+t=42: Selected seed 195 with value = 0.5972
+Query 1/1: Action query time = 4.782 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6946
+t=58: Selected seed 195 with value = 0.6946
+Query 1/1: Action query time = 5.519 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8486
+t=74: Selected seed 195 with value = 0.8486
+Query 1/1: Action query time = 6.997 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9971
+t=90: Selected seed 195 with value = 0.9971
+Query 1/1: Action query time = 7.054 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=106: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 6.074 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9404
+t=122: Selected seed 195 with value = 0.9404
+Query 1/1: Action query time = 5.897 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9628
+t=138: Selected seed 195 with value = 0.9628
+Query 1/1: Action query time = 5.766 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9765
+t=154: Selected seed 195 with value = 0.9765
+Query 1/1: Action query time = 7.663 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9815
+t=170: Selected seed 195 with value = 0.9815
+Query 1/1: Action query time = 5.967 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9904
+t=186: Selected seed 195 with value = 0.9904
+Query 1/1: Action query time = 5.594 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9912
+t=202: Selected seed 195 with value = 0.9912
+Query 1/1: Action query time = 4.466 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9916
+t=218: Selected seed 195 with value = 0.9916
+Query 1/1: Action query time = 5.343 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9900
+t=234: Selected seed 195 with value = 0.9900
+Query 1/1: Action query time = 5.300 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9904
+t=250: Selected seed 195 with value = 0.9904
+Query 1/1: Action query time = 3.633 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9900
+t=266: Selected seed 195 with value = 0.9900
+Query 1/1: Action query time = 3.445 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9910
+t=282: Selected seed 195 with value = 0.9910
+Query 1/1: Action query time = 2.643 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9913
+t=298: Selected seed 195 with value = 0.9913
+Saved rollout MP4 at path ./rollouts/t7dc800x50_t0_s2/2026_08_03-01_16_45--with_future_img--episode=9--success=False--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: False
+# episodes completed so far: 9
+# successes: 1 (11.1%)
+
+Task: open the middle drawer of the cabinet
+Starting episode 10...
+Query 1/1: Action query time = 5.025 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4505
+t=10: Selected seed 195 with value = 0.4505
+Query 1/1: Action query time = 6.298 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5140
+t=26: Selected seed 195 with value = 0.5140
+Query 1/1: Action query time = 5.383 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5825
+t=42: Selected seed 195 with value = 0.5825
+Query 1/1: Action query time = 5.616 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6681
+t=58: Selected seed 195 with value = 0.6681
+Query 1/1: Action query time = 5.321 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7993
+t=74: Selected seed 195 with value = 0.7993
+Query 1/1: Action query time = 4.173 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9872
+t=90: Selected seed 195 with value = 0.9872
+Query 1/1: Action query time = 3.505 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=106: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.140 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8662
+t=122: Selected seed 195 with value = 0.8662
+Query 1/1: Action query time = 4.499 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8575
+t=138: Selected seed 195 with value = 0.8575
+Query 1/1: Action query time = 3.865 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8441
+t=154: Selected seed 195 with value = 0.8441
+Query 1/1: Action query time = 3.743 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8311
+t=170: Selected seed 195 with value = 0.8311
+Query 1/1: Action query time = 4.971 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8175
+t=186: Selected seed 195 with value = 0.8175
+Query 1/1: Action query time = 4.639 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8264
+t=202: Selected seed 195 with value = 0.8264
+Query 1/1: Action query time = 4.920 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8273
+t=218: Selected seed 195 with value = 0.8273
+Query 1/1: Action query time = 4.926 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8290
+t=234: Selected seed 195 with value = 0.8290
+Query 1/1: Action query time = 4.795 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8337
+t=250: Selected seed 195 with value = 0.8337
+Query 1/1: Action query time = 4.327 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8391
+t=266: Selected seed 195 with value = 0.8391
+Query 1/1: Action query time = 4.228 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8463
+t=282: Selected seed 195 with value = 0.8463
+Query 1/1: Action query time = 2.291 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8501
+t=298: Selected seed 195 with value = 0.8501
+Saved rollout MP4 at path ./rollouts/t7dc800x50_t0_s2/2026_08_03-01_16_45--with_future_img--episode=10--success=False--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: False
+# episodes completed so far: 10
+# successes: 1 (10.0%)
+
+Task: open the middle drawer of the cabinet
+Starting episode 11...
+Query 1/1: Action query time = 4.390 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4495
+t=10: Selected seed 195 with value = 0.4495
+Query 1/1: Action query time = 4.628 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5063
+t=26: Selected seed 195 with value = 0.5063
+Query 1/1: Action query time = 3.321 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5782
+t=42: Selected seed 195 with value = 0.5782
+Query 1/1: Action query time = 3.715 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6810
+t=58: Selected seed 195 with value = 0.6810
+Query 1/1: Action query time = 3.106 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8466
+t=74: Selected seed 195 with value = 0.8466
+Query 1/1: Action query time = 2.762 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 2.088 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9740
+t=106: Selected seed 195 with value = 0.9740
+Query 1/1: Action query time = 3.110 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9926
+t=122: Selected seed 195 with value = 0.9926
+Query 1/1: Action query time = 3.058 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9901
+t=138: Selected seed 195 with value = 0.9901
+Query 1/1: Action query time = 3.941 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9821
+t=154: Selected seed 195 with value = 0.9821
+Query 1/1: Action query time = 4.547 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9738
+t=170: Selected seed 195 with value = 0.9738
+Query 1/1: Action query time = 2.899 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9757
+t=186: Selected seed 195 with value = 0.9757
+Query 1/1: Action query time = 4.237 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9742
+t=202: Selected seed 195 with value = 0.9742
+Query 1/1: Action query time = 3.457 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9402
+t=218: Selected seed 195 with value = 0.9402
+Query 1/1: Action query time = 3.718 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8811
+t=234: Selected seed 195 with value = 0.8811
+Query 1/1: Action query time = 3.973 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8535
+t=250: Selected seed 195 with value = 0.8535
+Query 1/1: Action query time = 3.056 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8468
+t=266: Selected seed 195 with value = 0.8468
+Query 1/1: Action query time = 3.820 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8417
+t=282: Selected seed 195 with value = 0.8417
+Query 1/1: Action query time = 2.983 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8452
+t=298: Selected seed 195 with value = 0.8452
+Saved rollout MP4 at path ./rollouts/t7dc800x50_t0_s2/2026_08_03-01_16_45--with_future_img--episode=11--success=False--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: False
+# episodes completed so far: 11
+# successes: 1 (9.1%)
+
+Task: open the middle drawer of the cabinet
+Starting episode 12...
+Query 1/1: Action query time = 3.777 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4538
+t=10: Selected seed 195 with value = 0.4538
+Query 1/1: Action query time = 3.282 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5265
+t=26: Selected seed 195 with value = 0.5265
+Query 1/1: Action query time = 2.417 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6069
+t=42: Selected seed 195 with value = 0.6069
+Query 1/1: Action query time = 2.354 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7474
+t=58: Selected seed 195 with value = 0.7474
+Query 1/1: Action query time = 2.195 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8696
+t=74: Selected seed 195 with value = 0.8696
+Query 1/1: Action query time = 1.707 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9995
+t=90: Selected seed 195 with value = 0.9995
+Query 1/1: Action query time = 2.817 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8520
+t=106: Selected seed 195 with value = 0.8520
+Query 1/1: Action query time = 2.669 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8550
+t=122: Selected seed 195 with value = 0.8550
+Query 1/1: Action query time = 2.101 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8108
+t=138: Selected seed 195 with value = 0.8108
+Query 1/1: Action query time = 2.291 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8054
+t=154: Selected seed 195 with value = 0.8054
+Query 1/1: Action query time = 2.261 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8108
+t=170: Selected seed 195 with value = 0.8108
+Query 1/1: Action query time = 2.505 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8121
+t=186: Selected seed 195 with value = 0.8121
+Query 1/1: Action query time = 2.069 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8149
+t=202: Selected seed 195 with value = 0.8149
+Query 1/1: Action query time = 1.950 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8147
+t=218: Selected seed 195 with value = 0.8147
+Query 1/1: Action query time = 1.086 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8157
+t=234: Selected seed 195 with value = 0.8157
+Query 1/1: Action query time = 1.320 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8170
+t=250: Selected seed 195 with value = 0.8170
+Query 1/1: Action query time = 1.291 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8207
+t=266: Selected seed 195 with value = 0.8207
+Query 1/1: Action query time = 1.712 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8195
+t=282: Selected seed 195 with value = 0.8195
+Query 1/1: Action query time = 2.833 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8174
+t=298: Selected seed 195 with value = 0.8174
+Saved rollout MP4 at path ./rollouts/t7dc800x50_t0_s2/2026_08_03-01_16_45--with_future_img--episode=12--success=False--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: False
+# episodes completed so far: 12
+# successes: 1 (8.3%)
+Current task success rate: 0.08333333333333333
+Current total success rate: 0.08333333333333333
+Final results:
+Total episodes: 12
+Total successes: 1
+Overall success rate: 0.0833 (8.3%)
diff --git a/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_03-01_16_45--t7dc800x50_t0_s3.txt b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_03-01_16_45--t7dc800x50_t0_s3.txt
new file mode 100644
index 0000000000000000000000000000000000000000..762b3ad214e1b461b3b73dfe1f7dd4c45cbd234e
--- /dev/null
+++ b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_03-01_16_45--t7dc800x50_t0_s3.txt
@@ -0,0 +1,1008 @@
+Eval config: PolicyEvalConfig(suite='libero', model_family='cosmos', config='cosmos_predict2_2b_480p_libero_cl_stage_inference_only', ckpt_path='/home/azureuser/REGEN-main/new_task7/cosmos_policy/cosmos_v2_finetune/cosmos_predict2_2b_480p_libero_goal_task7_cl_from_demochan800_2gpu/checkpoints/iter_000000800/model', planning_model_config_name='', planning_model_ckpt_path='', config_file='cosmos_policy/config/config.py', packnet_mask_path='', packnet_first_cl_libero_task=6, use_third_person_image=True, num_third_person_images=1, use_wrist_image=True, num_wrist_images=1, use_proprio=True, flip_images=True, use_variance_scale=False, use_jpeg_compression=True, ar_future_prediction=False, ar_value_prediction=False, ar_qvalue_prediction=False, num_denoising_steps_action=5, num_denoising_steps_future_state=1, num_denoising_steps_value=1, unnormalize_actions=True, normalize_proprio=True, dataset_stats_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/libero_goal_regen/dataset_statistics.json', t5_text_embeddings_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/t5_embeddings.pkl', trained_with_image_aug=True, chunk_size=16, num_open_loop_steps=16, deterministic=True, deterministic_reset=False, deterministic_reset_seed=None, use_ensemble_future_state_predictions=False, num_future_state_predictions_in_ensemble=3, future_state_ensemble_aggregation_scheme='average', use_ensemble_value_predictions=False, num_value_predictions_in_ensemble=5, value_ensemble_aggregation_scheme='average', search_depth=1, mask_current_state_action_for_value_prediction=False, mask_future_state_for_qvalue_prediction=False, num_queries_best_of_n=1, use_parallel_inference=False, available_gpus='0', parallel_timeout=15, parallel_tasks_across_gpus=False, task_suite_name='libero_goal', num_trials_per_task=50, task_ids_to_run='0', initial_states_path='DEFAULT', env_img_res=256, local_log_dir='/home/azureuser/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal', run_id_note='t7dc800x50_t0_s3', use_wandb=False, wandb_entity='YOUR_ENTITY', wandb_project='YOUR_PROJECT', seed=195, randomize_seed=False, data_collection=False, jpeg_compress=True, reward_stop_threshold=None, reward_stop_consecutive_steps=3, use_gpt_reward=False, gpt_reward_model='gpt-5.4-mini', gpt_reward_stop_threshold=4, gpt_reward_timeout_s=30.0, save_rollout_video=False, eval_hdf5_path='', eval_hdf5_demo_key='demo_0', data_gen_demo_ids='', eval_episode_ids='3,7,11,15,19,23,27,31,35,39,43,47', replay_actions=False, replay_action_path_dir='', replay_hdf5_path='', data_generation=False, max_generation_steps=200, simple_task_max_steps=100, complex_task_max_steps=200, disable_value_stop=False)
+Using serial inference (parallel inference disabled)
+Task suite: libero_goal
+Number of tasks: 10
+Running only task IDs: [0]
+Using default initial states
+
+Task: open the middle drawer of the cabinet
+Starting episode 1...
+Query 1/1: Action query time = 1.822 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4564
+t=10: Selected seed 195 with value = 0.4564
+Query 1/1: Action query time = 1.553 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5322
+t=26: Selected seed 195 with value = 0.5322
+Query 1/1: Action query time = 2.965 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6337
+t=42: Selected seed 195 with value = 0.6337
+Query 1/1: Action query time = 3.039 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7346
+t=58: Selected seed 195 with value = 0.7346
+Query 1/1: Action query time = 4.055 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8487
+t=74: Selected seed 195 with value = 0.8487
+Query 1/1: Action query time = 5.186 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 6.235 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=106: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 6.680 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=122: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 5.066 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=138: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.972 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=154: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 3.880 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=170: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 5.517 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9956
+t=186: Selected seed 195 with value = 0.9956
+Query 1/1: Action query time = 5.342 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9386
+t=202: Selected seed 195 with value = 0.9386
+Query 1/1: Action query time = 4.110 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9171
+t=218: Selected seed 195 with value = 0.9171
+Query 1/1: Action query time = 5.352 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9103
+t=234: Selected seed 195 with value = 0.9103
+Query 1/1: Action query time = 7.443 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9058
+t=250: Selected seed 195 with value = 0.9058
+Query 1/1: Action query time = 6.544 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9043
+t=266: Selected seed 195 with value = 0.9043
+Query 1/1: Action query time = 5.181 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9035
+t=282: Selected seed 195 with value = 0.9035
+Query 1/1: Action query time = 5.595 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9028
+t=298: Selected seed 195 with value = 0.9028
+Saved rollout MP4 at path ./rollouts/t7dc800x50_t0_s3/2026_08_03-01_16_45--with_future_img--episode=1--success=False--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: False
+# episodes completed so far: 1
+# successes: 0 (0.0%)
+
+Task: open the middle drawer of the cabinet
+Starting episode 2...
+Query 1/1: Action query time = 3.565 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4384
+t=10: Selected seed 195 with value = 0.4384
+Query 1/1: Action query time = 2.675 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4973
+t=26: Selected seed 195 with value = 0.4973
+Query 1/1: Action query time = 3.877 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5661
+t=42: Selected seed 195 with value = 0.5661
+Query 1/1: Action query time = 4.434 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6400
+t=58: Selected seed 195 with value = 0.6400
+Query 1/1: Action query time = 3.767 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8020
+t=74: Selected seed 195 with value = 0.8020
+Query 1/1: Action query time = 5.130 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 6.926 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=106: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 7.893 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8953
+t=122: Selected seed 195 with value = 0.8953
+Query 1/1: Action query time = 5.430 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8853
+t=138: Selected seed 195 with value = 0.8853
+Query 1/1: Action query time = 5.834 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8829
+t=154: Selected seed 195 with value = 0.8829
+Query 1/1: Action query time = 6.313 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8841
+t=170: Selected seed 195 with value = 0.8841
+Query 1/1: Action query time = 6.455 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8866
+t=186: Selected seed 195 with value = 0.8866
+Query 1/1: Action query time = 6.575 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8759
+t=202: Selected seed 195 with value = 0.8759
+Query 1/1: Action query time = 6.810 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8565
+t=218: Selected seed 195 with value = 0.8565
+Query 1/1: Action query time = 6.695 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8582
+t=234: Selected seed 195 with value = 0.8582
+Query 1/1: Action query time = 6.643 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8302
+t=250: Selected seed 195 with value = 0.8302
+Query 1/1: Action query time = 5.887 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8469
+t=266: Selected seed 195 with value = 0.8469
+Query 1/1: Action query time = 6.675 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8395
+t=282: Selected seed 195 with value = 0.8395
+Query 1/1: Action query time = 5.715 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8293
+t=298: Selected seed 195 with value = 0.8293
+Saved rollout MP4 at path ./rollouts/t7dc800x50_t0_s3/2026_08_03-01_16_45--with_future_img--episode=2--success=False--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: False
+# episodes completed so far: 2
+# successes: 0 (0.0%)
+
+Task: open the middle drawer of the cabinet
+Starting episode 3...
+Query 1/1: Action query time = 3.358 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4553
+t=10: Selected seed 195 with value = 0.4553
+Query 1/1: Action query time = 4.847 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5013
+t=26: Selected seed 195 with value = 0.5013
+Query 1/1: Action query time = 5.027 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5793
+t=42: Selected seed 195 with value = 0.5793
+Query 1/1: Action query time = 3.475 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6887
+t=58: Selected seed 195 with value = 0.6887
+Query 1/1: Action query time = 4.691 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7738
+t=74: Selected seed 195 with value = 0.7738
+Query 1/1: Action query time = 3.210 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9572
+t=90: Selected seed 195 with value = 0.9572
+Query 1/1: Action query time = 5.845 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=106: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.802 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=122: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 5.446 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=138: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 6.761 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=154: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.272 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=170: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 3.953 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=186: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 6.234 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=202: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 5.214 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9866
+t=218: Selected seed 195 with value = 0.9866
+Query 1/1: Action query time = 4.694 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9748
+t=234: Selected seed 195 with value = 0.9748
+Query 1/1: Action query time = 5.026 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9664
+t=250: Selected seed 195 with value = 0.9664
+Query 1/1: Action query time = 5.544 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9627
+t=266: Selected seed 195 with value = 0.9627
+Query 1/1: Action query time = 5.307 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9573
+t=282: Selected seed 195 with value = 0.9573
+Query 1/1: Action query time = 5.384 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9565
+t=298: Selected seed 195 with value = 0.9565
+Saved rollout MP4 at path ./rollouts/t7dc800x50_t0_s3/2026_08_03-01_16_45--with_future_img--episode=3--success=False--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: False
+# episodes completed so far: 3
+# successes: 0 (0.0%)
+
+Task: open the middle drawer of the cabinet
+Starting episode 4...
+Query 1/1: Action query time = 3.766 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4373
+t=10: Selected seed 195 with value = 0.4373
+Query 1/1: Action query time = 3.081 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4966
+t=26: Selected seed 195 with value = 0.4966
+Query 1/1: Action query time = 5.153 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5636
+t=42: Selected seed 195 with value = 0.5636
+Query 1/1: Action query time = 5.849 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6390
+t=58: Selected seed 195 with value = 0.6390
+Query 1/1: Action query time = 5.771 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7684
+t=74: Selected seed 195 with value = 0.7684
+Query 1/1: Action query time = 5.578 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9990
+t=90: Selected seed 195 with value = 0.9990
+Query 1/1: Action query time = 4.338 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9451
+t=106: Selected seed 195 with value = 0.9451
+Query 1/1: Action query time = 4.234 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8751
+t=122: Selected seed 195 with value = 0.8751
+Query 1/1: Action query time = 4.443 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8552
+t=138: Selected seed 195 with value = 0.8552
+Query 1/1: Action query time = 5.694 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8334
+t=154: Selected seed 195 with value = 0.8334
+Query 1/1: Action query time = 4.007 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8205
+t=170: Selected seed 195 with value = 0.8205
+Query 1/1: Action query time = 4.138 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8440
+t=186: Selected seed 195 with value = 0.8440
+Query 1/1: Action query time = 4.053 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8454
+t=202: Selected seed 195 with value = 0.8454
+Query 1/1: Action query time = 5.071 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8519
+t=218: Selected seed 195 with value = 0.8519
+Query 1/1: Action query time = 4.342 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8544
+t=234: Selected seed 195 with value = 0.8544
+Query 1/1: Action query time = 5.106 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8558
+t=250: Selected seed 195 with value = 0.8558
+Query 1/1: Action query time = 6.019 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8569
+t=266: Selected seed 195 with value = 0.8569
+Query 1/1: Action query time = 5.863 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8565
+t=282: Selected seed 195 with value = 0.8565
+Query 1/1: Action query time = 5.780 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8582
+t=298: Selected seed 195 with value = 0.8582
+Saved rollout MP4 at path ./rollouts/t7dc800x50_t0_s3/2026_08_03-01_16_45--with_future_img--episode=4--success=False--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: False
+# episodes completed so far: 4
+# successes: 0 (0.0%)
+
+Task: open the middle drawer of the cabinet
+Starting episode 5...
+Query 1/1: Action query time = 5.051 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4595
+t=10: Selected seed 195 with value = 0.4595
+Query 1/1: Action query time = 3.823 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5269
+t=26: Selected seed 195 with value = 0.5269
+Query 1/1: Action query time = 5.037 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5762
+t=42: Selected seed 195 with value = 0.5762
+Query 1/1: Action query time = 4.390 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6990
+t=58: Selected seed 195 with value = 0.6990
+Query 1/1: Action query time = 4.491 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8440
+t=74: Selected seed 195 with value = 0.8440
+Query 1/1: Action query time = 2.469 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.148 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9439
+t=106: Selected seed 195 with value = 0.9439
+Query 1/1: Action query time = 5.417 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8872
+t=122: Selected seed 195 with value = 0.8872
+Query 1/1: Action query time = 7.074 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8643
+t=138: Selected seed 195 with value = 0.8643
+Query 1/1: Action query time = 5.757 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8166
+t=154: Selected seed 195 with value = 0.8166
+Query 1/1: Action query time = 5.794 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8146
+t=170: Selected seed 195 with value = 0.8146
+Query 1/1: Action query time = 4.524 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8276
+t=186: Selected seed 195 with value = 0.8276
+Query 1/1: Action query time = 5.413 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8447
+t=202: Selected seed 195 with value = 0.8447
+Query 1/1: Action query time = 5.107 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8360
+t=218: Selected seed 195 with value = 0.8360
+Query 1/1: Action query time = 5.067 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8314
+t=234: Selected seed 195 with value = 0.8314
+Query 1/1: Action query time = 5.023 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8495
+t=250: Selected seed 195 with value = 0.8495
+Query 1/1: Action query time = 6.239 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8453
+t=266: Selected seed 195 with value = 0.8453
+Query 1/1: Action query time = 4.790 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8427
+t=282: Selected seed 195 with value = 0.8427
+Query 1/1: Action query time = 4.418 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8388
+t=298: Selected seed 195 with value = 0.8388
+Saved rollout MP4 at path ./rollouts/t7dc800x50_t0_s3/2026_08_03-01_16_45--with_future_img--episode=5--success=False--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: False
+# episodes completed so far: 5
+# successes: 0 (0.0%)
+
+Task: open the middle drawer of the cabinet
+Starting episode 6...
+Query 1/1: Action query time = 4.862 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4427
+t=10: Selected seed 195 with value = 0.4427
+Query 1/1: Action query time = 4.935 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5128
+t=26: Selected seed 195 with value = 0.5128
+Query 1/1: Action query time = 2.797 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6041
+t=42: Selected seed 195 with value = 0.6041
+Query 1/1: Action query time = 5.343 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7005
+t=58: Selected seed 195 with value = 0.7005
+Query 1/1: Action query time = 5.843 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8414
+t=74: Selected seed 195 with value = 0.8414
+Query 1/1: Action query time = 5.648 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9872
+t=90: Selected seed 195 with value = 0.9872
+Query 1/1: Action query time = 5.737 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=106: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 5.258 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9872
+t=122: Selected seed 195 with value = 0.9872
+Query 1/1: Action query time = 5.812 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9412
+t=138: Selected seed 195 with value = 0.9412
+Query 1/1: Action query time = 4.942 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9348
+t=154: Selected seed 195 with value = 0.9348
+Query 1/1: Action query time = 3.486 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9345
+t=170: Selected seed 195 with value = 0.9345
+Query 1/1: Action query time = 4.936 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9383
+t=186: Selected seed 195 with value = 0.9383
+Query 1/1: Action query time = 3.397 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9441
+t=202: Selected seed 195 with value = 0.9441
+Query 1/1: Action query time = 3.953 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9458
+t=218: Selected seed 195 with value = 0.9458
+Query 1/1: Action query time = 5.532 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9488
+t=234: Selected seed 195 with value = 0.9488
+Query 1/1: Action query time = 4.490 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9557
+t=250: Selected seed 195 with value = 0.9557
+Query 1/1: Action query time = 3.400 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9571
+t=266: Selected seed 195 with value = 0.9571
+Query 1/1: Action query time = 4.504 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9568
+t=282: Selected seed 195 with value = 0.9568
+Query 1/1: Action query time = 3.900 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9573
+t=298: Selected seed 195 with value = 0.9573
+Saved rollout MP4 at path ./rollouts/t7dc800x50_t0_s3/2026_08_03-01_16_45--with_future_img--episode=6--success=False--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: False
+# episodes completed so far: 6
+# successes: 0 (0.0%)
+
+Task: open the middle drawer of the cabinet
+Starting episode 7...
+Query 1/1: Action query time = 3.495 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4485
+t=10: Selected seed 195 with value = 0.4485
+Query 1/1: Action query time = 4.262 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5104
+t=26: Selected seed 195 with value = 0.5104
+Query 1/1: Action query time = 3.805 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5809
+t=42: Selected seed 195 with value = 0.5809
+Query 1/1: Action query time = 4.255 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6924
+t=58: Selected seed 195 with value = 0.6924
+Query 1/1: Action query time = 4.577 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8283
+t=74: Selected seed 195 with value = 0.8283
+Query 1/1: Action query time = 3.106 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 3.977 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9893
+t=106: Selected seed 195 with value = 0.9893
+Query 1/1: Action query time = 3.593 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=122: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.272 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=138: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 2.702 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=154: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 3.848 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=170: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 3.694 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=186: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 3.975 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9941
+t=202: Selected seed 195 with value = 0.9941
+Query 1/1: Action query time = 3.145 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9984
+t=218: Selected seed 195 with value = 0.9984
+Query 1/1: Action query time = 4.844 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9917
+t=234: Selected seed 195 with value = 0.9917
+Query 1/1: Action query time = 4.001 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9786
+t=250: Selected seed 195 with value = 0.9786
+Query 1/1: Action query time = 4.845 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9412
+t=266: Selected seed 195 with value = 0.9412
+Query 1/1: Action query time = 4.070 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9221
+t=282: Selected seed 195 with value = 0.9221
+Query 1/1: Action query time = 5.851 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9129
+t=298: Selected seed 195 with value = 0.9129
+Saved rollout MP4 at path ./rollouts/t7dc800x50_t0_s3/2026_08_03-01_16_45--with_future_img--episode=7--success=False--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: False
+# episodes completed so far: 7
+# successes: 0 (0.0%)
+
+Task: open the middle drawer of the cabinet
+Starting episode 8...
+Query 1/1: Action query time = 3.862 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4182
+t=10: Selected seed 195 with value = 0.4182
+Query 1/1: Action query time = 3.927 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5039
+t=26: Selected seed 195 with value = 0.5039
+Query 1/1: Action query time = 3.661 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5389
+t=42: Selected seed 195 with value = 0.5389
+Query 1/1: Action query time = 3.814 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6435
+t=58: Selected seed 195 with value = 0.6435
+Query 1/1: Action query time = 3.454 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7929
+t=74: Selected seed 195 with value = 0.7929
+Query 1/1: Action query time = 3.657 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 3.909 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=106: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 5.595 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=122: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 2.743 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=138: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 3.913 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=154: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.803 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=170: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.063 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=186: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.646 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=202: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 5.172 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=218: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.047 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=234: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.147 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=250: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 3.371 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=266: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 3.529 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=282: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 5.026 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=298: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/t7dc800x50_t0_s3/2026_08_03-01_16_45--with_future_img--episode=8--success=False--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: False
+# episodes completed so far: 8
+# successes: 0 (0.0%)
+
+Task: open the middle drawer of the cabinet
+Starting episode 9...
+Query 1/1: Action query time = 3.848 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4458
+t=10: Selected seed 195 with value = 0.4458
+Query 1/1: Action query time = 3.935 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5043
+t=26: Selected seed 195 with value = 0.5043
+Query 1/1: Action query time = 4.535 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5667
+t=42: Selected seed 195 with value = 0.5667
+Query 1/1: Action query time = 4.546 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6582
+t=58: Selected seed 195 with value = 0.6582
+Query 1/1: Action query time = 3.089 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8380
+t=74: Selected seed 195 with value = 0.8380
+Query 1/1: Action query time = 3.894 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.420 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9054
+t=106: Selected seed 195 with value = 0.9054
+Query 1/1: Action query time = 5.376 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8788
+t=122: Selected seed 195 with value = 0.8788
+Query 1/1: Action query time = 4.315 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8714
+t=138: Selected seed 195 with value = 0.8714
+Query 1/1: Action query time = 3.080 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8699
+t=154: Selected seed 195 with value = 0.8699
+Query 1/1: Action query time = 3.302 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8734
+t=170: Selected seed 195 with value = 0.8734
+Query 1/1: Action query time = 3.576 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8705
+t=186: Selected seed 195 with value = 0.8705
+Query 1/1: Action query time = 3.039 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8681
+t=202: Selected seed 195 with value = 0.8681
+Query 1/1: Action query time = 2.259 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8645
+t=218: Selected seed 195 with value = 0.8645
+Query 1/1: Action query time = 3.104 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8613
+t=234: Selected seed 195 with value = 0.8613
+Query 1/1: Action query time = 3.604 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8577
+t=250: Selected seed 195 with value = 0.8577
+Query 1/1: Action query time = 3.428 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8489
+t=266: Selected seed 195 with value = 0.8489
+Query 1/1: Action query time = 5.719 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8440
+t=282: Selected seed 195 with value = 0.8440
+Query 1/1: Action query time = 3.544 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8371
+t=298: Selected seed 195 with value = 0.8371
+Saved rollout MP4 at path ./rollouts/t7dc800x50_t0_s3/2026_08_03-01_16_45--with_future_img--episode=9--success=False--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: False
+# episodes completed so far: 9
+# successes: 0 (0.0%)
+
+Task: open the middle drawer of the cabinet
+Starting episode 10...
+Query 1/1: Action query time = 4.129 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4651
+t=10: Selected seed 195 with value = 0.4651
+Query 1/1: Action query time = 3.020 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5441
+t=26: Selected seed 195 with value = 0.5441
+Query 1/1: Action query time = 4.005 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6585
+t=42: Selected seed 195 with value = 0.6585
+Query 1/1: Action query time = 3.064 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7747
+t=58: Selected seed 195 with value = 0.7747
+Query 1/1: Action query time = 4.154 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8334
+t=74: Selected seed 195 with value = 0.8334
+Query 1/1: Action query time = 4.231 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 5.055 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=106: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.267 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8705
+t=122: Selected seed 195 with value = 0.8705
+Query 1/1: Action query time = 6.016 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8559
+t=138: Selected seed 195 with value = 0.8559
+Query 1/1: Action query time = 5.044 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8510
+t=154: Selected seed 195 with value = 0.8510
+Query 1/1: Action query time = 3.971 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8424
+t=170: Selected seed 195 with value = 0.8424
+Query 1/1: Action query time = 4.085 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8279
+t=186: Selected seed 195 with value = 0.8279
+Query 1/1: Action query time = 3.946 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8075
+t=202: Selected seed 195 with value = 0.8075
+Query 1/1: Action query time = 4.709 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8402
+t=218: Selected seed 195 with value = 0.8402
+Query 1/1: Action query time = 3.780 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8490
+t=234: Selected seed 195 with value = 0.8490
+Query 1/1: Action query time = 4.580 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8291
+t=250: Selected seed 195 with value = 0.8291
+Query 1/1: Action query time = 3.371 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8655
+t=266: Selected seed 195 with value = 0.8655
+Query 1/1: Action query time = 4.810 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8305
+t=282: Selected seed 195 with value = 0.8305
+Query 1/1: Action query time = 3.800 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8588
+t=298: Selected seed 195 with value = 0.8588
+Saved rollout MP4 at path ./rollouts/t7dc800x50_t0_s3/2026_08_03-01_16_45--with_future_img--episode=10--success=False--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: False
+# episodes completed so far: 10
+# successes: 0 (0.0%)
+
+Task: open the middle drawer of the cabinet
+Starting episode 11...
+Query 1/1: Action query time = 3.164 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4380
+t=10: Selected seed 195 with value = 0.4380
+Query 1/1: Action query time = 3.346 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5239
+t=26: Selected seed 195 with value = 0.5239
+Query 1/1: Action query time = 3.934 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6092
+t=42: Selected seed 195 with value = 0.6092
+Query 1/1: Action query time = 3.634 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7361
+t=58: Selected seed 195 with value = 0.7361
+Query 1/1: Action query time = 4.474 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8267
+t=74: Selected seed 195 with value = 0.8267
+Query 1/1: Action query time = 3.277 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.416 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8749
+t=106: Selected seed 195 with value = 0.8749
+Query 1/1: Action query time = 5.967 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8975
+t=122: Selected seed 195 with value = 0.8975
+Query 1/1: Action query time = 5.504 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8279
+t=138: Selected seed 195 with value = 0.8279
+Query 1/1: Action query time = 3.506 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8340
+t=154: Selected seed 195 with value = 0.8340
+Query 1/1: Action query time = 4.420 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8459
+t=170: Selected seed 195 with value = 0.8459
+Query 1/1: Action query time = 4.487 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8548
+t=186: Selected seed 195 with value = 0.8548
+Query 1/1: Action query time = 3.038 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8021
+t=202: Selected seed 195 with value = 0.8021
+Query 1/1: Action query time = 4.346 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8199
+t=218: Selected seed 195 with value = 0.8199
+Query 1/1: Action query time = 5.273 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8436
+t=234: Selected seed 195 with value = 0.8436
+Query 1/1: Action query time = 3.846 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8447
+t=250: Selected seed 195 with value = 0.8447
+Query 1/1: Action query time = 4.275 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8474
+t=266: Selected seed 195 with value = 0.8474
+Query 1/1: Action query time = 4.480 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8488
+t=282: Selected seed 195 with value = 0.8488
+Query 1/1: Action query time = 4.791 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8516
+t=298: Selected seed 195 with value = 0.8516
+Saved rollout MP4 at path ./rollouts/t7dc800x50_t0_s3/2026_08_03-01_16_45--with_future_img--episode=11--success=False--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: False
+# episodes completed so far: 11
+# successes: 0 (0.0%)
+
+Task: open the middle drawer of the cabinet
+Starting episode 12...
+Query 1/1: Action query time = 3.684 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4538
+t=10: Selected seed 195 with value = 0.4538
+Query 1/1: Action query time = 3.444 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5091
+t=26: Selected seed 195 with value = 0.5091
+Query 1/1: Action query time = 3.227 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5608
+t=42: Selected seed 195 with value = 0.5608
+Query 1/1: Action query time = 4.148 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6780
+t=58: Selected seed 195 with value = 0.6780
+Query 1/1: Action query time = 4.263 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8500
+t=74: Selected seed 195 with value = 0.8500
+Query 1/1: Action query time = 4.429 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 5.112 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9115
+t=106: Selected seed 195 with value = 0.9115
+Query 1/1: Action query time = 4.630 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8547
+t=122: Selected seed 195 with value = 0.8547
+Query 1/1: Action query time = 3.998 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8446
+t=138: Selected seed 195 with value = 0.8446
+Query 1/1: Action query time = 4.133 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8422
+t=154: Selected seed 195 with value = 0.8422
+Query 1/1: Action query time = 4.714 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8429
+t=170: Selected seed 195 with value = 0.8429
+Query 1/1: Action query time = 3.413 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8435
+t=186: Selected seed 195 with value = 0.8435
+Query 1/1: Action query time = 4.245 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8448
+t=202: Selected seed 195 with value = 0.8448
+Query 1/1: Action query time = 3.459 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8425
+t=218: Selected seed 195 with value = 0.8425
+Query 1/1: Action query time = 3.785 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8441
+t=234: Selected seed 195 with value = 0.8441
+Query 1/1: Action query time = 4.000 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8471
+t=250: Selected seed 195 with value = 0.8471
+Query 1/1: Action query time = 3.581 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8476
+t=266: Selected seed 195 with value = 0.8476
+Query 1/1: Action query time = 4.447 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8477
+t=282: Selected seed 195 with value = 0.8477
+Query 1/1: Action query time = 5.203 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8501
+t=298: Selected seed 195 with value = 0.8501
+Saved rollout MP4 at path ./rollouts/t7dc800x50_t0_s3/2026_08_03-01_16_45--with_future_img--episode=12--success=False--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: False
+# episodes completed so far: 12
+# successes: 0 (0.0%)
+Current task success rate: 0.0
+Current total success rate: 0.0
+Final results:
+Total episodes: 12
+Total successes: 0
+Overall success rate: 0.0000 (0.0%)
diff --git a/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_03-01_16_45--t7rc800x50_t0_s0.txt b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_03-01_16_45--t7rc800x50_t0_s0.txt
new file mode 100644
index 0000000000000000000000000000000000000000..62a1bc94ab2ca98c1d5a5d48e01374a4987d28b8
--- /dev/null
+++ b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_03-01_16_45--t7rc800x50_t0_s0.txt
@@ -0,0 +1,1035 @@
+Eval config: PolicyEvalConfig(suite='libero', model_family='cosmos', config='cosmos_predict2_2b_480p_libero_cl_stage_inference_only', ckpt_path='/home/azureuser/REGEN-main/new_task7/cosmos_policy/cosmos_v2_finetune/cosmos_predict2_2b_480p_libero_goal_task7_cl_from_realcl800_2gpu/checkpoints/iter_000000800/model', planning_model_config_name='', planning_model_ckpt_path='', config_file='cosmos_policy/config/config.py', packnet_mask_path='', packnet_first_cl_libero_task=6, use_third_person_image=True, num_third_person_images=1, use_wrist_image=True, num_wrist_images=1, use_proprio=True, flip_images=True, use_variance_scale=False, use_jpeg_compression=True, ar_future_prediction=False, ar_value_prediction=False, ar_qvalue_prediction=False, num_denoising_steps_action=5, num_denoising_steps_future_state=1, num_denoising_steps_value=1, unnormalize_actions=True, normalize_proprio=True, dataset_stats_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/libero_goal_regen/dataset_statistics.json', t5_text_embeddings_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/t5_embeddings.pkl', trained_with_image_aug=True, chunk_size=16, num_open_loop_steps=16, deterministic=True, deterministic_reset=False, deterministic_reset_seed=None, use_ensemble_future_state_predictions=False, num_future_state_predictions_in_ensemble=3, future_state_ensemble_aggregation_scheme='average', use_ensemble_value_predictions=False, num_value_predictions_in_ensemble=5, value_ensemble_aggregation_scheme='average', search_depth=1, mask_current_state_action_for_value_prediction=False, mask_future_state_for_qvalue_prediction=False, num_queries_best_of_n=1, use_parallel_inference=False, available_gpus='0', parallel_timeout=15, parallel_tasks_across_gpus=False, task_suite_name='libero_goal', num_trials_per_task=50, task_ids_to_run='0', initial_states_path='DEFAULT', env_img_res=256, local_log_dir='/home/azureuser/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal', run_id_note='t7rc800x50_t0_s0', use_wandb=False, wandb_entity='YOUR_ENTITY', wandb_project='YOUR_PROJECT', seed=195, randomize_seed=False, data_collection=False, jpeg_compress=True, reward_stop_threshold=None, reward_stop_consecutive_steps=3, use_gpt_reward=False, gpt_reward_model='gpt-5.4-mini', gpt_reward_stop_threshold=4, gpt_reward_timeout_s=30.0, save_rollout_video=False, eval_hdf5_path='', eval_hdf5_demo_key='demo_0', data_gen_demo_ids='', eval_episode_ids='0,4,8,12,16,20,24,28,32,36,40,44,48', replay_actions=False, replay_action_path_dir='', replay_hdf5_path='', data_generation=False, max_generation_steps=200, simple_task_max_steps=100, complex_task_max_steps=200, disable_value_stop=False)
+Using serial inference (parallel inference disabled)
+Task suite: libero_goal
+Number of tasks: 10
+Running only task IDs: [0]
+Using default initial states
+
+Task: open the middle drawer of the cabinet
+Starting episode 1...
+Query 1/1: Action query time = 1.957 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4419
+t=10: Selected seed 195 with value = 0.4419
+Query 1/1: Action query time = 1.974 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5075
+t=26: Selected seed 195 with value = 0.5075
+Query 1/1: Action query time = 2.885 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5852
+t=42: Selected seed 195 with value = 0.5852
+Query 1/1: Action query time = 3.835 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6857
+t=58: Selected seed 195 with value = 0.6857
+Query 1/1: Action query time = 5.463 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8475
+t=74: Selected seed 195 with value = 0.8475
+Query 1/1: Action query time = 4.071 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9354
+t=90: Selected seed 195 with value = 0.9354
+Query 1/1: Action query time = 5.773 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9704
+t=106: Selected seed 195 with value = 0.9704
+Query 1/1: Action query time = 4.589 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=122: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.195 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=138: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 5.164 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9789
+t=154: Selected seed 195 with value = 0.9789
+Query 1/1: Action query time = 4.948 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9453
+t=170: Selected seed 195 with value = 0.9453
+Query 1/1: Action query time = 6.228 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9319
+t=186: Selected seed 195 with value = 0.9319
+Query 1/1: Action query time = 6.545 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9048
+t=202: Selected seed 195 with value = 0.9048
+Query 1/1: Action query time = 5.381 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8900
+t=218: Selected seed 195 with value = 0.8900
+Query 1/1: Action query time = 6.842 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8577
+t=234: Selected seed 195 with value = 0.8577
+Query 1/1: Action query time = 6.435 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8214
+t=250: Selected seed 195 with value = 0.8214
+Query 1/1: Action query time = 5.641 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8491
+t=266: Selected seed 195 with value = 0.8491
+Query 1/1: Action query time = 6.373 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8494
+t=282: Selected seed 195 with value = 0.8494
+Query 1/1: Action query time = 5.985 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8406
+t=298: Selected seed 195 with value = 0.8406
+Saved rollout MP4 at path ./rollouts/t7rc800x50_t0_s0/2026_08_03-01_16_45--with_future_img--episode=1--success=False--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: False
+# episodes completed so far: 1
+# successes: 0 (0.0%)
+
+Task: open the middle drawer of the cabinet
+Starting episode 2...
+Query 1/1: Action query time = 4.015 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4467
+t=10: Selected seed 195 with value = 0.4467
+Query 1/1: Action query time = 3.679 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5106
+t=26: Selected seed 195 with value = 0.5106
+Query 1/1: Action query time = 5.449 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5812
+t=42: Selected seed 195 with value = 0.5812
+Query 1/1: Action query time = 5.346 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7010
+t=58: Selected seed 195 with value = 0.7010
+Query 1/1: Action query time = 5.832 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8181
+t=74: Selected seed 195 with value = 0.8181
+Query 1/1: Action query time = 6.008 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9128
+t=90: Selected seed 195 with value = 0.9128
+Query 1/1: Action query time = 5.651 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8412
+t=106: Selected seed 195 with value = 0.8412
+Query 1/1: Action query time = 3.193 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8979
+t=122: Selected seed 195 with value = 0.8979
+Query 1/1: Action query time = 5.509 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9073
+t=138: Selected seed 195 with value = 0.9073
+Query 1/1: Action query time = 5.899 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8810
+t=154: Selected seed 195 with value = 0.8810
+Query 1/1: Action query time = 5.428 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8797
+t=170: Selected seed 195 with value = 0.8797
+Query 1/1: Action query time = 5.281 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8761
+t=186: Selected seed 195 with value = 0.8761
+Query 1/1: Action query time = 5.134 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8749
+t=202: Selected seed 195 with value = 0.8749
+Query 1/1: Action query time = 6.061 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8458
+t=218: Selected seed 195 with value = 0.8458
+Query 1/1: Action query time = 5.845 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8620
+t=234: Selected seed 195 with value = 0.8620
+Query 1/1: Action query time = 6.300 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8549
+t=250: Selected seed 195 with value = 0.8549
+Query 1/1: Action query time = 5.560 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8543
+t=266: Selected seed 195 with value = 0.8543
+Query 1/1: Action query time = 6.192 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8486
+t=282: Selected seed 195 with value = 0.8486
+Query 1/1: Action query time = 6.583 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8446
+t=298: Selected seed 195 with value = 0.8446
+Saved rollout MP4 at path ./rollouts/t7rc800x50_t0_s0/2026_08_03-01_16_45--with_future_img--episode=2--success=False--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: False
+# episodes completed so far: 2
+# successes: 0 (0.0%)
+
+Task: open the middle drawer of the cabinet
+Starting episode 3...
+Query 1/1: Action query time = 4.095 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4405
+t=10: Selected seed 195 with value = 0.4405
+Query 1/1: Action query time = 3.605 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5044
+t=26: Selected seed 195 with value = 0.5044
+Query 1/1: Action query time = 4.952 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5802
+t=42: Selected seed 195 with value = 0.5802
+Query 1/1: Action query time = 3.953 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6500
+t=58: Selected seed 195 with value = 0.6500
+Query 1/1: Action query time = 4.666 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7866
+t=74: Selected seed 195 with value = 0.7866
+Query 1/1: Action query time = 4.431 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9910
+t=90: Selected seed 195 with value = 0.9910
+Query 1/1: Action query time = 5.138 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8477
+t=106: Selected seed 195 with value = 0.8477
+Query 1/1: Action query time = 5.355 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8649
+t=122: Selected seed 195 with value = 0.8649
+Query 1/1: Action query time = 5.368 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9100
+t=138: Selected seed 195 with value = 0.9100
+Query 1/1: Action query time = 5.910 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8809
+t=154: Selected seed 195 with value = 0.8809
+Query 1/1: Action query time = 3.745 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8843
+t=170: Selected seed 195 with value = 0.8843
+Query 1/1: Action query time = 4.241 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8817
+t=186: Selected seed 195 with value = 0.8817
+Query 1/1: Action query time = 5.923 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8822
+t=202: Selected seed 195 with value = 0.8822
+Query 1/1: Action query time = 5.214 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8728
+t=218: Selected seed 195 with value = 0.8728
+Query 1/1: Action query time = 4.179 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8601
+t=234: Selected seed 195 with value = 0.8601
+Query 1/1: Action query time = 4.213 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8527
+t=250: Selected seed 195 with value = 0.8527
+Query 1/1: Action query time = 3.878 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8644
+t=266: Selected seed 195 with value = 0.8644
+Query 1/1: Action query time = 5.212 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8601
+t=282: Selected seed 195 with value = 0.8601
+Query 1/1: Action query time = 5.248 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8599
+t=298: Selected seed 195 with value = 0.8599
+Saved rollout MP4 at path ./rollouts/t7rc800x50_t0_s0/2026_08_03-01_16_45--with_future_img--episode=3--success=False--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: False
+# episodes completed so far: 3
+# successes: 0 (0.0%)
+
+Task: open the middle drawer of the cabinet
+Starting episode 4...
+Query 1/1: Action query time = 5.961 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4382
+t=10: Selected seed 195 with value = 0.4382
+Query 1/1: Action query time = 6.022 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4897
+t=26: Selected seed 195 with value = 0.4897
+Query 1/1: Action query time = 6.633 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5594
+t=42: Selected seed 195 with value = 0.5594
+Query 1/1: Action query time = 5.227 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6497
+t=58: Selected seed 195 with value = 0.6497
+Query 1/1: Action query time = 4.815 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7691
+t=74: Selected seed 195 with value = 0.7691
+Query 1/1: Action query time = 5.010 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8879
+t=90: Selected seed 195 with value = 0.8879
+Query 1/1: Action query time = 5.563 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9326
+t=106: Selected seed 195 with value = 0.9326
+Query 1/1: Action query time = 5.562 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9235
+t=122: Selected seed 195 with value = 0.9235
+Query 1/1: Action query time = 6.459 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9989
+t=138: Selected seed 195 with value = 0.9989
+Query 1/1: Action query time = 4.501 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9945
+t=154: Selected seed 195 with value = 0.9945
+Query 1/1: Action query time = 4.138 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=170: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/t7rc800x50_t0_s0/2026_08_03-01_16_45--with_future_img--episode=4--success=True--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: True
+# episodes completed so far: 4
+# successes: 1 (25.0%)
+
+Task: open the middle drawer of the cabinet
+Starting episode 5...
+Query 1/1: Action query time = 3.819 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4470
+t=10: Selected seed 195 with value = 0.4470
+Query 1/1: Action query time = 4.232 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5097
+t=26: Selected seed 195 with value = 0.5097
+Query 1/1: Action query time = 5.095 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5964
+t=42: Selected seed 195 with value = 0.5964
+Query 1/1: Action query time = 3.278 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6942
+t=58: Selected seed 195 with value = 0.6942
+Query 1/1: Action query time = 4.884 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8434
+t=74: Selected seed 195 with value = 0.8434
+Query 1/1: Action query time = 4.959 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9501
+t=90: Selected seed 195 with value = 0.9501
+Query 1/1: Action query time = 4.856 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8912
+t=106: Selected seed 195 with value = 0.8912
+Query 1/1: Action query time = 4.606 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8880
+t=122: Selected seed 195 with value = 0.8880
+Query 1/1: Action query time = 4.121 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8875
+t=138: Selected seed 195 with value = 0.8875
+Query 1/1: Action query time = 5.409 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8870
+t=154: Selected seed 195 with value = 0.8870
+Query 1/1: Action query time = 5.688 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8874
+t=170: Selected seed 195 with value = 0.8874
+Query 1/1: Action query time = 6.463 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8859
+t=186: Selected seed 195 with value = 0.8859
+Query 1/1: Action query time = 4.504 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8865
+t=202: Selected seed 195 with value = 0.8865
+Query 1/1: Action query time = 4.878 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8863
+t=218: Selected seed 195 with value = 0.8863
+Query 1/1: Action query time = 3.826 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8876
+t=234: Selected seed 195 with value = 0.8876
+Query 1/1: Action query time = 5.714 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8877
+t=250: Selected seed 195 with value = 0.8877
+Query 1/1: Action query time = 4.328 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8896
+t=266: Selected seed 195 with value = 0.8896
+Query 1/1: Action query time = 4.752 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8937
+t=282: Selected seed 195 with value = 0.8937
+Query 1/1: Action query time = 5.191 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8949
+t=298: Selected seed 195 with value = 0.8949
+Saved rollout MP4 at path ./rollouts/t7rc800x50_t0_s0/2026_08_03-01_16_45--with_future_img--episode=5--success=False--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: False
+# episodes completed so far: 5
+# successes: 1 (20.0%)
+
+Task: open the middle drawer of the cabinet
+Starting episode 6...
+Query 1/1: Action query time = 4.760 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4466
+t=10: Selected seed 195 with value = 0.4466
+Query 1/1: Action query time = 4.588 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5167
+t=26: Selected seed 195 with value = 0.5167
+Query 1/1: Action query time = 5.055 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5961
+t=42: Selected seed 195 with value = 0.5961
+Query 1/1: Action query time = 5.114 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6544
+t=58: Selected seed 195 with value = 0.6544
+Query 1/1: Action query time = 3.490 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8226
+t=74: Selected seed 195 with value = 0.8226
+Query 1/1: Action query time = 4.227 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9693
+t=90: Selected seed 195 with value = 0.9693
+Query 1/1: Action query time = 4.805 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8046
+t=106: Selected seed 195 with value = 0.8046
+Query 1/1: Action query time = 3.461 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9010
+t=122: Selected seed 195 with value = 0.9010
+Query 1/1: Action query time = 3.840 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9777
+t=138: Selected seed 195 with value = 0.9777
+Query 1/1: Action query time = 3.532 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9159
+t=154: Selected seed 195 with value = 0.9159
+Query 1/1: Action query time = 4.609 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9381
+t=170: Selected seed 195 with value = 0.9381
+Query 1/1: Action query time = 4.614 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8847
+t=186: Selected seed 195 with value = 0.8847
+Query 1/1: Action query time = 5.914 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8749
+t=202: Selected seed 195 with value = 0.8749
+Query 1/1: Action query time = 6.354 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8470
+t=218: Selected seed 195 with value = 0.8470
+Query 1/1: Action query time = 5.431 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8354
+t=234: Selected seed 195 with value = 0.8354
+Query 1/1: Action query time = 6.946 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8385
+t=250: Selected seed 195 with value = 0.8385
+Query 1/1: Action query time = 4.943 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8391
+t=266: Selected seed 195 with value = 0.8391
+Query 1/1: Action query time = 5.693 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8414
+t=282: Selected seed 195 with value = 0.8414
+Query 1/1: Action query time = 5.630 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8424
+t=298: Selected seed 195 with value = 0.8424
+Saved rollout MP4 at path ./rollouts/t7rc800x50_t0_s0/2026_08_03-01_16_45--with_future_img--episode=6--success=False--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: False
+# episodes completed so far: 6
+# successes: 1 (16.7%)
+
+Task: open the middle drawer of the cabinet
+Starting episode 7...
+Query 1/1: Action query time = 7.305 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4469
+t=10: Selected seed 195 with value = 0.4469
+Query 1/1: Action query time = 6.311 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5115
+t=26: Selected seed 195 with value = 0.5115
+Query 1/1: Action query time = 7.035 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5655
+t=42: Selected seed 195 with value = 0.5655
+Query 1/1: Action query time = 5.728 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6850
+t=58: Selected seed 195 with value = 0.6850
+Query 1/1: Action query time = 4.626 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8253
+t=74: Selected seed 195 with value = 0.8253
+Query 1/1: Action query time = 2.619 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9439
+t=90: Selected seed 195 with value = 0.9439
+Query 1/1: Action query time = 4.488 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8324
+t=106: Selected seed 195 with value = 0.8324
+Query 1/1: Action query time = 4.105 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9552
+t=122: Selected seed 195 with value = 0.9552
+Query 1/1: Action query time = 5.006 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9226
+t=138: Selected seed 195 with value = 0.9226
+Query 1/1: Action query time = 4.694 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8746
+t=154: Selected seed 195 with value = 0.8746
+Query 1/1: Action query time = 5.308 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8788
+t=170: Selected seed 195 with value = 0.8788
+Query 1/1: Action query time = 4.493 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8766
+t=186: Selected seed 195 with value = 0.8766
+Query 1/1: Action query time = 3.158 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8781
+t=202: Selected seed 195 with value = 0.8781
+Query 1/1: Action query time = 5.220 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8521
+t=218: Selected seed 195 with value = 0.8521
+Query 1/1: Action query time = 4.968 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8541
+t=234: Selected seed 195 with value = 0.8541
+Query 1/1: Action query time = 5.612 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8487
+t=250: Selected seed 195 with value = 0.8487
+Query 1/1: Action query time = 5.467 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8405
+t=266: Selected seed 195 with value = 0.8405
+Query 1/1: Action query time = 6.823 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8407
+t=282: Selected seed 195 with value = 0.8407
+Query 1/1: Action query time = 5.280 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8362
+t=298: Selected seed 195 with value = 0.8362
+Saved rollout MP4 at path ./rollouts/t7rc800x50_t0_s0/2026_08_03-01_16_45--with_future_img--episode=7--success=False--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: False
+# episodes completed so far: 7
+# successes: 1 (14.3%)
+
+Task: open the middle drawer of the cabinet
+Starting episode 8...
+Query 1/1: Action query time = 4.289 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4458
+t=10: Selected seed 195 with value = 0.4458
+Query 1/1: Action query time = 4.971 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4949
+t=26: Selected seed 195 with value = 0.4949
+Query 1/1: Action query time = 5.129 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5560
+t=42: Selected seed 195 with value = 0.5560
+Query 1/1: Action query time = 3.803 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6775
+t=58: Selected seed 195 with value = 0.6775
+Query 1/1: Action query time = 3.782 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7854
+t=74: Selected seed 195 with value = 0.7854
+Query 1/1: Action query time = 3.898 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9230
+t=90: Selected seed 195 with value = 0.9230
+Query 1/1: Action query time = 4.939 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8708
+t=106: Selected seed 195 with value = 0.8708
+Query 1/1: Action query time = 5.386 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8688
+t=122: Selected seed 195 with value = 0.8688
+Query 1/1: Action query time = 4.864 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8703
+t=138: Selected seed 195 with value = 0.8703
+Query 1/1: Action query time = 5.354 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8640
+t=154: Selected seed 195 with value = 0.8640
+Query 1/1: Action query time = 4.736 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8607
+t=170: Selected seed 195 with value = 0.8607
+Query 1/1: Action query time = 3.888 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8611
+t=186: Selected seed 195 with value = 0.8611
+Query 1/1: Action query time = 4.810 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8619
+t=202: Selected seed 195 with value = 0.8619
+Query 1/1: Action query time = 5.234 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8627
+t=218: Selected seed 195 with value = 0.8627
+Query 1/1: Action query time = 5.541 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8627
+t=234: Selected seed 195 with value = 0.8627
+Query 1/1: Action query time = 5.022 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8626
+t=250: Selected seed 195 with value = 0.8626
+Query 1/1: Action query time = 5.826 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8629
+t=266: Selected seed 195 with value = 0.8629
+Query 1/1: Action query time = 5.717 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8639
+t=282: Selected seed 195 with value = 0.8639
+Query 1/1: Action query time = 4.930 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8647
+t=298: Selected seed 195 with value = 0.8647
+Saved rollout MP4 at path ./rollouts/t7rc800x50_t0_s0/2026_08_03-01_16_45--with_future_img--episode=8--success=False--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: False
+# episodes completed so far: 8
+# successes: 1 (12.5%)
+
+Task: open the middle drawer of the cabinet
+Starting episode 9...
+Query 1/1: Action query time = 4.650 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4472
+t=10: Selected seed 195 with value = 0.4472
+Query 1/1: Action query time = 5.434 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5166
+t=26: Selected seed 195 with value = 0.5166
+Query 1/1: Action query time = 4.568 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5874
+t=42: Selected seed 195 with value = 0.5874
+Query 1/1: Action query time = 4.735 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7217
+t=58: Selected seed 195 with value = 0.7217
+Query 1/1: Action query time = 4.202 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8416
+t=74: Selected seed 195 with value = 0.8416
+Query 1/1: Action query time = 5.301 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9323
+t=90: Selected seed 195 with value = 0.9323
+Query 1/1: Action query time = 3.946 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8816
+t=106: Selected seed 195 with value = 0.8816
+Query 1/1: Action query time = 4.084 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9240
+t=122: Selected seed 195 with value = 0.9240
+Query 1/1: Action query time = 5.656 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9564
+t=138: Selected seed 195 with value = 0.9564
+Query 1/1: Action query time = 5.770 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8676
+t=154: Selected seed 195 with value = 0.8676
+Query 1/1: Action query time = 5.210 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8679
+t=170: Selected seed 195 with value = 0.8679
+Query 1/1: Action query time = 4.654 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8737
+t=186: Selected seed 195 with value = 0.8737
+Query 1/1: Action query time = 4.262 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8590
+t=202: Selected seed 195 with value = 0.8590
+Query 1/1: Action query time = 5.907 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8650
+t=218: Selected seed 195 with value = 0.8650
+Query 1/1: Action query time = 6.049 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8642
+t=234: Selected seed 195 with value = 0.8642
+Query 1/1: Action query time = 6.165 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8665
+t=250: Selected seed 195 with value = 0.8665
+Query 1/1: Action query time = 2.658 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8655
+t=266: Selected seed 195 with value = 0.8655
+Query 1/1: Action query time = 5.386 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8651
+t=282: Selected seed 195 with value = 0.8651
+Query 1/1: Action query time = 5.539 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8613
+t=298: Selected seed 195 with value = 0.8613
+Saved rollout MP4 at path ./rollouts/t7rc800x50_t0_s0/2026_08_03-01_16_45--with_future_img--episode=9--success=False--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: False
+# episodes completed so far: 9
+# successes: 1 (11.1%)
+
+Task: open the middle drawer of the cabinet
+Starting episode 10...
+Query 1/1: Action query time = 4.533 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4434
+t=10: Selected seed 195 with value = 0.4434
+Query 1/1: Action query time = 4.917 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5016
+t=26: Selected seed 195 with value = 0.5016
+Query 1/1: Action query time = 4.051 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5721
+t=42: Selected seed 195 with value = 0.5721
+Query 1/1: Action query time = 3.381 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6382
+t=58: Selected seed 195 with value = 0.6382
+Query 1/1: Action query time = 3.604 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7883
+t=74: Selected seed 195 with value = 0.7883
+Query 1/1: Action query time = 3.084 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9414
+t=90: Selected seed 195 with value = 0.9414
+Query 1/1: Action query time = 2.915 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9391
+t=106: Selected seed 195 with value = 0.9391
+Query 1/1: Action query time = 4.725 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9484
+t=122: Selected seed 195 with value = 0.9484
+Query 1/1: Action query time = 3.987 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9998
+t=138: Selected seed 195 with value = 0.9998
+Query 1/1: Action query time = 4.856 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9970
+t=154: Selected seed 195 with value = 0.9970
+Query 1/1: Action query time = 4.431 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9969
+t=170: Selected seed 195 with value = 0.9969
+Query 1/1: Action query time = 3.753 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9963
+t=186: Selected seed 195 with value = 0.9963
+Query 1/1: Action query time = 3.205 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=202: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/t7rc800x50_t0_s0/2026_08_03-01_16_45--with_future_img--episode=10--success=True--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: True
+# episodes completed so far: 10
+# successes: 2 (20.0%)
+
+Task: open the middle drawer of the cabinet
+Starting episode 11...
+Query 1/1: Action query time = 5.695 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4393
+t=10: Selected seed 195 with value = 0.4393
+Query 1/1: Action query time = 6.131 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5002
+t=26: Selected seed 195 with value = 0.5002
+Query 1/1: Action query time = 5.675 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5647
+t=42: Selected seed 195 with value = 0.5647
+Query 1/1: Action query time = 6.013 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6749
+t=58: Selected seed 195 with value = 0.6749
+Query 1/1: Action query time = 4.759 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8110
+t=74: Selected seed 195 with value = 0.8110
+Query 1/1: Action query time = 5.501 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9151
+t=90: Selected seed 195 with value = 0.9151
+Query 1/1: Action query time = 5.142 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8994
+t=106: Selected seed 195 with value = 0.8994
+Query 1/1: Action query time = 4.563 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9482
+t=122: Selected seed 195 with value = 0.9482
+Query 1/1: Action query time = 5.511 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9493
+t=138: Selected seed 195 with value = 0.9493
+Query 1/1: Action query time = 4.578 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9516
+t=154: Selected seed 195 with value = 0.9516
+Query 1/1: Action query time = 3.118 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9522
+t=170: Selected seed 195 with value = 0.9522
+Query 1/1: Action query time = 4.079 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9522
+t=186: Selected seed 195 with value = 0.9522
+Query 1/1: Action query time = 2.917 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9533
+t=202: Selected seed 195 with value = 0.9533
+Query 1/1: Action query time = 3.875 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9533
+t=218: Selected seed 195 with value = 0.9533
+Query 1/1: Action query time = 4.476 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9537
+t=234: Selected seed 195 with value = 0.9537
+Query 1/1: Action query time = 4.515 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9562
+t=250: Selected seed 195 with value = 0.9562
+Query 1/1: Action query time = 3.885 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9569
+t=266: Selected seed 195 with value = 0.9569
+Query 1/1: Action query time = 5.007 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9604
+t=282: Selected seed 195 with value = 0.9604
+Query 1/1: Action query time = 5.432 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9628
+t=298: Selected seed 195 with value = 0.9628
+Saved rollout MP4 at path ./rollouts/t7rc800x50_t0_s0/2026_08_03-01_16_45--with_future_img--episode=11--success=False--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: False
+# episodes completed so far: 11
+# successes: 2 (18.2%)
+
+Task: open the middle drawer of the cabinet
+Starting episode 12...
+Query 1/1: Action query time = 5.032 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4575
+t=10: Selected seed 195 with value = 0.4575
+Query 1/1: Action query time = 5.028 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5372
+t=26: Selected seed 195 with value = 0.5372
+Query 1/1: Action query time = 4.201 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6129
+t=42: Selected seed 195 with value = 0.6129
+Query 1/1: Action query time = 4.594 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7186
+t=58: Selected seed 195 with value = 0.7186
+Query 1/1: Action query time = 4.408 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8735
+t=74: Selected seed 195 with value = 0.8735
+Query 1/1: Action query time = 4.385 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9298
+t=90: Selected seed 195 with value = 0.9298
+Query 1/1: Action query time = 3.944 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8740
+t=106: Selected seed 195 with value = 0.8740
+Query 1/1: Action query time = 4.590 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9928
+t=122: Selected seed 195 with value = 0.9928
+Query 1/1: Action query time = 4.245 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=138: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 2.975 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=154: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 3.750 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8743
+t=170: Selected seed 195 with value = 0.8743
+Query 1/1: Action query time = 3.343 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8802
+t=186: Selected seed 195 with value = 0.8802
+Query 1/1: Action query time = 3.440 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8735
+t=202: Selected seed 195 with value = 0.8735
+Query 1/1: Action query time = 2.109 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8570
+t=218: Selected seed 195 with value = 0.8570
+Query 1/1: Action query time = 3.679 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8626
+t=234: Selected seed 195 with value = 0.8626
+Query 1/1: Action query time = 2.834 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8614
+t=250: Selected seed 195 with value = 0.8614
+Query 1/1: Action query time = 2.878 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8466
+t=266: Selected seed 195 with value = 0.8466
+Query 1/1: Action query time = 2.920 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8605
+t=282: Selected seed 195 with value = 0.8605
+Query 1/1: Action query time = 2.946 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8601
+t=298: Selected seed 195 with value = 0.8601
+Saved rollout MP4 at path ./rollouts/t7rc800x50_t0_s0/2026_08_03-01_16_45--with_future_img--episode=12--success=False--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: False
+# episodes completed so far: 12
+# successes: 2 (16.7%)
+
+Task: open the middle drawer of the cabinet
+Starting episode 13...
+Query 1/1: Action query time = 2.344 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4497
+t=10: Selected seed 195 with value = 0.4497
+Query 1/1: Action query time = 2.952 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5269
+t=26: Selected seed 195 with value = 0.5269
+Query 1/1: Action query time = 2.402 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5872
+t=42: Selected seed 195 with value = 0.5872
+Query 1/1: Action query time = 2.539 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6829
+t=58: Selected seed 195 with value = 0.6829
+Query 1/1: Action query time = 2.672 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8233
+t=74: Selected seed 195 with value = 0.8233
+Query 1/1: Action query time = 2.415 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8994
+t=90: Selected seed 195 with value = 0.8994
+Query 1/1: Action query time = 2.747 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8253
+t=106: Selected seed 195 with value = 0.8253
+Query 1/1: Action query time = 2.078 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9128
+t=122: Selected seed 195 with value = 0.9128
+Query 1/1: Action query time = 3.127 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8819
+t=138: Selected seed 195 with value = 0.8819
+Query 1/1: Action query time = 2.191 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8694
+t=154: Selected seed 195 with value = 0.8694
+Query 1/1: Action query time = 2.399 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8847
+t=170: Selected seed 195 with value = 0.8847
+Query 1/1: Action query time = 2.109 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8967
+t=186: Selected seed 195 with value = 0.8967
+Query 1/1: Action query time = 2.183 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8628
+t=202: Selected seed 195 with value = 0.8628
+Query 1/1: Action query time = 1.926 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8763
+t=218: Selected seed 195 with value = 0.8763
+Query 1/1: Action query time = 2.200 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8763
+t=234: Selected seed 195 with value = 0.8763
+Query 1/1: Action query time = 2.297 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8610
+t=250: Selected seed 195 with value = 0.8610
+Query 1/1: Action query time = 1.423 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8612
+t=266: Selected seed 195 with value = 0.8612
+Query 1/1: Action query time = 1.573 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8585
+t=282: Selected seed 195 with value = 0.8585
+Query 1/1: Action query time = 2.028 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8466
+t=298: Selected seed 195 with value = 0.8466
+Saved rollout MP4 at path ./rollouts/t7rc800x50_t0_s0/2026_08_03-01_16_45--with_future_img--episode=13--success=False--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: False
+# episodes completed so far: 13
+# successes: 2 (15.4%)
+Current task success rate: 0.15384615384615385
+Current total success rate: 0.15384615384615385
+Final results:
+Total episodes: 13
+Total successes: 2
+Overall success rate: 0.1538 (15.4%)
diff --git a/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_03-01_16_46--t7dc800x50_t1_s0.txt b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_03-01_16_46--t7dc800x50_t1_s0.txt
new file mode 100644
index 0000000000000000000000000000000000000000..e2cef2aa2652cb859fb01a1213dd31cb28ed2dc2
--- /dev/null
+++ b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_03-01_16_46--t7dc800x50_t1_s0.txt
@@ -0,0 +1,959 @@
+Eval config: PolicyEvalConfig(suite='libero', model_family='cosmos', config='cosmos_predict2_2b_480p_libero_cl_stage_inference_only', ckpt_path='/home/azureuser/REGEN-main/new_task7/cosmos_policy/cosmos_v2_finetune/cosmos_predict2_2b_480p_libero_goal_task7_cl_from_demochan800_2gpu/checkpoints/iter_000000800/model', planning_model_config_name='', planning_model_ckpt_path='', config_file='cosmos_policy/config/config.py', packnet_mask_path='', packnet_first_cl_libero_task=6, use_third_person_image=True, num_third_person_images=1, use_wrist_image=True, num_wrist_images=1, use_proprio=True, flip_images=True, use_variance_scale=False, use_jpeg_compression=True, ar_future_prediction=False, ar_value_prediction=False, ar_qvalue_prediction=False, num_denoising_steps_action=5, num_denoising_steps_future_state=1, num_denoising_steps_value=1, unnormalize_actions=True, normalize_proprio=True, dataset_stats_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/libero_goal_regen/dataset_statistics.json', t5_text_embeddings_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/t5_embeddings.pkl', trained_with_image_aug=True, chunk_size=16, num_open_loop_steps=16, deterministic=True, deterministic_reset=False, deterministic_reset_seed=None, use_ensemble_future_state_predictions=False, num_future_state_predictions_in_ensemble=3, future_state_ensemble_aggregation_scheme='average', use_ensemble_value_predictions=False, num_value_predictions_in_ensemble=5, value_ensemble_aggregation_scheme='average', search_depth=1, mask_current_state_action_for_value_prediction=False, mask_future_state_for_qvalue_prediction=False, num_queries_best_of_n=1, use_parallel_inference=False, available_gpus='0', parallel_timeout=15, parallel_tasks_across_gpus=False, task_suite_name='libero_goal', num_trials_per_task=50, task_ids_to_run='1', initial_states_path='DEFAULT', env_img_res=256, local_log_dir='/home/azureuser/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal', run_id_note='t7dc800x50_t1_s0', use_wandb=False, wandb_entity='YOUR_ENTITY', wandb_project='YOUR_PROJECT', seed=195, randomize_seed=False, data_collection=False, jpeg_compress=True, reward_stop_threshold=None, reward_stop_consecutive_steps=3, use_gpt_reward=False, gpt_reward_model='gpt-5.4-mini', gpt_reward_stop_threshold=4, gpt_reward_timeout_s=30.0, save_rollout_video=False, eval_hdf5_path='', eval_hdf5_demo_key='demo_0', data_gen_demo_ids='', eval_episode_ids='0,4,8,12,16,20,24,28,32,36,40,44,48', replay_actions=False, replay_action_path_dir='', replay_hdf5_path='', data_generation=False, max_generation_steps=200, simple_task_max_steps=100, complex_task_max_steps=200, disable_value_stop=False)
+Using serial inference (parallel inference disabled)
+Task suite: libero_goal
+Number of tasks: 10
+Running only task IDs: [1]
+Using default initial states
+
+Task: put the bowl on the stove
+Starting episode 1...
+Query 1/1: Action query time = 4.361 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5108
+t=10: Selected seed 195 with value = 0.5108
+Query 1/1: Action query time = 3.997 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5664
+t=26: Selected seed 195 with value = 0.5664
+Query 1/1: Action query time = 7.232 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7117
+t=42: Selected seed 195 with value = 0.7117
+Query 1/1: Action query time = 6.146 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7827
+t=58: Selected seed 195 with value = 0.7827
+Query 1/1: Action query time = 6.202 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8817
+t=74: Selected seed 195 with value = 0.8817
+Query 1/1: Action query time = 6.911 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9816
+t=90: Selected seed 195 with value = 0.9816
+Saved rollout MP4 at path ./rollouts/t7dc800x50_t1_s0/2026_08_03-01_16_46--with_future_img--episode=1--success=True--task=put_the_bowl_on_the_stove.mp4
+Success: True
+# episodes completed so far: 1
+# successes: 1 (100.0%)
+
+Task: put the bowl on the stove
+Starting episode 2...
+Query 1/1: Action query time = 6.628 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5135
+t=10: Selected seed 195 with value = 0.5135
+Query 1/1: Action query time = 7.752 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5950
+t=26: Selected seed 195 with value = 0.5950
+Query 1/1: Action query time = 6.784 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7640
+t=42: Selected seed 195 with value = 0.7640
+Query 1/1: Action query time = 5.562 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9595
+t=58: Selected seed 195 with value = 0.9595
+Query 1/1: Action query time = 5.934 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9894
+t=74: Selected seed 195 with value = 0.9894
+Query 1/1: Action query time = 7.286 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9864
+t=90: Selected seed 195 with value = 0.9864
+Query 1/1: Action query time = 6.307 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9915
+t=106: Selected seed 195 with value = 0.9915
+Query 1/1: Action query time = 6.167 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9905
+t=122: Selected seed 195 with value = 0.9905
+Query 1/1: Action query time = 6.836 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9835
+t=138: Selected seed 195 with value = 0.9835
+Query 1/1: Action query time = 5.563 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=154: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.293 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9926
+t=170: Selected seed 195 with value = 0.9926
+Query 1/1: Action query time = 4.198 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9961
+t=186: Selected seed 195 with value = 0.9961
+Query 1/1: Action query time = 3.721 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9825
+t=202: Selected seed 195 with value = 0.9825
+Query 1/1: Action query time = 3.114 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9998
+t=218: Selected seed 195 with value = 0.9998
+Query 1/1: Action query time = 3.694 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9852
+t=234: Selected seed 195 with value = 0.9852
+Query 1/1: Action query time = 4.038 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9833
+t=250: Selected seed 195 with value = 0.9833
+Query 1/1: Action query time = 4.853 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9615
+t=266: Selected seed 195 with value = 0.9615
+Query 1/1: Action query time = 4.749 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9532
+t=282: Selected seed 195 with value = 0.9532
+Query 1/1: Action query time = 5.875 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9448
+t=298: Selected seed 195 with value = 0.9448
+Saved rollout MP4 at path ./rollouts/t7dc800x50_t1_s0/2026_08_03-01_16_46--with_future_img--episode=2--success=False--task=put_the_bowl_on_the_stove.mp4
+Success: False
+# episodes completed so far: 2
+# successes: 1 (50.0%)
+
+Task: put the bowl on the stove
+Starting episode 3...
+Query 1/1: Action query time = 6.971 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4725
+t=10: Selected seed 195 with value = 0.4725
+Query 1/1: Action query time = 5.140 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5843
+t=26: Selected seed 195 with value = 0.5843
+Query 1/1: Action query time = 7.207 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6773
+t=42: Selected seed 195 with value = 0.6773
+Query 1/1: Action query time = 5.711 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8778
+t=58: Selected seed 195 with value = 0.8778
+Query 1/1: Action query time = 7.002 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9659
+t=74: Selected seed 195 with value = 0.9659
+Query 1/1: Action query time = 6.842 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9987
+t=90: Selected seed 195 with value = 0.9987
+Query 1/1: Action query time = 6.910 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9893
+t=106: Selected seed 195 with value = 0.9893
+Query 1/1: Action query time = 7.240 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=122: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 7.287 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9980
+t=138: Selected seed 195 with value = 0.9980
+Query 1/1: Action query time = 5.207 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9969
+t=154: Selected seed 195 with value = 0.9969
+Query 1/1: Action query time = 4.793 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9971
+t=170: Selected seed 195 with value = 0.9971
+Query 1/1: Action query time = 5.098 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9007
+t=186: Selected seed 195 with value = 0.9007
+Saved rollout MP4 at path ./rollouts/t7dc800x50_t1_s0/2026_08_03-01_16_46--with_future_img--episode=3--success=True--task=put_the_bowl_on_the_stove.mp4
+Success: True
+# episodes completed so far: 3
+# successes: 2 (66.7%)
+
+Task: put the bowl on the stove
+Starting episode 4...
+Query 1/1: Action query time = 5.647 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5276
+t=10: Selected seed 195 with value = 0.5276
+Query 1/1: Action query time = 6.191 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6155
+t=26: Selected seed 195 with value = 0.6155
+Query 1/1: Action query time = 5.108 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7370
+t=42: Selected seed 195 with value = 0.7370
+Query 1/1: Action query time = 5.335 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8987
+t=58: Selected seed 195 with value = 0.8987
+Query 1/1: Action query time = 5.873 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9786
+t=74: Selected seed 195 with value = 0.9786
+Query 1/1: Action query time = 7.813 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9324
+t=90: Selected seed 195 with value = 0.9324
+Query 1/1: Action query time = 5.088 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8887
+t=106: Selected seed 195 with value = 0.8887
+Query 1/1: Action query time = 6.937 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9334
+t=122: Selected seed 195 with value = 0.9334
+Query 1/1: Action query time = 5.050 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9357
+t=138: Selected seed 195 with value = 0.9357
+Query 1/1: Action query time = 5.179 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9108
+t=154: Selected seed 195 with value = 0.9108
+Query 1/1: Action query time = 5.907 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9001
+t=170: Selected seed 195 with value = 0.9001
+Query 1/1: Action query time = 4.981 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8607
+t=186: Selected seed 195 with value = 0.8607
+Query 1/1: Action query time = 6.123 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8183
+t=202: Selected seed 195 with value = 0.8183
+Query 1/1: Action query time = 5.442 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8551
+t=218: Selected seed 195 with value = 0.8551
+Query 1/1: Action query time = 5.733 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9804
+t=234: Selected seed 195 with value = 0.9804
+Query 1/1: Action query time = 4.858 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8965
+t=250: Selected seed 195 with value = 0.8965
+Query 1/1: Action query time = 6.039 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9006
+t=266: Selected seed 195 with value = 0.9006
+Query 1/1: Action query time = 5.838 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9310
+t=282: Selected seed 195 with value = 0.9310
+Query 1/1: Action query time = 5.193 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9427
+t=298: Selected seed 195 with value = 0.9427
+Saved rollout MP4 at path ./rollouts/t7dc800x50_t1_s0/2026_08_03-01_16_46--with_future_img--episode=4--success=False--task=put_the_bowl_on_the_stove.mp4
+Success: False
+# episodes completed so far: 4
+# successes: 2 (50.0%)
+
+Task: put the bowl on the stove
+Starting episode 5...
+Query 1/1: Action query time = 6.961 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5170
+t=10: Selected seed 195 with value = 0.5170
+Query 1/1: Action query time = 5.761 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6052
+t=26: Selected seed 195 with value = 0.6052
+Query 1/1: Action query time = 6.446 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6857
+t=42: Selected seed 195 with value = 0.6857
+Query 1/1: Action query time = 5.734 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7716
+t=58: Selected seed 195 with value = 0.7716
+Query 1/1: Action query time = 4.784 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8859
+t=74: Selected seed 195 with value = 0.8859
+Query 1/1: Action query time = 7.125 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9176
+t=90: Selected seed 195 with value = 0.9176
+Query 1/1: Action query time = 5.261 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9764
+t=106: Selected seed 195 with value = 0.9764
+Query 1/1: Action query time = 4.991 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9934
+t=122: Selected seed 195 with value = 0.9934
+Query 1/1: Action query time = 6.522 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9932
+t=138: Selected seed 195 with value = 0.9932
+Query 1/1: Action query time = 4.525 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9821
+t=154: Selected seed 195 with value = 0.9821
+Query 1/1: Action query time = 3.736 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9574
+t=170: Selected seed 195 with value = 0.9574
+Query 1/1: Action query time = 5.912 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9346
+t=186: Selected seed 195 with value = 0.9346
+Query 1/1: Action query time = 5.641 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9765
+t=202: Selected seed 195 with value = 0.9765
+Query 1/1: Action query time = 5.100 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9615
+t=218: Selected seed 195 with value = 0.9615
+Query 1/1: Action query time = 6.244 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9512
+t=234: Selected seed 195 with value = 0.9512
+Query 1/1: Action query time = 6.749 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9411
+t=250: Selected seed 195 with value = 0.9411
+Query 1/1: Action query time = 4.997 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9432
+t=266: Selected seed 195 with value = 0.9432
+Query 1/1: Action query time = 5.021 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9482
+t=282: Selected seed 195 with value = 0.9482
+Query 1/1: Action query time = 7.045 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9493
+t=298: Selected seed 195 with value = 0.9493
+Saved rollout MP4 at path ./rollouts/t7dc800x50_t1_s0/2026_08_03-01_16_46--with_future_img--episode=5--success=False--task=put_the_bowl_on_the_stove.mp4
+Success: False
+# episodes completed so far: 5
+# successes: 2 (40.0%)
+
+Task: put the bowl on the stove
+Starting episode 6...
+Query 1/1: Action query time = 6.483 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4875
+t=10: Selected seed 195 with value = 0.4875
+Query 1/1: Action query time = 6.678 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5898
+t=26: Selected seed 195 with value = 0.5898
+Query 1/1: Action query time = 5.382 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6862
+t=42: Selected seed 195 with value = 0.6862
+Query 1/1: Action query time = 5.456 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7818
+t=58: Selected seed 195 with value = 0.7818
+Query 1/1: Action query time = 5.610 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9130
+t=74: Selected seed 195 with value = 0.9130
+Query 1/1: Action query time = 6.813 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9417
+t=90: Selected seed 195 with value = 0.9417
+Query 1/1: Action query time = 6.133 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8807
+t=106: Selected seed 195 with value = 0.8807
+Query 1/1: Action query time = 5.762 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9193
+t=122: Selected seed 195 with value = 0.9193
+Query 1/1: Action query time = 4.672 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9433
+t=138: Selected seed 195 with value = 0.9433
+Query 1/1: Action query time = 5.480 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9694
+t=154: Selected seed 195 with value = 0.9694
+Query 1/1: Action query time = 5.760 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9574
+t=170: Selected seed 195 with value = 0.9574
+Query 1/1: Action query time = 5.653 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9545
+t=186: Selected seed 195 with value = 0.9545
+Query 1/1: Action query time = 7.189 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9587
+t=202: Selected seed 195 with value = 0.9587
+Query 1/1: Action query time = 5.123 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9552
+t=218: Selected seed 195 with value = 0.9552
+Query 1/1: Action query time = 5.457 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9600
+t=234: Selected seed 195 with value = 0.9600
+Query 1/1: Action query time = 5.587 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9649
+t=250: Selected seed 195 with value = 0.9649
+Query 1/1: Action query time = 5.702 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9670
+t=266: Selected seed 195 with value = 0.9670
+Query 1/1: Action query time = 5.577 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9678
+t=282: Selected seed 195 with value = 0.9678
+Query 1/1: Action query time = 4.499 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9637
+t=298: Selected seed 195 with value = 0.9637
+Saved rollout MP4 at path ./rollouts/t7dc800x50_t1_s0/2026_08_03-01_16_46--with_future_img--episode=6--success=False--task=put_the_bowl_on_the_stove.mp4
+Success: False
+# episodes completed so far: 6
+# successes: 2 (33.3%)
+
+Task: put the bowl on the stove
+Starting episode 7...
+Query 1/1: Action query time = 5.460 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5333
+t=10: Selected seed 195 with value = 0.5333
+Query 1/1: Action query time = 4.541 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6071
+t=26: Selected seed 195 with value = 0.6071
+Query 1/1: Action query time = 5.205 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7533
+t=42: Selected seed 195 with value = 0.7533
+Query 1/1: Action query time = 6.431 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9707
+t=58: Selected seed 195 with value = 0.9707
+Query 1/1: Action query time = 5.216 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9746
+t=74: Selected seed 195 with value = 0.9746
+Query 1/1: Action query time = 5.802 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9845
+t=90: Selected seed 195 with value = 0.9845
+Query 1/1: Action query time = 6.878 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9861
+t=106: Selected seed 195 with value = 0.9861
+Query 1/1: Action query time = 5.009 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9900
+t=122: Selected seed 195 with value = 0.9900
+Query 1/1: Action query time = 5.663 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9956
+t=138: Selected seed 195 with value = 0.9956
+Query 1/1: Action query time = 5.677 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9811
+t=154: Selected seed 195 with value = 0.9811
+Query 1/1: Action query time = 5.823 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9657
+t=170: Selected seed 195 with value = 0.9657
+Query 1/1: Action query time = 6.271 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9445
+t=186: Selected seed 195 with value = 0.9445
+Query 1/1: Action query time = 5.708 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9397
+t=202: Selected seed 195 with value = 0.9397
+Query 1/1: Action query time = 6.607 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9343
+t=218: Selected seed 195 with value = 0.9343
+Query 1/1: Action query time = 6.167 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9346
+t=234: Selected seed 195 with value = 0.9346
+Query 1/1: Action query time = 6.196 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9390
+t=250: Selected seed 195 with value = 0.9390
+Query 1/1: Action query time = 4.560 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9417
+t=266: Selected seed 195 with value = 0.9417
+Query 1/1: Action query time = 3.531 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9528
+t=282: Selected seed 195 with value = 0.9528
+Query 1/1: Action query time = 3.512 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9593
+t=298: Selected seed 195 with value = 0.9593
+Saved rollout MP4 at path ./rollouts/t7dc800x50_t1_s0/2026_08_03-01_16_46--with_future_img--episode=7--success=False--task=put_the_bowl_on_the_stove.mp4
+Success: False
+# episodes completed so far: 7
+# successes: 2 (28.6%)
+
+Task: put the bowl on the stove
+Starting episode 8...
+Query 1/1: Action query time = 7.584 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5163
+t=10: Selected seed 195 with value = 0.5163
+Query 1/1: Action query time = 7.208 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5887
+t=26: Selected seed 195 with value = 0.5887
+Query 1/1: Action query time = 5.852 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7489
+t=42: Selected seed 195 with value = 0.7489
+Query 1/1: Action query time = 7.390 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9342
+t=58: Selected seed 195 with value = 0.9342
+Query 1/1: Action query time = 6.514 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9643
+t=74: Selected seed 195 with value = 0.9643
+Query 1/1: Action query time = 4.653 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9670
+t=90: Selected seed 195 with value = 0.9670
+Query 1/1: Action query time = 7.597 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9835
+t=106: Selected seed 195 with value = 0.9835
+Query 1/1: Action query time = 5.643 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9780
+t=122: Selected seed 195 with value = 0.9780
+Query 1/1: Action query time = 6.495 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9682
+t=138: Selected seed 195 with value = 0.9682
+Query 1/1: Action query time = 6.974 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9443
+t=154: Selected seed 195 with value = 0.9443
+Query 1/1: Action query time = 5.351 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9500
+t=170: Selected seed 195 with value = 0.9500
+Query 1/1: Action query time = 6.695 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9389
+t=186: Selected seed 195 with value = 0.9389
+Query 1/1: Action query time = 5.915 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9418
+t=202: Selected seed 195 with value = 0.9418
+Query 1/1: Action query time = 6.628 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9531
+t=218: Selected seed 195 with value = 0.9531
+Query 1/1: Action query time = 6.303 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9575
+t=234: Selected seed 195 with value = 0.9575
+Query 1/1: Action query time = 6.965 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9383
+t=250: Selected seed 195 with value = 0.9383
+Query 1/1: Action query time = 5.597 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9370
+t=266: Selected seed 195 with value = 0.9370
+Query 1/1: Action query time = 3.702 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9453
+t=282: Selected seed 195 with value = 0.9453
+Query 1/1: Action query time = 4.716 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9475
+t=298: Selected seed 195 with value = 0.9475
+Saved rollout MP4 at path ./rollouts/t7dc800x50_t1_s0/2026_08_03-01_16_46--with_future_img--episode=8--success=False--task=put_the_bowl_on_the_stove.mp4
+Success: False
+# episodes completed so far: 8
+# successes: 2 (25.0%)
+
+Task: put the bowl on the stove
+Starting episode 9...
+Query 1/1: Action query time = 6.350 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5307
+t=10: Selected seed 195 with value = 0.5307
+Query 1/1: Action query time = 5.736 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6282
+t=26: Selected seed 195 with value = 0.6282
+Query 1/1: Action query time = 4.356 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6986
+t=42: Selected seed 195 with value = 0.6986
+Query 1/1: Action query time = 5.865 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8409
+t=58: Selected seed 195 with value = 0.8409
+Query 1/1: Action query time = 5.925 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9239
+t=74: Selected seed 195 with value = 0.9239
+Query 1/1: Action query time = 6.651 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9522
+t=90: Selected seed 195 with value = 0.9522
+Query 1/1: Action query time = 6.704 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9094
+t=106: Selected seed 195 with value = 0.9094
+Query 1/1: Action query time = 7.581 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9017
+t=122: Selected seed 195 with value = 0.9017
+Query 1/1: Action query time = 6.299 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8782
+t=138: Selected seed 195 with value = 0.8782
+Query 1/1: Action query time = 7.579 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8466
+t=154: Selected seed 195 with value = 0.8466
+Query 1/1: Action query time = 8.002 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8099
+t=170: Selected seed 195 with value = 0.8099
+Query 1/1: Action query time = 5.694 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7764
+t=186: Selected seed 195 with value = 0.7764
+Query 1/1: Action query time = 6.399 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7980
+t=202: Selected seed 195 with value = 0.7980
+Query 1/1: Action query time = 4.077 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9142
+t=218: Selected seed 195 with value = 0.9142
+Query 1/1: Action query time = 4.756 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8852
+t=234: Selected seed 195 with value = 0.8852
+Query 1/1: Action query time = 5.387 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8945
+t=250: Selected seed 195 with value = 0.8945
+Query 1/1: Action query time = 5.201 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8882
+t=266: Selected seed 195 with value = 0.8882
+Query 1/1: Action query time = 5.828 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8931
+t=282: Selected seed 195 with value = 0.8931
+Query 1/1: Action query time = 3.972 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8840
+t=298: Selected seed 195 with value = 0.8840
+Saved rollout MP4 at path ./rollouts/t7dc800x50_t1_s0/2026_08_03-01_16_46--with_future_img--episode=9--success=False--task=put_the_bowl_on_the_stove.mp4
+Success: False
+# episodes completed so far: 9
+# successes: 2 (22.2%)
+
+Task: put the bowl on the stove
+Starting episode 10...
+Query 1/1: Action query time = 7.938 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5349
+t=10: Selected seed 195 with value = 0.5349
+Query 1/1: Action query time = 4.924 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6041
+t=26: Selected seed 195 with value = 0.6041
+Query 1/1: Action query time = 5.198 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6898
+t=42: Selected seed 195 with value = 0.6898
+Query 1/1: Action query time = 5.274 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8048
+t=58: Selected seed 195 with value = 0.8048
+Query 1/1: Action query time = 7.121 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9581
+t=74: Selected seed 195 with value = 0.9581
+Query 1/1: Action query time = 6.912 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9897
+t=90: Selected seed 195 with value = 0.9897
+Saved rollout MP4 at path ./rollouts/t7dc800x50_t1_s0/2026_08_03-01_16_46--with_future_img--episode=10--success=True--task=put_the_bowl_on_the_stove.mp4
+Success: True
+# episodes completed so far: 10
+# successes: 3 (30.0%)
+
+Task: put the bowl on the stove
+Starting episode 11...
+Query 1/1: Action query time = 6.034 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5196
+t=10: Selected seed 195 with value = 0.5196
+Query 1/1: Action query time = 6.456 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6158
+t=26: Selected seed 195 with value = 0.6158
+Query 1/1: Action query time = 6.569 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6858
+t=42: Selected seed 195 with value = 0.6858
+Query 1/1: Action query time = 6.091 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9069
+t=58: Selected seed 195 with value = 0.9069
+Query 1/1: Action query time = 5.261 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8844
+t=74: Selected seed 195 with value = 0.8844
+Query 1/1: Action query time = 3.362 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9701
+t=90: Selected seed 195 with value = 0.9701
+Query 1/1: Action query time = 5.135 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9714
+t=106: Selected seed 195 with value = 0.9714
+Query 1/1: Action query time = 5.596 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9772
+t=122: Selected seed 195 with value = 0.9772
+Query 1/1: Action query time = 5.434 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9734
+t=138: Selected seed 195 with value = 0.9734
+Query 1/1: Action query time = 5.002 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9593
+t=154: Selected seed 195 with value = 0.9593
+Query 1/1: Action query time = 4.786 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9567
+t=170: Selected seed 195 with value = 0.9567
+Query 1/1: Action query time = 3.551 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9599
+t=186: Selected seed 195 with value = 0.9599
+Query 1/1: Action query time = 4.950 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9461
+t=202: Selected seed 195 with value = 0.9461
+Query 1/1: Action query time = 4.215 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9820
+t=218: Selected seed 195 with value = 0.9820
+Query 1/1: Action query time = 5.590 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9627
+t=234: Selected seed 195 with value = 0.9627
+Query 1/1: Action query time = 5.776 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9602
+t=250: Selected seed 195 with value = 0.9602
+Query 1/1: Action query time = 5.634 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9461
+t=266: Selected seed 195 with value = 0.9461
+Query 1/1: Action query time = 4.993 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9496
+t=282: Selected seed 195 with value = 0.9496
+Query 1/1: Action query time = 4.757 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9495
+t=298: Selected seed 195 with value = 0.9495
+Saved rollout MP4 at path ./rollouts/t7dc800x50_t1_s0/2026_08_03-01_16_46--with_future_img--episode=11--success=False--task=put_the_bowl_on_the_stove.mp4
+Success: False
+# episodes completed so far: 11
+# successes: 3 (27.3%)
+
+Task: put the bowl on the stove
+Starting episode 12...
+Query 1/1: Action query time = 4.660 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4948
+t=10: Selected seed 195 with value = 0.4948
+Query 1/1: Action query time = 4.061 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5689
+t=26: Selected seed 195 with value = 0.5689
+Query 1/1: Action query time = 4.300 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6638
+t=42: Selected seed 195 with value = 0.6638
+Query 1/1: Action query time = 4.068 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7952
+t=58: Selected seed 195 with value = 0.7952
+Query 1/1: Action query time = 4.358 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8931
+t=74: Selected seed 195 with value = 0.8931
+Query 1/1: Action query time = 3.527 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8587
+t=90: Selected seed 195 with value = 0.8587
+Query 1/1: Action query time = 3.453 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8942
+t=106: Selected seed 195 with value = 0.8942
+Query 1/1: Action query time = 4.690 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9241
+t=122: Selected seed 195 with value = 0.9241
+Query 1/1: Action query time = 4.331 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9894
+t=138: Selected seed 195 with value = 0.9894
+Query 1/1: Action query time = 4.323 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9954
+t=154: Selected seed 195 with value = 0.9954
+Query 1/1: Action query time = 3.433 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9935
+t=170: Selected seed 195 with value = 0.9935
+Query 1/1: Action query time = 3.442 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9908
+t=186: Selected seed 195 with value = 0.9908
+Query 1/1: Action query time = 2.742 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9886
+t=202: Selected seed 195 with value = 0.9886
+Query 1/1: Action query time = 2.645 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9870
+t=218: Selected seed 195 with value = 0.9870
+Query 1/1: Action query time = 3.264 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9862
+t=234: Selected seed 195 with value = 0.9862
+Query 1/1: Action query time = 4.256 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9888
+t=250: Selected seed 195 with value = 0.9888
+Query 1/1: Action query time = 4.250 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9904
+t=266: Selected seed 195 with value = 0.9904
+Query 1/1: Action query time = 3.451 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9922
+t=282: Selected seed 195 with value = 0.9922
+Query 1/1: Action query time = 3.883 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9956
+t=298: Selected seed 195 with value = 0.9956
+Saved rollout MP4 at path ./rollouts/t7dc800x50_t1_s0/2026_08_03-01_16_46--with_future_img--episode=12--success=False--task=put_the_bowl_on_the_stove.mp4
+Success: False
+# episodes completed so far: 12
+# successes: 3 (25.0%)
+
+Task: put the bowl on the stove
+Starting episode 13...
+Query 1/1: Action query time = 3.595 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4879
+t=10: Selected seed 195 with value = 0.4879
+Query 1/1: Action query time = 4.376 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5842
+t=26: Selected seed 195 with value = 0.5842
+Query 1/1: Action query time = 4.208 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6723
+t=42: Selected seed 195 with value = 0.6723
+Query 1/1: Action query time = 4.550 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7658
+t=58: Selected seed 195 with value = 0.7658
+Query 1/1: Action query time = 4.667 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8735
+t=74: Selected seed 195 with value = 0.8735
+Query 1/1: Action query time = 2.937 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7973
+t=90: Selected seed 195 with value = 0.7973
+Query 1/1: Action query time = 3.263 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8768
+t=106: Selected seed 195 with value = 0.8768
+Query 1/1: Action query time = 4.287 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9159
+t=122: Selected seed 195 with value = 0.9159
+Query 1/1: Action query time = 4.117 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9176
+t=138: Selected seed 195 with value = 0.9176
+Query 1/1: Action query time = 3.661 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9612
+t=154: Selected seed 195 with value = 0.9612
+Query 1/1: Action query time = 2.980 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9688
+t=170: Selected seed 195 with value = 0.9688
+Query 1/1: Action query time = 2.887 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9481
+t=186: Selected seed 195 with value = 0.9481
+Query 1/1: Action query time = 1.991 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9427
+t=202: Selected seed 195 with value = 0.9427
+Query 1/1: Action query time = 2.072 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9329
+t=218: Selected seed 195 with value = 0.9329
+Query 1/1: Action query time = 2.468 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9377
+t=234: Selected seed 195 with value = 0.9377
+Query 1/1: Action query time = 2.238 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9478
+t=250: Selected seed 195 with value = 0.9478
+Query 1/1: Action query time = 2.990 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9557
+t=266: Selected seed 195 with value = 0.9557
+Query 1/1: Action query time = 3.298 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9606
+t=282: Selected seed 195 with value = 0.9606
+Query 1/1: Action query time = 3.127 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9607
+t=298: Selected seed 195 with value = 0.9607
+Saved rollout MP4 at path ./rollouts/t7dc800x50_t1_s0/2026_08_03-01_16_46--with_future_img--episode=13--success=False--task=put_the_bowl_on_the_stove.mp4
+Success: False
+# episodes completed so far: 13
+# successes: 3 (23.1%)
+Current task success rate: 0.23076923076923078
+Current total success rate: 0.23076923076923078
+Final results:
+Total episodes: 13
+Total successes: 3
+Overall success rate: 0.2308 (23.1%)
diff --git a/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_03-01_16_47--t7dc800x50_t3_s2.txt b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_03-01_16_47--t7dc800x50_t3_s2.txt
new file mode 100644
index 0000000000000000000000000000000000000000..e280d6287dc6a06caf47b36aded5112e75f616a2
--- /dev/null
+++ b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_03-01_16_47--t7dc800x50_t3_s2.txt
@@ -0,0 +1,1008 @@
+Eval config: PolicyEvalConfig(suite='libero', model_family='cosmos', config='cosmos_predict2_2b_480p_libero_cl_stage_inference_only', ckpt_path='/home/azureuser/REGEN-main/new_task7/cosmos_policy/cosmos_v2_finetune/cosmos_predict2_2b_480p_libero_goal_task7_cl_from_demochan800_2gpu/checkpoints/iter_000000800/model', planning_model_config_name='', planning_model_ckpt_path='', config_file='cosmos_policy/config/config.py', packnet_mask_path='', packnet_first_cl_libero_task=6, use_third_person_image=True, num_third_person_images=1, use_wrist_image=True, num_wrist_images=1, use_proprio=True, flip_images=True, use_variance_scale=False, use_jpeg_compression=True, ar_future_prediction=False, ar_value_prediction=False, ar_qvalue_prediction=False, num_denoising_steps_action=5, num_denoising_steps_future_state=1, num_denoising_steps_value=1, unnormalize_actions=True, normalize_proprio=True, dataset_stats_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/libero_goal_regen/dataset_statistics.json', t5_text_embeddings_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/t5_embeddings.pkl', trained_with_image_aug=True, chunk_size=16, num_open_loop_steps=16, deterministic=True, deterministic_reset=False, deterministic_reset_seed=None, use_ensemble_future_state_predictions=False, num_future_state_predictions_in_ensemble=3, future_state_ensemble_aggregation_scheme='average', use_ensemble_value_predictions=False, num_value_predictions_in_ensemble=5, value_ensemble_aggregation_scheme='average', search_depth=1, mask_current_state_action_for_value_prediction=False, mask_future_state_for_qvalue_prediction=False, num_queries_best_of_n=1, use_parallel_inference=False, available_gpus='0', parallel_timeout=15, parallel_tasks_across_gpus=False, task_suite_name='libero_goal', num_trials_per_task=50, task_ids_to_run='3', initial_states_path='DEFAULT', env_img_res=256, local_log_dir='/home/azureuser/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal', run_id_note='t7dc800x50_t3_s2', use_wandb=False, wandb_entity='YOUR_ENTITY', wandb_project='YOUR_PROJECT', seed=195, randomize_seed=False, data_collection=False, jpeg_compress=True, reward_stop_threshold=None, reward_stop_consecutive_steps=3, use_gpt_reward=False, gpt_reward_model='gpt-5.4-mini', gpt_reward_stop_threshold=4, gpt_reward_timeout_s=30.0, save_rollout_video=False, eval_hdf5_path='', eval_hdf5_demo_key='demo_0', data_gen_demo_ids='', eval_episode_ids='2,6,10,14,18,22,26,30,34,38,42,46', replay_actions=False, replay_action_path_dir='', replay_hdf5_path='', data_generation=False, max_generation_steps=200, simple_task_max_steps=100, complex_task_max_steps=200, disable_value_stop=False)
+Using serial inference (parallel inference disabled)
+Task suite: libero_goal
+Number of tasks: 10
+Running only task IDs: [3]
+Using default initial states
+
+Task: open the top drawer and put the bowl inside
+Starting episode 1...
+Query 1/1: Action query time = 4.956 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5281
+t=10: Selected seed 195 with value = 0.5281
+Query 1/1: Action query time = 4.050 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6264
+t=26: Selected seed 195 with value = 0.6264
+Query 1/1: Action query time = 5.719 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8174
+t=42: Selected seed 195 with value = 0.8174
+Query 1/1: Action query time = 5.591 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9324
+t=58: Selected seed 195 with value = 0.9324
+Query 1/1: Action query time = 5.306 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9870
+t=74: Selected seed 195 with value = 0.9870
+Query 1/1: Action query time = 5.010 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9897
+t=90: Selected seed 195 with value = 0.9897
+Query 1/1: Action query time = 6.765 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9356
+t=106: Selected seed 195 with value = 0.9356
+Query 1/1: Action query time = 6.679 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8852
+t=122: Selected seed 195 with value = 0.8852
+Query 1/1: Action query time = 6.291 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8826
+t=138: Selected seed 195 with value = 0.8826
+Query 1/1: Action query time = 7.090 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9235
+t=154: Selected seed 195 with value = 0.9235
+Query 1/1: Action query time = 6.313 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9018
+t=170: Selected seed 195 with value = 0.9018
+Query 1/1: Action query time = 5.438 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8909
+t=186: Selected seed 195 with value = 0.8909
+Query 1/1: Action query time = 6.964 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8701
+t=202: Selected seed 195 with value = 0.8701
+Query 1/1: Action query time = 6.460 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8492
+t=218: Selected seed 195 with value = 0.8492
+Query 1/1: Action query time = 6.926 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8608
+t=234: Selected seed 195 with value = 0.8608
+Query 1/1: Action query time = 6.371 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8316
+t=250: Selected seed 195 with value = 0.8316
+Query 1/1: Action query time = 5.043 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8834
+t=266: Selected seed 195 with value = 0.8834
+Query 1/1: Action query time = 4.290 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9342
+t=282: Selected seed 195 with value = 0.9342
+Query 1/1: Action query time = 5.298 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8868
+t=298: Selected seed 195 with value = 0.8868
+Saved rollout MP4 at path ./rollouts/t7dc800x50_t3_s2/2026_08_03-01_16_47--with_future_img--episode=1--success=False--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: False
+# episodes completed so far: 1
+# successes: 0 (0.0%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 2...
+Query 1/1: Action query time = 5.176 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4970
+t=10: Selected seed 195 with value = 0.4970
+Query 1/1: Action query time = 6.136 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7579
+t=26: Selected seed 195 with value = 0.7579
+Query 1/1: Action query time = 5.042 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8235
+t=42: Selected seed 195 with value = 0.8235
+Query 1/1: Action query time = 7.164 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8768
+t=58: Selected seed 195 with value = 0.8768
+Query 1/1: Action query time = 6.593 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9496
+t=74: Selected seed 195 with value = 0.9496
+Query 1/1: Action query time = 7.591 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9383
+t=90: Selected seed 195 with value = 0.9383
+Query 1/1: Action query time = 5.891 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8892
+t=106: Selected seed 195 with value = 0.8892
+Query 1/1: Action query time = 6.484 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8133
+t=122: Selected seed 195 with value = 0.8133
+Query 1/1: Action query time = 6.219 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8142
+t=138: Selected seed 195 with value = 0.8142
+Query 1/1: Action query time = 5.227 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8442
+t=154: Selected seed 195 with value = 0.8442
+Query 1/1: Action query time = 5.756 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8334
+t=170: Selected seed 195 with value = 0.8334
+Query 1/1: Action query time = 7.389 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8941
+t=186: Selected seed 195 with value = 0.8941
+Query 1/1: Action query time = 5.299 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8955
+t=202: Selected seed 195 with value = 0.8955
+Query 1/1: Action query time = 5.093 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8551
+t=218: Selected seed 195 with value = 0.8551
+Query 1/1: Action query time = 5.777 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8845
+t=234: Selected seed 195 with value = 0.8845
+Query 1/1: Action query time = 4.160 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8587
+t=250: Selected seed 195 with value = 0.8587
+Query 1/1: Action query time = 3.906 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8644
+t=266: Selected seed 195 with value = 0.8644
+Query 1/1: Action query time = 3.893 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8715
+t=282: Selected seed 195 with value = 0.8715
+Query 1/1: Action query time = 3.202 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8545
+t=298: Selected seed 195 with value = 0.8545
+Saved rollout MP4 at path ./rollouts/t7dc800x50_t3_s2/2026_08_03-01_16_47--with_future_img--episode=2--success=False--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: False
+# episodes completed so far: 2
+# successes: 0 (0.0%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 3...
+Query 1/1: Action query time = 4.877 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5252
+t=10: Selected seed 195 with value = 0.5252
+Query 1/1: Action query time = 5.226 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7683
+t=26: Selected seed 195 with value = 0.7683
+Query 1/1: Action query time = 4.780 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8026
+t=42: Selected seed 195 with value = 0.8026
+Query 1/1: Action query time = 5.646 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9134
+t=58: Selected seed 195 with value = 0.9134
+Query 1/1: Action query time = 6.344 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9695
+t=74: Selected seed 195 with value = 0.9695
+Query 1/1: Action query time = 5.665 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9540
+t=90: Selected seed 195 with value = 0.9540
+Query 1/1: Action query time = 7.339 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9542
+t=106: Selected seed 195 with value = 0.9542
+Query 1/1: Action query time = 6.564 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9191
+t=122: Selected seed 195 with value = 0.9191
+Query 1/1: Action query time = 5.388 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9415
+t=138: Selected seed 195 with value = 0.9415
+Query 1/1: Action query time = 4.402 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9281
+t=154: Selected seed 195 with value = 0.9281
+Query 1/1: Action query time = 3.961 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9221
+t=170: Selected seed 195 with value = 0.9221
+Query 1/1: Action query time = 5.592 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9213
+t=186: Selected seed 195 with value = 0.9213
+Query 1/1: Action query time = 5.349 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9180
+t=202: Selected seed 195 with value = 0.9180
+Query 1/1: Action query time = 5.035 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9224
+t=218: Selected seed 195 with value = 0.9224
+Query 1/1: Action query time = 4.755 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9142
+t=234: Selected seed 195 with value = 0.9142
+Query 1/1: Action query time = 3.528 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9270
+t=250: Selected seed 195 with value = 0.9270
+Query 1/1: Action query time = 3.074 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9115
+t=266: Selected seed 195 with value = 0.9115
+Query 1/1: Action query time = 3.638 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9055
+t=282: Selected seed 195 with value = 0.9055
+Query 1/1: Action query time = 5.484 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8741
+t=298: Selected seed 195 with value = 0.8741
+Saved rollout MP4 at path ./rollouts/t7dc800x50_t3_s2/2026_08_03-01_16_47--with_future_img--episode=3--success=False--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: False
+# episodes completed so far: 3
+# successes: 0 (0.0%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 4...
+Query 1/1: Action query time = 2.691 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4902
+t=10: Selected seed 195 with value = 0.4902
+Query 1/1: Action query time = 3.469 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7596
+t=26: Selected seed 195 with value = 0.7596
+Query 1/1: Action query time = 6.056 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8125
+t=42: Selected seed 195 with value = 0.8125
+Query 1/1: Action query time = 4.896 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9081
+t=58: Selected seed 195 with value = 0.9081
+Query 1/1: Action query time = 5.257 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9079
+t=74: Selected seed 195 with value = 0.9079
+Query 1/1: Action query time = 5.172 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9604
+t=90: Selected seed 195 with value = 0.9604
+Query 1/1: Action query time = 6.385 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9267
+t=106: Selected seed 195 with value = 0.9267
+Query 1/1: Action query time = 5.337 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9088
+t=122: Selected seed 195 with value = 0.9088
+Query 1/1: Action query time = 5.618 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8987
+t=138: Selected seed 195 with value = 0.8987
+Query 1/1: Action query time = 4.556 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9165
+t=154: Selected seed 195 with value = 0.9165
+Query 1/1: Action query time = 5.661 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9277
+t=170: Selected seed 195 with value = 0.9277
+Query 1/1: Action query time = 4.850 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9295
+t=186: Selected seed 195 with value = 0.9295
+Query 1/1: Action query time = 5.216 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8739
+t=202: Selected seed 195 with value = 0.8739
+Query 1/1: Action query time = 5.178 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9202
+t=218: Selected seed 195 with value = 0.9202
+Query 1/1: Action query time = 3.294 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8540
+t=234: Selected seed 195 with value = 0.8540
+Query 1/1: Action query time = 3.582 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9362
+t=250: Selected seed 195 with value = 0.9362
+Query 1/1: Action query time = 4.638 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8455
+t=266: Selected seed 195 with value = 0.8455
+Query 1/1: Action query time = 4.412 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8739
+t=282: Selected seed 195 with value = 0.8739
+Query 1/1: Action query time = 6.210 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7866
+t=298: Selected seed 195 with value = 0.7866
+Saved rollout MP4 at path ./rollouts/t7dc800x50_t3_s2/2026_08_03-01_16_47--with_future_img--episode=4--success=False--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: False
+# episodes completed so far: 4
+# successes: 0 (0.0%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 5...
+Query 1/1: Action query time = 5.293 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4849
+t=10: Selected seed 195 with value = 0.4849
+Query 1/1: Action query time = 3.920 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6943
+t=26: Selected seed 195 with value = 0.6943
+Query 1/1: Action query time = 5.795 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8131
+t=42: Selected seed 195 with value = 0.8131
+Query 1/1: Action query time = 4.745 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8747
+t=58: Selected seed 195 with value = 0.8747
+Query 1/1: Action query time = 5.221 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9434
+t=74: Selected seed 195 with value = 0.9434
+Query 1/1: Action query time = 5.182 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9551
+t=90: Selected seed 195 with value = 0.9551
+Query 1/1: Action query time = 6.591 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9247
+t=106: Selected seed 195 with value = 0.9247
+Query 1/1: Action query time = 4.968 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9607
+t=122: Selected seed 195 with value = 0.9607
+Query 1/1: Action query time = 4.565 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9084
+t=138: Selected seed 195 with value = 0.9084
+Query 1/1: Action query time = 2.264 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8996
+t=154: Selected seed 195 with value = 0.8996
+Query 1/1: Action query time = 3.692 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9065
+t=170: Selected seed 195 with value = 0.9065
+Query 1/1: Action query time = 4.025 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9206
+t=186: Selected seed 195 with value = 0.9206
+Query 1/1: Action query time = 4.903 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9250
+t=202: Selected seed 195 with value = 0.9250
+Query 1/1: Action query time = 3.346 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9228
+t=218: Selected seed 195 with value = 0.9228
+Query 1/1: Action query time = 3.886 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9083
+t=234: Selected seed 195 with value = 0.9083
+Query 1/1: Action query time = 2.744 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8753
+t=250: Selected seed 195 with value = 0.8753
+Query 1/1: Action query time = 3.787 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8469
+t=266: Selected seed 195 with value = 0.8469
+Query 1/1: Action query time = 4.848 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8495
+t=282: Selected seed 195 with value = 0.8495
+Query 1/1: Action query time = 5.185 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8505
+t=298: Selected seed 195 with value = 0.8505
+Saved rollout MP4 at path ./rollouts/t7dc800x50_t3_s2/2026_08_03-01_16_47--with_future_img--episode=5--success=False--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: False
+# episodes completed so far: 5
+# successes: 0 (0.0%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 6...
+Query 1/1: Action query time = 5.307 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6217
+t=10: Selected seed 195 with value = 0.6217
+Query 1/1: Action query time = 6.088 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6963
+t=26: Selected seed 195 with value = 0.6963
+Query 1/1: Action query time = 5.612 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8103
+t=42: Selected seed 195 with value = 0.8103
+Query 1/1: Action query time = 4.424 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9244
+t=58: Selected seed 195 with value = 0.9244
+Query 1/1: Action query time = 3.716 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9470
+t=74: Selected seed 195 with value = 0.9470
+Query 1/1: Action query time = 4.693 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9576
+t=90: Selected seed 195 with value = 0.9576
+Query 1/1: Action query time = 4.681 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9123
+t=106: Selected seed 195 with value = 0.9123
+Query 1/1: Action query time = 2.665 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8710
+t=122: Selected seed 195 with value = 0.8710
+Query 1/1: Action query time = 3.933 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8655
+t=138: Selected seed 195 with value = 0.8655
+Query 1/1: Action query time = 4.802 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9378
+t=154: Selected seed 195 with value = 0.9378
+Query 1/1: Action query time = 4.579 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9330
+t=170: Selected seed 195 with value = 0.9330
+Query 1/1: Action query time = 3.886 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9393
+t=186: Selected seed 195 with value = 0.9393
+Query 1/1: Action query time = 4.506 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9247
+t=202: Selected seed 195 with value = 0.9247
+Query 1/1: Action query time = 3.570 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9173
+t=218: Selected seed 195 with value = 0.9173
+Query 1/1: Action query time = 2.980 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9324
+t=234: Selected seed 195 with value = 0.9324
+Query 1/1: Action query time = 3.985 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8834
+t=250: Selected seed 195 with value = 0.8834
+Query 1/1: Action query time = 2.597 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8827
+t=266: Selected seed 195 with value = 0.8827
+Query 1/1: Action query time = 3.323 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8883
+t=282: Selected seed 195 with value = 0.8883
+Query 1/1: Action query time = 3.152 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9084
+t=298: Selected seed 195 with value = 0.9084
+Saved rollout MP4 at path ./rollouts/t7dc800x50_t3_s2/2026_08_03-01_16_47--with_future_img--episode=6--success=False--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: False
+# episodes completed so far: 6
+# successes: 0 (0.0%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 7...
+Query 1/1: Action query time = 3.253 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4781
+t=10: Selected seed 195 with value = 0.4781
+Query 1/1: Action query time = 3.860 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7131
+t=26: Selected seed 195 with value = 0.7131
+Query 1/1: Action query time = 4.941 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8224
+t=42: Selected seed 195 with value = 0.8224
+Query 1/1: Action query time = 3.752 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8920
+t=58: Selected seed 195 with value = 0.8920
+Query 1/1: Action query time = 4.003 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9615
+t=74: Selected seed 195 with value = 0.9615
+Query 1/1: Action query time = 4.368 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9583
+t=90: Selected seed 195 with value = 0.9583
+Query 1/1: Action query time = 4.460 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9541
+t=106: Selected seed 195 with value = 0.9541
+Query 1/1: Action query time = 4.431 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9619
+t=122: Selected seed 195 with value = 0.9619
+Query 1/1: Action query time = 3.989 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9842
+t=138: Selected seed 195 with value = 0.9842
+Query 1/1: Action query time = 4.294 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9365
+t=154: Selected seed 195 with value = 0.9365
+Query 1/1: Action query time = 3.696 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9716
+t=170: Selected seed 195 with value = 0.9716
+Query 1/1: Action query time = 4.204 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9355
+t=186: Selected seed 195 with value = 0.9355
+Query 1/1: Action query time = 2.729 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9248
+t=202: Selected seed 195 with value = 0.9248
+Query 1/1: Action query time = 4.380 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9408
+t=218: Selected seed 195 with value = 0.9408
+Query 1/1: Action query time = 4.331 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9316
+t=234: Selected seed 195 with value = 0.9316
+Query 1/1: Action query time = 3.293 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9293
+t=250: Selected seed 195 with value = 0.9293
+Query 1/1: Action query time = 3.747 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9190
+t=266: Selected seed 195 with value = 0.9190
+Query 1/1: Action query time = 3.766 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8871
+t=282: Selected seed 195 with value = 0.8871
+Query 1/1: Action query time = 4.093 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8671
+t=298: Selected seed 195 with value = 0.8671
+Saved rollout MP4 at path ./rollouts/t7dc800x50_t3_s2/2026_08_03-01_16_47--with_future_img--episode=7--success=False--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: False
+# episodes completed so far: 7
+# successes: 0 (0.0%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 8...
+Query 1/1: Action query time = 3.547 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6722
+t=10: Selected seed 195 with value = 0.6722
+Query 1/1: Action query time = 1.839 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7769
+t=26: Selected seed 195 with value = 0.7769
+Query 1/1: Action query time = 4.208 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8001
+t=42: Selected seed 195 with value = 0.8001
+Query 1/1: Action query time = 3.128 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8889
+t=58: Selected seed 195 with value = 0.8889
+Query 1/1: Action query time = 4.107 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9386
+t=74: Selected seed 195 with value = 0.9386
+Query 1/1: Action query time = 2.951 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9778
+t=90: Selected seed 195 with value = 0.9778
+Query 1/1: Action query time = 3.895 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9230
+t=106: Selected seed 195 with value = 0.9230
+Query 1/1: Action query time = 3.806 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8997
+t=122: Selected seed 195 with value = 0.8997
+Query 1/1: Action query time = 3.834 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9112
+t=138: Selected seed 195 with value = 0.9112
+Query 1/1: Action query time = 5.798 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8558
+t=154: Selected seed 195 with value = 0.8558
+Query 1/1: Action query time = 3.780 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8907
+t=170: Selected seed 195 with value = 0.8907
+Query 1/1: Action query time = 4.872 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8668
+t=186: Selected seed 195 with value = 0.8668
+Query 1/1: Action query time = 5.009 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8929
+t=202: Selected seed 195 with value = 0.8929
+Query 1/1: Action query time = 3.801 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8491
+t=218: Selected seed 195 with value = 0.8491
+Query 1/1: Action query time = 4.997 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9020
+t=234: Selected seed 195 with value = 0.9020
+Query 1/1: Action query time = 4.174 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8605
+t=250: Selected seed 195 with value = 0.8605
+Query 1/1: Action query time = 3.515 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9073
+t=266: Selected seed 195 with value = 0.9073
+Query 1/1: Action query time = 4.598 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8489
+t=282: Selected seed 195 with value = 0.8489
+Query 1/1: Action query time = 4.949 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9197
+t=298: Selected seed 195 with value = 0.9197
+Saved rollout MP4 at path ./rollouts/t7dc800x50_t3_s2/2026_08_03-01_16_47--with_future_img--episode=8--success=False--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: False
+# episodes completed so far: 8
+# successes: 0 (0.0%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 9...
+Query 1/1: Action query time = 3.957 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5767
+t=10: Selected seed 195 with value = 0.5767
+Query 1/1: Action query time = 4.375 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7331
+t=26: Selected seed 195 with value = 0.7331
+Query 1/1: Action query time = 3.201 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8416
+t=42: Selected seed 195 with value = 0.8416
+Query 1/1: Action query time = 4.217 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9142
+t=58: Selected seed 195 with value = 0.9142
+Query 1/1: Action query time = 4.525 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9655
+t=74: Selected seed 195 with value = 0.9655
+Query 1/1: Action query time = 3.713 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9649
+t=90: Selected seed 195 with value = 0.9649
+Query 1/1: Action query time = 3.603 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9060
+t=106: Selected seed 195 with value = 0.9060
+Query 1/1: Action query time = 4.074 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9218
+t=122: Selected seed 195 with value = 0.9218
+Query 1/1: Action query time = 2.242 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8781
+t=138: Selected seed 195 with value = 0.8781
+Query 1/1: Action query time = 4.255 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9308
+t=154: Selected seed 195 with value = 0.9308
+Query 1/1: Action query time = 2.206 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8927
+t=170: Selected seed 195 with value = 0.8927
+Query 1/1: Action query time = 3.665 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9034
+t=186: Selected seed 195 with value = 0.9034
+Query 1/1: Action query time = 2.368 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8595
+t=202: Selected seed 195 with value = 0.8595
+Query 1/1: Action query time = 3.262 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8929
+t=218: Selected seed 195 with value = 0.8929
+Query 1/1: Action query time = 3.625 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8703
+t=234: Selected seed 195 with value = 0.8703
+Query 1/1: Action query time = 3.498 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8689
+t=250: Selected seed 195 with value = 0.8689
+Query 1/1: Action query time = 3.909 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8665
+t=266: Selected seed 195 with value = 0.8665
+Query 1/1: Action query time = 4.835 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8777
+t=282: Selected seed 195 with value = 0.8777
+Query 1/1: Action query time = 2.869 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8626
+t=298: Selected seed 195 with value = 0.8626
+Saved rollout MP4 at path ./rollouts/t7dc800x50_t3_s2/2026_08_03-01_16_47--with_future_img--episode=9--success=False--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: False
+# episodes completed so far: 9
+# successes: 0 (0.0%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 10...
+Query 1/1: Action query time = 4.048 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6460
+t=10: Selected seed 195 with value = 0.6460
+Query 1/1: Action query time = 2.958 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6700
+t=26: Selected seed 195 with value = 0.6700
+Query 1/1: Action query time = 4.691 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8101
+t=42: Selected seed 195 with value = 0.8101
+Query 1/1: Action query time = 4.242 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9016
+t=58: Selected seed 195 with value = 0.9016
+Query 1/1: Action query time = 3.077 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9093
+t=74: Selected seed 195 with value = 0.9093
+Query 1/1: Action query time = 3.451 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8925
+t=90: Selected seed 195 with value = 0.8925
+Query 1/1: Action query time = 4.304 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8547
+t=106: Selected seed 195 with value = 0.8547
+Query 1/1: Action query time = 6.855 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9042
+t=122: Selected seed 195 with value = 0.9042
+Query 1/1: Action query time = 3.634 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9313
+t=138: Selected seed 195 with value = 0.9313
+Query 1/1: Action query time = 3.683 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9089
+t=154: Selected seed 195 with value = 0.9089
+Query 1/1: Action query time = 5.300 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8854
+t=170: Selected seed 195 with value = 0.8854
+Query 1/1: Action query time = 4.149 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8795
+t=186: Selected seed 195 with value = 0.8795
+Query 1/1: Action query time = 4.374 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9000
+t=202: Selected seed 195 with value = 0.9000
+Query 1/1: Action query time = 3.989 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9072
+t=218: Selected seed 195 with value = 0.9072
+Query 1/1: Action query time = 5.044 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9010
+t=234: Selected seed 195 with value = 0.9010
+Query 1/1: Action query time = 3.975 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8907
+t=250: Selected seed 195 with value = 0.8907
+Query 1/1: Action query time = 4.373 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8812
+t=266: Selected seed 195 with value = 0.8812
+Query 1/1: Action query time = 3.776 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8677
+t=282: Selected seed 195 with value = 0.8677
+Query 1/1: Action query time = 3.052 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8719
+t=298: Selected seed 195 with value = 0.8719
+Saved rollout MP4 at path ./rollouts/t7dc800x50_t3_s2/2026_08_03-01_16_47--with_future_img--episode=10--success=False--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: False
+# episodes completed so far: 10
+# successes: 0 (0.0%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 11...
+Query 1/1: Action query time = 4.181 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5897
+t=10: Selected seed 195 with value = 0.5897
+Query 1/1: Action query time = 2.901 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6262
+t=26: Selected seed 195 with value = 0.6262
+Query 1/1: Action query time = 2.568 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8130
+t=42: Selected seed 195 with value = 0.8130
+Query 1/1: Action query time = 3.368 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9237
+t=58: Selected seed 195 with value = 0.9237
+Query 1/1: Action query time = 4.040 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9394
+t=74: Selected seed 195 with value = 0.9394
+Query 1/1: Action query time = 3.312 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9393
+t=90: Selected seed 195 with value = 0.9393
+Query 1/1: Action query time = 5.045 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9384
+t=106: Selected seed 195 with value = 0.9384
+Query 1/1: Action query time = 3.702 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9115
+t=122: Selected seed 195 with value = 0.9115
+Query 1/1: Action query time = 4.378 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8913
+t=138: Selected seed 195 with value = 0.8913
+Query 1/1: Action query time = 5.005 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9194
+t=154: Selected seed 195 with value = 0.9194
+Query 1/1: Action query time = 3.965 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8871
+t=170: Selected seed 195 with value = 0.8871
+Query 1/1: Action query time = 3.961 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8816
+t=186: Selected seed 195 with value = 0.8816
+Query 1/1: Action query time = 4.793 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9135
+t=202: Selected seed 195 with value = 0.9135
+Query 1/1: Action query time = 5.083 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9179
+t=218: Selected seed 195 with value = 0.9179
+Query 1/1: Action query time = 2.985 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9376
+t=234: Selected seed 195 with value = 0.9376
+Query 1/1: Action query time = 5.231 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8958
+t=250: Selected seed 195 with value = 0.8958
+Query 1/1: Action query time = 4.215 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9023
+t=266: Selected seed 195 with value = 0.9023
+Query 1/1: Action query time = 3.626 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8619
+t=282: Selected seed 195 with value = 0.8619
+Query 1/1: Action query time = 4.541 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8791
+t=298: Selected seed 195 with value = 0.8791
+Saved rollout MP4 at path ./rollouts/t7dc800x50_t3_s2/2026_08_03-01_16_47--with_future_img--episode=11--success=False--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: False
+# episodes completed so far: 11
+# successes: 0 (0.0%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 12...
+Query 1/1: Action query time = 4.594 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7501
+t=10: Selected seed 195 with value = 0.7501
+Query 1/1: Action query time = 4.116 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7568
+t=26: Selected seed 195 with value = 0.7568
+Query 1/1: Action query time = 3.412 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8124
+t=42: Selected seed 195 with value = 0.8124
+Query 1/1: Action query time = 4.379 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8894
+t=58: Selected seed 195 with value = 0.8894
+Query 1/1: Action query time = 3.539 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9596
+t=74: Selected seed 195 with value = 0.9596
+Query 1/1: Action query time = 3.877 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9669
+t=90: Selected seed 195 with value = 0.9669
+Query 1/1: Action query time = 4.172 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8922
+t=106: Selected seed 195 with value = 0.8922
+Query 1/1: Action query time = 4.343 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8989
+t=122: Selected seed 195 with value = 0.8989
+Query 1/1: Action query time = 3.714 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8771
+t=138: Selected seed 195 with value = 0.8771
+Query 1/1: Action query time = 5.373 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8821
+t=154: Selected seed 195 with value = 0.8821
+Query 1/1: Action query time = 5.357 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8908
+t=170: Selected seed 195 with value = 0.8908
+Query 1/1: Action query time = 4.471 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8470
+t=186: Selected seed 195 with value = 0.8470
+Query 1/1: Action query time = 3.829 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8768
+t=202: Selected seed 195 with value = 0.8768
+Query 1/1: Action query time = 3.884 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8437
+t=218: Selected seed 195 with value = 0.8437
+Query 1/1: Action query time = 4.334 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7923
+t=234: Selected seed 195 with value = 0.7923
+Query 1/1: Action query time = 4.665 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8281
+t=250: Selected seed 195 with value = 0.8281
+Query 1/1: Action query time = 4.667 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7988
+t=266: Selected seed 195 with value = 0.7988
+Query 1/1: Action query time = 4.356 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8021
+t=282: Selected seed 195 with value = 0.8021
+Query 1/1: Action query time = 4.309 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8140
+t=298: Selected seed 195 with value = 0.8140
+Saved rollout MP4 at path ./rollouts/t7dc800x50_t3_s2/2026_08_03-01_16_47--with_future_img--episode=12--success=False--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: False
+# episodes completed so far: 12
+# successes: 0 (0.0%)
+Current task success rate: 0.0
+Current total success rate: 0.0
+Final results:
+Total episodes: 12
+Total successes: 0
+Overall success rate: 0.0000 (0.0%)
diff --git a/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_03-01_16_47--t7rc800x50_t1_s2.txt b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_03-01_16_47--t7rc800x50_t1_s2.txt
new file mode 100644
index 0000000000000000000000000000000000000000..e7ad839faab970293d6075d3d11c8936a220e3ef
--- /dev/null
+++ b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_03-01_16_47--t7rc800x50_t1_s2.txt
@@ -0,0 +1,812 @@
+Eval config: PolicyEvalConfig(suite='libero', model_family='cosmos', config='cosmos_predict2_2b_480p_libero_cl_stage_inference_only', ckpt_path='/home/azureuser/REGEN-main/new_task7/cosmos_policy/cosmos_v2_finetune/cosmos_predict2_2b_480p_libero_goal_task7_cl_from_realcl800_2gpu/checkpoints/iter_000000800/model', planning_model_config_name='', planning_model_ckpt_path='', config_file='cosmos_policy/config/config.py', packnet_mask_path='', packnet_first_cl_libero_task=6, use_third_person_image=True, num_third_person_images=1, use_wrist_image=True, num_wrist_images=1, use_proprio=True, flip_images=True, use_variance_scale=False, use_jpeg_compression=True, ar_future_prediction=False, ar_value_prediction=False, ar_qvalue_prediction=False, num_denoising_steps_action=5, num_denoising_steps_future_state=1, num_denoising_steps_value=1, unnormalize_actions=True, normalize_proprio=True, dataset_stats_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/libero_goal_regen/dataset_statistics.json', t5_text_embeddings_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/t5_embeddings.pkl', trained_with_image_aug=True, chunk_size=16, num_open_loop_steps=16, deterministic=True, deterministic_reset=False, deterministic_reset_seed=None, use_ensemble_future_state_predictions=False, num_future_state_predictions_in_ensemble=3, future_state_ensemble_aggregation_scheme='average', use_ensemble_value_predictions=False, num_value_predictions_in_ensemble=5, value_ensemble_aggregation_scheme='average', search_depth=1, mask_current_state_action_for_value_prediction=False, mask_future_state_for_qvalue_prediction=False, num_queries_best_of_n=1, use_parallel_inference=False, available_gpus='0', parallel_timeout=15, parallel_tasks_across_gpus=False, task_suite_name='libero_goal', num_trials_per_task=50, task_ids_to_run='1', initial_states_path='DEFAULT', env_img_res=256, local_log_dir='/home/azureuser/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal', run_id_note='t7rc800x50_t1_s2', use_wandb=False, wandb_entity='YOUR_ENTITY', wandb_project='YOUR_PROJECT', seed=195, randomize_seed=False, data_collection=False, jpeg_compress=True, reward_stop_threshold=None, reward_stop_consecutive_steps=3, use_gpt_reward=False, gpt_reward_model='gpt-5.4-mini', gpt_reward_stop_threshold=4, gpt_reward_timeout_s=30.0, save_rollout_video=False, eval_hdf5_path='', eval_hdf5_demo_key='demo_0', data_gen_demo_ids='', eval_episode_ids='2,6,10,14,18,22,26,30,34,38,42,46', replay_actions=False, replay_action_path_dir='', replay_hdf5_path='', data_generation=False, max_generation_steps=200, simple_task_max_steps=100, complex_task_max_steps=200, disable_value_stop=False)
+Using serial inference (parallel inference disabled)
+Task suite: libero_goal
+Number of tasks: 10
+Running only task IDs: [1]
+Using default initial states
+
+Task: put the bowl on the stove
+Starting episode 1...
+Query 1/1: Action query time = 7.658 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5726
+t=10: Selected seed 195 with value = 0.5726
+Query 1/1: Action query time = 4.372 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6384
+t=26: Selected seed 195 with value = 0.6384
+Query 1/1: Action query time = 5.212 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7519
+t=42: Selected seed 195 with value = 0.7519
+Query 1/1: Action query time = 4.982 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9356
+t=58: Selected seed 195 with value = 0.9356
+Query 1/1: Action query time = 4.135 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9432
+t=74: Selected seed 195 with value = 0.9432
+Query 1/1: Action query time = 5.065 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9723
+t=90: Selected seed 195 with value = 0.9723
+Query 1/1: Action query time = 4.124 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9808
+t=106: Selected seed 195 with value = 0.9808
+Query 1/1: Action query time = 5.080 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9819
+t=122: Selected seed 195 with value = 0.9819
+Query 1/1: Action query time = 6.952 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9847
+t=138: Selected seed 195 with value = 0.9847
+Query 1/1: Action query time = 6.242 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9866
+t=154: Selected seed 195 with value = 0.9866
+Query 1/1: Action query time = 4.884 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9863
+t=170: Selected seed 195 with value = 0.9863
+Query 1/1: Action query time = 6.438 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9773
+t=186: Selected seed 195 with value = 0.9773
+Query 1/1: Action query time = 6.371 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9244
+t=202: Selected seed 195 with value = 0.9244
+Query 1/1: Action query time = 5.933 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9710
+t=218: Selected seed 195 with value = 0.9710
+Query 1/1: Action query time = 6.291 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9653
+t=234: Selected seed 195 with value = 0.9653
+Query 1/1: Action query time = 4.938 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9642
+t=250: Selected seed 195 with value = 0.9642
+Query 1/1: Action query time = 4.662 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9642
+t=266: Selected seed 195 with value = 0.9642
+Query 1/1: Action query time = 3.925 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9629
+t=282: Selected seed 195 with value = 0.9629
+Query 1/1: Action query time = 4.156 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9620
+t=298: Selected seed 195 with value = 0.9620
+Saved rollout MP4 at path ./rollouts/t7rc800x50_t1_s2/2026_08_03-01_16_47--with_future_img--episode=1--success=False--task=put_the_bowl_on_the_stove.mp4
+Success: False
+# episodes completed so far: 1
+# successes: 0 (0.0%)
+
+Task: put the bowl on the stove
+Starting episode 2...
+Query 1/1: Action query time = 4.512 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4963
+t=10: Selected seed 195 with value = 0.4963
+Query 1/1: Action query time = 4.452 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6152
+t=26: Selected seed 195 with value = 0.6152
+Query 1/1: Action query time = 5.744 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7080
+t=42: Selected seed 195 with value = 0.7080
+Query 1/1: Action query time = 6.451 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7948
+t=58: Selected seed 195 with value = 0.7948
+Query 1/1: Action query time = 4.230 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9705
+t=74: Selected seed 195 with value = 0.9705
+Query 1/1: Action query time = 4.672 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9099
+t=90: Selected seed 195 with value = 0.9099
+Query 1/1: Action query time = 5.374 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9700
+t=106: Selected seed 195 with value = 0.9700
+Query 1/1: Action query time = 5.968 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9197
+t=122: Selected seed 195 with value = 0.9197
+Query 1/1: Action query time = 4.245 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8928
+t=138: Selected seed 195 with value = 0.8928
+Query 1/1: Action query time = 6.010 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8323
+t=154: Selected seed 195 with value = 0.8323
+Query 1/1: Action query time = 4.997 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8394
+t=170: Selected seed 195 with value = 0.8394
+Query 1/1: Action query time = 5.275 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8494
+t=186: Selected seed 195 with value = 0.8494
+Query 1/1: Action query time = 5.398 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8853
+t=202: Selected seed 195 with value = 0.8853
+Query 1/1: Action query time = 6.826 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9123
+t=218: Selected seed 195 with value = 0.9123
+Query 1/1: Action query time = 5.051 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9412
+t=234: Selected seed 195 with value = 0.9412
+Query 1/1: Action query time = 5.549 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9507
+t=250: Selected seed 195 with value = 0.9507
+Query 1/1: Action query time = 5.436 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9368
+t=266: Selected seed 195 with value = 0.9368
+Query 1/1: Action query time = 4.749 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9684
+t=282: Selected seed 195 with value = 0.9684
+Query 1/1: Action query time = 7.417 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9666
+t=298: Selected seed 195 with value = 0.9666
+Saved rollout MP4 at path ./rollouts/t7rc800x50_t1_s2/2026_08_03-01_16_47--with_future_img--episode=2--success=False--task=put_the_bowl_on_the_stove.mp4
+Success: False
+# episodes completed so far: 2
+# successes: 0 (0.0%)
+
+Task: put the bowl on the stove
+Starting episode 3...
+Query 1/1: Action query time = 4.774 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4890
+t=10: Selected seed 195 with value = 0.4890
+Query 1/1: Action query time = 4.887 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5760
+t=26: Selected seed 195 with value = 0.5760
+Query 1/1: Action query time = 5.175 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7130
+t=42: Selected seed 195 with value = 0.7130
+Query 1/1: Action query time = 5.695 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7760
+t=58: Selected seed 195 with value = 0.7760
+Query 1/1: Action query time = 6.239 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9523
+t=74: Selected seed 195 with value = 0.9523
+Query 1/1: Action query time = 6.176 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9685
+t=90: Selected seed 195 with value = 0.9685
+Query 1/1: Action query time = 6.399 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9376
+t=106: Selected seed 195 with value = 0.9376
+Query 1/1: Action query time = 4.550 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9066
+t=122: Selected seed 195 with value = 0.9066
+Query 1/1: Action query time = 5.535 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8540
+t=138: Selected seed 195 with value = 0.8540
+Query 1/1: Action query time = 5.133 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9312
+t=154: Selected seed 195 with value = 0.9312
+Query 1/1: Action query time = 4.639 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9849
+t=170: Selected seed 195 with value = 0.9849
+Query 1/1: Action query time = 4.230 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8674
+t=186: Selected seed 195 with value = 0.8674
+Query 1/1: Action query time = 5.510 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8326
+t=202: Selected seed 195 with value = 0.8326
+Query 1/1: Action query time = 6.278 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9070
+t=218: Selected seed 195 with value = 0.9070
+Query 1/1: Action query time = 4.194 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8768
+t=234: Selected seed 195 with value = 0.8768
+Query 1/1: Action query time = 5.222 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8738
+t=250: Selected seed 195 with value = 0.8738
+Query 1/1: Action query time = 5.469 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8797
+t=266: Selected seed 195 with value = 0.8797
+Query 1/1: Action query time = 8.096 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8692
+t=282: Selected seed 195 with value = 0.8692
+Query 1/1: Action query time = 4.298 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9072
+t=298: Selected seed 195 with value = 0.9072
+Saved rollout MP4 at path ./rollouts/t7rc800x50_t1_s2/2026_08_03-01_16_47--with_future_img--episode=3--success=False--task=put_the_bowl_on_the_stove.mp4
+Success: False
+# episodes completed so far: 3
+# successes: 0 (0.0%)
+
+Task: put the bowl on the stove
+Starting episode 4...
+Query 1/1: Action query time = 5.877 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5009
+t=10: Selected seed 195 with value = 0.5009
+Query 1/1: Action query time = 5.277 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6050
+t=26: Selected seed 195 with value = 0.6050
+Query 1/1: Action query time = 5.199 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6881
+t=42: Selected seed 195 with value = 0.6881
+Query 1/1: Action query time = 5.974 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7443
+t=58: Selected seed 195 with value = 0.7443
+Query 1/1: Action query time = 7.615 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8976
+t=74: Selected seed 195 with value = 0.8976
+Query 1/1: Action query time = 7.720 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9146
+t=90: Selected seed 195 with value = 0.9146
+Query 1/1: Action query time = 4.269 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9966
+t=106: Selected seed 195 with value = 0.9966
+Query 1/1: Action query time = 4.637 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=122: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 6.074 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8294
+t=138: Selected seed 195 with value = 0.8294
+Query 1/1: Action query time = 4.724 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9620
+t=154: Selected seed 195 with value = 0.9620
+Query 1/1: Action query time = 3.407 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9289
+t=170: Selected seed 195 with value = 0.9289
+Query 1/1: Action query time = 3.436 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9805
+t=186: Selected seed 195 with value = 0.9805
+Query 1/1: Action query time = 5.285 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7960
+t=202: Selected seed 195 with value = 0.7960
+Query 1/1: Action query time = 5.322 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9021
+t=218: Selected seed 195 with value = 0.9021
+Query 1/1: Action query time = 4.660 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9090
+t=234: Selected seed 195 with value = 0.9090
+Query 1/1: Action query time = 6.248 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9361
+t=250: Selected seed 195 with value = 0.9361
+Query 1/1: Action query time = 6.472 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9672
+t=266: Selected seed 195 with value = 0.9672
+Query 1/1: Action query time = 5.583 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9800
+t=282: Selected seed 195 with value = 0.9800
+Query 1/1: Action query time = 6.397 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9927
+t=298: Selected seed 195 with value = 0.9927
+Saved rollout MP4 at path ./rollouts/t7rc800x50_t1_s2/2026_08_03-01_16_47--with_future_img--episode=4--success=False--task=put_the_bowl_on_the_stove.mp4
+Success: False
+# episodes completed so far: 4
+# successes: 0 (0.0%)
+
+Task: put the bowl on the stove
+Starting episode 5...
+Query 1/1: Action query time = 6.267 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5151
+t=10: Selected seed 195 with value = 0.5151
+Query 1/1: Action query time = 4.183 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6224
+t=26: Selected seed 195 with value = 0.6224
+Query 1/1: Action query time = 4.492 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7259
+t=42: Selected seed 195 with value = 0.7259
+Query 1/1: Action query time = 4.135 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8491
+t=58: Selected seed 195 with value = 0.8491
+Query 1/1: Action query time = 4.740 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9742
+t=74: Selected seed 195 with value = 0.9742
+Query 1/1: Action query time = 4.560 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9722
+t=90: Selected seed 195 with value = 0.9722
+Saved rollout MP4 at path ./rollouts/t7rc800x50_t1_s2/2026_08_03-01_16_47--with_future_img--episode=5--success=True--task=put_the_bowl_on_the_stove.mp4
+Success: True
+# episodes completed so far: 5
+# successes: 1 (20.0%)
+
+Task: put the bowl on the stove
+Starting episode 6...
+Query 1/1: Action query time = 5.900 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4993
+t=10: Selected seed 195 with value = 0.4993
+Query 1/1: Action query time = 6.200 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6208
+t=26: Selected seed 195 with value = 0.6208
+Query 1/1: Action query time = 6.003 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6865
+t=42: Selected seed 195 with value = 0.6865
+Query 1/1: Action query time = 6.330 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7966
+t=58: Selected seed 195 with value = 0.7966
+Query 1/1: Action query time = 5.927 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9271
+t=74: Selected seed 195 with value = 0.9271
+Query 1/1: Action query time = 5.816 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9561
+t=90: Selected seed 195 with value = 0.9561
+Query 1/1: Action query time = 3.760 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9303
+t=106: Selected seed 195 with value = 0.9303
+Query 1/1: Action query time = 5.378 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8718
+t=122: Selected seed 195 with value = 0.8718
+Query 1/1: Action query time = 6.897 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7800
+t=138: Selected seed 195 with value = 0.7800
+Query 1/1: Action query time = 5.927 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8502
+t=154: Selected seed 195 with value = 0.8502
+Query 1/1: Action query time = 6.778 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8336
+t=170: Selected seed 195 with value = 0.8336
+Query 1/1: Action query time = 6.033 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8161
+t=186: Selected seed 195 with value = 0.8161
+Query 1/1: Action query time = 5.264 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7981
+t=202: Selected seed 195 with value = 0.7981
+Query 1/1: Action query time = 3.747 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8367
+t=218: Selected seed 195 with value = 0.8367
+Query 1/1: Action query time = 5.245 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8867
+t=234: Selected seed 195 with value = 0.8867
+Query 1/1: Action query time = 4.259 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9086
+t=250: Selected seed 195 with value = 0.9086
+Query 1/1: Action query time = 4.527 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8969
+t=266: Selected seed 195 with value = 0.8969
+Query 1/1: Action query time = 4.231 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8934
+t=282: Selected seed 195 with value = 0.8934
+Query 1/1: Action query time = 4.295 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9023
+t=298: Selected seed 195 with value = 0.9023
+Saved rollout MP4 at path ./rollouts/t7rc800x50_t1_s2/2026_08_03-01_16_47--with_future_img--episode=6--success=False--task=put_the_bowl_on_the_stove.mp4
+Success: False
+# episodes completed so far: 6
+# successes: 1 (16.7%)
+
+Task: put the bowl on the stove
+Starting episode 7...
+Query 1/1: Action query time = 5.976 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5538
+t=10: Selected seed 195 with value = 0.5538
+Query 1/1: Action query time = 5.838 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6557
+t=26: Selected seed 195 with value = 0.6557
+Query 1/1: Action query time = 5.677 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7645
+t=42: Selected seed 195 with value = 0.7645
+Query 1/1: Action query time = 6.260 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8565
+t=58: Selected seed 195 with value = 0.8565
+Query 1/1: Action query time = 5.987 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9534
+t=74: Selected seed 195 with value = 0.9534
+Query 1/1: Action query time = 5.067 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9989
+t=90: Selected seed 195 with value = 0.9989
+Query 1/1: Action query time = 5.663 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=106: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 5.436 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=122: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.811 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=138: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 6.257 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=154: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 5.754 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9846
+t=170: Selected seed 195 with value = 0.9846
+Query 1/1: Action query time = 6.542 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9848
+t=186: Selected seed 195 with value = 0.9848
+Query 1/1: Action query time = 6.207 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9643
+t=202: Selected seed 195 with value = 0.9643
+Query 1/1: Action query time = 6.718 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9685
+t=218: Selected seed 195 with value = 0.9685
+Query 1/1: Action query time = 5.353 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9706
+t=234: Selected seed 195 with value = 0.9706
+Query 1/1: Action query time = 4.903 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9755
+t=250: Selected seed 195 with value = 0.9755
+Query 1/1: Action query time = 3.772 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9797
+t=266: Selected seed 195 with value = 0.9797
+Query 1/1: Action query time = 5.112 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9816
+t=282: Selected seed 195 with value = 0.9816
+Query 1/1: Action query time = 5.276 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9843
+t=298: Selected seed 195 with value = 0.9843
+Saved rollout MP4 at path ./rollouts/t7rc800x50_t1_s2/2026_08_03-01_16_47--with_future_img--episode=7--success=False--task=put_the_bowl_on_the_stove.mp4
+Success: False
+# episodes completed so far: 7
+# successes: 1 (14.3%)
+
+Task: put the bowl on the stove
+Starting episode 8...
+Query 1/1: Action query time = 5.656 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5140
+t=10: Selected seed 195 with value = 0.5140
+Query 1/1: Action query time = 5.127 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6394
+t=26: Selected seed 195 with value = 0.6394
+Query 1/1: Action query time = 5.383 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7233
+t=42: Selected seed 195 with value = 0.7233
+Query 1/1: Action query time = 6.733 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9357
+t=58: Selected seed 195 with value = 0.9357
+Query 1/1: Action query time = 6.715 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9803
+t=74: Selected seed 195 with value = 0.9803
+Saved rollout MP4 at path ./rollouts/t7rc800x50_t1_s2/2026_08_03-01_16_47--with_future_img--episode=8--success=True--task=put_the_bowl_on_the_stove.mp4
+Success: True
+# episodes completed so far: 8
+# successes: 2 (25.0%)
+
+Task: put the bowl on the stove
+Starting episode 9...
+Query 1/1: Action query time = 6.501 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5224
+t=10: Selected seed 195 with value = 0.5224
+Query 1/1: Action query time = 5.629 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6176
+t=26: Selected seed 195 with value = 0.6176
+Query 1/1: Action query time = 7.111 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7141
+t=42: Selected seed 195 with value = 0.7141
+Query 1/1: Action query time = 6.137 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8368
+t=58: Selected seed 195 with value = 0.8368
+Query 1/1: Action query time = 6.668 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9502
+t=74: Selected seed 195 with value = 0.9502
+Query 1/1: Action query time = 6.619 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9988
+t=90: Selected seed 195 with value = 0.9988
+Saved rollout MP4 at path ./rollouts/t7rc800x50_t1_s2/2026_08_03-01_16_47--with_future_img--episode=9--success=True--task=put_the_bowl_on_the_stove.mp4
+Success: True
+# episodes completed so far: 9
+# successes: 3 (33.3%)
+
+Task: put the bowl on the stove
+Starting episode 10...
+Query 1/1: Action query time = 5.353 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5339
+t=10: Selected seed 195 with value = 0.5339
+Query 1/1: Action query time = 5.053 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6044
+t=26: Selected seed 195 with value = 0.6044
+Query 1/1: Action query time = 4.159 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7021
+t=42: Selected seed 195 with value = 0.7021
+Query 1/1: Action query time = 4.905 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8346
+t=58: Selected seed 195 with value = 0.8346
+Query 1/1: Action query time = 4.742 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9292
+t=74: Selected seed 195 with value = 0.9292
+Query 1/1: Action query time = 6.321 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9931
+t=90: Selected seed 195 with value = 0.9931
+Query 1/1: Action query time = 5.299 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9808
+t=106: Selected seed 195 with value = 0.9808
+Query 1/1: Action query time = 7.299 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9848
+t=122: Selected seed 195 with value = 0.9848
+Query 1/1: Action query time = 6.494 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9870
+t=138: Selected seed 195 with value = 0.9870
+Query 1/1: Action query time = 7.026 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9878
+t=154: Selected seed 195 with value = 0.9878
+Query 1/1: Action query time = 6.797 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9913
+t=170: Selected seed 195 with value = 0.9913
+Query 1/1: Action query time = 7.788 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9947
+t=186: Selected seed 195 with value = 0.9947
+Query 1/1: Action query time = 7.222 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9995
+t=202: Selected seed 195 with value = 0.9995
+Query 1/1: Action query time = 6.562 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=218: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 5.253 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=234: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 5.882 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=250: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 3.873 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=266: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 5.954 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=282: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 5.002 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8663
+t=298: Selected seed 195 with value = 0.8663
+Saved rollout MP4 at path ./rollouts/t7rc800x50_t1_s2/2026_08_03-01_16_47--with_future_img--episode=10--success=False--task=put_the_bowl_on_the_stove.mp4
+Success: False
+# episodes completed so far: 10
+# successes: 3 (30.0%)
+
+Task: put the bowl on the stove
+Starting episode 11...
+Query 1/1: Action query time = 4.592 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5072
+t=10: Selected seed 195 with value = 0.5072
+Query 1/1: Action query time = 3.566 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6309
+t=26: Selected seed 195 with value = 0.6309
+Query 1/1: Action query time = 4.334 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7397
+t=42: Selected seed 195 with value = 0.7397
+Query 1/1: Action query time = 4.418 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9308
+t=58: Selected seed 195 with value = 0.9308
+Query 1/1: Action query time = 5.663 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9570
+t=74: Selected seed 195 with value = 0.9570
+Query 1/1: Action query time = 6.446 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 6.267 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8059
+t=106: Selected seed 195 with value = 0.8059
+Query 1/1: Action query time = 5.997 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9192
+t=122: Selected seed 195 with value = 0.9192
+Query 1/1: Action query time = 5.101 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7750
+t=138: Selected seed 195 with value = 0.7750
+Query 1/1: Action query time = 4.220 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8735
+t=154: Selected seed 195 with value = 0.8735
+Query 1/1: Action query time = 7.818 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9475
+t=170: Selected seed 195 with value = 0.9475
+Query 1/1: Action query time = 7.526 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9678
+t=186: Selected seed 195 with value = 0.9678
+Query 1/1: Action query time = 8.144 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9792
+t=202: Selected seed 195 with value = 0.9792
+Query 1/1: Action query time = 6.686 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9879
+t=218: Selected seed 195 with value = 0.9879
+Query 1/1: Action query time = 6.293 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9988
+t=234: Selected seed 195 with value = 0.9988
+Query 1/1: Action query time = 5.420 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=250: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 6.319 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=266: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 5.889 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=282: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 5.673 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9938
+t=298: Selected seed 195 with value = 0.9938
+Saved rollout MP4 at path ./rollouts/t7rc800x50_t1_s2/2026_08_03-01_16_47--with_future_img--episode=11--success=False--task=put_the_bowl_on_the_stove.mp4
+Success: False
+# episodes completed so far: 11
+# successes: 3 (27.3%)
+
+Task: put the bowl on the stove
+Starting episode 12...
+Query 1/1: Action query time = 5.720 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4876
+t=10: Selected seed 195 with value = 0.4876
+Query 1/1: Action query time = 3.882 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5322
+t=26: Selected seed 195 with value = 0.5322
+Query 1/1: Action query time = 4.172 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6303
+t=42: Selected seed 195 with value = 0.6303
+Query 1/1: Action query time = 4.514 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7343
+t=58: Selected seed 195 with value = 0.7343
+Query 1/1: Action query time = 2.966 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9142
+t=74: Selected seed 195 with value = 0.9142
+Query 1/1: Action query time = 3.584 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9963
+t=90: Selected seed 195 with value = 0.9963
+Query 1/1: Action query time = 5.323 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7315
+t=106: Selected seed 195 with value = 0.7315
+Query 1/1: Action query time = 4.629 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7988
+t=122: Selected seed 195 with value = 0.7988
+Query 1/1: Action query time = 5.292 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9311
+t=138: Selected seed 195 with value = 0.9311
+Query 1/1: Action query time = 5.493 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9697
+t=154: Selected seed 195 with value = 0.9697
+Saved rollout MP4 at path ./rollouts/t7rc800x50_t1_s2/2026_08_03-01_16_47--with_future_img--episode=12--success=True--task=put_the_bowl_on_the_stove.mp4
+Success: True
+# episodes completed so far: 12
+# successes: 4 (33.3%)
+Current task success rate: 0.3333333333333333
+Current total success rate: 0.3333333333333333
+Final results:
+Total episodes: 12
+Total successes: 4
+Overall success rate: 0.3333 (33.3%)
diff --git a/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_03-01_16_47--t7rc800x50_t1_s3.txt b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_03-01_16_47--t7rc800x50_t1_s3.txt
new file mode 100644
index 0000000000000000000000000000000000000000..63eb52ade0e1d8de3c548af1ba393f3b27bd2140
--- /dev/null
+++ b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_03-01_16_47--t7rc800x50_t1_s3.txt
@@ -0,0 +1,660 @@
+Eval config: PolicyEvalConfig(suite='libero', model_family='cosmos', config='cosmos_predict2_2b_480p_libero_cl_stage_inference_only', ckpt_path='/home/azureuser/REGEN-main/new_task7/cosmos_policy/cosmos_v2_finetune/cosmos_predict2_2b_480p_libero_goal_task7_cl_from_realcl800_2gpu/checkpoints/iter_000000800/model', planning_model_config_name='', planning_model_ckpt_path='', config_file='cosmos_policy/config/config.py', packnet_mask_path='', packnet_first_cl_libero_task=6, use_third_person_image=True, num_third_person_images=1, use_wrist_image=True, num_wrist_images=1, use_proprio=True, flip_images=True, use_variance_scale=False, use_jpeg_compression=True, ar_future_prediction=False, ar_value_prediction=False, ar_qvalue_prediction=False, num_denoising_steps_action=5, num_denoising_steps_future_state=1, num_denoising_steps_value=1, unnormalize_actions=True, normalize_proprio=True, dataset_stats_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/libero_goal_regen/dataset_statistics.json', t5_text_embeddings_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/t5_embeddings.pkl', trained_with_image_aug=True, chunk_size=16, num_open_loop_steps=16, deterministic=True, deterministic_reset=False, deterministic_reset_seed=None, use_ensemble_future_state_predictions=False, num_future_state_predictions_in_ensemble=3, future_state_ensemble_aggregation_scheme='average', use_ensemble_value_predictions=False, num_value_predictions_in_ensemble=5, value_ensemble_aggregation_scheme='average', search_depth=1, mask_current_state_action_for_value_prediction=False, mask_future_state_for_qvalue_prediction=False, num_queries_best_of_n=1, use_parallel_inference=False, available_gpus='0', parallel_timeout=15, parallel_tasks_across_gpus=False, task_suite_name='libero_goal', num_trials_per_task=50, task_ids_to_run='1', initial_states_path='DEFAULT', env_img_res=256, local_log_dir='/home/azureuser/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal', run_id_note='t7rc800x50_t1_s3', use_wandb=False, wandb_entity='YOUR_ENTITY', wandb_project='YOUR_PROJECT', seed=195, randomize_seed=False, data_collection=False, jpeg_compress=True, reward_stop_threshold=None, reward_stop_consecutive_steps=3, use_gpt_reward=False, gpt_reward_model='gpt-5.4-mini', gpt_reward_stop_threshold=4, gpt_reward_timeout_s=30.0, save_rollout_video=False, eval_hdf5_path='', eval_hdf5_demo_key='demo_0', data_gen_demo_ids='', eval_episode_ids='3,7,11,15,19,23,27,31,35,39,43,47', replay_actions=False, replay_action_path_dir='', replay_hdf5_path='', data_generation=False, max_generation_steps=200, simple_task_max_steps=100, complex_task_max_steps=200, disable_value_stop=False)
+Using serial inference (parallel inference disabled)
+Task suite: libero_goal
+Number of tasks: 10
+Running only task IDs: [1]
+Using default initial states
+
+Task: put the bowl on the stove
+Starting episode 1...
+Query 1/1: Action query time = 9.160 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4969
+t=10: Selected seed 195 with value = 0.4969
+Query 1/1: Action query time = 6.385 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6114
+t=26: Selected seed 195 with value = 0.6114
+Query 1/1: Action query time = 6.971 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7296
+t=42: Selected seed 195 with value = 0.7296
+Query 1/1: Action query time = 6.068 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9314
+t=58: Selected seed 195 with value = 0.9314
+Query 1/1: Action query time = 7.041 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9744
+t=74: Selected seed 195 with value = 0.9744
+Query 1/1: Action query time = 7.936 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9780
+t=90: Selected seed 195 with value = 0.9780
+Query 1/1: Action query time = 7.672 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9813
+t=106: Selected seed 195 with value = 0.9813
+Query 1/1: Action query time = 7.608 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9831
+t=122: Selected seed 195 with value = 0.9831
+Query 1/1: Action query time = 5.916 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9843
+t=138: Selected seed 195 with value = 0.9843
+Query 1/1: Action query time = 6.120 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9849
+t=154: Selected seed 195 with value = 0.9849
+Query 1/1: Action query time = 6.725 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9851
+t=170: Selected seed 195 with value = 0.9851
+Query 1/1: Action query time = 5.569 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9856
+t=186: Selected seed 195 with value = 0.9856
+Query 1/1: Action query time = 5.385 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9841
+t=202: Selected seed 195 with value = 0.9841
+Query 1/1: Action query time = 4.165 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9833
+t=218: Selected seed 195 with value = 0.9833
+Query 1/1: Action query time = 4.145 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9823
+t=234: Selected seed 195 with value = 0.9823
+Query 1/1: Action query time = 4.075 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9817
+t=250: Selected seed 195 with value = 0.9817
+Query 1/1: Action query time = 5.548 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9809
+t=266: Selected seed 195 with value = 0.9809
+Query 1/1: Action query time = 3.850 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9789
+t=282: Selected seed 195 with value = 0.9789
+Query 1/1: Action query time = 2.756 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9765
+t=298: Selected seed 195 with value = 0.9765
+Saved rollout MP4 at path ./rollouts/t7rc800x50_t1_s3/2026_08_03-01_16_47--with_future_img--episode=1--success=False--task=put_the_bowl_on_the_stove.mp4
+Success: False
+# episodes completed so far: 1
+# successes: 0 (0.0%)
+
+Task: put the bowl on the stove
+Starting episode 2...
+Query 1/1: Action query time = 5.365 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5137
+t=10: Selected seed 195 with value = 0.5137
+Query 1/1: Action query time = 5.752 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6200
+t=26: Selected seed 195 with value = 0.6200
+Query 1/1: Action query time = 5.386 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7411
+t=42: Selected seed 195 with value = 0.7411
+Query 1/1: Action query time = 5.551 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8796
+t=58: Selected seed 195 with value = 0.8796
+Query 1/1: Action query time = 6.696 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9760
+t=74: Selected seed 195 with value = 0.9760
+Saved rollout MP4 at path ./rollouts/t7rc800x50_t1_s3/2026_08_03-01_16_47--with_future_img--episode=2--success=True--task=put_the_bowl_on_the_stove.mp4
+Success: True
+# episodes completed so far: 2
+# successes: 1 (50.0%)
+
+Task: put the bowl on the stove
+Starting episode 3...
+Query 1/1: Action query time = 7.029 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5020
+t=10: Selected seed 195 with value = 0.5020
+Query 1/1: Action query time = 5.896 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5915
+t=26: Selected seed 195 with value = 0.5915
+Query 1/1: Action query time = 6.614 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6855
+t=42: Selected seed 195 with value = 0.6855
+Query 1/1: Action query time = 6.083 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7886
+t=58: Selected seed 195 with value = 0.7886
+Query 1/1: Action query time = 4.660 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9332
+t=74: Selected seed 195 with value = 0.9332
+Query 1/1: Action query time = 4.625 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9453
+t=90: Selected seed 195 with value = 0.9453
+Query 1/1: Action query time = 6.495 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9061
+t=106: Selected seed 195 with value = 0.9061
+Query 1/1: Action query time = 7.135 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8761
+t=122: Selected seed 195 with value = 0.8761
+Query 1/1: Action query time = 5.532 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8344
+t=138: Selected seed 195 with value = 0.8344
+Query 1/1: Action query time = 4.292 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8720
+t=154: Selected seed 195 with value = 0.8720
+Query 1/1: Action query time = 4.743 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8609
+t=170: Selected seed 195 with value = 0.8609
+Query 1/1: Action query time = 3.416 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8049
+t=186: Selected seed 195 with value = 0.8049
+Query 1/1: Action query time = 4.816 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7998
+t=202: Selected seed 195 with value = 0.7998
+Query 1/1: Action query time = 4.265 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8481
+t=218: Selected seed 195 with value = 0.8481
+Query 1/1: Action query time = 5.709 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8730
+t=234: Selected seed 195 with value = 0.8730
+Query 1/1: Action query time = 5.851 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8856
+t=250: Selected seed 195 with value = 0.8856
+Query 1/1: Action query time = 5.791 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8862
+t=266: Selected seed 195 with value = 0.8862
+Query 1/1: Action query time = 5.175 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9017
+t=282: Selected seed 195 with value = 0.9017
+Query 1/1: Action query time = 5.503 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9072
+t=298: Selected seed 195 with value = 0.9072
+Saved rollout MP4 at path ./rollouts/t7rc800x50_t1_s3/2026_08_03-01_16_47--with_future_img--episode=3--success=False--task=put_the_bowl_on_the_stove.mp4
+Success: False
+# episodes completed so far: 3
+# successes: 1 (33.3%)
+
+Task: put the bowl on the stove
+Starting episode 4...
+Query 1/1: Action query time = 4.492 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5044
+t=10: Selected seed 195 with value = 0.5044
+Query 1/1: Action query time = 5.271 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5915
+t=26: Selected seed 195 with value = 0.5915
+Query 1/1: Action query time = 6.312 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6597
+t=42: Selected seed 195 with value = 0.6597
+Query 1/1: Action query time = 6.653 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7405
+t=58: Selected seed 195 with value = 0.7405
+Query 1/1: Action query time = 6.775 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9537
+t=74: Selected seed 195 with value = 0.9537
+Query 1/1: Action query time = 5.726 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8710
+t=90: Selected seed 195 with value = 0.8710
+Query 1/1: Action query time = 6.625 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9618
+t=106: Selected seed 195 with value = 0.9618
+Query 1/1: Action query time = 5.724 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7716
+t=122: Selected seed 195 with value = 0.7716
+Query 1/1: Action query time = 7.056 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8378
+t=138: Selected seed 195 with value = 0.8378
+Query 1/1: Action query time = 6.307 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9039
+t=154: Selected seed 195 with value = 0.9039
+Query 1/1: Action query time = 4.584 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8564
+t=170: Selected seed 195 with value = 0.8564
+Query 1/1: Action query time = 4.636 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9482
+t=186: Selected seed 195 with value = 0.9482
+Query 1/1: Action query time = 5.581 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9441
+t=202: Selected seed 195 with value = 0.9441
+Query 1/1: Action query time = 4.989 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8914
+t=218: Selected seed 195 with value = 0.8914
+Query 1/1: Action query time = 6.976 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9545
+t=234: Selected seed 195 with value = 0.9545
+Query 1/1: Action query time = 4.884 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9047
+t=250: Selected seed 195 with value = 0.9047
+Query 1/1: Action query time = 6.139 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9347
+t=266: Selected seed 195 with value = 0.9347
+Query 1/1: Action query time = 3.918 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9586
+t=282: Selected seed 195 with value = 0.9586
+Query 1/1: Action query time = 6.034 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9751
+t=298: Selected seed 195 with value = 0.9751
+Saved rollout MP4 at path ./rollouts/t7rc800x50_t1_s3/2026_08_03-01_16_47--with_future_img--episode=4--success=False--task=put_the_bowl_on_the_stove.mp4
+Success: False
+# episodes completed so far: 4
+# successes: 1 (25.0%)
+
+Task: put the bowl on the stove
+Starting episode 5...
+Query 1/1: Action query time = 6.117 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5143
+t=10: Selected seed 195 with value = 0.5143
+Query 1/1: Action query time = 5.814 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6114
+t=26: Selected seed 195 with value = 0.6114
+Query 1/1: Action query time = 5.201 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6834
+t=42: Selected seed 195 with value = 0.6834
+Query 1/1: Action query time = 8.172 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8559
+t=58: Selected seed 195 with value = 0.8559
+Query 1/1: Action query time = 7.035 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9397
+t=74: Selected seed 195 with value = 0.9397
+Query 1/1: Action query time = 5.444 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9978
+t=90: Selected seed 195 with value = 0.9978
+Saved rollout MP4 at path ./rollouts/t7rc800x50_t1_s3/2026_08_03-01_16_47--with_future_img--episode=5--success=True--task=put_the_bowl_on_the_stove.mp4
+Success: True
+# episodes completed so far: 5
+# successes: 2 (40.0%)
+
+Task: put the bowl on the stove
+Starting episode 6...
+Query 1/1: Action query time = 5.762 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4654
+t=10: Selected seed 195 with value = 0.4654
+Query 1/1: Action query time = 4.600 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5905
+t=26: Selected seed 195 with value = 0.5905
+Query 1/1: Action query time = 5.200 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6629
+t=42: Selected seed 195 with value = 0.6629
+Query 1/1: Action query time = 4.358 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7509
+t=58: Selected seed 195 with value = 0.7509
+Query 1/1: Action query time = 3.827 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9226
+t=74: Selected seed 195 with value = 0.9226
+Query 1/1: Action query time = 5.600 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7471
+t=90: Selected seed 195 with value = 0.7471
+Query 1/1: Action query time = 5.324 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8577
+t=106: Selected seed 195 with value = 0.8577
+Query 1/1: Action query time = 5.748 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9689
+t=122: Selected seed 195 with value = 0.9689
+Saved rollout MP4 at path ./rollouts/t7rc800x50_t1_s3/2026_08_03-01_16_47--with_future_img--episode=6--success=True--task=put_the_bowl_on_the_stove.mp4
+Success: True
+# episodes completed so far: 6
+# successes: 3 (50.0%)
+
+Task: put the bowl on the stove
+Starting episode 7...
+Query 1/1: Action query time = 5.238 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5213
+t=10: Selected seed 195 with value = 0.5213
+Query 1/1: Action query time = 5.964 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6070
+t=26: Selected seed 195 with value = 0.6070
+Query 1/1: Action query time = 5.663 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7213
+t=42: Selected seed 195 with value = 0.7213
+Query 1/1: Action query time = 4.592 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8613
+t=58: Selected seed 195 with value = 0.8613
+Query 1/1: Action query time = 6.813 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9807
+t=74: Selected seed 195 with value = 0.9807
+Query 1/1: Action query time = 6.219 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9839
+t=90: Selected seed 195 with value = 0.9839
+Saved rollout MP4 at path ./rollouts/t7rc800x50_t1_s3/2026_08_03-01_16_47--with_future_img--episode=7--success=True--task=put_the_bowl_on_the_stove.mp4
+Success: True
+# episodes completed so far: 7
+# successes: 4 (57.1%)
+
+Task: put the bowl on the stove
+Starting episode 8...
+Query 1/1: Action query time = 4.677 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4848
+t=10: Selected seed 195 with value = 0.4848
+Query 1/1: Action query time = 5.657 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6172
+t=26: Selected seed 195 with value = 0.6172
+Query 1/1: Action query time = 6.213 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6970
+t=42: Selected seed 195 with value = 0.6970
+Query 1/1: Action query time = 5.397 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9331
+t=58: Selected seed 195 with value = 0.9331
+Query 1/1: Action query time = 6.065 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9764
+t=74: Selected seed 195 with value = 0.9764
+Saved rollout MP4 at path ./rollouts/t7rc800x50_t1_s3/2026_08_03-01_16_47--with_future_img--episode=8--success=True--task=put_the_bowl_on_the_stove.mp4
+Success: True
+# episodes completed so far: 8
+# successes: 5 (62.5%)
+
+Task: put the bowl on the stove
+Starting episode 9...
+Query 1/1: Action query time = 5.791 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5611
+t=10: Selected seed 195 with value = 0.5611
+Query 1/1: Action query time = 3.057 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6559
+t=26: Selected seed 195 with value = 0.6559
+Query 1/1: Action query time = 3.606 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7678
+t=42: Selected seed 195 with value = 0.7678
+Query 1/1: Action query time = 5.011 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8874
+t=58: Selected seed 195 with value = 0.8874
+Query 1/1: Action query time = 5.111 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9587
+t=74: Selected seed 195 with value = 0.9587
+Query 1/1: Action query time = 5.869 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9938
+t=90: Selected seed 195 with value = 0.9938
+Query 1/1: Action query time = 6.944 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9909
+t=106: Selected seed 195 with value = 0.9909
+Query 1/1: Action query time = 7.061 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9951
+t=122: Selected seed 195 with value = 0.9951
+Query 1/1: Action query time = 5.173 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=138: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 6.221 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=154: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 6.830 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=170: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 6.971 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9891
+t=186: Selected seed 195 with value = 0.9891
+Query 1/1: Action query time = 5.119 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7655
+t=202: Selected seed 195 with value = 0.7655
+Query 1/1: Action query time = 4.993 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7314
+t=218: Selected seed 195 with value = 0.7314
+Query 1/1: Action query time = 5.258 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9574
+t=234: Selected seed 195 with value = 0.9574
+Query 1/1: Action query time = 5.808 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9841
+t=250: Selected seed 195 with value = 0.9841
+Query 1/1: Action query time = 4.619 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9268
+t=266: Selected seed 195 with value = 0.9268
+Query 1/1: Action query time = 5.389 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9708
+t=282: Selected seed 195 with value = 0.9708
+Query 1/1: Action query time = 7.336 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9203
+t=298: Selected seed 195 with value = 0.9203
+Saved rollout MP4 at path ./rollouts/t7rc800x50_t1_s3/2026_08_03-01_16_47--with_future_img--episode=9--success=False--task=put_the_bowl_on_the_stove.mp4
+Success: False
+# episodes completed so far: 9
+# successes: 5 (55.6%)
+
+Task: put the bowl on the stove
+Starting episode 10...
+Query 1/1: Action query time = 6.423 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4820
+t=10: Selected seed 195 with value = 0.4820
+Query 1/1: Action query time = 5.165 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5523
+t=26: Selected seed 195 with value = 0.5523
+Query 1/1: Action query time = 5.382 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6651
+t=42: Selected seed 195 with value = 0.6651
+Query 1/1: Action query time = 4.603 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7749
+t=58: Selected seed 195 with value = 0.7749
+Query 1/1: Action query time = 3.519 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9391
+t=74: Selected seed 195 with value = 0.9391
+Query 1/1: Action query time = 4.766 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7413
+t=90: Selected seed 195 with value = 0.7413
+Query 1/1: Action query time = 5.639 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8054
+t=106: Selected seed 195 with value = 0.8054
+Query 1/1: Action query time = 6.326 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8728
+t=122: Selected seed 195 with value = 0.8728
+Query 1/1: Action query time = 4.527 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9686
+t=138: Selected seed 195 with value = 0.9686
+Saved rollout MP4 at path ./rollouts/t7rc800x50_t1_s3/2026_08_03-01_16_47--with_future_img--episode=10--success=True--task=put_the_bowl_on_the_stove.mp4
+Success: True
+# episodes completed so far: 10
+# successes: 6 (60.0%)
+
+Task: put the bowl on the stove
+Starting episode 11...
+Query 1/1: Action query time = 6.580 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4953
+t=10: Selected seed 195 with value = 0.4953
+Query 1/1: Action query time = 6.235 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6071
+t=26: Selected seed 195 with value = 0.6071
+Query 1/1: Action query time = 5.818 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6832
+t=42: Selected seed 195 with value = 0.6832
+Query 1/1: Action query time = 5.792 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7543
+t=58: Selected seed 195 with value = 0.7543
+Query 1/1: Action query time = 5.283 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9155
+t=74: Selected seed 195 with value = 0.9155
+Query 1/1: Action query time = 4.650 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9564
+t=90: Selected seed 195 with value = 0.9564
+Query 1/1: Action query time = 5.725 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9763
+t=106: Selected seed 195 with value = 0.9763
+Saved rollout MP4 at path ./rollouts/t7rc800x50_t1_s3/2026_08_03-01_16_47--with_future_img--episode=11--success=True--task=put_the_bowl_on_the_stove.mp4
+Success: True
+# episodes completed so far: 11
+# successes: 7 (63.6%)
+
+Task: put the bowl on the stove
+Starting episode 12...
+Query 1/1: Action query time = 5.266 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5388
+t=10: Selected seed 195 with value = 0.5388
+Query 1/1: Action query time = 5.712 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6332
+t=26: Selected seed 195 with value = 0.6332
+Query 1/1: Action query time = 3.909 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7306
+t=42: Selected seed 195 with value = 0.7306
+Query 1/1: Action query time = 4.929 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9117
+t=58: Selected seed 195 with value = 0.9117
+Query 1/1: Action query time = 6.466 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9572
+t=74: Selected seed 195 with value = 0.9572
+Query 1/1: Action query time = 5.697 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9975
+t=90: Selected seed 195 with value = 0.9975
+Query 1/1: Action query time = 5.113 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8213
+t=106: Selected seed 195 with value = 0.8213
+Query 1/1: Action query time = 5.978 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9562
+t=122: Selected seed 195 with value = 0.9562
+Query 1/1: Action query time = 4.241 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9084
+t=138: Selected seed 195 with value = 0.9084
+Query 1/1: Action query time = 4.028 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9676
+t=154: Selected seed 195 with value = 0.9676
+Query 1/1: Action query time = 4.665 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8075
+t=170: Selected seed 195 with value = 0.8075
+Query 1/1: Action query time = 6.754 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9427
+t=186: Selected seed 195 with value = 0.9427
+Query 1/1: Action query time = 5.509 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9673
+t=202: Selected seed 195 with value = 0.9673
+Query 1/1: Action query time = 5.528 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9757
+t=218: Selected seed 195 with value = 0.9757
+Query 1/1: Action query time = 6.240 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9571
+t=234: Selected seed 195 with value = 0.9571
+Query 1/1: Action query time = 7.355 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9785
+t=250: Selected seed 195 with value = 0.9785
+Query 1/1: Action query time = 7.109 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9762
+t=266: Selected seed 195 with value = 0.9762
+Query 1/1: Action query time = 5.384 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9739
+t=282: Selected seed 195 with value = 0.9739
+Query 1/1: Action query time = 4.393 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9696
+t=298: Selected seed 195 with value = 0.9696
+Saved rollout MP4 at path ./rollouts/t7rc800x50_t1_s3/2026_08_03-01_16_47--with_future_img--episode=12--success=False--task=put_the_bowl_on_the_stove.mp4
+Success: False
+# episodes completed so far: 12
+# successes: 7 (58.3%)
+Current task success rate: 0.5833333333333334
+Current total success rate: 0.5833333333333334
+Final results:
+Total episodes: 12
+Total successes: 7
+Overall success rate: 0.5833 (58.3%)
diff --git a/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_03-01_16_47--t7rc800x50_t3_s3.txt b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_03-01_16_47--t7rc800x50_t3_s3.txt
new file mode 100644
index 0000000000000000000000000000000000000000..3e01f7b25b1c4cbe8ea8bdc0d48cb4e7e9a4fad2
--- /dev/null
+++ b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_03-01_16_47--t7rc800x50_t3_s3.txt
@@ -0,0 +1,1008 @@
+Eval config: PolicyEvalConfig(suite='libero', model_family='cosmos', config='cosmos_predict2_2b_480p_libero_cl_stage_inference_only', ckpt_path='/home/azureuser/REGEN-main/new_task7/cosmos_policy/cosmos_v2_finetune/cosmos_predict2_2b_480p_libero_goal_task7_cl_from_realcl800_2gpu/checkpoints/iter_000000800/model', planning_model_config_name='', planning_model_ckpt_path='', config_file='cosmos_policy/config/config.py', packnet_mask_path='', packnet_first_cl_libero_task=6, use_third_person_image=True, num_third_person_images=1, use_wrist_image=True, num_wrist_images=1, use_proprio=True, flip_images=True, use_variance_scale=False, use_jpeg_compression=True, ar_future_prediction=False, ar_value_prediction=False, ar_qvalue_prediction=False, num_denoising_steps_action=5, num_denoising_steps_future_state=1, num_denoising_steps_value=1, unnormalize_actions=True, normalize_proprio=True, dataset_stats_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/libero_goal_regen/dataset_statistics.json', t5_text_embeddings_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/t5_embeddings.pkl', trained_with_image_aug=True, chunk_size=16, num_open_loop_steps=16, deterministic=True, deterministic_reset=False, deterministic_reset_seed=None, use_ensemble_future_state_predictions=False, num_future_state_predictions_in_ensemble=3, future_state_ensemble_aggregation_scheme='average', use_ensemble_value_predictions=False, num_value_predictions_in_ensemble=5, value_ensemble_aggregation_scheme='average', search_depth=1, mask_current_state_action_for_value_prediction=False, mask_future_state_for_qvalue_prediction=False, num_queries_best_of_n=1, use_parallel_inference=False, available_gpus='0', parallel_timeout=15, parallel_tasks_across_gpus=False, task_suite_name='libero_goal', num_trials_per_task=50, task_ids_to_run='3', initial_states_path='DEFAULT', env_img_res=256, local_log_dir='/home/azureuser/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal', run_id_note='t7rc800x50_t3_s3', use_wandb=False, wandb_entity='YOUR_ENTITY', wandb_project='YOUR_PROJECT', seed=195, randomize_seed=False, data_collection=False, jpeg_compress=True, reward_stop_threshold=None, reward_stop_consecutive_steps=3, use_gpt_reward=False, gpt_reward_model='gpt-5.4-mini', gpt_reward_stop_threshold=4, gpt_reward_timeout_s=30.0, save_rollout_video=False, eval_hdf5_path='', eval_hdf5_demo_key='demo_0', data_gen_demo_ids='', eval_episode_ids='3,7,11,15,19,23,27,31,35,39,43,47', replay_actions=False, replay_action_path_dir='', replay_hdf5_path='', data_generation=False, max_generation_steps=200, simple_task_max_steps=100, complex_task_max_steps=200, disable_value_stop=False)
+Using serial inference (parallel inference disabled)
+Task suite: libero_goal
+Number of tasks: 10
+Running only task IDs: [3]
+Using default initial states
+
+Task: open the top drawer and put the bowl inside
+Starting episode 1...
+Query 1/1: Action query time = 7.083 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4803
+t=10: Selected seed 195 with value = 0.4803
+Query 1/1: Action query time = 5.572 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6171
+t=26: Selected seed 195 with value = 0.6171
+Query 1/1: Action query time = 5.351 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8270
+t=42: Selected seed 195 with value = 0.8270
+Query 1/1: Action query time = 5.588 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8995
+t=58: Selected seed 195 with value = 0.8995
+Query 1/1: Action query time = 5.423 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8473
+t=74: Selected seed 195 with value = 0.8473
+Query 1/1: Action query time = 6.180 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9222
+t=90: Selected seed 195 with value = 0.9222
+Query 1/1: Action query time = 4.860 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8154
+t=106: Selected seed 195 with value = 0.8154
+Query 1/1: Action query time = 6.316 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9065
+t=122: Selected seed 195 with value = 0.9065
+Query 1/1: Action query time = 5.926 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8203
+t=138: Selected seed 195 with value = 0.8203
+Query 1/1: Action query time = 7.264 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8671
+t=154: Selected seed 195 with value = 0.8671
+Query 1/1: Action query time = 6.855 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7885
+t=170: Selected seed 195 with value = 0.7885
+Query 1/1: Action query time = 6.225 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8441
+t=186: Selected seed 195 with value = 0.8441
+Query 1/1: Action query time = 6.409 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8710
+t=202: Selected seed 195 with value = 0.8710
+Query 1/1: Action query time = 5.895 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8563
+t=218: Selected seed 195 with value = 0.8563
+Query 1/1: Action query time = 6.441 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9228
+t=234: Selected seed 195 with value = 0.9228
+Query 1/1: Action query time = 5.036 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8839
+t=250: Selected seed 195 with value = 0.8839
+Query 1/1: Action query time = 4.805 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8563
+t=266: Selected seed 195 with value = 0.8563
+Query 1/1: Action query time = 4.047 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8434
+t=282: Selected seed 195 with value = 0.8434
+Query 1/1: Action query time = 4.115 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8285
+t=298: Selected seed 195 with value = 0.8285
+Saved rollout MP4 at path ./rollouts/t7rc800x50_t3_s3/2026_08_03-01_16_47--with_future_img--episode=1--success=False--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: False
+# episodes completed so far: 1
+# successes: 0 (0.0%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 2...
+Query 1/1: Action query time = 6.127 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5316
+t=10: Selected seed 195 with value = 0.5316
+Query 1/1: Action query time = 5.501 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6092
+t=26: Selected seed 195 with value = 0.6092
+Query 1/1: Action query time = 5.269 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8130
+t=42: Selected seed 195 with value = 0.8130
+Query 1/1: Action query time = 5.271 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9137
+t=58: Selected seed 195 with value = 0.9137
+Query 1/1: Action query time = 5.231 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9247
+t=74: Selected seed 195 with value = 0.9247
+Query 1/1: Action query time = 5.732 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9654
+t=90: Selected seed 195 with value = 0.9654
+Query 1/1: Action query time = 5.377 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8350
+t=106: Selected seed 195 with value = 0.8350
+Query 1/1: Action query time = 7.169 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8714
+t=122: Selected seed 195 with value = 0.8714
+Query 1/1: Action query time = 5.925 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9773
+t=138: Selected seed 195 with value = 0.9773
+Query 1/1: Action query time = 7.376 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8450
+t=154: Selected seed 195 with value = 0.8450
+Query 1/1: Action query time = 4.886 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9467
+t=170: Selected seed 195 with value = 0.9467
+Query 1/1: Action query time = 5.935 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8960
+t=186: Selected seed 195 with value = 0.8960
+Query 1/1: Action query time = 7.085 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8291
+t=202: Selected seed 195 with value = 0.8291
+Query 1/1: Action query time = 6.927 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9381
+t=218: Selected seed 195 with value = 0.9381
+Query 1/1: Action query time = 6.610 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8661
+t=234: Selected seed 195 with value = 0.8661
+Query 1/1: Action query time = 3.381 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9306
+t=250: Selected seed 195 with value = 0.9306
+Query 1/1: Action query time = 4.933 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8775
+t=266: Selected seed 195 with value = 0.8775
+Query 1/1: Action query time = 5.687 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8602
+t=282: Selected seed 195 with value = 0.8602
+Query 1/1: Action query time = 4.139 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8664
+t=298: Selected seed 195 with value = 0.8664
+Saved rollout MP4 at path ./rollouts/t7rc800x50_t3_s3/2026_08_03-01_16_47--with_future_img--episode=2--success=False--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: False
+# episodes completed so far: 2
+# successes: 0 (0.0%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 3...
+Query 1/1: Action query time = 4.252 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6989
+t=10: Selected seed 195 with value = 0.6989
+Query 1/1: Action query time = 4.817 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6359
+t=26: Selected seed 195 with value = 0.6359
+Query 1/1: Action query time = 3.593 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7792
+t=42: Selected seed 195 with value = 0.7792
+Query 1/1: Action query time = 6.043 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8802
+t=58: Selected seed 195 with value = 0.8802
+Query 1/1: Action query time = 5.515 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8755
+t=74: Selected seed 195 with value = 0.8755
+Query 1/1: Action query time = 4.439 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8416
+t=90: Selected seed 195 with value = 0.8416
+Query 1/1: Action query time = 8.038 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8866
+t=106: Selected seed 195 with value = 0.8866
+Query 1/1: Action query time = 5.968 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9569
+t=122: Selected seed 195 with value = 0.9569
+Query 1/1: Action query time = 4.885 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9203
+t=138: Selected seed 195 with value = 0.9203
+Query 1/1: Action query time = 4.808 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8641
+t=154: Selected seed 195 with value = 0.8641
+Query 1/1: Action query time = 6.627 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8780
+t=170: Selected seed 195 with value = 0.8780
+Query 1/1: Action query time = 4.323 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9249
+t=186: Selected seed 195 with value = 0.9249
+Query 1/1: Action query time = 5.827 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8926
+t=202: Selected seed 195 with value = 0.8926
+Query 1/1: Action query time = 6.165 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8432
+t=218: Selected seed 195 with value = 0.8432
+Query 1/1: Action query time = 6.328 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8978
+t=234: Selected seed 195 with value = 0.8978
+Query 1/1: Action query time = 5.925 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8364
+t=250: Selected seed 195 with value = 0.8364
+Query 1/1: Action query time = 4.920 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7951
+t=266: Selected seed 195 with value = 0.7951
+Query 1/1: Action query time = 5.114 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8048
+t=282: Selected seed 195 with value = 0.8048
+Query 1/1: Action query time = 5.882 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7775
+t=298: Selected seed 195 with value = 0.7775
+Saved rollout MP4 at path ./rollouts/t7rc800x50_t3_s3/2026_08_03-01_16_47--with_future_img--episode=3--success=False--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: False
+# episodes completed so far: 3
+# successes: 0 (0.0%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 4...
+Query 1/1: Action query time = 5.926 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5098
+t=10: Selected seed 195 with value = 0.5098
+Query 1/1: Action query time = 6.178 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5737
+t=26: Selected seed 195 with value = 0.5737
+Query 1/1: Action query time = 5.903 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7618
+t=42: Selected seed 195 with value = 0.7618
+Query 1/1: Action query time = 6.326 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8502
+t=58: Selected seed 195 with value = 0.8502
+Query 1/1: Action query time = 4.187 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9241
+t=74: Selected seed 195 with value = 0.9241
+Query 1/1: Action query time = 5.625 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9520
+t=90: Selected seed 195 with value = 0.9520
+Query 1/1: Action query time = 6.645 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9638
+t=106: Selected seed 195 with value = 0.9638
+Query 1/1: Action query time = 6.685 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=122: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 5.869 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9227
+t=138: Selected seed 195 with value = 0.9227
+Query 1/1: Action query time = 5.814 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8891
+t=154: Selected seed 195 with value = 0.8891
+Query 1/1: Action query time = 6.041 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9887
+t=170: Selected seed 195 with value = 0.9887
+Query 1/1: Action query time = 5.839 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9071
+t=186: Selected seed 195 with value = 0.9071
+Query 1/1: Action query time = 5.441 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8940
+t=202: Selected seed 195 with value = 0.8940
+Query 1/1: Action query time = 5.775 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9691
+t=218: Selected seed 195 with value = 0.9691
+Query 1/1: Action query time = 5.411 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8837
+t=234: Selected seed 195 with value = 0.8837
+Query 1/1: Action query time = 5.136 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8369
+t=250: Selected seed 195 with value = 0.8369
+Query 1/1: Action query time = 5.284 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8969
+t=266: Selected seed 195 with value = 0.8969
+Query 1/1: Action query time = 4.226 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8335
+t=282: Selected seed 195 with value = 0.8335
+Query 1/1: Action query time = 4.156 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8945
+t=298: Selected seed 195 with value = 0.8945
+Saved rollout MP4 at path ./rollouts/t7rc800x50_t3_s3/2026_08_03-01_16_47--with_future_img--episode=4--success=False--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: False
+# episodes completed so far: 4
+# successes: 0 (0.0%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 5...
+Query 1/1: Action query time = 5.511 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4883
+t=10: Selected seed 195 with value = 0.4883
+Query 1/1: Action query time = 5.492 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6188
+t=26: Selected seed 195 with value = 0.6188
+Query 1/1: Action query time = 4.879 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8343
+t=42: Selected seed 195 with value = 0.8343
+Query 1/1: Action query time = 3.841 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8950
+t=58: Selected seed 195 with value = 0.8950
+Query 1/1: Action query time = 6.121 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8028
+t=74: Selected seed 195 with value = 0.8028
+Query 1/1: Action query time = 5.483 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9263
+t=90: Selected seed 195 with value = 0.9263
+Query 1/1: Action query time = 5.723 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8505
+t=106: Selected seed 195 with value = 0.8505
+Query 1/1: Action query time = 6.851 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8802
+t=122: Selected seed 195 with value = 0.8802
+Query 1/1: Action query time = 6.741 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8599
+t=138: Selected seed 195 with value = 0.8599
+Query 1/1: Action query time = 8.655 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8895
+t=154: Selected seed 195 with value = 0.8895
+Query 1/1: Action query time = 5.488 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9403
+t=170: Selected seed 195 with value = 0.9403
+Query 1/1: Action query time = 5.211 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8591
+t=186: Selected seed 195 with value = 0.8591
+Query 1/1: Action query time = 4.754 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9223
+t=202: Selected seed 195 with value = 0.9223
+Query 1/1: Action query time = 4.189 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8718
+t=218: Selected seed 195 with value = 0.8718
+Query 1/1: Action query time = 5.035 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8458
+t=234: Selected seed 195 with value = 0.8458
+Query 1/1: Action query time = 5.359 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8053
+t=250: Selected seed 195 with value = 0.8053
+Query 1/1: Action query time = 4.229 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7886
+t=266: Selected seed 195 with value = 0.7886
+Query 1/1: Action query time = 4.297 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8069
+t=282: Selected seed 195 with value = 0.8069
+Query 1/1: Action query time = 4.875 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8185
+t=298: Selected seed 195 with value = 0.8185
+Saved rollout MP4 at path ./rollouts/t7rc800x50_t3_s3/2026_08_03-01_16_47--with_future_img--episode=5--success=False--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: False
+# episodes completed so far: 5
+# successes: 0 (0.0%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 6...
+Query 1/1: Action query time = 4.659 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4823
+t=10: Selected seed 195 with value = 0.4823
+Query 1/1: Action query time = 5.312 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6787
+t=26: Selected seed 195 with value = 0.6787
+Query 1/1: Action query time = 4.982 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7989
+t=42: Selected seed 195 with value = 0.7989
+Query 1/1: Action query time = 4.546 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8857
+t=58: Selected seed 195 with value = 0.8857
+Query 1/1: Action query time = 4.519 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9164
+t=74: Selected seed 195 with value = 0.9164
+Query 1/1: Action query time = 5.139 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8908
+t=90: Selected seed 195 with value = 0.8908
+Query 1/1: Action query time = 7.124 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8772
+t=106: Selected seed 195 with value = 0.8772
+Query 1/1: Action query time = 6.181 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8971
+t=122: Selected seed 195 with value = 0.8971
+Query 1/1: Action query time = 6.536 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9426
+t=138: Selected seed 195 with value = 0.9426
+Query 1/1: Action query time = 5.612 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8656
+t=154: Selected seed 195 with value = 0.8656
+Query 1/1: Action query time = 6.305 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8749
+t=170: Selected seed 195 with value = 0.8749
+Query 1/1: Action query time = 7.975 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8886
+t=186: Selected seed 195 with value = 0.8886
+Query 1/1: Action query time = 6.667 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9029
+t=202: Selected seed 195 with value = 0.9029
+Query 1/1: Action query time = 6.400 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9035
+t=218: Selected seed 195 with value = 0.9035
+Query 1/1: Action query time = 4.258 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8311
+t=234: Selected seed 195 with value = 0.8311
+Query 1/1: Action query time = 6.099 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8953
+t=250: Selected seed 195 with value = 0.8953
+Query 1/1: Action query time = 4.546 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8374
+t=266: Selected seed 195 with value = 0.8374
+Query 1/1: Action query time = 4.971 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8835
+t=282: Selected seed 195 with value = 0.8835
+Query 1/1: Action query time = 3.117 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8225
+t=298: Selected seed 195 with value = 0.8225
+Saved rollout MP4 at path ./rollouts/t7rc800x50_t3_s3/2026_08_03-01_16_47--with_future_img--episode=6--success=False--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: False
+# episodes completed so far: 6
+# successes: 0 (0.0%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 7...
+Query 1/1: Action query time = 6.725 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4802
+t=10: Selected seed 195 with value = 0.4802
+Query 1/1: Action query time = 6.526 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6128
+t=26: Selected seed 195 with value = 0.6128
+Query 1/1: Action query time = 6.709 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8171
+t=42: Selected seed 195 with value = 0.8171
+Query 1/1: Action query time = 5.190 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8832
+t=58: Selected seed 195 with value = 0.8832
+Query 1/1: Action query time = 6.890 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8728
+t=74: Selected seed 195 with value = 0.8728
+Query 1/1: Action query time = 4.901 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8411
+t=90: Selected seed 195 with value = 0.8411
+Query 1/1: Action query time = 6.262 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8639
+t=106: Selected seed 195 with value = 0.8639
+Query 1/1: Action query time = 6.332 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9487
+t=122: Selected seed 195 with value = 0.9487
+Query 1/1: Action query time = 8.141 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8799
+t=138: Selected seed 195 with value = 0.8799
+Query 1/1: Action query time = 6.608 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8776
+t=154: Selected seed 195 with value = 0.8776
+Query 1/1: Action query time = 5.299 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9779
+t=170: Selected seed 195 with value = 0.9779
+Query 1/1: Action query time = 5.136 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9307
+t=186: Selected seed 195 with value = 0.9307
+Query 1/1: Action query time = 5.578 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9607
+t=202: Selected seed 195 with value = 0.9607
+Query 1/1: Action query time = 6.043 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9048
+t=218: Selected seed 195 with value = 0.9048
+Query 1/1: Action query time = 3.796 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8817
+t=234: Selected seed 195 with value = 0.8817
+Query 1/1: Action query time = 6.111 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9064
+t=250: Selected seed 195 with value = 0.9064
+Query 1/1: Action query time = 6.012 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8318
+t=266: Selected seed 195 with value = 0.8318
+Query 1/1: Action query time = 6.542 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8391
+t=282: Selected seed 195 with value = 0.8391
+Query 1/1: Action query time = 5.757 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8179
+t=298: Selected seed 195 with value = 0.8179
+Saved rollout MP4 at path ./rollouts/t7rc800x50_t3_s3/2026_08_03-01_16_47--with_future_img--episode=7--success=False--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: False
+# episodes completed so far: 7
+# successes: 0 (0.0%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 8...
+Query 1/1: Action query time = 6.491 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4781
+t=10: Selected seed 195 with value = 0.4781
+Query 1/1: Action query time = 6.333 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6418
+t=26: Selected seed 195 with value = 0.6418
+Query 1/1: Action query time = 6.511 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8046
+t=42: Selected seed 195 with value = 0.8046
+Query 1/1: Action query time = 7.537 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8729
+t=58: Selected seed 195 with value = 0.8729
+Query 1/1: Action query time = 5.581 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8171
+t=74: Selected seed 195 with value = 0.8171
+Query 1/1: Action query time = 7.036 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7859
+t=90: Selected seed 195 with value = 0.7859
+Query 1/1: Action query time = 6.181 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8863
+t=106: Selected seed 195 with value = 0.8863
+Query 1/1: Action query time = 7.006 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9199
+t=122: Selected seed 195 with value = 0.9199
+Query 1/1: Action query time = 6.006 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9611
+t=138: Selected seed 195 with value = 0.9611
+Query 1/1: Action query time = 7.965 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9282
+t=154: Selected seed 195 with value = 0.9282
+Query 1/1: Action query time = 5.046 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9817
+t=170: Selected seed 195 with value = 0.9817
+Query 1/1: Action query time = 5.743 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8491
+t=186: Selected seed 195 with value = 0.8491
+Query 1/1: Action query time = 4.924 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9517
+t=202: Selected seed 195 with value = 0.9517
+Query 1/1: Action query time = 3.380 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8562
+t=218: Selected seed 195 with value = 0.8562
+Query 1/1: Action query time = 3.761 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8925
+t=234: Selected seed 195 with value = 0.8925
+Query 1/1: Action query time = 4.460 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8746
+t=250: Selected seed 195 with value = 0.8746
+Query 1/1: Action query time = 4.172 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8045
+t=266: Selected seed 195 with value = 0.8045
+Query 1/1: Action query time = 4.744 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7902
+t=282: Selected seed 195 with value = 0.7902
+Query 1/1: Action query time = 6.069 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7761
+t=298: Selected seed 195 with value = 0.7761
+Saved rollout MP4 at path ./rollouts/t7rc800x50_t3_s3/2026_08_03-01_16_47--with_future_img--episode=8--success=False--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: False
+# episodes completed so far: 8
+# successes: 0 (0.0%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 9...
+Query 1/1: Action query time = 5.970 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5605
+t=10: Selected seed 195 with value = 0.5605
+Query 1/1: Action query time = 7.509 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8360
+t=26: Selected seed 195 with value = 0.8360
+Query 1/1: Action query time = 6.103 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8712
+t=42: Selected seed 195 with value = 0.8712
+Query 1/1: Action query time = 6.017 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9240
+t=58: Selected seed 195 with value = 0.9240
+Query 1/1: Action query time = 5.976 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9593
+t=74: Selected seed 195 with value = 0.9593
+Query 1/1: Action query time = 6.214 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9705
+t=90: Selected seed 195 with value = 0.9705
+Query 1/1: Action query time = 6.699 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9439
+t=106: Selected seed 195 with value = 0.9439
+Query 1/1: Action query time = 4.607 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9262
+t=122: Selected seed 195 with value = 0.9262
+Query 1/1: Action query time = 5.751 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9437
+t=138: Selected seed 195 with value = 0.9437
+Query 1/1: Action query time = 6.295 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9829
+t=154: Selected seed 195 with value = 0.9829
+Query 1/1: Action query time = 5.337 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=170: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 5.190 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=186: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.735 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9951
+t=202: Selected seed 195 with value = 0.9951
+Query 1/1: Action query time = 3.875 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9323
+t=218: Selected seed 195 with value = 0.9323
+Query 1/1: Action query time = 4.419 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8978
+t=234: Selected seed 195 with value = 0.8978
+Query 1/1: Action query time = 4.931 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9282
+t=250: Selected seed 195 with value = 0.9282
+Query 1/1: Action query time = 3.447 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9587
+t=266: Selected seed 195 with value = 0.9587
+Query 1/1: Action query time = 4.210 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9495
+t=282: Selected seed 195 with value = 0.9495
+Query 1/1: Action query time = 5.420 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8812
+t=298: Selected seed 195 with value = 0.8812
+Saved rollout MP4 at path ./rollouts/t7rc800x50_t3_s3/2026_08_03-01_16_47--with_future_img--episode=9--success=False--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: False
+# episodes completed so far: 9
+# successes: 0 (0.0%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 10...
+Query 1/1: Action query time = 5.196 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7484
+t=10: Selected seed 195 with value = 0.7484
+Query 1/1: Action query time = 4.644 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6591
+t=26: Selected seed 195 with value = 0.6591
+Query 1/1: Action query time = 4.656 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7943
+t=42: Selected seed 195 with value = 0.7943
+Query 1/1: Action query time = 4.524 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8709
+t=58: Selected seed 195 with value = 0.8709
+Query 1/1: Action query time = 5.496 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9208
+t=74: Selected seed 195 with value = 0.9208
+Query 1/1: Action query time = 4.788 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9355
+t=90: Selected seed 195 with value = 0.9355
+Query 1/1: Action query time = 4.876 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9558
+t=106: Selected seed 195 with value = 0.9558
+Query 1/1: Action query time = 4.711 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9833
+t=122: Selected seed 195 with value = 0.9833
+Query 1/1: Action query time = 4.983 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9937
+t=138: Selected seed 195 with value = 0.9937
+Query 1/1: Action query time = 3.809 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=154: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 5.229 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9951
+t=170: Selected seed 195 with value = 0.9951
+Query 1/1: Action query time = 5.520 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=186: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 3.543 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9949
+t=202: Selected seed 195 with value = 0.9949
+Query 1/1: Action query time = 2.742 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=218: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 3.946 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9955
+t=234: Selected seed 195 with value = 0.9955
+Query 1/1: Action query time = 3.487 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=250: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 3.609 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9960
+t=266: Selected seed 195 with value = 0.9960
+Query 1/1: Action query time = 4.803 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=282: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 5.106 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=298: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/t7rc800x50_t3_s3/2026_08_03-01_16_47--with_future_img--episode=10--success=False--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: False
+# episodes completed so far: 10
+# successes: 0 (0.0%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 11...
+Query 1/1: Action query time = 3.786 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4684
+t=10: Selected seed 195 with value = 0.4684
+Query 1/1: Action query time = 4.152 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6964
+t=26: Selected seed 195 with value = 0.6964
+Query 1/1: Action query time = 4.819 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7918
+t=42: Selected seed 195 with value = 0.7918
+Query 1/1: Action query time = 4.209 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8820
+t=58: Selected seed 195 with value = 0.8820
+Query 1/1: Action query time = 4.776 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8995
+t=74: Selected seed 195 with value = 0.8995
+Query 1/1: Action query time = 5.605 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8098
+t=90: Selected seed 195 with value = 0.8098
+Query 1/1: Action query time = 5.095 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8900
+t=106: Selected seed 195 with value = 0.8900
+Query 1/1: Action query time = 5.005 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8836
+t=122: Selected seed 195 with value = 0.8836
+Query 1/1: Action query time = 4.604 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8555
+t=138: Selected seed 195 with value = 0.8555
+Query 1/1: Action query time = 4.926 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8791
+t=154: Selected seed 195 with value = 0.8791
+Query 1/1: Action query time = 4.946 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8861
+t=170: Selected seed 195 with value = 0.8861
+Query 1/1: Action query time = 4.833 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8596
+t=186: Selected seed 195 with value = 0.8596
+Query 1/1: Action query time = 3.775 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8863
+t=202: Selected seed 195 with value = 0.8863
+Query 1/1: Action query time = 2.188 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8841
+t=218: Selected seed 195 with value = 0.8841
+Query 1/1: Action query time = 2.301 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8903
+t=234: Selected seed 195 with value = 0.8903
+Query 1/1: Action query time = 2.668 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9258
+t=250: Selected seed 195 with value = 0.9258
+Query 1/1: Action query time = 4.374 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9103
+t=266: Selected seed 195 with value = 0.9103
+Query 1/1: Action query time = 3.864 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8662
+t=282: Selected seed 195 with value = 0.8662
+Query 1/1: Action query time = 3.814 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9053
+t=298: Selected seed 195 with value = 0.9053
+Saved rollout MP4 at path ./rollouts/t7rc800x50_t3_s3/2026_08_03-01_16_47--with_future_img--episode=11--success=False--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: False
+# episodes completed so far: 11
+# successes: 0 (0.0%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 12...
+Query 1/1: Action query time = 3.999 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4809
+t=10: Selected seed 195 with value = 0.4809
+Query 1/1: Action query time = 3.807 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6174
+t=26: Selected seed 195 with value = 0.6174
+Query 1/1: Action query time = 3.746 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8577
+t=42: Selected seed 195 with value = 0.8577
+Query 1/1: Action query time = 3.132 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8547
+t=58: Selected seed 195 with value = 0.8547
+Query 1/1: Action query time = 3.539 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8870
+t=74: Selected seed 195 with value = 0.8870
+Query 1/1: Action query time = 3.251 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9463
+t=90: Selected seed 195 with value = 0.9463
+Query 1/1: Action query time = 3.128 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9703
+t=106: Selected seed 195 with value = 0.9703
+Query 1/1: Action query time = 3.332 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9165
+t=122: Selected seed 195 with value = 0.9165
+Query 1/1: Action query time = 4.053 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9853
+t=138: Selected seed 195 with value = 0.9853
+Query 1/1: Action query time = 3.415 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9812
+t=154: Selected seed 195 with value = 0.9812
+Query 1/1: Action query time = 3.681 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8755
+t=170: Selected seed 195 with value = 0.8755
+Query 1/1: Action query time = 3.501 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8737
+t=186: Selected seed 195 with value = 0.8737
+Query 1/1: Action query time = 2.915 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9683
+t=202: Selected seed 195 with value = 0.9683
+Query 1/1: Action query time = 1.847 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8904
+t=218: Selected seed 195 with value = 0.8904
+Query 1/1: Action query time = 1.709 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9301
+t=234: Selected seed 195 with value = 0.9301
+Query 1/1: Action query time = 1.873 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8878
+t=250: Selected seed 195 with value = 0.8878
+Query 1/1: Action query time = 1.935 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8227
+t=266: Selected seed 195 with value = 0.8227
+Query 1/1: Action query time = 1.920 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8868
+t=282: Selected seed 195 with value = 0.8868
+Query 1/1: Action query time = 2.545 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7974
+t=298: Selected seed 195 with value = 0.7974
+Saved rollout MP4 at path ./rollouts/t7rc800x50_t3_s3/2026_08_03-01_16_47--with_future_img--episode=12--success=False--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: False
+# episodes completed so far: 12
+# successes: 0 (0.0%)
+Current task success rate: 0.0
+Current total success rate: 0.0
+Final results:
+Total episodes: 12
+Total successes: 0
+Overall success rate: 0.0000 (0.0%)
diff --git a/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_03-01_16_48--t7dc800x50_t2_s1.txt b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_03-01_16_48--t7dc800x50_t2_s1.txt
new file mode 100644
index 0000000000000000000000000000000000000000..e2b1bd4d56fbf2680e745e515476251e89f222f0
--- /dev/null
+++ b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_03-01_16_48--t7dc800x50_t2_s1.txt
@@ -0,0 +1,1091 @@
+Eval config: PolicyEvalConfig(suite='libero', model_family='cosmos', config='cosmos_predict2_2b_480p_libero_cl_stage_inference_only', ckpt_path='/home/azureuser/REGEN-main/new_task7/cosmos_policy/cosmos_v2_finetune/cosmos_predict2_2b_480p_libero_goal_task7_cl_from_demochan800_2gpu/checkpoints/iter_000000800/model', planning_model_config_name='', planning_model_ckpt_path='', config_file='cosmos_policy/config/config.py', packnet_mask_path='', packnet_first_cl_libero_task=6, use_third_person_image=True, num_third_person_images=1, use_wrist_image=True, num_wrist_images=1, use_proprio=True, flip_images=True, use_variance_scale=False, use_jpeg_compression=True, ar_future_prediction=False, ar_value_prediction=False, ar_qvalue_prediction=False, num_denoising_steps_action=5, num_denoising_steps_future_state=1, num_denoising_steps_value=1, unnormalize_actions=True, normalize_proprio=True, dataset_stats_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/libero_goal_regen/dataset_statistics.json', t5_text_embeddings_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/t5_embeddings.pkl', trained_with_image_aug=True, chunk_size=16, num_open_loop_steps=16, deterministic=True, deterministic_reset=False, deterministic_reset_seed=None, use_ensemble_future_state_predictions=False, num_future_state_predictions_in_ensemble=3, future_state_ensemble_aggregation_scheme='average', use_ensemble_value_predictions=False, num_value_predictions_in_ensemble=5, value_ensemble_aggregation_scheme='average', search_depth=1, mask_current_state_action_for_value_prediction=False, mask_future_state_for_qvalue_prediction=False, num_queries_best_of_n=1, use_parallel_inference=False, available_gpus='0', parallel_timeout=15, parallel_tasks_across_gpus=False, task_suite_name='libero_goal', num_trials_per_task=50, task_ids_to_run='2', initial_states_path='DEFAULT', env_img_res=256, local_log_dir='/home/azureuser/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal', run_id_note='t7dc800x50_t2_s1', use_wandb=False, wandb_entity='YOUR_ENTITY', wandb_project='YOUR_PROJECT', seed=195, randomize_seed=False, data_collection=False, jpeg_compress=True, reward_stop_threshold=None, reward_stop_consecutive_steps=3, use_gpt_reward=False, gpt_reward_model='gpt-5.4-mini', gpt_reward_stop_threshold=4, gpt_reward_timeout_s=30.0, save_rollout_video=False, eval_hdf5_path='', eval_hdf5_demo_key='demo_0', data_gen_demo_ids='', eval_episode_ids='1,5,9,13,17,21,25,29,33,37,41,45,49', replay_actions=False, replay_action_path_dir='', replay_hdf5_path='', data_generation=False, max_generation_steps=200, simple_task_max_steps=100, complex_task_max_steps=200, disable_value_stop=False)
+Using serial inference (parallel inference disabled)
+Task suite: libero_goal
+Number of tasks: 10
+Running only task IDs: [2]
+Using default initial states
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 1...
+Query 1/1: Action query time = 3.745 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5572
+t=10: Selected seed 195 with value = 0.5572
+Query 1/1: Action query time = 3.104 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6651
+t=26: Selected seed 195 with value = 0.6651
+Query 1/1: Action query time = 6.666 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7781
+t=42: Selected seed 195 with value = 0.7781
+Query 1/1: Action query time = 5.936 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8975
+t=58: Selected seed 195 with value = 0.8975
+Query 1/1: Action query time = 6.849 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9669
+t=74: Selected seed 195 with value = 0.9669
+Query 1/1: Action query time = 7.017 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 5.971 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=106: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.838 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=122: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 5.800 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9930
+t=138: Selected seed 195 with value = 0.9930
+Query 1/1: Action query time = 6.304 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9862
+t=154: Selected seed 195 with value = 0.9862
+Query 1/1: Action query time = 6.426 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9782
+t=170: Selected seed 195 with value = 0.9782
+Query 1/1: Action query time = 6.007 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9877
+t=186: Selected seed 195 with value = 0.9877
+Query 1/1: Action query time = 5.687 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9968
+t=202: Selected seed 195 with value = 0.9968
+Query 1/1: Action query time = 5.660 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9970
+t=218: Selected seed 195 with value = 0.9970
+Query 1/1: Action query time = 5.976 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9960
+t=234: Selected seed 195 with value = 0.9960
+Query 1/1: Action query time = 5.747 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=250: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 5.037 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=266: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 5.426 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=282: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 5.957 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=298: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/t7dc800x50_t2_s1/2026_08_03-01_16_48--with_future_img--episode=1--success=False--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: False
+# episodes completed so far: 1
+# successes: 0 (0.0%)
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 2...
+Query 1/1: Action query time = 2.647 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5850
+t=10: Selected seed 195 with value = 0.5850
+Query 1/1: Action query time = 2.857 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6270
+t=26: Selected seed 195 with value = 0.6270
+Query 1/1: Action query time = 4.104 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7214
+t=42: Selected seed 195 with value = 0.7214
+Query 1/1: Action query time = 5.930 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8304
+t=58: Selected seed 195 with value = 0.8304
+Query 1/1: Action query time = 7.638 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8614
+t=74: Selected seed 195 with value = 0.8614
+Query 1/1: Action query time = 5.997 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8787
+t=90: Selected seed 195 with value = 0.8787
+Query 1/1: Action query time = 7.043 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8817
+t=106: Selected seed 195 with value = 0.8817
+Query 1/1: Action query time = 6.153 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8941
+t=122: Selected seed 195 with value = 0.8941
+Query 1/1: Action query time = 6.589 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9033
+t=138: Selected seed 195 with value = 0.9033
+Query 1/1: Action query time = 6.533 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9112
+t=154: Selected seed 195 with value = 0.9112
+Query 1/1: Action query time = 5.570 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9168
+t=170: Selected seed 195 with value = 0.9168
+Query 1/1: Action query time = 5.596 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9229
+t=186: Selected seed 195 with value = 0.9229
+Query 1/1: Action query time = 6.838 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9264
+t=202: Selected seed 195 with value = 0.9264
+Query 1/1: Action query time = 7.046 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9225
+t=218: Selected seed 195 with value = 0.9225
+Query 1/1: Action query time = 6.564 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9363
+t=234: Selected seed 195 with value = 0.9363
+Query 1/1: Action query time = 5.935 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9528
+t=250: Selected seed 195 with value = 0.9528
+Query 1/1: Action query time = 5.110 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9057
+t=266: Selected seed 195 with value = 0.9057
+Query 1/1: Action query time = 6.561 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8223
+t=282: Selected seed 195 with value = 0.8223
+Query 1/1: Action query time = 5.174 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7877
+t=298: Selected seed 195 with value = 0.7877
+Saved rollout MP4 at path ./rollouts/t7dc800x50_t2_s1/2026_08_03-01_16_48--with_future_img--episode=2--success=False--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: False
+# episodes completed so far: 2
+# successes: 0 (0.0%)
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 3...
+Query 1/1: Action query time = 3.244 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5859
+t=10: Selected seed 195 with value = 0.5859
+Query 1/1: Action query time = 4.345 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6151
+t=26: Selected seed 195 with value = 0.6151
+Query 1/1: Action query time = 6.079 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7039
+t=42: Selected seed 195 with value = 0.7039
+Query 1/1: Action query time = 5.946 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7819
+t=58: Selected seed 195 with value = 0.7819
+Query 1/1: Action query time = 6.495 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9147
+t=74: Selected seed 195 with value = 0.9147
+Query 1/1: Action query time = 5.493 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9013
+t=90: Selected seed 195 with value = 0.9013
+Query 1/1: Action query time = 5.292 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9089
+t=106: Selected seed 195 with value = 0.9089
+Query 1/1: Action query time = 3.378 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9155
+t=122: Selected seed 195 with value = 0.9155
+Query 1/1: Action query time = 5.352 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9262
+t=138: Selected seed 195 with value = 0.9262
+Query 1/1: Action query time = 6.022 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9309
+t=154: Selected seed 195 with value = 0.9309
+Query 1/1: Action query time = 5.508 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9300
+t=170: Selected seed 195 with value = 0.9300
+Query 1/1: Action query time = 6.680 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9217
+t=186: Selected seed 195 with value = 0.9217
+Query 1/1: Action query time = 6.520 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9282
+t=202: Selected seed 195 with value = 0.9282
+Query 1/1: Action query time = 6.582 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9488
+t=218: Selected seed 195 with value = 0.9488
+Query 1/1: Action query time = 5.901 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9615
+t=234: Selected seed 195 with value = 0.9615
+Query 1/1: Action query time = 5.211 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8597
+t=250: Selected seed 195 with value = 0.8597
+Query 1/1: Action query time = 6.084 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8162
+t=266: Selected seed 195 with value = 0.8162
+Query 1/1: Action query time = 6.028 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8313
+t=282: Selected seed 195 with value = 0.8313
+Query 1/1: Action query time = 6.176 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8299
+t=298: Selected seed 195 with value = 0.8299
+Saved rollout MP4 at path ./rollouts/t7dc800x50_t2_s1/2026_08_03-01_16_48--with_future_img--episode=3--success=False--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: False
+# episodes completed so far: 3
+# successes: 0 (0.0%)
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 4...
+Query 1/1: Action query time = 3.506 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5614
+t=10: Selected seed 195 with value = 0.5614
+Query 1/1: Action query time = 3.662 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7026
+t=26: Selected seed 195 with value = 0.7026
+Query 1/1: Action query time = 4.289 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9030
+t=42: Selected seed 195 with value = 0.9030
+Query 1/1: Action query time = 5.141 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9715
+t=58: Selected seed 195 with value = 0.9715
+Query 1/1: Action query time = 5.309 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9552
+t=74: Selected seed 195 with value = 0.9552
+Query 1/1: Action query time = 5.472 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9211
+t=90: Selected seed 195 with value = 0.9211
+Query 1/1: Action query time = 5.510 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9387
+t=106: Selected seed 195 with value = 0.9387
+Query 1/1: Action query time = 6.046 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9439
+t=122: Selected seed 195 with value = 0.9439
+Query 1/1: Action query time = 5.730 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9421
+t=138: Selected seed 195 with value = 0.9421
+Query 1/1: Action query time = 5.071 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9052
+t=154: Selected seed 195 with value = 0.9052
+Query 1/1: Action query time = 5.100 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9064
+t=170: Selected seed 195 with value = 0.9064
+Query 1/1: Action query time = 5.815 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9225
+t=186: Selected seed 195 with value = 0.9225
+Query 1/1: Action query time = 6.957 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9093
+t=202: Selected seed 195 with value = 0.9093
+Query 1/1: Action query time = 5.606 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8925
+t=218: Selected seed 195 with value = 0.8925
+Query 1/1: Action query time = 4.919 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8493
+t=234: Selected seed 195 with value = 0.8493
+Query 1/1: Action query time = 5.216 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8229
+t=250: Selected seed 195 with value = 0.8229
+Query 1/1: Action query time = 5.463 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8198
+t=266: Selected seed 195 with value = 0.8198
+Query 1/1: Action query time = 4.925 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8212
+t=282: Selected seed 195 with value = 0.8212
+Query 1/1: Action query time = 5.912 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8217
+t=298: Selected seed 195 with value = 0.8217
+Saved rollout MP4 at path ./rollouts/t7dc800x50_t2_s1/2026_08_03-01_16_48--with_future_img--episode=4--success=False--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: False
+# episodes completed so far: 4
+# successes: 0 (0.0%)
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 5...
+Query 1/1: Action query time = 4.411 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5723
+t=10: Selected seed 195 with value = 0.5723
+Query 1/1: Action query time = 3.665 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6601
+t=26: Selected seed 195 with value = 0.6601
+Query 1/1: Action query time = 5.794 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7151
+t=42: Selected seed 195 with value = 0.7151
+Query 1/1: Action query time = 5.615 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9264
+t=58: Selected seed 195 with value = 0.9264
+Query 1/1: Action query time = 4.984 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8884
+t=74: Selected seed 195 with value = 0.8884
+Query 1/1: Action query time = 6.193 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8740
+t=90: Selected seed 195 with value = 0.8740
+Query 1/1: Action query time = 6.468 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8921
+t=106: Selected seed 195 with value = 0.8921
+Query 1/1: Action query time = 5.773 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9024
+t=122: Selected seed 195 with value = 0.9024
+Query 1/1: Action query time = 5.265 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9140
+t=138: Selected seed 195 with value = 0.9140
+Query 1/1: Action query time = 5.523 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9293
+t=154: Selected seed 195 with value = 0.9293
+Query 1/1: Action query time = 5.584 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9384
+t=170: Selected seed 195 with value = 0.9384
+Query 1/1: Action query time = 4.541 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9368
+t=186: Selected seed 195 with value = 0.9368
+Query 1/1: Action query time = 6.262 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9374
+t=202: Selected seed 195 with value = 0.9374
+Query 1/1: Action query time = 6.082 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9445
+t=218: Selected seed 195 with value = 0.9445
+Query 1/1: Action query time = 6.280 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9325
+t=234: Selected seed 195 with value = 0.9325
+Query 1/1: Action query time = 6.819 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8223
+t=250: Selected seed 195 with value = 0.8223
+Query 1/1: Action query time = 6.580 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7875
+t=266: Selected seed 195 with value = 0.7875
+Query 1/1: Action query time = 6.005 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7867
+t=282: Selected seed 195 with value = 0.7867
+Query 1/1: Action query time = 7.629 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7819
+t=298: Selected seed 195 with value = 0.7819
+Saved rollout MP4 at path ./rollouts/t7dc800x50_t2_s1/2026_08_03-01_16_48--with_future_img--episode=5--success=False--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: False
+# episodes completed so far: 5
+# successes: 0 (0.0%)
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 6...
+Query 1/1: Action query time = 3.420 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5960
+t=10: Selected seed 195 with value = 0.5960
+Query 1/1: Action query time = 2.555 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6563
+t=26: Selected seed 195 with value = 0.6563
+Query 1/1: Action query time = 5.037 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7616
+t=42: Selected seed 195 with value = 0.7616
+Query 1/1: Action query time = 5.523 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8874
+t=58: Selected seed 195 with value = 0.8874
+Query 1/1: Action query time = 5.874 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9191
+t=74: Selected seed 195 with value = 0.9191
+Query 1/1: Action query time = 5.182 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9531
+t=90: Selected seed 195 with value = 0.9531
+Query 1/1: Action query time = 6.253 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9780
+t=106: Selected seed 195 with value = 0.9780
+Query 1/1: Action query time = 5.668 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9757
+t=122: Selected seed 195 with value = 0.9757
+Query 1/1: Action query time = 5.594 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9716
+t=138: Selected seed 195 with value = 0.9716
+Query 1/1: Action query time = 5.054 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9690
+t=154: Selected seed 195 with value = 0.9690
+Query 1/1: Action query time = 6.657 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9653
+t=170: Selected seed 195 with value = 0.9653
+Query 1/1: Action query time = 7.868 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9684
+t=186: Selected seed 195 with value = 0.9684
+Query 1/1: Action query time = 6.547 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9712
+t=202: Selected seed 195 with value = 0.9712
+Query 1/1: Action query time = 5.034 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9734
+t=218: Selected seed 195 with value = 0.9734
+Query 1/1: Action query time = 5.754 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9698
+t=234: Selected seed 195 with value = 0.9698
+Query 1/1: Action query time = 4.825 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9672
+t=250: Selected seed 195 with value = 0.9672
+Query 1/1: Action query time = 6.123 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9765
+t=266: Selected seed 195 with value = 0.9765
+Query 1/1: Action query time = 5.400 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=282: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 6.503 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9883
+t=298: Selected seed 195 with value = 0.9883
+Saved rollout MP4 at path ./rollouts/t7dc800x50_t2_s1/2026_08_03-01_16_48--with_future_img--episode=6--success=False--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: False
+# episodes completed so far: 6
+# successes: 0 (0.0%)
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 7...
+Query 1/1: Action query time = 3.939 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5728
+t=10: Selected seed 195 with value = 0.5728
+Query 1/1: Action query time = 3.300 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6651
+t=26: Selected seed 195 with value = 0.6651
+Query 1/1: Action query time = 3.212 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8901
+t=42: Selected seed 195 with value = 0.8901
+Query 1/1: Action query time = 2.858 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8544
+t=58: Selected seed 195 with value = 0.8544
+Query 1/1: Action query time = 5.529 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9014
+t=74: Selected seed 195 with value = 0.9014
+Query 1/1: Action query time = 5.378 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8972
+t=90: Selected seed 195 with value = 0.8972
+Query 1/1: Action query time = 5.731 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9031
+t=106: Selected seed 195 with value = 0.9031
+Query 1/1: Action query time = 5.445 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9096
+t=122: Selected seed 195 with value = 0.9096
+Query 1/1: Action query time = 6.485 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9096
+t=138: Selected seed 195 with value = 0.9096
+Query 1/1: Action query time = 5.404 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8992
+t=154: Selected seed 195 with value = 0.8992
+Query 1/1: Action query time = 7.304 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8872
+t=170: Selected seed 195 with value = 0.8872
+Query 1/1: Action query time = 5.852 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8822
+t=186: Selected seed 195 with value = 0.8822
+Query 1/1: Action query time = 4.712 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8428
+t=202: Selected seed 195 with value = 0.8428
+Query 1/1: Action query time = 4.965 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8329
+t=218: Selected seed 195 with value = 0.8329
+Query 1/1: Action query time = 7.316 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8345
+t=234: Selected seed 195 with value = 0.8345
+Query 1/1: Action query time = 5.916 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8392
+t=250: Selected seed 195 with value = 0.8392
+Query 1/1: Action query time = 4.777 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8644
+t=266: Selected seed 195 with value = 0.8644
+Query 1/1: Action query time = 5.262 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8635
+t=282: Selected seed 195 with value = 0.8635
+Query 1/1: Action query time = 4.814 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8561
+t=298: Selected seed 195 with value = 0.8561
+Saved rollout MP4 at path ./rollouts/t7dc800x50_t2_s1/2026_08_03-01_16_48--with_future_img--episode=7--success=False--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: False
+# episodes completed so far: 7
+# successes: 0 (0.0%)
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 8...
+Query 1/1: Action query time = 5.780 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5815
+t=10: Selected seed 195 with value = 0.5815
+Query 1/1: Action query time = 7.239 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7072
+t=26: Selected seed 195 with value = 0.7072
+Query 1/1: Action query time = 4.984 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8225
+t=42: Selected seed 195 with value = 0.8225
+Query 1/1: Action query time = 4.262 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8686
+t=58: Selected seed 195 with value = 0.8686
+Query 1/1: Action query time = 3.399 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9257
+t=74: Selected seed 195 with value = 0.9257
+Query 1/1: Action query time = 4.021 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9267
+t=90: Selected seed 195 with value = 0.9267
+Query 1/1: Action query time = 6.914 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9248
+t=106: Selected seed 195 with value = 0.9248
+Query 1/1: Action query time = 4.998 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9177
+t=122: Selected seed 195 with value = 0.9177
+Query 1/1: Action query time = 5.643 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9105
+t=138: Selected seed 195 with value = 0.9105
+Query 1/1: Action query time = 5.836 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9038
+t=154: Selected seed 195 with value = 0.9038
+Query 1/1: Action query time = 5.330 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8955
+t=170: Selected seed 195 with value = 0.8955
+Query 1/1: Action query time = 6.288 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8573
+t=186: Selected seed 195 with value = 0.8573
+Query 1/1: Action query time = 7.915 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8228
+t=202: Selected seed 195 with value = 0.8228
+Query 1/1: Action query time = 7.768 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8248
+t=218: Selected seed 195 with value = 0.8248
+Query 1/1: Action query time = 5.583 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8356
+t=234: Selected seed 195 with value = 0.8356
+Query 1/1: Action query time = 6.666 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8465
+t=250: Selected seed 195 with value = 0.8465
+Query 1/1: Action query time = 6.041 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8568
+t=266: Selected seed 195 with value = 0.8568
+Query 1/1: Action query time = 5.924 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8544
+t=282: Selected seed 195 with value = 0.8544
+Query 1/1: Action query time = 5.688 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8425
+t=298: Selected seed 195 with value = 0.8425
+Saved rollout MP4 at path ./rollouts/t7dc800x50_t2_s1/2026_08_03-01_16_48--with_future_img--episode=8--success=False--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: False
+# episodes completed so far: 8
+# successes: 0 (0.0%)
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 9...
+Query 1/1: Action query time = 4.976 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5593
+t=10: Selected seed 195 with value = 0.5593
+Query 1/1: Action query time = 4.974 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6411
+t=26: Selected seed 195 with value = 0.6411
+Query 1/1: Action query time = 3.165 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7689
+t=42: Selected seed 195 with value = 0.7689
+Query 1/1: Action query time = 3.636 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8732
+t=58: Selected seed 195 with value = 0.8732
+Query 1/1: Action query time = 2.754 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9140
+t=74: Selected seed 195 with value = 0.9140
+Query 1/1: Action query time = 4.057 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9028
+t=90: Selected seed 195 with value = 0.9028
+Query 1/1: Action query time = 7.150 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9007
+t=106: Selected seed 195 with value = 0.9007
+Query 1/1: Action query time = 6.132 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9104
+t=122: Selected seed 195 with value = 0.9104
+Query 1/1: Action query time = 6.153 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9194
+t=138: Selected seed 195 with value = 0.9194
+Query 1/1: Action query time = 5.977 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9307
+t=154: Selected seed 195 with value = 0.9307
+Query 1/1: Action query time = 5.326 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9392
+t=170: Selected seed 195 with value = 0.9392
+Query 1/1: Action query time = 5.527 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9297
+t=186: Selected seed 195 with value = 0.9297
+Query 1/1: Action query time = 6.000 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9347
+t=202: Selected seed 195 with value = 0.9347
+Query 1/1: Action query time = 5.939 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9469
+t=218: Selected seed 195 with value = 0.9469
+Query 1/1: Action query time = 6.604 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9511
+t=234: Selected seed 195 with value = 0.9511
+Query 1/1: Action query time = 5.376 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9351
+t=250: Selected seed 195 with value = 0.9351
+Query 1/1: Action query time = 5.585 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8263
+t=266: Selected seed 195 with value = 0.8263
+Query 1/1: Action query time = 6.452 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8594
+t=282: Selected seed 195 with value = 0.8594
+Query 1/1: Action query time = 6.159 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8450
+t=298: Selected seed 195 with value = 0.8450
+Saved rollout MP4 at path ./rollouts/t7dc800x50_t2_s1/2026_08_03-01_16_48--with_future_img--episode=9--success=False--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: False
+# episodes completed so far: 9
+# successes: 0 (0.0%)
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 10...
+Query 1/1: Action query time = 4.686 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5254
+t=10: Selected seed 195 with value = 0.5254
+Query 1/1: Action query time = 5.183 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7370
+t=26: Selected seed 195 with value = 0.7370
+Query 1/1: Action query time = 3.405 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7763
+t=42: Selected seed 195 with value = 0.7763
+Query 1/1: Action query time = 3.213 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8739
+t=58: Selected seed 195 with value = 0.8739
+Query 1/1: Action query time = 4.265 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9063
+t=74: Selected seed 195 with value = 0.9063
+Query 1/1: Action query time = 4.514 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8843
+t=90: Selected seed 195 with value = 0.8843
+Query 1/1: Action query time = 3.622 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9134
+t=106: Selected seed 195 with value = 0.9134
+Query 1/1: Action query time = 5.156 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9312
+t=122: Selected seed 195 with value = 0.9312
+Query 1/1: Action query time = 5.267 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9440
+t=138: Selected seed 195 with value = 0.9440
+Query 1/1: Action query time = 5.283 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9489
+t=154: Selected seed 195 with value = 0.9489
+Query 1/1: Action query time = 5.581 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9440
+t=170: Selected seed 195 with value = 0.9440
+Query 1/1: Action query time = 5.960 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9512
+t=186: Selected seed 195 with value = 0.9512
+Query 1/1: Action query time = 4.154 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9463
+t=202: Selected seed 195 with value = 0.9463
+Query 1/1: Action query time = 5.079 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8899
+t=218: Selected seed 195 with value = 0.8899
+Query 1/1: Action query time = 4.701 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8312
+t=234: Selected seed 195 with value = 0.8312
+Query 1/1: Action query time = 4.521 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8248
+t=250: Selected seed 195 with value = 0.8248
+Query 1/1: Action query time = 3.844 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8233
+t=266: Selected seed 195 with value = 0.8233
+Query 1/1: Action query time = 3.646 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8240
+t=282: Selected seed 195 with value = 0.8240
+Query 1/1: Action query time = 4.690 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8233
+t=298: Selected seed 195 with value = 0.8233
+Saved rollout MP4 at path ./rollouts/t7dc800x50_t2_s1/2026_08_03-01_16_48--with_future_img--episode=10--success=False--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: False
+# episodes completed so far: 10
+# successes: 0 (0.0%)
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 11...
+Query 1/1: Action query time = 5.524 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5742
+t=10: Selected seed 195 with value = 0.5742
+Query 1/1: Action query time = 3.516 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7518
+t=26: Selected seed 195 with value = 0.7518
+Query 1/1: Action query time = 2.826 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7618
+t=42: Selected seed 195 with value = 0.7618
+Query 1/1: Action query time = 2.501 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8599
+t=58: Selected seed 195 with value = 0.8599
+Query 1/1: Action query time = 3.409 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9027
+t=74: Selected seed 195 with value = 0.9027
+Query 1/1: Action query time = 3.325 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8925
+t=90: Selected seed 195 with value = 0.8925
+Query 1/1: Action query time = 4.466 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8891
+t=106: Selected seed 195 with value = 0.8891
+Query 1/1: Action query time = 5.074 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8953
+t=122: Selected seed 195 with value = 0.8953
+Query 1/1: Action query time = 4.678 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9056
+t=138: Selected seed 195 with value = 0.9056
+Query 1/1: Action query time = 4.978 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9112
+t=154: Selected seed 195 with value = 0.9112
+Query 1/1: Action query time = 4.300 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9177
+t=170: Selected seed 195 with value = 0.9177
+Query 1/1: Action query time = 4.374 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9222
+t=186: Selected seed 195 with value = 0.9222
+Query 1/1: Action query time = 4.142 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9230
+t=202: Selected seed 195 with value = 0.9230
+Query 1/1: Action query time = 4.615 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9338
+t=218: Selected seed 195 with value = 0.9338
+Query 1/1: Action query time = 4.817 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9455
+t=234: Selected seed 195 with value = 0.9455
+Query 1/1: Action query time = 4.241 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9206
+t=250: Selected seed 195 with value = 0.9206
+Query 1/1: Action query time = 5.225 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8582
+t=266: Selected seed 195 with value = 0.8582
+Query 1/1: Action query time = 4.844 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7993
+t=282: Selected seed 195 with value = 0.7993
+Query 1/1: Action query time = 4.028 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8000
+t=298: Selected seed 195 with value = 0.8000
+Saved rollout MP4 at path ./rollouts/t7dc800x50_t2_s1/2026_08_03-01_16_48--with_future_img--episode=11--success=False--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: False
+# episodes completed so far: 11
+# successes: 0 (0.0%)
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 12...
+Query 1/1: Action query time = 3.989 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5819
+t=10: Selected seed 195 with value = 0.5819
+Query 1/1: Action query time = 3.510 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6627
+t=26: Selected seed 195 with value = 0.6627
+Query 1/1: Action query time = 2.648 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9009
+t=42: Selected seed 195 with value = 0.9009
+Query 1/1: Action query time = 2.774 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7670
+t=58: Selected seed 195 with value = 0.7670
+Query 1/1: Action query time = 3.696 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8937
+t=74: Selected seed 195 with value = 0.8937
+Query 1/1: Action query time = 1.941 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8971
+t=90: Selected seed 195 with value = 0.8971
+Query 1/1: Action query time = 3.165 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9055
+t=106: Selected seed 195 with value = 0.9055
+Query 1/1: Action query time = 3.803 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9146
+t=122: Selected seed 195 with value = 0.9146
+Query 1/1: Action query time = 3.147 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9246
+t=138: Selected seed 195 with value = 0.9246
+Query 1/1: Action query time = 4.327 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9378
+t=154: Selected seed 195 with value = 0.9378
+Query 1/1: Action query time = 3.174 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9338
+t=170: Selected seed 195 with value = 0.9338
+Query 1/1: Action query time = 4.381 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9351
+t=186: Selected seed 195 with value = 0.9351
+Query 1/1: Action query time = 4.096 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9480
+t=202: Selected seed 195 with value = 0.9480
+Query 1/1: Action query time = 2.552 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9569
+t=218: Selected seed 195 with value = 0.9569
+Query 1/1: Action query time = 2.910 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9546
+t=234: Selected seed 195 with value = 0.9546
+Query 1/1: Action query time = 4.278 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9208
+t=250: Selected seed 195 with value = 0.9208
+Query 1/1: Action query time = 3.760 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8579
+t=266: Selected seed 195 with value = 0.8579
+Query 1/1: Action query time = 3.555 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7969
+t=282: Selected seed 195 with value = 0.7969
+Query 1/1: Action query time = 3.165 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8126
+t=298: Selected seed 195 with value = 0.8126
+Saved rollout MP4 at path ./rollouts/t7dc800x50_t2_s1/2026_08_03-01_16_48--with_future_img--episode=12--success=False--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: False
+# episodes completed so far: 12
+# successes: 0 (0.0%)
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 13...
+Query 1/1: Action query time = 2.669 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5519
+t=10: Selected seed 195 with value = 0.5519
+Query 1/1: Action query time = 2.174 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6879
+t=26: Selected seed 195 with value = 0.6879
+Query 1/1: Action query time = 3.487 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7191
+t=42: Selected seed 195 with value = 0.7191
+Query 1/1: Action query time = 2.045 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8967
+t=58: Selected seed 195 with value = 0.8967
+Query 1/1: Action query time = 1.934 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9384
+t=74: Selected seed 195 with value = 0.9384
+Query 1/1: Action query time = 1.348 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9161
+t=90: Selected seed 195 with value = 0.9161
+Query 1/1: Action query time = 1.593 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8902
+t=106: Selected seed 195 with value = 0.8902
+Query 1/1: Action query time = 1.442 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8849
+t=122: Selected seed 195 with value = 0.8849
+Query 1/1: Action query time = 1.511 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9176
+t=138: Selected seed 195 with value = 0.9176
+Query 1/1: Action query time = 2.029 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9156
+t=154: Selected seed 195 with value = 0.9156
+Query 1/1: Action query time = 1.926 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9175
+t=170: Selected seed 195 with value = 0.9175
+Query 1/1: Action query time = 2.133 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9102
+t=186: Selected seed 195 with value = 0.9102
+Query 1/1: Action query time = 2.127 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9091
+t=202: Selected seed 195 with value = 0.9091
+Query 1/1: Action query time = 2.056 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9163
+t=218: Selected seed 195 with value = 0.9163
+Query 1/1: Action query time = 1.845 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9083
+t=234: Selected seed 195 with value = 0.9083
+Query 1/1: Action query time = 1.784 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9239
+t=250: Selected seed 195 with value = 0.9239
+Query 1/1: Action query time = 1.775 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9558
+t=266: Selected seed 195 with value = 0.9558
+Query 1/1: Action query time = 1.947 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9738
+t=282: Selected seed 195 with value = 0.9738
+Query 1/1: Action query time = 1.819 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9735
+t=298: Selected seed 195 with value = 0.9735
+Saved rollout MP4 at path ./rollouts/t7dc800x50_t2_s1/2026_08_03-01_16_48--with_future_img--episode=13--success=False--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: False
+# episodes completed so far: 13
+# successes: 0 (0.0%)
+Current task success rate: 0.0
+Current total success rate: 0.0
+Final results:
+Total episodes: 13
+Total successes: 0
+Overall success rate: 0.0000 (0.0%)
diff --git a/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_03-01_16_48--t7rc800x50_t3_s1.txt b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_03-01_16_48--t7rc800x50_t3_s1.txt
new file mode 100644
index 0000000000000000000000000000000000000000..905edb237e7280e690ceba4c34c3a52c6ddb1f72
--- /dev/null
+++ b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_03-01_16_48--t7rc800x50_t3_s1.txt
@@ -0,0 +1,1091 @@
+Eval config: PolicyEvalConfig(suite='libero', model_family='cosmos', config='cosmos_predict2_2b_480p_libero_cl_stage_inference_only', ckpt_path='/home/azureuser/REGEN-main/new_task7/cosmos_policy/cosmos_v2_finetune/cosmos_predict2_2b_480p_libero_goal_task7_cl_from_realcl800_2gpu/checkpoints/iter_000000800/model', planning_model_config_name='', planning_model_ckpt_path='', config_file='cosmos_policy/config/config.py', packnet_mask_path='', packnet_first_cl_libero_task=6, use_third_person_image=True, num_third_person_images=1, use_wrist_image=True, num_wrist_images=1, use_proprio=True, flip_images=True, use_variance_scale=False, use_jpeg_compression=True, ar_future_prediction=False, ar_value_prediction=False, ar_qvalue_prediction=False, num_denoising_steps_action=5, num_denoising_steps_future_state=1, num_denoising_steps_value=1, unnormalize_actions=True, normalize_proprio=True, dataset_stats_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/libero_goal_regen/dataset_statistics.json', t5_text_embeddings_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/t5_embeddings.pkl', trained_with_image_aug=True, chunk_size=16, num_open_loop_steps=16, deterministic=True, deterministic_reset=False, deterministic_reset_seed=None, use_ensemble_future_state_predictions=False, num_future_state_predictions_in_ensemble=3, future_state_ensemble_aggregation_scheme='average', use_ensemble_value_predictions=False, num_value_predictions_in_ensemble=5, value_ensemble_aggregation_scheme='average', search_depth=1, mask_current_state_action_for_value_prediction=False, mask_future_state_for_qvalue_prediction=False, num_queries_best_of_n=1, use_parallel_inference=False, available_gpus='0', parallel_timeout=15, parallel_tasks_across_gpus=False, task_suite_name='libero_goal', num_trials_per_task=50, task_ids_to_run='3', initial_states_path='DEFAULT', env_img_res=256, local_log_dir='/home/azureuser/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal', run_id_note='t7rc800x50_t3_s1', use_wandb=False, wandb_entity='YOUR_ENTITY', wandb_project='YOUR_PROJECT', seed=195, randomize_seed=False, data_collection=False, jpeg_compress=True, reward_stop_threshold=None, reward_stop_consecutive_steps=3, use_gpt_reward=False, gpt_reward_model='gpt-5.4-mini', gpt_reward_stop_threshold=4, gpt_reward_timeout_s=30.0, save_rollout_video=False, eval_hdf5_path='', eval_hdf5_demo_key='demo_0', data_gen_demo_ids='', eval_episode_ids='1,5,9,13,17,21,25,29,33,37,41,45,49', replay_actions=False, replay_action_path_dir='', replay_hdf5_path='', data_generation=False, max_generation_steps=200, simple_task_max_steps=100, complex_task_max_steps=200, disable_value_stop=False)
+Using serial inference (parallel inference disabled)
+Task suite: libero_goal
+Number of tasks: 10
+Running only task IDs: [3]
+Using default initial states
+
+Task: open the top drawer and put the bowl inside
+Starting episode 1...
+Query 1/1: Action query time = 8.696 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5279
+t=10: Selected seed 195 with value = 0.5279
+Query 1/1: Action query time = 5.508 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6772
+t=26: Selected seed 195 with value = 0.6772
+Query 1/1: Action query time = 6.197 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7771
+t=42: Selected seed 195 with value = 0.7771
+Query 1/1: Action query time = 6.312 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9153
+t=58: Selected seed 195 with value = 0.9153
+Query 1/1: Action query time = 5.209 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9305
+t=74: Selected seed 195 with value = 0.9305
+Query 1/1: Action query time = 5.553 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9294
+t=90: Selected seed 195 with value = 0.9294
+Query 1/1: Action query time = 5.876 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9489
+t=106: Selected seed 195 with value = 0.9489
+Query 1/1: Action query time = 7.575 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8693
+t=122: Selected seed 195 with value = 0.8693
+Query 1/1: Action query time = 7.901 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8970
+t=138: Selected seed 195 with value = 0.8970
+Query 1/1: Action query time = 5.095 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8674
+t=154: Selected seed 195 with value = 0.8674
+Query 1/1: Action query time = 6.671 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8914
+t=170: Selected seed 195 with value = 0.8914
+Query 1/1: Action query time = 6.540 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8364
+t=186: Selected seed 195 with value = 0.8364
+Query 1/1: Action query time = 7.093 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8068
+t=202: Selected seed 195 with value = 0.8068
+Query 1/1: Action query time = 6.126 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7857
+t=218: Selected seed 195 with value = 0.7857
+Query 1/1: Action query time = 6.305 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8000
+t=234: Selected seed 195 with value = 0.8000
+Query 1/1: Action query time = 6.287 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8135
+t=250: Selected seed 195 with value = 0.8135
+Query 1/1: Action query time = 5.648 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8164
+t=266: Selected seed 195 with value = 0.8164
+Query 1/1: Action query time = 4.651 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7917
+t=282: Selected seed 195 with value = 0.7917
+Query 1/1: Action query time = 4.029 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8681
+t=298: Selected seed 195 with value = 0.8681
+Saved rollout MP4 at path ./rollouts/t7rc800x50_t3_s1/2026_08_03-01_16_48--with_future_img--episode=1--success=False--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: False
+# episodes completed so far: 1
+# successes: 0 (0.0%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 2...
+Query 1/1: Action query time = 3.587 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4645
+t=10: Selected seed 195 with value = 0.4645
+Query 1/1: Action query time = 6.533 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6468
+t=26: Selected seed 195 with value = 0.6468
+Query 1/1: Action query time = 5.129 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8677
+t=42: Selected seed 195 with value = 0.8677
+Query 1/1: Action query time = 5.369 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8470
+t=58: Selected seed 195 with value = 0.8470
+Query 1/1: Action query time = 6.209 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8683
+t=74: Selected seed 195 with value = 0.8683
+Query 1/1: Action query time = 6.525 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8711
+t=90: Selected seed 195 with value = 0.8711
+Query 1/1: Action query time = 4.422 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8675
+t=106: Selected seed 195 with value = 0.8675
+Query 1/1: Action query time = 6.323 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8848
+t=122: Selected seed 195 with value = 0.8848
+Query 1/1: Action query time = 6.008 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9162
+t=138: Selected seed 195 with value = 0.9162
+Query 1/1: Action query time = 5.887 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9482
+t=154: Selected seed 195 with value = 0.9482
+Query 1/1: Action query time = 5.973 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9587
+t=170: Selected seed 195 with value = 0.9587
+Query 1/1: Action query time = 4.757 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9554
+t=186: Selected seed 195 with value = 0.9554
+Query 1/1: Action query time = 5.919 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9641
+t=202: Selected seed 195 with value = 0.9641
+Query 1/1: Action query time = 5.775 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9977
+t=218: Selected seed 195 with value = 0.9977
+Query 1/1: Action query time = 5.269 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9952
+t=234: Selected seed 195 with value = 0.9952
+Query 1/1: Action query time = 5.287 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9627
+t=250: Selected seed 195 with value = 0.9627
+Query 1/1: Action query time = 6.372 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9556
+t=266: Selected seed 195 with value = 0.9556
+Query 1/1: Action query time = 6.205 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9726
+t=282: Selected seed 195 with value = 0.9726
+Query 1/1: Action query time = 4.495 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9478
+t=298: Selected seed 195 with value = 0.9478
+Saved rollout MP4 at path ./rollouts/t7rc800x50_t3_s1/2026_08_03-01_16_48--with_future_img--episode=2--success=False--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: False
+# episodes completed so far: 2
+# successes: 0 (0.0%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 3...
+Query 1/1: Action query time = 5.943 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5046
+t=10: Selected seed 195 with value = 0.5046
+Query 1/1: Action query time = 6.343 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7873
+t=26: Selected seed 195 with value = 0.7873
+Query 1/1: Action query time = 5.702 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8293
+t=42: Selected seed 195 with value = 0.8293
+Query 1/1: Action query time = 5.811 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8904
+t=58: Selected seed 195 with value = 0.8904
+Query 1/1: Action query time = 4.792 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8505
+t=74: Selected seed 195 with value = 0.8505
+Query 1/1: Action query time = 5.114 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8065
+t=90: Selected seed 195 with value = 0.8065
+Query 1/1: Action query time = 5.007 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8761
+t=106: Selected seed 195 with value = 0.8761
+Query 1/1: Action query time = 4.646 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8938
+t=122: Selected seed 195 with value = 0.8938
+Query 1/1: Action query time = 5.458 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8787
+t=138: Selected seed 195 with value = 0.8787
+Query 1/1: Action query time = 5.544 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9482
+t=154: Selected seed 195 with value = 0.9482
+Query 1/1: Action query time = 4.110 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9259
+t=170: Selected seed 195 with value = 0.9259
+Query 1/1: Action query time = 6.566 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8834
+t=186: Selected seed 195 with value = 0.8834
+Query 1/1: Action query time = 6.242 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7131
+t=202: Selected seed 195 with value = 0.7131
+Query 1/1: Action query time = 5.649 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8690
+t=218: Selected seed 195 with value = 0.8690
+Query 1/1: Action query time = 5.000 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8917
+t=234: Selected seed 195 with value = 0.8917
+Query 1/1: Action query time = 6.874 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8834
+t=250: Selected seed 195 with value = 0.8834
+Query 1/1: Action query time = 5.944 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9218
+t=266: Selected seed 195 with value = 0.9218
+Query 1/1: Action query time = 5.011 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8768
+t=282: Selected seed 195 with value = 0.8768
+Query 1/1: Action query time = 4.736 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8574
+t=298: Selected seed 195 with value = 0.8574
+Saved rollout MP4 at path ./rollouts/t7rc800x50_t3_s1/2026_08_03-01_16_48--with_future_img--episode=3--success=False--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: False
+# episodes completed so far: 3
+# successes: 0 (0.0%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 4...
+Query 1/1: Action query time = 5.670 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4736
+t=10: Selected seed 195 with value = 0.4736
+Query 1/1: Action query time = 5.453 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7089
+t=26: Selected seed 195 with value = 0.7089
+Query 1/1: Action query time = 3.863 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7958
+t=42: Selected seed 195 with value = 0.7958
+Query 1/1: Action query time = 3.994 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8669
+t=58: Selected seed 195 with value = 0.8669
+Query 1/1: Action query time = 4.566 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8508
+t=74: Selected seed 195 with value = 0.8508
+Query 1/1: Action query time = 4.008 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8786
+t=90: Selected seed 195 with value = 0.8786
+Query 1/1: Action query time = 4.480 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8731
+t=106: Selected seed 195 with value = 0.8731
+Query 1/1: Action query time = 6.541 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9028
+t=122: Selected seed 195 with value = 0.9028
+Query 1/1: Action query time = 7.252 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8335
+t=138: Selected seed 195 with value = 0.8335
+Query 1/1: Action query time = 7.074 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9022
+t=154: Selected seed 195 with value = 0.9022
+Query 1/1: Action query time = 4.386 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9457
+t=170: Selected seed 195 with value = 0.9457
+Query 1/1: Action query time = 5.224 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8943
+t=186: Selected seed 195 with value = 0.8943
+Query 1/1: Action query time = 7.478 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9166
+t=202: Selected seed 195 with value = 0.9166
+Query 1/1: Action query time = 7.319 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9010
+t=218: Selected seed 195 with value = 0.9010
+Query 1/1: Action query time = 5.993 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8611
+t=234: Selected seed 195 with value = 0.8611
+Query 1/1: Action query time = 5.029 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8575
+t=250: Selected seed 195 with value = 0.8575
+Query 1/1: Action query time = 5.529 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8497
+t=266: Selected seed 195 with value = 0.8497
+Query 1/1: Action query time = 4.792 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8151
+t=282: Selected seed 195 with value = 0.8151
+Query 1/1: Action query time = 4.249 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8313
+t=298: Selected seed 195 with value = 0.8313
+Saved rollout MP4 at path ./rollouts/t7rc800x50_t3_s1/2026_08_03-01_16_48--with_future_img--episode=4--success=False--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: False
+# episodes completed so far: 4
+# successes: 0 (0.0%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 5...
+Query 1/1: Action query time = 4.987 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5518
+t=10: Selected seed 195 with value = 0.5518
+Query 1/1: Action query time = 4.503 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6615
+t=26: Selected seed 195 with value = 0.6615
+Query 1/1: Action query time = 5.324 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8235
+t=42: Selected seed 195 with value = 0.8235
+Query 1/1: Action query time = 4.724 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8963
+t=58: Selected seed 195 with value = 0.8963
+Query 1/1: Action query time = 5.090 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8035
+t=74: Selected seed 195 with value = 0.8035
+Query 1/1: Action query time = 4.506 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8032
+t=90: Selected seed 195 with value = 0.8032
+Query 1/1: Action query time = 6.245 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8728
+t=106: Selected seed 195 with value = 0.8728
+Query 1/1: Action query time = 6.125 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8979
+t=122: Selected seed 195 with value = 0.8979
+Query 1/1: Action query time = 6.241 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9238
+t=138: Selected seed 195 with value = 0.9238
+Query 1/1: Action query time = 5.237 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8726
+t=154: Selected seed 195 with value = 0.8726
+Query 1/1: Action query time = 5.642 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8931
+t=170: Selected seed 195 with value = 0.8931
+Query 1/1: Action query time = 5.257 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9416
+t=186: Selected seed 195 with value = 0.9416
+Query 1/1: Action query time = 7.536 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9057
+t=202: Selected seed 195 with value = 0.9057
+Query 1/1: Action query time = 5.262 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8808
+t=218: Selected seed 195 with value = 0.8808
+Query 1/1: Action query time = 6.815 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8823
+t=234: Selected seed 195 with value = 0.8823
+Query 1/1: Action query time = 6.913 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8889
+t=250: Selected seed 195 with value = 0.8889
+Query 1/1: Action query time = 5.906 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8708
+t=266: Selected seed 195 with value = 0.8708
+Query 1/1: Action query time = 4.842 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8653
+t=282: Selected seed 195 with value = 0.8653
+Query 1/1: Action query time = 6.318 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8510
+t=298: Selected seed 195 with value = 0.8510
+Saved rollout MP4 at path ./rollouts/t7rc800x50_t3_s1/2026_08_03-01_16_48--with_future_img--episode=5--success=False--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: False
+# episodes completed so far: 5
+# successes: 0 (0.0%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 6...
+Query 1/1: Action query time = 6.145 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4645
+t=10: Selected seed 195 with value = 0.4645
+Query 1/1: Action query time = 6.222 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6507
+t=26: Selected seed 195 with value = 0.6507
+Query 1/1: Action query time = 5.132 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8198
+t=42: Selected seed 195 with value = 0.8198
+Query 1/1: Action query time = 4.646 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8170
+t=58: Selected seed 195 with value = 0.8170
+Query 1/1: Action query time = 4.192 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8769
+t=74: Selected seed 195 with value = 0.8769
+Query 1/1: Action query time = 5.315 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8725
+t=90: Selected seed 195 with value = 0.8725
+Query 1/1: Action query time = 7.087 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9223
+t=106: Selected seed 195 with value = 0.9223
+Query 1/1: Action query time = 7.536 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8602
+t=122: Selected seed 195 with value = 0.8602
+Query 1/1: Action query time = 6.700 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9516
+t=138: Selected seed 195 with value = 0.9516
+Query 1/1: Action query time = 6.474 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8893
+t=154: Selected seed 195 with value = 0.8893
+Query 1/1: Action query time = 6.062 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9033
+t=170: Selected seed 195 with value = 0.9033
+Query 1/1: Action query time = 5.017 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9212
+t=186: Selected seed 195 with value = 0.9212
+Query 1/1: Action query time = 5.969 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8729
+t=202: Selected seed 195 with value = 0.8729
+Query 1/1: Action query time = 6.018 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8664
+t=218: Selected seed 195 with value = 0.8664
+Query 1/1: Action query time = 6.346 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8992
+t=234: Selected seed 195 with value = 0.8992
+Query 1/1: Action query time = 6.067 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8244
+t=250: Selected seed 195 with value = 0.8244
+Query 1/1: Action query time = 5.348 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8569
+t=266: Selected seed 195 with value = 0.8569
+Query 1/1: Action query time = 7.601 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8076
+t=282: Selected seed 195 with value = 0.8076
+Query 1/1: Action query time = 5.986 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8471
+t=298: Selected seed 195 with value = 0.8471
+Saved rollout MP4 at path ./rollouts/t7rc800x50_t3_s1/2026_08_03-01_16_48--with_future_img--episode=6--success=False--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: False
+# episodes completed so far: 6
+# successes: 0 (0.0%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 7...
+Query 1/1: Action query time = 3.557 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4717
+t=10: Selected seed 195 with value = 0.4717
+Query 1/1: Action query time = 5.047 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6537
+t=26: Selected seed 195 with value = 0.6537
+Query 1/1: Action query time = 7.996 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7936
+t=42: Selected seed 195 with value = 0.7936
+Query 1/1: Action query time = 7.670 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8561
+t=58: Selected seed 195 with value = 0.8561
+Query 1/1: Action query time = 6.667 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8461
+t=74: Selected seed 195 with value = 0.8461
+Query 1/1: Action query time = 6.441 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8678
+t=90: Selected seed 195 with value = 0.8678
+Query 1/1: Action query time = 7.096 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8613
+t=106: Selected seed 195 with value = 0.8613
+Query 1/1: Action query time = 6.342 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8255
+t=122: Selected seed 195 with value = 0.8255
+Query 1/1: Action query time = 5.353 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8553
+t=138: Selected seed 195 with value = 0.8553
+Query 1/1: Action query time = 4.953 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8766
+t=154: Selected seed 195 with value = 0.8766
+Query 1/1: Action query time = 6.670 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9483
+t=170: Selected seed 195 with value = 0.9483
+Query 1/1: Action query time = 5.583 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9061
+t=186: Selected seed 195 with value = 0.9061
+Query 1/1: Action query time = 5.946 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9321
+t=202: Selected seed 195 with value = 0.9321
+Query 1/1: Action query time = 5.667 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9381
+t=218: Selected seed 195 with value = 0.9381
+Query 1/1: Action query time = 4.631 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8788
+t=234: Selected seed 195 with value = 0.8788
+Query 1/1: Action query time = 6.272 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8365
+t=250: Selected seed 195 with value = 0.8365
+Query 1/1: Action query time = 4.461 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8344
+t=266: Selected seed 195 with value = 0.8344
+Query 1/1: Action query time = 6.391 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8583
+t=282: Selected seed 195 with value = 0.8583
+Query 1/1: Action query time = 5.601 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8194
+t=298: Selected seed 195 with value = 0.8194
+Saved rollout MP4 at path ./rollouts/t7rc800x50_t3_s1/2026_08_03-01_16_48--with_future_img--episode=7--success=False--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: False
+# episodes completed so far: 7
+# successes: 0 (0.0%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 8...
+Query 1/1: Action query time = 4.828 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4918
+t=10: Selected seed 195 with value = 0.4918
+Query 1/1: Action query time = 4.013 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6655
+t=26: Selected seed 195 with value = 0.6655
+Query 1/1: Action query time = 4.753 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8010
+t=42: Selected seed 195 with value = 0.8010
+Query 1/1: Action query time = 6.752 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9033
+t=58: Selected seed 195 with value = 0.9033
+Query 1/1: Action query time = 6.680 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9170
+t=74: Selected seed 195 with value = 0.9170
+Query 1/1: Action query time = 6.267 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8019
+t=90: Selected seed 195 with value = 0.8019
+Query 1/1: Action query time = 5.627 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8872
+t=106: Selected seed 195 with value = 0.8872
+Query 1/1: Action query time = 6.222 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9798
+t=122: Selected seed 195 with value = 0.9798
+Query 1/1: Action query time = 5.426 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9158
+t=138: Selected seed 195 with value = 0.9158
+Query 1/1: Action query time = 5.416 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9704
+t=154: Selected seed 195 with value = 0.9704
+Query 1/1: Action query time = 5.594 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9482
+t=170: Selected seed 195 with value = 0.9482
+Query 1/1: Action query time = 6.453 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9485
+t=186: Selected seed 195 with value = 0.9485
+Query 1/1: Action query time = 5.482 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7505
+t=202: Selected seed 195 with value = 0.7505
+Query 1/1: Action query time = 7.225 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8959
+t=218: Selected seed 195 with value = 0.8959
+Query 1/1: Action query time = 5.577 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8731
+t=234: Selected seed 195 with value = 0.8731
+Query 1/1: Action query time = 3.852 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9075
+t=250: Selected seed 195 with value = 0.9075
+Query 1/1: Action query time = 3.847 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8685
+t=266: Selected seed 195 with value = 0.8685
+Query 1/1: Action query time = 4.283 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8761
+t=282: Selected seed 195 with value = 0.8761
+Query 1/1: Action query time = 4.926 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8410
+t=298: Selected seed 195 with value = 0.8410
+Saved rollout MP4 at path ./rollouts/t7rc800x50_t3_s1/2026_08_03-01_16_48--with_future_img--episode=8--success=False--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: False
+# episodes completed so far: 8
+# successes: 0 (0.0%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 9...
+Query 1/1: Action query time = 3.401 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4951
+t=10: Selected seed 195 with value = 0.4951
+Query 1/1: Action query time = 4.518 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6050
+t=26: Selected seed 195 with value = 0.6050
+Query 1/1: Action query time = 5.961 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8459
+t=42: Selected seed 195 with value = 0.8459
+Query 1/1: Action query time = 5.017 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8966
+t=58: Selected seed 195 with value = 0.8966
+Query 1/1: Action query time = 4.437 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8850
+t=74: Selected seed 195 with value = 0.8850
+Query 1/1: Action query time = 3.923 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8869
+t=90: Selected seed 195 with value = 0.8869
+Query 1/1: Action query time = 5.479 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9399
+t=106: Selected seed 195 with value = 0.9399
+Query 1/1: Action query time = 6.593 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9482
+t=122: Selected seed 195 with value = 0.9482
+Query 1/1: Action query time = 5.604 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9061
+t=138: Selected seed 195 with value = 0.9061
+Query 1/1: Action query time = 5.166 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9320
+t=154: Selected seed 195 with value = 0.9320
+Query 1/1: Action query time = 5.871 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9070
+t=170: Selected seed 195 with value = 0.9070
+Query 1/1: Action query time = 5.537 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9527
+t=186: Selected seed 195 with value = 0.9527
+Query 1/1: Action query time = 5.716 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8773
+t=202: Selected seed 195 with value = 0.8773
+Query 1/1: Action query time = 4.286 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9055
+t=218: Selected seed 195 with value = 0.9055
+Query 1/1: Action query time = 5.373 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8991
+t=234: Selected seed 195 with value = 0.8991
+Query 1/1: Action query time = 5.147 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8704
+t=250: Selected seed 195 with value = 0.8704
+Query 1/1: Action query time = 5.392 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8590
+t=266: Selected seed 195 with value = 0.8590
+Query 1/1: Action query time = 5.780 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8140
+t=282: Selected seed 195 with value = 0.8140
+Query 1/1: Action query time = 5.838 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8420
+t=298: Selected seed 195 with value = 0.8420
+Saved rollout MP4 at path ./rollouts/t7rc800x50_t3_s1/2026_08_03-01_16_48--with_future_img--episode=9--success=False--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: False
+# episodes completed so far: 9
+# successes: 0 (0.0%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 10...
+Query 1/1: Action query time = 6.158 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4552
+t=10: Selected seed 195 with value = 0.4552
+Query 1/1: Action query time = 4.808 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6969
+t=26: Selected seed 195 with value = 0.6969
+Query 1/1: Action query time = 5.591 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8464
+t=42: Selected seed 195 with value = 0.8464
+Query 1/1: Action query time = 5.731 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8635
+t=58: Selected seed 195 with value = 0.8635
+Query 1/1: Action query time = 6.124 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9189
+t=74: Selected seed 195 with value = 0.9189
+Query 1/1: Action query time = 5.543 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9148
+t=90: Selected seed 195 with value = 0.9148
+Query 1/1: Action query time = 5.618 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8951
+t=106: Selected seed 195 with value = 0.8951
+Query 1/1: Action query time = 4.603 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8348
+t=122: Selected seed 195 with value = 0.8348
+Query 1/1: Action query time = 4.307 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8472
+t=138: Selected seed 195 with value = 0.8472
+Query 1/1: Action query time = 4.637 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8713
+t=154: Selected seed 195 with value = 0.8713
+Query 1/1: Action query time = 3.438 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9096
+t=170: Selected seed 195 with value = 0.9096
+Query 1/1: Action query time = 4.974 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9529
+t=186: Selected seed 195 with value = 0.9529
+Query 1/1: Action query time = 3.096 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8769
+t=202: Selected seed 195 with value = 0.8769
+Query 1/1: Action query time = 4.423 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9025
+t=218: Selected seed 195 with value = 0.9025
+Query 1/1: Action query time = 5.191 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9228
+t=234: Selected seed 195 with value = 0.9228
+Query 1/1: Action query time = 3.993 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8787
+t=250: Selected seed 195 with value = 0.8787
+Query 1/1: Action query time = 4.388 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9114
+t=266: Selected seed 195 with value = 0.9114
+Query 1/1: Action query time = 4.918 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8750
+t=282: Selected seed 195 with value = 0.8750
+Query 1/1: Action query time = 5.773 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9058
+t=298: Selected seed 195 with value = 0.9058
+Saved rollout MP4 at path ./rollouts/t7rc800x50_t3_s1/2026_08_03-01_16_48--with_future_img--episode=10--success=False--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: False
+# episodes completed so far: 10
+# successes: 0 (0.0%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 11...
+Query 1/1: Action query time = 4.348 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5145
+t=10: Selected seed 195 with value = 0.5145
+Query 1/1: Action query time = 4.681 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7270
+t=26: Selected seed 195 with value = 0.7270
+Query 1/1: Action query time = 4.348 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8064
+t=42: Selected seed 195 with value = 0.8064
+Query 1/1: Action query time = 4.313 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8513
+t=58: Selected seed 195 with value = 0.8513
+Query 1/1: Action query time = 5.319 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8881
+t=74: Selected seed 195 with value = 0.8881
+Query 1/1: Action query time = 3.902 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8893
+t=90: Selected seed 195 with value = 0.8893
+Query 1/1: Action query time = 5.445 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8077
+t=106: Selected seed 195 with value = 0.8077
+Query 1/1: Action query time = 5.022 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8794
+t=122: Selected seed 195 with value = 0.8794
+Query 1/1: Action query time = 5.784 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9396
+t=138: Selected seed 195 with value = 0.9396
+Query 1/1: Action query time = 4.308 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8268
+t=154: Selected seed 195 with value = 0.8268
+Query 1/1: Action query time = 3.760 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8774
+t=170: Selected seed 195 with value = 0.8774
+Query 1/1: Action query time = 4.218 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8118
+t=186: Selected seed 195 with value = 0.8118
+Query 1/1: Action query time = 3.852 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8745
+t=202: Selected seed 195 with value = 0.8745
+Query 1/1: Action query time = 3.342 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8398
+t=218: Selected seed 195 with value = 0.8398
+Query 1/1: Action query time = 3.626 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8752
+t=234: Selected seed 195 with value = 0.8752
+Query 1/1: Action query time = 5.450 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8513
+t=250: Selected seed 195 with value = 0.8513
+Query 1/1: Action query time = 4.216 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8880
+t=266: Selected seed 195 with value = 0.8880
+Query 1/1: Action query time = 3.991 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8868
+t=282: Selected seed 195 with value = 0.8868
+Query 1/1: Action query time = 3.135 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9084
+t=298: Selected seed 195 with value = 0.9084
+Saved rollout MP4 at path ./rollouts/t7rc800x50_t3_s1/2026_08_03-01_16_48--with_future_img--episode=11--success=False--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: False
+# episodes completed so far: 11
+# successes: 0 (0.0%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 12...
+Query 1/1: Action query time = 3.869 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4621
+t=10: Selected seed 195 with value = 0.4621
+Query 1/1: Action query time = 3.721 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7663
+t=26: Selected seed 195 with value = 0.7663
+Query 1/1: Action query time = 3.551 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7893
+t=42: Selected seed 195 with value = 0.7893
+Query 1/1: Action query time = 2.900 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8752
+t=58: Selected seed 195 with value = 0.8752
+Query 1/1: Action query time = 2.633 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8703
+t=74: Selected seed 195 with value = 0.8703
+Query 1/1: Action query time = 3.064 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9087
+t=90: Selected seed 195 with value = 0.9087
+Query 1/1: Action query time = 3.311 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8746
+t=106: Selected seed 195 with value = 0.8746
+Query 1/1: Action query time = 3.776 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8700
+t=122: Selected seed 195 with value = 0.8700
+Query 1/1: Action query time = 3.896 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8858
+t=138: Selected seed 195 with value = 0.8858
+Query 1/1: Action query time = 3.328 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8639
+t=154: Selected seed 195 with value = 0.8639
+Query 1/1: Action query time = 4.312 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8892
+t=170: Selected seed 195 with value = 0.8892
+Query 1/1: Action query time = 3.685 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8076
+t=186: Selected seed 195 with value = 0.8076
+Query 1/1: Action query time = 3.422 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8784
+t=202: Selected seed 195 with value = 0.8784
+Query 1/1: Action query time = 3.002 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8359
+t=218: Selected seed 195 with value = 0.8359
+Query 1/1: Action query time = 3.744 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8224
+t=234: Selected seed 195 with value = 0.8224
+Query 1/1: Action query time = 3.345 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8165
+t=250: Selected seed 195 with value = 0.8165
+Query 1/1: Action query time = 3.087 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7968
+t=266: Selected seed 195 with value = 0.7968
+Query 1/1: Action query time = 3.532 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7704
+t=282: Selected seed 195 with value = 0.7704
+Query 1/1: Action query time = 3.130 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8630
+t=298: Selected seed 195 with value = 0.8630
+Saved rollout MP4 at path ./rollouts/t7rc800x50_t3_s1/2026_08_03-01_16_48--with_future_img--episode=12--success=False--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: False
+# episodes completed so far: 12
+# successes: 0 (0.0%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 13...
+Query 1/1: Action query time = 2.612 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4761
+t=10: Selected seed 195 with value = 0.4761
+Query 1/1: Action query time = 2.852 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6844
+t=26: Selected seed 195 with value = 0.6844
+Query 1/1: Action query time = 1.487 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7786
+t=42: Selected seed 195 with value = 0.7786
+Query 1/1: Action query time = 1.874 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8743
+t=58: Selected seed 195 with value = 0.8743
+Query 1/1: Action query time = 1.837 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8278
+t=74: Selected seed 195 with value = 0.8278
+Query 1/1: Action query time = 1.902 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9323
+t=90: Selected seed 195 with value = 0.9323
+Query 1/1: Action query time = 2.255 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8589
+t=106: Selected seed 195 with value = 0.8589
+Query 1/1: Action query time = 2.363 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8129
+t=122: Selected seed 195 with value = 0.8129
+Query 1/1: Action query time = 2.286 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8540
+t=138: Selected seed 195 with value = 0.8540
+Query 1/1: Action query time = 2.108 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8885
+t=154: Selected seed 195 with value = 0.8885
+Query 1/1: Action query time = 1.738 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9154
+t=170: Selected seed 195 with value = 0.9154
+Query 1/1: Action query time = 1.701 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9282
+t=186: Selected seed 195 with value = 0.9282
+Query 1/1: Action query time = 1.781 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8831
+t=202: Selected seed 195 with value = 0.8831
+Query 1/1: Action query time = 1.930 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8359
+t=218: Selected seed 195 with value = 0.8359
+Query 1/1: Action query time = 1.929 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8817
+t=234: Selected seed 195 with value = 0.8817
+Query 1/1: Action query time = 1.489 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8676
+t=250: Selected seed 195 with value = 0.8676
+Query 1/1: Action query time = 1.351 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8395
+t=266: Selected seed 195 with value = 0.8395
+Query 1/1: Action query time = 1.379 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8442
+t=282: Selected seed 195 with value = 0.8442
+Query 1/1: Action query time = 1.387 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8070
+t=298: Selected seed 195 with value = 0.8070
+Saved rollout MP4 at path ./rollouts/t7rc800x50_t3_s1/2026_08_03-01_16_48--with_future_img--episode=13--success=False--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: False
+# episodes completed so far: 13
+# successes: 0 (0.0%)
+Current task success rate: 0.0
+Current total success rate: 0.0
+Final results:
+Total episodes: 13
+Total successes: 0
+Overall success rate: 0.0000 (0.0%)
diff --git a/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_03-01_16_49--t7dc800x50_t3_s1.txt b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_03-01_16_49--t7dc800x50_t3_s1.txt
new file mode 100644
index 0000000000000000000000000000000000000000..f10eeaf2de69fd697403e6b85a09dc42363169f5
--- /dev/null
+++ b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_03-01_16_49--t7dc800x50_t3_s1.txt
@@ -0,0 +1,1091 @@
+Eval config: PolicyEvalConfig(suite='libero', model_family='cosmos', config='cosmos_predict2_2b_480p_libero_cl_stage_inference_only', ckpt_path='/home/azureuser/REGEN-main/new_task7/cosmos_policy/cosmos_v2_finetune/cosmos_predict2_2b_480p_libero_goal_task7_cl_from_demochan800_2gpu/checkpoints/iter_000000800/model', planning_model_config_name='', planning_model_ckpt_path='', config_file='cosmos_policy/config/config.py', packnet_mask_path='', packnet_first_cl_libero_task=6, use_third_person_image=True, num_third_person_images=1, use_wrist_image=True, num_wrist_images=1, use_proprio=True, flip_images=True, use_variance_scale=False, use_jpeg_compression=True, ar_future_prediction=False, ar_value_prediction=False, ar_qvalue_prediction=False, num_denoising_steps_action=5, num_denoising_steps_future_state=1, num_denoising_steps_value=1, unnormalize_actions=True, normalize_proprio=True, dataset_stats_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/libero_goal_regen/dataset_statistics.json', t5_text_embeddings_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/t5_embeddings.pkl', trained_with_image_aug=True, chunk_size=16, num_open_loop_steps=16, deterministic=True, deterministic_reset=False, deterministic_reset_seed=None, use_ensemble_future_state_predictions=False, num_future_state_predictions_in_ensemble=3, future_state_ensemble_aggregation_scheme='average', use_ensemble_value_predictions=False, num_value_predictions_in_ensemble=5, value_ensemble_aggregation_scheme='average', search_depth=1, mask_current_state_action_for_value_prediction=False, mask_future_state_for_qvalue_prediction=False, num_queries_best_of_n=1, use_parallel_inference=False, available_gpus='0', parallel_timeout=15, parallel_tasks_across_gpus=False, task_suite_name='libero_goal', num_trials_per_task=50, task_ids_to_run='3', initial_states_path='DEFAULT', env_img_res=256, local_log_dir='/home/azureuser/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal', run_id_note='t7dc800x50_t3_s1', use_wandb=False, wandb_entity='YOUR_ENTITY', wandb_project='YOUR_PROJECT', seed=195, randomize_seed=False, data_collection=False, jpeg_compress=True, reward_stop_threshold=None, reward_stop_consecutive_steps=3, use_gpt_reward=False, gpt_reward_model='gpt-5.4-mini', gpt_reward_stop_threshold=4, gpt_reward_timeout_s=30.0, save_rollout_video=False, eval_hdf5_path='', eval_hdf5_demo_key='demo_0', data_gen_demo_ids='', eval_episode_ids='1,5,9,13,17,21,25,29,33,37,41,45,49', replay_actions=False, replay_action_path_dir='', replay_hdf5_path='', data_generation=False, max_generation_steps=200, simple_task_max_steps=100, complex_task_max_steps=200, disable_value_stop=False)
+Using serial inference (parallel inference disabled)
+Task suite: libero_goal
+Number of tasks: 10
+Running only task IDs: [3]
+Using default initial states
+
+Task: open the top drawer and put the bowl inside
+Starting episode 1...
+Query 1/1: Action query time = 6.325 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4910
+t=10: Selected seed 195 with value = 0.4910
+Query 1/1: Action query time = 5.921 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6332
+t=26: Selected seed 195 with value = 0.6332
+Query 1/1: Action query time = 7.732 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8093
+t=42: Selected seed 195 with value = 0.8093
+Query 1/1: Action query time = 7.545 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9341
+t=58: Selected seed 195 with value = 0.9341
+Query 1/1: Action query time = 6.389 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9480
+t=74: Selected seed 195 with value = 0.9480
+Query 1/1: Action query time = 4.477 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9427
+t=90: Selected seed 195 with value = 0.9427
+Query 1/1: Action query time = 6.974 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8154
+t=106: Selected seed 195 with value = 0.8154
+Query 1/1: Action query time = 7.597 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9330
+t=122: Selected seed 195 with value = 0.9330
+Query 1/1: Action query time = 6.193 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8927
+t=138: Selected seed 195 with value = 0.8927
+Query 1/1: Action query time = 4.939 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8234
+t=154: Selected seed 195 with value = 0.8234
+Query 1/1: Action query time = 7.715 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8795
+t=170: Selected seed 195 with value = 0.8795
+Query 1/1: Action query time = 7.101 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8152
+t=186: Selected seed 195 with value = 0.8152
+Query 1/1: Action query time = 6.998 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8970
+t=202: Selected seed 195 with value = 0.8970
+Query 1/1: Action query time = 5.404 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9022
+t=218: Selected seed 195 with value = 0.9022
+Query 1/1: Action query time = 5.434 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8723
+t=234: Selected seed 195 with value = 0.8723
+Query 1/1: Action query time = 5.443 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8806
+t=250: Selected seed 195 with value = 0.8806
+Query 1/1: Action query time = 6.537 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8680
+t=266: Selected seed 195 with value = 0.8680
+Query 1/1: Action query time = 4.372 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9000
+t=282: Selected seed 195 with value = 0.9000
+Query 1/1: Action query time = 2.992 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8030
+t=298: Selected seed 195 with value = 0.8030
+Saved rollout MP4 at path ./rollouts/t7dc800x50_t3_s1/2026_08_03-01_16_49--with_future_img--episode=1--success=False--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: False
+# episodes completed so far: 1
+# successes: 0 (0.0%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 2...
+Query 1/1: Action query time = 4.311 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4739
+t=10: Selected seed 195 with value = 0.4739
+Query 1/1: Action query time = 6.834 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6768
+t=26: Selected seed 195 with value = 0.6768
+Query 1/1: Action query time = 6.221 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8168
+t=42: Selected seed 195 with value = 0.8168
+Query 1/1: Action query time = 5.970 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9166
+t=58: Selected seed 195 with value = 0.9166
+Query 1/1: Action query time = 6.694 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9298
+t=74: Selected seed 195 with value = 0.9298
+Query 1/1: Action query time = 3.755 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9975
+t=90: Selected seed 195 with value = 0.9975
+Query 1/1: Action query time = 5.459 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9690
+t=106: Selected seed 195 with value = 0.9690
+Query 1/1: Action query time = 7.021 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9609
+t=122: Selected seed 195 with value = 0.9609
+Query 1/1: Action query time = 5.654 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9675
+t=138: Selected seed 195 with value = 0.9675
+Query 1/1: Action query time = 7.098 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9578
+t=154: Selected seed 195 with value = 0.9578
+Query 1/1: Action query time = 5.337 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9736
+t=170: Selected seed 195 with value = 0.9736
+Query 1/1: Action query time = 6.572 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9913
+t=186: Selected seed 195 with value = 0.9913
+Query 1/1: Action query time = 6.526 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9865
+t=202: Selected seed 195 with value = 0.9865
+Query 1/1: Action query time = 5.795 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9849
+t=218: Selected seed 195 with value = 0.9849
+Query 1/1: Action query time = 5.142 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9545
+t=234: Selected seed 195 with value = 0.9545
+Query 1/1: Action query time = 3.887 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9512
+t=250: Selected seed 195 with value = 0.9512
+Query 1/1: Action query time = 4.928 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9503
+t=266: Selected seed 195 with value = 0.9503
+Query 1/1: Action query time = 3.494 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9235
+t=282: Selected seed 195 with value = 0.9235
+Query 1/1: Action query time = 4.119 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8716
+t=298: Selected seed 195 with value = 0.8716
+Saved rollout MP4 at path ./rollouts/t7dc800x50_t3_s1/2026_08_03-01_16_49--with_future_img--episode=2--success=False--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: False
+# episodes completed so far: 2
+# successes: 0 (0.0%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 3...
+Query 1/1: Action query time = 4.684 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5637
+t=10: Selected seed 195 with value = 0.5637
+Query 1/1: Action query time = 6.628 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7393
+t=26: Selected seed 195 with value = 0.7393
+Query 1/1: Action query time = 4.594 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7959
+t=42: Selected seed 195 with value = 0.7959
+Query 1/1: Action query time = 4.821 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9385
+t=58: Selected seed 195 with value = 0.9385
+Query 1/1: Action query time = 5.390 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8672
+t=74: Selected seed 195 with value = 0.8672
+Query 1/1: Action query time = 5.518 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8539
+t=90: Selected seed 195 with value = 0.8539
+Query 1/1: Action query time = 6.153 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8807
+t=106: Selected seed 195 with value = 0.8807
+Query 1/1: Action query time = 5.830 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8425
+t=122: Selected seed 195 with value = 0.8425
+Query 1/1: Action query time = 6.144 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9341
+t=138: Selected seed 195 with value = 0.9341
+Query 1/1: Action query time = 6.340 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8850
+t=154: Selected seed 195 with value = 0.8850
+Query 1/1: Action query time = 6.599 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8517
+t=170: Selected seed 195 with value = 0.8517
+Query 1/1: Action query time = 5.144 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8889
+t=186: Selected seed 195 with value = 0.8889
+Query 1/1: Action query time = 5.134 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9373
+t=202: Selected seed 195 with value = 0.9373
+Query 1/1: Action query time = 7.294 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8906
+t=218: Selected seed 195 with value = 0.8906
+Query 1/1: Action query time = 6.662 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8469
+t=234: Selected seed 195 with value = 0.8469
+Query 1/1: Action query time = 6.192 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8451
+t=250: Selected seed 195 with value = 0.8451
+Query 1/1: Action query time = 4.650 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8575
+t=266: Selected seed 195 with value = 0.8575
+Query 1/1: Action query time = 5.020 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8758
+t=282: Selected seed 195 with value = 0.8758
+Query 1/1: Action query time = 5.821 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8344
+t=298: Selected seed 195 with value = 0.8344
+Saved rollout MP4 at path ./rollouts/t7dc800x50_t3_s1/2026_08_03-01_16_49--with_future_img--episode=3--success=False--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: False
+# episodes completed so far: 3
+# successes: 0 (0.0%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 4...
+Query 1/1: Action query time = 3.521 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4891
+t=10: Selected seed 195 with value = 0.4891
+Query 1/1: Action query time = 6.201 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7509
+t=26: Selected seed 195 with value = 0.7509
+Query 1/1: Action query time = 5.123 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8133
+t=42: Selected seed 195 with value = 0.8133
+Query 1/1: Action query time = 5.882 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8971
+t=58: Selected seed 195 with value = 0.8971
+Query 1/1: Action query time = 4.641 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9677
+t=74: Selected seed 195 with value = 0.9677
+Query 1/1: Action query time = 4.780 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9816
+t=90: Selected seed 195 with value = 0.9816
+Query 1/1: Action query time = 6.460 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9157
+t=106: Selected seed 195 with value = 0.9157
+Query 1/1: Action query time = 6.776 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9190
+t=122: Selected seed 195 with value = 0.9190
+Query 1/1: Action query time = 6.184 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9531
+t=138: Selected seed 195 with value = 0.9531
+Query 1/1: Action query time = 5.197 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8907
+t=154: Selected seed 195 with value = 0.8907
+Query 1/1: Action query time = 5.779 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9116
+t=170: Selected seed 195 with value = 0.9116
+Query 1/1: Action query time = 5.597 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9116
+t=186: Selected seed 195 with value = 0.9116
+Query 1/1: Action query time = 5.490 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9805
+t=202: Selected seed 195 with value = 0.9805
+Query 1/1: Action query time = 6.278 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8678
+t=218: Selected seed 195 with value = 0.8678
+Query 1/1: Action query time = 6.670 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9076
+t=234: Selected seed 195 with value = 0.9076
+Query 1/1: Action query time = 6.221 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8975
+t=250: Selected seed 195 with value = 0.8975
+Query 1/1: Action query time = 3.537 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8551
+t=266: Selected seed 195 with value = 0.8551
+Query 1/1: Action query time = 5.779 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8432
+t=282: Selected seed 195 with value = 0.8432
+Query 1/1: Action query time = 5.531 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8034
+t=298: Selected seed 195 with value = 0.8034
+Saved rollout MP4 at path ./rollouts/t7dc800x50_t3_s1/2026_08_03-01_16_49--with_future_img--episode=4--success=False--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: False
+# episodes completed so far: 4
+# successes: 0 (0.0%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 5...
+Query 1/1: Action query time = 5.216 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5487
+t=10: Selected seed 195 with value = 0.5487
+Query 1/1: Action query time = 6.618 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7236
+t=26: Selected seed 195 with value = 0.7236
+Query 1/1: Action query time = 5.299 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8296
+t=42: Selected seed 195 with value = 0.8296
+Query 1/1: Action query time = 4.766 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9355
+t=58: Selected seed 195 with value = 0.9355
+Query 1/1: Action query time = 5.491 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9190
+t=74: Selected seed 195 with value = 0.9190
+Query 1/1: Action query time = 5.752 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9528
+t=90: Selected seed 195 with value = 0.9528
+Query 1/1: Action query time = 4.467 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9529
+t=106: Selected seed 195 with value = 0.9529
+Query 1/1: Action query time = 5.134 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9499
+t=122: Selected seed 195 with value = 0.9499
+Query 1/1: Action query time = 6.968 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9469
+t=138: Selected seed 195 with value = 0.9469
+Query 1/1: Action query time = 5.903 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9404
+t=154: Selected seed 195 with value = 0.9404
+Query 1/1: Action query time = 5.784 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9223
+t=170: Selected seed 195 with value = 0.9223
+Query 1/1: Action query time = 5.914 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9065
+t=186: Selected seed 195 with value = 0.9065
+Query 1/1: Action query time = 7.432 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8901
+t=202: Selected seed 195 with value = 0.8901
+Query 1/1: Action query time = 5.824 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8438
+t=218: Selected seed 195 with value = 0.8438
+Query 1/1: Action query time = 6.378 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8542
+t=234: Selected seed 195 with value = 0.8542
+Query 1/1: Action query time = 5.062 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8452
+t=250: Selected seed 195 with value = 0.8452
+Query 1/1: Action query time = 4.652 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8773
+t=266: Selected seed 195 with value = 0.8773
+Query 1/1: Action query time = 5.377 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8530
+t=282: Selected seed 195 with value = 0.8530
+Query 1/1: Action query time = 5.351 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8775
+t=298: Selected seed 195 with value = 0.8775
+Saved rollout MP4 at path ./rollouts/t7dc800x50_t3_s1/2026_08_03-01_16_49--with_future_img--episode=5--success=False--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: False
+# episodes completed so far: 5
+# successes: 0 (0.0%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 6...
+Query 1/1: Action query time = 4.820 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4651
+t=10: Selected seed 195 with value = 0.4651
+Query 1/1: Action query time = 6.505 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6592
+t=26: Selected seed 195 with value = 0.6592
+Query 1/1: Action query time = 5.605 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8137
+t=42: Selected seed 195 with value = 0.8137
+Query 1/1: Action query time = 6.947 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9075
+t=58: Selected seed 195 with value = 0.9075
+Query 1/1: Action query time = 4.492 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9342
+t=74: Selected seed 195 with value = 0.9342
+Query 1/1: Action query time = 5.491 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9123
+t=90: Selected seed 195 with value = 0.9123
+Query 1/1: Action query time = 5.420 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8928
+t=106: Selected seed 195 with value = 0.8928
+Query 1/1: Action query time = 6.934 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9006
+t=122: Selected seed 195 with value = 0.9006
+Query 1/1: Action query time = 6.310 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8916
+t=138: Selected seed 195 with value = 0.8916
+Query 1/1: Action query time = 7.783 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8963
+t=154: Selected seed 195 with value = 0.8963
+Query 1/1: Action query time = 6.101 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8937
+t=170: Selected seed 195 with value = 0.8937
+Query 1/1: Action query time = 6.523 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8942
+t=186: Selected seed 195 with value = 0.8942
+Query 1/1: Action query time = 7.152 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8922
+t=202: Selected seed 195 with value = 0.8922
+Query 1/1: Action query time = 6.667 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8902
+t=218: Selected seed 195 with value = 0.8902
+Query 1/1: Action query time = 7.084 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8682
+t=234: Selected seed 195 with value = 0.8682
+Query 1/1: Action query time = 4.640 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8808
+t=250: Selected seed 195 with value = 0.8808
+Query 1/1: Action query time = 4.136 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8777
+t=266: Selected seed 195 with value = 0.8777
+Query 1/1: Action query time = 5.665 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8576
+t=282: Selected seed 195 with value = 0.8576
+Query 1/1: Action query time = 5.418 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8899
+t=298: Selected seed 195 with value = 0.8899
+Saved rollout MP4 at path ./rollouts/t7dc800x50_t3_s1/2026_08_03-01_16_49--with_future_img--episode=6--success=False--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: False
+# episodes completed so far: 6
+# successes: 0 (0.0%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 7...
+Query 1/1: Action query time = 4.196 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4640
+t=10: Selected seed 195 with value = 0.4640
+Query 1/1: Action query time = 5.286 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7584
+t=26: Selected seed 195 with value = 0.7584
+Query 1/1: Action query time = 7.960 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7977
+t=42: Selected seed 195 with value = 0.7977
+Query 1/1: Action query time = 6.720 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8896
+t=58: Selected seed 195 with value = 0.8896
+Query 1/1: Action query time = 6.223 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9307
+t=74: Selected seed 195 with value = 0.9307
+Query 1/1: Action query time = 6.226 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9527
+t=90: Selected seed 195 with value = 0.9527
+Query 1/1: Action query time = 6.432 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9516
+t=106: Selected seed 195 with value = 0.9516
+Query 1/1: Action query time = 4.569 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9642
+t=122: Selected seed 195 with value = 0.9642
+Query 1/1: Action query time = 5.738 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8639
+t=138: Selected seed 195 with value = 0.8639
+Query 1/1: Action query time = 5.036 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8868
+t=154: Selected seed 195 with value = 0.8868
+Query 1/1: Action query time = 6.683 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8727
+t=170: Selected seed 195 with value = 0.8727
+Query 1/1: Action query time = 5.748 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7981
+t=186: Selected seed 195 with value = 0.7981
+Query 1/1: Action query time = 6.307 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8669
+t=202: Selected seed 195 with value = 0.8669
+Query 1/1: Action query time = 6.254 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9374
+t=218: Selected seed 195 with value = 0.9374
+Query 1/1: Action query time = 7.334 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9127
+t=234: Selected seed 195 with value = 0.9127
+Query 1/1: Action query time = 7.167 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9700
+t=250: Selected seed 195 with value = 0.9700
+Query 1/1: Action query time = 6.690 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8679
+t=266: Selected seed 195 with value = 0.8679
+Query 1/1: Action query time = 6.193 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8344
+t=282: Selected seed 195 with value = 0.8344
+Query 1/1: Action query time = 5.678 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8694
+t=298: Selected seed 195 with value = 0.8694
+Saved rollout MP4 at path ./rollouts/t7dc800x50_t3_s1/2026_08_03-01_16_49--with_future_img--episode=7--success=False--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: False
+# episodes completed so far: 7
+# successes: 0 (0.0%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 8...
+Query 1/1: Action query time = 7.420 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4784
+t=10: Selected seed 195 with value = 0.4784
+Query 1/1: Action query time = 4.983 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6348
+t=26: Selected seed 195 with value = 0.6348
+Query 1/1: Action query time = 5.905 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8250
+t=42: Selected seed 195 with value = 0.8250
+Query 1/1: Action query time = 5.554 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9196
+t=58: Selected seed 195 with value = 0.9196
+Query 1/1: Action query time = 5.940 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9730
+t=74: Selected seed 195 with value = 0.9730
+Query 1/1: Action query time = 6.070 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9729
+t=90: Selected seed 195 with value = 0.9729
+Query 1/1: Action query time = 7.362 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8306
+t=106: Selected seed 195 with value = 0.8306
+Query 1/1: Action query time = 6.507 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7809
+t=122: Selected seed 195 with value = 0.7809
+Query 1/1: Action query time = 6.508 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7906
+t=138: Selected seed 195 with value = 0.7906
+Query 1/1: Action query time = 4.741 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8469
+t=154: Selected seed 195 with value = 0.8469
+Query 1/1: Action query time = 5.307 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9125
+t=170: Selected seed 195 with value = 0.9125
+Query 1/1: Action query time = 4.483 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8997
+t=186: Selected seed 195 with value = 0.8997
+Query 1/1: Action query time = 5.689 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8998
+t=202: Selected seed 195 with value = 0.8998
+Query 1/1: Action query time = 4.678 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8988
+t=218: Selected seed 195 with value = 0.8988
+Query 1/1: Action query time = 5.211 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8000
+t=234: Selected seed 195 with value = 0.8000
+Query 1/1: Action query time = 3.629 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8391
+t=250: Selected seed 195 with value = 0.8391
+Query 1/1: Action query time = 4.199 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8991
+t=266: Selected seed 195 with value = 0.8991
+Query 1/1: Action query time = 5.270 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9226
+t=282: Selected seed 195 with value = 0.9226
+Query 1/1: Action query time = 5.321 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9022
+t=298: Selected seed 195 with value = 0.9022
+Saved rollout MP4 at path ./rollouts/t7dc800x50_t3_s1/2026_08_03-01_16_49--with_future_img--episode=8--success=False--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: False
+# episodes completed so far: 8
+# successes: 0 (0.0%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 9...
+Query 1/1: Action query time = 7.561 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5139
+t=10: Selected seed 195 with value = 0.5139
+Query 1/1: Action query time = 5.852 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6362
+t=26: Selected seed 195 with value = 0.6362
+Query 1/1: Action query time = 6.080 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8033
+t=42: Selected seed 195 with value = 0.8033
+Query 1/1: Action query time = 5.333 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9145
+t=58: Selected seed 195 with value = 0.9145
+Query 1/1: Action query time = 4.194 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9460
+t=74: Selected seed 195 with value = 0.9460
+Query 1/1: Action query time = 5.916 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9375
+t=90: Selected seed 195 with value = 0.9375
+Query 1/1: Action query time = 5.441 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9549
+t=106: Selected seed 195 with value = 0.9549
+Query 1/1: Action query time = 6.028 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9385
+t=122: Selected seed 195 with value = 0.9385
+Query 1/1: Action query time = 5.731 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9727
+t=138: Selected seed 195 with value = 0.9727
+Query 1/1: Action query time = 4.970 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9428
+t=154: Selected seed 195 with value = 0.9428
+Query 1/1: Action query time = 5.530 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9482
+t=170: Selected seed 195 with value = 0.9482
+Query 1/1: Action query time = 5.806 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9422
+t=186: Selected seed 195 with value = 0.9422
+Query 1/1: Action query time = 3.404 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9371
+t=202: Selected seed 195 with value = 0.9371
+Query 1/1: Action query time = 5.977 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9323
+t=218: Selected seed 195 with value = 0.9323
+Query 1/1: Action query time = 4.747 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9294
+t=234: Selected seed 195 with value = 0.9294
+Query 1/1: Action query time = 6.983 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9244
+t=250: Selected seed 195 with value = 0.9244
+Query 1/1: Action query time = 4.972 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9147
+t=266: Selected seed 195 with value = 0.9147
+Query 1/1: Action query time = 4.618 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9021
+t=282: Selected seed 195 with value = 0.9021
+Query 1/1: Action query time = 5.235 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8879
+t=298: Selected seed 195 with value = 0.8879
+Saved rollout MP4 at path ./rollouts/t7dc800x50_t3_s1/2026_08_03-01_16_49--with_future_img--episode=9--success=False--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: False
+# episodes completed so far: 9
+# successes: 0 (0.0%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 10...
+Query 1/1: Action query time = 6.954 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4452
+t=10: Selected seed 195 with value = 0.4452
+Query 1/1: Action query time = 5.051 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6462
+t=26: Selected seed 195 with value = 0.6462
+Query 1/1: Action query time = 4.666 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8104
+t=42: Selected seed 195 with value = 0.8104
+Query 1/1: Action query time = 5.027 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9051
+t=58: Selected seed 195 with value = 0.9051
+Query 1/1: Action query time = 4.035 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9287
+t=74: Selected seed 195 with value = 0.9287
+Query 1/1: Action query time = 5.354 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8456
+t=90: Selected seed 195 with value = 0.8456
+Query 1/1: Action query time = 4.092 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8427
+t=106: Selected seed 195 with value = 0.8427
+Query 1/1: Action query time = 4.849 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8079
+t=122: Selected seed 195 with value = 0.8079
+Query 1/1: Action query time = 4.005 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8786
+t=138: Selected seed 195 with value = 0.8786
+Query 1/1: Action query time = 5.841 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8704
+t=154: Selected seed 195 with value = 0.8704
+Query 1/1: Action query time = 4.060 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9233
+t=170: Selected seed 195 with value = 0.9233
+Query 1/1: Action query time = 3.708 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9030
+t=186: Selected seed 195 with value = 0.9030
+Query 1/1: Action query time = 4.546 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9226
+t=202: Selected seed 195 with value = 0.9226
+Query 1/1: Action query time = 4.233 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9201
+t=218: Selected seed 195 with value = 0.9201
+Query 1/1: Action query time = 3.896 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9231
+t=234: Selected seed 195 with value = 0.9231
+Query 1/1: Action query time = 4.461 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9204
+t=250: Selected seed 195 with value = 0.9204
+Query 1/1: Action query time = 5.192 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8935
+t=266: Selected seed 195 with value = 0.8935
+Query 1/1: Action query time = 3.921 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8792
+t=282: Selected seed 195 with value = 0.8792
+Query 1/1: Action query time = 3.538 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8550
+t=298: Selected seed 195 with value = 0.8550
+Saved rollout MP4 at path ./rollouts/t7dc800x50_t3_s1/2026_08_03-01_16_49--with_future_img--episode=10--success=False--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: False
+# episodes completed so far: 10
+# successes: 0 (0.0%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 11...
+Query 1/1: Action query time = 4.893 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4941
+t=10: Selected seed 195 with value = 0.4941
+Query 1/1: Action query time = 5.159 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7674
+t=26: Selected seed 195 with value = 0.7674
+Query 1/1: Action query time = 5.861 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8047
+t=42: Selected seed 195 with value = 0.8047
+Query 1/1: Action query time = 4.994 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9268
+t=58: Selected seed 195 with value = 0.9268
+Query 1/1: Action query time = 3.736 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9625
+t=74: Selected seed 195 with value = 0.9625
+Query 1/1: Action query time = 3.765 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9810
+t=90: Selected seed 195 with value = 0.9810
+Query 1/1: Action query time = 4.627 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9388
+t=106: Selected seed 195 with value = 0.9388
+Query 1/1: Action query time = 4.638 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9578
+t=122: Selected seed 195 with value = 0.9578
+Query 1/1: Action query time = 4.662 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9140
+t=138: Selected seed 195 with value = 0.9140
+Query 1/1: Action query time = 3.466 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9350
+t=154: Selected seed 195 with value = 0.9350
+Query 1/1: Action query time = 4.552 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9521
+t=170: Selected seed 195 with value = 0.9521
+Query 1/1: Action query time = 3.434 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9559
+t=186: Selected seed 195 with value = 0.9559
+Query 1/1: Action query time = 3.772 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9717
+t=202: Selected seed 195 with value = 0.9717
+Query 1/1: Action query time = 2.925 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9059
+t=218: Selected seed 195 with value = 0.9059
+Query 1/1: Action query time = 3.857 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9758
+t=234: Selected seed 195 with value = 0.9758
+Query 1/1: Action query time = 3.862 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8565
+t=250: Selected seed 195 with value = 0.8565
+Query 1/1: Action query time = 3.736 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8251
+t=266: Selected seed 195 with value = 0.8251
+Query 1/1: Action query time = 3.062 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8140
+t=282: Selected seed 195 with value = 0.8140
+Query 1/1: Action query time = 3.130 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8342
+t=298: Selected seed 195 with value = 0.8342
+Saved rollout MP4 at path ./rollouts/t7dc800x50_t3_s1/2026_08_03-01_16_49--with_future_img--episode=11--success=False--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: False
+# episodes completed so far: 11
+# successes: 0 (0.0%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 12...
+Query 1/1: Action query time = 3.305 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4646
+t=10: Selected seed 195 with value = 0.4646
+Query 1/1: Action query time = 3.833 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7501
+t=26: Selected seed 195 with value = 0.7501
+Query 1/1: Action query time = 3.319 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8095
+t=42: Selected seed 195 with value = 0.8095
+Query 1/1: Action query time = 3.865 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8766
+t=58: Selected seed 195 with value = 0.8766
+Query 1/1: Action query time = 3.613 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9614
+t=74: Selected seed 195 with value = 0.9614
+Query 1/1: Action query time = 3.590 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9668
+t=90: Selected seed 195 with value = 0.9668
+Query 1/1: Action query time = 3.186 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9355
+t=106: Selected seed 195 with value = 0.9355
+Query 1/1: Action query time = 4.100 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8662
+t=122: Selected seed 195 with value = 0.8662
+Query 1/1: Action query time = 2.854 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9589
+t=138: Selected seed 195 with value = 0.9589
+Query 1/1: Action query time = 2.355 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8930
+t=154: Selected seed 195 with value = 0.8930
+Query 1/1: Action query time = 3.566 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9716
+t=170: Selected seed 195 with value = 0.9716
+Query 1/1: Action query time = 3.410 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9367
+t=186: Selected seed 195 with value = 0.9367
+Query 1/1: Action query time = 3.082 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8919
+t=202: Selected seed 195 with value = 0.8919
+Query 1/1: Action query time = 2.180 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9071
+t=218: Selected seed 195 with value = 0.9071
+Query 1/1: Action query time = 1.857 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8622
+t=234: Selected seed 195 with value = 0.8622
+Query 1/1: Action query time = 3.164 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9504
+t=250: Selected seed 195 with value = 0.9504
+Query 1/1: Action query time = 3.359 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9544
+t=266: Selected seed 195 with value = 0.9544
+Query 1/1: Action query time = 2.411 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8833
+t=282: Selected seed 195 with value = 0.8833
+Query 1/1: Action query time = 1.996 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9671
+t=298: Selected seed 195 with value = 0.9671
+Saved rollout MP4 at path ./rollouts/t7dc800x50_t3_s1/2026_08_03-01_16_49--with_future_img--episode=12--success=False--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: False
+# episodes completed so far: 12
+# successes: 0 (0.0%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 13...
+Query 1/1: Action query time = 2.325 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4849
+t=10: Selected seed 195 with value = 0.4849
+Query 1/1: Action query time = 1.953 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7594
+t=26: Selected seed 195 with value = 0.7594
+Query 1/1: Action query time = 2.153 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8205
+t=42: Selected seed 195 with value = 0.8205
+Query 1/1: Action query time = 1.515 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8752
+t=58: Selected seed 195 with value = 0.8752
+Query 1/1: Action query time = 1.357 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9521
+t=74: Selected seed 195 with value = 0.9521
+Query 1/1: Action query time = 2.003 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9600
+t=90: Selected seed 195 with value = 0.9600
+Query 1/1: Action query time = 1.792 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8994
+t=106: Selected seed 195 with value = 0.8994
+Query 1/1: Action query time = 1.899 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9647
+t=122: Selected seed 195 with value = 0.9647
+Query 1/1: Action query time = 1.774 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9038
+t=138: Selected seed 195 with value = 0.9038
+Query 1/1: Action query time = 1.886 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9033
+t=154: Selected seed 195 with value = 0.9033
+Query 1/1: Action query time = 1.728 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9082
+t=170: Selected seed 195 with value = 0.9082
+Query 1/1: Action query time = 1.127 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9083
+t=186: Selected seed 195 with value = 0.9083
+Query 1/1: Action query time = 0.978 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9257
+t=202: Selected seed 195 with value = 0.9257
+Query 1/1: Action query time = 1.423 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9114
+t=218: Selected seed 195 with value = 0.9114
+Query 1/1: Action query time = 1.149 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9060
+t=234: Selected seed 195 with value = 0.9060
+Query 1/1: Action query time = 0.984 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8811
+t=250: Selected seed 195 with value = 0.8811
+Query 1/1: Action query time = 0.989 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8592
+t=266: Selected seed 195 with value = 0.8592
+Query 1/1: Action query time = 1.151 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8552
+t=282: Selected seed 195 with value = 0.8552
+Query 1/1: Action query time = 0.990 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8677
+t=298: Selected seed 195 with value = 0.8677
+Saved rollout MP4 at path ./rollouts/t7dc800x50_t3_s1/2026_08_03-01_16_49--with_future_img--episode=13--success=False--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: False
+# episodes completed so far: 13
+# successes: 0 (0.0%)
+Current task success rate: 0.0
+Current total success rate: 0.0
+Final results:
+Total episodes: 13
+Total successes: 0
+Overall success rate: 0.0000 (0.0%)
diff --git a/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_03-01_47_42--t7rc800x50_t4_s2.txt b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_03-01_47_42--t7rc800x50_t4_s2.txt
new file mode 100644
index 0000000000000000000000000000000000000000..f1febaeac114785d9baa1837ed9e70c969fd6083
--- /dev/null
+++ b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_03-01_47_42--t7rc800x50_t4_s2.txt
@@ -0,0 +1,496 @@
+Eval config: PolicyEvalConfig(suite='libero', model_family='cosmos', config='cosmos_predict2_2b_480p_libero_cl_stage_inference_only', ckpt_path='/home/azureuser/REGEN-main/new_task7/cosmos_policy/cosmos_v2_finetune/cosmos_predict2_2b_480p_libero_goal_task7_cl_from_realcl800_2gpu/checkpoints/iter_000000800/model', planning_model_config_name='', planning_model_ckpt_path='', config_file='cosmos_policy/config/config.py', packnet_mask_path='', packnet_first_cl_libero_task=6, use_third_person_image=True, num_third_person_images=1, use_wrist_image=True, num_wrist_images=1, use_proprio=True, flip_images=True, use_variance_scale=False, use_jpeg_compression=True, ar_future_prediction=False, ar_value_prediction=False, ar_qvalue_prediction=False, num_denoising_steps_action=5, num_denoising_steps_future_state=1, num_denoising_steps_value=1, unnormalize_actions=True, normalize_proprio=True, dataset_stats_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/libero_goal_regen/dataset_statistics.json', t5_text_embeddings_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/t5_embeddings.pkl', trained_with_image_aug=True, chunk_size=16, num_open_loop_steps=16, deterministic=True, deterministic_reset=False, deterministic_reset_seed=None, use_ensemble_future_state_predictions=False, num_future_state_predictions_in_ensemble=3, future_state_ensemble_aggregation_scheme='average', use_ensemble_value_predictions=False, num_value_predictions_in_ensemble=5, value_ensemble_aggregation_scheme='average', search_depth=1, mask_current_state_action_for_value_prediction=False, mask_future_state_for_qvalue_prediction=False, num_queries_best_of_n=1, use_parallel_inference=False, available_gpus='0', parallel_timeout=15, parallel_tasks_across_gpus=False, task_suite_name='libero_goal', num_trials_per_task=50, task_ids_to_run='4', initial_states_path='DEFAULT', env_img_res=256, local_log_dir='/home/azureuser/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal', run_id_note='t7rc800x50_t4_s2', use_wandb=False, wandb_entity='YOUR_ENTITY', wandb_project='YOUR_PROJECT', seed=195, randomize_seed=False, data_collection=False, jpeg_compress=True, reward_stop_threshold=None, reward_stop_consecutive_steps=3, use_gpt_reward=False, gpt_reward_model='gpt-5.4-mini', gpt_reward_stop_threshold=4, gpt_reward_timeout_s=30.0, save_rollout_video=False, eval_hdf5_path='', eval_hdf5_demo_key='demo_0', data_gen_demo_ids='', eval_episode_ids='2,6,10,14,18,22,26,30,34,38,42,46', replay_actions=False, replay_action_path_dir='', replay_hdf5_path='', data_generation=False, max_generation_steps=200, simple_task_max_steps=100, complex_task_max_steps=200, disable_value_stop=False)
+Using serial inference (parallel inference disabled)
+Task suite: libero_goal
+Number of tasks: 10
+Running only task IDs: [4]
+Using default initial states
+
+Task: put the bowl on top of the cabinet
+Starting episode 1...
+Query 1/1: Action query time = 2.017 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5403
+t=10: Selected seed 195 with value = 0.5403
+Query 1/1: Action query time = 1.729 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6411
+t=26: Selected seed 195 with value = 0.6411
+Query 1/1: Action query time = 2.230 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7320
+t=42: Selected seed 195 with value = 0.7320
+Query 1/1: Action query time = 3.717 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9434
+t=58: Selected seed 195 with value = 0.9434
+Query 1/1: Action query time = 3.882 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9670
+t=74: Selected seed 195 with value = 0.9670
+Query 1/1: Action query time = 6.018 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9800
+t=90: Selected seed 195 with value = 0.9800
+Query 1/1: Action query time = 5.593 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9844
+t=106: Selected seed 195 with value = 0.9844
+Query 1/1: Action query time = 6.821 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9877
+t=122: Selected seed 195 with value = 0.9877
+Query 1/1: Action query time = 7.869 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9922
+t=138: Selected seed 195 with value = 0.9922
+Query 1/1: Action query time = 6.755 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9927
+t=154: Selected seed 195 with value = 0.9927
+Query 1/1: Action query time = 3.568 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9902
+t=170: Selected seed 195 with value = 0.9902
+Query 1/1: Action query time = 7.185 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9879
+t=186: Selected seed 195 with value = 0.9879
+Query 1/1: Action query time = 8.250 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9998
+t=202: Selected seed 195 with value = 0.9998
+Query 1/1: Action query time = 5.720 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=218: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 5.948 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=234: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 5.210 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=250: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 5.823 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=266: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 5.275 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=282: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 6.078 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=298: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/t7rc800x50_t4_s2/2026_08_03-01_47_42--with_future_img--episode=1--success=False--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Success: False
+# episodes completed so far: 1
+# successes: 0 (0.0%)
+
+Task: put the bowl on top of the cabinet
+Starting episode 2...
+Query 1/1: Action query time = 4.904 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5273
+t=10: Selected seed 195 with value = 0.5273
+Query 1/1: Action query time = 4.928 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6377
+t=26: Selected seed 195 with value = 0.6377
+Query 1/1: Action query time = 4.879 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6820
+t=42: Selected seed 195 with value = 0.6820
+Query 1/1: Action query time = 5.589 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7759
+t=58: Selected seed 195 with value = 0.7759
+Query 1/1: Action query time = 6.301 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8396
+t=74: Selected seed 195 with value = 0.8396
+Query 1/1: Action query time = 5.157 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9193
+t=90: Selected seed 195 with value = 0.9193
+Query 1/1: Action query time = 4.766 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9808
+t=106: Selected seed 195 with value = 0.9808
+Saved rollout MP4 at path ./rollouts/t7rc800x50_t4_s2/2026_08_03-01_47_42--with_future_img--episode=2--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Success: True
+# episodes completed so far: 2
+# successes: 1 (50.0%)
+
+Task: put the bowl on top of the cabinet
+Starting episode 3...
+Query 1/1: Action query time = 5.833 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5139
+t=10: Selected seed 195 with value = 0.5139
+Query 1/1: Action query time = 4.736 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6516
+t=26: Selected seed 195 with value = 0.6516
+Query 1/1: Action query time = 5.227 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7627
+t=42: Selected seed 195 with value = 0.7627
+Query 1/1: Action query time = 5.769 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7880
+t=58: Selected seed 195 with value = 0.7880
+Query 1/1: Action query time = 3.200 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9825
+t=74: Selected seed 195 with value = 0.9825
+Query 1/1: Action query time = 4.945 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9937
+t=90: Selected seed 195 with value = 0.9937
+Saved rollout MP4 at path ./rollouts/t7rc800x50_t4_s2/2026_08_03-01_47_42--with_future_img--episode=3--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Success: True
+# episodes completed so far: 3
+# successes: 2 (66.7%)
+
+Task: put the bowl on top of the cabinet
+Starting episode 4...
+Query 1/1: Action query time = 4.946 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4977
+t=10: Selected seed 195 with value = 0.4977
+Query 1/1: Action query time = 4.475 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5777
+t=26: Selected seed 195 with value = 0.5777
+Query 1/1: Action query time = 5.713 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6885
+t=42: Selected seed 195 with value = 0.6885
+Query 1/1: Action query time = 4.898 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8043
+t=58: Selected seed 195 with value = 0.8043
+Query 1/1: Action query time = 4.447 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9039
+t=74: Selected seed 195 with value = 0.9039
+Query 1/1: Action query time = 6.089 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9801
+t=90: Selected seed 195 with value = 0.9801
+Saved rollout MP4 at path ./rollouts/t7rc800x50_t4_s2/2026_08_03-01_47_42--with_future_img--episode=4--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Success: True
+# episodes completed so far: 4
+# successes: 3 (75.0%)
+
+Task: put the bowl on top of the cabinet
+Starting episode 5...
+Query 1/1: Action query time = 3.829 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5004
+t=10: Selected seed 195 with value = 0.5004
+Query 1/1: Action query time = 3.736 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5901
+t=26: Selected seed 195 with value = 0.5901
+Query 1/1: Action query time = 4.154 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6924
+t=42: Selected seed 195 with value = 0.6924
+Query 1/1: Action query time = 4.853 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8147
+t=58: Selected seed 195 with value = 0.8147
+Query 1/1: Action query time = 4.438 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9237
+t=74: Selected seed 195 with value = 0.9237
+Query 1/1: Action query time = 4.425 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9624
+t=90: Selected seed 195 with value = 0.9624
+Query 1/1: Action query time = 5.716 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=106: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/t7rc800x50_t4_s2/2026_08_03-01_47_42--with_future_img--episode=5--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Success: True
+# episodes completed so far: 5
+# successes: 4 (80.0%)
+
+Task: put the bowl on top of the cabinet
+Starting episode 6...
+Query 1/1: Action query time = 4.407 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5545
+t=10: Selected seed 195 with value = 0.5545
+Query 1/1: Action query time = 4.616 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6636
+t=26: Selected seed 195 with value = 0.6636
+Query 1/1: Action query time = 6.497 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7261
+t=42: Selected seed 195 with value = 0.7261
+Query 1/1: Action query time = 4.164 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7910
+t=58: Selected seed 195 with value = 0.7910
+Query 1/1: Action query time = 3.960 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9375
+t=74: Selected seed 195 with value = 0.9375
+Query 1/1: Action query time = 6.242 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/t7rc800x50_t4_s2/2026_08_03-01_47_42--with_future_img--episode=6--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Success: True
+# episodes completed so far: 6
+# successes: 5 (83.3%)
+
+Task: put the bowl on top of the cabinet
+Starting episode 7...
+Query 1/1: Action query time = 4.619 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5130
+t=10: Selected seed 195 with value = 0.5130
+Query 1/1: Action query time = 4.706 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6146
+t=26: Selected seed 195 with value = 0.6146
+Query 1/1: Action query time = 3.884 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7340
+t=42: Selected seed 195 with value = 0.7340
+Query 1/1: Action query time = 4.007 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8641
+t=58: Selected seed 195 with value = 0.8641
+Query 1/1: Action query time = 6.357 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9754
+t=74: Selected seed 195 with value = 0.9754
+Query 1/1: Action query time = 4.721 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9945
+t=90: Selected seed 195 with value = 0.9945
+Saved rollout MP4 at path ./rollouts/t7rc800x50_t4_s2/2026_08_03-01_47_42--with_future_img--episode=7--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Success: True
+# episodes completed so far: 7
+# successes: 6 (85.7%)
+
+Task: put the bowl on top of the cabinet
+Starting episode 8...
+Query 1/1: Action query time = 4.051 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4792
+t=10: Selected seed 195 with value = 0.4792
+Query 1/1: Action query time = 4.341 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6002
+t=26: Selected seed 195 with value = 0.6002
+Query 1/1: Action query time = 4.961 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7342
+t=42: Selected seed 195 with value = 0.7342
+Query 1/1: Action query time = 2.885 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8482
+t=58: Selected seed 195 with value = 0.8482
+Query 1/1: Action query time = 5.703 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9736
+t=74: Selected seed 195 with value = 0.9736
+Query 1/1: Action query time = 4.653 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/t7rc800x50_t4_s2/2026_08_03-01_47_42--with_future_img--episode=8--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Success: True
+# episodes completed so far: 8
+# successes: 7 (87.5%)
+
+Task: put the bowl on top of the cabinet
+Starting episode 9...
+Query 1/1: Action query time = 3.488 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5559
+t=10: Selected seed 195 with value = 0.5559
+Query 1/1: Action query time = 4.373 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6707
+t=26: Selected seed 195 with value = 0.6707
+Query 1/1: Action query time = 5.352 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7782
+t=42: Selected seed 195 with value = 0.7782
+Query 1/1: Action query time = 5.248 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8686
+t=58: Selected seed 195 with value = 0.8686
+Query 1/1: Action query time = 5.468 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9618
+t=74: Selected seed 195 with value = 0.9618
+Query 1/1: Action query time = 4.230 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/t7rc800x50_t4_s2/2026_08_03-01_47_42--with_future_img--episode=9--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Success: True
+# episodes completed so far: 9
+# successes: 8 (88.9%)
+
+Task: put the bowl on top of the cabinet
+Starting episode 10...
+Query 1/1: Action query time = 3.903 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5038
+t=10: Selected seed 195 with value = 0.5038
+Query 1/1: Action query time = 5.077 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6044
+t=26: Selected seed 195 with value = 0.6044
+Query 1/1: Action query time = 3.625 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6677
+t=42: Selected seed 195 with value = 0.6677
+Query 1/1: Action query time = 3.414 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7473
+t=58: Selected seed 195 with value = 0.7473
+Query 1/1: Action query time = 4.482 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9691
+t=74: Selected seed 195 with value = 0.9691
+Query 1/1: Action query time = 4.368 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9930
+t=90: Selected seed 195 with value = 0.9930
+Query 1/1: Action query time = 3.852 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=106: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.611 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9877
+t=122: Selected seed 195 with value = 0.9877
+Query 1/1: Action query time = 3.963 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9692
+t=138: Selected seed 195 with value = 0.9692
+Query 1/1: Action query time = 4.599 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9811
+t=154: Selected seed 195 with value = 0.9811
+Query 1/1: Action query time = 3.913 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9567
+t=170: Selected seed 195 with value = 0.9567
+Query 1/1: Action query time = 3.091 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9743
+t=186: Selected seed 195 with value = 0.9743
+Query 1/1: Action query time = 4.032 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9807
+t=202: Selected seed 195 with value = 0.9807
+Query 1/1: Action query time = 3.957 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9880
+t=218: Selected seed 195 with value = 0.9880
+Query 1/1: Action query time = 5.242 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9789
+t=234: Selected seed 195 with value = 0.9789
+Query 1/1: Action query time = 4.675 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8853
+t=250: Selected seed 195 with value = 0.8853
+Query 1/1: Action query time = 4.238 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8778
+t=266: Selected seed 195 with value = 0.8778
+Query 1/1: Action query time = 5.163 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8452
+t=282: Selected seed 195 with value = 0.8452
+Query 1/1: Action query time = 5.893 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9373
+t=298: Selected seed 195 with value = 0.9373
+Saved rollout MP4 at path ./rollouts/t7rc800x50_t4_s2/2026_08_03-01_47_42--with_future_img--episode=10--success=False--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Success: False
+# episodes completed so far: 10
+# successes: 8 (80.0%)
+
+Task: put the bowl on top of the cabinet
+Starting episode 11...
+Query 1/1: Action query time = 5.650 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5573
+t=10: Selected seed 195 with value = 0.5573
+Query 1/1: Action query time = 3.795 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6651
+t=26: Selected seed 195 with value = 0.6651
+Query 1/1: Action query time = 3.996 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7617
+t=42: Selected seed 195 with value = 0.7617
+Query 1/1: Action query time = 4.621 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7727
+t=58: Selected seed 195 with value = 0.7727
+Query 1/1: Action query time = 4.415 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9153
+t=74: Selected seed 195 with value = 0.9153
+Query 1/1: Action query time = 2.866 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/t7rc800x50_t4_s2/2026_08_03-01_47_42--with_future_img--episode=11--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Success: True
+# episodes completed so far: 11
+# successes: 9 (81.8%)
+
+Task: put the bowl on top of the cabinet
+Starting episode 12...
+Query 1/1: Action query time = 5.043 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5326
+t=10: Selected seed 195 with value = 0.5326
+Query 1/1: Action query time = 4.185 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6296
+t=26: Selected seed 195 with value = 0.6296
+Query 1/1: Action query time = 3.777 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7508
+t=42: Selected seed 195 with value = 0.7508
+Query 1/1: Action query time = 4.474 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8541
+t=58: Selected seed 195 with value = 0.8541
+Query 1/1: Action query time = 4.797 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9727
+t=74: Selected seed 195 with value = 0.9727
+Query 1/1: Action query time = 4.716 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/t7rc800x50_t4_s2/2026_08_03-01_47_42--with_future_img--episode=12--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Success: True
+# episodes completed so far: 12
+# successes: 10 (83.3%)
+Current task success rate: 0.8333333333333334
+Current total success rate: 0.8333333333333334
+Final results:
+Total episodes: 12
+Total successes: 10
+Overall success rate: 0.8333 (83.3%)
diff --git a/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_03-01_47_44--t7dc800x50_t4_s0.txt b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_03-01_47_44--t7dc800x50_t4_s0.txt
new file mode 100644
index 0000000000000000000000000000000000000000..423105aa411f6c1d4150757cdc19f1c70af48072
--- /dev/null
+++ b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_03-01_47_44--t7dc800x50_t4_s0.txt
@@ -0,0 +1,783 @@
+Eval config: PolicyEvalConfig(suite='libero', model_family='cosmos', config='cosmos_predict2_2b_480p_libero_cl_stage_inference_only', ckpt_path='/home/azureuser/REGEN-main/new_task7/cosmos_policy/cosmos_v2_finetune/cosmos_predict2_2b_480p_libero_goal_task7_cl_from_demochan800_2gpu/checkpoints/iter_000000800/model', planning_model_config_name='', planning_model_ckpt_path='', config_file='cosmos_policy/config/config.py', packnet_mask_path='', packnet_first_cl_libero_task=6, use_third_person_image=True, num_third_person_images=1, use_wrist_image=True, num_wrist_images=1, use_proprio=True, flip_images=True, use_variance_scale=False, use_jpeg_compression=True, ar_future_prediction=False, ar_value_prediction=False, ar_qvalue_prediction=False, num_denoising_steps_action=5, num_denoising_steps_future_state=1, num_denoising_steps_value=1, unnormalize_actions=True, normalize_proprio=True, dataset_stats_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/libero_goal_regen/dataset_statistics.json', t5_text_embeddings_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/t5_embeddings.pkl', trained_with_image_aug=True, chunk_size=16, num_open_loop_steps=16, deterministic=True, deterministic_reset=False, deterministic_reset_seed=None, use_ensemble_future_state_predictions=False, num_future_state_predictions_in_ensemble=3, future_state_ensemble_aggregation_scheme='average', use_ensemble_value_predictions=False, num_value_predictions_in_ensemble=5, value_ensemble_aggregation_scheme='average', search_depth=1, mask_current_state_action_for_value_prediction=False, mask_future_state_for_qvalue_prediction=False, num_queries_best_of_n=1, use_parallel_inference=False, available_gpus='0', parallel_timeout=15, parallel_tasks_across_gpus=False, task_suite_name='libero_goal', num_trials_per_task=50, task_ids_to_run='4', initial_states_path='DEFAULT', env_img_res=256, local_log_dir='/home/azureuser/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal', run_id_note='t7dc800x50_t4_s0', use_wandb=False, wandb_entity='YOUR_ENTITY', wandb_project='YOUR_PROJECT', seed=195, randomize_seed=False, data_collection=False, jpeg_compress=True, reward_stop_threshold=None, reward_stop_consecutive_steps=3, use_gpt_reward=False, gpt_reward_model='gpt-5.4-mini', gpt_reward_stop_threshold=4, gpt_reward_timeout_s=30.0, save_rollout_video=False, eval_hdf5_path='', eval_hdf5_demo_key='demo_0', data_gen_demo_ids='', eval_episode_ids='0,4,8,12,16,20,24,28,32,36,40,44,48', replay_actions=False, replay_action_path_dir='', replay_hdf5_path='', data_generation=False, max_generation_steps=200, simple_task_max_steps=100, complex_task_max_steps=200, disable_value_stop=False)
+Using serial inference (parallel inference disabled)
+Task suite: libero_goal
+Number of tasks: 10
+Running only task IDs: [4]
+Using default initial states
+
+Task: put the bowl on top of the cabinet
+Starting episode 1...
+Query 1/1: Action query time = 3.020 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5470
+t=10: Selected seed 195 with value = 0.5470
+Query 1/1: Action query time = 2.300 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5881
+t=26: Selected seed 195 with value = 0.5881
+Query 1/1: Action query time = 2.973 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7345
+t=42: Selected seed 195 with value = 0.7345
+Query 1/1: Action query time = 4.553 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9216
+t=58: Selected seed 195 with value = 0.9216
+Query 1/1: Action query time = 6.520 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9739
+t=74: Selected seed 195 with value = 0.9739
+Query 1/1: Action query time = 5.335 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9363
+t=90: Selected seed 195 with value = 0.9363
+Query 1/1: Action query time = 5.527 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9601
+t=106: Selected seed 195 with value = 0.9601
+Query 1/1: Action query time = 6.539 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9560
+t=122: Selected seed 195 with value = 0.9560
+Query 1/1: Action query time = 6.447 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9236
+t=138: Selected seed 195 with value = 0.9236
+Query 1/1: Action query time = 5.207 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9535
+t=154: Selected seed 195 with value = 0.9535
+Query 1/1: Action query time = 7.568 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9475
+t=170: Selected seed 195 with value = 0.9475
+Query 1/1: Action query time = 6.404 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9480
+t=186: Selected seed 195 with value = 0.9480
+Query 1/1: Action query time = 6.620 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9458
+t=202: Selected seed 195 with value = 0.9458
+Query 1/1: Action query time = 7.624 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9227
+t=218: Selected seed 195 with value = 0.9227
+Query 1/1: Action query time = 5.760 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9191
+t=234: Selected seed 195 with value = 0.9191
+Query 1/1: Action query time = 5.994 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9154
+t=250: Selected seed 195 with value = 0.9154
+Query 1/1: Action query time = 5.124 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9134
+t=266: Selected seed 195 with value = 0.9134
+Query 1/1: Action query time = 4.462 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9122
+t=282: Selected seed 195 with value = 0.9122
+Query 1/1: Action query time = 4.405 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9092
+t=298: Selected seed 195 with value = 0.9092
+Saved rollout MP4 at path ./rollouts/t7dc800x50_t4_s0/2026_08_03-01_47_44--with_future_img--episode=1--success=False--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Success: False
+# episodes completed so far: 1
+# successes: 0 (0.0%)
+
+Task: put the bowl on top of the cabinet
+Starting episode 2...
+Query 1/1: Action query time = 4.712 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5608
+t=10: Selected seed 195 with value = 0.5608
+Query 1/1: Action query time = 4.567 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6358
+t=26: Selected seed 195 with value = 0.6358
+Query 1/1: Action query time = 6.147 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7779
+t=42: Selected seed 195 with value = 0.7779
+Query 1/1: Action query time = 6.742 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9182
+t=58: Selected seed 195 with value = 0.9182
+Query 1/1: Action query time = 6.743 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9979
+t=74: Selected seed 195 with value = 0.9979
+Query 1/1: Action query time = 6.136 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/t7dc800x50_t4_s0/2026_08_03-01_47_44--with_future_img--episode=2--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Success: True
+# episodes completed so far: 2
+# successes: 1 (50.0%)
+
+Task: put the bowl on top of the cabinet
+Starting episode 3...
+Query 1/1: Action query time = 5.236 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5815
+t=10: Selected seed 195 with value = 0.5815
+Query 1/1: Action query time = 5.568 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6885
+t=26: Selected seed 195 with value = 0.6885
+Query 1/1: Action query time = 5.626 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7401
+t=42: Selected seed 195 with value = 0.7401
+Query 1/1: Action query time = 5.974 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8629
+t=58: Selected seed 195 with value = 0.8629
+Query 1/1: Action query time = 4.657 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9981
+t=74: Selected seed 195 with value = 0.9981
+Saved rollout MP4 at path ./rollouts/t7dc800x50_t4_s0/2026_08_03-01_47_44--with_future_img--episode=3--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Success: True
+# episodes completed so far: 3
+# successes: 2 (66.7%)
+
+Task: put the bowl on top of the cabinet
+Starting episode 4...
+Query 1/1: Action query time = 5.245 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5125
+t=10: Selected seed 195 with value = 0.5125
+Query 1/1: Action query time = 4.088 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6545
+t=26: Selected seed 195 with value = 0.6545
+Query 1/1: Action query time = 4.706 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7808
+t=42: Selected seed 195 with value = 0.7808
+Query 1/1: Action query time = 5.259 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9047
+t=58: Selected seed 195 with value = 0.9047
+Query 1/1: Action query time = 6.121 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9833
+t=74: Selected seed 195 with value = 0.9833
+Query 1/1: Action query time = 5.841 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9924
+t=90: Selected seed 195 with value = 0.9924
+Query 1/1: Action query time = 6.304 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9922
+t=106: Selected seed 195 with value = 0.9922
+Query 1/1: Action query time = 4.606 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9871
+t=122: Selected seed 195 with value = 0.9871
+Query 1/1: Action query time = 5.763 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9903
+t=138: Selected seed 195 with value = 0.9903
+Query 1/1: Action query time = 5.512 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9825
+t=154: Selected seed 195 with value = 0.9825
+Query 1/1: Action query time = 6.959 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9907
+t=170: Selected seed 195 with value = 0.9907
+Query 1/1: Action query time = 6.122 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9882
+t=186: Selected seed 195 with value = 0.9882
+Query 1/1: Action query time = 5.801 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9940
+t=202: Selected seed 195 with value = 0.9940
+Query 1/1: Action query time = 5.259 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9876
+t=218: Selected seed 195 with value = 0.9876
+Query 1/1: Action query time = 5.501 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9928
+t=234: Selected seed 195 with value = 0.9928
+Query 1/1: Action query time = 3.552 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9936
+t=250: Selected seed 195 with value = 0.9936
+Query 1/1: Action query time = 4.928 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9923
+t=266: Selected seed 195 with value = 0.9923
+Query 1/1: Action query time = 6.242 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9941
+t=282: Selected seed 195 with value = 0.9941
+Query 1/1: Action query time = 6.379 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9987
+t=298: Selected seed 195 with value = 0.9987
+Saved rollout MP4 at path ./rollouts/t7dc800x50_t4_s0/2026_08_03-01_47_44--with_future_img--episode=4--success=False--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Success: False
+# episodes completed so far: 4
+# successes: 2 (50.0%)
+
+Task: put the bowl on top of the cabinet
+Starting episode 5...
+Query 1/1: Action query time = 5.891 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6421
+t=10: Selected seed 195 with value = 0.6421
+Query 1/1: Action query time = 4.715 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7166
+t=26: Selected seed 195 with value = 0.7166
+Query 1/1: Action query time = 5.210 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8759
+t=42: Selected seed 195 with value = 0.8759
+Query 1/1: Action query time = 5.489 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9882
+t=58: Selected seed 195 with value = 0.9882
+Query 1/1: Action query time = 4.606 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=74: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.917 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9809
+t=90: Selected seed 195 with value = 0.9809
+Query 1/1: Action query time = 4.834 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9838
+t=106: Selected seed 195 with value = 0.9838
+Query 1/1: Action query time = 5.630 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9874
+t=122: Selected seed 195 with value = 0.9874
+Query 1/1: Action query time = 4.178 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9795
+t=138: Selected seed 195 with value = 0.9795
+Query 1/1: Action query time = 2.896 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9917
+t=154: Selected seed 195 with value = 0.9917
+Query 1/1: Action query time = 4.428 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9855
+t=170: Selected seed 195 with value = 0.9855
+Query 1/1: Action query time = 5.763 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9938
+t=186: Selected seed 195 with value = 0.9938
+Query 1/1: Action query time = 5.241 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9955
+t=202: Selected seed 195 with value = 0.9955
+Query 1/1: Action query time = 4.157 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9932
+t=218: Selected seed 195 with value = 0.9932
+Query 1/1: Action query time = 5.708 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9956
+t=234: Selected seed 195 with value = 0.9956
+Query 1/1: Action query time = 6.206 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9950
+t=250: Selected seed 195 with value = 0.9950
+Query 1/1: Action query time = 5.478 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9945
+t=266: Selected seed 195 with value = 0.9945
+Query 1/1: Action query time = 4.870 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9959
+t=282: Selected seed 195 with value = 0.9959
+Query 1/1: Action query time = 4.361 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9965
+t=298: Selected seed 195 with value = 0.9965
+Saved rollout MP4 at path ./rollouts/t7dc800x50_t4_s0/2026_08_03-01_47_44--with_future_img--episode=5--success=False--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Success: False
+# episodes completed so far: 5
+# successes: 2 (40.0%)
+
+Task: put the bowl on top of the cabinet
+Starting episode 6...
+Query 1/1: Action query time = 6.147 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4848
+t=10: Selected seed 195 with value = 0.4848
+Query 1/1: Action query time = 5.750 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6545
+t=26: Selected seed 195 with value = 0.6545
+Query 1/1: Action query time = 5.341 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7354
+t=42: Selected seed 195 with value = 0.7354
+Query 1/1: Action query time = 5.112 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9229
+t=58: Selected seed 195 with value = 0.9229
+Query 1/1: Action query time = 4.889 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9881
+t=74: Selected seed 195 with value = 0.9881
+Query 1/1: Action query time = 3.426 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9921
+t=90: Selected seed 195 with value = 0.9921
+Query 1/1: Action query time = 3.581 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9850
+t=106: Selected seed 195 with value = 0.9850
+Query 1/1: Action query time = 3.765 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9719
+t=122: Selected seed 195 with value = 0.9719
+Query 1/1: Action query time = 4.712 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9769
+t=138: Selected seed 195 with value = 0.9769
+Query 1/1: Action query time = 4.196 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9926
+t=154: Selected seed 195 with value = 0.9926
+Query 1/1: Action query time = 4.068 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9809
+t=170: Selected seed 195 with value = 0.9809
+Query 1/1: Action query time = 6.094 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9923
+t=186: Selected seed 195 with value = 0.9923
+Query 1/1: Action query time = 5.729 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9893
+t=202: Selected seed 195 with value = 0.9893
+Query 1/1: Action query time = 5.797 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9959
+t=218: Selected seed 195 with value = 0.9959
+Query 1/1: Action query time = 4.904 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9967
+t=234: Selected seed 195 with value = 0.9967
+Query 1/1: Action query time = 3.731 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=250: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.778 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9992
+t=266: Selected seed 195 with value = 0.9992
+Query 1/1: Action query time = 5.811 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9928
+t=282: Selected seed 195 with value = 0.9928
+Query 1/1: Action query time = 3.614 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=298: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/t7dc800x50_t4_s0/2026_08_03-01_47_44--with_future_img--episode=6--success=False--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Success: False
+# episodes completed so far: 6
+# successes: 2 (33.3%)
+
+Task: put the bowl on top of the cabinet
+Starting episode 7...
+Query 1/1: Action query time = 5.075 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5584
+t=10: Selected seed 195 with value = 0.5584
+Query 1/1: Action query time = 4.957 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6254
+t=26: Selected seed 195 with value = 0.6254
+Query 1/1: Action query time = 5.405 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7391
+t=42: Selected seed 195 with value = 0.7391
+Query 1/1: Action query time = 4.833 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8979
+t=58: Selected seed 195 with value = 0.8979
+Query 1/1: Action query time = 3.738 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9904
+t=74: Selected seed 195 with value = 0.9904
+Query 1/1: Action query time = 3.441 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9866
+t=90: Selected seed 195 with value = 0.9866
+Query 1/1: Action query time = 5.500 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=106: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.303 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=122: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 2.536 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=138: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.130 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9988
+t=154: Selected seed 195 with value = 0.9988
+Query 1/1: Action query time = 4.740 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=170: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 3.715 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=186: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.603 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=202: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.622 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=218: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 3.398 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=234: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 3.877 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=250: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 2.989 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9961
+t=266: Selected seed 195 with value = 0.9961
+Query 1/1: Action query time = 4.314 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9986
+t=282: Selected seed 195 with value = 0.9986
+Query 1/1: Action query time = 3.320 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8799
+t=298: Selected seed 195 with value = 0.8799
+Saved rollout MP4 at path ./rollouts/t7dc800x50_t4_s0/2026_08_03-01_47_44--with_future_img--episode=7--success=False--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Success: False
+# episodes completed so far: 7
+# successes: 2 (28.6%)
+
+Task: put the bowl on top of the cabinet
+Starting episode 8...
+Query 1/1: Action query time = 4.056 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5524
+t=10: Selected seed 195 with value = 0.5524
+Query 1/1: Action query time = 4.058 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6237
+t=26: Selected seed 195 with value = 0.6237
+Query 1/1: Action query time = 4.105 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7542
+t=42: Selected seed 195 with value = 0.7542
+Query 1/1: Action query time = 4.607 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8611
+t=58: Selected seed 195 with value = 0.8611
+Query 1/1: Action query time = 5.476 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9982
+t=74: Selected seed 195 with value = 0.9982
+Query 1/1: Action query time = 4.199 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9816
+t=90: Selected seed 195 with value = 0.9816
+Query 1/1: Action query time = 4.577 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9902
+t=106: Selected seed 195 with value = 0.9902
+Query 1/1: Action query time = 3.448 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=122: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 3.303 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9976
+t=138: Selected seed 195 with value = 0.9976
+Query 1/1: Action query time = 4.036 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=154: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 6.155 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9914
+t=170: Selected seed 195 with value = 0.9914
+Query 1/1: Action query time = 4.081 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9865
+t=186: Selected seed 195 with value = 0.9865
+Query 1/1: Action query time = 3.673 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9898
+t=202: Selected seed 195 with value = 0.9898
+Query 1/1: Action query time = 4.830 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9908
+t=218: Selected seed 195 with value = 0.9908
+Query 1/1: Action query time = 4.189 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9894
+t=234: Selected seed 195 with value = 0.9894
+Query 1/1: Action query time = 4.033 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9846
+t=250: Selected seed 195 with value = 0.9846
+Query 1/1: Action query time = 3.373 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9845
+t=266: Selected seed 195 with value = 0.9845
+Query 1/1: Action query time = 3.773 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9862
+t=282: Selected seed 195 with value = 0.9862
+Query 1/1: Action query time = 2.561 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9878
+t=298: Selected seed 195 with value = 0.9878
+Saved rollout MP4 at path ./rollouts/t7dc800x50_t4_s0/2026_08_03-01_47_44--with_future_img--episode=8--success=False--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Success: False
+# episodes completed so far: 8
+# successes: 2 (25.0%)
+
+Task: put the bowl on top of the cabinet
+Starting episode 9...
+Query 1/1: Action query time = 3.707 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5588
+t=10: Selected seed 195 with value = 0.5588
+Query 1/1: Action query time = 4.311 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6349
+t=26: Selected seed 195 with value = 0.6349
+Query 1/1: Action query time = 4.285 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7277
+t=42: Selected seed 195 with value = 0.7277
+Query 1/1: Action query time = 4.039 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8605
+t=58: Selected seed 195 with value = 0.8605
+Query 1/1: Action query time = 4.610 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9832
+t=74: Selected seed 195 with value = 0.9832
+Query 1/1: Action query time = 5.191 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9956
+t=90: Selected seed 195 with value = 0.9956
+Query 1/1: Action query time = 3.165 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=106: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.632 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9989
+t=122: Selected seed 195 with value = 0.9989
+Query 1/1: Action query time = 4.745 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9981
+t=138: Selected seed 195 with value = 0.9981
+Query 1/1: Action query time = 2.644 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9980
+t=154: Selected seed 195 with value = 0.9980
+Query 1/1: Action query time = 3.584 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9998
+t=170: Selected seed 195 with value = 0.9998
+Query 1/1: Action query time = 2.783 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=186: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 2.369 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9981
+t=202: Selected seed 195 with value = 0.9981
+Query 1/1: Action query time = 2.900 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9957
+t=218: Selected seed 195 with value = 0.9957
+Query 1/1: Action query time = 4.710 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9933
+t=234: Selected seed 195 with value = 0.9933
+Query 1/1: Action query time = 3.790 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9923
+t=250: Selected seed 195 with value = 0.9923
+Query 1/1: Action query time = 3.303 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9915
+t=266: Selected seed 195 with value = 0.9915
+Query 1/1: Action query time = 3.858 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9883
+t=282: Selected seed 195 with value = 0.9883
+Query 1/1: Action query time = 5.276 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9834
+t=298: Selected seed 195 with value = 0.9834
+Saved rollout MP4 at path ./rollouts/t7dc800x50_t4_s0/2026_08_03-01_47_44--with_future_img--episode=9--success=False--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Success: False
+# episodes completed so far: 9
+# successes: 2 (22.2%)
+
+Task: put the bowl on top of the cabinet
+Starting episode 10...
+Query 1/1: Action query time = 2.966 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5182
+t=10: Selected seed 195 with value = 0.5182
+Query 1/1: Action query time = 3.340 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6467
+t=26: Selected seed 195 with value = 0.6467
+Query 1/1: Action query time = 3.813 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7642
+t=42: Selected seed 195 with value = 0.7642
+Query 1/1: Action query time = 4.039 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9022
+t=58: Selected seed 195 with value = 0.9022
+Query 1/1: Action query time = 2.255 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9842
+t=74: Selected seed 195 with value = 0.9842
+Query 1/1: Action query time = 4.075 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9957
+t=90: Selected seed 195 with value = 0.9957
+Saved rollout MP4 at path ./rollouts/t7dc800x50_t4_s0/2026_08_03-01_47_44--with_future_img--episode=10--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Success: True
+# episodes completed so far: 10
+# successes: 3 (30.0%)
+
+Task: put the bowl on top of the cabinet
+Starting episode 11...
+Query 1/1: Action query time = 2.445 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4987
+t=10: Selected seed 195 with value = 0.4987
+Query 1/1: Action query time = 3.743 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6219
+t=26: Selected seed 195 with value = 0.6219
+Query 1/1: Action query time = 3.218 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7259
+t=42: Selected seed 195 with value = 0.7259
+Query 1/1: Action query time = 3.993 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8001
+t=58: Selected seed 195 with value = 0.8001
+Query 1/1: Action query time = 3.482 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9577
+t=74: Selected seed 195 with value = 0.9577
+Query 1/1: Action query time = 2.044 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9971
+t=90: Selected seed 195 with value = 0.9971
+Query 1/1: Action query time = 2.527 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9948
+t=106: Selected seed 195 with value = 0.9948
+Saved rollout MP4 at path ./rollouts/t7dc800x50_t4_s0/2026_08_03-01_47_44--with_future_img--episode=11--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Success: True
+# episodes completed so far: 11
+# successes: 4 (36.4%)
+
+Task: put the bowl on top of the cabinet
+Starting episode 12...
+Query 1/1: Action query time = 3.682 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5462
+t=10: Selected seed 195 with value = 0.5462
+Query 1/1: Action query time = 3.376 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6230
+t=26: Selected seed 195 with value = 0.6230
+Query 1/1: Action query time = 2.487 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7579
+t=42: Selected seed 195 with value = 0.7579
+Query 1/1: Action query time = 3.574 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8584
+t=58: Selected seed 195 with value = 0.8584
+Query 1/1: Action query time = 3.725 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=74: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.501 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9836
+t=90: Selected seed 195 with value = 0.9836
+Saved rollout MP4 at path ./rollouts/t7dc800x50_t4_s0/2026_08_03-01_47_44--with_future_img--episode=12--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Success: True
+# episodes completed so far: 12
+# successes: 5 (41.7%)
+
+Task: put the bowl on top of the cabinet
+Starting episode 13...
+Query 1/1: Action query time = 2.778 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4886
+t=10: Selected seed 195 with value = 0.4886
+Query 1/1: Action query time = 4.055 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6110
+t=26: Selected seed 195 with value = 0.6110
+Query 1/1: Action query time = 3.995 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7175
+t=42: Selected seed 195 with value = 0.7175
+Query 1/1: Action query time = 3.624 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8051
+t=58: Selected seed 195 with value = 0.8051
+Query 1/1: Action query time = 2.614 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9550
+t=74: Selected seed 195 with value = 0.9550
+Query 1/1: Action query time = 2.534 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 1.804 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9991
+t=106: Selected seed 195 with value = 0.9991
+Saved rollout MP4 at path ./rollouts/t7dc800x50_t4_s0/2026_08_03-01_47_44--with_future_img--episode=13--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Success: True
+# episodes completed so far: 13
+# successes: 6 (46.2%)
+Current task success rate: 0.46153846153846156
+Current total success rate: 0.46153846153846156
+Final results:
+Total episodes: 13
+Total successes: 6
+Overall success rate: 0.4615 (46.2%)
diff --git a/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_03-01_47_44--t7rc800x50_t4_s1.txt b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_03-01_47_44--t7rc800x50_t4_s1.txt
new file mode 100644
index 0000000000000000000000000000000000000000..7d8ffb38600e0ad3e18640c3ea4e358a0efb37c7
--- /dev/null
+++ b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_03-01_47_44--t7rc800x50_t4_s1.txt
@@ -0,0 +1,515 @@
+Eval config: PolicyEvalConfig(suite='libero', model_family='cosmos', config='cosmos_predict2_2b_480p_libero_cl_stage_inference_only', ckpt_path='/home/azureuser/REGEN-main/new_task7/cosmos_policy/cosmos_v2_finetune/cosmos_predict2_2b_480p_libero_goal_task7_cl_from_realcl800_2gpu/checkpoints/iter_000000800/model', planning_model_config_name='', planning_model_ckpt_path='', config_file='cosmos_policy/config/config.py', packnet_mask_path='', packnet_first_cl_libero_task=6, use_third_person_image=True, num_third_person_images=1, use_wrist_image=True, num_wrist_images=1, use_proprio=True, flip_images=True, use_variance_scale=False, use_jpeg_compression=True, ar_future_prediction=False, ar_value_prediction=False, ar_qvalue_prediction=False, num_denoising_steps_action=5, num_denoising_steps_future_state=1, num_denoising_steps_value=1, unnormalize_actions=True, normalize_proprio=True, dataset_stats_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/libero_goal_regen/dataset_statistics.json', t5_text_embeddings_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/t5_embeddings.pkl', trained_with_image_aug=True, chunk_size=16, num_open_loop_steps=16, deterministic=True, deterministic_reset=False, deterministic_reset_seed=None, use_ensemble_future_state_predictions=False, num_future_state_predictions_in_ensemble=3, future_state_ensemble_aggregation_scheme='average', use_ensemble_value_predictions=False, num_value_predictions_in_ensemble=5, value_ensemble_aggregation_scheme='average', search_depth=1, mask_current_state_action_for_value_prediction=False, mask_future_state_for_qvalue_prediction=False, num_queries_best_of_n=1, use_parallel_inference=False, available_gpus='0', parallel_timeout=15, parallel_tasks_across_gpus=False, task_suite_name='libero_goal', num_trials_per_task=50, task_ids_to_run='4', initial_states_path='DEFAULT', env_img_res=256, local_log_dir='/home/azureuser/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal', run_id_note='t7rc800x50_t4_s1', use_wandb=False, wandb_entity='YOUR_ENTITY', wandb_project='YOUR_PROJECT', seed=195, randomize_seed=False, data_collection=False, jpeg_compress=True, reward_stop_threshold=None, reward_stop_consecutive_steps=3, use_gpt_reward=False, gpt_reward_model='gpt-5.4-mini', gpt_reward_stop_threshold=4, gpt_reward_timeout_s=30.0, save_rollout_video=False, eval_hdf5_path='', eval_hdf5_demo_key='demo_0', data_gen_demo_ids='', eval_episode_ids='1,5,9,13,17,21,25,29,33,37,41,45,49', replay_actions=False, replay_action_path_dir='', replay_hdf5_path='', data_generation=False, max_generation_steps=200, simple_task_max_steps=100, complex_task_max_steps=200, disable_value_stop=False)
+Using serial inference (parallel inference disabled)
+Task suite: libero_goal
+Number of tasks: 10
+Running only task IDs: [4]
+Using default initial states
+
+Task: put the bowl on top of the cabinet
+Starting episode 1...
+Query 1/1: Action query time = 7.770 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5742
+t=10: Selected seed 195 with value = 0.5742
+Query 1/1: Action query time = 4.721 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7021
+t=26: Selected seed 195 with value = 0.7021
+Query 1/1: Action query time = 7.286 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7868
+t=42: Selected seed 195 with value = 0.7868
+Query 1/1: Action query time = 6.813 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9708
+t=58: Selected seed 195 with value = 0.9708
+Query 1/1: Action query time = 7.648 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=74: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 5.316 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/t7rc800x50_t4_s1/2026_08_03-01_47_44--with_future_img--episode=1--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Success: True
+# episodes completed so far: 1
+# successes: 1 (100.0%)
+
+Task: put the bowl on top of the cabinet
+Starting episode 2...
+Query 1/1: Action query time = 7.345 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5802
+t=10: Selected seed 195 with value = 0.5802
+Query 1/1: Action query time = 7.734 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6474
+t=26: Selected seed 195 with value = 0.6474
+Query 1/1: Action query time = 5.639 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7221
+t=42: Selected seed 195 with value = 0.7221
+Query 1/1: Action query time = 4.853 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8391
+t=58: Selected seed 195 with value = 0.8391
+Query 1/1: Action query time = 5.470 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9272
+t=74: Selected seed 195 with value = 0.9272
+Query 1/1: Action query time = 4.355 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/t7rc800x50_t4_s1/2026_08_03-01_47_44--with_future_img--episode=2--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Success: True
+# episodes completed so far: 2
+# successes: 2 (100.0%)
+
+Task: put the bowl on top of the cabinet
+Starting episode 3...
+Query 1/1: Action query time = 7.262 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5434
+t=10: Selected seed 195 with value = 0.5434
+Query 1/1: Action query time = 4.498 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6588
+t=26: Selected seed 195 with value = 0.6588
+Query 1/1: Action query time = 5.199 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8078
+t=42: Selected seed 195 with value = 0.8078
+Query 1/1: Action query time = 4.556 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8399
+t=58: Selected seed 195 with value = 0.8399
+Query 1/1: Action query time = 3.937 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9293
+t=74: Selected seed 195 with value = 0.9293
+Query 1/1: Action query time = 4.108 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9997
+t=90: Selected seed 195 with value = 0.9997
+Saved rollout MP4 at path ./rollouts/t7rc800x50_t4_s1/2026_08_03-01_47_44--with_future_img--episode=3--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Success: True
+# episodes completed so far: 3
+# successes: 3 (100.0%)
+
+Task: put the bowl on top of the cabinet
+Starting episode 4...
+Query 1/1: Action query time = 4.069 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5745
+t=10: Selected seed 195 with value = 0.5745
+Query 1/1: Action query time = 6.736 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6632
+t=26: Selected seed 195 with value = 0.6632
+Query 1/1: Action query time = 6.299 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7631
+t=42: Selected seed 195 with value = 0.7631
+Query 1/1: Action query time = 5.662 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8801
+t=58: Selected seed 195 with value = 0.8801
+Query 1/1: Action query time = 4.750 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9572
+t=74: Selected seed 195 with value = 0.9572
+Query 1/1: Action query time = 6.499 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9845
+t=90: Selected seed 195 with value = 0.9845
+Query 1/1: Action query time = 5.369 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9803
+t=106: Selected seed 195 with value = 0.9803
+Query 1/1: Action query time = 5.493 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9821
+t=122: Selected seed 195 with value = 0.9821
+Query 1/1: Action query time = 6.576 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9863
+t=138: Selected seed 195 with value = 0.9863
+Query 1/1: Action query time = 5.928 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9888
+t=154: Selected seed 195 with value = 0.9888
+Query 1/1: Action query time = 5.682 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9924
+t=170: Selected seed 195 with value = 0.9924
+Query 1/1: Action query time = 4.477 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9819
+t=186: Selected seed 195 with value = 0.9819
+Query 1/1: Action query time = 5.775 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9954
+t=202: Selected seed 195 with value = 0.9954
+Query 1/1: Action query time = 7.206 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=218: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 6.509 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=234: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.820 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=250: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 5.289 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=266: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 5.014 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=282: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 5.318 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=298: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/t7rc800x50_t4_s1/2026_08_03-01_47_44--with_future_img--episode=4--success=False--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Success: False
+# episodes completed so far: 4
+# successes: 3 (75.0%)
+
+Task: put the bowl on top of the cabinet
+Starting episode 5...
+Query 1/1: Action query time = 5.648 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5544
+t=10: Selected seed 195 with value = 0.5544
+Query 1/1: Action query time = 5.547 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6169
+t=26: Selected seed 195 with value = 0.6169
+Query 1/1: Action query time = 5.501 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7030
+t=42: Selected seed 195 with value = 0.7030
+Query 1/1: Action query time = 6.315 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8006
+t=58: Selected seed 195 with value = 0.8006
+Query 1/1: Action query time = 5.316 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9443
+t=74: Selected seed 195 with value = 0.9443
+Query 1/1: Action query time = 5.463 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/t7rc800x50_t4_s1/2026_08_03-01_47_44--with_future_img--episode=5--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Success: True
+# episodes completed so far: 5
+# successes: 4 (80.0%)
+
+Task: put the bowl on top of the cabinet
+Starting episode 6...
+Query 1/1: Action query time = 5.396 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5795
+t=10: Selected seed 195 with value = 0.5795
+Query 1/1: Action query time = 5.916 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6043
+t=26: Selected seed 195 with value = 0.6043
+Query 1/1: Action query time = 5.178 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6864
+t=42: Selected seed 195 with value = 0.6864
+Query 1/1: Action query time = 4.648 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8122
+t=58: Selected seed 195 with value = 0.8122
+Query 1/1: Action query time = 5.510 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9342
+t=74: Selected seed 195 with value = 0.9342
+Query 1/1: Action query time = 5.048 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9428
+t=90: Selected seed 195 with value = 0.9428
+Saved rollout MP4 at path ./rollouts/t7rc800x50_t4_s1/2026_08_03-01_47_44--with_future_img--episode=6--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Success: True
+# episodes completed so far: 6
+# successes: 5 (83.3%)
+
+Task: put the bowl on top of the cabinet
+Starting episode 7...
+Query 1/1: Action query time = 4.631 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4909
+t=10: Selected seed 195 with value = 0.4909
+Query 1/1: Action query time = 4.890 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6132
+t=26: Selected seed 195 with value = 0.6132
+Query 1/1: Action query time = 4.938 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7276
+t=42: Selected seed 195 with value = 0.7276
+Query 1/1: Action query time = 5.678 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7979
+t=58: Selected seed 195 with value = 0.7979
+Query 1/1: Action query time = 6.904 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9852
+t=74: Selected seed 195 with value = 0.9852
+Query 1/1: Action query time = 5.820 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9990
+t=90: Selected seed 195 with value = 0.9990
+Saved rollout MP4 at path ./rollouts/t7rc800x50_t4_s1/2026_08_03-01_47_44--with_future_img--episode=7--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Success: True
+# episodes completed so far: 7
+# successes: 6 (85.7%)
+
+Task: put the bowl on top of the cabinet
+Starting episode 8...
+Query 1/1: Action query time = 5.395 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5497
+t=10: Selected seed 195 with value = 0.5497
+Query 1/1: Action query time = 6.319 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6329
+t=26: Selected seed 195 with value = 0.6329
+Query 1/1: Action query time = 5.750 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7264
+t=42: Selected seed 195 with value = 0.7264
+Query 1/1: Action query time = 5.818 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8558
+t=58: Selected seed 195 with value = 0.8558
+Query 1/1: Action query time = 7.051 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9755
+t=74: Selected seed 195 with value = 0.9755
+Query 1/1: Action query time = 4.968 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9963
+t=90: Selected seed 195 with value = 0.9963
+Saved rollout MP4 at path ./rollouts/t7rc800x50_t4_s1/2026_08_03-01_47_44--with_future_img--episode=8--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Success: True
+# episodes completed so far: 8
+# successes: 7 (87.5%)
+
+Task: put the bowl on top of the cabinet
+Starting episode 9...
+Query 1/1: Action query time = 5.009 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5620
+t=10: Selected seed 195 with value = 0.5620
+Query 1/1: Action query time = 5.297 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6240
+t=26: Selected seed 195 with value = 0.6240
+Query 1/1: Action query time = 5.592 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7434
+t=42: Selected seed 195 with value = 0.7434
+Query 1/1: Action query time = 5.131 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8419
+t=58: Selected seed 195 with value = 0.8419
+Query 1/1: Action query time = 5.008 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9714
+t=74: Selected seed 195 with value = 0.9714
+Query 1/1: Action query time = 5.393 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9915
+t=90: Selected seed 195 with value = 0.9915
+Saved rollout MP4 at path ./rollouts/t7rc800x50_t4_s1/2026_08_03-01_47_44--with_future_img--episode=9--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Success: True
+# episodes completed so far: 9
+# successes: 8 (88.9%)
+
+Task: put the bowl on top of the cabinet
+Starting episode 10...
+Query 1/1: Action query time = 4.510 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6135
+t=10: Selected seed 195 with value = 0.6135
+Query 1/1: Action query time = 2.593 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6711
+t=26: Selected seed 195 with value = 0.6711
+Query 1/1: Action query time = 2.621 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7080
+t=42: Selected seed 195 with value = 0.7080
+Query 1/1: Action query time = 5.353 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7722
+t=58: Selected seed 195 with value = 0.7722
+Query 1/1: Action query time = 6.166 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9393
+t=74: Selected seed 195 with value = 0.9393
+Query 1/1: Action query time = 5.462 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9880
+t=90: Selected seed 195 with value = 0.9880
+Saved rollout MP4 at path ./rollouts/t7rc800x50_t4_s1/2026_08_03-01_47_44--with_future_img--episode=10--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Success: True
+# episodes completed so far: 10
+# successes: 9 (90.0%)
+
+Task: put the bowl on top of the cabinet
+Starting episode 11...
+Query 1/1: Action query time = 5.865 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5728
+t=10: Selected seed 195 with value = 0.5728
+Query 1/1: Action query time = 4.604 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6578
+t=26: Selected seed 195 with value = 0.6578
+Query 1/1: Action query time = 3.942 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7429
+t=42: Selected seed 195 with value = 0.7429
+Query 1/1: Action query time = 3.803 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8556
+t=58: Selected seed 195 with value = 0.8556
+Query 1/1: Action query time = 6.129 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=74: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 3.828 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9951
+t=90: Selected seed 195 with value = 0.9951
+Saved rollout MP4 at path ./rollouts/t7rc800x50_t4_s1/2026_08_03-01_47_44--with_future_img--episode=11--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Success: True
+# episodes completed so far: 11
+# successes: 10 (90.9%)
+
+Task: put the bowl on top of the cabinet
+Starting episode 12...
+Query 1/1: Action query time = 5.407 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5628
+t=10: Selected seed 195 with value = 0.5628
+Query 1/1: Action query time = 4.902 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6580
+t=26: Selected seed 195 with value = 0.6580
+Query 1/1: Action query time = 4.740 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7635
+t=42: Selected seed 195 with value = 0.7635
+Query 1/1: Action query time = 5.555 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8328
+t=58: Selected seed 195 with value = 0.8328
+Query 1/1: Action query time = 4.572 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9617
+t=74: Selected seed 195 with value = 0.9617
+Query 1/1: Action query time = 3.739 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9843
+t=90: Selected seed 195 with value = 0.9843
+Query 1/1: Action query time = 3.576 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9810
+t=106: Selected seed 195 with value = 0.9810
+Query 1/1: Action query time = 5.240 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9790
+t=122: Selected seed 195 with value = 0.9790
+Query 1/1: Action query time = 4.460 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9774
+t=138: Selected seed 195 with value = 0.9774
+Query 1/1: Action query time = 4.691 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9776
+t=154: Selected seed 195 with value = 0.9776
+Query 1/1: Action query time = 4.987 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9835
+t=170: Selected seed 195 with value = 0.9835
+Query 1/1: Action query time = 3.892 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9896
+t=186: Selected seed 195 with value = 0.9896
+Query 1/1: Action query time = 4.897 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9898
+t=202: Selected seed 195 with value = 0.9898
+Query 1/1: Action query time = 4.482 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=218: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 5.506 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=234: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.692 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9990
+t=250: Selected seed 195 with value = 0.9990
+Query 1/1: Action query time = 4.143 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=266: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 3.716 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=282: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 3.817 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=298: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/t7rc800x50_t4_s1/2026_08_03-01_47_44--with_future_img--episode=12--success=False--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Success: False
+# episodes completed so far: 12
+# successes: 10 (83.3%)
+
+Task: put the bowl on top of the cabinet
+Starting episode 13...
+Query 1/1: Action query time = 5.370 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5441
+t=10: Selected seed 195 with value = 0.5441
+Query 1/1: Action query time = 4.370 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6885
+t=26: Selected seed 195 with value = 0.6885
+Query 1/1: Action query time = 3.681 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7388
+t=42: Selected seed 195 with value = 0.7388
+Query 1/1: Action query time = 3.940 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8996
+t=58: Selected seed 195 with value = 0.8996
+Query 1/1: Action query time = 3.708 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9637
+t=74: Selected seed 195 with value = 0.9637
+Saved rollout MP4 at path ./rollouts/t7rc800x50_t4_s1/2026_08_03-01_47_44--with_future_img--episode=13--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Success: True
+# episodes completed so far: 13
+# successes: 11 (84.6%)
+Current task success rate: 0.8461538461538461
+Current total success rate: 0.8461538461538461
+Final results:
+Total episodes: 13
+Total successes: 11
+Overall success rate: 0.8462 (84.6%)
diff --git a/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_03-01_47_45--t7dc800x50_t5_s0.txt b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_03-01_47_45--t7dc800x50_t5_s0.txt
new file mode 100644
index 0000000000000000000000000000000000000000..96c61cbcd492e7245c92e8d2c0f80b3236c5cbc7
--- /dev/null
+++ b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_03-01_47_45--t7dc800x50_t5_s0.txt
@@ -0,0 +1,815 @@
+Eval config: PolicyEvalConfig(suite='libero', model_family='cosmos', config='cosmos_predict2_2b_480p_libero_cl_stage_inference_only', ckpt_path='/home/azureuser/REGEN-main/new_task7/cosmos_policy/cosmos_v2_finetune/cosmos_predict2_2b_480p_libero_goal_task7_cl_from_demochan800_2gpu/checkpoints/iter_000000800/model', planning_model_config_name='', planning_model_ckpt_path='', config_file='cosmos_policy/config/config.py', packnet_mask_path='', packnet_first_cl_libero_task=6, use_third_person_image=True, num_third_person_images=1, use_wrist_image=True, num_wrist_images=1, use_proprio=True, flip_images=True, use_variance_scale=False, use_jpeg_compression=True, ar_future_prediction=False, ar_value_prediction=False, ar_qvalue_prediction=False, num_denoising_steps_action=5, num_denoising_steps_future_state=1, num_denoising_steps_value=1, unnormalize_actions=True, normalize_proprio=True, dataset_stats_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/libero_goal_regen/dataset_statistics.json', t5_text_embeddings_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/t5_embeddings.pkl', trained_with_image_aug=True, chunk_size=16, num_open_loop_steps=16, deterministic=True, deterministic_reset=False, deterministic_reset_seed=None, use_ensemble_future_state_predictions=False, num_future_state_predictions_in_ensemble=3, future_state_ensemble_aggregation_scheme='average', use_ensemble_value_predictions=False, num_value_predictions_in_ensemble=5, value_ensemble_aggregation_scheme='average', search_depth=1, mask_current_state_action_for_value_prediction=False, mask_future_state_for_qvalue_prediction=False, num_queries_best_of_n=1, use_parallel_inference=False, available_gpus='0', parallel_timeout=15, parallel_tasks_across_gpus=False, task_suite_name='libero_goal', num_trials_per_task=50, task_ids_to_run='5', initial_states_path='DEFAULT', env_img_res=256, local_log_dir='/home/azureuser/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal', run_id_note='t7dc800x50_t5_s0', use_wandb=False, wandb_entity='YOUR_ENTITY', wandb_project='YOUR_PROJECT', seed=195, randomize_seed=False, data_collection=False, jpeg_compress=True, reward_stop_threshold=None, reward_stop_consecutive_steps=3, use_gpt_reward=False, gpt_reward_model='gpt-5.4-mini', gpt_reward_stop_threshold=4, gpt_reward_timeout_s=30.0, save_rollout_video=False, eval_hdf5_path='', eval_hdf5_demo_key='demo_0', data_gen_demo_ids='', eval_episode_ids='0,4,8,12,16,20,24,28,32,36,40,44,48', replay_actions=False, replay_action_path_dir='', replay_hdf5_path='', data_generation=False, max_generation_steps=200, simple_task_max_steps=100, complex_task_max_steps=200, disable_value_stop=False)
+Using serial inference (parallel inference disabled)
+Task suite: libero_goal
+Number of tasks: 10
+Running only task IDs: [5]
+Using default initial states
+
+Task: push the plate to the front of the stove
+Starting episode 1...
+Query 1/1: Action query time = 7.706 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4326
+t=10: Selected seed 195 with value = 0.4326
+Query 1/1: Action query time = 4.094 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5207
+t=26: Selected seed 195 with value = 0.5207
+Query 1/1: Action query time = 4.200 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6092
+t=42: Selected seed 195 with value = 0.6092
+Query 1/1: Action query time = 7.883 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6686
+t=58: Selected seed 195 with value = 0.6686
+Query 1/1: Action query time = 4.872 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7335
+t=74: Selected seed 195 with value = 0.7335
+Query 1/1: Action query time = 5.395 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8560
+t=90: Selected seed 195 with value = 0.8560
+Query 1/1: Action query time = 7.114 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9307
+t=106: Selected seed 195 with value = 0.9307
+Query 1/1: Action query time = 6.426 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9798
+t=122: Selected seed 195 with value = 0.9798
+Query 1/1: Action query time = 4.768 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9975
+t=138: Selected seed 195 with value = 0.9975
+Query 1/1: Action query time = 6.884 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=154: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 6.147 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=170: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/t7dc800x50_t5_s0/2026_08_03-01_47_45--with_future_img--episode=1--success=True--task=push_the_plate_to_the_front_of_the_.mp4
+Success: True
+# episodes completed so far: 1
+# successes: 1 (100.0%)
+
+Task: push the plate to the front of the stove
+Starting episode 2...
+Query 1/1: Action query time = 6.673 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4339
+t=10: Selected seed 195 with value = 0.4339
+Query 1/1: Action query time = 5.590 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5037
+t=26: Selected seed 195 with value = 0.5037
+Query 1/1: Action query time = 6.202 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5679
+t=42: Selected seed 195 with value = 0.5679
+Query 1/1: Action query time = 5.510 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6517
+t=58: Selected seed 195 with value = 0.6517
+Query 1/1: Action query time = 4.212 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8335
+t=74: Selected seed 195 with value = 0.8335
+Query 1/1: Action query time = 4.717 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9433
+t=90: Selected seed 195 with value = 0.9433
+Query 1/1: Action query time = 4.263 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9984
+t=106: Selected seed 195 with value = 0.9984
+Query 1/1: Action query time = 5.733 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=122: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.918 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=138: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 6.733 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=154: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.125 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=170: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 6.230 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=186: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 6.079 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=202: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 5.642 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=218: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.674 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=234: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/t7dc800x50_t5_s0/2026_08_03-01_47_45--with_future_img--episode=2--success=True--task=push_the_plate_to_the_front_of_the_.mp4
+Success: True
+# episodes completed so far: 2
+# successes: 2 (100.0%)
+
+Task: push the plate to the front of the stove
+Starting episode 3...
+Query 1/1: Action query time = 7.026 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4779
+t=10: Selected seed 195 with value = 0.4779
+Query 1/1: Action query time = 6.392 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5268
+t=26: Selected seed 195 with value = 0.5268
+Query 1/1: Action query time = 4.747 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5429
+t=42: Selected seed 195 with value = 0.5429
+Query 1/1: Action query time = 5.957 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6948
+t=58: Selected seed 195 with value = 0.6948
+Query 1/1: Action query time = 7.437 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8492
+t=74: Selected seed 195 with value = 0.8492
+Query 1/1: Action query time = 7.156 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9348
+t=90: Selected seed 195 with value = 0.9348
+Query 1/1: Action query time = 7.041 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9937
+t=106: Selected seed 195 with value = 0.9937
+Query 1/1: Action query time = 5.814 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=122: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 5.550 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=138: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 7.230 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=154: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 5.718 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9947
+t=170: Selected seed 195 with value = 0.9947
+Saved rollout MP4 at path ./rollouts/t7dc800x50_t5_s0/2026_08_03-01_47_45--with_future_img--episode=3--success=True--task=push_the_plate_to_the_front_of_the_.mp4
+Success: True
+# episodes completed so far: 3
+# successes: 3 (100.0%)
+
+Task: push the plate to the front of the stove
+Starting episode 4...
+Query 1/1: Action query time = 5.867 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4427
+t=10: Selected seed 195 with value = 0.4427
+Query 1/1: Action query time = 5.218 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5225
+t=26: Selected seed 195 with value = 0.5225
+Query 1/1: Action query time = 6.378 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5873
+t=42: Selected seed 195 with value = 0.5873
+Query 1/1: Action query time = 5.056 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7638
+t=58: Selected seed 195 with value = 0.7638
+Query 1/1: Action query time = 5.269 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8711
+t=74: Selected seed 195 with value = 0.8711
+Query 1/1: Action query time = 5.092 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9805
+t=90: Selected seed 195 with value = 0.9805
+Query 1/1: Action query time = 5.909 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=106: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.726 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=122: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 5.461 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=138: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/t7dc800x50_t5_s0/2026_08_03-01_47_45--with_future_img--episode=4--success=True--task=push_the_plate_to_the_front_of_the_.mp4
+Success: True
+# episodes completed so far: 4
+# successes: 4 (100.0%)
+
+Task: push the plate to the front of the stove
+Starting episode 5...
+Query 1/1: Action query time = 4.479 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4378
+t=10: Selected seed 195 with value = 0.4378
+Query 1/1: Action query time = 4.606 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5086
+t=26: Selected seed 195 with value = 0.5086
+Query 1/1: Action query time = 6.601 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5815
+t=42: Selected seed 195 with value = 0.5815
+Query 1/1: Action query time = 5.836 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6711
+t=58: Selected seed 195 with value = 0.6711
+Query 1/1: Action query time = 4.841 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7725
+t=74: Selected seed 195 with value = 0.7725
+Query 1/1: Action query time = 6.038 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7753
+t=90: Selected seed 195 with value = 0.7753
+Query 1/1: Action query time = 6.525 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9628
+t=106: Selected seed 195 with value = 0.9628
+Query 1/1: Action query time = 6.399 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9753
+t=122: Selected seed 195 with value = 0.9753
+Query 1/1: Action query time = 6.030 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9918
+t=138: Selected seed 195 with value = 0.9918
+Query 1/1: Action query time = 5.531 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9899
+t=154: Selected seed 195 with value = 0.9899
+Query 1/1: Action query time = 5.336 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=170: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 5.895 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=186: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 5.317 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=202: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 5.610 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9796
+t=218: Selected seed 195 with value = 0.9796
+Query 1/1: Action query time = 5.207 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9630
+t=234: Selected seed 195 with value = 0.9630
+Saved rollout MP4 at path ./rollouts/t7dc800x50_t5_s0/2026_08_03-01_47_45--with_future_img--episode=5--success=True--task=push_the_plate_to_the_front_of_the_.mp4
+Success: True
+# episodes completed so far: 5
+# successes: 5 (100.0%)
+
+Task: push the plate to the front of the stove
+Starting episode 6...
+Query 1/1: Action query time = 6.730 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4464
+t=10: Selected seed 195 with value = 0.4464
+Query 1/1: Action query time = 3.983 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5052
+t=26: Selected seed 195 with value = 0.5052
+Query 1/1: Action query time = 3.942 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5967
+t=42: Selected seed 195 with value = 0.5967
+Query 1/1: Action query time = 7.230 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7076
+t=58: Selected seed 195 with value = 0.7076
+Query 1/1: Action query time = 5.399 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8666
+t=74: Selected seed 195 with value = 0.8666
+Query 1/1: Action query time = 3.841 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9270
+t=90: Selected seed 195 with value = 0.9270
+Query 1/1: Action query time = 5.050 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9782
+t=106: Selected seed 195 with value = 0.9782
+Query 1/1: Action query time = 6.564 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9908
+t=122: Selected seed 195 with value = 0.9908
+Query 1/1: Action query time = 5.581 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=138: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.042 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=154: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.808 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=170: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 3.683 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9651
+t=186: Selected seed 195 with value = 0.9651
+Saved rollout MP4 at path ./rollouts/t7dc800x50_t5_s0/2026_08_03-01_47_45--with_future_img--episode=6--success=True--task=push_the_plate_to_the_front_of_the_.mp4
+Success: True
+# episodes completed so far: 6
+# successes: 6 (100.0%)
+
+Task: push the plate to the front of the stove
+Starting episode 7...
+Query 1/1: Action query time = 6.001 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4349
+t=10: Selected seed 195 with value = 0.4349
+Query 1/1: Action query time = 4.600 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5055
+t=26: Selected seed 195 with value = 0.5055
+Query 1/1: Action query time = 3.905 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6031
+t=42: Selected seed 195 with value = 0.6031
+Query 1/1: Action query time = 4.943 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6428
+t=58: Selected seed 195 with value = 0.6428
+Query 1/1: Action query time = 4.378 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8191
+t=74: Selected seed 195 with value = 0.8191
+Query 1/1: Action query time = 4.085 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8855
+t=90: Selected seed 195 with value = 0.8855
+Query 1/1: Action query time = 4.406 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9836
+t=106: Selected seed 195 with value = 0.9836
+Query 1/1: Action query time = 4.366 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9895
+t=122: Selected seed 195 with value = 0.9895
+Query 1/1: Action query time = 3.763 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9215
+t=138: Selected seed 195 with value = 0.9215
+Query 1/1: Action query time = 4.526 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9275
+t=154: Selected seed 195 with value = 0.9275
+Query 1/1: Action query time = 4.377 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9988
+t=170: Selected seed 195 with value = 0.9988
+Query 1/1: Action query time = 4.112 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9984
+t=186: Selected seed 195 with value = 0.9984
+Query 1/1: Action query time = 5.176 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9593
+t=202: Selected seed 195 with value = 0.9593
+Query 1/1: Action query time = 4.069 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9865
+t=218: Selected seed 195 with value = 0.9865
+Query 1/1: Action query time = 3.419 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9597
+t=234: Selected seed 195 with value = 0.9597
+Query 1/1: Action query time = 4.825 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=250: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 5.029 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9641
+t=266: Selected seed 195 with value = 0.9641
+Query 1/1: Action query time = 6.088 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9486
+t=282: Selected seed 195 with value = 0.9486
+Query 1/1: Action query time = 4.348 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9516
+t=298: Selected seed 195 with value = 0.9516
+Saved rollout MP4 at path ./rollouts/t7dc800x50_t5_s0/2026_08_03-01_47_45--with_future_img--episode=7--success=False--task=push_the_plate_to_the_front_of_the_.mp4
+Success: False
+# episodes completed so far: 7
+# successes: 6 (85.7%)
+
+Task: push the plate to the front of the stove
+Starting episode 8...
+Query 1/1: Action query time = 5.164 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4527
+t=10: Selected seed 195 with value = 0.4527
+Query 1/1: Action query time = 5.701 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5251
+t=26: Selected seed 195 with value = 0.5251
+Query 1/1: Action query time = 3.098 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6276
+t=42: Selected seed 195 with value = 0.6276
+Query 1/1: Action query time = 3.711 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7326
+t=58: Selected seed 195 with value = 0.7326
+Query 1/1: Action query time = 4.755 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8047
+t=74: Selected seed 195 with value = 0.8047
+Query 1/1: Action query time = 4.329 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9280
+t=90: Selected seed 195 with value = 0.9280
+Query 1/1: Action query time = 5.164 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9662
+t=106: Selected seed 195 with value = 0.9662
+Query 1/1: Action query time = 5.537 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9921
+t=122: Selected seed 195 with value = 0.9921
+Query 1/1: Action query time = 4.825 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=138: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 5.112 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=154: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/t7dc800x50_t5_s0/2026_08_03-01_47_45--with_future_img--episode=8--success=True--task=push_the_plate_to_the_front_of_the_.mp4
+Success: True
+# episodes completed so far: 8
+# successes: 7 (87.5%)
+
+Task: push the plate to the front of the stove
+Starting episode 9...
+Query 1/1: Action query time = 3.992 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4540
+t=10: Selected seed 195 with value = 0.4540
+Query 1/1: Action query time = 4.433 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5124
+t=26: Selected seed 195 with value = 0.5124
+Query 1/1: Action query time = 5.224 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5571
+t=42: Selected seed 195 with value = 0.5571
+Query 1/1: Action query time = 5.844 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6693
+t=58: Selected seed 195 with value = 0.6693
+Query 1/1: Action query time = 5.164 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8539
+t=74: Selected seed 195 with value = 0.8539
+Query 1/1: Action query time = 4.325 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9468
+t=90: Selected seed 195 with value = 0.9468
+Query 1/1: Action query time = 4.327 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=106: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 3.330 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=122: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 2.227 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=138: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 2.472 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=154: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.829 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=170: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.375 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=186: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.275 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=202: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.410 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=218: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.603 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=234: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.748 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=250: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.794 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=266: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.392 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=282: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/t7dc800x50_t5_s0/2026_08_03-01_47_45--with_future_img--episode=9--success=True--task=push_the_plate_to_the_front_of_the_.mp4
+Success: True
+# episodes completed so far: 9
+# successes: 8 (88.9%)
+
+Task: push the plate to the front of the stove
+Starting episode 10...
+Query 1/1: Action query time = 3.354 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4621
+t=10: Selected seed 195 with value = 0.4621
+Query 1/1: Action query time = 4.893 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5211
+t=26: Selected seed 195 with value = 0.5211
+Query 1/1: Action query time = 4.422 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6119
+t=42: Selected seed 195 with value = 0.6119
+Query 1/1: Action query time = 5.414 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6783
+t=58: Selected seed 195 with value = 0.6783
+Query 1/1: Action query time = 5.327 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6875
+t=74: Selected seed 195 with value = 0.6875
+Query 1/1: Action query time = 3.177 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7906
+t=90: Selected seed 195 with value = 0.7906
+Query 1/1: Action query time = 1.413 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8964
+t=106: Selected seed 195 with value = 0.8964
+Query 1/1: Action query time = 2.575 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9661
+t=122: Selected seed 195 with value = 0.9661
+Query 1/1: Action query time = 2.862 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9890
+t=138: Selected seed 195 with value = 0.9890
+Query 1/1: Action query time = 2.853 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=154: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 3.363 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=170: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 2.788 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9889
+t=186: Selected seed 195 with value = 0.9889
+Query 1/1: Action query time = 3.382 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9926
+t=202: Selected seed 195 with value = 0.9926
+Query 1/1: Action query time = 4.159 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9511
+t=218: Selected seed 195 with value = 0.9511
+Query 1/1: Action query time = 2.741 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9675
+t=234: Selected seed 195 with value = 0.9675
+Query 1/1: Action query time = 3.460 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9607
+t=250: Selected seed 195 with value = 0.9607
+Query 1/1: Action query time = 4.130 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9666
+t=266: Selected seed 195 with value = 0.9666
+Query 1/1: Action query time = 3.808 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9933
+t=282: Selected seed 195 with value = 0.9933
+Saved rollout MP4 at path ./rollouts/t7dc800x50_t5_s0/2026_08_03-01_47_45--with_future_img--episode=10--success=True--task=push_the_plate_to_the_front_of_the_.mp4
+Success: True
+# episodes completed so far: 10
+# successes: 9 (90.0%)
+
+Task: push the plate to the front of the stove
+Starting episode 11...
+Query 1/1: Action query time = 3.077 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4523
+t=10: Selected seed 195 with value = 0.4523
+Query 1/1: Action query time = 2.629 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5213
+t=26: Selected seed 195 with value = 0.5213
+Query 1/1: Action query time = 2.900 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6242
+t=42: Selected seed 195 with value = 0.6242
+Query 1/1: Action query time = 4.362 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7317
+t=58: Selected seed 195 with value = 0.7317
+Query 1/1: Action query time = 3.878 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8257
+t=74: Selected seed 195 with value = 0.8257
+Query 1/1: Action query time = 2.976 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9196
+t=90: Selected seed 195 with value = 0.9196
+Query 1/1: Action query time = 2.210 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9752
+t=106: Selected seed 195 with value = 0.9752
+Query 1/1: Action query time = 4.470 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9983
+t=122: Selected seed 195 with value = 0.9983
+Query 1/1: Action query time = 3.857 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=138: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.704 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=154: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 3.962 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=170: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 2.998 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9711
+t=186: Selected seed 195 with value = 0.9711
+Saved rollout MP4 at path ./rollouts/t7dc800x50_t5_s0/2026_08_03-01_47_45--with_future_img--episode=11--success=True--task=push_the_plate_to_the_front_of_the_.mp4
+Success: True
+# episodes completed so far: 11
+# successes: 10 (90.9%)
+
+Task: push the plate to the front of the stove
+Starting episode 12...
+Query 1/1: Action query time = 3.383 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4399
+t=10: Selected seed 195 with value = 0.4399
+Query 1/1: Action query time = 3.285 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4990
+t=26: Selected seed 195 with value = 0.4990
+Query 1/1: Action query time = 3.772 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5447
+t=42: Selected seed 195 with value = 0.5447
+Query 1/1: Action query time = 3.165 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6351
+t=58: Selected seed 195 with value = 0.6351
+Query 1/1: Action query time = 2.640 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8303
+t=74: Selected seed 195 with value = 0.8303
+Query 1/1: Action query time = 2.748 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9210
+t=90: Selected seed 195 with value = 0.9210
+Query 1/1: Action query time = 2.886 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9727
+t=106: Selected seed 195 with value = 0.9727
+Query 1/1: Action query time = 2.610 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9905
+t=122: Selected seed 195 with value = 0.9905
+Query 1/1: Action query time = 3.221 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=138: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 2.778 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=154: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 1.957 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=170: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 1.961 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=186: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/t7dc800x50_t5_s0/2026_08_03-01_47_45--with_future_img--episode=12--success=True--task=push_the_plate_to_the_front_of_the_.mp4
+Success: True
+# episodes completed so far: 12
+# successes: 11 (91.7%)
+
+Task: push the plate to the front of the stove
+Starting episode 13...
+Query 1/1: Action query time = 2.694 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4615
+t=10: Selected seed 195 with value = 0.4615
+Query 1/1: Action query time = 2.087 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5267
+t=26: Selected seed 195 with value = 0.5267
+Query 1/1: Action query time = 1.674 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6337
+t=42: Selected seed 195 with value = 0.6337
+Query 1/1: Action query time = 1.266 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8207
+t=58: Selected seed 195 with value = 0.8207
+Query 1/1: Action query time = 1.140 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9135
+t=74: Selected seed 195 with value = 0.9135
+Query 1/1: Action query time = 1.320 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9705
+t=90: Selected seed 195 with value = 0.9705
+Query 1/1: Action query time = 2.336 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=106: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 2.306 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=122: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 2.345 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=138: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 2.528 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9450
+t=154: Selected seed 195 with value = 0.9450
+Query 1/1: Action query time = 2.188 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9614
+t=170: Selected seed 195 with value = 0.9614
+Query 1/1: Action query time = 1.922 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9847
+t=186: Selected seed 195 with value = 0.9847
+Query 1/1: Action query time = 2.231 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9981
+t=202: Selected seed 195 with value = 0.9981
+Query 1/1: Action query time = 1.681 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9946
+t=218: Selected seed 195 with value = 0.9946
+Query 1/1: Action query time = 1.909 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9916
+t=234: Selected seed 195 with value = 0.9916
+Query 1/1: Action query time = 1.598 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9963
+t=250: Selected seed 195 with value = 0.9963
+Saved rollout MP4 at path ./rollouts/t7dc800x50_t5_s0/2026_08_03-01_47_45--with_future_img--episode=13--success=True--task=push_the_plate_to_the_front_of_the_.mp4
+Success: True
+# episodes completed so far: 13
+# successes: 12 (92.3%)
+Current task success rate: 0.9230769230769231
+Current total success rate: 0.9230769230769231
+Final results:
+Total episodes: 13
+Total successes: 12
+Overall success rate: 0.9231 (92.3%)
diff --git a/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_03-01_47_46--t7dc800x50_t5_s3.txt b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_03-01_47_46--t7dc800x50_t5_s3.txt
new file mode 100644
index 0000000000000000000000000000000000000000..52bbd2a5cffae3faa5b48b95ee407b066d1b3217
--- /dev/null
+++ b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_03-01_47_46--t7dc800x50_t5_s3.txt
@@ -0,0 +1,788 @@
+Eval config: PolicyEvalConfig(suite='libero', model_family='cosmos', config='cosmos_predict2_2b_480p_libero_cl_stage_inference_only', ckpt_path='/home/azureuser/REGEN-main/new_task7/cosmos_policy/cosmos_v2_finetune/cosmos_predict2_2b_480p_libero_goal_task7_cl_from_demochan800_2gpu/checkpoints/iter_000000800/model', planning_model_config_name='', planning_model_ckpt_path='', config_file='cosmos_policy/config/config.py', packnet_mask_path='', packnet_first_cl_libero_task=6, use_third_person_image=True, num_third_person_images=1, use_wrist_image=True, num_wrist_images=1, use_proprio=True, flip_images=True, use_variance_scale=False, use_jpeg_compression=True, ar_future_prediction=False, ar_value_prediction=False, ar_qvalue_prediction=False, num_denoising_steps_action=5, num_denoising_steps_future_state=1, num_denoising_steps_value=1, unnormalize_actions=True, normalize_proprio=True, dataset_stats_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/libero_goal_regen/dataset_statistics.json', t5_text_embeddings_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/t5_embeddings.pkl', trained_with_image_aug=True, chunk_size=16, num_open_loop_steps=16, deterministic=True, deterministic_reset=False, deterministic_reset_seed=None, use_ensemble_future_state_predictions=False, num_future_state_predictions_in_ensemble=3, future_state_ensemble_aggregation_scheme='average', use_ensemble_value_predictions=False, num_value_predictions_in_ensemble=5, value_ensemble_aggregation_scheme='average', search_depth=1, mask_current_state_action_for_value_prediction=False, mask_future_state_for_qvalue_prediction=False, num_queries_best_of_n=1, use_parallel_inference=False, available_gpus='0', parallel_timeout=15, parallel_tasks_across_gpus=False, task_suite_name='libero_goal', num_trials_per_task=50, task_ids_to_run='5', initial_states_path='DEFAULT', env_img_res=256, local_log_dir='/home/azureuser/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal', run_id_note='t7dc800x50_t5_s3', use_wandb=False, wandb_entity='YOUR_ENTITY', wandb_project='YOUR_PROJECT', seed=195, randomize_seed=False, data_collection=False, jpeg_compress=True, reward_stop_threshold=None, reward_stop_consecutive_steps=3, use_gpt_reward=False, gpt_reward_model='gpt-5.4-mini', gpt_reward_stop_threshold=4, gpt_reward_timeout_s=30.0, save_rollout_video=False, eval_hdf5_path='', eval_hdf5_demo_key='demo_0', data_gen_demo_ids='', eval_episode_ids='3,7,11,15,19,23,27,31,35,39,43,47', replay_actions=False, replay_action_path_dir='', replay_hdf5_path='', data_generation=False, max_generation_steps=200, simple_task_max_steps=100, complex_task_max_steps=200, disable_value_stop=False)
+Using serial inference (parallel inference disabled)
+Task suite: libero_goal
+Number of tasks: 10
+Running only task IDs: [5]
+Using default initial states
+
+Task: push the plate to the front of the stove
+Starting episode 1...
+Query 1/1: Action query time = 8.477 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4425
+t=10: Selected seed 195 with value = 0.4425
+Query 1/1: Action query time = 4.148 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5410
+t=26: Selected seed 195 with value = 0.5410
+Query 1/1: Action query time = 5.514 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6309
+t=42: Selected seed 195 with value = 0.6309
+Query 1/1: Action query time = 5.360 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7169
+t=58: Selected seed 195 with value = 0.7169
+Query 1/1: Action query time = 5.067 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7680
+t=74: Selected seed 195 with value = 0.7680
+Query 1/1: Action query time = 5.672 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8095
+t=90: Selected seed 195 with value = 0.8095
+Query 1/1: Action query time = 5.376 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8825
+t=106: Selected seed 195 with value = 0.8825
+Query 1/1: Action query time = 6.637 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9536
+t=122: Selected seed 195 with value = 0.9536
+Query 1/1: Action query time = 4.716 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9650
+t=138: Selected seed 195 with value = 0.9650
+Query 1/1: Action query time = 4.572 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9749
+t=154: Selected seed 195 with value = 0.9749
+Query 1/1: Action query time = 4.940 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9761
+t=170: Selected seed 195 with value = 0.9761
+Query 1/1: Action query time = 6.776 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9742
+t=186: Selected seed 195 with value = 0.9742
+Query 1/1: Action query time = 4.736 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9770
+t=202: Selected seed 195 with value = 0.9770
+Query 1/1: Action query time = 4.236 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9865
+t=218: Selected seed 195 with value = 0.9865
+Query 1/1: Action query time = 5.837 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9824
+t=234: Selected seed 195 with value = 0.9824
+Query 1/1: Action query time = 6.174 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9318
+t=250: Selected seed 195 with value = 0.9318
+Query 1/1: Action query time = 4.924 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9421
+t=266: Selected seed 195 with value = 0.9421
+Query 1/1: Action query time = 3.162 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9184
+t=282: Selected seed 195 with value = 0.9184
+Query 1/1: Action query time = 5.221 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9141
+t=298: Selected seed 195 with value = 0.9141
+Saved rollout MP4 at path ./rollouts/t7dc800x50_t5_s3/2026_08_03-01_47_46--with_future_img--episode=1--success=False--task=push_the_plate_to_the_front_of_the_.mp4
+Success: False
+# episodes completed so far: 1
+# successes: 0 (0.0%)
+
+Task: push the plate to the front of the stove
+Starting episode 2...
+Query 1/1: Action query time = 4.100 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4448
+t=10: Selected seed 195 with value = 0.4448
+Query 1/1: Action query time = 5.903 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5019
+t=26: Selected seed 195 with value = 0.5019
+Query 1/1: Action query time = 5.981 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5680
+t=42: Selected seed 195 with value = 0.5680
+Query 1/1: Action query time = 5.891 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6544
+t=58: Selected seed 195 with value = 0.6544
+Query 1/1: Action query time = 3.592 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8070
+t=74: Selected seed 195 with value = 0.8070
+Query 1/1: Action query time = 5.182 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7646
+t=90: Selected seed 195 with value = 0.7646
+Query 1/1: Action query time = 5.080 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8890
+t=106: Selected seed 195 with value = 0.8890
+Query 1/1: Action query time = 5.632 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9709
+t=122: Selected seed 195 with value = 0.9709
+Query 1/1: Action query time = 4.827 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9856
+t=138: Selected seed 195 with value = 0.9856
+Query 1/1: Action query time = 4.196 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9658
+t=154: Selected seed 195 with value = 0.9658
+Query 1/1: Action query time = 5.910 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9833
+t=170: Selected seed 195 with value = 0.9833
+Query 1/1: Action query time = 4.464 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=186: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 3.668 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9952
+t=202: Selected seed 195 with value = 0.9952
+Query 1/1: Action query time = 4.815 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=218: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 6.836 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=234: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/t7dc800x50_t5_s3/2026_08_03-01_47_46--with_future_img--episode=2--success=True--task=push_the_plate_to_the_front_of_the_.mp4
+Success: True
+# episodes completed so far: 2
+# successes: 1 (50.0%)
+
+Task: push the plate to the front of the stove
+Starting episode 3...
+Query 1/1: Action query time = 3.651 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4740
+t=10: Selected seed 195 with value = 0.4740
+Query 1/1: Action query time = 5.656 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5405
+t=26: Selected seed 195 with value = 0.5405
+Query 1/1: Action query time = 5.233 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6398
+t=42: Selected seed 195 with value = 0.6398
+Query 1/1: Action query time = 4.626 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9016
+t=58: Selected seed 195 with value = 0.9016
+Query 1/1: Action query time = 4.194 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9265
+t=74: Selected seed 195 with value = 0.9265
+Query 1/1: Action query time = 6.050 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9837
+t=90: Selected seed 195 with value = 0.9837
+Query 1/1: Action query time = 5.260 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9821
+t=106: Selected seed 195 with value = 0.9821
+Query 1/1: Action query time = 5.483 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9810
+t=122: Selected seed 195 with value = 0.9810
+Query 1/1: Action query time = 5.192 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9862
+t=138: Selected seed 195 with value = 0.9862
+Query 1/1: Action query time = 4.973 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9523
+t=154: Selected seed 195 with value = 0.9523
+Query 1/1: Action query time = 5.441 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9829
+t=170: Selected seed 195 with value = 0.9829
+Query 1/1: Action query time = 4.276 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9400
+t=186: Selected seed 195 with value = 0.9400
+Query 1/1: Action query time = 4.236 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9792
+t=202: Selected seed 195 with value = 0.9792
+Query 1/1: Action query time = 5.941 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9114
+t=218: Selected seed 195 with value = 0.9114
+Query 1/1: Action query time = 5.222 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9914
+t=234: Selected seed 195 with value = 0.9914
+Query 1/1: Action query time = 5.492 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9970
+t=250: Selected seed 195 with value = 0.9970
+Query 1/1: Action query time = 2.845 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=266: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 5.906 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=282: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 5.135 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=298: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/t7dc800x50_t5_s3/2026_08_03-01_47_46--with_future_img--episode=3--success=False--task=push_the_plate_to_the_front_of_the_.mp4
+Success: False
+# episodes completed so far: 3
+# successes: 1 (33.3%)
+
+Task: push the plate to the front of the stove
+Starting episode 4...
+Query 1/1: Action query time = 4.537 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4453
+t=10: Selected seed 195 with value = 0.4453
+Query 1/1: Action query time = 3.750 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5221
+t=26: Selected seed 195 with value = 0.5221
+Query 1/1: Action query time = 4.639 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5837
+t=42: Selected seed 195 with value = 0.5837
+Query 1/1: Action query time = 5.431 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6744
+t=58: Selected seed 195 with value = 0.6744
+Query 1/1: Action query time = 4.662 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8546
+t=74: Selected seed 195 with value = 0.8546
+Query 1/1: Action query time = 4.383 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9470
+t=90: Selected seed 195 with value = 0.9470
+Query 1/1: Action query time = 5.102 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=106: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 5.710 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=122: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 6.052 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=138: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 5.198 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=154: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 5.209 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=170: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 5.577 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=186: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.451 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=202: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/t7dc800x50_t5_s3/2026_08_03-01_47_46--with_future_img--episode=4--success=True--task=push_the_plate_to_the_front_of_the_.mp4
+Success: True
+# episodes completed so far: 4
+# successes: 2 (50.0%)
+
+Task: push the plate to the front of the stove
+Starting episode 5...
+Query 1/1: Action query time = 3.964 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4549
+t=10: Selected seed 195 with value = 0.4549
+Query 1/1: Action query time = 3.950 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5276
+t=26: Selected seed 195 with value = 0.5276
+Query 1/1: Action query time = 5.095 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6003
+t=42: Selected seed 195 with value = 0.6003
+Query 1/1: Action query time = 3.402 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7079
+t=58: Selected seed 195 with value = 0.7079
+Query 1/1: Action query time = 4.750 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8639
+t=74: Selected seed 195 with value = 0.8639
+Query 1/1: Action query time = 5.156 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9459
+t=90: Selected seed 195 with value = 0.9459
+Query 1/1: Action query time = 4.164 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9816
+t=106: Selected seed 195 with value = 0.9816
+Query 1/1: Action query time = 4.375 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9980
+t=122: Selected seed 195 with value = 0.9980
+Query 1/1: Action query time = 4.180 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=138: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 5.668 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=154: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.770 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=170: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/t7dc800x50_t5_s3/2026_08_03-01_47_46--with_future_img--episode=5--success=True--task=push_the_plate_to_the_front_of_the_.mp4
+Success: True
+# episodes completed so far: 5
+# successes: 3 (60.0%)
+
+Task: push the plate to the front of the stove
+Starting episode 6...
+Query 1/1: Action query time = 4.225 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4420
+t=10: Selected seed 195 with value = 0.4420
+Query 1/1: Action query time = 3.659 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5288
+t=26: Selected seed 195 with value = 0.5288
+Query 1/1: Action query time = 5.166 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5845
+t=42: Selected seed 195 with value = 0.5845
+Query 1/1: Action query time = 5.048 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6703
+t=58: Selected seed 195 with value = 0.6703
+Query 1/1: Action query time = 5.338 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8464
+t=74: Selected seed 195 with value = 0.8464
+Query 1/1: Action query time = 5.404 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9444
+t=90: Selected seed 195 with value = 0.9444
+Query 1/1: Action query time = 3.313 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=106: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 3.697 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=122: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 5.765 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=138: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/t7dc800x50_t5_s3/2026_08_03-01_47_46--with_future_img--episode=6--success=True--task=push_the_plate_to_the_front_of_the_.mp4
+Success: True
+# episodes completed so far: 6
+# successes: 4 (66.7%)
+
+Task: push the plate to the front of the stove
+Starting episode 7...
+Query 1/1: Action query time = 4.377 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4339
+t=10: Selected seed 195 with value = 0.4339
+Query 1/1: Action query time = 5.290 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5247
+t=26: Selected seed 195 with value = 0.5247
+Query 1/1: Action query time = 4.601 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6261
+t=42: Selected seed 195 with value = 0.6261
+Query 1/1: Action query time = 4.895 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6930
+t=58: Selected seed 195 with value = 0.6930
+Query 1/1: Action query time = 4.792 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7535
+t=74: Selected seed 195 with value = 0.7535
+Query 1/1: Action query time = 4.649 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7263
+t=90: Selected seed 195 with value = 0.7263
+Query 1/1: Action query time = 4.655 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7273
+t=106: Selected seed 195 with value = 0.7273
+Query 1/1: Action query time = 4.435 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8548
+t=122: Selected seed 195 with value = 0.8548
+Query 1/1: Action query time = 5.690 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9267
+t=138: Selected seed 195 with value = 0.9267
+Query 1/1: Action query time = 4.896 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9430
+t=154: Selected seed 195 with value = 0.9430
+Query 1/1: Action query time = 4.624 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9955
+t=170: Selected seed 195 with value = 0.9955
+Query 1/1: Action query time = 4.190 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=186: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.711 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=202: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.971 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=218: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 5.920 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=234: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.682 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=250: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 2.579 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=266: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.582 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=282: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 3.889 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9993
+t=298: Selected seed 195 with value = 0.9993
+Saved rollout MP4 at path ./rollouts/t7dc800x50_t5_s3/2026_08_03-01_47_46--with_future_img--episode=7--success=False--task=push_the_plate_to_the_front_of_the_.mp4
+Success: False
+# episodes completed so far: 7
+# successes: 4 (57.1%)
+
+Task: push the plate to the front of the stove
+Starting episode 8...
+Query 1/1: Action query time = 3.960 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4547
+t=10: Selected seed 195 with value = 0.4547
+Query 1/1: Action query time = 5.218 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5320
+t=26: Selected seed 195 with value = 0.5320
+Query 1/1: Action query time = 5.163 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6263
+t=42: Selected seed 195 with value = 0.6263
+Query 1/1: Action query time = 5.579 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6815
+t=58: Selected seed 195 with value = 0.6815
+Query 1/1: Action query time = 4.650 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7192
+t=74: Selected seed 195 with value = 0.7192
+Query 1/1: Action query time = 4.628 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7181
+t=90: Selected seed 195 with value = 0.7181
+Query 1/1: Action query time = 3.822 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7227
+t=106: Selected seed 195 with value = 0.7227
+Query 1/1: Action query time = 4.331 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7444
+t=122: Selected seed 195 with value = 0.7444
+Query 1/1: Action query time = 6.403 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8553
+t=138: Selected seed 195 with value = 0.8553
+Query 1/1: Action query time = 5.267 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9235
+t=154: Selected seed 195 with value = 0.9235
+Query 1/1: Action query time = 4.108 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9614
+t=170: Selected seed 195 with value = 0.9614
+Query 1/1: Action query time = 4.082 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9525
+t=186: Selected seed 195 with value = 0.9525
+Query 1/1: Action query time = 4.207 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9866
+t=202: Selected seed 195 with value = 0.9866
+Query 1/1: Action query time = 4.342 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=218: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.732 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=234: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/t7dc800x50_t5_s3/2026_08_03-01_47_46--with_future_img--episode=8--success=True--task=push_the_plate_to_the_front_of_the_.mp4
+Success: True
+# episodes completed so far: 8
+# successes: 5 (62.5%)
+
+Task: push the plate to the front of the stove
+Starting episode 9...
+Query 1/1: Action query time = 4.972 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4407
+t=10: Selected seed 195 with value = 0.4407
+Query 1/1: Action query time = 4.921 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4981
+t=26: Selected seed 195 with value = 0.4981
+Query 1/1: Action query time = 5.735 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5950
+t=42: Selected seed 195 with value = 0.5950
+Query 1/1: Action query time = 5.164 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6864
+t=58: Selected seed 195 with value = 0.6864
+Query 1/1: Action query time = 3.420 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8358
+t=74: Selected seed 195 with value = 0.8358
+Query 1/1: Action query time = 3.969 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9536
+t=90: Selected seed 195 with value = 0.9536
+Query 1/1: Action query time = 5.189 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9848
+t=106: Selected seed 195 with value = 0.9848
+Query 1/1: Action query time = 5.798 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=122: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 2.496 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9930
+t=138: Selected seed 195 with value = 0.9930
+Query 1/1: Action query time = 4.020 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=154: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 2.381 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=170: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 3.601 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=186: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.807 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9969
+t=202: Selected seed 195 with value = 0.9969
+Query 1/1: Action query time = 4.766 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9911
+t=218: Selected seed 195 with value = 0.9911
+Query 1/1: Action query time = 5.772 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9998
+t=234: Selected seed 195 with value = 0.9998
+Query 1/1: Action query time = 5.097 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=250: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 3.904 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=266: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 3.026 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=282: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/t7dc800x50_t5_s3/2026_08_03-01_47_46--with_future_img--episode=9--success=True--task=push_the_plate_to_the_front_of_the_.mp4
+Success: True
+# episodes completed so far: 9
+# successes: 6 (66.7%)
+
+Task: push the plate to the front of the stove
+Starting episode 10...
+Query 1/1: Action query time = 5.006 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4650
+t=10: Selected seed 195 with value = 0.4650
+Query 1/1: Action query time = 4.466 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5106
+t=26: Selected seed 195 with value = 0.5106
+Query 1/1: Action query time = 3.223 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6097
+t=42: Selected seed 195 with value = 0.6097
+Query 1/1: Action query time = 2.926 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7183
+t=58: Selected seed 195 with value = 0.7183
+Query 1/1: Action query time = 3.681 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8558
+t=74: Selected seed 195 with value = 0.8558
+Query 1/1: Action query time = 3.593 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9459
+t=90: Selected seed 195 with value = 0.9459
+Query 1/1: Action query time = 4.370 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9855
+t=106: Selected seed 195 with value = 0.9855
+Query 1/1: Action query time = 4.277 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9912
+t=122: Selected seed 195 with value = 0.9912
+Query 1/1: Action query time = 3.417 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=138: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 3.444 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=154: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/t7dc800x50_t5_s3/2026_08_03-01_47_46--with_future_img--episode=10--success=True--task=push_the_plate_to_the_front_of_the_.mp4
+Success: True
+# episodes completed so far: 10
+# successes: 7 (70.0%)
+
+Task: push the plate to the front of the stove
+Starting episode 11...
+Query 1/1: Action query time = 4.482 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4209
+t=10: Selected seed 195 with value = 0.4209
+Query 1/1: Action query time = 3.973 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5097
+t=26: Selected seed 195 with value = 0.5097
+Query 1/1: Action query time = 3.577 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5970
+t=42: Selected seed 195 with value = 0.5970
+Query 1/1: Action query time = 5.446 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6830
+t=58: Selected seed 195 with value = 0.6830
+Query 1/1: Action query time = 4.045 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8607
+t=74: Selected seed 195 with value = 0.8607
+Query 1/1: Action query time = 3.684 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9275
+t=90: Selected seed 195 with value = 0.9275
+Query 1/1: Action query time = 3.292 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9922
+t=106: Selected seed 195 with value = 0.9922
+Query 1/1: Action query time = 3.451 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=122: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.287 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=138: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 2.546 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9986
+t=154: Selected seed 195 with value = 0.9986
+Query 1/1: Action query time = 2.693 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=170: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 2.521 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=186: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 3.997 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=202: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 3.873 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=218: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 2.541 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=234: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 2.981 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=250: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 2.841 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=266: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/t7dc800x50_t5_s3/2026_08_03-01_47_46--with_future_img--episode=11--success=True--task=push_the_plate_to_the_front_of_the_.mp4
+Success: True
+# episodes completed so far: 11
+# successes: 8 (72.7%)
+
+Task: push the plate to the front of the stove
+Starting episode 12...
+Query 1/1: Action query time = 2.467 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4361
+t=10: Selected seed 195 with value = 0.4361
+Query 1/1: Action query time = 3.168 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5176
+t=26: Selected seed 195 with value = 0.5176
+Query 1/1: Action query time = 3.136 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5806
+t=42: Selected seed 195 with value = 0.5806
+Query 1/1: Action query time = 1.878 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7121
+t=58: Selected seed 195 with value = 0.7121
+Query 1/1: Action query time = 2.113 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8276
+t=74: Selected seed 195 with value = 0.8276
+Query 1/1: Action query time = 1.716 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9562
+t=90: Selected seed 195 with value = 0.9562
+Query 1/1: Action query time = 2.052 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=106: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 2.095 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=122: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/t7dc800x50_t5_s3/2026_08_03-01_47_46--with_future_img--episode=12--success=True--task=push_the_plate_to_the_front_of_the_.mp4
+Success: True
+# episodes completed so far: 12
+# successes: 9 (75.0%)
+Current task success rate: 0.75
+Current total success rate: 0.75
+Final results:
+Total episodes: 12
+Total successes: 9
+Overall success rate: 0.7500 (75.0%)
diff --git a/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_03-01_47_46--t7rc800x50_t5_s2.txt b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_03-01_47_46--t7rc800x50_t5_s2.txt
new file mode 100644
index 0000000000000000000000000000000000000000..496672cabf617751d4d89f887d4af9b71afd97d2
--- /dev/null
+++ b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_03-01_47_46--t7rc800x50_t5_s2.txt
@@ -0,0 +1,956 @@
+Eval config: PolicyEvalConfig(suite='libero', model_family='cosmos', config='cosmos_predict2_2b_480p_libero_cl_stage_inference_only', ckpt_path='/home/azureuser/REGEN-main/new_task7/cosmos_policy/cosmos_v2_finetune/cosmos_predict2_2b_480p_libero_goal_task7_cl_from_realcl800_2gpu/checkpoints/iter_000000800/model', planning_model_config_name='', planning_model_ckpt_path='', config_file='cosmos_policy/config/config.py', packnet_mask_path='', packnet_first_cl_libero_task=6, use_third_person_image=True, num_third_person_images=1, use_wrist_image=True, num_wrist_images=1, use_proprio=True, flip_images=True, use_variance_scale=False, use_jpeg_compression=True, ar_future_prediction=False, ar_value_prediction=False, ar_qvalue_prediction=False, num_denoising_steps_action=5, num_denoising_steps_future_state=1, num_denoising_steps_value=1, unnormalize_actions=True, normalize_proprio=True, dataset_stats_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/libero_goal_regen/dataset_statistics.json', t5_text_embeddings_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/t5_embeddings.pkl', trained_with_image_aug=True, chunk_size=16, num_open_loop_steps=16, deterministic=True, deterministic_reset=False, deterministic_reset_seed=None, use_ensemble_future_state_predictions=False, num_future_state_predictions_in_ensemble=3, future_state_ensemble_aggregation_scheme='average', use_ensemble_value_predictions=False, num_value_predictions_in_ensemble=5, value_ensemble_aggregation_scheme='average', search_depth=1, mask_current_state_action_for_value_prediction=False, mask_future_state_for_qvalue_prediction=False, num_queries_best_of_n=1, use_parallel_inference=False, available_gpus='0', parallel_timeout=15, parallel_tasks_across_gpus=False, task_suite_name='libero_goal', num_trials_per_task=50, task_ids_to_run='5', initial_states_path='DEFAULT', env_img_res=256, local_log_dir='/home/azureuser/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal', run_id_note='t7rc800x50_t5_s2', use_wandb=False, wandb_entity='YOUR_ENTITY', wandb_project='YOUR_PROJECT', seed=195, randomize_seed=False, data_collection=False, jpeg_compress=True, reward_stop_threshold=None, reward_stop_consecutive_steps=3, use_gpt_reward=False, gpt_reward_model='gpt-5.4-mini', gpt_reward_stop_threshold=4, gpt_reward_timeout_s=30.0, save_rollout_video=False, eval_hdf5_path='', eval_hdf5_demo_key='demo_0', data_gen_demo_ids='', eval_episode_ids='2,6,10,14,18,22,26,30,34,38,42,46', replay_actions=False, replay_action_path_dir='', replay_hdf5_path='', data_generation=False, max_generation_steps=200, simple_task_max_steps=100, complex_task_max_steps=200, disable_value_stop=False)
+Using serial inference (parallel inference disabled)
+Task suite: libero_goal
+Number of tasks: 10
+Running only task IDs: [5]
+Using default initial states
+
+Task: push the plate to the front of the stove
+Starting episode 1...
+Query 1/1: Action query time = 8.922 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4499
+t=10: Selected seed 195 with value = 0.4499
+Query 1/1: Action query time = 7.347 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5118
+t=26: Selected seed 195 with value = 0.5118
+Query 1/1: Action query time = 6.950 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5860
+t=42: Selected seed 195 with value = 0.5860
+Query 1/1: Action query time = 4.796 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6924
+t=58: Selected seed 195 with value = 0.6924
+Query 1/1: Action query time = 4.809 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8470
+t=74: Selected seed 195 with value = 0.8470
+Query 1/1: Action query time = 5.302 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9484
+t=90: Selected seed 195 with value = 0.9484
+Query 1/1: Action query time = 6.621 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9809
+t=106: Selected seed 195 with value = 0.9809
+Query 1/1: Action query time = 8.399 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=122: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 6.182 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=138: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 5.871 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=154: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.938 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=170: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.961 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=186: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 5.836 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=202: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 7.160 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=218: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 6.721 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9942
+t=234: Selected seed 195 with value = 0.9942
+Query 1/1: Action query time = 3.691 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=250: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.538 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=266: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.065 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=282: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 5.110 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=298: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/t7rc800x50_t5_s2/2026_08_03-01_47_46--with_future_img--episode=1--success=False--task=push_the_plate_to_the_front_of_the_.mp4
+Success: False
+# episodes completed so far: 1
+# successes: 0 (0.0%)
+
+Task: push the plate to the front of the stove
+Starting episode 2...
+Query 1/1: Action query time = 5.424 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4313
+t=10: Selected seed 195 with value = 0.4313
+Query 1/1: Action query time = 5.888 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5095
+t=26: Selected seed 195 with value = 0.5095
+Query 1/1: Action query time = 3.232 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6097
+t=42: Selected seed 195 with value = 0.6097
+Query 1/1: Action query time = 4.101 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7245
+t=58: Selected seed 195 with value = 0.7245
+Query 1/1: Action query time = 6.190 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8438
+t=74: Selected seed 195 with value = 0.8438
+Query 1/1: Action query time = 6.683 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9008
+t=90: Selected seed 195 with value = 0.9008
+Query 1/1: Action query time = 4.853 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9641
+t=106: Selected seed 195 with value = 0.9641
+Query 1/1: Action query time = 6.309 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9648
+t=122: Selected seed 195 with value = 0.9648
+Query 1/1: Action query time = 6.665 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7654
+t=138: Selected seed 195 with value = 0.7654
+Query 1/1: Action query time = 6.202 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7767
+t=154: Selected seed 195 with value = 0.7767
+Query 1/1: Action query time = 4.960 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8074
+t=170: Selected seed 195 with value = 0.8074
+Query 1/1: Action query time = 5.642 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9341
+t=186: Selected seed 195 with value = 0.9341
+Query 1/1: Action query time = 7.465 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8974
+t=202: Selected seed 195 with value = 0.8974
+Query 1/1: Action query time = 6.819 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9218
+t=218: Selected seed 195 with value = 0.9218
+Query 1/1: Action query time = 6.178 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9218
+t=234: Selected seed 195 with value = 0.9218
+Query 1/1: Action query time = 6.904 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9248
+t=250: Selected seed 195 with value = 0.9248
+Query 1/1: Action query time = 5.705 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9244
+t=266: Selected seed 195 with value = 0.9244
+Query 1/1: Action query time = 4.108 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9166
+t=282: Selected seed 195 with value = 0.9166
+Query 1/1: Action query time = 4.277 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9183
+t=298: Selected seed 195 with value = 0.9183
+Saved rollout MP4 at path ./rollouts/t7rc800x50_t5_s2/2026_08_03-01_47_46--with_future_img--episode=2--success=False--task=push_the_plate_to_the_front_of_the_.mp4
+Success: False
+# episodes completed so far: 2
+# successes: 0 (0.0%)
+
+Task: push the plate to the front of the stove
+Starting episode 3...
+Query 1/1: Action query time = 4.847 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4555
+t=10: Selected seed 195 with value = 0.4555
+Query 1/1: Action query time = 5.488 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5144
+t=26: Selected seed 195 with value = 0.5144
+Query 1/1: Action query time = 5.609 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6161
+t=42: Selected seed 195 with value = 0.6161
+Query 1/1: Action query time = 5.640 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7506
+t=58: Selected seed 195 with value = 0.7506
+Query 1/1: Action query time = 3.663 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9135
+t=74: Selected seed 195 with value = 0.9135
+Query 1/1: Action query time = 4.691 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9632
+t=90: Selected seed 195 with value = 0.9632
+Query 1/1: Action query time = 4.007 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9703
+t=106: Selected seed 195 with value = 0.9703
+Query 1/1: Action query time = 5.269 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9864
+t=122: Selected seed 195 with value = 0.9864
+Query 1/1: Action query time = 6.118 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=138: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/t7rc800x50_t5_s2/2026_08_03-01_47_46--with_future_img--episode=3--success=True--task=push_the_plate_to_the_front_of_the_.mp4
+Success: True
+# episodes completed so far: 3
+# successes: 1 (33.3%)
+
+Task: push the plate to the front of the stove
+Starting episode 4...
+Query 1/1: Action query time = 6.034 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4628
+t=10: Selected seed 195 with value = 0.4628
+Query 1/1: Action query time = 5.365 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5167
+t=26: Selected seed 195 with value = 0.5167
+Query 1/1: Action query time = 4.963 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6184
+t=42: Selected seed 195 with value = 0.6184
+Query 1/1: Action query time = 5.142 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7813
+t=58: Selected seed 195 with value = 0.7813
+Query 1/1: Action query time = 5.562 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8112
+t=74: Selected seed 195 with value = 0.8112
+Query 1/1: Action query time = 5.341 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9308
+t=90: Selected seed 195 with value = 0.9308
+Query 1/1: Action query time = 5.460 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9652
+t=106: Selected seed 195 with value = 0.9652
+Query 1/1: Action query time = 4.684 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9571
+t=122: Selected seed 195 with value = 0.9571
+Query 1/1: Action query time = 5.764 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7914
+t=138: Selected seed 195 with value = 0.7914
+Query 1/1: Action query time = 6.226 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7907
+t=154: Selected seed 195 with value = 0.7907
+Query 1/1: Action query time = 4.681 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7985
+t=170: Selected seed 195 with value = 0.7985
+Query 1/1: Action query time = 5.978 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9581
+t=186: Selected seed 195 with value = 0.9581
+Query 1/1: Action query time = 5.106 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9782
+t=202: Selected seed 195 with value = 0.9782
+Query 1/1: Action query time = 6.511 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9821
+t=218: Selected seed 195 with value = 0.9821
+Query 1/1: Action query time = 5.670 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9632
+t=234: Selected seed 195 with value = 0.9632
+Query 1/1: Action query time = 5.494 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9380
+t=250: Selected seed 195 with value = 0.9380
+Query 1/1: Action query time = 6.859 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8847
+t=266: Selected seed 195 with value = 0.8847
+Query 1/1: Action query time = 4.558 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9063
+t=282: Selected seed 195 with value = 0.9063
+Query 1/1: Action query time = 3.955 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9045
+t=298: Selected seed 195 with value = 0.9045
+Saved rollout MP4 at path ./rollouts/t7rc800x50_t5_s2/2026_08_03-01_47_46--with_future_img--episode=4--success=False--task=push_the_plate_to_the_front_of_the_.mp4
+Success: False
+# episodes completed so far: 4
+# successes: 1 (25.0%)
+
+Task: push the plate to the front of the stove
+Starting episode 5...
+Query 1/1: Action query time = 5.745 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4414
+t=10: Selected seed 195 with value = 0.4414
+Query 1/1: Action query time = 6.487 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5047
+t=26: Selected seed 195 with value = 0.5047
+Query 1/1: Action query time = 5.210 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6006
+t=42: Selected seed 195 with value = 0.6006
+Query 1/1: Action query time = 5.016 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7215
+t=58: Selected seed 195 with value = 0.7215
+Query 1/1: Action query time = 5.308 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8725
+t=74: Selected seed 195 with value = 0.8725
+Query 1/1: Action query time = 2.717 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9147
+t=90: Selected seed 195 with value = 0.9147
+Query 1/1: Action query time = 3.699 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9563
+t=106: Selected seed 195 with value = 0.9563
+Query 1/1: Action query time = 3.943 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9788
+t=122: Selected seed 195 with value = 0.9788
+Query 1/1: Action query time = 5.675 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9612
+t=138: Selected seed 195 with value = 0.9612
+Query 1/1: Action query time = 4.877 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8006
+t=154: Selected seed 195 with value = 0.8006
+Query 1/1: Action query time = 4.842 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8080
+t=170: Selected seed 195 with value = 0.8080
+Query 1/1: Action query time = 3.936 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=186: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.795 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=202: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.693 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=218: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 3.943 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=234: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 3.750 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=250: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.161 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=266: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.538 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=282: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/t7rc800x50_t5_s2/2026_08_03-01_47_46--with_future_img--episode=5--success=True--task=push_the_plate_to_the_front_of_the_.mp4
+Success: True
+# episodes completed so far: 5
+# successes: 2 (40.0%)
+
+Task: push the plate to the front of the stove
+Starting episode 6...
+Query 1/1: Action query time = 5.210 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4599
+t=10: Selected seed 195 with value = 0.4599
+Query 1/1: Action query time = 5.605 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5298
+t=26: Selected seed 195 with value = 0.5298
+Query 1/1: Action query time = 4.986 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6245
+t=42: Selected seed 195 with value = 0.6245
+Query 1/1: Action query time = 5.942 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7943
+t=58: Selected seed 195 with value = 0.7943
+Query 1/1: Action query time = 4.087 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8739
+t=74: Selected seed 195 with value = 0.8739
+Query 1/1: Action query time = 3.131 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9149
+t=90: Selected seed 195 with value = 0.9149
+Query 1/1: Action query time = 4.115 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9734
+t=106: Selected seed 195 with value = 0.9734
+Query 1/1: Action query time = 5.421 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9827
+t=122: Selected seed 195 with value = 0.9827
+Query 1/1: Action query time = 4.560 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7827
+t=138: Selected seed 195 with value = 0.7827
+Query 1/1: Action query time = 4.655 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7897
+t=154: Selected seed 195 with value = 0.7897
+Query 1/1: Action query time = 3.719 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8920
+t=170: Selected seed 195 with value = 0.8920
+Query 1/1: Action query time = 3.820 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9934
+t=186: Selected seed 195 with value = 0.9934
+Query 1/1: Action query time = 5.126 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9902
+t=202: Selected seed 195 with value = 0.9902
+Query 1/1: Action query time = 4.551 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9893
+t=218: Selected seed 195 with value = 0.9893
+Query 1/1: Action query time = 4.430 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9849
+t=234: Selected seed 195 with value = 0.9849
+Query 1/1: Action query time = 4.586 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9750
+t=250: Selected seed 195 with value = 0.9750
+Query 1/1: Action query time = 4.359 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9747
+t=266: Selected seed 195 with value = 0.9747
+Query 1/1: Action query time = 4.715 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9691
+t=282: Selected seed 195 with value = 0.9691
+Query 1/1: Action query time = 4.138 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9730
+t=298: Selected seed 195 with value = 0.9730
+Saved rollout MP4 at path ./rollouts/t7rc800x50_t5_s2/2026_08_03-01_47_46--with_future_img--episode=6--success=False--task=push_the_plate_to_the_front_of_the_.mp4
+Success: False
+# episodes completed so far: 6
+# successes: 2 (33.3%)
+
+Task: push the plate to the front of the stove
+Starting episode 7...
+Query 1/1: Action query time = 4.141 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4648
+t=10: Selected seed 195 with value = 0.4648
+Query 1/1: Action query time = 4.370 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5408
+t=26: Selected seed 195 with value = 0.5408
+Query 1/1: Action query time = 5.739 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6263
+t=42: Selected seed 195 with value = 0.6263
+Query 1/1: Action query time = 4.223 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7883
+t=58: Selected seed 195 with value = 0.7883
+Query 1/1: Action query time = 3.459 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9041
+t=74: Selected seed 195 with value = 0.9041
+Query 1/1: Action query time = 3.795 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9509
+t=90: Selected seed 195 with value = 0.9509
+Query 1/1: Action query time = 3.494 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9791
+t=106: Selected seed 195 with value = 0.9791
+Query 1/1: Action query time = 4.477 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9960
+t=122: Selected seed 195 with value = 0.9960
+Query 1/1: Action query time = 4.509 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7392
+t=138: Selected seed 195 with value = 0.7392
+Query 1/1: Action query time = 3.409 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8118
+t=154: Selected seed 195 with value = 0.8118
+Query 1/1: Action query time = 3.170 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9317
+t=170: Selected seed 195 with value = 0.9317
+Query 1/1: Action query time = 2.640 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=186: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 3.454 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=202: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 2.935 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=218: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 3.653 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=234: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 3.020 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=250: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 3.131 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=266: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 2.267 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=282: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 3.329 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=298: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/t7rc800x50_t5_s2/2026_08_03-01_47_46--with_future_img--episode=7--success=False--task=push_the_plate_to_the_front_of_the_.mp4
+Success: False
+# episodes completed so far: 7
+# successes: 2 (28.6%)
+
+Task: push the plate to the front of the stove
+Starting episode 8...
+Query 1/1: Action query time = 3.392 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4524
+t=10: Selected seed 195 with value = 0.4524
+Query 1/1: Action query time = 4.111 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5312
+t=26: Selected seed 195 with value = 0.5312
+Query 1/1: Action query time = 4.270 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6392
+t=42: Selected seed 195 with value = 0.6392
+Query 1/1: Action query time = 2.616 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7822
+t=58: Selected seed 195 with value = 0.7822
+Query 1/1: Action query time = 3.723 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8902
+t=74: Selected seed 195 with value = 0.8902
+Query 1/1: Action query time = 2.966 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9267
+t=90: Selected seed 195 with value = 0.9267
+Query 1/1: Action query time = 2.636 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9795
+t=106: Selected seed 195 with value = 0.9795
+Query 1/1: Action query time = 3.110 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=122: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 2.297 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7791
+t=138: Selected seed 195 with value = 0.7791
+Query 1/1: Action query time = 2.862 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8728
+t=154: Selected seed 195 with value = 0.8728
+Query 1/1: Action query time = 1.882 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9983
+t=170: Selected seed 195 with value = 0.9983
+Query 1/1: Action query time = 2.531 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9949
+t=186: Selected seed 195 with value = 0.9949
+Query 1/1: Action query time = 2.893 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=202: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 2.344 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=218: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 3.924 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=234: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 3.065 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=250: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 3.408 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=266: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 3.097 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=282: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 1.815 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=298: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/t7rc800x50_t5_s2/2026_08_03-01_47_46--with_future_img--episode=8--success=False--task=push_the_plate_to_the_front_of_the_.mp4
+Success: False
+# episodes completed so far: 8
+# successes: 2 (25.0%)
+
+Task: push the plate to the front of the stove
+Starting episode 9...
+Query 1/1: Action query time = 2.544 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4383
+t=10: Selected seed 195 with value = 0.4383
+Query 1/1: Action query time = 2.480 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4986
+t=26: Selected seed 195 with value = 0.4986
+Query 1/1: Action query time = 2.717 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5580
+t=42: Selected seed 195 with value = 0.5580
+Query 1/1: Action query time = 1.895 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6504
+t=58: Selected seed 195 with value = 0.6504
+Query 1/1: Action query time = 1.901 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8247
+t=74: Selected seed 195 with value = 0.8247
+Query 1/1: Action query time = 2.751 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8936
+t=90: Selected seed 195 with value = 0.8936
+Query 1/1: Action query time = 2.640 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9412
+t=106: Selected seed 195 with value = 0.9412
+Query 1/1: Action query time = 3.479 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9795
+t=122: Selected seed 195 with value = 0.9795
+Query 1/1: Action query time = 3.073 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=138: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 3.828 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8197
+t=154: Selected seed 195 with value = 0.8197
+Query 1/1: Action query time = 2.541 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8151
+t=170: Selected seed 195 with value = 0.8151
+Query 1/1: Action query time = 3.126 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8245
+t=186: Selected seed 195 with value = 0.8245
+Query 1/1: Action query time = 4.130 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9325
+t=202: Selected seed 195 with value = 0.9325
+Query 1/1: Action query time = 3.116 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9590
+t=218: Selected seed 195 with value = 0.9590
+Query 1/1: Action query time = 2.826 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9648
+t=234: Selected seed 195 with value = 0.9648
+Query 1/1: Action query time = 3.059 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9630
+t=250: Selected seed 195 with value = 0.9630
+Query 1/1: Action query time = 2.540 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9733
+t=266: Selected seed 195 with value = 0.9733
+Query 1/1: Action query time = 2.671 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9674
+t=282: Selected seed 195 with value = 0.9674
+Query 1/1: Action query time = 3.107 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9716
+t=298: Selected seed 195 with value = 0.9716
+Saved rollout MP4 at path ./rollouts/t7rc800x50_t5_s2/2026_08_03-01_47_46--with_future_img--episode=9--success=True--task=push_the_plate_to_the_front_of_the_.mp4
+Success: True
+# episodes completed so far: 9
+# successes: 3 (33.3%)
+
+Task: push the plate to the front of the stove
+Starting episode 10...
+Query 1/1: Action query time = 2.772 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4587
+t=10: Selected seed 195 with value = 0.4587
+Query 1/1: Action query time = 3.163 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5588
+t=26: Selected seed 195 with value = 0.5588
+Query 1/1: Action query time = 1.698 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6398
+t=42: Selected seed 195 with value = 0.6398
+Query 1/1: Action query time = 2.761 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7305
+t=58: Selected seed 195 with value = 0.7305
+Query 1/1: Action query time = 2.200 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7090
+t=74: Selected seed 195 with value = 0.7090
+Query 1/1: Action query time = 2.546 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7509
+t=90: Selected seed 195 with value = 0.7509
+Query 1/1: Action query time = 2.390 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7611
+t=106: Selected seed 195 with value = 0.7611
+Query 1/1: Action query time = 2.533 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8419
+t=122: Selected seed 195 with value = 0.8419
+Query 1/1: Action query time = 2.532 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8829
+t=138: Selected seed 195 with value = 0.8829
+Query 1/1: Action query time = 3.104 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9155
+t=154: Selected seed 195 with value = 0.9155
+Query 1/1: Action query time = 3.094 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7622
+t=170: Selected seed 195 with value = 0.7622
+Query 1/1: Action query time = 2.801 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7642
+t=186: Selected seed 195 with value = 0.7642
+Query 1/1: Action query time = 3.449 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7679
+t=202: Selected seed 195 with value = 0.7679
+Query 1/1: Action query time = 2.770 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7690
+t=218: Selected seed 195 with value = 0.7690
+Query 1/1: Action query time = 2.942 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7549
+t=234: Selected seed 195 with value = 0.7549
+Query 1/1: Action query time = 3.382 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7537
+t=250: Selected seed 195 with value = 0.7537
+Query 1/1: Action query time = 3.082 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7547
+t=266: Selected seed 195 with value = 0.7547
+Query 1/1: Action query time = 3.271 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7647
+t=282: Selected seed 195 with value = 0.7647
+Query 1/1: Action query time = 2.288 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7698
+t=298: Selected seed 195 with value = 0.7698
+Saved rollout MP4 at path ./rollouts/t7rc800x50_t5_s2/2026_08_03-01_47_46--with_future_img--episode=10--success=False--task=push_the_plate_to_the_front_of_the_.mp4
+Success: False
+# episodes completed so far: 10
+# successes: 3 (30.0%)
+
+Task: push the plate to the front of the stove
+Starting episode 11...
+Query 1/1: Action query time = 2.466 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4379
+t=10: Selected seed 195 with value = 0.4379
+Query 1/1: Action query time = 1.795 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4970
+t=26: Selected seed 195 with value = 0.4970
+Query 1/1: Action query time = 2.165 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5763
+t=42: Selected seed 195 with value = 0.5763
+Query 1/1: Action query time = 1.783 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6799
+t=58: Selected seed 195 with value = 0.6799
+Query 1/1: Action query time = 1.766 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8209
+t=74: Selected seed 195 with value = 0.8209
+Query 1/1: Action query time = 1.458 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9000
+t=90: Selected seed 195 with value = 0.9000
+Query 1/1: Action query time = 1.845 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9586
+t=106: Selected seed 195 with value = 0.9586
+Query 1/1: Action query time = 2.064 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9779
+t=122: Selected seed 195 with value = 0.9779
+Query 1/1: Action query time = 1.537 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9474
+t=138: Selected seed 195 with value = 0.9474
+Query 1/1: Action query time = 1.354 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7918
+t=154: Selected seed 195 with value = 0.7918
+Query 1/1: Action query time = 1.697 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7885
+t=170: Selected seed 195 with value = 0.7885
+Query 1/1: Action query time = 0.985 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8120
+t=186: Selected seed 195 with value = 0.8120
+Query 1/1: Action query time = 1.566 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8079
+t=202: Selected seed 195 with value = 0.8079
+Query 1/1: Action query time = 1.505 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=218: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 1.194 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=234: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 1.419 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=250: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 1.708 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=266: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/t7rc800x50_t5_s2/2026_08_03-01_47_46--with_future_img--episode=11--success=True--task=push_the_plate_to_the_front_of_the_.mp4
+Success: True
+# episodes completed so far: 11
+# successes: 4 (36.4%)
+
+Task: push the plate to the front of the stove
+Starting episode 12...
+Query 1/1: Action query time = 1.709 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4424
+t=10: Selected seed 195 with value = 0.4424
+Query 1/1: Action query time = 1.426 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5077
+t=26: Selected seed 195 with value = 0.5077
+Query 1/1: Action query time = 1.381 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5801
+t=42: Selected seed 195 with value = 0.5801
+Query 1/1: Action query time = 1.381 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7239
+t=58: Selected seed 195 with value = 0.7239
+Query 1/1: Action query time = 0.974 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8590
+t=74: Selected seed 195 with value = 0.8590
+Query 1/1: Action query time = 0.965 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9182
+t=90: Selected seed 195 with value = 0.9182
+Query 1/1: Action query time = 0.967 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9598
+t=106: Selected seed 195 with value = 0.9598
+Query 1/1: Action query time = 0.979 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9800
+t=122: Selected seed 195 with value = 0.9800
+Query 1/1: Action query time = 0.976 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9699
+t=138: Selected seed 195 with value = 0.9699
+Query 1/1: Action query time = 0.991 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7816
+t=154: Selected seed 195 with value = 0.7816
+Query 1/1: Action query time = 0.993 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8005
+t=170: Selected seed 195 with value = 0.8005
+Query 1/1: Action query time = 0.965 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9671
+t=186: Selected seed 195 with value = 0.9671
+Query 1/1: Action query time = 0.983 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9807
+t=202: Selected seed 195 with value = 0.9807
+Query 1/1: Action query time = 0.975 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9812
+t=218: Selected seed 195 with value = 0.9812
+Query 1/1: Action query time = 0.963 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9824
+t=234: Selected seed 195 with value = 0.9824
+Query 1/1: Action query time = 0.952 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9766
+t=250: Selected seed 195 with value = 0.9766
+Query 1/1: Action query time = 0.954 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9820
+t=266: Selected seed 195 with value = 0.9820
+Query 1/1: Action query time = 0.959 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9773
+t=282: Selected seed 195 with value = 0.9773
+Query 1/1: Action query time = 0.969 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9591
+t=298: Selected seed 195 with value = 0.9591
+Saved rollout MP4 at path ./rollouts/t7rc800x50_t5_s2/2026_08_03-01_47_46--with_future_img--episode=12--success=False--task=push_the_plate_to_the_front_of_the_.mp4
+Success: False
+# episodes completed so far: 12
+# successes: 4 (33.3%)
+Current task success rate: 0.3333333333333333
+Current total success rate: 0.3333333333333333
+Final results:
+Total episodes: 12
+Total successes: 4
+Overall success rate: 0.3333 (33.3%)
diff --git a/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_03-01_47_47--t7dc800x50_t6_s1.txt b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_03-01_47_47--t7dc800x50_t6_s1.txt
new file mode 100644
index 0000000000000000000000000000000000000000..708f19996b900420d0535b302f3c06a8921613e8
--- /dev/null
+++ b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_03-01_47_47--t7dc800x50_t6_s1.txt
@@ -0,0 +1,739 @@
+Eval config: PolicyEvalConfig(suite='libero', model_family='cosmos', config='cosmos_predict2_2b_480p_libero_cl_stage_inference_only', ckpt_path='/home/azureuser/REGEN-main/new_task7/cosmos_policy/cosmos_v2_finetune/cosmos_predict2_2b_480p_libero_goal_task7_cl_from_demochan800_2gpu/checkpoints/iter_000000800/model', planning_model_config_name='', planning_model_ckpt_path='', config_file='cosmos_policy/config/config.py', packnet_mask_path='', packnet_first_cl_libero_task=6, use_third_person_image=True, num_third_person_images=1, use_wrist_image=True, num_wrist_images=1, use_proprio=True, flip_images=True, use_variance_scale=False, use_jpeg_compression=True, ar_future_prediction=False, ar_value_prediction=False, ar_qvalue_prediction=False, num_denoising_steps_action=5, num_denoising_steps_future_state=1, num_denoising_steps_value=1, unnormalize_actions=True, normalize_proprio=True, dataset_stats_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/libero_goal_regen/dataset_statistics.json', t5_text_embeddings_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/t5_embeddings.pkl', trained_with_image_aug=True, chunk_size=16, num_open_loop_steps=16, deterministic=True, deterministic_reset=False, deterministic_reset_seed=None, use_ensemble_future_state_predictions=False, num_future_state_predictions_in_ensemble=3, future_state_ensemble_aggregation_scheme='average', use_ensemble_value_predictions=False, num_value_predictions_in_ensemble=5, value_ensemble_aggregation_scheme='average', search_depth=1, mask_current_state_action_for_value_prediction=False, mask_future_state_for_qvalue_prediction=False, num_queries_best_of_n=1, use_parallel_inference=False, available_gpus='0', parallel_timeout=15, parallel_tasks_across_gpus=False, task_suite_name='libero_goal', num_trials_per_task=50, task_ids_to_run='6', initial_states_path='DEFAULT', env_img_res=256, local_log_dir='/home/azureuser/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal', run_id_note='t7dc800x50_t6_s1', use_wandb=False, wandb_entity='YOUR_ENTITY', wandb_project='YOUR_PROJECT', seed=195, randomize_seed=False, data_collection=False, jpeg_compress=True, reward_stop_threshold=None, reward_stop_consecutive_steps=3, use_gpt_reward=False, gpt_reward_model='gpt-5.4-mini', gpt_reward_stop_threshold=4, gpt_reward_timeout_s=30.0, save_rollout_video=False, eval_hdf5_path='', eval_hdf5_demo_key='demo_0', data_gen_demo_ids='', eval_episode_ids='1,5,9,13,17,21,25,29,33,37,41,45,49', replay_actions=False, replay_action_path_dir='', replay_hdf5_path='', data_generation=False, max_generation_steps=200, simple_task_max_steps=100, complex_task_max_steps=200, disable_value_stop=False)
+Using serial inference (parallel inference disabled)
+Task suite: libero_goal
+Number of tasks: 10
+Running only task IDs: [6]
+Using default initial states
+
+Task: put the cream cheese in the bowl
+Starting episode 1...
+Query 1/1: Action query time = 6.817 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4921
+t=10: Selected seed 195 with value = 0.4921
+Query 1/1: Action query time = 5.401 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5448
+t=26: Selected seed 195 with value = 0.5448
+Query 1/1: Action query time = 5.884 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5865
+t=42: Selected seed 195 with value = 0.5865
+Query 1/1: Action query time = 5.792 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6910
+t=58: Selected seed 195 with value = 0.6910
+Query 1/1: Action query time = 5.337 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8728
+t=74: Selected seed 195 with value = 0.8728
+Query 1/1: Action query time = 5.418 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9683
+t=90: Selected seed 195 with value = 0.9683
+Query 1/1: Action query time = 5.121 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9883
+t=106: Selected seed 195 with value = 0.9883
+Saved rollout MP4 at path ./rollouts/t7dc800x50_t6_s1/2026_08_03-01_47_47--with_future_img--episode=1--success=True--task=put_the_cream_cheese_in_the_bowl.mp4
+Success: True
+# episodes completed so far: 1
+# successes: 1 (100.0%)
+
+Task: put the cream cheese in the bowl
+Starting episode 2...
+Query 1/1: Action query time = 5.803 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4955
+t=10: Selected seed 195 with value = 0.4955
+Query 1/1: Action query time = 5.987 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6068
+t=26: Selected seed 195 with value = 0.6068
+Query 1/1: Action query time = 5.395 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6465
+t=42: Selected seed 195 with value = 0.6465
+Query 1/1: Action query time = 6.326 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7396
+t=58: Selected seed 195 with value = 0.7396
+Query 1/1: Action query time = 4.690 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6849
+t=74: Selected seed 195 with value = 0.6849
+Query 1/1: Action query time = 5.792 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8093
+t=90: Selected seed 195 with value = 0.8093
+Query 1/1: Action query time = 5.362 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7859
+t=106: Selected seed 195 with value = 0.7859
+Query 1/1: Action query time = 6.150 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7553
+t=122: Selected seed 195 with value = 0.7553
+Query 1/1: Action query time = 3.611 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8734
+t=138: Selected seed 195 with value = 0.8734
+Query 1/1: Action query time = 4.055 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7664
+t=154: Selected seed 195 with value = 0.7664
+Query 1/1: Action query time = 4.115 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9307
+t=170: Selected seed 195 with value = 0.9307
+Query 1/1: Action query time = 4.511 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9089
+t=186: Selected seed 195 with value = 0.9089
+Query 1/1: Action query time = 3.514 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9913
+t=202: Selected seed 195 with value = 0.9913
+Query 1/1: Action query time = 5.830 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9948
+t=218: Selected seed 195 with value = 0.9948
+Query 1/1: Action query time = 5.625 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=234: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 5.188 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9897
+t=250: Selected seed 195 with value = 0.9897
+Query 1/1: Action query time = 6.458 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9877
+t=266: Selected seed 195 with value = 0.9877
+Query 1/1: Action query time = 6.097 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9840
+t=282: Selected seed 195 with value = 0.9840
+Query 1/1: Action query time = 4.733 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9838
+t=298: Selected seed 195 with value = 0.9838
+Saved rollout MP4 at path ./rollouts/t7dc800x50_t6_s1/2026_08_03-01_47_47--with_future_img--episode=2--success=False--task=put_the_cream_cheese_in_the_bowl.mp4
+Success: False
+# episodes completed so far: 2
+# successes: 1 (50.0%)
+
+Task: put the cream cheese in the bowl
+Starting episode 3...
+Query 1/1: Action query time = 5.339 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4875
+t=10: Selected seed 195 with value = 0.4875
+Query 1/1: Action query time = 5.201 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5267
+t=26: Selected seed 195 with value = 0.5267
+Query 1/1: Action query time = 5.728 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6482
+t=42: Selected seed 195 with value = 0.6482
+Query 1/1: Action query time = 5.574 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7780
+t=58: Selected seed 195 with value = 0.7780
+Query 1/1: Action query time = 4.811 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9186
+t=74: Selected seed 195 with value = 0.9186
+Query 1/1: Action query time = 4.188 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9813
+t=90: Selected seed 195 with value = 0.9813
+Query 1/1: Action query time = 5.145 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9926
+t=106: Selected seed 195 with value = 0.9926
+Query 1/1: Action query time = 4.329 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9929
+t=122: Selected seed 195 with value = 0.9929
+Query 1/1: Action query time = 4.057 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9909
+t=138: Selected seed 195 with value = 0.9909
+Query 1/1: Action query time = 4.965 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9828
+t=154: Selected seed 195 with value = 0.9828
+Query 1/1: Action query time = 5.333 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9731
+t=170: Selected seed 195 with value = 0.9731
+Query 1/1: Action query time = 4.576 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9534
+t=186: Selected seed 195 with value = 0.9534
+Query 1/1: Action query time = 4.483 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9992
+t=202: Selected seed 195 with value = 0.9992
+Query 1/1: Action query time = 4.773 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9760
+t=218: Selected seed 195 with value = 0.9760
+Query 1/1: Action query time = 3.914 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9284
+t=234: Selected seed 195 with value = 0.9284
+Query 1/1: Action query time = 5.109 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9507
+t=250: Selected seed 195 with value = 0.9507
+Query 1/1: Action query time = 5.953 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8968
+t=266: Selected seed 195 with value = 0.8968
+Query 1/1: Action query time = 5.481 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8670
+t=282: Selected seed 195 with value = 0.8670
+Query 1/1: Action query time = 5.056 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8363
+t=298: Selected seed 195 with value = 0.8363
+Saved rollout MP4 at path ./rollouts/t7dc800x50_t6_s1/2026_08_03-01_47_47--with_future_img--episode=3--success=False--task=put_the_cream_cheese_in_the_bowl.mp4
+Success: False
+# episodes completed so far: 3
+# successes: 1 (33.3%)
+
+Task: put the cream cheese in the bowl
+Starting episode 4...
+Query 1/1: Action query time = 6.831 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4855
+t=10: Selected seed 195 with value = 0.4855
+Query 1/1: Action query time = 6.244 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5880
+t=26: Selected seed 195 with value = 0.5880
+Query 1/1: Action query time = 2.596 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6649
+t=42: Selected seed 195 with value = 0.6649
+Query 1/1: Action query time = 4.238 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7885
+t=58: Selected seed 195 with value = 0.7885
+Query 1/1: Action query time = 6.162 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9262
+t=74: Selected seed 195 with value = 0.9262
+Query 1/1: Action query time = 4.808 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9880
+t=90: Selected seed 195 with value = 0.9880
+Saved rollout MP4 at path ./rollouts/t7dc800x50_t6_s1/2026_08_03-01_47_47--with_future_img--episode=4--success=True--task=put_the_cream_cheese_in_the_bowl.mp4
+Success: True
+# episodes completed so far: 4
+# successes: 2 (50.0%)
+
+Task: put the cream cheese in the bowl
+Starting episode 5...
+Query 1/1: Action query time = 3.890 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4802
+t=10: Selected seed 195 with value = 0.4802
+Query 1/1: Action query time = 2.851 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5752
+t=26: Selected seed 195 with value = 0.5752
+Query 1/1: Action query time = 5.000 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6328
+t=42: Selected seed 195 with value = 0.6328
+Query 1/1: Action query time = 5.121 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7853
+t=58: Selected seed 195 with value = 0.7853
+Query 1/1: Action query time = 4.384 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9015
+t=74: Selected seed 195 with value = 0.9015
+Query 1/1: Action query time = 3.448 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9909
+t=90: Selected seed 195 with value = 0.9909
+Query 1/1: Action query time = 5.813 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9967
+t=106: Selected seed 195 with value = 0.9967
+Query 1/1: Action query time = 5.111 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9933
+t=122: Selected seed 195 with value = 0.9933
+Saved rollout MP4 at path ./rollouts/t7dc800x50_t6_s1/2026_08_03-01_47_47--with_future_img--episode=5--success=True--task=put_the_cream_cheese_in_the_bowl.mp4
+Success: True
+# episodes completed so far: 5
+# successes: 3 (60.0%)
+
+Task: put the cream cheese in the bowl
+Starting episode 6...
+Query 1/1: Action query time = 5.279 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4703
+t=10: Selected seed 195 with value = 0.4703
+Query 1/1: Action query time = 5.671 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5257
+t=26: Selected seed 195 with value = 0.5257
+Query 1/1: Action query time = 4.445 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6397
+t=42: Selected seed 195 with value = 0.6397
+Query 1/1: Action query time = 4.520 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7685
+t=58: Selected seed 195 with value = 0.7685
+Query 1/1: Action query time = 4.775 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9006
+t=74: Selected seed 195 with value = 0.9006
+Query 1/1: Action query time = 3.553 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9673
+t=90: Selected seed 195 with value = 0.9673
+Query 1/1: Action query time = 4.463 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9904
+t=106: Selected seed 195 with value = 0.9904
+Saved rollout MP4 at path ./rollouts/t7dc800x50_t6_s1/2026_08_03-01_47_47--with_future_img--episode=6--success=True--task=put_the_cream_cheese_in_the_bowl.mp4
+Success: True
+# episodes completed so far: 6
+# successes: 4 (66.7%)
+
+Task: put the cream cheese in the bowl
+Starting episode 7...
+Query 1/1: Action query time = 3.696 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4872
+t=10: Selected seed 195 with value = 0.4872
+Query 1/1: Action query time = 3.622 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5390
+t=26: Selected seed 195 with value = 0.5390
+Query 1/1: Action query time = 4.889 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6296
+t=42: Selected seed 195 with value = 0.6296
+Query 1/1: Action query time = 3.719 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7648
+t=58: Selected seed 195 with value = 0.7648
+Query 1/1: Action query time = 5.598 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8700
+t=74: Selected seed 195 with value = 0.8700
+Query 1/1: Action query time = 5.106 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9770
+t=90: Selected seed 195 with value = 0.9770
+Saved rollout MP4 at path ./rollouts/t7dc800x50_t6_s1/2026_08_03-01_47_47--with_future_img--episode=7--success=True--task=put_the_cream_cheese_in_the_bowl.mp4
+Success: True
+# episodes completed so far: 7
+# successes: 5 (71.4%)
+
+Task: put the cream cheese in the bowl
+Starting episode 8...
+Query 1/1: Action query time = 2.879 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4962
+t=10: Selected seed 195 with value = 0.4962
+Query 1/1: Action query time = 3.708 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5322
+t=26: Selected seed 195 with value = 0.5322
+Query 1/1: Action query time = 3.307 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6836
+t=42: Selected seed 195 with value = 0.6836
+Query 1/1: Action query time = 2.770 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7993
+t=58: Selected seed 195 with value = 0.7993
+Query 1/1: Action query time = 4.466 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9019
+t=74: Selected seed 195 with value = 0.9019
+Query 1/1: Action query time = 3.318 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9913
+t=90: Selected seed 195 with value = 0.9913
+Saved rollout MP4 at path ./rollouts/t7dc800x50_t6_s1/2026_08_03-01_47_47--with_future_img--episode=8--success=True--task=put_the_cream_cheese_in_the_bowl.mp4
+Success: True
+# episodes completed so far: 8
+# successes: 6 (75.0%)
+
+Task: put the cream cheese in the bowl
+Starting episode 9...
+Query 1/1: Action query time = 4.290 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4823
+t=10: Selected seed 195 with value = 0.4823
+Query 1/1: Action query time = 5.003 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5421
+t=26: Selected seed 195 with value = 0.5421
+Query 1/1: Action query time = 2.435 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6797
+t=42: Selected seed 195 with value = 0.6797
+Query 1/1: Action query time = 3.857 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7601
+t=58: Selected seed 195 with value = 0.7601
+Query 1/1: Action query time = 3.311 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9151
+t=74: Selected seed 195 with value = 0.9151
+Query 1/1: Action query time = 3.996 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9927
+t=90: Selected seed 195 with value = 0.9927
+Query 1/1: Action query time = 4.588 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9929
+t=106: Selected seed 195 with value = 0.9929
+Query 1/1: Action query time = 3.574 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9974
+t=122: Selected seed 195 with value = 0.9974
+Query 1/1: Action query time = 3.199 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9921
+t=138: Selected seed 195 with value = 0.9921
+Query 1/1: Action query time = 3.327 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9584
+t=154: Selected seed 195 with value = 0.9584
+Query 1/1: Action query time = 4.186 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9843
+t=170: Selected seed 195 with value = 0.9843
+Query 1/1: Action query time = 4.910 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9866
+t=186: Selected seed 195 with value = 0.9866
+Query 1/1: Action query time = 5.186 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9753
+t=202: Selected seed 195 with value = 0.9753
+Query 1/1: Action query time = 4.550 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9818
+t=218: Selected seed 195 with value = 0.9818
+Query 1/1: Action query time = 4.098 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9517
+t=234: Selected seed 195 with value = 0.9517
+Query 1/1: Action query time = 3.240 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9452
+t=250: Selected seed 195 with value = 0.9452
+Query 1/1: Action query time = 2.899 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9779
+t=266: Selected seed 195 with value = 0.9779
+Query 1/1: Action query time = 3.323 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9842
+t=282: Selected seed 195 with value = 0.9842
+Query 1/1: Action query time = 2.066 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9508
+t=298: Selected seed 195 with value = 0.9508
+Saved rollout MP4 at path ./rollouts/t7dc800x50_t6_s1/2026_08_03-01_47_47--with_future_img--episode=9--success=False--task=put_the_cream_cheese_in_the_bowl.mp4
+Success: False
+# episodes completed so far: 9
+# successes: 6 (66.7%)
+
+Task: put the cream cheese in the bowl
+Starting episode 10...
+Query 1/1: Action query time = 4.261 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4866
+t=10: Selected seed 195 with value = 0.4866
+Query 1/1: Action query time = 4.275 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5620
+t=26: Selected seed 195 with value = 0.5620
+Query 1/1: Action query time = 3.557 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4985
+t=42: Selected seed 195 with value = 0.4985
+Query 1/1: Action query time = 3.523 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7878
+t=58: Selected seed 195 with value = 0.7878
+Query 1/1: Action query time = 3.335 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6615
+t=74: Selected seed 195 with value = 0.6615
+Query 1/1: Action query time = 3.591 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8120
+t=90: Selected seed 195 with value = 0.8120
+Query 1/1: Action query time = 4.446 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8560
+t=106: Selected seed 195 with value = 0.8560
+Query 1/1: Action query time = 4.331 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9163
+t=122: Selected seed 195 with value = 0.9163
+Query 1/1: Action query time = 4.596 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9651
+t=138: Selected seed 195 with value = 0.9651
+Query 1/1: Action query time = 3.789 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9885
+t=154: Selected seed 195 with value = 0.9885
+Query 1/1: Action query time = 3.147 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9943
+t=170: Selected seed 195 with value = 0.9943
+Query 1/1: Action query time = 2.373 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9937
+t=186: Selected seed 195 with value = 0.9937
+Query 1/1: Action query time = 3.504 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9878
+t=202: Selected seed 195 with value = 0.9878
+Query 1/1: Action query time = 3.094 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9806
+t=218: Selected seed 195 with value = 0.9806
+Query 1/1: Action query time = 3.023 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9665
+t=234: Selected seed 195 with value = 0.9665
+Query 1/1: Action query time = 2.814 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9596
+t=250: Selected seed 195 with value = 0.9596
+Query 1/1: Action query time = 2.287 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9250
+t=266: Selected seed 195 with value = 0.9250
+Query 1/1: Action query time = 3.398 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9325
+t=282: Selected seed 195 with value = 0.9325
+Query 1/1: Action query time = 2.424 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9333
+t=298: Selected seed 195 with value = 0.9333
+Saved rollout MP4 at path ./rollouts/t7dc800x50_t6_s1/2026_08_03-01_47_47--with_future_img--episode=10--success=False--task=put_the_cream_cheese_in_the_bowl.mp4
+Success: False
+# episodes completed so far: 10
+# successes: 6 (60.0%)
+
+Task: put the cream cheese in the bowl
+Starting episode 11...
+Query 1/1: Action query time = 3.875 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4824
+t=10: Selected seed 195 with value = 0.4824
+Query 1/1: Action query time = 4.045 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5941
+t=26: Selected seed 195 with value = 0.5941
+Query 1/1: Action query time = 2.898 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6305
+t=42: Selected seed 195 with value = 0.6305
+Query 1/1: Action query time = 3.492 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8490
+t=58: Selected seed 195 with value = 0.8490
+Query 1/1: Action query time = 3.346 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9817
+t=74: Selected seed 195 with value = 0.9817
+Saved rollout MP4 at path ./rollouts/t7dc800x50_t6_s1/2026_08_03-01_47_47--with_future_img--episode=11--success=True--task=put_the_cream_cheese_in_the_bowl.mp4
+Success: True
+# episodes completed so far: 11
+# successes: 7 (63.6%)
+
+Task: put the cream cheese in the bowl
+Starting episode 12...
+Query 1/1: Action query time = 2.845 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5508
+t=10: Selected seed 195 with value = 0.5508
+Query 1/1: Action query time = 1.906 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6371
+t=26: Selected seed 195 with value = 0.6371
+Query 1/1: Action query time = 2.814 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7064
+t=42: Selected seed 195 with value = 0.7064
+Query 1/1: Action query time = 2.086 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8275
+t=58: Selected seed 195 with value = 0.8275
+Query 1/1: Action query time = 1.548 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9357
+t=74: Selected seed 195 with value = 0.9357
+Query 1/1: Action query time = 2.356 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9744
+t=90: Selected seed 195 with value = 0.9744
+Query 1/1: Action query time = 1.833 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9665
+t=106: Selected seed 195 with value = 0.9665
+Query 1/1: Action query time = 2.545 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9883
+t=122: Selected seed 195 with value = 0.9883
+Query 1/1: Action query time = 1.870 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9868
+t=138: Selected seed 195 with value = 0.9868
+Query 1/1: Action query time = 2.251 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9637
+t=154: Selected seed 195 with value = 0.9637
+Query 1/1: Action query time = 2.523 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8927
+t=170: Selected seed 195 with value = 0.8927
+Query 1/1: Action query time = 3.618 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9736
+t=186: Selected seed 195 with value = 0.9736
+Query 1/1: Action query time = 3.268 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8684
+t=202: Selected seed 195 with value = 0.8684
+Query 1/1: Action query time = 2.398 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9349
+t=218: Selected seed 195 with value = 0.9349
+Query 1/1: Action query time = 2.455 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8492
+t=234: Selected seed 195 with value = 0.8492
+Query 1/1: Action query time = 2.839 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9495
+t=250: Selected seed 195 with value = 0.9495
+Query 1/1: Action query time = 3.514 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8602
+t=266: Selected seed 195 with value = 0.8602
+Query 1/1: Action query time = 3.050 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9578
+t=282: Selected seed 195 with value = 0.9578
+Query 1/1: Action query time = 1.660 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9295
+t=298: Selected seed 195 with value = 0.9295
+Saved rollout MP4 at path ./rollouts/t7dc800x50_t6_s1/2026_08_03-01_47_47--with_future_img--episode=12--success=False--task=put_the_cream_cheese_in_the_bowl.mp4
+Success: False
+# episodes completed so far: 12
+# successes: 7 (58.3%)
+
+Task: put the cream cheese in the bowl
+Starting episode 13...
+Query 1/1: Action query time = 2.255 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5202
+t=10: Selected seed 195 with value = 0.5202
+Query 1/1: Action query time = 2.174 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5833
+t=26: Selected seed 195 with value = 0.5833
+Query 1/1: Action query time = 2.160 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6480
+t=42: Selected seed 195 with value = 0.6480
+Query 1/1: Action query time = 2.126 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7624
+t=58: Selected seed 195 with value = 0.7624
+Query 1/1: Action query time = 2.212 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9294
+t=74: Selected seed 195 with value = 0.9294
+Query 1/1: Action query time = 2.554 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 3.345 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9440
+t=106: Selected seed 195 with value = 0.9440
+Query 1/1: Action query time = 2.102 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8926
+t=122: Selected seed 195 with value = 0.8926
+Query 1/1: Action query time = 2.894 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9001
+t=138: Selected seed 195 with value = 0.9001
+Query 1/1: Action query time = 4.182 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9978
+t=154: Selected seed 195 with value = 0.9978
+Query 1/1: Action query time = 2.090 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8774
+t=170: Selected seed 195 with value = 0.8774
+Query 1/1: Action query time = 3.095 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9347
+t=186: Selected seed 195 with value = 0.9347
+Query 1/1: Action query time = 2.489 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9387
+t=202: Selected seed 195 with value = 0.9387
+Query 1/1: Action query time = 2.562 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9817
+t=218: Selected seed 195 with value = 0.9817
+Query 1/1: Action query time = 2.384 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9987
+t=234: Selected seed 195 with value = 0.9987
+Query 1/1: Action query time = 2.883 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9919
+t=250: Selected seed 195 with value = 0.9919
+Query 1/1: Action query time = 2.712 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9273
+t=266: Selected seed 195 with value = 0.9273
+Query 1/1: Action query time = 2.928 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8726
+t=282: Selected seed 195 with value = 0.8726
+Query 1/1: Action query time = 2.616 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8710
+t=298: Selected seed 195 with value = 0.8710
+Saved rollout MP4 at path ./rollouts/t7dc800x50_t6_s1/2026_08_03-01_47_47--with_future_img--episode=13--success=False--task=put_the_cream_cheese_in_the_bowl.mp4
+Success: False
+# episodes completed so far: 13
+# successes: 7 (53.8%)
+Current task success rate: 0.5384615384615384
+Current total success rate: 0.5384615384615384
+Final results:
+Total episodes: 13
+Total successes: 7
+Overall success rate: 0.5385 (53.8%)
diff --git a/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_03-01_47_47--t7dc800x50_t7_s3.txt b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_03-01_47_47--t7dc800x50_t7_s3.txt
new file mode 100644
index 0000000000000000000000000000000000000000..c3b09667ecf6c04376fc22ce90c46b40f97669f3
--- /dev/null
+++ b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_03-01_47_47--t7dc800x50_t7_s3.txt
@@ -0,0 +1,348 @@
+Eval config: PolicyEvalConfig(suite='libero', model_family='cosmos', config='cosmos_predict2_2b_480p_libero_cl_stage_inference_only', ckpt_path='/home/azureuser/REGEN-main/new_task7/cosmos_policy/cosmos_v2_finetune/cosmos_predict2_2b_480p_libero_goal_task7_cl_from_demochan800_2gpu/checkpoints/iter_000000800/model', planning_model_config_name='', planning_model_ckpt_path='', config_file='cosmos_policy/config/config.py', packnet_mask_path='', packnet_first_cl_libero_task=6, use_third_person_image=True, num_third_person_images=1, use_wrist_image=True, num_wrist_images=1, use_proprio=True, flip_images=True, use_variance_scale=False, use_jpeg_compression=True, ar_future_prediction=False, ar_value_prediction=False, ar_qvalue_prediction=False, num_denoising_steps_action=5, num_denoising_steps_future_state=1, num_denoising_steps_value=1, unnormalize_actions=True, normalize_proprio=True, dataset_stats_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/libero_goal_regen/dataset_statistics.json', t5_text_embeddings_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/t5_embeddings.pkl', trained_with_image_aug=True, chunk_size=16, num_open_loop_steps=16, deterministic=True, deterministic_reset=False, deterministic_reset_seed=None, use_ensemble_future_state_predictions=False, num_future_state_predictions_in_ensemble=3, future_state_ensemble_aggregation_scheme='average', use_ensemble_value_predictions=False, num_value_predictions_in_ensemble=5, value_ensemble_aggregation_scheme='average', search_depth=1, mask_current_state_action_for_value_prediction=False, mask_future_state_for_qvalue_prediction=False, num_queries_best_of_n=1, use_parallel_inference=False, available_gpus='0', parallel_timeout=15, parallel_tasks_across_gpus=False, task_suite_name='libero_goal', num_trials_per_task=50, task_ids_to_run='7', initial_states_path='DEFAULT', env_img_res=256, local_log_dir='/home/azureuser/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal', run_id_note='t7dc800x50_t7_s3', use_wandb=False, wandb_entity='YOUR_ENTITY', wandb_project='YOUR_PROJECT', seed=195, randomize_seed=False, data_collection=False, jpeg_compress=True, reward_stop_threshold=None, reward_stop_consecutive_steps=3, use_gpt_reward=False, gpt_reward_model='gpt-5.4-mini', gpt_reward_stop_threshold=4, gpt_reward_timeout_s=30.0, save_rollout_video=False, eval_hdf5_path='', eval_hdf5_demo_key='demo_0', data_gen_demo_ids='', eval_episode_ids='3,7,11,15,19,23,27,31,35,39,43,47', replay_actions=False, replay_action_path_dir='', replay_hdf5_path='', data_generation=False, max_generation_steps=200, simple_task_max_steps=100, complex_task_max_steps=200, disable_value_stop=False)
+Using serial inference (parallel inference disabled)
+Task suite: libero_goal
+Number of tasks: 10
+Running only task IDs: [7]
+Using default initial states
+
+Task: turn on the stove
+Starting episode 1...
+Query 1/1: Action query time = 7.637 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4911
+t=10: Selected seed 195 with value = 0.4911
+Query 1/1: Action query time = 4.962 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6167
+t=26: Selected seed 195 with value = 0.6167
+Query 1/1: Action query time = 4.837 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6585
+t=42: Selected seed 195 with value = 0.6585
+Query 1/1: Action query time = 5.927 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7806
+t=58: Selected seed 195 with value = 0.7806
+Query 1/1: Action query time = 5.238 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9253
+t=74: Selected seed 195 with value = 0.9253
+Saved rollout MP4 at path ./rollouts/t7dc800x50_t7_s3/2026_08_03-01_47_47--with_future_img--episode=1--success=True--task=turn_on_the_stove.mp4
+Success: True
+# episodes completed so far: 1
+# successes: 1 (100.0%)
+
+Task: turn on the stove
+Starting episode 2...
+Query 1/1: Action query time = 2.435 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4712
+t=10: Selected seed 195 with value = 0.4712
+Query 1/1: Action query time = 5.444 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5657
+t=26: Selected seed 195 with value = 0.5657
+Query 1/1: Action query time = 6.043 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6862
+t=42: Selected seed 195 with value = 0.6862
+Query 1/1: Action query time = 5.524 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7810
+t=58: Selected seed 195 with value = 0.7810
+Query 1/1: Action query time = 6.792 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9084
+t=74: Selected seed 195 with value = 0.9084
+Saved rollout MP4 at path ./rollouts/t7dc800x50_t7_s3/2026_08_03-01_47_47--with_future_img--episode=2--success=True--task=turn_on_the_stove.mp4
+Success: True
+# episodes completed so far: 2
+# successes: 2 (100.0%)
+
+Task: turn on the stove
+Starting episode 3...
+Query 1/1: Action query time = 4.831 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4741
+t=10: Selected seed 195 with value = 0.4741
+Query 1/1: Action query time = 6.474 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5647
+t=26: Selected seed 195 with value = 0.5647
+Query 1/1: Action query time = 5.408 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6652
+t=42: Selected seed 195 with value = 0.6652
+Query 1/1: Action query time = 5.733 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7656
+t=58: Selected seed 195 with value = 0.7656
+Query 1/1: Action query time = 3.961 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8924
+t=74: Selected seed 195 with value = 0.8924
+Saved rollout MP4 at path ./rollouts/t7dc800x50_t7_s3/2026_08_03-01_47_47--with_future_img--episode=3--success=True--task=turn_on_the_stove.mp4
+Success: True
+# episodes completed so far: 3
+# successes: 3 (100.0%)
+
+Task: turn on the stove
+Starting episode 4...
+Query 1/1: Action query time = 6.409 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5184
+t=10: Selected seed 195 with value = 0.5184
+Query 1/1: Action query time = 4.961 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6068
+t=26: Selected seed 195 with value = 0.6068
+Query 1/1: Action query time = 4.548 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6745
+t=42: Selected seed 195 with value = 0.6745
+Query 1/1: Action query time = 6.012 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7999
+t=58: Selected seed 195 with value = 0.7999
+Query 1/1: Action query time = 5.955 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9413
+t=74: Selected seed 195 with value = 0.9413
+Saved rollout MP4 at path ./rollouts/t7dc800x50_t7_s3/2026_08_03-01_47_47--with_future_img--episode=4--success=True--task=turn_on_the_stove.mp4
+Success: True
+# episodes completed so far: 4
+# successes: 4 (100.0%)
+
+Task: turn on the stove
+Starting episode 5...
+Query 1/1: Action query time = 4.332 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4953
+t=10: Selected seed 195 with value = 0.4953
+Query 1/1: Action query time = 5.230 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5813
+t=26: Selected seed 195 with value = 0.5813
+Query 1/1: Action query time = 5.018 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6697
+t=42: Selected seed 195 with value = 0.6697
+Query 1/1: Action query time = 5.371 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7755
+t=58: Selected seed 195 with value = 0.7755
+Query 1/1: Action query time = 4.629 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9266
+t=74: Selected seed 195 with value = 0.9266
+Saved rollout MP4 at path ./rollouts/t7dc800x50_t7_s3/2026_08_03-01_47_47--with_future_img--episode=5--success=True--task=turn_on_the_stove.mp4
+Success: True
+# episodes completed so far: 5
+# successes: 5 (100.0%)
+
+Task: turn on the stove
+Starting episode 6...
+Query 1/1: Action query time = 6.137 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4839
+t=10: Selected seed 195 with value = 0.4839
+Query 1/1: Action query time = 6.339 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5566
+t=26: Selected seed 195 with value = 0.5566
+Query 1/1: Action query time = 4.067 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6663
+t=42: Selected seed 195 with value = 0.6663
+Query 1/1: Action query time = 5.457 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7788
+t=58: Selected seed 195 with value = 0.7788
+Query 1/1: Action query time = 4.097 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9191
+t=74: Selected seed 195 with value = 0.9191
+Saved rollout MP4 at path ./rollouts/t7dc800x50_t7_s3/2026_08_03-01_47_47--with_future_img--episode=6--success=True--task=turn_on_the_stove.mp4
+Success: True
+# episodes completed so far: 6
+# successes: 6 (100.0%)
+
+Task: turn on the stove
+Starting episode 7...
+Query 1/1: Action query time = 5.565 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4807
+t=10: Selected seed 195 with value = 0.4807
+Query 1/1: Action query time = 5.181 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5635
+t=26: Selected seed 195 with value = 0.5635
+Query 1/1: Action query time = 4.677 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6514
+t=42: Selected seed 195 with value = 0.6514
+Query 1/1: Action query time = 4.725 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7352
+t=58: Selected seed 195 with value = 0.7352
+Query 1/1: Action query time = 4.917 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8883
+t=74: Selected seed 195 with value = 0.8883
+Query 1/1: Action query time = 4.910 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/t7dc800x50_t7_s3/2026_08_03-01_47_47--with_future_img--episode=7--success=True--task=turn_on_the_stove.mp4
+Success: True
+# episodes completed so far: 7
+# successes: 7 (100.0%)
+
+Task: turn on the stove
+Starting episode 8...
+Query 1/1: Action query time = 5.878 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5058
+t=10: Selected seed 195 with value = 0.5058
+Query 1/1: Action query time = 4.751 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5611
+t=26: Selected seed 195 with value = 0.5611
+Query 1/1: Action query time = 4.720 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6248
+t=42: Selected seed 195 with value = 0.6248
+Query 1/1: Action query time = 4.610 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7435
+t=58: Selected seed 195 with value = 0.7435
+Query 1/1: Action query time = 6.476 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8639
+t=74: Selected seed 195 with value = 0.8639
+Query 1/1: Action query time = 5.936 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9977
+t=90: Selected seed 195 with value = 0.9977
+Saved rollout MP4 at path ./rollouts/t7dc800x50_t7_s3/2026_08_03-01_47_47--with_future_img--episode=8--success=True--task=turn_on_the_stove.mp4
+Success: True
+# episodes completed so far: 8
+# successes: 8 (100.0%)
+
+Task: turn on the stove
+Starting episode 9...
+Query 1/1: Action query time = 6.352 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5200
+t=10: Selected seed 195 with value = 0.5200
+Query 1/1: Action query time = 4.358 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5945
+t=26: Selected seed 195 with value = 0.5945
+Query 1/1: Action query time = 4.543 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6695
+t=42: Selected seed 195 with value = 0.6695
+Query 1/1: Action query time = 4.802 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7984
+t=58: Selected seed 195 with value = 0.7984
+Query 1/1: Action query time = 3.853 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9421
+t=74: Selected seed 195 with value = 0.9421
+Saved rollout MP4 at path ./rollouts/t7dc800x50_t7_s3/2026_08_03-01_47_47--with_future_img--episode=9--success=True--task=turn_on_the_stove.mp4
+Success: True
+# episodes completed so far: 9
+# successes: 9 (100.0%)
+
+Task: turn on the stove
+Starting episode 10...
+Query 1/1: Action query time = 6.388 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5067
+t=10: Selected seed 195 with value = 0.5067
+Query 1/1: Action query time = 4.901 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5970
+t=26: Selected seed 195 with value = 0.5970
+Query 1/1: Action query time = 3.638 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7043
+t=42: Selected seed 195 with value = 0.7043
+Query 1/1: Action query time = 6.472 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7957
+t=58: Selected seed 195 with value = 0.7957
+Query 1/1: Action query time = 5.640 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9459
+t=74: Selected seed 195 with value = 0.9459
+Saved rollout MP4 at path ./rollouts/t7dc800x50_t7_s3/2026_08_03-01_47_47--with_future_img--episode=10--success=True--task=turn_on_the_stove.mp4
+Success: True
+# episodes completed so far: 10
+# successes: 10 (100.0%)
+
+Task: turn on the stove
+Starting episode 11...
+Query 1/1: Action query time = 5.185 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4944
+t=10: Selected seed 195 with value = 0.4944
+Query 1/1: Action query time = 5.021 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5583
+t=26: Selected seed 195 with value = 0.5583
+Query 1/1: Action query time = 4.763 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6666
+t=42: Selected seed 195 with value = 0.6666
+Query 1/1: Action query time = 5.729 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7117
+t=58: Selected seed 195 with value = 0.7117
+Query 1/1: Action query time = 6.110 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9016
+t=74: Selected seed 195 with value = 0.9016
+Query 1/1: Action query time = 5.183 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/t7dc800x50_t7_s3/2026_08_03-01_47_47--with_future_img--episode=11--success=True--task=turn_on_the_stove.mp4
+Success: True
+# episodes completed so far: 11
+# successes: 11 (100.0%)
+
+Task: turn on the stove
+Starting episode 12...
+Query 1/1: Action query time = 4.037 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5256
+t=10: Selected seed 195 with value = 0.5256
+Query 1/1: Action query time = 4.339 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5785
+t=26: Selected seed 195 with value = 0.5785
+Query 1/1: Action query time = 5.434 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6549
+t=42: Selected seed 195 with value = 0.6549
+Query 1/1: Action query time = 5.898 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7632
+t=58: Selected seed 195 with value = 0.7632
+Query 1/1: Action query time = 5.409 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8611
+t=74: Selected seed 195 with value = 0.8611
+Saved rollout MP4 at path ./rollouts/t7dc800x50_t7_s3/2026_08_03-01_47_47--with_future_img--episode=12--success=True--task=turn_on_the_stove.mp4
+Success: True
+# episodes completed so far: 12
+# successes: 12 (100.0%)
+Current task success rate: 1.0
+Current total success rate: 1.0
+Final results:
+Total episodes: 12
+Total successes: 12
+Overall success rate: 1.0000 (100.0%)
diff --git a/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_03-01_47_47--t7rc800x50_t6_s0.txt b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_03-01_47_47--t7rc800x50_t6_s0.txt
new file mode 100644
index 0000000000000000000000000000000000000000..ea4a0845bc71ba3dc078ff75937cbd17dd6a2972
--- /dev/null
+++ b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_03-01_47_47--t7rc800x50_t6_s0.txt
@@ -0,0 +1,847 @@
+Eval config: PolicyEvalConfig(suite='libero', model_family='cosmos', config='cosmos_predict2_2b_480p_libero_cl_stage_inference_only', ckpt_path='/home/azureuser/REGEN-main/new_task7/cosmos_policy/cosmos_v2_finetune/cosmos_predict2_2b_480p_libero_goal_task7_cl_from_realcl800_2gpu/checkpoints/iter_000000800/model', planning_model_config_name='', planning_model_ckpt_path='', config_file='cosmos_policy/config/config.py', packnet_mask_path='', packnet_first_cl_libero_task=6, use_third_person_image=True, num_third_person_images=1, use_wrist_image=True, num_wrist_images=1, use_proprio=True, flip_images=True, use_variance_scale=False, use_jpeg_compression=True, ar_future_prediction=False, ar_value_prediction=False, ar_qvalue_prediction=False, num_denoising_steps_action=5, num_denoising_steps_future_state=1, num_denoising_steps_value=1, unnormalize_actions=True, normalize_proprio=True, dataset_stats_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/libero_goal_regen/dataset_statistics.json', t5_text_embeddings_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/t5_embeddings.pkl', trained_with_image_aug=True, chunk_size=16, num_open_loop_steps=16, deterministic=True, deterministic_reset=False, deterministic_reset_seed=None, use_ensemble_future_state_predictions=False, num_future_state_predictions_in_ensemble=3, future_state_ensemble_aggregation_scheme='average', use_ensemble_value_predictions=False, num_value_predictions_in_ensemble=5, value_ensemble_aggregation_scheme='average', search_depth=1, mask_current_state_action_for_value_prediction=False, mask_future_state_for_qvalue_prediction=False, num_queries_best_of_n=1, use_parallel_inference=False, available_gpus='0', parallel_timeout=15, parallel_tasks_across_gpus=False, task_suite_name='libero_goal', num_trials_per_task=50, task_ids_to_run='6', initial_states_path='DEFAULT', env_img_res=256, local_log_dir='/home/azureuser/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal', run_id_note='t7rc800x50_t6_s0', use_wandb=False, wandb_entity='YOUR_ENTITY', wandb_project='YOUR_PROJECT', seed=195, randomize_seed=False, data_collection=False, jpeg_compress=True, reward_stop_threshold=None, reward_stop_consecutive_steps=3, use_gpt_reward=False, gpt_reward_model='gpt-5.4-mini', gpt_reward_stop_threshold=4, gpt_reward_timeout_s=30.0, save_rollout_video=False, eval_hdf5_path='', eval_hdf5_demo_key='demo_0', data_gen_demo_ids='', eval_episode_ids='0,4,8,12,16,20,24,28,32,36,40,44,48', replay_actions=False, replay_action_path_dir='', replay_hdf5_path='', data_generation=False, max_generation_steps=200, simple_task_max_steps=100, complex_task_max_steps=200, disable_value_stop=False)
+Using serial inference (parallel inference disabled)
+Task suite: libero_goal
+Number of tasks: 10
+Running only task IDs: [6]
+Using default initial states
+
+Task: put the cream cheese in the bowl
+Starting episode 1...
+Query 1/1: Action query time = 8.161 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4568
+t=10: Selected seed 195 with value = 0.4568
+Query 1/1: Action query time = 5.788 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5687
+t=26: Selected seed 195 with value = 0.5687
+Query 1/1: Action query time = 4.996 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6889
+t=42: Selected seed 195 with value = 0.6889
+Query 1/1: Action query time = 5.324 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7819
+t=58: Selected seed 195 with value = 0.7819
+Query 1/1: Action query time = 5.724 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9026
+t=74: Selected seed 195 with value = 0.9026
+Query 1/1: Action query time = 5.322 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9981
+t=90: Selected seed 195 with value = 0.9981
+Query 1/1: Action query time = 2.811 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=106: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 6.930 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=122: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 6.605 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9575
+t=138: Selected seed 195 with value = 0.9575
+Query 1/1: Action query time = 4.610 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9705
+t=154: Selected seed 195 with value = 0.9705
+Query 1/1: Action query time = 4.739 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9871
+t=170: Selected seed 195 with value = 0.9871
+Query 1/1: Action query time = 6.295 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=186: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 5.597 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9950
+t=202: Selected seed 195 with value = 0.9950
+Query 1/1: Action query time = 5.207 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9869
+t=218: Selected seed 195 with value = 0.9869
+Query 1/1: Action query time = 5.256 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=234: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.361 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9855
+t=250: Selected seed 195 with value = 0.9855
+Query 1/1: Action query time = 5.689 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9647
+t=266: Selected seed 195 with value = 0.9647
+Query 1/1: Action query time = 5.356 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9210
+t=282: Selected seed 195 with value = 0.9210
+Query 1/1: Action query time = 5.739 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9174
+t=298: Selected seed 195 with value = 0.9174
+Saved rollout MP4 at path ./rollouts/t7rc800x50_t6_s0/2026_08_03-01_47_47--with_future_img--episode=1--success=False--task=put_the_cream_cheese_in_the_bowl.mp4
+Success: False
+# episodes completed so far: 1
+# successes: 0 (0.0%)
+
+Task: put the cream cheese in the bowl
+Starting episode 2...
+Query 1/1: Action query time = 5.704 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5255
+t=10: Selected seed 195 with value = 0.5255
+Query 1/1: Action query time = 6.654 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6301
+t=26: Selected seed 195 with value = 0.6301
+Query 1/1: Action query time = 5.094 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7283
+t=42: Selected seed 195 with value = 0.7283
+Query 1/1: Action query time = 3.197 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7407
+t=58: Selected seed 195 with value = 0.7407
+Query 1/1: Action query time = 4.584 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7490
+t=74: Selected seed 195 with value = 0.7490
+Query 1/1: Action query time = 5.027 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8175
+t=90: Selected seed 195 with value = 0.8175
+Query 1/1: Action query time = 4.240 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9000
+t=106: Selected seed 195 with value = 0.9000
+Query 1/1: Action query time = 5.453 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8834
+t=122: Selected seed 195 with value = 0.8834
+Query 1/1: Action query time = 5.877 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9695
+t=138: Selected seed 195 with value = 0.9695
+Query 1/1: Action query time = 5.371 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9970
+t=154: Selected seed 195 with value = 0.9970
+Query 1/1: Action query time = 3.324 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=170: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 5.395 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9897
+t=186: Selected seed 195 with value = 0.9897
+Query 1/1: Action query time = 5.621 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8538
+t=202: Selected seed 195 with value = 0.8538
+Query 1/1: Action query time = 5.508 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9421
+t=218: Selected seed 195 with value = 0.9421
+Query 1/1: Action query time = 4.464 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9787
+t=234: Selected seed 195 with value = 0.9787
+Query 1/1: Action query time = 4.403 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9968
+t=250: Selected seed 195 with value = 0.9968
+Query 1/1: Action query time = 4.428 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9964
+t=266: Selected seed 195 with value = 0.9964
+Query 1/1: Action query time = 5.012 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9805
+t=282: Selected seed 195 with value = 0.9805
+Query 1/1: Action query time = 5.448 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9494
+t=298: Selected seed 195 with value = 0.9494
+Saved rollout MP4 at path ./rollouts/t7rc800x50_t6_s0/2026_08_03-01_47_47--with_future_img--episode=2--success=False--task=put_the_cream_cheese_in_the_bowl.mp4
+Success: False
+# episodes completed so far: 2
+# successes: 0 (0.0%)
+
+Task: put the cream cheese in the bowl
+Starting episode 3...
+Query 1/1: Action query time = 5.045 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4683
+t=10: Selected seed 195 with value = 0.4683
+Query 1/1: Action query time = 5.412 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5333
+t=26: Selected seed 195 with value = 0.5333
+Query 1/1: Action query time = 4.502 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6696
+t=42: Selected seed 195 with value = 0.6696
+Query 1/1: Action query time = 3.735 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7483
+t=58: Selected seed 195 with value = 0.7483
+Query 1/1: Action query time = 5.287 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8934
+t=74: Selected seed 195 with value = 0.8934
+Query 1/1: Action query time = 4.201 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9504
+t=90: Selected seed 195 with value = 0.9504
+Query 1/1: Action query time = 4.246 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9943
+t=106: Selected seed 195 with value = 0.9943
+Query 1/1: Action query time = 4.488 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9871
+t=122: Selected seed 195 with value = 0.9871
+Query 1/1: Action query time = 4.330 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9871
+t=138: Selected seed 195 with value = 0.9871
+Query 1/1: Action query time = 3.881 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9767
+t=154: Selected seed 195 with value = 0.9767
+Query 1/1: Action query time = 6.451 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9649
+t=170: Selected seed 195 with value = 0.9649
+Query 1/1: Action query time = 5.321 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9428
+t=186: Selected seed 195 with value = 0.9428
+Query 1/1: Action query time = 5.198 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9802
+t=202: Selected seed 195 with value = 0.9802
+Query 1/1: Action query time = 5.750 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=218: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.829 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9698
+t=234: Selected seed 195 with value = 0.9698
+Query 1/1: Action query time = 5.212 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=250: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.694 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9962
+t=266: Selected seed 195 with value = 0.9962
+Query 1/1: Action query time = 6.194 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=282: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 5.116 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9904
+t=298: Selected seed 195 with value = 0.9904
+Saved rollout MP4 at path ./rollouts/t7rc800x50_t6_s0/2026_08_03-01_47_47--with_future_img--episode=3--success=False--task=put_the_cream_cheese_in_the_bowl.mp4
+Success: False
+# episodes completed so far: 3
+# successes: 0 (0.0%)
+
+Task: put the cream cheese in the bowl
+Starting episode 4...
+Query 1/1: Action query time = 4.120 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4692
+t=10: Selected seed 195 with value = 0.4692
+Query 1/1: Action query time = 5.599 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5423
+t=26: Selected seed 195 with value = 0.5423
+Query 1/1: Action query time = 4.133 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6771
+t=42: Selected seed 195 with value = 0.6771
+Query 1/1: Action query time = 5.231 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6766
+t=58: Selected seed 195 with value = 0.6766
+Query 1/1: Action query time = 5.957 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8772
+t=74: Selected seed 195 with value = 0.8772
+Query 1/1: Action query time = 5.726 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9905
+t=90: Selected seed 195 with value = 0.9905
+Query 1/1: Action query time = 5.278 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9916
+t=106: Selected seed 195 with value = 0.9916
+Query 1/1: Action query time = 4.794 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9918
+t=122: Selected seed 195 with value = 0.9918
+Query 1/1: Action query time = 5.892 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9908
+t=138: Selected seed 195 with value = 0.9908
+Query 1/1: Action query time = 5.282 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9715
+t=154: Selected seed 195 with value = 0.9715
+Query 1/1: Action query time = 4.340 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9774
+t=170: Selected seed 195 with value = 0.9774
+Query 1/1: Action query time = 3.496 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=186: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.427 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=202: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.886 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9876
+t=218: Selected seed 195 with value = 0.9876
+Query 1/1: Action query time = 4.725 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=234: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 3.832 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9979
+t=250: Selected seed 195 with value = 0.9979
+Query 1/1: Action query time = 2.155 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9903
+t=266: Selected seed 195 with value = 0.9903
+Query 1/1: Action query time = 2.967 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9835
+t=282: Selected seed 195 with value = 0.9835
+Query 1/1: Action query time = 4.355 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9991
+t=298: Selected seed 195 with value = 0.9991
+Saved rollout MP4 at path ./rollouts/t7rc800x50_t6_s0/2026_08_03-01_47_47--with_future_img--episode=4--success=False--task=put_the_cream_cheese_in_the_bowl.mp4
+Success: False
+# episodes completed so far: 4
+# successes: 0 (0.0%)
+
+Task: put the cream cheese in the bowl
+Starting episode 5...
+Query 1/1: Action query time = 4.493 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4736
+t=10: Selected seed 195 with value = 0.4736
+Query 1/1: Action query time = 2.716 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5623
+t=26: Selected seed 195 with value = 0.5623
+Query 1/1: Action query time = 4.097 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6836
+t=42: Selected seed 195 with value = 0.6836
+Query 1/1: Action query time = 3.706 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7774
+t=58: Selected seed 195 with value = 0.7774
+Query 1/1: Action query time = 3.557 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9183
+t=74: Selected seed 195 with value = 0.9183
+Query 1/1: Action query time = 3.069 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9854
+t=90: Selected seed 195 with value = 0.9854
+Query 1/1: Action query time = 2.935 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9881
+t=106: Selected seed 195 with value = 0.9881
+Query 1/1: Action query time = 4.139 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9734
+t=122: Selected seed 195 with value = 0.9734
+Query 1/1: Action query time = 3.238 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9377
+t=138: Selected seed 195 with value = 0.9377
+Saved rollout MP4 at path ./rollouts/t7rc800x50_t6_s0/2026_08_03-01_47_47--with_future_img--episode=5--success=True--task=put_the_cream_cheese_in_the_bowl.mp4
+Success: True
+# episodes completed so far: 5
+# successes: 1 (20.0%)
+
+Task: put the cream cheese in the bowl
+Starting episode 6...
+Query 1/1: Action query time = 2.848 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4873
+t=10: Selected seed 195 with value = 0.4873
+Query 1/1: Action query time = 3.705 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5547
+t=26: Selected seed 195 with value = 0.5547
+Query 1/1: Action query time = 2.684 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6652
+t=42: Selected seed 195 with value = 0.6652
+Query 1/1: Action query time = 2.511 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7813
+t=58: Selected seed 195 with value = 0.7813
+Query 1/1: Action query time = 2.367 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8890
+t=74: Selected seed 195 with value = 0.8890
+Query 1/1: Action query time = 3.712 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9800
+t=90: Selected seed 195 with value = 0.9800
+Query 1/1: Action query time = 3.537 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=106: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.310 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9910
+t=122: Selected seed 195 with value = 0.9910
+Query 1/1: Action query time = 2.989 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9897
+t=138: Selected seed 195 with value = 0.9897
+Query 1/1: Action query time = 2.566 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9684
+t=154: Selected seed 195 with value = 0.9684
+Query 1/1: Action query time = 2.002 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9764
+t=170: Selected seed 195 with value = 0.9764
+Query 1/1: Action query time = 3.911 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9770
+t=186: Selected seed 195 with value = 0.9770
+Query 1/1: Action query time = 4.006 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9895
+t=202: Selected seed 195 with value = 0.9895
+Query 1/1: Action query time = 2.725 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9971
+t=218: Selected seed 195 with value = 0.9971
+Query 1/1: Action query time = 3.337 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9682
+t=234: Selected seed 195 with value = 0.9682
+Query 1/1: Action query time = 2.772 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=250: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 2.396 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9846
+t=266: Selected seed 195 with value = 0.9846
+Query 1/1: Action query time = 3.532 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=282: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 3.741 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=298: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/t7rc800x50_t6_s0/2026_08_03-01_47_47--with_future_img--episode=6--success=False--task=put_the_cream_cheese_in_the_bowl.mp4
+Success: False
+# episodes completed so far: 6
+# successes: 1 (16.7%)
+
+Task: put the cream cheese in the bowl
+Starting episode 7...
+Query 1/1: Action query time = 4.116 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4716
+t=10: Selected seed 195 with value = 0.4716
+Query 1/1: Action query time = 2.241 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5671
+t=26: Selected seed 195 with value = 0.5671
+Query 1/1: Action query time = 3.678 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6747
+t=42: Selected seed 195 with value = 0.6747
+Query 1/1: Action query time = 3.961 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7733
+t=58: Selected seed 195 with value = 0.7733
+Query 1/1: Action query time = 3.488 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8942
+t=74: Selected seed 195 with value = 0.8942
+Query 1/1: Action query time = 3.656 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9829
+t=90: Selected seed 195 with value = 0.9829
+Saved rollout MP4 at path ./rollouts/t7rc800x50_t6_s0/2026_08_03-01_47_47--with_future_img--episode=7--success=True--task=put_the_cream_cheese_in_the_bowl.mp4
+Success: True
+# episodes completed so far: 7
+# successes: 2 (28.6%)
+
+Task: put the cream cheese in the bowl
+Starting episode 8...
+Query 1/1: Action query time = 3.050 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4526
+t=10: Selected seed 195 with value = 0.4526
+Query 1/1: Action query time = 3.054 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5250
+t=26: Selected seed 195 with value = 0.5250
+Query 1/1: Action query time = 3.359 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6747
+t=42: Selected seed 195 with value = 0.6747
+Query 1/1: Action query time = 2.778 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7834
+t=58: Selected seed 195 with value = 0.7834
+Query 1/1: Action query time = 3.370 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9208
+t=74: Selected seed 195 with value = 0.9208
+Query 1/1: Action query time = 3.631 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9810
+t=90: Selected seed 195 with value = 0.9810
+Query 1/1: Action query time = 2.772 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=106: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 3.684 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=122: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 3.000 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=138: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 2.691 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9577
+t=154: Selected seed 195 with value = 0.9577
+Query 1/1: Action query time = 2.794 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9387
+t=170: Selected seed 195 with value = 0.9387
+Query 1/1: Action query time = 3.035 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9697
+t=186: Selected seed 195 with value = 0.9697
+Query 1/1: Action query time = 3.487 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=202: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 3.651 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9209
+t=218: Selected seed 195 with value = 0.9209
+Query 1/1: Action query time = 4.612 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9774
+t=234: Selected seed 195 with value = 0.9774
+Query 1/1: Action query time = 3.659 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=250: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 3.963 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9628
+t=266: Selected seed 195 with value = 0.9628
+Query 1/1: Action query time = 2.479 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=282: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 2.010 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8604
+t=298: Selected seed 195 with value = 0.8604
+Saved rollout MP4 at path ./rollouts/t7rc800x50_t6_s0/2026_08_03-01_47_47--with_future_img--episode=8--success=False--task=put_the_cream_cheese_in_the_bowl.mp4
+Success: False
+# episodes completed so far: 8
+# successes: 2 (25.0%)
+
+Task: put the cream cheese in the bowl
+Starting episode 9...
+Query 1/1: Action query time = 2.729 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4728
+t=10: Selected seed 195 with value = 0.4728
+Query 1/1: Action query time = 2.879 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5285
+t=26: Selected seed 195 with value = 0.5285
+Query 1/1: Action query time = 3.368 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6901
+t=42: Selected seed 195 with value = 0.6901
+Query 1/1: Action query time = 3.060 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7589
+t=58: Selected seed 195 with value = 0.7589
+Query 1/1: Action query time = 2.957 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8885
+t=74: Selected seed 195 with value = 0.8885
+Query 1/1: Action query time = 3.343 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9719
+t=90: Selected seed 195 with value = 0.9719
+Query 1/1: Action query time = 3.703 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9658
+t=106: Selected seed 195 with value = 0.9658
+Query 1/1: Action query time = 3.203 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=122: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 1.426 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9946
+t=138: Selected seed 195 with value = 0.9946
+Query 1/1: Action query time = 3.799 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=154: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 2.889 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9502
+t=170: Selected seed 195 with value = 0.9502
+Query 1/1: Action query time = 3.391 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9556
+t=186: Selected seed 195 with value = 0.9556
+Query 1/1: Action query time = 2.822 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8752
+t=202: Selected seed 195 with value = 0.8752
+Query 1/1: Action query time = 3.202 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9402
+t=218: Selected seed 195 with value = 0.9402
+Query 1/1: Action query time = 2.357 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=234: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 2.799 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=250: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 2.184 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8408
+t=266: Selected seed 195 with value = 0.8408
+Query 1/1: Action query time = 2.553 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9539
+t=282: Selected seed 195 with value = 0.9539
+Query 1/1: Action query time = 3.278 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8856
+t=298: Selected seed 195 with value = 0.8856
+Saved rollout MP4 at path ./rollouts/t7rc800x50_t6_s0/2026_08_03-01_47_47--with_future_img--episode=9--success=False--task=put_the_cream_cheese_in_the_bowl.mp4
+Success: False
+# episodes completed so far: 9
+# successes: 2 (22.2%)
+
+Task: put the cream cheese in the bowl
+Starting episode 10...
+Query 1/1: Action query time = 3.187 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4931
+t=10: Selected seed 195 with value = 0.4931
+Query 1/1: Action query time = 3.376 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5996
+t=26: Selected seed 195 with value = 0.5996
+Query 1/1: Action query time = 2.748 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6574
+t=42: Selected seed 195 with value = 0.6574
+Query 1/1: Action query time = 2.220 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8019
+t=58: Selected seed 195 with value = 0.8019
+Query 1/1: Action query time = 2.192 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9260
+t=74: Selected seed 195 with value = 0.9260
+Query 1/1: Action query time = 2.817 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9866
+t=90: Selected seed 195 with value = 0.9866
+Query 1/1: Action query time = 2.702 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9905
+t=106: Selected seed 195 with value = 0.9905
+Saved rollout MP4 at path ./rollouts/t7rc800x50_t6_s0/2026_08_03-01_47_47--with_future_img--episode=10--success=True--task=put_the_cream_cheese_in_the_bowl.mp4
+Success: True
+# episodes completed so far: 10
+# successes: 3 (30.0%)
+
+Task: put the cream cheese in the bowl
+Starting episode 11...
+Query 1/1: Action query time = 2.380 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4894
+t=10: Selected seed 195 with value = 0.4894
+Query 1/1: Action query time = 2.751 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5970
+t=26: Selected seed 195 with value = 0.5970
+Query 1/1: Action query time = 2.190 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7007
+t=42: Selected seed 195 with value = 0.7007
+Query 1/1: Action query time = 2.827 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7592
+t=58: Selected seed 195 with value = 0.7592
+Query 1/1: Action query time = 2.156 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8969
+t=74: Selected seed 195 with value = 0.8969
+Query 1/1: Action query time = 3.344 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9876
+t=90: Selected seed 195 with value = 0.9876
+Saved rollout MP4 at path ./rollouts/t7rc800x50_t6_s0/2026_08_03-01_47_47--with_future_img--episode=11--success=True--task=put_the_cream_cheese_in_the_bowl.mp4
+Success: True
+# episodes completed so far: 11
+# successes: 4 (36.4%)
+
+Task: put the cream cheese in the bowl
+Starting episode 12...
+Query 1/1: Action query time = 2.997 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5084
+t=10: Selected seed 195 with value = 0.5084
+Query 1/1: Action query time = 2.628 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5992
+t=26: Selected seed 195 with value = 0.5992
+Query 1/1: Action query time = 2.549 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6739
+t=42: Selected seed 195 with value = 0.6739
+Query 1/1: Action query time = 2.623 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7865
+t=58: Selected seed 195 with value = 0.7865
+Query 1/1: Action query time = 3.051 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8729
+t=74: Selected seed 195 with value = 0.8729
+Query 1/1: Action query time = 2.619 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9902
+t=90: Selected seed 195 with value = 0.9902
+Saved rollout MP4 at path ./rollouts/t7rc800x50_t6_s0/2026_08_03-01_47_47--with_future_img--episode=12--success=True--task=put_the_cream_cheese_in_the_bowl.mp4
+Success: True
+# episodes completed so far: 12
+# successes: 5 (41.7%)
+
+Task: put the cream cheese in the bowl
+Starting episode 13...
+Query 1/1: Action query time = 2.869 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5042
+t=10: Selected seed 195 with value = 0.5042
+Query 1/1: Action query time = 2.155 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6277
+t=26: Selected seed 195 with value = 0.6277
+Query 1/1: Action query time = 1.852 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6789
+t=42: Selected seed 195 with value = 0.6789
+Query 1/1: Action query time = 2.565 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8895
+t=58: Selected seed 195 with value = 0.8895
+Query 1/1: Action query time = 2.161 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9467
+t=74: Selected seed 195 with value = 0.9467
+Query 1/1: Action query time = 2.160 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 1.621 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9984
+t=106: Selected seed 195 with value = 0.9984
+Query 1/1: Action query time = 2.860 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9900
+t=122: Selected seed 195 with value = 0.9900
+Query 1/1: Action query time = 3.424 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9954
+t=138: Selected seed 195 with value = 0.9954
+Query 1/1: Action query time = 3.435 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9397
+t=154: Selected seed 195 with value = 0.9397
+Query 1/1: Action query time = 2.837 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9332
+t=170: Selected seed 195 with value = 0.9332
+Query 1/1: Action query time = 2.848 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9132
+t=186: Selected seed 195 with value = 0.9132
+Query 1/1: Action query time = 3.123 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9813
+t=202: Selected seed 195 with value = 0.9813
+Query 1/1: Action query time = 2.534 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9980
+t=218: Selected seed 195 with value = 0.9980
+Query 1/1: Action query time = 2.564 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=234: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 2.068 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9756
+t=250: Selected seed 195 with value = 0.9756
+Query 1/1: Action query time = 2.740 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8698
+t=266: Selected seed 195 with value = 0.8698
+Query 1/1: Action query time = 2.567 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9506
+t=282: Selected seed 195 with value = 0.9506
+Query 1/1: Action query time = 3.316 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8963
+t=298: Selected seed 195 with value = 0.8963
+Saved rollout MP4 at path ./rollouts/t7rc800x50_t6_s0/2026_08_03-01_47_47--with_future_img--episode=13--success=False--task=put_the_cream_cheese_in_the_bowl.mp4
+Success: False
+# episodes completed so far: 13
+# successes: 5 (38.5%)
+Current task success rate: 0.38461538461538464
+Current total success rate: 0.38461538461538464
+Final results:
+Total episodes: 13
+Total successes: 5
+Overall success rate: 0.3846 (38.5%)
diff --git a/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_03-01_47_47--t7rc800x50_t7_s2.txt b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_03-01_47_47--t7rc800x50_t7_s2.txt
new file mode 100644
index 0000000000000000000000000000000000000000..6507e16ed57e7c3417f1e78855e18de2163db034
--- /dev/null
+++ b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_03-01_47_47--t7rc800x50_t7_s2.txt
@@ -0,0 +1,336 @@
+Eval config: PolicyEvalConfig(suite='libero', model_family='cosmos', config='cosmos_predict2_2b_480p_libero_cl_stage_inference_only', ckpt_path='/home/azureuser/REGEN-main/new_task7/cosmos_policy/cosmos_v2_finetune/cosmos_predict2_2b_480p_libero_goal_task7_cl_from_realcl800_2gpu/checkpoints/iter_000000800/model', planning_model_config_name='', planning_model_ckpt_path='', config_file='cosmos_policy/config/config.py', packnet_mask_path='', packnet_first_cl_libero_task=6, use_third_person_image=True, num_third_person_images=1, use_wrist_image=True, num_wrist_images=1, use_proprio=True, flip_images=True, use_variance_scale=False, use_jpeg_compression=True, ar_future_prediction=False, ar_value_prediction=False, ar_qvalue_prediction=False, num_denoising_steps_action=5, num_denoising_steps_future_state=1, num_denoising_steps_value=1, unnormalize_actions=True, normalize_proprio=True, dataset_stats_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/libero_goal_regen/dataset_statistics.json', t5_text_embeddings_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/t5_embeddings.pkl', trained_with_image_aug=True, chunk_size=16, num_open_loop_steps=16, deterministic=True, deterministic_reset=False, deterministic_reset_seed=None, use_ensemble_future_state_predictions=False, num_future_state_predictions_in_ensemble=3, future_state_ensemble_aggregation_scheme='average', use_ensemble_value_predictions=False, num_value_predictions_in_ensemble=5, value_ensemble_aggregation_scheme='average', search_depth=1, mask_current_state_action_for_value_prediction=False, mask_future_state_for_qvalue_prediction=False, num_queries_best_of_n=1, use_parallel_inference=False, available_gpus='0', parallel_timeout=15, parallel_tasks_across_gpus=False, task_suite_name='libero_goal', num_trials_per_task=50, task_ids_to_run='7', initial_states_path='DEFAULT', env_img_res=256, local_log_dir='/home/azureuser/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal', run_id_note='t7rc800x50_t7_s2', use_wandb=False, wandb_entity='YOUR_ENTITY', wandb_project='YOUR_PROJECT', seed=195, randomize_seed=False, data_collection=False, jpeg_compress=True, reward_stop_threshold=None, reward_stop_consecutive_steps=3, use_gpt_reward=False, gpt_reward_model='gpt-5.4-mini', gpt_reward_stop_threshold=4, gpt_reward_timeout_s=30.0, save_rollout_video=False, eval_hdf5_path='', eval_hdf5_demo_key='demo_0', data_gen_demo_ids='', eval_episode_ids='2,6,10,14,18,22,26,30,34,38,42,46', replay_actions=False, replay_action_path_dir='', replay_hdf5_path='', data_generation=False, max_generation_steps=200, simple_task_max_steps=100, complex_task_max_steps=200, disable_value_stop=False)
+Using serial inference (parallel inference disabled)
+Task suite: libero_goal
+Number of tasks: 10
+Running only task IDs: [7]
+Using default initial states
+
+Task: turn on the stove
+Starting episode 1...
+Query 1/1: Action query time = 8.464 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4928
+t=10: Selected seed 195 with value = 0.4928
+Query 1/1: Action query time = 5.413 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5681
+t=26: Selected seed 195 with value = 0.5681
+Query 1/1: Action query time = 6.084 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6499
+t=42: Selected seed 195 with value = 0.6499
+Query 1/1: Action query time = 6.764 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7950
+t=58: Selected seed 195 with value = 0.7950
+Query 1/1: Action query time = 5.980 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9742
+t=74: Selected seed 195 with value = 0.9742
+Saved rollout MP4 at path ./rollouts/t7rc800x50_t7_s2/2026_08_03-01_47_47--with_future_img--episode=1--success=True--task=turn_on_the_stove.mp4
+Success: True
+# episodes completed so far: 1
+# successes: 1 (100.0%)
+
+Task: turn on the stove
+Starting episode 2...
+Query 1/1: Action query time = 6.809 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4832
+t=10: Selected seed 195 with value = 0.4832
+Query 1/1: Action query time = 6.178 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5543
+t=26: Selected seed 195 with value = 0.5543
+Query 1/1: Action query time = 5.627 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6620
+t=42: Selected seed 195 with value = 0.6620
+Query 1/1: Action query time = 6.414 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7501
+t=58: Selected seed 195 with value = 0.7501
+Query 1/1: Action query time = 6.824 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8716
+t=74: Selected seed 195 with value = 0.8716
+Saved rollout MP4 at path ./rollouts/t7rc800x50_t7_s2/2026_08_03-01_47_47--with_future_img--episode=2--success=True--task=turn_on_the_stove.mp4
+Success: True
+# episodes completed so far: 2
+# successes: 2 (100.0%)
+
+Task: turn on the stove
+Starting episode 3...
+Query 1/1: Action query time = 5.388 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4775
+t=10: Selected seed 195 with value = 0.4775
+Query 1/1: Action query time = 6.031 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5471
+t=26: Selected seed 195 with value = 0.5471
+Query 1/1: Action query time = 5.718 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6511
+t=42: Selected seed 195 with value = 0.6511
+Query 1/1: Action query time = 6.167 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7763
+t=58: Selected seed 195 with value = 0.7763
+Query 1/1: Action query time = 5.477 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9096
+t=74: Selected seed 195 with value = 0.9096
+Saved rollout MP4 at path ./rollouts/t7rc800x50_t7_s2/2026_08_03-01_47_47--with_future_img--episode=3--success=True--task=turn_on_the_stove.mp4
+Success: True
+# episodes completed so far: 3
+# successes: 3 (100.0%)
+
+Task: turn on the stove
+Starting episode 4...
+Query 1/1: Action query time = 3.506 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4841
+t=10: Selected seed 195 with value = 0.4841
+Query 1/1: Action query time = 4.074 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5567
+t=26: Selected seed 195 with value = 0.5567
+Query 1/1: Action query time = 6.091 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6472
+t=42: Selected seed 195 with value = 0.6472
+Query 1/1: Action query time = 5.155 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8173
+t=58: Selected seed 195 with value = 0.8173
+Query 1/1: Action query time = 5.946 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9390
+t=74: Selected seed 195 with value = 0.9390
+Saved rollout MP4 at path ./rollouts/t7rc800x50_t7_s2/2026_08_03-01_47_47--with_future_img--episode=4--success=True--task=turn_on_the_stove.mp4
+Success: True
+# episodes completed so far: 4
+# successes: 4 (100.0%)
+
+Task: turn on the stove
+Starting episode 5...
+Query 1/1: Action query time = 5.836 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4659
+t=10: Selected seed 195 with value = 0.4659
+Query 1/1: Action query time = 5.974 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5557
+t=26: Selected seed 195 with value = 0.5557
+Query 1/1: Action query time = 4.388 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6730
+t=42: Selected seed 195 with value = 0.6730
+Query 1/1: Action query time = 4.404 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7808
+t=58: Selected seed 195 with value = 0.7808
+Query 1/1: Action query time = 4.577 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9216
+t=74: Selected seed 195 with value = 0.9216
+Saved rollout MP4 at path ./rollouts/t7rc800x50_t7_s2/2026_08_03-01_47_47--with_future_img--episode=5--success=True--task=turn_on_the_stove.mp4
+Success: True
+# episodes completed so far: 5
+# successes: 5 (100.0%)
+
+Task: turn on the stove
+Starting episode 6...
+Query 1/1: Action query time = 6.132 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5104
+t=10: Selected seed 195 with value = 0.5104
+Query 1/1: Action query time = 4.793 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6452
+t=26: Selected seed 195 with value = 0.6452
+Query 1/1: Action query time = 6.590 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6903
+t=42: Selected seed 195 with value = 0.6903
+Query 1/1: Action query time = 6.842 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7867
+t=58: Selected seed 195 with value = 0.7867
+Query 1/1: Action query time = 5.317 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9772
+t=74: Selected seed 195 with value = 0.9772
+Saved rollout MP4 at path ./rollouts/t7rc800x50_t7_s2/2026_08_03-01_47_47--with_future_img--episode=6--success=True--task=turn_on_the_stove.mp4
+Success: True
+# episodes completed so far: 6
+# successes: 6 (100.0%)
+
+Task: turn on the stove
+Starting episode 7...
+Query 1/1: Action query time = 6.665 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5197
+t=10: Selected seed 195 with value = 0.5197
+Query 1/1: Action query time = 6.277 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6243
+t=26: Selected seed 195 with value = 0.6243
+Query 1/1: Action query time = 5.686 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7110
+t=42: Selected seed 195 with value = 0.7110
+Query 1/1: Action query time = 5.864 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8286
+t=58: Selected seed 195 with value = 0.8286
+Query 1/1: Action query time = 5.375 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9642
+t=74: Selected seed 195 with value = 0.9642
+Saved rollout MP4 at path ./rollouts/t7rc800x50_t7_s2/2026_08_03-01_47_47--with_future_img--episode=7--success=True--task=turn_on_the_stove.mp4
+Success: True
+# episodes completed so far: 7
+# successes: 7 (100.0%)
+
+Task: turn on the stove
+Starting episode 8...
+Query 1/1: Action query time = 6.477 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4647
+t=10: Selected seed 195 with value = 0.4647
+Query 1/1: Action query time = 5.985 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5579
+t=26: Selected seed 195 with value = 0.5579
+Query 1/1: Action query time = 5.414 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6506
+t=42: Selected seed 195 with value = 0.6506
+Query 1/1: Action query time = 5.486 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7853
+t=58: Selected seed 195 with value = 0.7853
+Query 1/1: Action query time = 5.498 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9480
+t=74: Selected seed 195 with value = 0.9480
+Saved rollout MP4 at path ./rollouts/t7rc800x50_t7_s2/2026_08_03-01_47_47--with_future_img--episode=8--success=True--task=turn_on_the_stove.mp4
+Success: True
+# episodes completed so far: 8
+# successes: 8 (100.0%)
+
+Task: turn on the stove
+Starting episode 9...
+Query 1/1: Action query time = 5.323 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5294
+t=10: Selected seed 195 with value = 0.5294
+Query 1/1: Action query time = 6.811 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6567
+t=26: Selected seed 195 with value = 0.6567
+Query 1/1: Action query time = 4.552 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7265
+t=42: Selected seed 195 with value = 0.7265
+Query 1/1: Action query time = 5.245 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8814
+t=58: Selected seed 195 with value = 0.8814
+Query 1/1: Action query time = 4.365 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9843
+t=74: Selected seed 195 with value = 0.9843
+Saved rollout MP4 at path ./rollouts/t7rc800x50_t7_s2/2026_08_03-01_47_47--with_future_img--episode=9--success=True--task=turn_on_the_stove.mp4
+Success: True
+# episodes completed so far: 9
+# successes: 9 (100.0%)
+
+Task: turn on the stove
+Starting episode 10...
+Query 1/1: Action query time = 4.481 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5481
+t=10: Selected seed 195 with value = 0.5481
+Query 1/1: Action query time = 5.294 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5900
+t=26: Selected seed 195 with value = 0.5900
+Query 1/1: Action query time = 5.922 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7115
+t=42: Selected seed 195 with value = 0.7115
+Query 1/1: Action query time = 4.798 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8282
+t=58: Selected seed 195 with value = 0.8282
+Query 1/1: Action query time = 2.751 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9788
+t=74: Selected seed 195 with value = 0.9788
+Saved rollout MP4 at path ./rollouts/t7rc800x50_t7_s2/2026_08_03-01_47_47--with_future_img--episode=10--success=True--task=turn_on_the_stove.mp4
+Success: True
+# episodes completed so far: 10
+# successes: 10 (100.0%)
+
+Task: turn on the stove
+Starting episode 11...
+Query 1/1: Action query time = 7.018 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5314
+t=10: Selected seed 195 with value = 0.5314
+Query 1/1: Action query time = 4.515 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6463
+t=26: Selected seed 195 with value = 0.6463
+Query 1/1: Action query time = 3.118 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7355
+t=42: Selected seed 195 with value = 0.7355
+Query 1/1: Action query time = 6.394 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8738
+t=58: Selected seed 195 with value = 0.8738
+Query 1/1: Action query time = 6.140 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9958
+t=74: Selected seed 195 with value = 0.9958
+Saved rollout MP4 at path ./rollouts/t7rc800x50_t7_s2/2026_08_03-01_47_47--with_future_img--episode=11--success=True--task=turn_on_the_stove.mp4
+Success: True
+# episodes completed so far: 11
+# successes: 11 (100.0%)
+
+Task: turn on the stove
+Starting episode 12...
+Query 1/1: Action query time = 5.688 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4691
+t=10: Selected seed 195 with value = 0.4691
+Query 1/1: Action query time = 6.516 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5283
+t=26: Selected seed 195 with value = 0.5283
+Query 1/1: Action query time = 6.527 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6435
+t=42: Selected seed 195 with value = 0.6435
+Query 1/1: Action query time = 5.581 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7697
+t=58: Selected seed 195 with value = 0.7697
+Query 1/1: Action query time = 4.838 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8940
+t=74: Selected seed 195 with value = 0.8940
+Saved rollout MP4 at path ./rollouts/t7rc800x50_t7_s2/2026_08_03-01_47_47--with_future_img--episode=12--success=True--task=turn_on_the_stove.mp4
+Success: True
+# episodes completed so far: 12
+# successes: 12 (100.0%)
+Current task success rate: 1.0
+Current total success rate: 1.0
+Final results:
+Total episodes: 12
+Total successes: 12
+Overall success rate: 1.0000 (100.0%)
diff --git a/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_03-02_20_27--t3probe_A_normal.txt b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_03-02_20_27--t3probe_A_normal.txt
new file mode 100644
index 0000000000000000000000000000000000000000..e9780c25f4cf0dd4f5c719419628096a247c5673
--- /dev/null
+++ b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_03-02_20_27--t3probe_A_normal.txt
@@ -0,0 +1,685 @@
+Eval config: PolicyEvalConfig(suite='libero', model_family='cosmos', config='cosmos_predict2_2b_480p_libero_cl_stage_inference_only', ckpt_path='/home/azureuser/REGEN-main/new_task6/cosmos_policy/cosmos_v2_finetune/cosmos_predict2_2b_480p_libero_goal_task6_forget_cl_v2_from350_constlr_2gpu/checkpoints/iter_000000350/model', planning_model_config_name='', planning_model_ckpt_path='', config_file='cosmos_policy/config/config.py', packnet_mask_path='', packnet_first_cl_libero_task=6, use_third_person_image=True, num_third_person_images=1, use_wrist_image=True, num_wrist_images=1, use_proprio=True, flip_images=True, use_variance_scale=False, use_jpeg_compression=True, ar_future_prediction=False, ar_value_prediction=False, ar_qvalue_prediction=False, num_denoising_steps_action=5, num_denoising_steps_future_state=1, num_denoising_steps_value=1, unnormalize_actions=True, normalize_proprio=True, dataset_stats_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/libero_goal_regen/dataset_statistics.json', t5_text_embeddings_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/t5_embeddings.pkl', trained_with_image_aug=True, chunk_size=16, num_open_loop_steps=16, deterministic=True, deterministic_reset=False, deterministic_reset_seed=None, use_ensemble_future_state_predictions=False, num_future_state_predictions_in_ensemble=3, future_state_ensemble_aggregation_scheme='average', use_ensemble_value_predictions=False, num_value_predictions_in_ensemble=5, value_ensemble_aggregation_scheme='average', search_depth=1, mask_current_state_action_for_value_prediction=False, mask_future_state_for_qvalue_prediction=False, num_queries_best_of_n=1, use_parallel_inference=False, available_gpus='0', parallel_timeout=15, parallel_tasks_across_gpus=False, task_suite_name='libero_goal', num_trials_per_task=10, task_ids_to_run='3', initial_states_path='DEFAULT', env_img_res=256, local_log_dir='/home/azureuser/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal', run_id_note='t3probe_A_normal', use_wandb=False, wandb_entity='YOUR_ENTITY', wandb_project='YOUR_PROJECT', seed=195, randomize_seed=False, data_collection=False, jpeg_compress=True, reward_stop_threshold=None, reward_stop_consecutive_steps=3, use_gpt_reward=False, gpt_reward_model='gpt-5.4-mini', gpt_reward_stop_threshold=4, gpt_reward_timeout_s=30.0, save_rollout_video=True, eval_hdf5_path='', eval_hdf5_demo_key='demo_0', data_gen_demo_ids='', eval_episode_ids='', dump_final_states_path='/home/azureuser/REGEN-main/new_task7/training_runs/task3_restart_probe/stageA_final_states.json', replay_actions=False, replay_action_path_dir='', replay_hdf5_path='', data_generation=False, max_generation_steps=200, simple_task_max_steps=100, complex_task_max_steps=200, disable_value_stop=False)
+Using serial inference (parallel inference disabled)
+Task suite: libero_goal
+Number of tasks: 10
+Running only task IDs: [3]
+Using default initial states
+
+Task: open the top drawer and put the bowl inside
+Starting episode 1...
+Query 1/1: Action query time = 1.514 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4283
+t=10: Selected seed 195 with value = 0.4283
+Query 1/1: Action query time = 0.939 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4917
+t=26: Selected seed 195 with value = 0.4917
+Query 1/1: Action query time = 0.961 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5398
+t=42: Selected seed 195 with value = 0.5398
+Query 1/1: Action query time = 0.943 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6672
+t=58: Selected seed 195 with value = 0.6672
+Query 1/1: Action query time = 0.962 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7925
+t=74: Selected seed 195 with value = 0.7925
+Query 1/1: Action query time = 0.955 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9108
+t=90: Selected seed 195 with value = 0.9108
+Query 1/1: Action query time = 0.969 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9813
+t=106: Selected seed 195 with value = 0.9813
+Query 1/1: Action query time = 0.947 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6739
+t=122: Selected seed 195 with value = 0.6739
+Query 1/1: Action query time = 0.951 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7940
+t=138: Selected seed 195 with value = 0.7940
+Query 1/1: Action query time = 0.962 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7709
+t=154: Selected seed 195 with value = 0.7709
+Query 1/1: Action query time = 0.965 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8866
+t=170: Selected seed 195 with value = 0.8866
+Query 1/1: Action query time = 0.947 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9671
+t=186: Selected seed 195 with value = 0.9671
+Query 1/1: Action query time = 0.972 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9528
+t=202: Selected seed 195 with value = 0.9528
+Query 1/1: Action query time = 0.945 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9756
+t=218: Selected seed 195 with value = 0.9756
+Query 1/1: Action query time = 0.969 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=234: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.965 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=250: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.947 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=266: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.941 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=282: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.952 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=298: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/t3probe_A_normal/2026_08_03-02_20_27--episode=1--success=False--task=open_the_top_drawer_and_put_the_bowl_ins.mp4
+Saved rollout MP4 at path ./rollouts/t3probe_A_normal/2026_08_03-02_20_27--with_future_img--episode=1--success=False--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: False
+# episodes completed so far: 1
+# successes: 0 (0.0%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 2...
+Query 1/1: Action query time = 0.973 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3989
+t=10: Selected seed 195 with value = 0.3989
+Query 1/1: Action query time = 0.971 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4795
+t=26: Selected seed 195 with value = 0.4795
+Query 1/1: Action query time = 0.956 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5559
+t=42: Selected seed 195 with value = 0.5559
+Query 1/1: Action query time = 0.963 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6623
+t=58: Selected seed 195 with value = 0.6623
+Query 1/1: Action query time = 0.975 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7929
+t=74: Selected seed 195 with value = 0.7929
+Query 1/1: Action query time = 0.952 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9128
+t=90: Selected seed 195 with value = 0.9128
+Query 1/1: Action query time = 0.954 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=106: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.968 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6426
+t=122: Selected seed 195 with value = 0.6426
+Query 1/1: Action query time = 0.953 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7755
+t=138: Selected seed 195 with value = 0.7755
+Query 1/1: Action query time = 0.957 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9731
+t=154: Selected seed 195 with value = 0.9731
+Query 1/1: Action query time = 0.975 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=170: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/t3probe_A_normal/2026_08_03-02_20_27--episode=2--success=True--task=open_the_top_drawer_and_put_the_bowl_ins.mp4
+Saved rollout MP4 at path ./rollouts/t3probe_A_normal/2026_08_03-02_20_27--with_future_img--episode=2--success=True--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: True
+# episodes completed so far: 2
+# successes: 1 (50.0%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 3...
+Query 1/1: Action query time = 0.977 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3847
+t=10: Selected seed 195 with value = 0.3847
+Query 1/1: Action query time = 0.953 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4584
+t=26: Selected seed 195 with value = 0.4584
+Query 1/1: Action query time = 0.950 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5458
+t=42: Selected seed 195 with value = 0.5458
+Query 1/1: Action query time = 0.973 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6178
+t=58: Selected seed 195 with value = 0.6178
+Query 1/1: Action query time = 0.971 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7986
+t=74: Selected seed 195 with value = 0.7986
+Query 1/1: Action query time = 0.960 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9364
+t=90: Selected seed 195 with value = 0.9364
+Query 1/1: Action query time = 0.958 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9983
+t=106: Selected seed 195 with value = 0.9983
+Query 1/1: Action query time = 0.952 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6256
+t=122: Selected seed 195 with value = 0.6256
+Query 1/1: Action query time = 0.968 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6739
+t=138: Selected seed 195 with value = 0.6739
+Query 1/1: Action query time = 0.970 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7965
+t=154: Selected seed 195 with value = 0.7965
+Query 1/1: Action query time = 0.969 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9120
+t=170: Selected seed 195 with value = 0.9120
+Query 1/1: Action query time = 0.962 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=186: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/t3probe_A_normal/2026_08_03-02_20_27--episode=3--success=True--task=open_the_top_drawer_and_put_the_bowl_ins.mp4
+Saved rollout MP4 at path ./rollouts/t3probe_A_normal/2026_08_03-02_20_27--with_future_img--episode=3--success=True--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: True
+# episodes completed so far: 3
+# successes: 2 (66.7%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 4...
+Query 1/1: Action query time = 0.988 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3679
+t=10: Selected seed 195 with value = 0.3679
+Query 1/1: Action query time = 0.962 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4555
+t=26: Selected seed 195 with value = 0.4555
+Query 1/1: Action query time = 0.964 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5445
+t=42: Selected seed 195 with value = 0.5445
+Query 1/1: Action query time = 0.953 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6162
+t=58: Selected seed 195 with value = 0.6162
+Query 1/1: Action query time = 0.954 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7488
+t=74: Selected seed 195 with value = 0.7488
+Query 1/1: Action query time = 0.984 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8730
+t=90: Selected seed 195 with value = 0.8730
+Query 1/1: Action query time = 0.951 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9962
+t=106: Selected seed 195 with value = 0.9962
+Query 1/1: Action query time = 0.944 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6538
+t=122: Selected seed 195 with value = 0.6538
+Query 1/1: Action query time = 0.962 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5171
+t=138: Selected seed 195 with value = 0.5171
+Query 1/1: Action query time = 0.962 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7027
+t=154: Selected seed 195 with value = 0.7027
+Query 1/1: Action query time = 0.974 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7023
+t=170: Selected seed 195 with value = 0.7023
+Query 1/1: Action query time = 0.948 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7839
+t=186: Selected seed 195 with value = 0.7839
+Query 1/1: Action query time = 0.957 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9094
+t=202: Selected seed 195 with value = 0.9094
+Query 1/1: Action query time = 0.962 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9856
+t=218: Selected seed 195 with value = 0.9856
+Query 1/1: Action query time = 0.969 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=234: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/t3probe_A_normal/2026_08_03-02_20_27--episode=4--success=True--task=open_the_top_drawer_and_put_the_bowl_ins.mp4
+Saved rollout MP4 at path ./rollouts/t3probe_A_normal/2026_08_03-02_20_27--with_future_img--episode=4--success=True--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: True
+# episodes completed so far: 4
+# successes: 3 (75.0%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 5...
+Query 1/1: Action query time = 0.954 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4415
+t=10: Selected seed 195 with value = 0.4415
+Query 1/1: Action query time = 0.964 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4818
+t=26: Selected seed 195 with value = 0.4818
+Query 1/1: Action query time = 0.947 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5604
+t=42: Selected seed 195 with value = 0.5604
+Query 1/1: Action query time = 0.962 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6346
+t=58: Selected seed 195 with value = 0.6346
+Query 1/1: Action query time = 0.972 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7209
+t=74: Selected seed 195 with value = 0.7209
+Query 1/1: Action query time = 0.956 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8640
+t=90: Selected seed 195 with value = 0.8640
+Query 1/1: Action query time = 0.954 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9790
+t=106: Selected seed 195 with value = 0.9790
+Query 1/1: Action query time = 0.958 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6863
+t=122: Selected seed 195 with value = 0.6863
+Query 1/1: Action query time = 0.963 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5776
+t=138: Selected seed 195 with value = 0.5776
+Query 1/1: Action query time = 0.950 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7487
+t=154: Selected seed 195 with value = 0.7487
+Query 1/1: Action query time = 0.968 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8244
+t=170: Selected seed 195 with value = 0.8244
+Query 1/1: Action query time = 0.964 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9620
+t=186: Selected seed 195 with value = 0.9620
+Query 1/1: Action query time = 0.973 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=202: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/t3probe_A_normal/2026_08_03-02_20_27--episode=5--success=True--task=open_the_top_drawer_and_put_the_bowl_ins.mp4
+Saved rollout MP4 at path ./rollouts/t3probe_A_normal/2026_08_03-02_20_27--with_future_img--episode=5--success=True--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: True
+# episodes completed so far: 5
+# successes: 4 (80.0%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 6...
+Query 1/1: Action query time = 0.967 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3147
+t=10: Selected seed 195 with value = 0.3147
+Query 1/1: Action query time = 0.955 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4723
+t=26: Selected seed 195 with value = 0.4723
+Query 1/1: Action query time = 0.960 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5487
+t=42: Selected seed 195 with value = 0.5487
+Query 1/1: Action query time = 0.946 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5396
+t=58: Selected seed 195 with value = 0.5396
+Query 1/1: Action query time = 0.968 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5907
+t=74: Selected seed 195 with value = 0.5907
+Query 1/1: Action query time = 0.959 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6853
+t=90: Selected seed 195 with value = 0.6853
+Query 1/1: Action query time = 0.957 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8245
+t=106: Selected seed 195 with value = 0.8245
+Query 1/1: Action query time = 0.956 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9789
+t=122: Selected seed 195 with value = 0.9789
+Query 1/1: Action query time = 0.955 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9450
+t=138: Selected seed 195 with value = 0.9450
+Query 1/1: Action query time = 0.973 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6566
+t=154: Selected seed 195 with value = 0.6566
+Query 1/1: Action query time = 0.970 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6800
+t=170: Selected seed 195 with value = 0.6800
+Query 1/1: Action query time = 0.957 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8173
+t=186: Selected seed 195 with value = 0.8173
+Query 1/1: Action query time = 0.964 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9559
+t=202: Selected seed 195 with value = 0.9559
+Query 1/1: Action query time = 0.955 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=218: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/t3probe_A_normal/2026_08_03-02_20_27--episode=6--success=True--task=open_the_top_drawer_and_put_the_bowl_ins.mp4
+Saved rollout MP4 at path ./rollouts/t3probe_A_normal/2026_08_03-02_20_27--with_future_img--episode=6--success=True--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: True
+# episodes completed so far: 6
+# successes: 5 (83.3%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 7...
+Query 1/1: Action query time = 0.966 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3905
+t=10: Selected seed 195 with value = 0.3905
+Query 1/1: Action query time = 0.962 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4590
+t=26: Selected seed 195 with value = 0.4590
+Query 1/1: Action query time = 0.966 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5046
+t=42: Selected seed 195 with value = 0.5046
+Query 1/1: Action query time = 0.964 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6058
+t=58: Selected seed 195 with value = 0.6058
+Query 1/1: Action query time = 0.954 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7024
+t=74: Selected seed 195 with value = 0.7024
+Query 1/1: Action query time = 0.949 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9422
+t=90: Selected seed 195 with value = 0.9422
+Query 1/1: Action query time = 0.950 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9725
+t=106: Selected seed 195 with value = 0.9725
+Query 1/1: Action query time = 0.958 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6706
+t=122: Selected seed 195 with value = 0.6706
+Query 1/1: Action query time = 0.958 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7699
+t=138: Selected seed 195 with value = 0.7699
+Query 1/1: Action query time = 0.960 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9093
+t=154: Selected seed 195 with value = 0.9093
+Query 1/1: Action query time = 0.954 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9995
+t=170: Selected seed 195 with value = 0.9995
+Saved rollout MP4 at path ./rollouts/t3probe_A_normal/2026_08_03-02_20_27--episode=7--success=True--task=open_the_top_drawer_and_put_the_bowl_ins.mp4
+Saved rollout MP4 at path ./rollouts/t3probe_A_normal/2026_08_03-02_20_27--with_future_img--episode=7--success=True--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: True
+# episodes completed so far: 7
+# successes: 6 (85.7%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 8...
+Query 1/1: Action query time = 0.980 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3593
+t=10: Selected seed 195 with value = 0.3593
+Query 1/1: Action query time = 0.959 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4577
+t=26: Selected seed 195 with value = 0.4577
+Query 1/1: Action query time = 0.972 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5583
+t=42: Selected seed 195 with value = 0.5583
+Query 1/1: Action query time = 0.959 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6135
+t=58: Selected seed 195 with value = 0.6135
+Query 1/1: Action query time = 0.976 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7170
+t=74: Selected seed 195 with value = 0.7170
+Query 1/1: Action query time = 0.970 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8511
+t=90: Selected seed 195 with value = 0.8511
+Query 1/1: Action query time = 0.970 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9921
+t=106: Selected seed 195 with value = 0.9921
+Query 1/1: Action query time = 0.950 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6463
+t=122: Selected seed 195 with value = 0.6463
+Query 1/1: Action query time = 0.953 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6507
+t=138: Selected seed 195 with value = 0.6507
+Query 1/1: Action query time = 0.962 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9771
+t=154: Selected seed 195 with value = 0.9771
+Query 1/1: Action query time = 0.972 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7101
+t=170: Selected seed 195 with value = 0.7101
+Query 1/1: Action query time = 0.972 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7546
+t=186: Selected seed 195 with value = 0.7546
+Query 1/1: Action query time = 0.958 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7945
+t=202: Selected seed 195 with value = 0.7945
+Query 1/1: Action query time = 0.969 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9490
+t=218: Selected seed 195 with value = 0.9490
+Query 1/1: Action query time = 0.958 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=234: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/t3probe_A_normal/2026_08_03-02_20_27--episode=8--success=True--task=open_the_top_drawer_and_put_the_bowl_ins.mp4
+Saved rollout MP4 at path ./rollouts/t3probe_A_normal/2026_08_03-02_20_27--with_future_img--episode=8--success=True--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: True
+# episodes completed so far: 8
+# successes: 7 (87.5%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 9...
+Query 1/1: Action query time = 0.979 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3863
+t=10: Selected seed 195 with value = 0.3863
+Query 1/1: Action query time = 0.988 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4550
+t=26: Selected seed 195 with value = 0.4550
+Query 1/1: Action query time = 0.971 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5459
+t=42: Selected seed 195 with value = 0.5459
+Query 1/1: Action query time = 0.969 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6029
+t=58: Selected seed 195 with value = 0.6029
+Query 1/1: Action query time = 0.968 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6913
+t=74: Selected seed 195 with value = 0.6913
+Query 1/1: Action query time = 0.972 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9264
+t=90: Selected seed 195 with value = 0.9264
+Query 1/1: Action query time = 0.960 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9835
+t=106: Selected seed 195 with value = 0.9835
+Query 1/1: Action query time = 0.967 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6882
+t=122: Selected seed 195 with value = 0.6882
+Query 1/1: Action query time = 0.947 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7753
+t=138: Selected seed 195 with value = 0.7753
+Query 1/1: Action query time = 0.962 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9006
+t=154: Selected seed 195 with value = 0.9006
+Query 1/1: Action query time = 0.941 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9770
+t=170: Selected seed 195 with value = 0.9770
+Query 1/1: Action query time = 0.964 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9601
+t=186: Selected seed 195 with value = 0.9601
+Query 1/1: Action query time = 0.969 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8956
+t=202: Selected seed 195 with value = 0.8956
+Query 1/1: Action query time = 0.959 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8769
+t=218: Selected seed 195 with value = 0.8769
+Query 1/1: Action query time = 0.969 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8860
+t=234: Selected seed 195 with value = 0.8860
+Query 1/1: Action query time = 0.985 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8872
+t=250: Selected seed 195 with value = 0.8872
+Query 1/1: Action query time = 0.967 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8866
+t=266: Selected seed 195 with value = 0.8866
+Query 1/1: Action query time = 0.973 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8840
+t=282: Selected seed 195 with value = 0.8840
+Query 1/1: Action query time = 0.952 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8816
+t=298: Selected seed 195 with value = 0.8816
+Saved rollout MP4 at path ./rollouts/t3probe_A_normal/2026_08_03-02_20_27--episode=9--success=False--task=open_the_top_drawer_and_put_the_bowl_ins.mp4
+Saved rollout MP4 at path ./rollouts/t3probe_A_normal/2026_08_03-02_20_27--with_future_img--episode=9--success=False--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: False
+# episodes completed so far: 9
+# successes: 7 (77.8%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 10...
+Query 1/1: Action query time = 0.967 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4009
+t=10: Selected seed 195 with value = 0.4009
+Query 1/1: Action query time = 0.962 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4956
+t=26: Selected seed 195 with value = 0.4956
+Query 1/1: Action query time = 0.988 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5814
+t=42: Selected seed 195 with value = 0.5814
+Query 1/1: Action query time = 0.950 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6556
+t=58: Selected seed 195 with value = 0.6556
+Query 1/1: Action query time = 0.954 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7569
+t=74: Selected seed 195 with value = 0.7569
+Query 1/1: Action query time = 0.968 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9001
+t=90: Selected seed 195 with value = 0.9001
+Query 1/1: Action query time = 0.962 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=106: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.975 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6682
+t=122: Selected seed 195 with value = 0.6682
+Query 1/1: Action query time = 0.951 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7855
+t=138: Selected seed 195 with value = 0.7855
+Query 1/1: Action query time = 0.972 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8175
+t=154: Selected seed 195 with value = 0.8175
+Query 1/1: Action query time = 0.973 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9735
+t=170: Selected seed 195 with value = 0.9735
+Query 1/1: Action query time = 0.958 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9215
+t=186: Selected seed 195 with value = 0.9215
+Query 1/1: Action query time = 0.959 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9573
+t=202: Selected seed 195 with value = 0.9573
+Query 1/1: Action query time = 0.966 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8971
+t=218: Selected seed 195 with value = 0.8971
+Query 1/1: Action query time = 0.954 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8249
+t=234: Selected seed 195 with value = 0.8249
+Query 1/1: Action query time = 0.964 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9023
+t=250: Selected seed 195 with value = 0.9023
+Query 1/1: Action query time = 0.955 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8611
+t=266: Selected seed 195 with value = 0.8611
+Query 1/1: Action query time = 0.970 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9100
+t=282: Selected seed 195 with value = 0.9100
+Query 1/1: Action query time = 0.982 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9220
+t=298: Selected seed 195 with value = 0.9220
+Saved rollout MP4 at path ./rollouts/t3probe_A_normal/2026_08_03-02_20_27--episode=10--success=False--task=open_the_top_drawer_and_put_the_bowl_ins.mp4
+Saved rollout MP4 at path ./rollouts/t3probe_A_normal/2026_08_03-02_20_27--with_future_img--episode=10--success=False--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: False
+# episodes completed so far: 10
+# successes: 7 (70.0%)
+Dumped final sim states -> /home/azureuser/REGEN-main/new_task7/training_runs/task3_restart_probe/stageA_final_states.json
+Current task success rate: 0.7
+Current total success rate: 0.7
+Final results:
+Total episodes: 10
+Total successes: 7
+Overall success rate: 0.7000 (70.0%)
diff --git a/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_03-02_25_01--t3probe_B_restart.txt b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_03-02_25_01--t3probe_B_restart.txt
new file mode 100644
index 0000000000000000000000000000000000000000..8401bd43c7aedc4901fe7660a6a94368b7ced8c5
--- /dev/null
+++ b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_03-02_25_01--t3probe_B_restart.txt
@@ -0,0 +1,348 @@
+Eval config: PolicyEvalConfig(suite='libero', model_family='cosmos', config='cosmos_predict2_2b_480p_libero_cl_stage_inference_only', ckpt_path='/home/azureuser/REGEN-main/new_task6/cosmos_policy/cosmos_v2_finetune/cosmos_predict2_2b_480p_libero_goal_task6_forget_cl_v2_from350_constlr_2gpu/checkpoints/iter_000000350/model', planning_model_config_name='', planning_model_ckpt_path='', config_file='cosmos_policy/config/config.py', packnet_mask_path='', packnet_first_cl_libero_task=6, use_third_person_image=True, num_third_person_images=1, use_wrist_image=True, num_wrist_images=1, use_proprio=True, flip_images=True, use_variance_scale=False, use_jpeg_compression=True, ar_future_prediction=False, ar_value_prediction=False, ar_qvalue_prediction=False, num_denoising_steps_action=5, num_denoising_steps_future_state=1, num_denoising_steps_value=1, unnormalize_actions=True, normalize_proprio=True, dataset_stats_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/libero_goal_regen/dataset_statistics.json', t5_text_embeddings_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/t5_embeddings.pkl', trained_with_image_aug=True, chunk_size=16, num_open_loop_steps=16, deterministic=True, deterministic_reset=False, deterministic_reset_seed=None, use_ensemble_future_state_predictions=False, num_future_state_predictions_in_ensemble=3, future_state_ensemble_aggregation_scheme='average', use_ensemble_value_predictions=False, num_value_predictions_in_ensemble=5, value_ensemble_aggregation_scheme='average', search_depth=1, mask_current_state_action_for_value_prediction=False, mask_future_state_for_qvalue_prediction=False, num_queries_best_of_n=1, use_parallel_inference=False, available_gpus='0', parallel_timeout=15, parallel_tasks_across_gpus=False, task_suite_name='libero_goal', num_trials_per_task=10, task_ids_to_run='3', initial_states_path='/home/azureuser/REGEN-main/new_task7/training_runs/task3_restart_probe/stageA_final_states.json', env_img_res=256, local_log_dir='/home/azureuser/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal', run_id_note='t3probe_B_restart', use_wandb=False, wandb_entity='YOUR_ENTITY', wandb_project='YOUR_PROJECT', seed=195, randomize_seed=False, data_collection=False, jpeg_compress=True, reward_stop_threshold=None, reward_stop_consecutive_steps=3, use_gpt_reward=False, gpt_reward_model='gpt-5.4-mini', gpt_reward_stop_threshold=4, gpt_reward_timeout_s=30.0, save_rollout_video=True, eval_hdf5_path='', eval_hdf5_demo_key='demo_0', data_gen_demo_ids='', eval_episode_ids='', dump_final_states_path='', replay_actions=False, replay_action_path_dir='', replay_hdf5_path='', data_generation=False, max_generation_steps=200, simple_task_max_steps=100, complex_task_max_steps=200, disable_value_stop=False)
+Using serial inference (parallel inference disabled)
+Task suite: libero_goal
+Number of tasks: 10
+Running only task IDs: [3]
+Using initial states from /home/azureuser/REGEN-main/new_task7/training_runs/task3_restart_probe/stageA_final_states.json
+
+Task: open the top drawer and put the bowl inside
+Starting episode 1...
+Query 1/1: Action query time = 1.505 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9656
+t=10: Selected seed 195 with value = 0.9656
+Query 1/1: Action query time = 0.961 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5933
+t=26: Selected seed 195 with value = 0.5933
+Query 1/1: Action query time = 0.962 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5760
+t=42: Selected seed 195 with value = 0.5760
+Query 1/1: Action query time = 0.955 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5764
+t=58: Selected seed 195 with value = 0.5764
+Query 1/1: Action query time = 0.971 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5768
+t=74: Selected seed 195 with value = 0.5768
+Query 1/1: Action query time = 0.950 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5783
+t=90: Selected seed 195 with value = 0.5783
+Query 1/1: Action query time = 0.960 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5811
+t=106: Selected seed 195 with value = 0.5811
+Query 1/1: Action query time = 0.957 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5833
+t=122: Selected seed 195 with value = 0.5833
+Query 1/1: Action query time = 0.964 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6052
+t=138: Selected seed 195 with value = 0.6052
+Query 1/1: Action query time = 0.976 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6197
+t=154: Selected seed 195 with value = 0.6197
+Query 1/1: Action query time = 0.968 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6232
+t=170: Selected seed 195 with value = 0.6232
+Query 1/1: Action query time = 0.978 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6229
+t=186: Selected seed 195 with value = 0.6229
+Query 1/1: Action query time = 0.964 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6319
+t=202: Selected seed 195 with value = 0.6319
+Query 1/1: Action query time = 0.957 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7967
+t=218: Selected seed 195 with value = 0.7967
+Query 1/1: Action query time = 0.961 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7979
+t=234: Selected seed 195 with value = 0.7979
+Query 1/1: Action query time = 0.966 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7702
+t=250: Selected seed 195 with value = 0.7702
+Query 1/1: Action query time = 0.988 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7519
+t=266: Selected seed 195 with value = 0.7519
+Query 1/1: Action query time = 0.975 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7374
+t=282: Selected seed 195 with value = 0.7374
+Query 1/1: Action query time = 0.965 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7244
+t=298: Selected seed 195 with value = 0.7244
+Saved rollout MP4 at path ./rollouts/t3probe_B_restart/2026_08_03-02_25_01--episode=1--success=False--task=open_the_top_drawer_and_put_the_bowl_ins.mp4
+Saved rollout MP4 at path ./rollouts/t3probe_B_restart/2026_08_03-02_25_01--with_future_img--episode=1--success=False--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: False
+# episodes completed so far: 1
+# successes: 0 (0.0%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 2...
+Query 1/1: Action query time = 0.979 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9566
+t=10: Selected seed 195 with value = 0.9566
+Saved rollout MP4 at path ./rollouts/t3probe_B_restart/2026_08_03-02_25_01--episode=2--success=True--task=open_the_top_drawer_and_put_the_bowl_ins.mp4
+Saved rollout MP4 at path ./rollouts/t3probe_B_restart/2026_08_03-02_25_01--with_future_img--episode=2--success=True--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: True
+# episodes completed so far: 2
+# successes: 1 (50.0%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 3...
+Query 1/1: Action query time = 0.983 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=10: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/t3probe_B_restart/2026_08_03-02_25_01--episode=3--success=True--task=open_the_top_drawer_and_put_the_bowl_ins.mp4
+Saved rollout MP4 at path ./rollouts/t3probe_B_restart/2026_08_03-02_25_01--with_future_img--episode=3--success=True--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: True
+# episodes completed so far: 3
+# successes: 2 (66.7%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 4...
+Query 1/1: Action query time = 0.966 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=10: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/t3probe_B_restart/2026_08_03-02_25_01--episode=4--success=True--task=open_the_top_drawer_and_put_the_bowl_ins.mp4
+Saved rollout MP4 at path ./rollouts/t3probe_B_restart/2026_08_03-02_25_01--with_future_img--episode=4--success=True--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: True
+# episodes completed so far: 4
+# successes: 3 (75.0%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 5...
+Query 1/1: Action query time = 0.979 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=10: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/t3probe_B_restart/2026_08_03-02_25_01--episode=5--success=True--task=open_the_top_drawer_and_put_the_bowl_ins.mp4
+Saved rollout MP4 at path ./rollouts/t3probe_B_restart/2026_08_03-02_25_01--with_future_img--episode=5--success=True--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: True
+# episodes completed so far: 5
+# successes: 4 (80.0%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 6...
+Query 1/1: Action query time = 0.980 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=10: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/t3probe_B_restart/2026_08_03-02_25_01--episode=6--success=True--task=open_the_top_drawer_and_put_the_bowl_ins.mp4
+Saved rollout MP4 at path ./rollouts/t3probe_B_restart/2026_08_03-02_25_01--with_future_img--episode=6--success=True--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: True
+# episodes completed so far: 6
+# successes: 5 (83.3%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 7...
+Query 1/1: Action query time = 0.988 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=10: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/t3probe_B_restart/2026_08_03-02_25_01--episode=7--success=True--task=open_the_top_drawer_and_put_the_bowl_ins.mp4
+Saved rollout MP4 at path ./rollouts/t3probe_B_restart/2026_08_03-02_25_01--with_future_img--episode=7--success=True--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: True
+# episodes completed so far: 7
+# successes: 6 (85.7%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 8...
+Query 1/1: Action query time = 0.951 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=10: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/t3probe_B_restart/2026_08_03-02_25_01--episode=8--success=True--task=open_the_top_drawer_and_put_the_bowl_ins.mp4
+Saved rollout MP4 at path ./rollouts/t3probe_B_restart/2026_08_03-02_25_01--with_future_img--episode=8--success=True--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: True
+# episodes completed so far: 8
+# successes: 7 (87.5%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 9...
+Query 1/1: Action query time = 0.967 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8813
+t=10: Selected seed 195 with value = 0.8813
+Query 1/1: Action query time = 0.955 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8975
+t=26: Selected seed 195 with value = 0.8975
+Query 1/1: Action query time = 0.958 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8984
+t=42: Selected seed 195 with value = 0.8984
+Query 1/1: Action query time = 0.969 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8993
+t=58: Selected seed 195 with value = 0.8993
+Query 1/1: Action query time = 0.965 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8950
+t=74: Selected seed 195 with value = 0.8950
+Query 1/1: Action query time = 0.958 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8936
+t=90: Selected seed 195 with value = 0.8936
+Query 1/1: Action query time = 0.978 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8921
+t=106: Selected seed 195 with value = 0.8921
+Query 1/1: Action query time = 0.966 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8929
+t=122: Selected seed 195 with value = 0.8929
+Query 1/1: Action query time = 0.970 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8926
+t=138: Selected seed 195 with value = 0.8926
+Query 1/1: Action query time = 0.971 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8922
+t=154: Selected seed 195 with value = 0.8922
+Query 1/1: Action query time = 0.968 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8925
+t=170: Selected seed 195 with value = 0.8925
+Query 1/1: Action query time = 0.954 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8919
+t=186: Selected seed 195 with value = 0.8919
+Query 1/1: Action query time = 0.953 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8925
+t=202: Selected seed 195 with value = 0.8925
+Query 1/1: Action query time = 0.953 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8924
+t=218: Selected seed 195 with value = 0.8924
+Query 1/1: Action query time = 0.969 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8923
+t=234: Selected seed 195 with value = 0.8923
+Query 1/1: Action query time = 0.970 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8935
+t=250: Selected seed 195 with value = 0.8935
+Query 1/1: Action query time = 0.964 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8946
+t=266: Selected seed 195 with value = 0.8946
+Query 1/1: Action query time = 0.968 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8951
+t=282: Selected seed 195 with value = 0.8951
+Query 1/1: Action query time = 0.963 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8952
+t=298: Selected seed 195 with value = 0.8952
+Saved rollout MP4 at path ./rollouts/t3probe_B_restart/2026_08_03-02_25_01--episode=9--success=False--task=open_the_top_drawer_and_put_the_bowl_ins.mp4
+Saved rollout MP4 at path ./rollouts/t3probe_B_restart/2026_08_03-02_25_01--with_future_img--episode=9--success=False--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: False
+# episodes completed so far: 9
+# successes: 7 (77.8%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 10...
+Query 1/1: Action query time = 0.980 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6247
+t=10: Selected seed 195 with value = 0.6247
+Query 1/1: Action query time = 0.975 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8663
+t=26: Selected seed 195 with value = 0.8663
+Query 1/1: Action query time = 0.957 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8432
+t=42: Selected seed 195 with value = 0.8432
+Query 1/1: Action query time = 0.965 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7278
+t=58: Selected seed 195 with value = 0.7278
+Query 1/1: Action query time = 0.964 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9178
+t=74: Selected seed 195 with value = 0.9178
+Query 1/1: Action query time = 0.956 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6944
+t=90: Selected seed 195 with value = 0.6944
+Query 1/1: Action query time = 0.966 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9255
+t=106: Selected seed 195 with value = 0.9255
+Query 1/1: Action query time = 0.979 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9260
+t=122: Selected seed 195 with value = 0.9260
+Query 1/1: Action query time = 0.963 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9259
+t=138: Selected seed 195 with value = 0.9259
+Query 1/1: Action query time = 0.967 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9259
+t=154: Selected seed 195 with value = 0.9259
+Query 1/1: Action query time = 0.977 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9259
+t=170: Selected seed 195 with value = 0.9259
+Query 1/1: Action query time = 0.955 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9258
+t=186: Selected seed 195 with value = 0.9258
+Query 1/1: Action query time = 0.965 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9255
+t=202: Selected seed 195 with value = 0.9255
+Query 1/1: Action query time = 0.984 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9258
+t=218: Selected seed 195 with value = 0.9258
+Query 1/1: Action query time = 0.968 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9262
+t=234: Selected seed 195 with value = 0.9262
+Query 1/1: Action query time = 0.969 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9263
+t=250: Selected seed 195 with value = 0.9263
+Query 1/1: Action query time = 0.973 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9263
+t=266: Selected seed 195 with value = 0.9263
+Query 1/1: Action query time = 0.960 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9273
+t=282: Selected seed 195 with value = 0.9273
+Query 1/1: Action query time = 0.951 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9271
+t=298: Selected seed 195 with value = 0.9271
+Saved rollout MP4 at path ./rollouts/t3probe_B_restart/2026_08_03-02_25_01--episode=10--success=False--task=open_the_top_drawer_and_put_the_bowl_ins.mp4
+Saved rollout MP4 at path ./rollouts/t3probe_B_restart/2026_08_03-02_25_01--with_future_img--episode=10--success=False--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: False
+# episodes completed so far: 10
+# successes: 7 (70.0%)
+Current task success rate: 0.7
+Current total success rate: 0.7
+Final results:
+Total episodes: 10
+Total successes: 7
+Overall success rate: 0.7000 (70.0%)
diff --git a/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_03-04_13_06--t3merged_g3.txt b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_03-04_13_06--t3merged_g3.txt
new file mode 100644
index 0000000000000000000000000000000000000000..eb1d60ed0131056ef0ee315253703529b79c7e06
--- /dev/null
+++ b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_03-04_13_06--t3merged_g3.txt
@@ -0,0 +1,288 @@
+Eval config: PolicyEvalConfig(suite='libero', model_family='cosmos', config='cosmos_predict2_2b_480p_libero_cl_stage_inference_only', ckpt_path='/home/azureuser/REGEN-main/new_task6/cosmos_policy/cosmos_v2_finetune/cosmos_predict2_2b_480p_libero_goal_task3_merged_ft_from40k_2gpu/checkpoints/iter_000000100/model', planning_model_config_name='', planning_model_ckpt_path='', config_file='cosmos_policy/config/config.py', packnet_mask_path='', packnet_first_cl_libero_task=6, use_third_person_image=True, num_third_person_images=1, use_wrist_image=True, num_wrist_images=1, use_proprio=True, flip_images=True, use_variance_scale=False, use_jpeg_compression=True, ar_future_prediction=False, ar_value_prediction=False, ar_qvalue_prediction=False, num_denoising_steps_action=5, num_denoising_steps_future_state=1, num_denoising_steps_value=1, unnormalize_actions=True, normalize_proprio=True, dataset_stats_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/libero_goal_regen/dataset_statistics.json', t5_text_embeddings_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/t5_embeddings.pkl', trained_with_image_aug=True, chunk_size=16, num_open_loop_steps=16, deterministic=True, deterministic_reset=False, deterministic_reset_seed=None, use_ensemble_future_state_predictions=False, num_future_state_predictions_in_ensemble=3, future_state_ensemble_aggregation_scheme='average', use_ensemble_value_predictions=False, num_value_predictions_in_ensemble=5, value_ensemble_aggregation_scheme='average', search_depth=1, mask_current_state_action_for_value_prediction=False, mask_future_state_for_qvalue_prediction=False, num_queries_best_of_n=1, use_parallel_inference=False, available_gpus='0', parallel_timeout=15, parallel_tasks_across_gpus=False, task_suite_name='libero_goal', num_trials_per_task=10, task_ids_to_run='3', initial_states_path='DEFAULT', env_img_res=256, local_log_dir='/home/azureuser/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal', run_id_note='t3merged_g3', use_wandb=False, wandb_entity='YOUR_ENTITY', wandb_project='YOUR_PROJECT', seed=195, randomize_seed=False, data_collection=False, jpeg_compress=True, reward_stop_threshold=None, reward_stop_consecutive_steps=3, use_gpt_reward=False, gpt_reward_model='gpt-5.4-mini', gpt_reward_stop_threshold=4, gpt_reward_timeout_s=30.0, save_rollout_video=True, eval_hdf5_path='', eval_hdf5_demo_key='demo_0', data_gen_demo_ids='', eval_episode_ids='5,6,7,8,9', dump_final_states_path='', replay_actions=False, replay_action_path_dir='', replay_hdf5_path='', data_generation=False, max_generation_steps=200, disable_value_stop=False)
+Using serial inference (parallel inference disabled)
+Task suite: libero_goal
+Number of tasks: 10
+Running only task IDs: [3]
+Using default initial states
+
+Task: open the top drawer and put the bowl inside
+Starting episode 1...
+Query 1/1: Action query time = 1.536 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.1661
+t=10: Selected seed 195 with value = 0.1661
+Query 1/1: Action query time = 0.993 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2554
+t=26: Selected seed 195 with value = 0.2554
+Query 1/1: Action query time = 0.954 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3021
+t=42: Selected seed 195 with value = 0.3021
+Query 1/1: Action query time = 0.979 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3298
+t=58: Selected seed 195 with value = 0.3298
+Query 1/1: Action query time = 0.964 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3998
+t=74: Selected seed 195 with value = 0.3998
+Query 1/1: Action query time = 0.959 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4776
+t=90: Selected seed 195 with value = 0.4776
+Query 1/1: Action query time = 0.949 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5196
+t=106: Selected seed 195 with value = 0.5196
+Query 1/1: Action query time = 0.948 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5902
+t=122: Selected seed 195 with value = 0.5902
+Query 1/1: Action query time = 0.970 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6679
+t=138: Selected seed 195 with value = 0.6679
+Query 1/1: Action query time = 0.974 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8185
+t=154: Selected seed 195 with value = 0.8185
+Query 1/1: Action query time = 0.966 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9198
+t=170: Selected seed 195 with value = 0.9198
+Query 1/1: Action query time = 0.957 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9871
+t=186: Selected seed 195 with value = 0.9871
+Saved rollout MP4 at path ./rollouts/t3merged_g3/2026_08_03-04_13_06--episode=1--success=True--task=open_the_top_drawer_and_put_the_bowl_ins.mp4
+Saved rollout MP4 at path ./rollouts/t3merged_g3/2026_08_03-04_13_06--with_future_img--episode=1--success=True--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: True
+# episodes completed so far: 1
+# successes: 1 (100.0%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 2...
+Query 1/1: Action query time = 1.150 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2179
+t=10: Selected seed 195 with value = 0.2179
+Query 1/1: Action query time = 1.171 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2389
+t=26: Selected seed 195 with value = 0.2389
+Query 1/1: Action query time = 1.160 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2931
+t=42: Selected seed 195 with value = 0.2931
+Query 1/1: Action query time = 1.168 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3256
+t=58: Selected seed 195 with value = 0.3256
+Query 1/1: Action query time = 1.170 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3919
+t=74: Selected seed 195 with value = 0.3919
+Query 1/1: Action query time = 1.175 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4592
+t=90: Selected seed 195 with value = 0.4592
+Query 1/1: Action query time = 1.122 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5626
+t=106: Selected seed 195 with value = 0.5626
+Query 1/1: Action query time = 1.081 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5566
+t=122: Selected seed 195 with value = 0.5566
+Query 1/1: Action query time = 1.206 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6699
+t=138: Selected seed 195 with value = 0.6699
+Query 1/1: Action query time = 1.172 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7800
+t=154: Selected seed 195 with value = 0.7800
+Query 1/1: Action query time = 1.176 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8800
+t=170: Selected seed 195 with value = 0.8800
+Query 1/1: Action query time = 1.143 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9590
+t=186: Selected seed 195 with value = 0.9590
+Saved rollout MP4 at path ./rollouts/t3merged_g3/2026_08_03-04_13_06--episode=2--success=True--task=open_the_top_drawer_and_put_the_bowl_ins.mp4
+Saved rollout MP4 at path ./rollouts/t3merged_g3/2026_08_03-04_13_06--with_future_img--episode=2--success=True--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: True
+# episodes completed so far: 2
+# successes: 2 (100.0%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 3...
+Query 1/1: Action query time = 0.986 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2072
+t=10: Selected seed 195 with value = 0.2072
+Query 1/1: Action query time = 0.998 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2398
+t=26: Selected seed 195 with value = 0.2398
+Query 1/1: Action query time = 1.000 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3030
+t=42: Selected seed 195 with value = 0.3030
+Query 1/1: Action query time = 0.963 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3721
+t=58: Selected seed 195 with value = 0.3721
+Query 1/1: Action query time = 0.948 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3940
+t=74: Selected seed 195 with value = 0.3940
+Query 1/1: Action query time = 0.951 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4765
+t=90: Selected seed 195 with value = 0.4765
+Query 1/1: Action query time = 0.955 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5229
+t=106: Selected seed 195 with value = 0.5229
+Query 1/1: Action query time = 0.954 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6166
+t=122: Selected seed 195 with value = 0.6166
+Query 1/1: Action query time = 1.108 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6593
+t=138: Selected seed 195 with value = 0.6593
+Query 1/1: Action query time = 1.163 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7929
+t=154: Selected seed 195 with value = 0.7929
+Query 1/1: Action query time = 1.157 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9517
+t=170: Selected seed 195 with value = 0.9517
+Query 1/1: Action query time = 1.157 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=186: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/t3merged_g3/2026_08_03-04_13_06--episode=3--success=True--task=open_the_top_drawer_and_put_the_bowl_ins.mp4
+Saved rollout MP4 at path ./rollouts/t3merged_g3/2026_08_03-04_13_06--with_future_img--episode=3--success=True--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: True
+# episodes completed so far: 3
+# successes: 3 (100.0%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 4...
+Query 1/1: Action query time = 0.989 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2385
+t=10: Selected seed 195 with value = 0.2385
+Query 1/1: Action query time = 0.961 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2636
+t=26: Selected seed 195 with value = 0.2636
+Query 1/1: Action query time = 0.959 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.1868
+t=42: Selected seed 195 with value = 0.1868
+Query 1/1: Action query time = 0.952 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3479
+t=58: Selected seed 195 with value = 0.3479
+Query 1/1: Action query time = 0.961 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4221
+t=74: Selected seed 195 with value = 0.4221
+Query 1/1: Action query time = 0.956 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5123
+t=90: Selected seed 195 with value = 0.5123
+Query 1/1: Action query time = 0.961 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5954
+t=106: Selected seed 195 with value = 0.5954
+Query 1/1: Action query time = 0.975 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6130
+t=122: Selected seed 195 with value = 0.6130
+Query 1/1: Action query time = 1.058 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7533
+t=138: Selected seed 195 with value = 0.7533
+Query 1/1: Action query time = 1.127 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7873
+t=154: Selected seed 195 with value = 0.7873
+Query 1/1: Action query time = 1.188 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9775
+t=170: Selected seed 195 with value = 0.9775
+Saved rollout MP4 at path ./rollouts/t3merged_g3/2026_08_03-04_13_06--episode=4--success=True--task=open_the_top_drawer_and_put_the_bowl_ins.mp4
+Saved rollout MP4 at path ./rollouts/t3merged_g3/2026_08_03-04_13_06--with_future_img--episode=4--success=True--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: True
+# episodes completed so far: 4
+# successes: 4 (100.0%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 5...
+Query 1/1: Action query time = 1.062 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.1386
+t=10: Selected seed 195 with value = 0.1386
+Query 1/1: Action query time = 0.972 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2735
+t=26: Selected seed 195 with value = 0.2735
+Query 1/1: Action query time = 0.989 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3163
+t=42: Selected seed 195 with value = 0.3163
+Query 1/1: Action query time = 1.014 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3641
+t=58: Selected seed 195 with value = 0.3641
+Query 1/1: Action query time = 0.985 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4260
+t=74: Selected seed 195 with value = 0.4260
+Query 1/1: Action query time = 0.986 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4907
+t=90: Selected seed 195 with value = 0.4907
+Query 1/1: Action query time = 0.985 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5970
+t=106: Selected seed 195 with value = 0.5970
+Query 1/1: Action query time = 1.032 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6214
+t=122: Selected seed 195 with value = 0.6214
+Query 1/1: Action query time = 1.212 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7053
+t=138: Selected seed 195 with value = 0.7053
+Query 1/1: Action query time = 1.090 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7938
+t=154: Selected seed 195 with value = 0.7938
+Query 1/1: Action query time = 1.059 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9383
+t=170: Selected seed 195 with value = 0.9383
+Query 1/1: Action query time = 1.003 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9021
+t=186: Selected seed 195 with value = 0.9021
+Saved rollout MP4 at path ./rollouts/t3merged_g3/2026_08_03-04_13_06--episode=5--success=True--task=open_the_top_drawer_and_put_the_bowl_ins.mp4
+Saved rollout MP4 at path ./rollouts/t3merged_g3/2026_08_03-04_13_06--with_future_img--episode=5--success=True--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: True
+# episodes completed so far: 5
+# successes: 5 (100.0%)
+Current task success rate: 1.0
+Current total success rate: 1.0
+Final results:
+Total episodes: 5
+Total successes: 5
+Overall success rate: 1.0000 (100.0%)
diff --git a/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_03-10_52_17--t7realcl800x50_t0_s0.txt b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_03-10_52_17--t7realcl800x50_t0_s0.txt
new file mode 100644
index 0000000000000000000000000000000000000000..5476477233407bae10e152caa897408cd3f6f52f
--- /dev/null
+++ b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_03-10_52_17--t7realcl800x50_t0_s0.txt
@@ -0,0 +1,1047 @@
+Eval config: PolicyEvalConfig(suite='libero', model_family='cosmos', config='cosmos_predict2_2b_480p_libero_cl_stage_inference_only', ckpt_path='/home/azureuser/REGEN-main/new_task7/cosmos_policy/cosmos_v2_finetune/cosmos_predict2_2b_480p_libero_goal_task7_real_cl_from_realcl800_2gpu/checkpoints/iter_000000800/model', planning_model_config_name='', planning_model_ckpt_path='', config_file='cosmos_policy/config/config.py', packnet_mask_path='', packnet_first_cl_libero_task=6, use_third_person_image=True, num_third_person_images=1, use_wrist_image=True, num_wrist_images=1, use_proprio=True, flip_images=True, use_variance_scale=False, use_jpeg_compression=True, ar_future_prediction=False, ar_value_prediction=False, ar_qvalue_prediction=False, num_denoising_steps_action=5, num_denoising_steps_future_state=1, num_denoising_steps_value=1, unnormalize_actions=True, normalize_proprio=True, dataset_stats_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/libero_goal_regen/dataset_statistics.json', t5_text_embeddings_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/t5_embeddings.pkl', trained_with_image_aug=True, chunk_size=16, num_open_loop_steps=16, deterministic=True, deterministic_reset=False, deterministic_reset_seed=None, use_ensemble_future_state_predictions=False, num_future_state_predictions_in_ensemble=3, future_state_ensemble_aggregation_scheme='average', use_ensemble_value_predictions=False, num_value_predictions_in_ensemble=5, value_ensemble_aggregation_scheme='average', search_depth=1, mask_current_state_action_for_value_prediction=False, mask_future_state_for_qvalue_prediction=False, num_queries_best_of_n=1, use_parallel_inference=False, available_gpus='0', parallel_timeout=15, parallel_tasks_across_gpus=False, task_suite_name='libero_goal', num_trials_per_task=50, task_ids_to_run='0', initial_states_path='DEFAULT', env_img_res=256, local_log_dir='/home/azureuser/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal', run_id_note='t7realcl800x50_t0_s0', use_wandb=False, wandb_entity='YOUR_ENTITY', wandb_project='YOUR_PROJECT', seed=195, randomize_seed=False, data_collection=False, jpeg_compress=True, reward_stop_threshold=None, reward_stop_consecutive_steps=3, use_gpt_reward=False, gpt_reward_model='gpt-5.4-mini', gpt_reward_stop_threshold=4, gpt_reward_timeout_s=30.0, save_rollout_video=False, eval_hdf5_path='', eval_hdf5_demo_key='demo_0', data_gen_demo_ids='', eval_episode_ids='0,2,4,6,8,10,12,14,16,18,20,22,24,26,28,30,32,34,36,38,40,42,44,46,48', dump_final_states_path='', replay_actions=False, replay_action_path_dir='', replay_hdf5_path='', data_generation=False, max_generation_steps=200, disable_value_stop=False)
+Using serial inference (parallel inference disabled)
+Task suite: libero_goal
+Number of tasks: 10
+Running only task IDs: [0]
+Using default initial states
+
+Task: open the middle drawer of the cabinet
+Starting episode 1...
+Query 1/1: Action query time = 1.613 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3086
+t=10: Selected seed 195 with value = 0.3086
+Query 1/1: Action query time = 1.100 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3556
+t=26: Selected seed 195 with value = 0.3556
+Query 1/1: Action query time = 1.679 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4339
+t=42: Selected seed 195 with value = 0.4339
+Query 1/1: Action query time = 2.247 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5189
+t=58: Selected seed 195 with value = 0.5189
+Query 1/1: Action query time = 2.899 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6221
+t=74: Selected seed 195 with value = 0.6221
+Query 1/1: Action query time = 3.905 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7472
+t=90: Selected seed 195 with value = 0.7472
+Query 1/1: Action query time = 4.920 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8686
+t=106: Selected seed 195 with value = 0.8686
+Query 1/1: Action query time = 4.986 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=122: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/t7realcl800x50_t0_s0/2026_08_03-10_52_17--with_future_img--episode=1--success=True--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: True
+# episodes completed so far: 1
+# successes: 1 (100.0%)
+
+Task: open the middle drawer of the cabinet
+Starting episode 2...
+Query 1/1: Action query time = 4.748 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3485
+t=10: Selected seed 195 with value = 0.3485
+Query 1/1: Action query time = 3.874 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3352
+t=26: Selected seed 195 with value = 0.3352
+Query 1/1: Action query time = 4.755 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3937
+t=42: Selected seed 195 with value = 0.3937
+Query 1/1: Action query time = 5.071 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4915
+t=58: Selected seed 195 with value = 0.4915
+Query 1/1: Action query time = 4.913 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5938
+t=74: Selected seed 195 with value = 0.5938
+Query 1/1: Action query time = 5.167 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6690
+t=90: Selected seed 195 with value = 0.6690
+Query 1/1: Action query time = 4.467 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7324
+t=106: Selected seed 195 with value = 0.7324
+Query 1/1: Action query time = 3.773 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8321
+t=122: Selected seed 195 with value = 0.8321
+Query 1/1: Action query time = 4.426 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9831
+t=138: Selected seed 195 with value = 0.9831
+Saved rollout MP4 at path ./rollouts/t7realcl800x50_t0_s0/2026_08_03-10_52_17--with_future_img--episode=2--success=True--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: True
+# episodes completed so far: 2
+# successes: 2 (100.0%)
+
+Task: open the middle drawer of the cabinet
+Starting episode 3...
+Query 1/1: Action query time = 5.596 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3394
+t=10: Selected seed 195 with value = 0.3394
+Query 1/1: Action query time = 5.746 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3883
+t=26: Selected seed 195 with value = 0.3883
+Query 1/1: Action query time = 5.286 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4540
+t=42: Selected seed 195 with value = 0.4540
+Query 1/1: Action query time = 3.324 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5171
+t=58: Selected seed 195 with value = 0.5171
+Query 1/1: Action query time = 4.564 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6094
+t=74: Selected seed 195 with value = 0.6094
+Query 1/1: Action query time = 3.980 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6477
+t=90: Selected seed 195 with value = 0.6477
+Query 1/1: Action query time = 3.526 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6543
+t=106: Selected seed 195 with value = 0.6543
+Query 1/1: Action query time = 5.301 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8074
+t=122: Selected seed 195 with value = 0.8074
+Query 1/1: Action query time = 5.431 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9520
+t=138: Selected seed 195 with value = 0.9520
+Saved rollout MP4 at path ./rollouts/t7realcl800x50_t0_s0/2026_08_03-10_52_17--with_future_img--episode=3--success=True--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: True
+# episodes completed so far: 3
+# successes: 3 (100.0%)
+
+Task: open the middle drawer of the cabinet
+Starting episode 4...
+Query 1/1: Action query time = 4.877 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2153
+t=10: Selected seed 195 with value = 0.2153
+Query 1/1: Action query time = 5.423 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2269
+t=26: Selected seed 195 with value = 0.2269
+Query 1/1: Action query time = 3.758 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2650
+t=42: Selected seed 195 with value = 0.2650
+Query 1/1: Action query time = 5.803 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3110
+t=58: Selected seed 195 with value = 0.3110
+Query 1/1: Action query time = 5.624 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4888
+t=74: Selected seed 195 with value = 0.4888
+Query 1/1: Action query time = 5.547 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4263
+t=90: Selected seed 195 with value = 0.4263
+Query 1/1: Action query time = 5.303 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5221
+t=106: Selected seed 195 with value = 0.5221
+Query 1/1: Action query time = 3.427 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9428
+t=122: Selected seed 195 with value = 0.9428
+Saved rollout MP4 at path ./rollouts/t7realcl800x50_t0_s0/2026_08_03-10_52_17--with_future_img--episode=4--success=True--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: True
+# episodes completed so far: 4
+# successes: 4 (100.0%)
+
+Task: open the middle drawer of the cabinet
+Starting episode 5...
+Query 1/1: Action query time = 4.639 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2971
+t=10: Selected seed 195 with value = 0.2971
+Query 1/1: Action query time = 5.065 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3697
+t=26: Selected seed 195 with value = 0.3697
+Query 1/1: Action query time = 5.361 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4201
+t=42: Selected seed 195 with value = 0.4201
+Query 1/1: Action query time = 4.169 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5258
+t=58: Selected seed 195 with value = 0.5258
+Query 1/1: Action query time = 4.272 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6093
+t=74: Selected seed 195 with value = 0.6093
+Query 1/1: Action query time = 5.134 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7467
+t=90: Selected seed 195 with value = 0.7467
+Query 1/1: Action query time = 3.643 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8230
+t=106: Selected seed 195 with value = 0.8230
+Query 1/1: Action query time = 3.738 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9531
+t=122: Selected seed 195 with value = 0.9531
+Saved rollout MP4 at path ./rollouts/t7realcl800x50_t0_s0/2026_08_03-10_52_17--with_future_img--episode=5--success=True--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: True
+# episodes completed so far: 5
+# successes: 5 (100.0%)
+
+Task: open the middle drawer of the cabinet
+Starting episode 6...
+Query 1/1: Action query time = 5.484 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3132
+t=10: Selected seed 195 with value = 0.3132
+Query 1/1: Action query time = 5.518 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3083
+t=26: Selected seed 195 with value = 0.3083
+Query 1/1: Action query time = 4.489 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3663
+t=42: Selected seed 195 with value = 0.3663
+Query 1/1: Action query time = 4.692 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4224
+t=58: Selected seed 195 with value = 0.4224
+Query 1/1: Action query time = 4.255 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4788
+t=74: Selected seed 195 with value = 0.4788
+Query 1/1: Action query time = 5.487 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5792
+t=90: Selected seed 195 with value = 0.5792
+Query 1/1: Action query time = 5.344 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6940
+t=106: Selected seed 195 with value = 0.6940
+Query 1/1: Action query time = 4.668 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7955
+t=122: Selected seed 195 with value = 0.7955
+Query 1/1: Action query time = 3.945 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9573
+t=138: Selected seed 195 with value = 0.9573
+Saved rollout MP4 at path ./rollouts/t7realcl800x50_t0_s0/2026_08_03-10_52_17--with_future_img--episode=6--success=True--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: True
+# episodes completed so far: 6
+# successes: 6 (100.0%)
+
+Task: open the middle drawer of the cabinet
+Starting episode 7...
+Query 1/1: Action query time = 4.648 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3086
+t=10: Selected seed 195 with value = 0.3086
+Query 1/1: Action query time = 4.479 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3234
+t=26: Selected seed 195 with value = 0.3234
+Query 1/1: Action query time = 5.029 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3763
+t=42: Selected seed 195 with value = 0.3763
+Query 1/1: Action query time = 5.089 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4478
+t=58: Selected seed 195 with value = 0.4478
+Query 1/1: Action query time = 4.682 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5510
+t=74: Selected seed 195 with value = 0.5510
+Query 1/1: Action query time = 3.956 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6638
+t=90: Selected seed 195 with value = 0.6638
+Query 1/1: Action query time = 3.743 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7377
+t=106: Selected seed 195 with value = 0.7377
+Query 1/1: Action query time = 3.546 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8727
+t=122: Selected seed 195 with value = 0.8727
+Query 1/1: Action query time = 4.243 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9950
+t=138: Selected seed 195 with value = 0.9950
+Saved rollout MP4 at path ./rollouts/t7realcl800x50_t0_s0/2026_08_03-10_52_17--with_future_img--episode=7--success=True--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: True
+# episodes completed so far: 7
+# successes: 7 (100.0%)
+
+Task: open the middle drawer of the cabinet
+Starting episode 8...
+Query 1/1: Action query time = 4.760 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2760
+t=10: Selected seed 195 with value = 0.2760
+Query 1/1: Action query time = 4.846 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3095
+t=26: Selected seed 195 with value = 0.3095
+Query 1/1: Action query time = 5.223 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3989
+t=42: Selected seed 195 with value = 0.3989
+Query 1/1: Action query time = 4.928 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4936
+t=58: Selected seed 195 with value = 0.4936
+Query 1/1: Action query time = 3.511 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5880
+t=74: Selected seed 195 with value = 0.5880
+Query 1/1: Action query time = 3.643 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7353
+t=90: Selected seed 195 with value = 0.7353
+Query 1/1: Action query time = 5.676 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8229
+t=106: Selected seed 195 with value = 0.8229
+Query 1/1: Action query time = 4.841 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9640
+t=122: Selected seed 195 with value = 0.9640
+Saved rollout MP4 at path ./rollouts/t7realcl800x50_t0_s0/2026_08_03-10_52_17--with_future_img--episode=8--success=True--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: True
+# episodes completed so far: 8
+# successes: 8 (100.0%)
+
+Task: open the middle drawer of the cabinet
+Starting episode 9...
+Query 1/1: Action query time = 4.384 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3285
+t=10: Selected seed 195 with value = 0.3285
+Query 1/1: Action query time = 5.468 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3688
+t=26: Selected seed 195 with value = 0.3688
+Query 1/1: Action query time = 3.514 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4610
+t=42: Selected seed 195 with value = 0.4610
+Query 1/1: Action query time = 4.186 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5516
+t=58: Selected seed 195 with value = 0.5516
+Query 1/1: Action query time = 5.662 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6332
+t=74: Selected seed 195 with value = 0.6332
+Query 1/1: Action query time = 5.509 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6999
+t=90: Selected seed 195 with value = 0.6999
+Query 1/1: Action query time = 5.460 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8605
+t=106: Selected seed 195 with value = 0.8605
+Query 1/1: Action query time = 3.958 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9886
+t=122: Selected seed 195 with value = 0.9886
+Saved rollout MP4 at path ./rollouts/t7realcl800x50_t0_s0/2026_08_03-10_52_17--with_future_img--episode=9--success=True--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: True
+# episodes completed so far: 9
+# successes: 9 (100.0%)
+
+Task: open the middle drawer of the cabinet
+Starting episode 10...
+Query 1/1: Action query time = 5.370 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2593
+t=10: Selected seed 195 with value = 0.2593
+Query 1/1: Action query time = 4.561 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3730
+t=26: Selected seed 195 with value = 0.3730
+Query 1/1: Action query time = 4.168 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4281
+t=42: Selected seed 195 with value = 0.4281
+Query 1/1: Action query time = 4.966 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5022
+t=58: Selected seed 195 with value = 0.5022
+Query 1/1: Action query time = 4.631 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5268
+t=74: Selected seed 195 with value = 0.5268
+Query 1/1: Action query time = 3.939 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5658
+t=90: Selected seed 195 with value = 0.5658
+Query 1/1: Action query time = 4.267 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4456
+t=106: Selected seed 195 with value = 0.4456
+Query 1/1: Action query time = 5.520 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5219
+t=122: Selected seed 195 with value = 0.5219
+Query 1/1: Action query time = 4.940 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5746
+t=138: Selected seed 195 with value = 0.5746
+Query 1/1: Action query time = 5.470 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6751
+t=154: Selected seed 195 with value = 0.6751
+Query 1/1: Action query time = 5.106 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7742
+t=170: Selected seed 195 with value = 0.7742
+Query 1/1: Action query time = 4.048 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8694
+t=186: Selected seed 195 with value = 0.8694
+Saved rollout MP4 at path ./rollouts/t7realcl800x50_t0_s0/2026_08_03-10_52_17--with_future_img--episode=10--success=True--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: True
+# episodes completed so far: 10
+# successes: 10 (100.0%)
+
+Task: open the middle drawer of the cabinet
+Starting episode 11...
+Query 1/1: Action query time = 4.443 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2165
+t=10: Selected seed 195 with value = 0.2165
+Query 1/1: Action query time = 2.773 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2282
+t=26: Selected seed 195 with value = 0.2282
+Query 1/1: Action query time = 5.503 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4031
+t=42: Selected seed 195 with value = 0.4031
+Query 1/1: Action query time = 4.594 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2903
+t=58: Selected seed 195 with value = 0.2903
+Query 1/1: Action query time = 4.715 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3228
+t=74: Selected seed 195 with value = 0.3228
+Query 1/1: Action query time = 4.531 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5778
+t=90: Selected seed 195 with value = 0.5778
+Query 1/1: Action query time = 4.443 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7088
+t=106: Selected seed 195 with value = 0.7088
+Query 1/1: Action query time = 4.292 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8487
+t=122: Selected seed 195 with value = 0.8487
+Query 1/1: Action query time = 4.585 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9934
+t=138: Selected seed 195 with value = 0.9934
+Saved rollout MP4 at path ./rollouts/t7realcl800x50_t0_s0/2026_08_03-10_52_17--with_future_img--episode=11--success=True--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: True
+# episodes completed so far: 11
+# successes: 11 (100.0%)
+
+Task: open the middle drawer of the cabinet
+Starting episode 12...
+Query 1/1: Action query time = 4.640 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3348
+t=10: Selected seed 195 with value = 0.3348
+Query 1/1: Action query time = 4.854 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3888
+t=26: Selected seed 195 with value = 0.3888
+Query 1/1: Action query time = 4.225 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4460
+t=42: Selected seed 195 with value = 0.4460
+Query 1/1: Action query time = 4.585 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5316
+t=58: Selected seed 195 with value = 0.5316
+Query 1/1: Action query time = 3.522 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6315
+t=74: Selected seed 195 with value = 0.6315
+Query 1/1: Action query time = 4.133 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7461
+t=90: Selected seed 195 with value = 0.7461
+Query 1/1: Action query time = 5.153 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8745
+t=106: Selected seed 195 with value = 0.8745
+Query 1/1: Action query time = 5.522 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9999
+t=122: Selected seed 195 with value = 0.9999
+Saved rollout MP4 at path ./rollouts/t7realcl800x50_t0_s0/2026_08_03-10_52_17--with_future_img--episode=12--success=True--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: True
+# episodes completed so far: 12
+# successes: 12 (100.0%)
+
+Task: open the middle drawer of the cabinet
+Starting episode 13...
+Query 1/1: Action query time = 3.006 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3260
+t=10: Selected seed 195 with value = 0.3260
+Query 1/1: Action query time = 5.322 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3170
+t=26: Selected seed 195 with value = 0.3170
+Query 1/1: Action query time = 3.827 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3739
+t=42: Selected seed 195 with value = 0.3739
+Query 1/1: Action query time = 4.201 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4554
+t=58: Selected seed 195 with value = 0.4554
+Query 1/1: Action query time = 3.859 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5747
+t=74: Selected seed 195 with value = 0.5747
+Query 1/1: Action query time = 5.053 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6740
+t=90: Selected seed 195 with value = 0.6740
+Query 1/1: Action query time = 5.871 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7461
+t=106: Selected seed 195 with value = 0.7461
+Query 1/1: Action query time = 4.794 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8826
+t=122: Selected seed 195 with value = 0.8826
+Query 1/1: Action query time = 4.298 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=138: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/t7realcl800x50_t0_s0/2026_08_03-10_52_17--with_future_img--episode=13--success=True--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: True
+# episodes completed so far: 13
+# successes: 13 (100.0%)
+
+Task: open the middle drawer of the cabinet
+Starting episode 14...
+Query 1/1: Action query time = 4.981 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2901
+t=10: Selected seed 195 with value = 0.2901
+Query 1/1: Action query time = 3.617 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3370
+t=26: Selected seed 195 with value = 0.3370
+Query 1/1: Action query time = 5.218 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3881
+t=42: Selected seed 195 with value = 0.3881
+Query 1/1: Action query time = 5.241 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4743
+t=58: Selected seed 195 with value = 0.4743
+Query 1/1: Action query time = 3.900 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5463
+t=74: Selected seed 195 with value = 0.5463
+Query 1/1: Action query time = 3.985 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6417
+t=90: Selected seed 195 with value = 0.6417
+Query 1/1: Action query time = 5.755 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7335
+t=106: Selected seed 195 with value = 0.7335
+Query 1/1: Action query time = 4.477 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8719
+t=122: Selected seed 195 with value = 0.8719
+Query 1/1: Action query time = 5.402 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=138: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/t7realcl800x50_t0_s0/2026_08_03-10_52_17--with_future_img--episode=14--success=True--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: True
+# episodes completed so far: 14
+# successes: 14 (100.0%)
+
+Task: open the middle drawer of the cabinet
+Starting episode 15...
+Query 1/1: Action query time = 4.978 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3023
+t=10: Selected seed 195 with value = 0.3023
+Query 1/1: Action query time = 3.314 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2936
+t=26: Selected seed 195 with value = 0.2936
+Query 1/1: Action query time = 3.635 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3442
+t=42: Selected seed 195 with value = 0.3442
+Query 1/1: Action query time = 5.143 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3982
+t=58: Selected seed 195 with value = 0.3982
+Query 1/1: Action query time = 4.456 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4747
+t=74: Selected seed 195 with value = 0.4747
+Query 1/1: Action query time = 5.545 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5640
+t=90: Selected seed 195 with value = 0.5640
+Query 1/1: Action query time = 5.595 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7375
+t=106: Selected seed 195 with value = 0.7375
+Query 1/1: Action query time = 4.683 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8411
+t=122: Selected seed 195 with value = 0.8411
+Query 1/1: Action query time = 4.673 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8837
+t=138: Selected seed 195 with value = 0.8837
+Saved rollout MP4 at path ./rollouts/t7realcl800x50_t0_s0/2026_08_03-10_52_17--with_future_img--episode=15--success=True--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: True
+# episodes completed so far: 15
+# successes: 15 (100.0%)
+
+Task: open the middle drawer of the cabinet
+Starting episode 16...
+Query 1/1: Action query time = 4.238 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3269
+t=10: Selected seed 195 with value = 0.3269
+Query 1/1: Action query time = 4.139 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4012
+t=26: Selected seed 195 with value = 0.4012
+Query 1/1: Action query time = 4.904 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4754
+t=42: Selected seed 195 with value = 0.4754
+Query 1/1: Action query time = 4.098 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5403
+t=58: Selected seed 195 with value = 0.5403
+Query 1/1: Action query time = 4.213 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6260
+t=74: Selected seed 195 with value = 0.6260
+Query 1/1: Action query time = 4.587 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6646
+t=90: Selected seed 195 with value = 0.6646
+Query 1/1: Action query time = 4.504 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8320
+t=106: Selected seed 195 with value = 0.8320
+Query 1/1: Action query time = 4.496 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9790
+t=122: Selected seed 195 with value = 0.9790
+Saved rollout MP4 at path ./rollouts/t7realcl800x50_t0_s0/2026_08_03-10_52_17--with_future_img--episode=16--success=True--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: True
+# episodes completed so far: 16
+# successes: 16 (100.0%)
+
+Task: open the middle drawer of the cabinet
+Starting episode 17...
+Query 1/1: Action query time = 5.735 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3108
+t=10: Selected seed 195 with value = 0.3108
+Query 1/1: Action query time = 3.987 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3232
+t=26: Selected seed 195 with value = 0.3232
+Query 1/1: Action query time = 5.012 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4433
+t=42: Selected seed 195 with value = 0.4433
+Query 1/1: Action query time = 3.492 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4206
+t=58: Selected seed 195 with value = 0.4206
+Query 1/1: Action query time = 3.758 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4742
+t=74: Selected seed 195 with value = 0.4742
+Query 1/1: Action query time = 5.112 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5858
+t=90: Selected seed 195 with value = 0.5858
+Query 1/1: Action query time = 5.010 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7762
+t=106: Selected seed 195 with value = 0.7762
+Query 1/1: Action query time = 5.634 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9030
+t=122: Selected seed 195 with value = 0.9030
+Query 1/1: Action query time = 3.869 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=138: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/t7realcl800x50_t0_s0/2026_08_03-10_52_17--with_future_img--episode=17--success=True--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: True
+# episodes completed so far: 17
+# successes: 17 (100.0%)
+
+Task: open the middle drawer of the cabinet
+Starting episode 18...
+Query 1/1: Action query time = 3.549 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2547
+t=10: Selected seed 195 with value = 0.2547
+Query 1/1: Action query time = 3.936 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2036
+t=26: Selected seed 195 with value = 0.2036
+Query 1/1: Action query time = 5.147 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2602
+t=42: Selected seed 195 with value = 0.2602
+Query 1/1: Action query time = 4.481 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4871
+t=58: Selected seed 195 with value = 0.4871
+Query 1/1: Action query time = 5.322 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5674
+t=74: Selected seed 195 with value = 0.5674
+Query 1/1: Action query time = 4.758 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7456
+t=90: Selected seed 195 with value = 0.7456
+Query 1/1: Action query time = 4.418 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8451
+t=106: Selected seed 195 with value = 0.8451
+Query 1/1: Action query time = 3.663 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9775
+t=122: Selected seed 195 with value = 0.9775
+Saved rollout MP4 at path ./rollouts/t7realcl800x50_t0_s0/2026_08_03-10_52_17--with_future_img--episode=18--success=True--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: True
+# episodes completed so far: 18
+# successes: 18 (100.0%)
+
+Task: open the middle drawer of the cabinet
+Starting episode 19...
+Query 1/1: Action query time = 4.406 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2268
+t=10: Selected seed 195 with value = 0.2268
+Query 1/1: Action query time = 3.954 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2298
+t=26: Selected seed 195 with value = 0.2298
+Query 1/1: Action query time = 2.739 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2741
+t=42: Selected seed 195 with value = 0.2741
+Query 1/1: Action query time = 3.025 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3238
+t=58: Selected seed 195 with value = 0.3238
+Query 1/1: Action query time = 3.788 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3739
+t=74: Selected seed 195 with value = 0.3739
+Query 1/1: Action query time = 2.847 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4418
+t=90: Selected seed 195 with value = 0.4418
+Query 1/1: Action query time = 3.330 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5360
+t=106: Selected seed 195 with value = 0.5360
+Query 1/1: Action query time = 3.750 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8545
+t=122: Selected seed 195 with value = 0.8545
+Query 1/1: Action query time = 4.505 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9915
+t=138: Selected seed 195 with value = 0.9915
+Saved rollout MP4 at path ./rollouts/t7realcl800x50_t0_s0/2026_08_03-10_52_17--with_future_img--episode=19--success=True--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: True
+# episodes completed so far: 19
+# successes: 19 (100.0%)
+
+Task: open the middle drawer of the cabinet
+Starting episode 20...
+Query 1/1: Action query time = 3.373 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3268
+t=10: Selected seed 195 with value = 0.3268
+Query 1/1: Action query time = 1.679 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3791
+t=26: Selected seed 195 with value = 0.3791
+Query 1/1: Action query time = 2.061 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4456
+t=42: Selected seed 195 with value = 0.4456
+Query 1/1: Action query time = 3.091 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5001
+t=58: Selected seed 195 with value = 0.5001
+Query 1/1: Action query time = 3.084 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6048
+t=74: Selected seed 195 with value = 0.6048
+Query 1/1: Action query time = 4.203 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7300
+t=90: Selected seed 195 with value = 0.7300
+Query 1/1: Action query time = 4.784 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8924
+t=106: Selected seed 195 with value = 0.8924
+Query 1/1: Action query time = 4.107 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9920
+t=122: Selected seed 195 with value = 0.9920
+Saved rollout MP4 at path ./rollouts/t7realcl800x50_t0_s0/2026_08_03-10_52_17--with_future_img--episode=20--success=True--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: True
+# episodes completed so far: 20
+# successes: 20 (100.0%)
+
+Task: open the middle drawer of the cabinet
+Starting episode 21...
+Query 1/1: Action query time = 3.108 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3159
+t=10: Selected seed 195 with value = 0.3159
+Query 1/1: Action query time = 3.159 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3533
+t=26: Selected seed 195 with value = 0.3533
+Query 1/1: Action query time = 3.237 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3855
+t=42: Selected seed 195 with value = 0.3855
+Query 1/1: Action query time = 3.056 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4780
+t=58: Selected seed 195 with value = 0.4780
+Query 1/1: Action query time = 3.871 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5728
+t=74: Selected seed 195 with value = 0.5728
+Query 1/1: Action query time = 3.717 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6567
+t=90: Selected seed 195 with value = 0.6567
+Query 1/1: Action query time = 2.010 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7722
+t=106: Selected seed 195 with value = 0.7722
+Query 1/1: Action query time = 2.105 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9118
+t=122: Selected seed 195 with value = 0.9118
+Saved rollout MP4 at path ./rollouts/t7realcl800x50_t0_s0/2026_08_03-10_52_17--with_future_img--episode=21--success=True--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: True
+# episodes completed so far: 21
+# successes: 21 (100.0%)
+
+Task: open the middle drawer of the cabinet
+Starting episode 22...
+Query 1/1: Action query time = 3.015 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3444
+t=10: Selected seed 195 with value = 0.3444
+Query 1/1: Action query time = 3.144 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3987
+t=26: Selected seed 195 with value = 0.3987
+Query 1/1: Action query time = 2.038 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4650
+t=42: Selected seed 195 with value = 0.4650
+Query 1/1: Action query time = 2.479 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5484
+t=58: Selected seed 195 with value = 0.5484
+Query 1/1: Action query time = 3.563 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6279
+t=74: Selected seed 195 with value = 0.6279
+Query 1/1: Action query time = 3.858 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7338
+t=90: Selected seed 195 with value = 0.7338
+Query 1/1: Action query time = 3.730 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8463
+t=106: Selected seed 195 with value = 0.8463
+Query 1/1: Action query time = 3.572 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9876
+t=122: Selected seed 195 with value = 0.9876
+Saved rollout MP4 at path ./rollouts/t7realcl800x50_t0_s0/2026_08_03-10_52_17--with_future_img--episode=22--success=True--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: True
+# episodes completed so far: 22
+# successes: 22 (100.0%)
+
+Task: open the middle drawer of the cabinet
+Starting episode 23...
+Query 1/1: Action query time = 2.357 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3125
+t=10: Selected seed 195 with value = 0.3125
+Query 1/1: Action query time = 1.839 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3511
+t=26: Selected seed 195 with value = 0.3511
+Query 1/1: Action query time = 1.629 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4175
+t=42: Selected seed 195 with value = 0.4175
+Query 1/1: Action query time = 1.763 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4750
+t=58: Selected seed 195 with value = 0.4750
+Query 1/1: Action query time = 2.385 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5706
+t=74: Selected seed 195 with value = 0.5706
+Query 1/1: Action query time = 2.058 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6803
+t=90: Selected seed 195 with value = 0.6803
+Query 1/1: Action query time = 2.528 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8142
+t=106: Selected seed 195 with value = 0.8142
+Query 1/1: Action query time = 2.195 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9616
+t=122: Selected seed 195 with value = 0.9616
+Saved rollout MP4 at path ./rollouts/t7realcl800x50_t0_s0/2026_08_03-10_52_17--with_future_img--episode=23--success=True--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: True
+# episodes completed so far: 23
+# successes: 23 (100.0%)
+
+Task: open the middle drawer of the cabinet
+Starting episode 24...
+Query 1/1: Action query time = 2.745 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3319
+t=10: Selected seed 195 with value = 0.3319
+Query 1/1: Action query time = 2.360 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3866
+t=26: Selected seed 195 with value = 0.3866
+Query 1/1: Action query time = 2.521 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4387
+t=42: Selected seed 195 with value = 0.4387
+Query 1/1: Action query time = 2.040 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4924
+t=58: Selected seed 195 with value = 0.4924
+Query 1/1: Action query time = 1.556 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5962
+t=74: Selected seed 195 with value = 0.5962
+Query 1/1: Action query time = 2.621 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7509
+t=90: Selected seed 195 with value = 0.7509
+Query 1/1: Action query time = 2.043 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8746
+t=106: Selected seed 195 with value = 0.8746
+Query 1/1: Action query time = 1.775 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=122: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/t7realcl800x50_t0_s0/2026_08_03-10_52_17--with_future_img--episode=24--success=True--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: True
+# episodes completed so far: 24
+# successes: 24 (100.0%)
+
+Task: open the middle drawer of the cabinet
+Starting episode 25...
+Query 1/1: Action query time = 2.719 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3269
+t=10: Selected seed 195 with value = 0.3269
+Query 1/1: Action query time = 2.724 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3389
+t=26: Selected seed 195 with value = 0.3389
+Query 1/1: Action query time = 2.842 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4033
+t=42: Selected seed 195 with value = 0.4033
+Query 1/1: Action query time = 2.627 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5141
+t=58: Selected seed 195 with value = 0.5141
+Query 1/1: Action query time = 2.254 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5651
+t=74: Selected seed 195 with value = 0.5651
+Query 1/1: Action query time = 2.384 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6636
+t=90: Selected seed 195 with value = 0.6636
+Query 1/1: Action query time = 2.484 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7648
+t=106: Selected seed 195 with value = 0.7648
+Query 1/1: Action query time = 2.006 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9103
+t=122: Selected seed 195 with value = 0.9103
+Query 1/1: Action query time = 2.552 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=138: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/t7realcl800x50_t0_s0/2026_08_03-10_52_17--with_future_img--episode=25--success=True--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: True
+# episodes completed so far: 25
+# successes: 25 (100.0%)
+Current task success rate: 1.0
+Current total success rate: 1.0
+Final results:
+Total episodes: 25
+Total successes: 25
+Overall success rate: 1.0000 (100.0%)
diff --git a/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_03-10_52_21--t7realcl800x50_t1_s0.txt b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_03-10_52_21--t7realcl800x50_t1_s0.txt
new file mode 100644
index 0000000000000000000000000000000000000000..e8596a2ab914173240745c0c3cda97f199e609d5
--- /dev/null
+++ b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_03-10_52_21--t7realcl800x50_t1_s0.txt
@@ -0,0 +1,791 @@
+Eval config: PolicyEvalConfig(suite='libero', model_family='cosmos', config='cosmos_predict2_2b_480p_libero_cl_stage_inference_only', ckpt_path='/home/azureuser/REGEN-main/new_task7/cosmos_policy/cosmos_v2_finetune/cosmos_predict2_2b_480p_libero_goal_task7_real_cl_from_realcl800_2gpu/checkpoints/iter_000000800/model', planning_model_config_name='', planning_model_ckpt_path='', config_file='cosmos_policy/config/config.py', packnet_mask_path='', packnet_first_cl_libero_task=6, use_third_person_image=True, num_third_person_images=1, use_wrist_image=True, num_wrist_images=1, use_proprio=True, flip_images=True, use_variance_scale=False, use_jpeg_compression=True, ar_future_prediction=False, ar_value_prediction=False, ar_qvalue_prediction=False, num_denoising_steps_action=5, num_denoising_steps_future_state=1, num_denoising_steps_value=1, unnormalize_actions=True, normalize_proprio=True, dataset_stats_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/libero_goal_regen/dataset_statistics.json', t5_text_embeddings_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/t5_embeddings.pkl', trained_with_image_aug=True, chunk_size=16, num_open_loop_steps=16, deterministic=True, deterministic_reset=False, deterministic_reset_seed=None, use_ensemble_future_state_predictions=False, num_future_state_predictions_in_ensemble=3, future_state_ensemble_aggregation_scheme='average', use_ensemble_value_predictions=False, num_value_predictions_in_ensemble=5, value_ensemble_aggregation_scheme='average', search_depth=1, mask_current_state_action_for_value_prediction=False, mask_future_state_for_qvalue_prediction=False, num_queries_best_of_n=1, use_parallel_inference=False, available_gpus='0', parallel_timeout=15, parallel_tasks_across_gpus=False, task_suite_name='libero_goal', num_trials_per_task=50, task_ids_to_run='1', initial_states_path='DEFAULT', env_img_res=256, local_log_dir='/home/azureuser/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal', run_id_note='t7realcl800x50_t1_s0', use_wandb=False, wandb_entity='YOUR_ENTITY', wandb_project='YOUR_PROJECT', seed=195, randomize_seed=False, data_collection=False, jpeg_compress=True, reward_stop_threshold=None, reward_stop_consecutive_steps=3, use_gpt_reward=False, gpt_reward_model='gpt-5.4-mini', gpt_reward_stop_threshold=4, gpt_reward_timeout_s=30.0, save_rollout_video=False, eval_hdf5_path='', eval_hdf5_demo_key='demo_0', data_gen_demo_ids='', eval_episode_ids='0,2,4,6,8,10,12,14,16,18,20,22,24,26,28,30,32,34,36,38,40,42,44,46,48', dump_final_states_path='', replay_actions=False, replay_action_path_dir='', replay_hdf5_path='', data_generation=False, max_generation_steps=200, disable_value_stop=False)
+Using serial inference (parallel inference disabled)
+Task suite: libero_goal
+Number of tasks: 10
+Running only task IDs: [1]
+Using default initial states
+
+Task: put the bowl on the stove
+Starting episode 1...
+Query 1/1: Action query time = 3.272 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4443
+t=10: Selected seed 195 with value = 0.4443
+Query 1/1: Action query time = 2.871 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5267
+t=26: Selected seed 195 with value = 0.5267
+Query 1/1: Action query time = 4.055 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6287
+t=42: Selected seed 195 with value = 0.6287
+Query 1/1: Action query time = 4.956 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7382
+t=58: Selected seed 195 with value = 0.7382
+Query 1/1: Action query time = 4.759 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8548
+t=74: Selected seed 195 with value = 0.8548
+Query 1/1: Action query time = 4.388 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/t7realcl800x50_t1_s0/2026_08_03-10_52_21--with_future_img--episode=1--success=True--task=put_the_bowl_on_the_stove.mp4
+Success: True
+# episodes completed so far: 1
+# successes: 1 (100.0%)
+
+Task: put the bowl on the stove
+Starting episode 2...
+Query 1/1: Action query time = 3.877 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4658
+t=10: Selected seed 195 with value = 0.4658
+Query 1/1: Action query time = 4.775 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5358
+t=26: Selected seed 195 with value = 0.5358
+Query 1/1: Action query time = 4.720 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6220
+t=42: Selected seed 195 with value = 0.6220
+Query 1/1: Action query time = 4.811 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7405
+t=58: Selected seed 195 with value = 0.7405
+Query 1/1: Action query time = 5.211 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8656
+t=74: Selected seed 195 with value = 0.8656
+Query 1/1: Action query time = 4.265 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9992
+t=90: Selected seed 195 with value = 0.9992
+Saved rollout MP4 at path ./rollouts/t7realcl800x50_t1_s0/2026_08_03-10_52_21--with_future_img--episode=2--success=True--task=put_the_bowl_on_the_stove.mp4
+Success: True
+# episodes completed so far: 2
+# successes: 2 (100.0%)
+
+Task: put the bowl on the stove
+Starting episode 3...
+Query 1/1: Action query time = 4.537 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4581
+t=10: Selected seed 195 with value = 0.4581
+Query 1/1: Action query time = 4.153 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5252
+t=26: Selected seed 195 with value = 0.5252
+Query 1/1: Action query time = 3.247 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6115
+t=42: Selected seed 195 with value = 0.6115
+Query 1/1: Action query time = 5.677 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7330
+t=58: Selected seed 195 with value = 0.7330
+Query 1/1: Action query time = 5.785 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8075
+t=74: Selected seed 195 with value = 0.8075
+Query 1/1: Action query time = 6.005 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9453
+t=90: Selected seed 195 with value = 0.9453
+Saved rollout MP4 at path ./rollouts/t7realcl800x50_t1_s0/2026_08_03-10_52_21--with_future_img--episode=3--success=True--task=put_the_bowl_on_the_stove.mp4
+Success: True
+# episodes completed so far: 3
+# successes: 3 (100.0%)
+
+Task: put the bowl on the stove
+Starting episode 4...
+Query 1/1: Action query time = 3.793 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3578
+t=10: Selected seed 195 with value = 0.3578
+Query 1/1: Action query time = 3.823 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4447
+t=26: Selected seed 195 with value = 0.4447
+Query 1/1: Action query time = 3.833 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5569
+t=42: Selected seed 195 with value = 0.5569
+Query 1/1: Action query time = 5.040 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6713
+t=58: Selected seed 195 with value = 0.6713
+Query 1/1: Action query time = 4.615 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7462
+t=74: Selected seed 195 with value = 0.7462
+Query 1/1: Action query time = 4.005 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9246
+t=90: Selected seed 195 with value = 0.9246
+Saved rollout MP4 at path ./rollouts/t7realcl800x50_t1_s0/2026_08_03-10_52_21--with_future_img--episode=4--success=True--task=put_the_bowl_on_the_stove.mp4
+Success: True
+# episodes completed so far: 4
+# successes: 4 (100.0%)
+
+Task: put the bowl on the stove
+Starting episode 5...
+Query 1/1: Action query time = 5.126 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4424
+t=10: Selected seed 195 with value = 0.4424
+Query 1/1: Action query time = 3.665 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5163
+t=26: Selected seed 195 with value = 0.5163
+Query 1/1: Action query time = 5.808 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6146
+t=42: Selected seed 195 with value = 0.6146
+Query 1/1: Action query time = 5.661 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7210
+t=58: Selected seed 195 with value = 0.7210
+Query 1/1: Action query time = 5.745 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8059
+t=74: Selected seed 195 with value = 0.8059
+Query 1/1: Action query time = 5.226 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9656
+t=90: Selected seed 195 with value = 0.9656
+Saved rollout MP4 at path ./rollouts/t7realcl800x50_t1_s0/2026_08_03-10_52_21--with_future_img--episode=5--success=True--task=put_the_bowl_on_the_stove.mp4
+Success: True
+# episodes completed so far: 5
+# successes: 5 (100.0%)
+
+Task: put the bowl on the stove
+Starting episode 6...
+Query 1/1: Action query time = 2.680 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4053
+t=10: Selected seed 195 with value = 0.4053
+Query 1/1: Action query time = 2.314 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5079
+t=26: Selected seed 195 with value = 0.5079
+Query 1/1: Action query time = 3.505 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5943
+t=42: Selected seed 195 with value = 0.5943
+Query 1/1: Action query time = 5.295 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6849
+t=58: Selected seed 195 with value = 0.6849
+Query 1/1: Action query time = 5.234 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8116
+t=74: Selected seed 195 with value = 0.8116
+Query 1/1: Action query time = 5.547 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9497
+t=90: Selected seed 195 with value = 0.9497
+Saved rollout MP4 at path ./rollouts/t7realcl800x50_t1_s0/2026_08_03-10_52_21--with_future_img--episode=6--success=True--task=put_the_bowl_on_the_stove.mp4
+Success: True
+# episodes completed so far: 6
+# successes: 6 (100.0%)
+
+Task: put the bowl on the stove
+Starting episode 7...
+Query 1/1: Action query time = 4.612 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4634
+t=10: Selected seed 195 with value = 0.4634
+Query 1/1: Action query time = 4.239 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5107
+t=26: Selected seed 195 with value = 0.5107
+Query 1/1: Action query time = 4.650 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6280
+t=42: Selected seed 195 with value = 0.6280
+Query 1/1: Action query time = 5.617 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7112
+t=58: Selected seed 195 with value = 0.7112
+Query 1/1: Action query time = 4.395 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8125
+t=74: Selected seed 195 with value = 0.8125
+Query 1/1: Action query time = 4.357 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9783
+t=90: Selected seed 195 with value = 0.9783
+Saved rollout MP4 at path ./rollouts/t7realcl800x50_t1_s0/2026_08_03-10_52_21--with_future_img--episode=7--success=True--task=put_the_bowl_on_the_stove.mp4
+Success: True
+# episodes completed so far: 7
+# successes: 7 (100.0%)
+
+Task: put the bowl on the stove
+Starting episode 8...
+Query 1/1: Action query time = 3.185 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4398
+t=10: Selected seed 195 with value = 0.4398
+Query 1/1: Action query time = 4.002 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5605
+t=26: Selected seed 195 with value = 0.5605
+Query 1/1: Action query time = 5.596 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6453
+t=42: Selected seed 195 with value = 0.6453
+Query 1/1: Action query time = 5.371 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7457
+t=58: Selected seed 195 with value = 0.7457
+Query 1/1: Action query time = 4.879 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8619
+t=74: Selected seed 195 with value = 0.8619
+Query 1/1: Action query time = 3.545 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9966
+t=90: Selected seed 195 with value = 0.9966
+Saved rollout MP4 at path ./rollouts/t7realcl800x50_t1_s0/2026_08_03-10_52_21--with_future_img--episode=8--success=True--task=put_the_bowl_on_the_stove.mp4
+Success: True
+# episodes completed so far: 8
+# successes: 8 (100.0%)
+
+Task: put the bowl on the stove
+Starting episode 9...
+Query 1/1: Action query time = 3.660 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4133
+t=10: Selected seed 195 with value = 0.4133
+Query 1/1: Action query time = 3.941 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5308
+t=26: Selected seed 195 with value = 0.5308
+Query 1/1: Action query time = 5.419 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6013
+t=42: Selected seed 195 with value = 0.6013
+Query 1/1: Action query time = 4.785 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7370
+t=58: Selected seed 195 with value = 0.7370
+Query 1/1: Action query time = 4.585 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8786
+t=74: Selected seed 195 with value = 0.8786
+Query 1/1: Action query time = 4.662 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9996
+t=90: Selected seed 195 with value = 0.9996
+Saved rollout MP4 at path ./rollouts/t7realcl800x50_t1_s0/2026_08_03-10_52_21--with_future_img--episode=9--success=True--task=put_the_bowl_on_the_stove.mp4
+Success: True
+# episodes completed so far: 9
+# successes: 9 (100.0%)
+
+Task: put the bowl on the stove
+Starting episode 10...
+Query 1/1: Action query time = 3.710 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4422
+t=10: Selected seed 195 with value = 0.4422
+Query 1/1: Action query time = 2.646 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5042
+t=26: Selected seed 195 with value = 0.5042
+Query 1/1: Action query time = 5.037 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5384
+t=42: Selected seed 195 with value = 0.5384
+Query 1/1: Action query time = 5.006 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6484
+t=58: Selected seed 195 with value = 0.6484
+Query 1/1: Action query time = 4.984 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8119
+t=74: Selected seed 195 with value = 0.8119
+Query 1/1: Action query time = 4.754 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9970
+t=90: Selected seed 195 with value = 0.9970
+Saved rollout MP4 at path ./rollouts/t7realcl800x50_t1_s0/2026_08_03-10_52_21--with_future_img--episode=10--success=True--task=put_the_bowl_on_the_stove.mp4
+Success: True
+# episodes completed so far: 10
+# successes: 10 (100.0%)
+
+Task: put the bowl on the stove
+Starting episode 11...
+Query 1/1: Action query time = 4.793 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4247
+t=10: Selected seed 195 with value = 0.4247
+Query 1/1: Action query time = 3.754 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5016
+t=26: Selected seed 195 with value = 0.5016
+Query 1/1: Action query time = 5.527 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5963
+t=42: Selected seed 195 with value = 0.5963
+Query 1/1: Action query time = 4.574 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6773
+t=58: Selected seed 195 with value = 0.6773
+Query 1/1: Action query time = 3.986 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8192
+t=74: Selected seed 195 with value = 0.8192
+Query 1/1: Action query time = 4.182 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9890
+t=90: Selected seed 195 with value = 0.9890
+Saved rollout MP4 at path ./rollouts/t7realcl800x50_t1_s0/2026_08_03-10_52_21--with_future_img--episode=11--success=True--task=put_the_bowl_on_the_stove.mp4
+Success: True
+# episodes completed so far: 11
+# successes: 11 (100.0%)
+
+Task: put the bowl on the stove
+Starting episode 12...
+Query 1/1: Action query time = 3.825 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3996
+t=10: Selected seed 195 with value = 0.3996
+Query 1/1: Action query time = 4.345 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4806
+t=26: Selected seed 195 with value = 0.4806
+Query 1/1: Action query time = 4.314 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5474
+t=42: Selected seed 195 with value = 0.5474
+Query 1/1: Action query time = 5.077 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6420
+t=58: Selected seed 195 with value = 0.6420
+Query 1/1: Action query time = 5.478 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7794
+t=74: Selected seed 195 with value = 0.7794
+Query 1/1: Action query time = 4.865 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9356
+t=90: Selected seed 195 with value = 0.9356
+Saved rollout MP4 at path ./rollouts/t7realcl800x50_t1_s0/2026_08_03-10_52_21--with_future_img--episode=12--success=True--task=put_the_bowl_on_the_stove.mp4
+Success: True
+# episodes completed so far: 12
+# successes: 12 (100.0%)
+
+Task: put the bowl on the stove
+Starting episode 13...
+Query 1/1: Action query time = 4.462 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4265
+t=10: Selected seed 195 with value = 0.4265
+Query 1/1: Action query time = 5.392 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4976
+t=26: Selected seed 195 with value = 0.4976
+Query 1/1: Action query time = 4.912 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5832
+t=42: Selected seed 195 with value = 0.5832
+Query 1/1: Action query time = 4.319 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6843
+t=58: Selected seed 195 with value = 0.6843
+Query 1/1: Action query time = 4.879 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8188
+t=74: Selected seed 195 with value = 0.8188
+Query 1/1: Action query time = 4.942 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9578
+t=90: Selected seed 195 with value = 0.9578
+Saved rollout MP4 at path ./rollouts/t7realcl800x50_t1_s0/2026_08_03-10_52_21--with_future_img--episode=13--success=True--task=put_the_bowl_on_the_stove.mp4
+Success: True
+# episodes completed so far: 13
+# successes: 13 (100.0%)
+
+Task: put the bowl on the stove
+Starting episode 14...
+Query 1/1: Action query time = 4.373 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4523
+t=10: Selected seed 195 with value = 0.4523
+Query 1/1: Action query time = 5.189 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5330
+t=26: Selected seed 195 with value = 0.5330
+Query 1/1: Action query time = 4.332 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6307
+t=42: Selected seed 195 with value = 0.6307
+Query 1/1: Action query time = 5.096 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7546
+t=58: Selected seed 195 with value = 0.7546
+Query 1/1: Action query time = 4.851 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8679
+t=74: Selected seed 195 with value = 0.8679
+Query 1/1: Action query time = 4.346 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9975
+t=90: Selected seed 195 with value = 0.9975
+Saved rollout MP4 at path ./rollouts/t7realcl800x50_t1_s0/2026_08_03-10_52_21--with_future_img--episode=14--success=True--task=put_the_bowl_on_the_stove.mp4
+Success: True
+# episodes completed so far: 14
+# successes: 14 (100.0%)
+
+Task: put the bowl on the stove
+Starting episode 15...
+Query 1/1: Action query time = 3.823 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4245
+t=10: Selected seed 195 with value = 0.4245
+Query 1/1: Action query time = 4.602 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5044
+t=26: Selected seed 195 with value = 0.5044
+Query 1/1: Action query time = 3.568 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5959
+t=42: Selected seed 195 with value = 0.5959
+Query 1/1: Action query time = 5.240 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6878
+t=58: Selected seed 195 with value = 0.6878
+Query 1/1: Action query time = 4.914 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8332
+t=74: Selected seed 195 with value = 0.8332
+Query 1/1: Action query time = 5.405 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9872
+t=90: Selected seed 195 with value = 0.9872
+Saved rollout MP4 at path ./rollouts/t7realcl800x50_t1_s0/2026_08_03-10_52_21--with_future_img--episode=15--success=True--task=put_the_bowl_on_the_stove.mp4
+Success: True
+# episodes completed so far: 15
+# successes: 15 (100.0%)
+
+Task: put the bowl on the stove
+Starting episode 16...
+Query 1/1: Action query time = 4.941 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4390
+t=10: Selected seed 195 with value = 0.4390
+Query 1/1: Action query time = 4.336 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5213
+t=26: Selected seed 195 with value = 0.5213
+Query 1/1: Action query time = 4.534 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6113
+t=42: Selected seed 195 with value = 0.6113
+Query 1/1: Action query time = 4.178 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7205
+t=58: Selected seed 195 with value = 0.7205
+Query 1/1: Action query time = 4.524 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8387
+t=74: Selected seed 195 with value = 0.8387
+Query 1/1: Action query time = 4.990 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9903
+t=90: Selected seed 195 with value = 0.9903
+Saved rollout MP4 at path ./rollouts/t7realcl800x50_t1_s0/2026_08_03-10_52_21--with_future_img--episode=16--success=True--task=put_the_bowl_on_the_stove.mp4
+Success: True
+# episodes completed so far: 16
+# successes: 16 (100.0%)
+
+Task: put the bowl on the stove
+Starting episode 17...
+Query 1/1: Action query time = 4.647 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4648
+t=10: Selected seed 195 with value = 0.4648
+Query 1/1: Action query time = 4.737 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5111
+t=26: Selected seed 195 with value = 0.5111
+Query 1/1: Action query time = 4.952 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6232
+t=42: Selected seed 195 with value = 0.6232
+Query 1/1: Action query time = 5.073 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7248
+t=58: Selected seed 195 with value = 0.7248
+Query 1/1: Action query time = 5.599 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8456
+t=74: Selected seed 195 with value = 0.8456
+Query 1/1: Action query time = 4.179 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9833
+t=90: Selected seed 195 with value = 0.9833
+Saved rollout MP4 at path ./rollouts/t7realcl800x50_t1_s0/2026_08_03-10_52_21--with_future_img--episode=17--success=True--task=put_the_bowl_on_the_stove.mp4
+Success: True
+# episodes completed so far: 17
+# successes: 17 (100.0%)
+
+Task: put the bowl on the stove
+Starting episode 18...
+Query 1/1: Action query time = 4.638 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4410
+t=10: Selected seed 195 with value = 0.4410
+Query 1/1: Action query time = 5.413 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5197
+t=26: Selected seed 195 with value = 0.5197
+Query 1/1: Action query time = 4.710 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6139
+t=42: Selected seed 195 with value = 0.6139
+Query 1/1: Action query time = 4.794 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7214
+t=58: Selected seed 195 with value = 0.7214
+Query 1/1: Action query time = 4.030 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8563
+t=74: Selected seed 195 with value = 0.8563
+Query 1/1: Action query time = 4.739 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9984
+t=90: Selected seed 195 with value = 0.9984
+Saved rollout MP4 at path ./rollouts/t7realcl800x50_t1_s0/2026_08_03-10_52_21--with_future_img--episode=18--success=True--task=put_the_bowl_on_the_stove.mp4
+Success: True
+# episodes completed so far: 18
+# successes: 18 (100.0%)
+
+Task: put the bowl on the stove
+Starting episode 19...
+Query 1/1: Action query time = 4.322 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4530
+t=10: Selected seed 195 with value = 0.4530
+Query 1/1: Action query time = 3.700 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5372
+t=26: Selected seed 195 with value = 0.5372
+Query 1/1: Action query time = 4.447 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6350
+t=42: Selected seed 195 with value = 0.6350
+Query 1/1: Action query time = 5.425 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7431
+t=58: Selected seed 195 with value = 0.7431
+Query 1/1: Action query time = 4.456 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8582
+t=74: Selected seed 195 with value = 0.8582
+Query 1/1: Action query time = 4.410 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9994
+t=90: Selected seed 195 with value = 0.9994
+Saved rollout MP4 at path ./rollouts/t7realcl800x50_t1_s0/2026_08_03-10_52_21--with_future_img--episode=19--success=True--task=put_the_bowl_on_the_stove.mp4
+Success: True
+# episodes completed so far: 19
+# successes: 19 (100.0%)
+
+Task: put the bowl on the stove
+Starting episode 20...
+Query 1/1: Action query time = 4.266 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4144
+t=10: Selected seed 195 with value = 0.4144
+Query 1/1: Action query time = 5.317 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4730
+t=26: Selected seed 195 with value = 0.4730
+Query 1/1: Action query time = 4.601 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5848
+t=42: Selected seed 195 with value = 0.5848
+Query 1/1: Action query time = 5.689 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6761
+t=58: Selected seed 195 with value = 0.6761
+Query 1/1: Action query time = 4.091 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8063
+t=74: Selected seed 195 with value = 0.8063
+Query 1/1: Action query time = 5.107 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9485
+t=90: Selected seed 195 with value = 0.9485
+Saved rollout MP4 at path ./rollouts/t7realcl800x50_t1_s0/2026_08_03-10_52_21--with_future_img--episode=20--success=True--task=put_the_bowl_on_the_stove.mp4
+Success: True
+# episodes completed so far: 20
+# successes: 20 (100.0%)
+
+Task: put the bowl on the stove
+Starting episode 21...
+Query 1/1: Action query time = 4.976 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3924
+t=10: Selected seed 195 with value = 0.3924
+Query 1/1: Action query time = 4.373 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4609
+t=26: Selected seed 195 with value = 0.4609
+Query 1/1: Action query time = 4.857 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5673
+t=42: Selected seed 195 with value = 0.5673
+Query 1/1: Action query time = 4.474 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6500
+t=58: Selected seed 195 with value = 0.6500
+Query 1/1: Action query time = 5.289 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7219
+t=74: Selected seed 195 with value = 0.7219
+Query 1/1: Action query time = 4.475 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8773
+t=90: Selected seed 195 with value = 0.8773
+Query 1/1: Action query time = 4.566 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9845
+t=106: Selected seed 195 with value = 0.9845
+Saved rollout MP4 at path ./rollouts/t7realcl800x50_t1_s0/2026_08_03-10_52_21--with_future_img--episode=21--success=True--task=put_the_bowl_on_the_stove.mp4
+Success: True
+# episodes completed so far: 21
+# successes: 21 (100.0%)
+
+Task: put the bowl on the stove
+Starting episode 22...
+Query 1/1: Action query time = 4.853 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4262
+t=10: Selected seed 195 with value = 0.4262
+Query 1/1: Action query time = 4.566 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5188
+t=26: Selected seed 195 with value = 0.5188
+Query 1/1: Action query time = 5.325 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5992
+t=42: Selected seed 195 with value = 0.5992
+Query 1/1: Action query time = 3.944 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7207
+t=58: Selected seed 195 with value = 0.7207
+Query 1/1: Action query time = 4.479 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8302
+t=74: Selected seed 195 with value = 0.8302
+Query 1/1: Action query time = 4.789 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9886
+t=90: Selected seed 195 with value = 0.9886
+Saved rollout MP4 at path ./rollouts/t7realcl800x50_t1_s0/2026_08_03-10_52_21--with_future_img--episode=22--success=True--task=put_the_bowl_on_the_stove.mp4
+Success: True
+# episodes completed so far: 22
+# successes: 22 (100.0%)
+
+Task: put the bowl on the stove
+Starting episode 23...
+Query 1/1: Action query time = 4.892 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4003
+t=10: Selected seed 195 with value = 0.4003
+Query 1/1: Action query time = 4.408 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4955
+t=26: Selected seed 195 with value = 0.4955
+Query 1/1: Action query time = 5.089 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5532
+t=42: Selected seed 195 with value = 0.5532
+Query 1/1: Action query time = 4.054 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6523
+t=58: Selected seed 195 with value = 0.6523
+Query 1/1: Action query time = 4.524 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7325
+t=74: Selected seed 195 with value = 0.7325
+Query 1/1: Action query time = 4.202 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8670
+t=90: Selected seed 195 with value = 0.8670
+Saved rollout MP4 at path ./rollouts/t7realcl800x50_t1_s0/2026_08_03-10_52_21--with_future_img--episode=23--success=True--task=put_the_bowl_on_the_stove.mp4
+Success: True
+# episodes completed so far: 23
+# successes: 23 (100.0%)
+
+Task: put the bowl on the stove
+Starting episode 24...
+Query 1/1: Action query time = 5.017 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4260
+t=10: Selected seed 195 with value = 0.4260
+Query 1/1: Action query time = 4.400 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5046
+t=26: Selected seed 195 with value = 0.5046
+Query 1/1: Action query time = 3.995 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5845
+t=42: Selected seed 195 with value = 0.5845
+Query 1/1: Action query time = 3.874 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7058
+t=58: Selected seed 195 with value = 0.7058
+Query 1/1: Action query time = 4.484 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8001
+t=74: Selected seed 195 with value = 0.8001
+Query 1/1: Action query time = 4.243 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9255
+t=90: Selected seed 195 with value = 0.9255
+Saved rollout MP4 at path ./rollouts/t7realcl800x50_t1_s0/2026_08_03-10_52_21--with_future_img--episode=24--success=True--task=put_the_bowl_on_the_stove.mp4
+Success: True
+# episodes completed so far: 24
+# successes: 24 (100.0%)
+
+Task: put the bowl on the stove
+Starting episode 25...
+Query 1/1: Action query time = 4.339 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4282
+t=10: Selected seed 195 with value = 0.4282
+Query 1/1: Action query time = 4.305 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5095
+t=26: Selected seed 195 with value = 0.5095
+Query 1/1: Action query time = 4.724 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5957
+t=42: Selected seed 195 with value = 0.5957
+Query 1/1: Action query time = 5.020 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6945
+t=58: Selected seed 195 with value = 0.6945
+Query 1/1: Action query time = 4.499 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8131
+t=74: Selected seed 195 with value = 0.8131
+Query 1/1: Action query time = 5.363 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9743
+t=90: Selected seed 195 with value = 0.9743
+Saved rollout MP4 at path ./rollouts/t7realcl800x50_t1_s0/2026_08_03-10_52_21--with_future_img--episode=25--success=True--task=put_the_bowl_on_the_stove.mp4
+Success: True
+# episodes completed so far: 25
+# successes: 25 (100.0%)
+Current task success rate: 1.0
+Current total success rate: 1.0
+Final results:
+Total episodes: 25
+Total successes: 25
+Overall success rate: 1.0000 (100.0%)
diff --git a/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_03-10_52_27--t7realcl800x50_t2_s1.txt b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_03-10_52_27--t7realcl800x50_t2_s1.txt
new file mode 100644
index 0000000000000000000000000000000000000000..b2a80dc43e9399e6c869a08097d8c78b8c41ee98
--- /dev/null
+++ b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_03-10_52_27--t7realcl800x50_t2_s1.txt
@@ -0,0 +1,883 @@
+Eval config: PolicyEvalConfig(suite='libero', model_family='cosmos', config='cosmos_predict2_2b_480p_libero_cl_stage_inference_only', ckpt_path='/home/azureuser/REGEN-main/new_task7/cosmos_policy/cosmos_v2_finetune/cosmos_predict2_2b_480p_libero_goal_task7_real_cl_from_realcl800_2gpu/checkpoints/iter_000000800/model', planning_model_config_name='', planning_model_ckpt_path='', config_file='cosmos_policy/config/config.py', packnet_mask_path='', packnet_first_cl_libero_task=6, use_third_person_image=True, num_third_person_images=1, use_wrist_image=True, num_wrist_images=1, use_proprio=True, flip_images=True, use_variance_scale=False, use_jpeg_compression=True, ar_future_prediction=False, ar_value_prediction=False, ar_qvalue_prediction=False, num_denoising_steps_action=5, num_denoising_steps_future_state=1, num_denoising_steps_value=1, unnormalize_actions=True, normalize_proprio=True, dataset_stats_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/libero_goal_regen/dataset_statistics.json', t5_text_embeddings_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/t5_embeddings.pkl', trained_with_image_aug=True, chunk_size=16, num_open_loop_steps=16, deterministic=True, deterministic_reset=False, deterministic_reset_seed=None, use_ensemble_future_state_predictions=False, num_future_state_predictions_in_ensemble=3, future_state_ensemble_aggregation_scheme='average', use_ensemble_value_predictions=False, num_value_predictions_in_ensemble=5, value_ensemble_aggregation_scheme='average', search_depth=1, mask_current_state_action_for_value_prediction=False, mask_future_state_for_qvalue_prediction=False, num_queries_best_of_n=1, use_parallel_inference=False, available_gpus='0', parallel_timeout=15, parallel_tasks_across_gpus=False, task_suite_name='libero_goal', num_trials_per_task=50, task_ids_to_run='2', initial_states_path='DEFAULT', env_img_res=256, local_log_dir='/home/azureuser/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal', run_id_note='t7realcl800x50_t2_s1', use_wandb=False, wandb_entity='YOUR_ENTITY', wandb_project='YOUR_PROJECT', seed=195, randomize_seed=False, data_collection=False, jpeg_compress=True, reward_stop_threshold=None, reward_stop_consecutive_steps=3, use_gpt_reward=False, gpt_reward_model='gpt-5.4-mini', gpt_reward_stop_threshold=4, gpt_reward_timeout_s=30.0, save_rollout_video=False, eval_hdf5_path='', eval_hdf5_demo_key='demo_0', data_gen_demo_ids='', eval_episode_ids='1,3,5,7,9,11,13,15,17,19,21,23,25,27,29,31,33,35,37,39,41,43,45,47,49', dump_final_states_path='', replay_actions=False, replay_action_path_dir='', replay_hdf5_path='', data_generation=False, max_generation_steps=200, disable_value_stop=False)
+Using serial inference (parallel inference disabled)
+Task suite: libero_goal
+Number of tasks: 10
+Running only task IDs: [2]
+Using default initial states
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 1...
+Query 1/1: Action query time = 5.350 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4336
+t=10: Selected seed 195 with value = 0.4336
+Query 1/1: Action query time = 4.660 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3886
+t=26: Selected seed 195 with value = 0.3886
+Query 1/1: Action query time = 4.819 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5679
+t=42: Selected seed 195 with value = 0.5679
+Query 1/1: Action query time = 3.913 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6720
+t=58: Selected seed 195 with value = 0.6720
+Query 1/1: Action query time = 3.066 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8057
+t=74: Selected seed 195 with value = 0.8057
+Query 1/1: Action query time = 4.366 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9526
+t=90: Selected seed 195 with value = 0.9526
+Saved rollout MP4 at path ./rollouts/t7realcl800x50_t2_s1/2026_08_03-10_52_27--with_future_img--episode=1--success=True--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: True
+# episodes completed so far: 1
+# successes: 1 (100.0%)
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 2...
+Query 1/1: Action query time = 5.564 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3650
+t=10: Selected seed 195 with value = 0.3650
+Query 1/1: Action query time = 5.353 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4423
+t=26: Selected seed 195 with value = 0.4423
+Query 1/1: Action query time = 4.901 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5668
+t=42: Selected seed 195 with value = 0.5668
+Query 1/1: Action query time = 5.000 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7017
+t=58: Selected seed 195 with value = 0.7017
+Query 1/1: Action query time = 4.157 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8628
+t=74: Selected seed 195 with value = 0.8628
+Query 1/1: Action query time = 3.978 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/t7realcl800x50_t2_s1/2026_08_03-10_52_27--with_future_img--episode=2--success=True--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: True
+# episodes completed so far: 2
+# successes: 2 (100.0%)
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 3...
+Query 1/1: Action query time = 4.760 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4244
+t=10: Selected seed 195 with value = 0.4244
+Query 1/1: Action query time = 3.862 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5057
+t=26: Selected seed 195 with value = 0.5057
+Query 1/1: Action query time = 4.763 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5760
+t=42: Selected seed 195 with value = 0.5760
+Query 1/1: Action query time = 4.820 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6674
+t=58: Selected seed 195 with value = 0.6674
+Query 1/1: Action query time = 5.045 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8757
+t=74: Selected seed 195 with value = 0.8757
+Query 1/1: Action query time = 3.482 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9984
+t=90: Selected seed 195 with value = 0.9984
+Saved rollout MP4 at path ./rollouts/t7realcl800x50_t2_s1/2026_08_03-10_52_27--with_future_img--episode=3--success=True--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: True
+# episodes completed so far: 3
+# successes: 3 (100.0%)
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 4...
+Query 1/1: Action query time = 5.251 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3894
+t=10: Selected seed 195 with value = 0.3894
+Query 1/1: Action query time = 4.905 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4734
+t=26: Selected seed 195 with value = 0.4734
+Query 1/1: Action query time = 5.399 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5720
+t=42: Selected seed 195 with value = 0.5720
+Query 1/1: Action query time = 4.170 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6109
+t=58: Selected seed 195 with value = 0.6109
+Query 1/1: Action query time = 4.394 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7593
+t=74: Selected seed 195 with value = 0.7593
+Query 1/1: Action query time = 4.414 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8389
+t=90: Selected seed 195 with value = 0.8389
+Query 1/1: Action query time = 5.501 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9556
+t=106: Selected seed 195 with value = 0.9556
+Query 1/1: Action query time = 4.848 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9925
+t=122: Selected seed 195 with value = 0.9925
+Query 1/1: Action query time = 4.099 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=138: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.993 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=154: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 5.649 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=170: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 3.699 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=186: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 2.408 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=202: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.502 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=218: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 3.250 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=234: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 5.104 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9998
+t=250: Selected seed 195 with value = 0.9998
+Query 1/1: Action query time = 4.912 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9969
+t=266: Selected seed 195 with value = 0.9969
+Query 1/1: Action query time = 5.425 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9919
+t=282: Selected seed 195 with value = 0.9919
+Query 1/1: Action query time = 4.840 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9850
+t=298: Selected seed 195 with value = 0.9850
+Saved rollout MP4 at path ./rollouts/t7realcl800x50_t2_s1/2026_08_03-10_52_27--with_future_img--episode=4--success=False--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: False
+# episodes completed so far: 4
+# successes: 3 (75.0%)
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 5...
+Query 1/1: Action query time = 4.880 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4118
+t=10: Selected seed 195 with value = 0.4118
+Query 1/1: Action query time = 5.638 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4784
+t=26: Selected seed 195 with value = 0.4784
+Query 1/1: Action query time = 5.218 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5556
+t=42: Selected seed 195 with value = 0.5556
+Query 1/1: Action query time = 4.740 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6847
+t=58: Selected seed 195 with value = 0.6847
+Query 1/1: Action query time = 3.606 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8114
+t=74: Selected seed 195 with value = 0.8114
+Query 1/1: Action query time = 3.753 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9575
+t=90: Selected seed 195 with value = 0.9575
+Saved rollout MP4 at path ./rollouts/t7realcl800x50_t2_s1/2026_08_03-10_52_27--with_future_img--episode=5--success=True--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: True
+# episodes completed so far: 5
+# successes: 4 (80.0%)
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 6...
+Query 1/1: Action query time = 4.788 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4433
+t=10: Selected seed 195 with value = 0.4433
+Query 1/1: Action query time = 5.690 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5423
+t=26: Selected seed 195 with value = 0.5423
+Query 1/1: Action query time = 4.954 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6407
+t=42: Selected seed 195 with value = 0.6407
+Query 1/1: Action query time = 4.623 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7548
+t=58: Selected seed 195 with value = 0.7548
+Query 1/1: Action query time = 3.518 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8921
+t=74: Selected seed 195 with value = 0.8921
+Saved rollout MP4 at path ./rollouts/t7realcl800x50_t2_s1/2026_08_03-10_52_27--with_future_img--episode=6--success=True--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: True
+# episodes completed so far: 6
+# successes: 5 (83.3%)
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 7...
+Query 1/1: Action query time = 4.337 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4234
+t=10: Selected seed 195 with value = 0.4234
+Query 1/1: Action query time = 4.624 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4810
+t=26: Selected seed 195 with value = 0.4810
+Query 1/1: Action query time = 5.918 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5424
+t=42: Selected seed 195 with value = 0.5424
+Query 1/1: Action query time = 5.493 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6238
+t=58: Selected seed 195 with value = 0.6238
+Query 1/1: Action query time = 3.028 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7598
+t=74: Selected seed 195 with value = 0.7598
+Query 1/1: Action query time = 3.739 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9194
+t=90: Selected seed 195 with value = 0.9194
+Saved rollout MP4 at path ./rollouts/t7realcl800x50_t2_s1/2026_08_03-10_52_27--with_future_img--episode=7--success=True--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: True
+# episodes completed so far: 7
+# successes: 6 (85.7%)
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 8...
+Query 1/1: Action query time = 5.071 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4287
+t=10: Selected seed 195 with value = 0.4287
+Query 1/1: Action query time = 4.983 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4903
+t=26: Selected seed 195 with value = 0.4903
+Query 1/1: Action query time = 4.943 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5671
+t=42: Selected seed 195 with value = 0.5671
+Query 1/1: Action query time = 4.683 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6793
+t=58: Selected seed 195 with value = 0.6793
+Query 1/1: Action query time = 4.323 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7965
+t=74: Selected seed 195 with value = 0.7965
+Query 1/1: Action query time = 5.134 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9695
+t=90: Selected seed 195 with value = 0.9695
+Saved rollout MP4 at path ./rollouts/t7realcl800x50_t2_s1/2026_08_03-10_52_27--with_future_img--episode=8--success=True--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: True
+# episodes completed so far: 8
+# successes: 7 (87.5%)
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 9...
+Query 1/1: Action query time = 4.810 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3787
+t=10: Selected seed 195 with value = 0.3787
+Query 1/1: Action query time = 4.882 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4588
+t=26: Selected seed 195 with value = 0.4588
+Query 1/1: Action query time = 4.321 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5803
+t=42: Selected seed 195 with value = 0.5803
+Query 1/1: Action query time = 3.090 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6953
+t=58: Selected seed 195 with value = 0.6953
+Query 1/1: Action query time = 3.777 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7903
+t=74: Selected seed 195 with value = 0.7903
+Query 1/1: Action query time = 4.961 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9326
+t=90: Selected seed 195 with value = 0.9326
+Saved rollout MP4 at path ./rollouts/t7realcl800x50_t2_s1/2026_08_03-10_52_27--with_future_img--episode=9--success=True--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: True
+# episodes completed so far: 9
+# successes: 8 (88.9%)
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 10...
+Query 1/1: Action query time = 4.205 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4210
+t=10: Selected seed 195 with value = 0.4210
+Query 1/1: Action query time = 5.068 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5065
+t=26: Selected seed 195 with value = 0.5065
+Query 1/1: Action query time = 5.229 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5711
+t=42: Selected seed 195 with value = 0.5711
+Query 1/1: Action query time = 5.421 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6569
+t=58: Selected seed 195 with value = 0.6569
+Query 1/1: Action query time = 4.199 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7652
+t=74: Selected seed 195 with value = 0.7652
+Query 1/1: Action query time = 3.422 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8517
+t=90: Selected seed 195 with value = 0.8517
+Query 1/1: Action query time = 4.509 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9192
+t=106: Selected seed 195 with value = 0.9192
+Query 1/1: Action query time = 2.922 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9951
+t=122: Selected seed 195 with value = 0.9951
+Query 1/1: Action query time = 5.167 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9987
+t=138: Selected seed 195 with value = 0.9987
+Query 1/1: Action query time = 4.947 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=154: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 5.547 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=170: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.784 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=186: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 2.620 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=202: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 5.172 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9989
+t=218: Selected seed 195 with value = 0.9989
+Query 1/1: Action query time = 4.266 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9973
+t=234: Selected seed 195 with value = 0.9973
+Query 1/1: Action query time = 4.809 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9989
+t=250: Selected seed 195 with value = 0.9989
+Query 1/1: Action query time = 4.839 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9936
+t=266: Selected seed 195 with value = 0.9936
+Query 1/1: Action query time = 5.311 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9824
+t=282: Selected seed 195 with value = 0.9824
+Query 1/1: Action query time = 3.949 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9683
+t=298: Selected seed 195 with value = 0.9683
+Saved rollout MP4 at path ./rollouts/t7realcl800x50_t2_s1/2026_08_03-10_52_27--with_future_img--episode=10--success=False--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: False
+# episodes completed so far: 10
+# successes: 8 (80.0%)
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 11...
+Query 1/1: Action query time = 3.737 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4486
+t=10: Selected seed 195 with value = 0.4486
+Query 1/1: Action query time = 4.759 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5494
+t=26: Selected seed 195 with value = 0.5494
+Query 1/1: Action query time = 5.459 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6621
+t=42: Selected seed 195 with value = 0.6621
+Query 1/1: Action query time = 5.791 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7197
+t=58: Selected seed 195 with value = 0.7197
+Query 1/1: Action query time = 3.637 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8685
+t=74: Selected seed 195 with value = 0.8685
+Query 1/1: Action query time = 4.901 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/t7realcl800x50_t2_s1/2026_08_03-10_52_27--with_future_img--episode=11--success=True--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: True
+# episodes completed so far: 11
+# successes: 9 (81.8%)
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 12...
+Query 1/1: Action query time = 5.365 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3899
+t=10: Selected seed 195 with value = 0.3899
+Query 1/1: Action query time = 4.535 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4429
+t=26: Selected seed 195 with value = 0.4429
+Query 1/1: Action query time = 4.105 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5394
+t=42: Selected seed 195 with value = 0.5394
+Query 1/1: Action query time = 5.018 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6600
+t=58: Selected seed 195 with value = 0.6600
+Query 1/1: Action query time = 5.154 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8041
+t=74: Selected seed 195 with value = 0.8041
+Query 1/1: Action query time = 4.696 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9147
+t=90: Selected seed 195 with value = 0.9147
+Saved rollout MP4 at path ./rollouts/t7realcl800x50_t2_s1/2026_08_03-10_52_27--with_future_img--episode=12--success=True--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: True
+# episodes completed so far: 12
+# successes: 10 (83.3%)
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 13...
+Query 1/1: Action query time = 3.952 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4541
+t=10: Selected seed 195 with value = 0.4541
+Query 1/1: Action query time = 3.187 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5040
+t=26: Selected seed 195 with value = 0.5040
+Query 1/1: Action query time = 5.292 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6011
+t=42: Selected seed 195 with value = 0.6011
+Query 1/1: Action query time = 5.014 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7117
+t=58: Selected seed 195 with value = 0.7117
+Query 1/1: Action query time = 3.702 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8536
+t=74: Selected seed 195 with value = 0.8536
+Query 1/1: Action query time = 4.386 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9944
+t=90: Selected seed 195 with value = 0.9944
+Saved rollout MP4 at path ./rollouts/t7realcl800x50_t2_s1/2026_08_03-10_52_27--with_future_img--episode=13--success=True--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: True
+# episodes completed so far: 13
+# successes: 11 (84.6%)
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 14...
+Query 1/1: Action query time = 5.367 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4316
+t=10: Selected seed 195 with value = 0.4316
+Query 1/1: Action query time = 4.850 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5070
+t=26: Selected seed 195 with value = 0.5070
+Query 1/1: Action query time = 4.066 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5988
+t=42: Selected seed 195 with value = 0.5988
+Query 1/1: Action query time = 3.693 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6944
+t=58: Selected seed 195 with value = 0.6944
+Query 1/1: Action query time = 5.231 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8120
+t=74: Selected seed 195 with value = 0.8120
+Query 1/1: Action query time = 5.325 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9786
+t=90: Selected seed 195 with value = 0.9786
+Saved rollout MP4 at path ./rollouts/t7realcl800x50_t2_s1/2026_08_03-10_52_27--with_future_img--episode=14--success=True--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: True
+# episodes completed so far: 14
+# successes: 12 (85.7%)
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 15...
+Query 1/1: Action query time = 3.601 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4539
+t=10: Selected seed 195 with value = 0.4539
+Query 1/1: Action query time = 5.022 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5406
+t=26: Selected seed 195 with value = 0.5406
+Query 1/1: Action query time = 3.591 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6304
+t=42: Selected seed 195 with value = 0.6304
+Query 1/1: Action query time = 4.753 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7423
+t=58: Selected seed 195 with value = 0.7423
+Query 1/1: Action query time = 5.053 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8707
+t=74: Selected seed 195 with value = 0.8707
+Query 1/1: Action query time = 4.024 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/t7realcl800x50_t2_s1/2026_08_03-10_52_27--with_future_img--episode=15--success=True--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: True
+# episodes completed so far: 15
+# successes: 13 (86.7%)
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 16...
+Query 1/1: Action query time = 4.744 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4114
+t=10: Selected seed 195 with value = 0.4114
+Query 1/1: Action query time = 4.714 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4876
+t=26: Selected seed 195 with value = 0.4876
+Query 1/1: Action query time = 4.669 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5125
+t=42: Selected seed 195 with value = 0.5125
+Query 1/1: Action query time = 4.768 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6690
+t=58: Selected seed 195 with value = 0.6690
+Query 1/1: Action query time = 4.879 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8248
+t=74: Selected seed 195 with value = 0.8248
+Query 1/1: Action query time = 3.896 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9340
+t=90: Selected seed 195 with value = 0.9340
+Saved rollout MP4 at path ./rollouts/t7realcl800x50_t2_s1/2026_08_03-10_52_27--with_future_img--episode=16--success=True--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: True
+# episodes completed so far: 16
+# successes: 14 (87.5%)
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 17...
+Query 1/1: Action query time = 5.136 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3871
+t=10: Selected seed 195 with value = 0.3871
+Query 1/1: Action query time = 4.219 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4349
+t=26: Selected seed 195 with value = 0.4349
+Query 1/1: Action query time = 5.079 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5054
+t=42: Selected seed 195 with value = 0.5054
+Query 1/1: Action query time = 4.549 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6729
+t=58: Selected seed 195 with value = 0.6729
+Query 1/1: Action query time = 4.939 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8104
+t=74: Selected seed 195 with value = 0.8104
+Query 1/1: Action query time = 4.916 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9362
+t=90: Selected seed 195 with value = 0.9362
+Saved rollout MP4 at path ./rollouts/t7realcl800x50_t2_s1/2026_08_03-10_52_27--with_future_img--episode=17--success=True--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: True
+# episodes completed so far: 17
+# successes: 15 (88.2%)
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 18...
+Query 1/1: Action query time = 2.851 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4174
+t=10: Selected seed 195 with value = 0.4174
+Query 1/1: Action query time = 5.030 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4502
+t=26: Selected seed 195 with value = 0.4502
+Query 1/1: Action query time = 4.781 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5573
+t=42: Selected seed 195 with value = 0.5573
+Query 1/1: Action query time = 4.825 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6632
+t=58: Selected seed 195 with value = 0.6632
+Query 1/1: Action query time = 3.990 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8190
+t=74: Selected seed 195 with value = 0.8190
+Query 1/1: Action query time = 4.456 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9159
+t=90: Selected seed 195 with value = 0.9159
+Saved rollout MP4 at path ./rollouts/t7realcl800x50_t2_s1/2026_08_03-10_52_27--with_future_img--episode=18--success=True--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: True
+# episodes completed so far: 18
+# successes: 16 (88.9%)
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 19...
+Query 1/1: Action query time = 5.072 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3319
+t=10: Selected seed 195 with value = 0.3319
+Query 1/1: Action query time = 5.238 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3501
+t=26: Selected seed 195 with value = 0.3501
+Query 1/1: Action query time = 4.354 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4200
+t=42: Selected seed 195 with value = 0.4200
+Query 1/1: Action query time = 5.087 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6428
+t=58: Selected seed 195 with value = 0.6428
+Query 1/1: Action query time = 3.872 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7200
+t=74: Selected seed 195 with value = 0.7200
+Query 1/1: Action query time = 4.575 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8788
+t=90: Selected seed 195 with value = 0.8788
+Saved rollout MP4 at path ./rollouts/t7realcl800x50_t2_s1/2026_08_03-10_52_27--with_future_img--episode=19--success=True--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: True
+# episodes completed so far: 19
+# successes: 17 (89.5%)
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 20...
+Query 1/1: Action query time = 4.176 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3269
+t=10: Selected seed 195 with value = 0.3269
+Query 1/1: Action query time = 5.176 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4329
+t=26: Selected seed 195 with value = 0.4329
+Query 1/1: Action query time = 4.829 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5027
+t=42: Selected seed 195 with value = 0.5027
+Query 1/1: Action query time = 5.686 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6579
+t=58: Selected seed 195 with value = 0.6579
+Query 1/1: Action query time = 3.690 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7460
+t=74: Selected seed 195 with value = 0.7460
+Query 1/1: Action query time = 3.439 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8989
+t=90: Selected seed 195 with value = 0.8989
+Saved rollout MP4 at path ./rollouts/t7realcl800x50_t2_s1/2026_08_03-10_52_27--with_future_img--episode=20--success=True--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: True
+# episodes completed so far: 20
+# successes: 18 (90.0%)
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 21...
+Query 1/1: Action query time = 4.547 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4194
+t=10: Selected seed 195 with value = 0.4194
+Query 1/1: Action query time = 5.173 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4866
+t=26: Selected seed 195 with value = 0.4866
+Query 1/1: Action query time = 4.551 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5260
+t=42: Selected seed 195 with value = 0.5260
+Query 1/1: Action query time = 5.844 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5766
+t=58: Selected seed 195 with value = 0.5766
+Query 1/1: Action query time = 5.064 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6811
+t=74: Selected seed 195 with value = 0.6811
+Query 1/1: Action query time = 4.034 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8006
+t=90: Selected seed 195 with value = 0.8006
+Saved rollout MP4 at path ./rollouts/t7realcl800x50_t2_s1/2026_08_03-10_52_27--with_future_img--episode=21--success=True--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: True
+# episodes completed so far: 21
+# successes: 19 (90.5%)
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 22...
+Query 1/1: Action query time = 4.586 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4192
+t=10: Selected seed 195 with value = 0.4192
+Query 1/1: Action query time = 5.167 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3764
+t=26: Selected seed 195 with value = 0.3764
+Query 1/1: Action query time = 3.680 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5358
+t=42: Selected seed 195 with value = 0.5358
+Query 1/1: Action query time = 3.288 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6293
+t=58: Selected seed 195 with value = 0.6293
+Query 1/1: Action query time = 3.256 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7915
+t=74: Selected seed 195 with value = 0.7915
+Query 1/1: Action query time = 3.362 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9716
+t=90: Selected seed 195 with value = 0.9716
+Saved rollout MP4 at path ./rollouts/t7realcl800x50_t2_s1/2026_08_03-10_52_27--with_future_img--episode=22--success=True--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: True
+# episodes completed so far: 22
+# successes: 20 (90.9%)
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 23...
+Query 1/1: Action query time = 3.409 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4707
+t=10: Selected seed 195 with value = 0.4707
+Query 1/1: Action query time = 3.771 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5369
+t=26: Selected seed 195 with value = 0.5369
+Query 1/1: Action query time = 4.632 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6421
+t=42: Selected seed 195 with value = 0.6421
+Query 1/1: Action query time = 3.138 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7722
+t=58: Selected seed 195 with value = 0.7722
+Query 1/1: Action query time = 3.034 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8904
+t=74: Selected seed 195 with value = 0.8904
+Saved rollout MP4 at path ./rollouts/t7realcl800x50_t2_s1/2026_08_03-10_52_27--with_future_img--episode=23--success=True--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: True
+# episodes completed so far: 23
+# successes: 21 (91.3%)
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 24...
+Query 1/1: Action query time = 2.836 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4426
+t=10: Selected seed 195 with value = 0.4426
+Query 1/1: Action query time = 4.081 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5314
+t=26: Selected seed 195 with value = 0.5314
+Query 1/1: Action query time = 4.604 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6081
+t=42: Selected seed 195 with value = 0.6081
+Query 1/1: Action query time = 4.713 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7211
+t=58: Selected seed 195 with value = 0.7211
+Query 1/1: Action query time = 4.276 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8444
+t=74: Selected seed 195 with value = 0.8444
+Query 1/1: Action query time = 3.071 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9924
+t=90: Selected seed 195 with value = 0.9924
+Saved rollout MP4 at path ./rollouts/t7realcl800x50_t2_s1/2026_08_03-10_52_27--with_future_img--episode=24--success=True--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: True
+# episodes completed so far: 24
+# successes: 22 (91.7%)
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 25...
+Query 1/1: Action query time = 3.858 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4198
+t=10: Selected seed 195 with value = 0.4198
+Query 1/1: Action query time = 3.196 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4843
+t=26: Selected seed 195 with value = 0.4843
+Query 1/1: Action query time = 3.564 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6194
+t=42: Selected seed 195 with value = 0.6194
+Query 1/1: Action query time = 3.313 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7355
+t=58: Selected seed 195 with value = 0.7355
+Query 1/1: Action query time = 2.687 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8652
+t=74: Selected seed 195 with value = 0.8652
+Query 1/1: Action query time = 2.121 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/t7realcl800x50_t2_s1/2026_08_03-10_52_27--with_future_img--episode=25--success=True--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: True
+# episodes completed so far: 25
+# successes: 23 (92.0%)
+Current task success rate: 0.92
+Current total success rate: 0.92
+Final results:
+Total episodes: 25
+Total successes: 23
+Overall success rate: 0.9200 (92.0%)
diff --git a/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_03-10_52_28--t7realcl800x50_t3_s0.txt b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_03-10_52_28--t7realcl800x50_t3_s0.txt
new file mode 100644
index 0000000000000000000000000000000000000000..ba24285e981d1d480f294a6cd1a59701b5f44ac6
--- /dev/null
+++ b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_03-10_52_28--t7realcl800x50_t3_s0.txt
@@ -0,0 +1,1499 @@
+Eval config: PolicyEvalConfig(suite='libero', model_family='cosmos', config='cosmos_predict2_2b_480p_libero_cl_stage_inference_only', ckpt_path='/home/azureuser/REGEN-main/new_task7/cosmos_policy/cosmos_v2_finetune/cosmos_predict2_2b_480p_libero_goal_task7_real_cl_from_realcl800_2gpu/checkpoints/iter_000000800/model', planning_model_config_name='', planning_model_ckpt_path='', config_file='cosmos_policy/config/config.py', packnet_mask_path='', packnet_first_cl_libero_task=6, use_third_person_image=True, num_third_person_images=1, use_wrist_image=True, num_wrist_images=1, use_proprio=True, flip_images=True, use_variance_scale=False, use_jpeg_compression=True, ar_future_prediction=False, ar_value_prediction=False, ar_qvalue_prediction=False, num_denoising_steps_action=5, num_denoising_steps_future_state=1, num_denoising_steps_value=1, unnormalize_actions=True, normalize_proprio=True, dataset_stats_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/libero_goal_regen/dataset_statistics.json', t5_text_embeddings_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/t5_embeddings.pkl', trained_with_image_aug=True, chunk_size=16, num_open_loop_steps=16, deterministic=True, deterministic_reset=False, deterministic_reset_seed=None, use_ensemble_future_state_predictions=False, num_future_state_predictions_in_ensemble=3, future_state_ensemble_aggregation_scheme='average', use_ensemble_value_predictions=False, num_value_predictions_in_ensemble=5, value_ensemble_aggregation_scheme='average', search_depth=1, mask_current_state_action_for_value_prediction=False, mask_future_state_for_qvalue_prediction=False, num_queries_best_of_n=1, use_parallel_inference=False, available_gpus='0', parallel_timeout=15, parallel_tasks_across_gpus=False, task_suite_name='libero_goal', num_trials_per_task=50, task_ids_to_run='3', initial_states_path='DEFAULT', env_img_res=256, local_log_dir='/home/azureuser/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal', run_id_note='t7realcl800x50_t3_s0', use_wandb=False, wandb_entity='YOUR_ENTITY', wandb_project='YOUR_PROJECT', seed=195, randomize_seed=False, data_collection=False, jpeg_compress=True, reward_stop_threshold=None, reward_stop_consecutive_steps=3, use_gpt_reward=False, gpt_reward_model='gpt-5.4-mini', gpt_reward_stop_threshold=4, gpt_reward_timeout_s=30.0, save_rollout_video=False, eval_hdf5_path='', eval_hdf5_demo_key='demo_0', data_gen_demo_ids='', eval_episode_ids='0,2,4,6,8,10,12,14,16,18,20,22,24,26,28,30,32,34,36,38,40,42,44,46,48', dump_final_states_path='', replay_actions=False, replay_action_path_dir='', replay_hdf5_path='', data_generation=False, max_generation_steps=200, disable_value_stop=False)
+Using serial inference (parallel inference disabled)
+Task suite: libero_goal
+Number of tasks: 10
+Running only task IDs: [3]
+Using default initial states
+
+Task: open the top drawer and put the bowl inside
+Starting episode 1...
+Query 1/1: Action query time = 5.812 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.1931
+t=10: Selected seed 195 with value = 0.1931
+Query 1/1: Action query time = 5.116 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2308
+t=26: Selected seed 195 with value = 0.2308
+Query 1/1: Action query time = 5.141 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2589
+t=42: Selected seed 195 with value = 0.2589
+Query 1/1: Action query time = 4.423 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3002
+t=58: Selected seed 195 with value = 0.3002
+Query 1/1: Action query time = 3.388 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3713
+t=74: Selected seed 195 with value = 0.3713
+Query 1/1: Action query time = 4.245 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4359
+t=90: Selected seed 195 with value = 0.4359
+Query 1/1: Action query time = 3.669 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4998
+t=106: Selected seed 195 with value = 0.4998
+Query 1/1: Action query time = 4.644 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5306
+t=122: Selected seed 195 with value = 0.5306
+Query 1/1: Action query time = 5.168 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7104
+t=138: Selected seed 195 with value = 0.7104
+Query 1/1: Action query time = 4.393 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8582
+t=154: Selected seed 195 with value = 0.8582
+Query 1/1: Action query time = 4.941 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6031
+t=170: Selected seed 195 with value = 0.6031
+Query 1/1: Action query time = 4.651 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6351
+t=186: Selected seed 195 with value = 0.6351
+Query 1/1: Action query time = 3.568 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7038
+t=202: Selected seed 195 with value = 0.7038
+Query 1/1: Action query time = 3.093 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8924
+t=218: Selected seed 195 with value = 0.8924
+Query 1/1: Action query time = 5.172 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9892
+t=234: Selected seed 195 with value = 0.9892
+Query 1/1: Action query time = 5.234 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9963
+t=250: Selected seed 195 with value = 0.9963
+Query 1/1: Action query time = 2.879 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9959
+t=266: Selected seed 195 with value = 0.9959
+Query 1/1: Action query time = 4.778 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9846
+t=282: Selected seed 195 with value = 0.9846
+Query 1/1: Action query time = 5.174 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9670
+t=298: Selected seed 195 with value = 0.9670
+Saved rollout MP4 at path ./rollouts/t7realcl800x50_t3_s0/2026_08_03-10_52_28--with_future_img--episode=1--success=False--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: False
+# episodes completed so far: 1
+# successes: 0 (0.0%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 2...
+Query 1/1: Action query time = 4.841 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.1651
+t=10: Selected seed 195 with value = 0.1651
+Query 1/1: Action query time = 4.268 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2072
+t=26: Selected seed 195 with value = 0.2072
+Query 1/1: Action query time = 4.442 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2387
+t=42: Selected seed 195 with value = 0.2387
+Query 1/1: Action query time = 3.852 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2944
+t=58: Selected seed 195 with value = 0.2944
+Query 1/1: Action query time = 4.287 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3399
+t=74: Selected seed 195 with value = 0.3399
+Query 1/1: Action query time = 4.666 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3986
+t=90: Selected seed 195 with value = 0.3986
+Query 1/1: Action query time = 5.359 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4978
+t=106: Selected seed 195 with value = 0.4978
+Query 1/1: Action query time = 4.786 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6106
+t=122: Selected seed 195 with value = 0.6106
+Query 1/1: Action query time = 4.118 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7092
+t=138: Selected seed 195 with value = 0.7092
+Query 1/1: Action query time = 5.012 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7797
+t=154: Selected seed 195 with value = 0.7797
+Query 1/1: Action query time = 5.639 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9273
+t=170: Selected seed 195 with value = 0.9273
+Saved rollout MP4 at path ./rollouts/t7realcl800x50_t3_s0/2026_08_03-10_52_28--with_future_img--episode=2--success=True--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: True
+# episodes completed so far: 2
+# successes: 1 (50.0%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 3...
+Query 1/1: Action query time = 3.327 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.1827
+t=10: Selected seed 195 with value = 0.1827
+Query 1/1: Action query time = 3.446 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2144
+t=26: Selected seed 195 with value = 0.2144
+Query 1/1: Action query time = 5.331 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2528
+t=42: Selected seed 195 with value = 0.2528
+Query 1/1: Action query time = 4.895 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2921
+t=58: Selected seed 195 with value = 0.2921
+Query 1/1: Action query time = 5.575 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3477
+t=74: Selected seed 195 with value = 0.3477
+Query 1/1: Action query time = 3.736 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4110
+t=90: Selected seed 195 with value = 0.4110
+Query 1/1: Action query time = 4.336 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5105
+t=106: Selected seed 195 with value = 0.5105
+Query 1/1: Action query time = 4.668 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4443
+t=122: Selected seed 195 with value = 0.4443
+Query 1/1: Action query time = 4.381 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6535
+t=138: Selected seed 195 with value = 0.6535
+Query 1/1: Action query time = 2.622 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7676
+t=154: Selected seed 195 with value = 0.7676
+Query 1/1: Action query time = 4.636 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8873
+t=170: Selected seed 195 with value = 0.8873
+Query 1/1: Action query time = 5.102 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9993
+t=186: Selected seed 195 with value = 0.9993
+Saved rollout MP4 at path ./rollouts/t7realcl800x50_t3_s0/2026_08_03-10_52_28--with_future_img--episode=3--success=True--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: True
+# episodes completed so far: 3
+# successes: 2 (66.7%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 4...
+Query 1/1: Action query time = 4.051 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.1940
+t=10: Selected seed 195 with value = 0.1940
+Query 1/1: Action query time = 4.243 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.1999
+t=26: Selected seed 195 with value = 0.1999
+Query 1/1: Action query time = 5.770 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2477
+t=42: Selected seed 195 with value = 0.2477
+Query 1/1: Action query time = 4.825 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2160
+t=58: Selected seed 195 with value = 0.2160
+Query 1/1: Action query time = 4.902 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2579
+t=74: Selected seed 195 with value = 0.2579
+Query 1/1: Action query time = 3.947 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2383
+t=90: Selected seed 195 with value = 0.2383
+Query 1/1: Action query time = 3.939 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4294
+t=106: Selected seed 195 with value = 0.4294
+Query 1/1: Action query time = 4.316 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5736
+t=122: Selected seed 195 with value = 0.5736
+Query 1/1: Action query time = 4.175 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6464
+t=138: Selected seed 195 with value = 0.6464
+Query 1/1: Action query time = 5.079 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7654
+t=154: Selected seed 195 with value = 0.7654
+Query 1/1: Action query time = 5.820 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8697
+t=170: Selected seed 195 with value = 0.8697
+Query 1/1: Action query time = 4.607 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=186: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/t7realcl800x50_t3_s0/2026_08_03-10_52_28--with_future_img--episode=4--success=True--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: True
+# episodes completed so far: 4
+# successes: 3 (75.0%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 5...
+Query 1/1: Action query time = 4.106 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2171
+t=10: Selected seed 195 with value = 0.2171
+Query 1/1: Action query time = 2.332 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2270
+t=26: Selected seed 195 with value = 0.2270
+Query 1/1: Action query time = 3.791 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2470
+t=42: Selected seed 195 with value = 0.2470
+Query 1/1: Action query time = 4.481 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2925
+t=58: Selected seed 195 with value = 0.2925
+Query 1/1: Action query time = 4.929 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3249
+t=74: Selected seed 195 with value = 0.3249
+Query 1/1: Action query time = 4.598 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3808
+t=90: Selected seed 195 with value = 0.3808
+Query 1/1: Action query time = 5.260 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4822
+t=106: Selected seed 195 with value = 0.4822
+Query 1/1: Action query time = 5.324 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5623
+t=122: Selected seed 195 with value = 0.5623
+Query 1/1: Action query time = 4.091 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6530
+t=138: Selected seed 195 with value = 0.6530
+Query 1/1: Action query time = 4.722 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7214
+t=154: Selected seed 195 with value = 0.7214
+Query 1/1: Action query time = 5.405 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8636
+t=170: Selected seed 195 with value = 0.8636
+Query 1/1: Action query time = 4.487 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9978
+t=186: Selected seed 195 with value = 0.9978
+Saved rollout MP4 at path ./rollouts/t7realcl800x50_t3_s0/2026_08_03-10_52_28--with_future_img--episode=5--success=True--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: True
+# episodes completed so far: 5
+# successes: 4 (80.0%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 6...
+Query 1/1: Action query time = 3.920 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2069
+t=10: Selected seed 195 with value = 0.2069
+Query 1/1: Action query time = 3.598 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2347
+t=26: Selected seed 195 with value = 0.2347
+Query 1/1: Action query time = 4.644 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2721
+t=42: Selected seed 195 with value = 0.2721
+Query 1/1: Action query time = 4.060 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2996
+t=58: Selected seed 195 with value = 0.2996
+Query 1/1: Action query time = 4.949 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3547
+t=74: Selected seed 195 with value = 0.3547
+Query 1/1: Action query time = 5.446 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4134
+t=90: Selected seed 195 with value = 0.4134
+Query 1/1: Action query time = 4.952 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4929
+t=106: Selected seed 195 with value = 0.4929
+Query 1/1: Action query time = 5.009 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3920
+t=122: Selected seed 195 with value = 0.3920
+Query 1/1: Action query time = 4.125 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6826
+t=138: Selected seed 195 with value = 0.6826
+Query 1/1: Action query time = 4.857 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7873
+t=154: Selected seed 195 with value = 0.7873
+Query 1/1: Action query time = 4.547 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9243
+t=170: Selected seed 195 with value = 0.9243
+Saved rollout MP4 at path ./rollouts/t7realcl800x50_t3_s0/2026_08_03-10_52_28--with_future_img--episode=6--success=True--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: True
+# episodes completed so far: 6
+# successes: 5 (83.3%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 7...
+Query 1/1: Action query time = 5.448 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2011
+t=10: Selected seed 195 with value = 0.2011
+Query 1/1: Action query time = 3.104 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.1898
+t=26: Selected seed 195 with value = 0.1898
+Query 1/1: Action query time = 3.107 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2087
+t=42: Selected seed 195 with value = 0.2087
+Query 1/1: Action query time = 4.153 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2456
+t=58: Selected seed 195 with value = 0.2456
+Query 1/1: Action query time = 5.604 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2590
+t=74: Selected seed 195 with value = 0.2590
+Query 1/1: Action query time = 4.427 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3803
+t=90: Selected seed 195 with value = 0.3803
+Query 1/1: Action query time = 5.184 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4430
+t=106: Selected seed 195 with value = 0.4430
+Query 1/1: Action query time = 5.537 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5228
+t=122: Selected seed 195 with value = 0.5228
+Query 1/1: Action query time = 4.533 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5999
+t=138: Selected seed 195 with value = 0.5999
+Query 1/1: Action query time = 2.431 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7512
+t=154: Selected seed 195 with value = 0.7512
+Query 1/1: Action query time = 3.374 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8610
+t=170: Selected seed 195 with value = 0.8610
+Query 1/1: Action query time = 4.215 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=186: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/t7realcl800x50_t3_s0/2026_08_03-10_52_28--with_future_img--episode=7--success=True--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: True
+# episodes completed so far: 7
+# successes: 6 (85.7%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 8...
+Query 1/1: Action query time = 4.711 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.1729
+t=10: Selected seed 195 with value = 0.1729
+Query 1/1: Action query time = 4.793 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2077
+t=26: Selected seed 195 with value = 0.2077
+Query 1/1: Action query time = 4.156 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2411
+t=42: Selected seed 195 with value = 0.2411
+Query 1/1: Action query time = 4.364 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2464
+t=58: Selected seed 195 with value = 0.2464
+Query 1/1: Action query time = 5.096 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2949
+t=74: Selected seed 195 with value = 0.2949
+Query 1/1: Action query time = 5.129 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3917
+t=90: Selected seed 195 with value = 0.3917
+Query 1/1: Action query time = 3.984 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4838
+t=106: Selected seed 195 with value = 0.4838
+Query 1/1: Action query time = 3.837 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5665
+t=122: Selected seed 195 with value = 0.5665
+Query 1/1: Action query time = 4.746 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6742
+t=138: Selected seed 195 with value = 0.6742
+Query 1/1: Action query time = 5.009 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7582
+t=154: Selected seed 195 with value = 0.7582
+Query 1/1: Action query time = 5.051 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8654
+t=170: Selected seed 195 with value = 0.8654
+Query 1/1: Action query time = 5.651 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9920
+t=186: Selected seed 195 with value = 0.9920
+Saved rollout MP4 at path ./rollouts/t7realcl800x50_t3_s0/2026_08_03-10_52_28--with_future_img--episode=8--success=True--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: True
+# episodes completed so far: 8
+# successes: 7 (87.5%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 9...
+Query 1/1: Action query time = 5.081 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.1671
+t=10: Selected seed 195 with value = 0.1671
+Query 1/1: Action query time = 5.134 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2150
+t=26: Selected seed 195 with value = 0.2150
+Query 1/1: Action query time = 3.880 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.1360
+t=42: Selected seed 195 with value = 0.1360
+Query 1/1: Action query time = 3.030 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2770
+t=58: Selected seed 195 with value = 0.2770
+Query 1/1: Action query time = 4.261 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.1693
+t=74: Selected seed 195 with value = 0.1693
+Query 1/1: Action query time = 3.816 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2074
+t=90: Selected seed 195 with value = 0.2074
+Query 1/1: Action query time = 5.130 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2468
+t=106: Selected seed 195 with value = 0.2468
+Query 1/1: Action query time = 4.627 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2777
+t=122: Selected seed 195 with value = 0.2777
+Query 1/1: Action query time = 5.106 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3587
+t=138: Selected seed 195 with value = 0.3587
+Query 1/1: Action query time = 5.431 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6780
+t=154: Selected seed 195 with value = 0.6780
+Query 1/1: Action query time = 4.146 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8309
+t=170: Selected seed 195 with value = 0.8309
+Query 1/1: Action query time = 4.306 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9924
+t=186: Selected seed 195 with value = 0.9924
+Saved rollout MP4 at path ./rollouts/t7realcl800x50_t3_s0/2026_08_03-10_52_28--with_future_img--episode=9--success=True--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: True
+# episodes completed so far: 9
+# successes: 8 (88.9%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 10...
+Query 1/1: Action query time = 5.116 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.1800
+t=10: Selected seed 195 with value = 0.1800
+Query 1/1: Action query time = 4.818 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.1987
+t=26: Selected seed 195 with value = 0.1987
+Query 1/1: Action query time = 4.632 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2197
+t=42: Selected seed 195 with value = 0.2197
+Query 1/1: Action query time = 4.749 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2520
+t=58: Selected seed 195 with value = 0.2520
+Query 1/1: Action query time = 3.480 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2853
+t=74: Selected seed 195 with value = 0.2853
+Query 1/1: Action query time = 3.683 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4000
+t=90: Selected seed 195 with value = 0.4000
+Query 1/1: Action query time = 4.890 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4921
+t=106: Selected seed 195 with value = 0.4921
+Query 1/1: Action query time = 4.725 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5704
+t=122: Selected seed 195 with value = 0.5704
+Query 1/1: Action query time = 4.486 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6416
+t=138: Selected seed 195 with value = 0.6416
+Query 1/1: Action query time = 4.317 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7493
+t=154: Selected seed 195 with value = 0.7493
+Query 1/1: Action query time = 4.968 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7656
+t=170: Selected seed 195 with value = 0.7656
+Query 1/1: Action query time = 3.653 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9009
+t=186: Selected seed 195 with value = 0.9009
+Saved rollout MP4 at path ./rollouts/t7realcl800x50_t3_s0/2026_08_03-10_52_28--with_future_img--episode=10--success=True--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: True
+# episodes completed so far: 10
+# successes: 9 (90.0%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 11...
+Query 1/1: Action query time = 5.279 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.1960
+t=10: Selected seed 195 with value = 0.1960
+Query 1/1: Action query time = 4.642 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2204
+t=26: Selected seed 195 with value = 0.2204
+Query 1/1: Action query time = 5.275 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2543
+t=42: Selected seed 195 with value = 0.2543
+Query 1/1: Action query time = 5.911 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3050
+t=58: Selected seed 195 with value = 0.3050
+Query 1/1: Action query time = 4.390 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3653
+t=74: Selected seed 195 with value = 0.3653
+Query 1/1: Action query time = 4.428 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4294
+t=90: Selected seed 195 with value = 0.4294
+Query 1/1: Action query time = 3.031 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4148
+t=106: Selected seed 195 with value = 0.4148
+Query 1/1: Action query time = 4.752 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3748
+t=122: Selected seed 195 with value = 0.3748
+Query 1/1: Action query time = 4.184 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4795
+t=138: Selected seed 195 with value = 0.4795
+Query 1/1: Action query time = 3.887 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5090
+t=154: Selected seed 195 with value = 0.5090
+Query 1/1: Action query time = 4.630 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5230
+t=170: Selected seed 195 with value = 0.5230
+Query 1/1: Action query time = 4.924 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5856
+t=186: Selected seed 195 with value = 0.5856
+Query 1/1: Action query time = 4.750 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7056
+t=202: Selected seed 195 with value = 0.7056
+Query 1/1: Action query time = 5.216 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8548
+t=218: Selected seed 195 with value = 0.8548
+Query 1/1: Action query time = 5.101 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8491
+t=234: Selected seed 195 with value = 0.8491
+Query 1/1: Action query time = 4.407 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8814
+t=250: Selected seed 195 with value = 0.8814
+Query 1/1: Action query time = 5.806 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2741
+t=266: Selected seed 195 with value = 0.2741
+Query 1/1: Action query time = 4.441 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4077
+t=282: Selected seed 195 with value = 0.4077
+Query 1/1: Action query time = 4.995 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2811
+t=298: Selected seed 195 with value = 0.2811
+Saved rollout MP4 at path ./rollouts/t7realcl800x50_t3_s0/2026_08_03-10_52_28--with_future_img--episode=11--success=False--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: False
+# episodes completed so far: 11
+# successes: 9 (81.8%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 12...
+Query 1/1: Action query time = 5.151 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.1747
+t=10: Selected seed 195 with value = 0.1747
+Query 1/1: Action query time = 4.419 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2203
+t=26: Selected seed 195 with value = 0.2203
+Query 1/1: Action query time = 5.005 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2604
+t=42: Selected seed 195 with value = 0.2604
+Query 1/1: Action query time = 4.582 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3034
+t=58: Selected seed 195 with value = 0.3034
+Query 1/1: Action query time = 4.007 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3219
+t=74: Selected seed 195 with value = 0.3219
+Query 1/1: Action query time = 3.940 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2688
+t=90: Selected seed 195 with value = 0.2688
+Query 1/1: Action query time = 4.034 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4451
+t=106: Selected seed 195 with value = 0.4451
+Query 1/1: Action query time = 4.919 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5300
+t=122: Selected seed 195 with value = 0.5300
+Query 1/1: Action query time = 5.343 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6437
+t=138: Selected seed 195 with value = 0.6437
+Query 1/1: Action query time = 5.177 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7575
+t=154: Selected seed 195 with value = 0.7575
+Query 1/1: Action query time = 4.989 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9053
+t=170: Selected seed 195 with value = 0.9053
+Query 1/1: Action query time = 5.017 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9956
+t=186: Selected seed 195 with value = 0.9956
+Saved rollout MP4 at path ./rollouts/t7realcl800x50_t3_s0/2026_08_03-10_52_28--with_future_img--episode=12--success=True--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: True
+# episodes completed so far: 12
+# successes: 10 (83.3%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 13...
+Query 1/1: Action query time = 5.528 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.1765
+t=10: Selected seed 195 with value = 0.1765
+Query 1/1: Action query time = 4.022 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.1852
+t=26: Selected seed 195 with value = 0.1852
+Query 1/1: Action query time = 2.674 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2549
+t=42: Selected seed 195 with value = 0.2549
+Query 1/1: Action query time = 3.376 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2463
+t=58: Selected seed 195 with value = 0.2463
+Query 1/1: Action query time = 3.558 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3337
+t=74: Selected seed 195 with value = 0.3337
+Query 1/1: Action query time = 2.477 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4012
+t=90: Selected seed 195 with value = 0.4012
+Query 1/1: Action query time = 3.821 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4713
+t=106: Selected seed 195 with value = 0.4713
+Query 1/1: Action query time = 4.397 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5449
+t=122: Selected seed 195 with value = 0.5449
+Query 1/1: Action query time = 3.990 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6052
+t=138: Selected seed 195 with value = 0.6052
+Query 1/1: Action query time = 2.853 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6721
+t=154: Selected seed 195 with value = 0.6721
+Query 1/1: Action query time = 1.871 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8027
+t=170: Selected seed 195 with value = 0.8027
+Query 1/1: Action query time = 3.334 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9702
+t=186: Selected seed 195 with value = 0.9702
+Saved rollout MP4 at path ./rollouts/t7realcl800x50_t3_s0/2026_08_03-10_52_28--with_future_img--episode=13--success=True--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: True
+# episodes completed so far: 13
+# successes: 11 (84.6%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 14...
+Query 1/1: Action query time = 4.431 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.1852
+t=10: Selected seed 195 with value = 0.1852
+Query 1/1: Action query time = 4.232 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2021
+t=26: Selected seed 195 with value = 0.2021
+Query 1/1: Action query time = 1.916 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2423
+t=42: Selected seed 195 with value = 0.2423
+Query 1/1: Action query time = 4.102 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2657
+t=58: Selected seed 195 with value = 0.2657
+Query 1/1: Action query time = 4.194 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3480
+t=74: Selected seed 195 with value = 0.3480
+Query 1/1: Action query time = 2.528 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4099
+t=90: Selected seed 195 with value = 0.4099
+Query 1/1: Action query time = 2.511 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4861
+t=106: Selected seed 195 with value = 0.4861
+Query 1/1: Action query time = 3.249 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5651
+t=122: Selected seed 195 with value = 0.5651
+Query 1/1: Action query time = 3.462 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6468
+t=138: Selected seed 195 with value = 0.6468
+Query 1/1: Action query time = 3.104 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7493
+t=154: Selected seed 195 with value = 0.7493
+Query 1/1: Action query time = 4.131 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8205
+t=170: Selected seed 195 with value = 0.8205
+Query 1/1: Action query time = 3.903 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9035
+t=186: Selected seed 195 with value = 0.9035
+Saved rollout MP4 at path ./rollouts/t7realcl800x50_t3_s0/2026_08_03-10_52_28--with_future_img--episode=14--success=True--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: True
+# episodes completed so far: 14
+# successes: 12 (85.7%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 15...
+Query 1/1: Action query time = 2.544 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.1791
+t=10: Selected seed 195 with value = 0.1791
+Query 1/1: Action query time = 3.330 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.1850
+t=26: Selected seed 195 with value = 0.1850
+Query 1/1: Action query time = 3.278 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2514
+t=42: Selected seed 195 with value = 0.2514
+Query 1/1: Action query time = 2.806 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2927
+t=58: Selected seed 195 with value = 0.2927
+Query 1/1: Action query time = 2.634 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3567
+t=74: Selected seed 195 with value = 0.3567
+Query 1/1: Action query time = 3.743 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4113
+t=90: Selected seed 195 with value = 0.4113
+Query 1/1: Action query time = 3.959 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4649
+t=106: Selected seed 195 with value = 0.4649
+Query 1/1: Action query time = 3.633 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5689
+t=122: Selected seed 195 with value = 0.5689
+Query 1/1: Action query time = 3.047 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5258
+t=138: Selected seed 195 with value = 0.5258
+Query 1/1: Action query time = 2.470 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4737
+t=154: Selected seed 195 with value = 0.4737
+Query 1/1: Action query time = 2.373 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5774
+t=170: Selected seed 195 with value = 0.5774
+Query 1/1: Action query time = 2.328 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6652
+t=186: Selected seed 195 with value = 0.6652
+Query 1/1: Action query time = 1.213 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7718
+t=202: Selected seed 195 with value = 0.7718
+Query 1/1: Action query time = 1.376 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8944
+t=218: Selected seed 195 with value = 0.8944
+Query 1/1: Action query time = 1.855 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=234: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/t7realcl800x50_t3_s0/2026_08_03-10_52_28--with_future_img--episode=15--success=True--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: True
+# episodes completed so far: 15
+# successes: 13 (86.7%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 16...
+Query 1/1: Action query time = 2.511 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.1736
+t=10: Selected seed 195 with value = 0.1736
+Query 1/1: Action query time = 2.688 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2137
+t=26: Selected seed 195 with value = 0.2137
+Query 1/1: Action query time = 2.458 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2600
+t=42: Selected seed 195 with value = 0.2600
+Query 1/1: Action query time = 2.751 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2907
+t=58: Selected seed 195 with value = 0.2907
+Query 1/1: Action query time = 2.237 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3498
+t=74: Selected seed 195 with value = 0.3498
+Query 1/1: Action query time = 2.451 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3134
+t=90: Selected seed 195 with value = 0.3134
+Query 1/1: Action query time = 1.525 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4802
+t=106: Selected seed 195 with value = 0.4802
+Query 1/1: Action query time = 1.810 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5571
+t=122: Selected seed 195 with value = 0.5571
+Query 1/1: Action query time = 2.590 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6416
+t=138: Selected seed 195 with value = 0.6416
+Query 1/1: Action query time = 2.208 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8087
+t=154: Selected seed 195 with value = 0.8087
+Query 1/1: Action query time = 1.161 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9422
+t=170: Selected seed 195 with value = 0.9422
+Saved rollout MP4 at path ./rollouts/t7realcl800x50_t3_s0/2026_08_03-10_52_28--with_future_img--episode=16--success=True--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: True
+# episodes completed so far: 16
+# successes: 14 (87.5%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 17...
+Query 1/1: Action query time = 2.161 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.1781
+t=10: Selected seed 195 with value = 0.1781
+Query 1/1: Action query time = 1.787 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.1630
+t=26: Selected seed 195 with value = 0.1630
+Query 1/1: Action query time = 2.449 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2178
+t=42: Selected seed 195 with value = 0.2178
+Query 1/1: Action query time = 2.805 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2540
+t=58: Selected seed 195 with value = 0.2540
+Query 1/1: Action query time = 2.601 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2920
+t=74: Selected seed 195 with value = 0.2920
+Query 1/1: Action query time = 2.091 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3543
+t=90: Selected seed 195 with value = 0.3543
+Query 1/1: Action query time = 1.809 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4351
+t=106: Selected seed 195 with value = 0.4351
+Query 1/1: Action query time = 1.910 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4997
+t=122: Selected seed 195 with value = 0.4997
+Query 1/1: Action query time = 2.429 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5959
+t=138: Selected seed 195 with value = 0.5959
+Query 1/1: Action query time = 2.913 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6905
+t=154: Selected seed 195 with value = 0.6905
+Query 1/1: Action query time = 2.468 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8110
+t=170: Selected seed 195 with value = 0.8110
+Query 1/1: Action query time = 2.146 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9517
+t=186: Selected seed 195 with value = 0.9517
+Saved rollout MP4 at path ./rollouts/t7realcl800x50_t3_s0/2026_08_03-10_52_28--with_future_img--episode=17--success=True--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: True
+# episodes completed so far: 17
+# successes: 15 (88.2%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 18...
+Query 1/1: Action query time = 1.571 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.1656
+t=10: Selected seed 195 with value = 0.1656
+Query 1/1: Action query time = 1.347 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.1821
+t=26: Selected seed 195 with value = 0.1821
+Query 1/1: Action query time = 1.384 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2221
+t=42: Selected seed 195 with value = 0.2221
+Query 1/1: Action query time = 1.373 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2796
+t=58: Selected seed 195 with value = 0.2796
+Query 1/1: Action query time = 1.452 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3211
+t=74: Selected seed 195 with value = 0.3211
+Query 1/1: Action query time = 1.449 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3700
+t=90: Selected seed 195 with value = 0.3700
+Query 1/1: Action query time = 1.310 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4043
+t=106: Selected seed 195 with value = 0.4043
+Query 1/1: Action query time = 1.315 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4073
+t=122: Selected seed 195 with value = 0.4073
+Query 1/1: Action query time = 1.343 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6687
+t=138: Selected seed 195 with value = 0.6687
+Query 1/1: Action query time = 1.321 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7238
+t=154: Selected seed 195 with value = 0.7238
+Query 1/1: Action query time = 1.356 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8064
+t=170: Selected seed 195 with value = 0.8064
+Query 1/1: Action query time = 1.337 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8699
+t=186: Selected seed 195 with value = 0.8699
+Query 1/1: Action query time = 0.965 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3514
+t=202: Selected seed 195 with value = 0.3514
+Query 1/1: Action query time = 0.973 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2706
+t=218: Selected seed 195 with value = 0.2706
+Query 1/1: Action query time = 0.959 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2739
+t=234: Selected seed 195 with value = 0.2739
+Query 1/1: Action query time = 1.303 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2766
+t=250: Selected seed 195 with value = 0.2766
+Query 1/1: Action query time = 1.332 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2683
+t=266: Selected seed 195 with value = 0.2683
+Query 1/1: Action query time = 1.321 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2780
+t=282: Selected seed 195 with value = 0.2780
+Query 1/1: Action query time = 1.354 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2614
+t=298: Selected seed 195 with value = 0.2614
+Saved rollout MP4 at path ./rollouts/t7realcl800x50_t3_s0/2026_08_03-10_52_28--with_future_img--episode=18--success=False--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: False
+# episodes completed so far: 18
+# successes: 15 (83.3%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 19...
+Query 1/1: Action query time = 1.600 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.1343
+t=10: Selected seed 195 with value = 0.1343
+Query 1/1: Action query time = 1.527 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.1377
+t=26: Selected seed 195 with value = 0.1377
+Query 1/1: Action query time = 0.973 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.1599
+t=42: Selected seed 195 with value = 0.1599
+Query 1/1: Action query time = 0.965 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2972
+t=58: Selected seed 195 with value = 0.2972
+Query 1/1: Action query time = 0.971 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3010
+t=74: Selected seed 195 with value = 0.3010
+Query 1/1: Action query time = 0.993 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4073
+t=90: Selected seed 195 with value = 0.4073
+Query 1/1: Action query time = 1.348 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4829
+t=106: Selected seed 195 with value = 0.4829
+Query 1/1: Action query time = 1.341 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5795
+t=122: Selected seed 195 with value = 0.5795
+Query 1/1: Action query time = 1.260 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4843
+t=138: Selected seed 195 with value = 0.4843
+Query 1/1: Action query time = 1.239 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7081
+t=154: Selected seed 195 with value = 0.7081
+Query 1/1: Action query time = 1.222 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8171
+t=170: Selected seed 195 with value = 0.8171
+Query 1/1: Action query time = 1.298 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9631
+t=186: Selected seed 195 with value = 0.9631
+Saved rollout MP4 at path ./rollouts/t7realcl800x50_t3_s0/2026_08_03-10_52_28--with_future_img--episode=19--success=True--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: True
+# episodes completed so far: 19
+# successes: 16 (84.2%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 20...
+Query 1/1: Action query time = 1.665 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.1784
+t=10: Selected seed 195 with value = 0.1784
+Query 1/1: Action query time = 1.507 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.1935
+t=26: Selected seed 195 with value = 0.1935
+Query 1/1: Action query time = 0.966 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2211
+t=42: Selected seed 195 with value = 0.2211
+Query 1/1: Action query time = 0.968 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2131
+t=58: Selected seed 195 with value = 0.2131
+Query 1/1: Action query time = 0.980 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2439
+t=74: Selected seed 195 with value = 0.2439
+Query 1/1: Action query time = 0.983 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2240
+t=90: Selected seed 195 with value = 0.2240
+Query 1/1: Action query time = 1.323 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2776
+t=106: Selected seed 195 with value = 0.2776
+Query 1/1: Action query time = 1.311 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5496
+t=122: Selected seed 195 with value = 0.5496
+Query 1/1: Action query time = 1.225 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4562
+t=138: Selected seed 195 with value = 0.4562
+Query 1/1: Action query time = 1.223 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5327
+t=154: Selected seed 195 with value = 0.5327
+Query 1/1: Action query time = 1.251 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5863
+t=170: Selected seed 195 with value = 0.5863
+Query 1/1: Action query time = 1.217 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6841
+t=186: Selected seed 195 with value = 0.6841
+Query 1/1: Action query time = 1.157 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8140
+t=202: Selected seed 195 with value = 0.8140
+Query 1/1: Action query time = 1.144 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9578
+t=218: Selected seed 195 with value = 0.9578
+Saved rollout MP4 at path ./rollouts/t7realcl800x50_t3_s0/2026_08_03-10_52_28--with_future_img--episode=20--success=True--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: True
+# episodes completed so far: 20
+# successes: 17 (85.0%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 21...
+Query 1/1: Action query time = 1.007 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.1764
+t=10: Selected seed 195 with value = 0.1764
+Query 1/1: Action query time = 1.066 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2016
+t=26: Selected seed 195 with value = 0.2016
+Query 1/1: Action query time = 1.639 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2429
+t=42: Selected seed 195 with value = 0.2429
+Query 1/1: Action query time = 1.910 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2785
+t=58: Selected seed 195 with value = 0.2785
+Query 1/1: Action query time = 1.807 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3260
+t=74: Selected seed 195 with value = 0.3260
+Query 1/1: Action query time = 1.318 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3932
+t=90: Selected seed 195 with value = 0.3932
+Query 1/1: Action query time = 1.308 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4053
+t=106: Selected seed 195 with value = 0.4053
+Query 1/1: Action query time = 1.304 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5098
+t=122: Selected seed 195 with value = 0.5098
+Query 1/1: Action query time = 1.446 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6165
+t=138: Selected seed 195 with value = 0.6165
+Query 1/1: Action query time = 1.479 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7607
+t=154: Selected seed 195 with value = 0.7607
+Query 1/1: Action query time = 1.385 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8943
+t=170: Selected seed 195 with value = 0.8943
+Query 1/1: Action query time = 1.380 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9921
+t=186: Selected seed 195 with value = 0.9921
+Saved rollout MP4 at path ./rollouts/t7realcl800x50_t3_s0/2026_08_03-10_52_28--with_future_img--episode=21--success=True--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: True
+# episodes completed so far: 21
+# successes: 18 (85.7%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 22...
+Query 1/1: Action query time = 1.318 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.1788
+t=10: Selected seed 195 with value = 0.1788
+Query 1/1: Action query time = 1.319 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.1823
+t=26: Selected seed 195 with value = 0.1823
+Query 1/1: Action query time = 0.979 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2367
+t=42: Selected seed 195 with value = 0.2367
+Query 1/1: Action query time = 0.965 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3028
+t=58: Selected seed 195 with value = 0.3028
+Query 1/1: Action query time = 0.970 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3651
+t=74: Selected seed 195 with value = 0.3651
+Query 1/1: Action query time = 0.972 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4283
+t=90: Selected seed 195 with value = 0.4283
+Query 1/1: Action query time = 1.282 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5051
+t=106: Selected seed 195 with value = 0.5051
+Query 1/1: Action query time = 1.301 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5597
+t=122: Selected seed 195 with value = 0.5597
+Query 1/1: Action query time = 1.351 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6568
+t=138: Selected seed 195 with value = 0.6568
+Query 1/1: Action query time = 1.395 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7510
+t=154: Selected seed 195 with value = 0.7510
+Query 1/1: Action query time = 1.453 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8813
+t=170: Selected seed 195 with value = 0.8813
+Query 1/1: Action query time = 1.504 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=186: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/t7realcl800x50_t3_s0/2026_08_03-10_52_28--with_future_img--episode=22--success=True--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: True
+# episodes completed so far: 22
+# successes: 19 (86.4%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 23...
+Query 1/1: Action query time = 1.283 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.1865
+t=10: Selected seed 195 with value = 0.1865
+Query 1/1: Action query time = 1.286 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2036
+t=26: Selected seed 195 with value = 0.2036
+Query 1/1: Action query time = 1.309 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2261
+t=42: Selected seed 195 with value = 0.2261
+Query 1/1: Action query time = 1.336 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2708
+t=58: Selected seed 195 with value = 0.2708
+Query 1/1: Action query time = 1.338 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3344
+t=74: Selected seed 195 with value = 0.3344
+Query 1/1: Action query time = 1.347 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3923
+t=90: Selected seed 195 with value = 0.3923
+Query 1/1: Action query time = 1.367 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4704
+t=106: Selected seed 195 with value = 0.4704
+Query 1/1: Action query time = 0.970 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5660
+t=122: Selected seed 195 with value = 0.5660
+Query 1/1: Action query time = 0.968 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6743
+t=138: Selected seed 195 with value = 0.6743
+Query 1/1: Action query time = 0.976 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7615
+t=154: Selected seed 195 with value = 0.7615
+Query 1/1: Action query time = 0.969 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9082
+t=170: Selected seed 195 with value = 0.9082
+Saved rollout MP4 at path ./rollouts/t7realcl800x50_t3_s0/2026_08_03-10_52_28--with_future_img--episode=23--success=True--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: True
+# episodes completed so far: 23
+# successes: 20 (87.0%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 24...
+Query 1/1: Action query time = 1.229 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.1527
+t=10: Selected seed 195 with value = 0.1527
+Query 1/1: Action query time = 1.262 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2089
+t=26: Selected seed 195 with value = 0.2089
+Query 1/1: Action query time = 1.233 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2496
+t=42: Selected seed 195 with value = 0.2496
+Query 1/1: Action query time = 1.181 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2840
+t=58: Selected seed 195 with value = 0.2840
+Query 1/1: Action query time = 1.205 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3484
+t=74: Selected seed 195 with value = 0.3484
+Query 1/1: Action query time = 1.281 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3746
+t=90: Selected seed 195 with value = 0.3746
+Query 1/1: Action query time = 1.338 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4814
+t=106: Selected seed 195 with value = 0.4814
+Query 1/1: Action query time = 1.342 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5913
+t=122: Selected seed 195 with value = 0.5913
+Query 1/1: Action query time = 0.964 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7003
+t=138: Selected seed 195 with value = 0.7003
+Query 1/1: Action query time = 0.966 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7910
+t=154: Selected seed 195 with value = 0.7910
+Query 1/1: Action query time = 0.978 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9265
+t=170: Selected seed 195 with value = 0.9265
+Saved rollout MP4 at path ./rollouts/t7realcl800x50_t3_s0/2026_08_03-10_52_28--with_future_img--episode=24--success=True--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: True
+# episodes completed so far: 24
+# successes: 21 (87.5%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 25...
+Query 1/1: Action query time = 1.321 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.1551
+t=10: Selected seed 195 with value = 0.1551
+Query 1/1: Action query time = 1.302 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2127
+t=26: Selected seed 195 with value = 0.2127
+Query 1/1: Action query time = 1.280 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2745
+t=42: Selected seed 195 with value = 0.2745
+Query 1/1: Action query time = 1.266 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2211
+t=58: Selected seed 195 with value = 0.2211
+Query 1/1: Action query time = 1.264 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.1707
+t=74: Selected seed 195 with value = 0.1707
+Query 1/1: Action query time = 1.304 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2583
+t=90: Selected seed 195 with value = 0.2583
+Query 1/1: Action query time = 1.344 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3540
+t=106: Selected seed 195 with value = 0.3540
+Query 1/1: Action query time = 1.340 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4684
+t=122: Selected seed 195 with value = 0.4684
+Query 1/1: Action query time = 1.267 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5378
+t=138: Selected seed 195 with value = 0.5378
+Query 1/1: Action query time = 1.237 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5482
+t=154: Selected seed 195 with value = 0.5482
+Query 1/1: Action query time = 0.961 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6693
+t=170: Selected seed 195 with value = 0.6693
+Query 1/1: Action query time = 0.998 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4471
+t=186: Selected seed 195 with value = 0.4471
+Query 1/1: Action query time = 0.971 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4677
+t=202: Selected seed 195 with value = 0.4677
+Query 1/1: Action query time = 1.297 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4640
+t=218: Selected seed 195 with value = 0.4640
+Query 1/1: Action query time = 1.300 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5624
+t=234: Selected seed 195 with value = 0.5624
+Query 1/1: Action query time = 1.333 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6518
+t=250: Selected seed 195 with value = 0.6518
+Query 1/1: Action query time = 1.314 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5084
+t=266: Selected seed 195 with value = 0.5084
+Query 1/1: Action query time = 1.322 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5132
+t=282: Selected seed 195 with value = 0.5132
+Query 1/1: Action query time = 1.352 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6137
+t=298: Selected seed 195 with value = 0.6137
+Saved rollout MP4 at path ./rollouts/t7realcl800x50_t3_s0/2026_08_03-10_52_28--with_future_img--episode=25--success=False--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: False
+# episodes completed so far: 25
+# successes: 21 (84.0%)
+Current task success rate: 0.84
+Current total success rate: 0.84
+Final results:
+Total episodes: 25
+Total successes: 21
+Overall success rate: 0.8400 (84.0%)
diff --git a/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_03-10_52_33--t7realcl800x50_t4_s0.txt b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_03-10_52_33--t7realcl800x50_t4_s0.txt
new file mode 100644
index 0000000000000000000000000000000000000000..957c5d555aebe5b2da06160b1102cb27279f0e4b
--- /dev/null
+++ b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_03-10_52_33--t7realcl800x50_t4_s0.txt
@@ -0,0 +1,851 @@
+Eval config: PolicyEvalConfig(suite='libero', model_family='cosmos', config='cosmos_predict2_2b_480p_libero_cl_stage_inference_only', ckpt_path='/home/azureuser/REGEN-main/new_task7/cosmos_policy/cosmos_v2_finetune/cosmos_predict2_2b_480p_libero_goal_task7_real_cl_from_realcl800_2gpu/checkpoints/iter_000000800/model', planning_model_config_name='', planning_model_ckpt_path='', config_file='cosmos_policy/config/config.py', packnet_mask_path='', packnet_first_cl_libero_task=6, use_third_person_image=True, num_third_person_images=1, use_wrist_image=True, num_wrist_images=1, use_proprio=True, flip_images=True, use_variance_scale=False, use_jpeg_compression=True, ar_future_prediction=False, ar_value_prediction=False, ar_qvalue_prediction=False, num_denoising_steps_action=5, num_denoising_steps_future_state=1, num_denoising_steps_value=1, unnormalize_actions=True, normalize_proprio=True, dataset_stats_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/libero_goal_regen/dataset_statistics.json', t5_text_embeddings_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/t5_embeddings.pkl', trained_with_image_aug=True, chunk_size=16, num_open_loop_steps=16, deterministic=True, deterministic_reset=False, deterministic_reset_seed=None, use_ensemble_future_state_predictions=False, num_future_state_predictions_in_ensemble=3, future_state_ensemble_aggregation_scheme='average', use_ensemble_value_predictions=False, num_value_predictions_in_ensemble=5, value_ensemble_aggregation_scheme='average', search_depth=1, mask_current_state_action_for_value_prediction=False, mask_future_state_for_qvalue_prediction=False, num_queries_best_of_n=1, use_parallel_inference=False, available_gpus='0', parallel_timeout=15, parallel_tasks_across_gpus=False, task_suite_name='libero_goal', num_trials_per_task=50, task_ids_to_run='4', initial_states_path='DEFAULT', env_img_res=256, local_log_dir='/home/azureuser/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal', run_id_note='t7realcl800x50_t4_s0', use_wandb=False, wandb_entity='YOUR_ENTITY', wandb_project='YOUR_PROJECT', seed=195, randomize_seed=False, data_collection=False, jpeg_compress=True, reward_stop_threshold=None, reward_stop_consecutive_steps=3, use_gpt_reward=False, gpt_reward_model='gpt-5.4-mini', gpt_reward_stop_threshold=4, gpt_reward_timeout_s=30.0, save_rollout_video=False, eval_hdf5_path='', eval_hdf5_demo_key='demo_0', data_gen_demo_ids='', eval_episode_ids='0,2,4,6,8,10,12,14,16,18,20,22,24,26,28,30,32,34,36,38,40,42,44,46,48', dump_final_states_path='', replay_actions=False, replay_action_path_dir='', replay_hdf5_path='', data_generation=False, max_generation_steps=200, disable_value_stop=False)
+Using serial inference (parallel inference disabled)
+Task suite: libero_goal
+Number of tasks: 10
+Running only task IDs: [4]
+Using default initial states
+
+Task: put the bowl on top of the cabinet
+Starting episode 1...
+Query 1/1: Action query time = 1.568 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4208
+t=10: Selected seed 195 with value = 0.4208
+Query 1/1: Action query time = 1.711 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5140
+t=26: Selected seed 195 with value = 0.5140
+Query 1/1: Action query time = 1.965 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5887
+t=42: Selected seed 195 with value = 0.5887
+Query 1/1: Action query time = 1.907 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6897
+t=58: Selected seed 195 with value = 0.6897
+Query 1/1: Action query time = 3.807 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8278
+t=74: Selected seed 195 with value = 0.8278
+Query 1/1: Action query time = 2.765 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9752
+t=90: Selected seed 195 with value = 0.9752
+Saved rollout MP4 at path ./rollouts/t7realcl800x50_t4_s0/2026_08_03-10_52_33--with_future_img--episode=1--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Success: True
+# episodes completed so far: 1
+# successes: 1 (100.0%)
+
+Task: put the bowl on top of the cabinet
+Starting episode 2...
+Query 1/1: Action query time = 4.621 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4332
+t=10: Selected seed 195 with value = 0.4332
+Query 1/1: Action query time = 4.886 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4803
+t=26: Selected seed 195 with value = 0.4803
+Query 1/1: Action query time = 5.350 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5834
+t=42: Selected seed 195 with value = 0.5834
+Query 1/1: Action query time = 5.487 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6837
+t=58: Selected seed 195 with value = 0.6837
+Query 1/1: Action query time = 4.370 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8175
+t=74: Selected seed 195 with value = 0.8175
+Query 1/1: Action query time = 5.390 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9543
+t=90: Selected seed 195 with value = 0.9543
+Saved rollout MP4 at path ./rollouts/t7realcl800x50_t4_s0/2026_08_03-10_52_33--with_future_img--episode=2--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Success: True
+# episodes completed so far: 2
+# successes: 2 (100.0%)
+
+Task: put the bowl on top of the cabinet
+Starting episode 3...
+Query 1/1: Action query time = 4.261 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4255
+t=10: Selected seed 195 with value = 0.4255
+Query 1/1: Action query time = 5.095 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5031
+t=26: Selected seed 195 with value = 0.5031
+Query 1/1: Action query time = 5.017 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5983
+t=42: Selected seed 195 with value = 0.5983
+Query 1/1: Action query time = 3.650 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7483
+t=58: Selected seed 195 with value = 0.7483
+Query 1/1: Action query time = 5.424 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8762
+t=74: Selected seed 195 with value = 0.8762
+Query 1/1: Action query time = 4.855 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/t7realcl800x50_t4_s0/2026_08_03-10_52_33--with_future_img--episode=3--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Success: True
+# episodes completed so far: 3
+# successes: 3 (100.0%)
+
+Task: put the bowl on top of the cabinet
+Starting episode 4...
+Query 1/1: Action query time = 5.205 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4077
+t=10: Selected seed 195 with value = 0.4077
+Query 1/1: Action query time = 3.452 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3696
+t=26: Selected seed 195 with value = 0.3696
+Query 1/1: Action query time = 3.868 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6507
+t=42: Selected seed 195 with value = 0.6507
+Query 1/1: Action query time = 3.069 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7365
+t=58: Selected seed 195 with value = 0.7365
+Query 1/1: Action query time = 4.471 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8877
+t=74: Selected seed 195 with value = 0.8877
+Query 1/1: Action query time = 4.753 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/t7realcl800x50_t4_s0/2026_08_03-10_52_33--with_future_img--episode=4--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Success: True
+# episodes completed so far: 4
+# successes: 4 (100.0%)
+
+Task: put the bowl on top of the cabinet
+Starting episode 5...
+Query 1/1: Action query time = 6.568 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4347
+t=10: Selected seed 195 with value = 0.4347
+Query 1/1: Action query time = 5.748 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5279
+t=26: Selected seed 195 with value = 0.5279
+Query 1/1: Action query time = 4.518 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6105
+t=42: Selected seed 195 with value = 0.6105
+Query 1/1: Action query time = 3.509 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7122
+t=58: Selected seed 195 with value = 0.7122
+Query 1/1: Action query time = 4.304 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8611
+t=74: Selected seed 195 with value = 0.8611
+Query 1/1: Action query time = 4.104 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9985
+t=90: Selected seed 195 with value = 0.9985
+Saved rollout MP4 at path ./rollouts/t7realcl800x50_t4_s0/2026_08_03-10_52_33--with_future_img--episode=5--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Success: True
+# episodes completed so far: 5
+# successes: 5 (100.0%)
+
+Task: put the bowl on top of the cabinet
+Starting episode 6...
+Query 1/1: Action query time = 5.597 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4360
+t=10: Selected seed 195 with value = 0.4360
+Query 1/1: Action query time = 4.574 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5289
+t=26: Selected seed 195 with value = 0.5289
+Query 1/1: Action query time = 2.782 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6184
+t=42: Selected seed 195 with value = 0.6184
+Query 1/1: Action query time = 4.635 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7342
+t=58: Selected seed 195 with value = 0.7342
+Query 1/1: Action query time = 4.249 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8419
+t=74: Selected seed 195 with value = 0.8419
+Query 1/1: Action query time = 4.764 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9952
+t=90: Selected seed 195 with value = 0.9952
+Saved rollout MP4 at path ./rollouts/t7realcl800x50_t4_s0/2026_08_03-10_52_33--with_future_img--episode=6--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Success: True
+# episodes completed so far: 6
+# successes: 6 (100.0%)
+
+Task: put the bowl on top of the cabinet
+Starting episode 7...
+Query 1/1: Action query time = 5.743 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4200
+t=10: Selected seed 195 with value = 0.4200
+Query 1/1: Action query time = 4.217 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5097
+t=26: Selected seed 195 with value = 0.5097
+Query 1/1: Action query time = 3.891 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6214
+t=42: Selected seed 195 with value = 0.6214
+Query 1/1: Action query time = 4.225 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7105
+t=58: Selected seed 195 with value = 0.7105
+Query 1/1: Action query time = 4.289 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8657
+t=74: Selected seed 195 with value = 0.8657
+Saved rollout MP4 at path ./rollouts/t7realcl800x50_t4_s0/2026_08_03-10_52_33--with_future_img--episode=7--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Success: True
+# episodes completed so far: 7
+# successes: 7 (100.0%)
+
+Task: put the bowl on top of the cabinet
+Starting episode 8...
+Query 1/1: Action query time = 4.707 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4011
+t=10: Selected seed 195 with value = 0.4011
+Query 1/1: Action query time = 4.642 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5320
+t=26: Selected seed 195 with value = 0.5320
+Query 1/1: Action query time = 4.487 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5836
+t=42: Selected seed 195 with value = 0.5836
+Query 1/1: Action query time = 4.171 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7184
+t=58: Selected seed 195 with value = 0.7184
+Query 1/1: Action query time = 3.876 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8430
+t=74: Selected seed 195 with value = 0.8430
+Query 1/1: Action query time = 4.527 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9604
+t=90: Selected seed 195 with value = 0.9604
+Saved rollout MP4 at path ./rollouts/t7realcl800x50_t4_s0/2026_08_03-10_52_33--with_future_img--episode=8--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Success: True
+# episodes completed so far: 8
+# successes: 8 (100.0%)
+
+Task: put the bowl on top of the cabinet
+Starting episode 9...
+Query 1/1: Action query time = 3.178 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4658
+t=10: Selected seed 195 with value = 0.4658
+Query 1/1: Action query time = 4.640 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5518
+t=26: Selected seed 195 with value = 0.5518
+Query 1/1: Action query time = 5.224 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6558
+t=42: Selected seed 195 with value = 0.6558
+Query 1/1: Action query time = 4.489 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7169
+t=58: Selected seed 195 with value = 0.7169
+Query 1/1: Action query time = 3.380 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8470
+t=74: Selected seed 195 with value = 0.8470
+Query 1/1: Action query time = 5.210 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9493
+t=90: Selected seed 195 with value = 0.9493
+Saved rollout MP4 at path ./rollouts/t7realcl800x50_t4_s0/2026_08_03-10_52_33--with_future_img--episode=9--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Success: True
+# episodes completed so far: 9
+# successes: 9 (100.0%)
+
+Task: put the bowl on top of the cabinet
+Starting episode 10...
+Query 1/1: Action query time = 3.554 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4007
+t=10: Selected seed 195 with value = 0.4007
+Query 1/1: Action query time = 4.773 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4628
+t=26: Selected seed 195 with value = 0.4628
+Query 1/1: Action query time = 5.441 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5473
+t=42: Selected seed 195 with value = 0.5473
+Query 1/1: Action query time = 4.762 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6567
+t=58: Selected seed 195 with value = 0.6567
+Query 1/1: Action query time = 3.847 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7715
+t=74: Selected seed 195 with value = 0.7715
+Query 1/1: Action query time = 3.682 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9079
+t=90: Selected seed 195 with value = 0.9079
+Saved rollout MP4 at path ./rollouts/t7realcl800x50_t4_s0/2026_08_03-10_52_33--with_future_img--episode=10--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Success: True
+# episodes completed so far: 10
+# successes: 10 (100.0%)
+
+Task: put the bowl on top of the cabinet
+Starting episode 11...
+Query 1/1: Action query time = 5.091 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4272
+t=10: Selected seed 195 with value = 0.4272
+Query 1/1: Action query time = 4.680 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5005
+t=26: Selected seed 195 with value = 0.5005
+Query 1/1: Action query time = 4.058 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6036
+t=42: Selected seed 195 with value = 0.6036
+Query 1/1: Action query time = 4.079 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6951
+t=58: Selected seed 195 with value = 0.6951
+Query 1/1: Action query time = 4.940 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8233
+t=74: Selected seed 195 with value = 0.8233
+Query 1/1: Action query time = 3.537 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9848
+t=90: Selected seed 195 with value = 0.9848
+Saved rollout MP4 at path ./rollouts/t7realcl800x50_t4_s0/2026_08_03-10_52_33--with_future_img--episode=11--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Success: True
+# episodes completed so far: 11
+# successes: 11 (100.0%)
+
+Task: put the bowl on top of the cabinet
+Starting episode 12...
+Query 1/1: Action query time = 4.914 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3577
+t=10: Selected seed 195 with value = 0.3577
+Query 1/1: Action query time = 4.556 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4357
+t=26: Selected seed 195 with value = 0.4357
+Query 1/1: Action query time = 5.027 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6071
+t=42: Selected seed 195 with value = 0.6071
+Query 1/1: Action query time = 4.793 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6754
+t=58: Selected seed 195 with value = 0.6754
+Query 1/1: Action query time = 4.844 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8675
+t=74: Selected seed 195 with value = 0.8675
+Query 1/1: Action query time = 3.390 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9848
+t=90: Selected seed 195 with value = 0.9848
+Saved rollout MP4 at path ./rollouts/t7realcl800x50_t4_s0/2026_08_03-10_52_33--with_future_img--episode=12--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Success: True
+# episodes completed so far: 12
+# successes: 12 (100.0%)
+
+Task: put the bowl on top of the cabinet
+Starting episode 13...
+Query 1/1: Action query time = 5.660 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4296
+t=10: Selected seed 195 with value = 0.4296
+Query 1/1: Action query time = 3.951 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5256
+t=26: Selected seed 195 with value = 0.5256
+Query 1/1: Action query time = 3.832 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5991
+t=42: Selected seed 195 with value = 0.5991
+Query 1/1: Action query time = 5.334 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7511
+t=58: Selected seed 195 with value = 0.7511
+Query 1/1: Action query time = 4.773 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9130
+t=74: Selected seed 195 with value = 0.9130
+Saved rollout MP4 at path ./rollouts/t7realcl800x50_t4_s0/2026_08_03-10_52_33--with_future_img--episode=13--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Success: True
+# episodes completed so far: 13
+# successes: 13 (100.0%)
+
+Task: put the bowl on top of the cabinet
+Starting episode 14...
+Query 1/1: Action query time = 3.739 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4226
+t=10: Selected seed 195 with value = 0.4226
+Query 1/1: Action query time = 4.459 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5082
+t=26: Selected seed 195 with value = 0.5082
+Query 1/1: Action query time = 3.510 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5955
+t=42: Selected seed 195 with value = 0.5955
+Query 1/1: Action query time = 4.544 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6911
+t=58: Selected seed 195 with value = 0.6911
+Query 1/1: Action query time = 5.018 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8421
+t=74: Selected seed 195 with value = 0.8421
+Query 1/1: Action query time = 4.849 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9949
+t=90: Selected seed 195 with value = 0.9949
+Saved rollout MP4 at path ./rollouts/t7realcl800x50_t4_s0/2026_08_03-10_52_33--with_future_img--episode=14--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Success: True
+# episodes completed so far: 14
+# successes: 14 (100.0%)
+
+Task: put the bowl on top of the cabinet
+Starting episode 15...
+Query 1/1: Action query time = 3.906 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4339
+t=10: Selected seed 195 with value = 0.4339
+Query 1/1: Action query time = 4.608 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5032
+t=26: Selected seed 195 with value = 0.5032
+Query 1/1: Action query time = 4.452 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6119
+t=42: Selected seed 195 with value = 0.6119
+Query 1/1: Action query time = 4.273 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7108
+t=58: Selected seed 195 with value = 0.7108
+Query 1/1: Action query time = 5.140 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8218
+t=74: Selected seed 195 with value = 0.8218
+Query 1/1: Action query time = 3.776 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9367
+t=90: Selected seed 195 with value = 0.9367
+Saved rollout MP4 at path ./rollouts/t7realcl800x50_t4_s0/2026_08_03-10_52_33--with_future_img--episode=15--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Success: True
+# episodes completed so far: 15
+# successes: 15 (100.0%)
+
+Task: put the bowl on top of the cabinet
+Starting episode 16...
+Query 1/1: Action query time = 4.449 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4329
+t=10: Selected seed 195 with value = 0.4329
+Query 1/1: Action query time = 4.619 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5453
+t=26: Selected seed 195 with value = 0.5453
+Query 1/1: Action query time = 4.097 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6283
+t=42: Selected seed 195 with value = 0.6283
+Query 1/1: Action query time = 5.673 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7287
+t=58: Selected seed 195 with value = 0.7287
+Query 1/1: Action query time = 4.732 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8626
+t=74: Selected seed 195 with value = 0.8626
+Query 1/1: Action query time = 5.264 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/t7realcl800x50_t4_s0/2026_08_03-10_52_33--with_future_img--episode=16--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Success: True
+# episodes completed so far: 16
+# successes: 16 (100.0%)
+
+Task: put the bowl on top of the cabinet
+Starting episode 17...
+Query 1/1: Action query time = 2.852 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4597
+t=10: Selected seed 195 with value = 0.4597
+Query 1/1: Action query time = 3.989 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3992
+t=26: Selected seed 195 with value = 0.3992
+Query 1/1: Action query time = 4.601 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4011
+t=42: Selected seed 195 with value = 0.4011
+Query 1/1: Action query time = 5.348 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4767
+t=58: Selected seed 195 with value = 0.4767
+Query 1/1: Action query time = 6.074 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5522
+t=74: Selected seed 195 with value = 0.5522
+Query 1/1: Action query time = 4.424 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6166
+t=90: Selected seed 195 with value = 0.6166
+Query 1/1: Action query time = 3.473 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7342
+t=106: Selected seed 195 with value = 0.7342
+Query 1/1: Action query time = 4.810 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8922
+t=122: Selected seed 195 with value = 0.8922
+Saved rollout MP4 at path ./rollouts/t7realcl800x50_t4_s0/2026_08_03-10_52_33--with_future_img--episode=17--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Success: True
+# episodes completed so far: 17
+# successes: 17 (100.0%)
+
+Task: put the bowl on top of the cabinet
+Starting episode 18...
+Query 1/1: Action query time = 4.898 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4194
+t=10: Selected seed 195 with value = 0.4194
+Query 1/1: Action query time = 5.845 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5150
+t=26: Selected seed 195 with value = 0.5150
+Query 1/1: Action query time = 4.911 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6198
+t=42: Selected seed 195 with value = 0.6198
+Query 1/1: Action query time = 3.867 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7382
+t=58: Selected seed 195 with value = 0.7382
+Query 1/1: Action query time = 4.618 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8770
+t=74: Selected seed 195 with value = 0.8770
+Query 1/1: Action query time = 4.504 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9912
+t=90: Selected seed 195 with value = 0.9912
+Saved rollout MP4 at path ./rollouts/t7realcl800x50_t4_s0/2026_08_03-10_52_33--with_future_img--episode=18--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Success: True
+# episodes completed so far: 18
+# successes: 18 (100.0%)
+
+Task: put the bowl on top of the cabinet
+Starting episode 19...
+Query 1/1: Action query time = 4.187 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4276
+t=10: Selected seed 195 with value = 0.4276
+Query 1/1: Action query time = 5.005 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5133
+t=26: Selected seed 195 with value = 0.5133
+Query 1/1: Action query time = 5.141 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5940
+t=42: Selected seed 195 with value = 0.5940
+Query 1/1: Action query time = 4.967 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7052
+t=58: Selected seed 195 with value = 0.7052
+Query 1/1: Action query time = 4.756 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8573
+t=74: Selected seed 195 with value = 0.8573
+Query 1/1: Action query time = 4.469 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9847
+t=90: Selected seed 195 with value = 0.9847
+Saved rollout MP4 at path ./rollouts/t7realcl800x50_t4_s0/2026_08_03-10_52_33--with_future_img--episode=19--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Success: True
+# episodes completed so far: 19
+# successes: 19 (100.0%)
+
+Task: put the bowl on top of the cabinet
+Starting episode 20...
+Query 1/1: Action query time = 3.344 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3396
+t=10: Selected seed 195 with value = 0.3396
+Query 1/1: Action query time = 4.087 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3322
+t=26: Selected seed 195 with value = 0.3322
+Query 1/1: Action query time = 4.260 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4175
+t=42: Selected seed 195 with value = 0.4175
+Query 1/1: Action query time = 4.733 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4830
+t=58: Selected seed 195 with value = 0.4830
+Query 1/1: Action query time = 5.188 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5522
+t=74: Selected seed 195 with value = 0.5522
+Query 1/1: Action query time = 4.600 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6415
+t=90: Selected seed 195 with value = 0.6415
+Query 1/1: Action query time = 3.745 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7211
+t=106: Selected seed 195 with value = 0.7211
+Query 1/1: Action query time = 4.785 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8796
+t=122: Selected seed 195 with value = 0.8796
+Query 1/1: Action query time = 6.335 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9991
+t=138: Selected seed 195 with value = 0.9991
+Saved rollout MP4 at path ./rollouts/t7realcl800x50_t4_s0/2026_08_03-10_52_33--with_future_img--episode=20--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Success: True
+# episodes completed so far: 20
+# successes: 20 (100.0%)
+
+Task: put the bowl on top of the cabinet
+Starting episode 21...
+Query 1/1: Action query time = 4.072 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4275
+t=10: Selected seed 195 with value = 0.4275
+Query 1/1: Action query time = 3.117 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5342
+t=26: Selected seed 195 with value = 0.5342
+Query 1/1: Action query time = 4.255 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5862
+t=42: Selected seed 195 with value = 0.5862
+Query 1/1: Action query time = 5.480 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5340
+t=58: Selected seed 195 with value = 0.5340
+Query 1/1: Action query time = 4.766 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8210
+t=74: Selected seed 195 with value = 0.8210
+Query 1/1: Action query time = 4.587 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8856
+t=90: Selected seed 195 with value = 0.8856
+Query 1/1: Action query time = 4.459 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8398
+t=106: Selected seed 195 with value = 0.8398
+Query 1/1: Action query time = 5.007 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9680
+t=122: Selected seed 195 with value = 0.9680
+Query 1/1: Action query time = 4.277 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9680
+t=138: Selected seed 195 with value = 0.9680
+Query 1/1: Action query time = 5.269 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9691
+t=154: Selected seed 195 with value = 0.9691
+Query 1/1: Action query time = 5.219 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9713
+t=170: Selected seed 195 with value = 0.9713
+Query 1/1: Action query time = 4.073 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9720
+t=186: Selected seed 195 with value = 0.9720
+Query 1/1: Action query time = 4.800 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9715
+t=202: Selected seed 195 with value = 0.9715
+Query 1/1: Action query time = 4.927 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9709
+t=218: Selected seed 195 with value = 0.9709
+Query 1/1: Action query time = 3.457 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9711
+t=234: Selected seed 195 with value = 0.9711
+Query 1/1: Action query time = 3.442 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9699
+t=250: Selected seed 195 with value = 0.9699
+Query 1/1: Action query time = 2.991 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9684
+t=266: Selected seed 195 with value = 0.9684
+Query 1/1: Action query time = 2.956 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9697
+t=282: Selected seed 195 with value = 0.9697
+Query 1/1: Action query time = 3.694 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9704
+t=298: Selected seed 195 with value = 0.9704
+Saved rollout MP4 at path ./rollouts/t7realcl800x50_t4_s0/2026_08_03-10_52_33--with_future_img--episode=21--success=False--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Success: False
+# episodes completed so far: 21
+# successes: 20 (95.2%)
+
+Task: put the bowl on top of the cabinet
+Starting episode 22...
+Query 1/1: Action query time = 2.562 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4298
+t=10: Selected seed 195 with value = 0.4298
+Query 1/1: Action query time = 2.068 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5097
+t=26: Selected seed 195 with value = 0.5097
+Query 1/1: Action query time = 3.527 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5794
+t=42: Selected seed 195 with value = 0.5794
+Query 1/1: Action query time = 3.318 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7412
+t=58: Selected seed 195 with value = 0.7412
+Query 1/1: Action query time = 3.340 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8409
+t=74: Selected seed 195 with value = 0.8409
+Query 1/1: Action query time = 3.010 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9468
+t=90: Selected seed 195 with value = 0.9468
+Saved rollout MP4 at path ./rollouts/t7realcl800x50_t4_s0/2026_08_03-10_52_33--with_future_img--episode=22--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Success: True
+# episodes completed so far: 22
+# successes: 21 (95.5%)
+
+Task: put the bowl on top of the cabinet
+Starting episode 23...
+Query 1/1: Action query time = 3.945 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4471
+t=10: Selected seed 195 with value = 0.4471
+Query 1/1: Action query time = 2.637 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5442
+t=26: Selected seed 195 with value = 0.5442
+Query 1/1: Action query time = 3.353 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6265
+t=42: Selected seed 195 with value = 0.6265
+Query 1/1: Action query time = 2.545 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7156
+t=58: Selected seed 195 with value = 0.7156
+Query 1/1: Action query time = 2.947 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8434
+t=74: Selected seed 195 with value = 0.8434
+Query 1/1: Action query time = 3.735 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9966
+t=90: Selected seed 195 with value = 0.9966
+Saved rollout MP4 at path ./rollouts/t7realcl800x50_t4_s0/2026_08_03-10_52_33--with_future_img--episode=23--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Success: True
+# episodes completed so far: 23
+# successes: 22 (95.7%)
+
+Task: put the bowl on top of the cabinet
+Starting episode 24...
+Query 1/1: Action query time = 3.879 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4544
+t=10: Selected seed 195 with value = 0.4544
+Query 1/1: Action query time = 3.771 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5262
+t=26: Selected seed 195 with value = 0.5262
+Query 1/1: Action query time = 3.649 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5971
+t=42: Selected seed 195 with value = 0.5971
+Query 1/1: Action query time = 4.352 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6975
+t=58: Selected seed 195 with value = 0.6975
+Query 1/1: Action query time = 2.674 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8445
+t=74: Selected seed 195 with value = 0.8445
+Query 1/1: Action query time = 3.318 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9680
+t=90: Selected seed 195 with value = 0.9680
+Saved rollout MP4 at path ./rollouts/t7realcl800x50_t4_s0/2026_08_03-10_52_33--with_future_img--episode=24--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Success: True
+# episodes completed so far: 24
+# successes: 23 (95.8%)
+
+Task: put the bowl on top of the cabinet
+Starting episode 25...
+Query 1/1: Action query time = 2.018 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4302
+t=10: Selected seed 195 with value = 0.4302
+Query 1/1: Action query time = 2.481 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5216
+t=26: Selected seed 195 with value = 0.5216
+Query 1/1: Action query time = 1.699 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5926
+t=42: Selected seed 195 with value = 0.5926
+Query 1/1: Action query time = 1.834 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6736
+t=58: Selected seed 195 with value = 0.6736
+Query 1/1: Action query time = 2.910 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7948
+t=74: Selected seed 195 with value = 0.7948
+Query 1/1: Action query time = 2.458 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9301
+t=90: Selected seed 195 with value = 0.9301
+Saved rollout MP4 at path ./rollouts/t7realcl800x50_t4_s0/2026_08_03-10_52_33--with_future_img--episode=25--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Success: True
+# episodes completed so far: 25
+# successes: 24 (96.0%)
+Current task success rate: 0.96
+Current total success rate: 0.96
+Final results:
+Total episodes: 25
+Total successes: 24
+Overall success rate: 0.9600 (96.0%)
diff --git a/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_03-10_52_48--t7realcl800x50_t7_s1.txt b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_03-10_52_48--t7realcl800x50_t7_s1.txt
new file mode 100644
index 0000000000000000000000000000000000000000..17809f903b6b4fbbcc9e35597be3b9f830701507
--- /dev/null
+++ b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_03-10_52_48--t7realcl800x50_t7_s1.txt
@@ -0,0 +1,703 @@
+Eval config: PolicyEvalConfig(suite='libero', model_family='cosmos', config='cosmos_predict2_2b_480p_libero_cl_stage_inference_only', ckpt_path='/home/azureuser/REGEN-main/new_task7/cosmos_policy/cosmos_v2_finetune/cosmos_predict2_2b_480p_libero_goal_task7_real_cl_from_realcl800_2gpu/checkpoints/iter_000000800/model', planning_model_config_name='', planning_model_ckpt_path='', config_file='cosmos_policy/config/config.py', packnet_mask_path='', packnet_first_cl_libero_task=6, use_third_person_image=True, num_third_person_images=1, use_wrist_image=True, num_wrist_images=1, use_proprio=True, flip_images=True, use_variance_scale=False, use_jpeg_compression=True, ar_future_prediction=False, ar_value_prediction=False, ar_qvalue_prediction=False, num_denoising_steps_action=5, num_denoising_steps_future_state=1, num_denoising_steps_value=1, unnormalize_actions=True, normalize_proprio=True, dataset_stats_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/libero_goal_regen/dataset_statistics.json', t5_text_embeddings_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/t5_embeddings.pkl', trained_with_image_aug=True, chunk_size=16, num_open_loop_steps=16, deterministic=True, deterministic_reset=False, deterministic_reset_seed=None, use_ensemble_future_state_predictions=False, num_future_state_predictions_in_ensemble=3, future_state_ensemble_aggregation_scheme='average', use_ensemble_value_predictions=False, num_value_predictions_in_ensemble=5, value_ensemble_aggregation_scheme='average', search_depth=1, mask_current_state_action_for_value_prediction=False, mask_future_state_for_qvalue_prediction=False, num_queries_best_of_n=1, use_parallel_inference=False, available_gpus='0', parallel_timeout=15, parallel_tasks_across_gpus=False, task_suite_name='libero_goal', num_trials_per_task=50, task_ids_to_run='7', initial_states_path='DEFAULT', env_img_res=256, local_log_dir='/home/azureuser/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal', run_id_note='t7realcl800x50_t7_s1', use_wandb=False, wandb_entity='YOUR_ENTITY', wandb_project='YOUR_PROJECT', seed=195, randomize_seed=False, data_collection=False, jpeg_compress=True, reward_stop_threshold=None, reward_stop_consecutive_steps=3, use_gpt_reward=False, gpt_reward_model='gpt-5.4-mini', gpt_reward_stop_threshold=4, gpt_reward_timeout_s=30.0, save_rollout_video=False, eval_hdf5_path='', eval_hdf5_demo_key='demo_0', data_gen_demo_ids='', eval_episode_ids='1,3,5,7,9,11,13,15,17,19,21,23,25,27,29,31,33,35,37,39,41,43,45,47,49', dump_final_states_path='', replay_actions=False, replay_action_path_dir='', replay_hdf5_path='', data_generation=False, max_generation_steps=200, disable_value_stop=False)
+Using serial inference (parallel inference disabled)
+Task suite: libero_goal
+Number of tasks: 10
+Running only task IDs: [7]
+Using default initial states
+
+Task: turn on the stove
+Starting episode 1...
+Query 1/1: Action query time = 5.497 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4587
+t=10: Selected seed 195 with value = 0.4587
+Query 1/1: Action query time = 4.590 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5397
+t=26: Selected seed 195 with value = 0.5397
+Query 1/1: Action query time = 4.662 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6266
+t=42: Selected seed 195 with value = 0.6266
+Query 1/1: Action query time = 4.728 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7276
+t=58: Selected seed 195 with value = 0.7276
+Query 1/1: Action query time = 5.006 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8789
+t=74: Selected seed 195 with value = 0.8789
+Query 1/1: Action query time = 4.742 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9887
+t=90: Selected seed 195 with value = 0.9887
+Saved rollout MP4 at path ./rollouts/t7realcl800x50_t7_s1/2026_08_03-10_52_48--with_future_img--episode=1--success=True--task=turn_on_the_stove.mp4
+Success: True
+# episodes completed so far: 1
+# successes: 1 (100.0%)
+
+Task: turn on the stove
+Starting episode 2...
+Query 1/1: Action query time = 4.368 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4753
+t=10: Selected seed 195 with value = 0.4753
+Query 1/1: Action query time = 4.505 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5930
+t=26: Selected seed 195 with value = 0.5930
+Query 1/1: Action query time = 5.404 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6738
+t=42: Selected seed 195 with value = 0.6738
+Query 1/1: Action query time = 5.106 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8049
+t=58: Selected seed 195 with value = 0.8049
+Query 1/1: Action query time = 4.499 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9431
+t=74: Selected seed 195 with value = 0.9431
+Saved rollout MP4 at path ./rollouts/t7realcl800x50_t7_s1/2026_08_03-10_52_48--with_future_img--episode=2--success=True--task=turn_on_the_stove.mp4
+Success: True
+# episodes completed so far: 2
+# successes: 2 (100.0%)
+
+Task: turn on the stove
+Starting episode 3...
+Query 1/1: Action query time = 6.033 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4364
+t=10: Selected seed 195 with value = 0.4364
+Query 1/1: Action query time = 3.009 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5541
+t=26: Selected seed 195 with value = 0.5541
+Query 1/1: Action query time = 5.215 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6346
+t=42: Selected seed 195 with value = 0.6346
+Query 1/1: Action query time = 3.934 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7236
+t=58: Selected seed 195 with value = 0.7236
+Query 1/1: Action query time = 3.232 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8877
+t=74: Selected seed 195 with value = 0.8877
+Saved rollout MP4 at path ./rollouts/t7realcl800x50_t7_s1/2026_08_03-10_52_48--with_future_img--episode=3--success=True--task=turn_on_the_stove.mp4
+Success: True
+# episodes completed so far: 3
+# successes: 3 (100.0%)
+
+Task: turn on the stove
+Starting episode 4...
+Query 1/1: Action query time = 5.651 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4782
+t=10: Selected seed 195 with value = 0.4782
+Query 1/1: Action query time = 4.768 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5271
+t=26: Selected seed 195 with value = 0.5271
+Query 1/1: Action query time = 6.421 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6674
+t=42: Selected seed 195 with value = 0.6674
+Query 1/1: Action query time = 5.770 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7829
+t=58: Selected seed 195 with value = 0.7829
+Query 1/1: Action query time = 4.438 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9136
+t=74: Selected seed 195 with value = 0.9136
+Saved rollout MP4 at path ./rollouts/t7realcl800x50_t7_s1/2026_08_03-10_52_48--with_future_img--episode=4--success=True--task=turn_on_the_stove.mp4
+Success: True
+# episodes completed so far: 4
+# successes: 4 (100.0%)
+
+Task: turn on the stove
+Starting episode 5...
+Query 1/1: Action query time = 4.241 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5142
+t=10: Selected seed 195 with value = 0.5142
+Query 1/1: Action query time = 3.806 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5833
+t=26: Selected seed 195 with value = 0.5833
+Query 1/1: Action query time = 3.934 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6682
+t=42: Selected seed 195 with value = 0.6682
+Query 1/1: Action query time = 4.817 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7726
+t=58: Selected seed 195 with value = 0.7726
+Query 1/1: Action query time = 4.072 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9504
+t=74: Selected seed 195 with value = 0.9504
+Saved rollout MP4 at path ./rollouts/t7realcl800x50_t7_s1/2026_08_03-10_52_48--with_future_img--episode=5--success=True--task=turn_on_the_stove.mp4
+Success: True
+# episodes completed so far: 5
+# successes: 5 (100.0%)
+
+Task: turn on the stove
+Starting episode 6...
+Query 1/1: Action query time = 4.796 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4858
+t=10: Selected seed 195 with value = 0.4858
+Query 1/1: Action query time = 5.120 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5542
+t=26: Selected seed 195 with value = 0.5542
+Query 1/1: Action query time = 4.653 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6603
+t=42: Selected seed 195 with value = 0.6603
+Query 1/1: Action query time = 4.003 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7645
+t=58: Selected seed 195 with value = 0.7645
+Query 1/1: Action query time = 4.028 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9097
+t=74: Selected seed 195 with value = 0.9097
+Saved rollout MP4 at path ./rollouts/t7realcl800x50_t7_s1/2026_08_03-10_52_48--with_future_img--episode=6--success=True--task=turn_on_the_stove.mp4
+Success: True
+# episodes completed so far: 6
+# successes: 6 (100.0%)
+
+Task: turn on the stove
+Starting episode 7...
+Query 1/1: Action query time = 4.572 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5131
+t=10: Selected seed 195 with value = 0.5131
+Query 1/1: Action query time = 4.969 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5996
+t=26: Selected seed 195 with value = 0.5996
+Query 1/1: Action query time = 4.648 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6798
+t=42: Selected seed 195 with value = 0.6798
+Query 1/1: Action query time = 4.580 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7986
+t=58: Selected seed 195 with value = 0.7986
+Query 1/1: Action query time = 4.237 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9538
+t=74: Selected seed 195 with value = 0.9538
+Saved rollout MP4 at path ./rollouts/t7realcl800x50_t7_s1/2026_08_03-10_52_48--with_future_img--episode=7--success=True--task=turn_on_the_stove.mp4
+Success: True
+# episodes completed so far: 7
+# successes: 7 (100.0%)
+
+Task: turn on the stove
+Starting episode 8...
+Query 1/1: Action query time = 5.502 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5266
+t=10: Selected seed 195 with value = 0.5266
+Query 1/1: Action query time = 4.336 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5917
+t=26: Selected seed 195 with value = 0.5917
+Query 1/1: Action query time = 3.896 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7071
+t=42: Selected seed 195 with value = 0.7071
+Query 1/1: Action query time = 4.915 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8289
+t=58: Selected seed 195 with value = 0.8289
+Query 1/1: Action query time = 3.503 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9994
+t=74: Selected seed 195 with value = 0.9994
+Saved rollout MP4 at path ./rollouts/t7realcl800x50_t7_s1/2026_08_03-10_52_48--with_future_img--episode=8--success=True--task=turn_on_the_stove.mp4
+Success: True
+# episodes completed so far: 8
+# successes: 8 (100.0%)
+
+Task: turn on the stove
+Starting episode 9...
+Query 1/1: Action query time = 4.181 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4950
+t=10: Selected seed 195 with value = 0.4950
+Query 1/1: Action query time = 3.431 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5789
+t=26: Selected seed 195 with value = 0.5789
+Query 1/1: Action query time = 5.719 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6821
+t=42: Selected seed 195 with value = 0.6821
+Query 1/1: Action query time = 5.420 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7896
+t=58: Selected seed 195 with value = 0.7896
+Query 1/1: Action query time = 4.672 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9448
+t=74: Selected seed 195 with value = 0.9448
+Saved rollout MP4 at path ./rollouts/t7realcl800x50_t7_s1/2026_08_03-10_52_48--with_future_img--episode=9--success=True--task=turn_on_the_stove.mp4
+Success: True
+# episodes completed so far: 9
+# successes: 9 (100.0%)
+
+Task: turn on the stove
+Starting episode 10...
+Query 1/1: Action query time = 3.137 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4950
+t=10: Selected seed 195 with value = 0.4950
+Query 1/1: Action query time = 3.344 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5739
+t=26: Selected seed 195 with value = 0.5739
+Query 1/1: Action query time = 5.162 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6628
+t=42: Selected seed 195 with value = 0.6628
+Query 1/1: Action query time = 5.404 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7606
+t=58: Selected seed 195 with value = 0.7606
+Query 1/1: Action query time = 5.830 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9296
+t=74: Selected seed 195 with value = 0.9296
+Saved rollout MP4 at path ./rollouts/t7realcl800x50_t7_s1/2026_08_03-10_52_48--with_future_img--episode=10--success=True--task=turn_on_the_stove.mp4
+Success: True
+# episodes completed so far: 10
+# successes: 10 (100.0%)
+
+Task: turn on the stove
+Starting episode 11...
+Query 1/1: Action query time = 4.506 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5049
+t=10: Selected seed 195 with value = 0.5049
+Query 1/1: Action query time = 4.746 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6050
+t=26: Selected seed 195 with value = 0.6050
+Query 1/1: Action query time = 3.132 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6972
+t=42: Selected seed 195 with value = 0.6972
+Query 1/1: Action query time = 5.349 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7937
+t=58: Selected seed 195 with value = 0.7937
+Query 1/1: Action query time = 5.608 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9609
+t=74: Selected seed 195 with value = 0.9609
+Saved rollout MP4 at path ./rollouts/t7realcl800x50_t7_s1/2026_08_03-10_52_48--with_future_img--episode=11--success=True--task=turn_on_the_stove.mp4
+Success: True
+# episodes completed so far: 11
+# successes: 11 (100.0%)
+
+Task: turn on the stove
+Starting episode 12...
+Query 1/1: Action query time = 4.035 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4772
+t=10: Selected seed 195 with value = 0.4772
+Query 1/1: Action query time = 2.644 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5507
+t=26: Selected seed 195 with value = 0.5507
+Query 1/1: Action query time = 3.572 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6663
+t=42: Selected seed 195 with value = 0.6663
+Query 1/1: Action query time = 5.018 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7506
+t=58: Selected seed 195 with value = 0.7506
+Query 1/1: Action query time = 5.760 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8873
+t=74: Selected seed 195 with value = 0.8873
+Saved rollout MP4 at path ./rollouts/t7realcl800x50_t7_s1/2026_08_03-10_52_48--with_future_img--episode=12--success=True--task=turn_on_the_stove.mp4
+Success: True
+# episodes completed so far: 12
+# successes: 12 (100.0%)
+
+Task: turn on the stove
+Starting episode 13...
+Query 1/1: Action query time = 4.687 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4652
+t=10: Selected seed 195 with value = 0.4652
+Query 1/1: Action query time = 4.699 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5611
+t=26: Selected seed 195 with value = 0.5611
+Query 1/1: Action query time = 5.082 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6389
+t=42: Selected seed 195 with value = 0.6389
+Query 1/1: Action query time = 5.686 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7632
+t=58: Selected seed 195 with value = 0.7632
+Query 1/1: Action query time = 3.984 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9174
+t=74: Selected seed 195 with value = 0.9174
+Saved rollout MP4 at path ./rollouts/t7realcl800x50_t7_s1/2026_08_03-10_52_48--with_future_img--episode=13--success=True--task=turn_on_the_stove.mp4
+Success: True
+# episodes completed so far: 13
+# successes: 13 (100.0%)
+
+Task: turn on the stove
+Starting episode 14...
+Query 1/1: Action query time = 4.804 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4868
+t=10: Selected seed 195 with value = 0.4868
+Query 1/1: Action query time = 4.015 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5709
+t=26: Selected seed 195 with value = 0.5709
+Query 1/1: Action query time = 3.856 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6371
+t=42: Selected seed 195 with value = 0.6371
+Query 1/1: Action query time = 3.585 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7665
+t=58: Selected seed 195 with value = 0.7665
+Query 1/1: Action query time = 5.056 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9199
+t=74: Selected seed 195 with value = 0.9199
+Saved rollout MP4 at path ./rollouts/t7realcl800x50_t7_s1/2026_08_03-10_52_48--with_future_img--episode=14--success=True--task=turn_on_the_stove.mp4
+Success: True
+# episodes completed so far: 14
+# successes: 14 (100.0%)
+
+Task: turn on the stove
+Starting episode 15...
+Query 1/1: Action query time = 5.443 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5019
+t=10: Selected seed 195 with value = 0.5019
+Query 1/1: Action query time = 2.730 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5760
+t=26: Selected seed 195 with value = 0.5760
+Query 1/1: Action query time = 5.479 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6847
+t=42: Selected seed 195 with value = 0.6847
+Query 1/1: Action query time = 4.222 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7933
+t=58: Selected seed 195 with value = 0.7933
+Query 1/1: Action query time = 4.098 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9222
+t=74: Selected seed 195 with value = 0.9222
+Saved rollout MP4 at path ./rollouts/t7realcl800x50_t7_s1/2026_08_03-10_52_48--with_future_img--episode=15--success=True--task=turn_on_the_stove.mp4
+Success: True
+# episodes completed so far: 15
+# successes: 15 (100.0%)
+
+Task: turn on the stove
+Starting episode 16...
+Query 1/1: Action query time = 4.902 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4984
+t=10: Selected seed 195 with value = 0.4984
+Query 1/1: Action query time = 4.660 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5736
+t=26: Selected seed 195 with value = 0.5736
+Query 1/1: Action query time = 4.828 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6216
+t=42: Selected seed 195 with value = 0.6216
+Query 1/1: Action query time = 5.052 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7348
+t=58: Selected seed 195 with value = 0.7348
+Query 1/1: Action query time = 4.106 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8594
+t=74: Selected seed 195 with value = 0.8594
+Query 1/1: Action query time = 5.248 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9993
+t=90: Selected seed 195 with value = 0.9993
+Saved rollout MP4 at path ./rollouts/t7realcl800x50_t7_s1/2026_08_03-10_52_48--with_future_img--episode=16--success=True--task=turn_on_the_stove.mp4
+Success: True
+# episodes completed so far: 16
+# successes: 16 (100.0%)
+
+Task: turn on the stove
+Starting episode 17...
+Query 1/1: Action query time = 4.760 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5109
+t=10: Selected seed 195 with value = 0.5109
+Query 1/1: Action query time = 4.082 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5809
+t=26: Selected seed 195 with value = 0.5809
+Query 1/1: Action query time = 4.473 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6642
+t=42: Selected seed 195 with value = 0.6642
+Query 1/1: Action query time = 4.565 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7506
+t=58: Selected seed 195 with value = 0.7506
+Query 1/1: Action query time = 5.031 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9151
+t=74: Selected seed 195 with value = 0.9151
+Query 1/1: Action query time = 3.960 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9982
+t=90: Selected seed 195 with value = 0.9982
+Saved rollout MP4 at path ./rollouts/t7realcl800x50_t7_s1/2026_08_03-10_52_48--with_future_img--episode=17--success=True--task=turn_on_the_stove.mp4
+Success: True
+# episodes completed so far: 17
+# successes: 17 (100.0%)
+
+Task: turn on the stove
+Starting episode 18...
+Query 1/1: Action query time = 3.354 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5133
+t=10: Selected seed 195 with value = 0.5133
+Query 1/1: Action query time = 4.095 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5850
+t=26: Selected seed 195 with value = 0.5850
+Query 1/1: Action query time = 5.104 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6411
+t=42: Selected seed 195 with value = 0.6411
+Query 1/1: Action query time = 5.637 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7231
+t=58: Selected seed 195 with value = 0.7231
+Query 1/1: Action query time = 4.446 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8970
+t=74: Selected seed 195 with value = 0.8970
+Saved rollout MP4 at path ./rollouts/t7realcl800x50_t7_s1/2026_08_03-10_52_48--with_future_img--episode=18--success=True--task=turn_on_the_stove.mp4
+Success: True
+# episodes completed so far: 18
+# successes: 18 (100.0%)
+
+Task: turn on the stove
+Starting episode 19...
+Query 1/1: Action query time = 5.525 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4711
+t=10: Selected seed 195 with value = 0.4711
+Query 1/1: Action query time = 3.754 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5608
+t=26: Selected seed 195 with value = 0.5608
+Query 1/1: Action query time = 3.728 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6252
+t=42: Selected seed 195 with value = 0.6252
+Query 1/1: Action query time = 3.906 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7517
+t=58: Selected seed 195 with value = 0.7517
+Query 1/1: Action query time = 5.466 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9379
+t=74: Selected seed 195 with value = 0.9379
+Saved rollout MP4 at path ./rollouts/t7realcl800x50_t7_s1/2026_08_03-10_52_48--with_future_img--episode=19--success=True--task=turn_on_the_stove.mp4
+Success: True
+# episodes completed so far: 19
+# successes: 19 (100.0%)
+
+Task: turn on the stove
+Starting episode 20...
+Query 1/1: Action query time = 4.713 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5177
+t=10: Selected seed 195 with value = 0.5177
+Query 1/1: Action query time = 4.284 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5867
+t=26: Selected seed 195 with value = 0.5867
+Query 1/1: Action query time = 3.756 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6669
+t=42: Selected seed 195 with value = 0.6669
+Query 1/1: Action query time = 4.879 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8163
+t=58: Selected seed 195 with value = 0.8163
+Query 1/1: Action query time = 3.998 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9537
+t=74: Selected seed 195 with value = 0.9537
+Saved rollout MP4 at path ./rollouts/t7realcl800x50_t7_s1/2026_08_03-10_52_48--with_future_img--episode=20--success=True--task=turn_on_the_stove.mp4
+Success: True
+# episodes completed so far: 20
+# successes: 20 (100.0%)
+
+Task: turn on the stove
+Starting episode 21...
+Query 1/1: Action query time = 5.141 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4563
+t=10: Selected seed 195 with value = 0.4563
+Query 1/1: Action query time = 2.891 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5651
+t=26: Selected seed 195 with value = 0.5651
+Query 1/1: Action query time = 4.794 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6713
+t=42: Selected seed 195 with value = 0.6713
+Query 1/1: Action query time = 5.231 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7675
+t=58: Selected seed 195 with value = 0.7675
+Query 1/1: Action query time = 4.330 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9361
+t=74: Selected seed 195 with value = 0.9361
+Saved rollout MP4 at path ./rollouts/t7realcl800x50_t7_s1/2026_08_03-10_52_48--with_future_img--episode=21--success=True--task=turn_on_the_stove.mp4
+Success: True
+# episodes completed so far: 21
+# successes: 21 (100.0%)
+
+Task: turn on the stove
+Starting episode 22...
+Query 1/1: Action query time = 5.079 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4834
+t=10: Selected seed 195 with value = 0.4834
+Query 1/1: Action query time = 3.631 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5482
+t=26: Selected seed 195 with value = 0.5482
+Query 1/1: Action query time = 4.717 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6462
+t=42: Selected seed 195 with value = 0.6462
+Query 1/1: Action query time = 4.968 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7139
+t=58: Selected seed 195 with value = 0.7139
+Query 1/1: Action query time = 4.570 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8760
+t=74: Selected seed 195 with value = 0.8760
+Query 1/1: Action query time = 4.570 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/t7realcl800x50_t7_s1/2026_08_03-10_52_48--with_future_img--episode=22--success=True--task=turn_on_the_stove.mp4
+Success: True
+# episodes completed so far: 22
+# successes: 22 (100.0%)
+
+Task: turn on the stove
+Starting episode 23...
+Query 1/1: Action query time = 5.947 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4741
+t=10: Selected seed 195 with value = 0.4741
+Query 1/1: Action query time = 3.743 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5708
+t=26: Selected seed 195 with value = 0.5708
+Query 1/1: Action query time = 3.648 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7129
+t=42: Selected seed 195 with value = 0.7129
+Query 1/1: Action query time = 2.790 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8853
+t=58: Selected seed 195 with value = 0.8853
+Query 1/1: Action query time = 3.116 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=74: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/t7realcl800x50_t7_s1/2026_08_03-10_52_48--with_future_img--episode=23--success=True--task=turn_on_the_stove.mp4
+Success: True
+# episodes completed so far: 23
+# successes: 23 (100.0%)
+
+Task: turn on the stove
+Starting episode 24...
+Query 1/1: Action query time = 5.563 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5042
+t=10: Selected seed 195 with value = 0.5042
+Query 1/1: Action query time = 4.741 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5776
+t=26: Selected seed 195 with value = 0.5776
+Query 1/1: Action query time = 5.196 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6640
+t=42: Selected seed 195 with value = 0.6640
+Query 1/1: Action query time = 4.461 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7889
+t=58: Selected seed 195 with value = 0.7889
+Query 1/1: Action query time = 4.970 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9446
+t=74: Selected seed 195 with value = 0.9446
+Saved rollout MP4 at path ./rollouts/t7realcl800x50_t7_s1/2026_08_03-10_52_48--with_future_img--episode=24--success=True--task=turn_on_the_stove.mp4
+Success: True
+# episodes completed so far: 24
+# successes: 24 (100.0%)
+
+Task: turn on the stove
+Starting episode 25...
+Query 1/1: Action query time = 4.533 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4550
+t=10: Selected seed 195 with value = 0.4550
+Query 1/1: Action query time = 4.736 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5422
+t=26: Selected seed 195 with value = 0.5422
+Query 1/1: Action query time = 4.566 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6339
+t=42: Selected seed 195 with value = 0.6339
+Query 1/1: Action query time = 4.117 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7353
+t=58: Selected seed 195 with value = 0.7353
+Query 1/1: Action query time = 5.642 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9101
+t=74: Selected seed 195 with value = 0.9101
+Saved rollout MP4 at path ./rollouts/t7realcl800x50_t7_s1/2026_08_03-10_52_48--with_future_img--episode=25--success=True--task=turn_on_the_stove.mp4
+Success: True
+# episodes completed so far: 25
+# successes: 25 (100.0%)
+Current task success rate: 1.0
+Current total success rate: 1.0
+Final results:
+Total episodes: 25
+Total successes: 25
+Overall success rate: 1.0000 (100.0%)
diff --git a/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_03-12_29_07--forgetcl_i175_s2.txt b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_03-12_29_07--forgetcl_i175_s2.txt
new file mode 100644
index 0000000000000000000000000000000000000000..bca935823ab7013e9fcf771485930d67838f2cc8
--- /dev/null
+++ b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_03-12_29_07--forgetcl_i175_s2.txt
@@ -0,0 +1,182 @@
+Eval config: PolicyEvalConfig(suite='libero', model_family='cosmos', config='cosmos_predict2_2b_480p_libero_cl_stage_inference_only', ckpt_path='/home/azureuser/REGEN-main/new_task7/cosmos_policy/cosmos_v2_finetune/cosmos_predict2_2b_480p_libero_goal_task7_forget_cl_from100_2gpu/checkpoints/iter_000000175/model', planning_model_config_name='', planning_model_ckpt_path='', config_file='cosmos_policy/config/config.py', packnet_mask_path='', packnet_first_cl_libero_task=6, use_third_person_image=True, num_third_person_images=1, use_wrist_image=True, num_wrist_images=1, use_proprio=True, flip_images=True, use_variance_scale=False, use_jpeg_compression=True, ar_future_prediction=False, ar_value_prediction=False, ar_qvalue_prediction=False, num_denoising_steps_action=5, num_denoising_steps_future_state=1, num_denoising_steps_value=1, unnormalize_actions=True, normalize_proprio=True, dataset_stats_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/libero_goal_regen/dataset_statistics.json', t5_text_embeddings_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/t5_embeddings.pkl', trained_with_image_aug=True, chunk_size=16, num_open_loop_steps=16, deterministic=True, deterministic_reset=False, deterministic_reset_seed=None, use_ensemble_future_state_predictions=False, num_future_state_predictions_in_ensemble=3, future_state_ensemble_aggregation_scheme='average', use_ensemble_value_predictions=False, num_value_predictions_in_ensemble=5, value_ensemble_aggregation_scheme='average', search_depth=1, mask_current_state_action_for_value_prediction=False, mask_future_state_for_qvalue_prediction=False, num_queries_best_of_n=1, use_parallel_inference=False, available_gpus='0', parallel_timeout=15, parallel_tasks_across_gpus=False, task_suite_name='libero_goal', num_trials_per_task=50, task_ids_to_run='7', initial_states_path='DEFAULT', env_img_res=256, local_log_dir='/home/azureuser/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal', run_id_note='forgetcl_i175_s2', use_wandb=False, wandb_entity='YOUR_ENTITY', wandb_project='YOUR_PROJECT', seed=195, randomize_seed=False, data_collection=False, jpeg_compress=True, reward_stop_threshold=None, reward_stop_consecutive_steps=3, use_gpt_reward=False, gpt_reward_model='gpt-5.4-mini', gpt_reward_stop_threshold=4, gpt_reward_timeout_s=30.0, save_rollout_video=False, eval_hdf5_path='', eval_hdf5_demo_key='demo_0', data_gen_demo_ids='', eval_episode_ids='2,10,18,26,34,42', dump_final_states_path='', replay_actions=False, replay_action_path_dir='', replay_hdf5_path='', data_generation=False, max_generation_steps=200, disable_value_stop=False)
+Using serial inference (parallel inference disabled)
+Task suite: libero_goal
+Number of tasks: 10
+Running only task IDs: [7]
+Using default initial states
+
+Task: turn on the stove
+Starting episode 1...
+Query 1/1: Action query time = 2.482 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4551
+t=10: Selected seed 195 with value = 0.4551
+Query 1/1: Action query time = 2.680 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5562
+t=26: Selected seed 195 with value = 0.5562
+Query 1/1: Action query time = 2.571 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6520
+t=42: Selected seed 195 with value = 0.6520
+Query 1/1: Action query time = 2.492 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7610
+t=58: Selected seed 195 with value = 0.7610
+Query 1/1: Action query time = 2.523 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8016
+t=74: Selected seed 195 with value = 0.8016
+Query 1/1: Action query time = 1.552 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9185
+t=90: Selected seed 195 with value = 0.9185
+Saved rollout MP4 at path ./rollouts/forgetcl_i175_s2/2026_08_03-12_29_07--with_future_img--episode=1--success=True--task=turn_on_the_stove.mp4
+Success: True
+# episodes completed so far: 1
+# successes: 1 (100.0%)
+
+Task: turn on the stove
+Starting episode 2...
+Query 1/1: Action query time = 3.372 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4700
+t=10: Selected seed 195 with value = 0.4700
+Query 1/1: Action query time = 2.745 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5438
+t=26: Selected seed 195 with value = 0.5438
+Query 1/1: Action query time = 2.619 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6403
+t=42: Selected seed 195 with value = 0.6403
+Query 1/1: Action query time = 2.560 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7583
+t=58: Selected seed 195 with value = 0.7583
+Query 1/1: Action query time = 1.030 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8680
+t=74: Selected seed 195 with value = 0.8680
+Query 1/1: Action query time = 1.185 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/forgetcl_i175_s2/2026_08_03-12_29_07--with_future_img--episode=2--success=True--task=turn_on_the_stove.mp4
+Success: True
+# episodes completed so far: 2
+# successes: 2 (100.0%)
+
+Task: turn on the stove
+Starting episode 3...
+Query 1/1: Action query time = 2.628 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4929
+t=10: Selected seed 195 with value = 0.4929
+Query 1/1: Action query time = 2.474 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5622
+t=26: Selected seed 195 with value = 0.5622
+Query 1/1: Action query time = 2.387 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6589
+t=42: Selected seed 195 with value = 0.6589
+Query 1/1: Action query time = 1.637 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7699
+t=58: Selected seed 195 with value = 0.7699
+Query 1/1: Action query time = 1.496 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9465
+t=74: Selected seed 195 with value = 0.9465
+Saved rollout MP4 at path ./rollouts/forgetcl_i175_s2/2026_08_03-12_29_07--with_future_img--episode=3--success=True--task=turn_on_the_stove.mp4
+Success: True
+# episodes completed so far: 3
+# successes: 3 (100.0%)
+
+Task: turn on the stove
+Starting episode 4...
+Query 1/1: Action query time = 2.452 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4900
+t=10: Selected seed 195 with value = 0.4900
+Query 1/1: Action query time = 2.614 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5451
+t=26: Selected seed 195 with value = 0.5451
+Query 1/1: Action query time = 1.913 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6314
+t=42: Selected seed 195 with value = 0.6314
+Query 1/1: Action query time = 2.381 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7463
+t=58: Selected seed 195 with value = 0.7463
+Query 1/1: Action query time = 2.617 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8416
+t=74: Selected seed 195 with value = 0.8416
+Saved rollout MP4 at path ./rollouts/forgetcl_i175_s2/2026_08_03-12_29_07--with_future_img--episode=4--success=True--task=turn_on_the_stove.mp4
+Success: True
+# episodes completed so far: 4
+# successes: 4 (100.0%)
+
+Task: turn on the stove
+Starting episode 5...
+Query 1/1: Action query time = 1.864 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5142
+t=10: Selected seed 195 with value = 0.5142
+Query 1/1: Action query time = 2.335 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5650
+t=26: Selected seed 195 with value = 0.5650
+Query 1/1: Action query time = 2.277 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6542
+t=42: Selected seed 195 with value = 0.6542
+Query 1/1: Action query time = 3.022 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7579
+t=58: Selected seed 195 with value = 0.7579
+Query 1/1: Action query time = 2.907 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8796
+t=74: Selected seed 195 with value = 0.8796
+Saved rollout MP4 at path ./rollouts/forgetcl_i175_s2/2026_08_03-12_29_07--with_future_img--episode=5--success=True--task=turn_on_the_stove.mp4
+Success: True
+# episodes completed so far: 5
+# successes: 5 (100.0%)
+
+Task: turn on the stove
+Starting episode 6...
+Query 1/1: Action query time = 2.588 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5096
+t=10: Selected seed 195 with value = 0.5096
+Query 1/1: Action query time = 1.680 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5816
+t=26: Selected seed 195 with value = 0.5816
+Query 1/1: Action query time = 2.247 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6839
+t=42: Selected seed 195 with value = 0.6839
+Query 1/1: Action query time = 1.858 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8024
+t=58: Selected seed 195 with value = 0.8024
+Query 1/1: Action query time = 2.426 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9656
+t=74: Selected seed 195 with value = 0.9656
+Saved rollout MP4 at path ./rollouts/forgetcl_i175_s2/2026_08_03-12_29_07--with_future_img--episode=6--success=True--task=turn_on_the_stove.mp4
+Success: True
+# episodes completed so far: 6
+# successes: 6 (100.0%)
+Current task success rate: 1.0
+Current total success rate: 1.0
+Final results:
+Total episodes: 6
+Total successes: 6
+Overall success rate: 1.0000 (100.0%)
diff --git a/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_03-12_29_07--forgetcl_i175_s4.txt b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_03-12_29_07--forgetcl_i175_s4.txt
new file mode 100644
index 0000000000000000000000000000000000000000..414defb8f4cadae00b94cdf7c8c6d9b1c5bda8e5
--- /dev/null
+++ b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_03-12_29_07--forgetcl_i175_s4.txt
@@ -0,0 +1,178 @@
+Eval config: PolicyEvalConfig(suite='libero', model_family='cosmos', config='cosmos_predict2_2b_480p_libero_cl_stage_inference_only', ckpt_path='/home/azureuser/REGEN-main/new_task7/cosmos_policy/cosmos_v2_finetune/cosmos_predict2_2b_480p_libero_goal_task7_forget_cl_from100_2gpu/checkpoints/iter_000000175/model', planning_model_config_name='', planning_model_ckpt_path='', config_file='cosmos_policy/config/config.py', packnet_mask_path='', packnet_first_cl_libero_task=6, use_third_person_image=True, num_third_person_images=1, use_wrist_image=True, num_wrist_images=1, use_proprio=True, flip_images=True, use_variance_scale=False, use_jpeg_compression=True, ar_future_prediction=False, ar_value_prediction=False, ar_qvalue_prediction=False, num_denoising_steps_action=5, num_denoising_steps_future_state=1, num_denoising_steps_value=1, unnormalize_actions=True, normalize_proprio=True, dataset_stats_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/libero_goal_regen/dataset_statistics.json', t5_text_embeddings_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/t5_embeddings.pkl', trained_with_image_aug=True, chunk_size=16, num_open_loop_steps=16, deterministic=True, deterministic_reset=False, deterministic_reset_seed=None, use_ensemble_future_state_predictions=False, num_future_state_predictions_in_ensemble=3, future_state_ensemble_aggregation_scheme='average', use_ensemble_value_predictions=False, num_value_predictions_in_ensemble=5, value_ensemble_aggregation_scheme='average', search_depth=1, mask_current_state_action_for_value_prediction=False, mask_future_state_for_qvalue_prediction=False, num_queries_best_of_n=1, use_parallel_inference=False, available_gpus='0', parallel_timeout=15, parallel_tasks_across_gpus=False, task_suite_name='libero_goal', num_trials_per_task=50, task_ids_to_run='7', initial_states_path='DEFAULT', env_img_res=256, local_log_dir='/home/azureuser/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal', run_id_note='forgetcl_i175_s4', use_wandb=False, wandb_entity='YOUR_ENTITY', wandb_project='YOUR_PROJECT', seed=195, randomize_seed=False, data_collection=False, jpeg_compress=True, reward_stop_threshold=None, reward_stop_consecutive_steps=3, use_gpt_reward=False, gpt_reward_model='gpt-5.4-mini', gpt_reward_stop_threshold=4, gpt_reward_timeout_s=30.0, save_rollout_video=False, eval_hdf5_path='', eval_hdf5_demo_key='demo_0', data_gen_demo_ids='', eval_episode_ids='4,12,20,28,36,44', dump_final_states_path='', replay_actions=False, replay_action_path_dir='', replay_hdf5_path='', data_generation=False, max_generation_steps=200, disable_value_stop=False)
+Using serial inference (parallel inference disabled)
+Task suite: libero_goal
+Number of tasks: 10
+Running only task IDs: [7]
+Using default initial states
+
+Task: turn on the stove
+Starting episode 1...
+Query 1/1: Action query time = 3.289 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4838
+t=10: Selected seed 195 with value = 0.4838
+Query 1/1: Action query time = 2.434 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5759
+t=26: Selected seed 195 with value = 0.5759
+Query 1/1: Action query time = 1.610 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6664
+t=42: Selected seed 195 with value = 0.6664
+Query 1/1: Action query time = 2.371 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7752
+t=58: Selected seed 195 with value = 0.7752
+Query 1/1: Action query time = 2.620 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8968
+t=74: Selected seed 195 with value = 0.8968
+Saved rollout MP4 at path ./rollouts/forgetcl_i175_s4/2026_08_03-12_29_07--with_future_img--episode=1--success=True--task=turn_on_the_stove.mp4
+Success: True
+# episodes completed so far: 1
+# successes: 1 (100.0%)
+
+Task: turn on the stove
+Starting episode 2...
+Query 1/1: Action query time = 1.842 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4619
+t=10: Selected seed 195 with value = 0.4619
+Query 1/1: Action query time = 2.406 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5609
+t=26: Selected seed 195 with value = 0.5609
+Query 1/1: Action query time = 2.576 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6526
+t=42: Selected seed 195 with value = 0.6526
+Query 1/1: Action query time = 2.574 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7550
+t=58: Selected seed 195 with value = 0.7550
+Query 1/1: Action query time = 2.370 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8849
+t=74: Selected seed 195 with value = 0.8849
+Saved rollout MP4 at path ./rollouts/forgetcl_i175_s4/2026_08_03-12_29_07--with_future_img--episode=2--success=True--task=turn_on_the_stove.mp4
+Success: True
+# episodes completed so far: 2
+# successes: 2 (100.0%)
+
+Task: turn on the stove
+Starting episode 3...
+Query 1/1: Action query time = 1.689 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4901
+t=10: Selected seed 195 with value = 0.4901
+Query 1/1: Action query time = 2.350 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5663
+t=26: Selected seed 195 with value = 0.5663
+Query 1/1: Action query time = 2.523 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6434
+t=42: Selected seed 195 with value = 0.6434
+Query 1/1: Action query time = 2.477 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7802
+t=58: Selected seed 195 with value = 0.7802
+Query 1/1: Action query time = 2.268 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9332
+t=74: Selected seed 195 with value = 0.9332
+Saved rollout MP4 at path ./rollouts/forgetcl_i175_s4/2026_08_03-12_29_07--with_future_img--episode=3--success=True--task=turn_on_the_stove.mp4
+Success: True
+# episodes completed so far: 3
+# successes: 3 (100.0%)
+
+Task: turn on the stove
+Starting episode 4...
+Query 1/1: Action query time = 1.754 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4776
+t=10: Selected seed 195 with value = 0.4776
+Query 1/1: Action query time = 2.378 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5418
+t=26: Selected seed 195 with value = 0.5418
+Query 1/1: Action query time = 2.760 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6458
+t=42: Selected seed 195 with value = 0.6458
+Query 1/1: Action query time = 2.936 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7530
+t=58: Selected seed 195 with value = 0.7530
+Query 1/1: Action query time = 2.843 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8580
+t=74: Selected seed 195 with value = 0.8580
+Saved rollout MP4 at path ./rollouts/forgetcl_i175_s4/2026_08_03-12_29_07--with_future_img--episode=4--success=True--task=turn_on_the_stove.mp4
+Success: True
+# episodes completed so far: 4
+# successes: 4 (100.0%)
+
+Task: turn on the stove
+Starting episode 5...
+Query 1/1: Action query time = 2.617 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4904
+t=10: Selected seed 195 with value = 0.4904
+Query 1/1: Action query time = 2.339 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5599
+t=26: Selected seed 195 with value = 0.5599
+Query 1/1: Action query time = 2.492 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6516
+t=42: Selected seed 195 with value = 0.6516
+Query 1/1: Action query time = 2.705 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7582
+t=58: Selected seed 195 with value = 0.7582
+Query 1/1: Action query time = 1.714 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8193
+t=74: Selected seed 195 with value = 0.8193
+Query 1/1: Action query time = 1.041 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9712
+t=90: Selected seed 195 with value = 0.9712
+Saved rollout MP4 at path ./rollouts/forgetcl_i175_s4/2026_08_03-12_29_07--with_future_img--episode=5--success=True--task=turn_on_the_stove.mp4
+Success: True
+# episodes completed so far: 5
+# successes: 5 (100.0%)
+
+Task: turn on the stove
+Starting episode 6...
+Query 1/1: Action query time = 2.544 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4811
+t=10: Selected seed 195 with value = 0.4811
+Query 1/1: Action query time = 2.191 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5645
+t=26: Selected seed 195 with value = 0.5645
+Query 1/1: Action query time = 1.711 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6523
+t=42: Selected seed 195 with value = 0.6523
+Query 1/1: Action query time = 2.606 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7540
+t=58: Selected seed 195 with value = 0.7540
+Query 1/1: Action query time = 2.236 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9144
+t=74: Selected seed 195 with value = 0.9144
+Saved rollout MP4 at path ./rollouts/forgetcl_i175_s4/2026_08_03-12_29_07--with_future_img--episode=6--success=True--task=turn_on_the_stove.mp4
+Success: True
+# episodes completed so far: 6
+# successes: 6 (100.0%)
+Current task success rate: 1.0
+Current total success rate: 1.0
+Final results:
+Total episodes: 6
+Total successes: 6
+Overall success rate: 1.0000 (100.0%)
diff --git a/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_03-12_46_21--forgetcl_i175_t3_s0.txt b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_03-12_46_21--forgetcl_i175_t3_s0.txt
new file mode 100644
index 0000000000000000000000000000000000000000..6179ae2cc38b977bbb1f1be1a322513840b8b999
--- /dev/null
+++ b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_03-12_46_21--forgetcl_i175_t3_s0.txt
@@ -0,0 +1,397 @@
+Eval config: PolicyEvalConfig(suite='libero', model_family='cosmos', config='cosmos_predict2_2b_480p_libero_cl_stage_inference_only', ckpt_path='/home/azureuser/REGEN-main/new_task7/cosmos_policy/cosmos_v2_finetune/cosmos_predict2_2b_480p_libero_goal_task7_forget_cl_from100_2gpu/checkpoints/iter_000000175/model', planning_model_config_name='', planning_model_ckpt_path='', config_file='cosmos_policy/config/config.py', packnet_mask_path='', packnet_first_cl_libero_task=6, use_third_person_image=True, num_third_person_images=1, use_wrist_image=True, num_wrist_images=1, use_proprio=True, flip_images=True, use_variance_scale=False, use_jpeg_compression=True, ar_future_prediction=False, ar_value_prediction=False, ar_qvalue_prediction=False, num_denoising_steps_action=5, num_denoising_steps_future_state=1, num_denoising_steps_value=1, unnormalize_actions=True, normalize_proprio=True, dataset_stats_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/libero_goal_regen/dataset_statistics.json', t5_text_embeddings_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/t5_embeddings.pkl', trained_with_image_aug=True, chunk_size=16, num_open_loop_steps=16, deterministic=True, deterministic_reset=False, deterministic_reset_seed=None, use_ensemble_future_state_predictions=False, num_future_state_predictions_in_ensemble=3, future_state_ensemble_aggregation_scheme='average', use_ensemble_value_predictions=False, num_value_predictions_in_ensemble=5, value_ensemble_aggregation_scheme='average', search_depth=1, mask_current_state_action_for_value_prediction=False, mask_future_state_for_qvalue_prediction=False, num_queries_best_of_n=1, use_parallel_inference=False, available_gpus='0', parallel_timeout=15, parallel_tasks_across_gpus=False, task_suite_name='libero_goal', num_trials_per_task=50, task_ids_to_run='3', initial_states_path='DEFAULT', env_img_res=256, local_log_dir='/home/azureuser/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal', run_id_note='forgetcl_i175_t3_s0', use_wandb=False, wandb_entity='YOUR_ENTITY', wandb_project='YOUR_PROJECT', seed=195, randomize_seed=False, data_collection=False, jpeg_compress=True, reward_stop_threshold=None, reward_stop_consecutive_steps=3, use_gpt_reward=False, gpt_reward_model='gpt-5.4-mini', gpt_reward_stop_threshold=4, gpt_reward_timeout_s=30.0, save_rollout_video=False, eval_hdf5_path='', eval_hdf5_demo_key='demo_0', data_gen_demo_ids='', eval_episode_ids='0,8,16,24,32,40,48', dump_final_states_path='', replay_actions=False, replay_action_path_dir='', replay_hdf5_path='', data_generation=False, max_generation_steps=200, disable_value_stop=False)
+Using serial inference (parallel inference disabled)
+Task suite: libero_goal
+Number of tasks: 10
+Running only task IDs: [3]
+Using default initial states
+
+Task: open the top drawer and put the bowl inside
+Starting episode 1...
+Query 1/1: Action query time = 3.066 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2453
+t=10: Selected seed 195 with value = 0.2453
+Query 1/1: Action query time = 2.207 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2514
+t=26: Selected seed 195 with value = 0.2514
+Query 1/1: Action query time = 2.267 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3112
+t=42: Selected seed 195 with value = 0.3112
+Query 1/1: Action query time = 2.378 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3518
+t=58: Selected seed 195 with value = 0.3518
+Query 1/1: Action query time = 2.382 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4249
+t=74: Selected seed 195 with value = 0.4249
+Query 1/1: Action query time = 2.224 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4863
+t=90: Selected seed 195 with value = 0.4863
+Query 1/1: Action query time = 2.341 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5685
+t=106: Selected seed 195 with value = 0.5685
+Query 1/1: Action query time = 2.240 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6793
+t=122: Selected seed 195 with value = 0.6793
+Query 1/1: Action query time = 2.420 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6587
+t=138: Selected seed 195 with value = 0.6587
+Query 1/1: Action query time = 2.641 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8269
+t=154: Selected seed 195 with value = 0.8269
+Query 1/1: Action query time = 2.217 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9439
+t=170: Selected seed 195 with value = 0.9439
+Query 1/1: Action query time = 1.870 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=186: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/forgetcl_i175_t3_s0/2026_08_03-12_46_21--with_future_img--episode=1--success=True--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: True
+# episodes completed so far: 1
+# successes: 1 (100.0%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 2...
+Query 1/1: Action query time = 2.914 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2375
+t=10: Selected seed 195 with value = 0.2375
+Query 1/1: Action query time = 2.993 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2658
+t=26: Selected seed 195 with value = 0.2658
+Query 1/1: Action query time = 2.542 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2913
+t=42: Selected seed 195 with value = 0.2913
+Query 1/1: Action query time = 2.255 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3328
+t=58: Selected seed 195 with value = 0.3328
+Query 1/1: Action query time = 2.348 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.1962
+t=74: Selected seed 195 with value = 0.1962
+Query 1/1: Action query time = 2.780 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4904
+t=90: Selected seed 195 with value = 0.4904
+Query 1/1: Action query time = 2.433 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5747
+t=106: Selected seed 195 with value = 0.5747
+Query 1/1: Action query time = 2.072 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6451
+t=122: Selected seed 195 with value = 0.6451
+Query 1/1: Action query time = 2.223 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7928
+t=138: Selected seed 195 with value = 0.7928
+Query 1/1: Action query time = 2.769 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8333
+t=154: Selected seed 195 with value = 0.8333
+Query 1/1: Action query time = 2.369 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9538
+t=170: Selected seed 195 with value = 0.9538
+Query 1/1: Action query time = 1.586 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=186: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/forgetcl_i175_t3_s0/2026_08_03-12_46_21--with_future_img--episode=2--success=True--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: True
+# episodes completed so far: 2
+# successes: 2 (100.0%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 3...
+Query 1/1: Action query time = 2.593 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2229
+t=10: Selected seed 195 with value = 0.2229
+Query 1/1: Action query time = 2.350 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2686
+t=26: Selected seed 195 with value = 0.2686
+Query 1/1: Action query time = 2.432 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3019
+t=42: Selected seed 195 with value = 0.3019
+Query 1/1: Action query time = 2.477 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3399
+t=58: Selected seed 195 with value = 0.3399
+Query 1/1: Action query time = 2.926 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4207
+t=74: Selected seed 195 with value = 0.4207
+Query 1/1: Action query time = 2.943 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5085
+t=90: Selected seed 195 with value = 0.5085
+Query 1/1: Action query time = 2.455 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5955
+t=106: Selected seed 195 with value = 0.5955
+Query 1/1: Action query time = 2.045 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7105
+t=122: Selected seed 195 with value = 0.7105
+Query 1/1: Action query time = 2.630 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6145
+t=138: Selected seed 195 with value = 0.6145
+Query 1/1: Action query time = 2.560 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7503
+t=154: Selected seed 195 with value = 0.7503
+Query 1/1: Action query time = 2.721 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8710
+t=170: Selected seed 195 with value = 0.8710
+Query 1/1: Action query time = 1.637 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9926
+t=186: Selected seed 195 with value = 0.9926
+Query 1/1: Action query time = 1.249 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=202: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/forgetcl_i175_t3_s0/2026_08_03-12_46_21--with_future_img--episode=3--success=True--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: True
+# episodes completed so far: 3
+# successes: 3 (100.0%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 4...
+Query 1/1: Action query time = 2.841 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2251
+t=10: Selected seed 195 with value = 0.2251
+Query 1/1: Action query time = 2.377 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2575
+t=26: Selected seed 195 with value = 0.2575
+Query 1/1: Action query time = 2.261 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2944
+t=42: Selected seed 195 with value = 0.2944
+Query 1/1: Action query time = 1.789 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3378
+t=58: Selected seed 195 with value = 0.3378
+Query 1/1: Action query time = 1.999 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4075
+t=74: Selected seed 195 with value = 0.4075
+Query 1/1: Action query time = 1.875 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4999
+t=90: Selected seed 195 with value = 0.4999
+Query 1/1: Action query time = 2.633 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5743
+t=106: Selected seed 195 with value = 0.5743
+Query 1/1: Action query time = 2.738 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6343
+t=122: Selected seed 195 with value = 0.6343
+Query 1/1: Action query time = 2.941 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8510
+t=138: Selected seed 195 with value = 0.8510
+Query 1/1: Action query time = 2.117 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8728
+t=154: Selected seed 195 with value = 0.8728
+Query 1/1: Action query time = 1.719 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=170: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 2.151 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=186: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/forgetcl_i175_t3_s0/2026_08_03-12_46_21--with_future_img--episode=4--success=True--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: True
+# episodes completed so far: 4
+# successes: 4 (100.0%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 5...
+Query 1/1: Action query time = 2.341 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2321
+t=10: Selected seed 195 with value = 0.2321
+Query 1/1: Action query time = 2.224 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2728
+t=26: Selected seed 195 with value = 0.2728
+Query 1/1: Action query time = 2.701 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2988
+t=42: Selected seed 195 with value = 0.2988
+Query 1/1: Action query time = 2.093 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3388
+t=58: Selected seed 195 with value = 0.3388
+Query 1/1: Action query time = 1.407 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4150
+t=74: Selected seed 195 with value = 0.4150
+Query 1/1: Action query time = 1.472 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4755
+t=90: Selected seed 195 with value = 0.4755
+Query 1/1: Action query time = 2.434 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5761
+t=106: Selected seed 195 with value = 0.5761
+Query 1/1: Action query time = 2.267 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6161
+t=122: Selected seed 195 with value = 0.6161
+Query 1/1: Action query time = 2.441 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6939
+t=138: Selected seed 195 with value = 0.6939
+Query 1/1: Action query time = 2.214 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8542
+t=154: Selected seed 195 with value = 0.8542
+Query 1/1: Action query time = 1.700 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=170: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 1.710 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=186: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/forgetcl_i175_t3_s0/2026_08_03-12_46_21--with_future_img--episode=5--success=True--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: True
+# episodes completed so far: 5
+# successes: 5 (100.0%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 6...
+Query 1/1: Action query time = 1.899 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2218
+t=10: Selected seed 195 with value = 0.2218
+Query 1/1: Action query time = 2.449 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2666
+t=26: Selected seed 195 with value = 0.2666
+Query 1/1: Action query time = 2.707 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3084
+t=42: Selected seed 195 with value = 0.3084
+Query 1/1: Action query time = 1.910 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3400
+t=58: Selected seed 195 with value = 0.3400
+Query 1/1: Action query time = 1.726 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3876
+t=74: Selected seed 195 with value = 0.3876
+Query 1/1: Action query time = 1.311 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4812
+t=90: Selected seed 195 with value = 0.4812
+Query 1/1: Action query time = 1.829 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5723
+t=106: Selected seed 195 with value = 0.5723
+Query 1/1: Action query time = 2.323 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6697
+t=122: Selected seed 195 with value = 0.6697
+Query 1/1: Action query time = 2.280 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7127
+t=138: Selected seed 195 with value = 0.7127
+Query 1/1: Action query time = 2.413 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8654
+t=154: Selected seed 195 with value = 0.8654
+Query 1/1: Action query time = 2.398 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9567
+t=170: Selected seed 195 with value = 0.9567
+Query 1/1: Action query time = 2.051 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=186: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/forgetcl_i175_t3_s0/2026_08_03-12_46_21--with_future_img--episode=6--success=True--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: True
+# episodes completed so far: 6
+# successes: 6 (100.0%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 7...
+Query 1/1: Action query time = 2.385 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2236
+t=10: Selected seed 195 with value = 0.2236
+Query 1/1: Action query time = 2.385 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2505
+t=26: Selected seed 195 with value = 0.2505
+Query 1/1: Action query time = 2.466 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3160
+t=42: Selected seed 195 with value = 0.3160
+Query 1/1: Action query time = 1.523 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3587
+t=58: Selected seed 195 with value = 0.3587
+Query 1/1: Action query time = 1.575 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4342
+t=74: Selected seed 195 with value = 0.4342
+Query 1/1: Action query time = 1.682 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5148
+t=90: Selected seed 195 with value = 0.5148
+Query 1/1: Action query time = 1.447 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5922
+t=106: Selected seed 195 with value = 0.5922
+Query 1/1: Action query time = 1.984 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7573
+t=122: Selected seed 195 with value = 0.7573
+Query 1/1: Action query time = 1.832 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8303
+t=138: Selected seed 195 with value = 0.8303
+Query 1/1: Action query time = 0.967 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9181
+t=154: Selected seed 195 with value = 0.9181
+Query 1/1: Action query time = 0.956 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9914
+t=170: Selected seed 195 with value = 0.9914
+Saved rollout MP4 at path ./rollouts/forgetcl_i175_t3_s0/2026_08_03-12_46_21--with_future_img--episode=7--success=True--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: True
+# episodes completed so far: 7
+# successes: 7 (100.0%)
+Current task success rate: 1.0
+Current total success rate: 1.0
+Final results:
+Total episodes: 7
+Total successes: 7
+Overall success rate: 1.0000 (100.0%)
diff --git a/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_03-12_46_21--forgetcl_i175_t3_s7.txt b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_03-12_46_21--forgetcl_i175_t3_s7.txt
new file mode 100644
index 0000000000000000000000000000000000000000..7c78c5bb7a20cc50bb08539236bb69d146f486f6
--- /dev/null
+++ b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_03-12_46_21--forgetcl_i175_t3_s7.txt
@@ -0,0 +1,334 @@
+Eval config: PolicyEvalConfig(suite='libero', model_family='cosmos', config='cosmos_predict2_2b_480p_libero_cl_stage_inference_only', ckpt_path='/home/azureuser/REGEN-main/new_task7/cosmos_policy/cosmos_v2_finetune/cosmos_predict2_2b_480p_libero_goal_task7_forget_cl_from100_2gpu/checkpoints/iter_000000175/model', planning_model_config_name='', planning_model_ckpt_path='', config_file='cosmos_policy/config/config.py', packnet_mask_path='', packnet_first_cl_libero_task=6, use_third_person_image=True, num_third_person_images=1, use_wrist_image=True, num_wrist_images=1, use_proprio=True, flip_images=True, use_variance_scale=False, use_jpeg_compression=True, ar_future_prediction=False, ar_value_prediction=False, ar_qvalue_prediction=False, num_denoising_steps_action=5, num_denoising_steps_future_state=1, num_denoising_steps_value=1, unnormalize_actions=True, normalize_proprio=True, dataset_stats_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/libero_goal_regen/dataset_statistics.json', t5_text_embeddings_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/t5_embeddings.pkl', trained_with_image_aug=True, chunk_size=16, num_open_loop_steps=16, deterministic=True, deterministic_reset=False, deterministic_reset_seed=None, use_ensemble_future_state_predictions=False, num_future_state_predictions_in_ensemble=3, future_state_ensemble_aggregation_scheme='average', use_ensemble_value_predictions=False, num_value_predictions_in_ensemble=5, value_ensemble_aggregation_scheme='average', search_depth=1, mask_current_state_action_for_value_prediction=False, mask_future_state_for_qvalue_prediction=False, num_queries_best_of_n=1, use_parallel_inference=False, available_gpus='0', parallel_timeout=15, parallel_tasks_across_gpus=False, task_suite_name='libero_goal', num_trials_per_task=50, task_ids_to_run='3', initial_states_path='DEFAULT', env_img_res=256, local_log_dir='/home/azureuser/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal', run_id_note='forgetcl_i175_t3_s7', use_wandb=False, wandb_entity='YOUR_ENTITY', wandb_project='YOUR_PROJECT', seed=195, randomize_seed=False, data_collection=False, jpeg_compress=True, reward_stop_threshold=None, reward_stop_consecutive_steps=3, use_gpt_reward=False, gpt_reward_model='gpt-5.4-mini', gpt_reward_stop_threshold=4, gpt_reward_timeout_s=30.0, save_rollout_video=False, eval_hdf5_path='', eval_hdf5_demo_key='demo_0', data_gen_demo_ids='', eval_episode_ids='7,15,23,31,39,47', dump_final_states_path='', replay_actions=False, replay_action_path_dir='', replay_hdf5_path='', data_generation=False, max_generation_steps=200, disable_value_stop=False)
+Using serial inference (parallel inference disabled)
+Task suite: libero_goal
+Number of tasks: 10
+Running only task IDs: [3]
+Using default initial states
+
+Task: open the top drawer and put the bowl inside
+Starting episode 1...
+Query 1/1: Action query time = 2.846 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2317
+t=10: Selected seed 195 with value = 0.2317
+Query 1/1: Action query time = 2.928 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2690
+t=26: Selected seed 195 with value = 0.2690
+Query 1/1: Action query time = 2.478 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2996
+t=42: Selected seed 195 with value = 0.2996
+Query 1/1: Action query time = 2.426 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3456
+t=58: Selected seed 195 with value = 0.3456
+Query 1/1: Action query time = 2.428 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4143
+t=74: Selected seed 195 with value = 0.4143
+Query 1/1: Action query time = 2.281 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4770
+t=90: Selected seed 195 with value = 0.4770
+Query 1/1: Action query time = 2.322 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5765
+t=106: Selected seed 195 with value = 0.5765
+Query 1/1: Action query time = 2.138 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6358
+t=122: Selected seed 195 with value = 0.6358
+Query 1/1: Action query time = 2.384 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7631
+t=138: Selected seed 195 with value = 0.7631
+Query 1/1: Action query time = 2.338 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9039
+t=154: Selected seed 195 with value = 0.9039
+Query 1/1: Action query time = 2.255 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=170: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 1.403 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=186: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/forgetcl_i175_t3_s7/2026_08_03-12_46_21--with_future_img--episode=1--success=True--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: True
+# episodes completed so far: 1
+# successes: 1 (100.0%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 2...
+Query 1/1: Action query time = 2.418 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2203
+t=10: Selected seed 195 with value = 0.2203
+Query 1/1: Action query time = 2.463 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2561
+t=26: Selected seed 195 with value = 0.2561
+Query 1/1: Action query time = 2.823 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3141
+t=42: Selected seed 195 with value = 0.3141
+Query 1/1: Action query time = 2.344 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3578
+t=58: Selected seed 195 with value = 0.3578
+Query 1/1: Action query time = 2.029 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4238
+t=74: Selected seed 195 with value = 0.4238
+Query 1/1: Action query time = 2.506 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5033
+t=90: Selected seed 195 with value = 0.5033
+Query 1/1: Action query time = 2.449 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5944
+t=106: Selected seed 195 with value = 0.5944
+Query 1/1: Action query time = 2.379 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6493
+t=122: Selected seed 195 with value = 0.6493
+Query 1/1: Action query time = 2.386 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7117
+t=138: Selected seed 195 with value = 0.7117
+Query 1/1: Action query time = 2.370 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8934
+t=154: Selected seed 195 with value = 0.8934
+Query 1/1: Action query time = 2.295 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9867
+t=170: Selected seed 195 with value = 0.9867
+Query 1/1: Action query time = 2.028 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=186: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/forgetcl_i175_t3_s7/2026_08_03-12_46_21--with_future_img--episode=2--success=True--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: True
+# episodes completed so far: 2
+# successes: 2 (100.0%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 3...
+Query 1/1: Action query time = 2.249 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2203
+t=10: Selected seed 195 with value = 0.2203
+Query 1/1: Action query time = 2.170 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2482
+t=26: Selected seed 195 with value = 0.2482
+Query 1/1: Action query time = 1.717 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3099
+t=42: Selected seed 195 with value = 0.3099
+Query 1/1: Action query time = 2.283 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3565
+t=58: Selected seed 195 with value = 0.3565
+Query 1/1: Action query time = 2.333 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4188
+t=74: Selected seed 195 with value = 0.4188
+Query 1/1: Action query time = 2.283 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4788
+t=90: Selected seed 195 with value = 0.4788
+Query 1/1: Action query time = 2.174 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5684
+t=106: Selected seed 195 with value = 0.5684
+Query 1/1: Action query time = 2.956 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5907
+t=122: Selected seed 195 with value = 0.5907
+Query 1/1: Action query time = 2.965 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6199
+t=138: Selected seed 195 with value = 0.6199
+Query 1/1: Action query time = 2.268 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8236
+t=154: Selected seed 195 with value = 0.8236
+Query 1/1: Action query time = 2.527 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9405
+t=170: Selected seed 195 with value = 0.9405
+Query 1/1: Action query time = 2.500 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=186: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/forgetcl_i175_t3_s7/2026_08_03-12_46_21--with_future_img--episode=3--success=True--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: True
+# episodes completed so far: 3
+# successes: 3 (100.0%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 4...
+Query 1/1: Action query time = 2.081 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2379
+t=10: Selected seed 195 with value = 0.2379
+Query 1/1: Action query time = 1.909 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2583
+t=26: Selected seed 195 with value = 0.2583
+Query 1/1: Action query time = 1.651 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3129
+t=42: Selected seed 195 with value = 0.3129
+Query 1/1: Action query time = 2.285 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3489
+t=58: Selected seed 195 with value = 0.3489
+Query 1/1: Action query time = 2.675 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2475
+t=74: Selected seed 195 with value = 0.2475
+Query 1/1: Action query time = 2.943 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4899
+t=90: Selected seed 195 with value = 0.4899
+Query 1/1: Action query time = 2.347 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5847
+t=106: Selected seed 195 with value = 0.5847
+Query 1/1: Action query time = 2.160 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6674
+t=122: Selected seed 195 with value = 0.6674
+Query 1/1: Action query time = 2.195 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7818
+t=138: Selected seed 195 with value = 0.7818
+Query 1/1: Action query time = 2.771 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9375
+t=154: Selected seed 195 with value = 0.9375
+Query 1/1: Action query time = 2.917 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=170: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/forgetcl_i175_t3_s7/2026_08_03-12_46_21--with_future_img--episode=4--success=True--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: True
+# episodes completed so far: 4
+# successes: 4 (100.0%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 5...
+Query 1/1: Action query time = 1.451 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2416
+t=10: Selected seed 195 with value = 0.2416
+Query 1/1: Action query time = 2.249 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2552
+t=26: Selected seed 195 with value = 0.2552
+Query 1/1: Action query time = 1.653 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3103
+t=42: Selected seed 195 with value = 0.3103
+Query 1/1: Action query time = 2.610 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3561
+t=58: Selected seed 195 with value = 0.3561
+Query 1/1: Action query time = 2.712 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4161
+t=74: Selected seed 195 with value = 0.4161
+Query 1/1: Action query time = 1.948 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4839
+t=90: Selected seed 195 with value = 0.4839
+Query 1/1: Action query time = 1.693 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5885
+t=106: Selected seed 195 with value = 0.5885
+Query 1/1: Action query time = 1.565 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6686
+t=122: Selected seed 195 with value = 0.6686
+Query 1/1: Action query time = 2.677 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6849
+t=138: Selected seed 195 with value = 0.6849
+Query 1/1: Action query time = 2.495 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8598
+t=154: Selected seed 195 with value = 0.8598
+Query 1/1: Action query time = 2.257 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9686
+t=170: Selected seed 195 with value = 0.9686
+Query 1/1: Action query time = 2.245 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=186: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/forgetcl_i175_t3_s7/2026_08_03-12_46_21--with_future_img--episode=5--success=True--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: True
+# episodes completed so far: 5
+# successes: 5 (100.0%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 6...
+Query 1/1: Action query time = 2.199 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2183
+t=10: Selected seed 195 with value = 0.2183
+Query 1/1: Action query time = 2.564 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2526
+t=26: Selected seed 195 with value = 0.2526
+Query 1/1: Action query time = 2.725 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3104
+t=42: Selected seed 195 with value = 0.3104
+Query 1/1: Action query time = 2.604 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3377
+t=58: Selected seed 195 with value = 0.3377
+Query 1/1: Action query time = 2.451 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4098
+t=74: Selected seed 195 with value = 0.4098
+Query 1/1: Action query time = 1.395 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4829
+t=90: Selected seed 195 with value = 0.4829
+Query 1/1: Action query time = 1.798 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5596
+t=106: Selected seed 195 with value = 0.5596
+Query 1/1: Action query time = 1.826 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6556
+t=122: Selected seed 195 with value = 0.6556
+Query 1/1: Action query time = 1.808 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7655
+t=138: Selected seed 195 with value = 0.7655
+Query 1/1: Action query time = 1.893 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9079
+t=154: Selected seed 195 with value = 0.9079
+Query 1/1: Action query time = 1.834 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=170: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/forgetcl_i175_t3_s7/2026_08_03-12_46_21--with_future_img--episode=6--success=True--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: True
+# episodes completed so far: 6
+# successes: 6 (100.0%)
+Current task success rate: 1.0
+Current total success rate: 1.0
+Final results:
+Total episodes: 6
+Total successes: 6
+Overall success rate: 1.0000 (100.0%)
diff --git a/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_03-14_33_20--fc350full_t0_s2.txt b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_03-14_33_20--fc350full_t0_s2.txt
new file mode 100644
index 0000000000000000000000000000000000000000..a880e66757e75fc06e1ad97c6335c20ffe3b129b
--- /dev/null
+++ b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_03-14_33_20--fc350full_t0_s2.txt
@@ -0,0 +1,536 @@
+Eval config: PolicyEvalConfig(suite='libero', model_family='cosmos', config='cosmos_predict2_2b_480p_libero_cl_stage_inference_only', ckpt_path='/home/azureuser/REGEN-main/new_task7/cosmos_policy/cosmos_v2_finetune/cosmos_predict2_2b_480p_libero_goal_task7_forget_cl_from100_2gpu/checkpoints/iter_000000350/model', planning_model_config_name='', planning_model_ckpt_path='', config_file='cosmos_policy/config/config.py', packnet_mask_path='', packnet_first_cl_libero_task=6, use_third_person_image=True, num_third_person_images=1, use_wrist_image=True, num_wrist_images=1, use_proprio=True, flip_images=True, use_variance_scale=False, use_jpeg_compression=True, ar_future_prediction=False, ar_value_prediction=False, ar_qvalue_prediction=False, num_denoising_steps_action=5, num_denoising_steps_future_state=1, num_denoising_steps_value=1, unnormalize_actions=True, normalize_proprio=True, dataset_stats_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/libero_goal_regen/dataset_statistics.json', t5_text_embeddings_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/t5_embeddings.pkl', trained_with_image_aug=True, chunk_size=16, num_open_loop_steps=16, deterministic=True, deterministic_reset=False, deterministic_reset_seed=None, use_ensemble_future_state_predictions=False, num_future_state_predictions_in_ensemble=3, future_state_ensemble_aggregation_scheme='average', use_ensemble_value_predictions=False, num_value_predictions_in_ensemble=5, value_ensemble_aggregation_scheme='average', search_depth=1, mask_current_state_action_for_value_prediction=False, mask_future_state_for_qvalue_prediction=False, num_queries_best_of_n=1, use_parallel_inference=False, available_gpus='0', parallel_timeout=15, parallel_tasks_across_gpus=False, task_suite_name='libero_goal', num_trials_per_task=50, task_ids_to_run='0', initial_states_path='DEFAULT', env_img_res=256, local_log_dir='/home/azureuser/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal', run_id_note='fc350full_t0_s2', use_wandb=False, wandb_entity='YOUR_ENTITY', wandb_project='YOUR_PROJECT', seed=195, randomize_seed=False, data_collection=False, jpeg_compress=True, reward_stop_threshold=None, reward_stop_consecutive_steps=3, use_gpt_reward=False, gpt_reward_model='gpt-5.4-mini', gpt_reward_stop_threshold=4, gpt_reward_timeout_s=30.0, save_rollout_video=False, eval_hdf5_path='', eval_hdf5_demo_key='demo_0', data_gen_demo_ids='', eval_episode_ids='2,6,10,14,18,22,26,30,34,38,42,46', dump_final_states_path='', replay_actions=False, replay_action_path_dir='', replay_hdf5_path='', data_generation=False, max_generation_steps=200, disable_value_stop=False)
+Using serial inference (parallel inference disabled)
+Task suite: libero_goal
+Number of tasks: 10
+Running only task IDs: [0]
+Using default initial states
+
+Task: open the middle drawer of the cabinet
+Starting episode 1...
+Query 1/1: Action query time = 1.868 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4374
+t=10: Selected seed 195 with value = 0.4374
+Query 1/1: Action query time = 2.272 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5193
+t=26: Selected seed 195 with value = 0.5193
+Query 1/1: Action query time = 3.714 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5831
+t=42: Selected seed 195 with value = 0.5831
+Query 1/1: Action query time = 4.709 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6821
+t=58: Selected seed 195 with value = 0.6821
+Query 1/1: Action query time = 5.430 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7755
+t=74: Selected seed 195 with value = 0.7755
+Query 1/1: Action query time = 4.483 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9023
+t=90: Selected seed 195 with value = 0.9023
+Query 1/1: Action query time = 3.974 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9976
+t=106: Selected seed 195 with value = 0.9976
+Query 1/1: Action query time = 5.214 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=122: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/fc350full_t0_s2/2026_08_03-14_33_20--with_future_img--episode=1--success=True--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: True
+# episodes completed so far: 1
+# successes: 1 (100.0%)
+
+Task: open the middle drawer of the cabinet
+Starting episode 2...
+Query 1/1: Action query time = 2.799 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3499
+t=10: Selected seed 195 with value = 0.3499
+Query 1/1: Action query time = 4.420 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3123
+t=26: Selected seed 195 with value = 0.3123
+Query 1/1: Action query time = 4.017 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3723
+t=42: Selected seed 195 with value = 0.3723
+Query 1/1: Action query time = 4.858 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4417
+t=58: Selected seed 195 with value = 0.4417
+Query 1/1: Action query time = 5.238 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7028
+t=74: Selected seed 195 with value = 0.7028
+Query 1/1: Action query time = 5.294 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8078
+t=90: Selected seed 195 with value = 0.8078
+Query 1/1: Action query time = 5.580 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=106: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.679 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9963
+t=122: Selected seed 195 with value = 0.9963
+Query 1/1: Action query time = 5.484 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9478
+t=138: Selected seed 195 with value = 0.9478
+Query 1/1: Action query time = 4.619 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9369
+t=154: Selected seed 195 with value = 0.9369
+Query 1/1: Action query time = 4.494 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9463
+t=170: Selected seed 195 with value = 0.9463
+Query 1/1: Action query time = 3.568 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8985
+t=186: Selected seed 195 with value = 0.8985
+Query 1/1: Action query time = 3.884 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8858
+t=202: Selected seed 195 with value = 0.8858
+Query 1/1: Action query time = 4.413 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8706
+t=218: Selected seed 195 with value = 0.8706
+Query 1/1: Action query time = 2.629 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8621
+t=234: Selected seed 195 with value = 0.8621
+Query 1/1: Action query time = 5.736 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8773
+t=250: Selected seed 195 with value = 0.8773
+Query 1/1: Action query time = 5.750 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8888
+t=266: Selected seed 195 with value = 0.8888
+Query 1/1: Action query time = 5.567 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8931
+t=282: Selected seed 195 with value = 0.8931
+Query 1/1: Action query time = 4.292 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8736
+t=298: Selected seed 195 with value = 0.8736
+Saved rollout MP4 at path ./rollouts/fc350full_t0_s2/2026_08_03-14_33_20--with_future_img--episode=2--success=False--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: False
+# episodes completed so far: 2
+# successes: 1 (50.0%)
+
+Task: open the middle drawer of the cabinet
+Starting episode 3...
+Query 1/1: Action query time = 3.635 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3926
+t=10: Selected seed 195 with value = 0.3926
+Query 1/1: Action query time = 5.412 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4326
+t=26: Selected seed 195 with value = 0.4326
+Query 1/1: Action query time = 5.244 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5614
+t=42: Selected seed 195 with value = 0.5614
+Query 1/1: Action query time = 5.129 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6546
+t=58: Selected seed 195 with value = 0.6546
+Query 1/1: Action query time = 5.430 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7626
+t=74: Selected seed 195 with value = 0.7626
+Query 1/1: Action query time = 4.452 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8793
+t=90: Selected seed 195 with value = 0.8793
+Query 1/1: Action query time = 3.354 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9999
+t=106: Selected seed 195 with value = 0.9999
+Query 1/1: Action query time = 3.475 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=122: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/fc350full_t0_s2/2026_08_03-14_33_20--with_future_img--episode=3--success=True--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: True
+# episodes completed so far: 3
+# successes: 2 (66.7%)
+
+Task: open the middle drawer of the cabinet
+Starting episode 4...
+Query 1/1: Action query time = 5.306 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3947
+t=10: Selected seed 195 with value = 0.3947
+Query 1/1: Action query time = 5.273 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4779
+t=26: Selected seed 195 with value = 0.4779
+Query 1/1: Action query time = 5.147 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5598
+t=42: Selected seed 195 with value = 0.5598
+Query 1/1: Action query time = 4.916 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6617
+t=58: Selected seed 195 with value = 0.6617
+Query 1/1: Action query time = 4.100 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7515
+t=74: Selected seed 195 with value = 0.7515
+Query 1/1: Action query time = 4.505 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8829
+t=90: Selected seed 195 with value = 0.8829
+Query 1/1: Action query time = 4.480 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9927
+t=106: Selected seed 195 with value = 0.9927
+Query 1/1: Action query time = 4.487 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=122: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/fc350full_t0_s2/2026_08_03-14_33_20--with_future_img--episode=4--success=True--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: True
+# episodes completed so far: 4
+# successes: 3 (75.0%)
+
+Task: open the middle drawer of the cabinet
+Starting episode 5...
+Query 1/1: Action query time = 4.598 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3650
+t=10: Selected seed 195 with value = 0.3650
+Query 1/1: Action query time = 5.878 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4700
+t=26: Selected seed 195 with value = 0.4700
+Query 1/1: Action query time = 3.929 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5583
+t=42: Selected seed 195 with value = 0.5583
+Query 1/1: Action query time = 4.207 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6662
+t=58: Selected seed 195 with value = 0.6662
+Query 1/1: Action query time = 5.185 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7675
+t=74: Selected seed 195 with value = 0.7675
+Query 1/1: Action query time = 5.942 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8791
+t=90: Selected seed 195 with value = 0.8791
+Query 1/1: Action query time = 3.005 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9935
+t=106: Selected seed 195 with value = 0.9935
+Query 1/1: Action query time = 3.594 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=122: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/fc350full_t0_s2/2026_08_03-14_33_20--with_future_img--episode=5--success=True--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: True
+# episodes completed so far: 5
+# successes: 4 (80.0%)
+
+Task: open the middle drawer of the cabinet
+Starting episode 6...
+Query 1/1: Action query time = 4.507 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4213
+t=10: Selected seed 195 with value = 0.4213
+Query 1/1: Action query time = 4.955 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4985
+t=26: Selected seed 195 with value = 0.4985
+Query 1/1: Action query time = 4.295 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5529
+t=42: Selected seed 195 with value = 0.5529
+Query 1/1: Action query time = 4.655 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6743
+t=58: Selected seed 195 with value = 0.6743
+Query 1/1: Action query time = 4.883 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7658
+t=74: Selected seed 195 with value = 0.7658
+Query 1/1: Action query time = 4.418 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9092
+t=90: Selected seed 195 with value = 0.9092
+Query 1/1: Action query time = 4.826 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9978
+t=106: Selected seed 195 with value = 0.9978
+Query 1/1: Action query time = 3.624 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=122: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/fc350full_t0_s2/2026_08_03-14_33_20--with_future_img--episode=6--success=True--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: True
+# episodes completed so far: 6
+# successes: 5 (83.3%)
+
+Task: open the middle drawer of the cabinet
+Starting episode 7...
+Query 1/1: Action query time = 4.001 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4078
+t=10: Selected seed 195 with value = 0.4078
+Query 1/1: Action query time = 3.205 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4293
+t=26: Selected seed 195 with value = 0.4293
+Query 1/1: Action query time = 5.154 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5155
+t=42: Selected seed 195 with value = 0.5155
+Query 1/1: Action query time = 4.833 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6248
+t=58: Selected seed 195 with value = 0.6248
+Query 1/1: Action query time = 5.386 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7195
+t=74: Selected seed 195 with value = 0.7195
+Query 1/1: Action query time = 4.722 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8508
+t=90: Selected seed 195 with value = 0.8508
+Query 1/1: Action query time = 2.614 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9736
+t=106: Selected seed 195 with value = 0.9736
+Query 1/1: Action query time = 4.344 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=122: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/fc350full_t0_s2/2026_08_03-14_33_20--with_future_img--episode=7--success=True--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: True
+# episodes completed so far: 7
+# successes: 6 (85.7%)
+
+Task: open the middle drawer of the cabinet
+Starting episode 8...
+Query 1/1: Action query time = 5.392 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3976
+t=10: Selected seed 195 with value = 0.3976
+Query 1/1: Action query time = 3.620 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4770
+t=26: Selected seed 195 with value = 0.4770
+Query 1/1: Action query time = 3.121 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5511
+t=42: Selected seed 195 with value = 0.5511
+Query 1/1: Action query time = 5.575 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6534
+t=58: Selected seed 195 with value = 0.6534
+Query 1/1: Action query time = 4.412 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7495
+t=74: Selected seed 195 with value = 0.7495
+Query 1/1: Action query time = 5.197 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8927
+t=90: Selected seed 195 with value = 0.8927
+Query 1/1: Action query time = 3.574 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9919
+t=106: Selected seed 195 with value = 0.9919
+Query 1/1: Action query time = 5.209 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9995
+t=122: Selected seed 195 with value = 0.9995
+Saved rollout MP4 at path ./rollouts/fc350full_t0_s2/2026_08_03-14_33_20--with_future_img--episode=8--success=True--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: True
+# episodes completed so far: 8
+# successes: 7 (87.5%)
+
+Task: open the middle drawer of the cabinet
+Starting episode 9...
+Query 1/1: Action query time = 3.922 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4029
+t=10: Selected seed 195 with value = 0.4029
+Query 1/1: Action query time = 4.911 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4276
+t=26: Selected seed 195 with value = 0.4276
+Query 1/1: Action query time = 3.424 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5536
+t=42: Selected seed 195 with value = 0.5536
+Query 1/1: Action query time = 4.931 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6426
+t=58: Selected seed 195 with value = 0.6426
+Query 1/1: Action query time = 4.173 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7505
+t=74: Selected seed 195 with value = 0.7505
+Query 1/1: Action query time = 6.099 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8622
+t=90: Selected seed 195 with value = 0.8622
+Query 1/1: Action query time = 4.507 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9490
+t=106: Selected seed 195 with value = 0.9490
+Query 1/1: Action query time = 4.356 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9438
+t=122: Selected seed 195 with value = 0.9438
+Query 1/1: Action query time = 4.725 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9775
+t=138: Selected seed 195 with value = 0.9775
+Query 1/1: Action query time = 3.453 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=154: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/fc350full_t0_s2/2026_08_03-14_33_20--with_future_img--episode=9--success=True--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: True
+# episodes completed so far: 9
+# successes: 8 (88.9%)
+
+Task: open the middle drawer of the cabinet
+Starting episode 10...
+Query 1/1: Action query time = 4.810 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4157
+t=10: Selected seed 195 with value = 0.4157
+Query 1/1: Action query time = 3.753 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4803
+t=26: Selected seed 195 with value = 0.4803
+Query 1/1: Action query time = 4.597 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5355
+t=42: Selected seed 195 with value = 0.5355
+Query 1/1: Action query time = 4.206 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6231
+t=58: Selected seed 195 with value = 0.6231
+Query 1/1: Action query time = 3.989 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7013
+t=74: Selected seed 195 with value = 0.7013
+Query 1/1: Action query time = 2.981 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9141
+t=90: Selected seed 195 with value = 0.9141
+Query 1/1: Action query time = 3.547 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9342
+t=106: Selected seed 195 with value = 0.9342
+Query 1/1: Action query time = 3.338 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9990
+t=122: Selected seed 195 with value = 0.9990
+Query 1/1: Action query time = 2.952 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=138: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/fc350full_t0_s2/2026_08_03-14_33_20--with_future_img--episode=10--success=True--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: True
+# episodes completed so far: 10
+# successes: 9 (90.0%)
+
+Task: open the middle drawer of the cabinet
+Starting episode 11...
+Query 1/1: Action query time = 3.708 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4244
+t=10: Selected seed 195 with value = 0.4244
+Query 1/1: Action query time = 3.188 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4917
+t=26: Selected seed 195 with value = 0.4917
+Query 1/1: Action query time = 3.323 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5557
+t=42: Selected seed 195 with value = 0.5557
+Query 1/1: Action query time = 3.000 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6648
+t=58: Selected seed 195 with value = 0.6648
+Query 1/1: Action query time = 3.984 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7640
+t=74: Selected seed 195 with value = 0.7640
+Query 1/1: Action query time = 3.825 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8872
+t=90: Selected seed 195 with value = 0.8872
+Query 1/1: Action query time = 1.903 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=106: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 3.155 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=122: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/fc350full_t0_s2/2026_08_03-14_33_20--with_future_img--episode=11--success=True--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: True
+# episodes completed so far: 11
+# successes: 10 (90.9%)
+
+Task: open the middle drawer of the cabinet
+Starting episode 12...
+Query 1/1: Action query time = 3.019 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4137
+t=10: Selected seed 195 with value = 0.4137
+Query 1/1: Action query time = 3.014 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4834
+t=26: Selected seed 195 with value = 0.4834
+Query 1/1: Action query time = 2.110 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5783
+t=42: Selected seed 195 with value = 0.5783
+Query 1/1: Action query time = 1.922 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6785
+t=58: Selected seed 195 with value = 0.6785
+Query 1/1: Action query time = 1.972 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7924
+t=74: Selected seed 195 with value = 0.7924
+Query 1/1: Action query time = 2.889 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8528
+t=90: Selected seed 195 with value = 0.8528
+Query 1/1: Action query time = 2.222 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9925
+t=106: Selected seed 195 with value = 0.9925
+Query 1/1: Action query time = 2.672 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=122: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/fc350full_t0_s2/2026_08_03-14_33_20--with_future_img--episode=12--success=True--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: True
+# episodes completed so far: 12
+# successes: 11 (91.7%)
+Current task success rate: 0.9166666666666666
+Current total success rate: 0.9166666666666666
+Final results:
+Total episodes: 12
+Total successes: 11
+Overall success rate: 0.9167 (91.7%)
diff --git a/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_03-14_33_21--fc350full_t1_s2.txt b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_03-14_33_21--fc350full_t1_s2.txt
new file mode 100644
index 0000000000000000000000000000000000000000..07d23037f26c398b507da8777bde9945248e3bc2
--- /dev/null
+++ b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_03-14_33_21--fc350full_t1_s2.txt
@@ -0,0 +1,540 @@
+Eval config: PolicyEvalConfig(suite='libero', model_family='cosmos', config='cosmos_predict2_2b_480p_libero_cl_stage_inference_only', ckpt_path='/home/azureuser/REGEN-main/new_task7/cosmos_policy/cosmos_v2_finetune/cosmos_predict2_2b_480p_libero_goal_task7_forget_cl_from100_2gpu/checkpoints/iter_000000350/model', planning_model_config_name='', planning_model_ckpt_path='', config_file='cosmos_policy/config/config.py', packnet_mask_path='', packnet_first_cl_libero_task=6, use_third_person_image=True, num_third_person_images=1, use_wrist_image=True, num_wrist_images=1, use_proprio=True, flip_images=True, use_variance_scale=False, use_jpeg_compression=True, ar_future_prediction=False, ar_value_prediction=False, ar_qvalue_prediction=False, num_denoising_steps_action=5, num_denoising_steps_future_state=1, num_denoising_steps_value=1, unnormalize_actions=True, normalize_proprio=True, dataset_stats_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/libero_goal_regen/dataset_statistics.json', t5_text_embeddings_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/t5_embeddings.pkl', trained_with_image_aug=True, chunk_size=16, num_open_loop_steps=16, deterministic=True, deterministic_reset=False, deterministic_reset_seed=None, use_ensemble_future_state_predictions=False, num_future_state_predictions_in_ensemble=3, future_state_ensemble_aggregation_scheme='average', use_ensemble_value_predictions=False, num_value_predictions_in_ensemble=5, value_ensemble_aggregation_scheme='average', search_depth=1, mask_current_state_action_for_value_prediction=False, mask_future_state_for_qvalue_prediction=False, num_queries_best_of_n=1, use_parallel_inference=False, available_gpus='0', parallel_timeout=15, parallel_tasks_across_gpus=False, task_suite_name='libero_goal', num_trials_per_task=50, task_ids_to_run='1', initial_states_path='DEFAULT', env_img_res=256, local_log_dir='/home/azureuser/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal', run_id_note='fc350full_t1_s2', use_wandb=False, wandb_entity='YOUR_ENTITY', wandb_project='YOUR_PROJECT', seed=195, randomize_seed=False, data_collection=False, jpeg_compress=True, reward_stop_threshold=None, reward_stop_consecutive_steps=3, use_gpt_reward=False, gpt_reward_model='gpt-5.4-mini', gpt_reward_stop_threshold=4, gpt_reward_timeout_s=30.0, save_rollout_video=False, eval_hdf5_path='', eval_hdf5_demo_key='demo_0', data_gen_demo_ids='', eval_episode_ids='2,6,10,14,18,22,26,30,34,38,42,46', dump_final_states_path='', replay_actions=False, replay_action_path_dir='', replay_hdf5_path='', data_generation=False, max_generation_steps=200, disable_value_stop=False)
+Using serial inference (parallel inference disabled)
+Task suite: libero_goal
+Number of tasks: 10
+Running only task IDs: [1]
+Using default initial states
+
+Task: put the bowl on the stove
+Starting episode 1...
+Query 1/1: Action query time = 5.567 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6425
+t=10: Selected seed 195 with value = 0.6425
+Query 1/1: Action query time = 4.357 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7513
+t=26: Selected seed 195 with value = 0.7513
+Query 1/1: Action query time = 5.569 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7885
+t=42: Selected seed 195 with value = 0.7885
+Query 1/1: Action query time = 5.822 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9009
+t=58: Selected seed 195 with value = 0.9009
+Query 1/1: Action query time = 4.971 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9622
+t=74: Selected seed 195 with value = 0.9622
+Query 1/1: Action query time = 3.811 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9677
+t=90: Selected seed 195 with value = 0.9677
+Query 1/1: Action query time = 3.493 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9562
+t=106: Selected seed 195 with value = 0.9562
+Query 1/1: Action query time = 5.344 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9253
+t=122: Selected seed 195 with value = 0.9253
+Query 1/1: Action query time = 3.571 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9184
+t=138: Selected seed 195 with value = 0.9184
+Query 1/1: Action query time = 4.808 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9271
+t=154: Selected seed 195 with value = 0.9271
+Query 1/1: Action query time = 5.339 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9448
+t=170: Selected seed 195 with value = 0.9448
+Query 1/1: Action query time = 5.075 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9770
+t=186: Selected seed 195 with value = 0.9770
+Query 1/1: Action query time = 4.329 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9941
+t=202: Selected seed 195 with value = 0.9941
+Query 1/1: Action query time = 4.783 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9970
+t=218: Selected seed 195 with value = 0.9970
+Query 1/1: Action query time = 4.364 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9831
+t=234: Selected seed 195 with value = 0.9831
+Query 1/1: Action query time = 5.042 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9465
+t=250: Selected seed 195 with value = 0.9465
+Query 1/1: Action query time = 4.311 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9449
+t=266: Selected seed 195 with value = 0.9449
+Query 1/1: Action query time = 4.271 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9373
+t=282: Selected seed 195 with value = 0.9373
+Query 1/1: Action query time = 4.062 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9334
+t=298: Selected seed 195 with value = 0.9334
+Saved rollout MP4 at path ./rollouts/fc350full_t1_s2/2026_08_03-14_33_21--with_future_img--episode=1--success=False--task=put_the_bowl_on_the_stove.mp4
+Success: False
+# episodes completed so far: 1
+# successes: 0 (0.0%)
+
+Task: put the bowl on the stove
+Starting episode 2...
+Query 1/1: Action query time = 5.074 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5874
+t=10: Selected seed 195 with value = 0.5874
+Query 1/1: Action query time = 5.066 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7519
+t=26: Selected seed 195 with value = 0.7519
+Query 1/1: Action query time = 4.703 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7795
+t=42: Selected seed 195 with value = 0.7795
+Query 1/1: Action query time = 5.241 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8605
+t=58: Selected seed 195 with value = 0.8605
+Query 1/1: Action query time = 4.444 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9876
+t=74: Selected seed 195 with value = 0.9876
+Query 1/1: Action query time = 2.575 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/fc350full_t1_s2/2026_08_03-14_33_21--with_future_img--episode=2--success=True--task=put_the_bowl_on_the_stove.mp4
+Success: True
+# episodes completed so far: 2
+# successes: 1 (50.0%)
+
+Task: put the bowl on the stove
+Starting episode 3...
+Query 1/1: Action query time = 5.074 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5121
+t=10: Selected seed 195 with value = 0.5121
+Query 1/1: Action query time = 5.081 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6511
+t=26: Selected seed 195 with value = 0.6511
+Query 1/1: Action query time = 5.161 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7673
+t=42: Selected seed 195 with value = 0.7673
+Query 1/1: Action query time = 5.118 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9021
+t=58: Selected seed 195 with value = 0.9021
+Query 1/1: Action query time = 5.082 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=74: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.519 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/fc350full_t1_s2/2026_08_03-14_33_21--with_future_img--episode=3--success=True--task=put_the_bowl_on_the_stove.mp4
+Success: True
+# episodes completed so far: 3
+# successes: 2 (66.7%)
+
+Task: put the bowl on the stove
+Starting episode 4...
+Query 1/1: Action query time = 3.369 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5743
+t=10: Selected seed 195 with value = 0.5743
+Query 1/1: Action query time = 2.654 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7615
+t=26: Selected seed 195 with value = 0.7615
+Query 1/1: Action query time = 5.349 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8130
+t=42: Selected seed 195 with value = 0.8130
+Query 1/1: Action query time = 5.285 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9548
+t=58: Selected seed 195 with value = 0.9548
+Query 1/1: Action query time = 5.269 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=74: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.880 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/fc350full_t1_s2/2026_08_03-14_33_21--with_future_img--episode=4--success=True--task=put_the_bowl_on_the_stove.mp4
+Success: True
+# episodes completed so far: 4
+# successes: 3 (75.0%)
+
+Task: put the bowl on the stove
+Starting episode 5...
+Query 1/1: Action query time = 3.521 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6865
+t=10: Selected seed 195 with value = 0.6865
+Query 1/1: Action query time = 4.154 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8937
+t=26: Selected seed 195 with value = 0.8937
+Query 1/1: Action query time = 4.495 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8243
+t=42: Selected seed 195 with value = 0.8243
+Query 1/1: Action query time = 4.180 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8847
+t=58: Selected seed 195 with value = 0.8847
+Query 1/1: Action query time = 4.033 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=74: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 5.442 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/fc350full_t1_s2/2026_08_03-14_33_21--with_future_img--episode=5--success=True--task=put_the_bowl_on_the_stove.mp4
+Success: True
+# episodes completed so far: 5
+# successes: 4 (80.0%)
+
+Task: put the bowl on the stove
+Starting episode 6...
+Query 1/1: Action query time = 4.509 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6935
+t=10: Selected seed 195 with value = 0.6935
+Query 1/1: Action query time = 5.449 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9111
+t=26: Selected seed 195 with value = 0.9111
+Query 1/1: Action query time = 3.286 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9070
+t=42: Selected seed 195 with value = 0.9070
+Query 1/1: Action query time = 4.256 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8454
+t=58: Selected seed 195 with value = 0.8454
+Query 1/1: Action query time = 3.809 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9944
+t=74: Selected seed 195 with value = 0.9944
+Saved rollout MP4 at path ./rollouts/fc350full_t1_s2/2026_08_03-14_33_21--with_future_img--episode=6--success=True--task=put_the_bowl_on_the_stove.mp4
+Success: True
+# episodes completed so far: 6
+# successes: 5 (83.3%)
+
+Task: put the bowl on the stove
+Starting episode 7...
+Query 1/1: Action query time = 2.995 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5699
+t=10: Selected seed 195 with value = 0.5699
+Query 1/1: Action query time = 4.248 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7213
+t=26: Selected seed 195 with value = 0.7213
+Query 1/1: Action query time = 5.581 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7686
+t=42: Selected seed 195 with value = 0.7686
+Query 1/1: Action query time = 5.223 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8376
+t=58: Selected seed 195 with value = 0.8376
+Query 1/1: Action query time = 5.104 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9384
+t=74: Selected seed 195 with value = 0.9384
+Query 1/1: Action query time = 4.594 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.753 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=106: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.108 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9158
+t=122: Selected seed 195 with value = 0.9158
+Query 1/1: Action query time = 2.547 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=138: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 3.910 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=154: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 3.957 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8523
+t=170: Selected seed 195 with value = 0.8523
+Query 1/1: Action query time = 5.068 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9162
+t=186: Selected seed 195 with value = 0.9162
+Query 1/1: Action query time = 5.142 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9637
+t=202: Selected seed 195 with value = 0.9637
+Query 1/1: Action query time = 3.722 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9781
+t=218: Selected seed 195 with value = 0.9781
+Query 1/1: Action query time = 4.859 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9852
+t=234: Selected seed 195 with value = 0.9852
+Query 1/1: Action query time = 4.254 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9891
+t=250: Selected seed 195 with value = 0.9891
+Query 1/1: Action query time = 5.103 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9872
+t=266: Selected seed 195 with value = 0.9872
+Query 1/1: Action query time = 4.219 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9775
+t=282: Selected seed 195 with value = 0.9775
+Query 1/1: Action query time = 4.142 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8779
+t=298: Selected seed 195 with value = 0.8779
+Saved rollout MP4 at path ./rollouts/fc350full_t1_s2/2026_08_03-14_33_21--with_future_img--episode=7--success=False--task=put_the_bowl_on_the_stove.mp4
+Success: False
+# episodes completed so far: 7
+# successes: 5 (71.4%)
+
+Task: put the bowl on the stove
+Starting episode 8...
+Query 1/1: Action query time = 5.755 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5567
+t=10: Selected seed 195 with value = 0.5567
+Query 1/1: Action query time = 4.121 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6355
+t=26: Selected seed 195 with value = 0.6355
+Query 1/1: Action query time = 5.073 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7431
+t=42: Selected seed 195 with value = 0.7431
+Query 1/1: Action query time = 4.198 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8940
+t=58: Selected seed 195 with value = 0.8940
+Query 1/1: Action query time = 3.796 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9966
+t=74: Selected seed 195 with value = 0.9966
+Query 1/1: Action query time = 4.383 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 2.561 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=106: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 3.923 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8836
+t=122: Selected seed 195 with value = 0.8836
+Query 1/1: Action query time = 4.798 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8038
+t=138: Selected seed 195 with value = 0.8038
+Query 1/1: Action query time = 5.426 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8826
+t=154: Selected seed 195 with value = 0.8826
+Query 1/1: Action query time = 4.957 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9736
+t=170: Selected seed 195 with value = 0.9736
+Query 1/1: Action query time = 2.984 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8840
+t=186: Selected seed 195 with value = 0.8840
+Query 1/1: Action query time = 5.144 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9446
+t=202: Selected seed 195 with value = 0.9446
+Query 1/1: Action query time = 4.914 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9504
+t=218: Selected seed 195 with value = 0.9504
+Query 1/1: Action query time = 4.207 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9543
+t=234: Selected seed 195 with value = 0.9543
+Query 1/1: Action query time = 4.905 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9672
+t=250: Selected seed 195 with value = 0.9672
+Query 1/1: Action query time = 3.013 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9735
+t=266: Selected seed 195 with value = 0.9735
+Query 1/1: Action query time = 4.802 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9677
+t=282: Selected seed 195 with value = 0.9677
+Query 1/1: Action query time = 4.803 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9656
+t=298: Selected seed 195 with value = 0.9656
+Saved rollout MP4 at path ./rollouts/fc350full_t1_s2/2026_08_03-14_33_21--with_future_img--episode=8--success=False--task=put_the_bowl_on_the_stove.mp4
+Success: False
+# episodes completed so far: 8
+# successes: 5 (62.5%)
+
+Task: put the bowl on the stove
+Starting episode 9...
+Query 1/1: Action query time = 4.159 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5988
+t=10: Selected seed 195 with value = 0.5988
+Query 1/1: Action query time = 3.825 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7231
+t=26: Selected seed 195 with value = 0.7231
+Query 1/1: Action query time = 2.315 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7787
+t=42: Selected seed 195 with value = 0.7787
+Query 1/1: Action query time = 4.173 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8789
+t=58: Selected seed 195 with value = 0.8789
+Query 1/1: Action query time = 3.766 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=74: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 2.829 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/fc350full_t1_s2/2026_08_03-14_33_21--with_future_img--episode=9--success=True--task=put_the_bowl_on_the_stove.mp4
+Success: True
+# episodes completed so far: 9
+# successes: 6 (66.7%)
+
+Task: put the bowl on the stove
+Starting episode 10...
+Query 1/1: Action query time = 1.532 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6008
+t=10: Selected seed 195 with value = 0.6008
+Query 1/1: Action query time = 3.126 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8008
+t=26: Selected seed 195 with value = 0.8008
+Query 1/1: Action query time = 3.367 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7838
+t=42: Selected seed 195 with value = 0.7838
+Query 1/1: Action query time = 3.823 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8726
+t=58: Selected seed 195 with value = 0.8726
+Query 1/1: Action query time = 3.058 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9199
+t=74: Selected seed 195 with value = 0.9199
+Query 1/1: Action query time = 3.893 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9565
+t=90: Selected seed 195 with value = 0.9565
+Query 1/1: Action query time = 2.938 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=106: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/fc350full_t1_s2/2026_08_03-14_33_21--with_future_img--episode=10--success=True--task=put_the_bowl_on_the_stove.mp4
+Success: True
+# episodes completed so far: 10
+# successes: 7 (70.0%)
+
+Task: put the bowl on the stove
+Starting episode 11...
+Query 1/1: Action query time = 3.606 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5752
+t=10: Selected seed 195 with value = 0.5752
+Query 1/1: Action query time = 1.650 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7565
+t=26: Selected seed 195 with value = 0.7565
+Query 1/1: Action query time = 1.935 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7691
+t=42: Selected seed 195 with value = 0.7691
+Query 1/1: Action query time = 2.862 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9154
+t=58: Selected seed 195 with value = 0.9154
+Query 1/1: Action query time = 3.013 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=74: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 2.731 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/fc350full_t1_s2/2026_08_03-14_33_21--with_future_img--episode=11--success=True--task=put_the_bowl_on_the_stove.mp4
+Success: True
+# episodes completed so far: 11
+# successes: 8 (72.7%)
+
+Task: put the bowl on the stove
+Starting episode 12...
+Query 1/1: Action query time = 2.592 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5354
+t=10: Selected seed 195 with value = 0.5354
+Query 1/1: Action query time = 2.332 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6434
+t=26: Selected seed 195 with value = 0.6434
+Query 1/1: Action query time = 2.953 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7549
+t=42: Selected seed 195 with value = 0.7549
+Query 1/1: Action query time = 1.294 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8768
+t=58: Selected seed 195 with value = 0.8768
+Query 1/1: Action query time = 1.289 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9894
+t=74: Selected seed 195 with value = 0.9894
+Query 1/1: Action query time = 1.260 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/fc350full_t1_s2/2026_08_03-14_33_21--with_future_img--episode=12--success=True--task=put_the_bowl_on_the_stove.mp4
+Success: True
+# episodes completed so far: 12
+# successes: 9 (75.0%)
+Current task success rate: 0.75
+Current total success rate: 0.75
+Final results:
+Total episodes: 12
+Total successes: 9
+Overall success rate: 0.7500 (75.0%)
diff --git a/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_03-14_33_21--fc350full_t1_s3.txt b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_03-14_33_21--fc350full_t1_s3.txt
new file mode 100644
index 0000000000000000000000000000000000000000..f2dc21f2b5f135f8e54f26a699785f9bf8aad4b6
--- /dev/null
+++ b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_03-14_33_21--fc350full_t1_s3.txt
@@ -0,0 +1,436 @@
+Eval config: PolicyEvalConfig(suite='libero', model_family='cosmos', config='cosmos_predict2_2b_480p_libero_cl_stage_inference_only', ckpt_path='/home/azureuser/REGEN-main/new_task7/cosmos_policy/cosmos_v2_finetune/cosmos_predict2_2b_480p_libero_goal_task7_forget_cl_from100_2gpu/checkpoints/iter_000000350/model', planning_model_config_name='', planning_model_ckpt_path='', config_file='cosmos_policy/config/config.py', packnet_mask_path='', packnet_first_cl_libero_task=6, use_third_person_image=True, num_third_person_images=1, use_wrist_image=True, num_wrist_images=1, use_proprio=True, flip_images=True, use_variance_scale=False, use_jpeg_compression=True, ar_future_prediction=False, ar_value_prediction=False, ar_qvalue_prediction=False, num_denoising_steps_action=5, num_denoising_steps_future_state=1, num_denoising_steps_value=1, unnormalize_actions=True, normalize_proprio=True, dataset_stats_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/libero_goal_regen/dataset_statistics.json', t5_text_embeddings_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/t5_embeddings.pkl', trained_with_image_aug=True, chunk_size=16, num_open_loop_steps=16, deterministic=True, deterministic_reset=False, deterministic_reset_seed=None, use_ensemble_future_state_predictions=False, num_future_state_predictions_in_ensemble=3, future_state_ensemble_aggregation_scheme='average', use_ensemble_value_predictions=False, num_value_predictions_in_ensemble=5, value_ensemble_aggregation_scheme='average', search_depth=1, mask_current_state_action_for_value_prediction=False, mask_future_state_for_qvalue_prediction=False, num_queries_best_of_n=1, use_parallel_inference=False, available_gpus='0', parallel_timeout=15, parallel_tasks_across_gpus=False, task_suite_name='libero_goal', num_trials_per_task=50, task_ids_to_run='1', initial_states_path='DEFAULT', env_img_res=256, local_log_dir='/home/azureuser/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal', run_id_note='fc350full_t1_s3', use_wandb=False, wandb_entity='YOUR_ENTITY', wandb_project='YOUR_PROJECT', seed=195, randomize_seed=False, data_collection=False, jpeg_compress=True, reward_stop_threshold=None, reward_stop_consecutive_steps=3, use_gpt_reward=False, gpt_reward_model='gpt-5.4-mini', gpt_reward_stop_threshold=4, gpt_reward_timeout_s=30.0, save_rollout_video=False, eval_hdf5_path='', eval_hdf5_demo_key='demo_0', data_gen_demo_ids='', eval_episode_ids='3,7,11,15,19,23,27,31,35,39,43,47', dump_final_states_path='', replay_actions=False, replay_action_path_dir='', replay_hdf5_path='', data_generation=False, max_generation_steps=200, disable_value_stop=False)
+Using serial inference (parallel inference disabled)
+Task suite: libero_goal
+Number of tasks: 10
+Running only task IDs: [1]
+Using default initial states
+
+Task: put the bowl on the stove
+Starting episode 1...
+Query 1/1: Action query time = 3.696 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5526
+t=10: Selected seed 195 with value = 0.5526
+Query 1/1: Action query time = 4.446 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6858
+t=26: Selected seed 195 with value = 0.6858
+Query 1/1: Action query time = 4.360 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7813
+t=42: Selected seed 195 with value = 0.7813
+Query 1/1: Action query time = 5.579 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9373
+t=58: Selected seed 195 with value = 0.9373
+Query 1/1: Action query time = 5.750 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=74: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.650 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/fc350full_t1_s3/2026_08_03-14_33_21--with_future_img--episode=1--success=True--task=put_the_bowl_on_the_stove.mp4
+Success: True
+# episodes completed so far: 1
+# successes: 1 (100.0%)
+
+Task: put the bowl on the stove
+Starting episode 2...
+Query 1/1: Action query time = 3.835 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5433
+t=10: Selected seed 195 with value = 0.5433
+Query 1/1: Action query time = 5.098 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6890
+t=26: Selected seed 195 with value = 0.6890
+Query 1/1: Action query time = 3.871 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7851
+t=42: Selected seed 195 with value = 0.7851
+Query 1/1: Action query time = 4.954 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8632
+t=58: Selected seed 195 with value = 0.8632
+Query 1/1: Action query time = 5.257 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=74: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.985 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.651 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=106: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.629 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8810
+t=122: Selected seed 195 with value = 0.8810
+Query 1/1: Action query time = 4.696 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8157
+t=138: Selected seed 195 with value = 0.8157
+Query 1/1: Action query time = 4.467 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8485
+t=154: Selected seed 195 with value = 0.8485
+Query 1/1: Action query time = 4.559 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9641
+t=170: Selected seed 195 with value = 0.9641
+Query 1/1: Action query time = 4.190 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=186: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.112 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9978
+t=202: Selected seed 195 with value = 0.9978
+Query 1/1: Action query time = 3.987 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9992
+t=218: Selected seed 195 with value = 0.9992
+Query 1/1: Action query time = 3.668 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9943
+t=234: Selected seed 195 with value = 0.9943
+Query 1/1: Action query time = 5.830 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9867
+t=250: Selected seed 195 with value = 0.9867
+Query 1/1: Action query time = 5.713 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8786
+t=266: Selected seed 195 with value = 0.8786
+Query 1/1: Action query time = 5.418 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8898
+t=282: Selected seed 195 with value = 0.8898
+Query 1/1: Action query time = 4.353 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8692
+t=298: Selected seed 195 with value = 0.8692
+Saved rollout MP4 at path ./rollouts/fc350full_t1_s3/2026_08_03-14_33_21--with_future_img--episode=2--success=False--task=put_the_bowl_on_the_stove.mp4
+Success: False
+# episodes completed so far: 2
+# successes: 1 (50.0%)
+
+Task: put the bowl on the stove
+Starting episode 3...
+Query 1/1: Action query time = 4.994 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5829
+t=10: Selected seed 195 with value = 0.5829
+Query 1/1: Action query time = 5.126 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8277
+t=26: Selected seed 195 with value = 0.8277
+Query 1/1: Action query time = 5.084 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8142
+t=42: Selected seed 195 with value = 0.8142
+Query 1/1: Action query time = 4.830 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9015
+t=58: Selected seed 195 with value = 0.9015
+Query 1/1: Action query time = 5.020 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=74: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.053 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/fc350full_t1_s3/2026_08_03-14_33_21--with_future_img--episode=3--success=True--task=put_the_bowl_on_the_stove.mp4
+Success: True
+# episodes completed so far: 3
+# successes: 2 (66.7%)
+
+Task: put the bowl on the stove
+Starting episode 4...
+Query 1/1: Action query time = 4.038 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6170
+t=10: Selected seed 195 with value = 0.6170
+Query 1/1: Action query time = 4.001 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7964
+t=26: Selected seed 195 with value = 0.7964
+Query 1/1: Action query time = 4.588 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8262
+t=42: Selected seed 195 with value = 0.8262
+Query 1/1: Action query time = 5.104 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8771
+t=58: Selected seed 195 with value = 0.8771
+Query 1/1: Action query time = 4.915 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9930
+t=74: Selected seed 195 with value = 0.9930
+Query 1/1: Action query time = 4.635 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/fc350full_t1_s3/2026_08_03-14_33_21--with_future_img--episode=4--success=True--task=put_the_bowl_on_the_stove.mp4
+Success: True
+# episodes completed so far: 4
+# successes: 3 (75.0%)
+
+Task: put the bowl on the stove
+Starting episode 5...
+Query 1/1: Action query time = 5.064 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5766
+t=10: Selected seed 195 with value = 0.5766
+Query 1/1: Action query time = 4.791 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6927
+t=26: Selected seed 195 with value = 0.6927
+Query 1/1: Action query time = 4.744 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7833
+t=42: Selected seed 195 with value = 0.7833
+Query 1/1: Action query time = 4.103 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8966
+t=58: Selected seed 195 with value = 0.8966
+Query 1/1: Action query time = 3.858 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9380
+t=74: Selected seed 195 with value = 0.9380
+Query 1/1: Action query time = 4.929 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9843
+t=90: Selected seed 195 with value = 0.9843
+Saved rollout MP4 at path ./rollouts/fc350full_t1_s3/2026_08_03-14_33_21--with_future_img--episode=5--success=True--task=put_the_bowl_on_the_stove.mp4
+Success: True
+# episodes completed so far: 5
+# successes: 4 (80.0%)
+
+Task: put the bowl on the stove
+Starting episode 6...
+Query 1/1: Action query time = 4.441 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5664
+t=10: Selected seed 195 with value = 0.5664
+Query 1/1: Action query time = 4.572 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7038
+t=26: Selected seed 195 with value = 0.7038
+Query 1/1: Action query time = 5.376 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7933
+t=42: Selected seed 195 with value = 0.7933
+Query 1/1: Action query time = 4.515 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8844
+t=58: Selected seed 195 with value = 0.8844
+Query 1/1: Action query time = 2.493 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=74: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 3.704 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/fc350full_t1_s3/2026_08_03-14_33_21--with_future_img--episode=6--success=True--task=put_the_bowl_on_the_stove.mp4
+Success: True
+# episodes completed so far: 6
+# successes: 5 (83.3%)
+
+Task: put the bowl on the stove
+Starting episode 7...
+Query 1/1: Action query time = 5.271 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5293
+t=10: Selected seed 195 with value = 0.5293
+Query 1/1: Action query time = 4.684 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7335
+t=26: Selected seed 195 with value = 0.7335
+Query 1/1: Action query time = 5.321 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7883
+t=42: Selected seed 195 with value = 0.7883
+Query 1/1: Action query time = 5.232 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9291
+t=58: Selected seed 195 with value = 0.9291
+Query 1/1: Action query time = 4.143 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=74: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.220 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/fc350full_t1_s3/2026_08_03-14_33_21--with_future_img--episode=7--success=True--task=put_the_bowl_on_the_stove.mp4
+Success: True
+# episodes completed so far: 7
+# successes: 6 (85.7%)
+
+Task: put the bowl on the stove
+Starting episode 8...
+Query 1/1: Action query time = 4.392 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5673
+t=10: Selected seed 195 with value = 0.5673
+Query 1/1: Action query time = 4.580 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6448
+t=26: Selected seed 195 with value = 0.6448
+Query 1/1: Action query time = 5.048 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7622
+t=42: Selected seed 195 with value = 0.7622
+Query 1/1: Action query time = 5.447 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8796
+t=58: Selected seed 195 with value = 0.8796
+Query 1/1: Action query time = 3.791 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9924
+t=74: Selected seed 195 with value = 0.9924
+Query 1/1: Action query time = 4.732 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/fc350full_t1_s3/2026_08_03-14_33_21--with_future_img--episode=8--success=True--task=put_the_bowl_on_the_stove.mp4
+Success: True
+# episodes completed so far: 8
+# successes: 7 (87.5%)
+
+Task: put the bowl on the stove
+Starting episode 9...
+Query 1/1: Action query time = 5.034 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5614
+t=10: Selected seed 195 with value = 0.5614
+Query 1/1: Action query time = 3.330 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7874
+t=26: Selected seed 195 with value = 0.7874
+Query 1/1: Action query time = 3.687 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7678
+t=42: Selected seed 195 with value = 0.7678
+Query 1/1: Action query time = 3.772 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8525
+t=58: Selected seed 195 with value = 0.8525
+Query 1/1: Action query time = 4.740 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9516
+t=74: Selected seed 195 with value = 0.9516
+Query 1/1: Action query time = 5.864 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/fc350full_t1_s3/2026_08_03-14_33_21--with_future_img--episode=9--success=True--task=put_the_bowl_on_the_stove.mp4
+Success: True
+# episodes completed so far: 9
+# successes: 8 (88.9%)
+
+Task: put the bowl on the stove
+Starting episode 10...
+Query 1/1: Action query time = 5.386 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5592
+t=10: Selected seed 195 with value = 0.5592
+Query 1/1: Action query time = 4.419 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6550
+t=26: Selected seed 195 with value = 0.6550
+Query 1/1: Action query time = 4.353 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7706
+t=42: Selected seed 195 with value = 0.7706
+Query 1/1: Action query time = 4.026 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9002
+t=58: Selected seed 195 with value = 0.9002
+Query 1/1: Action query time = 4.147 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=74: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.905 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/fc350full_t1_s3/2026_08_03-14_33_21--with_future_img--episode=10--success=True--task=put_the_bowl_on_the_stove.mp4
+Success: True
+# episodes completed so far: 10
+# successes: 9 (90.0%)
+
+Task: put the bowl on the stove
+Starting episode 11...
+Query 1/1: Action query time = 4.857 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6682
+t=10: Selected seed 195 with value = 0.6682
+Query 1/1: Action query time = 4.908 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8388
+t=26: Selected seed 195 with value = 0.8388
+Query 1/1: Action query time = 6.158 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7797
+t=42: Selected seed 195 with value = 0.7797
+Query 1/1: Action query time = 4.249 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9230
+t=58: Selected seed 195 with value = 0.9230
+Query 1/1: Action query time = 4.275 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=74: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 5.064 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/fc350full_t1_s3/2026_08_03-14_33_21--with_future_img--episode=11--success=True--task=put_the_bowl_on_the_stove.mp4
+Success: True
+# episodes completed so far: 11
+# successes: 10 (90.9%)
+
+Task: put the bowl on the stove
+Starting episode 12...
+Query 1/1: Action query time = 5.023 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6106
+t=10: Selected seed 195 with value = 0.6106
+Query 1/1: Action query time = 4.887 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7677
+t=26: Selected seed 195 with value = 0.7677
+Query 1/1: Action query time = 3.492 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7553
+t=42: Selected seed 195 with value = 0.7553
+Query 1/1: Action query time = 4.796 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9258
+t=58: Selected seed 195 with value = 0.9258
+Query 1/1: Action query time = 4.682 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=74: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 3.724 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/fc350full_t1_s3/2026_08_03-14_33_21--with_future_img--episode=12--success=True--task=put_the_bowl_on_the_stove.mp4
+Success: True
+# episodes completed so far: 12
+# successes: 11 (91.7%)
+Current task success rate: 0.9166666666666666
+Current total success rate: 0.9166666666666666
+Final results:
+Total episodes: 12
+Total successes: 11
+Overall success rate: 0.9167 (91.7%)
diff --git a/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_03-14_33_21--fc350full_t3_s0.txt b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_03-14_33_21--fc350full_t3_s0.txt
new file mode 100644
index 0000000000000000000000000000000000000000..8a3940943dc27d4c2fa87d2e69fe90ba7327c9bd
--- /dev/null
+++ b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_03-14_33_21--fc350full_t3_s0.txt
@@ -0,0 +1,819 @@
+Eval config: PolicyEvalConfig(suite='libero', model_family='cosmos', config='cosmos_predict2_2b_480p_libero_cl_stage_inference_only', ckpt_path='/home/azureuser/REGEN-main/new_task7/cosmos_policy/cosmos_v2_finetune/cosmos_predict2_2b_480p_libero_goal_task7_forget_cl_from100_2gpu/checkpoints/iter_000000350/model', planning_model_config_name='', planning_model_ckpt_path='', config_file='cosmos_policy/config/config.py', packnet_mask_path='', packnet_first_cl_libero_task=6, use_third_person_image=True, num_third_person_images=1, use_wrist_image=True, num_wrist_images=1, use_proprio=True, flip_images=True, use_variance_scale=False, use_jpeg_compression=True, ar_future_prediction=False, ar_value_prediction=False, ar_qvalue_prediction=False, num_denoising_steps_action=5, num_denoising_steps_future_state=1, num_denoising_steps_value=1, unnormalize_actions=True, normalize_proprio=True, dataset_stats_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/libero_goal_regen/dataset_statistics.json', t5_text_embeddings_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/t5_embeddings.pkl', trained_with_image_aug=True, chunk_size=16, num_open_loop_steps=16, deterministic=True, deterministic_reset=False, deterministic_reset_seed=None, use_ensemble_future_state_predictions=False, num_future_state_predictions_in_ensemble=3, future_state_ensemble_aggregation_scheme='average', use_ensemble_value_predictions=False, num_value_predictions_in_ensemble=5, value_ensemble_aggregation_scheme='average', search_depth=1, mask_current_state_action_for_value_prediction=False, mask_future_state_for_qvalue_prediction=False, num_queries_best_of_n=1, use_parallel_inference=False, available_gpus='0', parallel_timeout=15, parallel_tasks_across_gpus=False, task_suite_name='libero_goal', num_trials_per_task=50, task_ids_to_run='3', initial_states_path='DEFAULT', env_img_res=256, local_log_dir='/home/azureuser/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal', run_id_note='fc350full_t3_s0', use_wandb=False, wandb_entity='YOUR_ENTITY', wandb_project='YOUR_PROJECT', seed=195, randomize_seed=False, data_collection=False, jpeg_compress=True, reward_stop_threshold=None, reward_stop_consecutive_steps=3, use_gpt_reward=False, gpt_reward_model='gpt-5.4-mini', gpt_reward_stop_threshold=4, gpt_reward_timeout_s=30.0, save_rollout_video=False, eval_hdf5_path='', eval_hdf5_demo_key='demo_0', data_gen_demo_ids='', eval_episode_ids='0,4,8,12,16,20,24,28,32,36,40,44,48', dump_final_states_path='', replay_actions=False, replay_action_path_dir='', replay_hdf5_path='', data_generation=False, max_generation_steps=200, disable_value_stop=False)
+Using serial inference (parallel inference disabled)
+Task suite: libero_goal
+Number of tasks: 10
+Running only task IDs: [3]
+Using default initial states
+
+Task: open the top drawer and put the bowl inside
+Starting episode 1...
+Query 1/1: Action query time = 6.085 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2476
+t=10: Selected seed 195 with value = 0.2476
+Query 1/1: Action query time = 3.684 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2578
+t=26: Selected seed 195 with value = 0.2578
+Query 1/1: Action query time = 4.815 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3179
+t=42: Selected seed 195 with value = 0.3179
+Query 1/1: Action query time = 5.249 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3749
+t=58: Selected seed 195 with value = 0.3749
+Query 1/1: Action query time = 4.631 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4365
+t=74: Selected seed 195 with value = 0.4365
+Query 1/1: Action query time = 4.151 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5200
+t=90: Selected seed 195 with value = 0.5200
+Query 1/1: Action query time = 2.884 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6075
+t=106: Selected seed 195 with value = 0.6075
+Query 1/1: Action query time = 5.985 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7089
+t=122: Selected seed 195 with value = 0.7089
+Query 1/1: Action query time = 5.211 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8163
+t=138: Selected seed 195 with value = 0.8163
+Query 1/1: Action query time = 4.633 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9502
+t=154: Selected seed 195 with value = 0.9502
+Query 1/1: Action query time = 4.976 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9835
+t=170: Selected seed 195 with value = 0.9835
+Query 1/1: Action query time = 3.281 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9678
+t=186: Selected seed 195 with value = 0.9678
+Query 1/1: Action query time = 2.439 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9659
+t=202: Selected seed 195 with value = 0.9659
+Query 1/1: Action query time = 3.602 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9602
+t=218: Selected seed 195 with value = 0.9602
+Query 1/1: Action query time = 4.688 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9349
+t=234: Selected seed 195 with value = 0.9349
+Query 1/1: Action query time = 5.381 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5346
+t=250: Selected seed 195 with value = 0.5346
+Query 1/1: Action query time = 4.660 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5236
+t=266: Selected seed 195 with value = 0.5236
+Query 1/1: Action query time = 4.814 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6438
+t=282: Selected seed 195 with value = 0.6438
+Query 1/1: Action query time = 4.830 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5623
+t=298: Selected seed 195 with value = 0.5623
+Saved rollout MP4 at path ./rollouts/fc350full_t3_s0/2026_08_03-14_33_21--with_future_img--episode=1--success=False--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: False
+# episodes completed so far: 1
+# successes: 0 (0.0%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 2...
+Query 1/1: Action query time = 5.765 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2445
+t=10: Selected seed 195 with value = 0.2445
+Query 1/1: Action query time = 4.727 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2672
+t=26: Selected seed 195 with value = 0.2672
+Query 1/1: Action query time = 4.627 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2964
+t=42: Selected seed 195 with value = 0.2964
+Query 1/1: Action query time = 4.636 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3427
+t=58: Selected seed 195 with value = 0.3427
+Query 1/1: Action query time = 3.912 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4084
+t=74: Selected seed 195 with value = 0.4084
+Query 1/1: Action query time = 4.536 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4593
+t=90: Selected seed 195 with value = 0.4593
+Query 1/1: Action query time = 4.201 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5564
+t=106: Selected seed 195 with value = 0.5564
+Query 1/1: Action query time = 4.572 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6189
+t=122: Selected seed 195 with value = 0.6189
+Query 1/1: Action query time = 5.608 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7128
+t=138: Selected seed 195 with value = 0.7128
+Query 1/1: Action query time = 5.428 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9030
+t=154: Selected seed 195 with value = 0.9030
+Query 1/1: Action query time = 4.720 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=170: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.971 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=186: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/fc350full_t3_s0/2026_08_03-14_33_21--with_future_img--episode=2--success=True--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: True
+# episodes completed so far: 2
+# successes: 1 (50.0%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 3...
+Query 1/1: Action query time = 4.461 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2356
+t=10: Selected seed 195 with value = 0.2356
+Query 1/1: Action query time = 4.103 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2706
+t=26: Selected seed 195 with value = 0.2706
+Query 1/1: Action query time = 4.928 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2688
+t=42: Selected seed 195 with value = 0.2688
+Query 1/1: Action query time = 3.703 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3453
+t=58: Selected seed 195 with value = 0.3453
+Query 1/1: Action query time = 4.966 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2081
+t=74: Selected seed 195 with value = 0.2081
+Query 1/1: Action query time = 4.661 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4722
+t=90: Selected seed 195 with value = 0.4722
+Query 1/1: Action query time = 5.550 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5848
+t=106: Selected seed 195 with value = 0.5848
+Query 1/1: Action query time = 4.030 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6985
+t=122: Selected seed 195 with value = 0.6985
+Query 1/1: Action query time = 5.850 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8440
+t=138: Selected seed 195 with value = 0.8440
+Query 1/1: Action query time = 5.059 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9165
+t=154: Selected seed 195 with value = 0.9165
+Query 1/1: Action query time = 4.968 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=170: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/fc350full_t3_s0/2026_08_03-14_33_21--with_future_img--episode=3--success=True--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: True
+# episodes completed so far: 3
+# successes: 2 (66.7%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 4...
+Query 1/1: Action query time = 4.404 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2332
+t=10: Selected seed 195 with value = 0.2332
+Query 1/1: Action query time = 5.256 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2589
+t=26: Selected seed 195 with value = 0.2589
+Query 1/1: Action query time = 2.507 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3136
+t=42: Selected seed 195 with value = 0.3136
+Query 1/1: Action query time = 3.480 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3422
+t=58: Selected seed 195 with value = 0.3422
+Query 1/1: Action query time = 5.544 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4102
+t=74: Selected seed 195 with value = 0.4102
+Query 1/1: Action query time = 3.744 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4811
+t=90: Selected seed 195 with value = 0.4811
+Query 1/1: Action query time = 4.317 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5705
+t=106: Selected seed 195 with value = 0.5705
+Query 1/1: Action query time = 4.784 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6197
+t=122: Selected seed 195 with value = 0.6197
+Query 1/1: Action query time = 5.221 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7789
+t=138: Selected seed 195 with value = 0.7789
+Query 1/1: Action query time = 4.707 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8942
+t=154: Selected seed 195 with value = 0.8942
+Query 1/1: Action query time = 4.678 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9784
+t=170: Selected seed 195 with value = 0.9784
+Query 1/1: Action query time = 5.246 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=186: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/fc350full_t3_s0/2026_08_03-14_33_21--with_future_img--episode=4--success=True--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: True
+# episodes completed so far: 4
+# successes: 3 (75.0%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 5...
+Query 1/1: Action query time = 5.290 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2241
+t=10: Selected seed 195 with value = 0.2241
+Query 1/1: Action query time = 4.894 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2795
+t=26: Selected seed 195 with value = 0.2795
+Query 1/1: Action query time = 4.139 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3010
+t=42: Selected seed 195 with value = 0.3010
+Query 1/1: Action query time = 4.126 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3368
+t=58: Selected seed 195 with value = 0.3368
+Query 1/1: Action query time = 4.810 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4061
+t=74: Selected seed 195 with value = 0.4061
+Query 1/1: Action query time = 4.639 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4534
+t=90: Selected seed 195 with value = 0.4534
+Query 1/1: Action query time = 4.796 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5781
+t=106: Selected seed 195 with value = 0.5781
+Query 1/1: Action query time = 5.229 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7252
+t=122: Selected seed 195 with value = 0.7252
+Query 1/1: Action query time = 4.739 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8266
+t=138: Selected seed 195 with value = 0.8266
+Query 1/1: Action query time = 4.533 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8854
+t=154: Selected seed 195 with value = 0.8854
+Query 1/1: Action query time = 2.987 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9971
+t=170: Selected seed 195 with value = 0.9971
+Saved rollout MP4 at path ./rollouts/fc350full_t3_s0/2026_08_03-14_33_21--with_future_img--episode=5--success=True--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: True
+# episodes completed so far: 5
+# successes: 4 (80.0%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 6...
+Query 1/1: Action query time = 4.717 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2406
+t=10: Selected seed 195 with value = 0.2406
+Query 1/1: Action query time = 4.018 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2706
+t=26: Selected seed 195 with value = 0.2706
+Query 1/1: Action query time = 5.466 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3021
+t=42: Selected seed 195 with value = 0.3021
+Query 1/1: Action query time = 5.794 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3454
+t=58: Selected seed 195 with value = 0.3454
+Query 1/1: Action query time = 4.153 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4175
+t=74: Selected seed 195 with value = 0.4175
+Query 1/1: Action query time = 3.997 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4641
+t=90: Selected seed 195 with value = 0.4641
+Query 1/1: Action query time = 5.798 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5769
+t=106: Selected seed 195 with value = 0.5769
+Query 1/1: Action query time = 5.190 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6950
+t=122: Selected seed 195 with value = 0.6950
+Query 1/1: Action query time = 4.176 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8027
+t=138: Selected seed 195 with value = 0.8027
+Query 1/1: Action query time = 3.871 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9465
+t=154: Selected seed 195 with value = 0.9465
+Query 1/1: Action query time = 4.006 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=170: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/fc350full_t3_s0/2026_08_03-14_33_21--with_future_img--episode=6--success=True--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: True
+# episodes completed so far: 6
+# successes: 5 (83.3%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 7...
+Query 1/1: Action query time = 4.729 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2261
+t=10: Selected seed 195 with value = 0.2261
+Query 1/1: Action query time = 4.122 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2598
+t=26: Selected seed 195 with value = 0.2598
+Query 1/1: Action query time = 5.634 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2936
+t=42: Selected seed 195 with value = 0.2936
+Query 1/1: Action query time = 4.703 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3402
+t=58: Selected seed 195 with value = 0.3402
+Query 1/1: Action query time = 3.232 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4035
+t=74: Selected seed 195 with value = 0.4035
+Query 1/1: Action query time = 4.578 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4477
+t=90: Selected seed 195 with value = 0.4477
+Query 1/1: Action query time = 4.341 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5704
+t=106: Selected seed 195 with value = 0.5704
+Query 1/1: Action query time = 4.655 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6509
+t=122: Selected seed 195 with value = 0.6509
+Query 1/1: Action query time = 4.319 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8529
+t=138: Selected seed 195 with value = 0.8529
+Query 1/1: Action query time = 4.335 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8778
+t=154: Selected seed 195 with value = 0.8778
+Query 1/1: Action query time = 4.345 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9758
+t=170: Selected seed 195 with value = 0.9758
+Query 1/1: Action query time = 2.626 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9994
+t=186: Selected seed 195 with value = 0.9994
+Saved rollout MP4 at path ./rollouts/fc350full_t3_s0/2026_08_03-14_33_21--with_future_img--episode=7--success=True--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: True
+# episodes completed so far: 7
+# successes: 6 (85.7%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 8...
+Query 1/1: Action query time = 4.021 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2382
+t=10: Selected seed 195 with value = 0.2382
+Query 1/1: Action query time = 4.494 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2582
+t=26: Selected seed 195 with value = 0.2582
+Query 1/1: Action query time = 4.394 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3170
+t=42: Selected seed 195 with value = 0.3170
+Query 1/1: Action query time = 4.321 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3686
+t=58: Selected seed 195 with value = 0.3686
+Query 1/1: Action query time = 3.253 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4243
+t=74: Selected seed 195 with value = 0.4243
+Query 1/1: Action query time = 2.183 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4755
+t=90: Selected seed 195 with value = 0.4755
+Query 1/1: Action query time = 1.657 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5885
+t=106: Selected seed 195 with value = 0.5885
+Query 1/1: Action query time = 2.902 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6865
+t=122: Selected seed 195 with value = 0.6865
+Query 1/1: Action query time = 3.942 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7611
+t=138: Selected seed 195 with value = 0.7611
+Query 1/1: Action query time = 3.375 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9311
+t=154: Selected seed 195 with value = 0.9311
+Query 1/1: Action query time = 3.760 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=170: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/fc350full_t3_s0/2026_08_03-14_33_21--with_future_img--episode=8--success=True--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: True
+# episodes completed so far: 8
+# successes: 7 (87.5%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 9...
+Query 1/1: Action query time = 3.673 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2331
+t=10: Selected seed 195 with value = 0.2331
+Query 1/1: Action query time = 3.908 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2746
+t=26: Selected seed 195 with value = 0.2746
+Query 1/1: Action query time = 2.641 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3123
+t=42: Selected seed 195 with value = 0.3123
+Query 1/1: Action query time = 2.860 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3691
+t=58: Selected seed 195 with value = 0.3691
+Query 1/1: Action query time = 3.770 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4276
+t=74: Selected seed 195 with value = 0.4276
+Query 1/1: Action query time = 3.288 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5274
+t=90: Selected seed 195 with value = 0.5274
+Query 1/1: Action query time = 2.272 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6014
+t=106: Selected seed 195 with value = 0.6014
+Query 1/1: Action query time = 2.961 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7038
+t=122: Selected seed 195 with value = 0.7038
+Query 1/1: Action query time = 2.354 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8104
+t=138: Selected seed 195 with value = 0.8104
+Query 1/1: Action query time = 2.219 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9456
+t=154: Selected seed 195 with value = 0.9456
+Query 1/1: Action query time = 2.182 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9829
+t=170: Selected seed 195 with value = 0.9829
+Saved rollout MP4 at path ./rollouts/fc350full_t3_s0/2026_08_03-14_33_21--with_future_img--episode=9--success=True--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: True
+# episodes completed so far: 9
+# successes: 8 (88.9%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 10...
+Query 1/1: Action query time = 2.940 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2084
+t=10: Selected seed 195 with value = 0.2084
+Query 1/1: Action query time = 3.166 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2549
+t=26: Selected seed 195 with value = 0.2549
+Query 1/1: Action query time = 2.812 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.1916
+t=42: Selected seed 195 with value = 0.1916
+Query 1/1: Action query time = 2.978 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3445
+t=58: Selected seed 195 with value = 0.3445
+Query 1/1: Action query time = 2.911 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4167
+t=74: Selected seed 195 with value = 0.4167
+Query 1/1: Action query time = 3.070 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4713
+t=90: Selected seed 195 with value = 0.4713
+Query 1/1: Action query time = 3.134 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5914
+t=106: Selected seed 195 with value = 0.5914
+Query 1/1: Action query time = 1.756 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6871
+t=122: Selected seed 195 with value = 0.6871
+Query 1/1: Action query time = 1.216 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8421
+t=138: Selected seed 195 with value = 0.8421
+Query 1/1: Action query time = 2.158 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8739
+t=154: Selected seed 195 with value = 0.8739
+Query 1/1: Action query time = 1.749 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=170: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 1.536 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=186: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/fc350full_t3_s0/2026_08_03-14_33_21--with_future_img--episode=10--success=True--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: True
+# episodes completed so far: 10
+# successes: 9 (90.0%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 11...
+Query 1/1: Action query time = 3.011 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2256
+t=10: Selected seed 195 with value = 0.2256
+Query 1/1: Action query time = 3.045 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2575
+t=26: Selected seed 195 with value = 0.2575
+Query 1/1: Action query time = 3.026 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3129
+t=42: Selected seed 195 with value = 0.3129
+Query 1/1: Action query time = 3.008 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3473
+t=58: Selected seed 195 with value = 0.3473
+Query 1/1: Action query time = 2.939 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4038
+t=74: Selected seed 195 with value = 0.4038
+Query 1/1: Action query time = 2.309 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4636
+t=90: Selected seed 195 with value = 0.4636
+Query 1/1: Action query time = 2.243 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5709
+t=106: Selected seed 195 with value = 0.5709
+Query 1/1: Action query time = 2.213 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6496
+t=122: Selected seed 195 with value = 0.6496
+Query 1/1: Action query time = 1.504 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7771
+t=138: Selected seed 195 with value = 0.7771
+Query 1/1: Action query time = 1.637 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9373
+t=154: Selected seed 195 with value = 0.9373
+Query 1/1: Action query time = 2.630 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9928
+t=170: Selected seed 195 with value = 0.9928
+Query 1/1: Action query time = 2.199 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9600
+t=186: Selected seed 195 with value = 0.9600
+Query 1/1: Action query time = 2.337 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9714
+t=202: Selected seed 195 with value = 0.9714
+Query 1/1: Action query time = 2.470 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9681
+t=218: Selected seed 195 with value = 0.9681
+Query 1/1: Action query time = 2.452 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3834
+t=234: Selected seed 195 with value = 0.3834
+Query 1/1: Action query time = 1.924 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3519
+t=250: Selected seed 195 with value = 0.3519
+Query 1/1: Action query time = 1.919 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3523
+t=266: Selected seed 195 with value = 0.3523
+Query 1/1: Action query time = 1.878 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3843
+t=282: Selected seed 195 with value = 0.3843
+Query 1/1: Action query time = 2.533 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9530
+t=298: Selected seed 195 with value = 0.9530
+Saved rollout MP4 at path ./rollouts/fc350full_t3_s0/2026_08_03-14_33_21--with_future_img--episode=11--success=False--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: False
+# episodes completed so far: 11
+# successes: 9 (81.8%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 12...
+Query 1/1: Action query time = 2.197 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2313
+t=10: Selected seed 195 with value = 0.2313
+Query 1/1: Action query time = 1.195 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2502
+t=26: Selected seed 195 with value = 0.2502
+Query 1/1: Action query time = 1.213 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3174
+t=42: Selected seed 195 with value = 0.3174
+Query 1/1: Action query time = 1.330 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3410
+t=58: Selected seed 195 with value = 0.3410
+Query 1/1: Action query time = 2.203 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3963
+t=74: Selected seed 195 with value = 0.3963
+Query 1/1: Action query time = 2.121 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4852
+t=90: Selected seed 195 with value = 0.4852
+Query 1/1: Action query time = 1.828 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5859
+t=106: Selected seed 195 with value = 0.5859
+Query 1/1: Action query time = 1.625 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7112
+t=122: Selected seed 195 with value = 0.7112
+Query 1/1: Action query time = 1.674 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8239
+t=138: Selected seed 195 with value = 0.8239
+Query 1/1: Action query time = 1.847 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9304
+t=154: Selected seed 195 with value = 0.9304
+Query 1/1: Action query time = 1.794 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9981
+t=170: Selected seed 195 with value = 0.9981
+Query 1/1: Action query time = 1.839 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9634
+t=186: Selected seed 195 with value = 0.9634
+Query 1/1: Action query time = 1.841 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9689
+t=202: Selected seed 195 with value = 0.9689
+Query 1/1: Action query time = 1.869 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9728
+t=218: Selected seed 195 with value = 0.9728
+Query 1/1: Action query time = 1.892 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3402
+t=234: Selected seed 195 with value = 0.3402
+Query 1/1: Action query time = 1.264 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3496
+t=250: Selected seed 195 with value = 0.3496
+Query 1/1: Action query time = 1.183 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9115
+t=266: Selected seed 195 with value = 0.9115
+Query 1/1: Action query time = 1.293 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9127
+t=282: Selected seed 195 with value = 0.9127
+Query 1/1: Action query time = 1.594 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9054
+t=298: Selected seed 195 with value = 0.9054
+Saved rollout MP4 at path ./rollouts/fc350full_t3_s0/2026_08_03-14_33_21--with_future_img--episode=12--success=False--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: False
+# episodes completed so far: 12
+# successes: 9 (75.0%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 13...
+Query 1/1: Action query time = 1.412 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2286
+t=10: Selected seed 195 with value = 0.2286
+Query 1/1: Action query time = 1.541 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2577
+t=26: Selected seed 195 with value = 0.2577
+Query 1/1: Action query time = 1.874 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3234
+t=42: Selected seed 195 with value = 0.3234
+Query 1/1: Action query time = 1.831 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3780
+t=58: Selected seed 195 with value = 0.3780
+Query 1/1: Action query time = 1.838 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4312
+t=74: Selected seed 195 with value = 0.4312
+Query 1/1: Action query time = 1.663 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5316
+t=90: Selected seed 195 with value = 0.5316
+Query 1/1: Action query time = 0.967 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6076
+t=106: Selected seed 195 with value = 0.6076
+Query 1/1: Action query time = 0.956 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7151
+t=122: Selected seed 195 with value = 0.7151
+Query 1/1: Action query time = 0.964 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8094
+t=138: Selected seed 195 with value = 0.8094
+Query 1/1: Action query time = 1.146 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9374
+t=154: Selected seed 195 with value = 0.9374
+Query 1/1: Action query time = 1.257 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9799
+t=170: Selected seed 195 with value = 0.9799
+Query 1/1: Action query time = 1.230 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9591
+t=186: Selected seed 195 with value = 0.9591
+Query 1/1: Action query time = 1.257 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9688
+t=202: Selected seed 195 with value = 0.9688
+Query 1/1: Action query time = 1.211 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9671
+t=218: Selected seed 195 with value = 0.9671
+Query 1/1: Action query time = 1.225 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9699
+t=234: Selected seed 195 with value = 0.9699
+Query 1/1: Action query time = 1.250 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9814
+t=250: Selected seed 195 with value = 0.9814
+Query 1/1: Action query time = 1.069 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4137
+t=266: Selected seed 195 with value = 0.4137
+Query 1/1: Action query time = 1.191 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3655
+t=282: Selected seed 195 with value = 0.3655
+Query 1/1: Action query time = 1.234 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4835
+t=298: Selected seed 195 with value = 0.4835
+Saved rollout MP4 at path ./rollouts/fc350full_t3_s0/2026_08_03-14_33_21--with_future_img--episode=13--success=False--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: False
+# episodes completed so far: 13
+# successes: 9 (69.2%)
+Current task success rate: 0.6923076923076923
+Current total success rate: 0.6923076923076923
+Final results:
+Total episodes: 13
+Total successes: 9
+Overall success rate: 0.6923 (69.2%)
diff --git a/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_03-14_33_22--fc350full_t2_s2.txt b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_03-14_33_22--fc350full_t2_s2.txt
new file mode 100644
index 0000000000000000000000000000000000000000..322bf5e68ea4344d9775f9373dce9f48b2cb1651
--- /dev/null
+++ b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_03-14_33_22--fc350full_t2_s2.txt
@@ -0,0 +1,492 @@
+Eval config: PolicyEvalConfig(suite='libero', model_family='cosmos', config='cosmos_predict2_2b_480p_libero_cl_stage_inference_only', ckpt_path='/home/azureuser/REGEN-main/new_task7/cosmos_policy/cosmos_v2_finetune/cosmos_predict2_2b_480p_libero_goal_task7_forget_cl_from100_2gpu/checkpoints/iter_000000350/model', planning_model_config_name='', planning_model_ckpt_path='', config_file='cosmos_policy/config/config.py', packnet_mask_path='', packnet_first_cl_libero_task=6, use_third_person_image=True, num_third_person_images=1, use_wrist_image=True, num_wrist_images=1, use_proprio=True, flip_images=True, use_variance_scale=False, use_jpeg_compression=True, ar_future_prediction=False, ar_value_prediction=False, ar_qvalue_prediction=False, num_denoising_steps_action=5, num_denoising_steps_future_state=1, num_denoising_steps_value=1, unnormalize_actions=True, normalize_proprio=True, dataset_stats_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/libero_goal_regen/dataset_statistics.json', t5_text_embeddings_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/t5_embeddings.pkl', trained_with_image_aug=True, chunk_size=16, num_open_loop_steps=16, deterministic=True, deterministic_reset=False, deterministic_reset_seed=None, use_ensemble_future_state_predictions=False, num_future_state_predictions_in_ensemble=3, future_state_ensemble_aggregation_scheme='average', use_ensemble_value_predictions=False, num_value_predictions_in_ensemble=5, value_ensemble_aggregation_scheme='average', search_depth=1, mask_current_state_action_for_value_prediction=False, mask_future_state_for_qvalue_prediction=False, num_queries_best_of_n=1, use_parallel_inference=False, available_gpus='0', parallel_timeout=15, parallel_tasks_across_gpus=False, task_suite_name='libero_goal', num_trials_per_task=50, task_ids_to_run='2', initial_states_path='DEFAULT', env_img_res=256, local_log_dir='/home/azureuser/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal', run_id_note='fc350full_t2_s2', use_wandb=False, wandb_entity='YOUR_ENTITY', wandb_project='YOUR_PROJECT', seed=195, randomize_seed=False, data_collection=False, jpeg_compress=True, reward_stop_threshold=None, reward_stop_consecutive_steps=3, use_gpt_reward=False, gpt_reward_model='gpt-5.4-mini', gpt_reward_stop_threshold=4, gpt_reward_timeout_s=30.0, save_rollout_video=False, eval_hdf5_path='', eval_hdf5_demo_key='demo_0', data_gen_demo_ids='', eval_episode_ids='2,6,10,14,18,22,26,30,34,38,42,46', dump_final_states_path='', replay_actions=False, replay_action_path_dir='', replay_hdf5_path='', data_generation=False, max_generation_steps=200, disable_value_stop=False)
+Using serial inference (parallel inference disabled)
+Task suite: libero_goal
+Number of tasks: 10
+Running only task IDs: [2]
+Using default initial states
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 1...
+Query 1/1: Action query time = 5.024 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5657
+t=10: Selected seed 195 with value = 0.5657
+Query 1/1: Action query time = 5.005 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6133
+t=26: Selected seed 195 with value = 0.6133
+Query 1/1: Action query time = 5.871 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7184
+t=42: Selected seed 195 with value = 0.7184
+Query 1/1: Action query time = 5.165 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8578
+t=58: Selected seed 195 with value = 0.8578
+Query 1/1: Action query time = 4.202 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9778
+t=74: Selected seed 195 with value = 0.9778
+Query 1/1: Action query time = 4.533 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/fc350full_t2_s2/2026_08_03-14_33_22--with_future_img--episode=1--success=True--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: True
+# episodes completed so far: 1
+# successes: 1 (100.0%)
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 2...
+Query 1/1: Action query time = 2.967 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4857
+t=10: Selected seed 195 with value = 0.4857
+Query 1/1: Action query time = 5.024 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6741
+t=26: Selected seed 195 with value = 0.6741
+Query 1/1: Action query time = 5.291 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7677
+t=42: Selected seed 195 with value = 0.7677
+Query 1/1: Action query time = 5.026 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8925
+t=58: Selected seed 195 with value = 0.8925
+Query 1/1: Action query time = 4.649 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9847
+t=74: Selected seed 195 with value = 0.9847
+Query 1/1: Action query time = 2.941 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/fc350full_t2_s2/2026_08_03-14_33_22--with_future_img--episode=2--success=True--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: True
+# episodes completed so far: 2
+# successes: 2 (100.0%)
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 3...
+Query 1/1: Action query time = 4.604 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5453
+t=10: Selected seed 195 with value = 0.5453
+Query 1/1: Action query time = 5.208 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6695
+t=26: Selected seed 195 with value = 0.6695
+Query 1/1: Action query time = 5.061 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8035
+t=42: Selected seed 195 with value = 0.8035
+Query 1/1: Action query time = 5.368 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9177
+t=58: Selected seed 195 with value = 0.9177
+Query 1/1: Action query time = 5.266 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9988
+t=74: Selected seed 195 with value = 0.9988
+Query 1/1: Action query time = 4.470 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/fc350full_t2_s2/2026_08_03-14_33_22--with_future_img--episode=3--success=True--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: True
+# episodes completed so far: 3
+# successes: 3 (100.0%)
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 4...
+Query 1/1: Action query time = 5.951 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5797
+t=10: Selected seed 195 with value = 0.5797
+Query 1/1: Action query time = 5.241 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7049
+t=26: Selected seed 195 with value = 0.7049
+Query 1/1: Action query time = 4.772 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8285
+t=42: Selected seed 195 with value = 0.8285
+Query 1/1: Action query time = 4.418 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9900
+t=58: Selected seed 195 with value = 0.9900
+Query 1/1: Action query time = 4.566 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=74: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.422 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/fc350full_t2_s2/2026_08_03-14_33_22--with_future_img--episode=4--success=True--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: True
+# episodes completed so far: 4
+# successes: 4 (100.0%)
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 5...
+Query 1/1: Action query time = 4.556 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5862
+t=10: Selected seed 195 with value = 0.5862
+Query 1/1: Action query time = 5.595 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6710
+t=26: Selected seed 195 with value = 0.6710
+Query 1/1: Action query time = 5.325 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7688
+t=42: Selected seed 195 with value = 0.7688
+Query 1/1: Action query time = 4.543 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9313
+t=58: Selected seed 195 with value = 0.9313
+Query 1/1: Action query time = 4.867 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=74: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.170 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/fc350full_t2_s2/2026_08_03-14_33_22--with_future_img--episode=5--success=True--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: True
+# episodes completed so far: 5
+# successes: 5 (100.0%)
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 6...
+Query 1/1: Action query time = 3.844 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5415
+t=10: Selected seed 195 with value = 0.5415
+Query 1/1: Action query time = 5.688 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6004
+t=26: Selected seed 195 with value = 0.6004
+Query 1/1: Action query time = 3.818 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7750
+t=42: Selected seed 195 with value = 0.7750
+Query 1/1: Action query time = 4.907 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9106
+t=58: Selected seed 195 with value = 0.9106
+Query 1/1: Action query time = 5.061 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9855
+t=74: Selected seed 195 with value = 0.9855
+Query 1/1: Action query time = 5.484 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/fc350full_t2_s2/2026_08_03-14_33_22--with_future_img--episode=6--success=True--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: True
+# episodes completed so far: 6
+# successes: 6 (100.0%)
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 7...
+Query 1/1: Action query time = 4.364 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5240
+t=10: Selected seed 195 with value = 0.5240
+Query 1/1: Action query time = 4.835 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5484
+t=26: Selected seed 195 with value = 0.5484
+Query 1/1: Action query time = 4.968 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7116
+t=42: Selected seed 195 with value = 0.7116
+Query 1/1: Action query time = 4.470 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7976
+t=58: Selected seed 195 with value = 0.7976
+Query 1/1: Action query time = 5.248 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9300
+t=74: Selected seed 195 with value = 0.9300
+Query 1/1: Action query time = 4.994 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.287 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=106: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 3.713 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=122: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 5.733 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9996
+t=138: Selected seed 195 with value = 0.9996
+Query 1/1: Action query time = 3.495 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9990
+t=154: Selected seed 195 with value = 0.9990
+Query 1/1: Action query time = 4.813 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=170: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.909 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=186: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 5.423 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=202: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.568 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=218: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.920 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=234: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 5.249 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=250: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.402 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=266: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 5.344 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=282: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.717 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=298: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/fc350full_t2_s2/2026_08_03-14_33_22--with_future_img--episode=7--success=False--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: False
+# episodes completed so far: 7
+# successes: 6 (85.7%)
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 8...
+Query 1/1: Action query time = 3.090 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5892
+t=10: Selected seed 195 with value = 0.5892
+Query 1/1: Action query time = 4.479 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7090
+t=26: Selected seed 195 with value = 0.7090
+Query 1/1: Action query time = 5.664 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8016
+t=42: Selected seed 195 with value = 0.8016
+Query 1/1: Action query time = 5.409 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9627
+t=58: Selected seed 195 with value = 0.9627
+Query 1/1: Action query time = 4.785 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=74: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 5.082 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/fc350full_t2_s2/2026_08_03-14_33_22--with_future_img--episode=8--success=True--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: True
+# episodes completed so far: 8
+# successes: 7 (87.5%)
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 9...
+Query 1/1: Action query time = 4.261 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5407
+t=10: Selected seed 195 with value = 0.5407
+Query 1/1: Action query time = 5.067 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6557
+t=26: Selected seed 195 with value = 0.6557
+Query 1/1: Action query time = 5.835 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7210
+t=42: Selected seed 195 with value = 0.7210
+Query 1/1: Action query time = 5.765 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8874
+t=58: Selected seed 195 with value = 0.8874
+Query 1/1: Action query time = 4.521 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9763
+t=74: Selected seed 195 with value = 0.9763
+Query 1/1: Action query time = 4.822 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/fc350full_t2_s2/2026_08_03-14_33_22--with_future_img--episode=9--success=True--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: True
+# episodes completed so far: 9
+# successes: 8 (88.9%)
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 10...
+Query 1/1: Action query time = 5.017 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5874
+t=10: Selected seed 195 with value = 0.5874
+Query 1/1: Action query time = 4.425 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6919
+t=26: Selected seed 195 with value = 0.6919
+Query 1/1: Action query time = 4.877 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8185
+t=42: Selected seed 195 with value = 0.8185
+Query 1/1: Action query time = 4.743 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9633
+t=58: Selected seed 195 with value = 0.9633
+Query 1/1: Action query time = 4.211 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=74: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.003 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/fc350full_t2_s2/2026_08_03-14_33_22--with_future_img--episode=10--success=True--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: True
+# episodes completed so far: 10
+# successes: 9 (90.0%)
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 11...
+Query 1/1: Action query time = 5.639 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5631
+t=10: Selected seed 195 with value = 0.5631
+Query 1/1: Action query time = 3.934 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6310
+t=26: Selected seed 195 with value = 0.6310
+Query 1/1: Action query time = 4.841 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7262
+t=42: Selected seed 195 with value = 0.7262
+Query 1/1: Action query time = 4.392 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8905
+t=58: Selected seed 195 with value = 0.8905
+Query 1/1: Action query time = 3.605 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9823
+t=74: Selected seed 195 with value = 0.9823
+Query 1/1: Action query time = 4.360 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.789 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=106: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/fc350full_t2_s2/2026_08_03-14_33_22--with_future_img--episode=11--success=True--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: True
+# episodes completed so far: 11
+# successes: 10 (90.9%)
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 12...
+Query 1/1: Action query time = 5.056 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5623
+t=10: Selected seed 195 with value = 0.5623
+Query 1/1: Action query time = 4.493 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6294
+t=26: Selected seed 195 with value = 0.6294
+Query 1/1: Action query time = 3.422 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7504
+t=42: Selected seed 195 with value = 0.7504
+Query 1/1: Action query time = 4.199 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9190
+t=58: Selected seed 195 with value = 0.9190
+Query 1/1: Action query time = 3.287 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8984
+t=74: Selected seed 195 with value = 0.8984
+Query 1/1: Action query time = 3.558 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9769
+t=90: Selected seed 195 with value = 0.9769
+Query 1/1: Action query time = 4.365 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=106: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.432 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=122: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 3.971 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=138: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 2.725 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=154: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 2.055 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=170: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 2.287 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=186: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.190 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=202: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.085 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=218: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.203 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=234: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 3.069 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9987
+t=250: Selected seed 195 with value = 0.9987
+Query 1/1: Action query time = 3.052 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9957
+t=266: Selected seed 195 with value = 0.9957
+Query 1/1: Action query time = 3.545 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9865
+t=282: Selected seed 195 with value = 0.9865
+Query 1/1: Action query time = 3.986 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9468
+t=298: Selected seed 195 with value = 0.9468
+Saved rollout MP4 at path ./rollouts/fc350full_t2_s2/2026_08_03-14_33_22--with_future_img--episode=12--success=False--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: False
+# episodes completed so far: 12
+# successes: 10 (83.3%)
+Current task success rate: 0.8333333333333334
+Current total success rate: 0.8333333333333334
+Final results:
+Total episodes: 12
+Total successes: 10
+Overall success rate: 0.8333 (83.3%)
diff --git a/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_03-14_33_22--fc350full_t3_s2.txt b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_03-14_33_22--fc350full_t3_s2.txt
new file mode 100644
index 0000000000000000000000000000000000000000..a3d23c16834aaeed5880619c44abb952cb3fdd77
--- /dev/null
+++ b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_03-14_33_22--fc350full_t3_s2.txt
@@ -0,0 +1,724 @@
+Eval config: PolicyEvalConfig(suite='libero', model_family='cosmos', config='cosmos_predict2_2b_480p_libero_cl_stage_inference_only', ckpt_path='/home/azureuser/REGEN-main/new_task7/cosmos_policy/cosmos_v2_finetune/cosmos_predict2_2b_480p_libero_goal_task7_forget_cl_from100_2gpu/checkpoints/iter_000000350/model', planning_model_config_name='', planning_model_ckpt_path='', config_file='cosmos_policy/config/config.py', packnet_mask_path='', packnet_first_cl_libero_task=6, use_third_person_image=True, num_third_person_images=1, use_wrist_image=True, num_wrist_images=1, use_proprio=True, flip_images=True, use_variance_scale=False, use_jpeg_compression=True, ar_future_prediction=False, ar_value_prediction=False, ar_qvalue_prediction=False, num_denoising_steps_action=5, num_denoising_steps_future_state=1, num_denoising_steps_value=1, unnormalize_actions=True, normalize_proprio=True, dataset_stats_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/libero_goal_regen/dataset_statistics.json', t5_text_embeddings_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/t5_embeddings.pkl', trained_with_image_aug=True, chunk_size=16, num_open_loop_steps=16, deterministic=True, deterministic_reset=False, deterministic_reset_seed=None, use_ensemble_future_state_predictions=False, num_future_state_predictions_in_ensemble=3, future_state_ensemble_aggregation_scheme='average', use_ensemble_value_predictions=False, num_value_predictions_in_ensemble=5, value_ensemble_aggregation_scheme='average', search_depth=1, mask_current_state_action_for_value_prediction=False, mask_future_state_for_qvalue_prediction=False, num_queries_best_of_n=1, use_parallel_inference=False, available_gpus='0', parallel_timeout=15, parallel_tasks_across_gpus=False, task_suite_name='libero_goal', num_trials_per_task=50, task_ids_to_run='3', initial_states_path='DEFAULT', env_img_res=256, local_log_dir='/home/azureuser/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal', run_id_note='fc350full_t3_s2', use_wandb=False, wandb_entity='YOUR_ENTITY', wandb_project='YOUR_PROJECT', seed=195, randomize_seed=False, data_collection=False, jpeg_compress=True, reward_stop_threshold=None, reward_stop_consecutive_steps=3, use_gpt_reward=False, gpt_reward_model='gpt-5.4-mini', gpt_reward_stop_threshold=4, gpt_reward_timeout_s=30.0, save_rollout_video=False, eval_hdf5_path='', eval_hdf5_demo_key='demo_0', data_gen_demo_ids='', eval_episode_ids='2,6,10,14,18,22,26,30,34,38,42,46', dump_final_states_path='', replay_actions=False, replay_action_path_dir='', replay_hdf5_path='', data_generation=False, max_generation_steps=200, disable_value_stop=False)
+Using serial inference (parallel inference disabled)
+Task suite: libero_goal
+Number of tasks: 10
+Running only task IDs: [3]
+Using default initial states
+
+Task: open the top drawer and put the bowl inside
+Starting episode 1...
+Query 1/1: Action query time = 5.228 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2255
+t=10: Selected seed 195 with value = 0.2255
+Query 1/1: Action query time = 4.261 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2722
+t=26: Selected seed 195 with value = 0.2722
+Query 1/1: Action query time = 5.411 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3059
+t=42: Selected seed 195 with value = 0.3059
+Query 1/1: Action query time = 5.102 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3442
+t=58: Selected seed 195 with value = 0.3442
+Query 1/1: Action query time = 4.768 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4132
+t=74: Selected seed 195 with value = 0.4132
+Query 1/1: Action query time = 4.104 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4617
+t=90: Selected seed 195 with value = 0.4617
+Query 1/1: Action query time = 3.740 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5809
+t=106: Selected seed 195 with value = 0.5809
+Query 1/1: Action query time = 6.036 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7378
+t=122: Selected seed 195 with value = 0.7378
+Query 1/1: Action query time = 5.319 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8174
+t=138: Selected seed 195 with value = 0.8174
+Query 1/1: Action query time = 4.796 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9277
+t=154: Selected seed 195 with value = 0.9277
+Query 1/1: Action query time = 5.012 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9925
+t=170: Selected seed 195 with value = 0.9925
+Saved rollout MP4 at path ./rollouts/fc350full_t3_s2/2026_08_03-14_33_22--with_future_img--episode=1--success=True--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: True
+# episodes completed so far: 1
+# successes: 1 (100.0%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 2...
+Query 1/1: Action query time = 2.427 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2210
+t=10: Selected seed 195 with value = 0.2210
+Query 1/1: Action query time = 4.175 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2539
+t=26: Selected seed 195 with value = 0.2539
+Query 1/1: Action query time = 4.843 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3342
+t=42: Selected seed 195 with value = 0.3342
+Query 1/1: Action query time = 4.758 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3675
+t=58: Selected seed 195 with value = 0.3675
+Query 1/1: Action query time = 4.560 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4279
+t=74: Selected seed 195 with value = 0.4279
+Query 1/1: Action query time = 5.201 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4739
+t=90: Selected seed 195 with value = 0.4739
+Query 1/1: Action query time = 4.716 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5888
+t=106: Selected seed 195 with value = 0.5888
+Query 1/1: Action query time = 3.238 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6557
+t=122: Selected seed 195 with value = 0.6557
+Query 1/1: Action query time = 3.185 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7881
+t=138: Selected seed 195 with value = 0.7881
+Query 1/1: Action query time = 5.443 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9259
+t=154: Selected seed 195 with value = 0.9259
+Query 1/1: Action query time = 5.106 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9919
+t=170: Selected seed 195 with value = 0.9919
+Query 1/1: Action query time = 5.214 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=186: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/fc350full_t3_s2/2026_08_03-14_33_22--with_future_img--episode=2--success=True--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: True
+# episodes completed so far: 2
+# successes: 2 (100.0%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 3...
+Query 1/1: Action query time = 4.763 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2318
+t=10: Selected seed 195 with value = 0.2318
+Query 1/1: Action query time = 5.250 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2586
+t=26: Selected seed 195 with value = 0.2586
+Query 1/1: Action query time = 4.624 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3231
+t=42: Selected seed 195 with value = 0.3231
+Query 1/1: Action query time = 5.273 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3749
+t=58: Selected seed 195 with value = 0.3749
+Query 1/1: Action query time = 4.738 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4365
+t=74: Selected seed 195 with value = 0.4365
+Query 1/1: Action query time = 3.387 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5111
+t=90: Selected seed 195 with value = 0.5111
+Query 1/1: Action query time = 4.402 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6022
+t=106: Selected seed 195 with value = 0.6022
+Query 1/1: Action query time = 4.675 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8137
+t=122: Selected seed 195 with value = 0.8137
+Query 1/1: Action query time = 4.258 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8438
+t=138: Selected seed 195 with value = 0.8438
+Query 1/1: Action query time = 3.447 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9864
+t=154: Selected seed 195 with value = 0.9864
+Query 1/1: Action query time = 5.255 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=170: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/fc350full_t3_s2/2026_08_03-14_33_22--with_future_img--episode=3--success=True--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: True
+# episodes completed so far: 3
+# successes: 3 (100.0%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 4...
+Query 1/1: Action query time = 5.115 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2236
+t=10: Selected seed 195 with value = 0.2236
+Query 1/1: Action query time = 5.353 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2574
+t=26: Selected seed 195 with value = 0.2574
+Query 1/1: Action query time = 4.697 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3305
+t=42: Selected seed 195 with value = 0.3305
+Query 1/1: Action query time = 3.731 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3853
+t=58: Selected seed 195 with value = 0.3853
+Query 1/1: Action query time = 3.385 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4405
+t=74: Selected seed 195 with value = 0.4405
+Query 1/1: Action query time = 4.883 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4992
+t=90: Selected seed 195 with value = 0.4992
+Query 1/1: Action query time = 5.181 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6023
+t=106: Selected seed 195 with value = 0.6023
+Query 1/1: Action query time = 5.230 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7450
+t=122: Selected seed 195 with value = 0.7450
+Query 1/1: Action query time = 3.808 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8782
+t=138: Selected seed 195 with value = 0.8782
+Query 1/1: Action query time = 4.674 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=154: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 5.342 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=170: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/fc350full_t3_s2/2026_08_03-14_33_22--with_future_img--episode=4--success=True--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: True
+# episodes completed so far: 4
+# successes: 4 (100.0%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 5...
+Query 1/1: Action query time = 4.997 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2242
+t=10: Selected seed 195 with value = 0.2242
+Query 1/1: Action query time = 3.942 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2709
+t=26: Selected seed 195 with value = 0.2709
+Query 1/1: Action query time = 4.602 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2989
+t=42: Selected seed 195 with value = 0.2989
+Query 1/1: Action query time = 5.347 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3390
+t=58: Selected seed 195 with value = 0.3390
+Query 1/1: Action query time = 5.303 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4036
+t=74: Selected seed 195 with value = 0.4036
+Query 1/1: Action query time = 4.463 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4525
+t=90: Selected seed 195 with value = 0.4525
+Query 1/1: Action query time = 4.664 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5623
+t=106: Selected seed 195 with value = 0.5623
+Query 1/1: Action query time = 5.244 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6675
+t=122: Selected seed 195 with value = 0.6675
+Query 1/1: Action query time = 4.717 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7477
+t=138: Selected seed 195 with value = 0.7477
+Query 1/1: Action query time = 4.876 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8750
+t=154: Selected seed 195 with value = 0.8750
+Query 1/1: Action query time = 4.032 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8927
+t=170: Selected seed 195 with value = 0.8927
+Query 1/1: Action query time = 3.877 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8864
+t=186: Selected seed 195 with value = 0.8864
+Query 1/1: Action query time = 3.336 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9487
+t=202: Selected seed 195 with value = 0.9487
+Query 1/1: Action query time = 3.433 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9727
+t=218: Selected seed 195 with value = 0.9727
+Query 1/1: Action query time = 4.410 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9729
+t=234: Selected seed 195 with value = 0.9729
+Query 1/1: Action query time = 5.092 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9731
+t=250: Selected seed 195 with value = 0.9731
+Query 1/1: Action query time = 4.519 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9725
+t=266: Selected seed 195 with value = 0.9725
+Query 1/1: Action query time = 4.811 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9892
+t=282: Selected seed 195 with value = 0.9892
+Query 1/1: Action query time = 4.648 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=298: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/fc350full_t3_s2/2026_08_03-14_33_22--with_future_img--episode=5--success=False--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: False
+# episodes completed so far: 5
+# successes: 4 (80.0%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 6...
+Query 1/1: Action query time = 3.326 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2274
+t=10: Selected seed 195 with value = 0.2274
+Query 1/1: Action query time = 4.614 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2608
+t=26: Selected seed 195 with value = 0.2608
+Query 1/1: Action query time = 5.050 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3281
+t=42: Selected seed 195 with value = 0.3281
+Query 1/1: Action query time = 6.074 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3772
+t=58: Selected seed 195 with value = 0.3772
+Query 1/1: Action query time = 5.685 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4309
+t=74: Selected seed 195 with value = 0.4309
+Query 1/1: Action query time = 4.128 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4958
+t=90: Selected seed 195 with value = 0.4958
+Query 1/1: Action query time = 2.781 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5988
+t=106: Selected seed 195 with value = 0.5988
+Query 1/1: Action query time = 4.822 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7498
+t=122: Selected seed 195 with value = 0.7498
+Query 1/1: Action query time = 4.089 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8617
+t=138: Selected seed 195 with value = 0.8617
+Query 1/1: Action query time = 4.774 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9265
+t=154: Selected seed 195 with value = 0.9265
+Query 1/1: Action query time = 4.275 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=170: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/fc350full_t3_s2/2026_08_03-14_33_22--with_future_img--episode=6--success=True--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: True
+# episodes completed so far: 6
+# successes: 5 (83.3%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 7...
+Query 1/1: Action query time = 4.117 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2211
+t=10: Selected seed 195 with value = 0.2211
+Query 1/1: Action query time = 3.059 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2491
+t=26: Selected seed 195 with value = 0.2491
+Query 1/1: Action query time = 4.988 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3132
+t=42: Selected seed 195 with value = 0.3132
+Query 1/1: Action query time = 5.324 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3490
+t=58: Selected seed 195 with value = 0.3490
+Query 1/1: Action query time = 4.430 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4108
+t=74: Selected seed 195 with value = 0.4108
+Query 1/1: Action query time = 3.608 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4816
+t=90: Selected seed 195 with value = 0.4816
+Query 1/1: Action query time = 4.803 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5841
+t=106: Selected seed 195 with value = 0.5841
+Query 1/1: Action query time = 4.641 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6724
+t=122: Selected seed 195 with value = 0.6724
+Query 1/1: Action query time = 4.693 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8143
+t=138: Selected seed 195 with value = 0.8143
+Query 1/1: Action query time = 2.488 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9476
+t=154: Selected seed 195 with value = 0.9476
+Query 1/1: Action query time = 4.557 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9957
+t=170: Selected seed 195 with value = 0.9957
+Query 1/1: Action query time = 4.220 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9667
+t=186: Selected seed 195 with value = 0.9667
+Query 1/1: Action query time = 3.278 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9700
+t=202: Selected seed 195 with value = 0.9700
+Query 1/1: Action query time = 4.142 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9776
+t=218: Selected seed 195 with value = 0.9776
+Query 1/1: Action query time = 3.098 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3253
+t=234: Selected seed 195 with value = 0.3253
+Query 1/1: Action query time = 3.444 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3276
+t=250: Selected seed 195 with value = 0.3276
+Query 1/1: Action query time = 4.377 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3322
+t=266: Selected seed 195 with value = 0.3322
+Query 1/1: Action query time = 4.528 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3323
+t=282: Selected seed 195 with value = 0.3323
+Query 1/1: Action query time = 4.153 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3352
+t=298: Selected seed 195 with value = 0.3352
+Saved rollout MP4 at path ./rollouts/fc350full_t3_s2/2026_08_03-14_33_22--with_future_img--episode=7--success=False--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: False
+# episodes completed so far: 7
+# successes: 5 (71.4%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 8...
+Query 1/1: Action query time = 3.544 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2265
+t=10: Selected seed 195 with value = 0.2265
+Query 1/1: Action query time = 3.497 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2565
+t=26: Selected seed 195 with value = 0.2565
+Query 1/1: Action query time = 3.386 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3292
+t=42: Selected seed 195 with value = 0.3292
+Query 1/1: Action query time = 3.565 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3752
+t=58: Selected seed 195 with value = 0.3752
+Query 1/1: Action query time = 3.098 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4263
+t=74: Selected seed 195 with value = 0.4263
+Query 1/1: Action query time = 3.548 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5011
+t=90: Selected seed 195 with value = 0.5011
+Query 1/1: Action query time = 2.644 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5982
+t=106: Selected seed 195 with value = 0.5982
+Query 1/1: Action query time = 3.659 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7018
+t=122: Selected seed 195 with value = 0.7018
+Query 1/1: Action query time = 3.637 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8082
+t=138: Selected seed 195 with value = 0.8082
+Query 1/1: Action query time = 2.809 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9058
+t=154: Selected seed 195 with value = 0.9058
+Query 1/1: Action query time = 3.079 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=170: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/fc350full_t3_s2/2026_08_03-14_33_22--with_future_img--episode=8--success=True--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: True
+# episodes completed so far: 8
+# successes: 6 (75.0%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 9...
+Query 1/1: Action query time = 2.964 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2231
+t=10: Selected seed 195 with value = 0.2231
+Query 1/1: Action query time = 2.897 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2581
+t=26: Selected seed 195 with value = 0.2581
+Query 1/1: Action query time = 2.790 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3280
+t=42: Selected seed 195 with value = 0.3280
+Query 1/1: Action query time = 3.375 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3774
+t=58: Selected seed 195 with value = 0.3774
+Query 1/1: Action query time = 3.594 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4283
+t=74: Selected seed 195 with value = 0.4283
+Query 1/1: Action query time = 3.315 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4998
+t=90: Selected seed 195 with value = 0.4998
+Query 1/1: Action query time = 3.215 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6030
+t=106: Selected seed 195 with value = 0.6030
+Query 1/1: Action query time = 3.434 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8288
+t=122: Selected seed 195 with value = 0.8288
+Query 1/1: Action query time = 3.301 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8565
+t=138: Selected seed 195 with value = 0.8565
+Query 1/1: Action query time = 3.326 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9936
+t=154: Selected seed 195 with value = 0.9936
+Query 1/1: Action query time = 3.307 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=170: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/fc350full_t3_s2/2026_08_03-14_33_22--with_future_img--episode=9--success=True--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: True
+# episodes completed so far: 9
+# successes: 7 (77.8%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 10...
+Query 1/1: Action query time = 2.388 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2318
+t=10: Selected seed 195 with value = 0.2318
+Query 1/1: Action query time = 2.242 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2528
+t=26: Selected seed 195 with value = 0.2528
+Query 1/1: Action query time = 3.526 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2846
+t=42: Selected seed 195 with value = 0.2846
+Query 1/1: Action query time = 3.049 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3534
+t=58: Selected seed 195 with value = 0.3534
+Query 1/1: Action query time = 2.708 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4124
+t=74: Selected seed 195 with value = 0.4124
+Query 1/1: Action query time = 2.920 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4563
+t=90: Selected seed 195 with value = 0.4563
+Query 1/1: Action query time = 3.091 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5972
+t=106: Selected seed 195 with value = 0.5972
+Query 1/1: Action query time = 3.117 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6609
+t=122: Selected seed 195 with value = 0.6609
+Query 1/1: Action query time = 2.782 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8611
+t=138: Selected seed 195 with value = 0.8611
+Query 1/1: Action query time = 2.553 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9238
+t=154: Selected seed 195 with value = 0.9238
+Query 1/1: Action query time = 2.582 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=170: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 2.047 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9651
+t=186: Selected seed 195 with value = 0.9651
+Query 1/1: Action query time = 2.197 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9632
+t=202: Selected seed 195 with value = 0.9632
+Query 1/1: Action query time = 2.386 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3194
+t=218: Selected seed 195 with value = 0.3194
+Query 1/1: Action query time = 1.357 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3357
+t=234: Selected seed 195 with value = 0.3357
+Query 1/1: Action query time = 1.532 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5099
+t=250: Selected seed 195 with value = 0.5099
+Query 1/1: Action query time = 2.400 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5310
+t=266: Selected seed 195 with value = 0.5310
+Query 1/1: Action query time = 2.405 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5161
+t=282: Selected seed 195 with value = 0.5161
+Query 1/1: Action query time = 2.437 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5022
+t=298: Selected seed 195 with value = 0.5022
+Saved rollout MP4 at path ./rollouts/fc350full_t3_s2/2026_08_03-14_33_22--with_future_img--episode=10--success=False--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: False
+# episodes completed so far: 10
+# successes: 7 (70.0%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 11...
+Query 1/1: Action query time = 2.674 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2276
+t=10: Selected seed 195 with value = 0.2276
+Query 1/1: Action query time = 1.878 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2633
+t=26: Selected seed 195 with value = 0.2633
+Query 1/1: Action query time = 1.692 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3263
+t=42: Selected seed 195 with value = 0.3263
+Query 1/1: Action query time = 1.367 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3779
+t=58: Selected seed 195 with value = 0.3779
+Query 1/1: Action query time = 1.724 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4295
+t=74: Selected seed 195 with value = 0.4295
+Query 1/1: Action query time = 1.412 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4930
+t=90: Selected seed 195 with value = 0.4930
+Query 1/1: Action query time = 1.225 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6049
+t=106: Selected seed 195 with value = 0.6049
+Query 1/1: Action query time = 1.281 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7447
+t=122: Selected seed 195 with value = 0.7447
+Query 1/1: Action query time = 1.725 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8824
+t=138: Selected seed 195 with value = 0.8824
+Query 1/1: Action query time = 1.576 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9823
+t=154: Selected seed 195 with value = 0.9823
+Query 1/1: Action query time = 1.656 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9984
+t=170: Selected seed 195 with value = 0.9984
+Saved rollout MP4 at path ./rollouts/fc350full_t3_s2/2026_08_03-14_33_22--with_future_img--episode=11--success=True--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: True
+# episodes completed so far: 11
+# successes: 8 (72.7%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 12...
+Query 1/1: Action query time = 1.677 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2270
+t=10: Selected seed 195 with value = 0.2270
+Query 1/1: Action query time = 1.853 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2519
+t=26: Selected seed 195 with value = 0.2519
+Query 1/1: Action query time = 1.687 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3135
+t=42: Selected seed 195 with value = 0.3135
+Query 1/1: Action query time = 1.703 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3649
+t=58: Selected seed 195 with value = 0.3649
+Query 1/1: Action query time = 1.702 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4232
+t=74: Selected seed 195 with value = 0.4232
+Query 1/1: Action query time = 1.750 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4787
+t=90: Selected seed 195 with value = 0.4787
+Query 1/1: Action query time = 1.671 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5795
+t=106: Selected seed 195 with value = 0.5795
+Query 1/1: Action query time = 1.308 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6944
+t=122: Selected seed 195 with value = 0.6944
+Query 1/1: Action query time = 1.246 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8016
+t=138: Selected seed 195 with value = 0.8016
+Query 1/1: Action query time = 1.904 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9256
+t=154: Selected seed 195 with value = 0.9256
+Query 1/1: Action query time = 1.663 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=170: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/fc350full_t3_s2/2026_08_03-14_33_22--with_future_img--episode=12--success=True--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: True
+# episodes completed so far: 12
+# successes: 9 (75.0%)
+Current task success rate: 0.75
+Current total success rate: 0.75
+Final results:
+Total episodes: 12
+Total successes: 9
+Overall success rate: 0.7500 (75.0%)
diff --git a/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_03-14_33_22--fc350full_t3_s3.txt b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_03-14_33_22--fc350full_t3_s3.txt
new file mode 100644
index 0000000000000000000000000000000000000000..dfbe7a9f817333cc1c0d32288f48fbcea641cb02
--- /dev/null
+++ b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_03-14_33_22--fc350full_t3_s3.txt
@@ -0,0 +1,648 @@
+Eval config: PolicyEvalConfig(suite='libero', model_family='cosmos', config='cosmos_predict2_2b_480p_libero_cl_stage_inference_only', ckpt_path='/home/azureuser/REGEN-main/new_task7/cosmos_policy/cosmos_v2_finetune/cosmos_predict2_2b_480p_libero_goal_task7_forget_cl_from100_2gpu/checkpoints/iter_000000350/model', planning_model_config_name='', planning_model_ckpt_path='', config_file='cosmos_policy/config/config.py', packnet_mask_path='', packnet_first_cl_libero_task=6, use_third_person_image=True, num_third_person_images=1, use_wrist_image=True, num_wrist_images=1, use_proprio=True, flip_images=True, use_variance_scale=False, use_jpeg_compression=True, ar_future_prediction=False, ar_value_prediction=False, ar_qvalue_prediction=False, num_denoising_steps_action=5, num_denoising_steps_future_state=1, num_denoising_steps_value=1, unnormalize_actions=True, normalize_proprio=True, dataset_stats_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/libero_goal_regen/dataset_statistics.json', t5_text_embeddings_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/t5_embeddings.pkl', trained_with_image_aug=True, chunk_size=16, num_open_loop_steps=16, deterministic=True, deterministic_reset=False, deterministic_reset_seed=None, use_ensemble_future_state_predictions=False, num_future_state_predictions_in_ensemble=3, future_state_ensemble_aggregation_scheme='average', use_ensemble_value_predictions=False, num_value_predictions_in_ensemble=5, value_ensemble_aggregation_scheme='average', search_depth=1, mask_current_state_action_for_value_prediction=False, mask_future_state_for_qvalue_prediction=False, num_queries_best_of_n=1, use_parallel_inference=False, available_gpus='0', parallel_timeout=15, parallel_tasks_across_gpus=False, task_suite_name='libero_goal', num_trials_per_task=50, task_ids_to_run='3', initial_states_path='DEFAULT', env_img_res=256, local_log_dir='/home/azureuser/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal', run_id_note='fc350full_t3_s3', use_wandb=False, wandb_entity='YOUR_ENTITY', wandb_project='YOUR_PROJECT', seed=195, randomize_seed=False, data_collection=False, jpeg_compress=True, reward_stop_threshold=None, reward_stop_consecutive_steps=3, use_gpt_reward=False, gpt_reward_model='gpt-5.4-mini', gpt_reward_stop_threshold=4, gpt_reward_timeout_s=30.0, save_rollout_video=False, eval_hdf5_path='', eval_hdf5_demo_key='demo_0', data_gen_demo_ids='', eval_episode_ids='3,7,11,15,19,23,27,31,35,39,43,47', dump_final_states_path='', replay_actions=False, replay_action_path_dir='', replay_hdf5_path='', data_generation=False, max_generation_steps=200, disable_value_stop=False)
+Using serial inference (parallel inference disabled)
+Task suite: libero_goal
+Number of tasks: 10
+Running only task IDs: [3]
+Using default initial states
+
+Task: open the top drawer and put the bowl inside
+Starting episode 1...
+Query 1/1: Action query time = 4.253 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2210
+t=10: Selected seed 195 with value = 0.2210
+Query 1/1: Action query time = 5.505 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2694
+t=26: Selected seed 195 with value = 0.2694
+Query 1/1: Action query time = 5.105 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3011
+t=42: Selected seed 195 with value = 0.3011
+Query 1/1: Action query time = 4.652 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3412
+t=58: Selected seed 195 with value = 0.3412
+Query 1/1: Action query time = 4.716 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4175
+t=74: Selected seed 195 with value = 0.4175
+Query 1/1: Action query time = 5.104 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4597
+t=90: Selected seed 195 with value = 0.4597
+Query 1/1: Action query time = 4.633 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5723
+t=106: Selected seed 195 with value = 0.5723
+Query 1/1: Action query time = 4.897 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7182
+t=122: Selected seed 195 with value = 0.7182
+Query 1/1: Action query time = 4.795 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8429
+t=138: Selected seed 195 with value = 0.8429
+Query 1/1: Action query time = 4.811 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8881
+t=154: Selected seed 195 with value = 0.8881
+Query 1/1: Action query time = 5.275 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9913
+t=170: Selected seed 195 with value = 0.9913
+Query 1/1: Action query time = 4.102 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=186: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/fc350full_t3_s3/2026_08_03-14_33_22--with_future_img--episode=1--success=True--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: True
+# episodes completed so far: 1
+# successes: 1 (100.0%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 2...
+Query 1/1: Action query time = 4.526 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2374
+t=10: Selected seed 195 with value = 0.2374
+Query 1/1: Action query time = 5.013 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2723
+t=26: Selected seed 195 with value = 0.2723
+Query 1/1: Action query time = 5.458 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3118
+t=42: Selected seed 195 with value = 0.3118
+Query 1/1: Action query time = 5.016 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3485
+t=58: Selected seed 195 with value = 0.3485
+Query 1/1: Action query time = 4.798 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4138
+t=74: Selected seed 195 with value = 0.4138
+Query 1/1: Action query time = 4.614 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4555
+t=90: Selected seed 195 with value = 0.4555
+Query 1/1: Action query time = 2.311 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5715
+t=106: Selected seed 195 with value = 0.5715
+Query 1/1: Action query time = 3.346 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6493
+t=122: Selected seed 195 with value = 0.6493
+Query 1/1: Action query time = 5.620 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7643
+t=138: Selected seed 195 with value = 0.7643
+Query 1/1: Action query time = 4.711 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8852
+t=154: Selected seed 195 with value = 0.8852
+Query 1/1: Action query time = 4.940 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9918
+t=170: Selected seed 195 with value = 0.9918
+Query 1/1: Action query time = 4.287 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=186: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/fc350full_t3_s3/2026_08_03-14_33_22--with_future_img--episode=2--success=True--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: True
+# episodes completed so far: 2
+# successes: 2 (100.0%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 3...
+Query 1/1: Action query time = 5.099 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2159
+t=10: Selected seed 195 with value = 0.2159
+Query 1/1: Action query time = 3.815 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2615
+t=26: Selected seed 195 with value = 0.2615
+Query 1/1: Action query time = 3.791 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3216
+t=42: Selected seed 195 with value = 0.3216
+Query 1/1: Action query time = 4.864 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3691
+t=58: Selected seed 195 with value = 0.3691
+Query 1/1: Action query time = 4.804 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4274
+t=74: Selected seed 195 with value = 0.4274
+Query 1/1: Action query time = 4.693 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4810
+t=90: Selected seed 195 with value = 0.4810
+Query 1/1: Action query time = 4.461 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6003
+t=106: Selected seed 195 with value = 0.6003
+Query 1/1: Action query time = 3.997 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6710
+t=122: Selected seed 195 with value = 0.6710
+Query 1/1: Action query time = 4.261 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7882
+t=138: Selected seed 195 with value = 0.7882
+Query 1/1: Action query time = 3.599 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9172
+t=154: Selected seed 195 with value = 0.9172
+Query 1/1: Action query time = 4.764 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=170: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/fc350full_t3_s3/2026_08_03-14_33_22--with_future_img--episode=3--success=True--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: True
+# episodes completed so far: 3
+# successes: 3 (100.0%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 4...
+Query 1/1: Action query time = 4.803 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2253
+t=10: Selected seed 195 with value = 0.2253
+Query 1/1: Action query time = 3.983 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2605
+t=26: Selected seed 195 with value = 0.2605
+Query 1/1: Action query time = 4.975 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3155
+t=42: Selected seed 195 with value = 0.3155
+Query 1/1: Action query time = 3.892 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3611
+t=58: Selected seed 195 with value = 0.3611
+Query 1/1: Action query time = 5.790 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4164
+t=74: Selected seed 195 with value = 0.4164
+Query 1/1: Action query time = 4.621 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4770
+t=90: Selected seed 195 with value = 0.4770
+Query 1/1: Action query time = 4.550 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5846
+t=106: Selected seed 195 with value = 0.5846
+Query 1/1: Action query time = 3.574 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6846
+t=122: Selected seed 195 with value = 0.6846
+Query 1/1: Action query time = 5.060 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8394
+t=138: Selected seed 195 with value = 0.8394
+Query 1/1: Action query time = 5.286 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9145
+t=154: Selected seed 195 with value = 0.9145
+Query 1/1: Action query time = 3.239 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9886
+t=170: Selected seed 195 with value = 0.9886
+Saved rollout MP4 at path ./rollouts/fc350full_t3_s3/2026_08_03-14_33_22--with_future_img--episode=4--success=True--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: True
+# episodes completed so far: 4
+# successes: 4 (100.0%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 5...
+Query 1/1: Action query time = 4.363 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2325
+t=10: Selected seed 195 with value = 0.2325
+Query 1/1: Action query time = 4.940 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2621
+t=26: Selected seed 195 with value = 0.2621
+Query 1/1: Action query time = 5.029 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3045
+t=42: Selected seed 195 with value = 0.3045
+Query 1/1: Action query time = 5.049 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3377
+t=58: Selected seed 195 with value = 0.3377
+Query 1/1: Action query time = 4.944 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3969
+t=74: Selected seed 195 with value = 0.3969
+Query 1/1: Action query time = 4.643 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4469
+t=90: Selected seed 195 with value = 0.4469
+Query 1/1: Action query time = 4.932 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5627
+t=106: Selected seed 195 with value = 0.5627
+Query 1/1: Action query time = 4.654 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6174
+t=122: Selected seed 195 with value = 0.6174
+Query 1/1: Action query time = 4.792 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6965
+t=138: Selected seed 195 with value = 0.6965
+Query 1/1: Action query time = 3.900 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8726
+t=154: Selected seed 195 with value = 0.8726
+Query 1/1: Action query time = 4.168 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=170: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 3.322 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=186: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/fc350full_t3_s3/2026_08_03-14_33_22--with_future_img--episode=5--success=True--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: True
+# episodes completed so far: 5
+# successes: 5 (100.0%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 6...
+Query 1/1: Action query time = 4.355 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2238
+t=10: Selected seed 195 with value = 0.2238
+Query 1/1: Action query time = 5.867 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2534
+t=26: Selected seed 195 with value = 0.2534
+Query 1/1: Action query time = 5.281 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3200
+t=42: Selected seed 195 with value = 0.3200
+Query 1/1: Action query time = 4.786 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3724
+t=58: Selected seed 195 with value = 0.3724
+Query 1/1: Action query time = 4.843 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4301
+t=74: Selected seed 195 with value = 0.4301
+Query 1/1: Action query time = 3.506 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4816
+t=90: Selected seed 195 with value = 0.4816
+Query 1/1: Action query time = 3.125 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5803
+t=106: Selected seed 195 with value = 0.5803
+Query 1/1: Action query time = 4.936 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6731
+t=122: Selected seed 195 with value = 0.6731
+Query 1/1: Action query time = 5.127 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8061
+t=138: Selected seed 195 with value = 0.8061
+Query 1/1: Action query time = 4.480 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9227
+t=154: Selected seed 195 with value = 0.9227
+Query 1/1: Action query time = 4.792 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9961
+t=170: Selected seed 195 with value = 0.9961
+Query 1/1: Action query time = 5.424 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=186: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/fc350full_t3_s3/2026_08_03-14_33_22--with_future_img--episode=6--success=True--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: True
+# episodes completed so far: 6
+# successes: 6 (100.0%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 7...
+Query 1/1: Action query time = 4.132 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2313
+t=10: Selected seed 195 with value = 0.2313
+Query 1/1: Action query time = 5.009 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2612
+t=26: Selected seed 195 with value = 0.2612
+Query 1/1: Action query time = 5.293 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3158
+t=42: Selected seed 195 with value = 0.3158
+Query 1/1: Action query time = 4.926 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3526
+t=58: Selected seed 195 with value = 0.3526
+Query 1/1: Action query time = 4.277 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4139
+t=74: Selected seed 195 with value = 0.4139
+Query 1/1: Action query time = 3.948 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4617
+t=90: Selected seed 195 with value = 0.4617
+Query 1/1: Action query time = 4.278 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5768
+t=106: Selected seed 195 with value = 0.5768
+Query 1/1: Action query time = 5.817 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6530
+t=122: Selected seed 195 with value = 0.6530
+Query 1/1: Action query time = 4.797 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7811
+t=138: Selected seed 195 with value = 0.7811
+Query 1/1: Action query time = 4.577 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8906
+t=154: Selected seed 195 with value = 0.8906
+Query 1/1: Action query time = 4.388 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9960
+t=170: Selected seed 195 with value = 0.9960
+Query 1/1: Action query time = 5.593 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=186: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/fc350full_t3_s3/2026_08_03-14_33_22--with_future_img--episode=7--success=True--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: True
+# episodes completed so far: 7
+# successes: 7 (100.0%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 8...
+Query 1/1: Action query time = 4.193 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2351
+t=10: Selected seed 195 with value = 0.2351
+Query 1/1: Action query time = 4.189 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2685
+t=26: Selected seed 195 with value = 0.2685
+Query 1/1: Action query time = 4.484 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3157
+t=42: Selected seed 195 with value = 0.3157
+Query 1/1: Action query time = 4.534 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3608
+t=58: Selected seed 195 with value = 0.3608
+Query 1/1: Action query time = 2.982 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4208
+t=74: Selected seed 195 with value = 0.4208
+Query 1/1: Action query time = 3.513 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4754
+t=90: Selected seed 195 with value = 0.4754
+Query 1/1: Action query time = 3.818 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5899
+t=106: Selected seed 195 with value = 0.5899
+Query 1/1: Action query time = 3.824 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6546
+t=122: Selected seed 195 with value = 0.6546
+Query 1/1: Action query time = 3.819 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7626
+t=138: Selected seed 195 with value = 0.7626
+Query 1/1: Action query time = 4.788 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8879
+t=154: Selected seed 195 with value = 0.8879
+Query 1/1: Action query time = 3.912 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9596
+t=170: Selected seed 195 with value = 0.9596
+Query 1/1: Action query time = 2.169 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=186: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/fc350full_t3_s3/2026_08_03-14_33_22--with_future_img--episode=8--success=True--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: True
+# episodes completed so far: 8
+# successes: 8 (100.0%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 9...
+Query 1/1: Action query time = 3.583 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2401
+t=10: Selected seed 195 with value = 0.2401
+Query 1/1: Action query time = 3.618 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2595
+t=26: Selected seed 195 with value = 0.2595
+Query 1/1: Action query time = 4.418 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3007
+t=42: Selected seed 195 with value = 0.3007
+Query 1/1: Action query time = 3.312 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3424
+t=58: Selected seed 195 with value = 0.3424
+Query 1/1: Action query time = 3.124 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4075
+t=74: Selected seed 195 with value = 0.4075
+Query 1/1: Action query time = 3.112 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4603
+t=90: Selected seed 195 with value = 0.4603
+Query 1/1: Action query time = 3.749 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5677
+t=106: Selected seed 195 with value = 0.5677
+Query 1/1: Action query time = 2.464 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6746
+t=122: Selected seed 195 with value = 0.6746
+Query 1/1: Action query time = 2.563 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7731
+t=138: Selected seed 195 with value = 0.7731
+Query 1/1: Action query time = 3.590 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9058
+t=154: Selected seed 195 with value = 0.9058
+Query 1/1: Action query time = 2.965 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=170: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/fc350full_t3_s3/2026_08_03-14_33_22--with_future_img--episode=9--success=True--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: True
+# episodes completed so far: 9
+# successes: 9 (100.0%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 10...
+Query 1/1: Action query time = 2.307 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2417
+t=10: Selected seed 195 with value = 0.2417
+Query 1/1: Action query time = 2.208 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2652
+t=26: Selected seed 195 with value = 0.2652
+Query 1/1: Action query time = 2.290 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3127
+t=42: Selected seed 195 with value = 0.3127
+Query 1/1: Action query time = 2.815 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3717
+t=58: Selected seed 195 with value = 0.3717
+Query 1/1: Action query time = 3.628 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4341
+t=74: Selected seed 195 with value = 0.4341
+Query 1/1: Action query time = 3.322 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5076
+t=90: Selected seed 195 with value = 0.5076
+Query 1/1: Action query time = 3.008 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6074
+t=106: Selected seed 195 with value = 0.6074
+Query 1/1: Action query time = 3.363 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7034
+t=122: Selected seed 195 with value = 0.7034
+Query 1/1: Action query time = 3.268 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8111
+t=138: Selected seed 195 with value = 0.8111
+Query 1/1: Action query time = 3.282 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9333
+t=154: Selected seed 195 with value = 0.9333
+Query 1/1: Action query time = 3.192 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=170: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/fc350full_t3_s3/2026_08_03-14_33_22--with_future_img--episode=10--success=True--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: True
+# episodes completed so far: 10
+# successes: 10 (100.0%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 11...
+Query 1/1: Action query time = 2.223 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2201
+t=10: Selected seed 195 with value = 0.2201
+Query 1/1: Action query time = 2.282 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2868
+t=26: Selected seed 195 with value = 0.2868
+Query 1/1: Action query time = 3.483 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3112
+t=42: Selected seed 195 with value = 0.3112
+Query 1/1: Action query time = 3.468 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3567
+t=58: Selected seed 195 with value = 0.3567
+Query 1/1: Action query time = 3.382 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4187
+t=74: Selected seed 195 with value = 0.4187
+Query 1/1: Action query time = 3.263 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4674
+t=90: Selected seed 195 with value = 0.4674
+Query 1/1: Action query time = 3.133 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5743
+t=106: Selected seed 195 with value = 0.5743
+Query 1/1: Action query time = 3.129 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6926
+t=122: Selected seed 195 with value = 0.6926
+Query 1/1: Action query time = 2.316 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8427
+t=138: Selected seed 195 with value = 0.8427
+Query 1/1: Action query time = 2.213 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9563
+t=154: Selected seed 195 with value = 0.9563
+Query 1/1: Action query time = 2.243 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9905
+t=170: Selected seed 195 with value = 0.9905
+Saved rollout MP4 at path ./rollouts/fc350full_t3_s3/2026_08_03-14_33_22--with_future_img--episode=11--success=True--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: True
+# episodes completed so far: 11
+# successes: 11 (100.0%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 12...
+Query 1/1: Action query time = 2.632 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2207
+t=10: Selected seed 195 with value = 0.2207
+Query 1/1: Action query time = 2.157 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2547
+t=26: Selected seed 195 with value = 0.2547
+Query 1/1: Action query time = 2.000 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3077
+t=42: Selected seed 195 with value = 0.3077
+Query 1/1: Action query time = 2.459 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3373
+t=58: Selected seed 195 with value = 0.3373
+Query 1/1: Action query time = 2.448 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4030
+t=74: Selected seed 195 with value = 0.4030
+Query 1/1: Action query time = 2.047 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4500
+t=90: Selected seed 195 with value = 0.4500
+Query 1/1: Action query time = 1.834 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5428
+t=106: Selected seed 195 with value = 0.5428
+Query 1/1: Action query time = 1.812 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6345
+t=122: Selected seed 195 with value = 0.6345
+Query 1/1: Action query time = 2.334 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7921
+t=138: Selected seed 195 with value = 0.7921
+Query 1/1: Action query time = 1.705 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8947
+t=154: Selected seed 195 with value = 0.8947
+Query 1/1: Action query time = 1.602 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=170: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/fc350full_t3_s3/2026_08_03-14_33_22--with_future_img--episode=12--success=True--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: True
+# episodes completed so far: 12
+# successes: 12 (100.0%)
+Current task success rate: 1.0
+Current total success rate: 1.0
+Final results:
+Total episodes: 12
+Total successes: 12
+Overall success rate: 1.0000 (100.0%)
diff --git a/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_03-14_46_55--fc350full_t4_s1.txt b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_03-14_46_55--fc350full_t4_s1.txt
new file mode 100644
index 0000000000000000000000000000000000000000..b3210aaac850b1e4f9db36732955b61e15ab2e58
--- /dev/null
+++ b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_03-14_46_55--fc350full_t4_s1.txt
@@ -0,0 +1,415 @@
+Eval config: PolicyEvalConfig(suite='libero', model_family='cosmos', config='cosmos_predict2_2b_480p_libero_cl_stage_inference_only', ckpt_path='/home/azureuser/REGEN-main/new_task7/cosmos_policy/cosmos_v2_finetune/cosmos_predict2_2b_480p_libero_goal_task7_forget_cl_from100_2gpu/checkpoints/iter_000000350/model', planning_model_config_name='', planning_model_ckpt_path='', config_file='cosmos_policy/config/config.py', packnet_mask_path='', packnet_first_cl_libero_task=6, use_third_person_image=True, num_third_person_images=1, use_wrist_image=True, num_wrist_images=1, use_proprio=True, flip_images=True, use_variance_scale=False, use_jpeg_compression=True, ar_future_prediction=False, ar_value_prediction=False, ar_qvalue_prediction=False, num_denoising_steps_action=5, num_denoising_steps_future_state=1, num_denoising_steps_value=1, unnormalize_actions=True, normalize_proprio=True, dataset_stats_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/libero_goal_regen/dataset_statistics.json', t5_text_embeddings_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/t5_embeddings.pkl', trained_with_image_aug=True, chunk_size=16, num_open_loop_steps=16, deterministic=True, deterministic_reset=False, deterministic_reset_seed=None, use_ensemble_future_state_predictions=False, num_future_state_predictions_in_ensemble=3, future_state_ensemble_aggregation_scheme='average', use_ensemble_value_predictions=False, num_value_predictions_in_ensemble=5, value_ensemble_aggregation_scheme='average', search_depth=1, mask_current_state_action_for_value_prediction=False, mask_future_state_for_qvalue_prediction=False, num_queries_best_of_n=1, use_parallel_inference=False, available_gpus='0', parallel_timeout=15, parallel_tasks_across_gpus=False, task_suite_name='libero_goal', num_trials_per_task=50, task_ids_to_run='4', initial_states_path='DEFAULT', env_img_res=256, local_log_dir='/home/azureuser/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal', run_id_note='fc350full_t4_s1', use_wandb=False, wandb_entity='YOUR_ENTITY', wandb_project='YOUR_PROJECT', seed=195, randomize_seed=False, data_collection=False, jpeg_compress=True, reward_stop_threshold=None, reward_stop_consecutive_steps=3, use_gpt_reward=False, gpt_reward_model='gpt-5.4-mini', gpt_reward_stop_threshold=4, gpt_reward_timeout_s=30.0, save_rollout_video=False, eval_hdf5_path='', eval_hdf5_demo_key='demo_0', data_gen_demo_ids='', eval_episode_ids='1,5,9,13,17,21,25,29,33,37,41,45,49', dump_final_states_path='', replay_actions=False, replay_action_path_dir='', replay_hdf5_path='', data_generation=False, max_generation_steps=200, disable_value_stop=False)
+Using serial inference (parallel inference disabled)
+Task suite: libero_goal
+Number of tasks: 10
+Running only task IDs: [4]
+Using default initial states
+
+Task: put the bowl on top of the cabinet
+Starting episode 1...
+Query 1/1: Action query time = 5.538 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5808
+t=10: Selected seed 195 with value = 0.5808
+Query 1/1: Action query time = 5.111 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6837
+t=26: Selected seed 195 with value = 0.6837
+Query 1/1: Action query time = 5.019 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7538
+t=42: Selected seed 195 with value = 0.7538
+Query 1/1: Action query time = 4.316 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9010
+t=58: Selected seed 195 with value = 0.9010
+Query 1/1: Action query time = 4.641 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9997
+t=74: Selected seed 195 with value = 0.9997
+Query 1/1: Action query time = 3.658 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/fc350full_t4_s1/2026_08_03-14_46_55--with_future_img--episode=1--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Success: True
+# episodes completed so far: 1
+# successes: 1 (100.0%)
+
+Task: put the bowl on top of the cabinet
+Starting episode 2...
+Query 1/1: Action query time = 4.680 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5914
+t=10: Selected seed 195 with value = 0.5914
+Query 1/1: Action query time = 4.974 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7106
+t=26: Selected seed 195 with value = 0.7106
+Query 1/1: Action query time = 3.007 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8068
+t=42: Selected seed 195 with value = 0.8068
+Query 1/1: Action query time = 3.686 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9482
+t=58: Selected seed 195 with value = 0.9482
+Query 1/1: Action query time = 4.530 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=74: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 5.436 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/fc350full_t4_s1/2026_08_03-14_46_55--with_future_img--episode=2--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Success: True
+# episodes completed so far: 2
+# successes: 2 (100.0%)
+
+Task: put the bowl on top of the cabinet
+Starting episode 3...
+Query 1/1: Action query time = 4.605 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5556
+t=10: Selected seed 195 with value = 0.5556
+Query 1/1: Action query time = 4.464 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6840
+t=26: Selected seed 195 with value = 0.6840
+Query 1/1: Action query time = 5.659 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8259
+t=42: Selected seed 195 with value = 0.8259
+Query 1/1: Action query time = 4.452 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9577
+t=58: Selected seed 195 with value = 0.9577
+Query 1/1: Action query time = 4.493 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=74: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.981 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/fc350full_t4_s1/2026_08_03-14_46_55--with_future_img--episode=3--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Success: True
+# episodes completed so far: 3
+# successes: 3 (100.0%)
+
+Task: put the bowl on top of the cabinet
+Starting episode 4...
+Query 1/1: Action query time = 2.956 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5621
+t=10: Selected seed 195 with value = 0.5621
+Query 1/1: Action query time = 5.047 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6628
+t=26: Selected seed 195 with value = 0.6628
+Query 1/1: Action query time = 4.328 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7706
+t=42: Selected seed 195 with value = 0.7706
+Query 1/1: Action query time = 5.408 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9154
+t=58: Selected seed 195 with value = 0.9154
+Query 1/1: Action query time = 3.190 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9859
+t=74: Selected seed 195 with value = 0.9859
+Query 1/1: Action query time = 4.777 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/fc350full_t4_s1/2026_08_03-14_46_55--with_future_img--episode=4--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Success: True
+# episodes completed so far: 4
+# successes: 4 (100.0%)
+
+Task: put the bowl on top of the cabinet
+Starting episode 5...
+Query 1/1: Action query time = 3.708 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5671
+t=10: Selected seed 195 with value = 0.5671
+Query 1/1: Action query time = 5.045 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6757
+t=26: Selected seed 195 with value = 0.6757
+Query 1/1: Action query time = 4.396 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7838
+t=42: Selected seed 195 with value = 0.7838
+Query 1/1: Action query time = 4.115 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9371
+t=58: Selected seed 195 with value = 0.9371
+Query 1/1: Action query time = 3.174 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9988
+t=74: Selected seed 195 with value = 0.9988
+Query 1/1: Action query time = 5.150 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/fc350full_t4_s1/2026_08_03-14_46_55--with_future_img--episode=5--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Success: True
+# episodes completed so far: 5
+# successes: 5 (100.0%)
+
+Task: put the bowl on top of the cabinet
+Starting episode 6...
+Query 1/1: Action query time = 4.997 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5840
+t=10: Selected seed 195 with value = 0.5840
+Query 1/1: Action query time = 5.167 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6891
+t=26: Selected seed 195 with value = 0.6891
+Query 1/1: Action query time = 4.116 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8008
+t=42: Selected seed 195 with value = 0.8008
+Query 1/1: Action query time = 5.121 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9311
+t=58: Selected seed 195 with value = 0.9311
+Query 1/1: Action query time = 4.424 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9997
+t=74: Selected seed 195 with value = 0.9997
+Query 1/1: Action query time = 5.179 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/fc350full_t4_s1/2026_08_03-14_46_55--with_future_img--episode=6--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Success: True
+# episodes completed so far: 6
+# successes: 6 (100.0%)
+
+Task: put the bowl on top of the cabinet
+Starting episode 7...
+Query 1/1: Action query time = 3.700 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5548
+t=10: Selected seed 195 with value = 0.5548
+Query 1/1: Action query time = 4.746 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6269
+t=26: Selected seed 195 with value = 0.6269
+Query 1/1: Action query time = 4.871 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7675
+t=42: Selected seed 195 with value = 0.7675
+Query 1/1: Action query time = 4.713 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9085
+t=58: Selected seed 195 with value = 0.9085
+Query 1/1: Action query time = 5.083 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=74: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 5.049 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/fc350full_t4_s1/2026_08_03-14_46_55--with_future_img--episode=7--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Success: True
+# episodes completed so far: 7
+# successes: 7 (100.0%)
+
+Task: put the bowl on top of the cabinet
+Starting episode 8...
+Query 1/1: Action query time = 4.802 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5682
+t=10: Selected seed 195 with value = 0.5682
+Query 1/1: Action query time = 5.282 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6751
+t=26: Selected seed 195 with value = 0.6751
+Query 1/1: Action query time = 3.306 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7693
+t=42: Selected seed 195 with value = 0.7693
+Query 1/1: Action query time = 3.793 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9332
+t=58: Selected seed 195 with value = 0.9332
+Query 1/1: Action query time = 5.312 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9982
+t=74: Selected seed 195 with value = 0.9982
+Query 1/1: Action query time = 4.791 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/fc350full_t4_s1/2026_08_03-14_46_55--with_future_img--episode=8--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Success: True
+# episodes completed so far: 8
+# successes: 8 (100.0%)
+
+Task: put the bowl on top of the cabinet
+Starting episode 9...
+Query 1/1: Action query time = 3.713 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5761
+t=10: Selected seed 195 with value = 0.5761
+Query 1/1: Action query time = 5.421 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6887
+t=26: Selected seed 195 with value = 0.6887
+Query 1/1: Action query time = 5.283 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7892
+t=42: Selected seed 195 with value = 0.7892
+Query 1/1: Action query time = 5.087 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9468
+t=58: Selected seed 195 with value = 0.9468
+Query 1/1: Action query time = 4.819 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=74: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 3.509 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/fc350full_t4_s1/2026_08_03-14_46_55--with_future_img--episode=9--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Success: True
+# episodes completed so far: 9
+# successes: 9 (100.0%)
+
+Task: put the bowl on top of the cabinet
+Starting episode 10...
+Query 1/1: Action query time = 3.359 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5665
+t=10: Selected seed 195 with value = 0.5665
+Query 1/1: Action query time = 4.975 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6372
+t=26: Selected seed 195 with value = 0.6372
+Query 1/1: Action query time = 4.231 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7484
+t=42: Selected seed 195 with value = 0.7484
+Query 1/1: Action query time = 4.217 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8911
+t=58: Selected seed 195 with value = 0.8911
+Query 1/1: Action query time = 5.026 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9841
+t=74: Selected seed 195 with value = 0.9841
+Query 1/1: Action query time = 4.444 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/fc350full_t4_s1/2026_08_03-14_46_55--with_future_img--episode=10--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Success: True
+# episodes completed so far: 10
+# successes: 10 (100.0%)
+
+Task: put the bowl on top of the cabinet
+Starting episode 11...
+Query 1/1: Action query time = 4.349 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5919
+t=10: Selected seed 195 with value = 0.5919
+Query 1/1: Action query time = 4.510 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6932
+t=26: Selected seed 195 with value = 0.6932
+Query 1/1: Action query time = 3.916 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7832
+t=42: Selected seed 195 with value = 0.7832
+Query 1/1: Action query time = 4.628 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9215
+t=58: Selected seed 195 with value = 0.9215
+Query 1/1: Action query time = 3.178 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=74: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.180 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/fc350full_t4_s1/2026_08_03-14_46_55--with_future_img--episode=11--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Success: True
+# episodes completed so far: 11
+# successes: 11 (100.0%)
+
+Task: put the bowl on top of the cabinet
+Starting episode 12...
+Query 1/1: Action query time = 5.635 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5767
+t=10: Selected seed 195 with value = 0.5767
+Query 1/1: Action query time = 5.441 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6739
+t=26: Selected seed 195 with value = 0.6739
+Query 1/1: Action query time = 4.606 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7634
+t=42: Selected seed 195 with value = 0.7634
+Query 1/1: Action query time = 4.470 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9236
+t=58: Selected seed 195 with value = 0.9236
+Query 1/1: Action query time = 4.753 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=74: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 5.101 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/fc350full_t4_s1/2026_08_03-14_46_55--with_future_img--episode=12--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Success: True
+# episodes completed so far: 12
+# successes: 12 (100.0%)
+
+Task: put the bowl on top of the cabinet
+Starting episode 13...
+Query 1/1: Action query time = 3.140 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5694
+t=10: Selected seed 195 with value = 0.5694
+Query 1/1: Action query time = 4.793 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6581
+t=26: Selected seed 195 with value = 0.6581
+Query 1/1: Action query time = 3.847 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7534
+t=42: Selected seed 195 with value = 0.7534
+Query 1/1: Action query time = 3.703 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9193
+t=58: Selected seed 195 with value = 0.9193
+Query 1/1: Action query time = 3.849 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9990
+t=74: Selected seed 195 with value = 0.9990
+Query 1/1: Action query time = 4.732 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/fc350full_t4_s1/2026_08_03-14_46_55--with_future_img--episode=13--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Success: True
+# episodes completed so far: 13
+# successes: 13 (100.0%)
+Current task success rate: 1.0
+Current total success rate: 1.0
+Final results:
+Total episodes: 13
+Total successes: 13
+Overall success rate: 1.0000 (100.0%)
diff --git a/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_03-14_46_55--fc350full_t4_s3.txt b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_03-14_46_55--fc350full_t4_s3.txt
new file mode 100644
index 0000000000000000000000000000000000000000..2da465c7b0b4db43dca0d02cab916da687f02043
--- /dev/null
+++ b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_03-14_46_55--fc350full_t4_s3.txt
@@ -0,0 +1,436 @@
+Eval config: PolicyEvalConfig(suite='libero', model_family='cosmos', config='cosmos_predict2_2b_480p_libero_cl_stage_inference_only', ckpt_path='/home/azureuser/REGEN-main/new_task7/cosmos_policy/cosmos_v2_finetune/cosmos_predict2_2b_480p_libero_goal_task7_forget_cl_from100_2gpu/checkpoints/iter_000000350/model', planning_model_config_name='', planning_model_ckpt_path='', config_file='cosmos_policy/config/config.py', packnet_mask_path='', packnet_first_cl_libero_task=6, use_third_person_image=True, num_third_person_images=1, use_wrist_image=True, num_wrist_images=1, use_proprio=True, flip_images=True, use_variance_scale=False, use_jpeg_compression=True, ar_future_prediction=False, ar_value_prediction=False, ar_qvalue_prediction=False, num_denoising_steps_action=5, num_denoising_steps_future_state=1, num_denoising_steps_value=1, unnormalize_actions=True, normalize_proprio=True, dataset_stats_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/libero_goal_regen/dataset_statistics.json', t5_text_embeddings_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/t5_embeddings.pkl', trained_with_image_aug=True, chunk_size=16, num_open_loop_steps=16, deterministic=True, deterministic_reset=False, deterministic_reset_seed=None, use_ensemble_future_state_predictions=False, num_future_state_predictions_in_ensemble=3, future_state_ensemble_aggregation_scheme='average', use_ensemble_value_predictions=False, num_value_predictions_in_ensemble=5, value_ensemble_aggregation_scheme='average', search_depth=1, mask_current_state_action_for_value_prediction=False, mask_future_state_for_qvalue_prediction=False, num_queries_best_of_n=1, use_parallel_inference=False, available_gpus='0', parallel_timeout=15, parallel_tasks_across_gpus=False, task_suite_name='libero_goal', num_trials_per_task=50, task_ids_to_run='4', initial_states_path='DEFAULT', env_img_res=256, local_log_dir='/home/azureuser/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal', run_id_note='fc350full_t4_s3', use_wandb=False, wandb_entity='YOUR_ENTITY', wandb_project='YOUR_PROJECT', seed=195, randomize_seed=False, data_collection=False, jpeg_compress=True, reward_stop_threshold=None, reward_stop_consecutive_steps=3, use_gpt_reward=False, gpt_reward_model='gpt-5.4-mini', gpt_reward_stop_threshold=4, gpt_reward_timeout_s=30.0, save_rollout_video=False, eval_hdf5_path='', eval_hdf5_demo_key='demo_0', data_gen_demo_ids='', eval_episode_ids='3,7,11,15,19,23,27,31,35,39,43,47', dump_final_states_path='', replay_actions=False, replay_action_path_dir='', replay_hdf5_path='', data_generation=False, max_generation_steps=200, disable_value_stop=False)
+Using serial inference (parallel inference disabled)
+Task suite: libero_goal
+Number of tasks: 10
+Running only task IDs: [4]
+Using default initial states
+
+Task: put the bowl on top of the cabinet
+Starting episode 1...
+Query 1/1: Action query time = 2.298 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5671
+t=10: Selected seed 195 with value = 0.5671
+Query 1/1: Action query time = 3.200 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6934
+t=26: Selected seed 195 with value = 0.6934
+Query 1/1: Action query time = 5.480 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7671
+t=42: Selected seed 195 with value = 0.7671
+Query 1/1: Action query time = 4.866 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9262
+t=58: Selected seed 195 with value = 0.9262
+Query 1/1: Action query time = 5.410 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=74: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.499 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/fc350full_t4_s3/2026_08_03-14_46_55--with_future_img--episode=1--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Success: True
+# episodes completed so far: 1
+# successes: 1 (100.0%)
+
+Task: put the bowl on top of the cabinet
+Starting episode 2...
+Query 1/1: Action query time = 4.581 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5881
+t=10: Selected seed 195 with value = 0.5881
+Query 1/1: Action query time = 3.589 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6755
+t=26: Selected seed 195 with value = 0.6755
+Query 1/1: Action query time = 4.951 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7739
+t=42: Selected seed 195 with value = 0.7739
+Query 1/1: Action query time = 4.880 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9530
+t=58: Selected seed 195 with value = 0.9530
+Query 1/1: Action query time = 2.844 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=74: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.243 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/fc350full_t4_s3/2026_08_03-14_46_55--with_future_img--episode=2--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Success: True
+# episodes completed so far: 2
+# successes: 2 (100.0%)
+
+Task: put the bowl on top of the cabinet
+Starting episode 3...
+Query 1/1: Action query time = 5.215 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5778
+t=10: Selected seed 195 with value = 0.5778
+Query 1/1: Action query time = 4.649 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6826
+t=26: Selected seed 195 with value = 0.6826
+Query 1/1: Action query time = 5.476 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7642
+t=42: Selected seed 195 with value = 0.7642
+Query 1/1: Action query time = 4.507 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9201
+t=58: Selected seed 195 with value = 0.9201
+Query 1/1: Action query time = 4.865 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=74: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.982 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/fc350full_t4_s3/2026_08_03-14_46_55--with_future_img--episode=3--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Success: True
+# episodes completed so far: 3
+# successes: 3 (100.0%)
+
+Task: put the bowl on top of the cabinet
+Starting episode 4...
+Query 1/1: Action query time = 5.240 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6070
+t=10: Selected seed 195 with value = 0.6070
+Query 1/1: Action query time = 1.757 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7156
+t=26: Selected seed 195 with value = 0.7156
+Query 1/1: Action query time = 2.793 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8280
+t=42: Selected seed 195 with value = 0.8280
+Query 1/1: Action query time = 4.978 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9798
+t=58: Selected seed 195 with value = 0.9798
+Query 1/1: Action query time = 4.450 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=74: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 5.354 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/fc350full_t4_s3/2026_08_03-14_46_55--with_future_img--episode=4--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Success: True
+# episodes completed so far: 4
+# successes: 4 (100.0%)
+
+Task: put the bowl on top of the cabinet
+Starting episode 5...
+Query 1/1: Action query time = 4.254 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5501
+t=10: Selected seed 195 with value = 0.5501
+Query 1/1: Action query time = 4.029 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6873
+t=26: Selected seed 195 with value = 0.6873
+Query 1/1: Action query time = 4.885 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7858
+t=42: Selected seed 195 with value = 0.7858
+Query 1/1: Action query time = 4.981 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9492
+t=58: Selected seed 195 with value = 0.9492
+Query 1/1: Action query time = 3.328 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=74: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.046 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/fc350full_t4_s3/2026_08_03-14_46_55--with_future_img--episode=5--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Success: True
+# episodes completed so far: 5
+# successes: 5 (100.0%)
+
+Task: put the bowl on top of the cabinet
+Starting episode 6...
+Query 1/1: Action query time = 4.740 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5742
+t=10: Selected seed 195 with value = 0.5742
+Query 1/1: Action query time = 4.339 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6883
+t=26: Selected seed 195 with value = 0.6883
+Query 1/1: Action query time = 4.734 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8238
+t=42: Selected seed 195 with value = 0.8238
+Query 1/1: Action query time = 5.096 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9525
+t=58: Selected seed 195 with value = 0.9525
+Query 1/1: Action query time = 4.248 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=74: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 5.591 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/fc350full_t4_s3/2026_08_03-14_46_55--with_future_img--episode=6--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Success: True
+# episodes completed so far: 6
+# successes: 6 (100.0%)
+
+Task: put the bowl on top of the cabinet
+Starting episode 7...
+Query 1/1: Action query time = 5.213 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5884
+t=10: Selected seed 195 with value = 0.5884
+Query 1/1: Action query time = 3.106 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6769
+t=26: Selected seed 195 with value = 0.6769
+Query 1/1: Action query time = 2.430 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8128
+t=42: Selected seed 195 with value = 0.8128
+Query 1/1: Action query time = 3.200 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9081
+t=58: Selected seed 195 with value = 0.9081
+Query 1/1: Action query time = 5.457 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9932
+t=74: Selected seed 195 with value = 0.9932
+Query 1/1: Action query time = 5.407 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/fc350full_t4_s3/2026_08_03-14_46_55--with_future_img--episode=7--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Success: True
+# episodes completed so far: 7
+# successes: 7 (100.0%)
+
+Task: put the bowl on top of the cabinet
+Starting episode 8...
+Query 1/1: Action query time = 4.862 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5360
+t=10: Selected seed 195 with value = 0.5360
+Query 1/1: Action query time = 4.722 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6845
+t=26: Selected seed 195 with value = 0.6845
+Query 1/1: Action query time = 3.849 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7623
+t=42: Selected seed 195 with value = 0.7623
+Query 1/1: Action query time = 4.414 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9206
+t=58: Selected seed 195 with value = 0.9206
+Query 1/1: Action query time = 4.951 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9812
+t=74: Selected seed 195 with value = 0.9812
+Query 1/1: Action query time = 4.448 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9826
+t=90: Selected seed 195 with value = 0.9826
+Query 1/1: Action query time = 4.165 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9351
+t=106: Selected seed 195 with value = 0.9351
+Query 1/1: Action query time = 5.139 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9411
+t=122: Selected seed 195 with value = 0.9411
+Query 1/1: Action query time = 4.593 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9400
+t=138: Selected seed 195 with value = 0.9400
+Query 1/1: Action query time = 5.042 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9410
+t=154: Selected seed 195 with value = 0.9410
+Query 1/1: Action query time = 4.014 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9460
+t=170: Selected seed 195 with value = 0.9460
+Query 1/1: Action query time = 4.705 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9475
+t=186: Selected seed 195 with value = 0.9475
+Query 1/1: Action query time = 5.166 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9507
+t=202: Selected seed 195 with value = 0.9507
+Query 1/1: Action query time = 4.865 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9503
+t=218: Selected seed 195 with value = 0.9503
+Query 1/1: Action query time = 5.105 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9632
+t=234: Selected seed 195 with value = 0.9632
+Query 1/1: Action query time = 3.555 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9983
+t=250: Selected seed 195 with value = 0.9983
+Query 1/1: Action query time = 2.975 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9984
+t=266: Selected seed 195 with value = 0.9984
+Query 1/1: Action query time = 3.499 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9988
+t=282: Selected seed 195 with value = 0.9988
+Query 1/1: Action query time = 4.861 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9988
+t=298: Selected seed 195 with value = 0.9988
+Saved rollout MP4 at path ./rollouts/fc350full_t4_s3/2026_08_03-14_46_55--with_future_img--episode=8--success=False--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Success: False
+# episodes completed so far: 8
+# successes: 7 (87.5%)
+
+Task: put the bowl on top of the cabinet
+Starting episode 9...
+Query 1/1: Action query time = 5.430 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5752
+t=10: Selected seed 195 with value = 0.5752
+Query 1/1: Action query time = 4.654 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6957
+t=26: Selected seed 195 with value = 0.6957
+Query 1/1: Action query time = 4.598 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7822
+t=42: Selected seed 195 with value = 0.7822
+Query 1/1: Action query time = 5.545 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9337
+t=58: Selected seed 195 with value = 0.9337
+Query 1/1: Action query time = 4.411 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=74: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 5.229 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/fc350full_t4_s3/2026_08_03-14_46_55--with_future_img--episode=9--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Success: True
+# episodes completed so far: 9
+# successes: 8 (88.9%)
+
+Task: put the bowl on top of the cabinet
+Starting episode 10...
+Query 1/1: Action query time = 4.434 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5588
+t=10: Selected seed 195 with value = 0.5588
+Query 1/1: Action query time = 3.172 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6727
+t=26: Selected seed 195 with value = 0.6727
+Query 1/1: Action query time = 4.260 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7544
+t=42: Selected seed 195 with value = 0.7544
+Query 1/1: Action query time = 4.932 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9170
+t=58: Selected seed 195 with value = 0.9170
+Query 1/1: Action query time = 5.103 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=74: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.868 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/fc350full_t4_s3/2026_08_03-14_46_55--with_future_img--episode=10--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Success: True
+# episodes completed so far: 10
+# successes: 9 (90.0%)
+
+Task: put the bowl on top of the cabinet
+Starting episode 11...
+Query 1/1: Action query time = 4.213 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5695
+t=10: Selected seed 195 with value = 0.5695
+Query 1/1: Action query time = 5.170 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6622
+t=26: Selected seed 195 with value = 0.6622
+Query 1/1: Action query time = 3.032 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7609
+t=42: Selected seed 195 with value = 0.7609
+Query 1/1: Action query time = 3.077 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9306
+t=58: Selected seed 195 with value = 0.9306
+Query 1/1: Action query time = 4.798 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=74: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.001 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/fc350full_t4_s3/2026_08_03-14_46_55--with_future_img--episode=11--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Success: True
+# episodes completed so far: 11
+# successes: 10 (90.9%)
+
+Task: put the bowl on top of the cabinet
+Starting episode 12...
+Query 1/1: Action query time = 3.962 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5482
+t=10: Selected seed 195 with value = 0.5482
+Query 1/1: Action query time = 5.340 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6864
+t=26: Selected seed 195 with value = 0.6864
+Query 1/1: Action query time = 3.589 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7859
+t=42: Selected seed 195 with value = 0.7859
+Query 1/1: Action query time = 3.359 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9401
+t=58: Selected seed 195 with value = 0.9401
+Query 1/1: Action query time = 3.840 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=74: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 2.665 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/fc350full_t4_s3/2026_08_03-14_46_55--with_future_img--episode=12--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Success: True
+# episodes completed so far: 12
+# successes: 11 (91.7%)
+Current task success rate: 0.9166666666666666
+Current total success rate: 0.9166666666666666
+Final results:
+Total episodes: 12
+Total successes: 11
+Overall success rate: 0.9167 (91.7%)
diff --git a/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_03-14_46_55--fc350full_t6_s1.txt b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_03-14_46_55--fc350full_t6_s1.txt
new file mode 100644
index 0000000000000000000000000000000000000000..79b375be95858042b6c5efd07d32ff998125d4a1
--- /dev/null
+++ b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_03-14_46_55--fc350full_t6_s1.txt
@@ -0,0 +1,571 @@
+Eval config: PolicyEvalConfig(suite='libero', model_family='cosmos', config='cosmos_predict2_2b_480p_libero_cl_stage_inference_only', ckpt_path='/home/azureuser/REGEN-main/new_task7/cosmos_policy/cosmos_v2_finetune/cosmos_predict2_2b_480p_libero_goal_task7_forget_cl_from100_2gpu/checkpoints/iter_000000350/model', planning_model_config_name='', planning_model_ckpt_path='', config_file='cosmos_policy/config/config.py', packnet_mask_path='', packnet_first_cl_libero_task=6, use_third_person_image=True, num_third_person_images=1, use_wrist_image=True, num_wrist_images=1, use_proprio=True, flip_images=True, use_variance_scale=False, use_jpeg_compression=True, ar_future_prediction=False, ar_value_prediction=False, ar_qvalue_prediction=False, num_denoising_steps_action=5, num_denoising_steps_future_state=1, num_denoising_steps_value=1, unnormalize_actions=True, normalize_proprio=True, dataset_stats_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/libero_goal_regen/dataset_statistics.json', t5_text_embeddings_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/t5_embeddings.pkl', trained_with_image_aug=True, chunk_size=16, num_open_loop_steps=16, deterministic=True, deterministic_reset=False, deterministic_reset_seed=None, use_ensemble_future_state_predictions=False, num_future_state_predictions_in_ensemble=3, future_state_ensemble_aggregation_scheme='average', use_ensemble_value_predictions=False, num_value_predictions_in_ensemble=5, value_ensemble_aggregation_scheme='average', search_depth=1, mask_current_state_action_for_value_prediction=False, mask_future_state_for_qvalue_prediction=False, num_queries_best_of_n=1, use_parallel_inference=False, available_gpus='0', parallel_timeout=15, parallel_tasks_across_gpus=False, task_suite_name='libero_goal', num_trials_per_task=50, task_ids_to_run='6', initial_states_path='DEFAULT', env_img_res=256, local_log_dir='/home/azureuser/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal', run_id_note='fc350full_t6_s1', use_wandb=False, wandb_entity='YOUR_ENTITY', wandb_project='YOUR_PROJECT', seed=195, randomize_seed=False, data_collection=False, jpeg_compress=True, reward_stop_threshold=None, reward_stop_consecutive_steps=3, use_gpt_reward=False, gpt_reward_model='gpt-5.4-mini', gpt_reward_stop_threshold=4, gpt_reward_timeout_s=30.0, save_rollout_video=False, eval_hdf5_path='', eval_hdf5_demo_key='demo_0', data_gen_demo_ids='', eval_episode_ids='1,5,9,13,17,21,25,29,33,37,41,45,49', dump_final_states_path='', replay_actions=False, replay_action_path_dir='', replay_hdf5_path='', data_generation=False, max_generation_steps=200, disable_value_stop=False)
+Using serial inference (parallel inference disabled)
+Task suite: libero_goal
+Number of tasks: 10
+Running only task IDs: [6]
+Using default initial states
+
+Task: put the cream cheese in the bowl
+Starting episode 1...
+Query 1/1: Action query time = 1.717 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5003
+t=10: Selected seed 195 with value = 0.5003
+Query 1/1: Action query time = 2.165 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5775
+t=26: Selected seed 195 with value = 0.5775
+Query 1/1: Action query time = 5.134 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6723
+t=42: Selected seed 195 with value = 0.6723
+Query 1/1: Action query time = 4.331 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7855
+t=58: Selected seed 195 with value = 0.7855
+Query 1/1: Action query time = 4.958 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9185
+t=74: Selected seed 195 with value = 0.9185
+Query 1/1: Action query time = 5.318 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9949
+t=90: Selected seed 195 with value = 0.9949
+Saved rollout MP4 at path ./rollouts/fc350full_t6_s1/2026_08_03-14_46_55--with_future_img--episode=1--success=True--task=put_the_cream_cheese_in_the_bowl.mp4
+Success: True
+# episodes completed so far: 1
+# successes: 1 (100.0%)
+
+Task: put the cream cheese in the bowl
+Starting episode 2...
+Query 1/1: Action query time = 2.755 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5288
+t=10: Selected seed 195 with value = 0.5288
+Query 1/1: Action query time = 4.387 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5917
+t=26: Selected seed 195 with value = 0.5917
+Query 1/1: Action query time = 4.669 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7166
+t=42: Selected seed 195 with value = 0.7166
+Query 1/1: Action query time = 4.747 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6620
+t=58: Selected seed 195 with value = 0.6620
+Query 1/1: Action query time = 4.393 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8038
+t=74: Selected seed 195 with value = 0.8038
+Query 1/1: Action query time = 4.894 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9056
+t=90: Selected seed 195 with value = 0.9056
+Query 1/1: Action query time = 4.741 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9256
+t=106: Selected seed 195 with value = 0.9256
+Query 1/1: Action query time = 2.132 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9999
+t=122: Selected seed 195 with value = 0.9999
+Query 1/1: Action query time = 4.656 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=138: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.494 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=154: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.703 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9984
+t=170: Selected seed 195 with value = 0.9984
+Query 1/1: Action query time = 5.536 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=186: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 5.283 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9907
+t=202: Selected seed 195 with value = 0.9907
+Query 1/1: Action query time = 3.190 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9870
+t=218: Selected seed 195 with value = 0.9870
+Query 1/1: Action query time = 3.951 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9840
+t=234: Selected seed 195 with value = 0.9840
+Query 1/1: Action query time = 4.589 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9188
+t=250: Selected seed 195 with value = 0.9188
+Query 1/1: Action query time = 4.903 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9698
+t=266: Selected seed 195 with value = 0.9698
+Query 1/1: Action query time = 5.363 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8884
+t=282: Selected seed 195 with value = 0.8884
+Query 1/1: Action query time = 5.180 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9824
+t=298: Selected seed 195 with value = 0.9824
+Saved rollout MP4 at path ./rollouts/fc350full_t6_s1/2026_08_03-14_46_55--with_future_img--episode=2--success=False--task=put_the_cream_cheese_in_the_bowl.mp4
+Success: False
+# episodes completed so far: 2
+# successes: 1 (50.0%)
+
+Task: put the cream cheese in the bowl
+Starting episode 3...
+Query 1/1: Action query time = 3.988 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4831
+t=10: Selected seed 195 with value = 0.4831
+Query 1/1: Action query time = 5.603 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5777
+t=26: Selected seed 195 with value = 0.5777
+Query 1/1: Action query time = 5.241 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6545
+t=42: Selected seed 195 with value = 0.6545
+Query 1/1: Action query time = 4.993 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8342
+t=58: Selected seed 195 with value = 0.8342
+Query 1/1: Action query time = 5.172 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9531
+t=74: Selected seed 195 with value = 0.9531
+Query 1/1: Action query time = 3.990 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9987
+t=90: Selected seed 195 with value = 0.9987
+Saved rollout MP4 at path ./rollouts/fc350full_t6_s1/2026_08_03-14_46_55--with_future_img--episode=3--success=True--task=put_the_cream_cheese_in_the_bowl.mp4
+Success: True
+# episodes completed so far: 3
+# successes: 2 (66.7%)
+
+Task: put the cream cheese in the bowl
+Starting episode 4...
+Query 1/1: Action query time = 4.375 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5197
+t=10: Selected seed 195 with value = 0.5197
+Query 1/1: Action query time = 4.686 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6167
+t=26: Selected seed 195 with value = 0.6167
+Query 1/1: Action query time = 4.720 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7105
+t=42: Selected seed 195 with value = 0.7105
+Query 1/1: Action query time = 5.511 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8616
+t=58: Selected seed 195 with value = 0.8616
+Query 1/1: Action query time = 4.866 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9836
+t=74: Selected seed 195 with value = 0.9836
+Saved rollout MP4 at path ./rollouts/fc350full_t6_s1/2026_08_03-14_46_55--with_future_img--episode=4--success=True--task=put_the_cream_cheese_in_the_bowl.mp4
+Success: True
+# episodes completed so far: 4
+# successes: 3 (75.0%)
+
+Task: put the cream cheese in the bowl
+Starting episode 5...
+Query 1/1: Action query time = 4.474 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4874
+t=10: Selected seed 195 with value = 0.4874
+Query 1/1: Action query time = 5.177 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5907
+t=26: Selected seed 195 with value = 0.5907
+Query 1/1: Action query time = 4.721 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6941
+t=42: Selected seed 195 with value = 0.6941
+Query 1/1: Action query time = 2.746 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8416
+t=58: Selected seed 195 with value = 0.8416
+Query 1/1: Action query time = 4.745 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9585
+t=74: Selected seed 195 with value = 0.9585
+Query 1/1: Action query time = 4.807 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9980
+t=90: Selected seed 195 with value = 0.9980
+Query 1/1: Action query time = 4.270 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=106: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.938 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8331
+t=122: Selected seed 195 with value = 0.8331
+Query 1/1: Action query time = 5.270 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8480
+t=138: Selected seed 195 with value = 0.8480
+Query 1/1: Action query time = 3.411 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9864
+t=154: Selected seed 195 with value = 0.9864
+Query 1/1: Action query time = 4.671 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8744
+t=170: Selected seed 195 with value = 0.8744
+Query 1/1: Action query time = 3.812 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9689
+t=186: Selected seed 195 with value = 0.9689
+Query 1/1: Action query time = 4.140 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9052
+t=202: Selected seed 195 with value = 0.9052
+Query 1/1: Action query time = 5.556 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9902
+t=218: Selected seed 195 with value = 0.9902
+Query 1/1: Action query time = 4.976 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8991
+t=234: Selected seed 195 with value = 0.8991
+Query 1/1: Action query time = 3.862 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9952
+t=250: Selected seed 195 with value = 0.9952
+Query 1/1: Action query time = 4.380 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8872
+t=266: Selected seed 195 with value = 0.8872
+Query 1/1: Action query time = 4.082 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9887
+t=282: Selected seed 195 with value = 0.9887
+Query 1/1: Action query time = 2.989 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8969
+t=298: Selected seed 195 with value = 0.8969
+Saved rollout MP4 at path ./rollouts/fc350full_t6_s1/2026_08_03-14_46_55--with_future_img--episode=5--success=False--task=put_the_cream_cheese_in_the_bowl.mp4
+Success: False
+# episodes completed so far: 5
+# successes: 3 (60.0%)
+
+Task: put the cream cheese in the bowl
+Starting episode 6...
+Query 1/1: Action query time = 4.612 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4689
+t=10: Selected seed 195 with value = 0.4689
+Query 1/1: Action query time = 3.620 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5821
+t=26: Selected seed 195 with value = 0.5821
+Query 1/1: Action query time = 3.750 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6314
+t=42: Selected seed 195 with value = 0.6314
+Query 1/1: Action query time = 4.948 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7475
+t=58: Selected seed 195 with value = 0.7475
+Query 1/1: Action query time = 3.661 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8779
+t=74: Selected seed 195 with value = 0.8779
+Query 1/1: Action query time = 4.901 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9831
+t=90: Selected seed 195 with value = 0.9831
+Query 1/1: Action query time = 5.646 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=106: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/fc350full_t6_s1/2026_08_03-14_46_55--with_future_img--episode=6--success=True--task=put_the_cream_cheese_in_the_bowl.mp4
+Success: True
+# episodes completed so far: 6
+# successes: 4 (66.7%)
+
+Task: put the cream cheese in the bowl
+Starting episode 7...
+Query 1/1: Action query time = 3.515 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5049
+t=10: Selected seed 195 with value = 0.5049
+Query 1/1: Action query time = 3.714 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5919
+t=26: Selected seed 195 with value = 0.5919
+Query 1/1: Action query time = 3.952 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7177
+t=42: Selected seed 195 with value = 0.7177
+Query 1/1: Action query time = 4.996 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8351
+t=58: Selected seed 195 with value = 0.8351
+Query 1/1: Action query time = 4.204 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9626
+t=74: Selected seed 195 with value = 0.9626
+Query 1/1: Action query time = 5.240 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/fc350full_t6_s1/2026_08_03-14_46_55--with_future_img--episode=7--success=True--task=put_the_cream_cheese_in_the_bowl.mp4
+Success: True
+# episodes completed so far: 7
+# successes: 5 (71.4%)
+
+Task: put the cream cheese in the bowl
+Starting episode 8...
+Query 1/1: Action query time = 4.180 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5007
+t=10: Selected seed 195 with value = 0.5007
+Query 1/1: Action query time = 4.726 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5738
+t=26: Selected seed 195 with value = 0.5738
+Query 1/1: Action query time = 4.077 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6876
+t=42: Selected seed 195 with value = 0.6876
+Query 1/1: Action query time = 3.349 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7845
+t=58: Selected seed 195 with value = 0.7845
+Query 1/1: Action query time = 3.154 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9192
+t=74: Selected seed 195 with value = 0.9192
+Query 1/1: Action query time = 2.699 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9918
+t=90: Selected seed 195 with value = 0.9918
+Query 1/1: Action query time = 3.945 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8344
+t=106: Selected seed 195 with value = 0.8344
+Query 1/1: Action query time = 3.074 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9080
+t=122: Selected seed 195 with value = 0.9080
+Query 1/1: Action query time = 2.776 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9973
+t=138: Selected seed 195 with value = 0.9973
+Query 1/1: Action query time = 1.722 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=154: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 1.670 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=170: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 1.512 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9978
+t=186: Selected seed 195 with value = 0.9978
+Query 1/1: Action query time = 1.365 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9790
+t=202: Selected seed 195 with value = 0.9790
+Query 1/1: Action query time = 2.220 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9635
+t=218: Selected seed 195 with value = 0.9635
+Query 1/1: Action query time = 2.777 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9616
+t=234: Selected seed 195 with value = 0.9616
+Query 1/1: Action query time = 2.335 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9631
+t=250: Selected seed 195 with value = 0.9631
+Query 1/1: Action query time = 2.773 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9627
+t=266: Selected seed 195 with value = 0.9627
+Query 1/1: Action query time = 2.369 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9648
+t=282: Selected seed 195 with value = 0.9648
+Query 1/1: Action query time = 2.151 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9659
+t=298: Selected seed 195 with value = 0.9659
+Saved rollout MP4 at path ./rollouts/fc350full_t6_s1/2026_08_03-14_46_55--with_future_img--episode=8--success=False--task=put_the_cream_cheese_in_the_bowl.mp4
+Success: False
+# episodes completed so far: 8
+# successes: 5 (62.5%)
+
+Task: put the cream cheese in the bowl
+Starting episode 9...
+Query 1/1: Action query time = 1.729 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4993
+t=10: Selected seed 195 with value = 0.4993
+Query 1/1: Action query time = 2.672 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5915
+t=26: Selected seed 195 with value = 0.5915
+Query 1/1: Action query time = 2.913 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6616
+t=42: Selected seed 195 with value = 0.6616
+Query 1/1: Action query time = 2.621 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8086
+t=58: Selected seed 195 with value = 0.8086
+Query 1/1: Action query time = 2.756 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9291
+t=74: Selected seed 195 with value = 0.9291
+Query 1/1: Action query time = 2.064 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/fc350full_t6_s1/2026_08_03-14_46_55--with_future_img--episode=9--success=True--task=put_the_cream_cheese_in_the_bowl.mp4
+Success: True
+# episodes completed so far: 9
+# successes: 6 (66.7%)
+
+Task: put the cream cheese in the bowl
+Starting episode 10...
+Query 1/1: Action query time = 2.342 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5113
+t=10: Selected seed 195 with value = 0.5113
+Query 1/1: Action query time = 2.222 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5917
+t=26: Selected seed 195 with value = 0.5917
+Query 1/1: Action query time = 2.196 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6752
+t=42: Selected seed 195 with value = 0.6752
+Query 1/1: Action query time = 1.831 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8261
+t=58: Selected seed 195 with value = 0.8261
+Query 1/1: Action query time = 1.710 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9554
+t=74: Selected seed 195 with value = 0.9554
+Query 1/1: Action query time = 1.790 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/fc350full_t6_s1/2026_08_03-14_46_55--with_future_img--episode=10--success=True--task=put_the_cream_cheese_in_the_bowl.mp4
+Success: True
+# episodes completed so far: 10
+# successes: 7 (70.0%)
+
+Task: put the cream cheese in the bowl
+Starting episode 11...
+Query 1/1: Action query time = 2.066 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5138
+t=10: Selected seed 195 with value = 0.5138
+Query 1/1: Action query time = 1.702 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5975
+t=26: Selected seed 195 with value = 0.5975
+Query 1/1: Action query time = 1.601 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6759
+t=42: Selected seed 195 with value = 0.6759
+Query 1/1: Action query time = 1.962 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8109
+t=58: Selected seed 195 with value = 0.8109
+Query 1/1: Action query time = 2.113 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9400
+t=74: Selected seed 195 with value = 0.9400
+Query 1/1: Action query time = 2.285 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9864
+t=90: Selected seed 195 with value = 0.9864
+Saved rollout MP4 at path ./rollouts/fc350full_t6_s1/2026_08_03-14_46_55--with_future_img--episode=11--success=True--task=put_the_cream_cheese_in_the_bowl.mp4
+Success: True
+# episodes completed so far: 11
+# successes: 8 (72.7%)
+
+Task: put the cream cheese in the bowl
+Starting episode 12...
+Query 1/1: Action query time = 1.591 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5370
+t=10: Selected seed 195 with value = 0.5370
+Query 1/1: Action query time = 2.108 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6245
+t=26: Selected seed 195 with value = 0.6245
+Query 1/1: Action query time = 1.377 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7296
+t=42: Selected seed 195 with value = 0.7296
+Query 1/1: Action query time = 0.967 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8289
+t=58: Selected seed 195 with value = 0.8289
+Query 1/1: Action query time = 1.014 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9628
+t=74: Selected seed 195 with value = 0.9628
+Query 1/1: Action query time = 1.345 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9981
+t=90: Selected seed 195 with value = 0.9981
+Saved rollout MP4 at path ./rollouts/fc350full_t6_s1/2026_08_03-14_46_55--with_future_img--episode=12--success=True--task=put_the_cream_cheese_in_the_bowl.mp4
+Success: True
+# episodes completed so far: 12
+# successes: 9 (75.0%)
+
+Task: put the cream cheese in the bowl
+Starting episode 13...
+Query 1/1: Action query time = 1.205 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5167
+t=10: Selected seed 195 with value = 0.5167
+Query 1/1: Action query time = 1.422 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5972
+t=26: Selected seed 195 with value = 0.5972
+Query 1/1: Action query time = 0.979 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6495
+t=42: Selected seed 195 with value = 0.6495
+Query 1/1: Action query time = 1.303 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7719
+t=58: Selected seed 195 with value = 0.7719
+Query 1/1: Action query time = 0.983 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9180
+t=74: Selected seed 195 with value = 0.9180
+Query 1/1: Action query time = 1.208 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9807
+t=90: Selected seed 195 with value = 0.9807
+Saved rollout MP4 at path ./rollouts/fc350full_t6_s1/2026_08_03-14_46_55--with_future_img--episode=13--success=True--task=put_the_cream_cheese_in_the_bowl.mp4
+Success: True
+# episodes completed so far: 13
+# successes: 10 (76.9%)
+Current task success rate: 0.7692307692307693
+Current total success rate: 0.7692307692307693
+Final results:
+Total episodes: 13
+Total successes: 10
+Overall success rate: 0.7692 (76.9%)
diff --git a/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_03-14_46_56--fc350full_t5_s2.txt b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_03-14_46_56--fc350full_t5_s2.txt
new file mode 100644
index 0000000000000000000000000000000000000000..c1558416699e85fcd29db20905d19d62117e490f
--- /dev/null
+++ b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_03-14_46_56--fc350full_t5_s2.txt
@@ -0,0 +1,544 @@
+Eval config: PolicyEvalConfig(suite='libero', model_family='cosmos', config='cosmos_predict2_2b_480p_libero_cl_stage_inference_only', ckpt_path='/home/azureuser/REGEN-main/new_task7/cosmos_policy/cosmos_v2_finetune/cosmos_predict2_2b_480p_libero_goal_task7_forget_cl_from100_2gpu/checkpoints/iter_000000350/model', planning_model_config_name='', planning_model_ckpt_path='', config_file='cosmos_policy/config/config.py', packnet_mask_path='', packnet_first_cl_libero_task=6, use_third_person_image=True, num_third_person_images=1, use_wrist_image=True, num_wrist_images=1, use_proprio=True, flip_images=True, use_variance_scale=False, use_jpeg_compression=True, ar_future_prediction=False, ar_value_prediction=False, ar_qvalue_prediction=False, num_denoising_steps_action=5, num_denoising_steps_future_state=1, num_denoising_steps_value=1, unnormalize_actions=True, normalize_proprio=True, dataset_stats_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/libero_goal_regen/dataset_statistics.json', t5_text_embeddings_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/t5_embeddings.pkl', trained_with_image_aug=True, chunk_size=16, num_open_loop_steps=16, deterministic=True, deterministic_reset=False, deterministic_reset_seed=None, use_ensemble_future_state_predictions=False, num_future_state_predictions_in_ensemble=3, future_state_ensemble_aggregation_scheme='average', use_ensemble_value_predictions=False, num_value_predictions_in_ensemble=5, value_ensemble_aggregation_scheme='average', search_depth=1, mask_current_state_action_for_value_prediction=False, mask_future_state_for_qvalue_prediction=False, num_queries_best_of_n=1, use_parallel_inference=False, available_gpus='0', parallel_timeout=15, parallel_tasks_across_gpus=False, task_suite_name='libero_goal', num_trials_per_task=50, task_ids_to_run='5', initial_states_path='DEFAULT', env_img_res=256, local_log_dir='/home/azureuser/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal', run_id_note='fc350full_t5_s2', use_wandb=False, wandb_entity='YOUR_ENTITY', wandb_project='YOUR_PROJECT', seed=195, randomize_seed=False, data_collection=False, jpeg_compress=True, reward_stop_threshold=None, reward_stop_consecutive_steps=3, use_gpt_reward=False, gpt_reward_model='gpt-5.4-mini', gpt_reward_stop_threshold=4, gpt_reward_timeout_s=30.0, save_rollout_video=False, eval_hdf5_path='', eval_hdf5_demo_key='demo_0', data_gen_demo_ids='', eval_episode_ids='2,6,10,14,18,22,26,30,34,38,42,46', dump_final_states_path='', replay_actions=False, replay_action_path_dir='', replay_hdf5_path='', data_generation=False, max_generation_steps=200, disable_value_stop=False)
+Using serial inference (parallel inference disabled)
+Task suite: libero_goal
+Number of tasks: 10
+Running only task IDs: [5]
+Using default initial states
+
+Task: push the plate to the front of the stove
+Starting episode 1...
+Query 1/1: Action query time = 3.562 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3715
+t=10: Selected seed 195 with value = 0.3715
+Query 1/1: Action query time = 2.829 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4239
+t=26: Selected seed 195 with value = 0.4239
+Query 1/1: Action query time = 4.315 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4872
+t=42: Selected seed 195 with value = 0.4872
+Query 1/1: Action query time = 4.910 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5539
+t=58: Selected seed 195 with value = 0.5539
+Query 1/1: Action query time = 4.712 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6196
+t=74: Selected seed 195 with value = 0.6196
+Query 1/1: Action query time = 4.431 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7442
+t=90: Selected seed 195 with value = 0.7442
+Query 1/1: Action query time = 3.925 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8284
+t=106: Selected seed 195 with value = 0.8284
+Query 1/1: Action query time = 5.089 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9845
+t=122: Selected seed 195 with value = 0.9845
+Query 1/1: Action query time = 4.769 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=138: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 5.159 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=154: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/fc350full_t5_s2/2026_08_03-14_46_56--with_future_img--episode=1--success=True--task=push_the_plate_to_the_front_of_the_.mp4
+Success: True
+# episodes completed so far: 1
+# successes: 1 (100.0%)
+
+Task: push the plate to the front of the stove
+Starting episode 2...
+Query 1/1: Action query time = 4.163 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3572
+t=10: Selected seed 195 with value = 0.3572
+Query 1/1: Action query time = 4.292 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4124
+t=26: Selected seed 195 with value = 0.4124
+Query 1/1: Action query time = 5.443 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5399
+t=42: Selected seed 195 with value = 0.5399
+Query 1/1: Action query time = 4.337 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5890
+t=58: Selected seed 195 with value = 0.5890
+Query 1/1: Action query time = 5.371 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6650
+t=74: Selected seed 195 with value = 0.6650
+Query 1/1: Action query time = 5.337 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7217
+t=90: Selected seed 195 with value = 0.7217
+Query 1/1: Action query time = 3.989 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8266
+t=106: Selected seed 195 with value = 0.8266
+Query 1/1: Action query time = 4.545 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9182
+t=122: Selected seed 195 with value = 0.9182
+Query 1/1: Action query time = 4.515 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9999
+t=138: Selected seed 195 with value = 0.9999
+Query 1/1: Action query time = 4.309 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=154: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/fc350full_t5_s2/2026_08_03-14_46_56--with_future_img--episode=2--success=True--task=push_the_plate_to_the_front_of_the_.mp4
+Success: True
+# episodes completed so far: 2
+# successes: 2 (100.0%)
+
+Task: push the plate to the front of the stove
+Starting episode 3...
+Query 1/1: Action query time = 5.539 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3870
+t=10: Selected seed 195 with value = 0.3870
+Query 1/1: Action query time = 4.806 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4309
+t=26: Selected seed 195 with value = 0.4309
+Query 1/1: Action query time = 5.189 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5197
+t=42: Selected seed 195 with value = 0.5197
+Query 1/1: Action query time = 5.358 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5754
+t=58: Selected seed 195 with value = 0.5754
+Query 1/1: Action query time = 3.265 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6419
+t=74: Selected seed 195 with value = 0.6419
+Query 1/1: Action query time = 3.805 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7200
+t=90: Selected seed 195 with value = 0.7200
+Query 1/1: Action query time = 5.178 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8958
+t=106: Selected seed 195 with value = 0.8958
+Query 1/1: Action query time = 5.402 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9912
+t=122: Selected seed 195 with value = 0.9912
+Query 1/1: Action query time = 4.084 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=138: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/fc350full_t5_s2/2026_08_03-14_46_56--with_future_img--episode=3--success=True--task=push_the_plate_to_the_front_of_the_.mp4
+Success: True
+# episodes completed so far: 3
+# successes: 3 (100.0%)
+
+Task: push the plate to the front of the stove
+Starting episode 4...
+Query 1/1: Action query time = 4.764 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3729
+t=10: Selected seed 195 with value = 0.3729
+Query 1/1: Action query time = 4.209 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3985
+t=26: Selected seed 195 with value = 0.3985
+Query 1/1: Action query time = 4.035 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5401
+t=42: Selected seed 195 with value = 0.5401
+Query 1/1: Action query time = 4.935 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6700
+t=58: Selected seed 195 with value = 0.6700
+Query 1/1: Action query time = 4.517 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7273
+t=74: Selected seed 195 with value = 0.7273
+Query 1/1: Action query time = 5.292 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9191
+t=90: Selected seed 195 with value = 0.9191
+Query 1/1: Action query time = 4.170 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9977
+t=106: Selected seed 195 with value = 0.9977
+Query 1/1: Action query time = 3.788 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=122: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/fc350full_t5_s2/2026_08_03-14_46_56--with_future_img--episode=4--success=True--task=push_the_plate_to_the_front_of_the_.mp4
+Success: True
+# episodes completed so far: 4
+# successes: 4 (100.0%)
+
+Task: push the plate to the front of the stove
+Starting episode 5...
+Query 1/1: Action query time = 2.753 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3566
+t=10: Selected seed 195 with value = 0.3566
+Query 1/1: Action query time = 3.490 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4195
+t=26: Selected seed 195 with value = 0.4195
+Query 1/1: Action query time = 5.109 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4738
+t=42: Selected seed 195 with value = 0.4738
+Query 1/1: Action query time = 5.081 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5644
+t=58: Selected seed 195 with value = 0.5644
+Query 1/1: Action query time = 4.712 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6281
+t=74: Selected seed 195 with value = 0.6281
+Query 1/1: Action query time = 4.952 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7259
+t=90: Selected seed 195 with value = 0.7259
+Query 1/1: Action query time = 4.927 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8853
+t=106: Selected seed 195 with value = 0.8853
+Query 1/1: Action query time = 3.781 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9618
+t=122: Selected seed 195 with value = 0.9618
+Query 1/1: Action query time = 4.534 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=138: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 3.346 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=154: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/fc350full_t5_s2/2026_08_03-14_46_56--with_future_img--episode=5--success=True--task=push_the_plate_to_the_front_of_the_.mp4
+Success: True
+# episodes completed so far: 5
+# successes: 5 (100.0%)
+
+Task: push the plate to the front of the stove
+Starting episode 6...
+Query 1/1: Action query time = 3.822 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4000
+t=10: Selected seed 195 with value = 0.4000
+Query 1/1: Action query time = 4.935 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4225
+t=26: Selected seed 195 with value = 0.4225
+Query 1/1: Action query time = 4.757 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5598
+t=42: Selected seed 195 with value = 0.5598
+Query 1/1: Action query time = 3.039 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6687
+t=58: Selected seed 195 with value = 0.6687
+Query 1/1: Action query time = 4.666 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7259
+t=74: Selected seed 195 with value = 0.7259
+Query 1/1: Action query time = 5.528 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7951
+t=90: Selected seed 195 with value = 0.7951
+Query 1/1: Action query time = 4.612 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9648
+t=106: Selected seed 195 with value = 0.9648
+Query 1/1: Action query time = 4.959 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=122: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 5.355 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=138: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/fc350full_t5_s2/2026_08_03-14_46_56--with_future_img--episode=6--success=True--task=push_the_plate_to_the_front_of_the_.mp4
+Success: True
+# episodes completed so far: 6
+# successes: 6 (100.0%)
+
+Task: push the plate to the front of the stove
+Starting episode 7...
+Query 1/1: Action query time = 3.241 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3975
+t=10: Selected seed 195 with value = 0.3975
+Query 1/1: Action query time = 2.832 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4364
+t=26: Selected seed 195 with value = 0.4364
+Query 1/1: Action query time = 3.864 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5229
+t=42: Selected seed 195 with value = 0.5229
+Query 1/1: Action query time = 4.922 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6453
+t=58: Selected seed 195 with value = 0.6453
+Query 1/1: Action query time = 4.457 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6856
+t=74: Selected seed 195 with value = 0.6856
+Query 1/1: Action query time = 5.511 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7481
+t=90: Selected seed 195 with value = 0.7481
+Query 1/1: Action query time = 4.678 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8865
+t=106: Selected seed 195 with value = 0.8865
+Query 1/1: Action query time = 4.561 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=122: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 5.582 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=138: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/fc350full_t5_s2/2026_08_03-14_46_56--with_future_img--episode=7--success=True--task=push_the_plate_to_the_front_of_the_.mp4
+Success: True
+# episodes completed so far: 7
+# successes: 7 (100.0%)
+
+Task: push the plate to the front of the stove
+Starting episode 8...
+Query 1/1: Action query time = 5.282 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3669
+t=10: Selected seed 195 with value = 0.3669
+Query 1/1: Action query time = 2.843 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4250
+t=26: Selected seed 195 with value = 0.4250
+Query 1/1: Action query time = 4.360 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5603
+t=42: Selected seed 195 with value = 0.5603
+Query 1/1: Action query time = 3.506 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5661
+t=58: Selected seed 195 with value = 0.5661
+Query 1/1: Action query time = 4.157 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7140
+t=74: Selected seed 195 with value = 0.7140
+Query 1/1: Action query time = 4.865 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7983
+t=90: Selected seed 195 with value = 0.7983
+Query 1/1: Action query time = 5.096 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9248
+t=106: Selected seed 195 with value = 0.9248
+Query 1/1: Action query time = 4.884 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=122: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 3.906 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=138: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/fc350full_t5_s2/2026_08_03-14_46_56--with_future_img--episode=8--success=True--task=push_the_plate_to_the_front_of_the_.mp4
+Success: True
+# episodes completed so far: 8
+# successes: 8 (100.0%)
+
+Task: push the plate to the front of the stove
+Starting episode 9...
+Query 1/1: Action query time = 4.809 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3381
+t=10: Selected seed 195 with value = 0.3381
+Query 1/1: Action query time = 3.144 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3678
+t=26: Selected seed 195 with value = 0.3678
+Query 1/1: Action query time = 2.826 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5139
+t=42: Selected seed 195 with value = 0.5139
+Query 1/1: Action query time = 4.695 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5736
+t=58: Selected seed 195 with value = 0.5736
+Query 1/1: Action query time = 4.005 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6609
+t=74: Selected seed 195 with value = 0.6609
+Query 1/1: Action query time = 3.406 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8158
+t=90: Selected seed 195 with value = 0.8158
+Query 1/1: Action query time = 3.815 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9453
+t=106: Selected seed 195 with value = 0.9453
+Query 1/1: Action query time = 3.091 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=122: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 3.918 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=138: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/fc350full_t5_s2/2026_08_03-14_46_56--with_future_img--episode=9--success=True--task=push_the_plate_to_the_front_of_the_.mp4
+Success: True
+# episodes completed so far: 9
+# successes: 9 (100.0%)
+
+Task: push the plate to the front of the stove
+Starting episode 10...
+Query 1/1: Action query time = 3.507 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3874
+t=10: Selected seed 195 with value = 0.3874
+Query 1/1: Action query time = 3.659 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4399
+t=26: Selected seed 195 with value = 0.4399
+Query 1/1: Action query time = 3.709 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5480
+t=42: Selected seed 195 with value = 0.5480
+Query 1/1: Action query time = 1.231 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6137
+t=58: Selected seed 195 with value = 0.6137
+Query 1/1: Action query time = 1.384 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6680
+t=74: Selected seed 195 with value = 0.6680
+Query 1/1: Action query time = 1.413 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7824
+t=90: Selected seed 195 with value = 0.7824
+Query 1/1: Action query time = 1.870 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9312
+t=106: Selected seed 195 with value = 0.9312
+Query 1/1: Action query time = 2.761 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=122: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 2.086 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=138: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 2.009 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=154: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/fc350full_t5_s2/2026_08_03-14_46_56--with_future_img--episode=10--success=True--task=push_the_plate_to_the_front_of_the_.mp4
+Success: True
+# episodes completed so far: 10
+# successes: 10 (100.0%)
+
+Task: push the plate to the front of the stove
+Starting episode 11...
+Query 1/1: Action query time = 3.302 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3459
+t=10: Selected seed 195 with value = 0.3459
+Query 1/1: Action query time = 2.936 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4058
+t=26: Selected seed 195 with value = 0.4058
+Query 1/1: Action query time = 1.938 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5203
+t=42: Selected seed 195 with value = 0.5203
+Query 1/1: Action query time = 1.571 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5435
+t=58: Selected seed 195 with value = 0.5435
+Query 1/1: Action query time = 1.300 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5967
+t=74: Selected seed 195 with value = 0.5967
+Query 1/1: Action query time = 1.423 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6610
+t=90: Selected seed 195 with value = 0.6610
+Query 1/1: Action query time = 1.916 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7461
+t=106: Selected seed 195 with value = 0.7461
+Query 1/1: Action query time = 1.813 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8934
+t=122: Selected seed 195 with value = 0.8934
+Query 1/1: Action query time = 2.234 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9900
+t=138: Selected seed 195 with value = 0.9900
+Query 1/1: Action query time = 2.302 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=154: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/fc350full_t5_s2/2026_08_03-14_46_56--with_future_img--episode=11--success=True--task=push_the_plate_to_the_front_of_the_.mp4
+Success: True
+# episodes completed so far: 11
+# successes: 11 (100.0%)
+
+Task: push the plate to the front of the stove
+Starting episode 12...
+Query 1/1: Action query time = 2.466 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3643
+t=10: Selected seed 195 with value = 0.3643
+Query 1/1: Action query time = 2.485 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4114
+t=26: Selected seed 195 with value = 0.4114
+Query 1/1: Action query time = 2.463 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5354
+t=42: Selected seed 195 with value = 0.5354
+Query 1/1: Action query time = 1.446 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5702
+t=58: Selected seed 195 with value = 0.5702
+Query 1/1: Action query time = 1.063 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6665
+t=74: Selected seed 195 with value = 0.6665
+Query 1/1: Action query time = 2.002 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7275
+t=90: Selected seed 195 with value = 0.7275
+Query 1/1: Action query time = 2.055 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9071
+t=106: Selected seed 195 with value = 0.9071
+Query 1/1: Action query time = 2.190 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=122: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 2.275 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=138: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/fc350full_t5_s2/2026_08_03-14_46_56--with_future_img--episode=12--success=True--task=push_the_plate_to_the_front_of_the_.mp4
+Success: True
+# episodes completed so far: 12
+# successes: 12 (100.0%)
+Current task success rate: 1.0
+Current total success rate: 1.0
+Final results:
+Total episodes: 12
+Total successes: 12
+Overall success rate: 1.0000 (100.0%)
diff --git a/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_03-15_06_01--fc175full_t0_s1.txt b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_03-15_06_01--fc175full_t0_s1.txt
new file mode 100644
index 0000000000000000000000000000000000000000..21cf65c1b59edae5a8f5c053c3f7847675c9885d
--- /dev/null
+++ b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_03-15_06_01--fc175full_t0_s1.txt
@@ -0,0 +1,567 @@
+Eval config: PolicyEvalConfig(suite='libero', model_family='cosmos', config='cosmos_predict2_2b_480p_libero_cl_stage_inference_only', ckpt_path='/home/azureuser/REGEN-main/new_task7/cosmos_policy/cosmos_v2_finetune/cosmos_predict2_2b_480p_libero_goal_task7_forget_cl_from100_2gpu/checkpoints/iter_000000175/model', planning_model_config_name='', planning_model_ckpt_path='', config_file='cosmos_policy/config/config.py', packnet_mask_path='', packnet_first_cl_libero_task=6, use_third_person_image=True, num_third_person_images=1, use_wrist_image=True, num_wrist_images=1, use_proprio=True, flip_images=True, use_variance_scale=False, use_jpeg_compression=True, ar_future_prediction=False, ar_value_prediction=False, ar_qvalue_prediction=False, num_denoising_steps_action=5, num_denoising_steps_future_state=1, num_denoising_steps_value=1, unnormalize_actions=True, normalize_proprio=True, dataset_stats_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/libero_goal_regen/dataset_statistics.json', t5_text_embeddings_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/t5_embeddings.pkl', trained_with_image_aug=True, chunk_size=16, num_open_loop_steps=16, deterministic=True, deterministic_reset=False, deterministic_reset_seed=None, use_ensemble_future_state_predictions=False, num_future_state_predictions_in_ensemble=3, future_state_ensemble_aggregation_scheme='average', use_ensemble_value_predictions=False, num_value_predictions_in_ensemble=5, value_ensemble_aggregation_scheme='average', search_depth=1, mask_current_state_action_for_value_prediction=False, mask_future_state_for_qvalue_prediction=False, num_queries_best_of_n=1, use_parallel_inference=False, available_gpus='0', parallel_timeout=15, parallel_tasks_across_gpus=False, task_suite_name='libero_goal', num_trials_per_task=50, task_ids_to_run='0', initial_states_path='DEFAULT', env_img_res=256, local_log_dir='/home/azureuser/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal', run_id_note='fc175full_t0_s1', use_wandb=False, wandb_entity='YOUR_ENTITY', wandb_project='YOUR_PROJECT', seed=195, randomize_seed=False, data_collection=False, jpeg_compress=True, reward_stop_threshold=None, reward_stop_consecutive_steps=3, use_gpt_reward=False, gpt_reward_model='gpt-5.4-mini', gpt_reward_stop_threshold=4, gpt_reward_timeout_s=30.0, save_rollout_video=False, eval_hdf5_path='', eval_hdf5_demo_key='demo_0', data_gen_demo_ids='', eval_episode_ids='1,5,9,13,17,21,25,29,33,37,41,45,49', dump_final_states_path='', replay_actions=False, replay_action_path_dir='', replay_hdf5_path='', data_generation=False, max_generation_steps=200, disable_value_stop=False)
+Using serial inference (parallel inference disabled)
+Task suite: libero_goal
+Number of tasks: 10
+Running only task IDs: [0]
+Using default initial states
+
+Task: open the middle drawer of the cabinet
+Starting episode 1...
+Query 1/1: Action query time = 1.676 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3849
+t=10: Selected seed 195 with value = 0.3849
+Query 1/1: Action query time = 1.243 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4820
+t=26: Selected seed 195 with value = 0.4820
+Query 1/1: Action query time = 2.474 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5616
+t=42: Selected seed 195 with value = 0.5616
+Query 1/1: Action query time = 3.495 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6396
+t=58: Selected seed 195 with value = 0.6396
+Query 1/1: Action query time = 5.042 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7477
+t=74: Selected seed 195 with value = 0.7477
+Query 1/1: Action query time = 4.950 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8347
+t=90: Selected seed 195 with value = 0.8347
+Query 1/1: Action query time = 5.289 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=106: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 5.211 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=122: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/fc175full_t0_s1/2026_08_03-15_06_01--with_future_img--episode=1--success=True--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: True
+# episodes completed so far: 1
+# successes: 1 (100.0%)
+
+Task: open the middle drawer of the cabinet
+Starting episode 2...
+Query 1/1: Action query time = 3.667 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4045
+t=10: Selected seed 195 with value = 0.4045
+Query 1/1: Action query time = 4.108 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4562
+t=26: Selected seed 195 with value = 0.4562
+Query 1/1: Action query time = 4.843 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5601
+t=42: Selected seed 195 with value = 0.5601
+Query 1/1: Action query time = 3.934 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6711
+t=58: Selected seed 195 with value = 0.6711
+Query 1/1: Action query time = 5.334 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7666
+t=74: Selected seed 195 with value = 0.7666
+Query 1/1: Action query time = 4.920 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8086
+t=90: Selected seed 195 with value = 0.8086
+Query 1/1: Action query time = 3.992 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9959
+t=106: Selected seed 195 with value = 0.9959
+Query 1/1: Action query time = 4.444 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=122: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/fc175full_t0_s1/2026_08_03-15_06_01--with_future_img--episode=2--success=True--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: True
+# episodes completed so far: 2
+# successes: 2 (100.0%)
+
+Task: open the middle drawer of the cabinet
+Starting episode 3...
+Query 1/1: Action query time = 4.559 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4429
+t=10: Selected seed 195 with value = 0.4429
+Query 1/1: Action query time = 5.319 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5180
+t=26: Selected seed 195 with value = 0.5180
+Query 1/1: Action query time = 3.151 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5808
+t=42: Selected seed 195 with value = 0.5808
+Query 1/1: Action query time = 5.084 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6587
+t=58: Selected seed 195 with value = 0.6587
+Query 1/1: Action query time = 3.593 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7613
+t=74: Selected seed 195 with value = 0.7613
+Query 1/1: Action query time = 4.384 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9165
+t=90: Selected seed 195 with value = 0.9165
+Query 1/1: Action query time = 4.471 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9981
+t=106: Selected seed 195 with value = 0.9981
+Query 1/1: Action query time = 4.855 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=122: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/fc175full_t0_s1/2026_08_03-15_06_01--with_future_img--episode=3--success=True--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: True
+# episodes completed so far: 3
+# successes: 3 (100.0%)
+
+Task: open the middle drawer of the cabinet
+Starting episode 4...
+Query 1/1: Action query time = 5.046 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4057
+t=10: Selected seed 195 with value = 0.4057
+Query 1/1: Action query time = 3.777 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4739
+t=26: Selected seed 195 with value = 0.4739
+Query 1/1: Action query time = 4.626 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5498
+t=42: Selected seed 195 with value = 0.5498
+Query 1/1: Action query time = 2.347 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6417
+t=58: Selected seed 195 with value = 0.6417
+Query 1/1: Action query time = 4.566 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7690
+t=74: Selected seed 195 with value = 0.7690
+Query 1/1: Action query time = 4.153 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9247
+t=90: Selected seed 195 with value = 0.9247
+Query 1/1: Action query time = 5.128 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9841
+t=106: Selected seed 195 with value = 0.9841
+Query 1/1: Action query time = 5.235 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9982
+t=122: Selected seed 195 with value = 0.9982
+Saved rollout MP4 at path ./rollouts/fc175full_t0_s1/2026_08_03-15_06_01--with_future_img--episode=4--success=True--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: True
+# episodes completed so far: 4
+# successes: 4 (100.0%)
+
+Task: open the middle drawer of the cabinet
+Starting episode 5...
+Query 1/1: Action query time = 4.725 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4037
+t=10: Selected seed 195 with value = 0.4037
+Query 1/1: Action query time = 2.893 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4840
+t=26: Selected seed 195 with value = 0.4840
+Query 1/1: Action query time = 4.709 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5754
+t=42: Selected seed 195 with value = 0.5754
+Query 1/1: Action query time = 5.154 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5860
+t=58: Selected seed 195 with value = 0.5860
+Query 1/1: Action query time = 5.169 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7155
+t=74: Selected seed 195 with value = 0.7155
+Query 1/1: Action query time = 5.153 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8512
+t=90: Selected seed 195 with value = 0.8512
+Query 1/1: Action query time = 3.152 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=106: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 5.837 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=122: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/fc175full_t0_s1/2026_08_03-15_06_01--with_future_img--episode=5--success=True--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: True
+# episodes completed so far: 5
+# successes: 5 (100.0%)
+
+Task: open the middle drawer of the cabinet
+Starting episode 6...
+Query 1/1: Action query time = 4.493 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3782
+t=10: Selected seed 195 with value = 0.3782
+Query 1/1: Action query time = 4.920 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3192
+t=26: Selected seed 195 with value = 0.3192
+Query 1/1: Action query time = 4.160 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4431
+t=42: Selected seed 195 with value = 0.4431
+Query 1/1: Action query time = 6.034 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5275
+t=58: Selected seed 195 with value = 0.5275
+Query 1/1: Action query time = 4.932 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7543
+t=74: Selected seed 195 with value = 0.7543
+Query 1/1: Action query time = 3.087 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8055
+t=90: Selected seed 195 with value = 0.8055
+Query 1/1: Action query time = 3.115 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=106: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 5.002 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=122: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.369 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7778
+t=138: Selected seed 195 with value = 0.7778
+Query 1/1: Action query time = 4.246 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8240
+t=154: Selected seed 195 with value = 0.8240
+Query 1/1: Action query time = 4.915 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7968
+t=170: Selected seed 195 with value = 0.7968
+Query 1/1: Action query time = 3.591 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7773
+t=186: Selected seed 195 with value = 0.7773
+Query 1/1: Action query time = 5.052 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7725
+t=202: Selected seed 195 with value = 0.7725
+Query 1/1: Action query time = 3.070 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7787
+t=218: Selected seed 195 with value = 0.7787
+Query 1/1: Action query time = 4.794 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7710
+t=234: Selected seed 195 with value = 0.7710
+Query 1/1: Action query time = 4.561 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7757
+t=250: Selected seed 195 with value = 0.7757
+Query 1/1: Action query time = 5.110 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7815
+t=266: Selected seed 195 with value = 0.7815
+Query 1/1: Action query time = 4.753 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8040
+t=282: Selected seed 195 with value = 0.8040
+Query 1/1: Action query time = 4.580 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8397
+t=298: Selected seed 195 with value = 0.8397
+Saved rollout MP4 at path ./rollouts/fc175full_t0_s1/2026_08_03-15_06_01--with_future_img--episode=6--success=False--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: False
+# episodes completed so far: 6
+# successes: 5 (83.3%)
+
+Task: open the middle drawer of the cabinet
+Starting episode 7...
+Query 1/1: Action query time = 4.991 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3848
+t=10: Selected seed 195 with value = 0.3848
+Query 1/1: Action query time = 5.013 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4274
+t=26: Selected seed 195 with value = 0.4274
+Query 1/1: Action query time = 4.682 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5077
+t=42: Selected seed 195 with value = 0.5077
+Query 1/1: Action query time = 4.744 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5949
+t=58: Selected seed 195 with value = 0.5949
+Query 1/1: Action query time = 4.810 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7907
+t=74: Selected seed 195 with value = 0.7907
+Query 1/1: Action query time = 4.810 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8814
+t=90: Selected seed 195 with value = 0.8814
+Query 1/1: Action query time = 3.938 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=106: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 3.927 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=122: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/fc175full_t0_s1/2026_08_03-15_06_01--with_future_img--episode=7--success=True--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: True
+# episodes completed so far: 7
+# successes: 6 (85.7%)
+
+Task: open the middle drawer of the cabinet
+Starting episode 8...
+Query 1/1: Action query time = 4.938 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3756
+t=10: Selected seed 195 with value = 0.3756
+Query 1/1: Action query time = 3.985 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4301
+t=26: Selected seed 195 with value = 0.4301
+Query 1/1: Action query time = 4.969 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5182
+t=42: Selected seed 195 with value = 0.5182
+Query 1/1: Action query time = 4.976 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6199
+t=58: Selected seed 195 with value = 0.6199
+Query 1/1: Action query time = 4.252 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7598
+t=74: Selected seed 195 with value = 0.7598
+Query 1/1: Action query time = 3.828 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8804
+t=90: Selected seed 195 with value = 0.8804
+Query 1/1: Action query time = 4.796 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9497
+t=106: Selected seed 195 with value = 0.9497
+Query 1/1: Action query time = 5.106 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=122: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 5.088 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=138: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/fc175full_t0_s1/2026_08_03-15_06_01--with_future_img--episode=8--success=True--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: True
+# episodes completed so far: 8
+# successes: 7 (87.5%)
+
+Task: open the middle drawer of the cabinet
+Starting episode 9...
+Query 1/1: Action query time = 3.435 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3748
+t=10: Selected seed 195 with value = 0.3748
+Query 1/1: Action query time = 3.520 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3772
+t=26: Selected seed 195 with value = 0.3772
+Query 1/1: Action query time = 3.980 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4973
+t=42: Selected seed 195 with value = 0.4973
+Query 1/1: Action query time = 3.719 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5943
+t=58: Selected seed 195 with value = 0.5943
+Query 1/1: Action query time = 4.003 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7707
+t=74: Selected seed 195 with value = 0.7707
+Query 1/1: Action query time = 4.357 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8421
+t=90: Selected seed 195 with value = 0.8421
+Query 1/1: Action query time = 3.074 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=106: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 3.529 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=122: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/fc175full_t0_s1/2026_08_03-15_06_01--with_future_img--episode=9--success=True--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: True
+# episodes completed so far: 9
+# successes: 8 (88.9%)
+
+Task: open the middle drawer of the cabinet
+Starting episode 10...
+Query 1/1: Action query time = 4.839 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3800
+t=10: Selected seed 195 with value = 0.3800
+Query 1/1: Action query time = 2.620 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4484
+t=26: Selected seed 195 with value = 0.4484
+Query 1/1: Action query time = 3.210 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5453
+t=42: Selected seed 195 with value = 0.5453
+Query 1/1: Action query time = 2.612 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6457
+t=58: Selected seed 195 with value = 0.6457
+Query 1/1: Action query time = 2.801 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7642
+t=74: Selected seed 195 with value = 0.7642
+Query 1/1: Action query time = 4.115 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9455
+t=90: Selected seed 195 with value = 0.9455
+Query 1/1: Action query time = 3.766 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9983
+t=106: Selected seed 195 with value = 0.9983
+Query 1/1: Action query time = 2.670 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=122: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/fc175full_t0_s1/2026_08_03-15_06_01--with_future_img--episode=10--success=True--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: True
+# episodes completed so far: 10
+# successes: 9 (90.0%)
+
+Task: open the middle drawer of the cabinet
+Starting episode 11...
+Query 1/1: Action query time = 3.853 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3872
+t=10: Selected seed 195 with value = 0.3872
+Query 1/1: Action query time = 3.031 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4580
+t=26: Selected seed 195 with value = 0.4580
+Query 1/1: Action query time = 3.829 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5311
+t=42: Selected seed 195 with value = 0.5311
+Query 1/1: Action query time = 3.370 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6083
+t=58: Selected seed 195 with value = 0.6083
+Query 1/1: Action query time = 3.175 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7822
+t=74: Selected seed 195 with value = 0.7822
+Query 1/1: Action query time = 2.499 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8387
+t=90: Selected seed 195 with value = 0.8387
+Query 1/1: Action query time = 3.107 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=106: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 2.613 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=122: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/fc175full_t0_s1/2026_08_03-15_06_01--with_future_img--episode=11--success=True--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: True
+# episodes completed so far: 11
+# successes: 10 (90.9%)
+
+Task: open the middle drawer of the cabinet
+Starting episode 12...
+Query 1/1: Action query time = 2.063 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3810
+t=10: Selected seed 195 with value = 0.3810
+Query 1/1: Action query time = 2.581 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4355
+t=26: Selected seed 195 with value = 0.4355
+Query 1/1: Action query time = 2.098 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5583
+t=42: Selected seed 195 with value = 0.5583
+Query 1/1: Action query time = 1.890 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6298
+t=58: Selected seed 195 with value = 0.6298
+Query 1/1: Action query time = 2.016 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7535
+t=74: Selected seed 195 with value = 0.7535
+Query 1/1: Action query time = 2.602 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9133
+t=90: Selected seed 195 with value = 0.9133
+Query 1/1: Action query time = 2.770 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=106: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 1.816 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=122: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/fc175full_t0_s1/2026_08_03-15_06_01--with_future_img--episode=12--success=True--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: True
+# episodes completed so far: 12
+# successes: 11 (91.7%)
+
+Task: open the middle drawer of the cabinet
+Starting episode 13...
+Query 1/1: Action query time = 1.216 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3788
+t=10: Selected seed 195 with value = 0.3788
+Query 1/1: Action query time = 1.479 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4470
+t=26: Selected seed 195 with value = 0.4470
+Query 1/1: Action query time = 0.981 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5263
+t=42: Selected seed 195 with value = 0.5263
+Query 1/1: Action query time = 1.327 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6817
+t=58: Selected seed 195 with value = 0.6817
+Query 1/1: Action query time = 1.920 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7994
+t=74: Selected seed 195 with value = 0.7994
+Query 1/1: Action query time = 1.413 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8592
+t=90: Selected seed 195 with value = 0.8592
+Query 1/1: Action query time = 1.352 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9954
+t=106: Selected seed 195 with value = 0.9954
+Query 1/1: Action query time = 1.319 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=122: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/fc175full_t0_s1/2026_08_03-15_06_01--with_future_img--episode=13--success=True--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: True
+# episodes completed so far: 13
+# successes: 12 (92.3%)
+Current task success rate: 0.9230769230769231
+Current total success rate: 0.9230769230769231
+Final results:
+Total episodes: 13
+Total successes: 12
+Overall success rate: 0.9231 (92.3%)
diff --git a/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_03-15_06_02--fc175full_t0_s0.txt b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_03-15_06_02--fc175full_t0_s0.txt
new file mode 100644
index 0000000000000000000000000000000000000000..9631c01c1b090e3c9d148eb42f2971f5180f1318
--- /dev/null
+++ b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_03-15_06_02--fc175full_t0_s0.txt
@@ -0,0 +1,519 @@
+Eval config: PolicyEvalConfig(suite='libero', model_family='cosmos', config='cosmos_predict2_2b_480p_libero_cl_stage_inference_only', ckpt_path='/home/azureuser/REGEN-main/new_task7/cosmos_policy/cosmos_v2_finetune/cosmos_predict2_2b_480p_libero_goal_task7_forget_cl_from100_2gpu/checkpoints/iter_000000175/model', planning_model_config_name='', planning_model_ckpt_path='', config_file='cosmos_policy/config/config.py', packnet_mask_path='', packnet_first_cl_libero_task=6, use_third_person_image=True, num_third_person_images=1, use_wrist_image=True, num_wrist_images=1, use_proprio=True, flip_images=True, use_variance_scale=False, use_jpeg_compression=True, ar_future_prediction=False, ar_value_prediction=False, ar_qvalue_prediction=False, num_denoising_steps_action=5, num_denoising_steps_future_state=1, num_denoising_steps_value=1, unnormalize_actions=True, normalize_proprio=True, dataset_stats_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/libero_goal_regen/dataset_statistics.json', t5_text_embeddings_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/t5_embeddings.pkl', trained_with_image_aug=True, chunk_size=16, num_open_loop_steps=16, deterministic=True, deterministic_reset=False, deterministic_reset_seed=None, use_ensemble_future_state_predictions=False, num_future_state_predictions_in_ensemble=3, future_state_ensemble_aggregation_scheme='average', use_ensemble_value_predictions=False, num_value_predictions_in_ensemble=5, value_ensemble_aggregation_scheme='average', search_depth=1, mask_current_state_action_for_value_prediction=False, mask_future_state_for_qvalue_prediction=False, num_queries_best_of_n=1, use_parallel_inference=False, available_gpus='0', parallel_timeout=15, parallel_tasks_across_gpus=False, task_suite_name='libero_goal', num_trials_per_task=50, task_ids_to_run='0', initial_states_path='DEFAULT', env_img_res=256, local_log_dir='/home/azureuser/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal', run_id_note='fc175full_t0_s0', use_wandb=False, wandb_entity='YOUR_ENTITY', wandb_project='YOUR_PROJECT', seed=195, randomize_seed=False, data_collection=False, jpeg_compress=True, reward_stop_threshold=None, reward_stop_consecutive_steps=3, use_gpt_reward=False, gpt_reward_model='gpt-5.4-mini', gpt_reward_stop_threshold=4, gpt_reward_timeout_s=30.0, save_rollout_video=False, eval_hdf5_path='', eval_hdf5_demo_key='demo_0', data_gen_demo_ids='', eval_episode_ids='0,4,8,12,16,20,24,28,32,36,40,44,48', dump_final_states_path='', replay_actions=False, replay_action_path_dir='', replay_hdf5_path='', data_generation=False, max_generation_steps=200, disable_value_stop=False)
+Using serial inference (parallel inference disabled)
+Task suite: libero_goal
+Number of tasks: 10
+Running only task IDs: [0]
+Using default initial states
+
+Task: open the middle drawer of the cabinet
+Starting episode 1...
+Query 1/1: Action query time = 6.290 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3949
+t=10: Selected seed 195 with value = 0.3949
+Query 1/1: Action query time = 4.671 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4815
+t=26: Selected seed 195 with value = 0.4815
+Query 1/1: Action query time = 5.615 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5677
+t=42: Selected seed 195 with value = 0.5677
+Query 1/1: Action query time = 5.133 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6688
+t=58: Selected seed 195 with value = 0.6688
+Query 1/1: Action query time = 4.176 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7850
+t=74: Selected seed 195 with value = 0.7850
+Query 1/1: Action query time = 3.652 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8257
+t=90: Selected seed 195 with value = 0.8257
+Query 1/1: Action query time = 4.754 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9960
+t=106: Selected seed 195 with value = 0.9960
+Query 1/1: Action query time = 3.935 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=122: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/fc175full_t0_s0/2026_08_03-15_06_02--with_future_img--episode=1--success=True--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: True
+# episodes completed so far: 1
+# successes: 1 (100.0%)
+
+Task: open the middle drawer of the cabinet
+Starting episode 2...
+Query 1/1: Action query time = 4.388 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4111
+t=10: Selected seed 195 with value = 0.4111
+Query 1/1: Action query time = 4.742 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4807
+t=26: Selected seed 195 with value = 0.4807
+Query 1/1: Action query time = 4.426 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5579
+t=42: Selected seed 195 with value = 0.5579
+Query 1/1: Action query time = 3.719 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6560
+t=58: Selected seed 195 with value = 0.6560
+Query 1/1: Action query time = 4.584 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7503
+t=74: Selected seed 195 with value = 0.7503
+Query 1/1: Action query time = 3.795 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8970
+t=90: Selected seed 195 with value = 0.8970
+Query 1/1: Action query time = 5.359 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9852
+t=106: Selected seed 195 with value = 0.9852
+Query 1/1: Action query time = 4.352 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=122: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/fc175full_t0_s0/2026_08_03-15_06_02--with_future_img--episode=2--success=True--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: True
+# episodes completed so far: 2
+# successes: 2 (100.0%)
+
+Task: open the middle drawer of the cabinet
+Starting episode 3...
+Query 1/1: Action query time = 5.524 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3870
+t=10: Selected seed 195 with value = 0.3870
+Query 1/1: Action query time = 3.612 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4663
+t=26: Selected seed 195 with value = 0.4663
+Query 1/1: Action query time = 2.994 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5500
+t=42: Selected seed 195 with value = 0.5500
+Query 1/1: Action query time = 5.122 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6709
+t=58: Selected seed 195 with value = 0.6709
+Query 1/1: Action query time = 5.184 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7590
+t=74: Selected seed 195 with value = 0.7590
+Query 1/1: Action query time = 4.738 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9096
+t=90: Selected seed 195 with value = 0.9096
+Query 1/1: Action query time = 4.810 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9944
+t=106: Selected seed 195 with value = 0.9944
+Query 1/1: Action query time = 5.734 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=122: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/fc175full_t0_s0/2026_08_03-15_06_02--with_future_img--episode=3--success=True--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: True
+# episodes completed so far: 3
+# successes: 3 (100.0%)
+
+Task: open the middle drawer of the cabinet
+Starting episode 4...
+Query 1/1: Action query time = 3.737 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3870
+t=10: Selected seed 195 with value = 0.3870
+Query 1/1: Action query time = 4.708 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4250
+t=26: Selected seed 195 with value = 0.4250
+Query 1/1: Action query time = 5.347 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5161
+t=42: Selected seed 195 with value = 0.5161
+Query 1/1: Action query time = 5.157 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6256
+t=58: Selected seed 195 with value = 0.6256
+Query 1/1: Action query time = 3.146 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7567
+t=74: Selected seed 195 with value = 0.7567
+Query 1/1: Action query time = 2.722 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9091
+t=90: Selected seed 195 with value = 0.9091
+Query 1/1: Action query time = 4.579 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9911
+t=106: Selected seed 195 with value = 0.9911
+Query 1/1: Action query time = 5.173 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=122: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/fc175full_t0_s0/2026_08_03-15_06_02--with_future_img--episode=4--success=True--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: True
+# episodes completed so far: 4
+# successes: 4 (100.0%)
+
+Task: open the middle drawer of the cabinet
+Starting episode 5...
+Query 1/1: Action query time = 4.895 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4032
+t=10: Selected seed 195 with value = 0.4032
+Query 1/1: Action query time = 5.088 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4790
+t=26: Selected seed 195 with value = 0.4790
+Query 1/1: Action query time = 4.840 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5996
+t=42: Selected seed 195 with value = 0.5996
+Query 1/1: Action query time = 3.705 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6892
+t=58: Selected seed 195 with value = 0.6892
+Query 1/1: Action query time = 4.645 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8210
+t=74: Selected seed 195 with value = 0.8210
+Query 1/1: Action query time = 3.421 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9355
+t=90: Selected seed 195 with value = 0.9355
+Query 1/1: Action query time = 4.522 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9986
+t=106: Selected seed 195 with value = 0.9986
+Query 1/1: Action query time = 4.707 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=122: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/fc175full_t0_s0/2026_08_03-15_06_02--with_future_img--episode=5--success=True--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: True
+# episodes completed so far: 5
+# successes: 5 (100.0%)
+
+Task: open the middle drawer of the cabinet
+Starting episode 6...
+Query 1/1: Action query time = 5.589 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3972
+t=10: Selected seed 195 with value = 0.3972
+Query 1/1: Action query time = 4.930 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3455
+t=26: Selected seed 195 with value = 0.3455
+Query 1/1: Action query time = 2.799 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5719
+t=42: Selected seed 195 with value = 0.5719
+Query 1/1: Action query time = 2.751 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6561
+t=58: Selected seed 195 with value = 0.6561
+Query 1/1: Action query time = 4.874 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7806
+t=74: Selected seed 195 with value = 0.7806
+Query 1/1: Action query time = 4.551 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8752
+t=90: Selected seed 195 with value = 0.8752
+Query 1/1: Action query time = 4.213 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9920
+t=106: Selected seed 195 with value = 0.9920
+Query 1/1: Action query time = 4.951 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=122: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/fc175full_t0_s0/2026_08_03-15_06_02--with_future_img--episode=6--success=True--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: True
+# episodes completed so far: 6
+# successes: 6 (100.0%)
+
+Task: open the middle drawer of the cabinet
+Starting episode 7...
+Query 1/1: Action query time = 4.915 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4093
+t=10: Selected seed 195 with value = 0.4093
+Query 1/1: Action query time = 3.734 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4568
+t=26: Selected seed 195 with value = 0.4568
+Query 1/1: Action query time = 4.824 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5257
+t=42: Selected seed 195 with value = 0.5257
+Query 1/1: Action query time = 4.886 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6366
+t=58: Selected seed 195 with value = 0.6366
+Query 1/1: Action query time = 5.403 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7515
+t=74: Selected seed 195 with value = 0.7515
+Query 1/1: Action query time = 4.908 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8876
+t=90: Selected seed 195 with value = 0.8876
+Query 1/1: Action query time = 5.028 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=106: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.431 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=122: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/fc175full_t0_s0/2026_08_03-15_06_02--with_future_img--episode=7--success=True--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: True
+# episodes completed so far: 7
+# successes: 7 (100.0%)
+
+Task: open the middle drawer of the cabinet
+Starting episode 8...
+Query 1/1: Action query time = 2.520 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3916
+t=10: Selected seed 195 with value = 0.3916
+Query 1/1: Action query time = 5.115 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4778
+t=26: Selected seed 195 with value = 0.4778
+Query 1/1: Action query time = 4.899 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5599
+t=42: Selected seed 195 with value = 0.5599
+Query 1/1: Action query time = 4.838 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6451
+t=58: Selected seed 195 with value = 0.6451
+Query 1/1: Action query time = 3.833 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7395
+t=74: Selected seed 195 with value = 0.7395
+Query 1/1: Action query time = 5.009 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8669
+t=90: Selected seed 195 with value = 0.8669
+Query 1/1: Action query time = 5.614 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=106: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 3.833 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=122: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/fc175full_t0_s0/2026_08_03-15_06_02--with_future_img--episode=8--success=True--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: True
+# episodes completed so far: 8
+# successes: 8 (100.0%)
+
+Task: open the middle drawer of the cabinet
+Starting episode 9...
+Query 1/1: Action query time = 4.808 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4058
+t=10: Selected seed 195 with value = 0.4058
+Query 1/1: Action query time = 5.172 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4751
+t=26: Selected seed 195 with value = 0.4751
+Query 1/1: Action query time = 3.918 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5686
+t=42: Selected seed 195 with value = 0.5686
+Query 1/1: Action query time = 5.137 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6627
+t=58: Selected seed 195 with value = 0.6627
+Query 1/1: Action query time = 4.874 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7555
+t=74: Selected seed 195 with value = 0.7555
+Query 1/1: Action query time = 4.389 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8483
+t=90: Selected seed 195 with value = 0.8483
+Query 1/1: Action query time = 5.417 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9910
+t=106: Selected seed 195 with value = 0.9910
+Query 1/1: Action query time = 4.908 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=122: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/fc175full_t0_s0/2026_08_03-15_06_02--with_future_img--episode=9--success=True--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: True
+# episodes completed so far: 9
+# successes: 9 (100.0%)
+
+Task: open the middle drawer of the cabinet
+Starting episode 10...
+Query 1/1: Action query time = 5.144 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3434
+t=10: Selected seed 195 with value = 0.3434
+Query 1/1: Action query time = 4.946 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3216
+t=26: Selected seed 195 with value = 0.3216
+Query 1/1: Action query time = 4.029 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3895
+t=42: Selected seed 195 with value = 0.3895
+Query 1/1: Action query time = 3.247 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5183
+t=58: Selected seed 195 with value = 0.5183
+Query 1/1: Action query time = 3.557 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7837
+t=74: Selected seed 195 with value = 0.7837
+Query 1/1: Action query time = 4.508 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8358
+t=90: Selected seed 195 with value = 0.8358
+Query 1/1: Action query time = 4.658 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=106: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 3.598 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=122: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/fc175full_t0_s0/2026_08_03-15_06_02--with_future_img--episode=10--success=True--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: True
+# episodes completed so far: 10
+# successes: 10 (100.0%)
+
+Task: open the middle drawer of the cabinet
+Starting episode 11...
+Query 1/1: Action query time = 3.254 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4054
+t=10: Selected seed 195 with value = 0.4054
+Query 1/1: Action query time = 4.070 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4751
+t=26: Selected seed 195 with value = 0.4751
+Query 1/1: Action query time = 3.321 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5671
+t=42: Selected seed 195 with value = 0.5671
+Query 1/1: Action query time = 2.933 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6673
+t=58: Selected seed 195 with value = 0.6673
+Query 1/1: Action query time = 2.999 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7757
+t=74: Selected seed 195 with value = 0.7757
+Query 1/1: Action query time = 2.682 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9640
+t=90: Selected seed 195 with value = 0.9640
+Query 1/1: Action query time = 3.750 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9992
+t=106: Selected seed 195 with value = 0.9992
+Query 1/1: Action query time = 3.987 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=122: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/fc175full_t0_s0/2026_08_03-15_06_02--with_future_img--episode=11--success=True--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: True
+# episodes completed so far: 11
+# successes: 11 (100.0%)
+
+Task: open the middle drawer of the cabinet
+Starting episode 12...
+Query 1/1: Action query time = 3.453 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3943
+t=10: Selected seed 195 with value = 0.3943
+Query 1/1: Action query time = 3.541 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4749
+t=26: Selected seed 195 with value = 0.4749
+Query 1/1: Action query time = 2.933 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5787
+t=42: Selected seed 195 with value = 0.5787
+Query 1/1: Action query time = 3.866 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6393
+t=58: Selected seed 195 with value = 0.6393
+Query 1/1: Action query time = 3.079 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7264
+t=74: Selected seed 195 with value = 0.7264
+Query 1/1: Action query time = 3.132 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8685
+t=90: Selected seed 195 with value = 0.8685
+Query 1/1: Action query time = 2.517 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9794
+t=106: Selected seed 195 with value = 0.9794
+Query 1/1: Action query time = 3.320 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=122: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/fc175full_t0_s0/2026_08_03-15_06_02--with_future_img--episode=12--success=True--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: True
+# episodes completed so far: 12
+# successes: 12 (100.0%)
+
+Task: open the middle drawer of the cabinet
+Starting episode 13...
+Query 1/1: Action query time = 1.709 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4133
+t=10: Selected seed 195 with value = 0.4133
+Query 1/1: Action query time = 2.299 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4822
+t=26: Selected seed 195 with value = 0.4822
+Query 1/1: Action query time = 2.649 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5679
+t=42: Selected seed 195 with value = 0.5679
+Query 1/1: Action query time = 2.249 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6793
+t=58: Selected seed 195 with value = 0.6793
+Query 1/1: Action query time = 2.263 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7586
+t=74: Selected seed 195 with value = 0.7586
+Query 1/1: Action query time = 2.392 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9099
+t=90: Selected seed 195 with value = 0.9099
+Query 1/1: Action query time = 2.114 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=106: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 2.791 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=122: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/fc175full_t0_s0/2026_08_03-15_06_02--with_future_img--episode=13--success=True--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: True
+# episodes completed so far: 13
+# successes: 13 (100.0%)
+Current task success rate: 1.0
+Current total success rate: 1.0
+Final results:
+Total episodes: 13
+Total successes: 13
+Overall success rate: 1.0000 (100.0%)
diff --git a/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_03-15_06_02--fc175full_t2_s0.txt b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_03-15_06_02--fc175full_t2_s0.txt
new file mode 100644
index 0000000000000000000000000000000000000000..4abf265af8d7e1c89b9b02c7c1eebcc334263a02
--- /dev/null
+++ b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_03-15_06_02--fc175full_t2_s0.txt
@@ -0,0 +1,519 @@
+Eval config: PolicyEvalConfig(suite='libero', model_family='cosmos', config='cosmos_predict2_2b_480p_libero_cl_stage_inference_only', ckpt_path='/home/azureuser/REGEN-main/new_task7/cosmos_policy/cosmos_v2_finetune/cosmos_predict2_2b_480p_libero_goal_task7_forget_cl_from100_2gpu/checkpoints/iter_000000175/model', planning_model_config_name='', planning_model_ckpt_path='', config_file='cosmos_policy/config/config.py', packnet_mask_path='', packnet_first_cl_libero_task=6, use_third_person_image=True, num_third_person_images=1, use_wrist_image=True, num_wrist_images=1, use_proprio=True, flip_images=True, use_variance_scale=False, use_jpeg_compression=True, ar_future_prediction=False, ar_value_prediction=False, ar_qvalue_prediction=False, num_denoising_steps_action=5, num_denoising_steps_future_state=1, num_denoising_steps_value=1, unnormalize_actions=True, normalize_proprio=True, dataset_stats_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/libero_goal_regen/dataset_statistics.json', t5_text_embeddings_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/t5_embeddings.pkl', trained_with_image_aug=True, chunk_size=16, num_open_loop_steps=16, deterministic=True, deterministic_reset=False, deterministic_reset_seed=None, use_ensemble_future_state_predictions=False, num_future_state_predictions_in_ensemble=3, future_state_ensemble_aggregation_scheme='average', use_ensemble_value_predictions=False, num_value_predictions_in_ensemble=5, value_ensemble_aggregation_scheme='average', search_depth=1, mask_current_state_action_for_value_prediction=False, mask_future_state_for_qvalue_prediction=False, num_queries_best_of_n=1, use_parallel_inference=False, available_gpus='0', parallel_timeout=15, parallel_tasks_across_gpus=False, task_suite_name='libero_goal', num_trials_per_task=50, task_ids_to_run='2', initial_states_path='DEFAULT', env_img_res=256, local_log_dir='/home/azureuser/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal', run_id_note='fc175full_t2_s0', use_wandb=False, wandb_entity='YOUR_ENTITY', wandb_project='YOUR_PROJECT', seed=195, randomize_seed=False, data_collection=False, jpeg_compress=True, reward_stop_threshold=None, reward_stop_consecutive_steps=3, use_gpt_reward=False, gpt_reward_model='gpt-5.4-mini', gpt_reward_stop_threshold=4, gpt_reward_timeout_s=30.0, save_rollout_video=False, eval_hdf5_path='', eval_hdf5_demo_key='demo_0', data_gen_demo_ids='', eval_episode_ids='0,4,8,12,16,20,24,28,32,36,40,44,48', dump_final_states_path='', replay_actions=False, replay_action_path_dir='', replay_hdf5_path='', data_generation=False, max_generation_steps=200, disable_value_stop=False)
+Using serial inference (parallel inference disabled)
+Task suite: libero_goal
+Number of tasks: 10
+Running only task IDs: [2]
+Using default initial states
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 1...
+Query 1/1: Action query time = 2.761 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6202
+t=10: Selected seed 195 with value = 0.6202
+Query 1/1: Action query time = 2.850 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7548
+t=26: Selected seed 195 with value = 0.7548
+Query 1/1: Action query time = 4.817 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9129
+t=42: Selected seed 195 with value = 0.9129
+Query 1/1: Action query time = 4.854 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=58: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 5.231 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=74: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/fc175full_t2_s0/2026_08_03-15_06_02--with_future_img--episode=1--success=True--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: True
+# episodes completed so far: 1
+# successes: 1 (100.0%)
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 2...
+Query 1/1: Action query time = 4.611 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5955
+t=10: Selected seed 195 with value = 0.5955
+Query 1/1: Action query time = 5.375 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7288
+t=26: Selected seed 195 with value = 0.7288
+Query 1/1: Action query time = 5.447 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8129
+t=42: Selected seed 195 with value = 0.8129
+Query 1/1: Action query time = 4.961 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9643
+t=58: Selected seed 195 with value = 0.9643
+Query 1/1: Action query time = 4.436 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=74: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.833 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/fc175full_t2_s0/2026_08_03-15_06_02--with_future_img--episode=2--success=True--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: True
+# episodes completed so far: 2
+# successes: 2 (100.0%)
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 3...
+Query 1/1: Action query time = 3.882 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5895
+t=10: Selected seed 195 with value = 0.5895
+Query 1/1: Action query time = 3.428 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7091
+t=26: Selected seed 195 with value = 0.7091
+Query 1/1: Action query time = 2.068 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8204
+t=42: Selected seed 195 with value = 0.8204
+Query 1/1: Action query time = 4.412 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9386
+t=58: Selected seed 195 with value = 0.9386
+Query 1/1: Action query time = 5.933 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=74: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 5.264 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/fc175full_t2_s0/2026_08_03-15_06_02--with_future_img--episode=3--success=True--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: True
+# episodes completed so far: 3
+# successes: 3 (100.0%)
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 4...
+Query 1/1: Action query time = 4.414 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5568
+t=10: Selected seed 195 with value = 0.5568
+Query 1/1: Action query time = 4.872 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6216
+t=26: Selected seed 195 with value = 0.6216
+Query 1/1: Action query time = 3.442 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7536
+t=42: Selected seed 195 with value = 0.7536
+Query 1/1: Action query time = 4.769 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9047
+t=58: Selected seed 195 with value = 0.9047
+Query 1/1: Action query time = 5.217 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9807
+t=74: Selected seed 195 with value = 0.9807
+Query 1/1: Action query time = 5.410 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/fc175full_t2_s0/2026_08_03-15_06_02--with_future_img--episode=4--success=True--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: True
+# episodes completed so far: 4
+# successes: 4 (100.0%)
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 5...
+Query 1/1: Action query time = 4.286 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5661
+t=10: Selected seed 195 with value = 0.5661
+Query 1/1: Action query time = 4.492 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6555
+t=26: Selected seed 195 with value = 0.6555
+Query 1/1: Action query time = 4.117 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7272
+t=42: Selected seed 195 with value = 0.7272
+Query 1/1: Action query time = 5.217 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8860
+t=58: Selected seed 195 with value = 0.8860
+Query 1/1: Action query time = 5.311 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9891
+t=74: Selected seed 195 with value = 0.9891
+Query 1/1: Action query time = 4.750 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/fc175full_t2_s0/2026_08_03-15_06_02--with_future_img--episode=5--success=True--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: True
+# episodes completed so far: 5
+# successes: 5 (100.0%)
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 6...
+Query 1/1: Action query time = 4.562 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6441
+t=10: Selected seed 195 with value = 0.6441
+Query 1/1: Action query time = 4.625 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7325
+t=26: Selected seed 195 with value = 0.7325
+Query 1/1: Action query time = 5.173 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8742
+t=42: Selected seed 195 with value = 0.8742
+Query 1/1: Action query time = 4.217 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9858
+t=58: Selected seed 195 with value = 0.9858
+Query 1/1: Action query time = 5.176 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=74: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 5.099 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/fc175full_t2_s0/2026_08_03-15_06_02--with_future_img--episode=6--success=True--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: True
+# episodes completed so far: 6
+# successes: 6 (100.0%)
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 7...
+Query 1/1: Action query time = 3.885 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4832
+t=10: Selected seed 195 with value = 0.4832
+Query 1/1: Action query time = 5.504 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7031
+t=26: Selected seed 195 with value = 0.7031
+Query 1/1: Action query time = 4.322 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7793
+t=42: Selected seed 195 with value = 0.7793
+Query 1/1: Action query time = 3.966 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9298
+t=58: Selected seed 195 with value = 0.9298
+Query 1/1: Action query time = 4.662 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=74: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 5.044 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/fc175full_t2_s0/2026_08_03-15_06_02--with_future_img--episode=7--success=True--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: True
+# episodes completed so far: 7
+# successes: 7 (100.0%)
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 8...
+Query 1/1: Action query time = 2.909 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5603
+t=10: Selected seed 195 with value = 0.5603
+Query 1/1: Action query time = 4.233 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5385
+t=26: Selected seed 195 with value = 0.5385
+Query 1/1: Action query time = 5.344 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7083
+t=42: Selected seed 195 with value = 0.7083
+Query 1/1: Action query time = 4.928 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7787
+t=58: Selected seed 195 with value = 0.7787
+Query 1/1: Action query time = 4.882 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9425
+t=74: Selected seed 195 with value = 0.9425
+Query 1/1: Action query time = 4.135 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9822
+t=90: Selected seed 195 with value = 0.9822
+Query 1/1: Action query time = 4.353 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9931
+t=106: Selected seed 195 with value = 0.9931
+Query 1/1: Action query time = 4.218 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=122: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 5.643 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=138: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 5.075 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=154: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.950 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=170: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.792 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=186: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.474 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=202: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.851 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9795
+t=218: Selected seed 195 with value = 0.9795
+Query 1/1: Action query time = 4.807 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9678
+t=234: Selected seed 195 with value = 0.9678
+Query 1/1: Action query time = 5.241 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9340
+t=250: Selected seed 195 with value = 0.9340
+Query 1/1: Action query time = 3.494 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9331
+t=266: Selected seed 195 with value = 0.9331
+Query 1/1: Action query time = 4.895 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8733
+t=282: Selected seed 195 with value = 0.8733
+Query 1/1: Action query time = 4.696 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8614
+t=298: Selected seed 195 with value = 0.8614
+Saved rollout MP4 at path ./rollouts/fc175full_t2_s0/2026_08_03-15_06_02--with_future_img--episode=8--success=False--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: False
+# episodes completed so far: 8
+# successes: 7 (87.5%)
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 9...
+Query 1/1: Action query time = 3.558 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5563
+t=10: Selected seed 195 with value = 0.5563
+Query 1/1: Action query time = 4.130 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6346
+t=26: Selected seed 195 with value = 0.6346
+Query 1/1: Action query time = 5.527 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6722
+t=42: Selected seed 195 with value = 0.6722
+Query 1/1: Action query time = 3.656 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8054
+t=58: Selected seed 195 with value = 0.8054
+Query 1/1: Action query time = 2.999 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9286
+t=74: Selected seed 195 with value = 0.9286
+Query 1/1: Action query time = 5.453 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9822
+t=90: Selected seed 195 with value = 0.9822
+Query 1/1: Action query time = 5.219 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=106: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/fc175full_t2_s0/2026_08_03-15_06_02--with_future_img--episode=9--success=True--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: True
+# episodes completed so far: 9
+# successes: 8 (88.9%)
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 10...
+Query 1/1: Action query time = 4.735 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5211
+t=10: Selected seed 195 with value = 0.5211
+Query 1/1: Action query time = 4.941 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6103
+t=26: Selected seed 195 with value = 0.6103
+Query 1/1: Action query time = 4.895 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6799
+t=42: Selected seed 195 with value = 0.6799
+Query 1/1: Action query time = 3.888 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7929
+t=58: Selected seed 195 with value = 0.7929
+Query 1/1: Action query time = 4.661 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9596
+t=74: Selected seed 195 with value = 0.9596
+Query 1/1: Action query time = 3.881 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9988
+t=90: Selected seed 195 with value = 0.9988
+Query 1/1: Action query time = 3.984 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=106: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 3.840 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=122: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.264 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=138: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 5.227 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=154: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.793 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=170: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 5.910 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=186: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 2.542 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=202: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.787 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=218: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.709 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=234: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 5.344 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9843
+t=250: Selected seed 195 with value = 0.9843
+Query 1/1: Action query time = 5.503 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9641
+t=266: Selected seed 195 with value = 0.9641
+Query 1/1: Action query time = 5.338 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9297
+t=282: Selected seed 195 with value = 0.9297
+Query 1/1: Action query time = 4.213 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9226
+t=298: Selected seed 195 with value = 0.9226
+Saved rollout MP4 at path ./rollouts/fc175full_t2_s0/2026_08_03-15_06_02--with_future_img--episode=10--success=False--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: False
+# episodes completed so far: 10
+# successes: 8 (80.0%)
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 11...
+Query 1/1: Action query time = 4.108 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5870
+t=10: Selected seed 195 with value = 0.5870
+Query 1/1: Action query time = 5.210 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6647
+t=26: Selected seed 195 with value = 0.6647
+Query 1/1: Action query time = 5.431 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8006
+t=42: Selected seed 195 with value = 0.8006
+Query 1/1: Action query time = 5.433 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9618
+t=58: Selected seed 195 with value = 0.9618
+Query 1/1: Action query time = 4.472 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=74: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.318 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/fc175full_t2_s0/2026_08_03-15_06_02--with_future_img--episode=11--success=True--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: True
+# episodes completed so far: 11
+# successes: 9 (81.8%)
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 12...
+Query 1/1: Action query time = 3.154 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5649
+t=10: Selected seed 195 with value = 0.5649
+Query 1/1: Action query time = 4.553 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7058
+t=26: Selected seed 195 with value = 0.7058
+Query 1/1: Action query time = 4.191 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7872
+t=42: Selected seed 195 with value = 0.7872
+Query 1/1: Action query time = 3.108 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9196
+t=58: Selected seed 195 with value = 0.9196
+Query 1/1: Action query time = 3.037 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=74: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 3.788 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/fc175full_t2_s0/2026_08_03-15_06_02--with_future_img--episode=12--success=True--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: True
+# episodes completed so far: 12
+# successes: 10 (83.3%)
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 13...
+Query 1/1: Action query time = 2.755 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5668
+t=10: Selected seed 195 with value = 0.5668
+Query 1/1: Action query time = 3.147 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6087
+t=26: Selected seed 195 with value = 0.6087
+Query 1/1: Action query time = 3.580 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7178
+t=42: Selected seed 195 with value = 0.7178
+Query 1/1: Action query time = 2.507 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8954
+t=58: Selected seed 195 with value = 0.8954
+Query 1/1: Action query time = 3.096 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9965
+t=74: Selected seed 195 with value = 0.9965
+Query 1/1: Action query time = 1.962 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/fc175full_t2_s0/2026_08_03-15_06_02--with_future_img--episode=13--success=True--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: True
+# episodes completed so far: 13
+# successes: 11 (84.6%)
+Current task success rate: 0.8461538461538461
+Current total success rate: 0.8461538461538461
+Final results:
+Total episodes: 13
+Total successes: 11
+Overall success rate: 0.8462 (84.6%)
diff --git a/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_03-15_06_02--fc175full_t2_s2.txt b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_03-15_06_02--fc175full_t2_s2.txt
new file mode 100644
index 0000000000000000000000000000000000000000..f486c713bb9eb4963efab3b0ab106a03dac8d933
--- /dev/null
+++ b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_03-15_06_02--fc175full_t2_s2.txt
@@ -0,0 +1,444 @@
+Eval config: PolicyEvalConfig(suite='libero', model_family='cosmos', config='cosmos_predict2_2b_480p_libero_cl_stage_inference_only', ckpt_path='/home/azureuser/REGEN-main/new_task7/cosmos_policy/cosmos_v2_finetune/cosmos_predict2_2b_480p_libero_goal_task7_forget_cl_from100_2gpu/checkpoints/iter_000000175/model', planning_model_config_name='', planning_model_ckpt_path='', config_file='cosmos_policy/config/config.py', packnet_mask_path='', packnet_first_cl_libero_task=6, use_third_person_image=True, num_third_person_images=1, use_wrist_image=True, num_wrist_images=1, use_proprio=True, flip_images=True, use_variance_scale=False, use_jpeg_compression=True, ar_future_prediction=False, ar_value_prediction=False, ar_qvalue_prediction=False, num_denoising_steps_action=5, num_denoising_steps_future_state=1, num_denoising_steps_value=1, unnormalize_actions=True, normalize_proprio=True, dataset_stats_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/libero_goal_regen/dataset_statistics.json', t5_text_embeddings_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/t5_embeddings.pkl', trained_with_image_aug=True, chunk_size=16, num_open_loop_steps=16, deterministic=True, deterministic_reset=False, deterministic_reset_seed=None, use_ensemble_future_state_predictions=False, num_future_state_predictions_in_ensemble=3, future_state_ensemble_aggregation_scheme='average', use_ensemble_value_predictions=False, num_value_predictions_in_ensemble=5, value_ensemble_aggregation_scheme='average', search_depth=1, mask_current_state_action_for_value_prediction=False, mask_future_state_for_qvalue_prediction=False, num_queries_best_of_n=1, use_parallel_inference=False, available_gpus='0', parallel_timeout=15, parallel_tasks_across_gpus=False, task_suite_name='libero_goal', num_trials_per_task=50, task_ids_to_run='2', initial_states_path='DEFAULT', env_img_res=256, local_log_dir='/home/azureuser/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal', run_id_note='fc175full_t2_s2', use_wandb=False, wandb_entity='YOUR_ENTITY', wandb_project='YOUR_PROJECT', seed=195, randomize_seed=False, data_collection=False, jpeg_compress=True, reward_stop_threshold=None, reward_stop_consecutive_steps=3, use_gpt_reward=False, gpt_reward_model='gpt-5.4-mini', gpt_reward_stop_threshold=4, gpt_reward_timeout_s=30.0, save_rollout_video=False, eval_hdf5_path='', eval_hdf5_demo_key='demo_0', data_gen_demo_ids='', eval_episode_ids='2,6,10,14,18,22,26,30,34,38,42,46', dump_final_states_path='', replay_actions=False, replay_action_path_dir='', replay_hdf5_path='', data_generation=False, max_generation_steps=200, disable_value_stop=False)
+Using serial inference (parallel inference disabled)
+Task suite: libero_goal
+Number of tasks: 10
+Running only task IDs: [2]
+Using default initial states
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 1...
+Query 1/1: Action query time = 2.769 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5763
+t=10: Selected seed 195 with value = 0.5763
+Query 1/1: Action query time = 3.447 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6376
+t=26: Selected seed 195 with value = 0.6376
+Query 1/1: Action query time = 4.957 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7203
+t=42: Selected seed 195 with value = 0.7203
+Query 1/1: Action query time = 4.036 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8923
+t=58: Selected seed 195 with value = 0.8923
+Query 1/1: Action query time = 5.058 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=74: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.397 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/fc175full_t2_s2/2026_08_03-15_06_02--with_future_img--episode=1--success=True--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: True
+# episodes completed so far: 1
+# successes: 1 (100.0%)
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 2...
+Query 1/1: Action query time = 5.523 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4951
+t=10: Selected seed 195 with value = 0.4951
+Query 1/1: Action query time = 4.898 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6720
+t=26: Selected seed 195 with value = 0.6720
+Query 1/1: Action query time = 5.054 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7428
+t=42: Selected seed 195 with value = 0.7428
+Query 1/1: Action query time = 4.750 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8744
+t=58: Selected seed 195 with value = 0.8744
+Query 1/1: Action query time = 5.408 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9757
+t=74: Selected seed 195 with value = 0.9757
+Query 1/1: Action query time = 4.288 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/fc175full_t2_s2/2026_08_03-15_06_02--with_future_img--episode=2--success=True--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: True
+# episodes completed so far: 2
+# successes: 2 (100.0%)
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 3...
+Query 1/1: Action query time = 3.975 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5539
+t=10: Selected seed 195 with value = 0.5539
+Query 1/1: Action query time = 4.185 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6215
+t=26: Selected seed 195 with value = 0.6215
+Query 1/1: Action query time = 5.350 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7185
+t=42: Selected seed 195 with value = 0.7185
+Query 1/1: Action query time = 4.643 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8128
+t=58: Selected seed 195 with value = 0.8128
+Query 1/1: Action query time = 5.033 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9895
+t=74: Selected seed 195 with value = 0.9895
+Query 1/1: Action query time = 4.463 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.397 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=106: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/fc175full_t2_s2/2026_08_03-15_06_02--with_future_img--episode=3--success=True--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: True
+# episodes completed so far: 3
+# successes: 3 (100.0%)
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 4...
+Query 1/1: Action query time = 4.674 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5863
+t=10: Selected seed 195 with value = 0.5863
+Query 1/1: Action query time = 5.206 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6892
+t=26: Selected seed 195 with value = 0.6892
+Query 1/1: Action query time = 5.372 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8051
+t=42: Selected seed 195 with value = 0.8051
+Query 1/1: Action query time = 3.863 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9802
+t=58: Selected seed 195 with value = 0.9802
+Query 1/1: Action query time = 4.610 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=74: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 3.459 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/fc175full_t2_s2/2026_08_03-15_06_02--with_future_img--episode=4--success=True--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: True
+# episodes completed so far: 4
+# successes: 4 (100.0%)
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 5...
+Query 1/1: Action query time = 4.074 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5990
+t=10: Selected seed 195 with value = 0.5990
+Query 1/1: Action query time = 5.121 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7025
+t=26: Selected seed 195 with value = 0.7025
+Query 1/1: Action query time = 5.425 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7855
+t=42: Selected seed 195 with value = 0.7855
+Query 1/1: Action query time = 5.451 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9493
+t=58: Selected seed 195 with value = 0.9493
+Query 1/1: Action query time = 5.122 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=74: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.522 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/fc175full_t2_s2/2026_08_03-15_06_02--with_future_img--episode=5--success=True--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: True
+# episodes completed so far: 5
+# successes: 5 (100.0%)
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 6...
+Query 1/1: Action query time = 5.200 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5505
+t=10: Selected seed 195 with value = 0.5505
+Query 1/1: Action query time = 5.246 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6595
+t=26: Selected seed 195 with value = 0.6595
+Query 1/1: Action query time = 4.097 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7780
+t=42: Selected seed 195 with value = 0.7780
+Query 1/1: Action query time = 3.832 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9183
+t=58: Selected seed 195 with value = 0.9183
+Query 1/1: Action query time = 3.654 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9895
+t=74: Selected seed 195 with value = 0.9895
+Query 1/1: Action query time = 4.578 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/fc175full_t2_s2/2026_08_03-15_06_02--with_future_img--episode=6--success=True--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: True
+# episodes completed so far: 6
+# successes: 6 (100.0%)
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 7...
+Query 1/1: Action query time = 5.256 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5297
+t=10: Selected seed 195 with value = 0.5297
+Query 1/1: Action query time = 5.418 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5305
+t=26: Selected seed 195 with value = 0.5305
+Query 1/1: Action query time = 4.356 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7186
+t=42: Selected seed 195 with value = 0.7186
+Query 1/1: Action query time = 3.054 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8002
+t=58: Selected seed 195 with value = 0.8002
+Query 1/1: Action query time = 4.341 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9262
+t=74: Selected seed 195 with value = 0.9262
+Query 1/1: Action query time = 5.531 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.872 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=106: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 5.045 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=122: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.341 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=138: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.252 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=154: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.142 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=170: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 5.694 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=186: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 5.285 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=202: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.971 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=218: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.958 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=234: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.765 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=250: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.586 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=266: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.588 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9928
+t=282: Selected seed 195 with value = 0.9928
+Query 1/1: Action query time = 5.583 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9711
+t=298: Selected seed 195 with value = 0.9711
+Saved rollout MP4 at path ./rollouts/fc175full_t2_s2/2026_08_03-15_06_02--with_future_img--episode=7--success=False--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: False
+# episodes completed so far: 7
+# successes: 6 (85.7%)
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 8...
+Query 1/1: Action query time = 5.151 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5993
+t=10: Selected seed 195 with value = 0.5993
+Query 1/1: Action query time = 3.439 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7071
+t=26: Selected seed 195 with value = 0.7071
+Query 1/1: Action query time = 3.105 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7747
+t=42: Selected seed 195 with value = 0.7747
+Query 1/1: Action query time = 4.203 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9812
+t=58: Selected seed 195 with value = 0.9812
+Query 1/1: Action query time = 4.645 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=74: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.214 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/fc175full_t2_s2/2026_08_03-15_06_02--with_future_img--episode=8--success=True--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: True
+# episodes completed so far: 8
+# successes: 7 (87.5%)
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 9...
+Query 1/1: Action query time = 3.869 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5514
+t=10: Selected seed 195 with value = 0.5514
+Query 1/1: Action query time = 5.236 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6448
+t=26: Selected seed 195 with value = 0.6448
+Query 1/1: Action query time = 5.162 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7139
+t=42: Selected seed 195 with value = 0.7139
+Query 1/1: Action query time = 3.931 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8970
+t=58: Selected seed 195 with value = 0.8970
+Query 1/1: Action query time = 4.014 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9774
+t=74: Selected seed 195 with value = 0.9774
+Query 1/1: Action query time = 5.333 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/fc175full_t2_s2/2026_08_03-15_06_02--with_future_img--episode=9--success=True--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: True
+# episodes completed so far: 9
+# successes: 8 (88.9%)
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 10...
+Query 1/1: Action query time = 4.640 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5902
+t=10: Selected seed 195 with value = 0.5902
+Query 1/1: Action query time = 4.249 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6742
+t=26: Selected seed 195 with value = 0.6742
+Query 1/1: Action query time = 4.521 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7814
+t=42: Selected seed 195 with value = 0.7814
+Query 1/1: Action query time = 3.885 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9183
+t=58: Selected seed 195 with value = 0.9183
+Query 1/1: Action query time = 4.353 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9905
+t=74: Selected seed 195 with value = 0.9905
+Query 1/1: Action query time = 5.385 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/fc175full_t2_s2/2026_08_03-15_06_02--with_future_img--episode=10--success=True--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: True
+# episodes completed so far: 10
+# successes: 9 (90.0%)
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 11...
+Query 1/1: Action query time = 5.903 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5768
+t=10: Selected seed 195 with value = 0.5768
+Query 1/1: Action query time = 3.886 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6479
+t=26: Selected seed 195 with value = 0.6479
+Query 1/1: Action query time = 4.260 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7112
+t=42: Selected seed 195 with value = 0.7112
+Query 1/1: Action query time = 4.566 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8400
+t=58: Selected seed 195 with value = 0.8400
+Query 1/1: Action query time = 5.351 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9503
+t=74: Selected seed 195 with value = 0.9503
+Query 1/1: Action query time = 5.484 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9983
+t=90: Selected seed 195 with value = 0.9983
+Query 1/1: Action query time = 5.197 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=106: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/fc175full_t2_s2/2026_08_03-15_06_02--with_future_img--episode=11--success=True--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: True
+# episodes completed so far: 11
+# successes: 10 (90.9%)
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 12...
+Query 1/1: Action query time = 4.287 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5735
+t=10: Selected seed 195 with value = 0.5735
+Query 1/1: Action query time = 3.907 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6343
+t=26: Selected seed 195 with value = 0.6343
+Query 1/1: Action query time = 3.367 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7297
+t=42: Selected seed 195 with value = 0.7297
+Query 1/1: Action query time = 4.998 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8922
+t=58: Selected seed 195 with value = 0.8922
+Query 1/1: Action query time = 5.087 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9668
+t=74: Selected seed 195 with value = 0.9668
+Query 1/1: Action query time = 4.655 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/fc175full_t2_s2/2026_08_03-15_06_02--with_future_img--episode=12--success=True--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: True
+# episodes completed so far: 12
+# successes: 11 (91.7%)
+Current task success rate: 0.9166666666666666
+Current total success rate: 0.9166666666666666
+Final results:
+Total episodes: 12
+Total successes: 11
+Overall success rate: 0.9167 (91.7%)
diff --git a/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_03-15_06_03--fc175full_t2_s1.txt b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_03-15_06_03--fc175full_t2_s1.txt
new file mode 100644
index 0000000000000000000000000000000000000000..5773796a04f3d6ec25333c14f67fa9aab8588f48
--- /dev/null
+++ b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_03-15_06_03--fc175full_t2_s1.txt
@@ -0,0 +1,475 @@
+Eval config: PolicyEvalConfig(suite='libero', model_family='cosmos', config='cosmos_predict2_2b_480p_libero_cl_stage_inference_only', ckpt_path='/home/azureuser/REGEN-main/new_task7/cosmos_policy/cosmos_v2_finetune/cosmos_predict2_2b_480p_libero_goal_task7_forget_cl_from100_2gpu/checkpoints/iter_000000175/model', planning_model_config_name='', planning_model_ckpt_path='', config_file='cosmos_policy/config/config.py', packnet_mask_path='', packnet_first_cl_libero_task=6, use_third_person_image=True, num_third_person_images=1, use_wrist_image=True, num_wrist_images=1, use_proprio=True, flip_images=True, use_variance_scale=False, use_jpeg_compression=True, ar_future_prediction=False, ar_value_prediction=False, ar_qvalue_prediction=False, num_denoising_steps_action=5, num_denoising_steps_future_state=1, num_denoising_steps_value=1, unnormalize_actions=True, normalize_proprio=True, dataset_stats_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/libero_goal_regen/dataset_statistics.json', t5_text_embeddings_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/t5_embeddings.pkl', trained_with_image_aug=True, chunk_size=16, num_open_loop_steps=16, deterministic=True, deterministic_reset=False, deterministic_reset_seed=None, use_ensemble_future_state_predictions=False, num_future_state_predictions_in_ensemble=3, future_state_ensemble_aggregation_scheme='average', use_ensemble_value_predictions=False, num_value_predictions_in_ensemble=5, value_ensemble_aggregation_scheme='average', search_depth=1, mask_current_state_action_for_value_prediction=False, mask_future_state_for_qvalue_prediction=False, num_queries_best_of_n=1, use_parallel_inference=False, available_gpus='0', parallel_timeout=15, parallel_tasks_across_gpus=False, task_suite_name='libero_goal', num_trials_per_task=50, task_ids_to_run='2', initial_states_path='DEFAULT', env_img_res=256, local_log_dir='/home/azureuser/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal', run_id_note='fc175full_t2_s1', use_wandb=False, wandb_entity='YOUR_ENTITY', wandb_project='YOUR_PROJECT', seed=195, randomize_seed=False, data_collection=False, jpeg_compress=True, reward_stop_threshold=None, reward_stop_consecutive_steps=3, use_gpt_reward=False, gpt_reward_model='gpt-5.4-mini', gpt_reward_stop_threshold=4, gpt_reward_timeout_s=30.0, save_rollout_video=False, eval_hdf5_path='', eval_hdf5_demo_key='demo_0', data_gen_demo_ids='', eval_episode_ids='1,5,9,13,17,21,25,29,33,37,41,45,49', dump_final_states_path='', replay_actions=False, replay_action_path_dir='', replay_hdf5_path='', data_generation=False, max_generation_steps=200, disable_value_stop=False)
+Using serial inference (parallel inference disabled)
+Task suite: libero_goal
+Number of tasks: 10
+Running only task IDs: [2]
+Using default initial states
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 1...
+Query 1/1: Action query time = 6.584 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5736
+t=10: Selected seed 195 with value = 0.5736
+Query 1/1: Action query time = 4.770 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6252
+t=26: Selected seed 195 with value = 0.6252
+Query 1/1: Action query time = 4.442 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7586
+t=42: Selected seed 195 with value = 0.7586
+Query 1/1: Action query time = 4.271 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8920
+t=58: Selected seed 195 with value = 0.8920
+Query 1/1: Action query time = 3.691 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9780
+t=74: Selected seed 195 with value = 0.9780
+Query 1/1: Action query time = 4.764 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/fc175full_t2_s1/2026_08_03-15_06_03--with_future_img--episode=1--success=True--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: True
+# episodes completed so far: 1
+# successes: 1 (100.0%)
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 2...
+Query 1/1: Action query time = 4.426 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5923
+t=10: Selected seed 195 with value = 0.5923
+Query 1/1: Action query time = 5.094 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6798
+t=26: Selected seed 195 with value = 0.6798
+Query 1/1: Action query time = 4.961 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7919
+t=42: Selected seed 195 with value = 0.7919
+Query 1/1: Action query time = 4.194 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9705
+t=58: Selected seed 195 with value = 0.9705
+Query 1/1: Action query time = 3.852 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=74: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 3.706 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/fc175full_t2_s1/2026_08_03-15_06_03--with_future_img--episode=2--success=True--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: True
+# episodes completed so far: 2
+# successes: 2 (100.0%)
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 3...
+Query 1/1: Action query time = 4.465 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6059
+t=10: Selected seed 195 with value = 0.6059
+Query 1/1: Action query time = 4.813 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7191
+t=26: Selected seed 195 with value = 0.7191
+Query 1/1: Action query time = 4.665 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8285
+t=42: Selected seed 195 with value = 0.8285
+Query 1/1: Action query time = 4.274 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9894
+t=58: Selected seed 195 with value = 0.9894
+Query 1/1: Action query time = 4.474 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=74: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.278 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/fc175full_t2_s1/2026_08_03-15_06_03--with_future_img--episode=3--success=True--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: True
+# episodes completed so far: 3
+# successes: 3 (100.0%)
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 4...
+Query 1/1: Action query time = 5.329 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5863
+t=10: Selected seed 195 with value = 0.5863
+Query 1/1: Action query time = 5.417 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6602
+t=26: Selected seed 195 with value = 0.6602
+Query 1/1: Action query time = 4.645 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7461
+t=42: Selected seed 195 with value = 0.7461
+Query 1/1: Action query time = 4.349 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8714
+t=58: Selected seed 195 with value = 0.8714
+Query 1/1: Action query time = 4.738 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9882
+t=74: Selected seed 195 with value = 0.9882
+Query 1/1: Action query time = 3.626 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 2.095 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=106: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/fc175full_t2_s1/2026_08_03-15_06_03--with_future_img--episode=4--success=True--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: True
+# episodes completed so far: 4
+# successes: 4 (100.0%)
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 5...
+Query 1/1: Action query time = 5.477 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5888
+t=10: Selected seed 195 with value = 0.5888
+Query 1/1: Action query time = 5.455 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6239
+t=26: Selected seed 195 with value = 0.6239
+Query 1/1: Action query time = 4.068 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7561
+t=42: Selected seed 195 with value = 0.7561
+Query 1/1: Action query time = 5.094 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9460
+t=58: Selected seed 195 with value = 0.9460
+Query 1/1: Action query time = 4.037 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=74: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.289 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/fc175full_t2_s1/2026_08_03-15_06_03--with_future_img--episode=5--success=True--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: True
+# episodes completed so far: 5
+# successes: 5 (100.0%)
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 6...
+Query 1/1: Action query time = 4.926 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6076
+t=10: Selected seed 195 with value = 0.6076
+Query 1/1: Action query time = 4.879 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7298
+t=26: Selected seed 195 with value = 0.7298
+Query 1/1: Action query time = 3.171 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8119
+t=42: Selected seed 195 with value = 0.8119
+Query 1/1: Action query time = 3.404 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9674
+t=58: Selected seed 195 with value = 0.9674
+Query 1/1: Action query time = 5.937 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=74: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.908 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/fc175full_t2_s1/2026_08_03-15_06_03--with_future_img--episode=6--success=True--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: True
+# episodes completed so far: 6
+# successes: 6 (100.0%)
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 7...
+Query 1/1: Action query time = 4.772 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5846
+t=10: Selected seed 195 with value = 0.5846
+Query 1/1: Action query time = 4.680 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7085
+t=26: Selected seed 195 with value = 0.7085
+Query 1/1: Action query time = 3.238 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8027
+t=42: Selected seed 195 with value = 0.8027
+Query 1/1: Action query time = 3.749 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9375
+t=58: Selected seed 195 with value = 0.9375
+Query 1/1: Action query time = 4.642 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9963
+t=74: Selected seed 195 with value = 0.9963
+Query 1/1: Action query time = 4.753 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/fc175full_t2_s1/2026_08_03-15_06_03--with_future_img--episode=7--success=True--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: True
+# episodes completed so far: 7
+# successes: 7 (100.0%)
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 8...
+Query 1/1: Action query time = 5.364 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6089
+t=10: Selected seed 195 with value = 0.6089
+Query 1/1: Action query time = 4.351 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7023
+t=26: Selected seed 195 with value = 0.7023
+Query 1/1: Action query time = 4.612 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8149
+t=42: Selected seed 195 with value = 0.8149
+Query 1/1: Action query time = 3.760 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9496
+t=58: Selected seed 195 with value = 0.9496
+Query 1/1: Action query time = 5.439 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=74: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 5.043 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.947 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=106: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.937 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=122: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.875 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=138: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.083 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=154: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.747 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=170: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 5.646 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=186: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.644 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9886
+t=202: Selected seed 195 with value = 0.9886
+Query 1/1: Action query time = 4.261 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9640
+t=218: Selected seed 195 with value = 0.9640
+Query 1/1: Action query time = 4.611 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9618
+t=234: Selected seed 195 with value = 0.9618
+Query 1/1: Action query time = 4.444 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9471
+t=250: Selected seed 195 with value = 0.9471
+Query 1/1: Action query time = 2.810 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8914
+t=266: Selected seed 195 with value = 0.8914
+Query 1/1: Action query time = 4.350 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8703
+t=282: Selected seed 195 with value = 0.8703
+Query 1/1: Action query time = 4.884 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8592
+t=298: Selected seed 195 with value = 0.8592
+Saved rollout MP4 at path ./rollouts/fc175full_t2_s1/2026_08_03-15_06_03--with_future_img--episode=8--success=False--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: False
+# episodes completed so far: 8
+# successes: 7 (87.5%)
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 9...
+Query 1/1: Action query time = 5.232 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5749
+t=10: Selected seed 195 with value = 0.5749
+Query 1/1: Action query time = 5.146 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7116
+t=26: Selected seed 195 with value = 0.7116
+Query 1/1: Action query time = 3.963 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8118
+t=42: Selected seed 195 with value = 0.8118
+Query 1/1: Action query time = 4.426 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9236
+t=58: Selected seed 195 with value = 0.9236
+Query 1/1: Action query time = 4.915 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9875
+t=74: Selected seed 195 with value = 0.9875
+Query 1/1: Action query time = 4.932 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/fc175full_t2_s1/2026_08_03-15_06_03--with_future_img--episode=9--success=True--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: True
+# episodes completed so far: 9
+# successes: 8 (88.9%)
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 10...
+Query 1/1: Action query time = 5.082 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5206
+t=10: Selected seed 195 with value = 0.5206
+Query 1/1: Action query time = 5.216 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4657
+t=26: Selected seed 195 with value = 0.4657
+Query 1/1: Action query time = 3.624 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6418
+t=42: Selected seed 195 with value = 0.6418
+Query 1/1: Action query time = 4.431 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7979
+t=58: Selected seed 195 with value = 0.7979
+Query 1/1: Action query time = 5.860 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9083
+t=74: Selected seed 195 with value = 0.9083
+Query 1/1: Action query time = 4.440 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9770
+t=90: Selected seed 195 with value = 0.9770
+Query 1/1: Action query time = 4.413 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=106: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/fc175full_t2_s1/2026_08_03-15_06_03--with_future_img--episode=10--success=True--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: True
+# episodes completed so far: 10
+# successes: 9 (90.0%)
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 11...
+Query 1/1: Action query time = 6.068 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5886
+t=10: Selected seed 195 with value = 0.5886
+Query 1/1: Action query time = 4.751 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7073
+t=26: Selected seed 195 with value = 0.7073
+Query 1/1: Action query time = 4.000 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7755
+t=42: Selected seed 195 with value = 0.7755
+Query 1/1: Action query time = 4.326 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8997
+t=58: Selected seed 195 with value = 0.8997
+Query 1/1: Action query time = 5.030 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9880
+t=74: Selected seed 195 with value = 0.9880
+Query 1/1: Action query time = 5.278 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/fc175full_t2_s1/2026_08_03-15_06_03--with_future_img--episode=11--success=True--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: True
+# episodes completed so far: 11
+# successes: 10 (90.9%)
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 12...
+Query 1/1: Action query time = 4.363 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6324
+t=10: Selected seed 195 with value = 0.6324
+Query 1/1: Action query time = 4.099 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7129
+t=26: Selected seed 195 with value = 0.7129
+Query 1/1: Action query time = 3.951 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8175
+t=42: Selected seed 195 with value = 0.8175
+Query 1/1: Action query time = 4.842 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9706
+t=58: Selected seed 195 with value = 0.9706
+Query 1/1: Action query time = 4.724 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=74: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 5.018 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/fc175full_t2_s1/2026_08_03-15_06_03--with_future_img--episode=12--success=True--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: True
+# episodes completed so far: 12
+# successes: 11 (91.7%)
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 13...
+Query 1/1: Action query time = 4.898 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5747
+t=10: Selected seed 195 with value = 0.5747
+Query 1/1: Action query time = 2.993 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6485
+t=26: Selected seed 195 with value = 0.6485
+Query 1/1: Action query time = 3.028 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7672
+t=42: Selected seed 195 with value = 0.7672
+Query 1/1: Action query time = 4.292 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9324
+t=58: Selected seed 195 with value = 0.9324
+Query 1/1: Action query time = 4.505 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=74: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 3.987 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/fc175full_t2_s1/2026_08_03-15_06_03--with_future_img--episode=13--success=True--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: True
+# episodes completed so far: 13
+# successes: 12 (92.3%)
+Current task success rate: 0.9230769230769231
+Current total success rate: 0.9230769230769231
+Final results:
+Total episodes: 13
+Total successes: 12
+Overall success rate: 0.9231 (92.3%)
diff --git a/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_03-15_06_03--fc175full_t3_s0.txt b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_03-15_06_03--fc175full_t3_s0.txt
new file mode 100644
index 0000000000000000000000000000000000000000..f0bc22a16eec569411324d096bc6a226e317fd0f
--- /dev/null
+++ b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_03-15_06_03--fc175full_t3_s0.txt
@@ -0,0 +1,751 @@
+Eval config: PolicyEvalConfig(suite='libero', model_family='cosmos', config='cosmos_predict2_2b_480p_libero_cl_stage_inference_only', ckpt_path='/home/azureuser/REGEN-main/new_task7/cosmos_policy/cosmos_v2_finetune/cosmos_predict2_2b_480p_libero_goal_task7_forget_cl_from100_2gpu/checkpoints/iter_000000175/model', planning_model_config_name='', planning_model_ckpt_path='', config_file='cosmos_policy/config/config.py', packnet_mask_path='', packnet_first_cl_libero_task=6, use_third_person_image=True, num_third_person_images=1, use_wrist_image=True, num_wrist_images=1, use_proprio=True, flip_images=True, use_variance_scale=False, use_jpeg_compression=True, ar_future_prediction=False, ar_value_prediction=False, ar_qvalue_prediction=False, num_denoising_steps_action=5, num_denoising_steps_future_state=1, num_denoising_steps_value=1, unnormalize_actions=True, normalize_proprio=True, dataset_stats_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/libero_goal_regen/dataset_statistics.json', t5_text_embeddings_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/t5_embeddings.pkl', trained_with_image_aug=True, chunk_size=16, num_open_loop_steps=16, deterministic=True, deterministic_reset=False, deterministic_reset_seed=None, use_ensemble_future_state_predictions=False, num_future_state_predictions_in_ensemble=3, future_state_ensemble_aggregation_scheme='average', use_ensemble_value_predictions=False, num_value_predictions_in_ensemble=5, value_ensemble_aggregation_scheme='average', search_depth=1, mask_current_state_action_for_value_prediction=False, mask_future_state_for_qvalue_prediction=False, num_queries_best_of_n=1, use_parallel_inference=False, available_gpus='0', parallel_timeout=15, parallel_tasks_across_gpus=False, task_suite_name='libero_goal', num_trials_per_task=50, task_ids_to_run='3', initial_states_path='DEFAULT', env_img_res=256, local_log_dir='/home/azureuser/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal', run_id_note='fc175full_t3_s0', use_wandb=False, wandb_entity='YOUR_ENTITY', wandb_project='YOUR_PROJECT', seed=195, randomize_seed=False, data_collection=False, jpeg_compress=True, reward_stop_threshold=None, reward_stop_consecutive_steps=3, use_gpt_reward=False, gpt_reward_model='gpt-5.4-mini', gpt_reward_stop_threshold=4, gpt_reward_timeout_s=30.0, save_rollout_video=False, eval_hdf5_path='', eval_hdf5_demo_key='demo_0', data_gen_demo_ids='', eval_episode_ids='0,4,8,12,16,20,24,28,32,36,40,44,48', dump_final_states_path='', replay_actions=False, replay_action_path_dir='', replay_hdf5_path='', data_generation=False, max_generation_steps=200, disable_value_stop=False)
+Using serial inference (parallel inference disabled)
+Task suite: libero_goal
+Number of tasks: 10
+Running only task IDs: [3]
+Using default initial states
+
+Task: open the top drawer and put the bowl inside
+Starting episode 1...
+Query 1/1: Action query time = 5.960 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2453
+t=10: Selected seed 195 with value = 0.2453
+Query 1/1: Action query time = 4.731 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2513
+t=26: Selected seed 195 with value = 0.2513
+Query 1/1: Action query time = 4.954 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3105
+t=42: Selected seed 195 with value = 0.3105
+Query 1/1: Action query time = 5.116 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3525
+t=58: Selected seed 195 with value = 0.3525
+Query 1/1: Action query time = 4.927 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4248
+t=74: Selected seed 195 with value = 0.4248
+Query 1/1: Action query time = 3.901 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4866
+t=90: Selected seed 195 with value = 0.4866
+Query 1/1: Action query time = 3.909 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5683
+t=106: Selected seed 195 with value = 0.5683
+Query 1/1: Action query time = 4.316 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6825
+t=122: Selected seed 195 with value = 0.6825
+Query 1/1: Action query time = 6.083 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6636
+t=138: Selected seed 195 with value = 0.6636
+Query 1/1: Action query time = 5.275 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8280
+t=154: Selected seed 195 with value = 0.8280
+Query 1/1: Action query time = 5.476 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9441
+t=170: Selected seed 195 with value = 0.9441
+Query 1/1: Action query time = 4.074 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=186: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/fc175full_t3_s0/2026_08_03-15_06_03--with_future_img--episode=1--success=True--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: True
+# episodes completed so far: 1
+# successes: 1 (100.0%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 2...
+Query 1/1: Action query time = 4.256 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2441
+t=10: Selected seed 195 with value = 0.2441
+Query 1/1: Action query time = 5.960 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2663
+t=26: Selected seed 195 with value = 0.2663
+Query 1/1: Action query time = 4.500 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2968
+t=42: Selected seed 195 with value = 0.2968
+Query 1/1: Action query time = 4.642 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3447
+t=58: Selected seed 195 with value = 0.3447
+Query 1/1: Action query time = 4.930 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4099
+t=74: Selected seed 195 with value = 0.4099
+Query 1/1: Action query time = 4.495 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4771
+t=90: Selected seed 195 with value = 0.4771
+Query 1/1: Action query time = 3.434 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5694
+t=106: Selected seed 195 with value = 0.5694
+Query 1/1: Action query time = 4.181 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6059
+t=122: Selected seed 195 with value = 0.6059
+Query 1/1: Action query time = 5.302 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6559
+t=138: Selected seed 195 with value = 0.6559
+Query 1/1: Action query time = 4.968 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8615
+t=154: Selected seed 195 with value = 0.8615
+Query 1/1: Action query time = 4.296 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9713
+t=170: Selected seed 195 with value = 0.9713
+Query 1/1: Action query time = 4.420 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=186: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/fc175full_t3_s0/2026_08_03-15_06_03--with_future_img--episode=2--success=True--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: True
+# episodes completed so far: 2
+# successes: 2 (100.0%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 3...
+Query 1/1: Action query time = 3.899 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2375
+t=10: Selected seed 195 with value = 0.2375
+Query 1/1: Action query time = 4.907 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2655
+t=26: Selected seed 195 with value = 0.2655
+Query 1/1: Action query time = 5.258 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2915
+t=42: Selected seed 195 with value = 0.2915
+Query 1/1: Action query time = 5.425 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3355
+t=58: Selected seed 195 with value = 0.3355
+Query 1/1: Action query time = 5.534 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.1996
+t=74: Selected seed 195 with value = 0.1996
+Query 1/1: Action query time = 5.182 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4886
+t=90: Selected seed 195 with value = 0.4886
+Query 1/1: Action query time = 4.466 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5748
+t=106: Selected seed 195 with value = 0.5748
+Query 1/1: Action query time = 3.613 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6435
+t=122: Selected seed 195 with value = 0.6435
+Query 1/1: Action query time = 5.202 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7816
+t=138: Selected seed 195 with value = 0.7816
+Query 1/1: Action query time = 5.140 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8317
+t=154: Selected seed 195 with value = 0.8317
+Query 1/1: Action query time = 4.193 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9548
+t=170: Selected seed 195 with value = 0.9548
+Query 1/1: Action query time = 3.378 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=186: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/fc175full_t3_s0/2026_08_03-15_06_03--with_future_img--episode=3--success=True--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: True
+# episodes completed so far: 3
+# successes: 3 (100.0%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 4...
+Query 1/1: Action query time = 4.387 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2280
+t=10: Selected seed 195 with value = 0.2280
+Query 1/1: Action query time = 3.529 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2544
+t=26: Selected seed 195 with value = 0.2544
+Query 1/1: Action query time = 4.696 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3024
+t=42: Selected seed 195 with value = 0.3024
+Query 1/1: Action query time = 5.468 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3320
+t=58: Selected seed 195 with value = 0.3320
+Query 1/1: Action query time = 4.515 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3947
+t=74: Selected seed 195 with value = 0.3947
+Query 1/1: Action query time = 3.677 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4883
+t=90: Selected seed 195 with value = 0.4883
+Query 1/1: Action query time = 3.862 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5756
+t=106: Selected seed 195 with value = 0.5756
+Query 1/1: Action query time = 5.058 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6527
+t=122: Selected seed 195 with value = 0.6527
+Query 1/1: Action query time = 4.645 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7331
+t=138: Selected seed 195 with value = 0.7331
+Query 1/1: Action query time = 5.323 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9062
+t=154: Selected seed 195 with value = 0.9062
+Query 1/1: Action query time = 4.429 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=170: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.677 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=186: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/fc175full_t3_s0/2026_08_03-15_06_03--with_future_img--episode=4--success=True--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: True
+# episodes completed so far: 4
+# successes: 4 (100.0%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 5...
+Query 1/1: Action query time = 4.921 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2228
+t=10: Selected seed 195 with value = 0.2228
+Query 1/1: Action query time = 5.193 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2685
+t=26: Selected seed 195 with value = 0.2685
+Query 1/1: Action query time = 5.414 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3018
+t=42: Selected seed 195 with value = 0.3018
+Query 1/1: Action query time = 5.593 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3408
+t=58: Selected seed 195 with value = 0.3408
+Query 1/1: Action query time = 5.350 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4159
+t=74: Selected seed 195 with value = 0.4159
+Query 1/1: Action query time = 3.043 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4933
+t=90: Selected seed 195 with value = 0.4933
+Query 1/1: Action query time = 3.592 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5890
+t=106: Selected seed 195 with value = 0.5890
+Query 1/1: Action query time = 5.398 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6908
+t=122: Selected seed 195 with value = 0.6908
+Query 1/1: Action query time = 4.541 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6121
+t=138: Selected seed 195 with value = 0.6121
+Query 1/1: Action query time = 4.162 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8054
+t=154: Selected seed 195 with value = 0.8054
+Query 1/1: Action query time = 4.523 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9450
+t=170: Selected seed 195 with value = 0.9450
+Query 1/1: Action query time = 4.741 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=186: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/fc175full_t3_s0/2026_08_03-15_06_03--with_future_img--episode=5--success=True--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: True
+# episodes completed so far: 5
+# successes: 5 (100.0%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 6...
+Query 1/1: Action query time = 4.774 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2429
+t=10: Selected seed 195 with value = 0.2429
+Query 1/1: Action query time = 4.777 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2611
+t=26: Selected seed 195 with value = 0.2611
+Query 1/1: Action query time = 4.123 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3017
+t=42: Selected seed 195 with value = 0.3017
+Query 1/1: Action query time = 5.220 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3465
+t=58: Selected seed 195 with value = 0.3465
+Query 1/1: Action query time = 5.173 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4107
+t=74: Selected seed 195 with value = 0.4107
+Query 1/1: Action query time = 4.634 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4728
+t=90: Selected seed 195 with value = 0.4728
+Query 1/1: Action query time = 4.435 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5682
+t=106: Selected seed 195 with value = 0.5682
+Query 1/1: Action query time = 4.759 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5849
+t=122: Selected seed 195 with value = 0.5849
+Query 1/1: Action query time = 4.795 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6169
+t=138: Selected seed 195 with value = 0.6169
+Query 1/1: Action query time = 3.915 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8166
+t=154: Selected seed 195 with value = 0.8166
+Query 1/1: Action query time = 4.756 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9397
+t=170: Selected seed 195 with value = 0.9397
+Query 1/1: Action query time = 4.451 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=186: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.429 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=202: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/fc175full_t3_s0/2026_08_03-15_06_03--with_future_img--episode=6--success=True--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: True
+# episodes completed so far: 6
+# successes: 6 (100.0%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 7...
+Query 1/1: Action query time = 5.456 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2252
+t=10: Selected seed 195 with value = 0.2252
+Query 1/1: Action query time = 3.954 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2589
+t=26: Selected seed 195 with value = 0.2589
+Query 1/1: Action query time = 4.013 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3003
+t=42: Selected seed 195 with value = 0.3003
+Query 1/1: Action query time = 4.643 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3380
+t=58: Selected seed 195 with value = 0.3380
+Query 1/1: Action query time = 6.261 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4054
+t=74: Selected seed 195 with value = 0.4054
+Query 1/1: Action query time = 4.861 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4955
+t=90: Selected seed 195 with value = 0.4955
+Query 1/1: Action query time = 5.500 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5809
+t=106: Selected seed 195 with value = 0.5809
+Query 1/1: Action query time = 5.110 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6468
+t=122: Selected seed 195 with value = 0.6468
+Query 1/1: Action query time = 4.894 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8375
+t=138: Selected seed 195 with value = 0.8375
+Query 1/1: Action query time = 4.380 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8416
+t=154: Selected seed 195 with value = 0.8416
+Query 1/1: Action query time = 2.302 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9925
+t=170: Selected seed 195 with value = 0.9925
+Query 1/1: Action query time = 3.705 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9683
+t=186: Selected seed 195 with value = 0.9683
+Query 1/1: Action query time = 4.327 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9754
+t=202: Selected seed 195 with value = 0.9754
+Query 1/1: Action query time = 4.084 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9705
+t=218: Selected seed 195 with value = 0.9705
+Query 1/1: Action query time = 4.433 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9697
+t=234: Selected seed 195 with value = 0.9697
+Query 1/1: Action query time = 4.630 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3381
+t=250: Selected seed 195 with value = 0.3381
+Query 1/1: Action query time = 4.756 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3497
+t=266: Selected seed 195 with value = 0.3497
+Query 1/1: Action query time = 3.116 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9246
+t=282: Selected seed 195 with value = 0.9246
+Query 1/1: Action query time = 4.633 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9171
+t=298: Selected seed 195 with value = 0.9171
+Saved rollout MP4 at path ./rollouts/fc175full_t3_s0/2026_08_03-15_06_03--with_future_img--episode=7--success=False--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: False
+# episodes completed so far: 7
+# successes: 6 (85.7%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 8...
+Query 1/1: Action query time = 4.052 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2342
+t=10: Selected seed 195 with value = 0.2342
+Query 1/1: Action query time = 3.709 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2551
+t=26: Selected seed 195 with value = 0.2551
+Query 1/1: Action query time = 3.935 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3136
+t=42: Selected seed 195 with value = 0.3136
+Query 1/1: Action query time = 4.148 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3625
+t=58: Selected seed 195 with value = 0.3625
+Query 1/1: Action query time = 3.253 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4238
+t=74: Selected seed 195 with value = 0.4238
+Query 1/1: Action query time = 2.692 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4828
+t=90: Selected seed 195 with value = 0.4828
+Query 1/1: Action query time = 3.198 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5873
+t=106: Selected seed 195 with value = 0.5873
+Query 1/1: Action query time = 3.538 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6182
+t=122: Selected seed 195 with value = 0.6182
+Query 1/1: Action query time = 2.787 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7308
+t=138: Selected seed 195 with value = 0.7308
+Query 1/1: Action query time = 2.893 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8229
+t=154: Selected seed 195 with value = 0.8229
+Query 1/1: Action query time = 2.338 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9378
+t=170: Selected seed 195 with value = 0.9378
+Query 1/1: Action query time = 1.254 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9993
+t=186: Selected seed 195 with value = 0.9993
+Saved rollout MP4 at path ./rollouts/fc175full_t3_s0/2026_08_03-15_06_03--with_future_img--episode=8--success=True--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: True
+# episodes completed so far: 8
+# successes: 7 (87.5%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 9...
+Query 1/1: Action query time = 2.425 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2320
+t=10: Selected seed 195 with value = 0.2320
+Query 1/1: Action query time = 2.291 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2732
+t=26: Selected seed 195 with value = 0.2732
+Query 1/1: Action query time = 2.599 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2988
+t=42: Selected seed 195 with value = 0.2988
+Query 1/1: Action query time = 2.501 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3389
+t=58: Selected seed 195 with value = 0.3389
+Query 1/1: Action query time = 1.866 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4150
+t=74: Selected seed 195 with value = 0.4150
+Query 1/1: Action query time = 1.916 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4747
+t=90: Selected seed 195 with value = 0.4747
+Query 1/1: Action query time = 2.822 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5785
+t=106: Selected seed 195 with value = 0.5785
+Query 1/1: Action query time = 2.375 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6183
+t=122: Selected seed 195 with value = 0.6183
+Query 1/1: Action query time = 1.907 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7042
+t=138: Selected seed 195 with value = 0.7042
+Query 1/1: Action query time = 1.467 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8605
+t=154: Selected seed 195 with value = 0.8605
+Query 1/1: Action query time = 1.615 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=170: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 2.523 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=186: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/fc175full_t3_s0/2026_08_03-15_06_03--with_future_img--episode=9--success=True--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: True
+# episodes completed so far: 9
+# successes: 8 (88.9%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 10...
+Query 1/1: Action query time = 2.811 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.1977
+t=10: Selected seed 195 with value = 0.1977
+Query 1/1: Action query time = 2.303 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2479
+t=26: Selected seed 195 with value = 0.2479
+Query 1/1: Action query time = 2.047 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.1593
+t=42: Selected seed 195 with value = 0.1593
+Query 1/1: Action query time = 2.454 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.1981
+t=58: Selected seed 195 with value = 0.1981
+Query 1/1: Action query time = 1.895 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3077
+t=74: Selected seed 195 with value = 0.3077
+Query 1/1: Action query time = 2.343 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4810
+t=90: Selected seed 195 with value = 0.4810
+Query 1/1: Action query time = 3.158 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5816
+t=106: Selected seed 195 with value = 0.5816
+Query 1/1: Action query time = 2.417 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6486
+t=122: Selected seed 195 with value = 0.6486
+Query 1/1: Action query time = 2.233 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6234
+t=138: Selected seed 195 with value = 0.6234
+Query 1/1: Action query time = 3.023 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8479
+t=154: Selected seed 195 with value = 0.8479
+Query 1/1: Action query time = 2.868 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9595
+t=170: Selected seed 195 with value = 0.9595
+Query 1/1: Action query time = 2.788 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=186: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/fc175full_t3_s0/2026_08_03-15_06_03--with_future_img--episode=10--success=True--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: True
+# episodes completed so far: 10
+# successes: 9 (90.0%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 11...
+Query 1/1: Action query time = 1.589 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2217
+t=10: Selected seed 195 with value = 0.2217
+Query 1/1: Action query time = 1.646 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2661
+t=26: Selected seed 195 with value = 0.2661
+Query 1/1: Action query time = 2.205 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3088
+t=42: Selected seed 195 with value = 0.3088
+Query 1/1: Action query time = 2.314 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3402
+t=58: Selected seed 195 with value = 0.3402
+Query 1/1: Action query time = 1.852 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3874
+t=74: Selected seed 195 with value = 0.3874
+Query 1/1: Action query time = 1.919 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4809
+t=90: Selected seed 195 with value = 0.4809
+Query 1/1: Action query time = 2.503 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5721
+t=106: Selected seed 195 with value = 0.5721
+Query 1/1: Action query time = 2.530 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6700
+t=122: Selected seed 195 with value = 0.6700
+Query 1/1: Action query time = 2.611 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7131
+t=138: Selected seed 195 with value = 0.7131
+Query 1/1: Action query time = 2.579 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8651
+t=154: Selected seed 195 with value = 0.8651
+Query 1/1: Action query time = 2.538 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9573
+t=170: Selected seed 195 with value = 0.9573
+Query 1/1: Action query time = 2.497 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=186: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/fc175full_t3_s0/2026_08_03-15_06_03--with_future_img--episode=11--success=True--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: True
+# episodes completed so far: 11
+# successes: 10 (90.9%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 12...
+Query 1/1: Action query time = 1.445 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2271
+t=10: Selected seed 195 with value = 0.2271
+Query 1/1: Action query time = 1.439 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2463
+t=26: Selected seed 195 with value = 0.2463
+Query 1/1: Action query time = 1.437 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2994
+t=42: Selected seed 195 with value = 0.2994
+Query 1/1: Action query time = 1.792 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3248
+t=58: Selected seed 195 with value = 0.3248
+Query 1/1: Action query time = 1.215 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3776
+t=74: Selected seed 195 with value = 0.3776
+Query 1/1: Action query time = 1.626 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4865
+t=90: Selected seed 195 with value = 0.4865
+Query 1/1: Action query time = 2.052 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5952
+t=106: Selected seed 195 with value = 0.5952
+Query 1/1: Action query time = 2.192 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6850
+t=122: Selected seed 195 with value = 0.6850
+Query 1/1: Action query time = 1.904 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7592
+t=138: Selected seed 195 with value = 0.7592
+Query 1/1: Action query time = 1.930 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8912
+t=154: Selected seed 195 with value = 0.8912
+Query 1/1: Action query time = 1.601 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9915
+t=170: Selected seed 195 with value = 0.9915
+Saved rollout MP4 at path ./rollouts/fc175full_t3_s0/2026_08_03-15_06_03--with_future_img--episode=12--success=True--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: True
+# episodes completed so far: 12
+# successes: 11 (91.7%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 13...
+Query 1/1: Action query time = 1.104 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2235
+t=10: Selected seed 195 with value = 0.2235
+Query 1/1: Action query time = 1.209 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2505
+t=26: Selected seed 195 with value = 0.2505
+Query 1/1: Action query time = 1.212 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3162
+t=42: Selected seed 195 with value = 0.3162
+Query 1/1: Action query time = 1.687 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3590
+t=58: Selected seed 195 with value = 0.3590
+Query 1/1: Action query time = 1.774 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4338
+t=74: Selected seed 195 with value = 0.4338
+Query 1/1: Action query time = 1.834 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5126
+t=90: Selected seed 195 with value = 0.5126
+Query 1/1: Action query time = 1.783 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5916
+t=106: Selected seed 195 with value = 0.5916
+Query 1/1: Action query time = 1.765 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7508
+t=122: Selected seed 195 with value = 0.7508
+Query 1/1: Action query time = 1.749 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8401
+t=138: Selected seed 195 with value = 0.8401
+Query 1/1: Action query time = 1.851 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9251
+t=154: Selected seed 195 with value = 0.9251
+Query 1/1: Action query time = 1.924 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9941
+t=170: Selected seed 195 with value = 0.9941
+Saved rollout MP4 at path ./rollouts/fc175full_t3_s0/2026_08_03-15_06_03--with_future_img--episode=13--success=True--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: True
+# episodes completed so far: 13
+# successes: 12 (92.3%)
+Current task success rate: 0.9230769230769231
+Current total success rate: 0.9230769230769231
+Final results:
+Total episodes: 13
+Total successes: 12
+Overall success rate: 0.9231 (92.3%)
diff --git a/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_03-15_06_03--fc175full_t3_s1.txt b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_03-15_06_03--fc175full_t3_s1.txt
new file mode 100644
index 0000000000000000000000000000000000000000..f314ad4b5b4d5446912298a088c37a2be02316da
--- /dev/null
+++ b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_03-15_06_03--fc175full_t3_s1.txt
@@ -0,0 +1,811 @@
+Eval config: PolicyEvalConfig(suite='libero', model_family='cosmos', config='cosmos_predict2_2b_480p_libero_cl_stage_inference_only', ckpt_path='/home/azureuser/REGEN-main/new_task7/cosmos_policy/cosmos_v2_finetune/cosmos_predict2_2b_480p_libero_goal_task7_forget_cl_from100_2gpu/checkpoints/iter_000000175/model', planning_model_config_name='', planning_model_ckpt_path='', config_file='cosmos_policy/config/config.py', packnet_mask_path='', packnet_first_cl_libero_task=6, use_third_person_image=True, num_third_person_images=1, use_wrist_image=True, num_wrist_images=1, use_proprio=True, flip_images=True, use_variance_scale=False, use_jpeg_compression=True, ar_future_prediction=False, ar_value_prediction=False, ar_qvalue_prediction=False, num_denoising_steps_action=5, num_denoising_steps_future_state=1, num_denoising_steps_value=1, unnormalize_actions=True, normalize_proprio=True, dataset_stats_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/libero_goal_regen/dataset_statistics.json', t5_text_embeddings_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/t5_embeddings.pkl', trained_with_image_aug=True, chunk_size=16, num_open_loop_steps=16, deterministic=True, deterministic_reset=False, deterministic_reset_seed=None, use_ensemble_future_state_predictions=False, num_future_state_predictions_in_ensemble=3, future_state_ensemble_aggregation_scheme='average', use_ensemble_value_predictions=False, num_value_predictions_in_ensemble=5, value_ensemble_aggregation_scheme='average', search_depth=1, mask_current_state_action_for_value_prediction=False, mask_future_state_for_qvalue_prediction=False, num_queries_best_of_n=1, use_parallel_inference=False, available_gpus='0', parallel_timeout=15, parallel_tasks_across_gpus=False, task_suite_name='libero_goal', num_trials_per_task=50, task_ids_to_run='3', initial_states_path='DEFAULT', env_img_res=256, local_log_dir='/home/azureuser/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal', run_id_note='fc175full_t3_s1', use_wandb=False, wandb_entity='YOUR_ENTITY', wandb_project='YOUR_PROJECT', seed=195, randomize_seed=False, data_collection=False, jpeg_compress=True, reward_stop_threshold=None, reward_stop_consecutive_steps=3, use_gpt_reward=False, gpt_reward_model='gpt-5.4-mini', gpt_reward_stop_threshold=4, gpt_reward_timeout_s=30.0, save_rollout_video=False, eval_hdf5_path='', eval_hdf5_demo_key='demo_0', data_gen_demo_ids='', eval_episode_ids='1,5,9,13,17,21,25,29,33,37,41,45,49', dump_final_states_path='', replay_actions=False, replay_action_path_dir='', replay_hdf5_path='', data_generation=False, max_generation_steps=200, disable_value_stop=False)
+Using serial inference (parallel inference disabled)
+Task suite: libero_goal
+Number of tasks: 10
+Running only task IDs: [3]
+Using default initial states
+
+Task: open the top drawer and put the bowl inside
+Starting episode 1...
+Query 1/1: Action query time = 5.865 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2339
+t=10: Selected seed 195 with value = 0.2339
+Query 1/1: Action query time = 4.980 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2614
+t=26: Selected seed 195 with value = 0.2614
+Query 1/1: Action query time = 5.069 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3200
+t=42: Selected seed 195 with value = 0.3200
+Query 1/1: Action query time = 4.618 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3755
+t=58: Selected seed 195 with value = 0.3755
+Query 1/1: Action query time = 4.439 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4534
+t=74: Selected seed 195 with value = 0.4534
+Query 1/1: Action query time = 4.794 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5152
+t=90: Selected seed 195 with value = 0.5152
+Query 1/1: Action query time = 3.572 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6133
+t=106: Selected seed 195 with value = 0.6133
+Query 1/1: Action query time = 3.878 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7355
+t=122: Selected seed 195 with value = 0.7355
+Query 1/1: Action query time = 5.967 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8770
+t=138: Selected seed 195 with value = 0.8770
+Query 1/1: Action query time = 5.047 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=154: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 5.367 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=170: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/fc175full_t3_s1/2026_08_03-15_06_03--with_future_img--episode=1--success=True--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: True
+# episodes completed so far: 1
+# successes: 1 (100.0%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 2...
+Query 1/1: Action query time = 2.669 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2028
+t=10: Selected seed 195 with value = 0.2028
+Query 1/1: Action query time = 2.797 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2629
+t=26: Selected seed 195 with value = 0.2629
+Query 1/1: Action query time = 4.433 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3102
+t=42: Selected seed 195 with value = 0.3102
+Query 1/1: Action query time = 5.950 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3462
+t=58: Selected seed 195 with value = 0.3462
+Query 1/1: Action query time = 5.258 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4274
+t=74: Selected seed 195 with value = 0.4274
+Query 1/1: Action query time = 3.816 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4818
+t=90: Selected seed 195 with value = 0.4818
+Query 1/1: Action query time = 4.940 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5847
+t=106: Selected seed 195 with value = 0.5847
+Query 1/1: Action query time = 4.885 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6865
+t=122: Selected seed 195 with value = 0.6865
+Query 1/1: Action query time = 4.301 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7892
+t=138: Selected seed 195 with value = 0.7892
+Query 1/1: Action query time = 4.782 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8852
+t=154: Selected seed 195 with value = 0.8852
+Query 1/1: Action query time = 4.369 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9697
+t=170: Selected seed 195 with value = 0.9697
+Query 1/1: Action query time = 4.733 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=186: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/fc175full_t3_s1/2026_08_03-15_06_03--with_future_img--episode=2--success=True--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: True
+# episodes completed so far: 2
+# successes: 2 (100.0%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 3...
+Query 1/1: Action query time = 4.935 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2007
+t=10: Selected seed 195 with value = 0.2007
+Query 1/1: Action query time = 4.182 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2897
+t=26: Selected seed 195 with value = 0.2897
+Query 1/1: Action query time = 5.136 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3117
+t=42: Selected seed 195 with value = 0.3117
+Query 1/1: Action query time = 5.121 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3615
+t=58: Selected seed 195 with value = 0.3615
+Query 1/1: Action query time = 4.563 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4737
+t=74: Selected seed 195 with value = 0.4737
+Query 1/1: Action query time = 3.092 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5117
+t=90: Selected seed 195 with value = 0.5117
+Query 1/1: Action query time = 5.231 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6000
+t=106: Selected seed 195 with value = 0.6000
+Query 1/1: Action query time = 4.910 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6883
+t=122: Selected seed 195 with value = 0.6883
+Query 1/1: Action query time = 4.261 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8165
+t=138: Selected seed 195 with value = 0.8165
+Query 1/1: Action query time = 3.305 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9468
+t=154: Selected seed 195 with value = 0.9468
+Query 1/1: Action query time = 5.469 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9852
+t=170: Selected seed 195 with value = 0.9852
+Query 1/1: Action query time = 5.218 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9638
+t=186: Selected seed 195 with value = 0.9638
+Query 1/1: Action query time = 3.856 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9660
+t=202: Selected seed 195 with value = 0.9660
+Query 1/1: Action query time = 3.835 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9707
+t=218: Selected seed 195 with value = 0.9707
+Query 1/1: Action query time = 5.885 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9646
+t=234: Selected seed 195 with value = 0.9646
+Query 1/1: Action query time = 4.976 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9704
+t=250: Selected seed 195 with value = 0.9704
+Query 1/1: Action query time = 5.259 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9614
+t=266: Selected seed 195 with value = 0.9614
+Query 1/1: Action query time = 4.669 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9651
+t=282: Selected seed 195 with value = 0.9651
+Query 1/1: Action query time = 4.179 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9598
+t=298: Selected seed 195 with value = 0.9598
+Saved rollout MP4 at path ./rollouts/fc175full_t3_s1/2026_08_03-15_06_03--with_future_img--episode=3--success=False--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: False
+# episodes completed so far: 3
+# successes: 2 (66.7%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 4...
+Query 1/1: Action query time = 4.722 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2215
+t=10: Selected seed 195 with value = 0.2215
+Query 1/1: Action query time = 4.672 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2760
+t=26: Selected seed 195 with value = 0.2760
+Query 1/1: Action query time = 4.395 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3094
+t=42: Selected seed 195 with value = 0.3094
+Query 1/1: Action query time = 5.352 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3357
+t=58: Selected seed 195 with value = 0.3357
+Query 1/1: Action query time = 4.796 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4342
+t=74: Selected seed 195 with value = 0.4342
+Query 1/1: Action query time = 4.122 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5233
+t=90: Selected seed 195 with value = 0.5233
+Query 1/1: Action query time = 4.272 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5915
+t=106: Selected seed 195 with value = 0.5915
+Query 1/1: Action query time = 4.662 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6672
+t=122: Selected seed 195 with value = 0.6672
+Query 1/1: Action query time = 5.550 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6468
+t=138: Selected seed 195 with value = 0.6468
+Query 1/1: Action query time = 4.995 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8054
+t=154: Selected seed 195 with value = 0.8054
+Query 1/1: Action query time = 5.114 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9414
+t=170: Selected seed 195 with value = 0.9414
+Query 1/1: Action query time = 5.142 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=186: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/fc175full_t3_s1/2026_08_03-15_06_03--with_future_img--episode=4--success=True--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: True
+# episodes completed so far: 4
+# successes: 3 (75.0%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 5...
+Query 1/1: Action query time = 5.046 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2212
+t=10: Selected seed 195 with value = 0.2212
+Query 1/1: Action query time = 3.349 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2307
+t=26: Selected seed 195 with value = 0.2307
+Query 1/1: Action query time = 4.983 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3238
+t=42: Selected seed 195 with value = 0.3238
+Query 1/1: Action query time = 4.843 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3774
+t=58: Selected seed 195 with value = 0.3774
+Query 1/1: Action query time = 2.758 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4398
+t=74: Selected seed 195 with value = 0.4398
+Query 1/1: Action query time = 4.317 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5156
+t=90: Selected seed 195 with value = 0.5156
+Query 1/1: Action query time = 3.418 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5990
+t=106: Selected seed 195 with value = 0.5990
+Query 1/1: Action query time = 4.202 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6367
+t=122: Selected seed 195 with value = 0.6367
+Query 1/1: Action query time = 5.458 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6582
+t=138: Selected seed 195 with value = 0.6582
+Query 1/1: Action query time = 4.150 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7039
+t=154: Selected seed 195 with value = 0.7039
+Query 1/1: Action query time = 3.706 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8313
+t=170: Selected seed 195 with value = 0.8313
+Query 1/1: Action query time = 5.352 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9323
+t=186: Selected seed 195 with value = 0.9323
+Query 1/1: Action query time = 4.898 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=202: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 3.779 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=218: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/fc175full_t3_s1/2026_08_03-15_06_03--with_future_img--episode=5--success=True--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: True
+# episodes completed so far: 5
+# successes: 4 (80.0%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 6...
+Query 1/1: Action query time = 5.353 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2186
+t=10: Selected seed 195 with value = 0.2186
+Query 1/1: Action query time = 4.457 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2467
+t=26: Selected seed 195 with value = 0.2467
+Query 1/1: Action query time = 4.871 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3039
+t=42: Selected seed 195 with value = 0.3039
+Query 1/1: Action query time = 4.359 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3267
+t=58: Selected seed 195 with value = 0.3267
+Query 1/1: Action query time = 4.207 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4172
+t=74: Selected seed 195 with value = 0.4172
+Query 1/1: Action query time = 3.948 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4838
+t=90: Selected seed 195 with value = 0.4838
+Query 1/1: Action query time = 4.111 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5859
+t=106: Selected seed 195 with value = 0.5859
+Query 1/1: Action query time = 5.276 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6593
+t=122: Selected seed 195 with value = 0.6593
+Query 1/1: Action query time = 5.000 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7582
+t=138: Selected seed 195 with value = 0.7582
+Query 1/1: Action query time = 5.762 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8453
+t=154: Selected seed 195 with value = 0.8453
+Query 1/1: Action query time = 5.204 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9721
+t=170: Selected seed 195 with value = 0.9721
+Query 1/1: Action query time = 2.705 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9801
+t=186: Selected seed 195 with value = 0.9801
+Query 1/1: Action query time = 3.996 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9699
+t=202: Selected seed 195 with value = 0.9699
+Query 1/1: Action query time = 5.490 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9777
+t=218: Selected seed 195 with value = 0.9777
+Query 1/1: Action query time = 5.443 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9613
+t=234: Selected seed 195 with value = 0.9613
+Query 1/1: Action query time = 4.861 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9630
+t=250: Selected seed 195 with value = 0.9630
+Query 1/1: Action query time = 3.613 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9630
+t=266: Selected seed 195 with value = 0.9630
+Query 1/1: Action query time = 2.391 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9625
+t=282: Selected seed 195 with value = 0.9625
+Query 1/1: Action query time = 3.512 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9614
+t=298: Selected seed 195 with value = 0.9614
+Saved rollout MP4 at path ./rollouts/fc175full_t3_s1/2026_08_03-15_06_03--with_future_img--episode=6--success=False--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: False
+# episodes completed so far: 6
+# successes: 4 (66.7%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 7...
+Query 1/1: Action query time = 4.909 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2213
+t=10: Selected seed 195 with value = 0.2213
+Query 1/1: Action query time = 5.240 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2717
+t=26: Selected seed 195 with value = 0.2717
+Query 1/1: Action query time = 5.109 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3036
+t=42: Selected seed 195 with value = 0.3036
+Query 1/1: Action query time = 3.259 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3304
+t=58: Selected seed 195 with value = 0.3304
+Query 1/1: Action query time = 4.891 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3961
+t=74: Selected seed 195 with value = 0.3961
+Query 1/1: Action query time = 3.596 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4593
+t=90: Selected seed 195 with value = 0.4593
+Query 1/1: Action query time = 2.849 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5674
+t=106: Selected seed 195 with value = 0.5674
+Query 1/1: Action query time = 4.196 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6265
+t=122: Selected seed 195 with value = 0.6265
+Query 1/1: Action query time = 4.393 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8068
+t=138: Selected seed 195 with value = 0.8068
+Query 1/1: Action query time = 3.974 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8747
+t=154: Selected seed 195 with value = 0.8747
+Query 1/1: Action query time = 3.732 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9948
+t=170: Selected seed 195 with value = 0.9948
+Query 1/1: Action query time = 3.716 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=186: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/fc175full_t3_s1/2026_08_03-15_06_03--with_future_img--episode=7--success=True--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: True
+# episodes completed so far: 7
+# successes: 5 (71.4%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 8...
+Query 1/1: Action query time = 2.899 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2297
+t=10: Selected seed 195 with value = 0.2297
+Query 1/1: Action query time = 3.315 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2639
+t=26: Selected seed 195 with value = 0.2639
+Query 1/1: Action query time = 3.671 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3140
+t=42: Selected seed 195 with value = 0.3140
+Query 1/1: Action query time = 2.116 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3459
+t=58: Selected seed 195 with value = 0.3459
+Query 1/1: Action query time = 2.511 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4232
+t=74: Selected seed 195 with value = 0.4232
+Query 1/1: Action query time = 1.967 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4909
+t=90: Selected seed 195 with value = 0.4909
+Query 1/1: Action query time = 2.279 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5763
+t=106: Selected seed 195 with value = 0.5763
+Query 1/1: Action query time = 2.191 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6891
+t=122: Selected seed 195 with value = 0.6891
+Query 1/1: Action query time = 1.427 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7886
+t=138: Selected seed 195 with value = 0.7886
+Query 1/1: Action query time = 1.790 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9234
+t=154: Selected seed 195 with value = 0.9234
+Query 1/1: Action query time = 2.516 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=170: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 2.556 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=186: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/fc175full_t3_s1/2026_08_03-15_06_03--with_future_img--episode=8--success=True--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: True
+# episodes completed so far: 8
+# successes: 6 (75.0%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 9...
+Query 1/1: Action query time = 2.997 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2306
+t=10: Selected seed 195 with value = 0.2306
+Query 1/1: Action query time = 2.741 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2613
+t=26: Selected seed 195 with value = 0.2613
+Query 1/1: Action query time = 2.138 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2967
+t=42: Selected seed 195 with value = 0.2967
+Query 1/1: Action query time = 1.983 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3365
+t=58: Selected seed 195 with value = 0.3365
+Query 1/1: Action query time = 2.200 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3948
+t=74: Selected seed 195 with value = 0.3948
+Query 1/1: Action query time = 2.078 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4635
+t=90: Selected seed 195 with value = 0.4635
+Query 1/1: Action query time = 1.584 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5653
+t=106: Selected seed 195 with value = 0.5653
+Query 1/1: Action query time = 1.522 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6139
+t=122: Selected seed 195 with value = 0.6139
+Query 1/1: Action query time = 2.193 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6710
+t=138: Selected seed 195 with value = 0.6710
+Query 1/1: Action query time = 2.093 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8247
+t=154: Selected seed 195 with value = 0.8247
+Query 1/1: Action query time = 2.195 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9597
+t=170: Selected seed 195 with value = 0.9597
+Query 1/1: Action query time = 2.331 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9899
+t=186: Selected seed 195 with value = 0.9899
+Saved rollout MP4 at path ./rollouts/fc175full_t3_s1/2026_08_03-15_06_03--with_future_img--episode=9--success=True--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: True
+# episodes completed so far: 9
+# successes: 7 (77.8%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 10...
+Query 1/1: Action query time = 2.968 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2143
+t=10: Selected seed 195 with value = 0.2143
+Query 1/1: Action query time = 2.375 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2635
+t=26: Selected seed 195 with value = 0.2635
+Query 1/1: Action query time = 2.156 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3083
+t=42: Selected seed 195 with value = 0.3083
+Query 1/1: Action query time = 2.452 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3409
+t=58: Selected seed 195 with value = 0.3409
+Query 1/1: Action query time = 1.485 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4125
+t=74: Selected seed 195 with value = 0.4125
+Query 1/1: Action query time = 2.248 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4830
+t=90: Selected seed 195 with value = 0.4830
+Query 1/1: Action query time = 2.821 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5773
+t=106: Selected seed 195 with value = 0.5773
+Query 1/1: Action query time = 2.287 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6951
+t=122: Selected seed 195 with value = 0.6951
+Query 1/1: Action query time = 2.239 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7896
+t=138: Selected seed 195 with value = 0.7896
+Query 1/1: Action query time = 1.893 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9085
+t=154: Selected seed 195 with value = 0.9085
+Query 1/1: Action query time = 1.940 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9890
+t=170: Selected seed 195 with value = 0.9890
+Query 1/1: Action query time = 2.495 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=186: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/fc175full_t3_s1/2026_08_03-15_06_03--with_future_img--episode=10--success=True--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: True
+# episodes completed so far: 10
+# successes: 8 (80.0%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 11...
+Query 1/1: Action query time = 2.493 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2168
+t=10: Selected seed 195 with value = 0.2168
+Query 1/1: Action query time = 2.432 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2506
+t=26: Selected seed 195 with value = 0.2506
+Query 1/1: Action query time = 2.229 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3199
+t=42: Selected seed 195 with value = 0.3199
+Query 1/1: Action query time = 2.331 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3714
+t=58: Selected seed 195 with value = 0.3714
+Query 1/1: Action query time = 2.311 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4381
+t=74: Selected seed 195 with value = 0.4381
+Query 1/1: Action query time = 2.397 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5287
+t=90: Selected seed 195 with value = 0.5287
+Query 1/1: Action query time = 2.315 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6145
+t=106: Selected seed 195 with value = 0.6145
+Query 1/1: Action query time = 1.915 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7635
+t=122: Selected seed 195 with value = 0.7635
+Query 1/1: Action query time = 1.216 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8519
+t=138: Selected seed 195 with value = 0.8519
+Query 1/1: Action query time = 1.457 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9692
+t=154: Selected seed 195 with value = 0.9692
+Query 1/1: Action query time = 1.445 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9870
+t=170: Selected seed 195 with value = 0.9870
+Query 1/1: Action query time = 1.486 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9713
+t=186: Selected seed 195 with value = 0.9713
+Query 1/1: Action query time = 2.107 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9604
+t=202: Selected seed 195 with value = 0.9604
+Query 1/1: Action query time = 2.159 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3348
+t=218: Selected seed 195 with value = 0.3348
+Query 1/1: Action query time = 2.160 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3298
+t=234: Selected seed 195 with value = 0.3298
+Query 1/1: Action query time = 1.696 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3214
+t=250: Selected seed 195 with value = 0.3214
+Query 1/1: Action query time = 1.493 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3320
+t=266: Selected seed 195 with value = 0.3320
+Query 1/1: Action query time = 1.697 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3470
+t=282: Selected seed 195 with value = 0.3470
+Query 1/1: Action query time = 1.661 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9555
+t=298: Selected seed 195 with value = 0.9555
+Saved rollout MP4 at path ./rollouts/fc175full_t3_s1/2026_08_03-15_06_03--with_future_img--episode=11--success=False--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: False
+# episodes completed so far: 11
+# successes: 8 (72.7%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 12...
+Query 1/1: Action query time = 1.225 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2196
+t=10: Selected seed 195 with value = 0.2196
+Query 1/1: Action query time = 1.252 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2748
+t=26: Selected seed 195 with value = 0.2748
+Query 1/1: Action query time = 1.211 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3032
+t=42: Selected seed 195 with value = 0.3032
+Query 1/1: Action query time = 1.854 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3419
+t=58: Selected seed 195 with value = 0.3419
+Query 1/1: Action query time = 1.822 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4286
+t=74: Selected seed 195 with value = 0.4286
+Query 1/1: Action query time = 1.805 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5142
+t=90: Selected seed 195 with value = 0.5142
+Query 1/1: Action query time = 1.758 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5911
+t=106: Selected seed 195 with value = 0.5911
+Query 1/1: Action query time = 1.734 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6571
+t=122: Selected seed 195 with value = 0.6571
+Query 1/1: Action query time = 1.687 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7762
+t=138: Selected seed 195 with value = 0.7762
+Query 1/1: Action query time = 1.715 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8999
+t=154: Selected seed 195 with value = 0.8999
+Query 1/1: Action query time = 1.623 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=170: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/fc175full_t3_s1/2026_08_03-15_06_03--with_future_img--episode=12--success=True--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: True
+# episodes completed so far: 12
+# successes: 9 (75.0%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 13...
+Query 1/1: Action query time = 1.874 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2116
+t=10: Selected seed 195 with value = 0.2116
+Query 1/1: Action query time = 1.885 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2420
+t=26: Selected seed 195 with value = 0.2420
+Query 1/1: Action query time = 1.821 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3178
+t=42: Selected seed 195 with value = 0.3178
+Query 1/1: Action query time = 1.776 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3392
+t=58: Selected seed 195 with value = 0.3392
+Query 1/1: Action query time = 1.743 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3950
+t=74: Selected seed 195 with value = 0.3950
+Query 1/1: Action query time = 1.636 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4734
+t=90: Selected seed 195 with value = 0.4734
+Query 1/1: Action query time = 1.575 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5909
+t=106: Selected seed 195 with value = 0.5909
+Query 1/1: Action query time = 0.961 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6919
+t=122: Selected seed 195 with value = 0.6919
+Query 1/1: Action query time = 0.973 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7124
+t=138: Selected seed 195 with value = 0.7124
+Query 1/1: Action query time = 0.995 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8533
+t=154: Selected seed 195 with value = 0.8533
+Query 1/1: Action query time = 0.983 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9756
+t=170: Selected seed 195 with value = 0.9756
+Query 1/1: Action query time = 0.964 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=186: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/fc175full_t3_s1/2026_08_03-15_06_03--with_future_img--episode=13--success=True--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: True
+# episodes completed so far: 13
+# successes: 10 (76.9%)
+Current task success rate: 0.7692307692307693
+Current total success rate: 0.7692307692307693
+Final results:
+Total episodes: 13
+Total successes: 10
+Overall success rate: 0.7692 (76.9%)
diff --git a/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_03-15_06_03--fc175full_t3_s3.txt b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_03-15_06_03--fc175full_t3_s3.txt
new file mode 100644
index 0000000000000000000000000000000000000000..1fe854f8f2f88ce3847b3f73b64e6db509101ed7
--- /dev/null
+++ b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_03-15_06_03--fc175full_t3_s3.txt
@@ -0,0 +1,668 @@
+Eval config: PolicyEvalConfig(suite='libero', model_family='cosmos', config='cosmos_predict2_2b_480p_libero_cl_stage_inference_only', ckpt_path='/home/azureuser/REGEN-main/new_task7/cosmos_policy/cosmos_v2_finetune/cosmos_predict2_2b_480p_libero_goal_task7_forget_cl_from100_2gpu/checkpoints/iter_000000175/model', planning_model_config_name='', planning_model_ckpt_path='', config_file='cosmos_policy/config/config.py', packnet_mask_path='', packnet_first_cl_libero_task=6, use_third_person_image=True, num_third_person_images=1, use_wrist_image=True, num_wrist_images=1, use_proprio=True, flip_images=True, use_variance_scale=False, use_jpeg_compression=True, ar_future_prediction=False, ar_value_prediction=False, ar_qvalue_prediction=False, num_denoising_steps_action=5, num_denoising_steps_future_state=1, num_denoising_steps_value=1, unnormalize_actions=True, normalize_proprio=True, dataset_stats_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/libero_goal_regen/dataset_statistics.json', t5_text_embeddings_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/t5_embeddings.pkl', trained_with_image_aug=True, chunk_size=16, num_open_loop_steps=16, deterministic=True, deterministic_reset=False, deterministic_reset_seed=None, use_ensemble_future_state_predictions=False, num_future_state_predictions_in_ensemble=3, future_state_ensemble_aggregation_scheme='average', use_ensemble_value_predictions=False, num_value_predictions_in_ensemble=5, value_ensemble_aggregation_scheme='average', search_depth=1, mask_current_state_action_for_value_prediction=False, mask_future_state_for_qvalue_prediction=False, num_queries_best_of_n=1, use_parallel_inference=False, available_gpus='0', parallel_timeout=15, parallel_tasks_across_gpus=False, task_suite_name='libero_goal', num_trials_per_task=50, task_ids_to_run='3', initial_states_path='DEFAULT', env_img_res=256, local_log_dir='/home/azureuser/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal', run_id_note='fc175full_t3_s3', use_wandb=False, wandb_entity='YOUR_ENTITY', wandb_project='YOUR_PROJECT', seed=195, randomize_seed=False, data_collection=False, jpeg_compress=True, reward_stop_threshold=None, reward_stop_consecutive_steps=3, use_gpt_reward=False, gpt_reward_model='gpt-5.4-mini', gpt_reward_stop_threshold=4, gpt_reward_timeout_s=30.0, save_rollout_video=False, eval_hdf5_path='', eval_hdf5_demo_key='demo_0', data_gen_demo_ids='', eval_episode_ids='3,7,11,15,19,23,27,31,35,39,43,47', dump_final_states_path='', replay_actions=False, replay_action_path_dir='', replay_hdf5_path='', data_generation=False, max_generation_steps=200, disable_value_stop=False)
+Using serial inference (parallel inference disabled)
+Task suite: libero_goal
+Number of tasks: 10
+Running only task IDs: [3]
+Using default initial states
+
+Task: open the top drawer and put the bowl inside
+Starting episode 1...
+Query 1/1: Action query time = 6.122 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2246
+t=10: Selected seed 195 with value = 0.2246
+Query 1/1: Action query time = 5.054 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2710
+t=26: Selected seed 195 with value = 0.2710
+Query 1/1: Action query time = 5.253 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3016
+t=42: Selected seed 195 with value = 0.3016
+Query 1/1: Action query time = 4.792 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3431
+t=58: Selected seed 195 with value = 0.3431
+Query 1/1: Action query time = 4.838 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4165
+t=74: Selected seed 195 with value = 0.4165
+Query 1/1: Action query time = 5.798 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4775
+t=90: Selected seed 195 with value = 0.4775
+Query 1/1: Action query time = 5.355 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5833
+t=106: Selected seed 195 with value = 0.5833
+Query 1/1: Action query time = 5.732 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6801
+t=122: Selected seed 195 with value = 0.6801
+Query 1/1: Action query time = 4.339 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6441
+t=138: Selected seed 195 with value = 0.6441
+Query 1/1: Action query time = 4.798 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7992
+t=154: Selected seed 195 with value = 0.7992
+Query 1/1: Action query time = 3.967 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9431
+t=170: Selected seed 195 with value = 0.9431
+Query 1/1: Action query time = 3.059 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=186: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/fc175full_t3_s3/2026_08_03-15_06_03--with_future_img--episode=1--success=True--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: True
+# episodes completed so far: 1
+# successes: 1 (100.0%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 2...
+Query 1/1: Action query time = 3.961 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2317
+t=10: Selected seed 195 with value = 0.2317
+Query 1/1: Action query time = 5.135 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2698
+t=26: Selected seed 195 with value = 0.2698
+Query 1/1: Action query time = 4.948 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3015
+t=42: Selected seed 195 with value = 0.3015
+Query 1/1: Action query time = 3.473 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3466
+t=58: Selected seed 195 with value = 0.3466
+Query 1/1: Action query time = 4.875 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4144
+t=74: Selected seed 195 with value = 0.4144
+Query 1/1: Action query time = 4.873 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4780
+t=90: Selected seed 195 with value = 0.4780
+Query 1/1: Action query time = 4.489 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5749
+t=106: Selected seed 195 with value = 0.5749
+Query 1/1: Action query time = 4.255 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6379
+t=122: Selected seed 195 with value = 0.6379
+Query 1/1: Action query time = 4.637 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7649
+t=138: Selected seed 195 with value = 0.7649
+Query 1/1: Action query time = 4.913 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9048
+t=154: Selected seed 195 with value = 0.9048
+Query 1/1: Action query time = 4.006 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=170: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.678 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=186: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/fc175full_t3_s3/2026_08_03-15_06_03--with_future_img--episode=2--success=True--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: True
+# episodes completed so far: 2
+# successes: 2 (100.0%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 3...
+Query 1/1: Action query time = 4.261 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2141
+t=10: Selected seed 195 with value = 0.2141
+Query 1/1: Action query time = 3.849 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2489
+t=26: Selected seed 195 with value = 0.2489
+Query 1/1: Action query time = 4.656 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3120
+t=42: Selected seed 195 with value = 0.3120
+Query 1/1: Action query time = 4.925 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3480
+t=58: Selected seed 195 with value = 0.3480
+Query 1/1: Action query time = 5.540 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4295
+t=74: Selected seed 195 with value = 0.4295
+Query 1/1: Action query time = 5.110 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4824
+t=90: Selected seed 195 with value = 0.4824
+Query 1/1: Action query time = 3.649 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5770
+t=106: Selected seed 195 with value = 0.5770
+Query 1/1: Action query time = 3.819 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6869
+t=122: Selected seed 195 with value = 0.6869
+Query 1/1: Action query time = 4.238 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7892
+t=138: Selected seed 195 with value = 0.7892
+Query 1/1: Action query time = 4.954 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9160
+t=154: Selected seed 195 with value = 0.9160
+Query 1/1: Action query time = 4.502 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=170: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/fc175full_t3_s3/2026_08_03-15_06_03--with_future_img--episode=3--success=True--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: True
+# episodes completed so far: 3
+# successes: 3 (100.0%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 4...
+Query 1/1: Action query time = 2.653 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2214
+t=10: Selected seed 195 with value = 0.2214
+Query 1/1: Action query time = 4.969 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2545
+t=26: Selected seed 195 with value = 0.2545
+Query 1/1: Action query time = 4.878 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3166
+t=42: Selected seed 195 with value = 0.3166
+Query 1/1: Action query time = 3.629 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3650
+t=58: Selected seed 195 with value = 0.3650
+Query 1/1: Action query time = 5.021 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4371
+t=74: Selected seed 195 with value = 0.4371
+Query 1/1: Action query time = 4.796 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5287
+t=90: Selected seed 195 with value = 0.5287
+Query 1/1: Action query time = 3.559 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6065
+t=106: Selected seed 195 with value = 0.6065
+Query 1/1: Action query time = 3.466 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7362
+t=122: Selected seed 195 with value = 0.7362
+Query 1/1: Action query time = 4.515 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8517
+t=138: Selected seed 195 with value = 0.8517
+Query 1/1: Action query time = 4.660 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9336
+t=154: Selected seed 195 with value = 0.9336
+Query 1/1: Action query time = 4.525 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=170: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 5.108 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=186: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/fc175full_t3_s3/2026_08_03-15_06_03--with_future_img--episode=4--success=True--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: True
+# episodes completed so far: 4
+# successes: 4 (100.0%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 5...
+Query 1/1: Action query time = 4.271 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2327
+t=10: Selected seed 195 with value = 0.2327
+Query 1/1: Action query time = 4.338 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2592
+t=26: Selected seed 195 with value = 0.2592
+Query 1/1: Action query time = 5.136 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3019
+t=42: Selected seed 195 with value = 0.3019
+Query 1/1: Action query time = 5.469 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3360
+t=58: Selected seed 195 with value = 0.3360
+Query 1/1: Action query time = 5.169 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3920
+t=74: Selected seed 195 with value = 0.3920
+Query 1/1: Action query time = 5.045 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4695
+t=90: Selected seed 195 with value = 0.4695
+Query 1/1: Action query time = 5.373 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5656
+t=106: Selected seed 195 with value = 0.5656
+Query 1/1: Action query time = 3.445 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6214
+t=122: Selected seed 195 with value = 0.6214
+Query 1/1: Action query time = 3.648 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6892
+t=138: Selected seed 195 with value = 0.6892
+Query 1/1: Action query time = 5.154 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8658
+t=154: Selected seed 195 with value = 0.8658
+Query 1/1: Action query time = 4.880 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=170: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.650 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=186: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/fc175full_t3_s3/2026_08_03-15_06_03--with_future_img--episode=5--success=True--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: True
+# episodes completed so far: 5
+# successes: 5 (100.0%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 6...
+Query 1/1: Action query time = 3.610 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2202
+t=10: Selected seed 195 with value = 0.2202
+Query 1/1: Action query time = 3.965 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2483
+t=26: Selected seed 195 with value = 0.2483
+Query 1/1: Action query time = 4.870 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3098
+t=42: Selected seed 195 with value = 0.3098
+Query 1/1: Action query time = 4.608 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3563
+t=58: Selected seed 195 with value = 0.3563
+Query 1/1: Action query time = 4.210 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4186
+t=74: Selected seed 195 with value = 0.4186
+Query 1/1: Action query time = 4.924 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4790
+t=90: Selected seed 195 with value = 0.4790
+Query 1/1: Action query time = 4.866 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5692
+t=106: Selected seed 195 with value = 0.5692
+Query 1/1: Action query time = 4.663 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5928
+t=122: Selected seed 195 with value = 0.5928
+Query 1/1: Action query time = 4.430 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6197
+t=138: Selected seed 195 with value = 0.6197
+Query 1/1: Action query time = 3.713 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8174
+t=154: Selected seed 195 with value = 0.8174
+Query 1/1: Action query time = 4.967 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9378
+t=170: Selected seed 195 with value = 0.9378
+Query 1/1: Action query time = 4.086 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=186: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.787 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=202: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/fc175full_t3_s3/2026_08_03-15_06_03--with_future_img--episode=6--success=True--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: True
+# episodes completed so far: 6
+# successes: 6 (100.0%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 7...
+Query 1/1: Action query time = 3.818 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2279
+t=10: Selected seed 195 with value = 0.2279
+Query 1/1: Action query time = 3.747 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2523
+t=26: Selected seed 195 with value = 0.2523
+Query 1/1: Action query time = 4.050 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3069
+t=42: Selected seed 195 with value = 0.3069
+Query 1/1: Action query time = 4.751 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3383
+t=58: Selected seed 195 with value = 0.3383
+Query 1/1: Action query time = 4.850 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4141
+t=74: Selected seed 195 with value = 0.4141
+Query 1/1: Action query time = 5.436 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4780
+t=90: Selected seed 195 with value = 0.4780
+Query 1/1: Action query time = 5.988 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5655
+t=106: Selected seed 195 with value = 0.5655
+Query 1/1: Action query time = 4.829 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6215
+t=122: Selected seed 195 with value = 0.6215
+Query 1/1: Action query time = 5.258 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7392
+t=138: Selected seed 195 with value = 0.7392
+Query 1/1: Action query time = 4.784 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8930
+t=154: Selected seed 195 with value = 0.8930
+Query 1/1: Action query time = 4.738 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=170: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.885 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=186: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/fc175full_t3_s3/2026_08_03-15_06_03--with_future_img--episode=7--success=True--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: True
+# episodes completed so far: 7
+# successes: 7 (100.0%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 8...
+Query 1/1: Action query time = 3.760 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2379
+t=10: Selected seed 195 with value = 0.2379
+Query 1/1: Action query time = 3.445 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2583
+t=26: Selected seed 195 with value = 0.2583
+Query 1/1: Action query time = 4.933 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3129
+t=42: Selected seed 195 with value = 0.3129
+Query 1/1: Action query time = 5.077 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3489
+t=58: Selected seed 195 with value = 0.3489
+Query 1/1: Action query time = 5.510 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2515
+t=74: Selected seed 195 with value = 0.2515
+Query 1/1: Action query time = 4.380 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4903
+t=90: Selected seed 195 with value = 0.4903
+Query 1/1: Action query time = 4.586 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5843
+t=106: Selected seed 195 with value = 0.5843
+Query 1/1: Action query time = 3.112 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6700
+t=122: Selected seed 195 with value = 0.6700
+Query 1/1: Action query time = 3.324 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7749
+t=138: Selected seed 195 with value = 0.7749
+Query 1/1: Action query time = 4.609 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9313
+t=154: Selected seed 195 with value = 0.9313
+Query 1/1: Action query time = 4.522 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=170: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/fc175full_t3_s3/2026_08_03-15_06_03--with_future_img--episode=8--success=True--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: True
+# episodes completed so far: 8
+# successes: 8 (100.0%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 9...
+Query 1/1: Action query time = 3.562 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2413
+t=10: Selected seed 195 with value = 0.2413
+Query 1/1: Action query time = 3.524 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2564
+t=26: Selected seed 195 with value = 0.2564
+Query 1/1: Action query time = 2.446 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3045
+t=42: Selected seed 195 with value = 0.3045
+Query 1/1: Action query time = 2.122 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3469
+t=58: Selected seed 195 with value = 0.3469
+Query 1/1: Action query time = 3.082 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4017
+t=74: Selected seed 195 with value = 0.4017
+Query 1/1: Action query time = 3.331 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4729
+t=90: Selected seed 195 with value = 0.4729
+Query 1/1: Action query time = 3.258 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5657
+t=106: Selected seed 195 with value = 0.5657
+Query 1/1: Action query time = 2.458 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6400
+t=122: Selected seed 195 with value = 0.6400
+Query 1/1: Action query time = 2.530 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7189
+t=138: Selected seed 195 with value = 0.7189
+Query 1/1: Action query time = 1.930 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8693
+t=154: Selected seed 195 with value = 0.8693
+Query 1/1: Action query time = 2.138 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9686
+t=170: Selected seed 195 with value = 0.9686
+Query 1/1: Action query time = 2.217 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=186: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/fc175full_t3_s3/2026_08_03-15_06_03--with_future_img--episode=9--success=True--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: True
+# episodes completed so far: 9
+# successes: 9 (100.0%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 10...
+Query 1/1: Action query time = 2.401 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2415
+t=10: Selected seed 195 with value = 0.2415
+Query 1/1: Action query time = 2.435 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2553
+t=26: Selected seed 195 with value = 0.2553
+Query 1/1: Action query time = 1.628 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3106
+t=42: Selected seed 195 with value = 0.3106
+Query 1/1: Action query time = 1.756 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3563
+t=58: Selected seed 195 with value = 0.3563
+Query 1/1: Action query time = 2.929 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4156
+t=74: Selected seed 195 with value = 0.4156
+Query 1/1: Action query time = 2.760 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4833
+t=90: Selected seed 195 with value = 0.4833
+Query 1/1: Action query time = 2.176 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5888
+t=106: Selected seed 195 with value = 0.5888
+Query 1/1: Action query time = 2.024 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6719
+t=122: Selected seed 195 with value = 0.6719
+Query 1/1: Action query time = 2.543 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6889
+t=138: Selected seed 195 with value = 0.6889
+Query 1/1: Action query time = 1.945 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8594
+t=154: Selected seed 195 with value = 0.8594
+Query 1/1: Action query time = 1.967 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9675
+t=170: Selected seed 195 with value = 0.9675
+Query 1/1: Action query time = 2.387 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=186: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/fc175full_t3_s3/2026_08_03-15_06_03--with_future_img--episode=10--success=True--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: True
+# episodes completed so far: 10
+# successes: 10 (100.0%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 11...
+Query 1/1: Action query time = 2.441 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2133
+t=10: Selected seed 195 with value = 0.2133
+Query 1/1: Action query time = 2.164 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2697
+t=26: Selected seed 195 with value = 0.2697
+Query 1/1: Action query time = 2.557 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3112
+t=42: Selected seed 195 with value = 0.3112
+Query 1/1: Action query time = 3.018 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3494
+t=58: Selected seed 195 with value = 0.3494
+Query 1/1: Action query time = 2.148 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4123
+t=74: Selected seed 195 with value = 0.4123
+Query 1/1: Action query time = 1.374 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4789
+t=90: Selected seed 195 with value = 0.4789
+Query 1/1: Action query time = 1.780 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5494
+t=106: Selected seed 195 with value = 0.5494
+Query 1/1: Action query time = 2.560 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6134
+t=122: Selected seed 195 with value = 0.6134
+Query 1/1: Action query time = 2.587 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7926
+t=138: Selected seed 195 with value = 0.7926
+Query 1/1: Action query time = 2.873 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8906
+t=154: Selected seed 195 with value = 0.8906
+Query 1/1: Action query time = 2.311 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9992
+t=170: Selected seed 195 with value = 0.9992
+Query 1/1: Action query time = 2.102 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=186: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/fc175full_t3_s3/2026_08_03-15_06_03--with_future_img--episode=11--success=True--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: True
+# episodes completed so far: 11
+# successes: 11 (100.0%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 12...
+Query 1/1: Action query time = 2.267 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2184
+t=10: Selected seed 195 with value = 0.2184
+Query 1/1: Action query time = 1.800 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2525
+t=26: Selected seed 195 with value = 0.2525
+Query 1/1: Action query time = 1.781 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3104
+t=42: Selected seed 195 with value = 0.3104
+Query 1/1: Action query time = 2.117 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3380
+t=58: Selected seed 195 with value = 0.3380
+Query 1/1: Action query time = 2.381 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4092
+t=74: Selected seed 195 with value = 0.4092
+Query 1/1: Action query time = 2.404 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4831
+t=90: Selected seed 195 with value = 0.4831
+Query 1/1: Action query time = 2.560 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5595
+t=106: Selected seed 195 with value = 0.5595
+Query 1/1: Action query time = 2.614 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6581
+t=122: Selected seed 195 with value = 0.6581
+Query 1/1: Action query time = 2.552 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7608
+t=138: Selected seed 195 with value = 0.7608
+Query 1/1: Action query time = 2.454 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8932
+t=154: Selected seed 195 with value = 0.8932
+Query 1/1: Action query time = 1.563 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9996
+t=170: Selected seed 195 with value = 0.9996
+Query 1/1: Action query time = 1.503 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=186: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/fc175full_t3_s3/2026_08_03-15_06_03--with_future_img--episode=12--success=True--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: True
+# episodes completed so far: 12
+# successes: 12 (100.0%)
+Current task success rate: 1.0
+Current total success rate: 1.0
+Final results:
+Total episodes: 12
+Total successes: 12
+Overall success rate: 1.0000 (100.0%)
diff --git a/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_03-15_19_30--fc175full_t4_s1.txt b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_03-15_19_30--fc175full_t4_s1.txt
new file mode 100644
index 0000000000000000000000000000000000000000..f2ede5c95ac1e4523d8f9ea92f1cdf018e645612
--- /dev/null
+++ b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_03-15_19_30--fc175full_t4_s1.txt
@@ -0,0 +1,415 @@
+Eval config: PolicyEvalConfig(suite='libero', model_family='cosmos', config='cosmos_predict2_2b_480p_libero_cl_stage_inference_only', ckpt_path='/home/azureuser/REGEN-main/new_task7/cosmos_policy/cosmos_v2_finetune/cosmos_predict2_2b_480p_libero_goal_task7_forget_cl_from100_2gpu/checkpoints/iter_000000175/model', planning_model_config_name='', planning_model_ckpt_path='', config_file='cosmos_policy/config/config.py', packnet_mask_path='', packnet_first_cl_libero_task=6, use_third_person_image=True, num_third_person_images=1, use_wrist_image=True, num_wrist_images=1, use_proprio=True, flip_images=True, use_variance_scale=False, use_jpeg_compression=True, ar_future_prediction=False, ar_value_prediction=False, ar_qvalue_prediction=False, num_denoising_steps_action=5, num_denoising_steps_future_state=1, num_denoising_steps_value=1, unnormalize_actions=True, normalize_proprio=True, dataset_stats_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/libero_goal_regen/dataset_statistics.json', t5_text_embeddings_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/t5_embeddings.pkl', trained_with_image_aug=True, chunk_size=16, num_open_loop_steps=16, deterministic=True, deterministic_reset=False, deterministic_reset_seed=None, use_ensemble_future_state_predictions=False, num_future_state_predictions_in_ensemble=3, future_state_ensemble_aggregation_scheme='average', use_ensemble_value_predictions=False, num_value_predictions_in_ensemble=5, value_ensemble_aggregation_scheme='average', search_depth=1, mask_current_state_action_for_value_prediction=False, mask_future_state_for_qvalue_prediction=False, num_queries_best_of_n=1, use_parallel_inference=False, available_gpus='0', parallel_timeout=15, parallel_tasks_across_gpus=False, task_suite_name='libero_goal', num_trials_per_task=50, task_ids_to_run='4', initial_states_path='DEFAULT', env_img_res=256, local_log_dir='/home/azureuser/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal', run_id_note='fc175full_t4_s1', use_wandb=False, wandb_entity='YOUR_ENTITY', wandb_project='YOUR_PROJECT', seed=195, randomize_seed=False, data_collection=False, jpeg_compress=True, reward_stop_threshold=None, reward_stop_consecutive_steps=3, use_gpt_reward=False, gpt_reward_model='gpt-5.4-mini', gpt_reward_stop_threshold=4, gpt_reward_timeout_s=30.0, save_rollout_video=False, eval_hdf5_path='', eval_hdf5_demo_key='demo_0', data_gen_demo_ids='', eval_episode_ids='1,5,9,13,17,21,25,29,33,37,41,45,49', dump_final_states_path='', replay_actions=False, replay_action_path_dir='', replay_hdf5_path='', data_generation=False, max_generation_steps=200, disable_value_stop=False)
+Using serial inference (parallel inference disabled)
+Task suite: libero_goal
+Number of tasks: 10
+Running only task IDs: [4]
+Using default initial states
+
+Task: put the bowl on top of the cabinet
+Starting episode 1...
+Query 1/1: Action query time = 1.639 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5981
+t=10: Selected seed 195 with value = 0.5981
+Query 1/1: Action query time = 1.929 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6894
+t=26: Selected seed 195 with value = 0.6894
+Query 1/1: Action query time = 4.058 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7717
+t=42: Selected seed 195 with value = 0.7717
+Query 1/1: Action query time = 4.222 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9120
+t=58: Selected seed 195 with value = 0.9120
+Query 1/1: Action query time = 5.542 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=74: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 5.507 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/fc175full_t4_s1/2026_08_03-15_19_30--with_future_img--episode=1--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Success: True
+# episodes completed so far: 1
+# successes: 1 (100.0%)
+
+Task: put the bowl on top of the cabinet
+Starting episode 2...
+Query 1/1: Action query time = 5.006 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6001
+t=10: Selected seed 195 with value = 0.6001
+Query 1/1: Action query time = 3.913 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7119
+t=26: Selected seed 195 with value = 0.7119
+Query 1/1: Action query time = 3.980 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8072
+t=42: Selected seed 195 with value = 0.8072
+Query 1/1: Action query time = 4.867 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9609
+t=58: Selected seed 195 with value = 0.9609
+Query 1/1: Action query time = 4.299 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=74: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.253 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/fc175full_t4_s1/2026_08_03-15_19_30--with_future_img--episode=2--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Success: True
+# episodes completed so far: 2
+# successes: 2 (100.0%)
+
+Task: put the bowl on top of the cabinet
+Starting episode 3...
+Query 1/1: Action query time = 4.691 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5641
+t=10: Selected seed 195 with value = 0.5641
+Query 1/1: Action query time = 3.765 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6892
+t=26: Selected seed 195 with value = 0.6892
+Query 1/1: Action query time = 4.839 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8075
+t=42: Selected seed 195 with value = 0.8075
+Query 1/1: Action query time = 3.898 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9552
+t=58: Selected seed 195 with value = 0.9552
+Query 1/1: Action query time = 5.558 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=74: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 5.110 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/fc175full_t4_s1/2026_08_03-15_19_30--with_future_img--episode=3--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Success: True
+# episodes completed so far: 3
+# successes: 3 (100.0%)
+
+Task: put the bowl on top of the cabinet
+Starting episode 4...
+Query 1/1: Action query time = 3.381 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5684
+t=10: Selected seed 195 with value = 0.5684
+Query 1/1: Action query time = 3.256 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6697
+t=26: Selected seed 195 with value = 0.6697
+Query 1/1: Action query time = 4.307 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7776
+t=42: Selected seed 195 with value = 0.7776
+Query 1/1: Action query time = 2.633 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9042
+t=58: Selected seed 195 with value = 0.9042
+Query 1/1: Action query time = 5.083 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9921
+t=74: Selected seed 195 with value = 0.9921
+Query 1/1: Action query time = 4.714 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/fc175full_t4_s1/2026_08_03-15_19_30--with_future_img--episode=4--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Success: True
+# episodes completed so far: 4
+# successes: 4 (100.0%)
+
+Task: put the bowl on top of the cabinet
+Starting episode 5...
+Query 1/1: Action query time = 5.963 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5780
+t=10: Selected seed 195 with value = 0.5780
+Query 1/1: Action query time = 3.172 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6887
+t=26: Selected seed 195 with value = 0.6887
+Query 1/1: Action query time = 4.634 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8021
+t=42: Selected seed 195 with value = 0.8021
+Query 1/1: Action query time = 4.633 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9358
+t=58: Selected seed 195 with value = 0.9358
+Query 1/1: Action query time = 4.275 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=74: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.225 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/fc175full_t4_s1/2026_08_03-15_19_30--with_future_img--episode=5--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Success: True
+# episodes completed so far: 5
+# successes: 5 (100.0%)
+
+Task: put the bowl on top of the cabinet
+Starting episode 6...
+Query 1/1: Action query time = 4.711 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5964
+t=10: Selected seed 195 with value = 0.5964
+Query 1/1: Action query time = 5.460 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6955
+t=26: Selected seed 195 with value = 0.6955
+Query 1/1: Action query time = 5.321 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8030
+t=42: Selected seed 195 with value = 0.8030
+Query 1/1: Action query time = 4.849 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9446
+t=58: Selected seed 195 with value = 0.9446
+Query 1/1: Action query time = 5.600 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=74: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 5.177 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/fc175full_t4_s1/2026_08_03-15_19_30--with_future_img--episode=6--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Success: True
+# episodes completed so far: 6
+# successes: 6 (100.0%)
+
+Task: put the bowl on top of the cabinet
+Starting episode 7...
+Query 1/1: Action query time = 3.860 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5603
+t=10: Selected seed 195 with value = 0.5603
+Query 1/1: Action query time = 2.201 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6397
+t=26: Selected seed 195 with value = 0.6397
+Query 1/1: Action query time = 4.040 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7594
+t=42: Selected seed 195 with value = 0.7594
+Query 1/1: Action query time = 3.945 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9162
+t=58: Selected seed 195 with value = 0.9162
+Query 1/1: Action query time = 4.378 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=74: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.540 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/fc175full_t4_s1/2026_08_03-15_19_30--with_future_img--episode=7--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Success: True
+# episodes completed so far: 7
+# successes: 7 (100.0%)
+
+Task: put the bowl on top of the cabinet
+Starting episode 8...
+Query 1/1: Action query time = 4.903 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5748
+t=10: Selected seed 195 with value = 0.5748
+Query 1/1: Action query time = 5.172 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6785
+t=26: Selected seed 195 with value = 0.6785
+Query 1/1: Action query time = 3.025 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7679
+t=42: Selected seed 195 with value = 0.7679
+Query 1/1: Action query time = 5.453 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9272
+t=58: Selected seed 195 with value = 0.9272
+Query 1/1: Action query time = 4.371 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9937
+t=74: Selected seed 195 with value = 0.9937
+Query 1/1: Action query time = 4.329 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/fc175full_t4_s1/2026_08_03-15_19_30--with_future_img--episode=8--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Success: True
+# episodes completed so far: 8
+# successes: 8 (100.0%)
+
+Task: put the bowl on top of the cabinet
+Starting episode 9...
+Query 1/1: Action query time = 4.911 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5841
+t=10: Selected seed 195 with value = 0.5841
+Query 1/1: Action query time = 3.640 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6900
+t=26: Selected seed 195 with value = 0.6900
+Query 1/1: Action query time = 5.284 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7964
+t=42: Selected seed 195 with value = 0.7964
+Query 1/1: Action query time = 5.015 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9703
+t=58: Selected seed 195 with value = 0.9703
+Query 1/1: Action query time = 5.250 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9972
+t=74: Selected seed 195 with value = 0.9972
+Query 1/1: Action query time = 5.424 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/fc175full_t4_s1/2026_08_03-15_19_30--with_future_img--episode=9--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Success: True
+# episodes completed so far: 9
+# successes: 9 (100.0%)
+
+Task: put the bowl on top of the cabinet
+Starting episode 10...
+Query 1/1: Action query time = 5.207 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5766
+t=10: Selected seed 195 with value = 0.5766
+Query 1/1: Action query time = 3.305 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6531
+t=26: Selected seed 195 with value = 0.6531
+Query 1/1: Action query time = 4.803 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7722
+t=42: Selected seed 195 with value = 0.7722
+Query 1/1: Action query time = 3.540 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9063
+t=58: Selected seed 195 with value = 0.9063
+Query 1/1: Action query time = 5.012 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=74: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.858 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/fc175full_t4_s1/2026_08_03-15_19_30--with_future_img--episode=10--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Success: True
+# episodes completed so far: 10
+# successes: 10 (100.0%)
+
+Task: put the bowl on top of the cabinet
+Starting episode 11...
+Query 1/1: Action query time = 4.922 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5973
+t=10: Selected seed 195 with value = 0.5973
+Query 1/1: Action query time = 4.201 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7054
+t=26: Selected seed 195 with value = 0.7054
+Query 1/1: Action query time = 3.082 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8079
+t=42: Selected seed 195 with value = 0.8079
+Query 1/1: Action query time = 3.459 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9527
+t=58: Selected seed 195 with value = 0.9527
+Query 1/1: Action query time = 5.268 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9955
+t=74: Selected seed 195 with value = 0.9955
+Query 1/1: Action query time = 4.976 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/fc175full_t4_s1/2026_08_03-15_19_30--with_future_img--episode=11--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Success: True
+# episodes completed so far: 11
+# successes: 11 (100.0%)
+
+Task: put the bowl on top of the cabinet
+Starting episode 12...
+Query 1/1: Action query time = 3.915 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5885
+t=10: Selected seed 195 with value = 0.5885
+Query 1/1: Action query time = 4.625 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6853
+t=26: Selected seed 195 with value = 0.6853
+Query 1/1: Action query time = 4.056 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7726
+t=42: Selected seed 195 with value = 0.7726
+Query 1/1: Action query time = 4.543 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9535
+t=58: Selected seed 195 with value = 0.9535
+Query 1/1: Action query time = 5.600 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=74: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 5.566 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/fc175full_t4_s1/2026_08_03-15_19_30--with_future_img--episode=12--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Success: True
+# episodes completed so far: 12
+# successes: 12 (100.0%)
+
+Task: put the bowl on top of the cabinet
+Starting episode 13...
+Query 1/1: Action query time = 4.918 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5803
+t=10: Selected seed 195 with value = 0.5803
+Query 1/1: Action query time = 4.411 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6768
+t=26: Selected seed 195 with value = 0.6768
+Query 1/1: Action query time = 4.143 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7569
+t=42: Selected seed 195 with value = 0.7569
+Query 1/1: Action query time = 4.523 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9198
+t=58: Selected seed 195 with value = 0.9198
+Query 1/1: Action query time = 3.066 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9962
+t=74: Selected seed 195 with value = 0.9962
+Query 1/1: Action query time = 3.936 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/fc175full_t4_s1/2026_08_03-15_19_30--with_future_img--episode=13--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Success: True
+# episodes completed so far: 13
+# successes: 13 (100.0%)
+Current task success rate: 1.0
+Current total success rate: 1.0
+Final results:
+Total episodes: 13
+Total successes: 13
+Overall success rate: 1.0000 (100.0%)
diff --git a/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_03-15_19_31--fc175full_t4_s0.txt b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_03-15_19_31--fc175full_t4_s0.txt
new file mode 100644
index 0000000000000000000000000000000000000000..9ab8a6afe6ceba5db24c8d65274653167d5ddf36
--- /dev/null
+++ b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_03-15_19_31--fc175full_t4_s0.txt
@@ -0,0 +1,415 @@
+Eval config: PolicyEvalConfig(suite='libero', model_family='cosmos', config='cosmos_predict2_2b_480p_libero_cl_stage_inference_only', ckpt_path='/home/azureuser/REGEN-main/new_task7/cosmos_policy/cosmos_v2_finetune/cosmos_predict2_2b_480p_libero_goal_task7_forget_cl_from100_2gpu/checkpoints/iter_000000175/model', planning_model_config_name='', planning_model_ckpt_path='', config_file='cosmos_policy/config/config.py', packnet_mask_path='', packnet_first_cl_libero_task=6, use_third_person_image=True, num_third_person_images=1, use_wrist_image=True, num_wrist_images=1, use_proprio=True, flip_images=True, use_variance_scale=False, use_jpeg_compression=True, ar_future_prediction=False, ar_value_prediction=False, ar_qvalue_prediction=False, num_denoising_steps_action=5, num_denoising_steps_future_state=1, num_denoising_steps_value=1, unnormalize_actions=True, normalize_proprio=True, dataset_stats_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/libero_goal_regen/dataset_statistics.json', t5_text_embeddings_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/t5_embeddings.pkl', trained_with_image_aug=True, chunk_size=16, num_open_loop_steps=16, deterministic=True, deterministic_reset=False, deterministic_reset_seed=None, use_ensemble_future_state_predictions=False, num_future_state_predictions_in_ensemble=3, future_state_ensemble_aggregation_scheme='average', use_ensemble_value_predictions=False, num_value_predictions_in_ensemble=5, value_ensemble_aggregation_scheme='average', search_depth=1, mask_current_state_action_for_value_prediction=False, mask_future_state_for_qvalue_prediction=False, num_queries_best_of_n=1, use_parallel_inference=False, available_gpus='0', parallel_timeout=15, parallel_tasks_across_gpus=False, task_suite_name='libero_goal', num_trials_per_task=50, task_ids_to_run='4', initial_states_path='DEFAULT', env_img_res=256, local_log_dir='/home/azureuser/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal', run_id_note='fc175full_t4_s0', use_wandb=False, wandb_entity='YOUR_ENTITY', wandb_project='YOUR_PROJECT', seed=195, randomize_seed=False, data_collection=False, jpeg_compress=True, reward_stop_threshold=None, reward_stop_consecutive_steps=3, use_gpt_reward=False, gpt_reward_model='gpt-5.4-mini', gpt_reward_stop_threshold=4, gpt_reward_timeout_s=30.0, save_rollout_video=False, eval_hdf5_path='', eval_hdf5_demo_key='demo_0', data_gen_demo_ids='', eval_episode_ids='0,4,8,12,16,20,24,28,32,36,40,44,48', dump_final_states_path='', replay_actions=False, replay_action_path_dir='', replay_hdf5_path='', data_generation=False, max_generation_steps=200, disable_value_stop=False)
+Using serial inference (parallel inference disabled)
+Task suite: libero_goal
+Number of tasks: 10
+Running only task IDs: [4]
+Using default initial states
+
+Task: put the bowl on top of the cabinet
+Starting episode 1...
+Query 1/1: Action query time = 4.238 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5485
+t=10: Selected seed 195 with value = 0.5485
+Query 1/1: Action query time = 5.123 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6929
+t=26: Selected seed 195 with value = 0.6929
+Query 1/1: Action query time = 5.636 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7860
+t=42: Selected seed 195 with value = 0.7860
+Query 1/1: Action query time = 4.998 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9319
+t=58: Selected seed 195 with value = 0.9319
+Query 1/1: Action query time = 4.201 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9994
+t=74: Selected seed 195 with value = 0.9994
+Query 1/1: Action query time = 5.191 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/fc175full_t4_s0/2026_08_03-15_19_31--with_future_img--episode=1--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Success: True
+# episodes completed so far: 1
+# successes: 1 (100.0%)
+
+Task: put the bowl on top of the cabinet
+Starting episode 2...
+Query 1/1: Action query time = 4.335 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5624
+t=10: Selected seed 195 with value = 0.5624
+Query 1/1: Action query time = 5.059 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6950
+t=26: Selected seed 195 with value = 0.6950
+Query 1/1: Action query time = 4.352 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7663
+t=42: Selected seed 195 with value = 0.7663
+Query 1/1: Action query time = 4.325 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9415
+t=58: Selected seed 195 with value = 0.9415
+Query 1/1: Action query time = 3.247 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=74: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.719 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/fc175full_t4_s0/2026_08_03-15_19_31--with_future_img--episode=2--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Success: True
+# episodes completed so far: 2
+# successes: 2 (100.0%)
+
+Task: put the bowl on top of the cabinet
+Starting episode 3...
+Query 1/1: Action query time = 5.297 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5802
+t=10: Selected seed 195 with value = 0.5802
+Query 1/1: Action query time = 4.268 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7065
+t=26: Selected seed 195 with value = 0.7065
+Query 1/1: Action query time = 5.436 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8011
+t=42: Selected seed 195 with value = 0.8011
+Query 1/1: Action query time = 5.392 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9532
+t=58: Selected seed 195 with value = 0.9532
+Query 1/1: Action query time = 4.172 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9971
+t=74: Selected seed 195 with value = 0.9971
+Query 1/1: Action query time = 2.804 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/fc175full_t4_s0/2026_08_03-15_19_31--with_future_img--episode=3--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Success: True
+# episodes completed so far: 3
+# successes: 3 (100.0%)
+
+Task: put the bowl on top of the cabinet
+Starting episode 4...
+Query 1/1: Action query time = 5.232 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5781
+t=10: Selected seed 195 with value = 0.5781
+Query 1/1: Action query time = 3.553 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6759
+t=26: Selected seed 195 with value = 0.6759
+Query 1/1: Action query time = 4.852 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7815
+t=42: Selected seed 195 with value = 0.7815
+Query 1/1: Action query time = 5.247 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9136
+t=58: Selected seed 195 with value = 0.9136
+Query 1/1: Action query time = 3.130 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9920
+t=74: Selected seed 195 with value = 0.9920
+Query 1/1: Action query time = 4.729 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/fc175full_t4_s0/2026_08_03-15_19_31--with_future_img--episode=4--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Success: True
+# episodes completed so far: 4
+# successes: 4 (100.0%)
+
+Task: put the bowl on top of the cabinet
+Starting episode 5...
+Query 1/1: Action query time = 4.813 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6054
+t=10: Selected seed 195 with value = 0.6054
+Query 1/1: Action query time = 4.491 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7096
+t=26: Selected seed 195 with value = 0.7096
+Query 1/1: Action query time = 3.112 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8436
+t=42: Selected seed 195 with value = 0.8436
+Query 1/1: Action query time = 4.216 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9767
+t=58: Selected seed 195 with value = 0.9767
+Query 1/1: Action query time = 4.800 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9980
+t=74: Selected seed 195 with value = 0.9980
+Query 1/1: Action query time = 3.285 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/fc175full_t4_s0/2026_08_03-15_19_31--with_future_img--episode=5--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Success: True
+# episodes completed so far: 5
+# successes: 5 (100.0%)
+
+Task: put the bowl on top of the cabinet
+Starting episode 6...
+Query 1/1: Action query time = 5.214 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5953
+t=10: Selected seed 195 with value = 0.5953
+Query 1/1: Action query time = 4.664 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6783
+t=26: Selected seed 195 with value = 0.6783
+Query 1/1: Action query time = 5.584 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8142
+t=42: Selected seed 195 with value = 0.8142
+Query 1/1: Action query time = 4.328 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9325
+t=58: Selected seed 195 with value = 0.9325
+Query 1/1: Action query time = 3.192 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9983
+t=74: Selected seed 195 with value = 0.9983
+Query 1/1: Action query time = 4.615 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/fc175full_t4_s0/2026_08_03-15_19_31--with_future_img--episode=6--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Success: True
+# episodes completed so far: 6
+# successes: 6 (100.0%)
+
+Task: put the bowl on top of the cabinet
+Starting episode 7...
+Query 1/1: Action query time = 4.058 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5695
+t=10: Selected seed 195 with value = 0.5695
+Query 1/1: Action query time = 3.921 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7084
+t=26: Selected seed 195 with value = 0.7084
+Query 1/1: Action query time = 5.118 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8186
+t=42: Selected seed 195 with value = 0.8186
+Query 1/1: Action query time = 4.624 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9869
+t=58: Selected seed 195 with value = 0.9869
+Query 1/1: Action query time = 4.644 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=74: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 5.007 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/fc175full_t4_s0/2026_08_03-15_19_31--with_future_img--episode=7--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Success: True
+# episodes completed so far: 7
+# successes: 7 (100.0%)
+
+Task: put the bowl on top of the cabinet
+Starting episode 8...
+Query 1/1: Action query time = 3.967 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5666
+t=10: Selected seed 195 with value = 0.5666
+Query 1/1: Action query time = 4.572 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6538
+t=26: Selected seed 195 with value = 0.6538
+Query 1/1: Action query time = 4.068 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7550
+t=42: Selected seed 195 with value = 0.7550
+Query 1/1: Action query time = 3.806 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9076
+t=58: Selected seed 195 with value = 0.9076
+Query 1/1: Action query time = 2.983 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9916
+t=74: Selected seed 195 with value = 0.9916
+Query 1/1: Action query time = 5.018 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/fc175full_t4_s0/2026_08_03-15_19_31--with_future_img--episode=8--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Success: True
+# episodes completed so far: 8
+# successes: 8 (100.0%)
+
+Task: put the bowl on top of the cabinet
+Starting episode 9...
+Query 1/1: Action query time = 5.226 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6130
+t=10: Selected seed 195 with value = 0.6130
+Query 1/1: Action query time = 4.897 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7167
+t=26: Selected seed 195 with value = 0.7167
+Query 1/1: Action query time = 4.928 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7845
+t=42: Selected seed 195 with value = 0.7845
+Query 1/1: Action query time = 5.358 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9219
+t=58: Selected seed 195 with value = 0.9219
+Query 1/1: Action query time = 4.177 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=74: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 5.388 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/fc175full_t4_s0/2026_08_03-15_19_31--with_future_img--episode=9--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Success: True
+# episodes completed so far: 9
+# successes: 9 (100.0%)
+
+Task: put the bowl on top of the cabinet
+Starting episode 10...
+Query 1/1: Action query time = 4.714 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5728
+t=10: Selected seed 195 with value = 0.5728
+Query 1/1: Action query time = 3.194 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6932
+t=26: Selected seed 195 with value = 0.6932
+Query 1/1: Action query time = 5.282 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7836
+t=42: Selected seed 195 with value = 0.7836
+Query 1/1: Action query time = 4.690 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9466
+t=58: Selected seed 195 with value = 0.9466
+Query 1/1: Action query time = 4.693 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9990
+t=74: Selected seed 195 with value = 0.9990
+Query 1/1: Action query time = 5.565 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/fc175full_t4_s0/2026_08_03-15_19_31--with_future_img--episode=10--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Success: True
+# episodes completed so far: 10
+# successes: 10 (100.0%)
+
+Task: put the bowl on top of the cabinet
+Starting episode 11...
+Query 1/1: Action query time = 4.451 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5843
+t=10: Selected seed 195 with value = 0.5843
+Query 1/1: Action query time = 5.594 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6937
+t=26: Selected seed 195 with value = 0.6937
+Query 1/1: Action query time = 4.961 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7896
+t=42: Selected seed 195 with value = 0.7896
+Query 1/1: Action query time = 4.384 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9308
+t=58: Selected seed 195 with value = 0.9308
+Query 1/1: Action query time = 4.432 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=74: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.893 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/fc175full_t4_s0/2026_08_03-15_19_31--with_future_img--episode=11--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Success: True
+# episodes completed so far: 11
+# successes: 11 (100.0%)
+
+Task: put the bowl on top of the cabinet
+Starting episode 12...
+Query 1/1: Action query time = 3.715 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6059
+t=10: Selected seed 195 with value = 0.6059
+Query 1/1: Action query time = 5.450 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7169
+t=26: Selected seed 195 with value = 0.7169
+Query 1/1: Action query time = 5.357 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8054
+t=42: Selected seed 195 with value = 0.8054
+Query 1/1: Action query time = 2.727 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9635
+t=58: Selected seed 195 with value = 0.9635
+Query 1/1: Action query time = 4.614 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=74: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 5.476 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/fc175full_t4_s0/2026_08_03-15_19_31--with_future_img--episode=12--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Success: True
+# episodes completed so far: 12
+# successes: 12 (100.0%)
+
+Task: put the bowl on top of the cabinet
+Starting episode 13...
+Query 1/1: Action query time = 3.791 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5852
+t=10: Selected seed 195 with value = 0.5852
+Query 1/1: Action query time = 2.936 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7022
+t=26: Selected seed 195 with value = 0.7022
+Query 1/1: Action query time = 2.681 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7854
+t=42: Selected seed 195 with value = 0.7854
+Query 1/1: Action query time = 3.807 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9382
+t=58: Selected seed 195 with value = 0.9382
+Query 1/1: Action query time = 3.687 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9964
+t=74: Selected seed 195 with value = 0.9964
+Query 1/1: Action query time = 3.531 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/fc175full_t4_s0/2026_08_03-15_19_31--with_future_img--episode=13--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Success: True
+# episodes completed so far: 13
+# successes: 13 (100.0%)
+Current task success rate: 1.0
+Current total success rate: 1.0
+Final results:
+Total episodes: 13
+Total successes: 13
+Overall success rate: 1.0000 (100.0%)
diff --git a/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_03-15_19_31--fc175full_t4_s3.txt b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_03-15_19_31--fc175full_t4_s3.txt
new file mode 100644
index 0000000000000000000000000000000000000000..5fb7e6ff1b104eb83453a46858a063a964d9e1dc
--- /dev/null
+++ b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_03-15_19_31--fc175full_t4_s3.txt
@@ -0,0 +1,488 @@
+Eval config: PolicyEvalConfig(suite='libero', model_family='cosmos', config='cosmos_predict2_2b_480p_libero_cl_stage_inference_only', ckpt_path='/home/azureuser/REGEN-main/new_task7/cosmos_policy/cosmos_v2_finetune/cosmos_predict2_2b_480p_libero_goal_task7_forget_cl_from100_2gpu/checkpoints/iter_000000175/model', planning_model_config_name='', planning_model_ckpt_path='', config_file='cosmos_policy/config/config.py', packnet_mask_path='', packnet_first_cl_libero_task=6, use_third_person_image=True, num_third_person_images=1, use_wrist_image=True, num_wrist_images=1, use_proprio=True, flip_images=True, use_variance_scale=False, use_jpeg_compression=True, ar_future_prediction=False, ar_value_prediction=False, ar_qvalue_prediction=False, num_denoising_steps_action=5, num_denoising_steps_future_state=1, num_denoising_steps_value=1, unnormalize_actions=True, normalize_proprio=True, dataset_stats_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/libero_goal_regen/dataset_statistics.json', t5_text_embeddings_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/t5_embeddings.pkl', trained_with_image_aug=True, chunk_size=16, num_open_loop_steps=16, deterministic=True, deterministic_reset=False, deterministic_reset_seed=None, use_ensemble_future_state_predictions=False, num_future_state_predictions_in_ensemble=3, future_state_ensemble_aggregation_scheme='average', use_ensemble_value_predictions=False, num_value_predictions_in_ensemble=5, value_ensemble_aggregation_scheme='average', search_depth=1, mask_current_state_action_for_value_prediction=False, mask_future_state_for_qvalue_prediction=False, num_queries_best_of_n=1, use_parallel_inference=False, available_gpus='0', parallel_timeout=15, parallel_tasks_across_gpus=False, task_suite_name='libero_goal', num_trials_per_task=50, task_ids_to_run='4', initial_states_path='DEFAULT', env_img_res=256, local_log_dir='/home/azureuser/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal', run_id_note='fc175full_t4_s3', use_wandb=False, wandb_entity='YOUR_ENTITY', wandb_project='YOUR_PROJECT', seed=195, randomize_seed=False, data_collection=False, jpeg_compress=True, reward_stop_threshold=None, reward_stop_consecutive_steps=3, use_gpt_reward=False, gpt_reward_model='gpt-5.4-mini', gpt_reward_stop_threshold=4, gpt_reward_timeout_s=30.0, save_rollout_video=False, eval_hdf5_path='', eval_hdf5_demo_key='demo_0', data_gen_demo_ids='', eval_episode_ids='3,7,11,15,19,23,27,31,35,39,43,47', dump_final_states_path='', replay_actions=False, replay_action_path_dir='', replay_hdf5_path='', data_generation=False, max_generation_steps=200, disable_value_stop=False)
+Using serial inference (parallel inference disabled)
+Task suite: libero_goal
+Number of tasks: 10
+Running only task IDs: [4]
+Using default initial states
+
+Task: put the bowl on top of the cabinet
+Starting episode 1...
+Query 1/1: Action query time = 6.151 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5799
+t=10: Selected seed 195 with value = 0.5799
+Query 1/1: Action query time = 5.804 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7047
+t=26: Selected seed 195 with value = 0.7047
+Query 1/1: Action query time = 5.364 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7715
+t=42: Selected seed 195 with value = 0.7715
+Query 1/1: Action query time = 4.423 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9320
+t=58: Selected seed 195 with value = 0.9320
+Query 1/1: Action query time = 4.729 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=74: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.379 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/fc175full_t4_s3/2026_08_03-15_19_31--with_future_img--episode=1--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Success: True
+# episodes completed so far: 1
+# successes: 1 (100.0%)
+
+Task: put the bowl on top of the cabinet
+Starting episode 2...
+Query 1/1: Action query time = 4.125 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6020
+t=10: Selected seed 195 with value = 0.6020
+Query 1/1: Action query time = 3.975 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6832
+t=26: Selected seed 195 with value = 0.6832
+Query 1/1: Action query time = 4.755 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7879
+t=42: Selected seed 195 with value = 0.7879
+Query 1/1: Action query time = 4.866 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9362
+t=58: Selected seed 195 with value = 0.9362
+Query 1/1: Action query time = 4.394 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=74: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 5.202 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/fc175full_t4_s3/2026_08_03-15_19_31--with_future_img--episode=2--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Success: True
+# episodes completed so far: 2
+# successes: 2 (100.0%)
+
+Task: put the bowl on top of the cabinet
+Starting episode 3...
+Query 1/1: Action query time = 5.200 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5930
+t=10: Selected seed 195 with value = 0.5930
+Query 1/1: Action query time = 4.531 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6964
+t=26: Selected seed 195 with value = 0.6964
+Query 1/1: Action query time = 4.335 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7808
+t=42: Selected seed 195 with value = 0.7808
+Query 1/1: Action query time = 4.203 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9302
+t=58: Selected seed 195 with value = 0.9302
+Query 1/1: Action query time = 3.418 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=74: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 3.733 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/fc175full_t4_s3/2026_08_03-15_19_31--with_future_img--episode=3--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Success: True
+# episodes completed so far: 3
+# successes: 3 (100.0%)
+
+Task: put the bowl on top of the cabinet
+Starting episode 4...
+Query 1/1: Action query time = 5.391 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6255
+t=10: Selected seed 195 with value = 0.6255
+Query 1/1: Action query time = 4.789 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7213
+t=26: Selected seed 195 with value = 0.7213
+Query 1/1: Action query time = 3.904 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8412
+t=42: Selected seed 195 with value = 0.8412
+Query 1/1: Action query time = 5.752 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9675
+t=58: Selected seed 195 with value = 0.9675
+Query 1/1: Action query time = 3.657 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=74: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.950 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/fc175full_t4_s3/2026_08_03-15_19_31--with_future_img--episode=4--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Success: True
+# episodes completed so far: 4
+# successes: 4 (100.0%)
+
+Task: put the bowl on top of the cabinet
+Starting episode 5...
+Query 1/1: Action query time = 4.310 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5600
+t=10: Selected seed 195 with value = 0.5600
+Query 1/1: Action query time = 4.398 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6948
+t=26: Selected seed 195 with value = 0.6948
+Query 1/1: Action query time = 4.454 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7781
+t=42: Selected seed 195 with value = 0.7781
+Query 1/1: Action query time = 3.624 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9435
+t=58: Selected seed 195 with value = 0.9435
+Query 1/1: Action query time = 5.104 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=74: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.816 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/fc175full_t4_s3/2026_08_03-15_19_31--with_future_img--episode=5--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Success: True
+# episodes completed so far: 5
+# successes: 5 (100.0%)
+
+Task: put the bowl on top of the cabinet
+Starting episode 6...
+Query 1/1: Action query time = 5.603 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5885
+t=10: Selected seed 195 with value = 0.5885
+Query 1/1: Action query time = 5.307 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6969
+t=26: Selected seed 195 with value = 0.6969
+Query 1/1: Action query time = 4.327 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8261
+t=42: Selected seed 195 with value = 0.8261
+Query 1/1: Action query time = 4.002 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9538
+t=58: Selected seed 195 with value = 0.9538
+Query 1/1: Action query time = 3.361 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=74: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 3.698 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/fc175full_t4_s3/2026_08_03-15_19_31--with_future_img--episode=6--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Success: True
+# episodes completed so far: 6
+# successes: 6 (100.0%)
+
+Task: put the bowl on top of the cabinet
+Starting episode 7...
+Query 1/1: Action query time = 5.843 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6041
+t=10: Selected seed 195 with value = 0.6041
+Query 1/1: Action query time = 4.934 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6802
+t=26: Selected seed 195 with value = 0.6802
+Query 1/1: Action query time = 5.339 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7991
+t=42: Selected seed 195 with value = 0.7991
+Query 1/1: Action query time = 5.268 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8967
+t=58: Selected seed 195 with value = 0.8967
+Query 1/1: Action query time = 3.675 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9885
+t=74: Selected seed 195 with value = 0.9885
+Query 1/1: Action query time = 5.219 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/fc175full_t4_s3/2026_08_03-15_19_31--with_future_img--episode=7--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Success: True
+# episodes completed so far: 7
+# successes: 7 (100.0%)
+
+Task: put the bowl on top of the cabinet
+Starting episode 8...
+Query 1/1: Action query time = 4.456 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5437
+t=10: Selected seed 195 with value = 0.5437
+Query 1/1: Action query time = 3.581 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6896
+t=26: Selected seed 195 with value = 0.6896
+Query 1/1: Action query time = 5.583 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7857
+t=42: Selected seed 195 with value = 0.7857
+Query 1/1: Action query time = 3.589 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9328
+t=58: Selected seed 195 with value = 0.9328
+Query 1/1: Action query time = 3.847 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9933
+t=74: Selected seed 195 with value = 0.9933
+Query 1/1: Action query time = 5.465 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9916
+t=90: Selected seed 195 with value = 0.9916
+Query 1/1: Action query time = 5.137 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9236
+t=106: Selected seed 195 with value = 0.9236
+Query 1/1: Action query time = 4.687 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9283
+t=122: Selected seed 195 with value = 0.9283
+Query 1/1: Action query time = 4.791 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9309
+t=138: Selected seed 195 with value = 0.9309
+Query 1/1: Action query time = 4.861 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9343
+t=154: Selected seed 195 with value = 0.9343
+Query 1/1: Action query time = 4.357 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9375
+t=170: Selected seed 195 with value = 0.9375
+Query 1/1: Action query time = 3.567 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9428
+t=186: Selected seed 195 with value = 0.9428
+Query 1/1: Action query time = 4.212 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9465
+t=202: Selected seed 195 with value = 0.9465
+Query 1/1: Action query time = 4.976 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9508
+t=218: Selected seed 195 with value = 0.9508
+Query 1/1: Action query time = 4.987 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9500
+t=234: Selected seed 195 with value = 0.9500
+Query 1/1: Action query time = 4.100 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9496
+t=250: Selected seed 195 with value = 0.9496
+Query 1/1: Action query time = 4.093 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9505
+t=266: Selected seed 195 with value = 0.9505
+Query 1/1: Action query time = 4.568 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9538
+t=282: Selected seed 195 with value = 0.9538
+Query 1/1: Action query time = 3.771 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9569
+t=298: Selected seed 195 with value = 0.9569
+Saved rollout MP4 at path ./rollouts/fc175full_t4_s3/2026_08_03-15_19_31--with_future_img--episode=8--success=False--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Success: False
+# episodes completed so far: 8
+# successes: 7 (87.5%)
+
+Task: put the bowl on top of the cabinet
+Starting episode 9...
+Query 1/1: Action query time = 4.917 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5841
+t=10: Selected seed 195 with value = 0.5841
+Query 1/1: Action query time = 3.990 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7090
+t=26: Selected seed 195 with value = 0.7090
+Query 1/1: Action query time = 4.000 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8068
+t=42: Selected seed 195 with value = 0.8068
+Query 1/1: Action query time = 3.725 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9440
+t=58: Selected seed 195 with value = 0.9440
+Query 1/1: Action query time = 4.795 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9981
+t=74: Selected seed 195 with value = 0.9981
+Query 1/1: Action query time = 4.057 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/fc175full_t4_s3/2026_08_03-15_19_31--with_future_img--episode=9--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Success: True
+# episodes completed so far: 9
+# successes: 8 (88.9%)
+
+Task: put the bowl on top of the cabinet
+Starting episode 10...
+Query 1/1: Action query time = 4.995 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5693
+t=10: Selected seed 195 with value = 0.5693
+Query 1/1: Action query time = 5.624 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6948
+t=26: Selected seed 195 with value = 0.6948
+Query 1/1: Action query time = 5.562 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7586
+t=42: Selected seed 195 with value = 0.7586
+Query 1/1: Action query time = 5.793 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9144
+t=58: Selected seed 195 with value = 0.9144
+Query 1/1: Action query time = 4.060 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9996
+t=74: Selected seed 195 with value = 0.9996
+Query 1/1: Action query time = 4.444 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/fc175full_t4_s3/2026_08_03-15_19_31--with_future_img--episode=10--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Success: True
+# episodes completed so far: 10
+# successes: 9 (90.0%)
+
+Task: put the bowl on top of the cabinet
+Starting episode 11...
+Query 1/1: Action query time = 2.309 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5774
+t=10: Selected seed 195 with value = 0.5774
+Query 1/1: Action query time = 3.400 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6858
+t=26: Selected seed 195 with value = 0.6858
+Query 1/1: Action query time = 3.984 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7631
+t=42: Selected seed 195 with value = 0.7631
+Query 1/1: Action query time = 3.909 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9125
+t=58: Selected seed 195 with value = 0.9125
+Query 1/1: Action query time = 3.113 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9976
+t=74: Selected seed 195 with value = 0.9976
+Query 1/1: Action query time = 2.991 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9824
+t=90: Selected seed 195 with value = 0.9824
+Query 1/1: Action query time = 3.016 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9309
+t=106: Selected seed 195 with value = 0.9309
+Query 1/1: Action query time = 2.599 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9374
+t=122: Selected seed 195 with value = 0.9374
+Query 1/1: Action query time = 2.318 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9377
+t=138: Selected seed 195 with value = 0.9377
+Query 1/1: Action query time = 1.854 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9374
+t=154: Selected seed 195 with value = 0.9374
+Query 1/1: Action query time = 1.867 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9416
+t=170: Selected seed 195 with value = 0.9416
+Query 1/1: Action query time = 1.850 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9468
+t=186: Selected seed 195 with value = 0.9468
+Query 1/1: Action query time = 2.813 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9513
+t=202: Selected seed 195 with value = 0.9513
+Query 1/1: Action query time = 2.883 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9538
+t=218: Selected seed 195 with value = 0.9538
+Query 1/1: Action query time = 3.012 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9545
+t=234: Selected seed 195 with value = 0.9545
+Query 1/1: Action query time = 2.849 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9550
+t=250: Selected seed 195 with value = 0.9550
+Query 1/1: Action query time = 3.175 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9555
+t=266: Selected seed 195 with value = 0.9555
+Query 1/1: Action query time = 3.060 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9564
+t=282: Selected seed 195 with value = 0.9564
+Query 1/1: Action query time = 3.093 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9583
+t=298: Selected seed 195 with value = 0.9583
+Saved rollout MP4 at path ./rollouts/fc175full_t4_s3/2026_08_03-15_19_31--with_future_img--episode=11--success=False--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Success: False
+# episodes completed so far: 11
+# successes: 9 (81.8%)
+
+Task: put the bowl on top of the cabinet
+Starting episode 12...
+Query 1/1: Action query time = 0.985 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5474
+t=10: Selected seed 195 with value = 0.5474
+Query 1/1: Action query time = 1.961 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6915
+t=26: Selected seed 195 with value = 0.6915
+Query 1/1: Action query time = 3.380 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8041
+t=42: Selected seed 195 with value = 0.8041
+Query 1/1: Action query time = 3.367 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9375
+t=58: Selected seed 195 with value = 0.9375
+Query 1/1: Action query time = 3.404 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=74: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 3.347 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/fc175full_t4_s3/2026_08_03-15_19_31--with_future_img--episode=12--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Success: True
+# episodes completed so far: 12
+# successes: 10 (83.3%)
+Current task success rate: 0.8333333333333334
+Current total success rate: 0.8333333333333334
+Final results:
+Total episodes: 12
+Total successes: 10
+Overall success rate: 0.8333 (83.3%)
diff --git a/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_03-15_19_31--fc175full_t5_s0.txt b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_03-15_19_31--fc175full_t5_s0.txt
new file mode 100644
index 0000000000000000000000000000000000000000..a0ed6cdda1486ba2ae8c7a6628fb71fff4be40f1
--- /dev/null
+++ b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_03-15_19_31--fc175full_t5_s0.txt
@@ -0,0 +1,591 @@
+Eval config: PolicyEvalConfig(suite='libero', model_family='cosmos', config='cosmos_predict2_2b_480p_libero_cl_stage_inference_only', ckpt_path='/home/azureuser/REGEN-main/new_task7/cosmos_policy/cosmos_v2_finetune/cosmos_predict2_2b_480p_libero_goal_task7_forget_cl_from100_2gpu/checkpoints/iter_000000175/model', planning_model_config_name='', planning_model_ckpt_path='', config_file='cosmos_policy/config/config.py', packnet_mask_path='', packnet_first_cl_libero_task=6, use_third_person_image=True, num_third_person_images=1, use_wrist_image=True, num_wrist_images=1, use_proprio=True, flip_images=True, use_variance_scale=False, use_jpeg_compression=True, ar_future_prediction=False, ar_value_prediction=False, ar_qvalue_prediction=False, num_denoising_steps_action=5, num_denoising_steps_future_state=1, num_denoising_steps_value=1, unnormalize_actions=True, normalize_proprio=True, dataset_stats_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/libero_goal_regen/dataset_statistics.json', t5_text_embeddings_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/t5_embeddings.pkl', trained_with_image_aug=True, chunk_size=16, num_open_loop_steps=16, deterministic=True, deterministic_reset=False, deterministic_reset_seed=None, use_ensemble_future_state_predictions=False, num_future_state_predictions_in_ensemble=3, future_state_ensemble_aggregation_scheme='average', use_ensemble_value_predictions=False, num_value_predictions_in_ensemble=5, value_ensemble_aggregation_scheme='average', search_depth=1, mask_current_state_action_for_value_prediction=False, mask_future_state_for_qvalue_prediction=False, num_queries_best_of_n=1, use_parallel_inference=False, available_gpus='0', parallel_timeout=15, parallel_tasks_across_gpus=False, task_suite_name='libero_goal', num_trials_per_task=50, task_ids_to_run='5', initial_states_path='DEFAULT', env_img_res=256, local_log_dir='/home/azureuser/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal', run_id_note='fc175full_t5_s0', use_wandb=False, wandb_entity='YOUR_ENTITY', wandb_project='YOUR_PROJECT', seed=195, randomize_seed=False, data_collection=False, jpeg_compress=True, reward_stop_threshold=None, reward_stop_consecutive_steps=3, use_gpt_reward=False, gpt_reward_model='gpt-5.4-mini', gpt_reward_stop_threshold=4, gpt_reward_timeout_s=30.0, save_rollout_video=False, eval_hdf5_path='', eval_hdf5_demo_key='demo_0', data_gen_demo_ids='', eval_episode_ids='0,4,8,12,16,20,24,28,32,36,40,44,48', dump_final_states_path='', replay_actions=False, replay_action_path_dir='', replay_hdf5_path='', data_generation=False, max_generation_steps=200, disable_value_stop=False)
+Using serial inference (parallel inference disabled)
+Task suite: libero_goal
+Number of tasks: 10
+Running only task IDs: [5]
+Using default initial states
+
+Task: push the plate to the front of the stove
+Starting episode 1...
+Query 1/1: Action query time = 4.751 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3187
+t=10: Selected seed 195 with value = 0.3187
+Query 1/1: Action query time = 4.987 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4605
+t=26: Selected seed 195 with value = 0.4605
+Query 1/1: Action query time = 5.480 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5436
+t=42: Selected seed 195 with value = 0.5436
+Query 1/1: Action query time = 4.566 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5725
+t=58: Selected seed 195 with value = 0.5725
+Query 1/1: Action query time = 4.280 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6985
+t=74: Selected seed 195 with value = 0.6985
+Query 1/1: Action query time = 4.688 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7539
+t=90: Selected seed 195 with value = 0.7539
+Query 1/1: Action query time = 3.973 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8660
+t=106: Selected seed 195 with value = 0.8660
+Query 1/1: Action query time = 4.073 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=122: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.523 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=138: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/fc175full_t5_s0/2026_08_03-15_19_31--with_future_img--episode=1--success=True--task=push_the_plate_to_the_front_of_the_.mp4
+Success: True
+# episodes completed so far: 1
+# successes: 1 (100.0%)
+
+Task: push the plate to the front of the stove
+Starting episode 2...
+Query 1/1: Action query time = 3.504 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3503
+t=10: Selected seed 195 with value = 0.3503
+Query 1/1: Action query time = 3.576 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4617
+t=26: Selected seed 195 with value = 0.4617
+Query 1/1: Action query time = 4.974 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5663
+t=42: Selected seed 195 with value = 0.5663
+Query 1/1: Action query time = 4.054 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5678
+t=58: Selected seed 195 with value = 0.5678
+Query 1/1: Action query time = 4.559 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6922
+t=74: Selected seed 195 with value = 0.6922
+Query 1/1: Action query time = 4.101 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7643
+t=90: Selected seed 195 with value = 0.7643
+Query 1/1: Action query time = 5.273 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8740
+t=106: Selected seed 195 with value = 0.8740
+Query 1/1: Action query time = 4.829 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=122: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.671 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=138: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/fc175full_t5_s0/2026_08_03-15_19_31--with_future_img--episode=2--success=True--task=push_the_plate_to_the_front_of_the_.mp4
+Success: True
+# episodes completed so far: 2
+# successes: 2 (100.0%)
+
+Task: push the plate to the front of the stove
+Starting episode 3...
+Query 1/1: Action query time = 3.479 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4085
+t=10: Selected seed 195 with value = 0.4085
+Query 1/1: Action query time = 3.817 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3952
+t=26: Selected seed 195 with value = 0.3952
+Query 1/1: Action query time = 3.404 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5309
+t=42: Selected seed 195 with value = 0.5309
+Query 1/1: Action query time = 4.807 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5396
+t=58: Selected seed 195 with value = 0.5396
+Query 1/1: Action query time = 4.811 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5733
+t=74: Selected seed 195 with value = 0.5733
+Query 1/1: Action query time = 4.149 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6618
+t=90: Selected seed 195 with value = 0.6618
+Query 1/1: Action query time = 5.915 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7442
+t=106: Selected seed 195 with value = 0.7442
+Query 1/1: Action query time = 3.708 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8859
+t=122: Selected seed 195 with value = 0.8859
+Query 1/1: Action query time = 5.076 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9989
+t=138: Selected seed 195 with value = 0.9989
+Query 1/1: Action query time = 4.491 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=154: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/fc175full_t5_s0/2026_08_03-15_19_31--with_future_img--episode=3--success=True--task=push_the_plate_to_the_front_of_the_.mp4
+Success: True
+# episodes completed so far: 3
+# successes: 3 (100.0%)
+
+Task: push the plate to the front of the stove
+Starting episode 4...
+Query 1/1: Action query time = 4.523 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3856
+t=10: Selected seed 195 with value = 0.3856
+Query 1/1: Action query time = 4.825 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4394
+t=26: Selected seed 195 with value = 0.4394
+Query 1/1: Action query time = 4.096 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5292
+t=42: Selected seed 195 with value = 0.5292
+Query 1/1: Action query time = 4.000 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6323
+t=58: Selected seed 195 with value = 0.6323
+Query 1/1: Action query time = 4.272 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7588
+t=74: Selected seed 195 with value = 0.7588
+Query 1/1: Action query time = 4.200 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8549
+t=90: Selected seed 195 with value = 0.8549
+Query 1/1: Action query time = 5.108 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9510
+t=106: Selected seed 195 with value = 0.9510
+Query 1/1: Action query time = 5.203 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9867
+t=122: Selected seed 195 with value = 0.9867
+Query 1/1: Action query time = 4.352 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=138: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/fc175full_t5_s0/2026_08_03-15_19_31--with_future_img--episode=4--success=True--task=push_the_plate_to_the_front_of_the_.mp4
+Success: True
+# episodes completed so far: 4
+# successes: 4 (100.0%)
+
+Task: push the plate to the front of the stove
+Starting episode 5...
+Query 1/1: Action query time = 4.224 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3622
+t=10: Selected seed 195 with value = 0.3622
+Query 1/1: Action query time = 3.884 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4304
+t=26: Selected seed 195 with value = 0.4304
+Query 1/1: Action query time = 4.714 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5346
+t=42: Selected seed 195 with value = 0.5346
+Query 1/1: Action query time = 4.966 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5847
+t=58: Selected seed 195 with value = 0.5847
+Query 1/1: Action query time = 4.539 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6497
+t=74: Selected seed 195 with value = 0.6497
+Query 1/1: Action query time = 5.298 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6961
+t=90: Selected seed 195 with value = 0.6961
+Query 1/1: Action query time = 4.280 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8005
+t=106: Selected seed 195 with value = 0.8005
+Query 1/1: Action query time = 4.727 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9289
+t=122: Selected seed 195 with value = 0.9289
+Query 1/1: Action query time = 4.772 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=138: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.239 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=154: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/fc175full_t5_s0/2026_08_03-15_19_31--with_future_img--episode=5--success=True--task=push_the_plate_to_the_front_of_the_.mp4
+Success: True
+# episodes completed so far: 5
+# successes: 5 (100.0%)
+
+Task: push the plate to the front of the stove
+Starting episode 6...
+Query 1/1: Action query time = 5.594 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3785
+t=10: Selected seed 195 with value = 0.3785
+Query 1/1: Action query time = 3.423 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4418
+t=26: Selected seed 195 with value = 0.4418
+Query 1/1: Action query time = 3.639 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5380
+t=42: Selected seed 195 with value = 0.5380
+Query 1/1: Action query time = 5.489 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6365
+t=58: Selected seed 195 with value = 0.6365
+Query 1/1: Action query time = 5.372 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7027
+t=74: Selected seed 195 with value = 0.7027
+Query 1/1: Action query time = 5.051 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8103
+t=90: Selected seed 195 with value = 0.8103
+Query 1/1: Action query time = 4.521 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9235
+t=106: Selected seed 195 with value = 0.9235
+Query 1/1: Action query time = 4.729 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=122: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.018 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=138: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.957 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9984
+t=154: Selected seed 195 with value = 0.9984
+Saved rollout MP4 at path ./rollouts/fc175full_t5_s0/2026_08_03-15_19_31--with_future_img--episode=6--success=True--task=push_the_plate_to_the_front_of_the_.mp4
+Success: True
+# episodes completed so far: 6
+# successes: 6 (100.0%)
+
+Task: push the plate to the front of the stove
+Starting episode 7...
+Query 1/1: Action query time = 5.214 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3666
+t=10: Selected seed 195 with value = 0.3666
+Query 1/1: Action query time = 4.603 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4312
+t=26: Selected seed 195 with value = 0.4312
+Query 1/1: Action query time = 3.536 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5382
+t=42: Selected seed 195 with value = 0.5382
+Query 1/1: Action query time = 5.348 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6336
+t=58: Selected seed 195 with value = 0.6336
+Query 1/1: Action query time = 4.250 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7344
+t=74: Selected seed 195 with value = 0.7344
+Query 1/1: Action query time = 5.519 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8320
+t=90: Selected seed 195 with value = 0.8320
+Query 1/1: Action query time = 5.343 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9872
+t=106: Selected seed 195 with value = 0.9872
+Query 1/1: Action query time = 4.988 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=122: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 3.550 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=138: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/fc175full_t5_s0/2026_08_03-15_19_31--with_future_img--episode=7--success=True--task=push_the_plate_to_the_front_of_the_.mp4
+Success: True
+# episodes completed so far: 7
+# successes: 7 (100.0%)
+
+Task: push the plate to the front of the stove
+Starting episode 8...
+Query 1/1: Action query time = 4.626 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3771
+t=10: Selected seed 195 with value = 0.3771
+Query 1/1: Action query time = 4.142 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4410
+t=26: Selected seed 195 with value = 0.4410
+Query 1/1: Action query time = 5.062 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5222
+t=42: Selected seed 195 with value = 0.5222
+Query 1/1: Action query time = 5.161 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5415
+t=58: Selected seed 195 with value = 0.5415
+Query 1/1: Action query time = 4.110 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6135
+t=74: Selected seed 195 with value = 0.6135
+Query 1/1: Action query time = 3.705 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7558
+t=90: Selected seed 195 with value = 0.7558
+Query 1/1: Action query time = 4.861 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8947
+t=106: Selected seed 195 with value = 0.8947
+Query 1/1: Action query time = 5.600 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9747
+t=122: Selected seed 195 with value = 0.9747
+Query 1/1: Action query time = 3.894 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=138: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.127 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=154: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/fc175full_t5_s0/2026_08_03-15_19_31--with_future_img--episode=8--success=True--task=push_the_plate_to_the_front_of_the_.mp4
+Success: True
+# episodes completed so far: 8
+# successes: 8 (100.0%)
+
+Task: push the plate to the front of the stove
+Starting episode 9...
+Query 1/1: Action query time = 3.237 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4109
+t=10: Selected seed 195 with value = 0.4109
+Query 1/1: Action query time = 3.041 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4853
+t=26: Selected seed 195 with value = 0.4853
+Query 1/1: Action query time = 3.454 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5835
+t=42: Selected seed 195 with value = 0.5835
+Query 1/1: Action query time = 3.607 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5731
+t=58: Selected seed 195 with value = 0.5731
+Query 1/1: Action query time = 3.439 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7292
+t=74: Selected seed 195 with value = 0.7292
+Query 1/1: Action query time = 3.006 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7882
+t=90: Selected seed 195 with value = 0.7882
+Query 1/1: Action query time = 2.945 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8923
+t=106: Selected seed 195 with value = 0.8923
+Query 1/1: Action query time = 2.438 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=122: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 2.644 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=138: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/fc175full_t5_s0/2026_08_03-15_19_31--with_future_img--episode=9--success=True--task=push_the_plate_to_the_front_of_the_.mp4
+Success: True
+# episodes completed so far: 9
+# successes: 9 (100.0%)
+
+Task: push the plate to the front of the stove
+Starting episode 10...
+Query 1/1: Action query time = 2.445 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3822
+t=10: Selected seed 195 with value = 0.3822
+Query 1/1: Action query time = 3.003 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4171
+t=26: Selected seed 195 with value = 0.4171
+Query 1/1: Action query time = 3.362 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5270
+t=42: Selected seed 195 with value = 0.5270
+Query 1/1: Action query time = 3.106 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5946
+t=58: Selected seed 195 with value = 0.5946
+Query 1/1: Action query time = 3.013 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6672
+t=74: Selected seed 195 with value = 0.6672
+Query 1/1: Action query time = 3.135 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7686
+t=90: Selected seed 195 with value = 0.7686
+Query 1/1: Action query time = 3.072 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9266
+t=106: Selected seed 195 with value = 0.9266
+Query 1/1: Action query time = 2.514 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=122: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 2.313 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=138: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/fc175full_t5_s0/2026_08_03-15_19_31--with_future_img--episode=10--success=True--task=push_the_plate_to_the_front_of_the_.mp4
+Success: True
+# episodes completed so far: 10
+# successes: 10 (100.0%)
+
+Task: push the plate to the front of the stove
+Starting episode 11...
+Query 1/1: Action query time = 1.793 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3737
+t=10: Selected seed 195 with value = 0.3737
+Query 1/1: Action query time = 3.102 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4333
+t=26: Selected seed 195 with value = 0.4333
+Query 1/1: Action query time = 3.699 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5435
+t=42: Selected seed 195 with value = 0.5435
+Query 1/1: Action query time = 3.448 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6209
+t=58: Selected seed 195 with value = 0.6209
+Query 1/1: Action query time = 3.233 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7321
+t=74: Selected seed 195 with value = 0.7321
+Query 1/1: Action query time = 2.041 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8239
+t=90: Selected seed 195 with value = 0.8239
+Query 1/1: Action query time = 2.427 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9074
+t=106: Selected seed 195 with value = 0.9074
+Query 1/1: Action query time = 2.594 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9782
+t=122: Selected seed 195 with value = 0.9782
+Query 1/1: Action query time = 2.532 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=138: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 1.946 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=154: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/fc175full_t5_s0/2026_08_03-15_19_31--with_future_img--episode=11--success=True--task=push_the_plate_to_the_front_of_the_.mp4
+Success: True
+# episodes completed so far: 11
+# successes: 11 (100.0%)
+
+Task: push the plate to the front of the stove
+Starting episode 12...
+Query 1/1: Action query time = 2.480 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3714
+t=10: Selected seed 195 with value = 0.3714
+Query 1/1: Action query time = 2.436 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3114
+t=26: Selected seed 195 with value = 0.3114
+Query 1/1: Action query time = 2.448 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5139
+t=42: Selected seed 195 with value = 0.5139
+Query 1/1: Action query time = 2.428 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5667
+t=58: Selected seed 195 with value = 0.5667
+Query 1/1: Action query time = 2.387 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6864
+t=74: Selected seed 195 with value = 0.6864
+Query 1/1: Action query time = 2.386 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7982
+t=90: Selected seed 195 with value = 0.7982
+Query 1/1: Action query time = 2.190 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8913
+t=106: Selected seed 195 with value = 0.8913
+Query 1/1: Action query time = 1.910 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9997
+t=122: Selected seed 195 with value = 0.9997
+Query 1/1: Action query time = 2.040 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9577
+t=138: Selected seed 195 with value = 0.9577
+Saved rollout MP4 at path ./rollouts/fc175full_t5_s0/2026_08_03-15_19_31--with_future_img--episode=12--success=True--task=push_the_plate_to_the_front_of_the_.mp4
+Success: True
+# episodes completed so far: 12
+# successes: 12 (100.0%)
+
+Task: push the plate to the front of the stove
+Starting episode 13...
+Query 1/1: Action query time = 2.257 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3858
+t=10: Selected seed 195 with value = 0.3858
+Query 1/1: Action query time = 2.292 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4327
+t=26: Selected seed 195 with value = 0.4327
+Query 1/1: Action query time = 2.415 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5468
+t=42: Selected seed 195 with value = 0.5468
+Query 1/1: Action query time = 2.267 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6757
+t=58: Selected seed 195 with value = 0.6757
+Query 1/1: Action query time = 1.816 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7276
+t=74: Selected seed 195 with value = 0.7276
+Query 1/1: Action query time = 1.070 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8467
+t=90: Selected seed 195 with value = 0.8467
+Query 1/1: Action query time = 1.677 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9707
+t=106: Selected seed 195 with value = 0.9707
+Query 1/1: Action query time = 1.260 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=122: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 1.508 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=138: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/fc175full_t5_s0/2026_08_03-15_19_31--with_future_img--episode=13--success=True--task=push_the_plate_to_the_front_of_the_.mp4
+Success: True
+# episodes completed so far: 13
+# successes: 13 (100.0%)
+Current task success rate: 1.0
+Current total success rate: 1.0
+Final results:
+Total episodes: 13
+Total successes: 13
+Overall success rate: 1.0000 (100.0%)
diff --git a/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_03-15_19_31--fc175full_t6_s0.txt b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_03-15_19_31--fc175full_t6_s0.txt
new file mode 100644
index 0000000000000000000000000000000000000000..468f118c309b51439bc37c598e8ea14805c2894d
--- /dev/null
+++ b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_03-15_19_31--fc175full_t6_s0.txt
@@ -0,0 +1,571 @@
+Eval config: PolicyEvalConfig(suite='libero', model_family='cosmos', config='cosmos_predict2_2b_480p_libero_cl_stage_inference_only', ckpt_path='/home/azureuser/REGEN-main/new_task7/cosmos_policy/cosmos_v2_finetune/cosmos_predict2_2b_480p_libero_goal_task7_forget_cl_from100_2gpu/checkpoints/iter_000000175/model', planning_model_config_name='', planning_model_ckpt_path='', config_file='cosmos_policy/config/config.py', packnet_mask_path='', packnet_first_cl_libero_task=6, use_third_person_image=True, num_third_person_images=1, use_wrist_image=True, num_wrist_images=1, use_proprio=True, flip_images=True, use_variance_scale=False, use_jpeg_compression=True, ar_future_prediction=False, ar_value_prediction=False, ar_qvalue_prediction=False, num_denoising_steps_action=5, num_denoising_steps_future_state=1, num_denoising_steps_value=1, unnormalize_actions=True, normalize_proprio=True, dataset_stats_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/libero_goal_regen/dataset_statistics.json', t5_text_embeddings_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/t5_embeddings.pkl', trained_with_image_aug=True, chunk_size=16, num_open_loop_steps=16, deterministic=True, deterministic_reset=False, deterministic_reset_seed=None, use_ensemble_future_state_predictions=False, num_future_state_predictions_in_ensemble=3, future_state_ensemble_aggregation_scheme='average', use_ensemble_value_predictions=False, num_value_predictions_in_ensemble=5, value_ensemble_aggregation_scheme='average', search_depth=1, mask_current_state_action_for_value_prediction=False, mask_future_state_for_qvalue_prediction=False, num_queries_best_of_n=1, use_parallel_inference=False, available_gpus='0', parallel_timeout=15, parallel_tasks_across_gpus=False, task_suite_name='libero_goal', num_trials_per_task=50, task_ids_to_run='6', initial_states_path='DEFAULT', env_img_res=256, local_log_dir='/home/azureuser/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal', run_id_note='fc175full_t6_s0', use_wandb=False, wandb_entity='YOUR_ENTITY', wandb_project='YOUR_PROJECT', seed=195, randomize_seed=False, data_collection=False, jpeg_compress=True, reward_stop_threshold=None, reward_stop_consecutive_steps=3, use_gpt_reward=False, gpt_reward_model='gpt-5.4-mini', gpt_reward_stop_threshold=4, gpt_reward_timeout_s=30.0, save_rollout_video=False, eval_hdf5_path='', eval_hdf5_demo_key='demo_0', data_gen_demo_ids='', eval_episode_ids='0,4,8,12,16,20,24,28,32,36,40,44,48', dump_final_states_path='', replay_actions=False, replay_action_path_dir='', replay_hdf5_path='', data_generation=False, max_generation_steps=200, disable_value_stop=False)
+Using serial inference (parallel inference disabled)
+Task suite: libero_goal
+Number of tasks: 10
+Running only task IDs: [6]
+Using default initial states
+
+Task: put the cream cheese in the bowl
+Starting episode 1...
+Query 1/1: Action query time = 5.389 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4927
+t=10: Selected seed 195 with value = 0.4927
+Query 1/1: Action query time = 4.844 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5899
+t=26: Selected seed 195 with value = 0.5899
+Query 1/1: Action query time = 5.544 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7008
+t=42: Selected seed 195 with value = 0.7008
+Query 1/1: Action query time = 5.346 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8114
+t=58: Selected seed 195 with value = 0.8114
+Query 1/1: Action query time = 4.848 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7776
+t=74: Selected seed 195 with value = 0.7776
+Query 1/1: Action query time = 4.124 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8502
+t=90: Selected seed 195 with value = 0.8502
+Query 1/1: Action query time = 2.523 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9363
+t=106: Selected seed 195 with value = 0.9363
+Query 1/1: Action query time = 2.205 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9785
+t=122: Selected seed 195 with value = 0.9785
+Query 1/1: Action query time = 5.260 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=138: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.742 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=154: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 5.468 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=170: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 3.568 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=186: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.880 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=202: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 3.450 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=218: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 3.417 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=234: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.666 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=250: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 5.371 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=266: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.173 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=282: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.626 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=298: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/fc175full_t6_s0/2026_08_03-15_19_31--with_future_img--episode=1--success=False--task=put_the_cream_cheese_in_the_bowl.mp4
+Success: False
+# episodes completed so far: 1
+# successes: 0 (0.0%)
+
+Task: put the cream cheese in the bowl
+Starting episode 2...
+Query 1/1: Action query time = 4.674 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4993
+t=10: Selected seed 195 with value = 0.4993
+Query 1/1: Action query time = 4.628 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6048
+t=26: Selected seed 195 with value = 0.6048
+Query 1/1: Action query time = 3.882 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7059
+t=42: Selected seed 195 with value = 0.7059
+Query 1/1: Action query time = 4.703 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8272
+t=58: Selected seed 195 with value = 0.8272
+Query 1/1: Action query time = 3.966 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9510
+t=74: Selected seed 195 with value = 0.9510
+Query 1/1: Action query time = 4.761 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/fc175full_t6_s0/2026_08_03-15_19_31--with_future_img--episode=2--success=True--task=put_the_cream_cheese_in_the_bowl.mp4
+Success: True
+# episodes completed so far: 2
+# successes: 1 (50.0%)
+
+Task: put the cream cheese in the bowl
+Starting episode 3...
+Query 1/1: Action query time = 3.676 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4827
+t=10: Selected seed 195 with value = 0.4827
+Query 1/1: Action query time = 4.183 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6135
+t=26: Selected seed 195 with value = 0.6135
+Query 1/1: Action query time = 4.644 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7141
+t=42: Selected seed 195 with value = 0.7141
+Query 1/1: Action query time = 4.504 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8581
+t=58: Selected seed 195 with value = 0.8581
+Query 1/1: Action query time = 5.378 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9825
+t=74: Selected seed 195 with value = 0.9825
+Query 1/1: Action query time = 5.529 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/fc175full_t6_s0/2026_08_03-15_19_31--with_future_img--episode=3--success=True--task=put_the_cream_cheese_in_the_bowl.mp4
+Success: True
+# episodes completed so far: 3
+# successes: 2 (66.7%)
+
+Task: put the cream cheese in the bowl
+Starting episode 4...
+Query 1/1: Action query time = 2.284 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4759
+t=10: Selected seed 195 with value = 0.4759
+Query 1/1: Action query time = 2.435 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5967
+t=26: Selected seed 195 with value = 0.5967
+Query 1/1: Action query time = 4.025 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6943
+t=42: Selected seed 195 with value = 0.6943
+Query 1/1: Action query time = 5.024 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6965
+t=58: Selected seed 195 with value = 0.6965
+Query 1/1: Action query time = 4.610 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6970
+t=74: Selected seed 195 with value = 0.6970
+Query 1/1: Action query time = 5.119 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7870
+t=90: Selected seed 195 with value = 0.7870
+Query 1/1: Action query time = 4.637 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8186
+t=106: Selected seed 195 with value = 0.8186
+Query 1/1: Action query time = 4.271 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9547
+t=122: Selected seed 195 with value = 0.9547
+Query 1/1: Action query time = 2.432 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9922
+t=138: Selected seed 195 with value = 0.9922
+Query 1/1: Action query time = 3.429 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9926
+t=154: Selected seed 195 with value = 0.9926
+Query 1/1: Action query time = 5.541 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9900
+t=170: Selected seed 195 with value = 0.9900
+Query 1/1: Action query time = 4.780 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9887
+t=186: Selected seed 195 with value = 0.9887
+Query 1/1: Action query time = 4.188 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9884
+t=202: Selected seed 195 with value = 0.9884
+Query 1/1: Action query time = 4.778 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9775
+t=218: Selected seed 195 with value = 0.9775
+Query 1/1: Action query time = 3.836 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9201
+t=234: Selected seed 195 with value = 0.9201
+Query 1/1: Action query time = 4.242 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9276
+t=250: Selected seed 195 with value = 0.9276
+Query 1/1: Action query time = 3.666 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9778
+t=266: Selected seed 195 with value = 0.9778
+Query 1/1: Action query time = 4.997 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7598
+t=282: Selected seed 195 with value = 0.7598
+Query 1/1: Action query time = 4.742 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9965
+t=298: Selected seed 195 with value = 0.9965
+Saved rollout MP4 at path ./rollouts/fc175full_t6_s0/2026_08_03-15_19_31--with_future_img--episode=4--success=False--task=put_the_cream_cheese_in_the_bowl.mp4
+Success: False
+# episodes completed so far: 4
+# successes: 2 (50.0%)
+
+Task: put the cream cheese in the bowl
+Starting episode 5...
+Query 1/1: Action query time = 3.618 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4974
+t=10: Selected seed 195 with value = 0.4974
+Query 1/1: Action query time = 5.138 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6066
+t=26: Selected seed 195 with value = 0.6066
+Query 1/1: Action query time = 5.100 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6889
+t=42: Selected seed 195 with value = 0.6889
+Query 1/1: Action query time = 4.259 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7977
+t=58: Selected seed 195 with value = 0.7977
+Query 1/1: Action query time = 4.052 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9405
+t=74: Selected seed 195 with value = 0.9405
+Query 1/1: Action query time = 4.466 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/fc175full_t6_s0/2026_08_03-15_19_31--with_future_img--episode=5--success=True--task=put_the_cream_cheese_in_the_bowl.mp4
+Success: True
+# episodes completed so far: 5
+# successes: 3 (60.0%)
+
+Task: put the cream cheese in the bowl
+Starting episode 6...
+Query 1/1: Action query time = 4.199 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5070
+t=10: Selected seed 195 with value = 0.5070
+Query 1/1: Action query time = 5.463 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6092
+t=26: Selected seed 195 with value = 0.6092
+Query 1/1: Action query time = 4.130 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7183
+t=42: Selected seed 195 with value = 0.7183
+Query 1/1: Action query time = 5.243 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7504
+t=58: Selected seed 195 with value = 0.7504
+Query 1/1: Action query time = 3.878 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8426
+t=74: Selected seed 195 with value = 0.8426
+Query 1/1: Action query time = 4.572 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8825
+t=90: Selected seed 195 with value = 0.8825
+Query 1/1: Action query time = 5.395 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9934
+t=106: Selected seed 195 with value = 0.9934
+Query 1/1: Action query time = 5.782 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=122: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 3.654 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=138: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.228 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=154: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.431 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=170: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.395 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=186: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.194 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=202: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.781 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=218: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.883 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=234: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 1.987 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=250: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 2.936 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=266: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 3.030 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=282: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 3.657 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=298: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/fc175full_t6_s0/2026_08_03-15_19_31--with_future_img--episode=6--success=False--task=put_the_cream_cheese_in_the_bowl.mp4
+Success: False
+# episodes completed so far: 6
+# successes: 3 (50.0%)
+
+Task: put the cream cheese in the bowl
+Starting episode 7...
+Query 1/1: Action query time = 1.548 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4764
+t=10: Selected seed 195 with value = 0.4764
+Query 1/1: Action query time = 1.727 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5523
+t=26: Selected seed 195 with value = 0.5523
+Query 1/1: Action query time = 1.862 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6355
+t=42: Selected seed 195 with value = 0.6355
+Query 1/1: Action query time = 2.080 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7425
+t=58: Selected seed 195 with value = 0.7425
+Query 1/1: Action query time = 2.820 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8714
+t=74: Selected seed 195 with value = 0.8714
+Query 1/1: Action query time = 3.172 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9797
+t=90: Selected seed 195 with value = 0.9797
+Query 1/1: Action query time = 3.165 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=106: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/fc175full_t6_s0/2026_08_03-15_19_31--with_future_img--episode=7--success=True--task=put_the_cream_cheese_in_the_bowl.mp4
+Success: True
+# episodes completed so far: 7
+# successes: 4 (57.1%)
+
+Task: put the cream cheese in the bowl
+Starting episode 8...
+Query 1/1: Action query time = 1.558 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4728
+t=10: Selected seed 195 with value = 0.4728
+Query 1/1: Action query time = 3.037 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6198
+t=26: Selected seed 195 with value = 0.6198
+Query 1/1: Action query time = 2.836 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7179
+t=42: Selected seed 195 with value = 0.7179
+Query 1/1: Action query time = 2.317 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8601
+t=58: Selected seed 195 with value = 0.8601
+Query 1/1: Action query time = 2.404 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9741
+t=74: Selected seed 195 with value = 0.9741
+Query 1/1: Action query time = 1.881 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/fc175full_t6_s0/2026_08_03-15_19_31--with_future_img--episode=8--success=True--task=put_the_cream_cheese_in_the_bowl.mp4
+Success: True
+# episodes completed so far: 8
+# successes: 5 (62.5%)
+
+Task: put the cream cheese in the bowl
+Starting episode 9...
+Query 1/1: Action query time = 1.265 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4730
+t=10: Selected seed 195 with value = 0.4730
+Query 1/1: Action query time = 1.210 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6023
+t=26: Selected seed 195 with value = 0.6023
+Query 1/1: Action query time = 2.303 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7020
+t=42: Selected seed 195 with value = 0.7020
+Query 1/1: Action query time = 2.283 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8408
+t=58: Selected seed 195 with value = 0.8408
+Query 1/1: Action query time = 2.242 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9505
+t=74: Selected seed 195 with value = 0.9505
+Query 1/1: Action query time = 1.149 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/fc175full_t6_s0/2026_08_03-15_19_31--with_future_img--episode=9--success=True--task=put_the_cream_cheese_in_the_bowl.mp4
+Success: True
+# episodes completed so far: 9
+# successes: 6 (66.7%)
+
+Task: put the cream cheese in the bowl
+Starting episode 10...
+Query 1/1: Action query time = 1.640 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5225
+t=10: Selected seed 195 with value = 0.5225
+Query 1/1: Action query time = 1.450 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6296
+t=26: Selected seed 195 with value = 0.6296
+Query 1/1: Action query time = 1.439 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7347
+t=42: Selected seed 195 with value = 0.7347
+Query 1/1: Action query time = 1.227 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8743
+t=58: Selected seed 195 with value = 0.8743
+Query 1/1: Action query time = 1.388 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9769
+t=74: Selected seed 195 with value = 0.9769
+Query 1/1: Action query time = 0.958 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/fc175full_t6_s0/2026_08_03-15_19_31--with_future_img--episode=10--success=True--task=put_the_cream_cheese_in_the_bowl.mp4
+Success: True
+# episodes completed so far: 10
+# successes: 7 (70.0%)
+
+Task: put the cream cheese in the bowl
+Starting episode 11...
+Query 1/1: Action query time = 1.201 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5115
+t=10: Selected seed 195 with value = 0.5115
+Query 1/1: Action query time = 1.239 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6166
+t=26: Selected seed 195 with value = 0.6166
+Query 1/1: Action query time = 0.995 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6934
+t=42: Selected seed 195 with value = 0.6934
+Query 1/1: Action query time = 1.167 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8255
+t=58: Selected seed 195 with value = 0.8255
+Query 1/1: Action query time = 0.956 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9623
+t=74: Selected seed 195 with value = 0.9623
+Saved rollout MP4 at path ./rollouts/fc175full_t6_s0/2026_08_03-15_19_31--with_future_img--episode=11--success=True--task=put_the_cream_cheese_in_the_bowl.mp4
+Success: True
+# episodes completed so far: 11
+# successes: 8 (72.7%)
+
+Task: put the cream cheese in the bowl
+Starting episode 12...
+Query 1/1: Action query time = 0.955 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5247
+t=10: Selected seed 195 with value = 0.5247
+Query 1/1: Action query time = 1.171 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6290
+t=26: Selected seed 195 with value = 0.6290
+Query 1/1: Action query time = 1.189 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7551
+t=42: Selected seed 195 with value = 0.7551
+Query 1/1: Action query time = 1.170 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8431
+t=58: Selected seed 195 with value = 0.8431
+Query 1/1: Action query time = 0.951 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9751
+t=74: Selected seed 195 with value = 0.9751
+Query 1/1: Action query time = 1.211 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/fc175full_t6_s0/2026_08_03-15_19_31--with_future_img--episode=12--success=True--task=put_the_cream_cheese_in_the_bowl.mp4
+Success: True
+# episodes completed so far: 12
+# successes: 9 (75.0%)
+
+Task: put the cream cheese in the bowl
+Starting episode 13...
+Query 1/1: Action query time = 1.293 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5121
+t=10: Selected seed 195 with value = 0.5121
+Query 1/1: Action query time = 0.970 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6163
+t=26: Selected seed 195 with value = 0.6163
+Query 1/1: Action query time = 0.952 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7364
+t=42: Selected seed 195 with value = 0.7364
+Query 1/1: Action query time = 1.709 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8650
+t=58: Selected seed 195 with value = 0.8650
+Query 1/1: Action query time = 0.956 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9705
+t=74: Selected seed 195 with value = 0.9705
+Query 1/1: Action query time = 0.958 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/fc175full_t6_s0/2026_08_03-15_19_31--with_future_img--episode=13--success=True--task=put_the_cream_cheese_in_the_bowl.mp4
+Success: True
+# episodes completed so far: 13
+# successes: 10 (76.9%)
+Current task success rate: 0.7692307692307693
+Current total success rate: 0.7692307692307693
+Final results:
+Total episodes: 13
+Total successes: 10
+Overall success rate: 0.7692 (76.9%)
diff --git a/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_03-15_19_31--fc175full_t6_s1.txt b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_03-15_19_31--fc175full_t6_s1.txt
new file mode 100644
index 0000000000000000000000000000000000000000..694418884a87ef826e1eb677ffc8e07a2dcfc6d2
--- /dev/null
+++ b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_03-15_19_31--fc175full_t6_s1.txt
@@ -0,0 +1,471 @@
+Eval config: PolicyEvalConfig(suite='libero', model_family='cosmos', config='cosmos_predict2_2b_480p_libero_cl_stage_inference_only', ckpt_path='/home/azureuser/REGEN-main/new_task7/cosmos_policy/cosmos_v2_finetune/cosmos_predict2_2b_480p_libero_goal_task7_forget_cl_from100_2gpu/checkpoints/iter_000000175/model', planning_model_config_name='', planning_model_ckpt_path='', config_file='cosmos_policy/config/config.py', packnet_mask_path='', packnet_first_cl_libero_task=6, use_third_person_image=True, num_third_person_images=1, use_wrist_image=True, num_wrist_images=1, use_proprio=True, flip_images=True, use_variance_scale=False, use_jpeg_compression=True, ar_future_prediction=False, ar_value_prediction=False, ar_qvalue_prediction=False, num_denoising_steps_action=5, num_denoising_steps_future_state=1, num_denoising_steps_value=1, unnormalize_actions=True, normalize_proprio=True, dataset_stats_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/libero_goal_regen/dataset_statistics.json', t5_text_embeddings_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/t5_embeddings.pkl', trained_with_image_aug=True, chunk_size=16, num_open_loop_steps=16, deterministic=True, deterministic_reset=False, deterministic_reset_seed=None, use_ensemble_future_state_predictions=False, num_future_state_predictions_in_ensemble=3, future_state_ensemble_aggregation_scheme='average', use_ensemble_value_predictions=False, num_value_predictions_in_ensemble=5, value_ensemble_aggregation_scheme='average', search_depth=1, mask_current_state_action_for_value_prediction=False, mask_future_state_for_qvalue_prediction=False, num_queries_best_of_n=1, use_parallel_inference=False, available_gpus='0', parallel_timeout=15, parallel_tasks_across_gpus=False, task_suite_name='libero_goal', num_trials_per_task=50, task_ids_to_run='6', initial_states_path='DEFAULT', env_img_res=256, local_log_dir='/home/azureuser/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal', run_id_note='fc175full_t6_s1', use_wandb=False, wandb_entity='YOUR_ENTITY', wandb_project='YOUR_PROJECT', seed=195, randomize_seed=False, data_collection=False, jpeg_compress=True, reward_stop_threshold=None, reward_stop_consecutive_steps=3, use_gpt_reward=False, gpt_reward_model='gpt-5.4-mini', gpt_reward_stop_threshold=4, gpt_reward_timeout_s=30.0, save_rollout_video=False, eval_hdf5_path='', eval_hdf5_demo_key='demo_0', data_gen_demo_ids='', eval_episode_ids='1,5,9,13,17,21,25,29,33,37,41,45,49', dump_final_states_path='', replay_actions=False, replay_action_path_dir='', replay_hdf5_path='', data_generation=False, max_generation_steps=200, disable_value_stop=False)
+Using serial inference (parallel inference disabled)
+Task suite: libero_goal
+Number of tasks: 10
+Running only task IDs: [6]
+Using default initial states
+
+Task: put the cream cheese in the bowl
+Starting episode 1...
+Query 1/1: Action query time = 5.637 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4923
+t=10: Selected seed 195 with value = 0.4923
+Query 1/1: Action query time = 4.835 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5865
+t=26: Selected seed 195 with value = 0.5865
+Query 1/1: Action query time = 5.393 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6779
+t=42: Selected seed 195 with value = 0.6779
+Query 1/1: Action query time = 5.268 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7334
+t=58: Selected seed 195 with value = 0.7334
+Query 1/1: Action query time = 4.993 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9094
+t=74: Selected seed 195 with value = 0.9094
+Query 1/1: Action query time = 4.273 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9765
+t=90: Selected seed 195 with value = 0.9765
+Saved rollout MP4 at path ./rollouts/fc175full_t6_s1/2026_08_03-15_19_31--with_future_img--episode=1--success=True--task=put_the_cream_cheese_in_the_bowl.mp4
+Success: True
+# episodes completed so far: 1
+# successes: 1 (100.0%)
+
+Task: put the cream cheese in the bowl
+Starting episode 2...
+Query 1/1: Action query time = 3.329 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5260
+t=10: Selected seed 195 with value = 0.5260
+Query 1/1: Action query time = 5.027 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5899
+t=26: Selected seed 195 with value = 0.5899
+Query 1/1: Action query time = 5.185 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7249
+t=42: Selected seed 195 with value = 0.7249
+Query 1/1: Action query time = 4.600 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7868
+t=58: Selected seed 195 with value = 0.7868
+Query 1/1: Action query time = 4.952 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8108
+t=74: Selected seed 195 with value = 0.8108
+Query 1/1: Action query time = 4.872 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8874
+t=90: Selected seed 195 with value = 0.8874
+Query 1/1: Action query time = 4.148 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9608
+t=106: Selected seed 195 with value = 0.9608
+Query 1/1: Action query time = 4.655 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9928
+t=122: Selected seed 195 with value = 0.9928
+Query 1/1: Action query time = 4.864 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=138: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 3.911 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9986
+t=154: Selected seed 195 with value = 0.9986
+Query 1/1: Action query time = 4.613 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9988
+t=170: Selected seed 195 with value = 0.9988
+Query 1/1: Action query time = 3.707 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=186: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.862 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=202: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 5.265 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=218: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 5.439 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=234: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 5.027 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=250: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.136 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=266: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 5.641 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=282: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.903 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=298: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/fc175full_t6_s1/2026_08_03-15_19_31--with_future_img--episode=2--success=False--task=put_the_cream_cheese_in_the_bowl.mp4
+Success: False
+# episodes completed so far: 2
+# successes: 1 (50.0%)
+
+Task: put the cream cheese in the bowl
+Starting episode 3...
+Query 1/1: Action query time = 3.571 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4814
+t=10: Selected seed 195 with value = 0.4814
+Query 1/1: Action query time = 5.185 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6101
+t=26: Selected seed 195 with value = 0.6101
+Query 1/1: Action query time = 4.701 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7019
+t=42: Selected seed 195 with value = 0.7019
+Query 1/1: Action query time = 4.641 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8431
+t=58: Selected seed 195 with value = 0.8431
+Query 1/1: Action query time = 4.740 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9670
+t=74: Selected seed 195 with value = 0.9670
+Query 1/1: Action query time = 3.814 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/fc175full_t6_s1/2026_08_03-15_19_31--with_future_img--episode=3--success=True--task=put_the_cream_cheese_in_the_bowl.mp4
+Success: True
+# episodes completed so far: 3
+# successes: 2 (66.7%)
+
+Task: put the cream cheese in the bowl
+Starting episode 4...
+Query 1/1: Action query time = 4.323 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5156
+t=10: Selected seed 195 with value = 0.5156
+Query 1/1: Action query time = 5.174 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6299
+t=26: Selected seed 195 with value = 0.6299
+Query 1/1: Action query time = 5.441 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7327
+t=42: Selected seed 195 with value = 0.7327
+Query 1/1: Action query time = 5.347 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8823
+t=58: Selected seed 195 with value = 0.8823
+Query 1/1: Action query time = 4.710 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9834
+t=74: Selected seed 195 with value = 0.9834
+Query 1/1: Action query time = 4.697 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/fc175full_t6_s1/2026_08_03-15_19_31--with_future_img--episode=4--success=True--task=put_the_cream_cheese_in_the_bowl.mp4
+Success: True
+# episodes completed so far: 4
+# successes: 3 (75.0%)
+
+Task: put the cream cheese in the bowl
+Starting episode 5...
+Query 1/1: Action query time = 5.648 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4874
+t=10: Selected seed 195 with value = 0.4874
+Query 1/1: Action query time = 5.228 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6076
+t=26: Selected seed 195 with value = 0.6076
+Query 1/1: Action query time = 4.095 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7212
+t=42: Selected seed 195 with value = 0.7212
+Query 1/1: Action query time = 4.751 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8650
+t=58: Selected seed 195 with value = 0.8650
+Query 1/1: Action query time = 5.136 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9773
+t=74: Selected seed 195 with value = 0.9773
+Query 1/1: Action query time = 4.591 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/fc175full_t6_s1/2026_08_03-15_19_31--with_future_img--episode=5--success=True--task=put_the_cream_cheese_in_the_bowl.mp4
+Success: True
+# episodes completed so far: 5
+# successes: 4 (80.0%)
+
+Task: put the cream cheese in the bowl
+Starting episode 6...
+Query 1/1: Action query time = 5.279 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4608
+t=10: Selected seed 195 with value = 0.4608
+Query 1/1: Action query time = 4.458 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5851
+t=26: Selected seed 195 with value = 0.5851
+Query 1/1: Action query time = 3.720 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6562
+t=42: Selected seed 195 with value = 0.6562
+Query 1/1: Action query time = 3.571 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7351
+t=58: Selected seed 195 with value = 0.7351
+Query 1/1: Action query time = 5.375 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8610
+t=74: Selected seed 195 with value = 0.8610
+Query 1/1: Action query time = 4.792 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9804
+t=90: Selected seed 195 with value = 0.9804
+Query 1/1: Action query time = 3.760 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=106: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/fc175full_t6_s1/2026_08_03-15_19_31--with_future_img--episode=6--success=True--task=put_the_cream_cheese_in_the_bowl.mp4
+Success: True
+# episodes completed so far: 6
+# successes: 5 (83.3%)
+
+Task: put the cream cheese in the bowl
+Starting episode 7...
+Query 1/1: Action query time = 4.688 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5045
+t=10: Selected seed 195 with value = 0.5045
+Query 1/1: Action query time = 4.764 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5824
+t=26: Selected seed 195 with value = 0.5824
+Query 1/1: Action query time = 4.272 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7140
+t=42: Selected seed 195 with value = 0.7140
+Query 1/1: Action query time = 4.968 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8193
+t=58: Selected seed 195 with value = 0.8193
+Query 1/1: Action query time = 4.328 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9571
+t=74: Selected seed 195 with value = 0.9571
+Query 1/1: Action query time = 4.971 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/fc175full_t6_s1/2026_08_03-15_19_31--with_future_img--episode=7--success=True--task=put_the_cream_cheese_in_the_bowl.mp4
+Success: True
+# episodes completed so far: 7
+# successes: 6 (85.7%)
+
+Task: put the cream cheese in the bowl
+Starting episode 8...
+Query 1/1: Action query time = 4.902 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4913
+t=10: Selected seed 195 with value = 0.4913
+Query 1/1: Action query time = 4.441 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5797
+t=26: Selected seed 195 with value = 0.5797
+Query 1/1: Action query time = 3.903 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6940
+t=42: Selected seed 195 with value = 0.6940
+Query 1/1: Action query time = 4.141 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8356
+t=58: Selected seed 195 with value = 0.8356
+Query 1/1: Action query time = 3.786 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9661
+t=74: Selected seed 195 with value = 0.9661
+Query 1/1: Action query time = 3.986 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/fc175full_t6_s1/2026_08_03-15_19_31--with_future_img--episode=8--success=True--task=put_the_cream_cheese_in_the_bowl.mp4
+Success: True
+# episodes completed so far: 8
+# successes: 7 (87.5%)
+
+Task: put the cream cheese in the bowl
+Starting episode 9...
+Query 1/1: Action query time = 4.727 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4895
+t=10: Selected seed 195 with value = 0.4895
+Query 1/1: Action query time = 3.992 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5904
+t=26: Selected seed 195 with value = 0.5904
+Query 1/1: Action query time = 4.134 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6702
+t=42: Selected seed 195 with value = 0.6702
+Query 1/1: Action query time = 4.654 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8144
+t=58: Selected seed 195 with value = 0.8144
+Query 1/1: Action query time = 3.177 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9435
+t=74: Selected seed 195 with value = 0.9435
+Query 1/1: Action query time = 2.826 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/fc175full_t6_s1/2026_08_03-15_19_31--with_future_img--episode=9--success=True--task=put_the_cream_cheese_in_the_bowl.mp4
+Success: True
+# episodes completed so far: 9
+# successes: 8 (88.9%)
+
+Task: put the cream cheese in the bowl
+Starting episode 10...
+Query 1/1: Action query time = 3.780 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5101
+t=10: Selected seed 195 with value = 0.5101
+Query 1/1: Action query time = 2.042 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6122
+t=26: Selected seed 195 with value = 0.6122
+Query 1/1: Action query time = 1.929 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7086
+t=42: Selected seed 195 with value = 0.7086
+Query 1/1: Action query time = 1.734 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8317
+t=58: Selected seed 195 with value = 0.8317
+Query 1/1: Action query time = 1.793 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9635
+t=74: Selected seed 195 with value = 0.9635
+Query 1/1: Action query time = 1.710 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/fc175full_t6_s1/2026_08_03-15_19_31--with_future_img--episode=10--success=True--task=put_the_cream_cheese_in_the_bowl.mp4
+Success: True
+# episodes completed so far: 10
+# successes: 9 (90.0%)
+
+Task: put the cream cheese in the bowl
+Starting episode 11...
+Query 1/1: Action query time = 2.201 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5049
+t=10: Selected seed 195 with value = 0.5049
+Query 1/1: Action query time = 2.944 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6052
+t=26: Selected seed 195 with value = 0.6052
+Query 1/1: Action query time = 2.957 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7207
+t=42: Selected seed 195 with value = 0.7207
+Query 1/1: Action query time = 1.981 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8744
+t=58: Selected seed 195 with value = 0.8744
+Query 1/1: Action query time = 1.912 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9798
+t=74: Selected seed 195 with value = 0.9798
+Query 1/1: Action query time = 1.339 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/fc175full_t6_s1/2026_08_03-15_19_31--with_future_img--episode=11--success=True--task=put_the_cream_cheese_in_the_bowl.mp4
+Success: True
+# episodes completed so far: 11
+# successes: 10 (90.9%)
+
+Task: put the cream cheese in the bowl
+Starting episode 12...
+Query 1/1: Action query time = 2.937 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5475
+t=10: Selected seed 195 with value = 0.5475
+Query 1/1: Action query time = 2.957 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6399
+t=26: Selected seed 195 with value = 0.6399
+Query 1/1: Action query time = 3.149 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7795
+t=42: Selected seed 195 with value = 0.7795
+Query 1/1: Action query time = 2.175 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8601
+t=58: Selected seed 195 with value = 0.8601
+Query 1/1: Action query time = 1.629 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9679
+t=74: Selected seed 195 with value = 0.9679
+Query 1/1: Action query time = 1.427 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/fc175full_t6_s1/2026_08_03-15_19_31--with_future_img--episode=12--success=True--task=put_the_cream_cheese_in_the_bowl.mp4
+Success: True
+# episodes completed so far: 12
+# successes: 11 (91.7%)
+
+Task: put the cream cheese in the bowl
+Starting episode 13...
+Query 1/1: Action query time = 2.394 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5158
+t=10: Selected seed 195 with value = 0.5158
+Query 1/1: Action query time = 2.066 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6214
+t=26: Selected seed 195 with value = 0.6214
+Query 1/1: Action query time = 1.339 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6634
+t=42: Selected seed 195 with value = 0.6634
+Query 1/1: Action query time = 1.544 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8130
+t=58: Selected seed 195 with value = 0.8130
+Query 1/1: Action query time = 1.080 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9508
+t=74: Selected seed 195 with value = 0.9508
+Query 1/1: Action query time = 1.139 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/fc175full_t6_s1/2026_08_03-15_19_31--with_future_img--episode=13--success=True--task=put_the_cream_cheese_in_the_bowl.mp4
+Success: True
+# episodes completed so far: 13
+# successes: 12 (92.3%)
+Current task success rate: 0.9230769230769231
+Current total success rate: 0.9230769230769231
+Final results:
+Total episodes: 13
+Total successes: 12
+Overall success rate: 0.9231 (92.3%)
diff --git a/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_03-15_19_32--fc175full_t6_s3.txt b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_03-15_19_32--fc175full_t6_s3.txt
new file mode 100644
index 0000000000000000000000000000000000000000..c55998aaa46371b84d1aed598137a48b99346393
--- /dev/null
+++ b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_03-15_19_32--fc175full_t6_s3.txt
@@ -0,0 +1,488 @@
+Eval config: PolicyEvalConfig(suite='libero', model_family='cosmos', config='cosmos_predict2_2b_480p_libero_cl_stage_inference_only', ckpt_path='/home/azureuser/REGEN-main/new_task7/cosmos_policy/cosmos_v2_finetune/cosmos_predict2_2b_480p_libero_goal_task7_forget_cl_from100_2gpu/checkpoints/iter_000000175/model', planning_model_config_name='', planning_model_ckpt_path='', config_file='cosmos_policy/config/config.py', packnet_mask_path='', packnet_first_cl_libero_task=6, use_third_person_image=True, num_third_person_images=1, use_wrist_image=True, num_wrist_images=1, use_proprio=True, flip_images=True, use_variance_scale=False, use_jpeg_compression=True, ar_future_prediction=False, ar_value_prediction=False, ar_qvalue_prediction=False, num_denoising_steps_action=5, num_denoising_steps_future_state=1, num_denoising_steps_value=1, unnormalize_actions=True, normalize_proprio=True, dataset_stats_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/libero_goal_regen/dataset_statistics.json', t5_text_embeddings_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/t5_embeddings.pkl', trained_with_image_aug=True, chunk_size=16, num_open_loop_steps=16, deterministic=True, deterministic_reset=False, deterministic_reset_seed=None, use_ensemble_future_state_predictions=False, num_future_state_predictions_in_ensemble=3, future_state_ensemble_aggregation_scheme='average', use_ensemble_value_predictions=False, num_value_predictions_in_ensemble=5, value_ensemble_aggregation_scheme='average', search_depth=1, mask_current_state_action_for_value_prediction=False, mask_future_state_for_qvalue_prediction=False, num_queries_best_of_n=1, use_parallel_inference=False, available_gpus='0', parallel_timeout=15, parallel_tasks_across_gpus=False, task_suite_name='libero_goal', num_trials_per_task=50, task_ids_to_run='6', initial_states_path='DEFAULT', env_img_res=256, local_log_dir='/home/azureuser/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal', run_id_note='fc175full_t6_s3', use_wandb=False, wandb_entity='YOUR_ENTITY', wandb_project='YOUR_PROJECT', seed=195, randomize_seed=False, data_collection=False, jpeg_compress=True, reward_stop_threshold=None, reward_stop_consecutive_steps=3, use_gpt_reward=False, gpt_reward_model='gpt-5.4-mini', gpt_reward_stop_threshold=4, gpt_reward_timeout_s=30.0, save_rollout_video=False, eval_hdf5_path='', eval_hdf5_demo_key='demo_0', data_gen_demo_ids='', eval_episode_ids='3,7,11,15,19,23,27,31,35,39,43,47', dump_final_states_path='', replay_actions=False, replay_action_path_dir='', replay_hdf5_path='', data_generation=False, max_generation_steps=200, disable_value_stop=False)
+Using serial inference (parallel inference disabled)
+Task suite: libero_goal
+Number of tasks: 10
+Running only task IDs: [6]
+Using default initial states
+
+Task: put the cream cheese in the bowl
+Starting episode 1...
+Query 1/1: Action query time = 5.579 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4770
+t=10: Selected seed 195 with value = 0.4770
+Query 1/1: Action query time = 4.927 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5693
+t=26: Selected seed 195 with value = 0.5693
+Query 1/1: Action query time = 5.141 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6782
+t=42: Selected seed 195 with value = 0.6782
+Query 1/1: Action query time = 5.180 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8249
+t=58: Selected seed 195 with value = 0.8249
+Query 1/1: Action query time = 5.179 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9495
+t=74: Selected seed 195 with value = 0.9495
+Query 1/1: Action query time = 4.288 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/fc175full_t6_s3/2026_08_03-15_19_32--with_future_img--episode=1--success=True--task=put_the_cream_cheese_in_the_bowl.mp4
+Success: True
+# episodes completed so far: 1
+# successes: 1 (100.0%)
+
+Task: put the cream cheese in the bowl
+Starting episode 2...
+Query 1/1: Action query time = 4.140 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5058
+t=10: Selected seed 195 with value = 0.5058
+Query 1/1: Action query time = 4.505 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6098
+t=26: Selected seed 195 with value = 0.6098
+Query 1/1: Action query time = 5.126 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6766
+t=42: Selected seed 195 with value = 0.6766
+Query 1/1: Action query time = 4.597 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8340
+t=58: Selected seed 195 with value = 0.8340
+Query 1/1: Action query time = 4.848 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9432
+t=74: Selected seed 195 with value = 0.9432
+Query 1/1: Action query time = 4.358 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/fc175full_t6_s3/2026_08_03-15_19_32--with_future_img--episode=2--success=True--task=put_the_cream_cheese_in_the_bowl.mp4
+Success: True
+# episodes completed so far: 2
+# successes: 2 (100.0%)
+
+Task: put the cream cheese in the bowl
+Starting episode 3...
+Query 1/1: Action query time = 4.301 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5177
+t=10: Selected seed 195 with value = 0.5177
+Query 1/1: Action query time = 4.879 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6177
+t=26: Selected seed 195 with value = 0.6177
+Query 1/1: Action query time = 4.003 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7164
+t=42: Selected seed 195 with value = 0.7164
+Query 1/1: Action query time = 4.595 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7588
+t=58: Selected seed 195 with value = 0.7588
+Query 1/1: Action query time = 4.828 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9153
+t=74: Selected seed 195 with value = 0.9153
+Query 1/1: Action query time = 5.340 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9900
+t=90: Selected seed 195 with value = 0.9900
+Query 1/1: Action query time = 5.344 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9998
+t=106: Selected seed 195 with value = 0.9998
+Query 1/1: Action query time = 5.344 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9974
+t=122: Selected seed 195 with value = 0.9974
+Query 1/1: Action query time = 4.338 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9966
+t=138: Selected seed 195 with value = 0.9966
+Query 1/1: Action query time = 4.426 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9972
+t=154: Selected seed 195 with value = 0.9972
+Query 1/1: Action query time = 5.409 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9947
+t=170: Selected seed 195 with value = 0.9947
+Query 1/1: Action query time = 4.494 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9673
+t=186: Selected seed 195 with value = 0.9673
+Query 1/1: Action query time = 3.921 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9977
+t=202: Selected seed 195 with value = 0.9977
+Query 1/1: Action query time = 4.132 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9929
+t=218: Selected seed 195 with value = 0.9929
+Query 1/1: Action query time = 3.583 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8293
+t=234: Selected seed 195 with value = 0.8293
+Query 1/1: Action query time = 4.655 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=250: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.975 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8260
+t=266: Selected seed 195 with value = 0.8260
+Query 1/1: Action query time = 4.538 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9735
+t=282: Selected seed 195 with value = 0.9735
+Query 1/1: Action query time = 4.599 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9712
+t=298: Selected seed 195 with value = 0.9712
+Saved rollout MP4 at path ./rollouts/fc175full_t6_s3/2026_08_03-15_19_32--with_future_img--episode=3--success=False--task=put_the_cream_cheese_in_the_bowl.mp4
+Success: False
+# episodes completed so far: 3
+# successes: 2 (66.7%)
+
+Task: put the cream cheese in the bowl
+Starting episode 4...
+Query 1/1: Action query time = 4.476 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5110
+t=10: Selected seed 195 with value = 0.5110
+Query 1/1: Action query time = 5.061 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6050
+t=26: Selected seed 195 with value = 0.6050
+Query 1/1: Action query time = 5.100 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7204
+t=42: Selected seed 195 with value = 0.7204
+Query 1/1: Action query time = 4.903 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8614
+t=58: Selected seed 195 with value = 0.8614
+Query 1/1: Action query time = 4.162 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9733
+t=74: Selected seed 195 with value = 0.9733
+Query 1/1: Action query time = 4.417 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/fc175full_t6_s3/2026_08_03-15_19_32--with_future_img--episode=4--success=True--task=put_the_cream_cheese_in_the_bowl.mp4
+Success: True
+# episodes completed so far: 4
+# successes: 3 (75.0%)
+
+Task: put the cream cheese in the bowl
+Starting episode 5...
+Query 1/1: Action query time = 4.471 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5274
+t=10: Selected seed 195 with value = 0.5274
+Query 1/1: Action query time = 5.357 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6172
+t=26: Selected seed 195 with value = 0.6172
+Query 1/1: Action query time = 5.096 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7300
+t=42: Selected seed 195 with value = 0.7300
+Query 1/1: Action query time = 5.140 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8756
+t=58: Selected seed 195 with value = 0.8756
+Query 1/1: Action query time = 3.416 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9865
+t=74: Selected seed 195 with value = 0.9865
+Query 1/1: Action query time = 4.164 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/fc175full_t6_s3/2026_08_03-15_19_32--with_future_img--episode=5--success=True--task=put_the_cream_cheese_in_the_bowl.mp4
+Success: True
+# episodes completed so far: 5
+# successes: 4 (80.0%)
+
+Task: put the cream cheese in the bowl
+Starting episode 6...
+Query 1/1: Action query time = 2.698 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4915
+t=10: Selected seed 195 with value = 0.4915
+Query 1/1: Action query time = 5.152 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5892
+t=26: Selected seed 195 with value = 0.5892
+Query 1/1: Action query time = 4.122 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7062
+t=42: Selected seed 195 with value = 0.7062
+Query 1/1: Action query time = 3.954 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7638
+t=58: Selected seed 195 with value = 0.7638
+Query 1/1: Action query time = 3.909 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7337
+t=74: Selected seed 195 with value = 0.7337
+Query 1/1: Action query time = 5.311 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8243
+t=90: Selected seed 195 with value = 0.8243
+Query 1/1: Action query time = 4.945 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8211
+t=106: Selected seed 195 with value = 0.8211
+Query 1/1: Action query time = 3.803 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8637
+t=122: Selected seed 195 with value = 0.8637
+Query 1/1: Action query time = 3.751 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9657
+t=138: Selected seed 195 with value = 0.9657
+Query 1/1: Action query time = 4.934 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9874
+t=154: Selected seed 195 with value = 0.9874
+Query 1/1: Action query time = 4.504 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=170: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.317 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9998
+t=186: Selected seed 195 with value = 0.9998
+Query 1/1: Action query time = 5.411 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=202: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.581 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=218: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.965 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=234: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 3.545 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=250: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.613 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=266: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 5.061 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=282: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 3.941 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=298: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/fc175full_t6_s3/2026_08_03-15_19_32--with_future_img--episode=6--success=False--task=put_the_cream_cheese_in_the_bowl.mp4
+Success: False
+# episodes completed so far: 6
+# successes: 4 (66.7%)
+
+Task: put the cream cheese in the bowl
+Starting episode 7...
+Query 1/1: Action query time = 3.987 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4945
+t=10: Selected seed 195 with value = 0.4945
+Query 1/1: Action query time = 3.573 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6066
+t=26: Selected seed 195 with value = 0.6066
+Query 1/1: Action query time = 4.282 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6695
+t=42: Selected seed 195 with value = 0.6695
+Query 1/1: Action query time = 3.855 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8186
+t=58: Selected seed 195 with value = 0.8186
+Query 1/1: Action query time = 4.523 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9577
+t=74: Selected seed 195 with value = 0.9577
+Query 1/1: Action query time = 4.887 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/fc175full_t6_s3/2026_08_03-15_19_32--with_future_img--episode=7--success=True--task=put_the_cream_cheese_in_the_bowl.mp4
+Success: True
+# episodes completed so far: 7
+# successes: 5 (71.4%)
+
+Task: put the cream cheese in the bowl
+Starting episode 8...
+Query 1/1: Action query time = 3.980 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5202
+t=10: Selected seed 195 with value = 0.5202
+Query 1/1: Action query time = 3.339 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6104
+t=26: Selected seed 195 with value = 0.6104
+Query 1/1: Action query time = 1.831 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7266
+t=42: Selected seed 195 with value = 0.7266
+Query 1/1: Action query time = 1.482 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8662
+t=58: Selected seed 195 with value = 0.8662
+Query 1/1: Action query time = 1.911 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9790
+t=74: Selected seed 195 with value = 0.9790
+Query 1/1: Action query time = 1.754 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/fc175full_t6_s3/2026_08_03-15_19_32--with_future_img--episode=8--success=True--task=put_the_cream_cheese_in_the_bowl.mp4
+Success: True
+# episodes completed so far: 8
+# successes: 6 (75.0%)
+
+Task: put the cream cheese in the bowl
+Starting episode 9...
+Query 1/1: Action query time = 1.563 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4978
+t=10: Selected seed 195 with value = 0.4978
+Query 1/1: Action query time = 2.338 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6079
+t=26: Selected seed 195 with value = 0.6079
+Query 1/1: Action query time = 2.137 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7387
+t=42: Selected seed 195 with value = 0.7387
+Query 1/1: Action query time = 2.501 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8714
+t=58: Selected seed 195 with value = 0.8714
+Query 1/1: Action query time = 2.792 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9784
+t=74: Selected seed 195 with value = 0.9784
+Query 1/1: Action query time = 2.944 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/fc175full_t6_s3/2026_08_03-15_19_32--with_future_img--episode=9--success=True--task=put_the_cream_cheese_in_the_bowl.mp4
+Success: True
+# episodes completed so far: 9
+# successes: 7 (77.8%)
+
+Task: put the cream cheese in the bowl
+Starting episode 10...
+Query 1/1: Action query time = 1.683 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5170
+t=10: Selected seed 195 with value = 0.5170
+Query 1/1: Action query time = 1.045 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6265
+t=26: Selected seed 195 with value = 0.6265
+Query 1/1: Action query time = 2.565 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7232
+t=42: Selected seed 195 with value = 0.7232
+Query 1/1: Action query time = 2.888 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8256
+t=58: Selected seed 195 with value = 0.8256
+Query 1/1: Action query time = 2.916 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9614
+t=74: Selected seed 195 with value = 0.9614
+Query 1/1: Action query time = 2.282 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/fc175full_t6_s3/2026_08_03-15_19_32--with_future_img--episode=10--success=True--task=put_the_cream_cheese_in_the_bowl.mp4
+Success: True
+# episodes completed so far: 10
+# successes: 8 (80.0%)
+
+Task: put the cream cheese in the bowl
+Starting episode 11...
+Query 1/1: Action query time = 1.122 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4826
+t=10: Selected seed 195 with value = 0.4826
+Query 1/1: Action query time = 1.472 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5789
+t=26: Selected seed 195 with value = 0.5789
+Query 1/1: Action query time = 1.352 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7060
+t=42: Selected seed 195 with value = 0.7060
+Query 1/1: Action query time = 1.840 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8351
+t=58: Selected seed 195 with value = 0.8351
+Query 1/1: Action query time = 2.006 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9616
+t=74: Selected seed 195 with value = 0.9616
+Query 1/1: Action query time = 2.109 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/fc175full_t6_s3/2026_08_03-15_19_32--with_future_img--episode=11--success=True--task=put_the_cream_cheese_in_the_bowl.mp4
+Success: True
+# episodes completed so far: 11
+# successes: 9 (81.8%)
+
+Task: put the cream cheese in the bowl
+Starting episode 12...
+Query 1/1: Action query time = 1.007 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5124
+t=10: Selected seed 195 with value = 0.5124
+Query 1/1: Action query time = 1.493 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6167
+t=26: Selected seed 195 with value = 0.6167
+Query 1/1: Action query time = 1.343 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7096
+t=42: Selected seed 195 with value = 0.7096
+Query 1/1: Action query time = 1.267 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8470
+t=58: Selected seed 195 with value = 0.8470
+Query 1/1: Action query time = 1.006 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9507
+t=74: Selected seed 195 with value = 0.9507
+Query 1/1: Action query time = 1.661 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/fc175full_t6_s3/2026_08_03-15_19_32--with_future_img--episode=12--success=True--task=put_the_cream_cheese_in_the_bowl.mp4
+Success: True
+# episodes completed so far: 12
+# successes: 10 (83.3%)
+Current task success rate: 0.8333333333333334
+Current total success rate: 0.8333333333333334
+Final results:
+Total episodes: 12
+Total successes: 10
+Overall success rate: 0.8333 (83.3%)
diff --git a/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_03-15_19_32--fc175full_t7_s0.txt b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_03-15_19_32--fc175full_t7_s0.txt
new file mode 100644
index 0000000000000000000000000000000000000000..fcd443fe929af7251accba811d4efbed58b1a92c
--- /dev/null
+++ b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_03-15_19_32--fc175full_t7_s0.txt
@@ -0,0 +1,375 @@
+Eval config: PolicyEvalConfig(suite='libero', model_family='cosmos', config='cosmos_predict2_2b_480p_libero_cl_stage_inference_only', ckpt_path='/home/azureuser/REGEN-main/new_task7/cosmos_policy/cosmos_v2_finetune/cosmos_predict2_2b_480p_libero_goal_task7_forget_cl_from100_2gpu/checkpoints/iter_000000175/model', planning_model_config_name='', planning_model_ckpt_path='', config_file='cosmos_policy/config/config.py', packnet_mask_path='', packnet_first_cl_libero_task=6, use_third_person_image=True, num_third_person_images=1, use_wrist_image=True, num_wrist_images=1, use_proprio=True, flip_images=True, use_variance_scale=False, use_jpeg_compression=True, ar_future_prediction=False, ar_value_prediction=False, ar_qvalue_prediction=False, num_denoising_steps_action=5, num_denoising_steps_future_state=1, num_denoising_steps_value=1, unnormalize_actions=True, normalize_proprio=True, dataset_stats_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/libero_goal_regen/dataset_statistics.json', t5_text_embeddings_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/t5_embeddings.pkl', trained_with_image_aug=True, chunk_size=16, num_open_loop_steps=16, deterministic=True, deterministic_reset=False, deterministic_reset_seed=None, use_ensemble_future_state_predictions=False, num_future_state_predictions_in_ensemble=3, future_state_ensemble_aggregation_scheme='average', use_ensemble_value_predictions=False, num_value_predictions_in_ensemble=5, value_ensemble_aggregation_scheme='average', search_depth=1, mask_current_state_action_for_value_prediction=False, mask_future_state_for_qvalue_prediction=False, num_queries_best_of_n=1, use_parallel_inference=False, available_gpus='0', parallel_timeout=15, parallel_tasks_across_gpus=False, task_suite_name='libero_goal', num_trials_per_task=50, task_ids_to_run='7', initial_states_path='DEFAULT', env_img_res=256, local_log_dir='/home/azureuser/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal', run_id_note='fc175full_t7_s0', use_wandb=False, wandb_entity='YOUR_ENTITY', wandb_project='YOUR_PROJECT', seed=195, randomize_seed=False, data_collection=False, jpeg_compress=True, reward_stop_threshold=None, reward_stop_consecutive_steps=3, use_gpt_reward=False, gpt_reward_model='gpt-5.4-mini', gpt_reward_stop_threshold=4, gpt_reward_timeout_s=30.0, save_rollout_video=False, eval_hdf5_path='', eval_hdf5_demo_key='demo_0', data_gen_demo_ids='', eval_episode_ids='0,4,8,12,16,20,24,28,32,36,40,44,48', dump_final_states_path='', replay_actions=False, replay_action_path_dir='', replay_hdf5_path='', data_generation=False, max_generation_steps=200, disable_value_stop=False)
+Using serial inference (parallel inference disabled)
+Task suite: libero_goal
+Number of tasks: 10
+Running only task IDs: [7]
+Using default initial states
+
+Task: turn on the stove
+Starting episode 1...
+Query 1/1: Action query time = 5.717 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4642
+t=10: Selected seed 195 with value = 0.4642
+Query 1/1: Action query time = 4.601 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5333
+t=26: Selected seed 195 with value = 0.5333
+Query 1/1: Action query time = 5.054 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6338
+t=42: Selected seed 195 with value = 0.6338
+Query 1/1: Action query time = 5.097 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7423
+t=58: Selected seed 195 with value = 0.7423
+Query 1/1: Action query time = 5.098 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8522
+t=74: Selected seed 195 with value = 0.8522
+Query 1/1: Action query time = 4.363 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9619
+t=90: Selected seed 195 with value = 0.9619
+Saved rollout MP4 at path ./rollouts/fc175full_t7_s0/2026_08_03-15_19_32--with_future_img--episode=1--success=True--task=turn_on_the_stove.mp4
+Success: True
+# episodes completed so far: 1
+# successes: 1 (100.0%)
+
+Task: turn on the stove
+Starting episode 2...
+Query 1/1: Action query time = 5.224 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4838
+t=10: Selected seed 195 with value = 0.4838
+Query 1/1: Action query time = 4.868 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5760
+t=26: Selected seed 195 with value = 0.5760
+Query 1/1: Action query time = 5.444 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6661
+t=42: Selected seed 195 with value = 0.6661
+Query 1/1: Action query time = 3.146 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7756
+t=58: Selected seed 195 with value = 0.7756
+Query 1/1: Action query time = 5.001 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8970
+t=74: Selected seed 195 with value = 0.8970
+Saved rollout MP4 at path ./rollouts/fc175full_t7_s0/2026_08_03-15_19_32--with_future_img--episode=2--success=True--task=turn_on_the_stove.mp4
+Success: True
+# episodes completed so far: 2
+# successes: 2 (100.0%)
+
+Task: turn on the stove
+Starting episode 3...
+Query 1/1: Action query time = 4.036 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4947
+t=10: Selected seed 195 with value = 0.4947
+Query 1/1: Action query time = 4.824 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6038
+t=26: Selected seed 195 with value = 0.6038
+Query 1/1: Action query time = 5.486 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6877
+t=42: Selected seed 195 with value = 0.6877
+Query 1/1: Action query time = 3.782 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7830
+t=58: Selected seed 195 with value = 0.7830
+Query 1/1: Action query time = 4.985 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9422
+t=74: Selected seed 195 with value = 0.9422
+Saved rollout MP4 at path ./rollouts/fc175full_t7_s0/2026_08_03-15_19_32--with_future_img--episode=3--success=True--task=turn_on_the_stove.mp4
+Success: True
+# episodes completed so far: 3
+# successes: 3 (100.0%)
+
+Task: turn on the stove
+Starting episode 4...
+Query 1/1: Action query time = 4.749 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4617
+t=10: Selected seed 195 with value = 0.4617
+Query 1/1: Action query time = 3.946 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5612
+t=26: Selected seed 195 with value = 0.5612
+Query 1/1: Action query time = 3.794 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6545
+t=42: Selected seed 195 with value = 0.6545
+Query 1/1: Action query time = 4.689 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7548
+t=58: Selected seed 195 with value = 0.7548
+Query 1/1: Action query time = 5.046 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8903
+t=74: Selected seed 195 with value = 0.8903
+Saved rollout MP4 at path ./rollouts/fc175full_t7_s0/2026_08_03-15_19_32--with_future_img--episode=4--success=True--task=turn_on_the_stove.mp4
+Success: True
+# episodes completed so far: 4
+# successes: 4 (100.0%)
+
+Task: turn on the stove
+Starting episode 5...
+Query 1/1: Action query time = 5.714 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4479
+t=10: Selected seed 195 with value = 0.4479
+Query 1/1: Action query time = 5.089 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5566
+t=26: Selected seed 195 with value = 0.5566
+Query 1/1: Action query time = 3.390 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6372
+t=42: Selected seed 195 with value = 0.6372
+Query 1/1: Action query time = 4.201 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7336
+t=58: Selected seed 195 with value = 0.7336
+Query 1/1: Action query time = 4.983 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8982
+t=74: Selected seed 195 with value = 0.8982
+Saved rollout MP4 at path ./rollouts/fc175full_t7_s0/2026_08_03-15_19_32--with_future_img--episode=5--success=True--task=turn_on_the_stove.mp4
+Success: True
+# episodes completed so far: 5
+# successes: 5 (100.0%)
+
+Task: turn on the stove
+Starting episode 6...
+Query 1/1: Action query time = 5.586 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4902
+t=10: Selected seed 195 with value = 0.4902
+Query 1/1: Action query time = 4.668 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5663
+t=26: Selected seed 195 with value = 0.5663
+Query 1/1: Action query time = 4.008 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6435
+t=42: Selected seed 195 with value = 0.6435
+Query 1/1: Action query time = 3.302 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7796
+t=58: Selected seed 195 with value = 0.7796
+Query 1/1: Action query time = 2.759 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9333
+t=74: Selected seed 195 with value = 0.9333
+Saved rollout MP4 at path ./rollouts/fc175full_t7_s0/2026_08_03-15_19_32--with_future_img--episode=6--success=True--task=turn_on_the_stove.mp4
+Success: True
+# episodes completed so far: 6
+# successes: 6 (100.0%)
+
+Task: turn on the stove
+Starting episode 7...
+Query 1/1: Action query time = 5.317 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4568
+t=10: Selected seed 195 with value = 0.4568
+Query 1/1: Action query time = 5.321 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5325
+t=26: Selected seed 195 with value = 0.5325
+Query 1/1: Action query time = 5.443 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6200
+t=42: Selected seed 195 with value = 0.6200
+Query 1/1: Action query time = 4.560 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7396
+t=58: Selected seed 195 with value = 0.7396
+Query 1/1: Action query time = 4.774 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8857
+t=74: Selected seed 195 with value = 0.8857
+Saved rollout MP4 at path ./rollouts/fc175full_t7_s0/2026_08_03-15_19_32--with_future_img--episode=7--success=True--task=turn_on_the_stove.mp4
+Success: True
+# episodes completed so far: 7
+# successes: 7 (100.0%)
+
+Task: turn on the stove
+Starting episode 8...
+Query 1/1: Action query time = 4.675 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4776
+t=10: Selected seed 195 with value = 0.4776
+Query 1/1: Action query time = 4.713 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5417
+t=26: Selected seed 195 with value = 0.5417
+Query 1/1: Action query time = 4.757 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6453
+t=42: Selected seed 195 with value = 0.6453
+Query 1/1: Action query time = 5.108 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7526
+t=58: Selected seed 195 with value = 0.7526
+Query 1/1: Action query time = 3.880 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8678
+t=74: Selected seed 195 with value = 0.8678
+Saved rollout MP4 at path ./rollouts/fc175full_t7_s0/2026_08_03-15_19_32--with_future_img--episode=8--success=True--task=turn_on_the_stove.mp4
+Success: True
+# episodes completed so far: 8
+# successes: 8 (100.0%)
+
+Task: turn on the stove
+Starting episode 9...
+Query 1/1: Action query time = 4.336 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4769
+t=10: Selected seed 195 with value = 0.4769
+Query 1/1: Action query time = 3.210 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5676
+t=26: Selected seed 195 with value = 0.5676
+Query 1/1: Action query time = 4.996 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7028
+t=42: Selected seed 195 with value = 0.7028
+Query 1/1: Action query time = 4.503 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7889
+t=58: Selected seed 195 with value = 0.7889
+Query 1/1: Action query time = 3.784 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9428
+t=74: Selected seed 195 with value = 0.9428
+Saved rollout MP4 at path ./rollouts/fc175full_t7_s0/2026_08_03-15_19_32--with_future_img--episode=9--success=True--task=turn_on_the_stove.mp4
+Success: True
+# episodes completed so far: 9
+# successes: 9 (100.0%)
+
+Task: turn on the stove
+Starting episode 10...
+Query 1/1: Action query time = 5.456 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4903
+t=10: Selected seed 195 with value = 0.4903
+Query 1/1: Action query time = 5.336 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5597
+t=26: Selected seed 195 with value = 0.5597
+Query 1/1: Action query time = 3.811 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6511
+t=42: Selected seed 195 with value = 0.6511
+Query 1/1: Action query time = 3.324 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7582
+t=58: Selected seed 195 with value = 0.7582
+Query 1/1: Action query time = 4.751 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8186
+t=74: Selected seed 195 with value = 0.8186
+Query 1/1: Action query time = 4.467 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9694
+t=90: Selected seed 195 with value = 0.9694
+Saved rollout MP4 at path ./rollouts/fc175full_t7_s0/2026_08_03-15_19_32--with_future_img--episode=10--success=True--task=turn_on_the_stove.mp4
+Success: True
+# episodes completed so far: 10
+# successes: 10 (100.0%)
+
+Task: turn on the stove
+Starting episode 11...
+Query 1/1: Action query time = 5.349 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4493
+t=10: Selected seed 195 with value = 0.4493
+Query 1/1: Action query time = 4.722 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5523
+t=26: Selected seed 195 with value = 0.5523
+Query 1/1: Action query time = 4.067 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6384
+t=42: Selected seed 195 with value = 0.6384
+Query 1/1: Action query time = 3.987 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7636
+t=58: Selected seed 195 with value = 0.7636
+Query 1/1: Action query time = 4.271 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7962
+t=74: Selected seed 195 with value = 0.7962
+Query 1/1: Action query time = 3.897 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8991
+t=90: Selected seed 195 with value = 0.8991
+Saved rollout MP4 at path ./rollouts/fc175full_t7_s0/2026_08_03-15_19_32--with_future_img--episode=11--success=True--task=turn_on_the_stove.mp4
+Success: True
+# episodes completed so far: 11
+# successes: 11 (100.0%)
+
+Task: turn on the stove
+Starting episode 12...
+Query 1/1: Action query time = 5.700 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4811
+t=10: Selected seed 195 with value = 0.4811
+Query 1/1: Action query time = 3.511 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5644
+t=26: Selected seed 195 with value = 0.5644
+Query 1/1: Action query time = 4.123 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6530
+t=42: Selected seed 195 with value = 0.6530
+Query 1/1: Action query time = 4.319 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7530
+t=58: Selected seed 195 with value = 0.7530
+Query 1/1: Action query time = 4.435 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9135
+t=74: Selected seed 195 with value = 0.9135
+Saved rollout MP4 at path ./rollouts/fc175full_t7_s0/2026_08_03-15_19_32--with_future_img--episode=12--success=True--task=turn_on_the_stove.mp4
+Success: True
+# episodes completed so far: 12
+# successes: 12 (100.0%)
+
+Task: turn on the stove
+Starting episode 13...
+Query 1/1: Action query time = 4.399 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4883
+t=10: Selected seed 195 with value = 0.4883
+Query 1/1: Action query time = 4.547 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5850
+t=26: Selected seed 195 with value = 0.5850
+Query 1/1: Action query time = 3.279 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6751
+t=42: Selected seed 195 with value = 0.6751
+Query 1/1: Action query time = 2.596 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7903
+t=58: Selected seed 195 with value = 0.7903
+Query 1/1: Action query time = 3.277 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9720
+t=74: Selected seed 195 with value = 0.9720
+Saved rollout MP4 at path ./rollouts/fc175full_t7_s0/2026_08_03-15_19_32--with_future_img--episode=13--success=True--task=turn_on_the_stove.mp4
+Success: True
+# episodes completed so far: 13
+# successes: 13 (100.0%)
+Current task success rate: 1.0
+Current total success rate: 1.0
+Final results:
+Total episodes: 13
+Total successes: 13
+Overall success rate: 1.0000 (100.0%)
diff --git a/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_03-15_19_32--fc175full_t7_s1.txt b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_03-15_19_32--fc175full_t7_s1.txt
new file mode 100644
index 0000000000000000000000000000000000000000..1d2809d0bd595fba4a179e861c73cccfeb6acde9
--- /dev/null
+++ b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_03-15_19_32--fc175full_t7_s1.txt
@@ -0,0 +1,379 @@
+Eval config: PolicyEvalConfig(suite='libero', model_family='cosmos', config='cosmos_predict2_2b_480p_libero_cl_stage_inference_only', ckpt_path='/home/azureuser/REGEN-main/new_task7/cosmos_policy/cosmos_v2_finetune/cosmos_predict2_2b_480p_libero_goal_task7_forget_cl_from100_2gpu/checkpoints/iter_000000175/model', planning_model_config_name='', planning_model_ckpt_path='', config_file='cosmos_policy/config/config.py', packnet_mask_path='', packnet_first_cl_libero_task=6, use_third_person_image=True, num_third_person_images=1, use_wrist_image=True, num_wrist_images=1, use_proprio=True, flip_images=True, use_variance_scale=False, use_jpeg_compression=True, ar_future_prediction=False, ar_value_prediction=False, ar_qvalue_prediction=False, num_denoising_steps_action=5, num_denoising_steps_future_state=1, num_denoising_steps_value=1, unnormalize_actions=True, normalize_proprio=True, dataset_stats_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/libero_goal_regen/dataset_statistics.json', t5_text_embeddings_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/t5_embeddings.pkl', trained_with_image_aug=True, chunk_size=16, num_open_loop_steps=16, deterministic=True, deterministic_reset=False, deterministic_reset_seed=None, use_ensemble_future_state_predictions=False, num_future_state_predictions_in_ensemble=3, future_state_ensemble_aggregation_scheme='average', use_ensemble_value_predictions=False, num_value_predictions_in_ensemble=5, value_ensemble_aggregation_scheme='average', search_depth=1, mask_current_state_action_for_value_prediction=False, mask_future_state_for_qvalue_prediction=False, num_queries_best_of_n=1, use_parallel_inference=False, available_gpus='0', parallel_timeout=15, parallel_tasks_across_gpus=False, task_suite_name='libero_goal', num_trials_per_task=50, task_ids_to_run='7', initial_states_path='DEFAULT', env_img_res=256, local_log_dir='/home/azureuser/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal', run_id_note='fc175full_t7_s1', use_wandb=False, wandb_entity='YOUR_ENTITY', wandb_project='YOUR_PROJECT', seed=195, randomize_seed=False, data_collection=False, jpeg_compress=True, reward_stop_threshold=None, reward_stop_consecutive_steps=3, use_gpt_reward=False, gpt_reward_model='gpt-5.4-mini', gpt_reward_stop_threshold=4, gpt_reward_timeout_s=30.0, save_rollout_video=False, eval_hdf5_path='', eval_hdf5_demo_key='demo_0', data_gen_demo_ids='', eval_episode_ids='1,5,9,13,17,21,25,29,33,37,41,45,49', dump_final_states_path='', replay_actions=False, replay_action_path_dir='', replay_hdf5_path='', data_generation=False, max_generation_steps=200, disable_value_stop=False)
+Using serial inference (parallel inference disabled)
+Task suite: libero_goal
+Number of tasks: 10
+Running only task IDs: [7]
+Using default initial states
+
+Task: turn on the stove
+Starting episode 1...
+Query 1/1: Action query time = 5.946 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4556
+t=10: Selected seed 195 with value = 0.4556
+Query 1/1: Action query time = 5.143 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5414
+t=26: Selected seed 195 with value = 0.5414
+Query 1/1: Action query time = 4.760 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6319
+t=42: Selected seed 195 with value = 0.6319
+Query 1/1: Action query time = 4.765 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7554
+t=58: Selected seed 195 with value = 0.7554
+Query 1/1: Action query time = 4.921 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8929
+t=74: Selected seed 195 with value = 0.8929
+Saved rollout MP4 at path ./rollouts/fc175full_t7_s1/2026_08_03-15_19_32--with_future_img--episode=1--success=True--task=turn_on_the_stove.mp4
+Success: True
+# episodes completed so far: 1
+# successes: 1 (100.0%)
+
+Task: turn on the stove
+Starting episode 2...
+Query 1/1: Action query time = 2.011 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4365
+t=10: Selected seed 195 with value = 0.4365
+Query 1/1: Action query time = 2.998 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5577
+t=26: Selected seed 195 with value = 0.5577
+Query 1/1: Action query time = 5.537 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6373
+t=42: Selected seed 195 with value = 0.6373
+Query 1/1: Action query time = 5.295 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7385
+t=58: Selected seed 195 with value = 0.7385
+Query 1/1: Action query time = 4.441 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9163
+t=74: Selected seed 195 with value = 0.9163
+Saved rollout MP4 at path ./rollouts/fc175full_t7_s1/2026_08_03-15_19_32--with_future_img--episode=2--success=True--task=turn_on_the_stove.mp4
+Success: True
+# episodes completed so far: 2
+# successes: 2 (100.0%)
+
+Task: turn on the stove
+Starting episode 3...
+Query 1/1: Action query time = 4.630 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4908
+t=10: Selected seed 195 with value = 0.4908
+Query 1/1: Action query time = 3.713 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5726
+t=26: Selected seed 195 with value = 0.5726
+Query 1/1: Action query time = 3.191 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6669
+t=42: Selected seed 195 with value = 0.6669
+Query 1/1: Action query time = 4.489 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7471
+t=58: Selected seed 195 with value = 0.7471
+Query 1/1: Action query time = 5.024 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8861
+t=74: Selected seed 195 with value = 0.8861
+Saved rollout MP4 at path ./rollouts/fc175full_t7_s1/2026_08_03-15_19_32--with_future_img--episode=3--success=True--task=turn_on_the_stove.mp4
+Success: True
+# episodes completed so far: 3
+# successes: 3 (100.0%)
+
+Task: turn on the stove
+Starting episode 4...
+Query 1/1: Action query time = 4.469 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5076
+t=10: Selected seed 195 with value = 0.5076
+Query 1/1: Action query time = 3.363 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5736
+t=26: Selected seed 195 with value = 0.5736
+Query 1/1: Action query time = 4.422 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6518
+t=42: Selected seed 195 with value = 0.6518
+Query 1/1: Action query time = 5.344 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7623
+t=58: Selected seed 195 with value = 0.7623
+Query 1/1: Action query time = 5.371 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9353
+t=74: Selected seed 195 with value = 0.9353
+Saved rollout MP4 at path ./rollouts/fc175full_t7_s1/2026_08_03-15_19_32--with_future_img--episode=4--success=True--task=turn_on_the_stove.mp4
+Success: True
+# episodes completed so far: 4
+# successes: 4 (100.0%)
+
+Task: turn on the stove
+Starting episode 5...
+Query 1/1: Action query time = 4.688 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5088
+t=10: Selected seed 195 with value = 0.5088
+Query 1/1: Action query time = 5.317 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5841
+t=26: Selected seed 195 with value = 0.5841
+Query 1/1: Action query time = 4.060 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6685
+t=42: Selected seed 195 with value = 0.6685
+Query 1/1: Action query time = 4.654 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7657
+t=58: Selected seed 195 with value = 0.7657
+Query 1/1: Action query time = 4.174 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9109
+t=74: Selected seed 195 with value = 0.9109
+Saved rollout MP4 at path ./rollouts/fc175full_t7_s1/2026_08_03-15_19_32--with_future_img--episode=5--success=True--task=turn_on_the_stove.mp4
+Success: True
+# episodes completed so far: 5
+# successes: 5 (100.0%)
+
+Task: turn on the stove
+Starting episode 6...
+Query 1/1: Action query time = 4.333 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5311
+t=10: Selected seed 195 with value = 0.5311
+Query 1/1: Action query time = 4.953 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5829
+t=26: Selected seed 195 with value = 0.5829
+Query 1/1: Action query time = 4.761 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6677
+t=42: Selected seed 195 with value = 0.6677
+Query 1/1: Action query time = 5.235 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8163
+t=58: Selected seed 195 with value = 0.8163
+Query 1/1: Action query time = 3.860 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9780
+t=74: Selected seed 195 with value = 0.9780
+Saved rollout MP4 at path ./rollouts/fc175full_t7_s1/2026_08_03-15_19_32--with_future_img--episode=6--success=True--task=turn_on_the_stove.mp4
+Success: True
+# episodes completed so far: 6
+# successes: 6 (100.0%)
+
+Task: turn on the stove
+Starting episode 7...
+Query 1/1: Action query time = 4.020 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4824
+t=10: Selected seed 195 with value = 0.4824
+Query 1/1: Action query time = 4.938 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5720
+t=26: Selected seed 195 with value = 0.5720
+Query 1/1: Action query time = 4.902 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6738
+t=42: Selected seed 195 with value = 0.6738
+Query 1/1: Action query time = 4.789 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7593
+t=58: Selected seed 195 with value = 0.7593
+Query 1/1: Action query time = 4.417 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8806
+t=74: Selected seed 195 with value = 0.8806
+Query 1/1: Action query time = 4.590 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/fc175full_t7_s1/2026_08_03-15_19_32--with_future_img--episode=7--success=True--task=turn_on_the_stove.mp4
+Success: True
+# episodes completed so far: 7
+# successes: 7 (100.0%)
+
+Task: turn on the stove
+Starting episode 8...
+Query 1/1: Action query time = 2.740 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5147
+t=10: Selected seed 195 with value = 0.5147
+Query 1/1: Action query time = 4.553 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5929
+t=26: Selected seed 195 with value = 0.5929
+Query 1/1: Action query time = 4.748 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6597
+t=42: Selected seed 195 with value = 0.6597
+Query 1/1: Action query time = 4.929 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7697
+t=58: Selected seed 195 with value = 0.7697
+Query 1/1: Action query time = 5.301 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9431
+t=74: Selected seed 195 with value = 0.9431
+Saved rollout MP4 at path ./rollouts/fc175full_t7_s1/2026_08_03-15_19_32--with_future_img--episode=8--success=True--task=turn_on_the_stove.mp4
+Success: True
+# episodes completed so far: 8
+# successes: 8 (100.0%)
+
+Task: turn on the stove
+Starting episode 9...
+Query 1/1: Action query time = 4.519 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5033
+t=10: Selected seed 195 with value = 0.5033
+Query 1/1: Action query time = 3.539 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5770
+t=26: Selected seed 195 with value = 0.5770
+Query 1/1: Action query time = 4.813 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6651
+t=42: Selected seed 195 with value = 0.6651
+Query 1/1: Action query time = 5.189 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7748
+t=58: Selected seed 195 with value = 0.7748
+Query 1/1: Action query time = 3.970 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9584
+t=74: Selected seed 195 with value = 0.9584
+Saved rollout MP4 at path ./rollouts/fc175full_t7_s1/2026_08_03-15_19_32--with_future_img--episode=9--success=True--task=turn_on_the_stove.mp4
+Success: True
+# episodes completed so far: 9
+# successes: 9 (100.0%)
+
+Task: turn on the stove
+Starting episode 10...
+Query 1/1: Action query time = 4.933 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4623
+t=10: Selected seed 195 with value = 0.4623
+Query 1/1: Action query time = 4.754 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5568
+t=26: Selected seed 195 with value = 0.5568
+Query 1/1: Action query time = 4.267 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6684
+t=42: Selected seed 195 with value = 0.6684
+Query 1/1: Action query time = 4.219 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7613
+t=58: Selected seed 195 with value = 0.7613
+Query 1/1: Action query time = 4.951 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9090
+t=74: Selected seed 195 with value = 0.9090
+Saved rollout MP4 at path ./rollouts/fc175full_t7_s1/2026_08_03-15_19_32--with_future_img--episode=10--success=True--task=turn_on_the_stove.mp4
+Success: True
+# episodes completed so far: 10
+# successes: 10 (100.0%)
+
+Task: turn on the stove
+Starting episode 11...
+Query 1/1: Action query time = 4.208 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4586
+t=10: Selected seed 195 with value = 0.4586
+Query 1/1: Action query time = 4.034 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5561
+t=26: Selected seed 195 with value = 0.5561
+Query 1/1: Action query time = 5.024 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6378
+t=42: Selected seed 195 with value = 0.6378
+Query 1/1: Action query time = 3.645 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7416
+t=58: Selected seed 195 with value = 0.7416
+Query 1/1: Action query time = 5.324 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8075
+t=74: Selected seed 195 with value = 0.8075
+Query 1/1: Action query time = 3.781 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9412
+t=90: Selected seed 195 with value = 0.9412
+Saved rollout MP4 at path ./rollouts/fc175full_t7_s1/2026_08_03-15_19_32--with_future_img--episode=11--success=True--task=turn_on_the_stove.mp4
+Success: True
+# episodes completed so far: 11
+# successes: 11 (100.0%)
+
+Task: turn on the stove
+Starting episode 12...
+Query 1/1: Action query time = 4.640 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4700
+t=10: Selected seed 195 with value = 0.4700
+Query 1/1: Action query time = 4.432 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5570
+t=26: Selected seed 195 with value = 0.5570
+Query 1/1: Action query time = 3.896 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6550
+t=42: Selected seed 195 with value = 0.6550
+Query 1/1: Action query time = 4.605 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7632
+t=58: Selected seed 195 with value = 0.7632
+Query 1/1: Action query time = 3.816 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8338
+t=74: Selected seed 195 with value = 0.8338
+Query 1/1: Action query time = 2.921 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/fc175full_t7_s1/2026_08_03-15_19_32--with_future_img--episode=12--success=True--task=turn_on_the_stove.mp4
+Success: True
+# episodes completed so far: 12
+# successes: 12 (100.0%)
+
+Task: turn on the stove
+Starting episode 13...
+Query 1/1: Action query time = 3.940 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4415
+t=10: Selected seed 195 with value = 0.4415
+Query 1/1: Action query time = 3.974 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5430
+t=26: Selected seed 195 with value = 0.5430
+Query 1/1: Action query time = 4.502 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6265
+t=42: Selected seed 195 with value = 0.6265
+Query 1/1: Action query time = 3.354 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7470
+t=58: Selected seed 195 with value = 0.7470
+Query 1/1: Action query time = 1.997 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8508
+t=74: Selected seed 195 with value = 0.8508
+Query 1/1: Action query time = 3.839 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9788
+t=90: Selected seed 195 with value = 0.9788
+Saved rollout MP4 at path ./rollouts/fc175full_t7_s1/2026_08_03-15_19_32--with_future_img--episode=13--success=True--task=turn_on_the_stove.mp4
+Success: True
+# episodes completed so far: 13
+# successes: 13 (100.0%)
+Current task success rate: 1.0
+Current total success rate: 1.0
+Final results:
+Total episodes: 13
+Total successes: 13
+Overall success rate: 1.0000 (100.0%)
diff --git a/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_03-15_54_02--v2i175_t1_s1.txt b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_03-15_54_02--v2i175_t1_s1.txt
new file mode 100644
index 0000000000000000000000000000000000000000..747b2061ef569816b40f974fb7be3dc43c857578
--- /dev/null
+++ b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_03-15_54_02--v2i175_t1_s1.txt
@@ -0,0 +1,571 @@
+Eval config: PolicyEvalConfig(suite='libero', model_family='cosmos', config='cosmos_predict2_2b_480p_libero_cl_stage_inference_only', ckpt_path='/home/azureuser/REGEN-main/new_task7/cosmos_policy/cosmos_v2_finetune/cosmos_predict2_2b_480p_libero_goal_task7_forget_cl_v2_from350_2gpu/checkpoints/iter_000000175/model', planning_model_config_name='', planning_model_ckpt_path='', config_file='cosmos_policy/config/config.py', packnet_mask_path='', packnet_first_cl_libero_task=6, use_third_person_image=True, num_third_person_images=1, use_wrist_image=True, num_wrist_images=1, use_proprio=True, flip_images=True, use_variance_scale=False, use_jpeg_compression=True, ar_future_prediction=False, ar_value_prediction=False, ar_qvalue_prediction=False, num_denoising_steps_action=5, num_denoising_steps_future_state=1, num_denoising_steps_value=1, unnormalize_actions=True, normalize_proprio=True, dataset_stats_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/libero_goal_regen/dataset_statistics.json', t5_text_embeddings_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/t5_embeddings.pkl', trained_with_image_aug=True, chunk_size=16, num_open_loop_steps=16, deterministic=True, deterministic_reset=False, deterministic_reset_seed=None, use_ensemble_future_state_predictions=False, num_future_state_predictions_in_ensemble=3, future_state_ensemble_aggregation_scheme='average', use_ensemble_value_predictions=False, num_value_predictions_in_ensemble=5, value_ensemble_aggregation_scheme='average', search_depth=1, mask_current_state_action_for_value_prediction=False, mask_future_state_for_qvalue_prediction=False, num_queries_best_of_n=1, use_parallel_inference=False, available_gpus='0', parallel_timeout=15, parallel_tasks_across_gpus=False, task_suite_name='libero_goal', num_trials_per_task=50, task_ids_to_run='1', initial_states_path='DEFAULT', env_img_res=256, local_log_dir='/home/azureuser/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal', run_id_note='v2i175_t1_s1', use_wandb=False, wandb_entity='YOUR_ENTITY', wandb_project='YOUR_PROJECT', seed=195, randomize_seed=False, data_collection=False, jpeg_compress=True, reward_stop_threshold=None, reward_stop_consecutive_steps=3, use_gpt_reward=False, gpt_reward_model='gpt-5.4-mini', gpt_reward_stop_threshold=4, gpt_reward_timeout_s=30.0, save_rollout_video=False, eval_hdf5_path='', eval_hdf5_demo_key='demo_0', data_gen_demo_ids='', eval_episode_ids='1,5,9,13,17,21,25,29,33,37,41,45,49', dump_final_states_path='', replay_actions=False, replay_action_path_dir='', replay_hdf5_path='', data_generation=False, max_generation_steps=200, disable_value_stop=False)
+Using serial inference (parallel inference disabled)
+Task suite: libero_goal
+Number of tasks: 10
+Running only task IDs: [1]
+Using default initial states
+
+Task: put the bowl on the stove
+Starting episode 1...
+Query 1/1: Action query time = 2.530 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5709
+t=10: Selected seed 195 with value = 0.5709
+Query 1/1: Action query time = 3.570 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6582
+t=26: Selected seed 195 with value = 0.6582
+Query 1/1: Action query time = 5.139 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7377
+t=42: Selected seed 195 with value = 0.7377
+Query 1/1: Action query time = 4.773 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8757
+t=58: Selected seed 195 with value = 0.8757
+Query 1/1: Action query time = 4.013 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9959
+t=74: Selected seed 195 with value = 0.9959
+Query 1/1: Action query time = 5.205 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.776 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9909
+t=106: Selected seed 195 with value = 0.9909
+Query 1/1: Action query time = 3.949 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9929
+t=122: Selected seed 195 with value = 0.9929
+Query 1/1: Action query time = 4.817 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=138: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 3.543 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9958
+t=154: Selected seed 195 with value = 0.9958
+Query 1/1: Action query time = 3.369 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9925
+t=170: Selected seed 195 with value = 0.9925
+Query 1/1: Action query time = 4.444 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9913
+t=186: Selected seed 195 with value = 0.9913
+Query 1/1: Action query time = 4.902 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9624
+t=202: Selected seed 195 with value = 0.9624
+Query 1/1: Action query time = 5.048 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9688
+t=218: Selected seed 195 with value = 0.9688
+Query 1/1: Action query time = 4.658 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9781
+t=234: Selected seed 195 with value = 0.9781
+Query 1/1: Action query time = 5.058 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9165
+t=250: Selected seed 195 with value = 0.9165
+Query 1/1: Action query time = 4.229 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9072
+t=266: Selected seed 195 with value = 0.9072
+Query 1/1: Action query time = 4.934 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9567
+t=282: Selected seed 195 with value = 0.9567
+Query 1/1: Action query time = 5.347 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9446
+t=298: Selected seed 195 with value = 0.9446
+Saved rollout MP4 at path ./rollouts/v2i175_t1_s1/2026_08_03-15_54_02--with_future_img--episode=1--success=False--task=put_the_bowl_on_the_stove.mp4
+Success: False
+# episodes completed so far: 1
+# successes: 0 (0.0%)
+
+Task: put the bowl on the stove
+Starting episode 2...
+Query 1/1: Action query time = 4.177 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6211
+t=10: Selected seed 195 with value = 0.6211
+Query 1/1: Action query time = 3.646 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7118
+t=26: Selected seed 195 with value = 0.7118
+Query 1/1: Action query time = 4.654 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8010
+t=42: Selected seed 195 with value = 0.8010
+Query 1/1: Action query time = 5.322 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9089
+t=58: Selected seed 195 with value = 0.9089
+Query 1/1: Action query time = 5.665 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9954
+t=74: Selected seed 195 with value = 0.9954
+Query 1/1: Action query time = 4.925 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/v2i175_t1_s1/2026_08_03-15_54_02--with_future_img--episode=2--success=True--task=put_the_bowl_on_the_stove.mp4
+Success: True
+# episodes completed so far: 2
+# successes: 1 (50.0%)
+
+Task: put the bowl on the stove
+Starting episode 3...
+Query 1/1: Action query time = 3.461 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5751
+t=10: Selected seed 195 with value = 0.5751
+Query 1/1: Action query time = 3.440 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7355
+t=26: Selected seed 195 with value = 0.7355
+Query 1/1: Action query time = 4.150 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7868
+t=42: Selected seed 195 with value = 0.7868
+Query 1/1: Action query time = 5.404 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8937
+t=58: Selected seed 195 with value = 0.8937
+Query 1/1: Action query time = 3.995 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=74: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.956 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/v2i175_t1_s1/2026_08_03-15_54_02--with_future_img--episode=3--success=True--task=put_the_bowl_on_the_stove.mp4
+Success: True
+# episodes completed so far: 3
+# successes: 2 (66.7%)
+
+Task: put the bowl on the stove
+Starting episode 4...
+Query 1/1: Action query time = 5.146 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5715
+t=10: Selected seed 195 with value = 0.5715
+Query 1/1: Action query time = 5.440 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6786
+t=26: Selected seed 195 with value = 0.6786
+Query 1/1: Action query time = 4.504 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7747
+t=42: Selected seed 195 with value = 0.7747
+Query 1/1: Action query time = 4.422 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8560
+t=58: Selected seed 195 with value = 0.8560
+Query 1/1: Action query time = 4.806 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9797
+t=74: Selected seed 195 with value = 0.9797
+Query 1/1: Action query time = 3.998 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9322
+t=90: Selected seed 195 with value = 0.9322
+Query 1/1: Action query time = 4.189 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9714
+t=106: Selected seed 195 with value = 0.9714
+Query 1/1: Action query time = 3.677 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9238
+t=122: Selected seed 195 with value = 0.9238
+Query 1/1: Action query time = 5.079 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9020
+t=138: Selected seed 195 with value = 0.9020
+Query 1/1: Action query time = 5.324 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8893
+t=154: Selected seed 195 with value = 0.8893
+Query 1/1: Action query time = 4.848 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9081
+t=170: Selected seed 195 with value = 0.9081
+Query 1/1: Action query time = 5.491 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9222
+t=186: Selected seed 195 with value = 0.9222
+Query 1/1: Action query time = 3.961 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9670
+t=202: Selected seed 195 with value = 0.9670
+Query 1/1: Action query time = 3.907 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9639
+t=218: Selected seed 195 with value = 0.9639
+Query 1/1: Action query time = 3.101 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9781
+t=234: Selected seed 195 with value = 0.9781
+Query 1/1: Action query time = 4.315 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9881
+t=250: Selected seed 195 with value = 0.9881
+Query 1/1: Action query time = 3.990 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9798
+t=266: Selected seed 195 with value = 0.9798
+Query 1/1: Action query time = 5.328 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9850
+t=282: Selected seed 195 with value = 0.9850
+Query 1/1: Action query time = 5.975 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9810
+t=298: Selected seed 195 with value = 0.9810
+Saved rollout MP4 at path ./rollouts/v2i175_t1_s1/2026_08_03-15_54_02--with_future_img--episode=4--success=False--task=put_the_bowl_on_the_stove.mp4
+Success: False
+# episodes completed so far: 4
+# successes: 2 (50.0%)
+
+Task: put the bowl on the stove
+Starting episode 5...
+Query 1/1: Action query time = 4.101 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5960
+t=10: Selected seed 195 with value = 0.5960
+Query 1/1: Action query time = 5.193 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7105
+t=26: Selected seed 195 with value = 0.7105
+Query 1/1: Action query time = 5.273 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7566
+t=42: Selected seed 195 with value = 0.7566
+Query 1/1: Action query time = 5.088 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9009
+t=58: Selected seed 195 with value = 0.9009
+Query 1/1: Action query time = 5.032 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=74: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 3.149 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/v2i175_t1_s1/2026_08_03-15_54_02--with_future_img--episode=5--success=True--task=put_the_bowl_on_the_stove.mp4
+Success: True
+# episodes completed so far: 5
+# successes: 3 (60.0%)
+
+Task: put the bowl on the stove
+Starting episode 6...
+Query 1/1: Action query time = 3.878 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6033
+t=10: Selected seed 195 with value = 0.6033
+Query 1/1: Action query time = 5.283 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6531
+t=26: Selected seed 195 with value = 0.6531
+Query 1/1: Action query time = 4.360 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7497
+t=42: Selected seed 195 with value = 0.7497
+Query 1/1: Action query time = 3.600 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8533
+t=58: Selected seed 195 with value = 0.8533
+Query 1/1: Action query time = 4.254 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9963
+t=74: Selected seed 195 with value = 0.9963
+Query 1/1: Action query time = 4.802 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/v2i175_t1_s1/2026_08_03-15_54_02--with_future_img--episode=6--success=True--task=put_the_bowl_on_the_stove.mp4
+Success: True
+# episodes completed so far: 6
+# successes: 4 (66.7%)
+
+Task: put the bowl on the stove
+Starting episode 7...
+Query 1/1: Action query time = 4.263 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6057
+t=10: Selected seed 195 with value = 0.6057
+Query 1/1: Action query time = 5.164 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7070
+t=26: Selected seed 195 with value = 0.7070
+Query 1/1: Action query time = 5.238 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7566
+t=42: Selected seed 195 with value = 0.7566
+Query 1/1: Action query time = 4.283 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8759
+t=58: Selected seed 195 with value = 0.8759
+Query 1/1: Action query time = 5.157 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9935
+t=74: Selected seed 195 with value = 0.9935
+Query 1/1: Action query time = 3.873 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/v2i175_t1_s1/2026_08_03-15_54_02--with_future_img--episode=7--success=True--task=put_the_bowl_on_the_stove.mp4
+Success: True
+# episodes completed so far: 7
+# successes: 5 (71.4%)
+
+Task: put the bowl on the stove
+Starting episode 8...
+Query 1/1: Action query time = 3.830 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6254
+t=10: Selected seed 195 with value = 0.6254
+Query 1/1: Action query time = 5.108 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6694
+t=26: Selected seed 195 with value = 0.6694
+Query 1/1: Action query time = 4.102 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8129
+t=42: Selected seed 195 with value = 0.8129
+Query 1/1: Action query time = 5.116 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9326
+t=58: Selected seed 195 with value = 0.9326
+Query 1/1: Action query time = 5.245 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9969
+t=74: Selected seed 195 with value = 0.9969
+Query 1/1: Action query time = 3.242 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/v2i175_t1_s1/2026_08_03-15_54_02--with_future_img--episode=8--success=True--task=put_the_bowl_on_the_stove.mp4
+Success: True
+# episodes completed so far: 8
+# successes: 6 (75.0%)
+
+Task: put the bowl on the stove
+Starting episode 9...
+Query 1/1: Action query time = 3.285 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5446
+t=10: Selected seed 195 with value = 0.5446
+Query 1/1: Action query time = 1.704 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6692
+t=26: Selected seed 195 with value = 0.6692
+Query 1/1: Action query time = 3.606 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7695
+t=42: Selected seed 195 with value = 0.7695
+Query 1/1: Action query time = 3.712 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8882
+t=58: Selected seed 195 with value = 0.8882
+Query 1/1: Action query time = 5.315 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9484
+t=74: Selected seed 195 with value = 0.9484
+Query 1/1: Action query time = 4.194 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/v2i175_t1_s1/2026_08_03-15_54_02--with_future_img--episode=9--success=True--task=put_the_bowl_on_the_stove.mp4
+Success: True
+# episodes completed so far: 9
+# successes: 7 (77.8%)
+
+Task: put the bowl on the stove
+Starting episode 10...
+Query 1/1: Action query time = 4.563 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5649
+t=10: Selected seed 195 with value = 0.5649
+Query 1/1: Action query time = 3.224 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6553
+t=26: Selected seed 195 with value = 0.6553
+Query 1/1: Action query time = 3.203 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7884
+t=42: Selected seed 195 with value = 0.7884
+Query 1/1: Action query time = 3.308 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9082
+t=58: Selected seed 195 with value = 0.9082
+Query 1/1: Action query time = 3.644 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9975
+t=74: Selected seed 195 with value = 0.9975
+Query 1/1: Action query time = 4.272 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/v2i175_t1_s1/2026_08_03-15_54_02--with_future_img--episode=10--success=True--task=put_the_bowl_on_the_stove.mp4
+Success: True
+# episodes completed so far: 10
+# successes: 8 (80.0%)
+
+Task: put the bowl on the stove
+Starting episode 11...
+Query 1/1: Action query time = 3.848 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5686
+t=10: Selected seed 195 with value = 0.5686
+Query 1/1: Action query time = 3.568 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6260
+t=26: Selected seed 195 with value = 0.6260
+Query 1/1: Action query time = 2.702 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7515
+t=42: Selected seed 195 with value = 0.7515
+Query 1/1: Action query time = 4.217 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8239
+t=58: Selected seed 195 with value = 0.8239
+Query 1/1: Action query time = 4.127 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9543
+t=74: Selected seed 195 with value = 0.9543
+Query 1/1: Action query time = 4.154 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 3.694 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=106: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 3.876 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=122: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 3.615 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8649
+t=138: Selected seed 195 with value = 0.8649
+Query 1/1: Action query time = 4.648 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=154: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 2.483 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=170: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 2.908 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8543
+t=186: Selected seed 195 with value = 0.8543
+Query 1/1: Action query time = 3.524 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9646
+t=202: Selected seed 195 with value = 0.9646
+Query 1/1: Action query time = 3.375 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9913
+t=218: Selected seed 195 with value = 0.9913
+Query 1/1: Action query time = 3.421 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9891
+t=234: Selected seed 195 with value = 0.9891
+Query 1/1: Action query time = 3.453 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9949
+t=250: Selected seed 195 with value = 0.9949
+Query 1/1: Action query time = 2.738 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9831
+t=266: Selected seed 195 with value = 0.9831
+Query 1/1: Action query time = 1.941 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9195
+t=282: Selected seed 195 with value = 0.9195
+Query 1/1: Action query time = 2.705 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9715
+t=298: Selected seed 195 with value = 0.9715
+Saved rollout MP4 at path ./rollouts/v2i175_t1_s1/2026_08_03-15_54_02--with_future_img--episode=11--success=False--task=put_the_bowl_on_the_stove.mp4
+Success: False
+# episodes completed so far: 11
+# successes: 8 (72.7%)
+
+Task: put the bowl on the stove
+Starting episode 12...
+Query 1/1: Action query time = 3.302 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5850
+t=10: Selected seed 195 with value = 0.5850
+Query 1/1: Action query time = 2.681 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7386
+t=26: Selected seed 195 with value = 0.7386
+Query 1/1: Action query time = 1.944 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7689
+t=42: Selected seed 195 with value = 0.7689
+Query 1/1: Action query time = 1.703 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8683
+t=58: Selected seed 195 with value = 0.8683
+Query 1/1: Action query time = 2.078 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9915
+t=74: Selected seed 195 with value = 0.9915
+Query 1/1: Action query time = 2.532 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9996
+t=90: Selected seed 195 with value = 0.9996
+Saved rollout MP4 at path ./rollouts/v2i175_t1_s1/2026_08_03-15_54_02--with_future_img--episode=12--success=True--task=put_the_bowl_on_the_stove.mp4
+Success: True
+# episodes completed so far: 12
+# successes: 9 (75.0%)
+
+Task: put the bowl on the stove
+Starting episode 13...
+Query 1/1: Action query time = 1.541 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6175
+t=10: Selected seed 195 with value = 0.6175
+Query 1/1: Action query time = 1.585 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7135
+t=26: Selected seed 195 with value = 0.7135
+Query 1/1: Action query time = 0.959 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8160
+t=42: Selected seed 195 with value = 0.8160
+Query 1/1: Action query time = 0.986 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9513
+t=58: Selected seed 195 with value = 0.9513
+Query 1/1: Action query time = 1.147 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=74: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.960 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/v2i175_t1_s1/2026_08_03-15_54_02--with_future_img--episode=13--success=True--task=put_the_bowl_on_the_stove.mp4
+Success: True
+# episodes completed so far: 13
+# successes: 10 (76.9%)
+Current task success rate: 0.7692307692307693
+Current total success rate: 0.7692307692307693
+Final results:
+Total episodes: 13
+Total successes: 10
+Overall success rate: 0.7692 (76.9%)
diff --git a/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_03-15_54_03--v2i175_t1_s3.txt b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_03-15_54_03--v2i175_t1_s3.txt
new file mode 100644
index 0000000000000000000000000000000000000000..f4c41d7d6ccaf6ba21974d067810031ed396553b
--- /dev/null
+++ b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_03-15_54_03--v2i175_t1_s3.txt
@@ -0,0 +1,384 @@
+Eval config: PolicyEvalConfig(suite='libero', model_family='cosmos', config='cosmos_predict2_2b_480p_libero_cl_stage_inference_only', ckpt_path='/home/azureuser/REGEN-main/new_task7/cosmos_policy/cosmos_v2_finetune/cosmos_predict2_2b_480p_libero_goal_task7_forget_cl_v2_from350_2gpu/checkpoints/iter_000000175/model', planning_model_config_name='', planning_model_ckpt_path='', config_file='cosmos_policy/config/config.py', packnet_mask_path='', packnet_first_cl_libero_task=6, use_third_person_image=True, num_third_person_images=1, use_wrist_image=True, num_wrist_images=1, use_proprio=True, flip_images=True, use_variance_scale=False, use_jpeg_compression=True, ar_future_prediction=False, ar_value_prediction=False, ar_qvalue_prediction=False, num_denoising_steps_action=5, num_denoising_steps_future_state=1, num_denoising_steps_value=1, unnormalize_actions=True, normalize_proprio=True, dataset_stats_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/libero_goal_regen/dataset_statistics.json', t5_text_embeddings_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/t5_embeddings.pkl', trained_with_image_aug=True, chunk_size=16, num_open_loop_steps=16, deterministic=True, deterministic_reset=False, deterministic_reset_seed=None, use_ensemble_future_state_predictions=False, num_future_state_predictions_in_ensemble=3, future_state_ensemble_aggregation_scheme='average', use_ensemble_value_predictions=False, num_value_predictions_in_ensemble=5, value_ensemble_aggregation_scheme='average', search_depth=1, mask_current_state_action_for_value_prediction=False, mask_future_state_for_qvalue_prediction=False, num_queries_best_of_n=1, use_parallel_inference=False, available_gpus='0', parallel_timeout=15, parallel_tasks_across_gpus=False, task_suite_name='libero_goal', num_trials_per_task=50, task_ids_to_run='1', initial_states_path='DEFAULT', env_img_res=256, local_log_dir='/home/azureuser/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal', run_id_note='v2i175_t1_s3', use_wandb=False, wandb_entity='YOUR_ENTITY', wandb_project='YOUR_PROJECT', seed=195, randomize_seed=False, data_collection=False, jpeg_compress=True, reward_stop_threshold=None, reward_stop_consecutive_steps=3, use_gpt_reward=False, gpt_reward_model='gpt-5.4-mini', gpt_reward_stop_threshold=4, gpt_reward_timeout_s=30.0, save_rollout_video=False, eval_hdf5_path='', eval_hdf5_demo_key='demo_0', data_gen_demo_ids='', eval_episode_ids='3,7,11,15,19,23,27,31,35,39,43,47', dump_final_states_path='', replay_actions=False, replay_action_path_dir='', replay_hdf5_path='', data_generation=False, max_generation_steps=200, disable_value_stop=False)
+Using serial inference (parallel inference disabled)
+Task suite: libero_goal
+Number of tasks: 10
+Running only task IDs: [1]
+Using default initial states
+
+Task: put the bowl on the stove
+Starting episode 1...
+Query 1/1: Action query time = 5.061 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5566
+t=10: Selected seed 195 with value = 0.5566
+Query 1/1: Action query time = 5.278 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6669
+t=26: Selected seed 195 with value = 0.6669
+Query 1/1: Action query time = 5.451 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7794
+t=42: Selected seed 195 with value = 0.7794
+Query 1/1: Action query time = 4.224 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9350
+t=58: Selected seed 195 with value = 0.9350
+Query 1/1: Action query time = 4.648 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=74: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.333 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/v2i175_t1_s3/2026_08_03-15_54_03--with_future_img--episode=1--success=True--task=put_the_bowl_on_the_stove.mp4
+Success: True
+# episodes completed so far: 1
+# successes: 1 (100.0%)
+
+Task: put the bowl on the stove
+Starting episode 2...
+Query 1/1: Action query time = 5.455 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5523
+t=10: Selected seed 195 with value = 0.5523
+Query 1/1: Action query time = 4.696 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6372
+t=26: Selected seed 195 with value = 0.6372
+Query 1/1: Action query time = 4.543 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7660
+t=42: Selected seed 195 with value = 0.7660
+Query 1/1: Action query time = 5.342 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8529
+t=58: Selected seed 195 with value = 0.8529
+Query 1/1: Action query time = 5.060 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=74: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 3.518 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/v2i175_t1_s3/2026_08_03-15_54_03--with_future_img--episode=2--success=True--task=put_the_bowl_on_the_stove.mp4
+Success: True
+# episodes completed so far: 2
+# successes: 2 (100.0%)
+
+Task: put the bowl on the stove
+Starting episode 3...
+Query 1/1: Action query time = 5.087 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5940
+t=10: Selected seed 195 with value = 0.5940
+Query 1/1: Action query time = 5.557 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7392
+t=26: Selected seed 195 with value = 0.7392
+Query 1/1: Action query time = 4.250 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8045
+t=42: Selected seed 195 with value = 0.8045
+Query 1/1: Action query time = 4.109 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9019
+t=58: Selected seed 195 with value = 0.9019
+Query 1/1: Action query time = 3.405 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9949
+t=74: Selected seed 195 with value = 0.9949
+Query 1/1: Action query time = 3.903 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/v2i175_t1_s3/2026_08_03-15_54_03--with_future_img--episode=3--success=True--task=put_the_bowl_on_the_stove.mp4
+Success: True
+# episodes completed so far: 3
+# successes: 3 (100.0%)
+
+Task: put the bowl on the stove
+Starting episode 4...
+Query 1/1: Action query time = 4.458 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6214
+t=10: Selected seed 195 with value = 0.6214
+Query 1/1: Action query time = 4.202 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7431
+t=26: Selected seed 195 with value = 0.7431
+Query 1/1: Action query time = 4.943 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8065
+t=42: Selected seed 195 with value = 0.8065
+Query 1/1: Action query time = 5.272 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8781
+t=58: Selected seed 195 with value = 0.8781
+Query 1/1: Action query time = 5.014 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9957
+t=74: Selected seed 195 with value = 0.9957
+Query 1/1: Action query time = 3.476 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/v2i175_t1_s3/2026_08_03-15_54_03--with_future_img--episode=4--success=True--task=put_the_bowl_on_the_stove.mp4
+Success: True
+# episodes completed so far: 4
+# successes: 4 (100.0%)
+
+Task: put the bowl on the stove
+Starting episode 5...
+Query 1/1: Action query time = 3.379 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5701
+t=10: Selected seed 195 with value = 0.5701
+Query 1/1: Action query time = 4.911 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6754
+t=26: Selected seed 195 with value = 0.6754
+Query 1/1: Action query time = 4.963 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8017
+t=42: Selected seed 195 with value = 0.8017
+Query 1/1: Action query time = 5.454 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9150
+t=58: Selected seed 195 with value = 0.9150
+Query 1/1: Action query time = 5.178 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9576
+t=74: Selected seed 195 with value = 0.9576
+Query 1/1: Action query time = 3.984 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/v2i175_t1_s3/2026_08_03-15_54_03--with_future_img--episode=5--success=True--task=put_the_bowl_on_the_stove.mp4
+Success: True
+# episodes completed so far: 5
+# successes: 5 (100.0%)
+
+Task: put the bowl on the stove
+Starting episode 6...
+Query 1/1: Action query time = 5.229 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5714
+t=10: Selected seed 195 with value = 0.5714
+Query 1/1: Action query time = 4.170 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6749
+t=26: Selected seed 195 with value = 0.6749
+Query 1/1: Action query time = 4.029 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7982
+t=42: Selected seed 195 with value = 0.7982
+Query 1/1: Action query time = 4.632 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8607
+t=58: Selected seed 195 with value = 0.8607
+Query 1/1: Action query time = 3.961 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9997
+t=74: Selected seed 195 with value = 0.9997
+Query 1/1: Action query time = 4.828 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/v2i175_t1_s3/2026_08_03-15_54_03--with_future_img--episode=6--success=True--task=put_the_bowl_on_the_stove.mp4
+Success: True
+# episodes completed so far: 6
+# successes: 6 (100.0%)
+
+Task: put the bowl on the stove
+Starting episode 7...
+Query 1/1: Action query time = 4.560 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5398
+t=10: Selected seed 195 with value = 0.5398
+Query 1/1: Action query time = 4.336 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6912
+t=26: Selected seed 195 with value = 0.6912
+Query 1/1: Action query time = 4.153 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7911
+t=42: Selected seed 195 with value = 0.7911
+Query 1/1: Action query time = 3.537 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9194
+t=58: Selected seed 195 with value = 0.9194
+Query 1/1: Action query time = 5.450 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=74: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 3.617 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/v2i175_t1_s3/2026_08_03-15_54_03--with_future_img--episode=7--success=True--task=put_the_bowl_on_the_stove.mp4
+Success: True
+# episodes completed so far: 7
+# successes: 7 (100.0%)
+
+Task: put the bowl on the stove
+Starting episode 8...
+Query 1/1: Action query time = 3.386 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5688
+t=10: Selected seed 195 with value = 0.5688
+Query 1/1: Action query time = 4.181 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6418
+t=26: Selected seed 195 with value = 0.6418
+Query 1/1: Action query time = 3.379 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7441
+t=42: Selected seed 195 with value = 0.7441
+Query 1/1: Action query time = 5.244 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8837
+t=58: Selected seed 195 with value = 0.8837
+Query 1/1: Action query time = 6.062 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9968
+t=74: Selected seed 195 with value = 0.9968
+Query 1/1: Action query time = 2.552 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/v2i175_t1_s3/2026_08_03-15_54_03--with_future_img--episode=8--success=True--task=put_the_bowl_on_the_stove.mp4
+Success: True
+# episodes completed so far: 8
+# successes: 8 (100.0%)
+
+Task: put the bowl on the stove
+Starting episode 9...
+Query 1/1: Action query time = 3.668 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5679
+t=10: Selected seed 195 with value = 0.5679
+Query 1/1: Action query time = 2.921 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7239
+t=26: Selected seed 195 with value = 0.7239
+Query 1/1: Action query time = 4.364 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7863
+t=42: Selected seed 195 with value = 0.7863
+Query 1/1: Action query time = 4.792 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8314
+t=58: Selected seed 195 with value = 0.8314
+Query 1/1: Action query time = 4.857 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9478
+t=74: Selected seed 195 with value = 0.9478
+Query 1/1: Action query time = 5.377 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/v2i175_t1_s3/2026_08_03-15_54_03--with_future_img--episode=9--success=True--task=put_the_bowl_on_the_stove.mp4
+Success: True
+# episodes completed so far: 9
+# successes: 9 (100.0%)
+
+Task: put the bowl on the stove
+Starting episode 10...
+Query 1/1: Action query time = 3.994 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5562
+t=10: Selected seed 195 with value = 0.5562
+Query 1/1: Action query time = 3.162 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6590
+t=26: Selected seed 195 with value = 0.6590
+Query 1/1: Action query time = 5.234 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7779
+t=42: Selected seed 195 with value = 0.7779
+Query 1/1: Action query time = 5.611 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9157
+t=58: Selected seed 195 with value = 0.9157
+Query 1/1: Action query time = 4.060 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=74: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 3.614 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/v2i175_t1_s3/2026_08_03-15_54_03--with_future_img--episode=10--success=True--task=put_the_bowl_on_the_stove.mp4
+Success: True
+# episodes completed so far: 10
+# successes: 10 (100.0%)
+
+Task: put the bowl on the stove
+Starting episode 11...
+Query 1/1: Action query time = 3.554 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6048
+t=10: Selected seed 195 with value = 0.6048
+Query 1/1: Action query time = 4.607 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7787
+t=26: Selected seed 195 with value = 0.7787
+Query 1/1: Action query time = 5.634 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7690
+t=42: Selected seed 195 with value = 0.7690
+Query 1/1: Action query time = 5.129 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8802
+t=58: Selected seed 195 with value = 0.8802
+Query 1/1: Action query time = 3.849 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=74: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 5.299 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/v2i175_t1_s3/2026_08_03-15_54_03--with_future_img--episode=11--success=True--task=put_the_bowl_on_the_stove.mp4
+Success: True
+# episodes completed so far: 11
+# successes: 11 (100.0%)
+
+Task: put the bowl on the stove
+Starting episode 12...
+Query 1/1: Action query time = 3.811 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5897
+t=10: Selected seed 195 with value = 0.5897
+Query 1/1: Action query time = 4.662 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7029
+t=26: Selected seed 195 with value = 0.7029
+Query 1/1: Action query time = 3.540 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7589
+t=42: Selected seed 195 with value = 0.7589
+Query 1/1: Action query time = 5.182 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9045
+t=58: Selected seed 195 with value = 0.9045
+Query 1/1: Action query time = 5.437 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9967
+t=74: Selected seed 195 with value = 0.9967
+Query 1/1: Action query time = 4.824 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/v2i175_t1_s3/2026_08_03-15_54_03--with_future_img--episode=12--success=True--task=put_the_bowl_on_the_stove.mp4
+Success: True
+# episodes completed so far: 12
+# successes: 12 (100.0%)
+Current task success rate: 1.0
+Current total success rate: 1.0
+Final results:
+Total episodes: 12
+Total successes: 12
+Overall success rate: 1.0000 (100.0%)
diff --git a/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_03-15_54_03--v2i175_t2_s0.txt b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_03-15_54_03--v2i175_t2_s0.txt
new file mode 100644
index 0000000000000000000000000000000000000000..a9f5e004a6dc4bee7797bdb6065deb564bed7b18
--- /dev/null
+++ b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_03-15_54_03--v2i175_t2_s0.txt
@@ -0,0 +1,479 @@
+Eval config: PolicyEvalConfig(suite='libero', model_family='cosmos', config='cosmos_predict2_2b_480p_libero_cl_stage_inference_only', ckpt_path='/home/azureuser/REGEN-main/new_task7/cosmos_policy/cosmos_v2_finetune/cosmos_predict2_2b_480p_libero_goal_task7_forget_cl_v2_from350_2gpu/checkpoints/iter_000000175/model', planning_model_config_name='', planning_model_ckpt_path='', config_file='cosmos_policy/config/config.py', packnet_mask_path='', packnet_first_cl_libero_task=6, use_third_person_image=True, num_third_person_images=1, use_wrist_image=True, num_wrist_images=1, use_proprio=True, flip_images=True, use_variance_scale=False, use_jpeg_compression=True, ar_future_prediction=False, ar_value_prediction=False, ar_qvalue_prediction=False, num_denoising_steps_action=5, num_denoising_steps_future_state=1, num_denoising_steps_value=1, unnormalize_actions=True, normalize_proprio=True, dataset_stats_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/libero_goal_regen/dataset_statistics.json', t5_text_embeddings_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/t5_embeddings.pkl', trained_with_image_aug=True, chunk_size=16, num_open_loop_steps=16, deterministic=True, deterministic_reset=False, deterministic_reset_seed=None, use_ensemble_future_state_predictions=False, num_future_state_predictions_in_ensemble=3, future_state_ensemble_aggregation_scheme='average', use_ensemble_value_predictions=False, num_value_predictions_in_ensemble=5, value_ensemble_aggregation_scheme='average', search_depth=1, mask_current_state_action_for_value_prediction=False, mask_future_state_for_qvalue_prediction=False, num_queries_best_of_n=1, use_parallel_inference=False, available_gpus='0', parallel_timeout=15, parallel_tasks_across_gpus=False, task_suite_name='libero_goal', num_trials_per_task=50, task_ids_to_run='2', initial_states_path='DEFAULT', env_img_res=256, local_log_dir='/home/azureuser/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal', run_id_note='v2i175_t2_s0', use_wandb=False, wandb_entity='YOUR_ENTITY', wandb_project='YOUR_PROJECT', seed=195, randomize_seed=False, data_collection=False, jpeg_compress=True, reward_stop_threshold=None, reward_stop_consecutive_steps=3, use_gpt_reward=False, gpt_reward_model='gpt-5.4-mini', gpt_reward_stop_threshold=4, gpt_reward_timeout_s=30.0, save_rollout_video=False, eval_hdf5_path='', eval_hdf5_demo_key='demo_0', data_gen_demo_ids='', eval_episode_ids='0,4,8,12,16,20,24,28,32,36,40,44,48', dump_final_states_path='', replay_actions=False, replay_action_path_dir='', replay_hdf5_path='', data_generation=False, max_generation_steps=200, disable_value_stop=False)
+Using serial inference (parallel inference disabled)
+Task suite: libero_goal
+Number of tasks: 10
+Running only task IDs: [2]
+Using default initial states
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 1...
+Query 1/1: Action query time = 6.204 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6066
+t=10: Selected seed 195 with value = 0.6066
+Query 1/1: Action query time = 4.313 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7336
+t=26: Selected seed 195 with value = 0.7336
+Query 1/1: Action query time = 4.986 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9009
+t=42: Selected seed 195 with value = 0.9009
+Query 1/1: Action query time = 5.354 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=58: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.800 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=74: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.101 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/v2i175_t2_s0/2026_08_03-15_54_03--with_future_img--episode=1--success=True--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: True
+# episodes completed so far: 1
+# successes: 1 (100.0%)
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 2...
+Query 1/1: Action query time = 4.701 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5727
+t=10: Selected seed 195 with value = 0.5727
+Query 1/1: Action query time = 5.323 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7113
+t=26: Selected seed 195 with value = 0.7113
+Query 1/1: Action query time = 5.471 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8284
+t=42: Selected seed 195 with value = 0.8284
+Query 1/1: Action query time = 3.998 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9742
+t=58: Selected seed 195 with value = 0.9742
+Query 1/1: Action query time = 3.731 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9887
+t=74: Selected seed 195 with value = 0.9887
+Query 1/1: Action query time = 4.622 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/v2i175_t2_s0/2026_08_03-15_54_03--with_future_img--episode=2--success=True--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: True
+# episodes completed so far: 2
+# successes: 2 (100.0%)
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 3...
+Query 1/1: Action query time = 4.041 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5693
+t=10: Selected seed 195 with value = 0.5693
+Query 1/1: Action query time = 5.177 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6921
+t=26: Selected seed 195 with value = 0.6921
+Query 1/1: Action query time = 5.638 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8425
+t=42: Selected seed 195 with value = 0.8425
+Query 1/1: Action query time = 4.772 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9343
+t=58: Selected seed 195 with value = 0.9343
+Query 1/1: Action query time = 4.235 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=74: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 3.447 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/v2i175_t2_s0/2026_08_03-15_54_03--with_future_img--episode=3--success=True--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: True
+# episodes completed so far: 3
+# successes: 3 (100.0%)
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 4...
+Query 1/1: Action query time = 4.097 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5498
+t=10: Selected seed 195 with value = 0.5498
+Query 1/1: Action query time = 4.807 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6452
+t=26: Selected seed 195 with value = 0.6452
+Query 1/1: Action query time = 4.294 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7611
+t=42: Selected seed 195 with value = 0.7611
+Query 1/1: Action query time = 4.510 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9037
+t=58: Selected seed 195 with value = 0.9037
+Query 1/1: Action query time = 4.241 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8958
+t=74: Selected seed 195 with value = 0.8958
+Query 1/1: Action query time = 3.866 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9060
+t=90: Selected seed 195 with value = 0.9060
+Query 1/1: Action query time = 4.327 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8931
+t=106: Selected seed 195 with value = 0.8931
+Query 1/1: Action query time = 4.172 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8603
+t=122: Selected seed 195 with value = 0.8603
+Query 1/1: Action query time = 4.772 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8277
+t=138: Selected seed 195 with value = 0.8277
+Query 1/1: Action query time = 5.837 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8093
+t=154: Selected seed 195 with value = 0.8093
+Query 1/1: Action query time = 4.710 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7858
+t=170: Selected seed 195 with value = 0.7858
+Query 1/1: Action query time = 4.601 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7861
+t=186: Selected seed 195 with value = 0.7861
+Query 1/1: Action query time = 4.455 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7901
+t=202: Selected seed 195 with value = 0.7901
+Query 1/1: Action query time = 5.037 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8119
+t=218: Selected seed 195 with value = 0.8119
+Query 1/1: Action query time = 3.865 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8123
+t=234: Selected seed 195 with value = 0.8123
+Query 1/1: Action query time = 4.407 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7881
+t=250: Selected seed 195 with value = 0.7881
+Query 1/1: Action query time = 5.065 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7575
+t=266: Selected seed 195 with value = 0.7575
+Query 1/1: Action query time = 5.112 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7430
+t=282: Selected seed 195 with value = 0.7430
+Query 1/1: Action query time = 4.811 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7333
+t=298: Selected seed 195 with value = 0.7333
+Saved rollout MP4 at path ./rollouts/v2i175_t2_s0/2026_08_03-15_54_03--with_future_img--episode=4--success=False--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: False
+# episodes completed so far: 4
+# successes: 3 (75.0%)
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 5...
+Query 1/1: Action query time = 4.478 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5720
+t=10: Selected seed 195 with value = 0.5720
+Query 1/1: Action query time = 4.756 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6487
+t=26: Selected seed 195 with value = 0.6487
+Query 1/1: Action query time = 4.224 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7432
+t=42: Selected seed 195 with value = 0.7432
+Query 1/1: Action query time = 4.426 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9016
+t=58: Selected seed 195 with value = 0.9016
+Query 1/1: Action query time = 4.765 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9993
+t=74: Selected seed 195 with value = 0.9993
+Query 1/1: Action query time = 5.831 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.944 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=106: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/v2i175_t2_s0/2026_08_03-15_54_03--with_future_img--episode=5--success=True--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: True
+# episodes completed so far: 5
+# successes: 4 (80.0%)
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 6...
+Query 1/1: Action query time = 6.313 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6106
+t=10: Selected seed 195 with value = 0.6106
+Query 1/1: Action query time = 4.454 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7186
+t=26: Selected seed 195 with value = 0.7186
+Query 1/1: Action query time = 4.598 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8631
+t=42: Selected seed 195 with value = 0.8631
+Query 1/1: Action query time = 4.774 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9848
+t=58: Selected seed 195 with value = 0.9848
+Query 1/1: Action query time = 4.883 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=74: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.631 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/v2i175_t2_s0/2026_08_03-15_54_03--with_future_img--episode=6--success=True--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: True
+# episodes completed so far: 6
+# successes: 5 (83.3%)
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 7...
+Query 1/1: Action query time = 5.129 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4921
+t=10: Selected seed 195 with value = 0.4921
+Query 1/1: Action query time = 5.148 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7023
+t=26: Selected seed 195 with value = 0.7023
+Query 1/1: Action query time = 4.363 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7766
+t=42: Selected seed 195 with value = 0.7766
+Query 1/1: Action query time = 4.449 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8972
+t=58: Selected seed 195 with value = 0.8972
+Query 1/1: Action query time = 3.775 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9791
+t=74: Selected seed 195 with value = 0.9791
+Query 1/1: Action query time = 5.037 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/v2i175_t2_s0/2026_08_03-15_54_03--with_future_img--episode=7--success=True--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: True
+# episodes completed so far: 7
+# successes: 6 (85.7%)
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 8...
+Query 1/1: Action query time = 3.942 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5696
+t=10: Selected seed 195 with value = 0.5696
+Query 1/1: Action query time = 3.927 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5111
+t=26: Selected seed 195 with value = 0.5111
+Query 1/1: Action query time = 5.514 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7089
+t=42: Selected seed 195 with value = 0.7089
+Query 1/1: Action query time = 4.351 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8703
+t=58: Selected seed 195 with value = 0.8703
+Query 1/1: Action query time = 4.490 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9728
+t=74: Selected seed 195 with value = 0.9728
+Query 1/1: Action query time = 4.695 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 3.274 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=106: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/v2i175_t2_s0/2026_08_03-15_54_03--with_future_img--episode=8--success=True--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: True
+# episodes completed so far: 8
+# successes: 7 (87.5%)
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 9...
+Query 1/1: Action query time = 5.628 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5606
+t=10: Selected seed 195 with value = 0.5606
+Query 1/1: Action query time = 5.260 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6512
+t=26: Selected seed 195 with value = 0.6512
+Query 1/1: Action query time = 4.513 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7059
+t=42: Selected seed 195 with value = 0.7059
+Query 1/1: Action query time = 4.070 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8222
+t=58: Selected seed 195 with value = 0.8222
+Query 1/1: Action query time = 5.685 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9542
+t=74: Selected seed 195 with value = 0.9542
+Query 1/1: Action query time = 4.960 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9912
+t=90: Selected seed 195 with value = 0.9912
+Query 1/1: Action query time = 5.186 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=106: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/v2i175_t2_s0/2026_08_03-15_54_03--with_future_img--episode=9--success=True--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: True
+# episodes completed so far: 9
+# successes: 8 (88.9%)
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 10...
+Query 1/1: Action query time = 5.073 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5205
+t=10: Selected seed 195 with value = 0.5205
+Query 1/1: Action query time = 6.163 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6325
+t=26: Selected seed 195 with value = 0.6325
+Query 1/1: Action query time = 3.946 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7153
+t=42: Selected seed 195 with value = 0.7153
+Query 1/1: Action query time = 3.804 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8375
+t=58: Selected seed 195 with value = 0.8375
+Query 1/1: Action query time = 3.790 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9575
+t=74: Selected seed 195 with value = 0.9575
+Query 1/1: Action query time = 4.633 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/v2i175_t2_s0/2026_08_03-15_54_03--with_future_img--episode=10--success=True--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: True
+# episodes completed so far: 10
+# successes: 9 (90.0%)
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 11...
+Query 1/1: Action query time = 5.621 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5654
+t=10: Selected seed 195 with value = 0.5654
+Query 1/1: Action query time = 4.607 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6695
+t=26: Selected seed 195 with value = 0.6695
+Query 1/1: Action query time = 5.966 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8227
+t=42: Selected seed 195 with value = 0.8227
+Query 1/1: Action query time = 4.553 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9825
+t=58: Selected seed 195 with value = 0.9825
+Query 1/1: Action query time = 4.851 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9903
+t=74: Selected seed 195 with value = 0.9903
+Query 1/1: Action query time = 5.009 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/v2i175_t2_s0/2026_08_03-15_54_03--with_future_img--episode=11--success=True--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: True
+# episodes completed so far: 11
+# successes: 10 (90.9%)
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 12...
+Query 1/1: Action query time = 5.832 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5527
+t=10: Selected seed 195 with value = 0.5527
+Query 1/1: Action query time = 4.075 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7088
+t=26: Selected seed 195 with value = 0.7088
+Query 1/1: Action query time = 3.684 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7912
+t=42: Selected seed 195 with value = 0.7912
+Query 1/1: Action query time = 4.825 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9031
+t=58: Selected seed 195 with value = 0.9031
+Query 1/1: Action query time = 4.270 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9845
+t=74: Selected seed 195 with value = 0.9845
+Query 1/1: Action query time = 3.383 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/v2i175_t2_s0/2026_08_03-15_54_03--with_future_img--episode=12--success=True--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: True
+# episodes completed so far: 12
+# successes: 11 (91.7%)
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 13...
+Query 1/1: Action query time = 5.193 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5439
+t=10: Selected seed 195 with value = 0.5439
+Query 1/1: Action query time = 4.685 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6025
+t=26: Selected seed 195 with value = 0.6025
+Query 1/1: Action query time = 4.314 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7529
+t=42: Selected seed 195 with value = 0.7529
+Query 1/1: Action query time = 4.174 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8973
+t=58: Selected seed 195 with value = 0.8973
+Query 1/1: Action query time = 4.537 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9998
+t=74: Selected seed 195 with value = 0.9998
+Query 1/1: Action query time = 4.485 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/v2i175_t2_s0/2026_08_03-15_54_03--with_future_img--episode=13--success=True--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: True
+# episodes completed so far: 13
+# successes: 12 (92.3%)
+Current task success rate: 0.9230769230769231
+Current total success rate: 0.9230769230769231
+Final results:
+Total episodes: 13
+Total successes: 12
+Overall success rate: 0.9231 (92.3%)
diff --git a/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_03-15_54_03--v2i175_t2_s1.txt b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_03-15_54_03--v2i175_t2_s1.txt
new file mode 100644
index 0000000000000000000000000000000000000000..ecbf58573c6cfb7d5d965675c5bde1e18a2b4d53
--- /dev/null
+++ b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_03-15_54_03--v2i175_t2_s1.txt
@@ -0,0 +1,471 @@
+Eval config: PolicyEvalConfig(suite='libero', model_family='cosmos', config='cosmos_predict2_2b_480p_libero_cl_stage_inference_only', ckpt_path='/home/azureuser/REGEN-main/new_task7/cosmos_policy/cosmos_v2_finetune/cosmos_predict2_2b_480p_libero_goal_task7_forget_cl_v2_from350_2gpu/checkpoints/iter_000000175/model', planning_model_config_name='', planning_model_ckpt_path='', config_file='cosmos_policy/config/config.py', packnet_mask_path='', packnet_first_cl_libero_task=6, use_third_person_image=True, num_third_person_images=1, use_wrist_image=True, num_wrist_images=1, use_proprio=True, flip_images=True, use_variance_scale=False, use_jpeg_compression=True, ar_future_prediction=False, ar_value_prediction=False, ar_qvalue_prediction=False, num_denoising_steps_action=5, num_denoising_steps_future_state=1, num_denoising_steps_value=1, unnormalize_actions=True, normalize_proprio=True, dataset_stats_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/libero_goal_regen/dataset_statistics.json', t5_text_embeddings_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/t5_embeddings.pkl', trained_with_image_aug=True, chunk_size=16, num_open_loop_steps=16, deterministic=True, deterministic_reset=False, deterministic_reset_seed=None, use_ensemble_future_state_predictions=False, num_future_state_predictions_in_ensemble=3, future_state_ensemble_aggregation_scheme='average', use_ensemble_value_predictions=False, num_value_predictions_in_ensemble=5, value_ensemble_aggregation_scheme='average', search_depth=1, mask_current_state_action_for_value_prediction=False, mask_future_state_for_qvalue_prediction=False, num_queries_best_of_n=1, use_parallel_inference=False, available_gpus='0', parallel_timeout=15, parallel_tasks_across_gpus=False, task_suite_name='libero_goal', num_trials_per_task=50, task_ids_to_run='2', initial_states_path='DEFAULT', env_img_res=256, local_log_dir='/home/azureuser/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal', run_id_note='v2i175_t2_s1', use_wandb=False, wandb_entity='YOUR_ENTITY', wandb_project='YOUR_PROJECT', seed=195, randomize_seed=False, data_collection=False, jpeg_compress=True, reward_stop_threshold=None, reward_stop_consecutive_steps=3, use_gpt_reward=False, gpt_reward_model='gpt-5.4-mini', gpt_reward_stop_threshold=4, gpt_reward_timeout_s=30.0, save_rollout_video=False, eval_hdf5_path='', eval_hdf5_demo_key='demo_0', data_gen_demo_ids='', eval_episode_ids='1,5,9,13,17,21,25,29,33,37,41,45,49', dump_final_states_path='', replay_actions=False, replay_action_path_dir='', replay_hdf5_path='', data_generation=False, max_generation_steps=200, disable_value_stop=False)
+Using serial inference (parallel inference disabled)
+Task suite: libero_goal
+Number of tasks: 10
+Running only task IDs: [2]
+Using default initial states
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 1...
+Query 1/1: Action query time = 6.289 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5714
+t=10: Selected seed 195 with value = 0.5714
+Query 1/1: Action query time = 4.391 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6152
+t=26: Selected seed 195 with value = 0.6152
+Query 1/1: Action query time = 5.090 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7494
+t=42: Selected seed 195 with value = 0.7494
+Query 1/1: Action query time = 5.267 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8822
+t=58: Selected seed 195 with value = 0.8822
+Query 1/1: Action query time = 4.927 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9798
+t=74: Selected seed 195 with value = 0.9798
+Query 1/1: Action query time = 4.224 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/v2i175_t2_s1/2026_08_03-15_54_03--with_future_img--episode=1--success=True--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: True
+# episodes completed so far: 1
+# successes: 1 (100.0%)
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 2...
+Query 1/1: Action query time = 4.651 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5940
+t=10: Selected seed 195 with value = 0.5940
+Query 1/1: Action query time = 5.193 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6916
+t=26: Selected seed 195 with value = 0.6916
+Query 1/1: Action query time = 5.497 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7899
+t=42: Selected seed 195 with value = 0.7899
+Query 1/1: Action query time = 3.973 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9663
+t=58: Selected seed 195 with value = 0.9663
+Query 1/1: Action query time = 4.143 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=74: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 5.128 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/v2i175_t2_s1/2026_08_03-15_54_03--with_future_img--episode=2--success=True--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: True
+# episodes completed so far: 2
+# successes: 2 (100.0%)
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 3...
+Query 1/1: Action query time = 5.459 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5886
+t=10: Selected seed 195 with value = 0.5886
+Query 1/1: Action query time = 4.111 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7020
+t=26: Selected seed 195 with value = 0.7020
+Query 1/1: Action query time = 5.026 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8403
+t=42: Selected seed 195 with value = 0.8403
+Query 1/1: Action query time = 5.105 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9646
+t=58: Selected seed 195 with value = 0.9646
+Query 1/1: Action query time = 4.083 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=74: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 3.863 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/v2i175_t2_s1/2026_08_03-15_54_03--with_future_img--episode=3--success=True--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: True
+# episodes completed so far: 3
+# successes: 3 (100.0%)
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 4...
+Query 1/1: Action query time = 5.412 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5886
+t=10: Selected seed 195 with value = 0.5886
+Query 1/1: Action query time = 4.030 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6583
+t=26: Selected seed 195 with value = 0.6583
+Query 1/1: Action query time = 4.068 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7548
+t=42: Selected seed 195 with value = 0.7548
+Query 1/1: Action query time = 4.343 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8744
+t=58: Selected seed 195 with value = 0.8744
+Query 1/1: Action query time = 4.802 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9707
+t=74: Selected seed 195 with value = 0.9707
+Query 1/1: Action query time = 4.858 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9956
+t=90: Selected seed 195 with value = 0.9956
+Query 1/1: Action query time = 4.637 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=106: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/v2i175_t2_s1/2026_08_03-15_54_03--with_future_img--episode=4--success=True--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: True
+# episodes completed so far: 4
+# successes: 4 (100.0%)
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 5...
+Query 1/1: Action query time = 5.235 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5701
+t=10: Selected seed 195 with value = 0.5701
+Query 1/1: Action query time = 4.523 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6306
+t=26: Selected seed 195 with value = 0.6306
+Query 1/1: Action query time = 4.597 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7536
+t=42: Selected seed 195 with value = 0.7536
+Query 1/1: Action query time = 4.200 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8663
+t=58: Selected seed 195 with value = 0.8663
+Query 1/1: Action query time = 4.477 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9879
+t=74: Selected seed 195 with value = 0.9879
+Query 1/1: Action query time = 4.585 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/v2i175_t2_s1/2026_08_03-15_54_03--with_future_img--episode=5--success=True--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: True
+# episodes completed so far: 5
+# successes: 5 (100.0%)
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 6...
+Query 1/1: Action query time = 4.820 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5927
+t=10: Selected seed 195 with value = 0.5927
+Query 1/1: Action query time = 4.584 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7234
+t=26: Selected seed 195 with value = 0.7234
+Query 1/1: Action query time = 5.058 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8365
+t=42: Selected seed 195 with value = 0.8365
+Query 1/1: Action query time = 4.640 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9779
+t=58: Selected seed 195 with value = 0.9779
+Query 1/1: Action query time = 5.076 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=74: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.111 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/v2i175_t2_s1/2026_08_03-15_54_03--with_future_img--episode=6--success=True--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: True
+# episodes completed so far: 6
+# successes: 6 (100.0%)
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 7...
+Query 1/1: Action query time = 4.358 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5820
+t=10: Selected seed 195 with value = 0.5820
+Query 1/1: Action query time = 4.131 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6759
+t=26: Selected seed 195 with value = 0.6759
+Query 1/1: Action query time = 3.939 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7766
+t=42: Selected seed 195 with value = 0.7766
+Query 1/1: Action query time = 4.917 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9137
+t=58: Selected seed 195 with value = 0.9137
+Query 1/1: Action query time = 5.868 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9815
+t=74: Selected seed 195 with value = 0.9815
+Query 1/1: Action query time = 4.783 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/v2i175_t2_s1/2026_08_03-15_54_03--with_future_img--episode=7--success=True--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: True
+# episodes completed so far: 7
+# successes: 7 (100.0%)
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 8...
+Query 1/1: Action query time = 6.357 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5893
+t=10: Selected seed 195 with value = 0.5893
+Query 1/1: Action query time = 4.575 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7052
+t=26: Selected seed 195 with value = 0.7052
+Query 1/1: Action query time = 4.431 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8148
+t=42: Selected seed 195 with value = 0.8148
+Query 1/1: Action query time = 4.783 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9240
+t=58: Selected seed 195 with value = 0.9240
+Query 1/1: Action query time = 4.905 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9945
+t=74: Selected seed 195 with value = 0.9945
+Query 1/1: Action query time = 4.718 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/v2i175_t2_s1/2026_08_03-15_54_03--with_future_img--episode=8--success=True--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: True
+# episodes completed so far: 8
+# successes: 8 (100.0%)
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 9...
+Query 1/1: Action query time = 4.987 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5525
+t=10: Selected seed 195 with value = 0.5525
+Query 1/1: Action query time = 4.948 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6809
+t=26: Selected seed 195 with value = 0.6809
+Query 1/1: Action query time = 4.361 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7744
+t=42: Selected seed 195 with value = 0.7744
+Query 1/1: Action query time = 5.255 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8732
+t=58: Selected seed 195 with value = 0.8732
+Query 1/1: Action query time = 4.647 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9697
+t=74: Selected seed 195 with value = 0.9697
+Query 1/1: Action query time = 4.383 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/v2i175_t2_s1/2026_08_03-15_54_03--with_future_img--episode=9--success=True--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: True
+# episodes completed so far: 9
+# successes: 9 (100.0%)
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 10...
+Query 1/1: Action query time = 4.995 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5259
+t=10: Selected seed 195 with value = 0.5259
+Query 1/1: Action query time = 4.722 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4919
+t=26: Selected seed 195 with value = 0.4919
+Query 1/1: Action query time = 3.675 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6795
+t=42: Selected seed 195 with value = 0.6795
+Query 1/1: Action query time = 4.835 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8294
+t=58: Selected seed 195 with value = 0.8294
+Query 1/1: Action query time = 4.684 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9097
+t=74: Selected seed 195 with value = 0.9097
+Query 1/1: Action query time = 4.454 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9858
+t=90: Selected seed 195 with value = 0.9858
+Query 1/1: Action query time = 3.656 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=106: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.621 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9878
+t=122: Selected seed 195 with value = 0.9878
+Query 1/1: Action query time = 4.473 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9867
+t=138: Selected seed 195 with value = 0.9867
+Query 1/1: Action query time = 4.749 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9943
+t=154: Selected seed 195 with value = 0.9943
+Query 1/1: Action query time = 5.409 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9979
+t=170: Selected seed 195 with value = 0.9979
+Query 1/1: Action query time = 4.594 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=186: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 5.211 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=202: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 5.013 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=218: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.092 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9964
+t=234: Selected seed 195 with value = 0.9964
+Query 1/1: Action query time = 3.473 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9886
+t=250: Selected seed 195 with value = 0.9886
+Query 1/1: Action query time = 4.224 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9757
+t=266: Selected seed 195 with value = 0.9757
+Query 1/1: Action query time = 5.931 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9578
+t=282: Selected seed 195 with value = 0.9578
+Query 1/1: Action query time = 5.631 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9176
+t=298: Selected seed 195 with value = 0.9176
+Saved rollout MP4 at path ./rollouts/v2i175_t2_s1/2026_08_03-15_54_03--with_future_img--episode=10--success=False--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: False
+# episodes completed so far: 10
+# successes: 9 (90.0%)
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 11...
+Query 1/1: Action query time = 4.064 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5855
+t=10: Selected seed 195 with value = 0.5855
+Query 1/1: Action query time = 4.327 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6998
+t=26: Selected seed 195 with value = 0.6998
+Query 1/1: Action query time = 4.165 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7864
+t=42: Selected seed 195 with value = 0.7864
+Query 1/1: Action query time = 5.430 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9200
+t=58: Selected seed 195 with value = 0.9200
+Query 1/1: Action query time = 4.506 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9895
+t=74: Selected seed 195 with value = 0.9895
+Query 1/1: Action query time = 4.770 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/v2i175_t2_s1/2026_08_03-15_54_03--with_future_img--episode=11--success=True--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: True
+# episodes completed so far: 11
+# successes: 10 (90.9%)
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 12...
+Query 1/1: Action query time = 4.688 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6037
+t=10: Selected seed 195 with value = 0.6037
+Query 1/1: Action query time = 3.812 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7210
+t=26: Selected seed 195 with value = 0.7210
+Query 1/1: Action query time = 5.105 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8190
+t=42: Selected seed 195 with value = 0.8190
+Query 1/1: Action query time = 4.081 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9388
+t=58: Selected seed 195 with value = 0.9388
+Query 1/1: Action query time = 4.285 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9991
+t=74: Selected seed 195 with value = 0.9991
+Query 1/1: Action query time = 5.030 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/v2i175_t2_s1/2026_08_03-15_54_03--with_future_img--episode=12--success=True--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: True
+# episodes completed so far: 12
+# successes: 11 (91.7%)
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 13...
+Query 1/1: Action query time = 3.720 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5552
+t=10: Selected seed 195 with value = 0.5552
+Query 1/1: Action query time = 4.490 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6400
+t=26: Selected seed 195 with value = 0.6400
+Query 1/1: Action query time = 5.225 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7717
+t=42: Selected seed 195 with value = 0.7717
+Query 1/1: Action query time = 4.709 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8669
+t=58: Selected seed 195 with value = 0.8669
+Query 1/1: Action query time = 4.947 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9691
+t=74: Selected seed 195 with value = 0.9691
+Query 1/1: Action query time = 4.908 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/v2i175_t2_s1/2026_08_03-15_54_03--with_future_img--episode=13--success=True--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: True
+# episodes completed so far: 13
+# successes: 12 (92.3%)
+Current task success rate: 0.9230769230769231
+Current total success rate: 0.9230769230769231
+Final results:
+Total episodes: 13
+Total successes: 12
+Overall success rate: 0.9231 (92.3%)
diff --git a/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_03-15_54_03--v2i175_t3_s0.txt b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_03-15_54_03--v2i175_t3_s0.txt
new file mode 100644
index 0000000000000000000000000000000000000000..83ce8b99b37d2afb2ec3b3c283950485dd66f17f
--- /dev/null
+++ b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_03-15_54_03--v2i175_t3_s0.txt
@@ -0,0 +1,755 @@
+Eval config: PolicyEvalConfig(suite='libero', model_family='cosmos', config='cosmos_predict2_2b_480p_libero_cl_stage_inference_only', ckpt_path='/home/azureuser/REGEN-main/new_task7/cosmos_policy/cosmos_v2_finetune/cosmos_predict2_2b_480p_libero_goal_task7_forget_cl_v2_from350_2gpu/checkpoints/iter_000000175/model', planning_model_config_name='', planning_model_ckpt_path='', config_file='cosmos_policy/config/config.py', packnet_mask_path='', packnet_first_cl_libero_task=6, use_third_person_image=True, num_third_person_images=1, use_wrist_image=True, num_wrist_images=1, use_proprio=True, flip_images=True, use_variance_scale=False, use_jpeg_compression=True, ar_future_prediction=False, ar_value_prediction=False, ar_qvalue_prediction=False, num_denoising_steps_action=5, num_denoising_steps_future_state=1, num_denoising_steps_value=1, unnormalize_actions=True, normalize_proprio=True, dataset_stats_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/libero_goal_regen/dataset_statistics.json', t5_text_embeddings_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/t5_embeddings.pkl', trained_with_image_aug=True, chunk_size=16, num_open_loop_steps=16, deterministic=True, deterministic_reset=False, deterministic_reset_seed=None, use_ensemble_future_state_predictions=False, num_future_state_predictions_in_ensemble=3, future_state_ensemble_aggregation_scheme='average', use_ensemble_value_predictions=False, num_value_predictions_in_ensemble=5, value_ensemble_aggregation_scheme='average', search_depth=1, mask_current_state_action_for_value_prediction=False, mask_future_state_for_qvalue_prediction=False, num_queries_best_of_n=1, use_parallel_inference=False, available_gpus='0', parallel_timeout=15, parallel_tasks_across_gpus=False, task_suite_name='libero_goal', num_trials_per_task=50, task_ids_to_run='3', initial_states_path='DEFAULT', env_img_res=256, local_log_dir='/home/azureuser/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal', run_id_note='v2i175_t3_s0', use_wandb=False, wandb_entity='YOUR_ENTITY', wandb_project='YOUR_PROJECT', seed=195, randomize_seed=False, data_collection=False, jpeg_compress=True, reward_stop_threshold=None, reward_stop_consecutive_steps=3, use_gpt_reward=False, gpt_reward_model='gpt-5.4-mini', gpt_reward_stop_threshold=4, gpt_reward_timeout_s=30.0, save_rollout_video=False, eval_hdf5_path='', eval_hdf5_demo_key='demo_0', data_gen_demo_ids='', eval_episode_ids='0,4,8,12,16,20,24,28,32,36,40,44,48', dump_final_states_path='', replay_actions=False, replay_action_path_dir='', replay_hdf5_path='', data_generation=False, max_generation_steps=200, disable_value_stop=False)
+Using serial inference (parallel inference disabled)
+Task suite: libero_goal
+Number of tasks: 10
+Running only task IDs: [3]
+Using default initial states
+
+Task: open the top drawer and put the bowl inside
+Starting episode 1...
+Query 1/1: Action query time = 4.140 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2189
+t=10: Selected seed 195 with value = 0.2189
+Query 1/1: Action query time = 5.497 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2485
+t=26: Selected seed 195 with value = 0.2485
+Query 1/1: Action query time = 5.254 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3024
+t=42: Selected seed 195 with value = 0.3024
+Query 1/1: Action query time = 4.664 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3577
+t=58: Selected seed 195 with value = 0.3577
+Query 1/1: Action query time = 5.090 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4121
+t=74: Selected seed 195 with value = 0.4121
+Query 1/1: Action query time = 4.900 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4793
+t=90: Selected seed 195 with value = 0.4793
+Query 1/1: Action query time = 4.523 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6089
+t=106: Selected seed 195 with value = 0.6089
+Query 1/1: Action query time = 3.263 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7268
+t=122: Selected seed 195 with value = 0.7268
+Query 1/1: Action query time = 4.893 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8208
+t=138: Selected seed 195 with value = 0.8208
+Query 1/1: Action query time = 4.794 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9406
+t=154: Selected seed 195 with value = 0.9406
+Query 1/1: Action query time = 5.220 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9910
+t=170: Selected seed 195 with value = 0.9910
+Saved rollout MP4 at path ./rollouts/v2i175_t3_s0/2026_08_03-15_54_03--with_future_img--episode=1--success=True--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: True
+# episodes completed so far: 1
+# successes: 1 (100.0%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 2...
+Query 1/1: Action query time = 4.053 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2274
+t=10: Selected seed 195 with value = 0.2274
+Query 1/1: Action query time = 4.584 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2596
+t=26: Selected seed 195 with value = 0.2596
+Query 1/1: Action query time = 3.545 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2904
+t=42: Selected seed 195 with value = 0.2904
+Query 1/1: Action query time = 6.032 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3347
+t=58: Selected seed 195 with value = 0.3347
+Query 1/1: Action query time = 5.213 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3845
+t=74: Selected seed 195 with value = 0.3845
+Query 1/1: Action query time = 4.942 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4514
+t=90: Selected seed 195 with value = 0.4514
+Query 1/1: Action query time = 4.838 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5359
+t=106: Selected seed 195 with value = 0.5359
+Query 1/1: Action query time = 4.085 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6015
+t=122: Selected seed 195 with value = 0.6015
+Query 1/1: Action query time = 4.538 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6837
+t=138: Selected seed 195 with value = 0.6837
+Query 1/1: Action query time = 4.202 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8383
+t=154: Selected seed 195 with value = 0.8383
+Query 1/1: Action query time = 4.854 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9739
+t=170: Selected seed 195 with value = 0.9739
+Query 1/1: Action query time = 4.166 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=186: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/v2i175_t3_s0/2026_08_03-15_54_03--with_future_img--episode=2--success=True--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: True
+# episodes completed so far: 2
+# successes: 2 (100.0%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 3...
+Query 1/1: Action query time = 4.982 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2148
+t=10: Selected seed 195 with value = 0.2148
+Query 1/1: Action query time = 4.737 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2517
+t=26: Selected seed 195 with value = 0.2517
+Query 1/1: Action query time = 4.554 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3023
+t=42: Selected seed 195 with value = 0.3023
+Query 1/1: Action query time = 4.177 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3393
+t=58: Selected seed 195 with value = 0.3393
+Query 1/1: Action query time = 4.203 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3768
+t=74: Selected seed 195 with value = 0.3768
+Query 1/1: Action query time = 5.078 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4483
+t=90: Selected seed 195 with value = 0.4483
+Query 1/1: Action query time = 4.674 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5603
+t=106: Selected seed 195 with value = 0.5603
+Query 1/1: Action query time = 4.812 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6515
+t=122: Selected seed 195 with value = 0.6515
+Query 1/1: Action query time = 4.797 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8173
+t=138: Selected seed 195 with value = 0.8173
+Query 1/1: Action query time = 4.911 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8682
+t=154: Selected seed 195 with value = 0.8682
+Query 1/1: Action query time = 3.640 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9942
+t=170: Selected seed 195 with value = 0.9942
+Query 1/1: Action query time = 4.284 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9520
+t=186: Selected seed 195 with value = 0.9520
+Query 1/1: Action query time = 5.090 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9534
+t=202: Selected seed 195 with value = 0.9534
+Query 1/1: Action query time = 5.098 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9481
+t=218: Selected seed 195 with value = 0.9481
+Query 1/1: Action query time = 4.390 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9503
+t=234: Selected seed 195 with value = 0.9503
+Query 1/1: Action query time = 4.854 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4286
+t=250: Selected seed 195 with value = 0.4286
+Query 1/1: Action query time = 3.357 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3384
+t=266: Selected seed 195 with value = 0.3384
+Query 1/1: Action query time = 4.023 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9158
+t=282: Selected seed 195 with value = 0.9158
+Query 1/1: Action query time = 3.469 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9119
+t=298: Selected seed 195 with value = 0.9119
+Saved rollout MP4 at path ./rollouts/v2i175_t3_s0/2026_08_03-15_54_03--with_future_img--episode=3--success=False--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: False
+# episodes completed so far: 3
+# successes: 2 (66.7%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 4...
+Query 1/1: Action query time = 5.938 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2317
+t=10: Selected seed 195 with value = 0.2317
+Query 1/1: Action query time = 5.053 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2450
+t=26: Selected seed 195 with value = 0.2450
+Query 1/1: Action query time = 4.767 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3013
+t=42: Selected seed 195 with value = 0.3013
+Query 1/1: Action query time = 4.369 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3309
+t=58: Selected seed 195 with value = 0.3309
+Query 1/1: Action query time = 4.616 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3910
+t=74: Selected seed 195 with value = 0.3910
+Query 1/1: Action query time = 3.867 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4544
+t=90: Selected seed 195 with value = 0.4544
+Query 1/1: Action query time = 5.484 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5603
+t=106: Selected seed 195 with value = 0.5603
+Query 1/1: Action query time = 4.987 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6348
+t=122: Selected seed 195 with value = 0.6348
+Query 1/1: Action query time = 5.232 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7652
+t=138: Selected seed 195 with value = 0.7652
+Query 1/1: Action query time = 4.163 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8958
+t=154: Selected seed 195 with value = 0.8958
+Query 1/1: Action query time = 3.502 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=170: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/v2i175_t3_s0/2026_08_03-15_54_03--with_future_img--episode=4--success=True--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: True
+# episodes completed so far: 4
+# successes: 3 (75.0%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 5...
+Query 1/1: Action query time = 5.364 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2210
+t=10: Selected seed 195 with value = 0.2210
+Query 1/1: Action query time = 4.421 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2669
+t=26: Selected seed 195 with value = 0.2669
+Query 1/1: Action query time = 4.783 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2991
+t=42: Selected seed 195 with value = 0.2991
+Query 1/1: Action query time = 3.337 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3361
+t=58: Selected seed 195 with value = 0.3361
+Query 1/1: Action query time = 5.026 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3934
+t=74: Selected seed 195 with value = 0.3934
+Query 1/1: Action query time = 3.987 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4501
+t=90: Selected seed 195 with value = 0.4501
+Query 1/1: Action query time = 4.904 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5571
+t=106: Selected seed 195 with value = 0.5571
+Query 1/1: Action query time = 3.297 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6452
+t=122: Selected seed 195 with value = 0.6452
+Query 1/1: Action query time = 4.639 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6321
+t=138: Selected seed 195 with value = 0.6321
+Query 1/1: Action query time = 4.359 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8233
+t=154: Selected seed 195 with value = 0.8233
+Query 1/1: Action query time = 4.489 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9196
+t=170: Selected seed 195 with value = 0.9196
+Query 1/1: Action query time = 4.903 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9935
+t=186: Selected seed 195 with value = 0.9935
+Saved rollout MP4 at path ./rollouts/v2i175_t3_s0/2026_08_03-15_54_03--with_future_img--episode=5--success=True--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: True
+# episodes completed so far: 5
+# successes: 4 (80.0%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 6...
+Query 1/1: Action query time = 4.913 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2231
+t=10: Selected seed 195 with value = 0.2231
+Query 1/1: Action query time = 4.459 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2634
+t=26: Selected seed 195 with value = 0.2634
+Query 1/1: Action query time = 4.773 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2878
+t=42: Selected seed 195 with value = 0.2878
+Query 1/1: Action query time = 5.034 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3310
+t=58: Selected seed 195 with value = 0.3310
+Query 1/1: Action query time = 4.537 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3917
+t=74: Selected seed 195 with value = 0.3917
+Query 1/1: Action query time = 5.084 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4594
+t=90: Selected seed 195 with value = 0.4594
+Query 1/1: Action query time = 5.229 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5474
+t=106: Selected seed 195 with value = 0.5474
+Query 1/1: Action query time = 4.622 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5795
+t=122: Selected seed 195 with value = 0.5795
+Query 1/1: Action query time = 4.832 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6829
+t=138: Selected seed 195 with value = 0.6829
+Query 1/1: Action query time = 4.387 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8028
+t=154: Selected seed 195 with value = 0.8028
+Query 1/1: Action query time = 4.465 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9399
+t=170: Selected seed 195 with value = 0.9399
+Query 1/1: Action query time = 4.617 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9942
+t=186: Selected seed 195 with value = 0.9942
+Saved rollout MP4 at path ./rollouts/v2i175_t3_s0/2026_08_03-15_54_03--with_future_img--episode=6--success=True--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: True
+# episodes completed so far: 6
+# successes: 5 (83.3%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 7...
+Query 1/1: Action query time = 3.942 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2139
+t=10: Selected seed 195 with value = 0.2139
+Query 1/1: Action query time = 3.961 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2527
+t=26: Selected seed 195 with value = 0.2527
+Query 1/1: Action query time = 4.115 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2985
+t=42: Selected seed 195 with value = 0.2985
+Query 1/1: Action query time = 4.498 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3294
+t=58: Selected seed 195 with value = 0.3294
+Query 1/1: Action query time = 5.007 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3814
+t=74: Selected seed 195 with value = 0.3814
+Query 1/1: Action query time = 4.570 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4460
+t=90: Selected seed 195 with value = 0.4460
+Query 1/1: Action query time = 5.072 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5454
+t=106: Selected seed 195 with value = 0.5454
+Query 1/1: Action query time = 4.658 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6209
+t=122: Selected seed 195 with value = 0.6209
+Query 1/1: Action query time = 5.070 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8311
+t=138: Selected seed 195 with value = 0.8311
+Query 1/1: Action query time = 4.674 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8745
+t=154: Selected seed 195 with value = 0.8745
+Query 1/1: Action query time = 4.338 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9961
+t=170: Selected seed 195 with value = 0.9961
+Query 1/1: Action query time = 3.574 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9513
+t=186: Selected seed 195 with value = 0.9513
+Query 1/1: Action query time = 4.076 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9494
+t=202: Selected seed 195 with value = 0.9494
+Query 1/1: Action query time = 5.046 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9452
+t=218: Selected seed 195 with value = 0.9452
+Query 1/1: Action query time = 4.677 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9445
+t=234: Selected seed 195 with value = 0.9445
+Query 1/1: Action query time = 4.595 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9526
+t=250: Selected seed 195 with value = 0.9526
+Query 1/1: Action query time = 4.902 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4000
+t=266: Selected seed 195 with value = 0.4000
+Query 1/1: Action query time = 4.752 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3442
+t=282: Selected seed 195 with value = 0.3442
+Query 1/1: Action query time = 4.465 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3502
+t=298: Selected seed 195 with value = 0.3502
+Saved rollout MP4 at path ./rollouts/v2i175_t3_s0/2026_08_03-15_54_03--with_future_img--episode=7--success=False--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: False
+# episodes completed so far: 7
+# successes: 5 (71.4%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 8...
+Query 1/1: Action query time = 4.357 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2414
+t=10: Selected seed 195 with value = 0.2414
+Query 1/1: Action query time = 4.058 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2421
+t=26: Selected seed 195 with value = 0.2421
+Query 1/1: Action query time = 3.273 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3072
+t=42: Selected seed 195 with value = 0.3072
+Query 1/1: Action query time = 2.884 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3582
+t=58: Selected seed 195 with value = 0.3582
+Query 1/1: Action query time = 2.263 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4195
+t=74: Selected seed 195 with value = 0.4195
+Query 1/1: Action query time = 2.625 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4866
+t=90: Selected seed 195 with value = 0.4866
+Query 1/1: Action query time = 2.923 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5959
+t=106: Selected seed 195 with value = 0.5959
+Query 1/1: Action query time = 3.298 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6416
+t=122: Selected seed 195 with value = 0.6416
+Query 1/1: Action query time = 3.641 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8115
+t=138: Selected seed 195 with value = 0.8115
+Query 1/1: Action query time = 3.301 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9642
+t=154: Selected seed 195 with value = 0.9642
+Query 1/1: Action query time = 1.875 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9916
+t=170: Selected seed 195 with value = 0.9916
+Saved rollout MP4 at path ./rollouts/v2i175_t3_s0/2026_08_03-15_54_03--with_future_img--episode=8--success=True--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: True
+# episodes completed so far: 8
+# successes: 6 (75.0%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 9...
+Query 1/1: Action query time = 2.348 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2169
+t=10: Selected seed 195 with value = 0.2169
+Query 1/1: Action query time = 3.029 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2588
+t=26: Selected seed 195 with value = 0.2588
+Query 1/1: Action query time = 3.084 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3015
+t=42: Selected seed 195 with value = 0.3015
+Query 1/1: Action query time = 2.821 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3380
+t=58: Selected seed 195 with value = 0.3380
+Query 1/1: Action query time = 2.740 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3960
+t=74: Selected seed 195 with value = 0.3960
+Query 1/1: Action query time = 3.204 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4492
+t=90: Selected seed 195 with value = 0.4492
+Query 1/1: Action query time = 2.789 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5542
+t=106: Selected seed 195 with value = 0.5542
+Query 1/1: Action query time = 3.800 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6190
+t=122: Selected seed 195 with value = 0.6190
+Query 1/1: Action query time = 3.444 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6930
+t=138: Selected seed 195 with value = 0.6930
+Query 1/1: Action query time = 3.386 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8731
+t=154: Selected seed 195 with value = 0.8731
+Query 1/1: Action query time = 2.561 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=170: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/v2i175_t3_s0/2026_08_03-15_54_03--with_future_img--episode=9--success=True--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: True
+# episodes completed so far: 9
+# successes: 7 (77.8%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 10...
+Query 1/1: Action query time = 3.140 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2071
+t=10: Selected seed 195 with value = 0.2071
+Query 1/1: Action query time = 2.805 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2357
+t=26: Selected seed 195 with value = 0.2357
+Query 1/1: Action query time = 2.876 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2008
+t=42: Selected seed 195 with value = 0.2008
+Query 1/1: Action query time = 2.727 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3431
+t=58: Selected seed 195 with value = 0.3431
+Query 1/1: Action query time = 2.333 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4027
+t=74: Selected seed 195 with value = 0.4027
+Query 1/1: Action query time = 3.050 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4544
+t=90: Selected seed 195 with value = 0.4544
+Query 1/1: Action query time = 2.352 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5894
+t=106: Selected seed 195 with value = 0.5894
+Query 1/1: Action query time = 2.518 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6637
+t=122: Selected seed 195 with value = 0.6637
+Query 1/1: Action query time = 2.295 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8217
+t=138: Selected seed 195 with value = 0.8217
+Query 1/1: Action query time = 2.336 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8982
+t=154: Selected seed 195 with value = 0.8982
+Query 1/1: Action query time = 2.279 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9980
+t=170: Selected seed 195 with value = 0.9980
+Saved rollout MP4 at path ./rollouts/v2i175_t3_s0/2026_08_03-15_54_03--with_future_img--episode=10--success=True--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: True
+# episodes completed so far: 10
+# successes: 8 (80.0%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 11...
+Query 1/1: Action query time = 2.467 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2242
+t=10: Selected seed 195 with value = 0.2242
+Query 1/1: Action query time = 2.462 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2453
+t=26: Selected seed 195 with value = 0.2453
+Query 1/1: Action query time = 2.551 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3002
+t=42: Selected seed 195 with value = 0.3002
+Query 1/1: Action query time = 2.365 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3322
+t=58: Selected seed 195 with value = 0.3322
+Query 1/1: Action query time = 2.319 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3793
+t=74: Selected seed 195 with value = 0.3793
+Query 1/1: Action query time = 2.170 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4417
+t=90: Selected seed 195 with value = 0.4417
+Query 1/1: Action query time = 1.997 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5607
+t=106: Selected seed 195 with value = 0.5607
+Query 1/1: Action query time = 2.302 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6369
+t=122: Selected seed 195 with value = 0.6369
+Query 1/1: Action query time = 2.259 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7456
+t=138: Selected seed 195 with value = 0.7456
+Query 1/1: Action query time = 2.276 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8724
+t=154: Selected seed 195 with value = 0.8724
+Query 1/1: Action query time = 2.001 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9991
+t=170: Selected seed 195 with value = 0.9991
+Query 1/1: Action query time = 1.790 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=186: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/v2i175_t3_s0/2026_08_03-15_54_03--with_future_img--episode=11--success=True--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: True
+# episodes completed so far: 11
+# successes: 9 (81.8%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 12...
+Query 1/1: Action query time = 1.603 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2281
+t=10: Selected seed 195 with value = 0.2281
+Query 1/1: Action query time = 1.722 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2322
+t=26: Selected seed 195 with value = 0.2322
+Query 1/1: Action query time = 1.450 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3047
+t=42: Selected seed 195 with value = 0.3047
+Query 1/1: Action query time = 1.206 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3496
+t=58: Selected seed 195 with value = 0.3496
+Query 1/1: Action query time = 1.230 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4042
+t=74: Selected seed 195 with value = 0.4042
+Query 1/1: Action query time = 1.238 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4516
+t=90: Selected seed 195 with value = 0.4516
+Query 1/1: Action query time = 1.273 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5733
+t=106: Selected seed 195 with value = 0.5733
+Query 1/1: Action query time = 1.249 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7132
+t=122: Selected seed 195 with value = 0.7132
+Query 1/1: Action query time = 1.170 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7873
+t=138: Selected seed 195 with value = 0.7873
+Query 1/1: Action query time = 1.196 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9277
+t=154: Selected seed 195 with value = 0.9277
+Query 1/1: Action query time = 1.183 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9928
+t=170: Selected seed 195 with value = 0.9928
+Saved rollout MP4 at path ./rollouts/v2i175_t3_s0/2026_08_03-15_54_03--with_future_img--episode=12--success=True--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: True
+# episodes completed so far: 12
+# successes: 10 (83.3%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 13...
+Query 1/1: Action query time = 0.978 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2114
+t=10: Selected seed 195 with value = 0.2114
+Query 1/1: Action query time = 0.957 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2460
+t=26: Selected seed 195 with value = 0.2460
+Query 1/1: Action query time = 1.355 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3054
+t=42: Selected seed 195 with value = 0.3054
+Query 1/1: Action query time = 1.360 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3560
+t=58: Selected seed 195 with value = 0.3560
+Query 1/1: Action query time = 1.373 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4109
+t=74: Selected seed 195 with value = 0.4109
+Query 1/1: Action query time = 1.355 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4859
+t=90: Selected seed 195 with value = 0.4859
+Query 1/1: Action query time = 1.332 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5929
+t=106: Selected seed 195 with value = 0.5929
+Query 1/1: Action query time = 1.461 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7691
+t=122: Selected seed 195 with value = 0.7691
+Query 1/1: Action query time = 1.656 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7926
+t=138: Selected seed 195 with value = 0.7926
+Query 1/1: Action query time = 1.640 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9303
+t=154: Selected seed 195 with value = 0.9303
+Query 1/1: Action query time = 1.405 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9894
+t=170: Selected seed 195 with value = 0.9894
+Saved rollout MP4 at path ./rollouts/v2i175_t3_s0/2026_08_03-15_54_03--with_future_img--episode=13--success=True--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: True
+# episodes completed so far: 13
+# successes: 11 (84.6%)
+Current task success rate: 0.8461538461538461
+Current total success rate: 0.8461538461538461
+Final results:
+Total episodes: 13
+Total successes: 11
+Overall success rate: 0.8462 (84.6%)
diff --git a/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_03-15_54_04--v2i175_t2_s2.txt b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_03-15_54_04--v2i175_t2_s2.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0cae4bff25de5b12988c4e07738ec125a4702159
--- /dev/null
+++ b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_03-15_54_04--v2i175_t2_s2.txt
@@ -0,0 +1,492 @@
+Eval config: PolicyEvalConfig(suite='libero', model_family='cosmos', config='cosmos_predict2_2b_480p_libero_cl_stage_inference_only', ckpt_path='/home/azureuser/REGEN-main/new_task7/cosmos_policy/cosmos_v2_finetune/cosmos_predict2_2b_480p_libero_goal_task7_forget_cl_v2_from350_2gpu/checkpoints/iter_000000175/model', planning_model_config_name='', planning_model_ckpt_path='', config_file='cosmos_policy/config/config.py', packnet_mask_path='', packnet_first_cl_libero_task=6, use_third_person_image=True, num_third_person_images=1, use_wrist_image=True, num_wrist_images=1, use_proprio=True, flip_images=True, use_variance_scale=False, use_jpeg_compression=True, ar_future_prediction=False, ar_value_prediction=False, ar_qvalue_prediction=False, num_denoising_steps_action=5, num_denoising_steps_future_state=1, num_denoising_steps_value=1, unnormalize_actions=True, normalize_proprio=True, dataset_stats_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/libero_goal_regen/dataset_statistics.json', t5_text_embeddings_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/t5_embeddings.pkl', trained_with_image_aug=True, chunk_size=16, num_open_loop_steps=16, deterministic=True, deterministic_reset=False, deterministic_reset_seed=None, use_ensemble_future_state_predictions=False, num_future_state_predictions_in_ensemble=3, future_state_ensemble_aggregation_scheme='average', use_ensemble_value_predictions=False, num_value_predictions_in_ensemble=5, value_ensemble_aggregation_scheme='average', search_depth=1, mask_current_state_action_for_value_prediction=False, mask_future_state_for_qvalue_prediction=False, num_queries_best_of_n=1, use_parallel_inference=False, available_gpus='0', parallel_timeout=15, parallel_tasks_across_gpus=False, task_suite_name='libero_goal', num_trials_per_task=50, task_ids_to_run='2', initial_states_path='DEFAULT', env_img_res=256, local_log_dir='/home/azureuser/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal', run_id_note='v2i175_t2_s2', use_wandb=False, wandb_entity='YOUR_ENTITY', wandb_project='YOUR_PROJECT', seed=195, randomize_seed=False, data_collection=False, jpeg_compress=True, reward_stop_threshold=None, reward_stop_consecutive_steps=3, use_gpt_reward=False, gpt_reward_model='gpt-5.4-mini', gpt_reward_stop_threshold=4, gpt_reward_timeout_s=30.0, save_rollout_video=False, eval_hdf5_path='', eval_hdf5_demo_key='demo_0', data_gen_demo_ids='', eval_episode_ids='2,6,10,14,18,22,26,30,34,38,42,46', dump_final_states_path='', replay_actions=False, replay_action_path_dir='', replay_hdf5_path='', data_generation=False, max_generation_steps=200, disable_value_stop=False)
+Using serial inference (parallel inference disabled)
+Task suite: libero_goal
+Number of tasks: 10
+Running only task IDs: [2]
+Using default initial states
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 1...
+Query 1/1: Action query time = 2.378 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5709
+t=10: Selected seed 195 with value = 0.5709
+Query 1/1: Action query time = 4.064 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6373
+t=26: Selected seed 195 with value = 0.6373
+Query 1/1: Action query time = 4.017 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7224
+t=42: Selected seed 195 with value = 0.7224
+Query 1/1: Action query time = 5.708 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8505
+t=58: Selected seed 195 with value = 0.8505
+Query 1/1: Action query time = 5.259 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9711
+t=74: Selected seed 195 with value = 0.9711
+Query 1/1: Action query time = 4.904 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/v2i175_t2_s2/2026_08_03-15_54_04--with_future_img--episode=1--success=True--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: True
+# episodes completed so far: 1
+# successes: 1 (100.0%)
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 2...
+Query 1/1: Action query time = 4.632 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5022
+t=10: Selected seed 195 with value = 0.5022
+Query 1/1: Action query time = 5.677 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6788
+t=26: Selected seed 195 with value = 0.6788
+Query 1/1: Action query time = 5.532 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7705
+t=42: Selected seed 195 with value = 0.7705
+Query 1/1: Action query time = 4.959 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8659
+t=58: Selected seed 195 with value = 0.8659
+Query 1/1: Action query time = 4.450 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9729
+t=74: Selected seed 195 with value = 0.9729
+Query 1/1: Action query time = 2.876 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/v2i175_t2_s2/2026_08_03-15_54_04--with_future_img--episode=2--success=True--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: True
+# episodes completed so far: 2
+# successes: 2 (100.0%)
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 3...
+Query 1/1: Action query time = 4.561 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5527
+t=10: Selected seed 195 with value = 0.5527
+Query 1/1: Action query time = 3.498 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6680
+t=26: Selected seed 195 with value = 0.6680
+Query 1/1: Action query time = 6.036 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7599
+t=42: Selected seed 195 with value = 0.7599
+Query 1/1: Action query time = 5.475 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8865
+t=58: Selected seed 195 with value = 0.8865
+Query 1/1: Action query time = 4.945 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9852
+t=74: Selected seed 195 with value = 0.9852
+Query 1/1: Action query time = 4.868 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/v2i175_t2_s2/2026_08_03-15_54_04--with_future_img--episode=3--success=True--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: True
+# episodes completed so far: 3
+# successes: 3 (100.0%)
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 4...
+Query 1/1: Action query time = 4.100 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5856
+t=10: Selected seed 195 with value = 0.5856
+Query 1/1: Action query time = 3.837 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7005
+t=26: Selected seed 195 with value = 0.7005
+Query 1/1: Action query time = 4.807 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8128
+t=42: Selected seed 195 with value = 0.8128
+Query 1/1: Action query time = 3.943 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9647
+t=58: Selected seed 195 with value = 0.9647
+Query 1/1: Action query time = 3.972 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=74: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.535 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/v2i175_t2_s2/2026_08_03-15_54_04--with_future_img--episode=4--success=True--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: True
+# episodes completed so far: 4
+# successes: 4 (100.0%)
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 5...
+Query 1/1: Action query time = 5.130 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5871
+t=10: Selected seed 195 with value = 0.5871
+Query 1/1: Action query time = 4.684 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6773
+t=26: Selected seed 195 with value = 0.6773
+Query 1/1: Action query time = 4.949 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8048
+t=42: Selected seed 195 with value = 0.8048
+Query 1/1: Action query time = 5.083 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9352
+t=58: Selected seed 195 with value = 0.9352
+Query 1/1: Action query time = 3.571 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=74: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.152 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/v2i175_t2_s2/2026_08_03-15_54_04--with_future_img--episode=5--success=True--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: True
+# episodes completed so far: 5
+# successes: 5 (100.0%)
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 6...
+Query 1/1: Action query time = 4.855 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5460
+t=10: Selected seed 195 with value = 0.5460
+Query 1/1: Action query time = 4.562 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6498
+t=26: Selected seed 195 with value = 0.6498
+Query 1/1: Action query time = 3.717 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7554
+t=42: Selected seed 195 with value = 0.7554
+Query 1/1: Action query time = 4.904 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9053
+t=58: Selected seed 195 with value = 0.9053
+Query 1/1: Action query time = 4.816 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9756
+t=74: Selected seed 195 with value = 0.9756
+Query 1/1: Action query time = 4.870 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/v2i175_t2_s2/2026_08_03-15_54_04--with_future_img--episode=6--success=True--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: True
+# episodes completed so far: 6
+# successes: 6 (100.0%)
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 7...
+Query 1/1: Action query time = 4.734 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5243
+t=10: Selected seed 195 with value = 0.5243
+Query 1/1: Action query time = 3.647 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5410
+t=26: Selected seed 195 with value = 0.5410
+Query 1/1: Action query time = 4.460 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7196
+t=42: Selected seed 195 with value = 0.7196
+Query 1/1: Action query time = 3.807 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8087
+t=58: Selected seed 195 with value = 0.8087
+Query 1/1: Action query time = 2.435 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9254
+t=74: Selected seed 195 with value = 0.9254
+Query 1/1: Action query time = 4.676 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9978
+t=90: Selected seed 195 with value = 0.9978
+Query 1/1: Action query time = 5.902 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=106: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.859 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=122: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.580 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9967
+t=138: Selected seed 195 with value = 0.9967
+Query 1/1: Action query time = 4.364 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9937
+t=154: Selected seed 195 with value = 0.9937
+Query 1/1: Action query time = 4.323 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9952
+t=170: Selected seed 195 with value = 0.9952
+Query 1/1: Action query time = 4.198 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9956
+t=186: Selected seed 195 with value = 0.9956
+Query 1/1: Action query time = 5.838 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9916
+t=202: Selected seed 195 with value = 0.9916
+Query 1/1: Action query time = 4.939 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9869
+t=218: Selected seed 195 with value = 0.9869
+Query 1/1: Action query time = 5.282 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9764
+t=234: Selected seed 195 with value = 0.9764
+Query 1/1: Action query time = 4.825 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9018
+t=250: Selected seed 195 with value = 0.9018
+Query 1/1: Action query time = 3.468 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8508
+t=266: Selected seed 195 with value = 0.8508
+Query 1/1: Action query time = 4.619 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8284
+t=282: Selected seed 195 with value = 0.8284
+Query 1/1: Action query time = 4.503 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8342
+t=298: Selected seed 195 with value = 0.8342
+Saved rollout MP4 at path ./rollouts/v2i175_t2_s2/2026_08_03-15_54_04--with_future_img--episode=7--success=False--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: False
+# episodes completed so far: 7
+# successes: 6 (85.7%)
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 8...
+Query 1/1: Action query time = 5.244 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5716
+t=10: Selected seed 195 with value = 0.5716
+Query 1/1: Action query time = 5.077 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6926
+t=26: Selected seed 195 with value = 0.6926
+Query 1/1: Action query time = 4.603 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8026
+t=42: Selected seed 195 with value = 0.8026
+Query 1/1: Action query time = 3.088 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9563
+t=58: Selected seed 195 with value = 0.9563
+Query 1/1: Action query time = 5.191 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=74: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.849 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/v2i175_t2_s2/2026_08_03-15_54_04--with_future_img--episode=8--success=True--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: True
+# episodes completed so far: 8
+# successes: 7 (87.5%)
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 9...
+Query 1/1: Action query time = 5.047 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5530
+t=10: Selected seed 195 with value = 0.5530
+Query 1/1: Action query time = 4.485 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6695
+t=26: Selected seed 195 with value = 0.6695
+Query 1/1: Action query time = 4.537 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7439
+t=42: Selected seed 195 with value = 0.7439
+Query 1/1: Action query time = 3.506 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8859
+t=58: Selected seed 195 with value = 0.8859
+Query 1/1: Action query time = 4.860 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9656
+t=74: Selected seed 195 with value = 0.9656
+Query 1/1: Action query time = 4.369 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/v2i175_t2_s2/2026_08_03-15_54_04--with_future_img--episode=9--success=True--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: True
+# episodes completed so far: 9
+# successes: 8 (88.9%)
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 10...
+Query 1/1: Action query time = 5.435 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5969
+t=10: Selected seed 195 with value = 0.5969
+Query 1/1: Action query time = 4.254 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6900
+t=26: Selected seed 195 with value = 0.6900
+Query 1/1: Action query time = 5.225 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8255
+t=42: Selected seed 195 with value = 0.8255
+Query 1/1: Action query time = 5.081 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9816
+t=58: Selected seed 195 with value = 0.9816
+Query 1/1: Action query time = 4.344 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=74: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 3.410 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/v2i175_t2_s2/2026_08_03-15_54_04--with_future_img--episode=10--success=True--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: True
+# episodes completed so far: 10
+# successes: 9 (90.0%)
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 11...
+Query 1/1: Action query time = 5.229 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5772
+t=10: Selected seed 195 with value = 0.5772
+Query 1/1: Action query time = 4.325 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6585
+t=26: Selected seed 195 with value = 0.6585
+Query 1/1: Action query time = 4.306 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7561
+t=42: Selected seed 195 with value = 0.7561
+Query 1/1: Action query time = 4.124 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8976
+t=58: Selected seed 195 with value = 0.8976
+Query 1/1: Action query time = 4.359 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9787
+t=74: Selected seed 195 with value = 0.9787
+Query 1/1: Action query time = 3.534 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9963
+t=90: Selected seed 195 with value = 0.9963
+Query 1/1: Action query time = 4.716 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=106: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/v2i175_t2_s2/2026_08_03-15_54_04--with_future_img--episode=11--success=True--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: True
+# episodes completed so far: 11
+# successes: 10 (90.9%)
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 12...
+Query 1/1: Action query time = 3.882 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5678
+t=10: Selected seed 195 with value = 0.5678
+Query 1/1: Action query time = 4.130 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6394
+t=26: Selected seed 195 with value = 0.6394
+Query 1/1: Action query time = 5.131 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7662
+t=42: Selected seed 195 with value = 0.7662
+Query 1/1: Action query time = 4.362 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9144
+t=58: Selected seed 195 with value = 0.9144
+Query 1/1: Action query time = 5.363 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8522
+t=74: Selected seed 195 with value = 0.8522
+Query 1/1: Action query time = 4.717 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7877
+t=90: Selected seed 195 with value = 0.7877
+Query 1/1: Action query time = 4.138 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7818
+t=106: Selected seed 195 with value = 0.7818
+Query 1/1: Action query time = 2.958 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7859
+t=122: Selected seed 195 with value = 0.7859
+Query 1/1: Action query time = 5.004 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7885
+t=138: Selected seed 195 with value = 0.7885
+Query 1/1: Action query time = 4.244 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8033
+t=154: Selected seed 195 with value = 0.8033
+Query 1/1: Action query time = 4.069 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8171
+t=170: Selected seed 195 with value = 0.8171
+Query 1/1: Action query time = 4.611 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8297
+t=186: Selected seed 195 with value = 0.8297
+Query 1/1: Action query time = 5.411 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8313
+t=202: Selected seed 195 with value = 0.8313
+Query 1/1: Action query time = 4.759 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8017
+t=218: Selected seed 195 with value = 0.8017
+Query 1/1: Action query time = 4.376 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7673
+t=234: Selected seed 195 with value = 0.7673
+Query 1/1: Action query time = 4.103 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7400
+t=250: Selected seed 195 with value = 0.7400
+Query 1/1: Action query time = 4.421 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7253
+t=266: Selected seed 195 with value = 0.7253
+Query 1/1: Action query time = 4.309 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7239
+t=282: Selected seed 195 with value = 0.7239
+Query 1/1: Action query time = 3.759 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7357
+t=298: Selected seed 195 with value = 0.7357
+Saved rollout MP4 at path ./rollouts/v2i175_t2_s2/2026_08_03-15_54_04--with_future_img--episode=12--success=False--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: False
+# episodes completed so far: 12
+# successes: 10 (83.3%)
+Current task success rate: 0.8333333333333334
+Current total success rate: 0.8333333333333334
+Final results:
+Total episodes: 12
+Total successes: 10
+Overall success rate: 0.8333 (83.3%)
diff --git a/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_03-15_54_04--v2i175_t2_s3.txt b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_03-15_54_04--v2i175_t2_s3.txt
new file mode 100644
index 0000000000000000000000000000000000000000..aec123f12b0304df8c92c989635f5632166350a4
--- /dev/null
+++ b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_03-15_54_04--v2i175_t2_s3.txt
@@ -0,0 +1,596 @@
+Eval config: PolicyEvalConfig(suite='libero', model_family='cosmos', config='cosmos_predict2_2b_480p_libero_cl_stage_inference_only', ckpt_path='/home/azureuser/REGEN-main/new_task7/cosmos_policy/cosmos_v2_finetune/cosmos_predict2_2b_480p_libero_goal_task7_forget_cl_v2_from350_2gpu/checkpoints/iter_000000175/model', planning_model_config_name='', planning_model_ckpt_path='', config_file='cosmos_policy/config/config.py', packnet_mask_path='', packnet_first_cl_libero_task=6, use_third_person_image=True, num_third_person_images=1, use_wrist_image=True, num_wrist_images=1, use_proprio=True, flip_images=True, use_variance_scale=False, use_jpeg_compression=True, ar_future_prediction=False, ar_value_prediction=False, ar_qvalue_prediction=False, num_denoising_steps_action=5, num_denoising_steps_future_state=1, num_denoising_steps_value=1, unnormalize_actions=True, normalize_proprio=True, dataset_stats_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/libero_goal_regen/dataset_statistics.json', t5_text_embeddings_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/t5_embeddings.pkl', trained_with_image_aug=True, chunk_size=16, num_open_loop_steps=16, deterministic=True, deterministic_reset=False, deterministic_reset_seed=None, use_ensemble_future_state_predictions=False, num_future_state_predictions_in_ensemble=3, future_state_ensemble_aggregation_scheme='average', use_ensemble_value_predictions=False, num_value_predictions_in_ensemble=5, value_ensemble_aggregation_scheme='average', search_depth=1, mask_current_state_action_for_value_prediction=False, mask_future_state_for_qvalue_prediction=False, num_queries_best_of_n=1, use_parallel_inference=False, available_gpus='0', parallel_timeout=15, parallel_tasks_across_gpus=False, task_suite_name='libero_goal', num_trials_per_task=50, task_ids_to_run='2', initial_states_path='DEFAULT', env_img_res=256, local_log_dir='/home/azureuser/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal', run_id_note='v2i175_t2_s3', use_wandb=False, wandb_entity='YOUR_ENTITY', wandb_project='YOUR_PROJECT', seed=195, randomize_seed=False, data_collection=False, jpeg_compress=True, reward_stop_threshold=None, reward_stop_consecutive_steps=3, use_gpt_reward=False, gpt_reward_model='gpt-5.4-mini', gpt_reward_stop_threshold=4, gpt_reward_timeout_s=30.0, save_rollout_video=False, eval_hdf5_path='', eval_hdf5_demo_key='demo_0', data_gen_demo_ids='', eval_episode_ids='3,7,11,15,19,23,27,31,35,39,43,47', dump_final_states_path='', replay_actions=False, replay_action_path_dir='', replay_hdf5_path='', data_generation=False, max_generation_steps=200, disable_value_stop=False)
+Using serial inference (parallel inference disabled)
+Task suite: libero_goal
+Number of tasks: 10
+Running only task IDs: [2]
+Using default initial states
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 1...
+Query 1/1: Action query time = 4.613 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5724
+t=10: Selected seed 195 with value = 0.5724
+Query 1/1: Action query time = 4.545 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6366
+t=26: Selected seed 195 with value = 0.6366
+Query 1/1: Action query time = 5.693 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7535
+t=42: Selected seed 195 with value = 0.7535
+Query 1/1: Action query time = 5.098 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8432
+t=58: Selected seed 195 with value = 0.8432
+Query 1/1: Action query time = 5.004 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9716
+t=74: Selected seed 195 with value = 0.9716
+Query 1/1: Action query time = 3.735 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/v2i175_t2_s3/2026_08_03-15_54_04--with_future_img--episode=1--success=True--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: True
+# episodes completed so far: 1
+# successes: 1 (100.0%)
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 2...
+Query 1/1: Action query time = 4.789 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5867
+t=10: Selected seed 195 with value = 0.5867
+Query 1/1: Action query time = 4.359 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6635
+t=26: Selected seed 195 with value = 0.6635
+Query 1/1: Action query time = 4.098 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7521
+t=42: Selected seed 195 with value = 0.7521
+Query 1/1: Action query time = 5.073 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9062
+t=58: Selected seed 195 with value = 0.9062
+Query 1/1: Action query time = 3.501 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9895
+t=74: Selected seed 195 with value = 0.9895
+Query 1/1: Action query time = 3.926 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.760 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=106: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/v2i175_t2_s3/2026_08_03-15_54_04--with_future_img--episode=2--success=True--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: True
+# episodes completed so far: 2
+# successes: 2 (100.0%)
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 3...
+Query 1/1: Action query time = 5.937 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6026
+t=10: Selected seed 195 with value = 0.6026
+Query 1/1: Action query time = 4.479 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7238
+t=26: Selected seed 195 with value = 0.7238
+Query 1/1: Action query time = 4.923 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8452
+t=42: Selected seed 195 with value = 0.8452
+Query 1/1: Action query time = 5.158 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9691
+t=58: Selected seed 195 with value = 0.9691
+Query 1/1: Action query time = 3.657 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=74: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.100 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/v2i175_t2_s3/2026_08_03-15_54_04--with_future_img--episode=3--success=True--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: True
+# episodes completed so far: 3
+# successes: 3 (100.0%)
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 4...
+Query 1/1: Action query time = 5.198 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5815
+t=10: Selected seed 195 with value = 0.5815
+Query 1/1: Action query time = 4.379 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6565
+t=26: Selected seed 195 with value = 0.6565
+Query 1/1: Action query time = 4.112 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7413
+t=42: Selected seed 195 with value = 0.7413
+Query 1/1: Action query time = 4.732 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8720
+t=58: Selected seed 195 with value = 0.8720
+Query 1/1: Action query time = 4.418 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9657
+t=74: Selected seed 195 with value = 0.9657
+Query 1/1: Action query time = 5.059 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/v2i175_t2_s3/2026_08_03-15_54_04--with_future_img--episode=4--success=True--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: True
+# episodes completed so far: 4
+# successes: 4 (100.0%)
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 5...
+Query 1/1: Action query time = 4.284 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5892
+t=10: Selected seed 195 with value = 0.5892
+Query 1/1: Action query time = 4.825 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7108
+t=26: Selected seed 195 with value = 0.7108
+Query 1/1: Action query time = 4.161 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8243
+t=42: Selected seed 195 with value = 0.8243
+Query 1/1: Action query time = 4.239 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9443
+t=58: Selected seed 195 with value = 0.9443
+Query 1/1: Action query time = 5.017 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9989
+t=74: Selected seed 195 with value = 0.9989
+Query 1/1: Action query time = 5.873 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/v2i175_t2_s3/2026_08_03-15_54_04--with_future_img--episode=5--success=True--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: True
+# episodes completed so far: 5
+# successes: 5 (100.0%)
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 6...
+Query 1/1: Action query time = 3.594 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5662
+t=10: Selected seed 195 with value = 0.5662
+Query 1/1: Action query time = 5.137 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7087
+t=26: Selected seed 195 with value = 0.7087
+Query 1/1: Action query time = 4.750 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8011
+t=42: Selected seed 195 with value = 0.8011
+Query 1/1: Action query time = 4.855 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9464
+t=58: Selected seed 195 with value = 0.9464
+Query 1/1: Action query time = 4.281 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9949
+t=74: Selected seed 195 with value = 0.9949
+Query 1/1: Action query time = 4.834 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/v2i175_t2_s3/2026_08_03-15_54_04--with_future_img--episode=6--success=True--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: True
+# episodes completed so far: 6
+# successes: 6 (100.0%)
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 7...
+Query 1/1: Action query time = 3.909 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5685
+t=10: Selected seed 195 with value = 0.5685
+Query 1/1: Action query time = 4.527 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6397
+t=26: Selected seed 195 with value = 0.6397
+Query 1/1: Action query time = 4.266 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7576
+t=42: Selected seed 195 with value = 0.7576
+Query 1/1: Action query time = 4.068 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8828
+t=58: Selected seed 195 with value = 0.8828
+Query 1/1: Action query time = 4.962 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9829
+t=74: Selected seed 195 with value = 0.9829
+Query 1/1: Action query time = 5.868 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.779 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=106: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 3.507 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9971
+t=122: Selected seed 195 with value = 0.9971
+Query 1/1: Action query time = 6.118 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9946
+t=138: Selected seed 195 with value = 0.9946
+Query 1/1: Action query time = 4.024 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9980
+t=154: Selected seed 195 with value = 0.9980
+Query 1/1: Action query time = 4.380 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=170: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.561 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=186: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 5.151 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=202: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.721 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=218: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 3.472 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9976
+t=234: Selected seed 195 with value = 0.9976
+Query 1/1: Action query time = 4.240 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9856
+t=250: Selected seed 195 with value = 0.9856
+Query 1/1: Action query time = 4.376 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9687
+t=266: Selected seed 195 with value = 0.9687
+Query 1/1: Action query time = 4.282 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9425
+t=282: Selected seed 195 with value = 0.9425
+Query 1/1: Action query time = 4.081 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8574
+t=298: Selected seed 195 with value = 0.8574
+Saved rollout MP4 at path ./rollouts/v2i175_t2_s3/2026_08_03-15_54_04--with_future_img--episode=7--success=False--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: False
+# episodes completed so far: 7
+# successes: 6 (85.7%)
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 8...
+Query 1/1: Action query time = 4.577 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5696
+t=10: Selected seed 195 with value = 0.5696
+Query 1/1: Action query time = 3.189 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6851
+t=26: Selected seed 195 with value = 0.6851
+Query 1/1: Action query time = 5.483 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7680
+t=42: Selected seed 195 with value = 0.7680
+Query 1/1: Action query time = 5.110 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9382
+t=58: Selected seed 195 with value = 0.9382
+Query 1/1: Action query time = 3.429 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=74: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.920 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/v2i175_t2_s3/2026_08_03-15_54_04--with_future_img--episode=8--success=True--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: True
+# episodes completed so far: 8
+# successes: 7 (87.5%)
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 9...
+Query 1/1: Action query time = 4.644 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5437
+t=10: Selected seed 195 with value = 0.5437
+Query 1/1: Action query time = 3.069 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7058
+t=26: Selected seed 195 with value = 0.7058
+Query 1/1: Action query time = 3.707 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7751
+t=42: Selected seed 195 with value = 0.7751
+Query 1/1: Action query time = 5.174 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8905
+t=58: Selected seed 195 with value = 0.8905
+Query 1/1: Action query time = 4.545 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9825
+t=74: Selected seed 195 with value = 0.9825
+Query 1/1: Action query time = 4.516 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/v2i175_t2_s3/2026_08_03-15_54_04--with_future_img--episode=9--success=True--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: True
+# episodes completed so far: 9
+# successes: 8 (88.9%)
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 10...
+Query 1/1: Action query time = 5.533 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5213
+t=10: Selected seed 195 with value = 0.5213
+Query 1/1: Action query time = 5.012 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6392
+t=26: Selected seed 195 with value = 0.6392
+Query 1/1: Action query time = 5.109 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7422
+t=42: Selected seed 195 with value = 0.7422
+Query 1/1: Action query time = 3.585 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8206
+t=58: Selected seed 195 with value = 0.8206
+Query 1/1: Action query time = 4.823 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9638
+t=74: Selected seed 195 with value = 0.9638
+Query 1/1: Action query time = 6.351 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9990
+t=90: Selected seed 195 with value = 0.9990
+Query 1/1: Action query time = 5.229 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9991
+t=106: Selected seed 195 with value = 0.9991
+Query 1/1: Action query time = 3.161 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9835
+t=122: Selected seed 195 with value = 0.9835
+Query 1/1: Action query time = 3.988 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9957
+t=138: Selected seed 195 with value = 0.9957
+Query 1/1: Action query time = 4.273 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9985
+t=154: Selected seed 195 with value = 0.9985
+Query 1/1: Action query time = 3.262 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9990
+t=170: Selected seed 195 with value = 0.9990
+Query 1/1: Action query time = 5.562 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9963
+t=186: Selected seed 195 with value = 0.9963
+Query 1/1: Action query time = 4.550 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9912
+t=202: Selected seed 195 with value = 0.9912
+Query 1/1: Action query time = 6.053 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9841
+t=218: Selected seed 195 with value = 0.9841
+Query 1/1: Action query time = 4.776 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9729
+t=234: Selected seed 195 with value = 0.9729
+Query 1/1: Action query time = 4.752 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9493
+t=250: Selected seed 195 with value = 0.9493
+Query 1/1: Action query time = 4.290 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8737
+t=266: Selected seed 195 with value = 0.8737
+Query 1/1: Action query time = 4.291 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8228
+t=282: Selected seed 195 with value = 0.8228
+Query 1/1: Action query time = 5.541 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8363
+t=298: Selected seed 195 with value = 0.8363
+Saved rollout MP4 at path ./rollouts/v2i175_t2_s3/2026_08_03-15_54_04--with_future_img--episode=10--success=False--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: False
+# episodes completed so far: 10
+# successes: 8 (80.0%)
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 11...
+Query 1/1: Action query time = 5.237 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5554
+t=10: Selected seed 195 with value = 0.5554
+Query 1/1: Action query time = 5.021 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5426
+t=26: Selected seed 195 with value = 0.5426
+Query 1/1: Action query time = 4.272 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7086
+t=42: Selected seed 195 with value = 0.7086
+Query 1/1: Action query time = 4.793 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8129
+t=58: Selected seed 195 with value = 0.8129
+Query 1/1: Action query time = 5.035 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9349
+t=74: Selected seed 195 with value = 0.9349
+Query 1/1: Action query time = 4.088 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9820
+t=90: Selected seed 195 with value = 0.9820
+Query 1/1: Action query time = 4.747 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=106: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.727 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9810
+t=122: Selected seed 195 with value = 0.9810
+Query 1/1: Action query time = 4.505 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9973
+t=138: Selected seed 195 with value = 0.9973
+Query 1/1: Action query time = 4.219 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9972
+t=154: Selected seed 195 with value = 0.9972
+Query 1/1: Action query time = 2.508 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9969
+t=170: Selected seed 195 with value = 0.9969
+Query 1/1: Action query time = 2.746 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9916
+t=186: Selected seed 195 with value = 0.9916
+Query 1/1: Action query time = 3.794 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9780
+t=202: Selected seed 195 with value = 0.9780
+Query 1/1: Action query time = 3.316 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9429
+t=218: Selected seed 195 with value = 0.9429
+Query 1/1: Action query time = 3.079 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9396
+t=234: Selected seed 195 with value = 0.9396
+Query 1/1: Action query time = 2.627 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8590
+t=250: Selected seed 195 with value = 0.8590
+Query 1/1: Action query time = 2.444 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8598
+t=266: Selected seed 195 with value = 0.8598
+Query 1/1: Action query time = 2.856 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8743
+t=282: Selected seed 195 with value = 0.8743
+Query 1/1: Action query time = 2.299 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8999
+t=298: Selected seed 195 with value = 0.8999
+Saved rollout MP4 at path ./rollouts/v2i175_t2_s3/2026_08_03-15_54_04--with_future_img--episode=11--success=False--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: False
+# episodes completed so far: 11
+# successes: 8 (72.7%)
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 12...
+Query 1/1: Action query time = 3.052 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5832
+t=10: Selected seed 195 with value = 0.5832
+Query 1/1: Action query time = 3.010 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6588
+t=26: Selected seed 195 with value = 0.6588
+Query 1/1: Action query time = 2.268 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7847
+t=42: Selected seed 195 with value = 0.7847
+Query 1/1: Action query time = 2.679 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8507
+t=58: Selected seed 195 with value = 0.8507
+Query 1/1: Action query time = 3.166 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9742
+t=74: Selected seed 195 with value = 0.9742
+Query 1/1: Action query time = 2.814 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 3.747 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9922
+t=106: Selected seed 195 with value = 0.9922
+Query 1/1: Action query time = 3.398 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9847
+t=122: Selected seed 195 with value = 0.9847
+Query 1/1: Action query time = 3.162 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9953
+t=138: Selected seed 195 with value = 0.9953
+Query 1/1: Action query time = 2.432 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9981
+t=154: Selected seed 195 with value = 0.9981
+Query 1/1: Action query time = 1.808 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9991
+t=170: Selected seed 195 with value = 0.9991
+Query 1/1: Action query time = 2.596 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=186: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 3.538 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9993
+t=202: Selected seed 195 with value = 0.9993
+Query 1/1: Action query time = 3.199 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9926
+t=218: Selected seed 195 with value = 0.9926
+Query 1/1: Action query time = 3.114 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9854
+t=234: Selected seed 195 with value = 0.9854
+Query 1/1: Action query time = 2.551 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9738
+t=250: Selected seed 195 with value = 0.9738
+Query 1/1: Action query time = 2.569 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9509
+t=266: Selected seed 195 with value = 0.9509
+Query 1/1: Action query time = 2.770 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8632
+t=282: Selected seed 195 with value = 0.8632
+Query 1/1: Action query time = 2.540 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8180
+t=298: Selected seed 195 with value = 0.8180
+Saved rollout MP4 at path ./rollouts/v2i175_t2_s3/2026_08_03-15_54_04--with_future_img--episode=12--success=False--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: False
+# episodes completed so far: 12
+# successes: 8 (66.7%)
+Current task success rate: 0.6666666666666666
+Current total success rate: 0.6666666666666666
+Final results:
+Total episodes: 12
+Total successes: 8
+Overall success rate: 0.6667 (66.7%)
diff --git a/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_03-16_07_39--v2i175_t5_s0.txt b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_03-16_07_39--v2i175_t5_s0.txt
new file mode 100644
index 0000000000000000000000000000000000000000..070fcefa8543c8d8ecbeb5d6bb08cd8e423a266a
--- /dev/null
+++ b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_03-16_07_39--v2i175_t5_s0.txt
@@ -0,0 +1,567 @@
+Eval config: PolicyEvalConfig(suite='libero', model_family='cosmos', config='cosmos_predict2_2b_480p_libero_cl_stage_inference_only', ckpt_path='/home/azureuser/REGEN-main/new_task7/cosmos_policy/cosmos_v2_finetune/cosmos_predict2_2b_480p_libero_goal_task7_forget_cl_v2_from350_2gpu/checkpoints/iter_000000175/model', planning_model_config_name='', planning_model_ckpt_path='', config_file='cosmos_policy/config/config.py', packnet_mask_path='', packnet_first_cl_libero_task=6, use_third_person_image=True, num_third_person_images=1, use_wrist_image=True, num_wrist_images=1, use_proprio=True, flip_images=True, use_variance_scale=False, use_jpeg_compression=True, ar_future_prediction=False, ar_value_prediction=False, ar_qvalue_prediction=False, num_denoising_steps_action=5, num_denoising_steps_future_state=1, num_denoising_steps_value=1, unnormalize_actions=True, normalize_proprio=True, dataset_stats_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/libero_goal_regen/dataset_statistics.json', t5_text_embeddings_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/t5_embeddings.pkl', trained_with_image_aug=True, chunk_size=16, num_open_loop_steps=16, deterministic=True, deterministic_reset=False, deterministic_reset_seed=None, use_ensemble_future_state_predictions=False, num_future_state_predictions_in_ensemble=3, future_state_ensemble_aggregation_scheme='average', use_ensemble_value_predictions=False, num_value_predictions_in_ensemble=5, value_ensemble_aggregation_scheme='average', search_depth=1, mask_current_state_action_for_value_prediction=False, mask_future_state_for_qvalue_prediction=False, num_queries_best_of_n=1, use_parallel_inference=False, available_gpus='0', parallel_timeout=15, parallel_tasks_across_gpus=False, task_suite_name='libero_goal', num_trials_per_task=50, task_ids_to_run='5', initial_states_path='DEFAULT', env_img_res=256, local_log_dir='/home/azureuser/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal', run_id_note='v2i175_t5_s0', use_wandb=False, wandb_entity='YOUR_ENTITY', wandb_project='YOUR_PROJECT', seed=195, randomize_seed=False, data_collection=False, jpeg_compress=True, reward_stop_threshold=None, reward_stop_consecutive_steps=3, use_gpt_reward=False, gpt_reward_model='gpt-5.4-mini', gpt_reward_stop_threshold=4, gpt_reward_timeout_s=30.0, save_rollout_video=False, eval_hdf5_path='', eval_hdf5_demo_key='demo_0', data_gen_demo_ids='', eval_episode_ids='0,4,8,12,16,20,24,28,32,36,40,44,48', dump_final_states_path='', replay_actions=False, replay_action_path_dir='', replay_hdf5_path='', data_generation=False, max_generation_steps=200, disable_value_stop=False)
+Using serial inference (parallel inference disabled)
+Task suite: libero_goal
+Number of tasks: 10
+Running only task IDs: [5]
+Using default initial states
+
+Task: push the plate to the front of the stove
+Starting episode 1...
+Query 1/1: Action query time = 6.360 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3812
+t=10: Selected seed 195 with value = 0.3812
+Query 1/1: Action query time = 4.908 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4332
+t=26: Selected seed 195 with value = 0.4332
+Query 1/1: Action query time = 5.580 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5228
+t=42: Selected seed 195 with value = 0.5228
+Query 1/1: Action query time = 4.993 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5893
+t=58: Selected seed 195 with value = 0.5893
+Query 1/1: Action query time = 5.061 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6232
+t=74: Selected seed 195 with value = 0.6232
+Query 1/1: Action query time = 4.491 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7894
+t=90: Selected seed 195 with value = 0.7894
+Query 1/1: Action query time = 5.214 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9495
+t=106: Selected seed 195 with value = 0.9495
+Query 1/1: Action query time = 4.728 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=122: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 3.487 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9965
+t=138: Selected seed 195 with value = 0.9965
+Saved rollout MP4 at path ./rollouts/v2i175_t5_s0/2026_08_03-16_07_39--with_future_img--episode=1--success=True--task=push_the_plate_to_the_front_of_the_.mp4
+Success: True
+# episodes completed so far: 1
+# successes: 1 (100.0%)
+
+Task: push the plate to the front of the stove
+Starting episode 2...
+Query 1/1: Action query time = 4.933 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3461
+t=10: Selected seed 195 with value = 0.3461
+Query 1/1: Action query time = 5.362 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4283
+t=26: Selected seed 195 with value = 0.4283
+Query 1/1: Action query time = 2.561 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5491
+t=42: Selected seed 195 with value = 0.5491
+Query 1/1: Action query time = 4.692 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6449
+t=58: Selected seed 195 with value = 0.6449
+Query 1/1: Action query time = 5.087 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6997
+t=74: Selected seed 195 with value = 0.6997
+Query 1/1: Action query time = 4.996 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8122
+t=90: Selected seed 195 with value = 0.8122
+Query 1/1: Action query time = 4.905 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9929
+t=106: Selected seed 195 with value = 0.9929
+Query 1/1: Action query time = 4.680 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=122: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 3.972 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9991
+t=138: Selected seed 195 with value = 0.9991
+Saved rollout MP4 at path ./rollouts/v2i175_t5_s0/2026_08_03-16_07_39--with_future_img--episode=2--success=True--task=push_the_plate_to_the_front_of_the_.mp4
+Success: True
+# episodes completed so far: 2
+# successes: 2 (100.0%)
+
+Task: push the plate to the front of the stove
+Starting episode 3...
+Query 1/1: Action query time = 4.513 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4040
+t=10: Selected seed 195 with value = 0.4040
+Query 1/1: Action query time = 4.176 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4223
+t=26: Selected seed 195 with value = 0.4223
+Query 1/1: Action query time = 4.658 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5204
+t=42: Selected seed 195 with value = 0.5204
+Query 1/1: Action query time = 4.669 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5246
+t=58: Selected seed 195 with value = 0.5246
+Query 1/1: Action query time = 4.875 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5608
+t=74: Selected seed 195 with value = 0.5608
+Query 1/1: Action query time = 4.526 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6182
+t=90: Selected seed 195 with value = 0.6182
+Query 1/1: Action query time = 3.661 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7292
+t=106: Selected seed 195 with value = 0.7292
+Query 1/1: Action query time = 3.086 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8633
+t=122: Selected seed 195 with value = 0.8633
+Query 1/1: Action query time = 4.273 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9860
+t=138: Selected seed 195 with value = 0.9860
+Query 1/1: Action query time = 5.041 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9936
+t=154: Selected seed 195 with value = 0.9936
+Saved rollout MP4 at path ./rollouts/v2i175_t5_s0/2026_08_03-16_07_39--with_future_img--episode=3--success=True--task=push_the_plate_to_the_front_of_the_.mp4
+Success: True
+# episodes completed so far: 3
+# successes: 3 (100.0%)
+
+Task: push the plate to the front of the stove
+Starting episode 4...
+Query 1/1: Action query time = 5.942 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3822
+t=10: Selected seed 195 with value = 0.3822
+Query 1/1: Action query time = 4.604 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4439
+t=26: Selected seed 195 with value = 0.4439
+Query 1/1: Action query time = 4.133 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5489
+t=42: Selected seed 195 with value = 0.5489
+Query 1/1: Action query time = 3.669 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6316
+t=58: Selected seed 195 with value = 0.6316
+Query 1/1: Action query time = 4.812 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7400
+t=74: Selected seed 195 with value = 0.7400
+Query 1/1: Action query time = 4.400 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8296
+t=90: Selected seed 195 with value = 0.8296
+Query 1/1: Action query time = 2.824 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9673
+t=106: Selected seed 195 with value = 0.9673
+Query 1/1: Action query time = 5.071 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9994
+t=122: Selected seed 195 with value = 0.9994
+Query 1/1: Action query time = 5.238 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=138: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/v2i175_t5_s0/2026_08_03-16_07_39--with_future_img--episode=4--success=True--task=push_the_plate_to_the_front_of_the_.mp4
+Success: True
+# episodes completed so far: 4
+# successes: 4 (100.0%)
+
+Task: push the plate to the front of the stove
+Starting episode 5...
+Query 1/1: Action query time = 4.707 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3726
+t=10: Selected seed 195 with value = 0.3726
+Query 1/1: Action query time = 4.505 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4237
+t=26: Selected seed 195 with value = 0.4237
+Query 1/1: Action query time = 5.057 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5581
+t=42: Selected seed 195 with value = 0.5581
+Query 1/1: Action query time = 4.253 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6511
+t=58: Selected seed 195 with value = 0.6511
+Query 1/1: Action query time = 4.147 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7301
+t=74: Selected seed 195 with value = 0.7301
+Query 1/1: Action query time = 3.862 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8207
+t=90: Selected seed 195 with value = 0.8207
+Query 1/1: Action query time = 3.717 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9847
+t=106: Selected seed 195 with value = 0.9847
+Query 1/1: Action query time = 4.539 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=122: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.111 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=138: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/v2i175_t5_s0/2026_08_03-16_07_39--with_future_img--episode=5--success=True--task=push_the_plate_to_the_front_of_the_.mp4
+Success: True
+# episodes completed so far: 5
+# successes: 5 (100.0%)
+
+Task: push the plate to the front of the stove
+Starting episode 6...
+Query 1/1: Action query time = 5.105 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3772
+t=10: Selected seed 195 with value = 0.3772
+Query 1/1: Action query time = 5.238 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4301
+t=26: Selected seed 195 with value = 0.4301
+Query 1/1: Action query time = 5.497 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5135
+t=42: Selected seed 195 with value = 0.5135
+Query 1/1: Action query time = 4.841 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5805
+t=58: Selected seed 195 with value = 0.5805
+Query 1/1: Action query time = 4.185 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6717
+t=74: Selected seed 195 with value = 0.6717
+Query 1/1: Action query time = 3.842 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7506
+t=90: Selected seed 195 with value = 0.7506
+Query 1/1: Action query time = 3.748 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9343
+t=106: Selected seed 195 with value = 0.9343
+Query 1/1: Action query time = 4.924 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=122: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 5.029 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9999
+t=138: Selected seed 195 with value = 0.9999
+Saved rollout MP4 at path ./rollouts/v2i175_t5_s0/2026_08_03-16_07_39--with_future_img--episode=6--success=True--task=push_the_plate_to_the_front_of_the_.mp4
+Success: True
+# episodes completed so far: 6
+# successes: 6 (100.0%)
+
+Task: push the plate to the front of the stove
+Starting episode 7...
+Query 1/1: Action query time = 5.366 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3764
+t=10: Selected seed 195 with value = 0.3764
+Query 1/1: Action query time = 4.121 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4296
+t=26: Selected seed 195 with value = 0.4296
+Query 1/1: Action query time = 5.104 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5651
+t=42: Selected seed 195 with value = 0.5651
+Query 1/1: Action query time = 4.939 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6341
+t=58: Selected seed 195 with value = 0.6341
+Query 1/1: Action query time = 4.755 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7435
+t=74: Selected seed 195 with value = 0.7435
+Query 1/1: Action query time = 4.268 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9193
+t=90: Selected seed 195 with value = 0.9193
+Query 1/1: Action query time = 3.809 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=106: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.208 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9988
+t=122: Selected seed 195 with value = 0.9988
+Saved rollout MP4 at path ./rollouts/v2i175_t5_s0/2026_08_03-16_07_39--with_future_img--episode=7--success=True--task=push_the_plate_to_the_front_of_the_.mp4
+Success: True
+# episodes completed so far: 7
+# successes: 7 (100.0%)
+
+Task: push the plate to the front of the stove
+Starting episode 8...
+Query 1/1: Action query time = 5.011 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3727
+t=10: Selected seed 195 with value = 0.3727
+Query 1/1: Action query time = 5.044 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4403
+t=26: Selected seed 195 with value = 0.4403
+Query 1/1: Action query time = 4.317 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4794
+t=42: Selected seed 195 with value = 0.4794
+Query 1/1: Action query time = 5.168 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5968
+t=58: Selected seed 195 with value = 0.5968
+Query 1/1: Action query time = 5.101 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6231
+t=74: Selected seed 195 with value = 0.6231
+Query 1/1: Action query time = 3.946 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7347
+t=90: Selected seed 195 with value = 0.7347
+Query 1/1: Action query time = 4.077 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9523
+t=106: Selected seed 195 with value = 0.9523
+Query 1/1: Action query time = 4.480 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9883
+t=122: Selected seed 195 with value = 0.9883
+Query 1/1: Action query time = 4.921 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9986
+t=138: Selected seed 195 with value = 0.9986
+Saved rollout MP4 at path ./rollouts/v2i175_t5_s0/2026_08_03-16_07_39--with_future_img--episode=8--success=True--task=push_the_plate_to_the_front_of_the_.mp4
+Success: True
+# episodes completed so far: 8
+# successes: 8 (100.0%)
+
+Task: push the plate to the front of the stove
+Starting episode 9...
+Query 1/1: Action query time = 5.556 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4180
+t=10: Selected seed 195 with value = 0.4180
+Query 1/1: Action query time = 4.827 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4846
+t=26: Selected seed 195 with value = 0.4846
+Query 1/1: Action query time = 4.656 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5648
+t=42: Selected seed 195 with value = 0.5648
+Query 1/1: Action query time = 4.443 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6050
+t=58: Selected seed 195 with value = 0.6050
+Query 1/1: Action query time = 4.492 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7615
+t=74: Selected seed 195 with value = 0.7615
+Query 1/1: Action query time = 3.417 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8193
+t=90: Selected seed 195 with value = 0.8193
+Query 1/1: Action query time = 3.509 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9488
+t=106: Selected seed 195 with value = 0.9488
+Query 1/1: Action query time = 3.022 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9996
+t=122: Selected seed 195 with value = 0.9996
+Query 1/1: Action query time = 2.693 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=138: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/v2i175_t5_s0/2026_08_03-16_07_39--with_future_img--episode=9--success=True--task=push_the_plate_to_the_front_of_the_.mp4
+Success: True
+# episodes completed so far: 9
+# successes: 9 (100.0%)
+
+Task: push the plate to the front of the stove
+Starting episode 10...
+Query 1/1: Action query time = 3.642 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3976
+t=10: Selected seed 195 with value = 0.3976
+Query 1/1: Action query time = 2.559 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4470
+t=26: Selected seed 195 with value = 0.4470
+Query 1/1: Action query time = 2.281 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5290
+t=42: Selected seed 195 with value = 0.5290
+Query 1/1: Action query time = 2.949 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6829
+t=58: Selected seed 195 with value = 0.6829
+Query 1/1: Action query time = 2.355 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7989
+t=74: Selected seed 195 with value = 0.7989
+Query 1/1: Action query time = 2.386 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9113
+t=90: Selected seed 195 with value = 0.9113
+Query 1/1: Action query time = 1.941 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=106: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 1.762 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=122: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/v2i175_t5_s0/2026_08_03-16_07_39--with_future_img--episode=10--success=True--task=push_the_plate_to_the_front_of_the_.mp4
+Success: True
+# episodes completed so far: 10
+# successes: 10 (100.0%)
+
+Task: push the plate to the front of the stove
+Starting episode 11...
+Query 1/1: Action query time = 2.897 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3714
+t=10: Selected seed 195 with value = 0.3714
+Query 1/1: Action query time = 2.917 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4178
+t=26: Selected seed 195 with value = 0.4178
+Query 1/1: Action query time = 2.420 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5376
+t=42: Selected seed 195 with value = 0.5376
+Query 1/1: Action query time = 2.158 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5475
+t=58: Selected seed 195 with value = 0.5475
+Query 1/1: Action query time = 1.786 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6274
+t=74: Selected seed 195 with value = 0.6274
+Query 1/1: Action query time = 1.740 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7026
+t=90: Selected seed 195 with value = 0.7026
+Query 1/1: Action query time = 2.622 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8537
+t=106: Selected seed 195 with value = 0.8537
+Query 1/1: Action query time = 2.332 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=122: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 2.206 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9964
+t=138: Selected seed 195 with value = 0.9964
+Saved rollout MP4 at path ./rollouts/v2i175_t5_s0/2026_08_03-16_07_39--with_future_img--episode=11--success=True--task=push_the_plate_to_the_front_of_the_.mp4
+Success: True
+# episodes completed so far: 11
+# successes: 11 (100.0%)
+
+Task: push the plate to the front of the stove
+Starting episode 12...
+Query 1/1: Action query time = 2.599 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3714
+t=10: Selected seed 195 with value = 0.3714
+Query 1/1: Action query time = 2.561 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3961
+t=26: Selected seed 195 with value = 0.3961
+Query 1/1: Action query time = 2.567 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5138
+t=42: Selected seed 195 with value = 0.5138
+Query 1/1: Action query time = 2.446 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5871
+t=58: Selected seed 195 with value = 0.5871
+Query 1/1: Action query time = 1.808 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6851
+t=74: Selected seed 195 with value = 0.6851
+Query 1/1: Action query time = 1.525 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8343
+t=90: Selected seed 195 with value = 0.8343
+Query 1/1: Action query time = 1.491 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9705
+t=106: Selected seed 195 with value = 0.9705
+Query 1/1: Action query time = 1.222 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=122: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 1.186 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9627
+t=138: Selected seed 195 with value = 0.9627
+Saved rollout MP4 at path ./rollouts/v2i175_t5_s0/2026_08_03-16_07_39--with_future_img--episode=12--success=True--task=push_the_plate_to_the_front_of_the_.mp4
+Success: True
+# episodes completed so far: 12
+# successes: 12 (100.0%)
+
+Task: push the plate to the front of the stove
+Starting episode 13...
+Query 1/1: Action query time = 1.007 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3837
+t=10: Selected seed 195 with value = 0.3837
+Query 1/1: Action query time = 1.210 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4277
+t=26: Selected seed 195 with value = 0.4277
+Query 1/1: Action query time = 1.214 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5270
+t=42: Selected seed 195 with value = 0.5270
+Query 1/1: Action query time = 1.189 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6455
+t=58: Selected seed 195 with value = 0.6455
+Query 1/1: Action query time = 1.185 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7324
+t=74: Selected seed 195 with value = 0.7324
+Query 1/1: Action query time = 1.186 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8461
+t=90: Selected seed 195 with value = 0.8461
+Query 1/1: Action query time = 1.210 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9604
+t=106: Selected seed 195 with value = 0.9604
+Query 1/1: Action query time = 1.166 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=122: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 1.176 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=138: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/v2i175_t5_s0/2026_08_03-16_07_39--with_future_img--episode=13--success=True--task=push_the_plate_to_the_front_of_the_.mp4
+Success: True
+# episodes completed so far: 13
+# successes: 13 (100.0%)
+Current task success rate: 1.0
+Current total success rate: 1.0
+Final results:
+Total episodes: 13
+Total successes: 13
+Overall success rate: 1.0000 (100.0%)
diff --git a/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_03-16_07_39--v2i175_t5_s2.txt b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_03-16_07_39--v2i175_t5_s2.txt
new file mode 100644
index 0000000000000000000000000000000000000000..6b2cccf72b4bb9ffb9c3367d4f5940d677c5a6de
--- /dev/null
+++ b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_03-16_07_39--v2i175_t5_s2.txt
@@ -0,0 +1,528 @@
+Eval config: PolicyEvalConfig(suite='libero', model_family='cosmos', config='cosmos_predict2_2b_480p_libero_cl_stage_inference_only', ckpt_path='/home/azureuser/REGEN-main/new_task7/cosmos_policy/cosmos_v2_finetune/cosmos_predict2_2b_480p_libero_goal_task7_forget_cl_v2_from350_2gpu/checkpoints/iter_000000175/model', planning_model_config_name='', planning_model_ckpt_path='', config_file='cosmos_policy/config/config.py', packnet_mask_path='', packnet_first_cl_libero_task=6, use_third_person_image=True, num_third_person_images=1, use_wrist_image=True, num_wrist_images=1, use_proprio=True, flip_images=True, use_variance_scale=False, use_jpeg_compression=True, ar_future_prediction=False, ar_value_prediction=False, ar_qvalue_prediction=False, num_denoising_steps_action=5, num_denoising_steps_future_state=1, num_denoising_steps_value=1, unnormalize_actions=True, normalize_proprio=True, dataset_stats_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/libero_goal_regen/dataset_statistics.json', t5_text_embeddings_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/t5_embeddings.pkl', trained_with_image_aug=True, chunk_size=16, num_open_loop_steps=16, deterministic=True, deterministic_reset=False, deterministic_reset_seed=None, use_ensemble_future_state_predictions=False, num_future_state_predictions_in_ensemble=3, future_state_ensemble_aggregation_scheme='average', use_ensemble_value_predictions=False, num_value_predictions_in_ensemble=5, value_ensemble_aggregation_scheme='average', search_depth=1, mask_current_state_action_for_value_prediction=False, mask_future_state_for_qvalue_prediction=False, num_queries_best_of_n=1, use_parallel_inference=False, available_gpus='0', parallel_timeout=15, parallel_tasks_across_gpus=False, task_suite_name='libero_goal', num_trials_per_task=50, task_ids_to_run='5', initial_states_path='DEFAULT', env_img_res=256, local_log_dir='/home/azureuser/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal', run_id_note='v2i175_t5_s2', use_wandb=False, wandb_entity='YOUR_ENTITY', wandb_project='YOUR_PROJECT', seed=195, randomize_seed=False, data_collection=False, jpeg_compress=True, reward_stop_threshold=None, reward_stop_consecutive_steps=3, use_gpt_reward=False, gpt_reward_model='gpt-5.4-mini', gpt_reward_stop_threshold=4, gpt_reward_timeout_s=30.0, save_rollout_video=False, eval_hdf5_path='', eval_hdf5_demo_key='demo_0', data_gen_demo_ids='', eval_episode_ids='2,6,10,14,18,22,26,30,34,38,42,46', dump_final_states_path='', replay_actions=False, replay_action_path_dir='', replay_hdf5_path='', data_generation=False, max_generation_steps=200, disable_value_stop=False)
+Using serial inference (parallel inference disabled)
+Task suite: libero_goal
+Number of tasks: 10
+Running only task IDs: [5]
+Using default initial states
+
+Task: push the plate to the front of the stove
+Starting episode 1...
+Query 1/1: Action query time = 6.105 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3734
+t=10: Selected seed 195 with value = 0.3734
+Query 1/1: Action query time = 4.864 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4213
+t=26: Selected seed 195 with value = 0.4213
+Query 1/1: Action query time = 3.595 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4972
+t=42: Selected seed 195 with value = 0.4972
+Query 1/1: Action query time = 4.288 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5426
+t=58: Selected seed 195 with value = 0.5426
+Query 1/1: Action query time = 4.413 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6166
+t=74: Selected seed 195 with value = 0.6166
+Query 1/1: Action query time = 4.940 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6810
+t=90: Selected seed 195 with value = 0.6810
+Query 1/1: Action query time = 4.473 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7959
+t=106: Selected seed 195 with value = 0.7959
+Query 1/1: Action query time = 5.145 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9727
+t=122: Selected seed 195 with value = 0.9727
+Query 1/1: Action query time = 3.463 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9984
+t=138: Selected seed 195 with value = 0.9984
+Saved rollout MP4 at path ./rollouts/v2i175_t5_s2/2026_08_03-16_07_39--with_future_img--episode=1--success=True--task=push_the_plate_to_the_front_of_the_.mp4
+Success: True
+# episodes completed so far: 1
+# successes: 1 (100.0%)
+
+Task: push the plate to the front of the stove
+Starting episode 2...
+Query 1/1: Action query time = 3.580 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3595
+t=10: Selected seed 195 with value = 0.3595
+Query 1/1: Action query time = 5.092 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4148
+t=26: Selected seed 195 with value = 0.4148
+Query 1/1: Action query time = 5.505 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5689
+t=42: Selected seed 195 with value = 0.5689
+Query 1/1: Action query time = 2.149 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6432
+t=58: Selected seed 195 with value = 0.6432
+Query 1/1: Action query time = 4.689 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6665
+t=74: Selected seed 195 with value = 0.6665
+Query 1/1: Action query time = 5.064 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7640
+t=90: Selected seed 195 with value = 0.7640
+Query 1/1: Action query time = 4.827 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9691
+t=106: Selected seed 195 with value = 0.9691
+Query 1/1: Action query time = 5.016 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=122: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.716 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9956
+t=138: Selected seed 195 with value = 0.9956
+Saved rollout MP4 at path ./rollouts/v2i175_t5_s2/2026_08_03-16_07_39--with_future_img--episode=2--success=True--task=push_the_plate_to_the_front_of_the_.mp4
+Success: True
+# episodes completed so far: 2
+# successes: 2 (100.0%)
+
+Task: push the plate to the front of the stove
+Starting episode 3...
+Query 1/1: Action query time = 2.524 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3889
+t=10: Selected seed 195 with value = 0.3889
+Query 1/1: Action query time = 3.112 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4261
+t=26: Selected seed 195 with value = 0.4261
+Query 1/1: Action query time = 5.242 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5239
+t=42: Selected seed 195 with value = 0.5239
+Query 1/1: Action query time = 5.597 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5844
+t=58: Selected seed 195 with value = 0.5844
+Query 1/1: Action query time = 4.997 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6372
+t=74: Selected seed 195 with value = 0.6372
+Query 1/1: Action query time = 4.707 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7052
+t=90: Selected seed 195 with value = 0.7052
+Query 1/1: Action query time = 4.513 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8947
+t=106: Selected seed 195 with value = 0.8947
+Query 1/1: Action query time = 3.656 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=122: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 2.887 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=138: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/v2i175_t5_s2/2026_08_03-16_07_39--with_future_img--episode=3--success=True--task=push_the_plate_to_the_front_of_the_.mp4
+Success: True
+# episodes completed so far: 3
+# successes: 3 (100.0%)
+
+Task: push the plate to the front of the stove
+Starting episode 4...
+Query 1/1: Action query time = 4.845 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3831
+t=10: Selected seed 195 with value = 0.3831
+Query 1/1: Action query time = 4.191 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3883
+t=26: Selected seed 195 with value = 0.3883
+Query 1/1: Action query time = 4.218 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5401
+t=42: Selected seed 195 with value = 0.5401
+Query 1/1: Action query time = 4.606 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6908
+t=58: Selected seed 195 with value = 0.6908
+Query 1/1: Action query time = 5.002 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8320
+t=74: Selected seed 195 with value = 0.8320
+Query 1/1: Action query time = 4.883 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9344
+t=90: Selected seed 195 with value = 0.9344
+Query 1/1: Action query time = 4.540 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9912
+t=106: Selected seed 195 with value = 0.9912
+Query 1/1: Action query time = 4.480 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=122: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/v2i175_t5_s2/2026_08_03-16_07_39--with_future_img--episode=4--success=True--task=push_the_plate_to_the_front_of_the_.mp4
+Success: True
+# episodes completed so far: 4
+# successes: 4 (100.0%)
+
+Task: push the plate to the front of the stove
+Starting episode 5...
+Query 1/1: Action query time = 5.162 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3604
+t=10: Selected seed 195 with value = 0.3604
+Query 1/1: Action query time = 5.154 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4187
+t=26: Selected seed 195 with value = 0.4187
+Query 1/1: Action query time = 3.646 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4707
+t=42: Selected seed 195 with value = 0.4707
+Query 1/1: Action query time = 4.450 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5826
+t=58: Selected seed 195 with value = 0.5826
+Query 1/1: Action query time = 3.197 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6657
+t=74: Selected seed 195 with value = 0.6657
+Query 1/1: Action query time = 4.654 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7631
+t=90: Selected seed 195 with value = 0.7631
+Query 1/1: Action query time = 4.846 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8565
+t=106: Selected seed 195 with value = 0.8565
+Query 1/1: Action query time = 4.338 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9843
+t=122: Selected seed 195 with value = 0.9843
+Query 1/1: Action query time = 4.879 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=138: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/v2i175_t5_s2/2026_08_03-16_07_39--with_future_img--episode=5--success=True--task=push_the_plate_to_the_front_of_the_.mp4
+Success: True
+# episodes completed so far: 5
+# successes: 5 (100.0%)
+
+Task: push the plate to the front of the stove
+Starting episode 6...
+Query 1/1: Action query time = 4.530 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3990
+t=10: Selected seed 195 with value = 0.3990
+Query 1/1: Action query time = 4.313 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4308
+t=26: Selected seed 195 with value = 0.4308
+Query 1/1: Action query time = 4.591 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5556
+t=42: Selected seed 195 with value = 0.5556
+Query 1/1: Action query time = 4.930 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5796
+t=58: Selected seed 195 with value = 0.5796
+Query 1/1: Action query time = 4.939 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6237
+t=74: Selected seed 195 with value = 0.6237
+Query 1/1: Action query time = 4.889 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7441
+t=90: Selected seed 195 with value = 0.7441
+Query 1/1: Action query time = 4.959 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8838
+t=106: Selected seed 195 with value = 0.8838
+Query 1/1: Action query time = 3.973 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9940
+t=122: Selected seed 195 with value = 0.9940
+Query 1/1: Action query time = 4.160 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=138: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/v2i175_t5_s2/2026_08_03-16_07_39--with_future_img--episode=6--success=True--task=push_the_plate_to_the_front_of_the_.mp4
+Success: True
+# episodes completed so far: 6
+# successes: 6 (100.0%)
+
+Task: push the plate to the front of the stove
+Starting episode 7...
+Query 1/1: Action query time = 4.972 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4048
+t=10: Selected seed 195 with value = 0.4048
+Query 1/1: Action query time = 4.811 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4346
+t=26: Selected seed 195 with value = 0.4346
+Query 1/1: Action query time = 4.132 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5648
+t=42: Selected seed 195 with value = 0.5648
+Query 1/1: Action query time = 5.100 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6448
+t=58: Selected seed 195 with value = 0.6448
+Query 1/1: Action query time = 4.440 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7384
+t=74: Selected seed 195 with value = 0.7384
+Query 1/1: Action query time = 4.695 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8249
+t=90: Selected seed 195 with value = 0.8249
+Query 1/1: Action query time = 4.995 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9782
+t=106: Selected seed 195 with value = 0.9782
+Query 1/1: Action query time = 5.137 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=122: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 3.889 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=138: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/v2i175_t5_s2/2026_08_03-16_07_39--with_future_img--episode=7--success=True--task=push_the_plate_to_the_front_of_the_.mp4
+Success: True
+# episodes completed so far: 7
+# successes: 7 (100.0%)
+
+Task: push the plate to the front of the stove
+Starting episode 8...
+Query 1/1: Action query time = 4.348 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3724
+t=10: Selected seed 195 with value = 0.3724
+Query 1/1: Action query time = 4.080 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4353
+t=26: Selected seed 195 with value = 0.4353
+Query 1/1: Action query time = 5.095 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5452
+t=42: Selected seed 195 with value = 0.5452
+Query 1/1: Action query time = 5.184 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6045
+t=58: Selected seed 195 with value = 0.6045
+Query 1/1: Action query time = 4.660 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6483
+t=74: Selected seed 195 with value = 0.6483
+Query 1/1: Action query time = 5.443 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7209
+t=90: Selected seed 195 with value = 0.7209
+Query 1/1: Action query time = 5.320 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9604
+t=106: Selected seed 195 with value = 0.9604
+Query 1/1: Action query time = 3.814 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=122: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.179 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=138: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/v2i175_t5_s2/2026_08_03-16_07_39--with_future_img--episode=8--success=True--task=push_the_plate_to_the_front_of_the_.mp4
+Success: True
+# episodes completed so far: 8
+# successes: 8 (100.0%)
+
+Task: push the plate to the front of the stove
+Starting episode 9...
+Query 1/1: Action query time = 4.933 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3599
+t=10: Selected seed 195 with value = 0.3599
+Query 1/1: Action query time = 3.777 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4033
+t=26: Selected seed 195 with value = 0.4033
+Query 1/1: Action query time = 4.467 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5106
+t=42: Selected seed 195 with value = 0.5106
+Query 1/1: Action query time = 4.518 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5785
+t=58: Selected seed 195 with value = 0.5785
+Query 1/1: Action query time = 3.536 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6439
+t=74: Selected seed 195 with value = 0.6439
+Query 1/1: Action query time = 4.744 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7922
+t=90: Selected seed 195 with value = 0.7922
+Query 1/1: Action query time = 4.465 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9561
+t=106: Selected seed 195 with value = 0.9561
+Query 1/1: Action query time = 4.293 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=122: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 2.919 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9984
+t=138: Selected seed 195 with value = 0.9984
+Saved rollout MP4 at path ./rollouts/v2i175_t5_s2/2026_08_03-16_07_39--with_future_img--episode=9--success=True--task=push_the_plate_to_the_front_of_the_.mp4
+Success: True
+# episodes completed so far: 9
+# successes: 9 (100.0%)
+
+Task: push the plate to the front of the stove
+Starting episode 10...
+Query 1/1: Action query time = 2.576 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3800
+t=10: Selected seed 195 with value = 0.3800
+Query 1/1: Action query time = 2.842 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4379
+t=26: Selected seed 195 with value = 0.4379
+Query 1/1: Action query time = 2.617 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5471
+t=42: Selected seed 195 with value = 0.5471
+Query 1/1: Action query time = 3.709 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6276
+t=58: Selected seed 195 with value = 0.6276
+Query 1/1: Action query time = 3.575 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6726
+t=74: Selected seed 195 with value = 0.6726
+Query 1/1: Action query time = 2.905 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8195
+t=90: Selected seed 195 with value = 0.8195
+Query 1/1: Action query time = 2.430 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9925
+t=106: Selected seed 195 with value = 0.9925
+Query 1/1: Action query time = 1.954 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=122: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 2.417 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=138: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/v2i175_t5_s2/2026_08_03-16_07_39--with_future_img--episode=10--success=True--task=push_the_plate_to_the_front_of_the_.mp4
+Success: True
+# episodes completed so far: 10
+# successes: 10 (100.0%)
+
+Task: push the plate to the front of the stove
+Starting episode 11...
+Query 1/1: Action query time = 1.651 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3515
+t=10: Selected seed 195 with value = 0.3515
+Query 1/1: Action query time = 1.605 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4012
+t=26: Selected seed 195 with value = 0.4012
+Query 1/1: Action query time = 2.830 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5137
+t=42: Selected seed 195 with value = 0.5137
+Query 1/1: Action query time = 2.388 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5467
+t=58: Selected seed 195 with value = 0.5467
+Query 1/1: Action query time = 1.970 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5751
+t=74: Selected seed 195 with value = 0.5751
+Query 1/1: Action query time = 2.087 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6603
+t=90: Selected seed 195 with value = 0.6603
+Query 1/1: Action query time = 2.102 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7846
+t=106: Selected seed 195 with value = 0.7846
+Query 1/1: Action query time = 1.711 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8910
+t=122: Selected seed 195 with value = 0.8910
+Query 1/1: Action query time = 1.991 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9720
+t=138: Selected seed 195 with value = 0.9720
+Query 1/1: Action query time = 1.897 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9936
+t=154: Selected seed 195 with value = 0.9936
+Saved rollout MP4 at path ./rollouts/v2i175_t5_s2/2026_08_03-16_07_39--with_future_img--episode=11--success=True--task=push_the_plate_to_the_front_of_the_.mp4
+Success: True
+# episodes completed so far: 11
+# successes: 11 (100.0%)
+
+Task: push the plate to the front of the stove
+Starting episode 12...
+Query 1/1: Action query time = 1.418 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3674
+t=10: Selected seed 195 with value = 0.3674
+Query 1/1: Action query time = 1.315 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4230
+t=26: Selected seed 195 with value = 0.4230
+Query 1/1: Action query time = 1.662 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5275
+t=42: Selected seed 195 with value = 0.5275
+Query 1/1: Action query time = 2.265 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5709
+t=58: Selected seed 195 with value = 0.5709
+Query 1/1: Action query time = 2.218 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6729
+t=74: Selected seed 195 with value = 0.6729
+Query 1/1: Action query time = 2.322 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8006
+t=90: Selected seed 195 with value = 0.8006
+Query 1/1: Action query time = 2.003 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9363
+t=106: Selected seed 195 with value = 0.9363
+Query 1/1: Action query time = 2.127 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=122: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 2.187 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=138: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/v2i175_t5_s2/2026_08_03-16_07_39--with_future_img--episode=12--success=True--task=push_the_plate_to_the_front_of_the_.mp4
+Success: True
+# episodes completed so far: 12
+# successes: 12 (100.0%)
+Current task success rate: 1.0
+Current total success rate: 1.0
+Final results:
+Total episodes: 12
+Total successes: 12
+Overall success rate: 1.0000 (100.0%)
diff --git a/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_03-16_07_39--v2i175_t6_s1.txt b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_03-16_07_39--v2i175_t6_s1.txt
new file mode 100644
index 0000000000000000000000000000000000000000..97ea2553c0a808e1034fa1a03be06062e8a047f7
--- /dev/null
+++ b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_03-16_07_39--v2i175_t6_s1.txt
@@ -0,0 +1,475 @@
+Eval config: PolicyEvalConfig(suite='libero', model_family='cosmos', config='cosmos_predict2_2b_480p_libero_cl_stage_inference_only', ckpt_path='/home/azureuser/REGEN-main/new_task7/cosmos_policy/cosmos_v2_finetune/cosmos_predict2_2b_480p_libero_goal_task7_forget_cl_v2_from350_2gpu/checkpoints/iter_000000175/model', planning_model_config_name='', planning_model_ckpt_path='', config_file='cosmos_policy/config/config.py', packnet_mask_path='', packnet_first_cl_libero_task=6, use_third_person_image=True, num_third_person_images=1, use_wrist_image=True, num_wrist_images=1, use_proprio=True, flip_images=True, use_variance_scale=False, use_jpeg_compression=True, ar_future_prediction=False, ar_value_prediction=False, ar_qvalue_prediction=False, num_denoising_steps_action=5, num_denoising_steps_future_state=1, num_denoising_steps_value=1, unnormalize_actions=True, normalize_proprio=True, dataset_stats_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/libero_goal_regen/dataset_statistics.json', t5_text_embeddings_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/t5_embeddings.pkl', trained_with_image_aug=True, chunk_size=16, num_open_loop_steps=16, deterministic=True, deterministic_reset=False, deterministic_reset_seed=None, use_ensemble_future_state_predictions=False, num_future_state_predictions_in_ensemble=3, future_state_ensemble_aggregation_scheme='average', use_ensemble_value_predictions=False, num_value_predictions_in_ensemble=5, value_ensemble_aggregation_scheme='average', search_depth=1, mask_current_state_action_for_value_prediction=False, mask_future_state_for_qvalue_prediction=False, num_queries_best_of_n=1, use_parallel_inference=False, available_gpus='0', parallel_timeout=15, parallel_tasks_across_gpus=False, task_suite_name='libero_goal', num_trials_per_task=50, task_ids_to_run='6', initial_states_path='DEFAULT', env_img_res=256, local_log_dir='/home/azureuser/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal', run_id_note='v2i175_t6_s1', use_wandb=False, wandb_entity='YOUR_ENTITY', wandb_project='YOUR_PROJECT', seed=195, randomize_seed=False, data_collection=False, jpeg_compress=True, reward_stop_threshold=None, reward_stop_consecutive_steps=3, use_gpt_reward=False, gpt_reward_model='gpt-5.4-mini', gpt_reward_stop_threshold=4, gpt_reward_timeout_s=30.0, save_rollout_video=False, eval_hdf5_path='', eval_hdf5_demo_key='demo_0', data_gen_demo_ids='', eval_episode_ids='1,5,9,13,17,21,25,29,33,37,41,45,49', dump_final_states_path='', replay_actions=False, replay_action_path_dir='', replay_hdf5_path='', data_generation=False, max_generation_steps=200, disable_value_stop=False)
+Using serial inference (parallel inference disabled)
+Task suite: libero_goal
+Number of tasks: 10
+Running only task IDs: [6]
+Using default initial states
+
+Task: put the cream cheese in the bowl
+Starting episode 1...
+Query 1/1: Action query time = 2.992 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4953
+t=10: Selected seed 195 with value = 0.4953
+Query 1/1: Action query time = 2.434 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5957
+t=26: Selected seed 195 with value = 0.5957
+Query 1/1: Action query time = 2.243 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7057
+t=42: Selected seed 195 with value = 0.7057
+Query 1/1: Action query time = 2.569 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6745
+t=58: Selected seed 195 with value = 0.6745
+Query 1/1: Action query time = 2.418 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6563
+t=74: Selected seed 195 with value = 0.6563
+Query 1/1: Action query time = 2.072 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7847
+t=90: Selected seed 195 with value = 0.7847
+Query 1/1: Action query time = 2.725 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8219
+t=106: Selected seed 195 with value = 0.8219
+Query 1/1: Action query time = 2.751 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8866
+t=122: Selected seed 195 with value = 0.8866
+Query 1/1: Action query time = 2.175 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9798
+t=138: Selected seed 195 with value = 0.9798
+Query 1/1: Action query time = 2.488 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9952
+t=154: Selected seed 195 with value = 0.9952
+Query 1/1: Action query time = 2.333 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=170: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 2.654 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9942
+t=186: Selected seed 195 with value = 0.9942
+Query 1/1: Action query time = 2.275 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9927
+t=202: Selected seed 195 with value = 0.9927
+Query 1/1: Action query time = 2.276 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9530
+t=218: Selected seed 195 with value = 0.9530
+Query 1/1: Action query time = 2.044 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9944
+t=234: Selected seed 195 with value = 0.9944
+Query 1/1: Action query time = 2.687 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9969
+t=250: Selected seed 195 with value = 0.9969
+Query 1/1: Action query time = 2.110 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9907
+t=266: Selected seed 195 with value = 0.9907
+Query 1/1: Action query time = 1.967 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9823
+t=282: Selected seed 195 with value = 0.9823
+Query 1/1: Action query time = 1.468 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9813
+t=298: Selected seed 195 with value = 0.9813
+Saved rollout MP4 at path ./rollouts/v2i175_t6_s1/2026_08_03-16_07_39--with_future_img--episode=1--success=False--task=put_the_cream_cheese_in_the_bowl.mp4
+Success: False
+# episodes completed so far: 1
+# successes: 0 (0.0%)
+
+Task: put the cream cheese in the bowl
+Starting episode 2...
+Query 1/1: Action query time = 3.238 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5324
+t=10: Selected seed 195 with value = 0.5324
+Query 1/1: Action query time = 2.773 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5890
+t=26: Selected seed 195 with value = 0.5890
+Query 1/1: Action query time = 2.790 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7108
+t=42: Selected seed 195 with value = 0.7108
+Query 1/1: Action query time = 1.882 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8331
+t=58: Selected seed 195 with value = 0.8331
+Query 1/1: Action query time = 1.435 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9493
+t=74: Selected seed 195 with value = 0.9493
+Query 1/1: Action query time = 1.326 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9932
+t=90: Selected seed 195 with value = 0.9932
+Saved rollout MP4 at path ./rollouts/v2i175_t6_s1/2026_08_03-16_07_39--with_future_img--episode=2--success=True--task=put_the_cream_cheese_in_the_bowl.mp4
+Success: True
+# episodes completed so far: 2
+# successes: 1 (50.0%)
+
+Task: put the cream cheese in the bowl
+Starting episode 3...
+Query 1/1: Action query time = 1.563 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4817
+t=10: Selected seed 195 with value = 0.4817
+Query 1/1: Action query time = 2.585 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5668
+t=26: Selected seed 195 with value = 0.5668
+Query 1/1: Action query time = 2.886 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6394
+t=42: Selected seed 195 with value = 0.6394
+Query 1/1: Action query time = 2.228 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7817
+t=58: Selected seed 195 with value = 0.7817
+Query 1/1: Action query time = 1.786 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8963
+t=74: Selected seed 195 with value = 0.8963
+Query 1/1: Action query time = 2.421 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9820
+t=90: Selected seed 195 with value = 0.9820
+Saved rollout MP4 at path ./rollouts/v2i175_t6_s1/2026_08_03-16_07_39--with_future_img--episode=3--success=True--task=put_the_cream_cheese_in_the_bowl.mp4
+Success: True
+# episodes completed so far: 3
+# successes: 2 (66.7%)
+
+Task: put the cream cheese in the bowl
+Starting episode 4...
+Query 1/1: Action query time = 2.356 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5136
+t=10: Selected seed 195 with value = 0.5136
+Query 1/1: Action query time = 2.773 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6095
+t=26: Selected seed 195 with value = 0.6095
+Query 1/1: Action query time = 1.989 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7082
+t=42: Selected seed 195 with value = 0.7082
+Query 1/1: Action query time = 2.761 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8515
+t=58: Selected seed 195 with value = 0.8515
+Query 1/1: Action query time = 1.985 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9703
+t=74: Selected seed 195 with value = 0.9703
+Query 1/1: Action query time = 2.376 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9998
+t=90: Selected seed 195 with value = 0.9998
+Saved rollout MP4 at path ./rollouts/v2i175_t6_s1/2026_08_03-16_07_39--with_future_img--episode=4--success=True--task=put_the_cream_cheese_in_the_bowl.mp4
+Success: True
+# episodes completed so far: 4
+# successes: 3 (75.0%)
+
+Task: put the cream cheese in the bowl
+Starting episode 5...
+Query 1/1: Action query time = 1.964 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4897
+t=10: Selected seed 195 with value = 0.4897
+Query 1/1: Action query time = 2.405 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5858
+t=26: Selected seed 195 with value = 0.5858
+Query 1/1: Action query time = 2.189 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6981
+t=42: Selected seed 195 with value = 0.6981
+Query 1/1: Action query time = 2.654 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8218
+t=58: Selected seed 195 with value = 0.8218
+Query 1/1: Action query time = 2.412 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9347
+t=74: Selected seed 195 with value = 0.9347
+Query 1/1: Action query time = 1.824 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9918
+t=90: Selected seed 195 with value = 0.9918
+Saved rollout MP4 at path ./rollouts/v2i175_t6_s1/2026_08_03-16_07_39--with_future_img--episode=5--success=True--task=put_the_cream_cheese_in_the_bowl.mp4
+Success: True
+# episodes completed so far: 5
+# successes: 4 (80.0%)
+
+Task: put the cream cheese in the bowl
+Starting episode 6...
+Query 1/1: Action query time = 1.776 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4768
+t=10: Selected seed 195 with value = 0.4768
+Query 1/1: Action query time = 2.566 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5827
+t=26: Selected seed 195 with value = 0.5827
+Query 1/1: Action query time = 1.936 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6495
+t=42: Selected seed 195 with value = 0.6495
+Query 1/1: Action query time = 1.438 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7769
+t=58: Selected seed 195 with value = 0.7769
+Query 1/1: Action query time = 1.853 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8774
+t=74: Selected seed 195 with value = 0.8774
+Query 1/1: Action query time = 1.744 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9873
+t=90: Selected seed 195 with value = 0.9873
+Query 1/1: Action query time = 2.346 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=106: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/v2i175_t6_s1/2026_08_03-16_07_39--with_future_img--episode=6--success=True--task=put_the_cream_cheese_in_the_bowl.mp4
+Success: True
+# episodes completed so far: 6
+# successes: 5 (83.3%)
+
+Task: put the cream cheese in the bowl
+Starting episode 7...
+Query 1/1: Action query time = 2.592 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5239
+t=10: Selected seed 195 with value = 0.5239
+Query 1/1: Action query time = 2.498 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6054
+t=26: Selected seed 195 with value = 0.6054
+Query 1/1: Action query time = 2.441 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7211
+t=42: Selected seed 195 with value = 0.7211
+Query 1/1: Action query time = 2.434 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8467
+t=58: Selected seed 195 with value = 0.8467
+Query 1/1: Action query time = 2.017 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9495
+t=74: Selected seed 195 with value = 0.9495
+Query 1/1: Action query time = 1.503 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9911
+t=90: Selected seed 195 with value = 0.9911
+Query 1/1: Action query time = 2.152 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9913
+t=106: Selected seed 195 with value = 0.9913
+Saved rollout MP4 at path ./rollouts/v2i175_t6_s1/2026_08_03-16_07_39--with_future_img--episode=7--success=True--task=put_the_cream_cheese_in_the_bowl.mp4
+Success: True
+# episodes completed so far: 7
+# successes: 6 (85.7%)
+
+Task: put the cream cheese in the bowl
+Starting episode 8...
+Query 1/1: Action query time = 3.049 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5082
+t=10: Selected seed 195 with value = 0.5082
+Query 1/1: Action query time = 3.278 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5887
+t=26: Selected seed 195 with value = 0.5887
+Query 1/1: Action query time = 2.738 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6821
+t=42: Selected seed 195 with value = 0.6821
+Query 1/1: Action query time = 3.086 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7649
+t=58: Selected seed 195 with value = 0.7649
+Query 1/1: Action query time = 3.473 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8871
+t=74: Selected seed 195 with value = 0.8871
+Query 1/1: Action query time = 2.130 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9910
+t=90: Selected seed 195 with value = 0.9910
+Saved rollout MP4 at path ./rollouts/v2i175_t6_s1/2026_08_03-16_07_39--with_future_img--episode=8--success=True--task=put_the_cream_cheese_in_the_bowl.mp4
+Success: True
+# episodes completed so far: 8
+# successes: 7 (87.5%)
+
+Task: put the cream cheese in the bowl
+Starting episode 9...
+Query 1/1: Action query time = 2.458 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5012
+t=10: Selected seed 195 with value = 0.5012
+Query 1/1: Action query time = 1.612 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5936
+t=26: Selected seed 195 with value = 0.5936
+Query 1/1: Action query time = 2.081 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6533
+t=42: Selected seed 195 with value = 0.6533
+Query 1/1: Action query time = 2.543 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7648
+t=58: Selected seed 195 with value = 0.7648
+Query 1/1: Action query time = 2.966 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8858
+t=74: Selected seed 195 with value = 0.8858
+Query 1/1: Action query time = 1.969 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9904
+t=90: Selected seed 195 with value = 0.9904
+Saved rollout MP4 at path ./rollouts/v2i175_t6_s1/2026_08_03-16_07_39--with_future_img--episode=9--success=True--task=put_the_cream_cheese_in_the_bowl.mp4
+Success: True
+# episodes completed so far: 9
+# successes: 8 (88.9%)
+
+Task: put the cream cheese in the bowl
+Starting episode 10...
+Query 1/1: Action query time = 1.876 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5191
+t=10: Selected seed 195 with value = 0.5191
+Query 1/1: Action query time = 2.274 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5890
+t=26: Selected seed 195 with value = 0.5890
+Query 1/1: Action query time = 1.300 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6661
+t=42: Selected seed 195 with value = 0.6661
+Query 1/1: Action query time = 2.278 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8248
+t=58: Selected seed 195 with value = 0.8248
+Query 1/1: Action query time = 3.518 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9377
+t=74: Selected seed 195 with value = 0.9377
+Query 1/1: Action query time = 2.705 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/v2i175_t6_s1/2026_08_03-16_07_39--with_future_img--episode=10--success=True--task=put_the_cream_cheese_in_the_bowl.mp4
+Success: True
+# episodes completed so far: 10
+# successes: 9 (90.0%)
+
+Task: put the cream cheese in the bowl
+Starting episode 11...
+Query 1/1: Action query time = 2.447 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5058
+t=10: Selected seed 195 with value = 0.5058
+Query 1/1: Action query time = 2.020 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5868
+t=26: Selected seed 195 with value = 0.5868
+Query 1/1: Action query time = 1.855 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6700
+t=42: Selected seed 195 with value = 0.6700
+Query 1/1: Action query time = 3.021 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7868
+t=58: Selected seed 195 with value = 0.7868
+Query 1/1: Action query time = 2.672 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9039
+t=74: Selected seed 195 with value = 0.9039
+Query 1/1: Action query time = 2.296 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9861
+t=90: Selected seed 195 with value = 0.9861
+Saved rollout MP4 at path ./rollouts/v2i175_t6_s1/2026_08_03-16_07_39--with_future_img--episode=11--success=True--task=put_the_cream_cheese_in_the_bowl.mp4
+Success: True
+# episodes completed so far: 11
+# successes: 10 (90.9%)
+
+Task: put the cream cheese in the bowl
+Starting episode 12...
+Query 1/1: Action query time = 2.902 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5498
+t=10: Selected seed 195 with value = 0.5498
+Query 1/1: Action query time = 1.750 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6150
+t=26: Selected seed 195 with value = 0.6150
+Query 1/1: Action query time = 1.688 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7399
+t=42: Selected seed 195 with value = 0.7399
+Query 1/1: Action query time = 2.212 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8321
+t=58: Selected seed 195 with value = 0.8321
+Query 1/1: Action query time = 2.285 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9596
+t=74: Selected seed 195 with value = 0.9596
+Query 1/1: Action query time = 2.135 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9924
+t=90: Selected seed 195 with value = 0.9924
+Saved rollout MP4 at path ./rollouts/v2i175_t6_s1/2026_08_03-16_07_39--with_future_img--episode=12--success=True--task=put_the_cream_cheese_in_the_bowl.mp4
+Success: True
+# episodes completed so far: 12
+# successes: 11 (91.7%)
+
+Task: put the cream cheese in the bowl
+Starting episode 13...
+Query 1/1: Action query time = 1.996 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5201
+t=10: Selected seed 195 with value = 0.5201
+Query 1/1: Action query time = 2.444 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6041
+t=26: Selected seed 195 with value = 0.6041
+Query 1/1: Action query time = 2.096 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6766
+t=42: Selected seed 195 with value = 0.6766
+Query 1/1: Action query time = 1.571 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8316
+t=58: Selected seed 195 with value = 0.8316
+Query 1/1: Action query time = 1.835 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9458
+t=74: Selected seed 195 with value = 0.9458
+Query 1/1: Action query time = 2.094 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/v2i175_t6_s1/2026_08_03-16_07_39--with_future_img--episode=13--success=True--task=put_the_cream_cheese_in_the_bowl.mp4
+Success: True
+# episodes completed so far: 13
+# successes: 12 (92.3%)
+Current task success rate: 0.9230769230769231
+Current total success rate: 0.9230769230769231
+Final results:
+Total episodes: 13
+Total successes: 12
+Overall success rate: 0.9231 (92.3%)
diff --git a/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_03-16_07_39--v2i175_t6_s3.txt b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_03-16_07_39--v2i175_t6_s3.txt
new file mode 100644
index 0000000000000000000000000000000000000000..690cd16490fed097079d98ee1c4692fa5365d498
--- /dev/null
+++ b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_03-16_07_39--v2i175_t6_s3.txt
@@ -0,0 +1,540 @@
+Eval config: PolicyEvalConfig(suite='libero', model_family='cosmos', config='cosmos_predict2_2b_480p_libero_cl_stage_inference_only', ckpt_path='/home/azureuser/REGEN-main/new_task7/cosmos_policy/cosmos_v2_finetune/cosmos_predict2_2b_480p_libero_goal_task7_forget_cl_v2_from350_2gpu/checkpoints/iter_000000175/model', planning_model_config_name='', planning_model_ckpt_path='', config_file='cosmos_policy/config/config.py', packnet_mask_path='', packnet_first_cl_libero_task=6, use_third_person_image=True, num_third_person_images=1, use_wrist_image=True, num_wrist_images=1, use_proprio=True, flip_images=True, use_variance_scale=False, use_jpeg_compression=True, ar_future_prediction=False, ar_value_prediction=False, ar_qvalue_prediction=False, num_denoising_steps_action=5, num_denoising_steps_future_state=1, num_denoising_steps_value=1, unnormalize_actions=True, normalize_proprio=True, dataset_stats_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/libero_goal_regen/dataset_statistics.json', t5_text_embeddings_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/t5_embeddings.pkl', trained_with_image_aug=True, chunk_size=16, num_open_loop_steps=16, deterministic=True, deterministic_reset=False, deterministic_reset_seed=None, use_ensemble_future_state_predictions=False, num_future_state_predictions_in_ensemble=3, future_state_ensemble_aggregation_scheme='average', use_ensemble_value_predictions=False, num_value_predictions_in_ensemble=5, value_ensemble_aggregation_scheme='average', search_depth=1, mask_current_state_action_for_value_prediction=False, mask_future_state_for_qvalue_prediction=False, num_queries_best_of_n=1, use_parallel_inference=False, available_gpus='0', parallel_timeout=15, parallel_tasks_across_gpus=False, task_suite_name='libero_goal', num_trials_per_task=50, task_ids_to_run='6', initial_states_path='DEFAULT', env_img_res=256, local_log_dir='/home/azureuser/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal', run_id_note='v2i175_t6_s3', use_wandb=False, wandb_entity='YOUR_ENTITY', wandb_project='YOUR_PROJECT', seed=195, randomize_seed=False, data_collection=False, jpeg_compress=True, reward_stop_threshold=None, reward_stop_consecutive_steps=3, use_gpt_reward=False, gpt_reward_model='gpt-5.4-mini', gpt_reward_stop_threshold=4, gpt_reward_timeout_s=30.0, save_rollout_video=False, eval_hdf5_path='', eval_hdf5_demo_key='demo_0', data_gen_demo_ids='', eval_episode_ids='3,7,11,15,19,23,27,31,35,39,43,47', dump_final_states_path='', replay_actions=False, replay_action_path_dir='', replay_hdf5_path='', data_generation=False, max_generation_steps=200, disable_value_stop=False)
+Using serial inference (parallel inference disabled)
+Task suite: libero_goal
+Number of tasks: 10
+Running only task IDs: [6]
+Using default initial states
+
+Task: put the cream cheese in the bowl
+Starting episode 1...
+Query 1/1: Action query time = 2.329 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4696
+t=10: Selected seed 195 with value = 0.4696
+Query 1/1: Action query time = 2.690 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5509
+t=26: Selected seed 195 with value = 0.5509
+Query 1/1: Action query time = 2.442 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6322
+t=42: Selected seed 195 with value = 0.6322
+Query 1/1: Action query time = 2.373 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7547
+t=58: Selected seed 195 with value = 0.7547
+Query 1/1: Action query time = 2.793 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8794
+t=74: Selected seed 195 with value = 0.8794
+Query 1/1: Action query time = 3.370 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9724
+t=90: Selected seed 195 with value = 0.9724
+Query 1/1: Action query time = 3.191 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=106: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/v2i175_t6_s3/2026_08_03-16_07_39--with_future_img--episode=1--success=True--task=put_the_cream_cheese_in_the_bowl.mp4
+Success: True
+# episodes completed so far: 1
+# successes: 1 (100.0%)
+
+Task: put the cream cheese in the bowl
+Starting episode 2...
+Query 1/1: Action query time = 2.916 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5373
+t=10: Selected seed 195 with value = 0.5373
+Query 1/1: Action query time = 2.525 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5921
+t=26: Selected seed 195 with value = 0.5921
+Query 1/1: Action query time = 2.124 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6832
+t=42: Selected seed 195 with value = 0.6832
+Query 1/1: Action query time = 2.530 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7949
+t=58: Selected seed 195 with value = 0.7949
+Query 1/1: Action query time = 2.224 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8356
+t=74: Selected seed 195 with value = 0.8356
+Query 1/1: Action query time = 2.829 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8712
+t=90: Selected seed 195 with value = 0.8712
+Query 1/1: Action query time = 2.226 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9856
+t=106: Selected seed 195 with value = 0.9856
+Query 1/1: Action query time = 2.722 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9991
+t=122: Selected seed 195 with value = 0.9991
+Query 1/1: Action query time = 1.969 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=138: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 1.710 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=154: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 1.453 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=170: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.974 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=186: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 1.376 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=202: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 1.619 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=218: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 2.024 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=234: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 3.046 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=250: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 2.728 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=266: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 3.102 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=282: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 2.166 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=298: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/v2i175_t6_s3/2026_08_03-16_07_39--with_future_img--episode=2--success=False--task=put_the_cream_cheese_in_the_bowl.mp4
+Success: False
+# episodes completed so far: 2
+# successes: 1 (50.0%)
+
+Task: put the cream cheese in the bowl
+Starting episode 3...
+Query 1/1: Action query time = 2.366 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5295
+t=10: Selected seed 195 with value = 0.5295
+Query 1/1: Action query time = 2.364 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6095
+t=26: Selected seed 195 with value = 0.6095
+Query 1/1: Action query time = 2.398 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7196
+t=42: Selected seed 195 with value = 0.7196
+Query 1/1: Action query time = 1.872 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7878
+t=58: Selected seed 195 with value = 0.7878
+Query 1/1: Action query time = 1.942 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7645
+t=74: Selected seed 195 with value = 0.7645
+Query 1/1: Action query time = 1.725 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8187
+t=90: Selected seed 195 with value = 0.8187
+Query 1/1: Action query time = 1.975 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8616
+t=106: Selected seed 195 with value = 0.8616
+Query 1/1: Action query time = 2.392 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8442
+t=122: Selected seed 195 with value = 0.8442
+Query 1/1: Action query time = 2.829 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9017
+t=138: Selected seed 195 with value = 0.9017
+Query 1/1: Action query time = 2.018 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9342
+t=154: Selected seed 195 with value = 0.9342
+Query 1/1: Action query time = 2.823 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9918
+t=170: Selected seed 195 with value = 0.9918
+Query 1/1: Action query time = 2.110 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9964
+t=186: Selected seed 195 with value = 0.9964
+Query 1/1: Action query time = 2.915 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9805
+t=202: Selected seed 195 with value = 0.9805
+Query 1/1: Action query time = 2.008 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9885
+t=218: Selected seed 195 with value = 0.9885
+Query 1/1: Action query time = 1.948 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9491
+t=234: Selected seed 195 with value = 0.9491
+Query 1/1: Action query time = 2.375 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9911
+t=250: Selected seed 195 with value = 0.9911
+Query 1/1: Action query time = 2.577 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9388
+t=266: Selected seed 195 with value = 0.9388
+Query 1/1: Action query time = 2.531 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9664
+t=282: Selected seed 195 with value = 0.9664
+Query 1/1: Action query time = 2.590 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9168
+t=298: Selected seed 195 with value = 0.9168
+Saved rollout MP4 at path ./rollouts/v2i175_t6_s3/2026_08_03-16_07_39--with_future_img--episode=3--success=False--task=put_the_cream_cheese_in_the_bowl.mp4
+Success: False
+# episodes completed so far: 3
+# successes: 1 (33.3%)
+
+Task: put the cream cheese in the bowl
+Starting episode 4...
+Query 1/1: Action query time = 2.258 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5191
+t=10: Selected seed 195 with value = 0.5191
+Query 1/1: Action query time = 2.446 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5936
+t=26: Selected seed 195 with value = 0.5936
+Query 1/1: Action query time = 1.484 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6911
+t=42: Selected seed 195 with value = 0.6911
+Query 1/1: Action query time = 1.280 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8282
+t=58: Selected seed 195 with value = 0.8282
+Query 1/1: Action query time = 1.827 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9420
+t=74: Selected seed 195 with value = 0.9420
+Query 1/1: Action query time = 2.863 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9965
+t=90: Selected seed 195 with value = 0.9965
+Saved rollout MP4 at path ./rollouts/v2i175_t6_s3/2026_08_03-16_07_39--with_future_img--episode=4--success=True--task=put_the_cream_cheese_in_the_bowl.mp4
+Success: True
+# episodes completed so far: 4
+# successes: 2 (50.0%)
+
+Task: put the cream cheese in the bowl
+Starting episode 5...
+Query 1/1: Action query time = 1.804 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5368
+t=10: Selected seed 195 with value = 0.5368
+Query 1/1: Action query time = 1.670 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5957
+t=26: Selected seed 195 with value = 0.5957
+Query 1/1: Action query time = 2.505 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7017
+t=42: Selected seed 195 with value = 0.7017
+Query 1/1: Action query time = 2.588 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8379
+t=58: Selected seed 195 with value = 0.8379
+Query 1/1: Action query time = 2.288 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9622
+t=74: Selected seed 195 with value = 0.9622
+Saved rollout MP4 at path ./rollouts/v2i175_t6_s3/2026_08_03-16_07_39--with_future_img--episode=5--success=True--task=put_the_cream_cheese_in_the_bowl.mp4
+Success: True
+# episodes completed so far: 5
+# successes: 3 (60.0%)
+
+Task: put the cream cheese in the bowl
+Starting episode 6...
+Query 1/1: Action query time = 2.514 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5002
+t=10: Selected seed 195 with value = 0.5002
+Query 1/1: Action query time = 2.050 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5825
+t=26: Selected seed 195 with value = 0.5825
+Query 1/1: Action query time = 2.146 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7123
+t=42: Selected seed 195 with value = 0.7123
+Query 1/1: Action query time = 3.060 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7886
+t=58: Selected seed 195 with value = 0.7886
+Query 1/1: Action query time = 3.215 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7657
+t=74: Selected seed 195 with value = 0.7657
+Query 1/1: Action query time = 2.413 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7707
+t=90: Selected seed 195 with value = 0.7707
+Query 1/1: Action query time = 2.835 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7136
+t=106: Selected seed 195 with value = 0.7136
+Query 1/1: Action query time = 2.742 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7874
+t=122: Selected seed 195 with value = 0.7874
+Query 1/1: Action query time = 1.497 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8290
+t=138: Selected seed 195 with value = 0.8290
+Query 1/1: Action query time = 2.436 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8265
+t=154: Selected seed 195 with value = 0.8265
+Query 1/1: Action query time = 1.740 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8701
+t=170: Selected seed 195 with value = 0.8701
+Query 1/1: Action query time = 1.688 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8663
+t=186: Selected seed 195 with value = 0.8663
+Query 1/1: Action query time = 2.095 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8598
+t=202: Selected seed 195 with value = 0.8598
+Query 1/1: Action query time = 1.645 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8597
+t=218: Selected seed 195 with value = 0.8597
+Query 1/1: Action query time = 2.264 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8899
+t=234: Selected seed 195 with value = 0.8899
+Query 1/1: Action query time = 2.032 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8655
+t=250: Selected seed 195 with value = 0.8655
+Query 1/1: Action query time = 2.819 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8632
+t=266: Selected seed 195 with value = 0.8632
+Query 1/1: Action query time = 2.301 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8663
+t=282: Selected seed 195 with value = 0.8663
+Query 1/1: Action query time = 2.012 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8848
+t=298: Selected seed 195 with value = 0.8848
+Saved rollout MP4 at path ./rollouts/v2i175_t6_s3/2026_08_03-16_07_39--with_future_img--episode=6--success=False--task=put_the_cream_cheese_in_the_bowl.mp4
+Success: False
+# episodes completed so far: 6
+# successes: 3 (50.0%)
+
+Task: put the cream cheese in the bowl
+Starting episode 7...
+Query 1/1: Action query time = 2.832 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5137
+t=10: Selected seed 195 with value = 0.5137
+Query 1/1: Action query time = 2.103 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6058
+t=26: Selected seed 195 with value = 0.6058
+Query 1/1: Action query time = 2.637 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6918
+t=42: Selected seed 195 with value = 0.6918
+Query 1/1: Action query time = 1.392 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8161
+t=58: Selected seed 195 with value = 0.8161
+Query 1/1: Action query time = 2.246 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9283
+t=74: Selected seed 195 with value = 0.9283
+Query 1/1: Action query time = 2.619 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9990
+t=90: Selected seed 195 with value = 0.9990
+Saved rollout MP4 at path ./rollouts/v2i175_t6_s3/2026_08_03-16_07_39--with_future_img--episode=7--success=True--task=put_the_cream_cheese_in_the_bowl.mp4
+Success: True
+# episodes completed so far: 7
+# successes: 4 (57.1%)
+
+Task: put the cream cheese in the bowl
+Starting episode 8...
+Query 1/1: Action query time = 3.210 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5257
+t=10: Selected seed 195 with value = 0.5257
+Query 1/1: Action query time = 2.973 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6011
+t=26: Selected seed 195 with value = 0.6011
+Query 1/1: Action query time = 2.267 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7341
+t=42: Selected seed 195 with value = 0.7341
+Query 1/1: Action query time = 1.136 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8544
+t=58: Selected seed 195 with value = 0.8544
+Query 1/1: Action query time = 1.885 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9588
+t=74: Selected seed 195 with value = 0.9588
+Query 1/1: Action query time = 2.981 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/v2i175_t6_s3/2026_08_03-16_07_39--with_future_img--episode=8--success=True--task=put_the_cream_cheese_in_the_bowl.mp4
+Success: True
+# episodes completed so far: 8
+# successes: 5 (62.5%)
+
+Task: put the cream cheese in the bowl
+Starting episode 9...
+Query 1/1: Action query time = 1.511 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4907
+t=10: Selected seed 195 with value = 0.4907
+Query 1/1: Action query time = 2.606 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5735
+t=26: Selected seed 195 with value = 0.5735
+Query 1/1: Action query time = 2.591 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6793
+t=42: Selected seed 195 with value = 0.6793
+Query 1/1: Action query time = 2.244 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7848
+t=58: Selected seed 195 with value = 0.7848
+Query 1/1: Action query time = 2.658 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9018
+t=74: Selected seed 195 with value = 0.9018
+Query 1/1: Action query time = 2.661 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9930
+t=90: Selected seed 195 with value = 0.9930
+Saved rollout MP4 at path ./rollouts/v2i175_t6_s3/2026_08_03-16_07_39--with_future_img--episode=9--success=True--task=put_the_cream_cheese_in_the_bowl.mp4
+Success: True
+# episodes completed so far: 9
+# successes: 6 (66.7%)
+
+Task: put the cream cheese in the bowl
+Starting episode 10...
+Query 1/1: Action query time = 1.963 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5248
+t=10: Selected seed 195 with value = 0.5248
+Query 1/1: Action query time = 1.617 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6045
+t=26: Selected seed 195 with value = 0.6045
+Query 1/1: Action query time = 2.527 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7025
+t=42: Selected seed 195 with value = 0.7025
+Query 1/1: Action query time = 2.033 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8039
+t=58: Selected seed 195 with value = 0.8039
+Query 1/1: Action query time = 2.266 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9500
+t=74: Selected seed 195 with value = 0.9500
+Query 1/1: Action query time = 2.130 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9966
+t=90: Selected seed 195 with value = 0.9966
+Saved rollout MP4 at path ./rollouts/v2i175_t6_s3/2026_08_03-16_07_39--with_future_img--episode=10--success=True--task=put_the_cream_cheese_in_the_bowl.mp4
+Success: True
+# episodes completed so far: 10
+# successes: 7 (70.0%)
+
+Task: put the cream cheese in the bowl
+Starting episode 11...
+Query 1/1: Action query time = 1.233 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4922
+t=10: Selected seed 195 with value = 0.4922
+Query 1/1: Action query time = 1.407 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5744
+t=26: Selected seed 195 with value = 0.5744
+Query 1/1: Action query time = 2.512 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6971
+t=42: Selected seed 195 with value = 0.6971
+Query 1/1: Action query time = 2.346 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8011
+t=58: Selected seed 195 with value = 0.8011
+Query 1/1: Action query time = 2.106 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9038
+t=74: Selected seed 195 with value = 0.9038
+Query 1/1: Action query time = 1.943 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9960
+t=90: Selected seed 195 with value = 0.9960
+Saved rollout MP4 at path ./rollouts/v2i175_t6_s3/2026_08_03-16_07_39--with_future_img--episode=11--success=True--task=put_the_cream_cheese_in_the_bowl.mp4
+Success: True
+# episodes completed so far: 11
+# successes: 8 (72.7%)
+
+Task: put the cream cheese in the bowl
+Starting episode 12...
+Query 1/1: Action query time = 1.703 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5087
+t=10: Selected seed 195 with value = 0.5087
+Query 1/1: Action query time = 1.931 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5948
+t=26: Selected seed 195 with value = 0.5948
+Query 1/1: Action query time = 1.611 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6933
+t=42: Selected seed 195 with value = 0.6933
+Query 1/1: Action query time = 1.606 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8238
+t=58: Selected seed 195 with value = 0.8238
+Query 1/1: Action query time = 1.860 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9592
+t=74: Selected seed 195 with value = 0.9592
+Query 1/1: Action query time = 0.970 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9991
+t=90: Selected seed 195 with value = 0.9991
+Saved rollout MP4 at path ./rollouts/v2i175_t6_s3/2026_08_03-16_07_39--with_future_img--episode=12--success=True--task=put_the_cream_cheese_in_the_bowl.mp4
+Success: True
+# episodes completed so far: 12
+# successes: 9 (75.0%)
+Current task success rate: 0.75
+Current total success rate: 0.75
+Final results:
+Total episodes: 12
+Total successes: 9
+Overall success rate: 0.7500 (75.0%)
diff --git a/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_03-16_22_03--v2i175_t7_s1.txt b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_03-16_22_03--v2i175_t7_s1.txt
new file mode 100644
index 0000000000000000000000000000000000000000..023ebdad13a6e5fb1e4fcc775f80341cd971ed74
--- /dev/null
+++ b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_03-16_22_03--v2i175_t7_s1.txt
@@ -0,0 +1,209 @@
+Eval config: PolicyEvalConfig(suite='libero', model_family='cosmos', config='cosmos_predict2_2b_480p_libero_cl_stage_inference_only', ckpt_path='/home/azureuser/REGEN-main/new_task7/cosmos_policy/cosmos_v2_finetune/cosmos_predict2_2b_480p_libero_goal_task7_forget_cl_v2_from350_2gpu/checkpoints/iter_000000175/model', planning_model_config_name='', planning_model_ckpt_path='', config_file='cosmos_policy/config/config.py', packnet_mask_path='', packnet_first_cl_libero_task=6, use_third_person_image=True, num_third_person_images=1, use_wrist_image=True, num_wrist_images=1, use_proprio=True, flip_images=True, use_variance_scale=False, use_jpeg_compression=True, ar_future_prediction=False, ar_value_prediction=False, ar_qvalue_prediction=False, num_denoising_steps_action=5, num_denoising_steps_future_state=1, num_denoising_steps_value=1, unnormalize_actions=True, normalize_proprio=True, dataset_stats_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/libero_goal_regen/dataset_statistics.json', t5_text_embeddings_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/t5_embeddings.pkl', trained_with_image_aug=True, chunk_size=16, num_open_loop_steps=16, deterministic=True, deterministic_reset=False, deterministic_reset_seed=None, use_ensemble_future_state_predictions=False, num_future_state_predictions_in_ensemble=3, future_state_ensemble_aggregation_scheme='average', use_ensemble_value_predictions=False, num_value_predictions_in_ensemble=5, value_ensemble_aggregation_scheme='average', search_depth=1, mask_current_state_action_for_value_prediction=False, mask_future_state_for_qvalue_prediction=False, num_queries_best_of_n=1, use_parallel_inference=False, available_gpus='0', parallel_timeout=15, parallel_tasks_across_gpus=False, task_suite_name='libero_goal', num_trials_per_task=50, task_ids_to_run='7', initial_states_path='DEFAULT', env_img_res=256, local_log_dir='/home/azureuser/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal', run_id_note='v2i175_t7_s1', use_wandb=False, wandb_entity='YOUR_ENTITY', wandb_project='YOUR_PROJECT', seed=195, randomize_seed=False, data_collection=False, jpeg_compress=True, reward_stop_threshold=None, reward_stop_consecutive_steps=3, use_gpt_reward=False, gpt_reward_model='gpt-5.4-mini', gpt_reward_stop_threshold=4, gpt_reward_timeout_s=30.0, save_rollout_video=False, eval_hdf5_path='', eval_hdf5_demo_key='demo_0', data_gen_demo_ids='', eval_episode_ids='1,9,17,25,33,41,49', dump_final_states_path='', replay_actions=False, replay_action_path_dir='', replay_hdf5_path='', data_generation=False, max_generation_steps=200, disable_value_stop=False)
+Using serial inference (parallel inference disabled)
+Task suite: libero_goal
+Number of tasks: 10
+Running only task IDs: [7]
+Using default initial states
+
+Task: turn on the stove
+Starting episode 1...
+Query 1/1: Action query time = 3.702 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4804
+t=10: Selected seed 195 with value = 0.4804
+Query 1/1: Action query time = 3.145 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5423
+t=26: Selected seed 195 with value = 0.5423
+Query 1/1: Action query time = 2.744 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6245
+t=42: Selected seed 195 with value = 0.6245
+Query 1/1: Action query time = 1.669 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7184
+t=58: Selected seed 195 with value = 0.7184
+Query 1/1: Action query time = 1.354 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8409
+t=74: Selected seed 195 with value = 0.8409
+Query 1/1: Action query time = 1.835 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9777
+t=90: Selected seed 195 with value = 0.9777
+Saved rollout MP4 at path ./rollouts/v2i175_t7_s1/2026_08_03-16_22_03--with_future_img--episode=1--success=True--task=turn_on_the_stove.mp4
+Success: True
+# episodes completed so far: 1
+# successes: 1 (100.0%)
+
+Task: turn on the stove
+Starting episode 2...
+Query 1/1: Action query time = 1.974 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5101
+t=10: Selected seed 195 with value = 0.5101
+Query 1/1: Action query time = 2.317 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5868
+t=26: Selected seed 195 with value = 0.5868
+Query 1/1: Action query time = 2.604 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6522
+t=42: Selected seed 195 with value = 0.6522
+Query 1/1: Action query time = 1.817 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7693
+t=58: Selected seed 195 with value = 0.7693
+Query 1/1: Action query time = 0.983 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9353
+t=74: Selected seed 195 with value = 0.9353
+Saved rollout MP4 at path ./rollouts/v2i175_t7_s1/2026_08_03-16_22_03--with_future_img--episode=2--success=True--task=turn_on_the_stove.mp4
+Success: True
+# episodes completed so far: 2
+# successes: 2 (100.0%)
+
+Task: turn on the stove
+Starting episode 3...
+Query 1/1: Action query time = 2.944 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5061
+t=10: Selected seed 195 with value = 0.5061
+Query 1/1: Action query time = 2.655 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6024
+t=26: Selected seed 195 with value = 0.6024
+Query 1/1: Action query time = 2.376 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6601
+t=42: Selected seed 195 with value = 0.6601
+Query 1/1: Action query time = 2.479 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7543
+t=58: Selected seed 195 with value = 0.7543
+Query 1/1: Action query time = 1.486 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9229
+t=74: Selected seed 195 with value = 0.9229
+Saved rollout MP4 at path ./rollouts/v2i175_t7_s1/2026_08_03-16_22_03--with_future_img--episode=3--success=True--task=turn_on_the_stove.mp4
+Success: True
+# episodes completed so far: 3
+# successes: 3 (100.0%)
+
+Task: turn on the stove
+Starting episode 4...
+Query 1/1: Action query time = 2.966 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4875
+t=10: Selected seed 195 with value = 0.4875
+Query 1/1: Action query time = 1.983 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5693
+t=26: Selected seed 195 with value = 0.5693
+Query 1/1: Action query time = 2.393 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6463
+t=42: Selected seed 195 with value = 0.6463
+Query 1/1: Action query time = 2.508 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7570
+t=58: Selected seed 195 with value = 0.7570
+Query 1/1: Action query time = 2.182 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8681
+t=74: Selected seed 195 with value = 0.8681
+Saved rollout MP4 at path ./rollouts/v2i175_t7_s1/2026_08_03-16_22_03--with_future_img--episode=4--success=True--task=turn_on_the_stove.mp4
+Success: True
+# episodes completed so far: 4
+# successes: 4 (100.0%)
+
+Task: turn on the stove
+Starting episode 5...
+Query 1/1: Action query time = 2.447 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5066
+t=10: Selected seed 195 with value = 0.5066
+Query 1/1: Action query time = 2.230 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5677
+t=26: Selected seed 195 with value = 0.5677
+Query 1/1: Action query time = 2.466 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6523
+t=42: Selected seed 195 with value = 0.6523
+Query 1/1: Action query time = 2.555 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8160
+t=58: Selected seed 195 with value = 0.8160
+Query 1/1: Action query time = 2.022 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8399
+t=74: Selected seed 195 with value = 0.8399
+Query 1/1: Action query time = 1.423 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9932
+t=90: Selected seed 195 with value = 0.9932
+Saved rollout MP4 at path ./rollouts/v2i175_t7_s1/2026_08_03-16_22_03--with_future_img--episode=5--success=True--task=turn_on_the_stove.mp4
+Success: True
+# episodes completed so far: 5
+# successes: 5 (100.0%)
+
+Task: turn on the stove
+Starting episode 6...
+Query 1/1: Action query time = 2.612 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4658
+t=10: Selected seed 195 with value = 0.4658
+Query 1/1: Action query time = 2.305 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5732
+t=26: Selected seed 195 with value = 0.5732
+Query 1/1: Action query time = 2.310 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6507
+t=42: Selected seed 195 with value = 0.6507
+Query 1/1: Action query time = 1.829 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7506
+t=58: Selected seed 195 with value = 0.7506
+Query 1/1: Action query time = 1.603 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9259
+t=74: Selected seed 195 with value = 0.9259
+Saved rollout MP4 at path ./rollouts/v2i175_t7_s1/2026_08_03-16_22_03--with_future_img--episode=6--success=True--task=turn_on_the_stove.mp4
+Success: True
+# episodes completed so far: 6
+# successes: 6 (100.0%)
+
+Task: turn on the stove
+Starting episode 7...
+Query 1/1: Action query time = 1.385 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4708
+t=10: Selected seed 195 with value = 0.4708
+Query 1/1: Action query time = 1.368 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5458
+t=26: Selected seed 195 with value = 0.5458
+Query 1/1: Action query time = 1.398 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6221
+t=42: Selected seed 195 with value = 0.6221
+Query 1/1: Action query time = 1.466 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7292
+t=58: Selected seed 195 with value = 0.7292
+Query 1/1: Action query time = 1.455 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8990
+t=74: Selected seed 195 with value = 0.8990
+Saved rollout MP4 at path ./rollouts/v2i175_t7_s1/2026_08_03-16_22_03--with_future_img--episode=7--success=True--task=turn_on_the_stove.mp4
+Success: True
+# episodes completed so far: 7
+# successes: 7 (100.0%)
+Current task success rate: 1.0
+Current total success rate: 1.0
+Final results:
+Total episodes: 7
+Total successes: 7
+Overall success rate: 1.0000 (100.0%)
diff --git a/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_03-16_22_03--v2i175_t7_s2.txt b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_03-16_22_03--v2i175_t7_s2.txt
new file mode 100644
index 0000000000000000000000000000000000000000..77edf43d944dc70df34b9e754af3fe9d672be726
--- /dev/null
+++ b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_03-16_22_03--v2i175_t7_s2.txt
@@ -0,0 +1,178 @@
+Eval config: PolicyEvalConfig(suite='libero', model_family='cosmos', config='cosmos_predict2_2b_480p_libero_cl_stage_inference_only', ckpt_path='/home/azureuser/REGEN-main/new_task7/cosmos_policy/cosmos_v2_finetune/cosmos_predict2_2b_480p_libero_goal_task7_forget_cl_v2_from350_2gpu/checkpoints/iter_000000175/model', planning_model_config_name='', planning_model_ckpt_path='', config_file='cosmos_policy/config/config.py', packnet_mask_path='', packnet_first_cl_libero_task=6, use_third_person_image=True, num_third_person_images=1, use_wrist_image=True, num_wrist_images=1, use_proprio=True, flip_images=True, use_variance_scale=False, use_jpeg_compression=True, ar_future_prediction=False, ar_value_prediction=False, ar_qvalue_prediction=False, num_denoising_steps_action=5, num_denoising_steps_future_state=1, num_denoising_steps_value=1, unnormalize_actions=True, normalize_proprio=True, dataset_stats_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/libero_goal_regen/dataset_statistics.json', t5_text_embeddings_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/t5_embeddings.pkl', trained_with_image_aug=True, chunk_size=16, num_open_loop_steps=16, deterministic=True, deterministic_reset=False, deterministic_reset_seed=None, use_ensemble_future_state_predictions=False, num_future_state_predictions_in_ensemble=3, future_state_ensemble_aggregation_scheme='average', use_ensemble_value_predictions=False, num_value_predictions_in_ensemble=5, value_ensemble_aggregation_scheme='average', search_depth=1, mask_current_state_action_for_value_prediction=False, mask_future_state_for_qvalue_prediction=False, num_queries_best_of_n=1, use_parallel_inference=False, available_gpus='0', parallel_timeout=15, parallel_tasks_across_gpus=False, task_suite_name='libero_goal', num_trials_per_task=50, task_ids_to_run='7', initial_states_path='DEFAULT', env_img_res=256, local_log_dir='/home/azureuser/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal', run_id_note='v2i175_t7_s2', use_wandb=False, wandb_entity='YOUR_ENTITY', wandb_project='YOUR_PROJECT', seed=195, randomize_seed=False, data_collection=False, jpeg_compress=True, reward_stop_threshold=None, reward_stop_consecutive_steps=3, use_gpt_reward=False, gpt_reward_model='gpt-5.4-mini', gpt_reward_stop_threshold=4, gpt_reward_timeout_s=30.0, save_rollout_video=False, eval_hdf5_path='', eval_hdf5_demo_key='demo_0', data_gen_demo_ids='', eval_episode_ids='2,10,18,26,34,42', dump_final_states_path='', replay_actions=False, replay_action_path_dir='', replay_hdf5_path='', data_generation=False, max_generation_steps=200, disable_value_stop=False)
+Using serial inference (parallel inference disabled)
+Task suite: libero_goal
+Number of tasks: 10
+Running only task IDs: [7]
+Using default initial states
+
+Task: turn on the stove
+Starting episode 1...
+Query 1/1: Action query time = 2.729 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4823
+t=10: Selected seed 195 with value = 0.4823
+Query 1/1: Action query time = 2.423 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5639
+t=26: Selected seed 195 with value = 0.5639
+Query 1/1: Action query time = 3.074 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6324
+t=42: Selected seed 195 with value = 0.6324
+Query 1/1: Action query time = 2.910 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7400
+t=58: Selected seed 195 with value = 0.7400
+Query 1/1: Action query time = 1.823 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9251
+t=74: Selected seed 195 with value = 0.9251
+Query 1/1: Action query time = 1.479 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9966
+t=90: Selected seed 195 with value = 0.9966
+Saved rollout MP4 at path ./rollouts/v2i175_t7_s2/2026_08_03-16_22_03--with_future_img--episode=1--success=True--task=turn_on_the_stove.mp4
+Success: True
+# episodes completed so far: 1
+# successes: 1 (100.0%)
+
+Task: turn on the stove
+Starting episode 2...
+Query 1/1: Action query time = 2.502 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4804
+t=10: Selected seed 195 with value = 0.4804
+Query 1/1: Action query time = 2.532 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5506
+t=26: Selected seed 195 with value = 0.5506
+Query 1/1: Action query time = 2.609 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6252
+t=42: Selected seed 195 with value = 0.6252
+Query 1/1: Action query time = 1.670 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7529
+t=58: Selected seed 195 with value = 0.7529
+Query 1/1: Action query time = 1.671 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9226
+t=74: Selected seed 195 with value = 0.9226
+Saved rollout MP4 at path ./rollouts/v2i175_t7_s2/2026_08_03-16_22_03--with_future_img--episode=2--success=True--task=turn_on_the_stove.mp4
+Success: True
+# episodes completed so far: 2
+# successes: 2 (100.0%)
+
+Task: turn on the stove
+Starting episode 3...
+Query 1/1: Action query time = 1.757 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4896
+t=10: Selected seed 195 with value = 0.4896
+Query 1/1: Action query time = 2.213 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5672
+t=26: Selected seed 195 with value = 0.5672
+Query 1/1: Action query time = 2.670 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7546
+t=42: Selected seed 195 with value = 0.7546
+Query 1/1: Action query time = 2.791 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8978
+t=58: Selected seed 195 with value = 0.8978
+Query 1/1: Action query time = 2.140 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9963
+t=74: Selected seed 195 with value = 0.9963
+Saved rollout MP4 at path ./rollouts/v2i175_t7_s2/2026_08_03-16_22_03--with_future_img--episode=3--success=True--task=turn_on_the_stove.mp4
+Success: True
+# episodes completed so far: 3
+# successes: 3 (100.0%)
+
+Task: turn on the stove
+Starting episode 4...
+Query 1/1: Action query time = 1.881 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4867
+t=10: Selected seed 195 with value = 0.4867
+Query 1/1: Action query time = 3.222 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5494
+t=26: Selected seed 195 with value = 0.5494
+Query 1/1: Action query time = 2.916 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6788
+t=42: Selected seed 195 with value = 0.6788
+Query 1/1: Action query time = 2.291 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7983
+t=58: Selected seed 195 with value = 0.7983
+Query 1/1: Action query time = 2.324 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9452
+t=74: Selected seed 195 with value = 0.9452
+Saved rollout MP4 at path ./rollouts/v2i175_t7_s2/2026_08_03-16_22_03--with_future_img--episode=4--success=True--task=turn_on_the_stove.mp4
+Success: True
+# episodes completed so far: 4
+# successes: 4 (100.0%)
+
+Task: turn on the stove
+Starting episode 5...
+Query 1/1: Action query time = 1.696 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5347
+t=10: Selected seed 195 with value = 0.5347
+Query 1/1: Action query time = 2.677 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6329
+t=26: Selected seed 195 with value = 0.6329
+Query 1/1: Action query time = 2.580 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6595
+t=42: Selected seed 195 with value = 0.6595
+Query 1/1: Action query time = 2.495 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8058
+t=58: Selected seed 195 with value = 0.8058
+Query 1/1: Action query time = 2.878 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9763
+t=74: Selected seed 195 with value = 0.9763
+Saved rollout MP4 at path ./rollouts/v2i175_t7_s2/2026_08_03-16_22_03--with_future_img--episode=5--success=True--task=turn_on_the_stove.mp4
+Success: True
+# episodes completed so far: 5
+# successes: 5 (100.0%)
+
+Task: turn on the stove
+Starting episode 6...
+Query 1/1: Action query time = 1.124 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5301
+t=10: Selected seed 195 with value = 0.5301
+Query 1/1: Action query time = 1.421 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6242
+t=26: Selected seed 195 with value = 0.6242
+Query 1/1: Action query time = 2.717 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7486
+t=42: Selected seed 195 with value = 0.7486
+Query 1/1: Action query time = 2.480 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8948
+t=58: Selected seed 195 with value = 0.8948
+Query 1/1: Action query time = 2.440 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9998
+t=74: Selected seed 195 with value = 0.9998
+Saved rollout MP4 at path ./rollouts/v2i175_t7_s2/2026_08_03-16_22_03--with_future_img--episode=6--success=True--task=turn_on_the_stove.mp4
+Success: True
+# episodes completed so far: 6
+# successes: 6 (100.0%)
+Current task success rate: 1.0
+Current total success rate: 1.0
+Final results:
+Total episodes: 6
+Total successes: 6
+Overall success rate: 1.0000 (100.0%)
diff --git a/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_03-16_22_03--v2i175_t7_s4.txt b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_03-16_22_03--v2i175_t7_s4.txt
new file mode 100644
index 0000000000000000000000000000000000000000..7c41770ab5908d6fc190a9881529b0ff3209e5be
--- /dev/null
+++ b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_03-16_22_03--v2i175_t7_s4.txt
@@ -0,0 +1,178 @@
+Eval config: PolicyEvalConfig(suite='libero', model_family='cosmos', config='cosmos_predict2_2b_480p_libero_cl_stage_inference_only', ckpt_path='/home/azureuser/REGEN-main/new_task7/cosmos_policy/cosmos_v2_finetune/cosmos_predict2_2b_480p_libero_goal_task7_forget_cl_v2_from350_2gpu/checkpoints/iter_000000175/model', planning_model_config_name='', planning_model_ckpt_path='', config_file='cosmos_policy/config/config.py', packnet_mask_path='', packnet_first_cl_libero_task=6, use_third_person_image=True, num_third_person_images=1, use_wrist_image=True, num_wrist_images=1, use_proprio=True, flip_images=True, use_variance_scale=False, use_jpeg_compression=True, ar_future_prediction=False, ar_value_prediction=False, ar_qvalue_prediction=False, num_denoising_steps_action=5, num_denoising_steps_future_state=1, num_denoising_steps_value=1, unnormalize_actions=True, normalize_proprio=True, dataset_stats_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/libero_goal_regen/dataset_statistics.json', t5_text_embeddings_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/t5_embeddings.pkl', trained_with_image_aug=True, chunk_size=16, num_open_loop_steps=16, deterministic=True, deterministic_reset=False, deterministic_reset_seed=None, use_ensemble_future_state_predictions=False, num_future_state_predictions_in_ensemble=3, future_state_ensemble_aggregation_scheme='average', use_ensemble_value_predictions=False, num_value_predictions_in_ensemble=5, value_ensemble_aggregation_scheme='average', search_depth=1, mask_current_state_action_for_value_prediction=False, mask_future_state_for_qvalue_prediction=False, num_queries_best_of_n=1, use_parallel_inference=False, available_gpus='0', parallel_timeout=15, parallel_tasks_across_gpus=False, task_suite_name='libero_goal', num_trials_per_task=50, task_ids_to_run='7', initial_states_path='DEFAULT', env_img_res=256, local_log_dir='/home/azureuser/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal', run_id_note='v2i175_t7_s4', use_wandb=False, wandb_entity='YOUR_ENTITY', wandb_project='YOUR_PROJECT', seed=195, randomize_seed=False, data_collection=False, jpeg_compress=True, reward_stop_threshold=None, reward_stop_consecutive_steps=3, use_gpt_reward=False, gpt_reward_model='gpt-5.4-mini', gpt_reward_stop_threshold=4, gpt_reward_timeout_s=30.0, save_rollout_video=False, eval_hdf5_path='', eval_hdf5_demo_key='demo_0', data_gen_demo_ids='', eval_episode_ids='4,12,20,28,36,44', dump_final_states_path='', replay_actions=False, replay_action_path_dir='', replay_hdf5_path='', data_generation=False, max_generation_steps=200, disable_value_stop=False)
+Using serial inference (parallel inference disabled)
+Task suite: libero_goal
+Number of tasks: 10
+Running only task IDs: [7]
+Using default initial states
+
+Task: turn on the stove
+Starting episode 1...
+Query 1/1: Action query time = 3.463 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4904
+t=10: Selected seed 195 with value = 0.4904
+Query 1/1: Action query time = 3.048 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5917
+t=26: Selected seed 195 with value = 0.5917
+Query 1/1: Action query time = 2.402 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6838
+t=42: Selected seed 195 with value = 0.6838
+Query 1/1: Action query time = 2.219 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8152
+t=58: Selected seed 195 with value = 0.8152
+Query 1/1: Action query time = 1.908 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9759
+t=74: Selected seed 195 with value = 0.9759
+Saved rollout MP4 at path ./rollouts/v2i175_t7_s4/2026_08_03-16_22_03--with_future_img--episode=1--success=True--task=turn_on_the_stove.mp4
+Success: True
+# episodes completed so far: 1
+# successes: 1 (100.0%)
+
+Task: turn on the stove
+Starting episode 2...
+Query 1/1: Action query time = 1.708 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4811
+t=10: Selected seed 195 with value = 0.4811
+Query 1/1: Action query time = 2.104 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5885
+t=26: Selected seed 195 with value = 0.5885
+Query 1/1: Action query time = 2.271 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6500
+t=42: Selected seed 195 with value = 0.6500
+Query 1/1: Action query time = 2.680 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7422
+t=58: Selected seed 195 with value = 0.7422
+Query 1/1: Action query time = 1.743 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9480
+t=74: Selected seed 195 with value = 0.9480
+Saved rollout MP4 at path ./rollouts/v2i175_t7_s4/2026_08_03-16_22_03--with_future_img--episode=2--success=True--task=turn_on_the_stove.mp4
+Success: True
+# episodes completed so far: 2
+# successes: 2 (100.0%)
+
+Task: turn on the stove
+Starting episode 3...
+Query 1/1: Action query time = 1.437 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5210
+t=10: Selected seed 195 with value = 0.5210
+Query 1/1: Action query time = 2.251 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5731
+t=26: Selected seed 195 with value = 0.5731
+Query 1/1: Action query time = 2.099 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6492
+t=42: Selected seed 195 with value = 0.6492
+Query 1/1: Action query time = 2.523 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7909
+t=58: Selected seed 195 with value = 0.7909
+Query 1/1: Action query time = 2.594 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9587
+t=74: Selected seed 195 with value = 0.9587
+Saved rollout MP4 at path ./rollouts/v2i175_t7_s4/2026_08_03-16_22_03--with_future_img--episode=3--success=True--task=turn_on_the_stove.mp4
+Success: True
+# episodes completed so far: 3
+# successes: 3 (100.0%)
+
+Task: turn on the stove
+Starting episode 4...
+Query 1/1: Action query time = 1.521 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5271
+t=10: Selected seed 195 with value = 0.5271
+Query 1/1: Action query time = 1.512 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5970
+t=26: Selected seed 195 with value = 0.5970
+Query 1/1: Action query time = 3.146 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6639
+t=42: Selected seed 195 with value = 0.6639
+Query 1/1: Action query time = 2.567 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7866
+t=58: Selected seed 195 with value = 0.7866
+Query 1/1: Action query time = 2.110 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9088
+t=74: Selected seed 195 with value = 0.9088
+Saved rollout MP4 at path ./rollouts/v2i175_t7_s4/2026_08_03-16_22_03--with_future_img--episode=4--success=True--task=turn_on_the_stove.mp4
+Success: True
+# episodes completed so far: 4
+# successes: 4 (100.0%)
+
+Task: turn on the stove
+Starting episode 5...
+Query 1/1: Action query time = 1.029 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4929
+t=10: Selected seed 195 with value = 0.4929
+Query 1/1: Action query time = 1.820 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5817
+t=26: Selected seed 195 with value = 0.5817
+Query 1/1: Action query time = 3.135 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6569
+t=42: Selected seed 195 with value = 0.6569
+Query 1/1: Action query time = 2.681 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7668
+t=58: Selected seed 195 with value = 0.7668
+Query 1/1: Action query time = 2.645 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8869
+t=74: Selected seed 195 with value = 0.8869
+Saved rollout MP4 at path ./rollouts/v2i175_t7_s4/2026_08_03-16_22_03--with_future_img--episode=5--success=True--task=turn_on_the_stove.mp4
+Success: True
+# episodes completed so far: 5
+# successes: 5 (100.0%)
+
+Task: turn on the stove
+Starting episode 6...
+Query 1/1: Action query time = 1.246 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4872
+t=10: Selected seed 195 with value = 0.4872
+Query 1/1: Action query time = 1.920 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5552
+t=26: Selected seed 195 with value = 0.5552
+Query 1/1: Action query time = 2.473 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6483
+t=42: Selected seed 195 with value = 0.6483
+Query 1/1: Action query time = 2.439 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7363
+t=58: Selected seed 195 with value = 0.7363
+Query 1/1: Action query time = 2.256 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8869
+t=74: Selected seed 195 with value = 0.8869
+Query 1/1: Action query time = 2.286 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9957
+t=90: Selected seed 195 with value = 0.9957
+Saved rollout MP4 at path ./rollouts/v2i175_t7_s4/2026_08_03-16_22_03--with_future_img--episode=6--success=True--task=turn_on_the_stove.mp4
+Success: True
+# episodes completed so far: 6
+# successes: 6 (100.0%)
+Current task success rate: 1.0
+Current total success rate: 1.0
+Final results:
+Total episodes: 6
+Total successes: 6
+Overall success rate: 1.0000 (100.0%)
diff --git a/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_03-16_22_04--v2i175_t7_s6.txt b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_03-16_22_04--v2i175_t7_s6.txt
new file mode 100644
index 0000000000000000000000000000000000000000..871e2b83601f578e84c5dc2b91776f8d856f6cba
--- /dev/null
+++ b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_03-16_22_04--v2i175_t7_s6.txt
@@ -0,0 +1,182 @@
+Eval config: PolicyEvalConfig(suite='libero', model_family='cosmos', config='cosmos_predict2_2b_480p_libero_cl_stage_inference_only', ckpt_path='/home/azureuser/REGEN-main/new_task7/cosmos_policy/cosmos_v2_finetune/cosmos_predict2_2b_480p_libero_goal_task7_forget_cl_v2_from350_2gpu/checkpoints/iter_000000175/model', planning_model_config_name='', planning_model_ckpt_path='', config_file='cosmos_policy/config/config.py', packnet_mask_path='', packnet_first_cl_libero_task=6, use_third_person_image=True, num_third_person_images=1, use_wrist_image=True, num_wrist_images=1, use_proprio=True, flip_images=True, use_variance_scale=False, use_jpeg_compression=True, ar_future_prediction=False, ar_value_prediction=False, ar_qvalue_prediction=False, num_denoising_steps_action=5, num_denoising_steps_future_state=1, num_denoising_steps_value=1, unnormalize_actions=True, normalize_proprio=True, dataset_stats_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/libero_goal_regen/dataset_statistics.json', t5_text_embeddings_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/t5_embeddings.pkl', trained_with_image_aug=True, chunk_size=16, num_open_loop_steps=16, deterministic=True, deterministic_reset=False, deterministic_reset_seed=None, use_ensemble_future_state_predictions=False, num_future_state_predictions_in_ensemble=3, future_state_ensemble_aggregation_scheme='average', use_ensemble_value_predictions=False, num_value_predictions_in_ensemble=5, value_ensemble_aggregation_scheme='average', search_depth=1, mask_current_state_action_for_value_prediction=False, mask_future_state_for_qvalue_prediction=False, num_queries_best_of_n=1, use_parallel_inference=False, available_gpus='0', parallel_timeout=15, parallel_tasks_across_gpus=False, task_suite_name='libero_goal', num_trials_per_task=50, task_ids_to_run='7', initial_states_path='DEFAULT', env_img_res=256, local_log_dir='/home/azureuser/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal', run_id_note='v2i175_t7_s6', use_wandb=False, wandb_entity='YOUR_ENTITY', wandb_project='YOUR_PROJECT', seed=195, randomize_seed=False, data_collection=False, jpeg_compress=True, reward_stop_threshold=None, reward_stop_consecutive_steps=3, use_gpt_reward=False, gpt_reward_model='gpt-5.4-mini', gpt_reward_stop_threshold=4, gpt_reward_timeout_s=30.0, save_rollout_video=False, eval_hdf5_path='', eval_hdf5_demo_key='demo_0', data_gen_demo_ids='', eval_episode_ids='6,14,22,30,38,46', dump_final_states_path='', replay_actions=False, replay_action_path_dir='', replay_hdf5_path='', data_generation=False, max_generation_steps=200, disable_value_stop=False)
+Using serial inference (parallel inference disabled)
+Task suite: libero_goal
+Number of tasks: 10
+Running only task IDs: [7]
+Using default initial states
+
+Task: turn on the stove
+Starting episode 1...
+Query 1/1: Action query time = 3.479 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4819
+t=10: Selected seed 195 with value = 0.4819
+Query 1/1: Action query time = 3.044 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5636
+t=26: Selected seed 195 with value = 0.5636
+Query 1/1: Action query time = 2.453 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6386
+t=42: Selected seed 195 with value = 0.6386
+Query 1/1: Action query time = 2.288 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7563
+t=58: Selected seed 195 with value = 0.7563
+Query 1/1: Action query time = 1.942 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8960
+t=74: Selected seed 195 with value = 0.8960
+Saved rollout MP4 at path ./rollouts/v2i175_t7_s6/2026_08_03-16_22_04--with_future_img--episode=1--success=True--task=turn_on_the_stove.mp4
+Success: True
+# episodes completed so far: 1
+# successes: 1 (100.0%)
+
+Task: turn on the stove
+Starting episode 2...
+Query 1/1: Action query time = 2.516 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4846
+t=10: Selected seed 195 with value = 0.4846
+Query 1/1: Action query time = 2.208 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5592
+t=26: Selected seed 195 with value = 0.5592
+Query 1/1: Action query time = 2.492 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6434
+t=42: Selected seed 195 with value = 0.6434
+Query 1/1: Action query time = 2.527 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7354
+t=58: Selected seed 195 with value = 0.7354
+Query 1/1: Action query time = 1.724 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8894
+t=74: Selected seed 195 with value = 0.8894
+Query 1/1: Action query time = 1.116 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9971
+t=90: Selected seed 195 with value = 0.9971
+Saved rollout MP4 at path ./rollouts/v2i175_t7_s6/2026_08_03-16_22_04--with_future_img--episode=2--success=True--task=turn_on_the_stove.mp4
+Success: True
+# episodes completed so far: 2
+# successes: 2 (100.0%)
+
+Task: turn on the stove
+Starting episode 3...
+Query 1/1: Action query time = 2.450 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5046
+t=10: Selected seed 195 with value = 0.5046
+Query 1/1: Action query time = 2.548 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6334
+t=26: Selected seed 195 with value = 0.6334
+Query 1/1: Action query time = 2.681 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6975
+t=42: Selected seed 195 with value = 0.6975
+Query 1/1: Action query time = 1.923 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8735
+t=58: Selected seed 195 with value = 0.8735
+Query 1/1: Action query time = 1.572 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9942
+t=74: Selected seed 195 with value = 0.9942
+Saved rollout MP4 at path ./rollouts/v2i175_t7_s6/2026_08_03-16_22_04--with_future_img--episode=3--success=True--task=turn_on_the_stove.mp4
+Success: True
+# episodes completed so far: 3
+# successes: 3 (100.0%)
+
+Task: turn on the stove
+Starting episode 4...
+Query 1/1: Action query time = 3.203 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4850
+t=10: Selected seed 195 with value = 0.4850
+Query 1/1: Action query time = 2.215 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5727
+t=26: Selected seed 195 with value = 0.5727
+Query 1/1: Action query time = 2.049 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6457
+t=42: Selected seed 195 with value = 0.6457
+Query 1/1: Action query time = 1.867 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7849
+t=58: Selected seed 195 with value = 0.7849
+Query 1/1: Action query time = 1.374 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9318
+t=74: Selected seed 195 with value = 0.9318
+Saved rollout MP4 at path ./rollouts/v2i175_t7_s6/2026_08_03-16_22_04--with_future_img--episode=4--success=True--task=turn_on_the_stove.mp4
+Success: True
+# episodes completed so far: 4
+# successes: 4 (100.0%)
+
+Task: turn on the stove
+Starting episode 5...
+Query 1/1: Action query time = 3.299 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5271
+t=10: Selected seed 195 with value = 0.5271
+Query 1/1: Action query time = 2.738 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5840
+t=26: Selected seed 195 with value = 0.5840
+Query 1/1: Action query time = 2.819 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7009
+t=42: Selected seed 195 with value = 0.7009
+Query 1/1: Action query time = 1.605 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8224
+t=58: Selected seed 195 with value = 0.8224
+Query 1/1: Action query time = 1.008 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9869
+t=74: Selected seed 195 with value = 0.9869
+Saved rollout MP4 at path ./rollouts/v2i175_t7_s6/2026_08_03-16_22_04--with_future_img--episode=5--success=True--task=turn_on_the_stove.mp4
+Success: True
+# episodes completed so far: 5
+# successes: 5 (100.0%)
+
+Task: turn on the stove
+Starting episode 6...
+Query 1/1: Action query time = 2.357 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4664
+t=10: Selected seed 195 with value = 0.4664
+Query 1/1: Action query time = 2.123 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5432
+t=26: Selected seed 195 with value = 0.5432
+Query 1/1: Action query time = 2.487 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6321
+t=42: Selected seed 195 with value = 0.6321
+Query 1/1: Action query time = 2.502 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7213
+t=58: Selected seed 195 with value = 0.7213
+Query 1/1: Action query time = 1.205 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8542
+t=74: Selected seed 195 with value = 0.8542
+Query 1/1: Action query time = 0.986 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9899
+t=90: Selected seed 195 with value = 0.9899
+Saved rollout MP4 at path ./rollouts/v2i175_t7_s6/2026_08_03-16_22_04--with_future_img--episode=6--success=True--task=turn_on_the_stove.mp4
+Success: True
+# episodes completed so far: 6
+# successes: 6 (100.0%)
+Current task success rate: 1.0
+Current total success rate: 1.0
+Final results:
+Total episodes: 6
+Total successes: 6
+Overall success rate: 1.0000 (100.0%)
diff --git a/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_03-17_25_48--v2i350_p1_t0_s0.txt b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_03-17_25_48--v2i350_p1_t0_s0.txt
new file mode 100644
index 0000000000000000000000000000000000000000..4ac1416c236223aff0056a4ad527f22349810dd7
--- /dev/null
+++ b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_03-17_25_48--v2i350_p1_t0_s0.txt
@@ -0,0 +1,523 @@
+Eval config: PolicyEvalConfig(suite='libero', model_family='cosmos', config='cosmos_predict2_2b_480p_libero_cl_stage_inference_only', ckpt_path='/home/azureuser/REGEN-main/new_task7/cosmos_policy/cosmos_v2_finetune/cosmos_predict2_2b_480p_libero_goal_task7_forget_cl_v2_from350_2gpu/checkpoints/iter_000000350/model', planning_model_config_name='', planning_model_ckpt_path='', config_file='cosmos_policy/config/config.py', packnet_mask_path='', packnet_first_cl_libero_task=6, use_third_person_image=True, num_third_person_images=1, use_wrist_image=True, num_wrist_images=1, use_proprio=True, flip_images=True, use_variance_scale=False, use_jpeg_compression=True, ar_future_prediction=False, ar_value_prediction=False, ar_qvalue_prediction=False, num_denoising_steps_action=5, num_denoising_steps_future_state=1, num_denoising_steps_value=1, unnormalize_actions=True, normalize_proprio=True, dataset_stats_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/libero_goal_regen/dataset_statistics.json', t5_text_embeddings_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/t5_embeddings.pkl', trained_with_image_aug=True, chunk_size=16, num_open_loop_steps=16, deterministic=True, deterministic_reset=False, deterministic_reset_seed=None, use_ensemble_future_state_predictions=False, num_future_state_predictions_in_ensemble=3, future_state_ensemble_aggregation_scheme='average', use_ensemble_value_predictions=False, num_value_predictions_in_ensemble=5, value_ensemble_aggregation_scheme='average', search_depth=1, mask_current_state_action_for_value_prediction=False, mask_future_state_for_qvalue_prediction=False, num_queries_best_of_n=1, use_parallel_inference=False, available_gpus='0', parallel_timeout=15, parallel_tasks_across_gpus=False, task_suite_name='libero_goal', num_trials_per_task=50, task_ids_to_run='0', initial_states_path='DEFAULT', env_img_res=256, local_log_dir='/home/azureuser/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal', run_id_note='v2i350_p1_t0_s0', use_wandb=False, wandb_entity='YOUR_ENTITY', wandb_project='YOUR_PROJECT', seed=195, randomize_seed=False, data_collection=False, jpeg_compress=True, reward_stop_threshold=None, reward_stop_consecutive_steps=3, use_gpt_reward=False, gpt_reward_model='gpt-5.4-mini', gpt_reward_stop_threshold=4, gpt_reward_timeout_s=30.0, save_rollout_video=False, eval_hdf5_path='', eval_hdf5_demo_key='demo_0', data_gen_demo_ids='', eval_episode_ids='0,4,8,12,16,20,24,28,32,36,40,44,48', dump_final_states_path='', replay_actions=False, replay_action_path_dir='', replay_hdf5_path='', data_generation=False, max_generation_steps=200, disable_value_stop=False)
+Using serial inference (parallel inference disabled)
+Task suite: libero_goal
+Number of tasks: 10
+Running only task IDs: [0]
+Using default initial states
+
+Task: open the middle drawer of the cabinet
+Starting episode 1...
+Query 1/1: Action query time = 5.136 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3946
+t=10: Selected seed 195 with value = 0.3946
+Query 1/1: Action query time = 5.174 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4653
+t=26: Selected seed 195 with value = 0.4653
+Query 1/1: Action query time = 5.673 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5592
+t=42: Selected seed 195 with value = 0.5592
+Query 1/1: Action query time = 5.260 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6651
+t=58: Selected seed 195 with value = 0.6651
+Query 1/1: Action query time = 5.114 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7709
+t=74: Selected seed 195 with value = 0.7709
+Query 1/1: Action query time = 4.875 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8896
+t=90: Selected seed 195 with value = 0.8896
+Query 1/1: Action query time = 4.158 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9984
+t=106: Selected seed 195 with value = 0.9984
+Query 1/1: Action query time = 2.924 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=122: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/v2i350_p1_t0_s0/2026_08_03-17_25_48--with_future_img--episode=1--success=True--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: True
+# episodes completed so far: 1
+# successes: 1 (100.0%)
+
+Task: open the middle drawer of the cabinet
+Starting episode 2...
+Query 1/1: Action query time = 4.368 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4111
+t=10: Selected seed 195 with value = 0.4111
+Query 1/1: Action query time = 5.107 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4771
+t=26: Selected seed 195 with value = 0.4771
+Query 1/1: Action query time = 5.013 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5454
+t=42: Selected seed 195 with value = 0.5454
+Query 1/1: Action query time = 4.754 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6450
+t=58: Selected seed 195 with value = 0.6450
+Query 1/1: Action query time = 3.892 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7514
+t=74: Selected seed 195 with value = 0.7514
+Query 1/1: Action query time = 4.668 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8939
+t=90: Selected seed 195 with value = 0.8939
+Query 1/1: Action query time = 4.899 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9973
+t=106: Selected seed 195 with value = 0.9973
+Query 1/1: Action query time = 4.290 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=122: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/v2i350_p1_t0_s0/2026_08_03-17_25_48--with_future_img--episode=2--success=True--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: True
+# episodes completed so far: 2
+# successes: 2 (100.0%)
+
+Task: open the middle drawer of the cabinet
+Starting episode 3...
+Query 1/1: Action query time = 4.833 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3927
+t=10: Selected seed 195 with value = 0.3927
+Query 1/1: Action query time = 4.534 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4664
+t=26: Selected seed 195 with value = 0.4664
+Query 1/1: Action query time = 3.948 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5508
+t=42: Selected seed 195 with value = 0.5508
+Query 1/1: Action query time = 4.687 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6665
+t=58: Selected seed 195 with value = 0.6665
+Query 1/1: Action query time = 5.135 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7665
+t=74: Selected seed 195 with value = 0.7665
+Query 1/1: Action query time = 4.827 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9346
+t=90: Selected seed 195 with value = 0.9346
+Query 1/1: Action query time = 4.008 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9976
+t=106: Selected seed 195 with value = 0.9976
+Query 1/1: Action query time = 4.738 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=122: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/v2i350_p1_t0_s0/2026_08_03-17_25_48--with_future_img--episode=3--success=True--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: True
+# episodes completed so far: 3
+# successes: 3 (100.0%)
+
+Task: open the middle drawer of the cabinet
+Starting episode 4...
+Query 1/1: Action query time = 2.945 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3843
+t=10: Selected seed 195 with value = 0.3843
+Query 1/1: Action query time = 3.765 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4534
+t=26: Selected seed 195 with value = 0.4534
+Query 1/1: Action query time = 5.134 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5399
+t=42: Selected seed 195 with value = 0.5399
+Query 1/1: Action query time = 5.437 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6228
+t=58: Selected seed 195 with value = 0.6228
+Query 1/1: Action query time = 5.266 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7520
+t=74: Selected seed 195 with value = 0.7520
+Query 1/1: Action query time = 5.267 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8807
+t=90: Selected seed 195 with value = 0.8807
+Query 1/1: Action query time = 3.105 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9943
+t=106: Selected seed 195 with value = 0.9943
+Query 1/1: Action query time = 4.050 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=122: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/v2i350_p1_t0_s0/2026_08_03-17_25_48--with_future_img--episode=4--success=True--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: True
+# episodes completed so far: 4
+# successes: 4 (100.0%)
+
+Task: open the middle drawer of the cabinet
+Starting episode 5...
+Query 1/1: Action query time = 4.710 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4066
+t=10: Selected seed 195 with value = 0.4066
+Query 1/1: Action query time = 5.529 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4713
+t=26: Selected seed 195 with value = 0.4713
+Query 1/1: Action query time = 4.068 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5906
+t=42: Selected seed 195 with value = 0.5906
+Query 1/1: Action query time = 4.821 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6746
+t=58: Selected seed 195 with value = 0.6746
+Query 1/1: Action query time = 4.400 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7940
+t=74: Selected seed 195 with value = 0.7940
+Query 1/1: Action query time = 4.805 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9241
+t=90: Selected seed 195 with value = 0.9241
+Query 1/1: Action query time = 4.180 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9899
+t=106: Selected seed 195 with value = 0.9899
+Query 1/1: Action query time = 4.615 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=122: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/v2i350_p1_t0_s0/2026_08_03-17_25_48--with_future_img--episode=5--success=True--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: True
+# episodes completed so far: 5
+# successes: 5 (100.0%)
+
+Task: open the middle drawer of the cabinet
+Starting episode 6...
+Query 1/1: Action query time = 4.656 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4023
+t=10: Selected seed 195 with value = 0.4023
+Query 1/1: Action query time = 4.898 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4206
+t=26: Selected seed 195 with value = 0.4206
+Query 1/1: Action query time = 4.542 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5711
+t=42: Selected seed 195 with value = 0.5711
+Query 1/1: Action query time = 5.684 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6493
+t=58: Selected seed 195 with value = 0.6493
+Query 1/1: Action query time = 4.846 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7622
+t=74: Selected seed 195 with value = 0.7622
+Query 1/1: Action query time = 4.021 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8793
+t=90: Selected seed 195 with value = 0.8793
+Query 1/1: Action query time = 4.834 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9951
+t=106: Selected seed 195 with value = 0.9951
+Query 1/1: Action query time = 5.507 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=122: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/v2i350_p1_t0_s0/2026_08_03-17_25_48--with_future_img--episode=6--success=True--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: True
+# episodes completed so far: 6
+# successes: 6 (100.0%)
+
+Task: open the middle drawer of the cabinet
+Starting episode 7...
+Query 1/1: Action query time = 4.149 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4156
+t=10: Selected seed 195 with value = 0.4156
+Query 1/1: Action query time = 4.034 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4774
+t=26: Selected seed 195 with value = 0.4774
+Query 1/1: Action query time = 5.225 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5513
+t=42: Selected seed 195 with value = 0.5513
+Query 1/1: Action query time = 4.833 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6513
+t=58: Selected seed 195 with value = 0.6513
+Query 1/1: Action query time = 4.572 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7720
+t=74: Selected seed 195 with value = 0.7720
+Query 1/1: Action query time = 5.554 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9308
+t=90: Selected seed 195 with value = 0.9308
+Query 1/1: Action query time = 5.444 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=106: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.490 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=122: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/v2i350_p1_t0_s0/2026_08_03-17_25_48--with_future_img--episode=7--success=True--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: True
+# episodes completed so far: 7
+# successes: 7 (100.0%)
+
+Task: open the middle drawer of the cabinet
+Starting episode 8...
+Query 1/1: Action query time = 5.688 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3934
+t=10: Selected seed 195 with value = 0.3934
+Query 1/1: Action query time = 4.168 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4827
+t=26: Selected seed 195 with value = 0.4827
+Query 1/1: Action query time = 4.393 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5561
+t=42: Selected seed 195 with value = 0.5561
+Query 1/1: Action query time = 4.352 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6418
+t=58: Selected seed 195 with value = 0.6418
+Query 1/1: Action query time = 3.358 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7545
+t=74: Selected seed 195 with value = 0.7545
+Query 1/1: Action query time = 4.442 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8567
+t=90: Selected seed 195 with value = 0.8567
+Query 1/1: Action query time = 5.048 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=106: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 5.260 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=122: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/v2i350_p1_t0_s0/2026_08_03-17_25_48--with_future_img--episode=8--success=True--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: True
+# episodes completed so far: 8
+# successes: 8 (100.0%)
+
+Task: open the middle drawer of the cabinet
+Starting episode 9...
+Query 1/1: Action query time = 5.201 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4071
+t=10: Selected seed 195 with value = 0.4071
+Query 1/1: Action query time = 3.871 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4672
+t=26: Selected seed 195 with value = 0.4672
+Query 1/1: Action query time = 3.763 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5562
+t=42: Selected seed 195 with value = 0.5562
+Query 1/1: Action query time = 4.369 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6485
+t=58: Selected seed 195 with value = 0.6485
+Query 1/1: Action query time = 3.876 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7722
+t=74: Selected seed 195 with value = 0.7722
+Query 1/1: Action query time = 4.215 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8767
+t=90: Selected seed 195 with value = 0.8767
+Query 1/1: Action query time = 4.894 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9924
+t=106: Selected seed 195 with value = 0.9924
+Query 1/1: Action query time = 4.922 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=122: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/v2i350_p1_t0_s0/2026_08_03-17_25_48--with_future_img--episode=9--success=True--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: True
+# episodes completed so far: 9
+# successes: 9 (100.0%)
+
+Task: open the middle drawer of the cabinet
+Starting episode 10...
+Query 1/1: Action query time = 4.593 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3507
+t=10: Selected seed 195 with value = 0.3507
+Query 1/1: Action query time = 4.553 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3456
+t=26: Selected seed 195 with value = 0.3456
+Query 1/1: Action query time = 2.303 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3968
+t=42: Selected seed 195 with value = 0.3968
+Query 1/1: Action query time = 4.218 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5149
+t=58: Selected seed 195 with value = 0.5149
+Query 1/1: Action query time = 3.187 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7685
+t=74: Selected seed 195 with value = 0.7685
+Query 1/1: Action query time = 5.356 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8866
+t=90: Selected seed 195 with value = 0.8866
+Query 1/1: Action query time = 5.720 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=106: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 5.516 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=122: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/v2i350_p1_t0_s0/2026_08_03-17_25_48--with_future_img--episode=10--success=True--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: True
+# episodes completed so far: 10
+# successes: 10 (100.0%)
+
+Task: open the middle drawer of the cabinet
+Starting episode 11...
+Query 1/1: Action query time = 5.058 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4073
+t=10: Selected seed 195 with value = 0.4073
+Query 1/1: Action query time = 5.313 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4704
+t=26: Selected seed 195 with value = 0.4704
+Query 1/1: Action query time = 4.021 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5570
+t=42: Selected seed 195 with value = 0.5570
+Query 1/1: Action query time = 3.962 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6537
+t=58: Selected seed 195 with value = 0.6537
+Query 1/1: Action query time = 3.675 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7602
+t=74: Selected seed 195 with value = 0.7602
+Query 1/1: Action query time = 4.210 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9157
+t=90: Selected seed 195 with value = 0.9157
+Query 1/1: Action query time = 4.264 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9898
+t=106: Selected seed 195 with value = 0.9898
+Query 1/1: Action query time = 3.575 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9987
+t=122: Selected seed 195 with value = 0.9987
+Saved rollout MP4 at path ./rollouts/v2i350_p1_t0_s0/2026_08_03-17_25_48--with_future_img--episode=11--success=True--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: True
+# episodes completed so far: 11
+# successes: 11 (100.0%)
+
+Task: open the middle drawer of the cabinet
+Starting episode 12...
+Query 1/1: Action query time = 3.677 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4079
+t=10: Selected seed 195 with value = 0.4079
+Query 1/1: Action query time = 2.911 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4632
+t=26: Selected seed 195 with value = 0.4632
+Query 1/1: Action query time = 2.415 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5735
+t=42: Selected seed 195 with value = 0.5735
+Query 1/1: Action query time = 2.657 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6527
+t=58: Selected seed 195 with value = 0.6527
+Query 1/1: Action query time = 3.360 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7665
+t=74: Selected seed 195 with value = 0.7665
+Query 1/1: Action query time = 2.701 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8732
+t=90: Selected seed 195 with value = 0.8732
+Query 1/1: Action query time = 2.794 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9339
+t=106: Selected seed 195 with value = 0.9339
+Query 1/1: Action query time = 2.442 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9845
+t=122: Selected seed 195 with value = 0.9845
+Query 1/1: Action query time = 2.412 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=138: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/v2i350_p1_t0_s0/2026_08_03-17_25_48--with_future_img--episode=12--success=True--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: True
+# episodes completed so far: 12
+# successes: 12 (100.0%)
+
+Task: open the middle drawer of the cabinet
+Starting episode 13...
+Query 1/1: Action query time = 1.768 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4182
+t=10: Selected seed 195 with value = 0.4182
+Query 1/1: Action query time = 1.518 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4808
+t=26: Selected seed 195 with value = 0.4808
+Query 1/1: Action query time = 1.006 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5632
+t=42: Selected seed 195 with value = 0.5632
+Query 1/1: Action query time = 1.004 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6735
+t=58: Selected seed 195 with value = 0.6735
+Query 1/1: Action query time = 1.844 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7610
+t=74: Selected seed 195 with value = 0.7610
+Query 1/1: Action query time = 1.976 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9021
+t=90: Selected seed 195 with value = 0.9021
+Query 1/1: Action query time = 1.748 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9904
+t=106: Selected seed 195 with value = 0.9904
+Query 1/1: Action query time = 1.626 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=122: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/v2i350_p1_t0_s0/2026_08_03-17_25_48--with_future_img--episode=13--success=True--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: True
+# episodes completed so far: 13
+# successes: 13 (100.0%)
+Current task success rate: 1.0
+Current total success rate: 1.0
+Final results:
+Total episodes: 13
+Total successes: 13
+Overall success rate: 1.0000 (100.0%)
diff --git a/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_03-17_25_48--v2i350_p1_t0_s3.txt b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_03-17_25_48--v2i350_p1_t0_s3.txt
new file mode 100644
index 0000000000000000000000000000000000000000..c70a3726a6a7bda2f737ca9833e71c4a83ee574a
--- /dev/null
+++ b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_03-17_25_48--v2i350_p1_t0_s3.txt
@@ -0,0 +1,480 @@
+Eval config: PolicyEvalConfig(suite='libero', model_family='cosmos', config='cosmos_predict2_2b_480p_libero_cl_stage_inference_only', ckpt_path='/home/azureuser/REGEN-main/new_task7/cosmos_policy/cosmos_v2_finetune/cosmos_predict2_2b_480p_libero_goal_task7_forget_cl_v2_from350_2gpu/checkpoints/iter_000000350/model', planning_model_config_name='', planning_model_ckpt_path='', config_file='cosmos_policy/config/config.py', packnet_mask_path='', packnet_first_cl_libero_task=6, use_third_person_image=True, num_third_person_images=1, use_wrist_image=True, num_wrist_images=1, use_proprio=True, flip_images=True, use_variance_scale=False, use_jpeg_compression=True, ar_future_prediction=False, ar_value_prediction=False, ar_qvalue_prediction=False, num_denoising_steps_action=5, num_denoising_steps_future_state=1, num_denoising_steps_value=1, unnormalize_actions=True, normalize_proprio=True, dataset_stats_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/libero_goal_regen/dataset_statistics.json', t5_text_embeddings_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/t5_embeddings.pkl', trained_with_image_aug=True, chunk_size=16, num_open_loop_steps=16, deterministic=True, deterministic_reset=False, deterministic_reset_seed=None, use_ensemble_future_state_predictions=False, num_future_state_predictions_in_ensemble=3, future_state_ensemble_aggregation_scheme='average', use_ensemble_value_predictions=False, num_value_predictions_in_ensemble=5, value_ensemble_aggregation_scheme='average', search_depth=1, mask_current_state_action_for_value_prediction=False, mask_future_state_for_qvalue_prediction=False, num_queries_best_of_n=1, use_parallel_inference=False, available_gpus='0', parallel_timeout=15, parallel_tasks_across_gpus=False, task_suite_name='libero_goal', num_trials_per_task=50, task_ids_to_run='0', initial_states_path='DEFAULT', env_img_res=256, local_log_dir='/home/azureuser/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal', run_id_note='v2i350_p1_t0_s3', use_wandb=False, wandb_entity='YOUR_ENTITY', wandb_project='YOUR_PROJECT', seed=195, randomize_seed=False, data_collection=False, jpeg_compress=True, reward_stop_threshold=None, reward_stop_consecutive_steps=3, use_gpt_reward=False, gpt_reward_model='gpt-5.4-mini', gpt_reward_stop_threshold=4, gpt_reward_timeout_s=30.0, save_rollout_video=False, eval_hdf5_path='', eval_hdf5_demo_key='demo_0', data_gen_demo_ids='', eval_episode_ids='3,7,11,15,19,23,27,31,35,39,43,47', dump_final_states_path='', replay_actions=False, replay_action_path_dir='', replay_hdf5_path='', data_generation=False, max_generation_steps=200, disable_value_stop=False)
+Using serial inference (parallel inference disabled)
+Task suite: libero_goal
+Number of tasks: 10
+Running only task IDs: [0]
+Using default initial states
+
+Task: open the middle drawer of the cabinet
+Starting episode 1...
+Query 1/1: Action query time = 3.030 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4056
+t=10: Selected seed 195 with value = 0.4056
+Query 1/1: Action query time = 3.856 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4620
+t=26: Selected seed 195 with value = 0.4620
+Query 1/1: Action query time = 5.141 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5703
+t=42: Selected seed 195 with value = 0.5703
+Query 1/1: Action query time = 5.880 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6462
+t=58: Selected seed 195 with value = 0.6462
+Query 1/1: Action query time = 4.538 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7547
+t=74: Selected seed 195 with value = 0.7547
+Query 1/1: Action query time = 4.464 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9406
+t=90: Selected seed 195 with value = 0.9406
+Query 1/1: Action query time = 4.479 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=106: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 3.301 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=122: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/v2i350_p1_t0_s3/2026_08_03-17_25_48--with_future_img--episode=1--success=True--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: True
+# episodes completed so far: 1
+# successes: 1 (100.0%)
+
+Task: open the middle drawer of the cabinet
+Starting episode 2...
+Query 1/1: Action query time = 3.073 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3831
+t=10: Selected seed 195 with value = 0.3831
+Query 1/1: Action query time = 4.749 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4718
+t=26: Selected seed 195 with value = 0.4718
+Query 1/1: Action query time = 5.193 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5454
+t=42: Selected seed 195 with value = 0.5454
+Query 1/1: Action query time = 4.865 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6456
+t=58: Selected seed 195 with value = 0.6456
+Query 1/1: Action query time = 4.777 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7505
+t=74: Selected seed 195 with value = 0.7505
+Query 1/1: Action query time = 3.183 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8951
+t=90: Selected seed 195 with value = 0.8951
+Query 1/1: Action query time = 5.104 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9907
+t=106: Selected seed 195 with value = 0.9907
+Query 1/1: Action query time = 4.681 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=122: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/v2i350_p1_t0_s3/2026_08_03-17_25_48--with_future_img--episode=2--success=True--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: True
+# episodes completed so far: 2
+# successes: 2 (100.0%)
+
+Task: open the middle drawer of the cabinet
+Starting episode 3...
+Query 1/1: Action query time = 4.057 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3809
+t=10: Selected seed 195 with value = 0.3809
+Query 1/1: Action query time = 3.679 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4410
+t=26: Selected seed 195 with value = 0.4410
+Query 1/1: Action query time = 4.327 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5354
+t=42: Selected seed 195 with value = 0.5354
+Query 1/1: Action query time = 3.983 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6406
+t=58: Selected seed 195 with value = 0.6406
+Query 1/1: Action query time = 4.476 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7710
+t=74: Selected seed 195 with value = 0.7710
+Query 1/1: Action query time = 4.467 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9110
+t=90: Selected seed 195 with value = 0.9110
+Query 1/1: Action query time = 5.414 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9889
+t=106: Selected seed 195 with value = 0.9889
+Query 1/1: Action query time = 5.158 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9992
+t=122: Selected seed 195 with value = 0.9992
+Saved rollout MP4 at path ./rollouts/v2i350_p1_t0_s3/2026_08_03-17_25_48--with_future_img--episode=3--success=True--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: True
+# episodes completed so far: 3
+# successes: 3 (100.0%)
+
+Task: open the middle drawer of the cabinet
+Starting episode 4...
+Query 1/1: Action query time = 4.508 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3750
+t=10: Selected seed 195 with value = 0.3750
+Query 1/1: Action query time = 3.081 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4466
+t=26: Selected seed 195 with value = 0.4466
+Query 1/1: Action query time = 3.134 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5258
+t=42: Selected seed 195 with value = 0.5258
+Query 1/1: Action query time = 4.376 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6238
+t=58: Selected seed 195 with value = 0.6238
+Query 1/1: Action query time = 4.571 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7534
+t=74: Selected seed 195 with value = 0.7534
+Query 1/1: Action query time = 5.274 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9165
+t=90: Selected seed 195 with value = 0.9165
+Query 1/1: Action query time = 5.115 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9949
+t=106: Selected seed 195 with value = 0.9949
+Query 1/1: Action query time = 5.512 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=122: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/v2i350_p1_t0_s3/2026_08_03-17_25_48--with_future_img--episode=4--success=True--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: True
+# episodes completed so far: 4
+# successes: 4 (100.0%)
+
+Task: open the middle drawer of the cabinet
+Starting episode 5...
+Query 1/1: Action query time = 3.818 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4354
+t=10: Selected seed 195 with value = 0.4354
+Query 1/1: Action query time = 2.506 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5050
+t=26: Selected seed 195 with value = 0.5050
+Query 1/1: Action query time = 4.541 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5657
+t=42: Selected seed 195 with value = 0.5657
+Query 1/1: Action query time = 3.092 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6503
+t=58: Selected seed 195 with value = 0.6503
+Query 1/1: Action query time = 5.384 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7602
+t=74: Selected seed 195 with value = 0.7602
+Query 1/1: Action query time = 5.763 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9016
+t=90: Selected seed 195 with value = 0.9016
+Query 1/1: Action query time = 4.481 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9980
+t=106: Selected seed 195 with value = 0.9980
+Query 1/1: Action query time = 4.660 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=122: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/v2i350_p1_t0_s3/2026_08_03-17_25_48--with_future_img--episode=5--success=True--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: True
+# episodes completed so far: 5
+# successes: 5 (100.0%)
+
+Task: open the middle drawer of the cabinet
+Starting episode 6...
+Query 1/1: Action query time = 4.412 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4040
+t=10: Selected seed 195 with value = 0.4040
+Query 1/1: Action query time = 4.158 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4432
+t=26: Selected seed 195 with value = 0.4432
+Query 1/1: Action query time = 3.183 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5718
+t=42: Selected seed 195 with value = 0.5718
+Query 1/1: Action query time = 5.135 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6572
+t=58: Selected seed 195 with value = 0.6572
+Query 1/1: Action query time = 4.592 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7540
+t=74: Selected seed 195 with value = 0.7540
+Query 1/1: Action query time = 3.780 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9021
+t=90: Selected seed 195 with value = 0.9021
+Query 1/1: Action query time = 4.457 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9995
+t=106: Selected seed 195 with value = 0.9995
+Query 1/1: Action query time = 3.288 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=122: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/v2i350_p1_t0_s3/2026_08_03-17_25_48--with_future_img--episode=6--success=True--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: True
+# episodes completed so far: 6
+# successes: 6 (100.0%)
+
+Task: open the middle drawer of the cabinet
+Starting episode 7...
+Query 1/1: Action query time = 4.089 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4175
+t=10: Selected seed 195 with value = 0.4175
+Query 1/1: Action query time = 4.736 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4848
+t=26: Selected seed 195 with value = 0.4848
+Query 1/1: Action query time = 5.268 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5536
+t=42: Selected seed 195 with value = 0.5536
+Query 1/1: Action query time = 4.747 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6537
+t=58: Selected seed 195 with value = 0.6537
+Query 1/1: Action query time = 4.020 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7469
+t=74: Selected seed 195 with value = 0.7469
+Query 1/1: Action query time = 4.085 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9041
+t=90: Selected seed 195 with value = 0.9041
+Query 1/1: Action query time = 5.017 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=106: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 5.594 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=122: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/v2i350_p1_t0_s3/2026_08_03-17_25_48--with_future_img--episode=7--success=True--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: True
+# episodes completed so far: 7
+# successes: 7 (100.0%)
+
+Task: open the middle drawer of the cabinet
+Starting episode 8...
+Query 1/1: Action query time = 5.561 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3403
+t=10: Selected seed 195 with value = 0.3403
+Query 1/1: Action query time = 5.490 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4594
+t=26: Selected seed 195 with value = 0.4594
+Query 1/1: Action query time = 4.251 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5392
+t=42: Selected seed 195 with value = 0.5392
+Query 1/1: Action query time = 3.747 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6229
+t=58: Selected seed 195 with value = 0.6229
+Query 1/1: Action query time = 5.526 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7353
+t=74: Selected seed 195 with value = 0.7353
+Query 1/1: Action query time = 3.818 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8973
+t=90: Selected seed 195 with value = 0.8973
+Query 1/1: Action query time = 3.650 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=106: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 5.226 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=122: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/v2i350_p1_t0_s3/2026_08_03-17_25_48--with_future_img--episode=8--success=True--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: True
+# episodes completed so far: 8
+# successes: 8 (100.0%)
+
+Task: open the middle drawer of the cabinet
+Starting episode 9...
+Query 1/1: Action query time = 3.992 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3954
+t=10: Selected seed 195 with value = 0.3954
+Query 1/1: Action query time = 5.476 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4789
+t=26: Selected seed 195 with value = 0.4789
+Query 1/1: Action query time = 5.537 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5534
+t=42: Selected seed 195 with value = 0.5534
+Query 1/1: Action query time = 4.634 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6548
+t=58: Selected seed 195 with value = 0.6548
+Query 1/1: Action query time = 4.434 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7623
+t=74: Selected seed 195 with value = 0.7623
+Query 1/1: Action query time = 4.550 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9172
+t=90: Selected seed 195 with value = 0.9172
+Query 1/1: Action query time = 2.611 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=106: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.351 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=122: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/v2i350_p1_t0_s3/2026_08_03-17_25_48--with_future_img--episode=9--success=True--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: True
+# episodes completed so far: 9
+# successes: 9 (100.0%)
+
+Task: open the middle drawer of the cabinet
+Starting episode 10...
+Query 1/1: Action query time = 4.617 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4292
+t=10: Selected seed 195 with value = 0.4292
+Query 1/1: Action query time = 4.106 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4569
+t=26: Selected seed 195 with value = 0.4569
+Query 1/1: Action query time = 4.452 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5482
+t=42: Selected seed 195 with value = 0.5482
+Query 1/1: Action query time = 4.664 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6350
+t=58: Selected seed 195 with value = 0.6350
+Query 1/1: Action query time = 4.178 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7360
+t=74: Selected seed 195 with value = 0.7360
+Query 1/1: Action query time = 4.280 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8701
+t=90: Selected seed 195 with value = 0.8701
+Query 1/1: Action query time = 4.577 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9999
+t=106: Selected seed 195 with value = 0.9999
+Query 1/1: Action query time = 3.815 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=122: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/v2i350_p1_t0_s3/2026_08_03-17_25_48--with_future_img--episode=10--success=True--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: True
+# episodes completed so far: 10
+# successes: 10 (100.0%)
+
+Task: open the middle drawer of the cabinet
+Starting episode 11...
+Query 1/1: Action query time = 6.125 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3980
+t=10: Selected seed 195 with value = 0.3980
+Query 1/1: Action query time = 3.490 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4353
+t=26: Selected seed 195 with value = 0.4353
+Query 1/1: Action query time = 4.384 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5704
+t=42: Selected seed 195 with value = 0.5704
+Query 1/1: Action query time = 5.256 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6514
+t=58: Selected seed 195 with value = 0.6514
+Query 1/1: Action query time = 3.239 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7653
+t=74: Selected seed 195 with value = 0.7653
+Query 1/1: Action query time = 5.113 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8826
+t=90: Selected seed 195 with value = 0.8826
+Query 1/1: Action query time = 3.670 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9924
+t=106: Selected seed 195 with value = 0.9924
+Query 1/1: Action query time = 3.745 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=122: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/v2i350_p1_t0_s3/2026_08_03-17_25_48--with_future_img--episode=11--success=True--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: True
+# episodes completed so far: 11
+# successes: 11 (100.0%)
+
+Task: open the middle drawer of the cabinet
+Starting episode 12...
+Query 1/1: Action query time = 4.021 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4329
+t=10: Selected seed 195 with value = 0.4329
+Query 1/1: Action query time = 2.999 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4943
+t=26: Selected seed 195 with value = 0.4943
+Query 1/1: Action query time = 4.157 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5543
+t=42: Selected seed 195 with value = 0.5543
+Query 1/1: Action query time = 3.364 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6673
+t=58: Selected seed 195 with value = 0.6673
+Query 1/1: Action query time = 3.963 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7796
+t=74: Selected seed 195 with value = 0.7796
+Query 1/1: Action query time = 2.562 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9340
+t=90: Selected seed 195 with value = 0.9340
+Query 1/1: Action query time = 3.179 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=106: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.651 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=122: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/v2i350_p1_t0_s3/2026_08_03-17_25_48--with_future_img--episode=12--success=True--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: True
+# episodes completed so far: 12
+# successes: 12 (100.0%)
+Current task success rate: 1.0
+Current total success rate: 1.0
+Final results:
+Total episodes: 12
+Total successes: 12
+Overall success rate: 1.0000 (100.0%)
diff --git a/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_03-17_25_50--v2i350_p1_t2_s3.txt b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_03-17_25_50--v2i350_p1_t2_s3.txt
new file mode 100644
index 0000000000000000000000000000000000000000..6a5e21d610844e7aa68a1087895acfadcd2aa7e9
--- /dev/null
+++ b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_03-17_25_50--v2i350_p1_t2_s3.txt
@@ -0,0 +1,592 @@
+Eval config: PolicyEvalConfig(suite='libero', model_family='cosmos', config='cosmos_predict2_2b_480p_libero_cl_stage_inference_only', ckpt_path='/home/azureuser/REGEN-main/new_task7/cosmos_policy/cosmos_v2_finetune/cosmos_predict2_2b_480p_libero_goal_task7_forget_cl_v2_from350_2gpu/checkpoints/iter_000000350/model', planning_model_config_name='', planning_model_ckpt_path='', config_file='cosmos_policy/config/config.py', packnet_mask_path='', packnet_first_cl_libero_task=6, use_third_person_image=True, num_third_person_images=1, use_wrist_image=True, num_wrist_images=1, use_proprio=True, flip_images=True, use_variance_scale=False, use_jpeg_compression=True, ar_future_prediction=False, ar_value_prediction=False, ar_qvalue_prediction=False, num_denoising_steps_action=5, num_denoising_steps_future_state=1, num_denoising_steps_value=1, unnormalize_actions=True, normalize_proprio=True, dataset_stats_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/libero_goal_regen/dataset_statistics.json', t5_text_embeddings_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/t5_embeddings.pkl', trained_with_image_aug=True, chunk_size=16, num_open_loop_steps=16, deterministic=True, deterministic_reset=False, deterministic_reset_seed=None, use_ensemble_future_state_predictions=False, num_future_state_predictions_in_ensemble=3, future_state_ensemble_aggregation_scheme='average', use_ensemble_value_predictions=False, num_value_predictions_in_ensemble=5, value_ensemble_aggregation_scheme='average', search_depth=1, mask_current_state_action_for_value_prediction=False, mask_future_state_for_qvalue_prediction=False, num_queries_best_of_n=1, use_parallel_inference=False, available_gpus='0', parallel_timeout=15, parallel_tasks_across_gpus=False, task_suite_name='libero_goal', num_trials_per_task=50, task_ids_to_run='2', initial_states_path='DEFAULT', env_img_res=256, local_log_dir='/home/azureuser/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal', run_id_note='v2i350_p1_t2_s3', use_wandb=False, wandb_entity='YOUR_ENTITY', wandb_project='YOUR_PROJECT', seed=195, randomize_seed=False, data_collection=False, jpeg_compress=True, reward_stop_threshold=None, reward_stop_consecutive_steps=3, use_gpt_reward=False, gpt_reward_model='gpt-5.4-mini', gpt_reward_stop_threshold=4, gpt_reward_timeout_s=30.0, save_rollout_video=False, eval_hdf5_path='', eval_hdf5_demo_key='demo_0', data_gen_demo_ids='', eval_episode_ids='3,7,11,15,19,23,27,31,35,39,43,47', dump_final_states_path='', replay_actions=False, replay_action_path_dir='', replay_hdf5_path='', data_generation=False, max_generation_steps=200, disable_value_stop=False)
+Using serial inference (parallel inference disabled)
+Task suite: libero_goal
+Number of tasks: 10
+Running only task IDs: [2]
+Using default initial states
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 1...
+Query 1/1: Action query time = 3.930 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5666
+t=10: Selected seed 195 with value = 0.5666
+Query 1/1: Action query time = 5.091 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6328
+t=26: Selected seed 195 with value = 0.6328
+Query 1/1: Action query time = 5.839 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7665
+t=42: Selected seed 195 with value = 0.7665
+Query 1/1: Action query time = 4.541 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8493
+t=58: Selected seed 195 with value = 0.8493
+Query 1/1: Action query time = 4.050 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9748
+t=74: Selected seed 195 with value = 0.9748
+Query 1/1: Action query time = 5.062 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/v2i350_p1_t2_s3/2026_08_03-17_25_50--with_future_img--episode=1--success=True--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: True
+# episodes completed so far: 1
+# successes: 1 (100.0%)
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 2...
+Query 1/1: Action query time = 3.923 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5788
+t=10: Selected seed 195 with value = 0.5788
+Query 1/1: Action query time = 4.742 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6560
+t=26: Selected seed 195 with value = 0.6560
+Query 1/1: Action query time = 4.605 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7553
+t=42: Selected seed 195 with value = 0.7553
+Query 1/1: Action query time = 4.650 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9038
+t=58: Selected seed 195 with value = 0.9038
+Query 1/1: Action query time = 2.891 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9922
+t=74: Selected seed 195 with value = 0.9922
+Query 1/1: Action query time = 4.363 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/v2i350_p1_t2_s3/2026_08_03-17_25_50--with_future_img--episode=2--success=True--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: True
+# episodes completed so far: 2
+# successes: 2 (100.0%)
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 3...
+Query 1/1: Action query time = 4.575 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5999
+t=10: Selected seed 195 with value = 0.5999
+Query 1/1: Action query time = 5.365 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7239
+t=26: Selected seed 195 with value = 0.7239
+Query 1/1: Action query time = 5.242 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8473
+t=42: Selected seed 195 with value = 0.8473
+Query 1/1: Action query time = 5.335 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9661
+t=58: Selected seed 195 with value = 0.9661
+Query 1/1: Action query time = 4.321 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=74: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.716 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/v2i350_p1_t2_s3/2026_08_03-17_25_50--with_future_img--episode=3--success=True--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: True
+# episodes completed so far: 3
+# successes: 3 (100.0%)
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 4...
+Query 1/1: Action query time = 4.235 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5741
+t=10: Selected seed 195 with value = 0.5741
+Query 1/1: Action query time = 5.769 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6519
+t=26: Selected seed 195 with value = 0.6519
+Query 1/1: Action query time = 4.391 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7496
+t=42: Selected seed 195 with value = 0.7496
+Query 1/1: Action query time = 3.746 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8784
+t=58: Selected seed 195 with value = 0.8784
+Query 1/1: Action query time = 3.764 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9685
+t=74: Selected seed 195 with value = 0.9685
+Query 1/1: Action query time = 4.095 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/v2i350_p1_t2_s3/2026_08_03-17_25_50--with_future_img--episode=4--success=True--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: True
+# episodes completed so far: 4
+# successes: 4 (100.0%)
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 5...
+Query 1/1: Action query time = 5.119 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5869
+t=10: Selected seed 195 with value = 0.5869
+Query 1/1: Action query time = 4.710 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7122
+t=26: Selected seed 195 with value = 0.7122
+Query 1/1: Action query time = 5.644 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8344
+t=42: Selected seed 195 with value = 0.8344
+Query 1/1: Action query time = 4.664 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9468
+t=58: Selected seed 195 with value = 0.9468
+Query 1/1: Action query time = 5.855 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=74: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 5.468 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/v2i350_p1_t2_s3/2026_08_03-17_25_50--with_future_img--episode=5--success=True--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: True
+# episodes completed so far: 5
+# successes: 5 (100.0%)
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 6...
+Query 1/1: Action query time = 4.734 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5571
+t=10: Selected seed 195 with value = 0.5571
+Query 1/1: Action query time = 4.542 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6994
+t=26: Selected seed 195 with value = 0.6994
+Query 1/1: Action query time = 4.821 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7888
+t=42: Selected seed 195 with value = 0.7888
+Query 1/1: Action query time = 3.363 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9219
+t=58: Selected seed 195 with value = 0.9219
+Query 1/1: Action query time = 4.303 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9838
+t=74: Selected seed 195 with value = 0.9838
+Query 1/1: Action query time = 5.326 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/v2i350_p1_t2_s3/2026_08_03-17_25_50--with_future_img--episode=6--success=True--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: True
+# episodes completed so far: 6
+# successes: 6 (100.0%)
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 7...
+Query 1/1: Action query time = 4.321 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5620
+t=10: Selected seed 195 with value = 0.5620
+Query 1/1: Action query time = 3.712 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6427
+t=26: Selected seed 195 with value = 0.6427
+Query 1/1: Action query time = 4.358 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7546
+t=42: Selected seed 195 with value = 0.7546
+Query 1/1: Action query time = 3.340 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9196
+t=58: Selected seed 195 with value = 0.9196
+Query 1/1: Action query time = 4.903 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8479
+t=74: Selected seed 195 with value = 0.8479
+Query 1/1: Action query time = 5.199 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7876
+t=90: Selected seed 195 with value = 0.7876
+Query 1/1: Action query time = 4.906 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7755
+t=106: Selected seed 195 with value = 0.7755
+Query 1/1: Action query time = 5.019 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7675
+t=122: Selected seed 195 with value = 0.7675
+Query 1/1: Action query time = 3.497 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7628
+t=138: Selected seed 195 with value = 0.7628
+Query 1/1: Action query time = 2.706 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7739
+t=154: Selected seed 195 with value = 0.7739
+Query 1/1: Action query time = 4.493 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7903
+t=170: Selected seed 195 with value = 0.7903
+Query 1/1: Action query time = 5.694 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7958
+t=186: Selected seed 195 with value = 0.7958
+Query 1/1: Action query time = 5.441 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8126
+t=202: Selected seed 195 with value = 0.8126
+Query 1/1: Action query time = 5.046 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8259
+t=218: Selected seed 195 with value = 0.8259
+Query 1/1: Action query time = 4.756 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8371
+t=234: Selected seed 195 with value = 0.8371
+Query 1/1: Action query time = 2.914 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7893
+t=250: Selected seed 195 with value = 0.7893
+Query 1/1: Action query time = 4.658 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7746
+t=266: Selected seed 195 with value = 0.7746
+Query 1/1: Action query time = 5.500 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7809
+t=282: Selected seed 195 with value = 0.7809
+Query 1/1: Action query time = 5.303 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7919
+t=298: Selected seed 195 with value = 0.7919
+Saved rollout MP4 at path ./rollouts/v2i350_p1_t2_s3/2026_08_03-17_25_50--with_future_img--episode=7--success=False--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: False
+# episodes completed so far: 7
+# successes: 6 (85.7%)
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 8...
+Query 1/1: Action query time = 4.327 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5638
+t=10: Selected seed 195 with value = 0.5638
+Query 1/1: Action query time = 3.014 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6794
+t=26: Selected seed 195 with value = 0.6794
+Query 1/1: Action query time = 4.224 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7754
+t=42: Selected seed 195 with value = 0.7754
+Query 1/1: Action query time = 4.713 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9140
+t=58: Selected seed 195 with value = 0.9140
+Query 1/1: Action query time = 5.633 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9837
+t=74: Selected seed 195 with value = 0.9837
+Query 1/1: Action query time = 5.403 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/v2i350_p1_t2_s3/2026_08_03-17_25_50--with_future_img--episode=8--success=True--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: True
+# episodes completed so far: 8
+# successes: 7 (87.5%)
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 9...
+Query 1/1: Action query time = 5.154 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5452
+t=10: Selected seed 195 with value = 0.5452
+Query 1/1: Action query time = 4.871 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7123
+t=26: Selected seed 195 with value = 0.7123
+Query 1/1: Action query time = 3.996 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7997
+t=42: Selected seed 195 with value = 0.7997
+Query 1/1: Action query time = 5.677 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9245
+t=58: Selected seed 195 with value = 0.9245
+Query 1/1: Action query time = 5.223 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9935
+t=74: Selected seed 195 with value = 0.9935
+Query 1/1: Action query time = 3.942 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/v2i350_p1_t2_s3/2026_08_03-17_25_50--with_future_img--episode=9--success=True--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: True
+# episodes completed so far: 9
+# successes: 8 (88.9%)
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 10...
+Query 1/1: Action query time = 3.796 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5203
+t=10: Selected seed 195 with value = 0.5203
+Query 1/1: Action query time = 4.058 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6282
+t=26: Selected seed 195 with value = 0.6282
+Query 1/1: Action query time = 4.741 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7561
+t=42: Selected seed 195 with value = 0.7561
+Query 1/1: Action query time = 5.229 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8451
+t=58: Selected seed 195 with value = 0.8451
+Query 1/1: Action query time = 4.819 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9666
+t=74: Selected seed 195 with value = 0.9666
+Query 1/1: Action query time = 5.029 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9980
+t=90: Selected seed 195 with value = 0.9980
+Query 1/1: Action query time = 4.931 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9885
+t=106: Selected seed 195 with value = 0.9885
+Query 1/1: Action query time = 5.512 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9842
+t=122: Selected seed 195 with value = 0.9842
+Query 1/1: Action query time = 5.017 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=138: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 3.671 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=154: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.554 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=170: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.924 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=186: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.267 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=202: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 3.174 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=218: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 2.612 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9974
+t=234: Selected seed 195 with value = 0.9974
+Query 1/1: Action query time = 4.717 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9902
+t=250: Selected seed 195 with value = 0.9902
+Query 1/1: Action query time = 5.369 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9700
+t=266: Selected seed 195 with value = 0.9700
+Query 1/1: Action query time = 5.119 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9053
+t=282: Selected seed 195 with value = 0.9053
+Query 1/1: Action query time = 5.492 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8820
+t=298: Selected seed 195 with value = 0.8820
+Saved rollout MP4 at path ./rollouts/v2i350_p1_t2_s3/2026_08_03-17_25_50--with_future_img--episode=10--success=False--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: False
+# episodes completed so far: 10
+# successes: 8 (80.0%)
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 11...
+Query 1/1: Action query time = 4.864 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5517
+t=10: Selected seed 195 with value = 0.5517
+Query 1/1: Action query time = 4.536 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5597
+t=26: Selected seed 195 with value = 0.5597
+Query 1/1: Action query time = 3.137 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7132
+t=42: Selected seed 195 with value = 0.7132
+Query 1/1: Action query time = 4.838 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8168
+t=58: Selected seed 195 with value = 0.8168
+Query 1/1: Action query time = 5.353 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9321
+t=74: Selected seed 195 with value = 0.9321
+Query 1/1: Action query time = 4.326 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9811
+t=90: Selected seed 195 with value = 0.9811
+Query 1/1: Action query time = 5.207 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=106: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.116 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9805
+t=122: Selected seed 195 with value = 0.9805
+Query 1/1: Action query time = 4.045 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=138: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 3.744 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=154: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 3.978 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=170: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 3.789 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=186: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.404 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=202: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.199 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=218: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.871 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9888
+t=234: Selected seed 195 with value = 0.9888
+Query 1/1: Action query time = 4.119 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8759
+t=250: Selected seed 195 with value = 0.8759
+Query 1/1: Action query time = 3.129 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8397
+t=266: Selected seed 195 with value = 0.8397
+Query 1/1: Action query time = 3.569 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8163
+t=282: Selected seed 195 with value = 0.8163
+Query 1/1: Action query time = 4.099 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8254
+t=298: Selected seed 195 with value = 0.8254
+Saved rollout MP4 at path ./rollouts/v2i350_p1_t2_s3/2026_08_03-17_25_50--with_future_img--episode=11--success=False--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: False
+# episodes completed so far: 11
+# successes: 8 (72.7%)
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 12...
+Query 1/1: Action query time = 3.569 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5754
+t=10: Selected seed 195 with value = 0.5754
+Query 1/1: Action query time = 3.341 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6580
+t=26: Selected seed 195 with value = 0.6580
+Query 1/1: Action query time = 3.156 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7867
+t=42: Selected seed 195 with value = 0.7867
+Query 1/1: Action query time = 3.099 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8502
+t=58: Selected seed 195 with value = 0.8502
+Query 1/1: Action query time = 2.989 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9718
+t=74: Selected seed 195 with value = 0.9718
+Query 1/1: Action query time = 2.412 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9999
+t=90: Selected seed 195 with value = 0.9999
+Query 1/1: Action query time = 2.781 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9846
+t=106: Selected seed 195 with value = 0.9846
+Query 1/1: Action query time = 2.710 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9848
+t=122: Selected seed 195 with value = 0.9848
+Query 1/1: Action query time = 2.692 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=138: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 2.244 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=154: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 2.836 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=170: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 3.118 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=186: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 2.901 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=202: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 2.722 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=218: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 3.644 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=234: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 3.437 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9965
+t=250: Selected seed 195 with value = 0.9965
+Query 1/1: Action query time = 2.156 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9919
+t=266: Selected seed 195 with value = 0.9919
+Query 1/1: Action query time = 2.100 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9885
+t=282: Selected seed 195 with value = 0.9885
+Query 1/1: Action query time = 2.684 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9791
+t=298: Selected seed 195 with value = 0.9791
+Saved rollout MP4 at path ./rollouts/v2i350_p1_t2_s3/2026_08_03-17_25_50--with_future_img--episode=12--success=False--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: False
+# episodes completed so far: 12
+# successes: 8 (66.7%)
+Current task success rate: 0.6666666666666666
+Current total success rate: 0.6666666666666666
+Final results:
+Total episodes: 12
+Total successes: 8
+Overall success rate: 0.6667 (66.7%)
diff --git a/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_03-17_39_21--v2i350_p1_t4_s0.txt b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_03-17_39_21--v2i350_p1_t4_s0.txt
new file mode 100644
index 0000000000000000000000000000000000000000..ca8258e11be723782d40597ebb9d03819c9b5991
--- /dev/null
+++ b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_03-17_39_21--v2i350_p1_t4_s0.txt
@@ -0,0 +1,415 @@
+Eval config: PolicyEvalConfig(suite='libero', model_family='cosmos', config='cosmos_predict2_2b_480p_libero_cl_stage_inference_only', ckpt_path='/home/azureuser/REGEN-main/new_task7/cosmos_policy/cosmos_v2_finetune/cosmos_predict2_2b_480p_libero_goal_task7_forget_cl_v2_from350_2gpu/checkpoints/iter_000000350/model', planning_model_config_name='', planning_model_ckpt_path='', config_file='cosmos_policy/config/config.py', packnet_mask_path='', packnet_first_cl_libero_task=6, use_third_person_image=True, num_third_person_images=1, use_wrist_image=True, num_wrist_images=1, use_proprio=True, flip_images=True, use_variance_scale=False, use_jpeg_compression=True, ar_future_prediction=False, ar_value_prediction=False, ar_qvalue_prediction=False, num_denoising_steps_action=5, num_denoising_steps_future_state=1, num_denoising_steps_value=1, unnormalize_actions=True, normalize_proprio=True, dataset_stats_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/libero_goal_regen/dataset_statistics.json', t5_text_embeddings_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/t5_embeddings.pkl', trained_with_image_aug=True, chunk_size=16, num_open_loop_steps=16, deterministic=True, deterministic_reset=False, deterministic_reset_seed=None, use_ensemble_future_state_predictions=False, num_future_state_predictions_in_ensemble=3, future_state_ensemble_aggregation_scheme='average', use_ensemble_value_predictions=False, num_value_predictions_in_ensemble=5, value_ensemble_aggregation_scheme='average', search_depth=1, mask_current_state_action_for_value_prediction=False, mask_future_state_for_qvalue_prediction=False, num_queries_best_of_n=1, use_parallel_inference=False, available_gpus='0', parallel_timeout=15, parallel_tasks_across_gpus=False, task_suite_name='libero_goal', num_trials_per_task=50, task_ids_to_run='4', initial_states_path='DEFAULT', env_img_res=256, local_log_dir='/home/azureuser/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal', run_id_note='v2i350_p1_t4_s0', use_wandb=False, wandb_entity='YOUR_ENTITY', wandb_project='YOUR_PROJECT', seed=195, randomize_seed=False, data_collection=False, jpeg_compress=True, reward_stop_threshold=None, reward_stop_consecutive_steps=3, use_gpt_reward=False, gpt_reward_model='gpt-5.4-mini', gpt_reward_stop_threshold=4, gpt_reward_timeout_s=30.0, save_rollout_video=False, eval_hdf5_path='', eval_hdf5_demo_key='demo_0', data_gen_demo_ids='', eval_episode_ids='0,4,8,12,16,20,24,28,32,36,40,44,48', dump_final_states_path='', replay_actions=False, replay_action_path_dir='', replay_hdf5_path='', data_generation=False, max_generation_steps=200, disable_value_stop=False)
+Using serial inference (parallel inference disabled)
+Task suite: libero_goal
+Number of tasks: 10
+Running only task IDs: [4]
+Using default initial states
+
+Task: put the bowl on top of the cabinet
+Starting episode 1...
+Query 1/1: Action query time = 2.886 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5493
+t=10: Selected seed 195 with value = 0.5493
+Query 1/1: Action query time = 3.204 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6880
+t=26: Selected seed 195 with value = 0.6880
+Query 1/1: Action query time = 4.929 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7872
+t=42: Selected seed 195 with value = 0.7872
+Query 1/1: Action query time = 5.236 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9650
+t=58: Selected seed 195 with value = 0.9650
+Query 1/1: Action query time = 4.094 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=74: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.896 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/v2i350_p1_t4_s0/2026_08_03-17_39_21--with_future_img--episode=1--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Success: True
+# episodes completed so far: 1
+# successes: 1 (100.0%)
+
+Task: put the bowl on top of the cabinet
+Starting episode 2...
+Query 1/1: Action query time = 4.167 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5682
+t=10: Selected seed 195 with value = 0.5682
+Query 1/1: Action query time = 3.234 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6823
+t=26: Selected seed 195 with value = 0.6823
+Query 1/1: Action query time = 5.070 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7749
+t=42: Selected seed 195 with value = 0.7749
+Query 1/1: Action query time = 4.163 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9449
+t=58: Selected seed 195 with value = 0.9449
+Query 1/1: Action query time = 2.784 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=74: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.816 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/v2i350_p1_t4_s0/2026_08_03-17_39_21--with_future_img--episode=2--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Success: True
+# episodes completed so far: 2
+# successes: 2 (100.0%)
+
+Task: put the bowl on top of the cabinet
+Starting episode 3...
+Query 1/1: Action query time = 5.280 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5845
+t=10: Selected seed 195 with value = 0.5845
+Query 1/1: Action query time = 4.364 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7021
+t=26: Selected seed 195 with value = 0.7021
+Query 1/1: Action query time = 4.757 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7810
+t=42: Selected seed 195 with value = 0.7810
+Query 1/1: Action query time = 5.424 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9412
+t=58: Selected seed 195 with value = 0.9412
+Query 1/1: Action query time = 4.818 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=74: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.328 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/v2i350_p1_t4_s0/2026_08_03-17_39_21--with_future_img--episode=3--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Success: True
+# episodes completed so far: 3
+# successes: 3 (100.0%)
+
+Task: put the bowl on top of the cabinet
+Starting episode 4...
+Query 1/1: Action query time = 4.243 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5735
+t=10: Selected seed 195 with value = 0.5735
+Query 1/1: Action query time = 1.954 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6628
+t=26: Selected seed 195 with value = 0.6628
+Query 1/1: Action query time = 2.917 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8030
+t=42: Selected seed 195 with value = 0.8030
+Query 1/1: Action query time = 5.341 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9222
+t=58: Selected seed 195 with value = 0.9222
+Query 1/1: Action query time = 4.958 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=74: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.641 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/v2i350_p1_t4_s0/2026_08_03-17_39_21--with_future_img--episode=4--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Success: True
+# episodes completed so far: 4
+# successes: 4 (100.0%)
+
+Task: put the bowl on top of the cabinet
+Starting episode 5...
+Query 1/1: Action query time = 4.972 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5964
+t=10: Selected seed 195 with value = 0.5964
+Query 1/1: Action query time = 4.977 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6987
+t=26: Selected seed 195 with value = 0.6987
+Query 1/1: Action query time = 3.282 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8288
+t=42: Selected seed 195 with value = 0.8288
+Query 1/1: Action query time = 5.162 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9683
+t=58: Selected seed 195 with value = 0.9683
+Query 1/1: Action query time = 4.773 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=74: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 3.752 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/v2i350_p1_t4_s0/2026_08_03-17_39_21--with_future_img--episode=5--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Success: True
+# episodes completed so far: 5
+# successes: 5 (100.0%)
+
+Task: put the bowl on top of the cabinet
+Starting episode 6...
+Query 1/1: Action query time = 4.952 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5886
+t=10: Selected seed 195 with value = 0.5886
+Query 1/1: Action query time = 4.739 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6824
+t=26: Selected seed 195 with value = 0.6824
+Query 1/1: Action query time = 3.703 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8143
+t=42: Selected seed 195 with value = 0.8143
+Query 1/1: Action query time = 4.733 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9375
+t=58: Selected seed 195 with value = 0.9375
+Query 1/1: Action query time = 5.574 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9985
+t=74: Selected seed 195 with value = 0.9985
+Query 1/1: Action query time = 5.148 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/v2i350_p1_t4_s0/2026_08_03-17_39_21--with_future_img--episode=6--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Success: True
+# episodes completed so far: 6
+# successes: 6 (100.0%)
+
+Task: put the bowl on top of the cabinet
+Starting episode 7...
+Query 1/1: Action query time = 3.544 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5643
+t=10: Selected seed 195 with value = 0.5643
+Query 1/1: Action query time = 3.055 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7018
+t=26: Selected seed 195 with value = 0.7018
+Query 1/1: Action query time = 4.548 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8027
+t=42: Selected seed 195 with value = 0.8027
+Query 1/1: Action query time = 4.918 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9555
+t=58: Selected seed 195 with value = 0.9555
+Query 1/1: Action query time = 4.670 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=74: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.744 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/v2i350_p1_t4_s0/2026_08_03-17_39_21--with_future_img--episode=7--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Success: True
+# episodes completed so far: 7
+# successes: 7 (100.0%)
+
+Task: put the bowl on top of the cabinet
+Starting episode 8...
+Query 1/1: Action query time = 5.306 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5578
+t=10: Selected seed 195 with value = 0.5578
+Query 1/1: Action query time = 4.608 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6445
+t=26: Selected seed 195 with value = 0.6445
+Query 1/1: Action query time = 3.721 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7538
+t=42: Selected seed 195 with value = 0.7538
+Query 1/1: Action query time = 3.968 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9161
+t=58: Selected seed 195 with value = 0.9161
+Query 1/1: Action query time = 3.014 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9972
+t=74: Selected seed 195 with value = 0.9972
+Query 1/1: Action query time = 3.804 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/v2i350_p1_t4_s0/2026_08_03-17_39_21--with_future_img--episode=8--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Success: True
+# episodes completed so far: 8
+# successes: 8 (100.0%)
+
+Task: put the bowl on top of the cabinet
+Starting episode 9...
+Query 1/1: Action query time = 6.030 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6052
+t=10: Selected seed 195 with value = 0.6052
+Query 1/1: Action query time = 4.248 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7241
+t=26: Selected seed 195 with value = 0.7241
+Query 1/1: Action query time = 4.368 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7250
+t=42: Selected seed 195 with value = 0.7250
+Query 1/1: Action query time = 4.641 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8674
+t=58: Selected seed 195 with value = 0.8674
+Query 1/1: Action query time = 4.819 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=74: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 5.230 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/v2i350_p1_t4_s0/2026_08_03-17_39_21--with_future_img--episode=9--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Success: True
+# episodes completed so far: 9
+# successes: 9 (100.0%)
+
+Task: put the bowl on top of the cabinet
+Starting episode 10...
+Query 1/1: Action query time = 4.597 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5700
+t=10: Selected seed 195 with value = 0.5700
+Query 1/1: Action query time = 2.963 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6849
+t=26: Selected seed 195 with value = 0.6849
+Query 1/1: Action query time = 3.522 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7736
+t=42: Selected seed 195 with value = 0.7736
+Query 1/1: Action query time = 5.147 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9341
+t=58: Selected seed 195 with value = 0.9341
+Query 1/1: Action query time = 5.002 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=74: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 5.161 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/v2i350_p1_t4_s0/2026_08_03-17_39_21--with_future_img--episode=10--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Success: True
+# episodes completed so far: 10
+# successes: 10 (100.0%)
+
+Task: put the bowl on top of the cabinet
+Starting episode 11...
+Query 1/1: Action query time = 4.378 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5766
+t=10: Selected seed 195 with value = 0.5766
+Query 1/1: Action query time = 5.341 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7078
+t=26: Selected seed 195 with value = 0.7078
+Query 1/1: Action query time = 4.397 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7668
+t=42: Selected seed 195 with value = 0.7668
+Query 1/1: Action query time = 3.888 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9306
+t=58: Selected seed 195 with value = 0.9306
+Query 1/1: Action query time = 3.242 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9933
+t=74: Selected seed 195 with value = 0.9933
+Query 1/1: Action query time = 3.058 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/v2i350_p1_t4_s0/2026_08_03-17_39_21--with_future_img--episode=11--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Success: True
+# episodes completed so far: 11
+# successes: 11 (100.0%)
+
+Task: put the bowl on top of the cabinet
+Starting episode 12...
+Query 1/1: Action query time = 5.204 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6006
+t=10: Selected seed 195 with value = 0.6006
+Query 1/1: Action query time = 5.424 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7161
+t=26: Selected seed 195 with value = 0.7161
+Query 1/1: Action query time = 4.616 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8093
+t=42: Selected seed 195 with value = 0.8093
+Query 1/1: Action query time = 4.275 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9470
+t=58: Selected seed 195 with value = 0.9470
+Query 1/1: Action query time = 4.566 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=74: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 5.014 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/v2i350_p1_t4_s0/2026_08_03-17_39_21--with_future_img--episode=12--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Success: True
+# episodes completed so far: 12
+# successes: 12 (100.0%)
+
+Task: put the bowl on top of the cabinet
+Starting episode 13...
+Query 1/1: Action query time = 3.945 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5739
+t=10: Selected seed 195 with value = 0.5739
+Query 1/1: Action query time = 3.679 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6881
+t=26: Selected seed 195 with value = 0.6881
+Query 1/1: Action query time = 5.202 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7631
+t=42: Selected seed 195 with value = 0.7631
+Query 1/1: Action query time = 3.937 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9218
+t=58: Selected seed 195 with value = 0.9218
+Query 1/1: Action query time = 4.767 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9948
+t=74: Selected seed 195 with value = 0.9948
+Query 1/1: Action query time = 3.885 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/v2i350_p1_t4_s0/2026_08_03-17_39_21--with_future_img--episode=13--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Success: True
+# episodes completed so far: 13
+# successes: 13 (100.0%)
+Current task success rate: 1.0
+Current total success rate: 1.0
+Final results:
+Total episodes: 13
+Total successes: 13
+Overall success rate: 1.0000 (100.0%)
diff --git a/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_03-17_39_21--v2i350_p1_t6_s1.txt b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_03-17_39_21--v2i350_p1_t6_s1.txt
new file mode 100644
index 0000000000000000000000000000000000000000..1788150d804b43f38a5d5ca9fa91664d93066b8f
--- /dev/null
+++ b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_03-17_39_21--v2i350_p1_t6_s1.txt
@@ -0,0 +1,475 @@
+Eval config: PolicyEvalConfig(suite='libero', model_family='cosmos', config='cosmos_predict2_2b_480p_libero_cl_stage_inference_only', ckpt_path='/home/azureuser/REGEN-main/new_task7/cosmos_policy/cosmos_v2_finetune/cosmos_predict2_2b_480p_libero_goal_task7_forget_cl_v2_from350_2gpu/checkpoints/iter_000000350/model', planning_model_config_name='', planning_model_ckpt_path='', config_file='cosmos_policy/config/config.py', packnet_mask_path='', packnet_first_cl_libero_task=6, use_third_person_image=True, num_third_person_images=1, use_wrist_image=True, num_wrist_images=1, use_proprio=True, flip_images=True, use_variance_scale=False, use_jpeg_compression=True, ar_future_prediction=False, ar_value_prediction=False, ar_qvalue_prediction=False, num_denoising_steps_action=5, num_denoising_steps_future_state=1, num_denoising_steps_value=1, unnormalize_actions=True, normalize_proprio=True, dataset_stats_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/libero_goal_regen/dataset_statistics.json', t5_text_embeddings_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/t5_embeddings.pkl', trained_with_image_aug=True, chunk_size=16, num_open_loop_steps=16, deterministic=True, deterministic_reset=False, deterministic_reset_seed=None, use_ensemble_future_state_predictions=False, num_future_state_predictions_in_ensemble=3, future_state_ensemble_aggregation_scheme='average', use_ensemble_value_predictions=False, num_value_predictions_in_ensemble=5, value_ensemble_aggregation_scheme='average', search_depth=1, mask_current_state_action_for_value_prediction=False, mask_future_state_for_qvalue_prediction=False, num_queries_best_of_n=1, use_parallel_inference=False, available_gpus='0', parallel_timeout=15, parallel_tasks_across_gpus=False, task_suite_name='libero_goal', num_trials_per_task=50, task_ids_to_run='6', initial_states_path='DEFAULT', env_img_res=256, local_log_dir='/home/azureuser/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal', run_id_note='v2i350_p1_t6_s1', use_wandb=False, wandb_entity='YOUR_ENTITY', wandb_project='YOUR_PROJECT', seed=195, randomize_seed=False, data_collection=False, jpeg_compress=True, reward_stop_threshold=None, reward_stop_consecutive_steps=3, use_gpt_reward=False, gpt_reward_model='gpt-5.4-mini', gpt_reward_stop_threshold=4, gpt_reward_timeout_s=30.0, save_rollout_video=False, eval_hdf5_path='', eval_hdf5_demo_key='demo_0', data_gen_demo_ids='', eval_episode_ids='1,5,9,13,17,21,25,29,33,37,41,45,49', dump_final_states_path='', replay_actions=False, replay_action_path_dir='', replay_hdf5_path='', data_generation=False, max_generation_steps=200, disable_value_stop=False)
+Using serial inference (parallel inference disabled)
+Task suite: libero_goal
+Number of tasks: 10
+Running only task IDs: [6]
+Using default initial states
+
+Task: put the cream cheese in the bowl
+Starting episode 1...
+Query 1/1: Action query time = 1.620 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4939
+t=10: Selected seed 195 with value = 0.4939
+Query 1/1: Action query time = 1.535 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5870
+t=26: Selected seed 195 with value = 0.5870
+Query 1/1: Action query time = 2.090 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6890
+t=42: Selected seed 195 with value = 0.6890
+Query 1/1: Action query time = 5.611 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7551
+t=58: Selected seed 195 with value = 0.7551
+Query 1/1: Action query time = 3.187 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9045
+t=74: Selected seed 195 with value = 0.9045
+Query 1/1: Action query time = 5.280 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9928
+t=90: Selected seed 195 with value = 0.9928
+Saved rollout MP4 at path ./rollouts/v2i350_p1_t6_s1/2026_08_03-17_39_21--with_future_img--episode=1--success=True--task=put_the_cream_cheese_in_the_bowl.mp4
+Success: True
+# episodes completed so far: 1
+# successes: 1 (100.0%)
+
+Task: put the cream cheese in the bowl
+Starting episode 2...
+Query 1/1: Action query time = 5.029 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5317
+t=10: Selected seed 195 with value = 0.5317
+Query 1/1: Action query time = 4.482 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5855
+t=26: Selected seed 195 with value = 0.5855
+Query 1/1: Action query time = 4.056 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7187
+t=42: Selected seed 195 with value = 0.7187
+Query 1/1: Action query time = 4.311 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8340
+t=58: Selected seed 195 with value = 0.8340
+Query 1/1: Action query time = 4.657 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9631
+t=74: Selected seed 195 with value = 0.9631
+Saved rollout MP4 at path ./rollouts/v2i350_p1_t6_s1/2026_08_03-17_39_21--with_future_img--episode=2--success=True--task=put_the_cream_cheese_in_the_bowl.mp4
+Success: True
+# episodes completed so far: 2
+# successes: 2 (100.0%)
+
+Task: put the cream cheese in the bowl
+Starting episode 3...
+Query 1/1: Action query time = 5.422 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4855
+t=10: Selected seed 195 with value = 0.4855
+Query 1/1: Action query time = 5.055 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5728
+t=26: Selected seed 195 with value = 0.5728
+Query 1/1: Action query time = 4.093 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6600
+t=42: Selected seed 195 with value = 0.6600
+Query 1/1: Action query time = 5.608 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7885
+t=58: Selected seed 195 with value = 0.7885
+Query 1/1: Action query time = 4.742 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9130
+t=74: Selected seed 195 with value = 0.9130
+Query 1/1: Action query time = 4.886 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9903
+t=90: Selected seed 195 with value = 0.9903
+Saved rollout MP4 at path ./rollouts/v2i350_p1_t6_s1/2026_08_03-17_39_21--with_future_img--episode=3--success=True--task=put_the_cream_cheese_in_the_bowl.mp4
+Success: True
+# episodes completed so far: 3
+# successes: 3 (100.0%)
+
+Task: put the cream cheese in the bowl
+Starting episode 4...
+Query 1/1: Action query time = 3.122 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5160
+t=10: Selected seed 195 with value = 0.5160
+Query 1/1: Action query time = 3.585 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6104
+t=26: Selected seed 195 with value = 0.6104
+Query 1/1: Action query time = 4.960 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7043
+t=42: Selected seed 195 with value = 0.7043
+Query 1/1: Action query time = 4.826 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8521
+t=58: Selected seed 195 with value = 0.8521
+Query 1/1: Action query time = 5.337 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9780
+t=74: Selected seed 195 with value = 0.9780
+Query 1/1: Action query time = 4.826 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/v2i350_p1_t6_s1/2026_08_03-17_39_21--with_future_img--episode=4--success=True--task=put_the_cream_cheese_in_the_bowl.mp4
+Success: True
+# episodes completed so far: 4
+# successes: 4 (100.0%)
+
+Task: put the cream cheese in the bowl
+Starting episode 5...
+Query 1/1: Action query time = 3.709 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4855
+t=10: Selected seed 195 with value = 0.4855
+Query 1/1: Action query time = 4.901 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5864
+t=26: Selected seed 195 with value = 0.5864
+Query 1/1: Action query time = 4.393 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6976
+t=42: Selected seed 195 with value = 0.6976
+Query 1/1: Action query time = 4.700 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8223
+t=58: Selected seed 195 with value = 0.8223
+Query 1/1: Action query time = 4.720 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9410
+t=74: Selected seed 195 with value = 0.9410
+Query 1/1: Action query time = 5.283 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9960
+t=90: Selected seed 195 with value = 0.9960
+Query 1/1: Action query time = 4.623 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=106: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 5.911 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9830
+t=122: Selected seed 195 with value = 0.9830
+Query 1/1: Action query time = 4.223 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9548
+t=138: Selected seed 195 with value = 0.9548
+Query 1/1: Action query time = 4.444 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9394
+t=154: Selected seed 195 with value = 0.9394
+Query 1/1: Action query time = 4.035 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9947
+t=170: Selected seed 195 with value = 0.9947
+Query 1/1: Action query time = 5.082 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8377
+t=186: Selected seed 195 with value = 0.8377
+Query 1/1: Action query time = 4.908 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9339
+t=202: Selected seed 195 with value = 0.9339
+Query 1/1: Action query time = 5.557 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9658
+t=218: Selected seed 195 with value = 0.9658
+Query 1/1: Action query time = 4.860 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9822
+t=234: Selected seed 195 with value = 0.9822
+Query 1/1: Action query time = 4.336 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=250: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.011 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=266: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 5.308 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9983
+t=282: Selected seed 195 with value = 0.9983
+Query 1/1: Action query time = 3.799 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9943
+t=298: Selected seed 195 with value = 0.9943
+Saved rollout MP4 at path ./rollouts/v2i350_p1_t6_s1/2026_08_03-17_39_21--with_future_img--episode=5--success=False--task=put_the_cream_cheese_in_the_bowl.mp4
+Success: False
+# episodes completed so far: 5
+# successes: 4 (80.0%)
+
+Task: put the cream cheese in the bowl
+Starting episode 6...
+Query 1/1: Action query time = 3.904 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4646
+t=10: Selected seed 195 with value = 0.4646
+Query 1/1: Action query time = 4.687 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5740
+t=26: Selected seed 195 with value = 0.5740
+Query 1/1: Action query time = 4.537 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6480
+t=42: Selected seed 195 with value = 0.6480
+Query 1/1: Action query time = 3.292 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7346
+t=58: Selected seed 195 with value = 0.7346
+Query 1/1: Action query time = 4.333 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8672
+t=74: Selected seed 195 with value = 0.8672
+Query 1/1: Action query time = 3.795 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9752
+t=90: Selected seed 195 with value = 0.9752
+Query 1/1: Action query time = 3.959 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=106: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/v2i350_p1_t6_s1/2026_08_03-17_39_21--with_future_img--episode=6--success=True--task=put_the_cream_cheese_in_the_bowl.mp4
+Success: True
+# episodes completed so far: 6
+# successes: 5 (83.3%)
+
+Task: put the cream cheese in the bowl
+Starting episode 7...
+Query 1/1: Action query time = 2.992 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5169
+t=10: Selected seed 195 with value = 0.5169
+Query 1/1: Action query time = 2.613 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6004
+t=26: Selected seed 195 with value = 0.6004
+Query 1/1: Action query time = 3.118 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7182
+t=42: Selected seed 195 with value = 0.7182
+Query 1/1: Action query time = 5.878 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8456
+t=58: Selected seed 195 with value = 0.8456
+Query 1/1: Action query time = 3.715 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9598
+t=74: Selected seed 195 with value = 0.9598
+Query 1/1: Action query time = 5.129 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/v2i350_p1_t6_s1/2026_08_03-17_39_21--with_future_img--episode=7--success=True--task=put_the_cream_cheese_in_the_bowl.mp4
+Success: True
+# episodes completed so far: 7
+# successes: 6 (85.7%)
+
+Task: put the cream cheese in the bowl
+Starting episode 8...
+Query 1/1: Action query time = 4.910 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5047
+t=10: Selected seed 195 with value = 0.5047
+Query 1/1: Action query time = 3.894 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5823
+t=26: Selected seed 195 with value = 0.5823
+Query 1/1: Action query time = 5.699 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6951
+t=42: Selected seed 195 with value = 0.6951
+Query 1/1: Action query time = 3.293 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7918
+t=58: Selected seed 195 with value = 0.7918
+Query 1/1: Action query time = 5.264 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8893
+t=74: Selected seed 195 with value = 0.8893
+Query 1/1: Action query time = 4.143 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9793
+t=90: Selected seed 195 with value = 0.9793
+Query 1/1: Action query time = 5.330 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=106: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/v2i350_p1_t6_s1/2026_08_03-17_39_21--with_future_img--episode=8--success=True--task=put_the_cream_cheese_in_the_bowl.mp4
+Success: True
+# episodes completed so far: 8
+# successes: 7 (87.5%)
+
+Task: put the cream cheese in the bowl
+Starting episode 9...
+Query 1/1: Action query time = 4.551 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4984
+t=10: Selected seed 195 with value = 0.4984
+Query 1/1: Action query time = 4.904 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5989
+t=26: Selected seed 195 with value = 0.5989
+Query 1/1: Action query time = 4.264 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6634
+t=42: Selected seed 195 with value = 0.6634
+Query 1/1: Action query time = 3.401 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7586
+t=58: Selected seed 195 with value = 0.7586
+Query 1/1: Action query time = 4.640 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8913
+t=74: Selected seed 195 with value = 0.8913
+Query 1/1: Action query time = 4.067 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9910
+t=90: Selected seed 195 with value = 0.9910
+Saved rollout MP4 at path ./rollouts/v2i350_p1_t6_s1/2026_08_03-17_39_21--with_future_img--episode=9--success=True--task=put_the_cream_cheese_in_the_bowl.mp4
+Success: True
+# episodes completed so far: 9
+# successes: 8 (88.9%)
+
+Task: put the cream cheese in the bowl
+Starting episode 10...
+Query 1/1: Action query time = 3.905 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5200
+t=10: Selected seed 195 with value = 0.5200
+Query 1/1: Action query time = 3.303 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5864
+t=26: Selected seed 195 with value = 0.5864
+Query 1/1: Action query time = 2.063 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6844
+t=42: Selected seed 195 with value = 0.6844
+Query 1/1: Action query time = 3.316 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8199
+t=58: Selected seed 195 with value = 0.8199
+Query 1/1: Action query time = 2.496 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9584
+t=74: Selected seed 195 with value = 0.9584
+Query 1/1: Action query time = 2.702 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/v2i350_p1_t6_s1/2026_08_03-17_39_21--with_future_img--episode=10--success=True--task=put_the_cream_cheese_in_the_bowl.mp4
+Success: True
+# episodes completed so far: 10
+# successes: 9 (90.0%)
+
+Task: put the cream cheese in the bowl
+Starting episode 11...
+Query 1/1: Action query time = 3.076 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5026
+t=10: Selected seed 195 with value = 0.5026
+Query 1/1: Action query time = 3.270 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5464
+t=26: Selected seed 195 with value = 0.5464
+Query 1/1: Action query time = 2.501 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6505
+t=42: Selected seed 195 with value = 0.6505
+Query 1/1: Action query time = 2.088 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7396
+t=58: Selected seed 195 with value = 0.7396
+Query 1/1: Action query time = 1.344 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8863
+t=74: Selected seed 195 with value = 0.8863
+Query 1/1: Action query time = 1.278 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9736
+t=90: Selected seed 195 with value = 0.9736
+Query 1/1: Action query time = 2.762 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=106: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/v2i350_p1_t6_s1/2026_08_03-17_39_21--with_future_img--episode=11--success=True--task=put_the_cream_cheese_in_the_bowl.mp4
+Success: True
+# episodes completed so far: 11
+# successes: 10 (90.9%)
+
+Task: put the cream cheese in the bowl
+Starting episode 12...
+Query 1/1: Action query time = 2.786 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5505
+t=10: Selected seed 195 with value = 0.5505
+Query 1/1: Action query time = 2.652 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6094
+t=26: Selected seed 195 with value = 0.6094
+Query 1/1: Action query time = 1.719 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7263
+t=42: Selected seed 195 with value = 0.7263
+Query 1/1: Action query time = 1.728 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8349
+t=58: Selected seed 195 with value = 0.8349
+Query 1/1: Action query time = 1.212 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9601
+t=74: Selected seed 195 with value = 0.9601
+Query 1/1: Action query time = 1.306 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/v2i350_p1_t6_s1/2026_08_03-17_39_21--with_future_img--episode=12--success=True--task=put_the_cream_cheese_in_the_bowl.mp4
+Success: True
+# episodes completed so far: 12
+# successes: 11 (91.7%)
+
+Task: put the cream cheese in the bowl
+Starting episode 13...
+Query 1/1: Action query time = 2.251 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5133
+t=10: Selected seed 195 with value = 0.5133
+Query 1/1: Action query time = 1.662 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5893
+t=26: Selected seed 195 with value = 0.5893
+Query 1/1: Action query time = 2.238 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6571
+t=42: Selected seed 195 with value = 0.6571
+Query 1/1: Action query time = 2.388 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7791
+t=58: Selected seed 195 with value = 0.7791
+Query 1/1: Action query time = 3.015 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8973
+t=74: Selected seed 195 with value = 0.8973
+Query 1/1: Action query time = 0.963 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9852
+t=90: Selected seed 195 with value = 0.9852
+Saved rollout MP4 at path ./rollouts/v2i350_p1_t6_s1/2026_08_03-17_39_21--with_future_img--episode=13--success=True--task=put_the_cream_cheese_in_the_bowl.mp4
+Success: True
+# episodes completed so far: 13
+# successes: 12 (92.3%)
+Current task success rate: 0.9230769230769231
+Current total success rate: 0.9230769230769231
+Final results:
+Total episodes: 13
+Total successes: 12
+Overall success rate: 0.9231 (92.3%)
diff --git a/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_03-17_39_23--v2i350_p1_t4_s2.txt b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_03-17_39_23--v2i350_p1_t4_s2.txt
new file mode 100644
index 0000000000000000000000000000000000000000..56e82ec18e8c342e2588773dc7a9db48584f515b
--- /dev/null
+++ b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_03-17_39_23--v2i350_p1_t4_s2.txt
@@ -0,0 +1,392 @@
+Eval config: PolicyEvalConfig(suite='libero', model_family='cosmos', config='cosmos_predict2_2b_480p_libero_cl_stage_inference_only', ckpt_path='/home/azureuser/REGEN-main/new_task7/cosmos_policy/cosmos_v2_finetune/cosmos_predict2_2b_480p_libero_goal_task7_forget_cl_v2_from350_2gpu/checkpoints/iter_000000350/model', planning_model_config_name='', planning_model_ckpt_path='', config_file='cosmos_policy/config/config.py', packnet_mask_path='', packnet_first_cl_libero_task=6, use_third_person_image=True, num_third_person_images=1, use_wrist_image=True, num_wrist_images=1, use_proprio=True, flip_images=True, use_variance_scale=False, use_jpeg_compression=True, ar_future_prediction=False, ar_value_prediction=False, ar_qvalue_prediction=False, num_denoising_steps_action=5, num_denoising_steps_future_state=1, num_denoising_steps_value=1, unnormalize_actions=True, normalize_proprio=True, dataset_stats_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/libero_goal_regen/dataset_statistics.json', t5_text_embeddings_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/t5_embeddings.pkl', trained_with_image_aug=True, chunk_size=16, num_open_loop_steps=16, deterministic=True, deterministic_reset=False, deterministic_reset_seed=None, use_ensemble_future_state_predictions=False, num_future_state_predictions_in_ensemble=3, future_state_ensemble_aggregation_scheme='average', use_ensemble_value_predictions=False, num_value_predictions_in_ensemble=5, value_ensemble_aggregation_scheme='average', search_depth=1, mask_current_state_action_for_value_prediction=False, mask_future_state_for_qvalue_prediction=False, num_queries_best_of_n=1, use_parallel_inference=False, available_gpus='0', parallel_timeout=15, parallel_tasks_across_gpus=False, task_suite_name='libero_goal', num_trials_per_task=50, task_ids_to_run='4', initial_states_path='DEFAULT', env_img_res=256, local_log_dir='/home/azureuser/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal', run_id_note='v2i350_p1_t4_s2', use_wandb=False, wandb_entity='YOUR_ENTITY', wandb_project='YOUR_PROJECT', seed=195, randomize_seed=False, data_collection=False, jpeg_compress=True, reward_stop_threshold=None, reward_stop_consecutive_steps=3, use_gpt_reward=False, gpt_reward_model='gpt-5.4-mini', gpt_reward_stop_threshold=4, gpt_reward_timeout_s=30.0, save_rollout_video=False, eval_hdf5_path='', eval_hdf5_demo_key='demo_0', data_gen_demo_ids='', eval_episode_ids='2,6,10,14,18,22,26,30,34,38,42,46', dump_final_states_path='', replay_actions=False, replay_action_path_dir='', replay_hdf5_path='', data_generation=False, max_generation_steps=200, disable_value_stop=False)
+Using serial inference (parallel inference disabled)
+Task suite: libero_goal
+Number of tasks: 10
+Running only task IDs: [4]
+Using default initial states
+
+Task: put the bowl on top of the cabinet
+Starting episode 1...
+Query 1/1: Action query time = 4.150 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5834
+t=10: Selected seed 195 with value = 0.5834
+Query 1/1: Action query time = 6.080 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6909
+t=26: Selected seed 195 with value = 0.6909
+Query 1/1: Action query time = 4.604 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7949
+t=42: Selected seed 195 with value = 0.7949
+Query 1/1: Action query time = 4.502 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9006
+t=58: Selected seed 195 with value = 0.9006
+Query 1/1: Action query time = 5.149 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9866
+t=74: Selected seed 195 with value = 0.9866
+Query 1/1: Action query time = 4.909 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.728 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=106: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/v2i350_p1_t4_s2/2026_08_03-17_39_23--with_future_img--episode=1--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Success: True
+# episodes completed so far: 1
+# successes: 1 (100.0%)
+
+Task: put the bowl on top of the cabinet
+Starting episode 2...
+Query 1/1: Action query time = 4.736 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5785
+t=10: Selected seed 195 with value = 0.5785
+Query 1/1: Action query time = 3.857 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7111
+t=26: Selected seed 195 with value = 0.7111
+Query 1/1: Action query time = 3.867 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8226
+t=42: Selected seed 195 with value = 0.8226
+Query 1/1: Action query time = 4.651 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9282
+t=58: Selected seed 195 with value = 0.9282
+Query 1/1: Action query time = 4.684 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=74: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 3.371 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/v2i350_p1_t4_s2/2026_08_03-17_39_23--with_future_img--episode=2--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Success: True
+# episodes completed so far: 2
+# successes: 2 (100.0%)
+
+Task: put the bowl on top of the cabinet
+Starting episode 3...
+Query 1/1: Action query time = 4.898 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5810
+t=10: Selected seed 195 with value = 0.5810
+Query 1/1: Action query time = 5.082 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6893
+t=26: Selected seed 195 with value = 0.6893
+Query 1/1: Action query time = 5.337 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7547
+t=42: Selected seed 195 with value = 0.7547
+Query 1/1: Action query time = 4.990 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9133
+t=58: Selected seed 195 with value = 0.9133
+Query 1/1: Action query time = 4.172 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=74: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 2.852 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/v2i350_p1_t4_s2/2026_08_03-17_39_23--with_future_img--episode=3--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Success: True
+# episodes completed so far: 3
+# successes: 3 (100.0%)
+
+Task: put the bowl on top of the cabinet
+Starting episode 4...
+Query 1/1: Action query time = 5.612 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5619
+t=10: Selected seed 195 with value = 0.5619
+Query 1/1: Action query time = 4.998 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6907
+t=26: Selected seed 195 with value = 0.6907
+Query 1/1: Action query time = 4.665 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7906
+t=42: Selected seed 195 with value = 0.7906
+Query 1/1: Action query time = 4.886 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9211
+t=58: Selected seed 195 with value = 0.9211
+Query 1/1: Action query time = 5.078 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9993
+t=74: Selected seed 195 with value = 0.9993
+Query 1/1: Action query time = 4.610 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/v2i350_p1_t4_s2/2026_08_03-17_39_23--with_future_img--episode=4--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Success: True
+# episodes completed so far: 4
+# successes: 4 (100.0%)
+
+Task: put the bowl on top of the cabinet
+Starting episode 5...
+Query 1/1: Action query time = 4.967 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5537
+t=10: Selected seed 195 with value = 0.5537
+Query 1/1: Action query time = 4.119 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6262
+t=26: Selected seed 195 with value = 0.6262
+Query 1/1: Action query time = 4.843 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7414
+t=42: Selected seed 195 with value = 0.7414
+Query 1/1: Action query time = 4.662 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8737
+t=58: Selected seed 195 with value = 0.8737
+Query 1/1: Action query time = 5.069 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9812
+t=74: Selected seed 195 with value = 0.9812
+Query 1/1: Action query time = 4.169 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 5.310 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=106: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/v2i350_p1_t4_s2/2026_08_03-17_39_23--with_future_img--episode=5--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Success: True
+# episodes completed so far: 5
+# successes: 5 (100.0%)
+
+Task: put the bowl on top of the cabinet
+Starting episode 6...
+Query 1/1: Action query time = 4.827 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5731
+t=10: Selected seed 195 with value = 0.5731
+Query 1/1: Action query time = 4.607 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7098
+t=26: Selected seed 195 with value = 0.7098
+Query 1/1: Action query time = 5.475 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8169
+t=42: Selected seed 195 with value = 0.8169
+Query 1/1: Action query time = 4.356 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9473
+t=58: Selected seed 195 with value = 0.9473
+Query 1/1: Action query time = 4.862 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=74: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 5.585 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/v2i350_p1_t4_s2/2026_08_03-17_39_23--with_future_img--episode=6--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Success: True
+# episodes completed so far: 6
+# successes: 6 (100.0%)
+
+Task: put the bowl on top of the cabinet
+Starting episode 7...
+Query 1/1: Action query time = 5.340 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5584
+t=10: Selected seed 195 with value = 0.5584
+Query 1/1: Action query time = 4.467 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6638
+t=26: Selected seed 195 with value = 0.6638
+Query 1/1: Action query time = 5.057 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7630
+t=42: Selected seed 195 with value = 0.7630
+Query 1/1: Action query time = 3.775 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9134
+t=58: Selected seed 195 with value = 0.9134
+Query 1/1: Action query time = 4.110 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=74: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.264 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/v2i350_p1_t4_s2/2026_08_03-17_39_23--with_future_img--episode=7--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Success: True
+# episodes completed so far: 7
+# successes: 7 (100.0%)
+
+Task: put the bowl on top of the cabinet
+Starting episode 8...
+Query 1/1: Action query time = 3.039 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5712
+t=10: Selected seed 195 with value = 0.5712
+Query 1/1: Action query time = 4.257 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6845
+t=26: Selected seed 195 with value = 0.6845
+Query 1/1: Action query time = 5.929 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7945
+t=42: Selected seed 195 with value = 0.7945
+Query 1/1: Action query time = 5.022 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9252
+t=58: Selected seed 195 with value = 0.9252
+Query 1/1: Action query time = 4.144 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=74: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.578 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/v2i350_p1_t4_s2/2026_08_03-17_39_23--with_future_img--episode=8--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Success: True
+# episodes completed so far: 8
+# successes: 8 (100.0%)
+
+Task: put the bowl on top of the cabinet
+Starting episode 9...
+Query 1/1: Action query time = 5.361 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5650
+t=10: Selected seed 195 with value = 0.5650
+Query 1/1: Action query time = 4.400 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6812
+t=26: Selected seed 195 with value = 0.6812
+Query 1/1: Action query time = 4.831 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8106
+t=42: Selected seed 195 with value = 0.8106
+Query 1/1: Action query time = 4.294 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9591
+t=58: Selected seed 195 with value = 0.9591
+Query 1/1: Action query time = 3.727 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=74: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.819 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/v2i350_p1_t4_s2/2026_08_03-17_39_23--with_future_img--episode=9--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Success: True
+# episodes completed so far: 9
+# successes: 9 (100.0%)
+
+Task: put the bowl on top of the cabinet
+Starting episode 10...
+Query 1/1: Action query time = 5.105 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5579
+t=10: Selected seed 195 with value = 0.5579
+Query 1/1: Action query time = 4.155 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5867
+t=26: Selected seed 195 with value = 0.5867
+Query 1/1: Action query time = 4.460 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7223
+t=42: Selected seed 195 with value = 0.7223
+Query 1/1: Action query time = 5.443 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9072
+t=58: Selected seed 195 with value = 0.9072
+Query 1/1: Action query time = 4.642 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=74: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.375 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/v2i350_p1_t4_s2/2026_08_03-17_39_23--with_future_img--episode=10--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Success: True
+# episodes completed so far: 10
+# successes: 10 (100.0%)
+
+Task: put the bowl on top of the cabinet
+Starting episode 11...
+Query 1/1: Action query time = 3.560 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5816
+t=10: Selected seed 195 with value = 0.5816
+Query 1/1: Action query time = 4.700 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6832
+t=26: Selected seed 195 with value = 0.6832
+Query 1/1: Action query time = 4.881 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8071
+t=42: Selected seed 195 with value = 0.8071
+Query 1/1: Action query time = 4.964 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9481
+t=58: Selected seed 195 with value = 0.9481
+Query 1/1: Action query time = 4.200 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=74: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 3.810 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/v2i350_p1_t4_s2/2026_08_03-17_39_23--with_future_img--episode=11--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Success: True
+# episodes completed so far: 11
+# successes: 11 (100.0%)
+
+Task: put the bowl on top of the cabinet
+Starting episode 12...
+Query 1/1: Action query time = 5.320 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5830
+t=10: Selected seed 195 with value = 0.5830
+Query 1/1: Action query time = 4.576 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6893
+t=26: Selected seed 195 with value = 0.6893
+Query 1/1: Action query time = 4.176 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7975
+t=42: Selected seed 195 with value = 0.7975
+Query 1/1: Action query time = 4.645 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9336
+t=58: Selected seed 195 with value = 0.9336
+Query 1/1: Action query time = 4.624 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=74: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.320 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/v2i350_p1_t4_s2/2026_08_03-17_39_23--with_future_img--episode=12--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Success: True
+# episodes completed so far: 12
+# successes: 12 (100.0%)
+Current task success rate: 1.0
+Current total success rate: 1.0
+Final results:
+Total episodes: 12
+Total successes: 12
+Overall success rate: 1.0000 (100.0%)
diff --git a/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_03-17_39_23--v2i350_p1_t4_s3.txt b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_03-17_39_23--v2i350_p1_t4_s3.txt
new file mode 100644
index 0000000000000000000000000000000000000000..55055de07bf3e66eb8ddb0634771554c645e8af6
--- /dev/null
+++ b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_03-17_39_23--v2i350_p1_t4_s3.txt
@@ -0,0 +1,440 @@
+Eval config: PolicyEvalConfig(suite='libero', model_family='cosmos', config='cosmos_predict2_2b_480p_libero_cl_stage_inference_only', ckpt_path='/home/azureuser/REGEN-main/new_task7/cosmos_policy/cosmos_v2_finetune/cosmos_predict2_2b_480p_libero_goal_task7_forget_cl_v2_from350_2gpu/checkpoints/iter_000000350/model', planning_model_config_name='', planning_model_ckpt_path='', config_file='cosmos_policy/config/config.py', packnet_mask_path='', packnet_first_cl_libero_task=6, use_third_person_image=True, num_third_person_images=1, use_wrist_image=True, num_wrist_images=1, use_proprio=True, flip_images=True, use_variance_scale=False, use_jpeg_compression=True, ar_future_prediction=False, ar_value_prediction=False, ar_qvalue_prediction=False, num_denoising_steps_action=5, num_denoising_steps_future_state=1, num_denoising_steps_value=1, unnormalize_actions=True, normalize_proprio=True, dataset_stats_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/libero_goal_regen/dataset_statistics.json', t5_text_embeddings_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/t5_embeddings.pkl', trained_with_image_aug=True, chunk_size=16, num_open_loop_steps=16, deterministic=True, deterministic_reset=False, deterministic_reset_seed=None, use_ensemble_future_state_predictions=False, num_future_state_predictions_in_ensemble=3, future_state_ensemble_aggregation_scheme='average', use_ensemble_value_predictions=False, num_value_predictions_in_ensemble=5, value_ensemble_aggregation_scheme='average', search_depth=1, mask_current_state_action_for_value_prediction=False, mask_future_state_for_qvalue_prediction=False, num_queries_best_of_n=1, use_parallel_inference=False, available_gpus='0', parallel_timeout=15, parallel_tasks_across_gpus=False, task_suite_name='libero_goal', num_trials_per_task=50, task_ids_to_run='4', initial_states_path='DEFAULT', env_img_res=256, local_log_dir='/home/azureuser/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal', run_id_note='v2i350_p1_t4_s3', use_wandb=False, wandb_entity='YOUR_ENTITY', wandb_project='YOUR_PROJECT', seed=195, randomize_seed=False, data_collection=False, jpeg_compress=True, reward_stop_threshold=None, reward_stop_consecutive_steps=3, use_gpt_reward=False, gpt_reward_model='gpt-5.4-mini', gpt_reward_stop_threshold=4, gpt_reward_timeout_s=30.0, save_rollout_video=False, eval_hdf5_path='', eval_hdf5_demo_key='demo_0', data_gen_demo_ids='', eval_episode_ids='3,7,11,15,19,23,27,31,35,39,43,47', dump_final_states_path='', replay_actions=False, replay_action_path_dir='', replay_hdf5_path='', data_generation=False, max_generation_steps=200, disable_value_stop=False)
+Using serial inference (parallel inference disabled)
+Task suite: libero_goal
+Number of tasks: 10
+Running only task IDs: [4]
+Using default initial states
+
+Task: put the bowl on top of the cabinet
+Starting episode 1...
+Query 1/1: Action query time = 6.317 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5767
+t=10: Selected seed 195 with value = 0.5767
+Query 1/1: Action query time = 3.861 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6969
+t=26: Selected seed 195 with value = 0.6969
+Query 1/1: Action query time = 5.092 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7668
+t=42: Selected seed 195 with value = 0.7668
+Query 1/1: Action query time = 5.534 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8968
+t=58: Selected seed 195 with value = 0.8968
+Query 1/1: Action query time = 4.464 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=74: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.219 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/v2i350_p1_t4_s3/2026_08_03-17_39_23--with_future_img--episode=1--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Success: True
+# episodes completed so far: 1
+# successes: 1 (100.0%)
+
+Task: put the bowl on top of the cabinet
+Starting episode 2...
+Query 1/1: Action query time = 5.121 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5853
+t=10: Selected seed 195 with value = 0.5853
+Query 1/1: Action query time = 4.050 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6680
+t=26: Selected seed 195 with value = 0.6680
+Query 1/1: Action query time = 3.483 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7852
+t=42: Selected seed 195 with value = 0.7852
+Query 1/1: Action query time = 5.101 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9249
+t=58: Selected seed 195 with value = 0.9249
+Query 1/1: Action query time = 4.430 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=74: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 3.687 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/v2i350_p1_t4_s3/2026_08_03-17_39_23--with_future_img--episode=2--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Success: True
+# episodes completed so far: 2
+# successes: 2 (100.0%)
+
+Task: put the bowl on top of the cabinet
+Starting episode 3...
+Query 1/1: Action query time = 4.886 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5867
+t=10: Selected seed 195 with value = 0.5867
+Query 1/1: Action query time = 5.436 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6890
+t=26: Selected seed 195 with value = 0.6890
+Query 1/1: Action query time = 5.135 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7667
+t=42: Selected seed 195 with value = 0.7667
+Query 1/1: Action query time = 4.644 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9238
+t=58: Selected seed 195 with value = 0.9238
+Query 1/1: Action query time = 2.997 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9969
+t=74: Selected seed 195 with value = 0.9969
+Query 1/1: Action query time = 4.245 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/v2i350_p1_t4_s3/2026_08_03-17_39_23--with_future_img--episode=3--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Success: True
+# episodes completed so far: 3
+# successes: 3 (100.0%)
+
+Task: put the bowl on top of the cabinet
+Starting episode 4...
+Query 1/1: Action query time = 5.058 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6106
+t=10: Selected seed 195 with value = 0.6106
+Query 1/1: Action query time = 4.853 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7125
+t=26: Selected seed 195 with value = 0.7125
+Query 1/1: Action query time = 4.887 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8406
+t=42: Selected seed 195 with value = 0.8406
+Query 1/1: Action query time = 4.698 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9642
+t=58: Selected seed 195 with value = 0.9642
+Query 1/1: Action query time = 5.243 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=74: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 5.080 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/v2i350_p1_t4_s3/2026_08_03-17_39_23--with_future_img--episode=4--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Success: True
+# episodes completed so far: 4
+# successes: 4 (100.0%)
+
+Task: put the bowl on top of the cabinet
+Starting episode 5...
+Query 1/1: Action query time = 4.817 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5688
+t=10: Selected seed 195 with value = 0.5688
+Query 1/1: Action query time = 4.744 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6806
+t=26: Selected seed 195 with value = 0.6806
+Query 1/1: Action query time = 2.950 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7731
+t=42: Selected seed 195 with value = 0.7731
+Query 1/1: Action query time = 3.665 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9394
+t=58: Selected seed 195 with value = 0.9394
+Query 1/1: Action query time = 5.271 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=74: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.989 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/v2i350_p1_t4_s3/2026_08_03-17_39_23--with_future_img--episode=5--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Success: True
+# episodes completed so far: 5
+# successes: 5 (100.0%)
+
+Task: put the bowl on top of the cabinet
+Starting episode 6...
+Query 1/1: Action query time = 5.597 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5928
+t=10: Selected seed 195 with value = 0.5928
+Query 1/1: Action query time = 4.067 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6882
+t=26: Selected seed 195 with value = 0.6882
+Query 1/1: Action query time = 4.992 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7995
+t=42: Selected seed 195 with value = 0.7995
+Query 1/1: Action query time = 3.446 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9351
+t=58: Selected seed 195 with value = 0.9351
+Query 1/1: Action query time = 4.822 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=74: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.255 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/v2i350_p1_t4_s3/2026_08_03-17_39_23--with_future_img--episode=6--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Success: True
+# episodes completed so far: 6
+# successes: 6 (100.0%)
+
+Task: put the bowl on top of the cabinet
+Starting episode 7...
+Query 1/1: Action query time = 4.961 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5854
+t=10: Selected seed 195 with value = 0.5854
+Query 1/1: Action query time = 4.549 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6785
+t=26: Selected seed 195 with value = 0.6785
+Query 1/1: Action query time = 5.513 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8110
+t=42: Selected seed 195 with value = 0.8110
+Query 1/1: Action query time = 4.697 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9285
+t=58: Selected seed 195 with value = 0.9285
+Query 1/1: Action query time = 5.304 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=74: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 5.213 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/v2i350_p1_t4_s3/2026_08_03-17_39_23--with_future_img--episode=7--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Success: True
+# episodes completed so far: 7
+# successes: 7 (100.0%)
+
+Task: put the bowl on top of the cabinet
+Starting episode 8...
+Query 1/1: Action query time = 3.986 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5518
+t=10: Selected seed 195 with value = 0.5518
+Query 1/1: Action query time = 3.450 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6810
+t=26: Selected seed 195 with value = 0.6810
+Query 1/1: Action query time = 4.710 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7534
+t=42: Selected seed 195 with value = 0.7534
+Query 1/1: Action query time = 4.111 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8832
+t=58: Selected seed 195 with value = 0.8832
+Query 1/1: Action query time = 4.546 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9884
+t=74: Selected seed 195 with value = 0.9884
+Query 1/1: Action query time = 5.343 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9903
+t=90: Selected seed 195 with value = 0.9903
+Query 1/1: Action query time = 4.728 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9315
+t=106: Selected seed 195 with value = 0.9315
+Query 1/1: Action query time = 4.615 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9274
+t=122: Selected seed 195 with value = 0.9274
+Query 1/1: Action query time = 5.463 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9117
+t=138: Selected seed 195 with value = 0.9117
+Query 1/1: Action query time = 4.800 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9894
+t=154: Selected seed 195 with value = 0.9894
+Query 1/1: Action query time = 4.790 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9916
+t=170: Selected seed 195 with value = 0.9916
+Query 1/1: Action query time = 4.720 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9916
+t=186: Selected seed 195 with value = 0.9916
+Query 1/1: Action query time = 3.629 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9914
+t=202: Selected seed 195 with value = 0.9914
+Query 1/1: Action query time = 4.741 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9913
+t=218: Selected seed 195 with value = 0.9913
+Query 1/1: Action query time = 4.506 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9913
+t=234: Selected seed 195 with value = 0.9913
+Query 1/1: Action query time = 5.170 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9913
+t=250: Selected seed 195 with value = 0.9913
+Query 1/1: Action query time = 3.808 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9912
+t=266: Selected seed 195 with value = 0.9912
+Query 1/1: Action query time = 5.050 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9912
+t=282: Selected seed 195 with value = 0.9912
+Query 1/1: Action query time = 5.615 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9912
+t=298: Selected seed 195 with value = 0.9912
+Saved rollout MP4 at path ./rollouts/v2i350_p1_t4_s3/2026_08_03-17_39_23--with_future_img--episode=8--success=False--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Success: False
+# episodes completed so far: 8
+# successes: 7 (87.5%)
+
+Task: put the bowl on top of the cabinet
+Starting episode 9...
+Query 1/1: Action query time = 2.649 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5788
+t=10: Selected seed 195 with value = 0.5788
+Query 1/1: Action query time = 4.069 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6982
+t=26: Selected seed 195 with value = 0.6982
+Query 1/1: Action query time = 4.597 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8328
+t=42: Selected seed 195 with value = 0.8328
+Query 1/1: Action query time = 4.965 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9385
+t=58: Selected seed 195 with value = 0.9385
+Query 1/1: Action query time = 4.876 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=74: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.325 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/v2i350_p1_t4_s3/2026_08_03-17_39_23--with_future_img--episode=9--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Success: True
+# episodes completed so far: 9
+# successes: 8 (88.9%)
+
+Task: put the bowl on top of the cabinet
+Starting episode 10...
+Query 1/1: Action query time = 4.829 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5718
+t=10: Selected seed 195 with value = 0.5718
+Query 1/1: Action query time = 5.187 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6797
+t=26: Selected seed 195 with value = 0.6797
+Query 1/1: Action query time = 4.996 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7589
+t=42: Selected seed 195 with value = 0.7589
+Query 1/1: Action query time = 3.952 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9003
+t=58: Selected seed 195 with value = 0.9003
+Query 1/1: Action query time = 4.852 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=74: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 3.750 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/v2i350_p1_t4_s3/2026_08_03-17_39_23--with_future_img--episode=10--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Success: True
+# episodes completed so far: 10
+# successes: 9 (90.0%)
+
+Task: put the bowl on top of the cabinet
+Starting episode 11...
+Query 1/1: Action query time = 4.161 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5785
+t=10: Selected seed 195 with value = 0.5785
+Query 1/1: Action query time = 3.160 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6695
+t=26: Selected seed 195 with value = 0.6695
+Query 1/1: Action query time = 4.390 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7775
+t=42: Selected seed 195 with value = 0.7775
+Query 1/1: Action query time = 4.668 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8769
+t=58: Selected seed 195 with value = 0.8769
+Query 1/1: Action query time = 3.969 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9827
+t=74: Selected seed 195 with value = 0.9827
+Query 1/1: Action query time = 3.474 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 1.787 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=106: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/v2i350_p1_t4_s3/2026_08_03-17_39_23--with_future_img--episode=11--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Success: True
+# episodes completed so far: 11
+# successes: 10 (90.9%)
+
+Task: put the bowl on top of the cabinet
+Starting episode 12...
+Query 1/1: Action query time = 2.603 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5514
+t=10: Selected seed 195 with value = 0.5514
+Query 1/1: Action query time = 3.082 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6816
+t=26: Selected seed 195 with value = 0.6816
+Query 1/1: Action query time = 3.484 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7938
+t=42: Selected seed 195 with value = 0.7938
+Query 1/1: Action query time = 2.858 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9614
+t=58: Selected seed 195 with value = 0.9614
+Query 1/1: Action query time = 2.905 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=74: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 2.948 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/v2i350_p1_t4_s3/2026_08_03-17_39_23--with_future_img--episode=12--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Success: True
+# episodes completed so far: 12
+# successes: 11 (91.7%)
+Current task success rate: 0.9166666666666666
+Current total success rate: 0.9166666666666666
+Final results:
+Total episodes: 12
+Total successes: 11
+Overall success rate: 0.9167 (91.7%)
diff --git a/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_03-17_39_23--v2i350_p1_t5_s2.txt b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_03-17_39_23--v2i350_p1_t5_s2.txt
new file mode 100644
index 0000000000000000000000000000000000000000..bc7c46694e704509dcf17ecba349b1f840091acd
--- /dev/null
+++ b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_03-17_39_23--v2i350_p1_t5_s2.txt
@@ -0,0 +1,532 @@
+Eval config: PolicyEvalConfig(suite='libero', model_family='cosmos', config='cosmos_predict2_2b_480p_libero_cl_stage_inference_only', ckpt_path='/home/azureuser/REGEN-main/new_task7/cosmos_policy/cosmos_v2_finetune/cosmos_predict2_2b_480p_libero_goal_task7_forget_cl_v2_from350_2gpu/checkpoints/iter_000000350/model', planning_model_config_name='', planning_model_ckpt_path='', config_file='cosmos_policy/config/config.py', packnet_mask_path='', packnet_first_cl_libero_task=6, use_third_person_image=True, num_third_person_images=1, use_wrist_image=True, num_wrist_images=1, use_proprio=True, flip_images=True, use_variance_scale=False, use_jpeg_compression=True, ar_future_prediction=False, ar_value_prediction=False, ar_qvalue_prediction=False, num_denoising_steps_action=5, num_denoising_steps_future_state=1, num_denoising_steps_value=1, unnormalize_actions=True, normalize_proprio=True, dataset_stats_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/libero_goal_regen/dataset_statistics.json', t5_text_embeddings_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/t5_embeddings.pkl', trained_with_image_aug=True, chunk_size=16, num_open_loop_steps=16, deterministic=True, deterministic_reset=False, deterministic_reset_seed=None, use_ensemble_future_state_predictions=False, num_future_state_predictions_in_ensemble=3, future_state_ensemble_aggregation_scheme='average', use_ensemble_value_predictions=False, num_value_predictions_in_ensemble=5, value_ensemble_aggregation_scheme='average', search_depth=1, mask_current_state_action_for_value_prediction=False, mask_future_state_for_qvalue_prediction=False, num_queries_best_of_n=1, use_parallel_inference=False, available_gpus='0', parallel_timeout=15, parallel_tasks_across_gpus=False, task_suite_name='libero_goal', num_trials_per_task=50, task_ids_to_run='5', initial_states_path='DEFAULT', env_img_res=256, local_log_dir='/home/azureuser/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal', run_id_note='v2i350_p1_t5_s2', use_wandb=False, wandb_entity='YOUR_ENTITY', wandb_project='YOUR_PROJECT', seed=195, randomize_seed=False, data_collection=False, jpeg_compress=True, reward_stop_threshold=None, reward_stop_consecutive_steps=3, use_gpt_reward=False, gpt_reward_model='gpt-5.4-mini', gpt_reward_stop_threshold=4, gpt_reward_timeout_s=30.0, save_rollout_video=False, eval_hdf5_path='', eval_hdf5_demo_key='demo_0', data_gen_demo_ids='', eval_episode_ids='2,6,10,14,18,22,26,30,34,38,42,46', dump_final_states_path='', replay_actions=False, replay_action_path_dir='', replay_hdf5_path='', data_generation=False, max_generation_steps=200, disable_value_stop=False)
+Using serial inference (parallel inference disabled)
+Task suite: libero_goal
+Number of tasks: 10
+Running only task IDs: [5]
+Using default initial states
+
+Task: push the plate to the front of the stove
+Starting episode 1...
+Query 1/1: Action query time = 7.620 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3723
+t=10: Selected seed 195 with value = 0.3723
+Query 1/1: Action query time = 4.838 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4237
+t=26: Selected seed 195 with value = 0.4237
+Query 1/1: Action query time = 4.368 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4979
+t=42: Selected seed 195 with value = 0.4979
+Query 1/1: Action query time = 5.118 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5635
+t=58: Selected seed 195 with value = 0.5635
+Query 1/1: Action query time = 4.692 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6254
+t=74: Selected seed 195 with value = 0.6254
+Query 1/1: Action query time = 4.807 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7148
+t=90: Selected seed 195 with value = 0.7148
+Query 1/1: Action query time = 3.877 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8231
+t=106: Selected seed 195 with value = 0.8231
+Query 1/1: Action query time = 4.409 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9880
+t=122: Selected seed 195 with value = 0.9880
+Query 1/1: Action query time = 3.567 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=138: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/v2i350_p1_t5_s2/2026_08_03-17_39_23--with_future_img--episode=1--success=True--task=push_the_plate_to_the_front_of_the_.mp4
+Success: True
+# episodes completed so far: 1
+# successes: 1 (100.0%)
+
+Task: push the plate to the front of the stove
+Starting episode 2...
+Query 1/1: Action query time = 4.589 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3551
+t=10: Selected seed 195 with value = 0.3551
+Query 1/1: Action query time = 5.238 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4106
+t=26: Selected seed 195 with value = 0.4106
+Query 1/1: Action query time = 4.215 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5665
+t=42: Selected seed 195 with value = 0.5665
+Query 1/1: Action query time = 4.802 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6325
+t=58: Selected seed 195 with value = 0.6325
+Query 1/1: Action query time = 5.570 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6674
+t=74: Selected seed 195 with value = 0.6674
+Query 1/1: Action query time = 4.826 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7686
+t=90: Selected seed 195 with value = 0.7686
+Query 1/1: Action query time = 4.512 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9880
+t=106: Selected seed 195 with value = 0.9880
+Query 1/1: Action query time = 3.624 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=122: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 3.931 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9983
+t=138: Selected seed 195 with value = 0.9983
+Saved rollout MP4 at path ./rollouts/v2i350_p1_t5_s2/2026_08_03-17_39_23--with_future_img--episode=2--success=True--task=push_the_plate_to_the_front_of_the_.mp4
+Success: True
+# episodes completed so far: 2
+# successes: 2 (100.0%)
+
+Task: push the plate to the front of the stove
+Starting episode 3...
+Query 1/1: Action query time = 5.200 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3847
+t=10: Selected seed 195 with value = 0.3847
+Query 1/1: Action query time = 4.878 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4317
+t=26: Selected seed 195 with value = 0.4317
+Query 1/1: Action query time = 4.839 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5349
+t=42: Selected seed 195 with value = 0.5349
+Query 1/1: Action query time = 4.656 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6008
+t=58: Selected seed 195 with value = 0.6008
+Query 1/1: Action query time = 5.254 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6483
+t=74: Selected seed 195 with value = 0.6483
+Query 1/1: Action query time = 5.172 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7240
+t=90: Selected seed 195 with value = 0.7240
+Query 1/1: Action query time = 3.214 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9093
+t=106: Selected seed 195 with value = 0.9093
+Query 1/1: Action query time = 5.194 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=122: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.644 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=138: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/v2i350_p1_t5_s2/2026_08_03-17_39_23--with_future_img--episode=3--success=True--task=push_the_plate_to_the_front_of_the_.mp4
+Success: True
+# episodes completed so far: 3
+# successes: 3 (100.0%)
+
+Task: push the plate to the front of the stove
+Starting episode 4...
+Query 1/1: Action query time = 4.470 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3767
+t=10: Selected seed 195 with value = 0.3767
+Query 1/1: Action query time = 4.911 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3854
+t=26: Selected seed 195 with value = 0.3854
+Query 1/1: Action query time = 4.177 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5395
+t=42: Selected seed 195 with value = 0.5395
+Query 1/1: Action query time = 4.672 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6668
+t=58: Selected seed 195 with value = 0.6668
+Query 1/1: Action query time = 3.881 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7443
+t=74: Selected seed 195 with value = 0.7443
+Query 1/1: Action query time = 5.305 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9092
+t=90: Selected seed 195 with value = 0.9092
+Query 1/1: Action query time = 4.916 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9940
+t=106: Selected seed 195 with value = 0.9940
+Query 1/1: Action query time = 5.436 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=122: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/v2i350_p1_t5_s2/2026_08_03-17_39_23--with_future_img--episode=4--success=True--task=push_the_plate_to_the_front_of_the_.mp4
+Success: True
+# episodes completed so far: 4
+# successes: 4 (100.0%)
+
+Task: push the plate to the front of the stove
+Starting episode 5...
+Query 1/1: Action query time = 2.977 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3409
+t=10: Selected seed 195 with value = 0.3409
+Query 1/1: Action query time = 4.540 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4226
+t=26: Selected seed 195 with value = 0.4226
+Query 1/1: Action query time = 4.854 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4630
+t=42: Selected seed 195 with value = 0.4630
+Query 1/1: Action query time = 4.966 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5453
+t=58: Selected seed 195 with value = 0.5453
+Query 1/1: Action query time = 4.769 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6369
+t=74: Selected seed 195 with value = 0.6369
+Query 1/1: Action query time = 3.556 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7108
+t=90: Selected seed 195 with value = 0.7108
+Query 1/1: Action query time = 4.357 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8119
+t=106: Selected seed 195 with value = 0.8119
+Query 1/1: Action query time = 4.691 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9757
+t=122: Selected seed 195 with value = 0.9757
+Query 1/1: Action query time = 4.980 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9980
+t=138: Selected seed 195 with value = 0.9980
+Saved rollout MP4 at path ./rollouts/v2i350_p1_t5_s2/2026_08_03-17_39_23--with_future_img--episode=5--success=True--task=push_the_plate_to_the_front_of_the_.mp4
+Success: True
+# episodes completed so far: 5
+# successes: 5 (100.0%)
+
+Task: push the plate to the front of the stove
+Starting episode 6...
+Query 1/1: Action query time = 3.764 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3997
+t=10: Selected seed 195 with value = 0.3997
+Query 1/1: Action query time = 3.758 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4355
+t=26: Selected seed 195 with value = 0.4355
+Query 1/1: Action query time = 5.656 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5602
+t=42: Selected seed 195 with value = 0.5602
+Query 1/1: Action query time = 5.936 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6440
+t=58: Selected seed 195 with value = 0.6440
+Query 1/1: Action query time = 3.868 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6830
+t=74: Selected seed 195 with value = 0.6830
+Query 1/1: Action query time = 4.648 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8173
+t=90: Selected seed 195 with value = 0.8173
+Query 1/1: Action query time = 4.232 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9332
+t=106: Selected seed 195 with value = 0.9332
+Query 1/1: Action query time = 4.776 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=122: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.802 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=138: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/v2i350_p1_t5_s2/2026_08_03-17_39_23--with_future_img--episode=6--success=True--task=push_the_plate_to_the_front_of_the_.mp4
+Success: True
+# episodes completed so far: 6
+# successes: 6 (100.0%)
+
+Task: push the plate to the front of the stove
+Starting episode 7...
+Query 1/1: Action query time = 4.542 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4005
+t=10: Selected seed 195 with value = 0.4005
+Query 1/1: Action query time = 5.348 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4366
+t=26: Selected seed 195 with value = 0.4366
+Query 1/1: Action query time = 4.685 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5351
+t=42: Selected seed 195 with value = 0.5351
+Query 1/1: Action query time = 5.276 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6317
+t=58: Selected seed 195 with value = 0.6317
+Query 1/1: Action query time = 4.278 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7242
+t=74: Selected seed 195 with value = 0.7242
+Query 1/1: Action query time = 4.225 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8236
+t=90: Selected seed 195 with value = 0.8236
+Query 1/1: Action query time = 5.292 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9807
+t=106: Selected seed 195 with value = 0.9807
+Query 1/1: Action query time = 4.484 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9996
+t=122: Selected seed 195 with value = 0.9996
+Query 1/1: Action query time = 4.113 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=138: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/v2i350_p1_t5_s2/2026_08_03-17_39_23--with_future_img--episode=7--success=True--task=push_the_plate_to_the_front_of_the_.mp4
+Success: True
+# episodes completed so far: 7
+# successes: 7 (100.0%)
+
+Task: push the plate to the front of the stove
+Starting episode 8...
+Query 1/1: Action query time = 4.809 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3586
+t=10: Selected seed 195 with value = 0.3586
+Query 1/1: Action query time = 5.044 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4127
+t=26: Selected seed 195 with value = 0.4127
+Query 1/1: Action query time = 5.192 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5550
+t=42: Selected seed 195 with value = 0.5550
+Query 1/1: Action query time = 4.083 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5771
+t=58: Selected seed 195 with value = 0.5771
+Query 1/1: Action query time = 3.863 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7025
+t=74: Selected seed 195 with value = 0.7025
+Query 1/1: Action query time = 3.689 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7645
+t=90: Selected seed 195 with value = 0.7645
+Query 1/1: Action query time = 4.265 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8671
+t=106: Selected seed 195 with value = 0.8671
+Query 1/1: Action query time = 4.811 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9726
+t=122: Selected seed 195 with value = 0.9726
+Query 1/1: Action query time = 5.062 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=138: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/v2i350_p1_t5_s2/2026_08_03-17_39_23--with_future_img--episode=8--success=True--task=push_the_plate_to_the_front_of_the_.mp4
+Success: True
+# episodes completed so far: 8
+# successes: 8 (100.0%)
+
+Task: push the plate to the front of the stove
+Starting episode 9...
+Query 1/1: Action query time = 5.323 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3498
+t=10: Selected seed 195 with value = 0.3498
+Query 1/1: Action query time = 3.545 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4005
+t=26: Selected seed 195 with value = 0.4005
+Query 1/1: Action query time = 4.929 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5119
+t=42: Selected seed 195 with value = 0.5119
+Query 1/1: Action query time = 4.123 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5890
+t=58: Selected seed 195 with value = 0.5890
+Query 1/1: Action query time = 4.219 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6585
+t=74: Selected seed 195 with value = 0.6585
+Query 1/1: Action query time = 3.427 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7982
+t=90: Selected seed 195 with value = 0.7982
+Query 1/1: Action query time = 3.427 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9643
+t=106: Selected seed 195 with value = 0.9643
+Query 1/1: Action query time = 3.830 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=122: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 3.009 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9967
+t=138: Selected seed 195 with value = 0.9967
+Saved rollout MP4 at path ./rollouts/v2i350_p1_t5_s2/2026_08_03-17_39_23--with_future_img--episode=9--success=True--task=push_the_plate_to_the_front_of_the_.mp4
+Success: True
+# episodes completed so far: 9
+# successes: 9 (100.0%)
+
+Task: push the plate to the front of the stove
+Starting episode 10...
+Query 1/1: Action query time = 2.009 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3739
+t=10: Selected seed 195 with value = 0.3739
+Query 1/1: Action query time = 2.199 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4380
+t=26: Selected seed 195 with value = 0.4380
+Query 1/1: Action query time = 2.540 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5522
+t=42: Selected seed 195 with value = 0.5522
+Query 1/1: Action query time = 3.497 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6141
+t=58: Selected seed 195 with value = 0.6141
+Query 1/1: Action query time = 3.250 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6424
+t=74: Selected seed 195 with value = 0.6424
+Query 1/1: Action query time = 3.121 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8136
+t=90: Selected seed 195 with value = 0.8136
+Query 1/1: Action query time = 2.829 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9786
+t=106: Selected seed 195 with value = 0.9786
+Query 1/1: Action query time = 2.347 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=122: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 2.380 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9991
+t=138: Selected seed 195 with value = 0.9991
+Saved rollout MP4 at path ./rollouts/v2i350_p1_t5_s2/2026_08_03-17_39_23--with_future_img--episode=10--success=True--task=push_the_plate_to_the_front_of_the_.mp4
+Success: True
+# episodes completed so far: 10
+# successes: 10 (100.0%)
+
+Task: push the plate to the front of the stove
+Starting episode 11...
+Query 1/1: Action query time = 1.510 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3443
+t=10: Selected seed 195 with value = 0.3443
+Query 1/1: Action query time = 1.396 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4029
+t=26: Selected seed 195 with value = 0.4029
+Query 1/1: Action query time = 1.853 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5093
+t=42: Selected seed 195 with value = 0.5093
+Query 1/1: Action query time = 2.628 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5246
+t=58: Selected seed 195 with value = 0.5246
+Query 1/1: Action query time = 2.548 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5539
+t=74: Selected seed 195 with value = 0.5539
+Query 1/1: Action query time = 2.668 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5914
+t=90: Selected seed 195 with value = 0.5914
+Query 1/1: Action query time = 2.458 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7257
+t=106: Selected seed 195 with value = 0.7257
+Query 1/1: Action query time = 2.454 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8428
+t=122: Selected seed 195 with value = 0.8428
+Query 1/1: Action query time = 1.865 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9220
+t=138: Selected seed 195 with value = 0.9220
+Query 1/1: Action query time = 1.865 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=154: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 2.235 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=170: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/v2i350_p1_t5_s2/2026_08_03-17_39_23--with_future_img--episode=11--success=True--task=push_the_plate_to_the_front_of_the_.mp4
+Success: True
+# episodes completed so far: 11
+# successes: 11 (100.0%)
+
+Task: push the plate to the front of the stove
+Starting episode 12...
+Query 1/1: Action query time = 2.304 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3669
+t=10: Selected seed 195 with value = 0.3669
+Query 1/1: Action query time = 2.351 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4312
+t=26: Selected seed 195 with value = 0.4312
+Query 1/1: Action query time = 2.588 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5318
+t=42: Selected seed 195 with value = 0.5318
+Query 1/1: Action query time = 2.530 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5881
+t=58: Selected seed 195 with value = 0.5881
+Query 1/1: Action query time = 1.635 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6828
+t=74: Selected seed 195 with value = 0.6828
+Query 1/1: Action query time = 1.640 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7867
+t=90: Selected seed 195 with value = 0.7867
+Query 1/1: Action query time = 2.185 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9289
+t=106: Selected seed 195 with value = 0.9289
+Query 1/1: Action query time = 1.862 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=122: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 1.441 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9989
+t=138: Selected seed 195 with value = 0.9989
+Saved rollout MP4 at path ./rollouts/v2i350_p1_t5_s2/2026_08_03-17_39_23--with_future_img--episode=12--success=True--task=push_the_plate_to_the_front_of_the_.mp4
+Success: True
+# episodes completed so far: 12
+# successes: 12 (100.0%)
+Current task success rate: 1.0
+Current total success rate: 1.0
+Final results:
+Total episodes: 12
+Total successes: 12
+Overall success rate: 1.0000 (100.0%)
diff --git a/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_03-17_39_23--v2i350_p1_t7_s0.txt b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_03-17_39_23--v2i350_p1_t7_s0.txt
new file mode 100644
index 0000000000000000000000000000000000000000..b7a0181f57ce66101807cfa604ddf91ed2837224
--- /dev/null
+++ b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_03-17_39_23--v2i350_p1_t7_s0.txt
@@ -0,0 +1,379 @@
+Eval config: PolicyEvalConfig(suite='libero', model_family='cosmos', config='cosmos_predict2_2b_480p_libero_cl_stage_inference_only', ckpt_path='/home/azureuser/REGEN-main/new_task7/cosmos_policy/cosmos_v2_finetune/cosmos_predict2_2b_480p_libero_goal_task7_forget_cl_v2_from350_2gpu/checkpoints/iter_000000350/model', planning_model_config_name='', planning_model_ckpt_path='', config_file='cosmos_policy/config/config.py', packnet_mask_path='', packnet_first_cl_libero_task=6, use_third_person_image=True, num_third_person_images=1, use_wrist_image=True, num_wrist_images=1, use_proprio=True, flip_images=True, use_variance_scale=False, use_jpeg_compression=True, ar_future_prediction=False, ar_value_prediction=False, ar_qvalue_prediction=False, num_denoising_steps_action=5, num_denoising_steps_future_state=1, num_denoising_steps_value=1, unnormalize_actions=True, normalize_proprio=True, dataset_stats_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/libero_goal_regen/dataset_statistics.json', t5_text_embeddings_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/t5_embeddings.pkl', trained_with_image_aug=True, chunk_size=16, num_open_loop_steps=16, deterministic=True, deterministic_reset=False, deterministic_reset_seed=None, use_ensemble_future_state_predictions=False, num_future_state_predictions_in_ensemble=3, future_state_ensemble_aggregation_scheme='average', use_ensemble_value_predictions=False, num_value_predictions_in_ensemble=5, value_ensemble_aggregation_scheme='average', search_depth=1, mask_current_state_action_for_value_prediction=False, mask_future_state_for_qvalue_prediction=False, num_queries_best_of_n=1, use_parallel_inference=False, available_gpus='0', parallel_timeout=15, parallel_tasks_across_gpus=False, task_suite_name='libero_goal', num_trials_per_task=50, task_ids_to_run='7', initial_states_path='DEFAULT', env_img_res=256, local_log_dir='/home/azureuser/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal', run_id_note='v2i350_p1_t7_s0', use_wandb=False, wandb_entity='YOUR_ENTITY', wandb_project='YOUR_PROJECT', seed=195, randomize_seed=False, data_collection=False, jpeg_compress=True, reward_stop_threshold=None, reward_stop_consecutive_steps=3, use_gpt_reward=False, gpt_reward_model='gpt-5.4-mini', gpt_reward_stop_threshold=4, gpt_reward_timeout_s=30.0, save_rollout_video=False, eval_hdf5_path='', eval_hdf5_demo_key='demo_0', data_gen_demo_ids='', eval_episode_ids='0,4,8,12,16,20,24,28,32,36,40,44,48', dump_final_states_path='', replay_actions=False, replay_action_path_dir='', replay_hdf5_path='', data_generation=False, max_generation_steps=200, disable_value_stop=False)
+Using serial inference (parallel inference disabled)
+Task suite: libero_goal
+Number of tasks: 10
+Running only task IDs: [7]
+Using default initial states
+
+Task: turn on the stove
+Starting episode 1...
+Query 1/1: Action query time = 4.440 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4745
+t=10: Selected seed 195 with value = 0.4745
+Query 1/1: Action query time = 5.104 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5351
+t=26: Selected seed 195 with value = 0.5351
+Query 1/1: Action query time = 6.170 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6378
+t=42: Selected seed 195 with value = 0.6378
+Query 1/1: Action query time = 4.570 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7362
+t=58: Selected seed 195 with value = 0.7362
+Query 1/1: Action query time = 5.149 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8497
+t=74: Selected seed 195 with value = 0.8497
+Query 1/1: Action query time = 4.541 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9733
+t=90: Selected seed 195 with value = 0.9733
+Saved rollout MP4 at path ./rollouts/v2i350_p1_t7_s0/2026_08_03-17_39_23--with_future_img--episode=1--success=True--task=turn_on_the_stove.mp4
+Success: True
+# episodes completed so far: 1
+# successes: 1 (100.0%)
+
+Task: turn on the stove
+Starting episode 2...
+Query 1/1: Action query time = 4.076 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4818
+t=10: Selected seed 195 with value = 0.4818
+Query 1/1: Action query time = 4.830 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5773
+t=26: Selected seed 195 with value = 0.5773
+Query 1/1: Action query time = 4.290 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6559
+t=42: Selected seed 195 with value = 0.6559
+Query 1/1: Action query time = 5.429 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7689
+t=58: Selected seed 195 with value = 0.7689
+Query 1/1: Action query time = 5.003 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9021
+t=74: Selected seed 195 with value = 0.9021
+Saved rollout MP4 at path ./rollouts/v2i350_p1_t7_s0/2026_08_03-17_39_23--with_future_img--episode=2--success=True--task=turn_on_the_stove.mp4
+Success: True
+# episodes completed so far: 2
+# successes: 2 (100.0%)
+
+Task: turn on the stove
+Starting episode 3...
+Query 1/1: Action query time = 4.229 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4970
+t=10: Selected seed 195 with value = 0.4970
+Query 1/1: Action query time = 3.885 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5926
+t=26: Selected seed 195 with value = 0.5926
+Query 1/1: Action query time = 5.446 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6454
+t=42: Selected seed 195 with value = 0.6454
+Query 1/1: Action query time = 4.907 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8020
+t=58: Selected seed 195 with value = 0.8020
+Query 1/1: Action query time = 3.852 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9513
+t=74: Selected seed 195 with value = 0.9513
+Saved rollout MP4 at path ./rollouts/v2i350_p1_t7_s0/2026_08_03-17_39_23--with_future_img--episode=3--success=True--task=turn_on_the_stove.mp4
+Success: True
+# episodes completed so far: 3
+# successes: 3 (100.0%)
+
+Task: turn on the stove
+Starting episode 4...
+Query 1/1: Action query time = 3.774 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4713
+t=10: Selected seed 195 with value = 0.4713
+Query 1/1: Action query time = 4.416 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5713
+t=26: Selected seed 195 with value = 0.5713
+Query 1/1: Action query time = 4.509 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6226
+t=42: Selected seed 195 with value = 0.6226
+Query 1/1: Action query time = 5.508 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7758
+t=58: Selected seed 195 with value = 0.7758
+Query 1/1: Action query time = 5.133 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9453
+t=74: Selected seed 195 with value = 0.9453
+Saved rollout MP4 at path ./rollouts/v2i350_p1_t7_s0/2026_08_03-17_39_23--with_future_img--episode=4--success=True--task=turn_on_the_stove.mp4
+Success: True
+# episodes completed so far: 4
+# successes: 4 (100.0%)
+
+Task: turn on the stove
+Starting episode 5...
+Query 1/1: Action query time = 5.178 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4576
+t=10: Selected seed 195 with value = 0.4576
+Query 1/1: Action query time = 3.238 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5423
+t=26: Selected seed 195 with value = 0.5423
+Query 1/1: Action query time = 4.739 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6319
+t=42: Selected seed 195 with value = 0.6319
+Query 1/1: Action query time = 3.899 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7109
+t=58: Selected seed 195 with value = 0.7109
+Query 1/1: Action query time = 4.251 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8932
+t=74: Selected seed 195 with value = 0.8932
+Query 1/1: Action query time = 4.756 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9998
+t=90: Selected seed 195 with value = 0.9998
+Saved rollout MP4 at path ./rollouts/v2i350_p1_t7_s0/2026_08_03-17_39_23--with_future_img--episode=5--success=True--task=turn_on_the_stove.mp4
+Success: True
+# episodes completed so far: 5
+# successes: 5 (100.0%)
+
+Task: turn on the stove
+Starting episode 6...
+Query 1/1: Action query time = 5.459 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5176
+t=10: Selected seed 195 with value = 0.5176
+Query 1/1: Action query time = 4.072 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5859
+t=26: Selected seed 195 with value = 0.5859
+Query 1/1: Action query time = 4.551 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6715
+t=42: Selected seed 195 with value = 0.6715
+Query 1/1: Action query time = 3.999 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8188
+t=58: Selected seed 195 with value = 0.8188
+Query 1/1: Action query time = 4.969 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9777
+t=74: Selected seed 195 with value = 0.9777
+Saved rollout MP4 at path ./rollouts/v2i350_p1_t7_s0/2026_08_03-17_39_23--with_future_img--episode=6--success=True--task=turn_on_the_stove.mp4
+Success: True
+# episodes completed so far: 6
+# successes: 6 (100.0%)
+
+Task: turn on the stove
+Starting episode 7...
+Query 1/1: Action query time = 5.595 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4552
+t=10: Selected seed 195 with value = 0.4552
+Query 1/1: Action query time = 3.628 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5419
+t=26: Selected seed 195 with value = 0.5419
+Query 1/1: Action query time = 4.630 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6453
+t=42: Selected seed 195 with value = 0.6453
+Query 1/1: Action query time = 4.232 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7331
+t=58: Selected seed 195 with value = 0.7331
+Query 1/1: Action query time = 5.218 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8790
+t=74: Selected seed 195 with value = 0.8790
+Saved rollout MP4 at path ./rollouts/v2i350_p1_t7_s0/2026_08_03-17_39_23--with_future_img--episode=7--success=True--task=turn_on_the_stove.mp4
+Success: True
+# episodes completed so far: 7
+# successes: 7 (100.0%)
+
+Task: turn on the stove
+Starting episode 8...
+Query 1/1: Action query time = 4.513 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5082
+t=10: Selected seed 195 with value = 0.5082
+Query 1/1: Action query time = 3.430 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5772
+t=26: Selected seed 195 with value = 0.5772
+Query 1/1: Action query time = 4.203 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6722
+t=42: Selected seed 195 with value = 0.6722
+Query 1/1: Action query time = 4.660 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7769
+t=58: Selected seed 195 with value = 0.7769
+Query 1/1: Action query time = 4.839 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9161
+t=74: Selected seed 195 with value = 0.9161
+Saved rollout MP4 at path ./rollouts/v2i350_p1_t7_s0/2026_08_03-17_39_23--with_future_img--episode=8--success=True--task=turn_on_the_stove.mp4
+Success: True
+# episodes completed so far: 8
+# successes: 8 (100.0%)
+
+Task: turn on the stove
+Starting episode 9...
+Query 1/1: Action query time = 4.633 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4881
+t=10: Selected seed 195 with value = 0.4881
+Query 1/1: Action query time = 3.790 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5749
+t=26: Selected seed 195 with value = 0.5749
+Query 1/1: Action query time = 3.995 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6834
+t=42: Selected seed 195 with value = 0.6834
+Query 1/1: Action query time = 3.718 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8064
+t=58: Selected seed 195 with value = 0.8064
+Query 1/1: Action query time = 4.040 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9459
+t=74: Selected seed 195 with value = 0.9459
+Saved rollout MP4 at path ./rollouts/v2i350_p1_t7_s0/2026_08_03-17_39_23--with_future_img--episode=9--success=True--task=turn_on_the_stove.mp4
+Success: True
+# episodes completed so far: 9
+# successes: 9 (100.0%)
+
+Task: turn on the stove
+Starting episode 10...
+Query 1/1: Action query time = 5.251 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4802
+t=10: Selected seed 195 with value = 0.4802
+Query 1/1: Action query time = 4.260 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5685
+t=26: Selected seed 195 with value = 0.5685
+Query 1/1: Action query time = 4.316 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6667
+t=42: Selected seed 195 with value = 0.6667
+Query 1/1: Action query time = 4.828 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7864
+t=58: Selected seed 195 with value = 0.7864
+Query 1/1: Action query time = 5.143 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9242
+t=74: Selected seed 195 with value = 0.9242
+Saved rollout MP4 at path ./rollouts/v2i350_p1_t7_s0/2026_08_03-17_39_23--with_future_img--episode=10--success=True--task=turn_on_the_stove.mp4
+Success: True
+# episodes completed so far: 10
+# successes: 10 (100.0%)
+
+Task: turn on the stove
+Starting episode 11...
+Query 1/1: Action query time = 5.480 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4733
+t=10: Selected seed 195 with value = 0.4733
+Query 1/1: Action query time = 3.230 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5692
+t=26: Selected seed 195 with value = 0.5692
+Query 1/1: Action query time = 3.741 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6722
+t=42: Selected seed 195 with value = 0.6722
+Query 1/1: Action query time = 4.559 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7794
+t=58: Selected seed 195 with value = 0.7794
+Query 1/1: Action query time = 4.796 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9389
+t=74: Selected seed 195 with value = 0.9389
+Query 1/1: Action query time = 4.482 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/v2i350_p1_t7_s0/2026_08_03-17_39_23--with_future_img--episode=11--success=True--task=turn_on_the_stove.mp4
+Success: True
+# episodes completed so far: 11
+# successes: 11 (100.0%)
+
+Task: turn on the stove
+Starting episode 12...
+Query 1/1: Action query time = 4.364 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4931
+t=10: Selected seed 195 with value = 0.4931
+Query 1/1: Action query time = 5.175 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5634
+t=26: Selected seed 195 with value = 0.5634
+Query 1/1: Action query time = 2.899 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6630
+t=42: Selected seed 195 with value = 0.6630
+Query 1/1: Action query time = 4.752 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7835
+t=58: Selected seed 195 with value = 0.7835
+Query 1/1: Action query time = 4.294 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8809
+t=74: Selected seed 195 with value = 0.8809
+Query 1/1: Action query time = 4.117 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/v2i350_p1_t7_s0/2026_08_03-17_39_23--with_future_img--episode=12--success=True--task=turn_on_the_stove.mp4
+Success: True
+# episodes completed so far: 12
+# successes: 12 (100.0%)
+
+Task: turn on the stove
+Starting episode 13...
+Query 1/1: Action query time = 3.972 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5024
+t=10: Selected seed 195 with value = 0.5024
+Query 1/1: Action query time = 2.056 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5857
+t=26: Selected seed 195 with value = 0.5857
+Query 1/1: Action query time = 3.002 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6937
+t=42: Selected seed 195 with value = 0.6937
+Query 1/1: Action query time = 2.837 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8895
+t=58: Selected seed 195 with value = 0.8895
+Query 1/1: Action query time = 3.280 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9887
+t=74: Selected seed 195 with value = 0.9887
+Saved rollout MP4 at path ./rollouts/v2i350_p1_t7_s0/2026_08_03-17_39_23--with_future_img--episode=13--success=True--task=turn_on_the_stove.mp4
+Success: True
+# episodes completed so far: 13
+# successes: 13 (100.0%)
+Current task success rate: 1.0
+Current total success rate: 1.0
+Final results:
+Total episodes: 13
+Total successes: 13
+Overall success rate: 1.0000 (100.0%)
diff --git a/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_03-17_39_23--v2i350_p1_t7_s1.txt b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_03-17_39_23--v2i350_p1_t7_s1.txt
new file mode 100644
index 0000000000000000000000000000000000000000..49b556cc1cefb0659ee18372227cb8275c68412b
--- /dev/null
+++ b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_03-17_39_23--v2i350_p1_t7_s1.txt
@@ -0,0 +1,383 @@
+Eval config: PolicyEvalConfig(suite='libero', model_family='cosmos', config='cosmos_predict2_2b_480p_libero_cl_stage_inference_only', ckpt_path='/home/azureuser/REGEN-main/new_task7/cosmos_policy/cosmos_v2_finetune/cosmos_predict2_2b_480p_libero_goal_task7_forget_cl_v2_from350_2gpu/checkpoints/iter_000000350/model', planning_model_config_name='', planning_model_ckpt_path='', config_file='cosmos_policy/config/config.py', packnet_mask_path='', packnet_first_cl_libero_task=6, use_third_person_image=True, num_third_person_images=1, use_wrist_image=True, num_wrist_images=1, use_proprio=True, flip_images=True, use_variance_scale=False, use_jpeg_compression=True, ar_future_prediction=False, ar_value_prediction=False, ar_qvalue_prediction=False, num_denoising_steps_action=5, num_denoising_steps_future_state=1, num_denoising_steps_value=1, unnormalize_actions=True, normalize_proprio=True, dataset_stats_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/libero_goal_regen/dataset_statistics.json', t5_text_embeddings_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/t5_embeddings.pkl', trained_with_image_aug=True, chunk_size=16, num_open_loop_steps=16, deterministic=True, deterministic_reset=False, deterministic_reset_seed=None, use_ensemble_future_state_predictions=False, num_future_state_predictions_in_ensemble=3, future_state_ensemble_aggregation_scheme='average', use_ensemble_value_predictions=False, num_value_predictions_in_ensemble=5, value_ensemble_aggregation_scheme='average', search_depth=1, mask_current_state_action_for_value_prediction=False, mask_future_state_for_qvalue_prediction=False, num_queries_best_of_n=1, use_parallel_inference=False, available_gpus='0', parallel_timeout=15, parallel_tasks_across_gpus=False, task_suite_name='libero_goal', num_trials_per_task=50, task_ids_to_run='7', initial_states_path='DEFAULT', env_img_res=256, local_log_dir='/home/azureuser/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal', run_id_note='v2i350_p1_t7_s1', use_wandb=False, wandb_entity='YOUR_ENTITY', wandb_project='YOUR_PROJECT', seed=195, randomize_seed=False, data_collection=False, jpeg_compress=True, reward_stop_threshold=None, reward_stop_consecutive_steps=3, use_gpt_reward=False, gpt_reward_model='gpt-5.4-mini', gpt_reward_stop_threshold=4, gpt_reward_timeout_s=30.0, save_rollout_video=False, eval_hdf5_path='', eval_hdf5_demo_key='demo_0', data_gen_demo_ids='', eval_episode_ids='1,5,9,13,17,21,25,29,33,37,41,45,49', dump_final_states_path='', replay_actions=False, replay_action_path_dir='', replay_hdf5_path='', data_generation=False, max_generation_steps=200, disable_value_stop=False)
+Using serial inference (parallel inference disabled)
+Task suite: libero_goal
+Number of tasks: 10
+Running only task IDs: [7]
+Using default initial states
+
+Task: turn on the stove
+Starting episode 1...
+Query 1/1: Action query time = 7.835 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4738
+t=10: Selected seed 195 with value = 0.4738
+Query 1/1: Action query time = 5.971 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5361
+t=26: Selected seed 195 with value = 0.5361
+Query 1/1: Action query time = 4.223 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6510
+t=42: Selected seed 195 with value = 0.6510
+Query 1/1: Action query time = 4.804 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7593
+t=58: Selected seed 195 with value = 0.7593
+Query 1/1: Action query time = 4.581 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8963
+t=74: Selected seed 195 with value = 0.8963
+Query 1/1: Action query time = 3.617 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9978
+t=90: Selected seed 195 with value = 0.9978
+Saved rollout MP4 at path ./rollouts/v2i350_p1_t7_s1/2026_08_03-17_39_23--with_future_img--episode=1--success=True--task=turn_on_the_stove.mp4
+Success: True
+# episodes completed so far: 1
+# successes: 1 (100.0%)
+
+Task: turn on the stove
+Starting episode 2...
+Query 1/1: Action query time = 4.933 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4462
+t=10: Selected seed 195 with value = 0.4462
+Query 1/1: Action query time = 4.674 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5358
+t=26: Selected seed 195 with value = 0.5358
+Query 1/1: Action query time = 5.410 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6457
+t=42: Selected seed 195 with value = 0.6457
+Query 1/1: Action query time = 4.878 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7495
+t=58: Selected seed 195 with value = 0.7495
+Query 1/1: Action query time = 4.119 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8733
+t=74: Selected seed 195 with value = 0.8733
+Query 1/1: Action query time = 5.507 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9934
+t=90: Selected seed 195 with value = 0.9934
+Saved rollout MP4 at path ./rollouts/v2i350_p1_t7_s1/2026_08_03-17_39_23--with_future_img--episode=2--success=True--task=turn_on_the_stove.mp4
+Success: True
+# episodes completed so far: 2
+# successes: 2 (100.0%)
+
+Task: turn on the stove
+Starting episode 3...
+Query 1/1: Action query time = 5.319 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5026
+t=10: Selected seed 195 with value = 0.5026
+Query 1/1: Action query time = 4.281 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5892
+t=26: Selected seed 195 with value = 0.5892
+Query 1/1: Action query time = 3.672 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6685
+t=42: Selected seed 195 with value = 0.6685
+Query 1/1: Action query time = 3.982 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7590
+t=58: Selected seed 195 with value = 0.7590
+Query 1/1: Action query time = 5.125 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8709
+t=74: Selected seed 195 with value = 0.8709
+Saved rollout MP4 at path ./rollouts/v2i350_p1_t7_s1/2026_08_03-17_39_23--with_future_img--episode=3--success=True--task=turn_on_the_stove.mp4
+Success: True
+# episodes completed so far: 3
+# successes: 3 (100.0%)
+
+Task: turn on the stove
+Starting episode 4...
+Query 1/1: Action query time = 4.260 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5024
+t=10: Selected seed 195 with value = 0.5024
+Query 1/1: Action query time = 4.653 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5830
+t=26: Selected seed 195 with value = 0.5830
+Query 1/1: Action query time = 4.315 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6786
+t=42: Selected seed 195 with value = 0.6786
+Query 1/1: Action query time = 2.555 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8037
+t=58: Selected seed 195 with value = 0.8037
+Query 1/1: Action query time = 4.988 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9419
+t=74: Selected seed 195 with value = 0.9419
+Saved rollout MP4 at path ./rollouts/v2i350_p1_t7_s1/2026_08_03-17_39_23--with_future_img--episode=4--success=True--task=turn_on_the_stove.mp4
+Success: True
+# episodes completed so far: 4
+# successes: 4 (100.0%)
+
+Task: turn on the stove
+Starting episode 5...
+Query 1/1: Action query time = 4.651 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4978
+t=10: Selected seed 195 with value = 0.4978
+Query 1/1: Action query time = 3.870 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5738
+t=26: Selected seed 195 with value = 0.5738
+Query 1/1: Action query time = 4.476 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6427
+t=42: Selected seed 195 with value = 0.6427
+Query 1/1: Action query time = 4.829 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7708
+t=58: Selected seed 195 with value = 0.7708
+Query 1/1: Action query time = 4.259 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9487
+t=74: Selected seed 195 with value = 0.9487
+Query 1/1: Action query time = 5.928 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/v2i350_p1_t7_s1/2026_08_03-17_39_23--with_future_img--episode=5--success=True--task=turn_on_the_stove.mp4
+Success: True
+# episodes completed so far: 5
+# successes: 5 (100.0%)
+
+Task: turn on the stove
+Starting episode 6...
+Query 1/1: Action query time = 4.235 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5095
+t=10: Selected seed 195 with value = 0.5095
+Query 1/1: Action query time = 4.635 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5899
+t=26: Selected seed 195 with value = 0.5899
+Query 1/1: Action query time = 5.147 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6880
+t=42: Selected seed 195 with value = 0.6880
+Query 1/1: Action query time = 4.601 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7950
+t=58: Selected seed 195 with value = 0.7950
+Query 1/1: Action query time = 4.951 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9385
+t=74: Selected seed 195 with value = 0.9385
+Saved rollout MP4 at path ./rollouts/v2i350_p1_t7_s1/2026_08_03-17_39_23--with_future_img--episode=6--success=True--task=turn_on_the_stove.mp4
+Success: True
+# episodes completed so far: 6
+# successes: 6 (100.0%)
+
+Task: turn on the stove
+Starting episode 7...
+Query 1/1: Action query time = 4.662 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4758
+t=10: Selected seed 195 with value = 0.4758
+Query 1/1: Action query time = 4.825 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5749
+t=26: Selected seed 195 with value = 0.5749
+Query 1/1: Action query time = 5.139 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6860
+t=42: Selected seed 195 with value = 0.6860
+Query 1/1: Action query time = 3.726 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8181
+t=58: Selected seed 195 with value = 0.8181
+Query 1/1: Action query time = 4.868 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9347
+t=74: Selected seed 195 with value = 0.9347
+Saved rollout MP4 at path ./rollouts/v2i350_p1_t7_s1/2026_08_03-17_39_23--with_future_img--episode=7--success=True--task=turn_on_the_stove.mp4
+Success: True
+# episodes completed so far: 7
+# successes: 7 (100.0%)
+
+Task: turn on the stove
+Starting episode 8...
+Query 1/1: Action query time = 4.917 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5254
+t=10: Selected seed 195 with value = 0.5254
+Query 1/1: Action query time = 5.173 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6300
+t=26: Selected seed 195 with value = 0.6300
+Query 1/1: Action query time = 4.220 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6714
+t=42: Selected seed 195 with value = 0.6714
+Query 1/1: Action query time = 3.697 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8403
+t=58: Selected seed 195 with value = 0.8403
+Query 1/1: Action query time = 3.769 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9960
+t=74: Selected seed 195 with value = 0.9960
+Saved rollout MP4 at path ./rollouts/v2i350_p1_t7_s1/2026_08_03-17_39_23--with_future_img--episode=8--success=True--task=turn_on_the_stove.mp4
+Success: True
+# episodes completed so far: 8
+# successes: 8 (100.0%)
+
+Task: turn on the stove
+Starting episode 9...
+Query 1/1: Action query time = 3.373 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5046
+t=10: Selected seed 195 with value = 0.5046
+Query 1/1: Action query time = 3.715 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5788
+t=26: Selected seed 195 with value = 0.5788
+Query 1/1: Action query time = 3.957 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6636
+t=42: Selected seed 195 with value = 0.6636
+Query 1/1: Action query time = 3.746 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7742
+t=58: Selected seed 195 with value = 0.7742
+Query 1/1: Action query time = 5.593 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9335
+t=74: Selected seed 195 with value = 0.9335
+Saved rollout MP4 at path ./rollouts/v2i350_p1_t7_s1/2026_08_03-17_39_23--with_future_img--episode=9--success=True--task=turn_on_the_stove.mp4
+Success: True
+# episodes completed so far: 9
+# successes: 9 (100.0%)
+
+Task: turn on the stove
+Starting episode 10...
+Query 1/1: Action query time = 5.386 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4718
+t=10: Selected seed 195 with value = 0.4718
+Query 1/1: Action query time = 3.908 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5752
+t=26: Selected seed 195 with value = 0.5752
+Query 1/1: Action query time = 4.393 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6322
+t=42: Selected seed 195 with value = 0.6322
+Query 1/1: Action query time = 4.245 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8075
+t=58: Selected seed 195 with value = 0.8075
+Query 1/1: Action query time = 5.357 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9869
+t=74: Selected seed 195 with value = 0.9869
+Saved rollout MP4 at path ./rollouts/v2i350_p1_t7_s1/2026_08_03-17_39_23--with_future_img--episode=10--success=True--task=turn_on_the_stove.mp4
+Success: True
+# episodes completed so far: 10
+# successes: 10 (100.0%)
+
+Task: turn on the stove
+Starting episode 11...
+Query 1/1: Action query time = 6.029 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4571
+t=10: Selected seed 195 with value = 0.4571
+Query 1/1: Action query time = 4.163 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5662
+t=26: Selected seed 195 with value = 0.5662
+Query 1/1: Action query time = 5.081 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6633
+t=42: Selected seed 195 with value = 0.6633
+Query 1/1: Action query time = 4.241 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7147
+t=58: Selected seed 195 with value = 0.7147
+Query 1/1: Action query time = 4.071 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8718
+t=74: Selected seed 195 with value = 0.8718
+Query 1/1: Action query time = 5.125 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9995
+t=90: Selected seed 195 with value = 0.9995
+Saved rollout MP4 at path ./rollouts/v2i350_p1_t7_s1/2026_08_03-17_39_23--with_future_img--episode=11--success=True--task=turn_on_the_stove.mp4
+Success: True
+# episodes completed so far: 11
+# successes: 11 (100.0%)
+
+Task: turn on the stove
+Starting episode 12...
+Query 1/1: Action query time = 4.580 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4718
+t=10: Selected seed 195 with value = 0.4718
+Query 1/1: Action query time = 4.477 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5659
+t=26: Selected seed 195 with value = 0.5659
+Query 1/1: Action query time = 4.434 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6761
+t=42: Selected seed 195 with value = 0.6761
+Query 1/1: Action query time = 3.156 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8077
+t=58: Selected seed 195 with value = 0.8077
+Query 1/1: Action query time = 4.319 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9503
+t=74: Selected seed 195 with value = 0.9503
+Saved rollout MP4 at path ./rollouts/v2i350_p1_t7_s1/2026_08_03-17_39_23--with_future_img--episode=12--success=True--task=turn_on_the_stove.mp4
+Success: True
+# episodes completed so far: 12
+# successes: 12 (100.0%)
+
+Task: turn on the stove
+Starting episode 13...
+Query 1/1: Action query time = 3.327 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4656
+t=10: Selected seed 195 with value = 0.4656
+Query 1/1: Action query time = 3.091 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5334
+t=26: Selected seed 195 with value = 0.5334
+Query 1/1: Action query time = 3.116 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6451
+t=42: Selected seed 195 with value = 0.6451
+Query 1/1: Action query time = 2.120 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7739
+t=58: Selected seed 195 with value = 0.7739
+Query 1/1: Action query time = 3.325 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8988
+t=74: Selected seed 195 with value = 0.8988
+Query 1/1: Action query time = 2.728 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9979
+t=90: Selected seed 195 with value = 0.9979
+Saved rollout MP4 at path ./rollouts/v2i350_p1_t7_s1/2026_08_03-17_39_23--with_future_img--episode=13--success=True--task=turn_on_the_stove.mp4
+Success: True
+# episodes completed so far: 13
+# successes: 13 (100.0%)
+Current task success rate: 1.0
+Current total success rate: 1.0
+Final results:
+Total episodes: 13
+Total successes: 13
+Overall success rate: 1.0000 (100.0%)
diff --git a/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_03-17_39_23--v2i350_p1_t7_s2.txt b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_03-17_39_23--v2i350_p1_t7_s2.txt
new file mode 100644
index 0000000000000000000000000000000000000000..2330e25c2eb5ea37e80f0c1d5b4b6d18e4c98b97
--- /dev/null
+++ b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_03-17_39_23--v2i350_p1_t7_s2.txt
@@ -0,0 +1,344 @@
+Eval config: PolicyEvalConfig(suite='libero', model_family='cosmos', config='cosmos_predict2_2b_480p_libero_cl_stage_inference_only', ckpt_path='/home/azureuser/REGEN-main/new_task7/cosmos_policy/cosmos_v2_finetune/cosmos_predict2_2b_480p_libero_goal_task7_forget_cl_v2_from350_2gpu/checkpoints/iter_000000350/model', planning_model_config_name='', planning_model_ckpt_path='', config_file='cosmos_policy/config/config.py', packnet_mask_path='', packnet_first_cl_libero_task=6, use_third_person_image=True, num_third_person_images=1, use_wrist_image=True, num_wrist_images=1, use_proprio=True, flip_images=True, use_variance_scale=False, use_jpeg_compression=True, ar_future_prediction=False, ar_value_prediction=False, ar_qvalue_prediction=False, num_denoising_steps_action=5, num_denoising_steps_future_state=1, num_denoising_steps_value=1, unnormalize_actions=True, normalize_proprio=True, dataset_stats_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/libero_goal_regen/dataset_statistics.json', t5_text_embeddings_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/t5_embeddings.pkl', trained_with_image_aug=True, chunk_size=16, num_open_loop_steps=16, deterministic=True, deterministic_reset=False, deterministic_reset_seed=None, use_ensemble_future_state_predictions=False, num_future_state_predictions_in_ensemble=3, future_state_ensemble_aggregation_scheme='average', use_ensemble_value_predictions=False, num_value_predictions_in_ensemble=5, value_ensemble_aggregation_scheme='average', search_depth=1, mask_current_state_action_for_value_prediction=False, mask_future_state_for_qvalue_prediction=False, num_queries_best_of_n=1, use_parallel_inference=False, available_gpus='0', parallel_timeout=15, parallel_tasks_across_gpus=False, task_suite_name='libero_goal', num_trials_per_task=50, task_ids_to_run='7', initial_states_path='DEFAULT', env_img_res=256, local_log_dir='/home/azureuser/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal', run_id_note='v2i350_p1_t7_s2', use_wandb=False, wandb_entity='YOUR_ENTITY', wandb_project='YOUR_PROJECT', seed=195, randomize_seed=False, data_collection=False, jpeg_compress=True, reward_stop_threshold=None, reward_stop_consecutive_steps=3, use_gpt_reward=False, gpt_reward_model='gpt-5.4-mini', gpt_reward_stop_threshold=4, gpt_reward_timeout_s=30.0, save_rollout_video=False, eval_hdf5_path='', eval_hdf5_demo_key='demo_0', data_gen_demo_ids='', eval_episode_ids='2,6,10,14,18,22,26,30,34,38,42,46', dump_final_states_path='', replay_actions=False, replay_action_path_dir='', replay_hdf5_path='', data_generation=False, max_generation_steps=200, disable_value_stop=False)
+Using serial inference (parallel inference disabled)
+Task suite: libero_goal
+Number of tasks: 10
+Running only task IDs: [7]
+Using default initial states
+
+Task: turn on the stove
+Starting episode 1...
+Query 1/1: Action query time = 6.769 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4766
+t=10: Selected seed 195 with value = 0.4766
+Query 1/1: Action query time = 3.394 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5653
+t=26: Selected seed 195 with value = 0.5653
+Query 1/1: Action query time = 4.862 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6588
+t=42: Selected seed 195 with value = 0.6588
+Query 1/1: Action query time = 5.212 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7664
+t=58: Selected seed 195 with value = 0.7664
+Query 1/1: Action query time = 5.025 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9088
+t=74: Selected seed 195 with value = 0.9088
+Saved rollout MP4 at path ./rollouts/v2i350_p1_t7_s2/2026_08_03-17_39_23--with_future_img--episode=1--success=True--task=turn_on_the_stove.mp4
+Success: True
+# episodes completed so far: 1
+# successes: 1 (100.0%)
+
+Task: turn on the stove
+Starting episode 2...
+Query 1/1: Action query time = 4.125 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4864
+t=10: Selected seed 195 with value = 0.4864
+Query 1/1: Action query time = 4.642 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5549
+t=26: Selected seed 195 with value = 0.5549
+Query 1/1: Action query time = 4.895 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6571
+t=42: Selected seed 195 with value = 0.6571
+Query 1/1: Action query time = 3.769 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7913
+t=58: Selected seed 195 with value = 0.7913
+Query 1/1: Action query time = 5.156 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9141
+t=74: Selected seed 195 with value = 0.9141
+Saved rollout MP4 at path ./rollouts/v2i350_p1_t7_s2/2026_08_03-17_39_23--with_future_img--episode=2--success=True--task=turn_on_the_stove.mp4
+Success: True
+# episodes completed so far: 2
+# successes: 2 (100.0%)
+
+Task: turn on the stove
+Starting episode 3...
+Query 1/1: Action query time = 4.290 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4847
+t=10: Selected seed 195 with value = 0.4847
+Query 1/1: Action query time = 5.718 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5419
+t=26: Selected seed 195 with value = 0.5419
+Query 1/1: Action query time = 3.311 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6563
+t=42: Selected seed 195 with value = 0.6563
+Query 1/1: Action query time = 5.276 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7772
+t=58: Selected seed 195 with value = 0.7772
+Query 1/1: Action query time = 3.938 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9215
+t=74: Selected seed 195 with value = 0.9215
+Saved rollout MP4 at path ./rollouts/v2i350_p1_t7_s2/2026_08_03-17_39_23--with_future_img--episode=3--success=True--task=turn_on_the_stove.mp4
+Success: True
+# episodes completed so far: 3
+# successes: 3 (100.0%)
+
+Task: turn on the stove
+Starting episode 4...
+Query 1/1: Action query time = 4.139 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4931
+t=10: Selected seed 195 with value = 0.4931
+Query 1/1: Action query time = 5.202 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5613
+t=26: Selected seed 195 with value = 0.5613
+Query 1/1: Action query time = 4.958 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6438
+t=42: Selected seed 195 with value = 0.6438
+Query 1/1: Action query time = 5.333 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7748
+t=58: Selected seed 195 with value = 0.7748
+Query 1/1: Action query time = 4.382 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8685
+t=74: Selected seed 195 with value = 0.8685
+Saved rollout MP4 at path ./rollouts/v2i350_p1_t7_s2/2026_08_03-17_39_23--with_future_img--episode=4--success=True--task=turn_on_the_stove.mp4
+Success: True
+# episodes completed so far: 4
+# successes: 4 (100.0%)
+
+Task: turn on the stove
+Starting episode 5...
+Query 1/1: Action query time = 2.855 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4802
+t=10: Selected seed 195 with value = 0.4802
+Query 1/1: Action query time = 5.641 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5604
+t=26: Selected seed 195 with value = 0.5604
+Query 1/1: Action query time = 3.976 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7078
+t=42: Selected seed 195 with value = 0.7078
+Query 1/1: Action query time = 4.773 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8580
+t=58: Selected seed 195 with value = 0.8580
+Query 1/1: Action query time = 4.460 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9981
+t=74: Selected seed 195 with value = 0.9981
+Saved rollout MP4 at path ./rollouts/v2i350_p1_t7_s2/2026_08_03-17_39_23--with_future_img--episode=5--success=True--task=turn_on_the_stove.mp4
+Success: True
+# episodes completed so far: 5
+# successes: 5 (100.0%)
+
+Task: turn on the stove
+Starting episode 6...
+Query 1/1: Action query time = 4.345 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4958
+t=10: Selected seed 195 with value = 0.4958
+Query 1/1: Action query time = 4.082 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5795
+t=26: Selected seed 195 with value = 0.5795
+Query 1/1: Action query time = 5.503 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6806
+t=42: Selected seed 195 with value = 0.6806
+Query 1/1: Action query time = 4.435 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8336
+t=58: Selected seed 195 with value = 0.8336
+Query 1/1: Action query time = 5.186 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9696
+t=74: Selected seed 195 with value = 0.9696
+Saved rollout MP4 at path ./rollouts/v2i350_p1_t7_s2/2026_08_03-17_39_23--with_future_img--episode=6--success=True--task=turn_on_the_stove.mp4
+Success: True
+# episodes completed so far: 6
+# successes: 6 (100.0%)
+
+Task: turn on the stove
+Starting episode 7...
+Query 1/1: Action query time = 4.066 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4792
+t=10: Selected seed 195 with value = 0.4792
+Query 1/1: Action query time = 4.685 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5511
+t=26: Selected seed 195 with value = 0.5511
+Query 1/1: Action query time = 5.161 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6850
+t=42: Selected seed 195 with value = 0.6850
+Query 1/1: Action query time = 5.201 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8070
+t=58: Selected seed 195 with value = 0.8070
+Query 1/1: Action query time = 4.758 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9318
+t=74: Selected seed 195 with value = 0.9318
+Saved rollout MP4 at path ./rollouts/v2i350_p1_t7_s2/2026_08_03-17_39_23--with_future_img--episode=7--success=True--task=turn_on_the_stove.mp4
+Success: True
+# episodes completed so far: 7
+# successes: 7 (100.0%)
+
+Task: turn on the stove
+Starting episode 8...
+Query 1/1: Action query time = 4.852 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4726
+t=10: Selected seed 195 with value = 0.4726
+Query 1/1: Action query time = 3.541 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5666
+t=26: Selected seed 195 with value = 0.5666
+Query 1/1: Action query time = 4.230 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6423
+t=42: Selected seed 195 with value = 0.6423
+Query 1/1: Action query time = 2.903 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7715
+t=58: Selected seed 195 with value = 0.7715
+Query 1/1: Action query time = 4.948 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8972
+t=74: Selected seed 195 with value = 0.8972
+Query 1/1: Action query time = 5.793 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9966
+t=90: Selected seed 195 with value = 0.9966
+Saved rollout MP4 at path ./rollouts/v2i350_p1_t7_s2/2026_08_03-17_39_23--with_future_img--episode=8--success=True--task=turn_on_the_stove.mp4
+Success: True
+# episodes completed so far: 8
+# successes: 8 (100.0%)
+
+Task: turn on the stove
+Starting episode 9...
+Query 1/1: Action query time = 3.442 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5154
+t=10: Selected seed 195 with value = 0.5154
+Query 1/1: Action query time = 3.918 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6432
+t=26: Selected seed 195 with value = 0.6432
+Query 1/1: Action query time = 5.494 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7240
+t=42: Selected seed 195 with value = 0.7240
+Query 1/1: Action query time = 5.103 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8498
+t=58: Selected seed 195 with value = 0.8498
+Query 1/1: Action query time = 4.193 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9706
+t=74: Selected seed 195 with value = 0.9706
+Saved rollout MP4 at path ./rollouts/v2i350_p1_t7_s2/2026_08_03-17_39_23--with_future_img--episode=9--success=True--task=turn_on_the_stove.mp4
+Success: True
+# episodes completed so far: 9
+# successes: 9 (100.0%)
+
+Task: turn on the stove
+Starting episode 10...
+Query 1/1: Action query time = 2.218 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5348
+t=10: Selected seed 195 with value = 0.5348
+Query 1/1: Action query time = 5.484 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6062
+t=26: Selected seed 195 with value = 0.6062
+Query 1/1: Action query time = 3.941 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7243
+t=42: Selected seed 195 with value = 0.7243
+Query 1/1: Action query time = 5.017 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8405
+t=58: Selected seed 195 with value = 0.8405
+Query 1/1: Action query time = 4.281 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9891
+t=74: Selected seed 195 with value = 0.9891
+Saved rollout MP4 at path ./rollouts/v2i350_p1_t7_s2/2026_08_03-17_39_23--with_future_img--episode=10--success=True--task=turn_on_the_stove.mp4
+Success: True
+# episodes completed so far: 10
+# successes: 10 (100.0%)
+
+Task: turn on the stove
+Starting episode 11...
+Query 1/1: Action query time = 3.099 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5181
+t=10: Selected seed 195 with value = 0.5181
+Query 1/1: Action query time = 3.702 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6033
+t=26: Selected seed 195 with value = 0.6033
+Query 1/1: Action query time = 4.549 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6966
+t=42: Selected seed 195 with value = 0.6966
+Query 1/1: Action query time = 2.101 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8373
+t=58: Selected seed 195 with value = 0.8373
+Query 1/1: Action query time = 6.008 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9656
+t=74: Selected seed 195 with value = 0.9656
+Saved rollout MP4 at path ./rollouts/v2i350_p1_t7_s2/2026_08_03-17_39_23--with_future_img--episode=11--success=True--task=turn_on_the_stove.mp4
+Success: True
+# episodes completed so far: 11
+# successes: 11 (100.0%)
+
+Task: turn on the stove
+Starting episode 12...
+Query 1/1: Action query time = 5.332 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4633
+t=10: Selected seed 195 with value = 0.4633
+Query 1/1: Action query time = 3.855 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5482
+t=26: Selected seed 195 with value = 0.5482
+Query 1/1: Action query time = 4.285 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6542
+t=42: Selected seed 195 with value = 0.6542
+Query 1/1: Action query time = 5.034 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7510
+t=58: Selected seed 195 with value = 0.7510
+Query 1/1: Action query time = 4.207 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8753
+t=74: Selected seed 195 with value = 0.8753
+Query 1/1: Action query time = 4.005 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9991
+t=90: Selected seed 195 with value = 0.9991
+Saved rollout MP4 at path ./rollouts/v2i350_p1_t7_s2/2026_08_03-17_39_23--with_future_img--episode=12--success=True--task=turn_on_the_stove.mp4
+Success: True
+# episodes completed so far: 12
+# successes: 12 (100.0%)
+Current task success rate: 1.0
+Current total success rate: 1.0
+Final results:
+Total episodes: 12
+Total successes: 12
+Overall success rate: 1.0000 (100.0%)
diff --git a/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_03-17_39_24--v2i350_p1_t7_s3.txt b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_03-17_39_24--v2i350_p1_t7_s3.txt
new file mode 100644
index 0000000000000000000000000000000000000000..90637f11f75cb1d8d4e70d60103a769907cdc825
--- /dev/null
+++ b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_03-17_39_24--v2i350_p1_t7_s3.txt
@@ -0,0 +1,348 @@
+Eval config: PolicyEvalConfig(suite='libero', model_family='cosmos', config='cosmos_predict2_2b_480p_libero_cl_stage_inference_only', ckpt_path='/home/azureuser/REGEN-main/new_task7/cosmos_policy/cosmos_v2_finetune/cosmos_predict2_2b_480p_libero_goal_task7_forget_cl_v2_from350_2gpu/checkpoints/iter_000000350/model', planning_model_config_name='', planning_model_ckpt_path='', config_file='cosmos_policy/config/config.py', packnet_mask_path='', packnet_first_cl_libero_task=6, use_third_person_image=True, num_third_person_images=1, use_wrist_image=True, num_wrist_images=1, use_proprio=True, flip_images=True, use_variance_scale=False, use_jpeg_compression=True, ar_future_prediction=False, ar_value_prediction=False, ar_qvalue_prediction=False, num_denoising_steps_action=5, num_denoising_steps_future_state=1, num_denoising_steps_value=1, unnormalize_actions=True, normalize_proprio=True, dataset_stats_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/libero_goal_regen/dataset_statistics.json', t5_text_embeddings_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/t5_embeddings.pkl', trained_with_image_aug=True, chunk_size=16, num_open_loop_steps=16, deterministic=True, deterministic_reset=False, deterministic_reset_seed=None, use_ensemble_future_state_predictions=False, num_future_state_predictions_in_ensemble=3, future_state_ensemble_aggregation_scheme='average', use_ensemble_value_predictions=False, num_value_predictions_in_ensemble=5, value_ensemble_aggregation_scheme='average', search_depth=1, mask_current_state_action_for_value_prediction=False, mask_future_state_for_qvalue_prediction=False, num_queries_best_of_n=1, use_parallel_inference=False, available_gpus='0', parallel_timeout=15, parallel_tasks_across_gpus=False, task_suite_name='libero_goal', num_trials_per_task=50, task_ids_to_run='7', initial_states_path='DEFAULT', env_img_res=256, local_log_dir='/home/azureuser/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal', run_id_note='v2i350_p1_t7_s3', use_wandb=False, wandb_entity='YOUR_ENTITY', wandb_project='YOUR_PROJECT', seed=195, randomize_seed=False, data_collection=False, jpeg_compress=True, reward_stop_threshold=None, reward_stop_consecutive_steps=3, use_gpt_reward=False, gpt_reward_model='gpt-5.4-mini', gpt_reward_stop_threshold=4, gpt_reward_timeout_s=30.0, save_rollout_video=False, eval_hdf5_path='', eval_hdf5_demo_key='demo_0', data_gen_demo_ids='', eval_episode_ids='3,7,11,15,19,23,27,31,35,39,43,47', dump_final_states_path='', replay_actions=False, replay_action_path_dir='', replay_hdf5_path='', data_generation=False, max_generation_steps=200, disable_value_stop=False)
+Using serial inference (parallel inference disabled)
+Task suite: libero_goal
+Number of tasks: 10
+Running only task IDs: [7]
+Using default initial states
+
+Task: turn on the stove
+Starting episode 1...
+Query 1/1: Action query time = 7.438 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4470
+t=10: Selected seed 195 with value = 0.4470
+Query 1/1: Action query time = 5.959 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5704
+t=26: Selected seed 195 with value = 0.5704
+Query 1/1: Action query time = 3.980 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6472
+t=42: Selected seed 195 with value = 0.6472
+Query 1/1: Action query time = 4.686 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7892
+t=58: Selected seed 195 with value = 0.7892
+Query 1/1: Action query time = 4.658 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9661
+t=74: Selected seed 195 with value = 0.9661
+Saved rollout MP4 at path ./rollouts/v2i350_p1_t7_s3/2026_08_03-17_39_24--with_future_img--episode=1--success=True--task=turn_on_the_stove.mp4
+Success: True
+# episodes completed so far: 1
+# successes: 1 (100.0%)
+
+Task: turn on the stove
+Starting episode 2...
+Query 1/1: Action query time = 4.186 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4780
+t=10: Selected seed 195 with value = 0.4780
+Query 1/1: Action query time = 4.685 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5406
+t=26: Selected seed 195 with value = 0.5406
+Query 1/1: Action query time = 4.606 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6541
+t=42: Selected seed 195 with value = 0.6541
+Query 1/1: Action query time = 5.431 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7660
+t=58: Selected seed 195 with value = 0.7660
+Query 1/1: Action query time = 4.934 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8988
+t=74: Selected seed 195 with value = 0.8988
+Saved rollout MP4 at path ./rollouts/v2i350_p1_t7_s3/2026_08_03-17_39_24--with_future_img--episode=2--success=True--task=turn_on_the_stove.mp4
+Success: True
+# episodes completed so far: 2
+# successes: 2 (100.0%)
+
+Task: turn on the stove
+Starting episode 3...
+Query 1/1: Action query time = 3.889 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4891
+t=10: Selected seed 195 with value = 0.4891
+Query 1/1: Action query time = 4.766 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5676
+t=26: Selected seed 195 with value = 0.5676
+Query 1/1: Action query time = 5.543 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6597
+t=42: Selected seed 195 with value = 0.6597
+Query 1/1: Action query time = 4.913 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7941
+t=58: Selected seed 195 with value = 0.7941
+Query 1/1: Action query time = 3.905 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9136
+t=74: Selected seed 195 with value = 0.9136
+Saved rollout MP4 at path ./rollouts/v2i350_p1_t7_s3/2026_08_03-17_39_24--with_future_img--episode=3--success=True--task=turn_on_the_stove.mp4
+Success: True
+# episodes completed so far: 3
+# successes: 3 (100.0%)
+
+Task: turn on the stove
+Starting episode 4...
+Query 1/1: Action query time = 3.798 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5215
+t=10: Selected seed 195 with value = 0.5215
+Query 1/1: Action query time = 4.318 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5930
+t=26: Selected seed 195 with value = 0.5930
+Query 1/1: Action query time = 4.476 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6838
+t=42: Selected seed 195 with value = 0.6838
+Query 1/1: Action query time = 5.533 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8002
+t=58: Selected seed 195 with value = 0.8002
+Query 1/1: Action query time = 5.122 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9588
+t=74: Selected seed 195 with value = 0.9588
+Saved rollout MP4 at path ./rollouts/v2i350_p1_t7_s3/2026_08_03-17_39_24--with_future_img--episode=4--success=True--task=turn_on_the_stove.mp4
+Success: True
+# episodes completed so far: 4
+# successes: 4 (100.0%)
+
+Task: turn on the stove
+Starting episode 5...
+Query 1/1: Action query time = 5.661 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4960
+t=10: Selected seed 195 with value = 0.4960
+Query 1/1: Action query time = 4.753 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5841
+t=26: Selected seed 195 with value = 0.5841
+Query 1/1: Action query time = 4.531 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6688
+t=42: Selected seed 195 with value = 0.6688
+Query 1/1: Action query time = 4.782 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7792
+t=58: Selected seed 195 with value = 0.7792
+Query 1/1: Action query time = 4.331 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9306
+t=74: Selected seed 195 with value = 0.9306
+Saved rollout MP4 at path ./rollouts/v2i350_p1_t7_s3/2026_08_03-17_39_24--with_future_img--episode=5--success=True--task=turn_on_the_stove.mp4
+Success: True
+# episodes completed so far: 5
+# successes: 5 (100.0%)
+
+Task: turn on the stove
+Starting episode 6...
+Query 1/1: Action query time = 3.920 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4704
+t=10: Selected seed 195 with value = 0.4704
+Query 1/1: Action query time = 5.256 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5542
+t=26: Selected seed 195 with value = 0.5542
+Query 1/1: Action query time = 4.430 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6514
+t=42: Selected seed 195 with value = 0.6514
+Query 1/1: Action query time = 5.769 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7409
+t=58: Selected seed 195 with value = 0.7409
+Query 1/1: Action query time = 3.522 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8831
+t=74: Selected seed 195 with value = 0.8831
+Saved rollout MP4 at path ./rollouts/v2i350_p1_t7_s3/2026_08_03-17_39_24--with_future_img--episode=6--success=True--task=turn_on_the_stove.mp4
+Success: True
+# episodes completed so far: 6
+# successes: 6 (100.0%)
+
+Task: turn on the stove
+Starting episode 7...
+Query 1/1: Action query time = 4.740 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4830
+t=10: Selected seed 195 with value = 0.4830
+Query 1/1: Action query time = 5.590 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5850
+t=26: Selected seed 195 with value = 0.5850
+Query 1/1: Action query time = 5.154 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6640
+t=42: Selected seed 195 with value = 0.6640
+Query 1/1: Action query time = 4.925 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7380
+t=58: Selected seed 195 with value = 0.7380
+Query 1/1: Action query time = 3.143 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8924
+t=74: Selected seed 195 with value = 0.8924
+Query 1/1: Action query time = 5.368 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/v2i350_p1_t7_s3/2026_08_03-17_39_24--with_future_img--episode=7--success=True--task=turn_on_the_stove.mp4
+Success: True
+# episodes completed so far: 7
+# successes: 7 (100.0%)
+
+Task: turn on the stove
+Starting episode 8...
+Query 1/1: Action query time = 4.919 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4983
+t=10: Selected seed 195 with value = 0.4983
+Query 1/1: Action query time = 3.114 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5818
+t=26: Selected seed 195 with value = 0.5818
+Query 1/1: Action query time = 5.113 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6564
+t=42: Selected seed 195 with value = 0.6564
+Query 1/1: Action query time = 5.556 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7737
+t=58: Selected seed 195 with value = 0.7737
+Query 1/1: Action query time = 4.199 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8824
+t=74: Selected seed 195 with value = 0.8824
+Query 1/1: Action query time = 3.395 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9985
+t=90: Selected seed 195 with value = 0.9985
+Saved rollout MP4 at path ./rollouts/v2i350_p1_t7_s3/2026_08_03-17_39_24--with_future_img--episode=8--success=True--task=turn_on_the_stove.mp4
+Success: True
+# episodes completed so far: 8
+# successes: 8 (100.0%)
+
+Task: turn on the stove
+Starting episode 9...
+Query 1/1: Action query time = 5.506 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5176
+t=10: Selected seed 195 with value = 0.5176
+Query 1/1: Action query time = 5.511 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5897
+t=26: Selected seed 195 with value = 0.5897
+Query 1/1: Action query time = 4.374 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7004
+t=42: Selected seed 195 with value = 0.7004
+Query 1/1: Action query time = 3.767 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8631
+t=58: Selected seed 195 with value = 0.8631
+Query 1/1: Action query time = 5.626 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9878
+t=74: Selected seed 195 with value = 0.9878
+Saved rollout MP4 at path ./rollouts/v2i350_p1_t7_s3/2026_08_03-17_39_24--with_future_img--episode=9--success=True--task=turn_on_the_stove.mp4
+Success: True
+# episodes completed so far: 9
+# successes: 9 (100.0%)
+
+Task: turn on the stove
+Starting episode 10...
+Query 1/1: Action query time = 4.286 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5069
+t=10: Selected seed 195 with value = 0.5069
+Query 1/1: Action query time = 4.862 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5959
+t=26: Selected seed 195 with value = 0.5959
+Query 1/1: Action query time = 5.159 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6929
+t=42: Selected seed 195 with value = 0.6929
+Query 1/1: Action query time = 3.813 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8139
+t=58: Selected seed 195 with value = 0.8139
+Query 1/1: Action query time = 5.905 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9801
+t=74: Selected seed 195 with value = 0.9801
+Saved rollout MP4 at path ./rollouts/v2i350_p1_t7_s3/2026_08_03-17_39_24--with_future_img--episode=10--success=True--task=turn_on_the_stove.mp4
+Success: True
+# episodes completed so far: 10
+# successes: 10 (100.0%)
+
+Task: turn on the stove
+Starting episode 11...
+Query 1/1: Action query time = 5.724 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4772
+t=10: Selected seed 195 with value = 0.4772
+Query 1/1: Action query time = 4.093 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5499
+t=26: Selected seed 195 with value = 0.5499
+Query 1/1: Action query time = 5.389 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6332
+t=42: Selected seed 195 with value = 0.6332
+Query 1/1: Action query time = 4.258 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7264
+t=58: Selected seed 195 with value = 0.7264
+Query 1/1: Action query time = 4.045 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8633
+t=74: Selected seed 195 with value = 0.8633
+Query 1/1: Action query time = 4.938 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9934
+t=90: Selected seed 195 with value = 0.9934
+Saved rollout MP4 at path ./rollouts/v2i350_p1_t7_s3/2026_08_03-17_39_24--with_future_img--episode=11--success=True--task=turn_on_the_stove.mp4
+Success: True
+# episodes completed so far: 11
+# successes: 11 (100.0%)
+
+Task: turn on the stove
+Starting episode 12...
+Query 1/1: Action query time = 2.743 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5295
+t=10: Selected seed 195 with value = 0.5295
+Query 1/1: Action query time = 4.490 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6205
+t=26: Selected seed 195 with value = 0.6205
+Query 1/1: Action query time = 4.334 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7262
+t=42: Selected seed 195 with value = 0.7262
+Query 1/1: Action query time = 3.702 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8743
+t=58: Selected seed 195 with value = 0.8743
+Query 1/1: Action query time = 3.895 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9713
+t=74: Selected seed 195 with value = 0.9713
+Saved rollout MP4 at path ./rollouts/v2i350_p1_t7_s3/2026_08_03-17_39_24--with_future_img--episode=12--success=True--task=turn_on_the_stove.mp4
+Success: True
+# episodes completed so far: 12
+# successes: 12 (100.0%)
+Current task success rate: 1.0
+Current total success rate: 1.0
+Final results:
+Total episodes: 12
+Total successes: 12
+Overall success rate: 1.0000 (100.0%)
diff --git a/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_03-17_49_37--v2i350_p2_t0_s0.txt b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_03-17_49_37--v2i350_p2_t0_s0.txt
new file mode 100644
index 0000000000000000000000000000000000000000..95938dbe078319df499cf4407b38f03ba9959be8
--- /dev/null
+++ b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_03-17_49_37--v2i350_p2_t0_s0.txt
@@ -0,0 +1,523 @@
+Eval config: PolicyEvalConfig(suite='libero', model_family='cosmos', config='cosmos_predict2_2b_480p_libero_cl_stage_inference_only', ckpt_path='/home/azureuser/REGEN-main/new_task7/cosmos_policy/cosmos_v2_finetune/cosmos_predict2_2b_480p_libero_goal_task7_forget_cl_v2_from350_2gpu/checkpoints/iter_000000350/model', planning_model_config_name='', planning_model_ckpt_path='', config_file='cosmos_policy/config/config.py', packnet_mask_path='', packnet_first_cl_libero_task=6, use_third_person_image=True, num_third_person_images=1, use_wrist_image=True, num_wrist_images=1, use_proprio=True, flip_images=True, use_variance_scale=False, use_jpeg_compression=True, ar_future_prediction=False, ar_value_prediction=False, ar_qvalue_prediction=False, num_denoising_steps_action=5, num_denoising_steps_future_state=1, num_denoising_steps_value=1, unnormalize_actions=True, normalize_proprio=True, dataset_stats_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/libero_goal_regen/dataset_statistics.json', t5_text_embeddings_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/t5_embeddings.pkl', trained_with_image_aug=True, chunk_size=16, num_open_loop_steps=16, deterministic=True, deterministic_reset=False, deterministic_reset_seed=None, use_ensemble_future_state_predictions=False, num_future_state_predictions_in_ensemble=3, future_state_ensemble_aggregation_scheme='average', use_ensemble_value_predictions=False, num_value_predictions_in_ensemble=5, value_ensemble_aggregation_scheme='average', search_depth=1, mask_current_state_action_for_value_prediction=False, mask_future_state_for_qvalue_prediction=False, num_queries_best_of_n=1, use_parallel_inference=False, available_gpus='0', parallel_timeout=15, parallel_tasks_across_gpus=False, task_suite_name='libero_goal', num_trials_per_task=50, task_ids_to_run='0', initial_states_path='DEFAULT', env_img_res=256, local_log_dir='/home/azureuser/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal', run_id_note='v2i350_p2_t0_s0', use_wandb=False, wandb_entity='YOUR_ENTITY', wandb_project='YOUR_PROJECT', seed=195, randomize_seed=False, data_collection=False, jpeg_compress=True, reward_stop_threshold=None, reward_stop_consecutive_steps=3, use_gpt_reward=False, gpt_reward_model='gpt-5.4-mini', gpt_reward_stop_threshold=4, gpt_reward_timeout_s=30.0, save_rollout_video=False, eval_hdf5_path='', eval_hdf5_demo_key='demo_0', data_gen_demo_ids='', eval_episode_ids='0,4,8,12,16,20,24,28,32,36,40,44,48', dump_final_states_path='', replay_actions=False, replay_action_path_dir='', replay_hdf5_path='', data_generation=False, max_generation_steps=200, disable_value_stop=False)
+Using serial inference (parallel inference disabled)
+Task suite: libero_goal
+Number of tasks: 10
+Running only task IDs: [0]
+Using default initial states
+
+Task: open the middle drawer of the cabinet
+Starting episode 1...
+Query 1/1: Action query time = 1.845 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3945
+t=10: Selected seed 195 with value = 0.3945
+Query 1/1: Action query time = 2.405 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4655
+t=26: Selected seed 195 with value = 0.4655
+Query 1/1: Action query time = 3.808 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5596
+t=42: Selected seed 195 with value = 0.5596
+Query 1/1: Action query time = 5.424 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6654
+t=58: Selected seed 195 with value = 0.6654
+Query 1/1: Action query time = 5.407 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7707
+t=74: Selected seed 195 with value = 0.7707
+Query 1/1: Action query time = 4.872 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8869
+t=90: Selected seed 195 with value = 0.8869
+Query 1/1: Action query time = 4.786 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9935
+t=106: Selected seed 195 with value = 0.9935
+Query 1/1: Action query time = 4.184 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=122: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/v2i350_p2_t0_s0/2026_08_03-17_49_37--with_future_img--episode=1--success=True--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: True
+# episodes completed so far: 1
+# successes: 1 (100.0%)
+
+Task: open the middle drawer of the cabinet
+Starting episode 2...
+Query 1/1: Action query time = 6.000 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4111
+t=10: Selected seed 195 with value = 0.4111
+Query 1/1: Action query time = 4.563 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4771
+t=26: Selected seed 195 with value = 0.4771
+Query 1/1: Action query time = 5.444 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5454
+t=42: Selected seed 195 with value = 0.5454
+Query 1/1: Action query time = 4.880 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6447
+t=58: Selected seed 195 with value = 0.6447
+Query 1/1: Action query time = 4.451 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7523
+t=74: Selected seed 195 with value = 0.7523
+Query 1/1: Action query time = 4.130 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8957
+t=90: Selected seed 195 with value = 0.8957
+Query 1/1: Action query time = 4.484 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9967
+t=106: Selected seed 195 with value = 0.9967
+Query 1/1: Action query time = 5.167 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=122: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/v2i350_p2_t0_s0/2026_08_03-17_49_37--with_future_img--episode=2--success=True--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: True
+# episodes completed so far: 2
+# successes: 2 (100.0%)
+
+Task: open the middle drawer of the cabinet
+Starting episode 3...
+Query 1/1: Action query time = 4.956 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3927
+t=10: Selected seed 195 with value = 0.3927
+Query 1/1: Action query time = 4.569 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4666
+t=26: Selected seed 195 with value = 0.4666
+Query 1/1: Action query time = 2.918 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5516
+t=42: Selected seed 195 with value = 0.5516
+Query 1/1: Action query time = 4.331 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6668
+t=58: Selected seed 195 with value = 0.6668
+Query 1/1: Action query time = 4.876 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7661
+t=74: Selected seed 195 with value = 0.7661
+Query 1/1: Action query time = 5.077 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9361
+t=90: Selected seed 195 with value = 0.9361
+Query 1/1: Action query time = 5.318 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9972
+t=106: Selected seed 195 with value = 0.9972
+Query 1/1: Action query time = 5.062 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=122: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/v2i350_p2_t0_s0/2026_08_03-17_49_37--with_future_img--episode=3--success=True--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: True
+# episodes completed so far: 3
+# successes: 3 (100.0%)
+
+Task: open the middle drawer of the cabinet
+Starting episode 4...
+Query 1/1: Action query time = 3.294 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3843
+t=10: Selected seed 195 with value = 0.3843
+Query 1/1: Action query time = 3.553 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4534
+t=26: Selected seed 195 with value = 0.4534
+Query 1/1: Action query time = 4.611 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5401
+t=42: Selected seed 195 with value = 0.5401
+Query 1/1: Action query time = 5.210 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6226
+t=58: Selected seed 195 with value = 0.6226
+Query 1/1: Action query time = 4.802 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7519
+t=74: Selected seed 195 with value = 0.7519
+Query 1/1: Action query time = 4.578 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8813
+t=90: Selected seed 195 with value = 0.8813
+Query 1/1: Action query time = 5.491 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9945
+t=106: Selected seed 195 with value = 0.9945
+Query 1/1: Action query time = 3.975 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=122: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/v2i350_p2_t0_s0/2026_08_03-17_49_37--with_future_img--episode=4--success=True--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: True
+# episodes completed so far: 4
+# successes: 4 (100.0%)
+
+Task: open the middle drawer of the cabinet
+Starting episode 5...
+Query 1/1: Action query time = 3.609 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4067
+t=10: Selected seed 195 with value = 0.4067
+Query 1/1: Action query time = 5.324 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4713
+t=26: Selected seed 195 with value = 0.4713
+Query 1/1: Action query time = 4.649 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5905
+t=42: Selected seed 195 with value = 0.5905
+Query 1/1: Action query time = 5.115 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6739
+t=58: Selected seed 195 with value = 0.6739
+Query 1/1: Action query time = 3.620 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7945
+t=74: Selected seed 195 with value = 0.7945
+Query 1/1: Action query time = 4.584 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9236
+t=90: Selected seed 195 with value = 0.9236
+Query 1/1: Action query time = 5.149 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9899
+t=106: Selected seed 195 with value = 0.9899
+Query 1/1: Action query time = 5.673 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=122: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/v2i350_p2_t0_s0/2026_08_03-17_49_37--with_future_img--episode=5--success=True--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: True
+# episodes completed so far: 5
+# successes: 5 (100.0%)
+
+Task: open the middle drawer of the cabinet
+Starting episode 6...
+Query 1/1: Action query time = 3.733 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4023
+t=10: Selected seed 195 with value = 0.4023
+Query 1/1: Action query time = 5.063 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4193
+t=26: Selected seed 195 with value = 0.4193
+Query 1/1: Action query time = 2.513 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5713
+t=42: Selected seed 195 with value = 0.5713
+Query 1/1: Action query time = 4.911 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6493
+t=58: Selected seed 195 with value = 0.6493
+Query 1/1: Action query time = 4.614 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7619
+t=74: Selected seed 195 with value = 0.7619
+Query 1/1: Action query time = 5.333 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8794
+t=90: Selected seed 195 with value = 0.8794
+Query 1/1: Action query time = 5.305 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9952
+t=106: Selected seed 195 with value = 0.9952
+Query 1/1: Action query time = 4.868 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=122: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/v2i350_p2_t0_s0/2026_08_03-17_49_37--with_future_img--episode=6--success=True--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: True
+# episodes completed so far: 6
+# successes: 6 (100.0%)
+
+Task: open the middle drawer of the cabinet
+Starting episode 7...
+Query 1/1: Action query time = 4.384 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4156
+t=10: Selected seed 195 with value = 0.4156
+Query 1/1: Action query time = 4.304 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4768
+t=26: Selected seed 195 with value = 0.4768
+Query 1/1: Action query time = 4.186 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5513
+t=42: Selected seed 195 with value = 0.5513
+Query 1/1: Action query time = 4.832 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6509
+t=58: Selected seed 195 with value = 0.6509
+Query 1/1: Action query time = 4.392 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7720
+t=74: Selected seed 195 with value = 0.7720
+Query 1/1: Action query time = 5.157 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9292
+t=90: Selected seed 195 with value = 0.9292
+Query 1/1: Action query time = 5.297 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=106: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 5.268 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=122: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/v2i350_p2_t0_s0/2026_08_03-17_49_37--with_future_img--episode=7--success=True--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: True
+# episodes completed so far: 7
+# successes: 7 (100.0%)
+
+Task: open the middle drawer of the cabinet
+Starting episode 8...
+Query 1/1: Action query time = 5.375 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3934
+t=10: Selected seed 195 with value = 0.3934
+Query 1/1: Action query time = 4.392 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4827
+t=26: Selected seed 195 with value = 0.4827
+Query 1/1: Action query time = 3.677 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5561
+t=42: Selected seed 195 with value = 0.5561
+Query 1/1: Action query time = 4.951 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6418
+t=58: Selected seed 195 with value = 0.6418
+Query 1/1: Action query time = 5.305 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7545
+t=74: Selected seed 195 with value = 0.7545
+Query 1/1: Action query time = 4.643 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8567
+t=90: Selected seed 195 with value = 0.8567
+Query 1/1: Action query time = 4.648 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=106: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 3.859 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=122: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/v2i350_p2_t0_s0/2026_08_03-17_49_37--with_future_img--episode=8--success=True--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: True
+# episodes completed so far: 8
+# successes: 8 (100.0%)
+
+Task: open the middle drawer of the cabinet
+Starting episode 9...
+Query 1/1: Action query time = 5.113 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4071
+t=10: Selected seed 195 with value = 0.4071
+Query 1/1: Action query time = 5.236 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4671
+t=26: Selected seed 195 with value = 0.4671
+Query 1/1: Action query time = 4.143 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5563
+t=42: Selected seed 195 with value = 0.5563
+Query 1/1: Action query time = 3.599 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6483
+t=58: Selected seed 195 with value = 0.6483
+Query 1/1: Action query time = 4.944 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7721
+t=74: Selected seed 195 with value = 0.7721
+Query 1/1: Action query time = 4.488 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8743
+t=90: Selected seed 195 with value = 0.8743
+Query 1/1: Action query time = 5.280 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9623
+t=106: Selected seed 195 with value = 0.9623
+Query 1/1: Action query time = 5.042 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=122: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 5.126 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=138: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/v2i350_p2_t0_s0/2026_08_03-17_49_37--with_future_img--episode=9--success=True--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: True
+# episodes completed so far: 9
+# successes: 9 (100.0%)
+
+Task: open the middle drawer of the cabinet
+Starting episode 10...
+Query 1/1: Action query time = 2.808 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3502
+t=10: Selected seed 195 with value = 0.3502
+Query 1/1: Action query time = 4.032 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3432
+t=26: Selected seed 195 with value = 0.3432
+Query 1/1: Action query time = 3.323 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4077
+t=42: Selected seed 195 with value = 0.4077
+Query 1/1: Action query time = 4.271 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5362
+t=58: Selected seed 195 with value = 0.5362
+Query 1/1: Action query time = 3.890 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7549
+t=74: Selected seed 195 with value = 0.7549
+Query 1/1: Action query time = 4.704 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8515
+t=90: Selected seed 195 with value = 0.8515
+Query 1/1: Action query time = 5.093 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=106: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.026 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=122: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/v2i350_p2_t0_s0/2026_08_03-17_49_37--with_future_img--episode=10--success=True--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: True
+# episodes completed so far: 10
+# successes: 10 (100.0%)
+
+Task: open the middle drawer of the cabinet
+Starting episode 11...
+Query 1/1: Action query time = 2.511 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4073
+t=10: Selected seed 195 with value = 0.4073
+Query 1/1: Action query time = 4.151 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4705
+t=26: Selected seed 195 with value = 0.4705
+Query 1/1: Action query time = 4.103 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5574
+t=42: Selected seed 195 with value = 0.5574
+Query 1/1: Action query time = 4.071 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6542
+t=58: Selected seed 195 with value = 0.6542
+Query 1/1: Action query time = 5.223 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7607
+t=74: Selected seed 195 with value = 0.7607
+Query 1/1: Action query time = 3.008 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9181
+t=90: Selected seed 195 with value = 0.9181
+Query 1/1: Action query time = 4.090 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9896
+t=106: Selected seed 195 with value = 0.9896
+Query 1/1: Action query time = 3.009 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9986
+t=122: Selected seed 195 with value = 0.9986
+Saved rollout MP4 at path ./rollouts/v2i350_p2_t0_s0/2026_08_03-17_49_37--with_future_img--episode=11--success=True--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: True
+# episodes completed so far: 11
+# successes: 11 (100.0%)
+
+Task: open the middle drawer of the cabinet
+Starting episode 12...
+Query 1/1: Action query time = 3.130 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4078
+t=10: Selected seed 195 with value = 0.4078
+Query 1/1: Action query time = 3.903 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4630
+t=26: Selected seed 195 with value = 0.4630
+Query 1/1: Action query time = 3.785 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5735
+t=42: Selected seed 195 with value = 0.5735
+Query 1/1: Action query time = 2.241 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6528
+t=58: Selected seed 195 with value = 0.6528
+Query 1/1: Action query time = 1.892 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7665
+t=74: Selected seed 195 with value = 0.7665
+Query 1/1: Action query time = 2.607 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8728
+t=90: Selected seed 195 with value = 0.8728
+Query 1/1: Action query time = 2.663 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9718
+t=106: Selected seed 195 with value = 0.9718
+Query 1/1: Action query time = 3.364 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=122: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/v2i350_p2_t0_s0/2026_08_03-17_49_37--with_future_img--episode=12--success=True--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: True
+# episodes completed so far: 12
+# successes: 12 (100.0%)
+
+Task: open the middle drawer of the cabinet
+Starting episode 13...
+Query 1/1: Action query time = 2.615 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4182
+t=10: Selected seed 195 with value = 0.4182
+Query 1/1: Action query time = 2.013 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4809
+t=26: Selected seed 195 with value = 0.4809
+Query 1/1: Action query time = 1.661 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5637
+t=42: Selected seed 195 with value = 0.5637
+Query 1/1: Action query time = 2.148 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6735
+t=58: Selected seed 195 with value = 0.6735
+Query 1/1: Action query time = 2.324 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7610
+t=74: Selected seed 195 with value = 0.7610
+Query 1/1: Action query time = 1.358 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9011
+t=90: Selected seed 195 with value = 0.9011
+Query 1/1: Action query time = 1.826 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9907
+t=106: Selected seed 195 with value = 0.9907
+Query 1/1: Action query time = 2.150 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=122: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/v2i350_p2_t0_s0/2026_08_03-17_49_37--with_future_img--episode=13--success=True--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: True
+# episodes completed so far: 13
+# successes: 13 (100.0%)
+Current task success rate: 1.0
+Current total success rate: 1.0
+Final results:
+Total episodes: 13
+Total successes: 13
+Overall success rate: 1.0000 (100.0%)
diff --git a/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_03-17_49_38--v2i350_p2_t1_s2.txt b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_03-17_49_38--v2i350_p2_t1_s2.txt
new file mode 100644
index 0000000000000000000000000000000000000000..51181b207cac0ba16cc47e8e2cc20b93d91a297f
--- /dev/null
+++ b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_03-17_49_38--v2i350_p2_t1_s2.txt
@@ -0,0 +1,436 @@
+Eval config: PolicyEvalConfig(suite='libero', model_family='cosmos', config='cosmos_predict2_2b_480p_libero_cl_stage_inference_only', ckpt_path='/home/azureuser/REGEN-main/new_task7/cosmos_policy/cosmos_v2_finetune/cosmos_predict2_2b_480p_libero_goal_task7_forget_cl_v2_from350_2gpu/checkpoints/iter_000000350/model', planning_model_config_name='', planning_model_ckpt_path='', config_file='cosmos_policy/config/config.py', packnet_mask_path='', packnet_first_cl_libero_task=6, use_third_person_image=True, num_third_person_images=1, use_wrist_image=True, num_wrist_images=1, use_proprio=True, flip_images=True, use_variance_scale=False, use_jpeg_compression=True, ar_future_prediction=False, ar_value_prediction=False, ar_qvalue_prediction=False, num_denoising_steps_action=5, num_denoising_steps_future_state=1, num_denoising_steps_value=1, unnormalize_actions=True, normalize_proprio=True, dataset_stats_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/libero_goal_regen/dataset_statistics.json', t5_text_embeddings_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/t5_embeddings.pkl', trained_with_image_aug=True, chunk_size=16, num_open_loop_steps=16, deterministic=True, deterministic_reset=False, deterministic_reset_seed=None, use_ensemble_future_state_predictions=False, num_future_state_predictions_in_ensemble=3, future_state_ensemble_aggregation_scheme='average', use_ensemble_value_predictions=False, num_value_predictions_in_ensemble=5, value_ensemble_aggregation_scheme='average', search_depth=1, mask_current_state_action_for_value_prediction=False, mask_future_state_for_qvalue_prediction=False, num_queries_best_of_n=1, use_parallel_inference=False, available_gpus='0', parallel_timeout=15, parallel_tasks_across_gpus=False, task_suite_name='libero_goal', num_trials_per_task=50, task_ids_to_run='1', initial_states_path='DEFAULT', env_img_res=256, local_log_dir='/home/azureuser/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal', run_id_note='v2i350_p2_t1_s2', use_wandb=False, wandb_entity='YOUR_ENTITY', wandb_project='YOUR_PROJECT', seed=195, randomize_seed=False, data_collection=False, jpeg_compress=True, reward_stop_threshold=None, reward_stop_consecutive_steps=3, use_gpt_reward=False, gpt_reward_model='gpt-5.4-mini', gpt_reward_stop_threshold=4, gpt_reward_timeout_s=30.0, save_rollout_video=False, eval_hdf5_path='', eval_hdf5_demo_key='demo_0', data_gen_demo_ids='', eval_episode_ids='2,6,10,14,18,22,26,30,34,38,42,46', dump_final_states_path='', replay_actions=False, replay_action_path_dir='', replay_hdf5_path='', data_generation=False, max_generation_steps=200, disable_value_stop=False)
+Using serial inference (parallel inference disabled)
+Task suite: libero_goal
+Number of tasks: 10
+Running only task IDs: [1]
+Using default initial states
+
+Task: put the bowl on the stove
+Starting episode 1...
+Query 1/1: Action query time = 5.295 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5814
+t=10: Selected seed 195 with value = 0.5814
+Query 1/1: Action query time = 5.235 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7610
+t=26: Selected seed 195 with value = 0.7610
+Query 1/1: Action query time = 5.424 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7928
+t=42: Selected seed 195 with value = 0.7928
+Query 1/1: Action query time = 5.390 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8815
+t=58: Selected seed 195 with value = 0.8815
+Query 1/1: Action query time = 5.221 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=74: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 3.620 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/v2i350_p2_t1_s2/2026_08_03-17_49_38--with_future_img--episode=1--success=True--task=put_the_bowl_on_the_stove.mp4
+Success: True
+# episodes completed so far: 1
+# successes: 1 (100.0%)
+
+Task: put the bowl on the stove
+Starting episode 2...
+Query 1/1: Action query time = 5.874 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5757
+t=10: Selected seed 195 with value = 0.5757
+Query 1/1: Action query time = 4.478 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7107
+t=26: Selected seed 195 with value = 0.7107
+Query 1/1: Action query time = 3.402 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7509
+t=42: Selected seed 195 with value = 0.7509
+Query 1/1: Action query time = 5.289 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8884
+t=58: Selected seed 195 with value = 0.8884
+Query 1/1: Action query time = 4.250 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9966
+t=74: Selected seed 195 with value = 0.9966
+Query 1/1: Action query time = 4.290 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/v2i350_p2_t1_s2/2026_08_03-17_49_38--with_future_img--episode=2--success=True--task=put_the_bowl_on_the_stove.mp4
+Success: True
+# episodes completed so far: 2
+# successes: 2 (100.0%)
+
+Task: put the bowl on the stove
+Starting episode 3...
+Query 1/1: Action query time = 4.558 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5113
+t=10: Selected seed 195 with value = 0.5113
+Query 1/1: Action query time = 5.058 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6417
+t=26: Selected seed 195 with value = 0.6417
+Query 1/1: Action query time = 4.042 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7633
+t=42: Selected seed 195 with value = 0.7633
+Query 1/1: Action query time = 4.830 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8937
+t=58: Selected seed 195 with value = 0.8937
+Query 1/1: Action query time = 4.033 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=74: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 3.743 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/v2i350_p2_t1_s2/2026_08_03-17_49_38--with_future_img--episode=3--success=True--task=put_the_bowl_on_the_stove.mp4
+Success: True
+# episodes completed so far: 3
+# successes: 3 (100.0%)
+
+Task: put the bowl on the stove
+Starting episode 4...
+Query 1/1: Action query time = 5.536 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5750
+t=10: Selected seed 195 with value = 0.5750
+Query 1/1: Action query time = 5.277 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6984
+t=26: Selected seed 195 with value = 0.6984
+Query 1/1: Action query time = 5.238 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8167
+t=42: Selected seed 195 with value = 0.8167
+Query 1/1: Action query time = 4.807 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9563
+t=58: Selected seed 195 with value = 0.9563
+Query 1/1: Action query time = 3.562 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=74: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 3.304 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/v2i350_p2_t1_s2/2026_08_03-17_49_38--with_future_img--episode=4--success=True--task=put_the_bowl_on_the_stove.mp4
+Success: True
+# episodes completed so far: 4
+# successes: 4 (100.0%)
+
+Task: put the bowl on the stove
+Starting episode 5...
+Query 1/1: Action query time = 5.183 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6529
+t=10: Selected seed 195 with value = 0.6529
+Query 1/1: Action query time = 5.429 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8180
+t=26: Selected seed 195 with value = 0.8180
+Query 1/1: Action query time = 5.559 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7737
+t=42: Selected seed 195 with value = 0.7737
+Query 1/1: Action query time = 5.181 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8496
+t=58: Selected seed 195 with value = 0.8496
+Query 1/1: Action query time = 4.585 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=74: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 5.228 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/v2i350_p2_t1_s2/2026_08_03-17_49_38--with_future_img--episode=5--success=True--task=put_the_bowl_on_the_stove.mp4
+Success: True
+# episodes completed so far: 5
+# successes: 5 (100.0%)
+
+Task: put the bowl on the stove
+Starting episode 6...
+Query 1/1: Action query time = 3.355 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6708
+t=10: Selected seed 195 with value = 0.6708
+Query 1/1: Action query time = 4.667 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8498
+t=26: Selected seed 195 with value = 0.8498
+Query 1/1: Action query time = 5.035 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7599
+t=42: Selected seed 195 with value = 0.7599
+Query 1/1: Action query time = 5.462 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9177
+t=58: Selected seed 195 with value = 0.9177
+Query 1/1: Action query time = 4.226 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=74: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.986 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/v2i350_p2_t1_s2/2026_08_03-17_49_38--with_future_img--episode=6--success=True--task=put_the_bowl_on_the_stove.mp4
+Success: True
+# episodes completed so far: 6
+# successes: 6 (100.0%)
+
+Task: put the bowl on the stove
+Starting episode 7...
+Query 1/1: Action query time = 5.696 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5712
+t=10: Selected seed 195 with value = 0.5712
+Query 1/1: Action query time = 4.168 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6783
+t=26: Selected seed 195 with value = 0.6783
+Query 1/1: Action query time = 4.395 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7765
+t=42: Selected seed 195 with value = 0.7765
+Query 1/1: Action query time = 4.833 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8308
+t=58: Selected seed 195 with value = 0.8308
+Query 1/1: Action query time = 3.114 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9423
+t=74: Selected seed 195 with value = 0.9423
+Query 1/1: Action query time = 5.696 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/v2i350_p2_t1_s2/2026_08_03-17_49_38--with_future_img--episode=7--success=True--task=put_the_bowl_on_the_stove.mp4
+Success: True
+# episodes completed so far: 7
+# successes: 7 (100.0%)
+
+Task: put the bowl on the stove
+Starting episode 8...
+Query 1/1: Action query time = 5.312 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5497
+t=10: Selected seed 195 with value = 0.5497
+Query 1/1: Action query time = 5.289 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6299
+t=26: Selected seed 195 with value = 0.6299
+Query 1/1: Action query time = 5.585 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7495
+t=42: Selected seed 195 with value = 0.7495
+Query 1/1: Action query time = 4.402 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8672
+t=58: Selected seed 195 with value = 0.8672
+Query 1/1: Action query time = 2.965 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9974
+t=74: Selected seed 195 with value = 0.9974
+Query 1/1: Action query time = 4.418 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.445 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=106: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 5.121 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=122: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 5.711 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8821
+t=138: Selected seed 195 with value = 0.8821
+Query 1/1: Action query time = 5.520 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9210
+t=154: Selected seed 195 with value = 0.9210
+Query 1/1: Action query time = 4.172 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9628
+t=170: Selected seed 195 with value = 0.9628
+Query 1/1: Action query time = 5.158 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9646
+t=186: Selected seed 195 with value = 0.9646
+Query 1/1: Action query time = 4.060 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9611
+t=202: Selected seed 195 with value = 0.9611
+Query 1/1: Action query time = 3.710 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9638
+t=218: Selected seed 195 with value = 0.9638
+Query 1/1: Action query time = 5.438 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9618
+t=234: Selected seed 195 with value = 0.9618
+Query 1/1: Action query time = 5.024 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9527
+t=250: Selected seed 195 with value = 0.9527
+Query 1/1: Action query time = 4.050 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8582
+t=266: Selected seed 195 with value = 0.8582
+Query 1/1: Action query time = 4.221 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8355
+t=282: Selected seed 195 with value = 0.8355
+Query 1/1: Action query time = 5.510 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8382
+t=298: Selected seed 195 with value = 0.8382
+Saved rollout MP4 at path ./rollouts/v2i350_p2_t1_s2/2026_08_03-17_49_38--with_future_img--episode=8--success=False--task=put_the_bowl_on_the_stove.mp4
+Success: False
+# episodes completed so far: 8
+# successes: 7 (87.5%)
+
+Task: put the bowl on the stove
+Starting episode 9...
+Query 1/1: Action query time = 4.263 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5861
+t=10: Selected seed 195 with value = 0.5861
+Query 1/1: Action query time = 4.173 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6806
+t=26: Selected seed 195 with value = 0.6806
+Query 1/1: Action query time = 5.133 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7809
+t=42: Selected seed 195 with value = 0.7809
+Query 1/1: Action query time = 3.704 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8830
+t=58: Selected seed 195 with value = 0.8830
+Query 1/1: Action query time = 4.270 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=74: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 5.317 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/v2i350_p2_t1_s2/2026_08_03-17_49_38--with_future_img--episode=9--success=True--task=put_the_bowl_on_the_stove.mp4
+Success: True
+# episodes completed so far: 9
+# successes: 8 (88.9%)
+
+Task: put the bowl on the stove
+Starting episode 10...
+Query 1/1: Action query time = 5.245 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6027
+t=10: Selected seed 195 with value = 0.6027
+Query 1/1: Action query time = 4.912 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7428
+t=26: Selected seed 195 with value = 0.7428
+Query 1/1: Action query time = 5.093 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7757
+t=42: Selected seed 195 with value = 0.7757
+Query 1/1: Action query time = 3.316 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8878
+t=58: Selected seed 195 with value = 0.8878
+Query 1/1: Action query time = 2.227 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9167
+t=74: Selected seed 195 with value = 0.9167
+Query 1/1: Action query time = 3.746 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9872
+t=90: Selected seed 195 with value = 0.9872
+Saved rollout MP4 at path ./rollouts/v2i350_p2_t1_s2/2026_08_03-17_49_38--with_future_img--episode=10--success=True--task=put_the_bowl_on_the_stove.mp4
+Success: True
+# episodes completed so far: 10
+# successes: 9 (90.0%)
+
+Task: put the bowl on the stove
+Starting episode 11...
+Query 1/1: Action query time = 4.144 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5567
+t=10: Selected seed 195 with value = 0.5567
+Query 1/1: Action query time = 4.638 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6932
+t=26: Selected seed 195 with value = 0.6932
+Query 1/1: Action query time = 4.226 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7781
+t=42: Selected seed 195 with value = 0.7781
+Query 1/1: Action query time = 5.076 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9367
+t=58: Selected seed 195 with value = 0.9367
+Query 1/1: Action query time = 3.726 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=74: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 1.776 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9979
+t=90: Selected seed 195 with value = 0.9979
+Saved rollout MP4 at path ./rollouts/v2i350_p2_t1_s2/2026_08_03-17_49_38--with_future_img--episode=11--success=True--task=put_the_bowl_on_the_stove.mp4
+Success: True
+# episodes completed so far: 11
+# successes: 10 (90.9%)
+
+Task: put the bowl on the stove
+Starting episode 12...
+Query 1/1: Action query time = 4.134 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5315
+t=10: Selected seed 195 with value = 0.5315
+Query 1/1: Action query time = 4.349 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6517
+t=26: Selected seed 195 with value = 0.6517
+Query 1/1: Action query time = 4.087 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7688
+t=42: Selected seed 195 with value = 0.7688
+Query 1/1: Action query time = 4.534 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8568
+t=58: Selected seed 195 with value = 0.8568
+Query 1/1: Action query time = 3.103 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=74: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 2.970 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/v2i350_p2_t1_s2/2026_08_03-17_49_38--with_future_img--episode=12--success=True--task=put_the_bowl_on_the_stove.mp4
+Success: True
+# episodes completed so far: 12
+# successes: 11 (91.7%)
+Current task success rate: 0.9166666666666666
+Current total success rate: 0.9166666666666666
+Final results:
+Total episodes: 12
+Total successes: 11
+Overall success rate: 0.9167 (91.7%)
diff --git a/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_03-17_49_38--v2i350_p2_t1_s3.txt b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_03-17_49_38--v2i350_p2_t1_s3.txt
new file mode 100644
index 0000000000000000000000000000000000000000..9e35e9241647458c15a15ef47ee3bf9f3aa8b72e
--- /dev/null
+++ b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_03-17_49_38--v2i350_p2_t1_s3.txt
@@ -0,0 +1,380 @@
+Eval config: PolicyEvalConfig(suite='libero', model_family='cosmos', config='cosmos_predict2_2b_480p_libero_cl_stage_inference_only', ckpt_path='/home/azureuser/REGEN-main/new_task7/cosmos_policy/cosmos_v2_finetune/cosmos_predict2_2b_480p_libero_goal_task7_forget_cl_v2_from350_2gpu/checkpoints/iter_000000350/model', planning_model_config_name='', planning_model_ckpt_path='', config_file='cosmos_policy/config/config.py', packnet_mask_path='', packnet_first_cl_libero_task=6, use_third_person_image=True, num_third_person_images=1, use_wrist_image=True, num_wrist_images=1, use_proprio=True, flip_images=True, use_variance_scale=False, use_jpeg_compression=True, ar_future_prediction=False, ar_value_prediction=False, ar_qvalue_prediction=False, num_denoising_steps_action=5, num_denoising_steps_future_state=1, num_denoising_steps_value=1, unnormalize_actions=True, normalize_proprio=True, dataset_stats_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/libero_goal_regen/dataset_statistics.json', t5_text_embeddings_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/t5_embeddings.pkl', trained_with_image_aug=True, chunk_size=16, num_open_loop_steps=16, deterministic=True, deterministic_reset=False, deterministic_reset_seed=None, use_ensemble_future_state_predictions=False, num_future_state_predictions_in_ensemble=3, future_state_ensemble_aggregation_scheme='average', use_ensemble_value_predictions=False, num_value_predictions_in_ensemble=5, value_ensemble_aggregation_scheme='average', search_depth=1, mask_current_state_action_for_value_prediction=False, mask_future_state_for_qvalue_prediction=False, num_queries_best_of_n=1, use_parallel_inference=False, available_gpus='0', parallel_timeout=15, parallel_tasks_across_gpus=False, task_suite_name='libero_goal', num_trials_per_task=50, task_ids_to_run='1', initial_states_path='DEFAULT', env_img_res=256, local_log_dir='/home/azureuser/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal', run_id_note='v2i350_p2_t1_s3', use_wandb=False, wandb_entity='YOUR_ENTITY', wandb_project='YOUR_PROJECT', seed=195, randomize_seed=False, data_collection=False, jpeg_compress=True, reward_stop_threshold=None, reward_stop_consecutive_steps=3, use_gpt_reward=False, gpt_reward_model='gpt-5.4-mini', gpt_reward_stop_threshold=4, gpt_reward_timeout_s=30.0, save_rollout_video=False, eval_hdf5_path='', eval_hdf5_demo_key='demo_0', data_gen_demo_ids='', eval_episode_ids='3,7,11,15,19,23,27,31,35,39,43,47', dump_final_states_path='', replay_actions=False, replay_action_path_dir='', replay_hdf5_path='', data_generation=False, max_generation_steps=200, disable_value_stop=False)
+Using serial inference (parallel inference disabled)
+Task suite: libero_goal
+Number of tasks: 10
+Running only task IDs: [1]
+Using default initial states
+
+Task: put the bowl on the stove
+Starting episode 1...
+Query 1/1: Action query time = 3.805 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5500
+t=10: Selected seed 195 with value = 0.5500
+Query 1/1: Action query time = 4.064 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6656
+t=26: Selected seed 195 with value = 0.6656
+Query 1/1: Action query time = 5.271 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7828
+t=42: Selected seed 195 with value = 0.7828
+Query 1/1: Action query time = 5.429 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9414
+t=58: Selected seed 195 with value = 0.9414
+Query 1/1: Action query time = 5.335 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=74: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 5.040 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/v2i350_p2_t1_s3/2026_08_03-17_49_38--with_future_img--episode=1--success=True--task=put_the_bowl_on_the_stove.mp4
+Success: True
+# episodes completed so far: 1
+# successes: 1 (100.0%)
+
+Task: put the bowl on the stove
+Starting episode 2...
+Query 1/1: Action query time = 3.663 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5475
+t=10: Selected seed 195 with value = 0.5475
+Query 1/1: Action query time = 6.099 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6500
+t=26: Selected seed 195 with value = 0.6500
+Query 1/1: Action query time = 4.636 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7877
+t=42: Selected seed 195 with value = 0.7877
+Query 1/1: Action query time = 4.815 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9070
+t=58: Selected seed 195 with value = 0.9070
+Query 1/1: Action query time = 4.856 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=74: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.291 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/v2i350_p2_t1_s3/2026_08_03-17_49_38--with_future_img--episode=2--success=True--task=put_the_bowl_on_the_stove.mp4
+Success: True
+# episodes completed so far: 2
+# successes: 2 (100.0%)
+
+Task: put the bowl on the stove
+Starting episode 3...
+Query 1/1: Action query time = 4.773 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5962
+t=10: Selected seed 195 with value = 0.5962
+Query 1/1: Action query time = 5.241 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7738
+t=26: Selected seed 195 with value = 0.7738
+Query 1/1: Action query time = 4.350 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8194
+t=42: Selected seed 195 with value = 0.8194
+Query 1/1: Action query time = 4.454 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9098
+t=58: Selected seed 195 with value = 0.9098
+Query 1/1: Action query time = 4.891 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9962
+t=74: Selected seed 195 with value = 0.9962
+Saved rollout MP4 at path ./rollouts/v2i350_p2_t1_s3/2026_08_03-17_49_38--with_future_img--episode=3--success=True--task=put_the_bowl_on_the_stove.mp4
+Success: True
+# episodes completed so far: 3
+# successes: 3 (100.0%)
+
+Task: put the bowl on the stove
+Starting episode 4...
+Query 1/1: Action query time = 4.061 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6183
+t=10: Selected seed 195 with value = 0.6183
+Query 1/1: Action query time = 4.434 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7114
+t=26: Selected seed 195 with value = 0.7114
+Query 1/1: Action query time = 5.132 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8058
+t=42: Selected seed 195 with value = 0.8058
+Query 1/1: Action query time = 5.137 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8341
+t=58: Selected seed 195 with value = 0.8341
+Query 1/1: Action query time = 5.248 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9943
+t=74: Selected seed 195 with value = 0.9943
+Query 1/1: Action query time = 3.898 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/v2i350_p2_t1_s3/2026_08_03-17_49_38--with_future_img--episode=4--success=True--task=put_the_bowl_on_the_stove.mp4
+Success: True
+# episodes completed so far: 4
+# successes: 4 (100.0%)
+
+Task: put the bowl on the stove
+Starting episode 5...
+Query 1/1: Action query time = 3.993 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5660
+t=10: Selected seed 195 with value = 0.5660
+Query 1/1: Action query time = 3.446 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6857
+t=26: Selected seed 195 with value = 0.6857
+Query 1/1: Action query time = 5.038 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8099
+t=42: Selected seed 195 with value = 0.8099
+Query 1/1: Action query time = 5.097 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9379
+t=58: Selected seed 195 with value = 0.9379
+Query 1/1: Action query time = 5.084 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=74: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.920 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/v2i350_p2_t1_s3/2026_08_03-17_49_38--with_future_img--episode=5--success=True--task=put_the_bowl_on_the_stove.mp4
+Success: True
+# episodes completed so far: 5
+# successes: 5 (100.0%)
+
+Task: put the bowl on the stove
+Starting episode 6...
+Query 1/1: Action query time = 5.244 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5652
+t=10: Selected seed 195 with value = 0.5652
+Query 1/1: Action query time = 2.386 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6760
+t=26: Selected seed 195 with value = 0.6760
+Query 1/1: Action query time = 3.134 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7952
+t=42: Selected seed 195 with value = 0.7952
+Query 1/1: Action query time = 5.315 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8577
+t=58: Selected seed 195 with value = 0.8577
+Query 1/1: Action query time = 4.947 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9903
+t=74: Selected seed 195 with value = 0.9903
+Query 1/1: Action query time = 4.613 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/v2i350_p2_t1_s3/2026_08_03-17_49_38--with_future_img--episode=6--success=True--task=put_the_bowl_on_the_stove.mp4
+Success: True
+# episodes completed so far: 6
+# successes: 6 (100.0%)
+
+Task: put the bowl on the stove
+Starting episode 7...
+Query 1/1: Action query time = 5.021 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5263
+t=10: Selected seed 195 with value = 0.5263
+Query 1/1: Action query time = 5.294 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7003
+t=26: Selected seed 195 with value = 0.7003
+Query 1/1: Action query time = 4.842 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7925
+t=42: Selected seed 195 with value = 0.7925
+Query 1/1: Action query time = 4.047 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8919
+t=58: Selected seed 195 with value = 0.8919
+Query 1/1: Action query time = 3.882 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=74: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.561 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/v2i350_p2_t1_s3/2026_08_03-17_49_38--with_future_img--episode=7--success=True--task=put_the_bowl_on_the_stove.mp4
+Success: True
+# episodes completed so far: 7
+# successes: 7 (100.0%)
+
+Task: put the bowl on the stove
+Starting episode 8...
+Query 1/1: Action query time = 4.376 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5605
+t=10: Selected seed 195 with value = 0.5605
+Query 1/1: Action query time = 5.000 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6373
+t=26: Selected seed 195 with value = 0.6373
+Query 1/1: Action query time = 3.914 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7604
+t=42: Selected seed 195 with value = 0.7604
+Query 1/1: Action query time = 4.770 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8637
+t=58: Selected seed 195 with value = 0.8637
+Query 1/1: Action query time = 4.975 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9905
+t=74: Selected seed 195 with value = 0.9905
+Query 1/1: Action query time = 5.622 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/v2i350_p2_t1_s3/2026_08_03-17_49_38--with_future_img--episode=8--success=True--task=put_the_bowl_on_the_stove.mp4
+Success: True
+# episodes completed so far: 8
+# successes: 8 (100.0%)
+
+Task: put the bowl on the stove
+Starting episode 9...
+Query 1/1: Action query time = 3.392 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5637
+t=10: Selected seed 195 with value = 0.5637
+Query 1/1: Action query time = 4.409 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7344
+t=26: Selected seed 195 with value = 0.7344
+Query 1/1: Action query time = 4.805 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7805
+t=42: Selected seed 195 with value = 0.7805
+Query 1/1: Action query time = 5.577 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8316
+t=58: Selected seed 195 with value = 0.8316
+Query 1/1: Action query time = 5.705 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9461
+t=74: Selected seed 195 with value = 0.9461
+Query 1/1: Action query time = 5.658 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/v2i350_p2_t1_s3/2026_08_03-17_49_38--with_future_img--episode=9--success=True--task=put_the_bowl_on_the_stove.mp4
+Success: True
+# episodes completed so far: 9
+# successes: 9 (100.0%)
+
+Task: put the bowl on the stove
+Starting episode 10...
+Query 1/1: Action query time = 4.801 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5534
+t=10: Selected seed 195 with value = 0.5534
+Query 1/1: Action query time = 3.422 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6569
+t=26: Selected seed 195 with value = 0.6569
+Query 1/1: Action query time = 4.898 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7778
+t=42: Selected seed 195 with value = 0.7778
+Query 1/1: Action query time = 5.381 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8667
+t=58: Selected seed 195 with value = 0.8667
+Query 1/1: Action query time = 5.460 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=74: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.085 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/v2i350_p2_t1_s3/2026_08_03-17_49_38--with_future_img--episode=10--success=True--task=put_the_bowl_on_the_stove.mp4
+Success: True
+# episodes completed so far: 10
+# successes: 10 (100.0%)
+
+Task: put the bowl on the stove
+Starting episode 11...
+Query 1/1: Action query time = 5.922 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6026
+t=10: Selected seed 195 with value = 0.6026
+Query 1/1: Action query time = 4.785 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7695
+t=26: Selected seed 195 with value = 0.7695
+Query 1/1: Action query time = 4.602 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7736
+t=42: Selected seed 195 with value = 0.7736
+Query 1/1: Action query time = 5.027 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8568
+t=58: Selected seed 195 with value = 0.8568
+Query 1/1: Action query time = 4.425 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=74: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.134 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/v2i350_p2_t1_s3/2026_08_03-17_49_38--with_future_img--episode=11--success=True--task=put_the_bowl_on_the_stove.mp4
+Success: True
+# episodes completed so far: 11
+# successes: 11 (100.0%)
+
+Task: put the bowl on the stove
+Starting episode 12...
+Query 1/1: Action query time = 4.828 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5829
+t=10: Selected seed 195 with value = 0.5829
+Query 1/1: Action query time = 4.937 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7202
+t=26: Selected seed 195 with value = 0.7202
+Query 1/1: Action query time = 4.963 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7623
+t=42: Selected seed 195 with value = 0.7623
+Query 1/1: Action query time = 5.160 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8958
+t=58: Selected seed 195 with value = 0.8958
+Query 1/1: Action query time = 5.107 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9979
+t=74: Selected seed 195 with value = 0.9979
+Query 1/1: Action query time = 4.093 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/v2i350_p2_t1_s3/2026_08_03-17_49_38--with_future_img--episode=12--success=True--task=put_the_bowl_on_the_stove.mp4
+Success: True
+# episodes completed so far: 12
+# successes: 12 (100.0%)
+Current task success rate: 1.0
+Current total success rate: 1.0
+Final results:
+Total episodes: 12
+Total successes: 12
+Overall success rate: 1.0000 (100.0%)
diff --git a/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_03-17_49_39--v2i350_p2_t0_s2.txt b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_03-17_49_39--v2i350_p2_t0_s2.txt
new file mode 100644
index 0000000000000000000000000000000000000000..a50ffce260d1c2d60906ebbd3260bd94af0f8145
--- /dev/null
+++ b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_03-17_49_39--v2i350_p2_t0_s2.txt
@@ -0,0 +1,488 @@
+Eval config: PolicyEvalConfig(suite='libero', model_family='cosmos', config='cosmos_predict2_2b_480p_libero_cl_stage_inference_only', ckpt_path='/home/azureuser/REGEN-main/new_task7/cosmos_policy/cosmos_v2_finetune/cosmos_predict2_2b_480p_libero_goal_task7_forget_cl_v2_from350_2gpu/checkpoints/iter_000000350/model', planning_model_config_name='', planning_model_ckpt_path='', config_file='cosmos_policy/config/config.py', packnet_mask_path='', packnet_first_cl_libero_task=6, use_third_person_image=True, num_third_person_images=1, use_wrist_image=True, num_wrist_images=1, use_proprio=True, flip_images=True, use_variance_scale=False, use_jpeg_compression=True, ar_future_prediction=False, ar_value_prediction=False, ar_qvalue_prediction=False, num_denoising_steps_action=5, num_denoising_steps_future_state=1, num_denoising_steps_value=1, unnormalize_actions=True, normalize_proprio=True, dataset_stats_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/libero_goal_regen/dataset_statistics.json', t5_text_embeddings_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/t5_embeddings.pkl', trained_with_image_aug=True, chunk_size=16, num_open_loop_steps=16, deterministic=True, deterministic_reset=False, deterministic_reset_seed=None, use_ensemble_future_state_predictions=False, num_future_state_predictions_in_ensemble=3, future_state_ensemble_aggregation_scheme='average', use_ensemble_value_predictions=False, num_value_predictions_in_ensemble=5, value_ensemble_aggregation_scheme='average', search_depth=1, mask_current_state_action_for_value_prediction=False, mask_future_state_for_qvalue_prediction=False, num_queries_best_of_n=1, use_parallel_inference=False, available_gpus='0', parallel_timeout=15, parallel_tasks_across_gpus=False, task_suite_name='libero_goal', num_trials_per_task=50, task_ids_to_run='0', initial_states_path='DEFAULT', env_img_res=256, local_log_dir='/home/azureuser/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal', run_id_note='v2i350_p2_t0_s2', use_wandb=False, wandb_entity='YOUR_ENTITY', wandb_project='YOUR_PROJECT', seed=195, randomize_seed=False, data_collection=False, jpeg_compress=True, reward_stop_threshold=None, reward_stop_consecutive_steps=3, use_gpt_reward=False, gpt_reward_model='gpt-5.4-mini', gpt_reward_stop_threshold=4, gpt_reward_timeout_s=30.0, save_rollout_video=False, eval_hdf5_path='', eval_hdf5_demo_key='demo_0', data_gen_demo_ids='', eval_episode_ids='2,6,10,14,18,22,26,30,34,38,42,46', dump_final_states_path='', replay_actions=False, replay_action_path_dir='', replay_hdf5_path='', data_generation=False, max_generation_steps=200, disable_value_stop=False)
+Using serial inference (parallel inference disabled)
+Task suite: libero_goal
+Number of tasks: 10
+Running only task IDs: [0]
+Using default initial states
+
+Task: open the middle drawer of the cabinet
+Starting episode 1...
+Query 1/1: Action query time = 6.888 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4417
+t=10: Selected seed 195 with value = 0.4417
+Query 1/1: Action query time = 5.418 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5147
+t=26: Selected seed 195 with value = 0.5147
+Query 1/1: Action query time = 4.815 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5859
+t=42: Selected seed 195 with value = 0.5859
+Query 1/1: Action query time = 4.746 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6823
+t=58: Selected seed 195 with value = 0.6823
+Query 1/1: Action query time = 4.134 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7847
+t=74: Selected seed 195 with value = 0.7847
+Query 1/1: Action query time = 3.857 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9466
+t=90: Selected seed 195 with value = 0.9466
+Query 1/1: Action query time = 4.600 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9966
+t=106: Selected seed 195 with value = 0.9966
+Query 1/1: Action query time = 3.717 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=122: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/v2i350_p2_t0_s2/2026_08_03-17_49_39--with_future_img--episode=1--success=True--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: True
+# episodes completed so far: 1
+# successes: 1 (100.0%)
+
+Task: open the middle drawer of the cabinet
+Starting episode 2...
+Query 1/1: Action query time = 4.813 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3482
+t=10: Selected seed 195 with value = 0.3482
+Query 1/1: Action query time = 5.161 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3129
+t=26: Selected seed 195 with value = 0.3129
+Query 1/1: Action query time = 4.591 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3735
+t=42: Selected seed 195 with value = 0.3735
+Query 1/1: Action query time = 4.977 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4451
+t=58: Selected seed 195 with value = 0.4451
+Query 1/1: Action query time = 5.293 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7307
+t=74: Selected seed 195 with value = 0.7307
+Query 1/1: Action query time = 4.855 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8445
+t=90: Selected seed 195 with value = 0.8445
+Query 1/1: Action query time = 4.079 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=106: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 5.178 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=122: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/v2i350_p2_t0_s2/2026_08_03-17_49_39--with_future_img--episode=2--success=True--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: True
+# episodes completed so far: 2
+# successes: 2 (100.0%)
+
+Task: open the middle drawer of the cabinet
+Starting episode 3...
+Query 1/1: Action query time = 4.341 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3934
+t=10: Selected seed 195 with value = 0.3934
+Query 1/1: Action query time = 4.275 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4408
+t=26: Selected seed 195 with value = 0.4408
+Query 1/1: Action query time = 5.424 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5694
+t=42: Selected seed 195 with value = 0.5694
+Query 1/1: Action query time = 5.072 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6623
+t=58: Selected seed 195 with value = 0.6623
+Query 1/1: Action query time = 5.051 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7411
+t=74: Selected seed 195 with value = 0.7411
+Query 1/1: Action query time = 4.121 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8847
+t=90: Selected seed 195 with value = 0.8847
+Query 1/1: Action query time = 3.461 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9985
+t=106: Selected seed 195 with value = 0.9985
+Query 1/1: Action query time = 4.072 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=122: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/v2i350_p2_t0_s2/2026_08_03-17_49_39--with_future_img--episode=3--success=True--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: True
+# episodes completed so far: 3
+# successes: 3 (100.0%)
+
+Task: open the middle drawer of the cabinet
+Starting episode 4...
+Query 1/1: Action query time = 5.136 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3991
+t=10: Selected seed 195 with value = 0.3991
+Query 1/1: Action query time = 4.608 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4787
+t=26: Selected seed 195 with value = 0.4787
+Query 1/1: Action query time = 4.470 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5551
+t=42: Selected seed 195 with value = 0.5551
+Query 1/1: Action query time = 5.391 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6533
+t=58: Selected seed 195 with value = 0.6533
+Query 1/1: Action query time = 3.775 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7422
+t=74: Selected seed 195 with value = 0.7422
+Query 1/1: Action query time = 3.743 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8871
+t=90: Selected seed 195 with value = 0.8871
+Query 1/1: Action query time = 4.012 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9974
+t=106: Selected seed 195 with value = 0.9974
+Query 1/1: Action query time = 5.300 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=122: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/v2i350_p2_t0_s2/2026_08_03-17_49_39--with_future_img--episode=4--success=True--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: True
+# episodes completed so far: 4
+# successes: 4 (100.0%)
+
+Task: open the middle drawer of the cabinet
+Starting episode 5...
+Query 1/1: Action query time = 5.106 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3687
+t=10: Selected seed 195 with value = 0.3687
+Query 1/1: Action query time = 4.558 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4628
+t=26: Selected seed 195 with value = 0.4628
+Query 1/1: Action query time = 5.244 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5561
+t=42: Selected seed 195 with value = 0.5561
+Query 1/1: Action query time = 5.225 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6554
+t=58: Selected seed 195 with value = 0.6554
+Query 1/1: Action query time = 5.417 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7490
+t=74: Selected seed 195 with value = 0.7490
+Query 1/1: Action query time = 4.322 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8807
+t=90: Selected seed 195 with value = 0.8807
+Query 1/1: Action query time = 3.844 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9968
+t=106: Selected seed 195 with value = 0.9968
+Query 1/1: Action query time = 4.095 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=122: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/v2i350_p2_t0_s2/2026_08_03-17_49_39--with_future_img--episode=5--success=True--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: True
+# episodes completed so far: 5
+# successes: 5 (100.0%)
+
+Task: open the middle drawer of the cabinet
+Starting episode 6...
+Query 1/1: Action query time = 5.198 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4239
+t=10: Selected seed 195 with value = 0.4239
+Query 1/1: Action query time = 4.108 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4966
+t=26: Selected seed 195 with value = 0.4966
+Query 1/1: Action query time = 5.330 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5541
+t=42: Selected seed 195 with value = 0.5541
+Query 1/1: Action query time = 5.438 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6730
+t=58: Selected seed 195 with value = 0.6730
+Query 1/1: Action query time = 4.578 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7551
+t=74: Selected seed 195 with value = 0.7551
+Query 1/1: Action query time = 3.855 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9162
+t=90: Selected seed 195 with value = 0.9162
+Query 1/1: Action query time = 4.242 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9995
+t=106: Selected seed 195 with value = 0.9995
+Query 1/1: Action query time = 4.784 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=122: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/v2i350_p2_t0_s2/2026_08_03-17_49_39--with_future_img--episode=6--success=True--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: True
+# episodes completed so far: 6
+# successes: 6 (100.0%)
+
+Task: open the middle drawer of the cabinet
+Starting episode 7...
+Query 1/1: Action query time = 5.325 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4099
+t=10: Selected seed 195 with value = 0.4099
+Query 1/1: Action query time = 5.203 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4326
+t=26: Selected seed 195 with value = 0.4326
+Query 1/1: Action query time = 4.651 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5185
+t=42: Selected seed 195 with value = 0.5185
+Query 1/1: Action query time = 4.802 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6261
+t=58: Selected seed 195 with value = 0.6261
+Query 1/1: Action query time = 4.873 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7201
+t=74: Selected seed 195 with value = 0.7201
+Query 1/1: Action query time = 3.651 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8250
+t=90: Selected seed 195 with value = 0.8250
+Query 1/1: Action query time = 5.075 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9307
+t=106: Selected seed 195 with value = 0.9307
+Query 1/1: Action query time = 5.336 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=122: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 5.009 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=138: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/v2i350_p2_t0_s2/2026_08_03-17_49_39--with_future_img--episode=7--success=True--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: True
+# episodes completed so far: 7
+# successes: 7 (100.0%)
+
+Task: open the middle drawer of the cabinet
+Starting episode 8...
+Query 1/1: Action query time = 4.360 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4008
+t=10: Selected seed 195 with value = 0.4008
+Query 1/1: Action query time = 5.843 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4758
+t=26: Selected seed 195 with value = 0.4758
+Query 1/1: Action query time = 4.690 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5434
+t=42: Selected seed 195 with value = 0.5434
+Query 1/1: Action query time = 4.300 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6412
+t=58: Selected seed 195 with value = 0.6412
+Query 1/1: Action query time = 4.578 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7500
+t=74: Selected seed 195 with value = 0.7500
+Query 1/1: Action query time = 4.392 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8985
+t=90: Selected seed 195 with value = 0.8985
+Query 1/1: Action query time = 4.653 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9973
+t=106: Selected seed 195 with value = 0.9973
+Query 1/1: Action query time = 3.019 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=122: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/v2i350_p2_t0_s2/2026_08_03-17_49_39--with_future_img--episode=8--success=True--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: True
+# episodes completed so far: 8
+# successes: 8 (100.0%)
+
+Task: open the middle drawer of the cabinet
+Starting episode 9...
+Query 1/1: Action query time = 5.246 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4069
+t=10: Selected seed 195 with value = 0.4069
+Query 1/1: Action query time = 4.314 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4527
+t=26: Selected seed 195 with value = 0.4527
+Query 1/1: Action query time = 5.253 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5633
+t=42: Selected seed 195 with value = 0.5633
+Query 1/1: Action query time = 5.059 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6504
+t=58: Selected seed 195 with value = 0.6504
+Query 1/1: Action query time = 5.017 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7604
+t=74: Selected seed 195 with value = 0.7604
+Query 1/1: Action query time = 2.533 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9004
+t=90: Selected seed 195 with value = 0.9004
+Query 1/1: Action query time = 3.970 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9602
+t=106: Selected seed 195 with value = 0.9602
+Query 1/1: Action query time = 3.468 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=122: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 3.658 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=138: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/v2i350_p2_t0_s2/2026_08_03-17_49_39--with_future_img--episode=9--success=True--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: True
+# episodes completed so far: 9
+# successes: 9 (100.0%)
+
+Task: open the middle drawer of the cabinet
+Starting episode 10...
+Query 1/1: Action query time = 4.159 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4154
+t=10: Selected seed 195 with value = 0.4154
+Query 1/1: Action query time = 3.770 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4851
+t=26: Selected seed 195 with value = 0.4851
+Query 1/1: Action query time = 4.540 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5501
+t=42: Selected seed 195 with value = 0.5501
+Query 1/1: Action query time = 3.215 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6219
+t=58: Selected seed 195 with value = 0.6219
+Query 1/1: Action query time = 3.724 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7250
+t=74: Selected seed 195 with value = 0.7250
+Query 1/1: Action query time = 4.628 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9139
+t=90: Selected seed 195 with value = 0.9139
+Query 1/1: Action query time = 4.360 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9939
+t=106: Selected seed 195 with value = 0.9939
+Query 1/1: Action query time = 3.120 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=122: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/v2i350_p2_t0_s2/2026_08_03-17_49_39--with_future_img--episode=10--success=True--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: True
+# episodes completed so far: 10
+# successes: 10 (100.0%)
+
+Task: open the middle drawer of the cabinet
+Starting episode 11...
+Query 1/1: Action query time = 4.308 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4262
+t=10: Selected seed 195 with value = 0.4262
+Query 1/1: Action query time = 3.254 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4888
+t=26: Selected seed 195 with value = 0.4888
+Query 1/1: Action query time = 4.847 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5517
+t=42: Selected seed 195 with value = 0.5517
+Query 1/1: Action query time = 3.945 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6623
+t=58: Selected seed 195 with value = 0.6623
+Query 1/1: Action query time = 2.268 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7543
+t=74: Selected seed 195 with value = 0.7543
+Query 1/1: Action query time = 3.277 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9120
+t=90: Selected seed 195 with value = 0.9120
+Query 1/1: Action query time = 4.016 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=106: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 3.479 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=122: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/v2i350_p2_t0_s2/2026_08_03-17_49_39--with_future_img--episode=11--success=True--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: True
+# episodes completed so far: 11
+# successes: 11 (100.0%)
+
+Task: open the middle drawer of the cabinet
+Starting episode 12...
+Query 1/1: Action query time = 3.907 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4174
+t=10: Selected seed 195 with value = 0.4174
+Query 1/1: Action query time = 4.024 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4845
+t=26: Selected seed 195 with value = 0.4845
+Query 1/1: Action query time = 3.064 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5710
+t=42: Selected seed 195 with value = 0.5710
+Query 1/1: Action query time = 2.159 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6708
+t=58: Selected seed 195 with value = 0.6708
+Query 1/1: Action query time = 2.589 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7723
+t=74: Selected seed 195 with value = 0.7723
+Query 1/1: Action query time = 1.971 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9233
+t=90: Selected seed 195 with value = 0.9233
+Query 1/1: Action query time = 2.476 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=106: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 3.060 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=122: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/v2i350_p2_t0_s2/2026_08_03-17_49_39--with_future_img--episode=12--success=True--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: True
+# episodes completed so far: 12
+# successes: 12 (100.0%)
+Current task success rate: 1.0
+Current total success rate: 1.0
+Final results:
+Total episodes: 12
+Total successes: 12
+Overall success rate: 1.0000 (100.0%)
diff --git a/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_03-17_49_39--v2i350_p2_t0_s3.txt b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_03-17_49_39--v2i350_p2_t0_s3.txt
new file mode 100644
index 0000000000000000000000000000000000000000..462227af9fc902e6a3c9a1b93899b873c3f86252
--- /dev/null
+++ b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_03-17_49_39--v2i350_p2_t0_s3.txt
@@ -0,0 +1,480 @@
+Eval config: PolicyEvalConfig(suite='libero', model_family='cosmos', config='cosmos_predict2_2b_480p_libero_cl_stage_inference_only', ckpt_path='/home/azureuser/REGEN-main/new_task7/cosmos_policy/cosmos_v2_finetune/cosmos_predict2_2b_480p_libero_goal_task7_forget_cl_v2_from350_2gpu/checkpoints/iter_000000350/model', planning_model_config_name='', planning_model_ckpt_path='', config_file='cosmos_policy/config/config.py', packnet_mask_path='', packnet_first_cl_libero_task=6, use_third_person_image=True, num_third_person_images=1, use_wrist_image=True, num_wrist_images=1, use_proprio=True, flip_images=True, use_variance_scale=False, use_jpeg_compression=True, ar_future_prediction=False, ar_value_prediction=False, ar_qvalue_prediction=False, num_denoising_steps_action=5, num_denoising_steps_future_state=1, num_denoising_steps_value=1, unnormalize_actions=True, normalize_proprio=True, dataset_stats_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/libero_goal_regen/dataset_statistics.json', t5_text_embeddings_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/t5_embeddings.pkl', trained_with_image_aug=True, chunk_size=16, num_open_loop_steps=16, deterministic=True, deterministic_reset=False, deterministic_reset_seed=None, use_ensemble_future_state_predictions=False, num_future_state_predictions_in_ensemble=3, future_state_ensemble_aggregation_scheme='average', use_ensemble_value_predictions=False, num_value_predictions_in_ensemble=5, value_ensemble_aggregation_scheme='average', search_depth=1, mask_current_state_action_for_value_prediction=False, mask_future_state_for_qvalue_prediction=False, num_queries_best_of_n=1, use_parallel_inference=False, available_gpus='0', parallel_timeout=15, parallel_tasks_across_gpus=False, task_suite_name='libero_goal', num_trials_per_task=50, task_ids_to_run='0', initial_states_path='DEFAULT', env_img_res=256, local_log_dir='/home/azureuser/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal', run_id_note='v2i350_p2_t0_s3', use_wandb=False, wandb_entity='YOUR_ENTITY', wandb_project='YOUR_PROJECT', seed=195, randomize_seed=False, data_collection=False, jpeg_compress=True, reward_stop_threshold=None, reward_stop_consecutive_steps=3, use_gpt_reward=False, gpt_reward_model='gpt-5.4-mini', gpt_reward_stop_threshold=4, gpt_reward_timeout_s=30.0, save_rollout_video=False, eval_hdf5_path='', eval_hdf5_demo_key='demo_0', data_gen_demo_ids='', eval_episode_ids='3,7,11,15,19,23,27,31,35,39,43,47', dump_final_states_path='', replay_actions=False, replay_action_path_dir='', replay_hdf5_path='', data_generation=False, max_generation_steps=200, disable_value_stop=False)
+Using serial inference (parallel inference disabled)
+Task suite: libero_goal
+Number of tasks: 10
+Running only task IDs: [0]
+Using default initial states
+
+Task: open the middle drawer of the cabinet
+Starting episode 1...
+Query 1/1: Action query time = 6.182 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4056
+t=10: Selected seed 195 with value = 0.4056
+Query 1/1: Action query time = 4.921 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4614
+t=26: Selected seed 195 with value = 0.4614
+Query 1/1: Action query time = 4.938 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5703
+t=42: Selected seed 195 with value = 0.5703
+Query 1/1: Action query time = 5.178 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6472
+t=58: Selected seed 195 with value = 0.6472
+Query 1/1: Action query time = 5.103 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7547
+t=74: Selected seed 195 with value = 0.7547
+Query 1/1: Action query time = 3.912 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9404
+t=90: Selected seed 195 with value = 0.9404
+Query 1/1: Action query time = 2.420 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9836
+t=106: Selected seed 195 with value = 0.9836
+Query 1/1: Action query time = 5.142 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9902
+t=122: Selected seed 195 with value = 0.9902
+Saved rollout MP4 at path ./rollouts/v2i350_p2_t0_s3/2026_08_03-17_49_39--with_future_img--episode=1--success=True--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: True
+# episodes completed so far: 1
+# successes: 1 (100.0%)
+
+Task: open the middle drawer of the cabinet
+Starting episode 2...
+Query 1/1: Action query time = 5.606 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3831
+t=10: Selected seed 195 with value = 0.3831
+Query 1/1: Action query time = 5.675 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4721
+t=26: Selected seed 195 with value = 0.4721
+Query 1/1: Action query time = 4.636 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5451
+t=42: Selected seed 195 with value = 0.5451
+Query 1/1: Action query time = 4.120 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6457
+t=58: Selected seed 195 with value = 0.6457
+Query 1/1: Action query time = 4.662 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7506
+t=74: Selected seed 195 with value = 0.7506
+Query 1/1: Action query time = 4.849 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8955
+t=90: Selected seed 195 with value = 0.8955
+Query 1/1: Action query time = 4.019 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9917
+t=106: Selected seed 195 with value = 0.9917
+Query 1/1: Action query time = 4.566 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=122: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/v2i350_p2_t0_s3/2026_08_03-17_49_39--with_future_img--episode=2--success=True--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: True
+# episodes completed so far: 2
+# successes: 2 (100.0%)
+
+Task: open the middle drawer of the cabinet
+Starting episode 3...
+Query 1/1: Action query time = 2.267 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3809
+t=10: Selected seed 195 with value = 0.3809
+Query 1/1: Action query time = 4.151 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4410
+t=26: Selected seed 195 with value = 0.4410
+Query 1/1: Action query time = 4.213 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5354
+t=42: Selected seed 195 with value = 0.5354
+Query 1/1: Action query time = 4.968 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6406
+t=58: Selected seed 195 with value = 0.6406
+Query 1/1: Action query time = 4.997 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7712
+t=74: Selected seed 195 with value = 0.7712
+Query 1/1: Action query time = 4.959 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9106
+t=90: Selected seed 195 with value = 0.9106
+Query 1/1: Action query time = 4.413 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9888
+t=106: Selected seed 195 with value = 0.9888
+Query 1/1: Action query time = 3.658 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9989
+t=122: Selected seed 195 with value = 0.9989
+Saved rollout MP4 at path ./rollouts/v2i350_p2_t0_s3/2026_08_03-17_49_39--with_future_img--episode=3--success=True--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: True
+# episodes completed so far: 3
+# successes: 3 (100.0%)
+
+Task: open the middle drawer of the cabinet
+Starting episode 4...
+Query 1/1: Action query time = 3.082 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3750
+t=10: Selected seed 195 with value = 0.3750
+Query 1/1: Action query time = 4.707 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4475
+t=26: Selected seed 195 with value = 0.4475
+Query 1/1: Action query time = 5.009 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5260
+t=42: Selected seed 195 with value = 0.5260
+Query 1/1: Action query time = 5.225 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6240
+t=58: Selected seed 195 with value = 0.6240
+Query 1/1: Action query time = 5.085 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7529
+t=74: Selected seed 195 with value = 0.7529
+Query 1/1: Action query time = 4.477 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9155
+t=90: Selected seed 195 with value = 0.9155
+Query 1/1: Action query time = 5.094 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9952
+t=106: Selected seed 195 with value = 0.9952
+Query 1/1: Action query time = 2.455 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9995
+t=122: Selected seed 195 with value = 0.9995
+Saved rollout MP4 at path ./rollouts/v2i350_p2_t0_s3/2026_08_03-17_49_39--with_future_img--episode=4--success=True--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: True
+# episodes completed so far: 4
+# successes: 4 (100.0%)
+
+Task: open the middle drawer of the cabinet
+Starting episode 5...
+Query 1/1: Action query time = 4.476 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4355
+t=10: Selected seed 195 with value = 0.4355
+Query 1/1: Action query time = 5.127 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5048
+t=26: Selected seed 195 with value = 0.5048
+Query 1/1: Action query time = 5.600 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5661
+t=42: Selected seed 195 with value = 0.5661
+Query 1/1: Action query time = 4.296 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6503
+t=58: Selected seed 195 with value = 0.6503
+Query 1/1: Action query time = 5.130 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7589
+t=74: Selected seed 195 with value = 0.7589
+Query 1/1: Action query time = 4.357 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9021
+t=90: Selected seed 195 with value = 0.9021
+Query 1/1: Action query time = 5.143 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9764
+t=106: Selected seed 195 with value = 0.9764
+Query 1/1: Action query time = 4.397 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9997
+t=122: Selected seed 195 with value = 0.9997
+Saved rollout MP4 at path ./rollouts/v2i350_p2_t0_s3/2026_08_03-17_49_39--with_future_img--episode=5--success=True--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: True
+# episodes completed so far: 5
+# successes: 5 (100.0%)
+
+Task: open the middle drawer of the cabinet
+Starting episode 6...
+Query 1/1: Action query time = 4.405 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4040
+t=10: Selected seed 195 with value = 0.4040
+Query 1/1: Action query time = 4.870 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4429
+t=26: Selected seed 195 with value = 0.4429
+Query 1/1: Action query time = 5.043 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5718
+t=42: Selected seed 195 with value = 0.5718
+Query 1/1: Action query time = 4.874 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6577
+t=58: Selected seed 195 with value = 0.6577
+Query 1/1: Action query time = 4.903 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7550
+t=74: Selected seed 195 with value = 0.7550
+Query 1/1: Action query time = 5.376 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9031
+t=90: Selected seed 195 with value = 0.9031
+Query 1/1: Action query time = 4.417 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9990
+t=106: Selected seed 195 with value = 0.9990
+Query 1/1: Action query time = 4.376 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=122: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/v2i350_p2_t0_s3/2026_08_03-17_49_39--with_future_img--episode=6--success=True--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: True
+# episodes completed so far: 6
+# successes: 6 (100.0%)
+
+Task: open the middle drawer of the cabinet
+Starting episode 7...
+Query 1/1: Action query time = 4.096 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4175
+t=10: Selected seed 195 with value = 0.4175
+Query 1/1: Action query time = 4.164 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4848
+t=26: Selected seed 195 with value = 0.4848
+Query 1/1: Action query time = 4.741 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5536
+t=42: Selected seed 195 with value = 0.5536
+Query 1/1: Action query time = 5.429 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6537
+t=58: Selected seed 195 with value = 0.6537
+Query 1/1: Action query time = 5.091 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7469
+t=74: Selected seed 195 with value = 0.7469
+Query 1/1: Action query time = 4.341 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9041
+t=90: Selected seed 195 with value = 0.9041
+Query 1/1: Action query time = 5.049 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=106: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 3.925 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=122: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/v2i350_p2_t0_s3/2026_08_03-17_49_39--with_future_img--episode=7--success=True--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: True
+# episodes completed so far: 7
+# successes: 7 (100.0%)
+
+Task: open the middle drawer of the cabinet
+Starting episode 8...
+Query 1/1: Action query time = 5.202 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3403
+t=10: Selected seed 195 with value = 0.3403
+Query 1/1: Action query time = 4.982 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4594
+t=26: Selected seed 195 with value = 0.4594
+Query 1/1: Action query time = 4.044 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5394
+t=42: Selected seed 195 with value = 0.5394
+Query 1/1: Action query time = 4.495 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6228
+t=58: Selected seed 195 with value = 0.6228
+Query 1/1: Action query time = 5.237 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7357
+t=74: Selected seed 195 with value = 0.7357
+Query 1/1: Action query time = 4.539 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8931
+t=90: Selected seed 195 with value = 0.8931
+Query 1/1: Action query time = 3.868 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=106: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.056 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=122: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/v2i350_p2_t0_s3/2026_08_03-17_49_39--with_future_img--episode=8--success=True--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: True
+# episodes completed so far: 8
+# successes: 8 (100.0%)
+
+Task: open the middle drawer of the cabinet
+Starting episode 9...
+Query 1/1: Action query time = 5.151 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3954
+t=10: Selected seed 195 with value = 0.3954
+Query 1/1: Action query time = 3.779 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4789
+t=26: Selected seed 195 with value = 0.4789
+Query 1/1: Action query time = 3.253 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5533
+t=42: Selected seed 195 with value = 0.5533
+Query 1/1: Action query time = 5.408 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6547
+t=58: Selected seed 195 with value = 0.6547
+Query 1/1: Action query time = 4.508 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7626
+t=74: Selected seed 195 with value = 0.7626
+Query 1/1: Action query time = 4.992 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9161
+t=90: Selected seed 195 with value = 0.9161
+Query 1/1: Action query time = 5.047 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=106: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 5.348 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=122: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/v2i350_p2_t0_s3/2026_08_03-17_49_39--with_future_img--episode=9--success=True--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: True
+# episodes completed so far: 9
+# successes: 9 (100.0%)
+
+Task: open the middle drawer of the cabinet
+Starting episode 10...
+Query 1/1: Action query time = 3.277 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4292
+t=10: Selected seed 195 with value = 0.4292
+Query 1/1: Action query time = 3.182 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4569
+t=26: Selected seed 195 with value = 0.4569
+Query 1/1: Action query time = 3.351 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5482
+t=42: Selected seed 195 with value = 0.5482
+Query 1/1: Action query time = 4.236 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6350
+t=58: Selected seed 195 with value = 0.6350
+Query 1/1: Action query time = 4.498 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7362
+t=74: Selected seed 195 with value = 0.7362
+Query 1/1: Action query time = 4.236 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8689
+t=90: Selected seed 195 with value = 0.8689
+Query 1/1: Action query time = 5.074 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=106: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.132 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=122: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/v2i350_p2_t0_s3/2026_08_03-17_49_39--with_future_img--episode=10--success=True--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: True
+# episodes completed so far: 10
+# successes: 10 (100.0%)
+
+Task: open the middle drawer of the cabinet
+Starting episode 11...
+Query 1/1: Action query time = 4.424 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3980
+t=10: Selected seed 195 with value = 0.3980
+Query 1/1: Action query time = 4.599 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4353
+t=26: Selected seed 195 with value = 0.4353
+Query 1/1: Action query time = 3.791 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5704
+t=42: Selected seed 195 with value = 0.5704
+Query 1/1: Action query time = 2.767 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6514
+t=58: Selected seed 195 with value = 0.6514
+Query 1/1: Action query time = 4.130 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7653
+t=74: Selected seed 195 with value = 0.7653
+Query 1/1: Action query time = 3.133 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8826
+t=90: Selected seed 195 with value = 0.8826
+Query 1/1: Action query time = 4.661 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9924
+t=106: Selected seed 195 with value = 0.9924
+Query 1/1: Action query time = 4.061 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=122: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/v2i350_p2_t0_s3/2026_08_03-17_49_39--with_future_img--episode=11--success=True--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: True
+# episodes completed so far: 11
+# successes: 11 (100.0%)
+
+Task: open the middle drawer of the cabinet
+Starting episode 12...
+Query 1/1: Action query time = 3.683 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4330
+t=10: Selected seed 195 with value = 0.4330
+Query 1/1: Action query time = 3.888 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4946
+t=26: Selected seed 195 with value = 0.4946
+Query 1/1: Action query time = 1.916 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5532
+t=42: Selected seed 195 with value = 0.5532
+Query 1/1: Action query time = 1.893 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6678
+t=58: Selected seed 195 with value = 0.6678
+Query 1/1: Action query time = 2.989 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7814
+t=74: Selected seed 195 with value = 0.7814
+Query 1/1: Action query time = 2.971 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9373
+t=90: Selected seed 195 with value = 0.9373
+Query 1/1: Action query time = 3.174 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=106: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 3.024 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=122: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/v2i350_p2_t0_s3/2026_08_03-17_49_39--with_future_img--episode=12--success=True--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: True
+# episodes completed so far: 12
+# successes: 12 (100.0%)
+Current task success rate: 1.0
+Current total success rate: 1.0
+Final results:
+Total episodes: 12
+Total successes: 12
+Overall success rate: 1.0000 (100.0%)
diff --git a/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_03-17_49_39--v2i350_p2_t1_s0.txt b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_03-17_49_39--v2i350_p2_t1_s0.txt
new file mode 100644
index 0000000000000000000000000000000000000000..c591507cead2291a4d73cac0f21fa9f6cef4ffc2
--- /dev/null
+++ b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_03-17_49_39--v2i350_p2_t1_s0.txt
@@ -0,0 +1,471 @@
+Eval config: PolicyEvalConfig(suite='libero', model_family='cosmos', config='cosmos_predict2_2b_480p_libero_cl_stage_inference_only', ckpt_path='/home/azureuser/REGEN-main/new_task7/cosmos_policy/cosmos_v2_finetune/cosmos_predict2_2b_480p_libero_goal_task7_forget_cl_v2_from350_2gpu/checkpoints/iter_000000350/model', planning_model_config_name='', planning_model_ckpt_path='', config_file='cosmos_policy/config/config.py', packnet_mask_path='', packnet_first_cl_libero_task=6, use_third_person_image=True, num_third_person_images=1, use_wrist_image=True, num_wrist_images=1, use_proprio=True, flip_images=True, use_variance_scale=False, use_jpeg_compression=True, ar_future_prediction=False, ar_value_prediction=False, ar_qvalue_prediction=False, num_denoising_steps_action=5, num_denoising_steps_future_state=1, num_denoising_steps_value=1, unnormalize_actions=True, normalize_proprio=True, dataset_stats_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/libero_goal_regen/dataset_statistics.json', t5_text_embeddings_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/t5_embeddings.pkl', trained_with_image_aug=True, chunk_size=16, num_open_loop_steps=16, deterministic=True, deterministic_reset=False, deterministic_reset_seed=None, use_ensemble_future_state_predictions=False, num_future_state_predictions_in_ensemble=3, future_state_ensemble_aggregation_scheme='average', use_ensemble_value_predictions=False, num_value_predictions_in_ensemble=5, value_ensemble_aggregation_scheme='average', search_depth=1, mask_current_state_action_for_value_prediction=False, mask_future_state_for_qvalue_prediction=False, num_queries_best_of_n=1, use_parallel_inference=False, available_gpus='0', parallel_timeout=15, parallel_tasks_across_gpus=False, task_suite_name='libero_goal', num_trials_per_task=50, task_ids_to_run='1', initial_states_path='DEFAULT', env_img_res=256, local_log_dir='/home/azureuser/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal', run_id_note='v2i350_p2_t1_s0', use_wandb=False, wandb_entity='YOUR_ENTITY', wandb_project='YOUR_PROJECT', seed=195, randomize_seed=False, data_collection=False, jpeg_compress=True, reward_stop_threshold=None, reward_stop_consecutive_steps=3, use_gpt_reward=False, gpt_reward_model='gpt-5.4-mini', gpt_reward_stop_threshold=4, gpt_reward_timeout_s=30.0, save_rollout_video=False, eval_hdf5_path='', eval_hdf5_demo_key='demo_0', data_gen_demo_ids='', eval_episode_ids='0,4,8,12,16,20,24,28,32,36,40,44,48', dump_final_states_path='', replay_actions=False, replay_action_path_dir='', replay_hdf5_path='', data_generation=False, max_generation_steps=200, disable_value_stop=False)
+Using serial inference (parallel inference disabled)
+Task suite: libero_goal
+Number of tasks: 10
+Running only task IDs: [1]
+Using default initial states
+
+Task: put the bowl on the stove
+Starting episode 1...
+Query 1/1: Action query time = 4.480 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5317
+t=10: Selected seed 195 with value = 0.5317
+Query 1/1: Action query time = 4.533 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6723
+t=26: Selected seed 195 with value = 0.6723
+Query 1/1: Action query time = 4.641 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7856
+t=42: Selected seed 195 with value = 0.7856
+Query 1/1: Action query time = 5.371 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8965
+t=58: Selected seed 195 with value = 0.8965
+Query 1/1: Action query time = 5.273 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=74: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 5.231 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/v2i350_p2_t1_s0/2026_08_03-17_49_39--with_future_img--episode=1--success=True--task=put_the_bowl_on_the_stove.mp4
+Success: True
+# episodes completed so far: 1
+# successes: 1 (100.0%)
+
+Task: put the bowl on the stove
+Starting episode 2...
+Query 1/1: Action query time = 3.508 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5896
+t=10: Selected seed 195 with value = 0.5896
+Query 1/1: Action query time = 5.630 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6722
+t=26: Selected seed 195 with value = 0.6722
+Query 1/1: Action query time = 3.440 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7689
+t=42: Selected seed 195 with value = 0.7689
+Query 1/1: Action query time = 3.361 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8954
+t=58: Selected seed 195 with value = 0.8954
+Query 1/1: Action query time = 4.753 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=74: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 5.047 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/v2i350_p2_t1_s0/2026_08_03-17_49_39--with_future_img--episode=2--success=True--task=put_the_bowl_on_the_stove.mp4
+Success: True
+# episodes completed so far: 2
+# successes: 2 (100.0%)
+
+Task: put the bowl on the stove
+Starting episode 3...
+Query 1/1: Action query time = 4.017 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5655
+t=10: Selected seed 195 with value = 0.5655
+Query 1/1: Action query time = 4.537 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6691
+t=26: Selected seed 195 with value = 0.6691
+Query 1/1: Action query time = 5.508 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7775
+t=42: Selected seed 195 with value = 0.7775
+Query 1/1: Action query time = 3.833 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8834
+t=58: Selected seed 195 with value = 0.8834
+Query 1/1: Action query time = 4.908 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=74: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.564 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/v2i350_p2_t1_s0/2026_08_03-17_49_39--with_future_img--episode=3--success=True--task=put_the_bowl_on_the_stove.mp4
+Success: True
+# episodes completed so far: 3
+# successes: 3 (100.0%)
+
+Task: put the bowl on the stove
+Starting episode 4...
+Query 1/1: Action query time = 4.450 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5907
+t=10: Selected seed 195 with value = 0.5907
+Query 1/1: Action query time = 4.872 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7366
+t=26: Selected seed 195 with value = 0.7366
+Query 1/1: Action query time = 5.339 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8047
+t=42: Selected seed 195 with value = 0.8047
+Query 1/1: Action query time = 5.165 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8898
+t=58: Selected seed 195 with value = 0.8898
+Query 1/1: Action query time = 5.094 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9925
+t=74: Selected seed 195 with value = 0.9925
+Query 1/1: Action query time = 3.962 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/v2i350_p2_t1_s0/2026_08_03-17_49_39--with_future_img--episode=4--success=True--task=put_the_bowl_on_the_stove.mp4
+Success: True
+# episodes completed so far: 4
+# successes: 4 (100.0%)
+
+Task: put the bowl on the stove
+Starting episode 5...
+Query 1/1: Action query time = 3.569 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5377
+t=10: Selected seed 195 with value = 0.5377
+Query 1/1: Action query time = 4.946 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6773
+t=26: Selected seed 195 with value = 0.6773
+Query 1/1: Action query time = 5.156 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8116
+t=42: Selected seed 195 with value = 0.8116
+Query 1/1: Action query time = 4.843 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9012
+t=58: Selected seed 195 with value = 0.9012
+Query 1/1: Action query time = 4.598 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9907
+t=74: Selected seed 195 with value = 0.9907
+Query 1/1: Action query time = 5.165 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9979
+t=90: Selected seed 195 with value = 0.9979
+Saved rollout MP4 at path ./rollouts/v2i350_p2_t1_s0/2026_08_03-17_49_39--with_future_img--episode=5--success=True--task=put_the_bowl_on_the_stove.mp4
+Success: True
+# episodes completed so far: 5
+# successes: 5 (100.0%)
+
+Task: put the bowl on the stove
+Starting episode 6...
+Query 1/1: Action query time = 3.600 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5419
+t=10: Selected seed 195 with value = 0.5419
+Query 1/1: Action query time = 3.949 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6752
+t=26: Selected seed 195 with value = 0.6752
+Query 1/1: Action query time = 4.312 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7663
+t=42: Selected seed 195 with value = 0.7663
+Query 1/1: Action query time = 4.331 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8943
+t=58: Selected seed 195 with value = 0.8943
+Query 1/1: Action query time = 4.814 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9951
+t=74: Selected seed 195 with value = 0.9951
+Query 1/1: Action query time = 5.055 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/v2i350_p2_t1_s0/2026_08_03-17_49_39--with_future_img--episode=6--success=True--task=put_the_bowl_on_the_stove.mp4
+Success: True
+# episodes completed so far: 6
+# successes: 6 (100.0%)
+
+Task: put the bowl on the stove
+Starting episode 7...
+Query 1/1: Action query time = 4.886 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5591
+t=10: Selected seed 195 with value = 0.5591
+Query 1/1: Action query time = 4.451 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7063
+t=26: Selected seed 195 with value = 0.7063
+Query 1/1: Action query time = 5.349 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7749
+t=42: Selected seed 195 with value = 0.7749
+Query 1/1: Action query time = 4.146 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8847
+t=58: Selected seed 195 with value = 0.8847
+Query 1/1: Action query time = 3.874 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9450
+t=74: Selected seed 195 with value = 0.9450
+Query 1/1: Action query time = 4.714 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/v2i350_p2_t1_s0/2026_08_03-17_49_39--with_future_img--episode=7--success=True--task=put_the_bowl_on_the_stove.mp4
+Success: True
+# episodes completed so far: 7
+# successes: 7 (100.0%)
+
+Task: put the bowl on the stove
+Starting episode 8...
+Query 1/1: Action query time = 5.404 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5846
+t=10: Selected seed 195 with value = 0.5846
+Query 1/1: Action query time = 3.921 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7852
+t=26: Selected seed 195 with value = 0.7852
+Query 1/1: Action query time = 5.279 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8019
+t=42: Selected seed 195 with value = 0.8019
+Query 1/1: Action query time = 5.117 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9215
+t=58: Selected seed 195 with value = 0.9215
+Query 1/1: Action query time = 5.261 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=74: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 3.857 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/v2i350_p2_t1_s0/2026_08_03-17_49_39--with_future_img--episode=8--success=True--task=put_the_bowl_on_the_stove.mp4
+Success: True
+# episodes completed so far: 8
+# successes: 8 (100.0%)
+
+Task: put the bowl on the stove
+Starting episode 9...
+Query 1/1: Action query time = 4.580 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5908
+t=10: Selected seed 195 with value = 0.5908
+Query 1/1: Action query time = 4.443 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6591
+t=26: Selected seed 195 with value = 0.6591
+Query 1/1: Action query time = 5.338 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7807
+t=42: Selected seed 195 with value = 0.7807
+Query 1/1: Action query time = 4.497 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8943
+t=58: Selected seed 195 with value = 0.8943
+Query 1/1: Action query time = 4.318 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9990
+t=74: Selected seed 195 with value = 0.9990
+Query 1/1: Action query time = 5.054 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.459 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9973
+t=106: Selected seed 195 with value = 0.9973
+Query 1/1: Action query time = 3.910 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9877
+t=122: Selected seed 195 with value = 0.9877
+Query 1/1: Action query time = 5.350 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9879
+t=138: Selected seed 195 with value = 0.9879
+Query 1/1: Action query time = 4.031 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9753
+t=154: Selected seed 195 with value = 0.9753
+Query 1/1: Action query time = 3.426 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9259
+t=170: Selected seed 195 with value = 0.9259
+Query 1/1: Action query time = 5.095 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8793
+t=186: Selected seed 195 with value = 0.8793
+Query 1/1: Action query time = 5.093 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8767
+t=202: Selected seed 195 with value = 0.8767
+Query 1/1: Action query time = 3.239 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8804
+t=218: Selected seed 195 with value = 0.8804
+Query 1/1: Action query time = 5.026 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8879
+t=234: Selected seed 195 with value = 0.8879
+Query 1/1: Action query time = 4.430 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8968
+t=250: Selected seed 195 with value = 0.8968
+Query 1/1: Action query time = 4.492 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8974
+t=266: Selected seed 195 with value = 0.8974
+Query 1/1: Action query time = 5.076 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9078
+t=282: Selected seed 195 with value = 0.9078
+Query 1/1: Action query time = 4.876 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9088
+t=298: Selected seed 195 with value = 0.9088
+Saved rollout MP4 at path ./rollouts/v2i350_p2_t1_s0/2026_08_03-17_49_39--with_future_img--episode=9--success=False--task=put_the_bowl_on_the_stove.mp4
+Success: False
+# episodes completed so far: 9
+# successes: 8 (88.9%)
+
+Task: put the bowl on the stove
+Starting episode 10...
+Query 1/1: Action query time = 4.496 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5442
+t=10: Selected seed 195 with value = 0.5442
+Query 1/1: Action query time = 5.207 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6726
+t=26: Selected seed 195 with value = 0.6726
+Query 1/1: Action query time = 4.949 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8114
+t=42: Selected seed 195 with value = 0.8114
+Query 1/1: Action query time = 5.034 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9273
+t=58: Selected seed 195 with value = 0.9273
+Query 1/1: Action query time = 4.871 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=74: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.596 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/v2i350_p2_t1_s0/2026_08_03-17_49_39--with_future_img--episode=10--success=True--task=put_the_bowl_on_the_stove.mp4
+Success: True
+# episodes completed so far: 10
+# successes: 9 (90.0%)
+
+Task: put the bowl on the stove
+Starting episode 11...
+Query 1/1: Action query time = 3.998 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6664
+t=10: Selected seed 195 with value = 0.6664
+Query 1/1: Action query time = 3.380 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6974
+t=26: Selected seed 195 with value = 0.6974
+Query 1/1: Action query time = 3.973 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7678
+t=42: Selected seed 195 with value = 0.7678
+Query 1/1: Action query time = 3.832 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8276
+t=58: Selected seed 195 with value = 0.8276
+Query 1/1: Action query time = 4.597 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9213
+t=74: Selected seed 195 with value = 0.9213
+Query 1/1: Action query time = 3.381 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9955
+t=90: Selected seed 195 with value = 0.9955
+Query 1/1: Action query time = 4.330 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=106: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/v2i350_p2_t1_s0/2026_08_03-17_49_39--with_future_img--episode=11--success=True--task=put_the_bowl_on_the_stove.mp4
+Success: True
+# episodes completed so far: 11
+# successes: 10 (90.9%)
+
+Task: put the bowl on the stove
+Starting episode 12...
+Query 1/1: Action query time = 3.496 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5766
+t=10: Selected seed 195 with value = 0.5766
+Query 1/1: Action query time = 3.122 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7204
+t=26: Selected seed 195 with value = 0.7204
+Query 1/1: Action query time = 4.580 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7648
+t=42: Selected seed 195 with value = 0.7648
+Query 1/1: Action query time = 3.263 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8905
+t=58: Selected seed 195 with value = 0.8905
+Query 1/1: Action query time = 4.006 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9993
+t=74: Selected seed 195 with value = 0.9993
+Query 1/1: Action query time = 5.174 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/v2i350_p2_t1_s0/2026_08_03-17_49_39--with_future_img--episode=12--success=True--task=put_the_bowl_on_the_stove.mp4
+Success: True
+# episodes completed so far: 12
+# successes: 11 (91.7%)
+
+Task: put the bowl on the stove
+Starting episode 13...
+Query 1/1: Action query time = 2.632 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5452
+t=10: Selected seed 195 with value = 0.5452
+Query 1/1: Action query time = 3.872 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6509
+t=26: Selected seed 195 with value = 0.6509
+Query 1/1: Action query time = 4.072 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7671
+t=42: Selected seed 195 with value = 0.7671
+Query 1/1: Action query time = 3.383 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8711
+t=58: Selected seed 195 with value = 0.8711
+Query 1/1: Action query time = 3.634 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=74: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 3.870 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/v2i350_p2_t1_s0/2026_08_03-17_49_39--with_future_img--episode=13--success=True--task=put_the_bowl_on_the_stove.mp4
+Success: True
+# episodes completed so far: 13
+# successes: 12 (92.3%)
+Current task success rate: 0.9230769230769231
+Current total success rate: 0.9230769230769231
+Final results:
+Total episodes: 13
+Total successes: 12
+Overall success rate: 0.9231 (92.3%)
diff --git a/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_03-17_49_39--v2i350_p2_t1_s1.txt b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_03-17_49_39--v2i350_p2_t1_s1.txt
new file mode 100644
index 0000000000000000000000000000000000000000..8500fda2276a21d858901ed89136eb2fd0236c10
--- /dev/null
+++ b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_03-17_49_39--v2i350_p2_t1_s1.txt
@@ -0,0 +1,571 @@
+Eval config: PolicyEvalConfig(suite='libero', model_family='cosmos', config='cosmos_predict2_2b_480p_libero_cl_stage_inference_only', ckpt_path='/home/azureuser/REGEN-main/new_task7/cosmos_policy/cosmos_v2_finetune/cosmos_predict2_2b_480p_libero_goal_task7_forget_cl_v2_from350_2gpu/checkpoints/iter_000000350/model', planning_model_config_name='', planning_model_ckpt_path='', config_file='cosmos_policy/config/config.py', packnet_mask_path='', packnet_first_cl_libero_task=6, use_third_person_image=True, num_third_person_images=1, use_wrist_image=True, num_wrist_images=1, use_proprio=True, flip_images=True, use_variance_scale=False, use_jpeg_compression=True, ar_future_prediction=False, ar_value_prediction=False, ar_qvalue_prediction=False, num_denoising_steps_action=5, num_denoising_steps_future_state=1, num_denoising_steps_value=1, unnormalize_actions=True, normalize_proprio=True, dataset_stats_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/libero_goal_regen/dataset_statistics.json', t5_text_embeddings_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/t5_embeddings.pkl', trained_with_image_aug=True, chunk_size=16, num_open_loop_steps=16, deterministic=True, deterministic_reset=False, deterministic_reset_seed=None, use_ensemble_future_state_predictions=False, num_future_state_predictions_in_ensemble=3, future_state_ensemble_aggregation_scheme='average', use_ensemble_value_predictions=False, num_value_predictions_in_ensemble=5, value_ensemble_aggregation_scheme='average', search_depth=1, mask_current_state_action_for_value_prediction=False, mask_future_state_for_qvalue_prediction=False, num_queries_best_of_n=1, use_parallel_inference=False, available_gpus='0', parallel_timeout=15, parallel_tasks_across_gpus=False, task_suite_name='libero_goal', num_trials_per_task=50, task_ids_to_run='1', initial_states_path='DEFAULT', env_img_res=256, local_log_dir='/home/azureuser/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal', run_id_note='v2i350_p2_t1_s1', use_wandb=False, wandb_entity='YOUR_ENTITY', wandb_project='YOUR_PROJECT', seed=195, randomize_seed=False, data_collection=False, jpeg_compress=True, reward_stop_threshold=None, reward_stop_consecutive_steps=3, use_gpt_reward=False, gpt_reward_model='gpt-5.4-mini', gpt_reward_stop_threshold=4, gpt_reward_timeout_s=30.0, save_rollout_video=False, eval_hdf5_path='', eval_hdf5_demo_key='demo_0', data_gen_demo_ids='', eval_episode_ids='1,5,9,13,17,21,25,29,33,37,41,45,49', dump_final_states_path='', replay_actions=False, replay_action_path_dir='', replay_hdf5_path='', data_generation=False, max_generation_steps=200, disable_value_stop=False)
+Using serial inference (parallel inference disabled)
+Task suite: libero_goal
+Number of tasks: 10
+Running only task IDs: [1]
+Using default initial states
+
+Task: put the bowl on the stove
+Starting episode 1...
+Query 1/1: Action query time = 4.995 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5690
+t=10: Selected seed 195 with value = 0.5690
+Query 1/1: Action query time = 4.965 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6717
+t=26: Selected seed 195 with value = 0.6717
+Query 1/1: Action query time = 4.351 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7835
+t=42: Selected seed 195 with value = 0.7835
+Query 1/1: Action query time = 4.687 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8991
+t=58: Selected seed 195 with value = 0.8991
+Query 1/1: Action query time = 5.048 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9653
+t=74: Selected seed 195 with value = 0.9653
+Query 1/1: Action query time = 4.978 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9484
+t=90: Selected seed 195 with value = 0.9484
+Query 1/1: Action query time = 3.770 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9565
+t=106: Selected seed 195 with value = 0.9565
+Query 1/1: Action query time = 2.874 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9184
+t=122: Selected seed 195 with value = 0.9184
+Query 1/1: Action query time = 5.165 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9154
+t=138: Selected seed 195 with value = 0.9154
+Query 1/1: Action query time = 4.622 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9117
+t=154: Selected seed 195 with value = 0.9117
+Query 1/1: Action query time = 5.582 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9328
+t=170: Selected seed 195 with value = 0.9328
+Query 1/1: Action query time = 5.665 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9740
+t=186: Selected seed 195 with value = 0.9740
+Query 1/1: Action query time = 5.101 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9895
+t=202: Selected seed 195 with value = 0.9895
+Query 1/1: Action query time = 4.815 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9955
+t=218: Selected seed 195 with value = 0.9955
+Query 1/1: Action query time = 5.659 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9972
+t=234: Selected seed 195 with value = 0.9972
+Query 1/1: Action query time = 4.513 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9926
+t=250: Selected seed 195 with value = 0.9926
+Query 1/1: Action query time = 3.938 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9849
+t=266: Selected seed 195 with value = 0.9849
+Query 1/1: Action query time = 5.051 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9819
+t=282: Selected seed 195 with value = 0.9819
+Query 1/1: Action query time = 3.277 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9765
+t=298: Selected seed 195 with value = 0.9765
+Saved rollout MP4 at path ./rollouts/v2i350_p2_t1_s1/2026_08_03-17_49_39--with_future_img--episode=1--success=False--task=put_the_bowl_on_the_stove.mp4
+Success: False
+# episodes completed so far: 1
+# successes: 0 (0.0%)
+
+Task: put the bowl on the stove
+Starting episode 2...
+Query 1/1: Action query time = 5.260 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6207
+t=10: Selected seed 195 with value = 0.6207
+Query 1/1: Action query time = 5.101 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7253
+t=26: Selected seed 195 with value = 0.7253
+Query 1/1: Action query time = 5.113 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8026
+t=42: Selected seed 195 with value = 0.8026
+Query 1/1: Action query time = 5.015 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9023
+t=58: Selected seed 195 with value = 0.9023
+Query 1/1: Action query time = 3.623 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9962
+t=74: Selected seed 195 with value = 0.9962
+Query 1/1: Action query time = 3.377 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/v2i350_p2_t1_s1/2026_08_03-17_49_39--with_future_img--episode=2--success=True--task=put_the_bowl_on_the_stove.mp4
+Success: True
+# episodes completed so far: 2
+# successes: 1 (50.0%)
+
+Task: put the bowl on the stove
+Starting episode 3...
+Query 1/1: Action query time = 5.094 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5727
+t=10: Selected seed 195 with value = 0.5727
+Query 1/1: Action query time = 5.454 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7809
+t=26: Selected seed 195 with value = 0.7809
+Query 1/1: Action query time = 5.409 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7962
+t=42: Selected seed 195 with value = 0.7962
+Query 1/1: Action query time = 4.632 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8946
+t=58: Selected seed 195 with value = 0.8946
+Query 1/1: Action query time = 4.778 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=74: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 3.199 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/v2i350_p2_t1_s1/2026_08_03-17_49_39--with_future_img--episode=3--success=True--task=put_the_bowl_on_the_stove.mp4
+Success: True
+# episodes completed so far: 3
+# successes: 2 (66.7%)
+
+Task: put the bowl on the stove
+Starting episode 4...
+Query 1/1: Action query time = 3.854 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5747
+t=10: Selected seed 195 with value = 0.5747
+Query 1/1: Action query time = 5.188 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6853
+t=26: Selected seed 195 with value = 0.6853
+Query 1/1: Action query time = 4.313 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7889
+t=42: Selected seed 195 with value = 0.7889
+Query 1/1: Action query time = 4.585 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8762
+t=58: Selected seed 195 with value = 0.8762
+Query 1/1: Action query time = 4.913 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9790
+t=74: Selected seed 195 with value = 0.9790
+Query 1/1: Action query time = 3.769 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9583
+t=90: Selected seed 195 with value = 0.9583
+Query 1/1: Action query time = 4.886 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9610
+t=106: Selected seed 195 with value = 0.9610
+Query 1/1: Action query time = 4.257 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9110
+t=122: Selected seed 195 with value = 0.9110
+Query 1/1: Action query time = 4.866 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8926
+t=138: Selected seed 195 with value = 0.8926
+Query 1/1: Action query time = 4.483 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9083
+t=154: Selected seed 195 with value = 0.9083
+Query 1/1: Action query time = 3.682 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9394
+t=170: Selected seed 195 with value = 0.9394
+Query 1/1: Action query time = 4.525 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9809
+t=186: Selected seed 195 with value = 0.9809
+Query 1/1: Action query time = 4.570 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9672
+t=202: Selected seed 195 with value = 0.9672
+Query 1/1: Action query time = 5.324 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9762
+t=218: Selected seed 195 with value = 0.9762
+Query 1/1: Action query time = 4.889 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9841
+t=234: Selected seed 195 with value = 0.9841
+Query 1/1: Action query time = 4.837 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9938
+t=250: Selected seed 195 with value = 0.9938
+Query 1/1: Action query time = 4.825 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9834
+t=266: Selected seed 195 with value = 0.9834
+Query 1/1: Action query time = 4.714 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9870
+t=282: Selected seed 195 with value = 0.9870
+Query 1/1: Action query time = 4.296 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9775
+t=298: Selected seed 195 with value = 0.9775
+Saved rollout MP4 at path ./rollouts/v2i350_p2_t1_s1/2026_08_03-17_49_39--with_future_img--episode=4--success=False--task=put_the_bowl_on_the_stove.mp4
+Success: False
+# episodes completed so far: 4
+# successes: 2 (50.0%)
+
+Task: put the bowl on the stove
+Starting episode 5...
+Query 1/1: Action query time = 4.753 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5933
+t=10: Selected seed 195 with value = 0.5933
+Query 1/1: Action query time = 5.435 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7376
+t=26: Selected seed 195 with value = 0.7376
+Query 1/1: Action query time = 5.436 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7635
+t=42: Selected seed 195 with value = 0.7635
+Query 1/1: Action query time = 5.050 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8936
+t=58: Selected seed 195 with value = 0.8936
+Query 1/1: Action query time = 4.011 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=74: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.824 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/v2i350_p2_t1_s1/2026_08_03-17_49_39--with_future_img--episode=5--success=True--task=put_the_bowl_on_the_stove.mp4
+Success: True
+# episodes completed so far: 5
+# successes: 3 (60.0%)
+
+Task: put the bowl on the stove
+Starting episode 6...
+Query 1/1: Action query time = 5.270 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5943
+t=10: Selected seed 195 with value = 0.5943
+Query 1/1: Action query time = 4.679 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6514
+t=26: Selected seed 195 with value = 0.6514
+Query 1/1: Action query time = 3.322 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7641
+t=42: Selected seed 195 with value = 0.7641
+Query 1/1: Action query time = 5.080 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8652
+t=58: Selected seed 195 with value = 0.8652
+Query 1/1: Action query time = 5.208 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9962
+t=74: Selected seed 195 with value = 0.9962
+Query 1/1: Action query time = 3.445 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.687 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=106: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.141 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=122: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.336 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8470
+t=138: Selected seed 195 with value = 0.8470
+Query 1/1: Action query time = 5.086 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9168
+t=154: Selected seed 195 with value = 0.9168
+Query 1/1: Action query time = 5.130 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9705
+t=170: Selected seed 195 with value = 0.9705
+Query 1/1: Action query time = 4.119 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9709
+t=186: Selected seed 195 with value = 0.9709
+Query 1/1: Action query time = 3.175 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9715
+t=202: Selected seed 195 with value = 0.9715
+Query 1/1: Action query time = 4.747 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9717
+t=218: Selected seed 195 with value = 0.9717
+Query 1/1: Action query time = 4.732 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9699
+t=234: Selected seed 195 with value = 0.9699
+Query 1/1: Action query time = 5.092 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9562
+t=250: Selected seed 195 with value = 0.9562
+Query 1/1: Action query time = 5.155 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8651
+t=266: Selected seed 195 with value = 0.8651
+Query 1/1: Action query time = 4.970 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8532
+t=282: Selected seed 195 with value = 0.8532
+Query 1/1: Action query time = 4.143 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8538
+t=298: Selected seed 195 with value = 0.8538
+Saved rollout MP4 at path ./rollouts/v2i350_p2_t1_s1/2026_08_03-17_49_39--with_future_img--episode=6--success=False--task=put_the_bowl_on_the_stove.mp4
+Success: False
+# episodes completed so far: 6
+# successes: 3 (50.0%)
+
+Task: put the bowl on the stove
+Starting episode 7...
+Query 1/1: Action query time = 3.092 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6148
+t=10: Selected seed 195 with value = 0.6148
+Query 1/1: Action query time = 4.256 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7314
+t=26: Selected seed 195 with value = 0.7314
+Query 1/1: Action query time = 3.777 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7687
+t=42: Selected seed 195 with value = 0.7687
+Query 1/1: Action query time = 4.665 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8920
+t=58: Selected seed 195 with value = 0.8920
+Query 1/1: Action query time = 4.783 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9080
+t=74: Selected seed 195 with value = 0.9080
+Query 1/1: Action query time = 2.872 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9812
+t=90: Selected seed 195 with value = 0.9812
+Saved rollout MP4 at path ./rollouts/v2i350_p2_t1_s1/2026_08_03-17_49_39--with_future_img--episode=7--success=True--task=put_the_bowl_on_the_stove.mp4
+Success: True
+# episodes completed so far: 7
+# successes: 4 (57.1%)
+
+Task: put the bowl on the stove
+Starting episode 8...
+Query 1/1: Action query time = 3.414 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6225
+t=10: Selected seed 195 with value = 0.6225
+Query 1/1: Action query time = 4.781 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6671
+t=26: Selected seed 195 with value = 0.6671
+Query 1/1: Action query time = 4.864 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8105
+t=42: Selected seed 195 with value = 0.8105
+Query 1/1: Action query time = 4.062 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9326
+t=58: Selected seed 195 with value = 0.9326
+Query 1/1: Action query time = 2.666 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9954
+t=74: Selected seed 195 with value = 0.9954
+Query 1/1: Action query time = 4.078 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/v2i350_p2_t1_s1/2026_08_03-17_49_39--with_future_img--episode=8--success=True--task=put_the_bowl_on_the_stove.mp4
+Success: True
+# episodes completed so far: 8
+# successes: 5 (62.5%)
+
+Task: put the bowl on the stove
+Starting episode 9...
+Query 1/1: Action query time = 4.872 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5374
+t=10: Selected seed 195 with value = 0.5374
+Query 1/1: Action query time = 4.185 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6852
+t=26: Selected seed 195 with value = 0.6852
+Query 1/1: Action query time = 3.370 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7724
+t=42: Selected seed 195 with value = 0.7724
+Query 1/1: Action query time = 3.441 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8950
+t=58: Selected seed 195 with value = 0.8950
+Query 1/1: Action query time = 3.772 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9449
+t=74: Selected seed 195 with value = 0.9449
+Query 1/1: Action query time = 2.956 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/v2i350_p2_t1_s1/2026_08_03-17_49_39--with_future_img--episode=9--success=True--task=put_the_bowl_on_the_stove.mp4
+Success: True
+# episodes completed so far: 9
+# successes: 6 (66.7%)
+
+Task: put the bowl on the stove
+Starting episode 10...
+Query 1/1: Action query time = 3.465 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5589
+t=10: Selected seed 195 with value = 0.5589
+Query 1/1: Action query time = 2.507 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6590
+t=26: Selected seed 195 with value = 0.6590
+Query 1/1: Action query time = 2.179 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7899
+t=42: Selected seed 195 with value = 0.7899
+Query 1/1: Action query time = 2.850 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9087
+t=58: Selected seed 195 with value = 0.9087
+Query 1/1: Action query time = 1.852 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9989
+t=74: Selected seed 195 with value = 0.9989
+Query 1/1: Action query time = 2.427 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/v2i350_p2_t1_s1/2026_08_03-17_49_39--with_future_img--episode=10--success=True--task=put_the_bowl_on_the_stove.mp4
+Success: True
+# episodes completed so far: 10
+# successes: 7 (70.0%)
+
+Task: put the bowl on the stove
+Starting episode 11...
+Query 1/1: Action query time = 1.993 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5722
+t=10: Selected seed 195 with value = 0.5722
+Query 1/1: Action query time = 2.808 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6482
+t=26: Selected seed 195 with value = 0.6482
+Query 1/1: Action query time = 1.318 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7587
+t=42: Selected seed 195 with value = 0.7587
+Query 1/1: Action query time = 2.069 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8300
+t=58: Selected seed 195 with value = 0.8300
+Query 1/1: Action query time = 2.055 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9248
+t=74: Selected seed 195 with value = 0.9248
+Query 1/1: Action query time = 1.181 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9882
+t=90: Selected seed 195 with value = 0.9882
+Saved rollout MP4 at path ./rollouts/v2i350_p2_t1_s1/2026_08_03-17_49_39--with_future_img--episode=11--success=True--task=put_the_bowl_on_the_stove.mp4
+Success: True
+# episodes completed so far: 11
+# successes: 8 (72.7%)
+
+Task: put the bowl on the stove
+Starting episode 12...
+Query 1/1: Action query time = 1.446 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5799
+t=10: Selected seed 195 with value = 0.5799
+Query 1/1: Action query time = 1.274 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7421
+t=26: Selected seed 195 with value = 0.7421
+Query 1/1: Action query time = 1.086 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7706
+t=42: Selected seed 195 with value = 0.7706
+Query 1/1: Action query time = 1.104 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8584
+t=58: Selected seed 195 with value = 0.8584
+Query 1/1: Action query time = 1.000 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9998
+t=74: Selected seed 195 with value = 0.9998
+Query 1/1: Action query time = 0.989 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/v2i350_p2_t1_s1/2026_08_03-17_49_39--with_future_img--episode=12--success=True--task=put_the_bowl_on_the_stove.mp4
+Success: True
+# episodes completed so far: 12
+# successes: 9 (75.0%)
+
+Task: put the bowl on the stove
+Starting episode 13...
+Query 1/1: Action query time = 1.881 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6239
+t=10: Selected seed 195 with value = 0.6239
+Query 1/1: Action query time = 1.885 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7303
+t=26: Selected seed 195 with value = 0.7303
+Query 1/1: Action query time = 1.650 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8300
+t=42: Selected seed 195 with value = 0.8300
+Query 1/1: Action query time = 2.092 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9551
+t=58: Selected seed 195 with value = 0.9551
+Query 1/1: Action query time = 1.703 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=74: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 1.666 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/v2i350_p2_t1_s1/2026_08_03-17_49_39--with_future_img--episode=13--success=True--task=put_the_bowl_on_the_stove.mp4
+Success: True
+# episodes completed so far: 13
+# successes: 10 (76.9%)
+Current task success rate: 0.7692307692307693
+Current total success rate: 0.7692307692307693
+Final results:
+Total episodes: 13
+Total successes: 10
+Overall success rate: 0.7692 (76.9%)
diff --git a/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_03-17_49_39--v2i350_p2_t3_s0.txt b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_03-17_49_39--v2i350_p2_t3_s0.txt
new file mode 100644
index 0000000000000000000000000000000000000000..36adbfb423e7cd94c2624e45bedf1a1afbb0cc94
--- /dev/null
+++ b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_03-17_49_39--v2i350_p2_t3_s0.txt
@@ -0,0 +1,751 @@
+Eval config: PolicyEvalConfig(suite='libero', model_family='cosmos', config='cosmos_predict2_2b_480p_libero_cl_stage_inference_only', ckpt_path='/home/azureuser/REGEN-main/new_task7/cosmos_policy/cosmos_v2_finetune/cosmos_predict2_2b_480p_libero_goal_task7_forget_cl_v2_from350_2gpu/checkpoints/iter_000000350/model', planning_model_config_name='', planning_model_ckpt_path='', config_file='cosmos_policy/config/config.py', packnet_mask_path='', packnet_first_cl_libero_task=6, use_third_person_image=True, num_third_person_images=1, use_wrist_image=True, num_wrist_images=1, use_proprio=True, flip_images=True, use_variance_scale=False, use_jpeg_compression=True, ar_future_prediction=False, ar_value_prediction=False, ar_qvalue_prediction=False, num_denoising_steps_action=5, num_denoising_steps_future_state=1, num_denoising_steps_value=1, unnormalize_actions=True, normalize_proprio=True, dataset_stats_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/libero_goal_regen/dataset_statistics.json', t5_text_embeddings_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/t5_embeddings.pkl', trained_with_image_aug=True, chunk_size=16, num_open_loop_steps=16, deterministic=True, deterministic_reset=False, deterministic_reset_seed=None, use_ensemble_future_state_predictions=False, num_future_state_predictions_in_ensemble=3, future_state_ensemble_aggregation_scheme='average', use_ensemble_value_predictions=False, num_value_predictions_in_ensemble=5, value_ensemble_aggregation_scheme='average', search_depth=1, mask_current_state_action_for_value_prediction=False, mask_future_state_for_qvalue_prediction=False, num_queries_best_of_n=1, use_parallel_inference=False, available_gpus='0', parallel_timeout=15, parallel_tasks_across_gpus=False, task_suite_name='libero_goal', num_trials_per_task=50, task_ids_to_run='3', initial_states_path='DEFAULT', env_img_res=256, local_log_dir='/home/azureuser/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal', run_id_note='v2i350_p2_t3_s0', use_wandb=False, wandb_entity='YOUR_ENTITY', wandb_project='YOUR_PROJECT', seed=195, randomize_seed=False, data_collection=False, jpeg_compress=True, reward_stop_threshold=None, reward_stop_consecutive_steps=3, use_gpt_reward=False, gpt_reward_model='gpt-5.4-mini', gpt_reward_stop_threshold=4, gpt_reward_timeout_s=30.0, save_rollout_video=False, eval_hdf5_path='', eval_hdf5_demo_key='demo_0', data_gen_demo_ids='', eval_episode_ids='0,4,8,12,16,20,24,28,32,36,40,44,48', dump_final_states_path='', replay_actions=False, replay_action_path_dir='', replay_hdf5_path='', data_generation=False, max_generation_steps=200, disable_value_stop=False)
+Using serial inference (parallel inference disabled)
+Task suite: libero_goal
+Number of tasks: 10
+Running only task IDs: [3]
+Using default initial states
+
+Task: open the top drawer and put the bowl inside
+Starting episode 1...
+Query 1/1: Action query time = 3.648 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2213
+t=10: Selected seed 195 with value = 0.2213
+Query 1/1: Action query time = 4.560 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2492
+t=26: Selected seed 195 with value = 0.2492
+Query 1/1: Action query time = 4.507 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2994
+t=42: Selected seed 195 with value = 0.2994
+Query 1/1: Action query time = 5.079 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3504
+t=58: Selected seed 195 with value = 0.3504
+Query 1/1: Action query time = 5.311 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4067
+t=74: Selected seed 195 with value = 0.4067
+Query 1/1: Action query time = 4.861 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4737
+t=90: Selected seed 195 with value = 0.4737
+Query 1/1: Action query time = 3.813 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6029
+t=106: Selected seed 195 with value = 0.6029
+Query 1/1: Action query time = 3.737 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7246
+t=122: Selected seed 195 with value = 0.7246
+Query 1/1: Action query time = 4.350 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7955
+t=138: Selected seed 195 with value = 0.7955
+Query 1/1: Action query time = 5.058 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9192
+t=154: Selected seed 195 with value = 0.9192
+Query 1/1: Action query time = 3.478 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9911
+t=170: Selected seed 195 with value = 0.9911
+Saved rollout MP4 at path ./rollouts/v2i350_p2_t3_s0/2026_08_03-17_49_39--with_future_img--episode=1--success=True--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: True
+# episodes completed so far: 1
+# successes: 1 (100.0%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 2...
+Query 1/1: Action query time = 3.963 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2302
+t=10: Selected seed 195 with value = 0.2302
+Query 1/1: Action query time = 3.930 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2587
+t=26: Selected seed 195 with value = 0.2587
+Query 1/1: Action query time = 4.090 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2892
+t=42: Selected seed 195 with value = 0.2892
+Query 1/1: Action query time = 5.005 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3311
+t=58: Selected seed 195 with value = 0.3311
+Query 1/1: Action query time = 5.030 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3831
+t=74: Selected seed 195 with value = 0.3831
+Query 1/1: Action query time = 4.761 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4619
+t=90: Selected seed 195 with value = 0.4619
+Query 1/1: Action query time = 5.584 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5428
+t=106: Selected seed 195 with value = 0.5428
+Query 1/1: Action query time = 4.643 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5911
+t=122: Selected seed 195 with value = 0.5911
+Query 1/1: Action query time = 4.597 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6859
+t=138: Selected seed 195 with value = 0.6859
+Query 1/1: Action query time = 4.721 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8673
+t=154: Selected seed 195 with value = 0.8673
+Query 1/1: Action query time = 5.248 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=170: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.245 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=186: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/v2i350_p2_t3_s0/2026_08_03-17_49_39--with_future_img--episode=2--success=True--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: True
+# episodes completed so far: 2
+# successes: 2 (100.0%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 3...
+Query 1/1: Action query time = 5.165 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2139
+t=10: Selected seed 195 with value = 0.2139
+Query 1/1: Action query time = 3.340 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2420
+t=26: Selected seed 195 with value = 0.2420
+Query 1/1: Action query time = 4.776 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2946
+t=42: Selected seed 195 with value = 0.2946
+Query 1/1: Action query time = 5.354 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3371
+t=58: Selected seed 195 with value = 0.3371
+Query 1/1: Action query time = 5.141 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2959
+t=74: Selected seed 195 with value = 0.2959
+Query 1/1: Action query time = 5.296 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4532
+t=90: Selected seed 195 with value = 0.4532
+Query 1/1: Action query time = 5.161 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5648
+t=106: Selected seed 195 with value = 0.5648
+Query 1/1: Action query time = 4.720 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6599
+t=122: Selected seed 195 with value = 0.6599
+Query 1/1: Action query time = 3.810 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8354
+t=138: Selected seed 195 with value = 0.8354
+Query 1/1: Action query time = 5.288 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8853
+t=154: Selected seed 195 with value = 0.8853
+Query 1/1: Action query time = 4.301 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=170: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/v2i350_p2_t3_s0/2026_08_03-17_49_39--with_future_img--episode=3--success=True--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: True
+# episodes completed so far: 3
+# successes: 3 (100.0%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 4...
+Query 1/1: Action query time = 4.548 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2261
+t=10: Selected seed 195 with value = 0.2261
+Query 1/1: Action query time = 4.501 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2412
+t=26: Selected seed 195 with value = 0.2412
+Query 1/1: Action query time = 3.369 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2988
+t=42: Selected seed 195 with value = 0.2988
+Query 1/1: Action query time = 4.931 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3323
+t=58: Selected seed 195 with value = 0.3323
+Query 1/1: Action query time = 4.751 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3953
+t=74: Selected seed 195 with value = 0.3953
+Query 1/1: Action query time = 4.366 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4571
+t=90: Selected seed 195 with value = 0.4571
+Query 1/1: Action query time = 5.302 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5561
+t=106: Selected seed 195 with value = 0.5561
+Query 1/1: Action query time = 5.258 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6444
+t=122: Selected seed 195 with value = 0.6444
+Query 1/1: Action query time = 4.927 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7704
+t=138: Selected seed 195 with value = 0.7704
+Query 1/1: Action query time = 5.234 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9140
+t=154: Selected seed 195 with value = 0.9140
+Query 1/1: Action query time = 4.226 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9922
+t=170: Selected seed 195 with value = 0.9922
+Saved rollout MP4 at path ./rollouts/v2i350_p2_t3_s0/2026_08_03-17_49_39--with_future_img--episode=4--success=True--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: True
+# episodes completed so far: 4
+# successes: 4 (100.0%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 5...
+Query 1/1: Action query time = 3.465 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2197
+t=10: Selected seed 195 with value = 0.2197
+Query 1/1: Action query time = 5.703 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2661
+t=26: Selected seed 195 with value = 0.2661
+Query 1/1: Action query time = 5.593 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2930
+t=42: Selected seed 195 with value = 0.2930
+Query 1/1: Action query time = 4.880 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3352
+t=58: Selected seed 195 with value = 0.3352
+Query 1/1: Action query time = 4.967 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3893
+t=74: Selected seed 195 with value = 0.3893
+Query 1/1: Action query time = 4.646 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4585
+t=90: Selected seed 195 with value = 0.4585
+Query 1/1: Action query time = 4.462 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5639
+t=106: Selected seed 195 with value = 0.5639
+Query 1/1: Action query time = 3.603 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6760
+t=122: Selected seed 195 with value = 0.6760
+Query 1/1: Action query time = 4.786 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6357
+t=138: Selected seed 195 with value = 0.6357
+Query 1/1: Action query time = 4.581 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8245
+t=154: Selected seed 195 with value = 0.8245
+Query 1/1: Action query time = 3.033 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9620
+t=170: Selected seed 195 with value = 0.9620
+Query 1/1: Action query time = 5.042 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=186: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/v2i350_p2_t3_s0/2026_08_03-17_49_39--with_future_img--episode=5--success=True--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: True
+# episodes completed so far: 5
+# successes: 5 (100.0%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 6...
+Query 1/1: Action query time = 4.363 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2241
+t=10: Selected seed 195 with value = 0.2241
+Query 1/1: Action query time = 4.605 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2647
+t=26: Selected seed 195 with value = 0.2647
+Query 1/1: Action query time = 4.986 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2897
+t=42: Selected seed 195 with value = 0.2897
+Query 1/1: Action query time = 4.808 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3296
+t=58: Selected seed 195 with value = 0.3296
+Query 1/1: Action query time = 4.714 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3978
+t=74: Selected seed 195 with value = 0.3978
+Query 1/1: Action query time = 5.338 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4612
+t=90: Selected seed 195 with value = 0.4612
+Query 1/1: Action query time = 4.756 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5585
+t=106: Selected seed 195 with value = 0.5585
+Query 1/1: Action query time = 4.257 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5755
+t=122: Selected seed 195 with value = 0.5755
+Query 1/1: Action query time = 4.375 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6507
+t=138: Selected seed 195 with value = 0.6507
+Query 1/1: Action query time = 4.883 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8735
+t=154: Selected seed 195 with value = 0.8735
+Query 1/1: Action query time = 4.045 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9922
+t=170: Selected seed 195 with value = 0.9922
+Saved rollout MP4 at path ./rollouts/v2i350_p2_t3_s0/2026_08_03-17_49_39--with_future_img--episode=6--success=True--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: True
+# episodes completed so far: 6
+# successes: 6 (100.0%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 7...
+Query 1/1: Action query time = 4.908 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2117
+t=10: Selected seed 195 with value = 0.2117
+Query 1/1: Action query time = 5.075 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2536
+t=26: Selected seed 195 with value = 0.2536
+Query 1/1: Action query time = 4.739 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2946
+t=42: Selected seed 195 with value = 0.2946
+Query 1/1: Action query time = 5.329 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3299
+t=58: Selected seed 195 with value = 0.3299
+Query 1/1: Action query time = 5.315 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3828
+t=74: Selected seed 195 with value = 0.3828
+Query 1/1: Action query time = 4.833 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4550
+t=90: Selected seed 195 with value = 0.4550
+Query 1/1: Action query time = 5.161 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5564
+t=106: Selected seed 195 with value = 0.5564
+Query 1/1: Action query time = 4.537 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6309
+t=122: Selected seed 195 with value = 0.6309
+Query 1/1: Action query time = 2.909 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8372
+t=138: Selected seed 195 with value = 0.8372
+Query 1/1: Action query time = 4.113 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8967
+t=154: Selected seed 195 with value = 0.8967
+Query 1/1: Action query time = 5.061 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=170: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/v2i350_p2_t3_s0/2026_08_03-17_49_39--with_future_img--episode=7--success=True--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: True
+# episodes completed so far: 7
+# successes: 7 (100.0%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 8...
+Query 1/1: Action query time = 5.922 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2390
+t=10: Selected seed 195 with value = 0.2390
+Query 1/1: Action query time = 4.475 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2421
+t=26: Selected seed 195 with value = 0.2421
+Query 1/1: Action query time = 4.220 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3091
+t=42: Selected seed 195 with value = 0.3091
+Query 1/1: Action query time = 4.827 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3553
+t=58: Selected seed 195 with value = 0.3553
+Query 1/1: Action query time = 3.148 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4131
+t=74: Selected seed 195 with value = 0.4131
+Query 1/1: Action query time = 4.452 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4812
+t=90: Selected seed 195 with value = 0.4812
+Query 1/1: Action query time = 5.316 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5879
+t=106: Selected seed 195 with value = 0.5879
+Query 1/1: Action query time = 5.256 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6631
+t=122: Selected seed 195 with value = 0.6631
+Query 1/1: Action query time = 4.163 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7796
+t=138: Selected seed 195 with value = 0.7796
+Query 1/1: Action query time = 4.802 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9261
+t=154: Selected seed 195 with value = 0.9261
+Query 1/1: Action query time = 4.055 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9962
+t=170: Selected seed 195 with value = 0.9962
+Saved rollout MP4 at path ./rollouts/v2i350_p2_t3_s0/2026_08_03-17_49_39--with_future_img--episode=8--success=True--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: True
+# episodes completed so far: 8
+# successes: 8 (100.0%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 9...
+Query 1/1: Action query time = 5.101 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2169
+t=10: Selected seed 195 with value = 0.2169
+Query 1/1: Action query time = 4.056 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2578
+t=26: Selected seed 195 with value = 0.2578
+Query 1/1: Action query time = 4.857 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2963
+t=42: Selected seed 195 with value = 0.2963
+Query 1/1: Action query time = 4.650 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3364
+t=58: Selected seed 195 with value = 0.3364
+Query 1/1: Action query time = 5.106 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3898
+t=74: Selected seed 195 with value = 0.3898
+Query 1/1: Action query time = 4.999 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4527
+t=90: Selected seed 195 with value = 0.4527
+Query 1/1: Action query time = 4.703 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5479
+t=106: Selected seed 195 with value = 0.5479
+Query 1/1: Action query time = 3.928 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5994
+t=122: Selected seed 195 with value = 0.5994
+Query 1/1: Action query time = 3.083 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7282
+t=138: Selected seed 195 with value = 0.7282
+Query 1/1: Action query time = 3.259 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8658
+t=154: Selected seed 195 with value = 0.8658
+Query 1/1: Action query time = 3.764 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9907
+t=170: Selected seed 195 with value = 0.9907
+Query 1/1: Action query time = 3.727 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9495
+t=186: Selected seed 195 with value = 0.9495
+Query 1/1: Action query time = 3.789 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9517
+t=202: Selected seed 195 with value = 0.9517
+Query 1/1: Action query time = 4.075 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6147
+t=218: Selected seed 195 with value = 0.6147
+Query 1/1: Action query time = 3.758 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3305
+t=234: Selected seed 195 with value = 0.3305
+Query 1/1: Action query time = 3.678 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9138
+t=250: Selected seed 195 with value = 0.9138
+Query 1/1: Action query time = 3.535 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9132
+t=266: Selected seed 195 with value = 0.9132
+Query 1/1: Action query time = 3.574 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9130
+t=282: Selected seed 195 with value = 0.9130
+Query 1/1: Action query time = 3.131 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9099
+t=298: Selected seed 195 with value = 0.9099
+Saved rollout MP4 at path ./rollouts/v2i350_p2_t3_s0/2026_08_03-17_49_39--with_future_img--episode=9--success=False--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: False
+# episodes completed so far: 9
+# successes: 8 (88.9%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 10...
+Query 1/1: Action query time = 2.623 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2068
+t=10: Selected seed 195 with value = 0.2068
+Query 1/1: Action query time = 3.531 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2349
+t=26: Selected seed 195 with value = 0.2349
+Query 1/1: Action query time = 2.583 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.1891
+t=42: Selected seed 195 with value = 0.1891
+Query 1/1: Action query time = 2.655 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3365
+t=58: Selected seed 195 with value = 0.3365
+Query 1/1: Action query time = 2.779 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4027
+t=74: Selected seed 195 with value = 0.4027
+Query 1/1: Action query time = 3.207 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4603
+t=90: Selected seed 195 with value = 0.4603
+Query 1/1: Action query time = 3.518 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5972
+t=106: Selected seed 195 with value = 0.5972
+Query 1/1: Action query time = 3.598 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7014
+t=122: Selected seed 195 with value = 0.7014
+Query 1/1: Action query time = 3.587 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8312
+t=138: Selected seed 195 with value = 0.8312
+Query 1/1: Action query time = 3.526 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9098
+t=154: Selected seed 195 with value = 0.9098
+Query 1/1: Action query time = 2.007 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=170: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/v2i350_p2_t3_s0/2026_08_03-17_49_39--with_future_img--episode=10--success=True--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: True
+# episodes completed so far: 10
+# successes: 9 (90.0%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 11...
+Query 1/1: Action query time = 2.322 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2190
+t=10: Selected seed 195 with value = 0.2190
+Query 1/1: Action query time = 2.351 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2409
+t=26: Selected seed 195 with value = 0.2409
+Query 1/1: Action query time = 2.404 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2962
+t=42: Selected seed 195 with value = 0.2962
+Query 1/1: Action query time = 2.435 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3328
+t=58: Selected seed 195 with value = 0.3328
+Query 1/1: Action query time = 2.432 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3810
+t=74: Selected seed 195 with value = 0.3810
+Query 1/1: Action query time = 2.457 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4456
+t=90: Selected seed 195 with value = 0.4456
+Query 1/1: Action query time = 2.449 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5631
+t=106: Selected seed 195 with value = 0.5631
+Query 1/1: Action query time = 2.422 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6575
+t=122: Selected seed 195 with value = 0.6575
+Query 1/1: Action query time = 2.446 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7657
+t=138: Selected seed 195 with value = 0.7657
+Query 1/1: Action query time = 1.600 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8721
+t=154: Selected seed 195 with value = 0.8721
+Query 1/1: Action query time = 1.586 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9710
+t=170: Selected seed 195 with value = 0.9710
+Query 1/1: Action query time = 2.108 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=186: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/v2i350_p2_t3_s0/2026_08_03-17_49_39--with_future_img--episode=11--success=True--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: True
+# episodes completed so far: 11
+# successes: 10 (90.9%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 12...
+Query 1/1: Action query time = 1.795 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2250
+t=10: Selected seed 195 with value = 0.2250
+Query 1/1: Action query time = 1.810 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2344
+t=26: Selected seed 195 with value = 0.2344
+Query 1/1: Action query time = 1.823 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3067
+t=42: Selected seed 195 with value = 0.3067
+Query 1/1: Action query time = 1.835 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3515
+t=58: Selected seed 195 with value = 0.3515
+Query 1/1: Action query time = 1.499 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4026
+t=74: Selected seed 195 with value = 0.4026
+Query 1/1: Action query time = 1.720 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4539
+t=90: Selected seed 195 with value = 0.4539
+Query 1/1: Action query time = 1.774 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5711
+t=106: Selected seed 195 with value = 0.5711
+Query 1/1: Action query time = 1.000 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6665
+t=122: Selected seed 195 with value = 0.6665
+Query 1/1: Action query time = 1.438 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7664
+t=138: Selected seed 195 with value = 0.7664
+Query 1/1: Action query time = 1.412 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8637
+t=154: Selected seed 195 with value = 0.8637
+Query 1/1: Action query time = 1.407 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9594
+t=170: Selected seed 195 with value = 0.9594
+Query 1/1: Action query time = 1.377 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9668
+t=186: Selected seed 195 with value = 0.9668
+Query 1/1: Action query time = 1.391 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9499
+t=202: Selected seed 195 with value = 0.9499
+Query 1/1: Action query time = 1.396 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9560
+t=218: Selected seed 195 with value = 0.9560
+Query 1/1: Action query time = 1.361 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9592
+t=234: Selected seed 195 with value = 0.9592
+Query 1/1: Action query time = 1.355 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3921
+t=250: Selected seed 195 with value = 0.3921
+Query 1/1: Action query time = 1.472 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3425
+t=266: Selected seed 195 with value = 0.3425
+Query 1/1: Action query time = 1.476 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9171
+t=282: Selected seed 195 with value = 0.9171
+Query 1/1: Action query time = 1.504 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9480
+t=298: Selected seed 195 with value = 0.9480
+Saved rollout MP4 at path ./rollouts/v2i350_p2_t3_s0/2026_08_03-17_49_39--with_future_img--episode=12--success=False--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: False
+# episodes completed so far: 12
+# successes: 10 (83.3%)
+
+Task: open the top drawer and put the bowl inside
+Starting episode 13...
+Query 1/1: Action query time = 1.233 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2112
+t=10: Selected seed 195 with value = 0.2112
+Query 1/1: Action query time = 1.264 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.2472
+t=26: Selected seed 195 with value = 0.2472
+Query 1/1: Action query time = 1.247 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3051
+t=42: Selected seed 195 with value = 0.3051
+Query 1/1: Action query time = 1.242 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3562
+t=58: Selected seed 195 with value = 0.3562
+Query 1/1: Action query time = 1.252 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4147
+t=74: Selected seed 195 with value = 0.4147
+Query 1/1: Action query time = 1.123 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4896
+t=90: Selected seed 195 with value = 0.4896
+Query 1/1: Action query time = 1.191 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6048
+t=106: Selected seed 195 with value = 0.6048
+Query 1/1: Action query time = 1.223 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7693
+t=122: Selected seed 195 with value = 0.7693
+Query 1/1: Action query time = 1.241 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8047
+t=138: Selected seed 195 with value = 0.8047
+Query 1/1: Action query time = 1.109 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9484
+t=154: Selected seed 195 with value = 0.9484
+Query 1/1: Action query time = 0.990 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9890
+t=170: Selected seed 195 with value = 0.9890
+Saved rollout MP4 at path ./rollouts/v2i350_p2_t3_s0/2026_08_03-17_49_39--with_future_img--episode=13--success=True--task=open_the_top_drawer_and_put_the_bow.mp4
+Success: True
+# episodes completed so far: 13
+# successes: 11 (84.6%)
+Current task success rate: 0.8461538461538461
+Current total success rate: 0.8461538461538461
+Final results:
+Total episodes: 13
+Total successes: 11
+Overall success rate: 0.8462 (84.6%)
diff --git a/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_03-17_49_40--v2i350_p2_t2_s2.txt b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_03-17_49_40--v2i350_p2_t2_s2.txt
new file mode 100644
index 0000000000000000000000000000000000000000..b8bf10117e2e48858a2a6803f3f6a641dcbc6117
--- /dev/null
+++ b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_03-17_49_40--v2i350_p2_t2_s2.txt
@@ -0,0 +1,500 @@
+Eval config: PolicyEvalConfig(suite='libero', model_family='cosmos', config='cosmos_predict2_2b_480p_libero_cl_stage_inference_only', ckpt_path='/home/azureuser/REGEN-main/new_task7/cosmos_policy/cosmos_v2_finetune/cosmos_predict2_2b_480p_libero_goal_task7_forget_cl_v2_from350_2gpu/checkpoints/iter_000000350/model', planning_model_config_name='', planning_model_ckpt_path='', config_file='cosmos_policy/config/config.py', packnet_mask_path='', packnet_first_cl_libero_task=6, use_third_person_image=True, num_third_person_images=1, use_wrist_image=True, num_wrist_images=1, use_proprio=True, flip_images=True, use_variance_scale=False, use_jpeg_compression=True, ar_future_prediction=False, ar_value_prediction=False, ar_qvalue_prediction=False, num_denoising_steps_action=5, num_denoising_steps_future_state=1, num_denoising_steps_value=1, unnormalize_actions=True, normalize_proprio=True, dataset_stats_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/libero_goal_regen/dataset_statistics.json', t5_text_embeddings_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/t5_embeddings.pkl', trained_with_image_aug=True, chunk_size=16, num_open_loop_steps=16, deterministic=True, deterministic_reset=False, deterministic_reset_seed=None, use_ensemble_future_state_predictions=False, num_future_state_predictions_in_ensemble=3, future_state_ensemble_aggregation_scheme='average', use_ensemble_value_predictions=False, num_value_predictions_in_ensemble=5, value_ensemble_aggregation_scheme='average', search_depth=1, mask_current_state_action_for_value_prediction=False, mask_future_state_for_qvalue_prediction=False, num_queries_best_of_n=1, use_parallel_inference=False, available_gpus='0', parallel_timeout=15, parallel_tasks_across_gpus=False, task_suite_name='libero_goal', num_trials_per_task=50, task_ids_to_run='2', initial_states_path='DEFAULT', env_img_res=256, local_log_dir='/home/azureuser/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal', run_id_note='v2i350_p2_t2_s2', use_wandb=False, wandb_entity='YOUR_ENTITY', wandb_project='YOUR_PROJECT', seed=195, randomize_seed=False, data_collection=False, jpeg_compress=True, reward_stop_threshold=None, reward_stop_consecutive_steps=3, use_gpt_reward=False, gpt_reward_model='gpt-5.4-mini', gpt_reward_stop_threshold=4, gpt_reward_timeout_s=30.0, save_rollout_video=False, eval_hdf5_path='', eval_hdf5_demo_key='demo_0', data_gen_demo_ids='', eval_episode_ids='2,6,10,14,18,22,26,30,34,38,42,46', dump_final_states_path='', replay_actions=False, replay_action_path_dir='', replay_hdf5_path='', data_generation=False, max_generation_steps=200, disable_value_stop=False)
+Using serial inference (parallel inference disabled)
+Task suite: libero_goal
+Number of tasks: 10
+Running only task IDs: [2]
+Using default initial states
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 1...
+Query 1/1: Action query time = 3.346 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5617
+t=10: Selected seed 195 with value = 0.5617
+Query 1/1: Action query time = 3.861 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6210
+t=26: Selected seed 195 with value = 0.6210
+Query 1/1: Action query time = 4.583 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7305
+t=42: Selected seed 195 with value = 0.7305
+Query 1/1: Action query time = 5.286 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8550
+t=58: Selected seed 195 with value = 0.8550
+Query 1/1: Action query time = 5.144 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9744
+t=74: Selected seed 195 with value = 0.9744
+Query 1/1: Action query time = 4.730 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/v2i350_p2_t2_s2/2026_08_03-17_49_40--with_future_img--episode=1--success=True--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: True
+# episodes completed so far: 1
+# successes: 1 (100.0%)
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 2...
+Query 1/1: Action query time = 3.033 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5074
+t=10: Selected seed 195 with value = 0.5074
+Query 1/1: Action query time = 4.761 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6860
+t=26: Selected seed 195 with value = 0.6860
+Query 1/1: Action query time = 4.651 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7871
+t=42: Selected seed 195 with value = 0.7871
+Query 1/1: Action query time = 4.214 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8834
+t=58: Selected seed 195 with value = 0.8834
+Query 1/1: Action query time = 4.533 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9834
+t=74: Selected seed 195 with value = 0.9834
+Query 1/1: Action query time = 4.124 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/v2i350_p2_t2_s2/2026_08_03-17_49_40--with_future_img--episode=2--success=True--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: True
+# episodes completed so far: 2
+# successes: 2 (100.0%)
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 3...
+Query 1/1: Action query time = 3.677 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5522
+t=10: Selected seed 195 with value = 0.5522
+Query 1/1: Action query time = 4.010 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6729
+t=26: Selected seed 195 with value = 0.6729
+Query 1/1: Action query time = 5.587 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7747
+t=42: Selected seed 195 with value = 0.7747
+Query 1/1: Action query time = 5.251 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9040
+t=58: Selected seed 195 with value = 0.9040
+Query 1/1: Action query time = 4.502 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9858
+t=74: Selected seed 195 with value = 0.9858
+Query 1/1: Action query time = 4.633 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/v2i350_p2_t2_s2/2026_08_03-17_49_40--with_future_img--episode=3--success=True--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: True
+# episodes completed so far: 3
+# successes: 3 (100.0%)
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 4...
+Query 1/1: Action query time = 4.689 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5798
+t=10: Selected seed 195 with value = 0.5798
+Query 1/1: Action query time = 4.810 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6997
+t=26: Selected seed 195 with value = 0.6997
+Query 1/1: Action query time = 5.519 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8211
+t=42: Selected seed 195 with value = 0.8211
+Query 1/1: Action query time = 4.126 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9735
+t=58: Selected seed 195 with value = 0.9735
+Query 1/1: Action query time = 4.127 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=74: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 5.020 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/v2i350_p2_t2_s2/2026_08_03-17_49_40--with_future_img--episode=4--success=True--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: True
+# episodes completed so far: 4
+# successes: 4 (100.0%)
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 5...
+Query 1/1: Action query time = 4.691 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5831
+t=10: Selected seed 195 with value = 0.5831
+Query 1/1: Action query time = 5.260 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6740
+t=26: Selected seed 195 with value = 0.6740
+Query 1/1: Action query time = 4.502 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8011
+t=42: Selected seed 195 with value = 0.8011
+Query 1/1: Action query time = 5.087 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9346
+t=58: Selected seed 195 with value = 0.9346
+Query 1/1: Action query time = 4.314 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=74: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.956 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/v2i350_p2_t2_s2/2026_08_03-17_49_40--with_future_img--episode=5--success=True--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: True
+# episodes completed so far: 5
+# successes: 5 (100.0%)
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 6...
+Query 1/1: Action query time = 5.233 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5387
+t=10: Selected seed 195 with value = 0.5387
+Query 1/1: Action query time = 4.630 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6525
+t=26: Selected seed 195 with value = 0.6525
+Query 1/1: Action query time = 3.490 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7553
+t=42: Selected seed 195 with value = 0.7553
+Query 1/1: Action query time = 3.241 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8950
+t=58: Selected seed 195 with value = 0.8950
+Query 1/1: Action query time = 3.555 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9812
+t=74: Selected seed 195 with value = 0.9812
+Query 1/1: Action query time = 5.216 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/v2i350_p2_t2_s2/2026_08_03-17_49_40--with_future_img--episode=6--success=True--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: True
+# episodes completed so far: 6
+# successes: 6 (100.0%)
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 7...
+Query 1/1: Action query time = 4.107 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5250
+t=10: Selected seed 195 with value = 0.5250
+Query 1/1: Action query time = 4.328 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5748
+t=26: Selected seed 195 with value = 0.5748
+Query 1/1: Action query time = 4.854 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7212
+t=42: Selected seed 195 with value = 0.7212
+Query 1/1: Action query time = 4.514 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8082
+t=58: Selected seed 195 with value = 0.8082
+Query 1/1: Action query time = 5.065 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9217
+t=74: Selected seed 195 with value = 0.9217
+Query 1/1: Action query time = 5.532 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9965
+t=90: Selected seed 195 with value = 0.9965
+Query 1/1: Action query time = 4.448 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=106: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.903 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=122: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 3.698 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=138: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 2.539 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9985
+t=154: Selected seed 195 with value = 0.9985
+Query 1/1: Action query time = 3.830 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=170: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 5.224 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=186: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 5.860 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=202: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 5.582 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=218: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 5.123 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=234: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 5.009 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=250: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.164 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9925
+t=266: Selected seed 195 with value = 0.9925
+Query 1/1: Action query time = 4.392 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8860
+t=282: Selected seed 195 with value = 0.8860
+Query 1/1: Action query time = 4.698 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8529
+t=298: Selected seed 195 with value = 0.8529
+Saved rollout MP4 at path ./rollouts/v2i350_p2_t2_s2/2026_08_03-17_49_40--with_future_img--episode=7--success=False--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: False
+# episodes completed so far: 7
+# successes: 6 (85.7%)
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 8...
+Query 1/1: Action query time = 4.884 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5657
+t=10: Selected seed 195 with value = 0.5657
+Query 1/1: Action query time = 3.298 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6917
+t=26: Selected seed 195 with value = 0.6917
+Query 1/1: Action query time = 4.022 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8169
+t=42: Selected seed 195 with value = 0.8169
+Query 1/1: Action query time = 4.040 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9388
+t=58: Selected seed 195 with value = 0.9388
+Query 1/1: Action query time = 5.656 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9883
+t=74: Selected seed 195 with value = 0.9883
+Query 1/1: Action query time = 4.897 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/v2i350_p2_t2_s2/2026_08_03-17_49_40--with_future_img--episode=8--success=True--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: True
+# episodes completed so far: 8
+# successes: 7 (87.5%)
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 9...
+Query 1/1: Action query time = 4.954 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5483
+t=10: Selected seed 195 with value = 0.5483
+Query 1/1: Action query time = 5.231 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6663
+t=26: Selected seed 195 with value = 0.6663
+Query 1/1: Action query time = 4.508 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7463
+t=42: Selected seed 195 with value = 0.7463
+Query 1/1: Action query time = 4.301 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8851
+t=58: Selected seed 195 with value = 0.8851
+Query 1/1: Action query time = 3.821 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9816
+t=74: Selected seed 195 with value = 0.9816
+Query 1/1: Action query time = 4.249 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/v2i350_p2_t2_s2/2026_08_03-17_49_40--with_future_img--episode=9--success=True--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: True
+# episodes completed so far: 9
+# successes: 8 (88.9%)
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 10...
+Query 1/1: Action query time = 2.560 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5908
+t=10: Selected seed 195 with value = 0.5908
+Query 1/1: Action query time = 4.453 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6871
+t=26: Selected seed 195 with value = 0.6871
+Query 1/1: Action query time = 4.833 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7989
+t=42: Selected seed 195 with value = 0.7989
+Query 1/1: Action query time = 5.047 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8668
+t=58: Selected seed 195 with value = 0.8668
+Query 1/1: Action query time = 4.484 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9740
+t=74: Selected seed 195 with value = 0.9740
+Query 1/1: Action query time = 5.256 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9983
+t=90: Selected seed 195 with value = 0.9983
+Query 1/1: Action query time = 5.476 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9762
+t=106: Selected seed 195 with value = 0.9762
+Query 1/1: Action query time = 4.372 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9789
+t=122: Selected seed 195 with value = 0.9789
+Query 1/1: Action query time = 4.632 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=138: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.733 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=154: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 2.103 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=170: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 3.619 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=186: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 3.707 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9981
+t=202: Selected seed 195 with value = 0.9981
+Query 1/1: Action query time = 4.474 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9893
+t=218: Selected seed 195 with value = 0.9893
+Query 1/1: Action query time = 5.061 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9757
+t=234: Selected seed 195 with value = 0.9757
+Query 1/1: Action query time = 6.050 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9644
+t=250: Selected seed 195 with value = 0.9644
+Query 1/1: Action query time = 4.311 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9566
+t=266: Selected seed 195 with value = 0.9566
+Query 1/1: Action query time = 4.011 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9457
+t=282: Selected seed 195 with value = 0.9457
+Query 1/1: Action query time = 4.840 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9389
+t=298: Selected seed 195 with value = 0.9389
+Saved rollout MP4 at path ./rollouts/v2i350_p2_t2_s2/2026_08_03-17_49_40--with_future_img--episode=10--success=False--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: False
+# episodes completed so far: 10
+# successes: 8 (80.0%)
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 11...
+Query 1/1: Action query time = 3.224 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5706
+t=10: Selected seed 195 with value = 0.5706
+Query 1/1: Action query time = 4.007 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6576
+t=26: Selected seed 195 with value = 0.6576
+Query 1/1: Action query time = 4.848 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7585
+t=42: Selected seed 195 with value = 0.7585
+Query 1/1: Action query time = 3.819 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9065
+t=58: Selected seed 195 with value = 0.9065
+Query 1/1: Action query time = 4.686 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9860
+t=74: Selected seed 195 with value = 0.9860
+Query 1/1: Action query time = 3.914 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 2.659 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=106: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/v2i350_p2_t2_s2/2026_08_03-17_49_40--with_future_img--episode=11--success=True--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: True
+# episodes completed so far: 11
+# successes: 9 (81.8%)
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 12...
+Query 1/1: Action query time = 5.308 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5649
+t=10: Selected seed 195 with value = 0.5649
+Query 1/1: Action query time = 5.582 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6452
+t=26: Selected seed 195 with value = 0.6452
+Query 1/1: Action query time = 4.865 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7861
+t=42: Selected seed 195 with value = 0.7861
+Query 1/1: Action query time = 4.105 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9260
+t=58: Selected seed 195 with value = 0.9260
+Query 1/1: Action query time = 4.775 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8658
+t=74: Selected seed 195 with value = 0.8658
+Query 1/1: Action query time = 4.379 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8599
+t=90: Selected seed 195 with value = 0.8599
+Query 1/1: Action query time = 4.363 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9505
+t=106: Selected seed 195 with value = 0.9505
+Query 1/1: Action query time = 3.837 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9898
+t=122: Selected seed 195 with value = 0.9898
+Saved rollout MP4 at path ./rollouts/v2i350_p2_t2_s2/2026_08_03-17_49_40--with_future_img--episode=12--success=True--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: True
+# episodes completed so far: 12
+# successes: 10 (83.3%)
+Current task success rate: 0.8333333333333334
+Current total success rate: 0.8333333333333334
+Final results:
+Total episodes: 12
+Total successes: 10
+Overall success rate: 0.8333 (83.3%)
diff --git a/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_03-18_02_50--v2i350_p2_t4_s2.txt b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_03-18_02_50--v2i350_p2_t4_s2.txt
new file mode 100644
index 0000000000000000000000000000000000000000..4e1455d8998731e528fba57ceaf9fee74f8db235
--- /dev/null
+++ b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_03-18_02_50--v2i350_p2_t4_s2.txt
@@ -0,0 +1,392 @@
+Eval config: PolicyEvalConfig(suite='libero', model_family='cosmos', config='cosmos_predict2_2b_480p_libero_cl_stage_inference_only', ckpt_path='/home/azureuser/REGEN-main/new_task7/cosmos_policy/cosmos_v2_finetune/cosmos_predict2_2b_480p_libero_goal_task7_forget_cl_v2_from350_2gpu/checkpoints/iter_000000350/model', planning_model_config_name='', planning_model_ckpt_path='', config_file='cosmos_policy/config/config.py', packnet_mask_path='', packnet_first_cl_libero_task=6, use_third_person_image=True, num_third_person_images=1, use_wrist_image=True, num_wrist_images=1, use_proprio=True, flip_images=True, use_variance_scale=False, use_jpeg_compression=True, ar_future_prediction=False, ar_value_prediction=False, ar_qvalue_prediction=False, num_denoising_steps_action=5, num_denoising_steps_future_state=1, num_denoising_steps_value=1, unnormalize_actions=True, normalize_proprio=True, dataset_stats_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/libero_goal_regen/dataset_statistics.json', t5_text_embeddings_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/t5_embeddings.pkl', trained_with_image_aug=True, chunk_size=16, num_open_loop_steps=16, deterministic=True, deterministic_reset=False, deterministic_reset_seed=None, use_ensemble_future_state_predictions=False, num_future_state_predictions_in_ensemble=3, future_state_ensemble_aggregation_scheme='average', use_ensemble_value_predictions=False, num_value_predictions_in_ensemble=5, value_ensemble_aggregation_scheme='average', search_depth=1, mask_current_state_action_for_value_prediction=False, mask_future_state_for_qvalue_prediction=False, num_queries_best_of_n=1, use_parallel_inference=False, available_gpus='0', parallel_timeout=15, parallel_tasks_across_gpus=False, task_suite_name='libero_goal', num_trials_per_task=50, task_ids_to_run='4', initial_states_path='DEFAULT', env_img_res=256, local_log_dir='/home/azureuser/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal', run_id_note='v2i350_p2_t4_s2', use_wandb=False, wandb_entity='YOUR_ENTITY', wandb_project='YOUR_PROJECT', seed=195, randomize_seed=False, data_collection=False, jpeg_compress=True, reward_stop_threshold=None, reward_stop_consecutive_steps=3, use_gpt_reward=False, gpt_reward_model='gpt-5.4-mini', gpt_reward_stop_threshold=4, gpt_reward_timeout_s=30.0, save_rollout_video=False, eval_hdf5_path='', eval_hdf5_demo_key='demo_0', data_gen_demo_ids='', eval_episode_ids='2,6,10,14,18,22,26,30,34,38,42,46', dump_final_states_path='', replay_actions=False, replay_action_path_dir='', replay_hdf5_path='', data_generation=False, max_generation_steps=200, disable_value_stop=False)
+Using serial inference (parallel inference disabled)
+Task suite: libero_goal
+Number of tasks: 10
+Running only task IDs: [4]
+Using default initial states
+
+Task: put the bowl on top of the cabinet
+Starting episode 1...
+Query 1/1: Action query time = 3.161 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5834
+t=10: Selected seed 195 with value = 0.5834
+Query 1/1: Action query time = 4.441 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6925
+t=26: Selected seed 195 with value = 0.6925
+Query 1/1: Action query time = 4.612 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7954
+t=42: Selected seed 195 with value = 0.7954
+Query 1/1: Action query time = 5.604 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9013
+t=58: Selected seed 195 with value = 0.9013
+Query 1/1: Action query time = 5.038 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9855
+t=74: Selected seed 195 with value = 0.9855
+Query 1/1: Action query time = 4.963 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.076 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=106: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/v2i350_p2_t4_s2/2026_08_03-18_02_50--with_future_img--episode=1--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Success: True
+# episodes completed so far: 1
+# successes: 1 (100.0%)
+
+Task: put the bowl on top of the cabinet
+Starting episode 2...
+Query 1/1: Action query time = 5.271 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5776
+t=10: Selected seed 195 with value = 0.5776
+Query 1/1: Action query time = 4.311 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7093
+t=26: Selected seed 195 with value = 0.7093
+Query 1/1: Action query time = 3.420 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8227
+t=42: Selected seed 195 with value = 0.8227
+Query 1/1: Action query time = 4.006 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9328
+t=58: Selected seed 195 with value = 0.9328
+Query 1/1: Action query time = 5.534 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=74: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.930 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/v2i350_p2_t4_s2/2026_08_03-18_02_50--with_future_img--episode=2--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Success: True
+# episodes completed so far: 2
+# successes: 2 (100.0%)
+
+Task: put the bowl on top of the cabinet
+Starting episode 3...
+Query 1/1: Action query time = 4.674 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5810
+t=10: Selected seed 195 with value = 0.5810
+Query 1/1: Action query time = 4.832 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6893
+t=26: Selected seed 195 with value = 0.6893
+Query 1/1: Action query time = 4.962 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7547
+t=42: Selected seed 195 with value = 0.7547
+Query 1/1: Action query time = 5.190 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9133
+t=58: Selected seed 195 with value = 0.9133
+Query 1/1: Action query time = 4.066 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=74: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 2.715 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/v2i350_p2_t4_s2/2026_08_03-18_02_50--with_future_img--episode=3--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Success: True
+# episodes completed so far: 3
+# successes: 3 (100.0%)
+
+Task: put the bowl on top of the cabinet
+Starting episode 4...
+Query 1/1: Action query time = 4.954 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5619
+t=10: Selected seed 195 with value = 0.5619
+Query 1/1: Action query time = 4.882 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6907
+t=26: Selected seed 195 with value = 0.6907
+Query 1/1: Action query time = 4.843 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7902
+t=42: Selected seed 195 with value = 0.7902
+Query 1/1: Action query time = 4.372 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9209
+t=58: Selected seed 195 with value = 0.9209
+Query 1/1: Action query time = 5.144 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9992
+t=74: Selected seed 195 with value = 0.9992
+Query 1/1: Action query time = 4.015 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/v2i350_p2_t4_s2/2026_08_03-18_02_50--with_future_img--episode=4--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Success: True
+# episodes completed so far: 4
+# successes: 4 (100.0%)
+
+Task: put the bowl on top of the cabinet
+Starting episode 5...
+Query 1/1: Action query time = 4.884 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5538
+t=10: Selected seed 195 with value = 0.5538
+Query 1/1: Action query time = 5.102 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6270
+t=26: Selected seed 195 with value = 0.6270
+Query 1/1: Action query time = 5.231 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7413
+t=42: Selected seed 195 with value = 0.7413
+Query 1/1: Action query time = 4.243 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8736
+t=58: Selected seed 195 with value = 0.8736
+Query 1/1: Action query time = 4.966 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9814
+t=74: Selected seed 195 with value = 0.9814
+Query 1/1: Action query time = 4.381 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.509 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=106: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/v2i350_p2_t4_s2/2026_08_03-18_02_50--with_future_img--episode=5--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Success: True
+# episodes completed so far: 5
+# successes: 5 (100.0%)
+
+Task: put the bowl on top of the cabinet
+Starting episode 6...
+Query 1/1: Action query time = 5.249 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5732
+t=10: Selected seed 195 with value = 0.5732
+Query 1/1: Action query time = 4.473 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7097
+t=26: Selected seed 195 with value = 0.7097
+Query 1/1: Action query time = 3.757 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8173
+t=42: Selected seed 195 with value = 0.8173
+Query 1/1: Action query time = 3.118 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9470
+t=58: Selected seed 195 with value = 0.9470
+Query 1/1: Action query time = 4.961 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=74: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 5.009 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/v2i350_p2_t4_s2/2026_08_03-18_02_50--with_future_img--episode=6--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Success: True
+# episodes completed so far: 6
+# successes: 6 (100.0%)
+
+Task: put the bowl on top of the cabinet
+Starting episode 7...
+Query 1/1: Action query time = 5.415 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5583
+t=10: Selected seed 195 with value = 0.5583
+Query 1/1: Action query time = 4.787 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6636
+t=26: Selected seed 195 with value = 0.6636
+Query 1/1: Action query time = 5.126 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7624
+t=42: Selected seed 195 with value = 0.7624
+Query 1/1: Action query time = 4.856 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9141
+t=58: Selected seed 195 with value = 0.9141
+Query 1/1: Action query time = 4.802 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=74: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 3.551 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/v2i350_p2_t4_s2/2026_08_03-18_02_50--with_future_img--episode=7--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Success: True
+# episodes completed so far: 7
+# successes: 7 (100.0%)
+
+Task: put the bowl on top of the cabinet
+Starting episode 8...
+Query 1/1: Action query time = 3.806 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5713
+t=10: Selected seed 195 with value = 0.5713
+Query 1/1: Action query time = 5.899 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6847
+t=26: Selected seed 195 with value = 0.6847
+Query 1/1: Action query time = 5.321 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7944
+t=42: Selected seed 195 with value = 0.7944
+Query 1/1: Action query time = 3.787 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9251
+t=58: Selected seed 195 with value = 0.9251
+Query 1/1: Action query time = 4.833 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=74: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.685 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/v2i350_p2_t4_s2/2026_08_03-18_02_50--with_future_img--episode=8--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Success: True
+# episodes completed so far: 8
+# successes: 8 (100.0%)
+
+Task: put the bowl on top of the cabinet
+Starting episode 9...
+Query 1/1: Action query time = 3.838 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5650
+t=10: Selected seed 195 with value = 0.5650
+Query 1/1: Action query time = 5.580 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6812
+t=26: Selected seed 195 with value = 0.6812
+Query 1/1: Action query time = 6.078 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8111
+t=42: Selected seed 195 with value = 0.8111
+Query 1/1: Action query time = 3.433 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9457
+t=58: Selected seed 195 with value = 0.9457
+Query 1/1: Action query time = 5.118 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=74: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 5.064 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/v2i350_p2_t4_s2/2026_08_03-18_02_50--with_future_img--episode=9--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Success: True
+# episodes completed so far: 9
+# successes: 9 (100.0%)
+
+Task: put the bowl on top of the cabinet
+Starting episode 10...
+Query 1/1: Action query time = 4.564 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5580
+t=10: Selected seed 195 with value = 0.5580
+Query 1/1: Action query time = 4.562 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5866
+t=26: Selected seed 195 with value = 0.5866
+Query 1/1: Action query time = 4.459 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7219
+t=42: Selected seed 195 with value = 0.7219
+Query 1/1: Action query time = 4.344 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9108
+t=58: Selected seed 195 with value = 0.9108
+Query 1/1: Action query time = 4.358 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=74: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 5.229 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/v2i350_p2_t4_s2/2026_08_03-18_02_50--with_future_img--episode=10--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Success: True
+# episodes completed so far: 10
+# successes: 10 (100.0%)
+
+Task: put the bowl on top of the cabinet
+Starting episode 11...
+Query 1/1: Action query time = 4.016 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5816
+t=10: Selected seed 195 with value = 0.5816
+Query 1/1: Action query time = 5.548 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6833
+t=26: Selected seed 195 with value = 0.6833
+Query 1/1: Action query time = 5.049 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8075
+t=42: Selected seed 195 with value = 0.8075
+Query 1/1: Action query time = 4.535 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9482
+t=58: Selected seed 195 with value = 0.9482
+Query 1/1: Action query time = 4.804 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=74: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 5.417 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/v2i350_p2_t4_s2/2026_08_03-18_02_50--with_future_img--episode=11--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Success: True
+# episodes completed so far: 11
+# successes: 11 (100.0%)
+
+Task: put the bowl on top of the cabinet
+Starting episode 12...
+Query 1/1: Action query time = 3.981 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5830
+t=10: Selected seed 195 with value = 0.5830
+Query 1/1: Action query time = 4.754 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6893
+t=26: Selected seed 195 with value = 0.6893
+Query 1/1: Action query time = 4.153 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7975
+t=42: Selected seed 195 with value = 0.7975
+Query 1/1: Action query time = 4.358 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9336
+t=58: Selected seed 195 with value = 0.9336
+Query 1/1: Action query time = 4.159 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=74: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.712 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/v2i350_p2_t4_s2/2026_08_03-18_02_50--with_future_img--episode=12--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Success: True
+# episodes completed so far: 12
+# successes: 12 (100.0%)
+Current task success rate: 1.0
+Current total success rate: 1.0
+Final results:
+Total episodes: 12
+Total successes: 12
+Overall success rate: 1.0000 (100.0%)
diff --git a/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_03-18_02_51--v2i350_p2_t4_s3.txt b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_03-18_02_51--v2i350_p2_t4_s3.txt
new file mode 100644
index 0000000000000000000000000000000000000000..454ef96b45ccec7099b35edc7d2d9ba01fd92201
--- /dev/null
+++ b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_03-18_02_51--v2i350_p2_t4_s3.txt
@@ -0,0 +1,440 @@
+Eval config: PolicyEvalConfig(suite='libero', model_family='cosmos', config='cosmos_predict2_2b_480p_libero_cl_stage_inference_only', ckpt_path='/home/azureuser/REGEN-main/new_task7/cosmos_policy/cosmos_v2_finetune/cosmos_predict2_2b_480p_libero_goal_task7_forget_cl_v2_from350_2gpu/checkpoints/iter_000000350/model', planning_model_config_name='', planning_model_ckpt_path='', config_file='cosmos_policy/config/config.py', packnet_mask_path='', packnet_first_cl_libero_task=6, use_third_person_image=True, num_third_person_images=1, use_wrist_image=True, num_wrist_images=1, use_proprio=True, flip_images=True, use_variance_scale=False, use_jpeg_compression=True, ar_future_prediction=False, ar_value_prediction=False, ar_qvalue_prediction=False, num_denoising_steps_action=5, num_denoising_steps_future_state=1, num_denoising_steps_value=1, unnormalize_actions=True, normalize_proprio=True, dataset_stats_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/libero_goal_regen/dataset_statistics.json', t5_text_embeddings_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/t5_embeddings.pkl', trained_with_image_aug=True, chunk_size=16, num_open_loop_steps=16, deterministic=True, deterministic_reset=False, deterministic_reset_seed=None, use_ensemble_future_state_predictions=False, num_future_state_predictions_in_ensemble=3, future_state_ensemble_aggregation_scheme='average', use_ensemble_value_predictions=False, num_value_predictions_in_ensemble=5, value_ensemble_aggregation_scheme='average', search_depth=1, mask_current_state_action_for_value_prediction=False, mask_future_state_for_qvalue_prediction=False, num_queries_best_of_n=1, use_parallel_inference=False, available_gpus='0', parallel_timeout=15, parallel_tasks_across_gpus=False, task_suite_name='libero_goal', num_trials_per_task=50, task_ids_to_run='4', initial_states_path='DEFAULT', env_img_res=256, local_log_dir='/home/azureuser/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal', run_id_note='v2i350_p2_t4_s3', use_wandb=False, wandb_entity='YOUR_ENTITY', wandb_project='YOUR_PROJECT', seed=195, randomize_seed=False, data_collection=False, jpeg_compress=True, reward_stop_threshold=None, reward_stop_consecutive_steps=3, use_gpt_reward=False, gpt_reward_model='gpt-5.4-mini', gpt_reward_stop_threshold=4, gpt_reward_timeout_s=30.0, save_rollout_video=False, eval_hdf5_path='', eval_hdf5_demo_key='demo_0', data_gen_demo_ids='', eval_episode_ids='3,7,11,15,19,23,27,31,35,39,43,47', dump_final_states_path='', replay_actions=False, replay_action_path_dir='', replay_hdf5_path='', data_generation=False, max_generation_steps=200, disable_value_stop=False)
+Using serial inference (parallel inference disabled)
+Task suite: libero_goal
+Number of tasks: 10
+Running only task IDs: [4]
+Using default initial states
+
+Task: put the bowl on top of the cabinet
+Starting episode 1...
+Query 1/1: Action query time = 4.259 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5768
+t=10: Selected seed 195 with value = 0.5768
+Query 1/1: Action query time = 4.876 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6965
+t=26: Selected seed 195 with value = 0.6965
+Query 1/1: Action query time = 5.381 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7670
+t=42: Selected seed 195 with value = 0.7670
+Query 1/1: Action query time = 4.944 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8965
+t=58: Selected seed 195 with value = 0.8965
+Query 1/1: Action query time = 4.787 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=74: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.551 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/v2i350_p2_t4_s3/2026_08_03-18_02_51--with_future_img--episode=1--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Success: True
+# episodes completed so far: 1
+# successes: 1 (100.0%)
+
+Task: put the bowl on top of the cabinet
+Starting episode 2...
+Query 1/1: Action query time = 4.316 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5853
+t=10: Selected seed 195 with value = 0.5853
+Query 1/1: Action query time = 4.906 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6680
+t=26: Selected seed 195 with value = 0.6680
+Query 1/1: Action query time = 3.400 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7853
+t=42: Selected seed 195 with value = 0.7853
+Query 1/1: Action query time = 4.144 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9249
+t=58: Selected seed 195 with value = 0.9249
+Query 1/1: Action query time = 5.381 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=74: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.376 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/v2i350_p2_t4_s3/2026_08_03-18_02_51--with_future_img--episode=2--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Success: True
+# episodes completed so far: 2
+# successes: 2 (100.0%)
+
+Task: put the bowl on top of the cabinet
+Starting episode 3...
+Query 1/1: Action query time = 2.502 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5867
+t=10: Selected seed 195 with value = 0.5867
+Query 1/1: Action query time = 5.307 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6885
+t=26: Selected seed 195 with value = 0.6885
+Query 1/1: Action query time = 5.278 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7666
+t=42: Selected seed 195 with value = 0.7666
+Query 1/1: Action query time = 4.934 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9241
+t=58: Selected seed 195 with value = 0.9241
+Query 1/1: Action query time = 5.003 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9967
+t=74: Selected seed 195 with value = 0.9967
+Query 1/1: Action query time = 4.732 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/v2i350_p2_t4_s3/2026_08_03-18_02_51--with_future_img--episode=3--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Success: True
+# episodes completed so far: 3
+# successes: 3 (100.0%)
+
+Task: put the bowl on top of the cabinet
+Starting episode 4...
+Query 1/1: Action query time = 3.861 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6107
+t=10: Selected seed 195 with value = 0.6107
+Query 1/1: Action query time = 5.541 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7124
+t=26: Selected seed 195 with value = 0.7124
+Query 1/1: Action query time = 4.976 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8404
+t=42: Selected seed 195 with value = 0.8404
+Query 1/1: Action query time = 4.619 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9641
+t=58: Selected seed 195 with value = 0.9641
+Query 1/1: Action query time = 4.275 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=74: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 5.150 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/v2i350_p2_t4_s3/2026_08_03-18_02_51--with_future_img--episode=4--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Success: True
+# episodes completed so far: 4
+# successes: 4 (100.0%)
+
+Task: put the bowl on top of the cabinet
+Starting episode 5...
+Query 1/1: Action query time = 3.481 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5687
+t=10: Selected seed 195 with value = 0.5687
+Query 1/1: Action query time = 4.404 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6805
+t=26: Selected seed 195 with value = 0.6805
+Query 1/1: Action query time = 4.255 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7747
+t=42: Selected seed 195 with value = 0.7747
+Query 1/1: Action query time = 4.380 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9386
+t=58: Selected seed 195 with value = 0.9386
+Query 1/1: Action query time = 3.739 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9999
+t=74: Selected seed 195 with value = 0.9999
+Query 1/1: Action query time = 4.932 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/v2i350_p2_t4_s3/2026_08_03-18_02_51--with_future_img--episode=5--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Success: True
+# episodes completed so far: 5
+# successes: 5 (100.0%)
+
+Task: put the bowl on top of the cabinet
+Starting episode 6...
+Query 1/1: Action query time = 4.564 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5928
+t=10: Selected seed 195 with value = 0.5928
+Query 1/1: Action query time = 4.033 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6882
+t=26: Selected seed 195 with value = 0.6882
+Query 1/1: Action query time = 4.251 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7995
+t=42: Selected seed 195 with value = 0.7995
+Query 1/1: Action query time = 5.311 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9351
+t=58: Selected seed 195 with value = 0.9351
+Query 1/1: Action query time = 5.054 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=74: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 2.613 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/v2i350_p2_t4_s3/2026_08_03-18_02_51--with_future_img--episode=6--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Success: True
+# episodes completed so far: 6
+# successes: 6 (100.0%)
+
+Task: put the bowl on top of the cabinet
+Starting episode 7...
+Query 1/1: Action query time = 4.737 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5855
+t=10: Selected seed 195 with value = 0.5855
+Query 1/1: Action query time = 4.537 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6787
+t=26: Selected seed 195 with value = 0.6787
+Query 1/1: Action query time = 4.674 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8128
+t=42: Selected seed 195 with value = 0.8128
+Query 1/1: Action query time = 4.612 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9284
+t=58: Selected seed 195 with value = 0.9284
+Query 1/1: Action query time = 4.897 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=74: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 5.302 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/v2i350_p2_t4_s3/2026_08_03-18_02_51--with_future_img--episode=7--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Success: True
+# episodes completed so far: 7
+# successes: 7 (100.0%)
+
+Task: put the bowl on top of the cabinet
+Starting episode 8...
+Query 1/1: Action query time = 4.619 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5518
+t=10: Selected seed 195 with value = 0.5518
+Query 1/1: Action query time = 4.395 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6810
+t=26: Selected seed 195 with value = 0.6810
+Query 1/1: Action query time = 2.232 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7540
+t=42: Selected seed 195 with value = 0.7540
+Query 1/1: Action query time = 3.768 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8829
+t=58: Selected seed 195 with value = 0.8829
+Query 1/1: Action query time = 4.615 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9880
+t=74: Selected seed 195 with value = 0.9880
+Query 1/1: Action query time = 4.335 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9910
+t=90: Selected seed 195 with value = 0.9910
+Query 1/1: Action query time = 4.690 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9339
+t=106: Selected seed 195 with value = 0.9339
+Query 1/1: Action query time = 5.804 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9278
+t=122: Selected seed 195 with value = 0.9278
+Query 1/1: Action query time = 3.838 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9149
+t=138: Selected seed 195 with value = 0.9149
+Query 1/1: Action query time = 4.539 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9647
+t=154: Selected seed 195 with value = 0.9647
+Query 1/1: Action query time = 4.420 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9915
+t=170: Selected seed 195 with value = 0.9915
+Query 1/1: Action query time = 4.535 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9918
+t=186: Selected seed 195 with value = 0.9918
+Query 1/1: Action query time = 3.461 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9921
+t=202: Selected seed 195 with value = 0.9921
+Query 1/1: Action query time = 5.036 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9919
+t=218: Selected seed 195 with value = 0.9919
+Query 1/1: Action query time = 3.811 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9917
+t=234: Selected seed 195 with value = 0.9917
+Query 1/1: Action query time = 4.557 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9916
+t=250: Selected seed 195 with value = 0.9916
+Query 1/1: Action query time = 5.789 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9915
+t=266: Selected seed 195 with value = 0.9915
+Query 1/1: Action query time = 4.679 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9915
+t=282: Selected seed 195 with value = 0.9915
+Query 1/1: Action query time = 5.339 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9913
+t=298: Selected seed 195 with value = 0.9913
+Saved rollout MP4 at path ./rollouts/v2i350_p2_t4_s3/2026_08_03-18_02_51--with_future_img--episode=8--success=False--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Success: False
+# episodes completed so far: 8
+# successes: 7 (87.5%)
+
+Task: put the bowl on top of the cabinet
+Starting episode 9...
+Query 1/1: Action query time = 4.332 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5788
+t=10: Selected seed 195 with value = 0.5788
+Query 1/1: Action query time = 3.672 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6987
+t=26: Selected seed 195 with value = 0.6987
+Query 1/1: Action query time = 4.574 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8322
+t=42: Selected seed 195 with value = 0.8322
+Query 1/1: Action query time = 4.064 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9388
+t=58: Selected seed 195 with value = 0.9388
+Query 1/1: Action query time = 3.504 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=74: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 5.295 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/v2i350_p2_t4_s3/2026_08_03-18_02_51--with_future_img--episode=9--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Success: True
+# episodes completed so far: 9
+# successes: 8 (88.9%)
+
+Task: put the bowl on top of the cabinet
+Starting episode 10...
+Query 1/1: Action query time = 4.832 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5718
+t=10: Selected seed 195 with value = 0.5718
+Query 1/1: Action query time = 4.411 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6794
+t=26: Selected seed 195 with value = 0.6794
+Query 1/1: Action query time = 4.357 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7591
+t=42: Selected seed 195 with value = 0.7591
+Query 1/1: Action query time = 3.657 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8999
+t=58: Selected seed 195 with value = 0.8999
+Query 1/1: Action query time = 4.066 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=74: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 5.894 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/v2i350_p2_t4_s3/2026_08_03-18_02_51--with_future_img--episode=10--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Success: True
+# episodes completed so far: 10
+# successes: 9 (90.0%)
+
+Task: put the bowl on top of the cabinet
+Starting episode 11...
+Query 1/1: Action query time = 5.173 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5785
+t=10: Selected seed 195 with value = 0.5785
+Query 1/1: Action query time = 4.406 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6695
+t=26: Selected seed 195 with value = 0.6695
+Query 1/1: Action query time = 5.473 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7775
+t=42: Selected seed 195 with value = 0.7775
+Query 1/1: Action query time = 3.946 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8769
+t=58: Selected seed 195 with value = 0.8769
+Query 1/1: Action query time = 3.544 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9827
+t=74: Selected seed 195 with value = 0.9827
+Query 1/1: Action query time = 3.184 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 3.445 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=106: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/v2i350_p2_t4_s3/2026_08_03-18_02_51--with_future_img--episode=11--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Success: True
+# episodes completed so far: 11
+# successes: 10 (90.9%)
+
+Task: put the bowl on top of the cabinet
+Starting episode 12...
+Query 1/1: Action query time = 3.154 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5513
+t=10: Selected seed 195 with value = 0.5513
+Query 1/1: Action query time = 1.791 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6821
+t=26: Selected seed 195 with value = 0.6821
+Query 1/1: Action query time = 2.601 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7935
+t=42: Selected seed 195 with value = 0.7935
+Query 1/1: Action query time = 2.414 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9632
+t=58: Selected seed 195 with value = 0.9632
+Query 1/1: Action query time = 2.959 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=74: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 2.877 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/v2i350_p2_t4_s3/2026_08_03-18_02_51--with_future_img--episode=12--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4
+Success: True
+# episodes completed so far: 12
+# successes: 11 (91.7%)
+Current task success rate: 0.9166666666666666
+Current total success rate: 0.9166666666666666
+Final results:
+Total episodes: 12
+Total successes: 11
+Overall success rate: 0.9167 (91.7%)
diff --git a/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_03-18_02_51--v2i350_p2_t5_s0.txt b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_03-18_02_51--v2i350_p2_t5_s0.txt
new file mode 100644
index 0000000000000000000000000000000000000000..63151cb6b38d157e26c1f5cc7867860a4cc8ad5f
--- /dev/null
+++ b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_03-18_02_51--v2i350_p2_t5_s0.txt
@@ -0,0 +1,603 @@
+Eval config: PolicyEvalConfig(suite='libero', model_family='cosmos', config='cosmos_predict2_2b_480p_libero_cl_stage_inference_only', ckpt_path='/home/azureuser/REGEN-main/new_task7/cosmos_policy/cosmos_v2_finetune/cosmos_predict2_2b_480p_libero_goal_task7_forget_cl_v2_from350_2gpu/checkpoints/iter_000000350/model', planning_model_config_name='', planning_model_ckpt_path='', config_file='cosmos_policy/config/config.py', packnet_mask_path='', packnet_first_cl_libero_task=6, use_third_person_image=True, num_third_person_images=1, use_wrist_image=True, num_wrist_images=1, use_proprio=True, flip_images=True, use_variance_scale=False, use_jpeg_compression=True, ar_future_prediction=False, ar_value_prediction=False, ar_qvalue_prediction=False, num_denoising_steps_action=5, num_denoising_steps_future_state=1, num_denoising_steps_value=1, unnormalize_actions=True, normalize_proprio=True, dataset_stats_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/libero_goal_regen/dataset_statistics.json', t5_text_embeddings_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/t5_embeddings.pkl', trained_with_image_aug=True, chunk_size=16, num_open_loop_steps=16, deterministic=True, deterministic_reset=False, deterministic_reset_seed=None, use_ensemble_future_state_predictions=False, num_future_state_predictions_in_ensemble=3, future_state_ensemble_aggregation_scheme='average', use_ensemble_value_predictions=False, num_value_predictions_in_ensemble=5, value_ensemble_aggregation_scheme='average', search_depth=1, mask_current_state_action_for_value_prediction=False, mask_future_state_for_qvalue_prediction=False, num_queries_best_of_n=1, use_parallel_inference=False, available_gpus='0', parallel_timeout=15, parallel_tasks_across_gpus=False, task_suite_name='libero_goal', num_trials_per_task=50, task_ids_to_run='5', initial_states_path='DEFAULT', env_img_res=256, local_log_dir='/home/azureuser/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal', run_id_note='v2i350_p2_t5_s0', use_wandb=False, wandb_entity='YOUR_ENTITY', wandb_project='YOUR_PROJECT', seed=195, randomize_seed=False, data_collection=False, jpeg_compress=True, reward_stop_threshold=None, reward_stop_consecutive_steps=3, use_gpt_reward=False, gpt_reward_model='gpt-5.4-mini', gpt_reward_stop_threshold=4, gpt_reward_timeout_s=30.0, save_rollout_video=False, eval_hdf5_path='', eval_hdf5_demo_key='demo_0', data_gen_demo_ids='', eval_episode_ids='0,4,8,12,16,20,24,28,32,36,40,44,48', dump_final_states_path='', replay_actions=False, replay_action_path_dir='', replay_hdf5_path='', data_generation=False, max_generation_steps=200, disable_value_stop=False)
+Using serial inference (parallel inference disabled)
+Task suite: libero_goal
+Number of tasks: 10
+Running only task IDs: [5]
+Using default initial states
+
+Task: push the plate to the front of the stove
+Starting episode 1...
+Query 1/1: Action query time = 4.209 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3787
+t=10: Selected seed 195 with value = 0.3787
+Query 1/1: Action query time = 5.488 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4350
+t=26: Selected seed 195 with value = 0.4350
+Query 1/1: Action query time = 5.186 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5269
+t=42: Selected seed 195 with value = 0.5269
+Query 1/1: Action query time = 4.677 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5729
+t=58: Selected seed 195 with value = 0.5729
+Query 1/1: Action query time = 4.753 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6119
+t=74: Selected seed 195 with value = 0.6119
+Query 1/1: Action query time = 4.652 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7092
+t=90: Selected seed 195 with value = 0.7092
+Query 1/1: Action query time = 4.126 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9289
+t=106: Selected seed 195 with value = 0.9289
+Query 1/1: Action query time = 4.415 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=122: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.876 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9994
+t=138: Selected seed 195 with value = 0.9994
+Saved rollout MP4 at path ./rollouts/v2i350_p2_t5_s0/2026_08_03-18_02_51--with_future_img--episode=1--success=True--task=push_the_plate_to_the_front_of_the_.mp4
+Success: True
+# episodes completed so far: 1
+# successes: 1 (100.0%)
+
+Task: push the plate to the front of the stove
+Starting episode 2...
+Query 1/1: Action query time = 4.037 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3301
+t=10: Selected seed 195 with value = 0.3301
+Query 1/1: Action query time = 5.398 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4269
+t=26: Selected seed 195 with value = 0.4269
+Query 1/1: Action query time = 4.397 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5472
+t=42: Selected seed 195 with value = 0.5472
+Query 1/1: Action query time = 3.961 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6439
+t=58: Selected seed 195 with value = 0.6439
+Query 1/1: Action query time = 4.594 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6899
+t=74: Selected seed 195 with value = 0.6899
+Query 1/1: Action query time = 5.395 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7464
+t=90: Selected seed 195 with value = 0.7464
+Query 1/1: Action query time = 5.496 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9770
+t=106: Selected seed 195 with value = 0.9770
+Query 1/1: Action query time = 5.479 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=122: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.858 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9976
+t=138: Selected seed 195 with value = 0.9976
+Saved rollout MP4 at path ./rollouts/v2i350_p2_t5_s0/2026_08_03-18_02_51--with_future_img--episode=2--success=True--task=push_the_plate_to_the_front_of_the_.mp4
+Success: True
+# episodes completed so far: 2
+# successes: 2 (100.0%)
+
+Task: push the plate to the front of the stove
+Starting episode 3...
+Query 1/1: Action query time = 1.902 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4035
+t=10: Selected seed 195 with value = 0.4035
+Query 1/1: Action query time = 5.448 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4293
+t=26: Selected seed 195 with value = 0.4293
+Query 1/1: Action query time = 5.088 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5183
+t=42: Selected seed 195 with value = 0.5183
+Query 1/1: Action query time = 5.062 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5475
+t=58: Selected seed 195 with value = 0.5475
+Query 1/1: Action query time = 5.282 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5598
+t=74: Selected seed 195 with value = 0.5598
+Query 1/1: Action query time = 4.522 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6604
+t=90: Selected seed 195 with value = 0.6604
+Query 1/1: Action query time = 4.978 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7930
+t=106: Selected seed 195 with value = 0.7930
+Query 1/1: Action query time = 4.549 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9239
+t=122: Selected seed 195 with value = 0.9239
+Query 1/1: Action query time = 4.657 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9981
+t=138: Selected seed 195 with value = 0.9981
+Query 1/1: Action query time = 3.691 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9983
+t=154: Selected seed 195 with value = 0.9983
+Saved rollout MP4 at path ./rollouts/v2i350_p2_t5_s0/2026_08_03-18_02_51--with_future_img--episode=3--success=True--task=push_the_plate_to_the_front_of_the_.mp4
+Success: True
+# episodes completed so far: 3
+# successes: 3 (100.0%)
+
+Task: push the plate to the front of the stove
+Starting episode 4...
+Query 1/1: Action query time = 3.950 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3762
+t=10: Selected seed 195 with value = 0.3762
+Query 1/1: Action query time = 5.497 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4437
+t=26: Selected seed 195 with value = 0.4437
+Query 1/1: Action query time = 4.819 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5407
+t=42: Selected seed 195 with value = 0.5407
+Query 1/1: Action query time = 5.076 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6320
+t=58: Selected seed 195 with value = 0.6320
+Query 1/1: Action query time = 4.711 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7370
+t=74: Selected seed 195 with value = 0.7370
+Query 1/1: Action query time = 4.605 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8249
+t=90: Selected seed 195 with value = 0.8249
+Query 1/1: Action query time = 4.677 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9486
+t=106: Selected seed 195 with value = 0.9486
+Query 1/1: Action query time = 3.853 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9947
+t=122: Selected seed 195 with value = 0.9947
+Query 1/1: Action query time = 3.057 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=138: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 5.059 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=154: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.873 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=170: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.238 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9988
+t=186: Selected seed 195 with value = 0.9988
+Query 1/1: Action query time = 6.042 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9988
+t=202: Selected seed 195 with value = 0.9988
+Query 1/1: Action query time = 4.919 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=218: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 5.391 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9999
+t=234: Selected seed 195 with value = 0.9999
+Query 1/1: Action query time = 4.882 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=250: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.877 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9921
+t=266: Selected seed 195 with value = 0.9921
+Query 1/1: Action query time = 4.143 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9903
+t=282: Selected seed 195 with value = 0.9903
+Saved rollout MP4 at path ./rollouts/v2i350_p2_t5_s0/2026_08_03-18_02_51--with_future_img--episode=4--success=True--task=push_the_plate_to_the_front_of_the_.mp4
+Success: True
+# episodes completed so far: 4
+# successes: 4 (100.0%)
+
+Task: push the plate to the front of the stove
+Starting episode 5...
+Query 1/1: Action query time = 5.117 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3655
+t=10: Selected seed 195 with value = 0.3655
+Query 1/1: Action query time = 3.764 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4241
+t=26: Selected seed 195 with value = 0.4241
+Query 1/1: Action query time = 4.864 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5451
+t=42: Selected seed 195 with value = 0.5451
+Query 1/1: Action query time = 5.551 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6320
+t=58: Selected seed 195 with value = 0.6320
+Query 1/1: Action query time = 4.648 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6805
+t=74: Selected seed 195 with value = 0.6805
+Query 1/1: Action query time = 4.240 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7988
+t=90: Selected seed 195 with value = 0.7988
+Query 1/1: Action query time = 4.193 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9961
+t=106: Selected seed 195 with value = 0.9961
+Query 1/1: Action query time = 5.632 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=122: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 6.055 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=138: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/v2i350_p2_t5_s0/2026_08_03-18_02_51--with_future_img--episode=5--success=True--task=push_the_plate_to_the_front_of_the_.mp4
+Success: True
+# episodes completed so far: 5
+# successes: 5 (100.0%)
+
+Task: push the plate to the front of the stove
+Starting episode 6...
+Query 1/1: Action query time = 4.808 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3701
+t=10: Selected seed 195 with value = 0.3701
+Query 1/1: Action query time = 5.825 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4288
+t=26: Selected seed 195 with value = 0.4288
+Query 1/1: Action query time = 4.244 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5173
+t=42: Selected seed 195 with value = 0.5173
+Query 1/1: Action query time = 5.148 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5933
+t=58: Selected seed 195 with value = 0.5933
+Query 1/1: Action query time = 4.296 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6651
+t=74: Selected seed 195 with value = 0.6651
+Query 1/1: Action query time = 4.410 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7483
+t=90: Selected seed 195 with value = 0.7483
+Query 1/1: Action query time = 4.666 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9531
+t=106: Selected seed 195 with value = 0.9531
+Query 1/1: Action query time = 5.431 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=122: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.923 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9965
+t=138: Selected seed 195 with value = 0.9965
+Saved rollout MP4 at path ./rollouts/v2i350_p2_t5_s0/2026_08_03-18_02_51--with_future_img--episode=6--success=True--task=push_the_plate_to_the_front_of_the_.mp4
+Success: True
+# episodes completed so far: 6
+# successes: 6 (100.0%)
+
+Task: push the plate to the front of the stove
+Starting episode 7...
+Query 1/1: Action query time = 5.553 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3667
+t=10: Selected seed 195 with value = 0.3667
+Query 1/1: Action query time = 2.971 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4377
+t=26: Selected seed 195 with value = 0.4377
+Query 1/1: Action query time = 4.810 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5481
+t=42: Selected seed 195 with value = 0.5481
+Query 1/1: Action query time = 4.876 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6263
+t=58: Selected seed 195 with value = 0.6263
+Query 1/1: Action query time = 4.358 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7337
+t=74: Selected seed 195 with value = 0.7337
+Query 1/1: Action query time = 4.079 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8997
+t=90: Selected seed 195 with value = 0.8997
+Query 1/1: Action query time = 3.947 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=106: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 5.681 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9986
+t=122: Selected seed 195 with value = 0.9986
+Saved rollout MP4 at path ./rollouts/v2i350_p2_t5_s0/2026_08_03-18_02_51--with_future_img--episode=7--success=True--task=push_the_plate_to_the_front_of_the_.mp4
+Success: True
+# episodes completed so far: 7
+# successes: 7 (100.0%)
+
+Task: push the plate to the front of the stove
+Starting episode 8...
+Query 1/1: Action query time = 5.215 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3689
+t=10: Selected seed 195 with value = 0.3689
+Query 1/1: Action query time = 4.321 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4415
+t=26: Selected seed 195 with value = 0.4415
+Query 1/1: Action query time = 5.671 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5046
+t=42: Selected seed 195 with value = 0.5046
+Query 1/1: Action query time = 4.380 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5710
+t=58: Selected seed 195 with value = 0.5710
+Query 1/1: Action query time = 3.397 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6165
+t=74: Selected seed 195 with value = 0.6165
+Query 1/1: Action query time = 3.904 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6920
+t=90: Selected seed 195 with value = 0.6920
+Query 1/1: Action query time = 3.097 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8341
+t=106: Selected seed 195 with value = 0.8341
+Query 1/1: Action query time = 2.337 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9355
+t=122: Selected seed 195 with value = 0.9355
+Query 1/1: Action query time = 3.116 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9965
+t=138: Selected seed 195 with value = 0.9965
+Saved rollout MP4 at path ./rollouts/v2i350_p2_t5_s0/2026_08_03-18_02_51--with_future_img--episode=8--success=True--task=push_the_plate_to_the_front_of_the_.mp4
+Success: True
+# episodes completed so far: 8
+# successes: 8 (100.0%)
+
+Task: push the plate to the front of the stove
+Starting episode 9...
+Query 1/1: Action query time = 2.370 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4097
+t=10: Selected seed 195 with value = 0.4097
+Query 1/1: Action query time = 2.316 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4846
+t=26: Selected seed 195 with value = 0.4846
+Query 1/1: Action query time = 3.193 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5624
+t=42: Selected seed 195 with value = 0.5624
+Query 1/1: Action query time = 2.345 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6014
+t=58: Selected seed 195 with value = 0.6014
+Query 1/1: Action query time = 2.594 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7370
+t=74: Selected seed 195 with value = 0.7370
+Query 1/1: Action query time = 2.641 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8318
+t=90: Selected seed 195 with value = 0.8318
+Query 1/1: Action query time = 2.280 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9341
+t=106: Selected seed 195 with value = 0.9341
+Query 1/1: Action query time = 2.688 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=122: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 2.256 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9994
+t=138: Selected seed 195 with value = 0.9994
+Saved rollout MP4 at path ./rollouts/v2i350_p2_t5_s0/2026_08_03-18_02_51--with_future_img--episode=9--success=True--task=push_the_plate_to_the_front_of_the_.mp4
+Success: True
+# episodes completed so far: 9
+# successes: 9 (100.0%)
+
+Task: push the plate to the front of the stove
+Starting episode 10...
+Query 1/1: Action query time = 2.371 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3918
+t=10: Selected seed 195 with value = 0.3918
+Query 1/1: Action query time = 1.788 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4416
+t=26: Selected seed 195 with value = 0.4416
+Query 1/1: Action query time = 2.160 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5048
+t=42: Selected seed 195 with value = 0.5048
+Query 1/1: Action query time = 1.674 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6623
+t=58: Selected seed 195 with value = 0.6623
+Query 1/1: Action query time = 1.821 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7582
+t=74: Selected seed 195 with value = 0.7582
+Query 1/1: Action query time = 2.582 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8965
+t=90: Selected seed 195 with value = 0.8965
+Query 1/1: Action query time = 2.544 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=106: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 2.011 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=122: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/v2i350_p2_t5_s0/2026_08_03-18_02_51--with_future_img--episode=10--success=True--task=push_the_plate_to_the_front_of_the_.mp4
+Success: True
+# episodes completed so far: 10
+# successes: 10 (100.0%)
+
+Task: push the plate to the front of the stove
+Starting episode 11...
+Query 1/1: Action query time = 2.662 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3671
+t=10: Selected seed 195 with value = 0.3671
+Query 1/1: Action query time = 2.612 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4153
+t=26: Selected seed 195 with value = 0.4153
+Query 1/1: Action query time = 2.511 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5373
+t=42: Selected seed 195 with value = 0.5373
+Query 1/1: Action query time = 2.940 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5379
+t=58: Selected seed 195 with value = 0.5379
+Query 1/1: Action query time = 2.347 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6225
+t=74: Selected seed 195 with value = 0.6225
+Query 1/1: Action query time = 2.092 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6833
+t=90: Selected seed 195 with value = 0.6833
+Query 1/1: Action query time = 2.087 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8602
+t=106: Selected seed 195 with value = 0.8602
+Query 1/1: Action query time = 1.906 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=122: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 1.610 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9985
+t=138: Selected seed 195 with value = 0.9985
+Saved rollout MP4 at path ./rollouts/v2i350_p2_t5_s0/2026_08_03-18_02_51--with_future_img--episode=11--success=True--task=push_the_plate_to_the_front_of_the_.mp4
+Success: True
+# episodes completed so far: 11
+# successes: 11 (100.0%)
+
+Task: push the plate to the front of the stove
+Starting episode 12...
+Query 1/1: Action query time = 0.981 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3651
+t=10: Selected seed 195 with value = 0.3651
+Query 1/1: Action query time = 0.991 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4096
+t=26: Selected seed 195 with value = 0.4096
+Query 1/1: Action query time = 1.787 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5089
+t=42: Selected seed 195 with value = 0.5089
+Query 1/1: Action query time = 1.785 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5806
+t=58: Selected seed 195 with value = 0.5806
+Query 1/1: Action query time = 1.845 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6738
+t=74: Selected seed 195 with value = 0.6738
+Query 1/1: Action query time = 1.690 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8409
+t=90: Selected seed 195 with value = 0.8409
+Query 1/1: Action query time = 1.772 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9741
+t=106: Selected seed 195 with value = 0.9741
+Query 1/1: Action query time = 1.805 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=122: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 1.664 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9587
+t=138: Selected seed 195 with value = 0.9587
+Saved rollout MP4 at path ./rollouts/v2i350_p2_t5_s0/2026_08_03-18_02_51--with_future_img--episode=12--success=True--task=push_the_plate_to_the_front_of_the_.mp4
+Success: True
+# episodes completed so far: 12
+# successes: 12 (100.0%)
+
+Task: push the plate to the front of the stove
+Starting episode 13...
+Query 1/1: Action query time = 0.979 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3792
+t=10: Selected seed 195 with value = 0.3792
+Query 1/1: Action query time = 0.977 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4375
+t=26: Selected seed 195 with value = 0.4375
+Query 1/1: Action query time = 0.962 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5341
+t=42: Selected seed 195 with value = 0.5341
+Query 1/1: Action query time = 0.960 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6497
+t=58: Selected seed 195 with value = 0.6497
+Query 1/1: Action query time = 0.985 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7498
+t=74: Selected seed 195 with value = 0.7498
+Query 1/1: Action query time = 0.960 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8652
+t=90: Selected seed 195 with value = 0.8652
+Query 1/1: Action query time = 0.962 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9814
+t=106: Selected seed 195 with value = 0.9814
+Query 1/1: Action query time = 0.975 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=122: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 0.971 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=138: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/v2i350_p2_t5_s0/2026_08_03-18_02_51--with_future_img--episode=13--success=True--task=push_the_plate_to_the_front_of_the_.mp4
+Success: True
+# episodes completed so far: 13
+# successes: 13 (100.0%)
+Current task success rate: 1.0
+Current total success rate: 1.0
+Final results:
+Total episodes: 13
+Total successes: 13
+Overall success rate: 1.0000 (100.0%)
diff --git a/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_03-18_02_51--v2i350_p2_t5_s3.txt b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_03-18_02_51--v2i350_p2_t5_s3.txt
new file mode 100644
index 0000000000000000000000000000000000000000..2c2045981bfc84ab8ed629b073727b4f2a433287
--- /dev/null
+++ b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_03-18_02_51--v2i350_p2_t5_s3.txt
@@ -0,0 +1,508 @@
+Eval config: PolicyEvalConfig(suite='libero', model_family='cosmos', config='cosmos_predict2_2b_480p_libero_cl_stage_inference_only', ckpt_path='/home/azureuser/REGEN-main/new_task7/cosmos_policy/cosmos_v2_finetune/cosmos_predict2_2b_480p_libero_goal_task7_forget_cl_v2_from350_2gpu/checkpoints/iter_000000350/model', planning_model_config_name='', planning_model_ckpt_path='', config_file='cosmos_policy/config/config.py', packnet_mask_path='', packnet_first_cl_libero_task=6, use_third_person_image=True, num_third_person_images=1, use_wrist_image=True, num_wrist_images=1, use_proprio=True, flip_images=True, use_variance_scale=False, use_jpeg_compression=True, ar_future_prediction=False, ar_value_prediction=False, ar_qvalue_prediction=False, num_denoising_steps_action=5, num_denoising_steps_future_state=1, num_denoising_steps_value=1, unnormalize_actions=True, normalize_proprio=True, dataset_stats_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/libero_goal_regen/dataset_statistics.json', t5_text_embeddings_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/t5_embeddings.pkl', trained_with_image_aug=True, chunk_size=16, num_open_loop_steps=16, deterministic=True, deterministic_reset=False, deterministic_reset_seed=None, use_ensemble_future_state_predictions=False, num_future_state_predictions_in_ensemble=3, future_state_ensemble_aggregation_scheme='average', use_ensemble_value_predictions=False, num_value_predictions_in_ensemble=5, value_ensemble_aggregation_scheme='average', search_depth=1, mask_current_state_action_for_value_prediction=False, mask_future_state_for_qvalue_prediction=False, num_queries_best_of_n=1, use_parallel_inference=False, available_gpus='0', parallel_timeout=15, parallel_tasks_across_gpus=False, task_suite_name='libero_goal', num_trials_per_task=50, task_ids_to_run='5', initial_states_path='DEFAULT', env_img_res=256, local_log_dir='/home/azureuser/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal', run_id_note='v2i350_p2_t5_s3', use_wandb=False, wandb_entity='YOUR_ENTITY', wandb_project='YOUR_PROJECT', seed=195, randomize_seed=False, data_collection=False, jpeg_compress=True, reward_stop_threshold=None, reward_stop_consecutive_steps=3, use_gpt_reward=False, gpt_reward_model='gpt-5.4-mini', gpt_reward_stop_threshold=4, gpt_reward_timeout_s=30.0, save_rollout_video=False, eval_hdf5_path='', eval_hdf5_demo_key='demo_0', data_gen_demo_ids='', eval_episode_ids='3,7,11,15,19,23,27,31,35,39,43,47', dump_final_states_path='', replay_actions=False, replay_action_path_dir='', replay_hdf5_path='', data_generation=False, max_generation_steps=200, disable_value_stop=False)
+Using serial inference (parallel inference disabled)
+Task suite: libero_goal
+Number of tasks: 10
+Running only task IDs: [5]
+Using default initial states
+
+Task: push the plate to the front of the stove
+Starting episode 1...
+Query 1/1: Action query time = 5.795 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3704
+t=10: Selected seed 195 with value = 0.3704
+Query 1/1: Action query time = 4.323 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4251
+t=26: Selected seed 195 with value = 0.4251
+Query 1/1: Action query time = 5.055 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5280
+t=42: Selected seed 195 with value = 0.5280
+Query 1/1: Action query time = 5.267 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6836
+t=58: Selected seed 195 with value = 0.6836
+Query 1/1: Action query time = 5.234 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8057
+t=74: Selected seed 195 with value = 0.8057
+Query 1/1: Action query time = 4.162 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9172
+t=90: Selected seed 195 with value = 0.9172
+Query 1/1: Action query time = 3.740 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=106: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.979 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9993
+t=122: Selected seed 195 with value = 0.9993
+Saved rollout MP4 at path ./rollouts/v2i350_p2_t5_s3/2026_08_03-18_02_51--with_future_img--episode=1--success=True--task=push_the_plate_to_the_front_of_the_.mp4
+Success: True
+# episodes completed so far: 1
+# successes: 1 (100.0%)
+
+Task: push the plate to the front of the stove
+Starting episode 2...
+Query 1/1: Action query time = 4.431 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3938
+t=10: Selected seed 195 with value = 0.3938
+Query 1/1: Action query time = 4.599 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4473
+t=26: Selected seed 195 with value = 0.4473
+Query 1/1: Action query time = 4.463 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5469
+t=42: Selected seed 195 with value = 0.5469
+Query 1/1: Action query time = 4.506 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5419
+t=58: Selected seed 195 with value = 0.5419
+Query 1/1: Action query time = 3.205 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6046
+t=74: Selected seed 195 with value = 0.6046
+Query 1/1: Action query time = 4.733 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6966
+t=90: Selected seed 195 with value = 0.6966
+Query 1/1: Action query time = 4.980 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7893
+t=106: Selected seed 195 with value = 0.7893
+Query 1/1: Action query time = 4.963 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9364
+t=122: Selected seed 195 with value = 0.9364
+Query 1/1: Action query time = 4.634 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9691
+t=138: Selected seed 195 with value = 0.9691
+Query 1/1: Action query time = 4.411 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9995
+t=154: Selected seed 195 with value = 0.9995
+Saved rollout MP4 at path ./rollouts/v2i350_p2_t5_s3/2026_08_03-18_02_51--with_future_img--episode=2--success=True--task=push_the_plate_to_the_front_of_the_.mp4
+Success: True
+# episodes completed so far: 2
+# successes: 2 (100.0%)
+
+Task: push the plate to the front of the stove
+Starting episode 3...
+Query 1/1: Action query time = 4.289 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4051
+t=10: Selected seed 195 with value = 0.4051
+Query 1/1: Action query time = 5.850 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4714
+t=26: Selected seed 195 with value = 0.4714
+Query 1/1: Action query time = 5.513 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5889
+t=42: Selected seed 195 with value = 0.5889
+Query 1/1: Action query time = 5.211 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6387
+t=58: Selected seed 195 with value = 0.6387
+Query 1/1: Action query time = 4.203 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7548
+t=74: Selected seed 195 with value = 0.7548
+Query 1/1: Action query time = 5.108 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8783
+t=90: Selected seed 195 with value = 0.8783
+Query 1/1: Action query time = 4.655 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9899
+t=106: Selected seed 195 with value = 0.9899
+Query 1/1: Action query time = 3.078 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=122: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/v2i350_p2_t5_s3/2026_08_03-18_02_51--with_future_img--episode=3--success=True--task=push_the_plate_to_the_front_of_the_.mp4
+Success: True
+# episodes completed so far: 3
+# successes: 3 (100.0%)
+
+Task: push the plate to the front of the stove
+Starting episode 4...
+Query 1/1: Action query time = 3.888 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4100
+t=10: Selected seed 195 with value = 0.4100
+Query 1/1: Action query time = 4.936 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4746
+t=26: Selected seed 195 with value = 0.4746
+Query 1/1: Action query time = 4.898 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5570
+t=42: Selected seed 195 with value = 0.5570
+Query 1/1: Action query time = 4.641 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6029
+t=58: Selected seed 195 with value = 0.6029
+Query 1/1: Action query time = 4.271 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7338
+t=74: Selected seed 195 with value = 0.7338
+Query 1/1: Action query time = 3.641 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7961
+t=90: Selected seed 195 with value = 0.7961
+Query 1/1: Action query time = 4.587 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8883
+t=106: Selected seed 195 with value = 0.8883
+Query 1/1: Action query time = 5.605 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9979
+t=122: Selected seed 195 with value = 0.9979
+Query 1/1: Action query time = 5.318 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9989
+t=138: Selected seed 195 with value = 0.9989
+Saved rollout MP4 at path ./rollouts/v2i350_p2_t5_s3/2026_08_03-18_02_51--with_future_img--episode=4--success=True--task=push_the_plate_to_the_front_of_the_.mp4
+Success: True
+# episodes completed so far: 4
+# successes: 4 (100.0%)
+
+Task: push the plate to the front of the stove
+Starting episode 5...
+Query 1/1: Action query time = 4.359 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3918
+t=10: Selected seed 195 with value = 0.3918
+Query 1/1: Action query time = 4.907 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4546
+t=26: Selected seed 195 with value = 0.4546
+Query 1/1: Action query time = 4.407 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5416
+t=42: Selected seed 195 with value = 0.5416
+Query 1/1: Action query time = 4.757 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6117
+t=58: Selected seed 195 with value = 0.6117
+Query 1/1: Action query time = 3.936 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7002
+t=74: Selected seed 195 with value = 0.7002
+Query 1/1: Action query time = 4.753 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8606
+t=90: Selected seed 195 with value = 0.8606
+Query 1/1: Action query time = 5.428 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9864
+t=106: Selected seed 195 with value = 0.9864
+Query 1/1: Action query time = 4.201 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9990
+t=122: Selected seed 195 with value = 0.9990
+Saved rollout MP4 at path ./rollouts/v2i350_p2_t5_s3/2026_08_03-18_02_51--with_future_img--episode=5--success=True--task=push_the_plate_to_the_front_of_the_.mp4
+Success: True
+# episodes completed so far: 5
+# successes: 5 (100.0%)
+
+Task: push the plate to the front of the stove
+Starting episode 6...
+Query 1/1: Action query time = 4.490 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3772
+t=10: Selected seed 195 with value = 0.3772
+Query 1/1: Action query time = 2.283 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4825
+t=26: Selected seed 195 with value = 0.4825
+Query 1/1: Action query time = 3.742 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5748
+t=42: Selected seed 195 with value = 0.5748
+Query 1/1: Action query time = 5.943 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6463
+t=58: Selected seed 195 with value = 0.6463
+Query 1/1: Action query time = 5.959 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7603
+t=74: Selected seed 195 with value = 0.7603
+Query 1/1: Action query time = 4.526 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8712
+t=90: Selected seed 195 with value = 0.8712
+Query 1/1: Action query time = 4.667 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9852
+t=106: Selected seed 195 with value = 0.9852
+Query 1/1: Action query time = 5.204 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=122: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/v2i350_p2_t5_s3/2026_08_03-18_02_51--with_future_img--episode=6--success=True--task=push_the_plate_to_the_front_of_the_.mp4
+Success: True
+# episodes completed so far: 6
+# successes: 6 (100.0%)
+
+Task: push the plate to the front of the stove
+Starting episode 7...
+Query 1/1: Action query time = 4.786 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3576
+t=10: Selected seed 195 with value = 0.3576
+Query 1/1: Action query time = 4.053 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4164
+t=26: Selected seed 195 with value = 0.4164
+Query 1/1: Action query time = 4.918 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4913
+t=42: Selected seed 195 with value = 0.4913
+Query 1/1: Action query time = 3.977 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6189
+t=58: Selected seed 195 with value = 0.6189
+Query 1/1: Action query time = 4.206 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6533
+t=74: Selected seed 195 with value = 0.6533
+Query 1/1: Action query time = 5.176 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7302
+t=90: Selected seed 195 with value = 0.7302
+Query 1/1: Action query time = 4.337 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8347
+t=106: Selected seed 195 with value = 0.8347
+Query 1/1: Action query time = 5.259 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9971
+t=122: Selected seed 195 with value = 0.9971
+Query 1/1: Action query time = 3.861 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9981
+t=138: Selected seed 195 with value = 0.9981
+Saved rollout MP4 at path ./rollouts/v2i350_p2_t5_s3/2026_08_03-18_02_51--with_future_img--episode=7--success=True--task=push_the_plate_to_the_front_of_the_.mp4
+Success: True
+# episodes completed so far: 7
+# successes: 7 (100.0%)
+
+Task: push the plate to the front of the stove
+Starting episode 8...
+Query 1/1: Action query time = 4.232 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3815
+t=10: Selected seed 195 with value = 0.3815
+Query 1/1: Action query time = 4.780 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4431
+t=26: Selected seed 195 with value = 0.4431
+Query 1/1: Action query time = 5.110 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5078
+t=42: Selected seed 195 with value = 0.5078
+Query 1/1: Action query time = 2.634 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6409
+t=58: Selected seed 195 with value = 0.6409
+Query 1/1: Action query time = 4.246 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7537
+t=74: Selected seed 195 with value = 0.7537
+Query 1/1: Action query time = 4.841 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8778
+t=90: Selected seed 195 with value = 0.8778
+Query 1/1: Action query time = 5.379 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=106: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.786 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=122: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/v2i350_p2_t5_s3/2026_08_03-18_02_51--with_future_img--episode=8--success=True--task=push_the_plate_to_the_front_of_the_.mp4
+Success: True
+# episodes completed so far: 8
+# successes: 8 (100.0%)
+
+Task: push the plate to the front of the stove
+Starting episode 9...
+Query 1/1: Action query time = 5.333 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3783
+t=10: Selected seed 195 with value = 0.3783
+Query 1/1: Action query time = 3.170 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4182
+t=26: Selected seed 195 with value = 0.4182
+Query 1/1: Action query time = 4.320 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5177
+t=42: Selected seed 195 with value = 0.5177
+Query 1/1: Action query time = 4.757 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5670
+t=58: Selected seed 195 with value = 0.5670
+Query 1/1: Action query time = 4.978 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6736
+t=74: Selected seed 195 with value = 0.6736
+Query 1/1: Action query time = 4.182 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7124
+t=90: Selected seed 195 with value = 0.7124
+Query 1/1: Action query time = 4.553 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8154
+t=106: Selected seed 195 with value = 0.8154
+Query 1/1: Action query time = 4.388 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9934
+t=122: Selected seed 195 with value = 0.9934
+Query 1/1: Action query time = 4.039 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9977
+t=138: Selected seed 195 with value = 0.9977
+Saved rollout MP4 at path ./rollouts/v2i350_p2_t5_s3/2026_08_03-18_02_51--with_future_img--episode=9--success=True--task=push_the_plate_to_the_front_of_the_.mp4
+Success: True
+# episodes completed so far: 9
+# successes: 9 (100.0%)
+
+Task: push the plate to the front of the stove
+Starting episode 10...
+Query 1/1: Action query time = 3.429 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3999
+t=10: Selected seed 195 with value = 0.3999
+Query 1/1: Action query time = 2.526 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4396
+t=26: Selected seed 195 with value = 0.4396
+Query 1/1: Action query time = 3.059 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5675
+t=42: Selected seed 195 with value = 0.5675
+Query 1/1: Action query time = 3.184 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5979
+t=58: Selected seed 195 with value = 0.5979
+Query 1/1: Action query time = 2.929 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7171
+t=74: Selected seed 195 with value = 0.7171
+Query 1/1: Action query time = 2.545 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8361
+t=90: Selected seed 195 with value = 0.8361
+Query 1/1: Action query time = 2.345 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9880
+t=106: Selected seed 195 with value = 0.9880
+Query 1/1: Action query time = 3.178 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9992
+t=122: Selected seed 195 with value = 0.9992
+Saved rollout MP4 at path ./rollouts/v2i350_p2_t5_s3/2026_08_03-18_02_51--with_future_img--episode=10--success=True--task=push_the_plate_to_the_front_of_the_.mp4
+Success: True
+# episodes completed so far: 10
+# successes: 10 (100.0%)
+
+Task: push the plate to the front of the stove
+Starting episode 11...
+Query 1/1: Action query time = 2.917 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3907
+t=10: Selected seed 195 with value = 0.3907
+Query 1/1: Action query time = 1.491 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4453
+t=26: Selected seed 195 with value = 0.4453
+Query 1/1: Action query time = 1.651 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5738
+t=42: Selected seed 195 with value = 0.5738
+Query 1/1: Action query time = 2.670 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5718
+t=58: Selected seed 195 with value = 0.5718
+Query 1/1: Action query time = 2.676 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7307
+t=74: Selected seed 195 with value = 0.7307
+Query 1/1: Action query time = 2.389 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7838
+t=90: Selected seed 195 with value = 0.7838
+Query 1/1: Action query time = 3.157 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8878
+t=106: Selected seed 195 with value = 0.8878
+Query 1/1: Action query time = 1.932 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=122: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 2.058 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9977
+t=138: Selected seed 195 with value = 0.9977
+Saved rollout MP4 at path ./rollouts/v2i350_p2_t5_s3/2026_08_03-18_02_51--with_future_img--episode=11--success=True--task=push_the_plate_to_the_front_of_the_.mp4
+Success: True
+# episodes completed so far: 11
+# successes: 11 (100.0%)
+
+Task: push the plate to the front of the stove
+Starting episode 12...
+Query 1/1: Action query time = 2.548 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3525
+t=10: Selected seed 195 with value = 0.3525
+Query 1/1: Action query time = 2.540 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4384
+t=26: Selected seed 195 with value = 0.4384
+Query 1/1: Action query time = 2.451 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4867
+t=42: Selected seed 195 with value = 0.4867
+Query 1/1: Action query time = 1.632 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5366
+t=58: Selected seed 195 with value = 0.5366
+Query 1/1: Action query time = 1.585 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6466
+t=74: Selected seed 195 with value = 0.6466
+Query 1/1: Action query time = 2.696 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7290
+t=90: Selected seed 195 with value = 0.7290
+Query 1/1: Action query time = 2.612 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8220
+t=106: Selected seed 195 with value = 0.8220
+Query 1/1: Action query time = 2.099 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9451
+t=122: Selected seed 195 with value = 0.9451
+Query 1/1: Action query time = 2.149 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9989
+t=138: Selected seed 195 with value = 0.9989
+Saved rollout MP4 at path ./rollouts/v2i350_p2_t5_s3/2026_08_03-18_02_51--with_future_img--episode=12--success=True--task=push_the_plate_to_the_front_of_the_.mp4
+Success: True
+# episodes completed so far: 12
+# successes: 12 (100.0%)
+Current task success rate: 1.0
+Current total success rate: 1.0
+Final results:
+Total episodes: 12
+Total successes: 12
+Overall success rate: 1.0000 (100.0%)
diff --git a/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_03-18_02_51--v2i350_p2_t6_s2.txt b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_03-18_02_51--v2i350_p2_t6_s2.txt
new file mode 100644
index 0000000000000000000000000000000000000000..ba806e18e353b651a4d07a024830b2fd9fcf49ea
--- /dev/null
+++ b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_03-18_02_51--v2i350_p2_t6_s2.txt
@@ -0,0 +1,496 @@
+Eval config: PolicyEvalConfig(suite='libero', model_family='cosmos', config='cosmos_predict2_2b_480p_libero_cl_stage_inference_only', ckpt_path='/home/azureuser/REGEN-main/new_task7/cosmos_policy/cosmos_v2_finetune/cosmos_predict2_2b_480p_libero_goal_task7_forget_cl_v2_from350_2gpu/checkpoints/iter_000000350/model', planning_model_config_name='', planning_model_ckpt_path='', config_file='cosmos_policy/config/config.py', packnet_mask_path='', packnet_first_cl_libero_task=6, use_third_person_image=True, num_third_person_images=1, use_wrist_image=True, num_wrist_images=1, use_proprio=True, flip_images=True, use_variance_scale=False, use_jpeg_compression=True, ar_future_prediction=False, ar_value_prediction=False, ar_qvalue_prediction=False, num_denoising_steps_action=5, num_denoising_steps_future_state=1, num_denoising_steps_value=1, unnormalize_actions=True, normalize_proprio=True, dataset_stats_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/libero_goal_regen/dataset_statistics.json', t5_text_embeddings_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/t5_embeddings.pkl', trained_with_image_aug=True, chunk_size=16, num_open_loop_steps=16, deterministic=True, deterministic_reset=False, deterministic_reset_seed=None, use_ensemble_future_state_predictions=False, num_future_state_predictions_in_ensemble=3, future_state_ensemble_aggregation_scheme='average', use_ensemble_value_predictions=False, num_value_predictions_in_ensemble=5, value_ensemble_aggregation_scheme='average', search_depth=1, mask_current_state_action_for_value_prediction=False, mask_future_state_for_qvalue_prediction=False, num_queries_best_of_n=1, use_parallel_inference=False, available_gpus='0', parallel_timeout=15, parallel_tasks_across_gpus=False, task_suite_name='libero_goal', num_trials_per_task=50, task_ids_to_run='6', initial_states_path='DEFAULT', env_img_res=256, local_log_dir='/home/azureuser/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal', run_id_note='v2i350_p2_t6_s2', use_wandb=False, wandb_entity='YOUR_ENTITY', wandb_project='YOUR_PROJECT', seed=195, randomize_seed=False, data_collection=False, jpeg_compress=True, reward_stop_threshold=None, reward_stop_consecutive_steps=3, use_gpt_reward=False, gpt_reward_model='gpt-5.4-mini', gpt_reward_stop_threshold=4, gpt_reward_timeout_s=30.0, save_rollout_video=False, eval_hdf5_path='', eval_hdf5_demo_key='demo_0', data_gen_demo_ids='', eval_episode_ids='2,6,10,14,18,22,26,30,34,38,42,46', dump_final_states_path='', replay_actions=False, replay_action_path_dir='', replay_hdf5_path='', data_generation=False, max_generation_steps=200, disable_value_stop=False)
+Using serial inference (parallel inference disabled)
+Task suite: libero_goal
+Number of tasks: 10
+Running only task IDs: [6]
+Using default initial states
+
+Task: put the cream cheese in the bowl
+Starting episode 1...
+Query 1/1: Action query time = 6.442 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4757
+t=10: Selected seed 195 with value = 0.4757
+Query 1/1: Action query time = 5.547 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5733
+t=26: Selected seed 195 with value = 0.5733
+Query 1/1: Action query time = 5.207 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6907
+t=42: Selected seed 195 with value = 0.6907
+Query 1/1: Action query time = 4.177 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7771
+t=58: Selected seed 195 with value = 0.7771
+Query 1/1: Action query time = 4.742 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8728
+t=74: Selected seed 195 with value = 0.8728
+Query 1/1: Action query time = 4.253 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9940
+t=90: Selected seed 195 with value = 0.9940
+Query 1/1: Action query time = 4.128 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=106: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.914 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9801
+t=122: Selected seed 195 with value = 0.9801
+Query 1/1: Action query time = 4.917 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9073
+t=138: Selected seed 195 with value = 0.9073
+Query 1/1: Action query time = 3.912 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9648
+t=154: Selected seed 195 with value = 0.9648
+Query 1/1: Action query time = 4.965 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=170: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 5.065 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=186: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 3.063 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=202: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 5.476 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=218: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 5.193 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9973
+t=234: Selected seed 195 with value = 0.9973
+Query 1/1: Action query time = 4.045 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9477
+t=250: Selected seed 195 with value = 0.9477
+Query 1/1: Action query time = 4.648 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8863
+t=266: Selected seed 195 with value = 0.8863
+Query 1/1: Action query time = 4.608 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9709
+t=282: Selected seed 195 with value = 0.9709
+Query 1/1: Action query time = 3.241 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9757
+t=298: Selected seed 195 with value = 0.9757
+Saved rollout MP4 at path ./rollouts/v2i350_p2_t6_s2/2026_08_03-18_02_51--with_future_img--episode=1--success=False--task=put_the_cream_cheese_in_the_bowl.mp4
+Success: False
+# episodes completed so far: 1
+# successes: 0 (0.0%)
+
+Task: put the cream cheese in the bowl
+Starting episode 2...
+Query 1/1: Action query time = 4.241 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5464
+t=10: Selected seed 195 with value = 0.5464
+Query 1/1: Action query time = 4.039 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6371
+t=26: Selected seed 195 with value = 0.6371
+Query 1/1: Action query time = 4.641 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7363
+t=42: Selected seed 195 with value = 0.7363
+Query 1/1: Action query time = 3.547 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8424
+t=58: Selected seed 195 with value = 0.8424
+Query 1/1: Action query time = 4.428 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9608
+t=74: Selected seed 195 with value = 0.9608
+Query 1/1: Action query time = 5.061 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/v2i350_p2_t6_s2/2026_08_03-18_02_51--with_future_img--episode=2--success=True--task=put_the_cream_cheese_in_the_bowl.mp4
+Success: True
+# episodes completed so far: 2
+# successes: 1 (50.0%)
+
+Task: put the cream cheese in the bowl
+Starting episode 3...
+Query 1/1: Action query time = 4.409 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5194
+t=10: Selected seed 195 with value = 0.5194
+Query 1/1: Action query time = 4.755 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6025
+t=26: Selected seed 195 with value = 0.6025
+Query 1/1: Action query time = 4.444 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7251
+t=42: Selected seed 195 with value = 0.7251
+Query 1/1: Action query time = 5.718 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7032
+t=58: Selected seed 195 with value = 0.7032
+Query 1/1: Action query time = 4.820 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8397
+t=74: Selected seed 195 with value = 0.8397
+Query 1/1: Action query time = 4.409 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9527
+t=90: Selected seed 195 with value = 0.9527
+Query 1/1: Action query time = 4.383 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9514
+t=106: Selected seed 195 with value = 0.9514
+Query 1/1: Action query time = 5.027 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9988
+t=122: Selected seed 195 with value = 0.9988
+Query 1/1: Action query time = 5.809 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=138: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 5.310 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=154: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 3.260 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9967
+t=170: Selected seed 195 with value = 0.9967
+Query 1/1: Action query time = 4.420 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9870
+t=186: Selected seed 195 with value = 0.9870
+Query 1/1: Action query time = 5.142 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9866
+t=202: Selected seed 195 with value = 0.9866
+Query 1/1: Action query time = 3.723 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9942
+t=218: Selected seed 195 with value = 0.9942
+Query 1/1: Action query time = 5.590 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9981
+t=234: Selected seed 195 with value = 0.9981
+Query 1/1: Action query time = 5.064 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9904
+t=250: Selected seed 195 with value = 0.9904
+Query 1/1: Action query time = 3.587 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9895
+t=266: Selected seed 195 with value = 0.9895
+Query 1/1: Action query time = 3.975 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9907
+t=282: Selected seed 195 with value = 0.9907
+Query 1/1: Action query time = 4.714 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9918
+t=298: Selected seed 195 with value = 0.9918
+Saved rollout MP4 at path ./rollouts/v2i350_p2_t6_s2/2026_08_03-18_02_51--with_future_img--episode=3--success=False--task=put_the_cream_cheese_in_the_bowl.mp4
+Success: False
+# episodes completed so far: 3
+# successes: 1 (33.3%)
+
+Task: put the cream cheese in the bowl
+Starting episode 4...
+Query 1/1: Action query time = 3.717 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5186
+t=10: Selected seed 195 with value = 0.5186
+Query 1/1: Action query time = 4.766 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6041
+t=26: Selected seed 195 with value = 0.6041
+Query 1/1: Action query time = 4.623 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7127
+t=42: Selected seed 195 with value = 0.7127
+Query 1/1: Action query time = 4.679 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8409
+t=58: Selected seed 195 with value = 0.8409
+Query 1/1: Action query time = 4.359 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9640
+t=74: Selected seed 195 with value = 0.9640
+Query 1/1: Action query time = 4.645 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/v2i350_p2_t6_s2/2026_08_03-18_02_51--with_future_img--episode=4--success=True--task=put_the_cream_cheese_in_the_bowl.mp4
+Success: True
+# episodes completed so far: 4
+# successes: 2 (50.0%)
+
+Task: put the cream cheese in the bowl
+Starting episode 5...
+Query 1/1: Action query time = 4.153 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5256
+t=10: Selected seed 195 with value = 0.5256
+Query 1/1: Action query time = 3.679 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6193
+t=26: Selected seed 195 with value = 0.6193
+Query 1/1: Action query time = 4.532 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7342
+t=42: Selected seed 195 with value = 0.7342
+Query 1/1: Action query time = 4.400 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8594
+t=58: Selected seed 195 with value = 0.8594
+Query 1/1: Action query time = 4.789 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9735
+t=74: Selected seed 195 with value = 0.9735
+Query 1/1: Action query time = 5.157 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/v2i350_p2_t6_s2/2026_08_03-18_02_51--with_future_img--episode=5--success=True--task=put_the_cream_cheese_in_the_bowl.mp4
+Success: True
+# episodes completed so far: 5
+# successes: 3 (60.0%)
+
+Task: put the cream cheese in the bowl
+Starting episode 6...
+Query 1/1: Action query time = 4.560 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5094
+t=10: Selected seed 195 with value = 0.5094
+Query 1/1: Action query time = 4.320 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5852
+t=26: Selected seed 195 with value = 0.5852
+Query 1/1: Action query time = 4.256 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6987
+t=42: Selected seed 195 with value = 0.6987
+Query 1/1: Action query time = 4.006 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8178
+t=58: Selected seed 195 with value = 0.8178
+Query 1/1: Action query time = 5.407 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9394
+t=74: Selected seed 195 with value = 0.9394
+Query 1/1: Action query time = 4.929 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9972
+t=90: Selected seed 195 with value = 0.9972
+Saved rollout MP4 at path ./rollouts/v2i350_p2_t6_s2/2026_08_03-18_02_51--with_future_img--episode=6--success=True--task=put_the_cream_cheese_in_the_bowl.mp4
+Success: True
+# episodes completed so far: 6
+# successes: 4 (66.7%)
+
+Task: put the cream cheese in the bowl
+Starting episode 7...
+Query 1/1: Action query time = 3.429 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4888
+t=10: Selected seed 195 with value = 0.4888
+Query 1/1: Action query time = 4.289 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5532
+t=26: Selected seed 195 with value = 0.5532
+Query 1/1: Action query time = 4.151 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6264
+t=42: Selected seed 195 with value = 0.6264
+Query 1/1: Action query time = 4.025 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7633
+t=58: Selected seed 195 with value = 0.7633
+Query 1/1: Action query time = 4.109 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8646
+t=74: Selected seed 195 with value = 0.8646
+Query 1/1: Action query time = 3.172 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9774
+t=90: Selected seed 195 with value = 0.9774
+Query 1/1: Action query time = 2.578 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=106: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/v2i350_p2_t6_s2/2026_08_03-18_02_51--with_future_img--episode=7--success=True--task=put_the_cream_cheese_in_the_bowl.mp4
+Success: True
+# episodes completed so far: 7
+# successes: 5 (71.4%)
+
+Task: put the cream cheese in the bowl
+Starting episode 8...
+Query 1/1: Action query time = 2.349 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4773
+t=10: Selected seed 195 with value = 0.4773
+Query 1/1: Action query time = 1.840 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5788
+t=26: Selected seed 195 with value = 0.5788
+Query 1/1: Action query time = 2.038 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6796
+t=42: Selected seed 195 with value = 0.6796
+Query 1/1: Action query time = 1.503 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7988
+t=58: Selected seed 195 with value = 0.7988
+Query 1/1: Action query time = 1.265 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9289
+t=74: Selected seed 195 with value = 0.9289
+Query 1/1: Action query time = 2.842 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9954
+t=90: Selected seed 195 with value = 0.9954
+Saved rollout MP4 at path ./rollouts/v2i350_p2_t6_s2/2026_08_03-18_02_51--with_future_img--episode=8--success=True--task=put_the_cream_cheese_in_the_bowl.mp4
+Success: True
+# episodes completed so far: 8
+# successes: 6 (75.0%)
+
+Task: put the cream cheese in the bowl
+Starting episode 9...
+Query 1/1: Action query time = 2.155 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4744
+t=10: Selected seed 195 with value = 0.4744
+Query 1/1: Action query time = 1.902 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5719
+t=26: Selected seed 195 with value = 0.5719
+Query 1/1: Action query time = 2.333 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7040
+t=42: Selected seed 195 with value = 0.7040
+Query 1/1: Action query time = 1.869 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7802
+t=58: Selected seed 195 with value = 0.7802
+Query 1/1: Action query time = 2.306 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9068
+t=74: Selected seed 195 with value = 0.9068
+Query 1/1: Action query time = 2.230 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9960
+t=90: Selected seed 195 with value = 0.9960
+Saved rollout MP4 at path ./rollouts/v2i350_p2_t6_s2/2026_08_03-18_02_51--with_future_img--episode=9--success=True--task=put_the_cream_cheese_in_the_bowl.mp4
+Success: True
+# episodes completed so far: 9
+# successes: 7 (77.8%)
+
+Task: put the cream cheese in the bowl
+Starting episode 10...
+Query 1/1: Action query time = 2.464 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5124
+t=10: Selected seed 195 with value = 0.5124
+Query 1/1: Action query time = 2.649 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5702
+t=26: Selected seed 195 with value = 0.5702
+Query 1/1: Action query time = 1.642 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6434
+t=42: Selected seed 195 with value = 0.6434
+Query 1/1: Action query time = 2.344 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7453
+t=58: Selected seed 195 with value = 0.7453
+Query 1/1: Action query time = 1.532 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8677
+t=74: Selected seed 195 with value = 0.8677
+Query 1/1: Action query time = 2.356 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9832
+t=90: Selected seed 195 with value = 0.9832
+Query 1/1: Action query time = 1.959 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=106: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/v2i350_p2_t6_s2/2026_08_03-18_02_51--with_future_img--episode=10--success=True--task=put_the_cream_cheese_in_the_bowl.mp4
+Success: True
+# episodes completed so far: 10
+# successes: 8 (80.0%)
+
+Task: put the cream cheese in the bowl
+Starting episode 11...
+Query 1/1: Action query time = 2.020 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5011
+t=10: Selected seed 195 with value = 0.5011
+Query 1/1: Action query time = 2.237 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5996
+t=26: Selected seed 195 with value = 0.5996
+Query 1/1: Action query time = 2.237 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7081
+t=42: Selected seed 195 with value = 0.7081
+Query 1/1: Action query time = 1.997 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8493
+t=58: Selected seed 195 with value = 0.8493
+Query 1/1: Action query time = 1.934 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9739
+t=74: Selected seed 195 with value = 0.9739
+Query 1/1: Action query time = 2.291 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/v2i350_p2_t6_s2/2026_08_03-18_02_51--with_future_img--episode=11--success=True--task=put_the_cream_cheese_in_the_bowl.mp4
+Success: True
+# episodes completed so far: 11
+# successes: 9 (81.8%)
+
+Task: put the cream cheese in the bowl
+Starting episode 12...
+Query 1/1: Action query time = 1.222 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4904
+t=10: Selected seed 195 with value = 0.4904
+Query 1/1: Action query time = 1.287 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5804
+t=26: Selected seed 195 with value = 0.5804
+Query 1/1: Action query time = 1.283 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6878
+t=42: Selected seed 195 with value = 0.6878
+Query 1/1: Action query time = 1.607 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7746
+t=58: Selected seed 195 with value = 0.7746
+Query 1/1: Action query time = 1.210 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8877
+t=74: Selected seed 195 with value = 0.8877
+Query 1/1: Action query time = 1.289 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9750
+t=90: Selected seed 195 with value = 0.9750
+Saved rollout MP4 at path ./rollouts/v2i350_p2_t6_s2/2026_08_03-18_02_51--with_future_img--episode=12--success=True--task=put_the_cream_cheese_in_the_bowl.mp4
+Success: True
+# episodes completed so far: 12
+# successes: 10 (83.3%)
+Current task success rate: 0.8333333333333334
+Current total success rate: 0.8333333333333334
+Final results:
+Total episodes: 12
+Total successes: 10
+Overall success rate: 0.8333 (83.3%)
diff --git a/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_03-18_02_52--v2i350_p2_t5_s2.txt b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_03-18_02_52--v2i350_p2_t5_s2.txt
new file mode 100644
index 0000000000000000000000000000000000000000..187a5e4b4cab23f9cfb6d80607a974de3c007d71
--- /dev/null
+++ b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_08_03-18_02_52--v2i350_p2_t5_s2.txt
@@ -0,0 +1,532 @@
+Eval config: PolicyEvalConfig(suite='libero', model_family='cosmos', config='cosmos_predict2_2b_480p_libero_cl_stage_inference_only', ckpt_path='/home/azureuser/REGEN-main/new_task7/cosmos_policy/cosmos_v2_finetune/cosmos_predict2_2b_480p_libero_goal_task7_forget_cl_v2_from350_2gpu/checkpoints/iter_000000350/model', planning_model_config_name='', planning_model_ckpt_path='', config_file='cosmos_policy/config/config.py', packnet_mask_path='', packnet_first_cl_libero_task=6, use_third_person_image=True, num_third_person_images=1, use_wrist_image=True, num_wrist_images=1, use_proprio=True, flip_images=True, use_variance_scale=False, use_jpeg_compression=True, ar_future_prediction=False, ar_value_prediction=False, ar_qvalue_prediction=False, num_denoising_steps_action=5, num_denoising_steps_future_state=1, num_denoising_steps_value=1, unnormalize_actions=True, normalize_proprio=True, dataset_stats_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/libero_goal_regen/dataset_statistics.json', t5_text_embeddings_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/t5_embeddings.pkl', trained_with_image_aug=True, chunk_size=16, num_open_loop_steps=16, deterministic=True, deterministic_reset=False, deterministic_reset_seed=None, use_ensemble_future_state_predictions=False, num_future_state_predictions_in_ensemble=3, future_state_ensemble_aggregation_scheme='average', use_ensemble_value_predictions=False, num_value_predictions_in_ensemble=5, value_ensemble_aggregation_scheme='average', search_depth=1, mask_current_state_action_for_value_prediction=False, mask_future_state_for_qvalue_prediction=False, num_queries_best_of_n=1, use_parallel_inference=False, available_gpus='0', parallel_timeout=15, parallel_tasks_across_gpus=False, task_suite_name='libero_goal', num_trials_per_task=50, task_ids_to_run='5', initial_states_path='DEFAULT', env_img_res=256, local_log_dir='/home/azureuser/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal', run_id_note='v2i350_p2_t5_s2', use_wandb=False, wandb_entity='YOUR_ENTITY', wandb_project='YOUR_PROJECT', seed=195, randomize_seed=False, data_collection=False, jpeg_compress=True, reward_stop_threshold=None, reward_stop_consecutive_steps=3, use_gpt_reward=False, gpt_reward_model='gpt-5.4-mini', gpt_reward_stop_threshold=4, gpt_reward_timeout_s=30.0, save_rollout_video=False, eval_hdf5_path='', eval_hdf5_demo_key='demo_0', data_gen_demo_ids='', eval_episode_ids='2,6,10,14,18,22,26,30,34,38,42,46', dump_final_states_path='', replay_actions=False, replay_action_path_dir='', replay_hdf5_path='', data_generation=False, max_generation_steps=200, disable_value_stop=False)
+Using serial inference (parallel inference disabled)
+Task suite: libero_goal
+Number of tasks: 10
+Running only task IDs: [5]
+Using default initial states
+
+Task: push the plate to the front of the stove
+Starting episode 1...
+Query 1/1: Action query time = 5.694 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3723
+t=10: Selected seed 195 with value = 0.3723
+Query 1/1: Action query time = 4.771 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4237
+t=26: Selected seed 195 with value = 0.4237
+Query 1/1: Action query time = 5.418 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4979
+t=42: Selected seed 195 with value = 0.4979
+Query 1/1: Action query time = 5.274 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5612
+t=58: Selected seed 195 with value = 0.5612
+Query 1/1: Action query time = 4.963 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6255
+t=74: Selected seed 195 with value = 0.6255
+Query 1/1: Action query time = 4.050 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7118
+t=90: Selected seed 195 with value = 0.7118
+Query 1/1: Action query time = 3.352 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8141
+t=106: Selected seed 195 with value = 0.8141
+Query 1/1: Action query time = 4.926 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9855
+t=122: Selected seed 195 with value = 0.9855
+Query 1/1: Action query time = 3.925 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=138: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/v2i350_p2_t5_s2/2026_08_03-18_02_52--with_future_img--episode=1--success=True--task=push_the_plate_to_the_front_of_the_.mp4
+Success: True
+# episodes completed so far: 1
+# successes: 1 (100.0%)
+
+Task: push the plate to the front of the stove
+Starting episode 2...
+Query 1/1: Action query time = 3.905 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3551
+t=10: Selected seed 195 with value = 0.3551
+Query 1/1: Action query time = 5.055 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4106
+t=26: Selected seed 195 with value = 0.4106
+Query 1/1: Action query time = 4.751 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5665
+t=42: Selected seed 195 with value = 0.5665
+Query 1/1: Action query time = 2.712 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6325
+t=58: Selected seed 195 with value = 0.6325
+Query 1/1: Action query time = 5.277 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6674
+t=74: Selected seed 195 with value = 0.6674
+Query 1/1: Action query time = 5.382 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7686
+t=90: Selected seed 195 with value = 0.7686
+Query 1/1: Action query time = 5.071 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9880
+t=106: Selected seed 195 with value = 0.9880
+Query 1/1: Action query time = 4.984 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=122: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.711 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9983
+t=138: Selected seed 195 with value = 0.9983
+Saved rollout MP4 at path ./rollouts/v2i350_p2_t5_s2/2026_08_03-18_02_52--with_future_img--episode=2--success=True--task=push_the_plate_to_the_front_of_the_.mp4
+Success: True
+# episodes completed so far: 2
+# successes: 2 (100.0%)
+
+Task: push the plate to the front of the stove
+Starting episode 3...
+Query 1/1: Action query time = 3.232 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3847
+t=10: Selected seed 195 with value = 0.3847
+Query 1/1: Action query time = 3.202 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4317
+t=26: Selected seed 195 with value = 0.4317
+Query 1/1: Action query time = 5.151 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5349
+t=42: Selected seed 195 with value = 0.5349
+Query 1/1: Action query time = 5.083 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6008
+t=58: Selected seed 195 with value = 0.6008
+Query 1/1: Action query time = 5.292 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6483
+t=74: Selected seed 195 with value = 0.6483
+Query 1/1: Action query time = 4.607 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7240
+t=90: Selected seed 195 with value = 0.7240
+Query 1/1: Action query time = 4.996 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9093
+t=106: Selected seed 195 with value = 0.9093
+Query 1/1: Action query time = 4.545 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=122: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.331 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=138: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/v2i350_p2_t5_s2/2026_08_03-18_02_52--with_future_img--episode=3--success=True--task=push_the_plate_to_the_front_of_the_.mp4
+Success: True
+# episodes completed so far: 3
+# successes: 3 (100.0%)
+
+Task: push the plate to the front of the stove
+Starting episode 4...
+Query 1/1: Action query time = 4.470 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3767
+t=10: Selected seed 195 with value = 0.3767
+Query 1/1: Action query time = 4.021 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3854
+t=26: Selected seed 195 with value = 0.3854
+Query 1/1: Action query time = 5.142 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5395
+t=42: Selected seed 195 with value = 0.5395
+Query 1/1: Action query time = 4.508 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6668
+t=58: Selected seed 195 with value = 0.6668
+Query 1/1: Action query time = 5.202 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7443
+t=74: Selected seed 195 with value = 0.7443
+Query 1/1: Action query time = 5.257 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9091
+t=90: Selected seed 195 with value = 0.9091
+Query 1/1: Action query time = 5.800 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9943
+t=106: Selected seed 195 with value = 0.9943
+Query 1/1: Action query time = 5.247 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=122: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/v2i350_p2_t5_s2/2026_08_03-18_02_52--with_future_img--episode=4--success=True--task=push_the_plate_to_the_front_of_the_.mp4
+Success: True
+# episodes completed so far: 4
+# successes: 4 (100.0%)
+
+Task: push the plate to the front of the stove
+Starting episode 5...
+Query 1/1: Action query time = 4.219 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3408
+t=10: Selected seed 195 with value = 0.3408
+Query 1/1: Action query time = 4.835 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4227
+t=26: Selected seed 195 with value = 0.4227
+Query 1/1: Action query time = 4.560 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4621
+t=42: Selected seed 195 with value = 0.4621
+Query 1/1: Action query time = 4.352 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5486
+t=58: Selected seed 195 with value = 0.5486
+Query 1/1: Action query time = 4.362 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6375
+t=74: Selected seed 195 with value = 0.6375
+Query 1/1: Action query time = 4.775 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7110
+t=90: Selected seed 195 with value = 0.7110
+Query 1/1: Action query time = 5.495 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8099
+t=106: Selected seed 195 with value = 0.8099
+Query 1/1: Action query time = 4.582 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9850
+t=122: Selected seed 195 with value = 0.9850
+Query 1/1: Action query time = 3.712 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9991
+t=138: Selected seed 195 with value = 0.9991
+Saved rollout MP4 at path ./rollouts/v2i350_p2_t5_s2/2026_08_03-18_02_52--with_future_img--episode=5--success=True--task=push_the_plate_to_the_front_of_the_.mp4
+Success: True
+# episodes completed so far: 5
+# successes: 5 (100.0%)
+
+Task: push the plate to the front of the stove
+Starting episode 6...
+Query 1/1: Action query time = 3.588 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3997
+t=10: Selected seed 195 with value = 0.3997
+Query 1/1: Action query time = 3.364 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4353
+t=26: Selected seed 195 with value = 0.4353
+Query 1/1: Action query time = 5.058 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5606
+t=42: Selected seed 195 with value = 0.5606
+Query 1/1: Action query time = 5.528 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6426
+t=58: Selected seed 195 with value = 0.6426
+Query 1/1: Action query time = 5.366 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6912
+t=74: Selected seed 195 with value = 0.6912
+Query 1/1: Action query time = 4.100 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8183
+t=90: Selected seed 195 with value = 0.8183
+Query 1/1: Action query time = 4.903 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9389
+t=106: Selected seed 195 with value = 0.9389
+Query 1/1: Action query time = 4.318 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=122: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 2.963 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=138: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/v2i350_p2_t5_s2/2026_08_03-18_02_52--with_future_img--episode=6--success=True--task=push_the_plate_to_the_front_of_the_.mp4
+Success: True
+# episodes completed so far: 6
+# successes: 6 (100.0%)
+
+Task: push the plate to the front of the stove
+Starting episode 7...
+Query 1/1: Action query time = 6.141 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4004
+t=10: Selected seed 195 with value = 0.4004
+Query 1/1: Action query time = 3.449 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4367
+t=26: Selected seed 195 with value = 0.4367
+Query 1/1: Action query time = 4.772 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5352
+t=42: Selected seed 195 with value = 0.5352
+Query 1/1: Action query time = 5.000 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6323
+t=58: Selected seed 195 with value = 0.6323
+Query 1/1: Action query time = 3.029 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7244
+t=74: Selected seed 195 with value = 0.7244
+Query 1/1: Action query time = 4.788 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8232
+t=90: Selected seed 195 with value = 0.8232
+Query 1/1: Action query time = 5.522 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9817
+t=106: Selected seed 195 with value = 0.9817
+Query 1/1: Action query time = 3.797 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=122: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 4.048 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=138: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/v2i350_p2_t5_s2/2026_08_03-18_02_52--with_future_img--episode=7--success=True--task=push_the_plate_to_the_front_of_the_.mp4
+Success: True
+# episodes completed so far: 7
+# successes: 7 (100.0%)
+
+Task: push the plate to the front of the stove
+Starting episode 8...
+Query 1/1: Action query time = 5.140 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3587
+t=10: Selected seed 195 with value = 0.3587
+Query 1/1: Action query time = 4.386 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4138
+t=26: Selected seed 195 with value = 0.4138
+Query 1/1: Action query time = 3.222 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5554
+t=42: Selected seed 195 with value = 0.5554
+Query 1/1: Action query time = 4.227 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5752
+t=58: Selected seed 195 with value = 0.5752
+Query 1/1: Action query time = 3.756 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6829
+t=74: Selected seed 195 with value = 0.6829
+Query 1/1: Action query time = 5.424 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7584
+t=90: Selected seed 195 with value = 0.7584
+Query 1/1: Action query time = 4.664 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8703
+t=106: Selected seed 195 with value = 0.8703
+Query 1/1: Action query time = 4.420 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9715
+t=122: Selected seed 195 with value = 0.9715
+Query 1/1: Action query time = 5.070 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9989
+t=138: Selected seed 195 with value = 0.9989
+Saved rollout MP4 at path ./rollouts/v2i350_p2_t5_s2/2026_08_03-18_02_52--with_future_img--episode=8--success=True--task=push_the_plate_to_the_front_of_the_.mp4
+Success: True
+# episodes completed so far: 8
+# successes: 8 (100.0%)
+
+Task: push the plate to the front of the stove
+Starting episode 9...
+Query 1/1: Action query time = 5.831 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3498
+t=10: Selected seed 195 with value = 0.3498
+Query 1/1: Action query time = 3.458 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3992
+t=26: Selected seed 195 with value = 0.3992
+Query 1/1: Action query time = 4.897 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5140
+t=42: Selected seed 195 with value = 0.5140
+Query 1/1: Action query time = 3.912 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5925
+t=58: Selected seed 195 with value = 0.5925
+Query 1/1: Action query time = 4.663 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6588
+t=74: Selected seed 195 with value = 0.6588
+Query 1/1: Action query time = 3.629 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7974
+t=90: Selected seed 195 with value = 0.7974
+Query 1/1: Action query time = 3.646 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9713
+t=106: Selected seed 195 with value = 0.9713
+Query 1/1: Action query time = 2.587 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=122: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 3.819 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9985
+t=138: Selected seed 195 with value = 0.9985
+Saved rollout MP4 at path ./rollouts/v2i350_p2_t5_s2/2026_08_03-18_02_52--with_future_img--episode=9--success=True--task=push_the_plate_to_the_front_of_the_.mp4
+Success: True
+# episodes completed so far: 9
+# successes: 9 (100.0%)
+
+Task: push the plate to the front of the stove
+Starting episode 10...
+Query 1/1: Action query time = 2.945 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3740
+t=10: Selected seed 195 with value = 0.3740
+Query 1/1: Action query time = 2.918 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4378
+t=26: Selected seed 195 with value = 0.4378
+Query 1/1: Action query time = 2.528 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5526
+t=42: Selected seed 195 with value = 0.5526
+Query 1/1: Action query time = 2.201 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6143
+t=58: Selected seed 195 with value = 0.6143
+Query 1/1: Action query time = 2.147 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6444
+t=74: Selected seed 195 with value = 0.6444
+Query 1/1: Action query time = 3.468 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8200
+t=90: Selected seed 195 with value = 0.8200
+Query 1/1: Action query time = 2.687 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9797
+t=106: Selected seed 195 with value = 0.9797
+Query 1/1: Action query time = 2.247 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=122: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 2.902 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9989
+t=138: Selected seed 195 with value = 0.9989
+Saved rollout MP4 at path ./rollouts/v2i350_p2_t5_s2/2026_08_03-18_02_52--with_future_img--episode=10--success=True--task=push_the_plate_to_the_front_of_the_.mp4
+Success: True
+# episodes completed so far: 10
+# successes: 10 (100.0%)
+
+Task: push the plate to the front of the stove
+Starting episode 11...
+Query 1/1: Action query time = 2.718 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3445
+t=10: Selected seed 195 with value = 0.3445
+Query 1/1: Action query time = 2.627 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4029
+t=26: Selected seed 195 with value = 0.4029
+Query 1/1: Action query time = 2.330 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5083
+t=42: Selected seed 195 with value = 0.5083
+Query 1/1: Action query time = 2.808 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5241
+t=58: Selected seed 195 with value = 0.5241
+Query 1/1: Action query time = 1.706 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5558
+t=74: Selected seed 195 with value = 0.5558
+Query 1/1: Action query time = 1.449 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5936
+t=90: Selected seed 195 with value = 0.5936
+Query 1/1: Action query time = 2.018 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7274
+t=106: Selected seed 195 with value = 0.7274
+Query 1/1: Action query time = 1.676 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8460
+t=122: Selected seed 195 with value = 0.8460
+Query 1/1: Action query time = 2.245 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9241
+t=138: Selected seed 195 with value = 0.9241
+Query 1/1: Action query time = 2.329 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=154: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 2.236 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=170: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/v2i350_p2_t5_s2/2026_08_03-18_02_52--with_future_img--episode=11--success=True--task=push_the_plate_to_the_front_of_the_.mp4
+Success: True
+# episodes completed so far: 11
+# successes: 11 (100.0%)
+
+Task: push the plate to the front of the stove
+Starting episode 12...
+Query 1/1: Action query time = 1.727 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3670
+t=10: Selected seed 195 with value = 0.3670
+Query 1/1: Action query time = 2.165 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4312
+t=26: Selected seed 195 with value = 0.4312
+Query 1/1: Action query time = 2.117 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5308
+t=42: Selected seed 195 with value = 0.5308
+Query 1/1: Action query time = 2.242 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5853
+t=58: Selected seed 195 with value = 0.5853
+Query 1/1: Action query time = 2.837 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6781
+t=74: Selected seed 195 with value = 0.6781
+Query 1/1: Action query time = 2.240 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7826
+t=90: Selected seed 195 with value = 0.7826
+Query 1/1: Action query time = 2.076 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9257
+t=106: Selected seed 195 with value = 0.9257
+Query 1/1: Action query time = 1.817 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=122: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 1.583 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9987
+t=138: Selected seed 195 with value = 0.9987
+Saved rollout MP4 at path ./rollouts/v2i350_p2_t5_s2/2026_08_03-18_02_52--with_future_img--episode=12--success=True--task=push_the_plate_to_the_front_of_the_.mp4
+Success: True
+# episodes completed so far: 12
+# successes: 12 (100.0%)
+Current task success rate: 1.0
+Current total success rate: 1.0
+Final results:
+Total episodes: 12
+Total successes: 12
+Overall success rate: 1.0000 (100.0%)
diff --git a/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal_gpu0-cosmos-2026_07_31-01_07_28--CLbest_t15--gpu0.txt b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal_gpu0-cosmos-2026_07_31-01_07_28--CLbest_t15--gpu0.txt
new file mode 100644
index 0000000000000000000000000000000000000000..92d77e99e34467c330cedcadace6a419779de3ad
--- /dev/null
+++ b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal_gpu0-cosmos-2026_07_31-01_07_28--CLbest_t15--gpu0.txt
@@ -0,0 +1,234 @@
+[worker gpu=0] tasks=[1, 3, 5] CUDA_VISIBLE_DEVICES=0
+[worker gpu=0] starting task_id=1
+Using default initial states
+
+Task: put the bowl on the stove
+Starting episode 1...
+Query 1/1: Action query time = 2.164 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4688
+t=10: Selected seed 195 with value = 0.4688
+Query 1/1: Action query time = 1.237 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5660
+t=26: Selected seed 195 with value = 0.5660
+Query 1/1: Action query time = 1.217 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6634
+t=42: Selected seed 195 with value = 0.6634
+Query 1/1: Action query time = 1.251 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7201
+t=58: Selected seed 195 with value = 0.7201
+Query 1/1: Action query time = 1.408 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7843
+t=74: Selected seed 195 with value = 0.7843
+Query 1/1: Action query time = 1.382 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8328
+t=90: Selected seed 195 with value = 0.8328
+Query 1/1: Action query time = 0.950 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9212
+t=106: Selected seed 195 with value = 0.9212
+Query 1/1: Action query time = 0.953 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8488
+t=122: Selected seed 195 with value = 0.8488
+Query 1/1: Action query time = 1.004 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9532
+t=138: Selected seed 195 with value = 0.9532
+Query 1/1: Action query time = 1.229 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9952
+t=154: Selected seed 195 with value = 0.9952
+Query 1/1: Action query time = 1.203 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9935
+t=170: Selected seed 195 with value = 0.9935
+Query 1/1: Action query time = 1.205 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9955
+t=186: Selected seed 195 with value = 0.9955
+Query 1/1: Action query time = 1.392 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9788
+t=202: Selected seed 195 with value = 0.9788
+Query 1/1: Action query time = 1.196 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9659
+t=218: Selected seed 195 with value = 0.9659
+Query 1/1: Action query time = 1.326 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9574
+t=234: Selected seed 195 with value = 0.9574
+Query 1/1: Action query time = 1.354 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9465
+t=250: Selected seed 195 with value = 0.9465
+Query 1/1: Action query time = 0.960 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9122
+t=266: Selected seed 195 with value = 0.9122
+Query 1/1: Action query time = 0.947 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8663
+t=282: Selected seed 195 with value = 0.8663
+Query 1/1: Action query time = 1.081 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8161
+t=298: Selected seed 195 with value = 0.8161
+Saved rollout MP4 at path ./rollouts/CLbest_t15/2026_07_31-01_07_28--episode=1--success=False--task=put_the_bowl_on_the_stove.mp4
+Saved rollout MP4 at path ./rollouts/CLbest_t15/2026_07_31-01_07_28--with_future_img--episode=1--success=False--task=put_the_bowl_on_the_stove.mp4
+Success: False
+# episodes completed so far: 1
+# successes: 0 (0.0%)
+
+Task: put the bowl on the stove
+Starting episode 2...
+Query 1/1: Action query time = 0.998 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4694
+t=10: Selected seed 195 with value = 0.4694
+Query 1/1: Action query time = 0.965 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5672
+t=26: Selected seed 195 with value = 0.5672
+Query 1/1: Action query time = 0.970 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6216
+t=42: Selected seed 195 with value = 0.6216
+Query 1/1: Action query time = 1.247 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7379
+t=58: Selected seed 195 with value = 0.7379
+Query 1/1: Action query time = 1.477 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8135
+t=74: Selected seed 195 with value = 0.8135
+Query 1/1: Action query time = 1.290 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9158
+t=90: Selected seed 195 with value = 0.9158
+Query 1/1: Action query time = 1.244 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9958
+t=106: Selected seed 195 with value = 0.9958
+Query 1/1: Action query time = 1.212 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9871
+t=122: Selected seed 195 with value = 0.9871
+Query 1/1: Action query time = 1.103 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9873
+t=138: Selected seed 195 with value = 0.9873
+Query 1/1: Action query time = 1.131 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9753
+t=154: Selected seed 195 with value = 0.9753
+Query 1/1: Action query time = 0.968 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9656
+t=170: Selected seed 195 with value = 0.9656
+Query 1/1: Action query time = 0.975 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9467
+t=186: Selected seed 195 with value = 0.9467
+Query 1/1: Action query time = 1.405 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9331
+t=202: Selected seed 195 with value = 0.9331
+Query 1/1: Action query time = 1.669 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9178
+t=218: Selected seed 195 with value = 0.9178
+Query 1/1: Action query time = 1.402 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8908
+t=234: Selected seed 195 with value = 0.8908
+Query 1/1: Action query time = 1.301 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8693
+t=250: Selected seed 195 with value = 0.8693
+Query 1/1: Action query time = 1.251 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8871
+t=266: Selected seed 195 with value = 0.8871
+Query 1/1: Action query time = 1.203 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9148
+t=282: Selected seed 195 with value = 0.9148
+Query 1/1: Action query time = 1.097 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9117
+t=298: Selected seed 195 with value = 0.9117
+Saved rollout MP4 at path ./rollouts/CLbest_t15/2026_07_31-01_07_28--episode=2--success=False--task=put_the_bowl_on_the_stove.mp4
+Saved rollout MP4 at path ./rollouts/CLbest_t15/2026_07_31-01_07_28--with_future_img--episode=2--success=False--task=put_the_bowl_on_the_stove.mp4
+Success: False
+# episodes completed so far: 2
+# successes: 0 (0.0%)
+
+Task: put the bowl on the stove
+Starting episode 3...
+Query 1/1: Action query time = 1.628 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4812
+t=10: Selected seed 195 with value = 0.4812
+Query 1/1: Action query time = 1.582 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5824
+t=26: Selected seed 195 with value = 0.5824
+Query 1/1: Action query time = 1.348 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6427
+t=42: Selected seed 195 with value = 0.6427
+Query 1/1: Action query time = 1.303 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7390
+t=58: Selected seed 195 with value = 0.7390
+Query 1/1: Action query time = 0.974 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8089
+t=74: Selected seed 195 with value = 0.8089
+Query 1/1: Action query time = 1.068 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9360
+t=90: Selected seed 195 with value = 0.9360
+Query 1/1: Action query time = 1.017 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9915
+t=106: Selected seed 195 with value = 0.9915
+Query 1/1: Action query time = 1.679 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9954
+t=122: Selected seed 195 with value = 0.9954
+Query 1/1: Action query time = 1.584 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9957
+t=138: Selected seed 195 with value = 0.9957
+Query 1/1: Action query time = 1.680 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9876
+t=154: Selected seed 195 with value = 0.9876
+Query 1/1: Action query time = 1.808 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9817
+t=170: Selected seed 195 with value = 0.9817
+Query 1/1: Action query time = 1.595 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9760
+t=186: Selected seed 195 with value = 0.9760
+Query 1/1: Action query time = 1.353 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9605
+t=202: Selected seed 195 with value = 0.9605
+Query 1/1: Action query time = 1.314 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9428
+t=218: Selected seed 195 with value = 0.9428
+Query 1/1: Action query time = 0.967 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8988
+t=234: Selected seed 195 with value = 0.8988
diff --git a/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal_gpu1-cosmos-2026_07_31-00_55_25--CLbest_t15--gpu1.txt b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal_gpu1-cosmos-2026_07_31-00_55_25--CLbest_t15--gpu1.txt
new file mode 100644
index 0000000000000000000000000000000000000000..ab60ec47abc984929def108b0d261238cbf360f5
--- /dev/null
+++ b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal_gpu1-cosmos-2026_07_31-00_55_25--CLbest_t15--gpu1.txt
@@ -0,0 +1,1130 @@
+[worker gpu=1] tasks=[2, 4] CUDA_VISIBLE_DEVICES=1
+[worker gpu=1] starting task_id=2
+Using default initial states
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 1...
+Query 1/1: Action query time = 1.913 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5287
+t=10: Selected seed 195 with value = 0.5287
+Query 1/1: Action query time = 1.317 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6103
+t=26: Selected seed 195 with value = 0.6103
+Query 1/1: Action query time = 1.291 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7338
+t=42: Selected seed 195 with value = 0.7338
+Query 1/1: Action query time = 1.492 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8347
+t=58: Selected seed 195 with value = 0.8347
+Query 1/1: Action query time = 1.753 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9137
+t=74: Selected seed 195 with value = 0.9137
+Query 1/1: Action query time = 1.851 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/CLbest_t15/2026_07_31-00_55_25--episode=1--success=True--task=put_the_wine_bottle_on_top_of_the_cabine.mp4
+Saved rollout MP4 at path ./rollouts/CLbest_t15/2026_07_31-00_55_25--with_future_img--episode=1--success=True--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: True
+# episodes completed so far: 1
+# successes: 1 (100.0%)
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 2...
+Query 1/1: Action query time = 1.437 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4407
+t=10: Selected seed 195 with value = 0.4407
+Query 1/1: Action query time = 1.303 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4944
+t=26: Selected seed 195 with value = 0.4944
+Query 1/1: Action query time = 1.322 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5836
+t=42: Selected seed 195 with value = 0.5836
+Query 1/1: Action query time = 1.431 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6977
+t=58: Selected seed 195 with value = 0.6977
+Query 1/1: Action query time = 1.362 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7906
+t=74: Selected seed 195 with value = 0.7906
+Query 1/1: Action query time = 1.537 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8985
+t=90: Selected seed 195 with value = 0.8985
+Query 1/1: Action query time = 1.898 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9977
+t=106: Selected seed 195 with value = 0.9977
+Saved rollout MP4 at path ./rollouts/CLbest_t15/2026_07_31-00_55_25--episode=2--success=True--task=put_the_wine_bottle_on_top_of_the_cabine.mp4
+Saved rollout MP4 at path ./rollouts/CLbest_t15/2026_07_31-00_55_25--with_future_img--episode=2--success=True--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: True
+# episodes completed so far: 2
+# successes: 2 (100.0%)
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 3...
+Query 1/1: Action query time = 0.996 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4608
+t=10: Selected seed 195 with value = 0.4608
+Query 1/1: Action query time = 0.958 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4919
+t=26: Selected seed 195 with value = 0.4919
+Query 1/1: Action query time = 0.951 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5973
+t=42: Selected seed 195 with value = 0.5973
+Query 1/1: Action query time = 0.960 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6893
+t=58: Selected seed 195 with value = 0.6893
+Query 1/1: Action query time = 0.968 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8320
+t=74: Selected seed 195 with value = 0.8320
+Query 1/1: Action query time = 0.996 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9078
+t=90: Selected seed 195 with value = 0.9078
+Saved rollout MP4 at path ./rollouts/CLbest_t15/2026_07_31-00_55_25--episode=3--success=True--task=put_the_wine_bottle_on_top_of_the_cabine.mp4
+Saved rollout MP4 at path ./rollouts/CLbest_t15/2026_07_31-00_55_25--with_future_img--episode=3--success=True--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: True
+# episodes completed so far: 3
+# successes: 3 (100.0%)
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 4...
+Query 1/1: Action query time = 1.388 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5127
+t=10: Selected seed 195 with value = 0.5127
+Query 1/1: Action query time = 1.347 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5304
+t=26: Selected seed 195 with value = 0.5304
+Query 1/1: Action query time = 1.331 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5896
+t=42: Selected seed 195 with value = 0.5896
+Query 1/1: Action query time = 1.286 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7212
+t=58: Selected seed 195 with value = 0.7212
+Query 1/1: Action query time = 1.208 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9023
+t=74: Selected seed 195 with value = 0.9023
+Query 1/1: Action query time = 1.271 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9952
+t=90: Selected seed 195 with value = 0.9952
+Saved rollout MP4 at path ./rollouts/CLbest_t15/2026_07_31-00_55_25--episode=4--success=True--task=put_the_wine_bottle_on_top_of_the_cabine.mp4
+Saved rollout MP4 at path ./rollouts/CLbest_t15/2026_07_31-00_55_25--with_future_img--episode=4--success=True--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: True
+# episodes completed so far: 4
+# successes: 4 (100.0%)
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 5...
+Query 1/1: Action query time = 1.819 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5039
+t=10: Selected seed 195 with value = 0.5039
+Query 1/1: Action query time = 1.570 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5802
+t=26: Selected seed 195 with value = 0.5802
+Query 1/1: Action query time = 1.622 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6192
+t=42: Selected seed 195 with value = 0.6192
+Query 1/1: Action query time = 1.610 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7489
+t=58: Selected seed 195 with value = 0.7489
+Query 1/1: Action query time = 1.844 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7863
+t=74: Selected seed 195 with value = 0.7863
+Query 1/1: Action query time = 1.667 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8772
+t=90: Selected seed 195 with value = 0.8772
+Query 1/1: Action query time = 1.455 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=106: Selected seed 195 with value = 1.0000
+Saved rollout MP4 at path ./rollouts/CLbest_t15/2026_07_31-00_55_25--episode=5--success=True--task=put_the_wine_bottle_on_top_of_the_cabine.mp4
+Saved rollout MP4 at path ./rollouts/CLbest_t15/2026_07_31-00_55_25--with_future_img--episode=5--success=True--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: True
+# episodes completed so far: 5
+# successes: 5 (100.0%)
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 6...
+Query 1/1: Action query time = 1.154 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5076
+t=10: Selected seed 195 with value = 0.5076
+Query 1/1: Action query time = 1.123 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5786
+t=26: Selected seed 195 with value = 0.5786
+Query 1/1: Action query time = 1.576 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6635
+t=42: Selected seed 195 with value = 0.6635
+Query 1/1: Action query time = 1.582 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7790
+t=58: Selected seed 195 with value = 0.7790
+Query 1/1: Action query time = 1.754 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8873
+t=74: Selected seed 195 with value = 0.8873
+Query 1/1: Action query time = 1.834 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9744
+t=90: Selected seed 195 with value = 0.9744
+Saved rollout MP4 at path ./rollouts/CLbest_t15/2026_07_31-00_55_25--episode=6--success=True--task=put_the_wine_bottle_on_top_of_the_cabine.mp4
+Saved rollout MP4 at path ./rollouts/CLbest_t15/2026_07_31-00_55_25--with_future_img--episode=6--success=True--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: True
+# episodes completed so far: 6
+# successes: 6 (100.0%)
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 7...
+Query 1/1: Action query time = 1.248 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4211
+t=10: Selected seed 195 with value = 0.4211
+Query 1/1: Action query time = 1.212 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5006
+t=26: Selected seed 195 with value = 0.5006
+Query 1/1: Action query time = 1.375 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5840
+t=42: Selected seed 195 with value = 0.5840
+Query 1/1: Action query time = 1.286 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6355
+t=58: Selected seed 195 with value = 0.6355
+Query 1/1: Action query time = 1.222 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7976
+t=74: Selected seed 195 with value = 0.7976
+Query 1/1: Action query time = 1.250 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8723
+t=90: Selected seed 195 with value = 0.8723
+Query 1/1: Action query time = 1.306 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9569
+t=106: Selected seed 195 with value = 0.9569
+Saved rollout MP4 at path ./rollouts/CLbest_t15/2026_07_31-00_55_25--episode=7--success=True--task=put_the_wine_bottle_on_top_of_the_cabine.mp4
+Saved rollout MP4 at path ./rollouts/CLbest_t15/2026_07_31-00_55_25--with_future_img--episode=7--success=True--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: True
+# episodes completed so far: 7
+# successes: 7 (100.0%)
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 8...
+Query 1/1: Action query time = 1.269 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4598
+t=10: Selected seed 195 with value = 0.4598
+Query 1/1: Action query time = 1.390 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4814
+t=26: Selected seed 195 with value = 0.4814
+Query 1/1: Action query time = 0.970 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5760
+t=42: Selected seed 195 with value = 0.5760
+Query 1/1: Action query time = 0.980 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7074
+t=58: Selected seed 195 with value = 0.7074
+Query 1/1: Action query time = 0.990 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7946
+t=74: Selected seed 195 with value = 0.7946
+Query 1/1: Action query time = 0.983 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9085
+t=90: Selected seed 195 with value = 0.9085
+Query 1/1: Action query time = 0.983 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9952
+t=106: Selected seed 195 with value = 0.9952
+Saved rollout MP4 at path ./rollouts/CLbest_t15/2026_07_31-00_55_25--episode=8--success=True--task=put_the_wine_bottle_on_top_of_the_cabine.mp4
+Saved rollout MP4 at path ./rollouts/CLbest_t15/2026_07_31-00_55_25--with_future_img--episode=8--success=True--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: True
+# episodes completed so far: 8
+# successes: 8 (100.0%)
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 9...
+Query 1/1: Action query time = 1.502 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4853
+t=10: Selected seed 195 with value = 0.4853
+Query 1/1: Action query time = 1.228 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5185
+t=26: Selected seed 195 with value = 0.5185
+Query 1/1: Action query time = 1.336 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6263
+t=42: Selected seed 195 with value = 0.6263
+Query 1/1: Action query time = 1.281 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7241
+t=58: Selected seed 195 with value = 0.7241
+Query 1/1: Action query time = 1.452 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8392
+t=74: Selected seed 195 with value = 0.8392
+Query 1/1: Action query time = 1.267 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9076
+t=90: Selected seed 195 with value = 0.9076
+Saved rollout MP4 at path ./rollouts/CLbest_t15/2026_07_31-00_55_25--episode=9--success=True--task=put_the_wine_bottle_on_top_of_the_cabine.mp4
+Saved rollout MP4 at path ./rollouts/CLbest_t15/2026_07_31-00_55_25--with_future_img--episode=9--success=True--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: True
+# episodes completed so far: 9
+# successes: 9 (100.0%)
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 10...
+Query 1/1: Action query time = 1.340 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5093
+t=10: Selected seed 195 with value = 0.5093
+Query 1/1: Action query time = 1.281 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5645
+t=26: Selected seed 195 with value = 0.5645
+Query 1/1: Action query time = 1.268 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6233
+t=42: Selected seed 195 with value = 0.6233
+Query 1/1: Action query time = 1.520 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7724
+t=58: Selected seed 195 with value = 0.7724
+Query 1/1: Action query time = 1.282 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8640
+t=74: Selected seed 195 with value = 0.8640
+Query 1/1: Action query time = 1.336 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9716
+t=90: Selected seed 195 with value = 0.9716
+Saved rollout MP4 at path ./rollouts/CLbest_t15/2026_07_31-00_55_25--episode=10--success=True--task=put_the_wine_bottle_on_top_of_the_cabine.mp4
+Saved rollout MP4 at path ./rollouts/CLbest_t15/2026_07_31-00_55_25--with_future_img--episode=10--success=True--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: True
+# episodes completed so far: 10
+# successes: 10 (100.0%)
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 11...
+Query 1/1: Action query time = 1.001 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5121
+t=10: Selected seed 195 with value = 0.5121
+Query 1/1: Action query time = 0.969 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5468
+t=26: Selected seed 195 with value = 0.5468
+Query 1/1: Action query time = 0.981 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5928
+t=42: Selected seed 195 with value = 0.5928
+Query 1/1: Action query time = 1.043 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6918
+t=58: Selected seed 195 with value = 0.6918
+Query 1/1: Action query time = 1.250 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8856
+t=74: Selected seed 195 with value = 0.8856
+Query 1/1: Action query time = 1.463 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9505
+t=90: Selected seed 195 with value = 0.9505
+Query 1/1: Action query time = 1.248 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7362
+t=106: Selected seed 195 with value = 0.7362
+Query 1/1: Action query time = 1.238 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7081
+t=122: Selected seed 195 with value = 0.7081
+Query 1/1: Action query time = 1.275 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9229
+t=138: Selected seed 195 with value = 0.9229
+Query 1/1: Action query time = 1.466 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8378
+t=154: Selected seed 195 with value = 0.8378
+Query 1/1: Action query time = 1.278 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8745
+t=170: Selected seed 195 with value = 0.8745
+Query 1/1: Action query time = 1.256 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9101
+t=186: Selected seed 195 with value = 0.9101
+Query 1/1: Action query time = 1.216 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9013
+t=202: Selected seed 195 with value = 0.9013
+Query 1/1: Action query time = 1.270 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9047
+t=218: Selected seed 195 with value = 0.9047
+Query 1/1: Action query time = 1.401 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8701
+t=234: Selected seed 195 with value = 0.8701
+Query 1/1: Action query time = 1.241 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7992
+t=250: Selected seed 195 with value = 0.7992
+Query 1/1: Action query time = 1.213 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8351
+t=266: Selected seed 195 with value = 0.8351
+Query 1/1: Action query time = 1.213 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8246
+t=282: Selected seed 195 with value = 0.8246
+Query 1/1: Action query time = 1.167 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8921
+t=298: Selected seed 195 with value = 0.8921
+Saved rollout MP4 at path ./rollouts/CLbest_t15/2026_07_31-00_55_25--episode=11--success=False--task=put_the_wine_bottle_on_top_of_the_cabine.mp4
+Saved rollout MP4 at path ./rollouts/CLbest_t15/2026_07_31-00_55_25--with_future_img--episode=11--success=False--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: False
+# episodes completed so far: 11
+# successes: 10 (90.9%)
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 12...
+Query 1/1: Action query time = 1.048 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5105
+t=10: Selected seed 195 with value = 0.5105
+Query 1/1: Action query time = 1.036 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6008
+t=26: Selected seed 195 with value = 0.6008
+Query 1/1: Action query time = 1.000 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7138
+t=42: Selected seed 195 with value = 0.7138
+Query 1/1: Action query time = 1.258 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8297
+t=58: Selected seed 195 with value = 0.8297
+Query 1/1: Action query time = 1.314 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9107
+t=74: Selected seed 195 with value = 0.9107
+Query 1/1: Action query time = 1.429 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=90: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 1.814 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=106: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 1.630 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=122: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 1.601 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=138: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 1.612 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=154: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 1.615 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9984
+t=170: Selected seed 195 with value = 0.9984
+Query 1/1: Action query time = 1.595 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9931
+t=186: Selected seed 195 with value = 0.9931
+Query 1/1: Action query time = 1.643 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9783
+t=202: Selected seed 195 with value = 0.9783
+Query 1/1: Action query time = 1.740 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9588
+t=218: Selected seed 195 with value = 0.9588
+Query 1/1: Action query time = 1.665 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9285
+t=234: Selected seed 195 with value = 0.9285
+Query 1/1: Action query time = 1.559 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9207
+t=250: Selected seed 195 with value = 0.9207
+Query 1/1: Action query time = 1.403 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8315
+t=266: Selected seed 195 with value = 0.8315
+Query 1/1: Action query time = 1.357 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7632
+t=282: Selected seed 195 with value = 0.7632
+Query 1/1: Action query time = 1.287 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8088
+t=298: Selected seed 195 with value = 0.8088
+Saved rollout MP4 at path ./rollouts/CLbest_t15/2026_07_31-00_55_25--episode=12--success=False--task=put_the_wine_bottle_on_top_of_the_cabine.mp4
+Saved rollout MP4 at path ./rollouts/CLbest_t15/2026_07_31-00_55_25--with_future_img--episode=12--success=False--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: False
+# episodes completed so far: 12
+# successes: 10 (83.3%)
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 13...
+Query 1/1: Action query time = 0.979 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5125
+t=10: Selected seed 195 with value = 0.5125
+Query 1/1: Action query time = 0.967 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5737
+t=26: Selected seed 195 with value = 0.5737
+Query 1/1: Action query time = 0.961 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6183
+t=42: Selected seed 195 with value = 0.6183
+Query 1/1: Action query time = 1.334 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7618
+t=58: Selected seed 195 with value = 0.7618
+Query 1/1: Action query time = 1.380 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8780
+t=74: Selected seed 195 with value = 0.8780
+Query 1/1: Action query time = 1.879 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9931
+t=90: Selected seed 195 with value = 0.9931
+Query 1/1: Action query time = 1.855 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9995
+t=106: Selected seed 195 with value = 0.9995
+Query 1/1: Action query time = 1.770 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=122: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 1.741 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=138: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 1.677 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=154: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 1.637 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=170: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 1.441 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=186: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 1.449 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 1.0000
+t=202: Selected seed 195 with value = 1.0000
+Query 1/1: Action query time = 1.801 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9941
+t=218: Selected seed 195 with value = 0.9941
+Query 1/1: Action query time = 1.575 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9956
+t=234: Selected seed 195 with value = 0.9956
+Query 1/1: Action query time = 1.575 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9614
+t=250: Selected seed 195 with value = 0.9614
+Query 1/1: Action query time = 1.715 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9666
+t=266: Selected seed 195 with value = 0.9666
+Query 1/1: Action query time = 1.452 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9557
+t=282: Selected seed 195 with value = 0.9557
+Query 1/1: Action query time = 1.476 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8590
+t=298: Selected seed 195 with value = 0.8590
+Saved rollout MP4 at path ./rollouts/CLbest_t15/2026_07_31-00_55_25--episode=13--success=False--task=put_the_wine_bottle_on_top_of_the_cabine.mp4
+Saved rollout MP4 at path ./rollouts/CLbest_t15/2026_07_31-00_55_25--with_future_img--episode=13--success=False--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: False
+# episodes completed so far: 13
+# successes: 10 (76.9%)
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 14...
+Query 1/1: Action query time = 0.997 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5037
+t=10: Selected seed 195 with value = 0.5037
+Query 1/1: Action query time = 0.976 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5003
+t=26: Selected seed 195 with value = 0.5003
+Query 1/1: Action query time = 0.986 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5720
+t=42: Selected seed 195 with value = 0.5720
+Query 1/1: Action query time = 1.599 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7043
+t=58: Selected seed 195 with value = 0.7043
+Query 1/1: Action query time = 1.887 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8054
+t=74: Selected seed 195 with value = 0.8054
+Query 1/1: Action query time = 1.756 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8976
+t=90: Selected seed 195 with value = 0.8976
+Query 1/1: Action query time = 1.400 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9918
+t=106: Selected seed 195 with value = 0.9918
+Saved rollout MP4 at path ./rollouts/CLbest_t15/2026_07_31-00_55_25--episode=14--success=True--task=put_the_wine_bottle_on_top_of_the_cabine.mp4
+Saved rollout MP4 at path ./rollouts/CLbest_t15/2026_07_31-00_55_25--with_future_img--episode=14--success=True--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: True
+# episodes completed so far: 14
+# successes: 11 (78.6%)
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 15...
+Query 1/1: Action query time = 1.709 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4917
+t=10: Selected seed 195 with value = 0.4917
+Query 1/1: Action query time = 1.921 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5508
+t=26: Selected seed 195 with value = 0.5508
+Query 1/1: Action query time = 1.641 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6218
+t=42: Selected seed 195 with value = 0.6218
+Query 1/1: Action query time = 1.658 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7387
+t=58: Selected seed 195 with value = 0.7387
+Query 1/1: Action query time = 1.353 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8583
+t=74: Selected seed 195 with value = 0.8583
+Query 1/1: Action query time = 1.326 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9614
+t=90: Selected seed 195 with value = 0.9614
+Saved rollout MP4 at path ./rollouts/CLbest_t15/2026_07_31-00_55_25--episode=15--success=True--task=put_the_wine_bottle_on_top_of_the_cabine.mp4
+Saved rollout MP4 at path ./rollouts/CLbest_t15/2026_07_31-00_55_25--with_future_img--episode=15--success=True--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: True
+# episodes completed so far: 15
+# successes: 12 (80.0%)
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 16...
+Query 1/1: Action query time = 1.288 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4775
+t=10: Selected seed 195 with value = 0.4775
+Query 1/1: Action query time = 1.516 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5508
+t=26: Selected seed 195 with value = 0.5508
+Query 1/1: Action query time = 1.102 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5982
+t=42: Selected seed 195 with value = 0.5982
+Query 1/1: Action query time = 0.965 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7289
+t=58: Selected seed 195 with value = 0.7289
+Query 1/1: Action query time = 0.966 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8335
+t=74: Selected seed 195 with value = 0.8335
+Query 1/1: Action query time = 0.981 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9153
+t=90: Selected seed 195 with value = 0.9153
+Query 1/1: Action query time = 0.981 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9987
+t=106: Selected seed 195 with value = 0.9987
+Saved rollout MP4 at path ./rollouts/CLbest_t15/2026_07_31-00_55_25--episode=16--success=True--task=put_the_wine_bottle_on_top_of_the_cabine.mp4
+Saved rollout MP4 at path ./rollouts/CLbest_t15/2026_07_31-00_55_25--with_future_img--episode=16--success=True--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: True
+# episodes completed so far: 16
+# successes: 13 (81.2%)
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 17...
+Query 1/1: Action query time = 1.340 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4656
+t=10: Selected seed 195 with value = 0.4656
+Query 1/1: Action query time = 1.348 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4957
+t=26: Selected seed 195 with value = 0.4957
+Query 1/1: Action query time = 1.549 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5735
+t=42: Selected seed 195 with value = 0.5735
+Query 1/1: Action query time = 1.372 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6724
+t=58: Selected seed 195 with value = 0.6724
+Query 1/1: Action query time = 1.360 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7942
+t=74: Selected seed 195 with value = 0.7942
+Query 1/1: Action query time = 1.346 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8934
+t=90: Selected seed 195 with value = 0.8934
+Query 1/1: Action query time = 1.239 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9989
+t=106: Selected seed 195 with value = 0.9989
+Saved rollout MP4 at path ./rollouts/CLbest_t15/2026_07_31-00_55_25--episode=17--success=True--task=put_the_wine_bottle_on_top_of_the_cabine.mp4
+Saved rollout MP4 at path ./rollouts/CLbest_t15/2026_07_31-00_55_25--with_future_img--episode=17--success=True--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: True
+# episodes completed so far: 17
+# successes: 14 (82.4%)
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 18...
+Query 1/1: Action query time = 1.723 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5004
+t=10: Selected seed 195 with value = 0.5004
+Query 1/1: Action query time = 1.772 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5092
+t=26: Selected seed 195 with value = 0.5092
+Query 1/1: Action query time = 1.569 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5773
+t=42: Selected seed 195 with value = 0.5773
+Query 1/1: Action query time = 1.544 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7371
+t=58: Selected seed 195 with value = 0.7371
+Query 1/1: Action query time = 1.487 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8234
+t=74: Selected seed 195 with value = 0.8234
+Query 1/1: Action query time = 1.399 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9275
+t=90: Selected seed 195 with value = 0.9275
+Saved rollout MP4 at path ./rollouts/CLbest_t15/2026_07_31-00_55_25--episode=18--success=True--task=put_the_wine_bottle_on_top_of_the_cabine.mp4
+Saved rollout MP4 at path ./rollouts/CLbest_t15/2026_07_31-00_55_25--with_future_img--episode=18--success=True--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: True
+# episodes completed so far: 18
+# successes: 15 (83.3%)
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 19...
+Query 1/1: Action query time = 0.997 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4925
+t=10: Selected seed 195 with value = 0.4925
+Query 1/1: Action query time = 0.972 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5042
+t=26: Selected seed 195 with value = 0.5042
+Query 1/1: Action query time = 0.987 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6233
+t=42: Selected seed 195 with value = 0.6233
+Query 1/1: Action query time = 1.218 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7661
+t=58: Selected seed 195 with value = 0.7661
+Query 1/1: Action query time = 1.315 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8580
+t=74: Selected seed 195 with value = 0.8580
+Query 1/1: Action query time = 1.370 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9320
+t=90: Selected seed 195 with value = 0.9320
+Saved rollout MP4 at path ./rollouts/CLbest_t15/2026_07_31-00_55_25--episode=19--success=True--task=put_the_wine_bottle_on_top_of_the_cabine.mp4
+Saved rollout MP4 at path ./rollouts/CLbest_t15/2026_07_31-00_55_25--with_future_img--episode=19--success=True--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: True
+# episodes completed so far: 19
+# successes: 16 (84.2%)
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 20...
+Query 1/1: Action query time = 1.168 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4963
+t=10: Selected seed 195 with value = 0.4963
+Query 1/1: Action query time = 1.304 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5282
+t=26: Selected seed 195 with value = 0.5282
+Query 1/1: Action query time = 1.234 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6065
+t=42: Selected seed 195 with value = 0.6065
+Query 1/1: Action query time = 1.217 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6901
+t=58: Selected seed 195 with value = 0.6901
+Query 1/1: Action query time = 1.410 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8095
+t=74: Selected seed 195 with value = 0.8095
+Query 1/1: Action query time = 1.229 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9073
+t=90: Selected seed 195 with value = 0.9073
+Saved rollout MP4 at path ./rollouts/CLbest_t15/2026_07_31-00_55_25--episode=20--success=True--task=put_the_wine_bottle_on_top_of_the_cabine.mp4
+Saved rollout MP4 at path ./rollouts/CLbest_t15/2026_07_31-00_55_25--with_future_img--episode=20--success=True--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: True
+# episodes completed so far: 20
+# successes: 17 (85.0%)
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 21...
+Query 1/1: Action query time = 1.256 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5389
+t=10: Selected seed 195 with value = 0.5389
+Query 1/1: Action query time = 1.293 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5819
+t=26: Selected seed 195 with value = 0.5819
+Query 1/1: Action query time = 1.276 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6403
+t=42: Selected seed 195 with value = 0.6403
+Query 1/1: Action query time = 1.295 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7623
+t=58: Selected seed 195 with value = 0.7623
+Query 1/1: Action query time = 1.214 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8897
+t=74: Selected seed 195 with value = 0.8897
+Query 1/1: Action query time = 0.987 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9982
+t=90: Selected seed 195 with value = 0.9982
+Saved rollout MP4 at path ./rollouts/CLbest_t15/2026_07_31-00_55_25--episode=21--success=True--task=put_the_wine_bottle_on_top_of_the_cabine.mp4
+Saved rollout MP4 at path ./rollouts/CLbest_t15/2026_07_31-00_55_25--with_future_img--episode=21--success=True--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: True
+# episodes completed so far: 21
+# successes: 18 (85.7%)
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 22...
+Query 1/1: Action query time = 1.206 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5069
+t=10: Selected seed 195 with value = 0.5069
+Query 1/1: Action query time = 1.761 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5427
+t=26: Selected seed 195 with value = 0.5427
+Query 1/1: Action query time = 1.794 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6169
+t=42: Selected seed 195 with value = 0.6169
+Query 1/1: Action query time = 1.942 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7737
+t=58: Selected seed 195 with value = 0.7737
+Query 1/1: Action query time = 1.565 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8450
+t=74: Selected seed 195 with value = 0.8450
+Query 1/1: Action query time = 1.573 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9192
+t=90: Selected seed 195 with value = 0.9192
+Saved rollout MP4 at path ./rollouts/CLbest_t15/2026_07_31-00_55_25--episode=22--success=True--task=put_the_wine_bottle_on_top_of_the_cabine.mp4
+Saved rollout MP4 at path ./rollouts/CLbest_t15/2026_07_31-00_55_25--with_future_img--episode=22--success=True--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: True
+# episodes completed so far: 22
+# successes: 19 (86.4%)
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 23...
+Query 1/1: Action query time = 1.770 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4406
+t=10: Selected seed 195 with value = 0.4406
+Query 1/1: Action query time = 1.707 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5288
+t=26: Selected seed 195 with value = 0.5288
+Query 1/1: Action query time = 1.638 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6272
+t=42: Selected seed 195 with value = 0.6272
+Query 1/1: Action query time = 1.503 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7324
+t=58: Selected seed 195 with value = 0.7324
+Query 1/1: Action query time = 1.555 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8448
+t=74: Selected seed 195 with value = 0.8448
+Query 1/1: Action query time = 1.364 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9283
+t=90: Selected seed 195 with value = 0.9283
+Query 1/1: Action query time = 1.289 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9989
+t=106: Selected seed 195 with value = 0.9989
+Saved rollout MP4 at path ./rollouts/CLbest_t15/2026_07_31-00_55_25--episode=23--success=True--task=put_the_wine_bottle_on_top_of_the_cabine.mp4
+Saved rollout MP4 at path ./rollouts/CLbest_t15/2026_07_31-00_55_25--with_future_img--episode=23--success=True--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: True
+# episodes completed so far: 23
+# successes: 20 (87.0%)
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 24...
+Query 1/1: Action query time = 1.835 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4988
+t=10: Selected seed 195 with value = 0.4988
+Query 1/1: Action query time = 0.976 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5735
+t=26: Selected seed 195 with value = 0.5735
+Query 1/1: Action query time = 0.992 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6256
+t=42: Selected seed 195 with value = 0.6256
+Query 1/1: Action query time = 0.991 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6081
+t=58: Selected seed 195 with value = 0.6081
+Query 1/1: Action query time = 0.995 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8353
+t=74: Selected seed 195 with value = 0.8353
+Query 1/1: Action query time = 0.987 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7894
+t=90: Selected seed 195 with value = 0.7894
+Query 1/1: Action query time = 1.372 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7305
+t=106: Selected seed 195 with value = 0.7305
+Query 1/1: Action query time = 1.411 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8387
+t=122: Selected seed 195 with value = 0.8387
+Query 1/1: Action query time = 1.642 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8480
+t=138: Selected seed 195 with value = 0.8480
+Query 1/1: Action query time = 1.473 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8275
+t=154: Selected seed 195 with value = 0.8275
+Query 1/1: Action query time = 1.479 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7865
+t=170: Selected seed 195 with value = 0.7865
+Query 1/1: Action query time = 1.424 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7417
+t=186: Selected seed 195 with value = 0.7417
+Query 1/1: Action query time = 1.416 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9157
+t=202: Selected seed 195 with value = 0.9157
+Query 1/1: Action query time = 1.384 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8347
+t=218: Selected seed 195 with value = 0.8347
+Query 1/1: Action query time = 1.696 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8312
+t=234: Selected seed 195 with value = 0.8312
+Query 1/1: Action query time = 1.485 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9124
+t=250: Selected seed 195 with value = 0.9124
+Query 1/1: Action query time = 1.510 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9413
+t=266: Selected seed 195 with value = 0.9413
+Query 1/1: Action query time = 1.453 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9813
+t=282: Selected seed 195 with value = 0.9813
+Query 1/1: Action query time = 1.376 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9821
+t=298: Selected seed 195 with value = 0.9821
+Saved rollout MP4 at path ./rollouts/CLbest_t15/2026_07_31-00_55_25--episode=24--success=False--task=put_the_wine_bottle_on_top_of_the_cabine.mp4
+Saved rollout MP4 at path ./rollouts/CLbest_t15/2026_07_31-00_55_25--with_future_img--episode=24--success=False--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: False
+# episodes completed so far: 24
+# successes: 20 (83.3%)
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 25...
+Query 1/1: Action query time = 1.798 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4197
+t=10: Selected seed 195 with value = 0.4197
+Query 1/1: Action query time = 0.989 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5265
+t=26: Selected seed 195 with value = 0.5265
+Query 1/1: Action query time = 0.985 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6024
+t=42: Selected seed 195 with value = 0.6024
+Query 1/1: Action query time = 0.986 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7219
+t=58: Selected seed 195 with value = 0.7219
+Query 1/1: Action query time = 0.978 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8547
+t=74: Selected seed 195 with value = 0.8547
+Query 1/1: Action query time = 0.987 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9655
+t=90: Selected seed 195 with value = 0.9655
+Saved rollout MP4 at path ./rollouts/CLbest_t15/2026_07_31-00_55_25--episode=25--success=True--task=put_the_wine_bottle_on_top_of_the_cabine.mp4
+Saved rollout MP4 at path ./rollouts/CLbest_t15/2026_07_31-00_55_25--with_future_img--episode=25--success=True--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: True
+# episodes completed so far: 25
+# successes: 21 (84.0%)
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 26...
+Query 1/1: Action query time = 1.488 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4881
+t=10: Selected seed 195 with value = 0.4881
+Query 1/1: Action query time = 1.356 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5411
+t=26: Selected seed 195 with value = 0.5411
+Query 1/1: Action query time = 1.517 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6210
+t=42: Selected seed 195 with value = 0.6210
+Query 1/1: Action query time = 1.453 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7839
+t=58: Selected seed 195 with value = 0.7839
+Query 1/1: Action query time = 1.381 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8368
+t=74: Selected seed 195 with value = 0.8368
+Query 1/1: Action query time = 1.424 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9225
+t=90: Selected seed 195 with value = 0.9225
+Saved rollout MP4 at path ./rollouts/CLbest_t15/2026_07_31-00_55_25--episode=26--success=True--task=put_the_wine_bottle_on_top_of_the_cabine.mp4
+Saved rollout MP4 at path ./rollouts/CLbest_t15/2026_07_31-00_55_25--with_future_img--episode=26--success=True--task=put_the_wine_bottle_on_top_of_the_c.mp4
+Success: True
+# episodes completed so far: 26
+# successes: 22 (84.6%)
+
+Task: put the wine bottle on top of the cabinet
+Starting episode 27...
+Query 1/1: Action query time = 1.601 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4362
+t=10: Selected seed 195 with value = 0.4362
+Query 1/1: Action query time = 1.633 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4728
+t=26: Selected seed 195 with value = 0.4728
+Query 1/1: Action query time = 1.647 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5512
+t=42: Selected seed 195 with value = 0.5512
+Query 1/1: Action query time = 1.537 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5971
+t=58: Selected seed 195 with value = 0.5971
+Query 1/1: Action query time = 1.564 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7268
+t=74: Selected seed 195 with value = 0.7268
+Query 1/1: Action query time = 1.403 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6105
+t=90: Selected seed 195 with value = 0.6105
+Query 1/1: Action query time = 1.386 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8603
+t=106: Selected seed 195 with value = 0.8603
+Query 1/1: Action query time = 1.423 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8585
+t=122: Selected seed 195 with value = 0.8585
+Query 1/1: Action query time = 0.976 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9338
+t=138: Selected seed 195 with value = 0.9338
+Query 1/1: Action query time = 0.985 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8316
+t=154: Selected seed 195 with value = 0.8316
+Query 1/1: Action query time = 0.995 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9352
+t=170: Selected seed 195 with value = 0.9352
+Query 1/1: Action query time = 0.993 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8344
+t=186: Selected seed 195 with value = 0.8344
+Query 1/1: Action query time = 1.003 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8696
+t=202: Selected seed 195 with value = 0.8696
diff --git a/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/eval_best_task6cl_iter700_goal_t0-5.log b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/eval_best_task6cl_iter700_goal_t0-5.log
new file mode 100644
index 0000000000000000000000000000000000000000..44f62574a2b76157e765eaff4ece69f3a3fe22d1
--- /dev/null
+++ b/REGEN-main/cosmos_policy/experiments/robot/libero/logs/libero_goal/eval_best_task6cl_iter700_goal_t0-5.log
@@ -0,0 +1,19454 @@
+Uninstalled 1 package in 3ms
+Installed 1 package in 17ms
+[07-31 00:27:44|CRITICAL|cosmos_policy/_src/predict2/checkpointer/dcp.py:188:<module>] for the back comptiable pytorch! New DefaultLoadPlanner class is created.
+[robosuite WARNING] No private macro file found! (__init__.py:7)
+[robosuite WARNING] It is recommended to use a private macro file (__init__.py:8)
+[robosuite WARNING] To setup, run: python /home/azureuser/REGEN-main/.venv/lib/python3.10/site-packages/robosuite/scripts/setup_macros.py (__init__.py:9)
+Using LIBERO constants:
+  NUM_ACTIONS_CHUNK = 16
+  ACTION_DIM = 7
+  PROPRIO_DIM = 9
+If needed, manually set the correct constants in `projects/cosmos/cosmos_policy/constants.py`!
+Loaded T5 text embeddings from /home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/t5_embeddings.pkl onto device cuda:0
+Instantiating pretrained Cosmos model...
+[07-31 00:27:45|INFO|cosmos_policy/_src/imaginaire/visualize/video.py:31:<module>] No module named 'ffmpegcv'
+[07-31 00:27:46|CRITICAL|cosmos_policy/_src/imaginaire/utils/config_helper.py:192:import_all_modules_from_package] Reloading all modules from package cosmos_policy._src.predict2.configs.video2world.experiment
+[07-31 00:27:46|INFO|cosmos_policy/_src/predict2/datasets/augmentor_provider.py:94:augmentor_register] registering video_basic_augmentor_v1...
+[07-31 00:27:46|INFO|cosmos_policy/_src/predict2/datasets/augmentor_provider.py:94:augmentor_register] registering video_basic_augmentor_v2...
+[07-31 00:27:46|INFO|cosmos_policy/_src/predict2/datasets/augmentor_provider.py:94:augmentor_register] registering noframedrop_nocameramove_video_augmentor_v1...
+[07-31 00:27:46|INFO|cosmos_policy/_src/predict2/datasets/augmentor_provider.py:94:augmentor_register] registering nocameramove_video_augmentor_v1...
+[07-31 00:27:46|INFO|cosmos_policy/_src/predict2/datasets/augmentor_provider.py:94:augmentor_register] registering image_basic_augmentor...
+[07-31 00:27:46|INFO|cosmos_policy/_src/predict2/datasets/augmentor_provider.py:94:augmentor_register] registering image_basic_augmentor_without_embeddings...
+[07-31 00:27:50|INFO|cosmos_policy/_src/predict2/configs/video2world/experiment/specialized_model/SFT_2B_RF.py:853:<module>] Storing Stage-c_pt_4-Index-1-Size-2B-Res-720-Fps-16-Note-rf_face
+[07-31 00:27:50|INFO|cosmos_policy/_src/predict2/configs/video2world/experiment/specialized_model/SFT_2B_RF.py:853:<module>] Storing Stage-c_pt_4-Index-1-Size-2B-Res-720-Fps-16-Note-rf_crowded
+[07-31 00:27:50|INFO|cosmos_policy/_src/predict2/configs/video2world/experiment/specialized_model/SFT_2B_RF.py:853:<module>] Storing Stage-c_pt_4-Index-1-Size-2B-Res-720-Fps-16-Note-rf_high_motion
+[07-31 00:27:50|INFO|cosmos_policy/_src/predict2/configs/video2world/experiment/specialized_model/SFT_2B_RF.py:853:<module>] Storing Stage-c_pt_4-Index-1-Size-2B-Res-720-Fps-16-Note-rf_robotics
+[07-31 00:27:50|INFO|cosmos_policy/_src/predict2/configs/video2world/experiment/specialized_model/SFT_2B_RF.py:853:<module>] Storing Stage-c_pt_4-Index-1-Size-2B-Res-720-Fps-16-Note-rf_av
+[07-31 00:27:50|INFO|cosmos_policy/_src/predict2/configs/video2world/experiment/specialized_model/SFT_2B_RF.py:853:<module>] Storing Stage-c_pt_4-Index-1-Size-2B-Res-720-Fps-16-Note-rf_physical_ai
+[07-31 00:27:50|INFO|cosmos_policy/_src/predict2/configs/video2world/experiment/specialized_model/SFT_2B_RF.py:853:<module>] Storing Stage-c_pt_4-Index-1-Size-2B-Res-720-Fps-16-Note-rf_4k_cooldown
+[07-31 00:27:50|INFO|cosmos_policy/_src/predict2/configs/video2world/experiment/specialized_model/SFT_2B_RF.py:853:<module>] Storing Stage-c_pt_4-Index-1-Size-2B-Res-720-Fps-16-Note-rf_face_only2
+[07-31 00:27:50|INFO|cosmos_policy/_src/predict2/configs/video2world/experiment/specialized_model/SFT_2B_RF.py:853:<module>] Storing Stage-c_pt_4-Index-1-Size-2B-Res-720-Fps-16-Note-rf_crowded_only2
+[07-31 00:27:50|INFO|cosmos_policy/_src/predict2/configs/video2world/experiment/specialized_model/SFT_2B_RF.py:853:<module>] Storing Stage-c_pt_4-Index-1-Size-2B-Res-720-Fps-16-Note-rf_high_motion_only2
+[07-31 00:27:50|INFO|cosmos_policy/_src/predict2/configs/video2world/experiment/specialized_model/SFT_2B_RF.py:853:<module>] Storing Stage-c_pt_4-Index-1-Size-2B-Res-720-Fps-16-Note-rf_robotics_only2
+[07-31 00:27:50|INFO|cosmos_policy/_src/predict2/configs/video2world/experiment/specialized_model/SFT_2B_RF.py:853:<module>] Storing Stage-c_pt_4-Index-1-Size-2B-Res-720-Fps-16-Note-rf_av_only2
+[07-31 00:27:50|INFO|cosmos_policy/_src/predict2/configs/video2world/experiment/specialized_model/SFT_2B_RF.py:853:<module>] Storing Stage-c_pt_4-Index-1-Size-2B-Res-720-Fps-16-Note-rf_physical_ai_only2
+[07-31 00:27:50|INFO|cosmos_policy/_src/predict2/configs/video2world/experiment/specialized_model/SFT_2B_RF.py:853:<module>] Storing Stage-c_pt_4-Index-1-Size-2B-Res-720-Fps-16-Note-rf_4k_cooldown_only2
+[07-31 00:27:50|INFO|cosmos_policy/_src/predict2/configs/video2world/experiment/specialized_model/SFT_2B_RF.py:853:<module>] Storing Stage-c_pt_4-Index-1-Size-2B-Res-720-Fps-16-Note-rf_face_high_sigma
+[07-31 00:27:50|INFO|cosmos_policy/_src/predict2/configs/video2world/experiment/specialized_model/SFT_2B_RF.py:853:<module>] Storing Stage-c_pt_4-Index-1-Size-2B-Res-720-Fps-16-Note-rf_crowded_high_sigma
+[07-31 00:27:50|INFO|cosmos_policy/_src/predict2/configs/video2world/experiment/specialized_model/SFT_2B_RF.py:853:<module>] Storing Stage-c_pt_4-Index-1-Size-2B-Res-720-Fps-16-Note-rf_high_motion_high_sigma
+[07-31 00:27:50|INFO|cosmos_policy/_src/predict2/configs/video2world/experiment/specialized_model/SFT_2B_RF.py:853:<module>] Storing Stage-c_pt_4-Index-1-Size-2B-Res-720-Fps-16-Note-rf_robotics_high_sigma
+[07-31 00:27:50|INFO|cosmos_policy/_src/predict2/configs/video2world/experiment/specialized_model/SFT_2B_RF.py:853:<module>] Storing Stage-c_pt_4-Index-1-Size-2B-Res-720-Fps-16-Note-rf_av_high_sigma
+[07-31 00:27:50|INFO|cosmos_policy/_src/predict2/configs/video2world/experiment/specialized_model/SFT_2B_RF.py:853:<module>] Storing Stage-c_pt_4-Index-1-Size-2B-Res-720-Fps-16-Note-rf_physical_ai_high_sigma
+[07-31 00:27:50|INFO|cosmos_policy/_src/predict2/configs/video2world/experiment/specialized_model/SFT_2B_RF.py:853:<module>] Storing Stage-c_pt_4-Index-1-Size-2B-Res-720-Fps-16-Note-rf_4k_cooldown_high_sigma
+[07-31 00:27:50|INFO|cosmos_policy/_src/predict2/configs/video2world/experiment/specialized_model/SFT_2B_RF.py:853:<module>] Storing Stage-c_pt_4-Index-1-Size-2B-Res-720-Fps-16-Note-rf_face_high_sigma2
+[07-31 00:27:50|INFO|cosmos_policy/_src/predict2/configs/video2world/experiment/specialized_model/SFT_2B_RF.py:853:<module>] Storing Stage-c_pt_4-Index-1-Size-2B-Res-720-Fps-16-Note-rf_crowded_high_sigma2
+[07-31 00:27:50|INFO|cosmos_policy/_src/predict2/configs/video2world/experiment/specialized_model/SFT_2B_RF.py:853:<module>] Storing Stage-c_pt_4-Index-1-Size-2B-Res-720-Fps-16-Note-rf_robotics_high_sigma2
+[07-31 00:27:50|INFO|cosmos_policy/_src/predict2/configs/video2world/experiment/specialized_model/SFT_2B_RF.py:853:<module>] Storing Stage-c_pt_4-Index-2-Size-2B-Res-720-Fps-16-Note-rf_with_edm_ckpt
+[07-31 00:27:50|CRITICAL|cosmos_policy/_src/imaginaire/utils/config_helper.py:192:import_all_modules_from_package] Reloading all modules from package cosmos_policy.config.experiment
+[07-31 00:27:50|INFO|cosmos_policy/_src/imaginaire/utils/checkpoint_db.py:927:get_checkpoint_by_hf] Downloading checkpoint from HuggingFace: nvidia/Cosmos-Predict2-2B-Video2World/model-480p-16fps.pt
+[07-31 00:27:51|INFO|cosmos_policy/config/experiment/cosmos_policy_experiment_configs.py:942:register_configs] Registering experiment: cosmos_predict2_2b_480p_libero
+[07-31 00:27:51|INFO|cosmos_policy/config/experiment/cosmos_policy_experiment_configs.py:942:register_configs] Registering experiment: cosmos_predict2_2b_480p_libero_goal_base_stage
+[07-31 00:27:51|INFO|cosmos_policy/config/experiment/cosmos_policy_experiment_configs.py:942:register_configs] Registering experiment: cosmos_predict2_2b_480p_libero_base_stage_inference_only
+[07-31 00:27:51|INFO|cosmos_policy/config/experiment/cosmos_policy_experiment_configs.py:942:register_configs] Registering experiment: cosmos_predict2_2b_480p_libero_goal_cl_stage
+[07-31 00:27:51|INFO|cosmos_policy/config/experiment/cosmos_policy_experiment_configs.py:942:register_configs] Registering experiment: cosmos_predict2_2b_480p_libero_cl_stage_inference_only
+[07-31 00:27:51|INFO|cosmos_policy/config/experiment/cosmos_policy_experiment_configs.py:942:register_configs] Registering experiment: cosmos_predict2_2b_480p_libero__inference_only
+[07-31 00:27:51|INFO|cosmos_policy/config/experiment/cosmos_policy_experiment_configs.py:942:register_configs] Registering experiment: cosmos_predict2_2b_480p_libero_goal_task6_ft
+[07-31 00:27:51|INFO|cosmos_policy/config/experiment/cosmos_policy_experiment_configs.py:942:register_configs] Registering experiment: cosmos_predict2_2b_480p_libero_goal_task6_regen_cl
+[07-31 00:27:51|INFO|cosmos_policy/config/experiment/cosmos_policy_experiment_configs.py:942:register_configs] Registering experiment: cosmos_predict2_2b_480p_robocasa_50_demos_per_task
+[07-31 00:27:51|INFO|cosmos_policy/config/experiment/cosmos_policy_experiment_configs.py:942:register_configs] Registering experiment: cosmos_predict2_2b_480p_robocasa_50_demos_per_task__inference
+[07-31 00:27:51|INFO|cosmos_policy/config/experiment/cosmos_policy_experiment_configs.py:942:register_configs] Registering experiment: cosmos_predict2_2b_480p_aloha_185_demos_4_tasks_mixture_foldshirt15_candiesinbowl45_candyinbag45_eggplantchickenonplate80
+[07-31 00:27:51|INFO|cosmos_policy/config/experiment/cosmos_policy_experiment_configs.py:942:register_configs] Registering experiment: cosmos_predict2_2b_480p_aloha_185_demos_4_tasks_mixture_foldshirt15_candiesinbowl45_candyinbag45_eggplantchickenonplate80__inference_only
+[07-31 00:27:51|INFO|cosmos_policy/config/experiment/cosmos_policy_experiment_configs.py:942:register_configs] Registering experiment: cosmos_predict2_2b_480p_aloha_185_demos_4_tasks_mixture_foldshirt15_candiesinbowl45_candyinbag45_eggplantchickenonplate80__resumeFrom50K_648_rollouts_Vsprime_value_func
+[07-31 00:27:51|INFO|cosmos_policy/config/experiment/cosmos_policy_experiment_configs.py:942:register_configs] Registering experiment: cosmos_predict2_2b_480p_aloha_185_demos_4_tasks_mixture_foldshirt15_candiesinbowl45_candyinbag45_eggplantchickenonplate80__resumeFrom50K_648_rollouts_Vsprime_value_func__inference_only
+[07-31 00:27:53|INFO|cosmos_policy/_src/predict2/utils/model_loader.py:91:load_model_from_checkpoint] Overriding config checkpoint path with: /home/azureuser/REGEN-main/old/cosmos_policy/cosmos_v2_finetune/cosmos_predict2_2b_480p_libero_goal_task6_regen_cl_from40k_2gpu/best_action_l1/model
+[07-31 00:27:53|INFO|cosmos_policy/_src/imaginaire/utils/misc.py:152:set_random_seed] Using random seed 0.
+[07-31 00:27:53|INFO|cosmos_policy/_src/predict2/utils/model_loader.py:111:load_model_from_checkpoint] Loading model from /home/azureuser/REGEN-main/old/cosmos_policy/cosmos_v2_finetune/cosmos_predict2_2b_480p_libero_goal_task6_regen_cl_from40k_2gpu/best_action_l1/model
+[07-31 00:27:53|WARNING|cosmos_policy/_src/predict2/models/text2world_model.py:145:__init__] DiffusionModel: precision torch.bfloat16
+[07-31 00:27:53|INFO|cosmos_policy/_src/imaginaire/utils/checkpoint_db.py:927:get_checkpoint_by_hf] Downloading checkpoint from HuggingFace: nvidia/Cosmos-Predict2-2B-Video2World/tokenizer/tokenizer.pth
+[07-31 00:27:54|INFO|cosmos_policy/tokenizers/wan2pt1.py:165:_policy_video_vae] loading /home/azureuser/.cache/huggingface/hub/models--nvidia--Cosmos-Predict2-2B-Video2World/snapshots/f50c09f5d8ab133a90cac3f4886a6471e9ba3f18/tokenizer/tokenizer.pth
+[07-31 00:27:54|INFO|cosmos_policy/_src/imaginaire/utils/timer.py:143:_log] Time spent on DiffusionModel: set_up_tokenizer: 0.84 s
+[07-31 00:27:54|CRITICAL|cosmos_policy/_src/predict2/models/text2world_model.py:173:__init__] Using mean loss reduce with loss scale 10.0
+[07-31 00:27:54|INFO|cosmos_policy/_src/predict2/conditioner.py:434:__init__] Initialized embedder #0-fps: 
+ ReMapkey 
+	input key: fps
+	Param count: 0 
+	Trainable: None
+	Dropout rate: 0.0
+	Output key: fps 
+	Dtype: None
+[07-31 00:27:54|INFO|cosmos_policy/_src/predict2/conditioner.py:434:__init__] Initialized embedder #1-padding_mask: 
+ ReMapkey 
+	input key: padding_mask
+	Param count: 0 
+	Trainable: None
+	Dropout rate: 0.0
+	Output key: padding_mask 
+	Dtype: None
+[07-31 00:27:54|INFO|cosmos_policy/_src/predict2/conditioner.py:434:__init__] Initialized embedder #2-text: 
+ TextAttr 
+	input key: ['t5_text_embeddings']
+	Param count: 0 
+	Trainable: None
+	Dropout rate: 0.0
+	Output key: [crossattn_emb]
+[07-31 00:27:54|INFO|cosmos_policy/_src/predict2/conditioner.py:434:__init__] Initialized embedder #3-use_video_condition: 
+ BooleanFlag 
+	input key: fps
+	Param count: 0 
+	Trainable: None
+	Dropout rate: 0.0
+	Output key: use_video_condition 
+	 This is a boolean flag
+[07-31 00:27:54|INFO|cosmos_policy/_src/predict2/networks/minimal_v4_dit.py:1805:enable_selective_checkpoint] Enable selective checkpoint with predict2_2b_720, for every 1 blocks. Total blocks: 28
+[07-31 00:27:54|INFO|cosmos_policy/_src/predict2/networks/minimal_v4_dit.py:1811:enable_selective_checkpoint] Enable selective checkpoint for block 0
+[07-31 00:27:54|INFO|cosmos_policy/_src/predict2/networks/minimal_v4_dit.py:1811:enable_selective_checkpoint] Enable selective checkpoint for block 1
+[07-31 00:27:54|INFO|cosmos_policy/_src/predict2/networks/minimal_v4_dit.py:1811:enable_selective_checkpoint] Enable selective checkpoint for block 2
+[07-31 00:27:54|INFO|cosmos_policy/_src/predict2/networks/minimal_v4_dit.py:1811:enable_selective_checkpoint] Enable selective checkpoint for block 3
+[07-31 00:27:54|INFO|cosmos_policy/_src/predict2/networks/minimal_v4_dit.py:1811:enable_selective_checkpoint] Enable selective checkpoint for block 4
+[07-31 00:27:54|INFO|cosmos_policy/_src/predict2/networks/minimal_v4_dit.py:1811:enable_selective_checkpoint] Enable selective checkpoint for block 5
+[07-31 00:27:54|INFO|cosmos_policy/_src/predict2/networks/minimal_v4_dit.py:1811:enable_selective_checkpoint] Enable selective checkpoint for block 6
+[07-31 00:27:54|INFO|cosmos_policy/_src/predict2/networks/minimal_v4_dit.py:1811:enable_selective_checkpoint] Enable selective checkpoint for block 7
+[07-31 00:27:54|INFO|cosmos_policy/_src/predict2/networks/minimal_v4_dit.py:1811:enable_selective_checkpoint] Enable selective checkpoint for block 8
+[07-31 00:27:54|INFO|cosmos_policy/_src/predict2/networks/minimal_v4_dit.py:1811:enable_selective_checkpoint] Enable selective checkpoint for block 9
+[07-31 00:27:54|INFO|cosmos_policy/_src/predict2/networks/minimal_v4_dit.py:1811:enable_selective_checkpoint] Enable selective checkpoint for block 10
+[07-31 00:27:54|INFO|cosmos_policy/_src/predict2/networks/minimal_v4_dit.py:1811:enable_selective_checkpoint] Enable selective checkpoint for block 11
+[07-31 00:27:54|INFO|cosmos_policy/_src/predict2/networks/minimal_v4_dit.py:1811:enable_selective_checkpoint] Enable selective checkpoint for block 12
+[07-31 00:27:54|INFO|cosmos_policy/_src/predict2/networks/minimal_v4_dit.py:1811:enable_selective_checkpoint] Enable selective checkpoint for block 13
+[07-31 00:27:54|INFO|cosmos_policy/_src/predict2/networks/minimal_v4_dit.py:1811:enable_selective_checkpoint] Enable selective checkpoint for block 14
+[07-31 00:27:54|INFO|cosmos_policy/_src/predict2/networks/minimal_v4_dit.py:1811:enable_selective_checkpoint] Enable selective checkpoint for block 15
+[07-31 00:27:54|INFO|cosmos_policy/_src/predict2/networks/minimal_v4_dit.py:1811:enable_selective_checkpoint] Enable selective checkpoint for block 16
+[07-31 00:27:54|INFO|cosmos_policy/_src/predict2/networks/minimal_v4_dit.py:1811:enable_selective_checkpoint] Enable selective checkpoint for block 17
+[07-31 00:27:54|INFO|cosmos_policy/_src/predict2/networks/minimal_v4_dit.py:1811:enable_selective_checkpoint] Enable selective checkpoint for block 18
+[07-31 00:27:54|INFO|cosmos_policy/_src/predict2/networks/minimal_v4_dit.py:1811:enable_selective_checkpoint] Enable selective checkpoint for block 19
+[07-31 00:27:54|INFO|cosmos_policy/_src/predict2/networks/minimal_v4_dit.py:1811:enable_selective_checkpoint] Enable selective checkpoint for block 20
+[07-31 00:27:54|INFO|cosmos_policy/_src/predict2/networks/minimal_v4_dit.py:1811:enable_selective_checkpoint] Enable selective checkpoint for block 21
+[07-31 00:27:54|INFO|cosmos_policy/_src/predict2/networks/minimal_v4_dit.py:1811:enable_selective_checkpoint] Enable selective checkpoint for block 22
+[07-31 00:27:54|INFO|cosmos_policy/_src/predict2/networks/minimal_v4_dit.py:1811:enable_selective_checkpoint] Enable selective checkpoint for block 23
+[07-31 00:27:54|INFO|cosmos_policy/_src/predict2/networks/minimal_v4_dit.py:1811:enable_selective_checkpoint] Enable selective checkpoint for block 24
+[07-31 00:27:54|INFO|cosmos_policy/_src/predict2/networks/minimal_v4_dit.py:1811:enable_selective_checkpoint] Enable selective checkpoint for block 25
+[07-31 00:27:54|INFO|cosmos_policy/_src/predict2/networks/minimal_v4_dit.py:1811:enable_selective_checkpoint] Enable selective checkpoint for block 26
+[07-31 00:27:54|INFO|cosmos_policy/_src/predict2/networks/minimal_v4_dit.py:1811:enable_selective_checkpoint] Enable selective checkpoint for block 27
+[07-31 00:27:54|INFO|cosmos_policy/_src/imaginaire/utils/timer.py:143:_log] Time spent on meta to cuda and broadcast model states: 0.14 s
+[07-31 00:27:54|INFO|cosmos_policy/_src/imaginaire/utils/timer.py:143:_log] Time spent on Creating PyTorch model: 0.77 s
+[07-31 00:27:54|INFO|cosmos_policy/_src/imaginaire/utils/timer.py:143:_log] Time spent on Creating PyTorch model and ema if enabled: 0.77 s
+[07-31 00:27:54|INFO|cosmos_policy/_src/imaginaire/utils/timer.py:143:_log] Time spent on DiffusionModel: set_up_model: 0.77 s
+[07-31 00:27:54|INFO|cosmos_policy/_src/imaginaire/utils/timer.py:143:_log] Time spent on instantiate model: 1.64 s
+[07-31 00:27:54|INFO|cosmos_policy/_src/predict2/utils/model_loader.py:227:load_model_state_dict_from_checkpoint] Loading model cached locally from /home/azureuser/REGEN-main/old/cosmos_policy/cosmos_v2_finetune/cosmos_predict2_2b_480p_libero_goal_task6_regen_cl_from40k_2gpu/best_action_l1/model
+/home/azureuser/REGEN-main/.venv/lib/python3.10/site-packages/torch/distributed/checkpoint/state_dict_loader.py:153: UserWarning: torch.distributed is disabled, unavailable or uninitialized, assuming the intent is to load in a single process.
+  warnings.warn(
+[07-31 00:27:57|CRITICAL|cosmos_policy/_src/predict2/models/text2world_model.py:839:load_state_dict] load model in non-strict mode
+[07-31 00:27:57|WARNING|cosmos_policy/_src/imaginaire/utils/checkpointer.py:451:non_strict_load_model] Skipping key blocks.0.self_attn.q_norm._extra_state introduced by TransformerEngine for FP8 in the checkpoint.
+[07-31 00:27:57|WARNING|cosmos_policy/_src/imaginaire/utils/checkpointer.py:451:non_strict_load_model] Skipping key blocks.0.self_attn.k_norm._extra_state introduced by TransformerEngine for FP8 in the checkpoint.
+[07-31 00:27:57|WARNING|cosmos_policy/_src/imaginaire/utils/checkpointer.py:451:non_strict_load_model] Skipping key blocks.0.cross_attn.q_norm._extra_state introduced by TransformerEngine for FP8 in the checkpoint.
+[07-31 00:27:57|WARNING|cosmos_policy/_src/imaginaire/utils/checkpointer.py:451:non_strict_load_model] Skipping key blocks.0.cross_attn.k_norm._extra_state introduced by TransformerEngine for FP8 in the checkpoint.
+[07-31 00:27:57|WARNING|cosmos_policy/_src/imaginaire/utils/checkpointer.py:451:non_strict_load_model] Skipping key blocks.1.self_attn.q_norm._extra_state introduced by TransformerEngine for FP8 in the checkpoint.
+[07-31 00:27:57|WARNING|cosmos_policy/_src/imaginaire/utils/checkpointer.py:451:non_strict_load_model] Skipping key blocks.1.self_attn.k_norm._extra_state introduced by TransformerEngine for FP8 in the checkpoint.
+[07-31 00:27:57|WARNING|cosmos_policy/_src/imaginaire/utils/checkpointer.py:451:non_strict_load_model] Skipping key blocks.1.cross_attn.q_norm._extra_state introduced by TransformerEngine for FP8 in the checkpoint.
+[07-31 00:27:57|WARNING|cosmos_policy/_src/imaginaire/utils/checkpointer.py:451:non_strict_load_model] Skipping key blocks.1.cross_attn.k_norm._extra_state introduced by TransformerEngine for FP8 in the checkpoint.
+[07-31 00:27:57|WARNING|cosmos_policy/_src/imaginaire/utils/checkpointer.py:451:non_strict_load_model] Skipping key blocks.2.self_attn.q_norm._extra_state introduced by TransformerEngine for FP8 in the checkpoint.
+[07-31 00:27:57|WARNING|cosmos_policy/_src/imaginaire/utils/checkpointer.py:451:non_strict_load_model] Skipping key blocks.2.self_attn.k_norm._extra_state introduced by TransformerEngine for FP8 in the checkpoint.
+[07-31 00:27:57|WARNING|cosmos_policy/_src/imaginaire/utils/checkpointer.py:451:non_strict_load_model] Skipping key blocks.2.cross_attn.q_norm._extra_state introduced by TransformerEngine for FP8 in the checkpoint.
+[07-31 00:27:57|WARNING|cosmos_policy/_src/imaginaire/utils/checkpointer.py:451:non_strict_load_model] Skipping key blocks.2.cross_attn.k_norm._extra_state introduced by TransformerEngine for FP8 in the checkpoint.
+[07-31 00:27:57|WARNING|cosmos_policy/_src/imaginaire/utils/checkpointer.py:451:non_strict_load_model] Skipping key blocks.3.self_attn.q_norm._extra_state introduced by TransformerEngine for FP8 in the checkpoint.
+[07-31 00:27:57|WARNING|cosmos_policy/_src/imaginaire/utils/checkpointer.py:451:non_strict_load_model] Skipping key blocks.3.self_attn.k_norm._extra_state introduced by TransformerEngine for FP8 in the checkpoint.
+[07-31 00:27:57|WARNING|cosmos_policy/_src/imaginaire/utils/checkpointer.py:451:non_strict_load_model] Skipping key blocks.3.cross_attn.q_norm._extra_state introduced by TransformerEngine for FP8 in the checkpoint.
+[07-31 00:27:57|WARNING|cosmos_policy/_src/imaginaire/utils/checkpointer.py:451:non_strict_load_model] Skipping key blocks.3.cross_attn.k_norm._extra_state introduced by TransformerEngine for FP8 in the checkpoint.
+[07-31 00:27:57|WARNING|cosmos_policy/_src/imaginaire/utils/checkpointer.py:451:non_strict_load_model] Skipping key blocks.4.self_attn.q_norm._extra_state introduced by TransformerEngine for FP8 in the checkpoint.
+[07-31 00:27:57|WARNING|cosmos_policy/_src/imaginaire/utils/checkpointer.py:451:non_strict_load_model] Skipping key blocks.4.self_attn.k_norm._extra_state introduced by TransformerEngine for FP8 in the checkpoint.
+[07-31 00:27:57|WARNING|cosmos_policy/_src/imaginaire/utils/checkpointer.py:451:non_strict_load_model] Skipping key blocks.4.cross_attn.q_norm._extra_state introduced by TransformerEngine for FP8 in the checkpoint.
+[07-31 00:27:57|WARNING|cosmos_policy/_src/imaginaire/utils/checkpointer.py:451:non_strict_load_model] Skipping key blocks.4.cross_attn.k_norm._extra_state introduced by TransformerEngine for FP8 in the checkpoint.
+[07-31 00:27:57|WARNING|cosmos_policy/_src/imaginaire/utils/checkpointer.py:451:non_strict_load_model] Skipping key blocks.5.self_attn.q_norm._extra_state introduced by TransformerEngine for FP8 in the checkpoint.
+[07-31 00:27:57|WARNING|cosmos_policy/_src/imaginaire/utils/checkpointer.py:451:non_strict_load_model] Skipping key blocks.5.self_attn.k_norm._extra_state introduced by TransformerEngine for FP8 in the checkpoint.
+[07-31 00:27:57|WARNING|cosmos_policy/_src/imaginaire/utils/checkpointer.py:451:non_strict_load_model] Skipping key blocks.5.cross_attn.q_norm._extra_state introduced by TransformerEngine for FP8 in the checkpoint.
+[07-31 00:27:57|WARNING|cosmos_policy/_src/imaginaire/utils/checkpointer.py:451:non_strict_load_model] Skipping key blocks.5.cross_attn.k_norm._extra_state introduced by TransformerEngine for FP8 in the checkpoint.
+[07-31 00:27:57|WARNING|cosmos_policy/_src/imaginaire/utils/checkpointer.py:451:non_strict_load_model] Skipping key blocks.6.self_attn.q_norm._extra_state introduced by TransformerEngine for FP8 in the checkpoint.
+[07-31 00:27:57|WARNING|cosmos_policy/_src/imaginaire/utils/checkpointer.py:451:non_strict_load_model] Skipping key blocks.6.self_attn.k_norm._extra_state introduced by TransformerEngine for FP8 in the checkpoint.
+[07-31 00:27:57|WARNING|cosmos_policy/_src/imaginaire/utils/checkpointer.py:451:non_strict_load_model] Skipping key blocks.6.cross_attn.q_norm._extra_state introduced by TransformerEngine for FP8 in the checkpoint.
+[07-31 00:27:57|WARNING|cosmos_policy/_src/imaginaire/utils/checkpointer.py:451:non_strict_load_model] Skipping key blocks.6.cross_attn.k_norm._extra_state introduced by TransformerEngine for FP8 in the checkpoint.
+[07-31 00:27:57|WARNING|cosmos_policy/_src/imaginaire/utils/checkpointer.py:451:non_strict_load_model] Skipping key blocks.7.self_attn.q_norm._extra_state introduced by TransformerEngine for FP8 in the checkpoint.
+[07-31 00:27:57|WARNING|cosmos_policy/_src/imaginaire/utils/checkpointer.py:451:non_strict_load_model] Skipping key blocks.7.self_attn.k_norm._extra_state introduced by TransformerEngine for FP8 in the checkpoint.
+[07-31 00:27:57|WARNING|cosmos_policy/_src/imaginaire/utils/checkpointer.py:451:non_strict_load_model] Skipping key blocks.7.cross_attn.q_norm._extra_state introduced by TransformerEngine for FP8 in the checkpoint.
+[07-31 00:27:57|WARNING|cosmos_policy/_src/imaginaire/utils/checkpointer.py:451:non_strict_load_model] Skipping key blocks.7.cross_attn.k_norm._extra_state introduced by TransformerEngine for FP8 in the checkpoint.
+[07-31 00:27:57|WARNING|cosmos_policy/_src/imaginaire/utils/checkpointer.py:451:non_strict_load_model] Skipping key blocks.8.self_attn.q_norm._extra_state introduced by TransformerEngine for FP8 in the checkpoint.
+[07-31 00:27:57|WARNING|cosmos_policy/_src/imaginaire/utils/checkpointer.py:451:non_strict_load_model] Skipping key blocks.8.self_attn.k_norm._extra_state introduced by TransformerEngine for FP8 in the checkpoint.
+[07-31 00:27:57|WARNING|cosmos_policy/_src/imaginaire/utils/checkpointer.py:451:non_strict_load_model] Skipping key blocks.8.cross_attn.q_norm._extra_state introduced by TransformerEngine for FP8 in the checkpoint.
+[07-31 00:27:57|WARNING|cosmos_policy/_src/imaginaire/utils/checkpointer.py:451:non_strict_load_model] Skipping key blocks.8.cross_attn.k_norm._extra_state introduced by TransformerEngine for FP8 in the checkpoint.
+[07-31 00:27:57|WARNING|cosmos_policy/_src/imaginaire/utils/checkpointer.py:451:non_strict_load_model] Skipping key blocks.9.self_attn.q_norm._extra_state introduced by TransformerEngine for FP8 in the checkpoint.
+[07-31 00:27:57|WARNING|cosmos_policy/_src/imaginaire/utils/checkpointer.py:451:non_strict_load_model] Skipping key blocks.9.self_attn.k_norm._extra_state introduced by TransformerEngine for FP8 in the checkpoint.
+[07-31 00:27:57|WARNING|cosmos_policy/_src/imaginaire/utils/checkpointer.py:451:non_strict_load_model] Skipping key blocks.9.cross_attn.q_norm._extra_state introduced by TransformerEngine for FP8 in the checkpoint.
+[07-31 00:27:57|WARNING|cosmos_policy/_src/imaginaire/utils/checkpointer.py:451:non_strict_load_model] Skipping key blocks.9.cross_attn.k_norm._extra_state introduced by TransformerEngine for FP8 in the checkpoint.
+[07-31 00:27:57|WARNING|cosmos_policy/_src/imaginaire/utils/checkpointer.py:451:non_strict_load_model] Skipping key blocks.10.self_attn.q_norm._extra_state introduced by TransformerEngine for FP8 in the checkpoint.
+[07-31 00:27:57|WARNING|cosmos_policy/_src/imaginaire/utils/checkpointer.py:451:non_strict_load_model] Skipping key blocks.10.self_attn.k_norm._extra_state introduced by TransformerEngine for FP8 in the checkpoint.
+[07-31 00:27:57|WARNING|cosmos_policy/_src/imaginaire/utils/checkpointer.py:451:non_strict_load_model] Skipping key blocks.10.cross_attn.q_norm._extra_state introduced by TransformerEngine for FP8 in the checkpoint.
+[07-31 00:27:57|WARNING|cosmos_policy/_src/imaginaire/utils/checkpointer.py:451:non_strict_load_model] Skipping key blocks.10.cross_attn.k_norm._extra_state introduced by TransformerEngine for FP8 in the checkpoint.
+[07-31 00:27:57|WARNING|cosmos_policy/_src/imaginaire/utils/checkpointer.py:451:non_strict_load_model] Skipping key blocks.11.self_attn.q_norm._extra_state introduced by TransformerEngine for FP8 in the checkpoint.
+[07-31 00:27:57|WARNING|cosmos_policy/_src/imaginaire/utils/checkpointer.py:451:non_strict_load_model] Skipping key blocks.11.self_attn.k_norm._extra_state introduced by TransformerEngine for FP8 in the checkpoint.
+[07-31 00:27:57|WARNING|cosmos_policy/_src/imaginaire/utils/checkpointer.py:451:non_strict_load_model] Skipping key blocks.11.cross_attn.q_norm._extra_state introduced by TransformerEngine for FP8 in the checkpoint.
+[07-31 00:27:57|WARNING|cosmos_policy/_src/imaginaire/utils/checkpointer.py:451:non_strict_load_model] Skipping key blocks.11.cross_attn.k_norm._extra_state introduced by TransformerEngine for FP8 in the checkpoint.
+[07-31 00:27:57|WARNING|cosmos_policy/_src/imaginaire/utils/checkpointer.py:451:non_strict_load_model] Skipping key blocks.12.self_attn.q_norm._extra_state introduced by TransformerEngine for FP8 in the checkpoint.
+[07-31 00:27:57|WARNING|cosmos_policy/_src/imaginaire/utils/checkpointer.py:451:non_strict_load_model] Skipping key blocks.12.self_attn.k_norm._extra_state introduced by TransformerEngine for FP8 in the checkpoint.
+[07-31 00:27:57|WARNING|cosmos_policy/_src/imaginaire/utils/checkpointer.py:451:non_strict_load_model] Skipping key blocks.12.cross_attn.q_norm._extra_state introduced by TransformerEngine for FP8 in the checkpoint.
+[07-31 00:27:57|WARNING|cosmos_policy/_src/imaginaire/utils/checkpointer.py:451:non_strict_load_model] Skipping key blocks.12.cross_attn.k_norm._extra_state introduced by TransformerEngine for FP8 in the checkpoint.
+[07-31 00:27:57|WARNING|cosmos_policy/_src/imaginaire/utils/checkpointer.py:451:non_strict_load_model] Skipping key blocks.13.self_attn.q_norm._extra_state introduced by TransformerEngine for FP8 in the checkpoint.
+[07-31 00:27:57|WARNING|cosmos_policy/_src/imaginaire/utils/checkpointer.py:451:non_strict_load_model] Skipping key blocks.13.self_attn.k_norm._extra_state introduced by TransformerEngine for FP8 in the checkpoint.
+[07-31 00:27:57|WARNING|cosmos_policy/_src/imaginaire/utils/checkpointer.py:451:non_strict_load_model] Skipping key blocks.13.cross_attn.q_norm._extra_state introduced by TransformerEngine for FP8 in the checkpoint.
+[07-31 00:27:57|WARNING|cosmos_policy/_src/imaginaire/utils/checkpointer.py:451:non_strict_load_model] Skipping key blocks.13.cross_attn.k_norm._extra_state introduced by TransformerEngine for FP8 in the checkpoint.
+[07-31 00:27:57|WARNING|cosmos_policy/_src/imaginaire/utils/checkpointer.py:451:non_strict_load_model] Skipping key blocks.14.self_attn.q_norm._extra_state introduced by TransformerEngine for FP8 in the checkpoint.
+[07-31 00:27:57|WARNING|cosmos_policy/_src/imaginaire/utils/checkpointer.py:451:non_strict_load_model] Skipping key blocks.14.self_attn.k_norm._extra_state introduced by TransformerEngine for FP8 in the checkpoint.
+[07-31 00:27:57|WARNING|cosmos_policy/_src/imaginaire/utils/checkpointer.py:451:non_strict_load_model] Skipping key blocks.14.cross_attn.q_norm._extra_state introduced by TransformerEngine for FP8 in the checkpoint.
+[07-31 00:27:57|WARNING|cosmos_policy/_src/imaginaire/utils/checkpointer.py:451:non_strict_load_model] Skipping key blocks.14.cross_attn.k_norm._extra_state introduced by TransformerEngine for FP8 in the checkpoint.
+[07-31 00:27:57|WARNING|cosmos_policy/_src/imaginaire/utils/checkpointer.py:451:non_strict_load_model] Skipping key blocks.15.self_attn.q_norm._extra_state introduced by TransformerEngine for FP8 in the checkpoint.
+[07-31 00:27:57|WARNING|cosmos_policy/_src/imaginaire/utils/checkpointer.py:451:non_strict_load_model] Skipping key blocks.15.self_attn.k_norm._extra_state introduced by TransformerEngine for FP8 in the checkpoint.
+[07-31 00:27:57|WARNING|cosmos_policy/_src/imaginaire/utils/checkpointer.py:451:non_strict_load_model] Skipping key blocks.15.cross_attn.q_norm._extra_state introduced by TransformerEngine for FP8 in the checkpoint.
+[07-31 00:27:57|WARNING|cosmos_policy/_src/imaginaire/utils/checkpointer.py:451:non_strict_load_model] Skipping key blocks.15.cross_attn.k_norm._extra_state introduced by TransformerEngine for FP8 in the checkpoint.
+[07-31 00:27:57|WARNING|cosmos_policy/_src/imaginaire/utils/checkpointer.py:451:non_strict_load_model] Skipping key blocks.16.self_attn.q_norm._extra_state introduced by TransformerEngine for FP8 in the checkpoint.
+[07-31 00:27:57|WARNING|cosmos_policy/_src/imaginaire/utils/checkpointer.py:451:non_strict_load_model] Skipping key blocks.16.self_attn.k_norm._extra_state introduced by TransformerEngine for FP8 in the checkpoint.
+[07-31 00:27:57|WARNING|cosmos_policy/_src/imaginaire/utils/checkpointer.py:451:non_strict_load_model] Skipping key blocks.16.cross_attn.q_norm._extra_state introduced by TransformerEngine for FP8 in the checkpoint.
+[07-31 00:27:57|WARNING|cosmos_policy/_src/imaginaire/utils/checkpointer.py:451:non_strict_load_model] Skipping key blocks.16.cross_attn.k_norm._extra_state introduced by TransformerEngine for FP8 in the checkpoint.
+[07-31 00:27:57|WARNING|cosmos_policy/_src/imaginaire/utils/checkpointer.py:451:non_strict_load_model] Skipping key blocks.17.self_attn.q_norm._extra_state introduced by TransformerEngine for FP8 in the checkpoint.
+[07-31 00:27:57|WARNING|cosmos_policy/_src/imaginaire/utils/checkpointer.py:451:non_strict_load_model] Skipping key blocks.17.self_attn.k_norm._extra_state introduced by TransformerEngine for FP8 in the checkpoint.
+[07-31 00:27:57|WARNING|cosmos_policy/_src/imaginaire/utils/checkpointer.py:451:non_strict_load_model] Skipping key blocks.17.cross_attn.q_norm._extra_state introduced by TransformerEngine for FP8 in the checkpoint.
+[07-31 00:27:57|WARNING|cosmos_policy/_src/imaginaire/utils/checkpointer.py:451:non_strict_load_model] Skipping key blocks.17.cross_attn.k_norm._extra_state introduced by TransformerEngine for FP8 in the checkpoint.
+[07-31 00:27:57|WARNING|cosmos_policy/_src/imaginaire/utils/checkpointer.py:451:non_strict_load_model] Skipping key blocks.18.self_attn.q_norm._extra_state introduced by TransformerEngine for FP8 in the checkpoint.
+[07-31 00:27:57|WARNING|cosmos_policy/_src/imaginaire/utils/checkpointer.py:451:non_strict_load_model] Skipping key blocks.18.self_attn.k_norm._extra_state introduced by TransformerEngine for FP8 in the checkpoint.
+[07-31 00:27:57|WARNING|cosmos_policy/_src/imaginaire/utils/checkpointer.py:451:non_strict_load_model] Skipping key blocks.18.cross_attn.q_norm._extra_state introduced by TransformerEngine for FP8 in the checkpoint.
+[07-31 00:27:57|WARNING|cosmos_policy/_src/imaginaire/utils/checkpointer.py:451:non_strict_load_model] Skipping key blocks.18.cross_attn.k_norm._extra_state introduced by TransformerEngine for FP8 in the checkpoint.
+[07-31 00:27:57|WARNING|cosmos_policy/_src/imaginaire/utils/checkpointer.py:451:non_strict_load_model] Skipping key blocks.19.self_attn.q_norm._extra_state introduced by TransformerEngine for FP8 in the checkpoint.
+[07-31 00:27:57|WARNING|cosmos_policy/_src/imaginaire/utils/checkpointer.py:451:non_strict_load_model] Skipping key blocks.19.self_attn.k_norm._extra_state introduced by TransformerEngine for FP8 in the checkpoint.
+[07-31 00:27:57|WARNING|cosmos_policy/_src/imaginaire/utils/checkpointer.py:451:non_strict_load_model] Skipping key blocks.19.cross_attn.q_norm._extra_state introduced by TransformerEngine for FP8 in the checkpoint.
+[07-31 00:27:57|WARNING|cosmos_policy/_src/imaginaire/utils/checkpointer.py:451:non_strict_load_model] Skipping key blocks.19.cross_attn.k_norm._extra_state introduced by TransformerEngine for FP8 in the checkpoint.
+[07-31 00:27:57|WARNING|cosmos_policy/_src/imaginaire/utils/checkpointer.py:451:non_strict_load_model] Skipping key blocks.20.self_attn.q_norm._extra_state introduced by TransformerEngine for FP8 in the checkpoint.
+[07-31 00:27:57|WARNING|cosmos_policy/_src/imaginaire/utils/checkpointer.py:451:non_strict_load_model] Skipping key blocks.20.self_attn.k_norm._extra_state introduced by TransformerEngine for FP8 in the checkpoint.
+[07-31 00:27:57|WARNING|cosmos_policy/_src/imaginaire/utils/checkpointer.py:451:non_strict_load_model] Skipping key blocks.20.cross_attn.q_norm._extra_state introduced by TransformerEngine for FP8 in the checkpoint.
+[07-31 00:27:57|WARNING|cosmos_policy/_src/imaginaire/utils/checkpointer.py:451:non_strict_load_model] Skipping key blocks.20.cross_attn.k_norm._extra_state introduced by TransformerEngine for FP8 in the checkpoint.
+[07-31 00:27:57|WARNING|cosmos_policy/_src/imaginaire/utils/checkpointer.py:451:non_strict_load_model] Skipping key blocks.21.self_attn.q_norm._extra_state introduced by TransformerEngine for FP8 in the checkpoint.
+[07-31 00:27:57|WARNING|cosmos_policy/_src/imaginaire/utils/checkpointer.py:451:non_strict_load_model] Skipping key blocks.21.self_attn.k_norm._extra_state introduced by TransformerEngine for FP8 in the checkpoint.
+[07-31 00:27:57|WARNING|cosmos_policy/_src/imaginaire/utils/checkpointer.py:451:non_strict_load_model] Skipping key blocks.21.cross_attn.q_norm._extra_state introduced by TransformerEngine for FP8 in the checkpoint.
+[07-31 00:27:57|WARNING|cosmos_policy/_src/imaginaire/utils/checkpointer.py:451:non_strict_load_model] Skipping key blocks.21.cross_attn.k_norm._extra_state introduced by TransformerEngine for FP8 in the checkpoint.
+[07-31 00:27:57|WARNING|cosmos_policy/_src/imaginaire/utils/checkpointer.py:451:non_strict_load_model] Skipping key blocks.22.self_attn.q_norm._extra_state introduced by TransformerEngine for FP8 in the checkpoint.
+[07-31 00:27:57|WARNING|cosmos_policy/_src/imaginaire/utils/checkpointer.py:451:non_strict_load_model] Skipping key blocks.22.self_attn.k_norm._extra_state introduced by TransformerEngine for FP8 in the checkpoint.
+[07-31 00:27:57|WARNING|cosmos_policy/_src/imaginaire/utils/checkpointer.py:451:non_strict_load_model] Skipping key blocks.22.cross_attn.q_norm._extra_state introduced by TransformerEngine for FP8 in the checkpoint.
+[07-31 00:27:57|WARNING|cosmos_policy/_src/imaginaire/utils/checkpointer.py:451:non_strict_load_model] Skipping key blocks.22.cross_attn.k_norm._extra_state introduced by TransformerEngine for FP8 in the checkpoint.
+[07-31 00:27:57|WARNING|cosmos_policy/_src/imaginaire/utils/checkpointer.py:451:non_strict_load_model] Skipping key blocks.23.self_attn.q_norm._extra_state introduced by TransformerEngine for FP8 in the checkpoint.
+[07-31 00:27:57|WARNING|cosmos_policy/_src/imaginaire/utils/checkpointer.py:451:non_strict_load_model] Skipping key blocks.23.self_attn.k_norm._extra_state introduced by TransformerEngine for FP8 in the checkpoint.
+[07-31 00:27:57|WARNING|cosmos_policy/_src/imaginaire/utils/checkpointer.py:451:non_strict_load_model] Skipping key blocks.23.cross_attn.q_norm._extra_state introduced by TransformerEngine for FP8 in the checkpoint.
+[07-31 00:27:57|WARNING|cosmos_policy/_src/imaginaire/utils/checkpointer.py:451:non_strict_load_model] Skipping key blocks.23.cross_attn.k_norm._extra_state introduced by TransformerEngine for FP8 in the checkpoint.
+[07-31 00:27:57|WARNING|cosmos_policy/_src/imaginaire/utils/checkpointer.py:451:non_strict_load_model] Skipping key blocks.24.self_attn.q_norm._extra_state introduced by TransformerEngine for FP8 in the checkpoint.
+[07-31 00:27:57|WARNING|cosmos_policy/_src/imaginaire/utils/checkpointer.py:451:non_strict_load_model] Skipping key blocks.24.self_attn.k_norm._extra_state introduced by TransformerEngine for FP8 in the checkpoint.
+[07-31 00:27:57|WARNING|cosmos_policy/_src/imaginaire/utils/checkpointer.py:451:non_strict_load_model] Skipping key blocks.24.cross_attn.q_norm._extra_state introduced by TransformerEngine for FP8 in the checkpoint.
+[07-31 00:27:57|WARNING|cosmos_policy/_src/imaginaire/utils/checkpointer.py:451:non_strict_load_model] Skipping key blocks.24.cross_attn.k_norm._extra_state introduced by TransformerEngine for FP8 in the checkpoint.
+[07-31 00:27:57|WARNING|cosmos_policy/_src/imaginaire/utils/checkpointer.py:451:non_strict_load_model] Skipping key blocks.25.self_attn.q_norm._extra_state introduced by TransformerEngine for FP8 in the checkpoint.
+[07-31 00:27:57|WARNING|cosmos_policy/_src/imaginaire/utils/checkpointer.py:451:non_strict_load_model] Skipping key blocks.25.self_attn.k_norm._extra_state introduced by TransformerEngine for FP8 in the checkpoint.
+[07-31 00:27:57|WARNING|cosmos_policy/_src/imaginaire/utils/checkpointer.py:451:non_strict_load_model] Skipping key blocks.25.cross_attn.q_norm._extra_state introduced by TransformerEngine for FP8 in the checkpoint.
+[07-31 00:27:57|WARNING|cosmos_policy/_src/imaginaire/utils/checkpointer.py:451:non_strict_load_model] Skipping key blocks.25.cross_attn.k_norm._extra_state introduced by TransformerEngine for FP8 in the checkpoint.
+[07-31 00:27:57|WARNING|cosmos_policy/_src/imaginaire/utils/checkpointer.py:451:non_strict_load_model] Skipping key blocks.26.self_attn.q_norm._extra_state introduced by TransformerEngine for FP8 in the checkpoint.
+[07-31 00:27:57|WARNING|cosmos_policy/_src/imaginaire/utils/checkpointer.py:451:non_strict_load_model] Skipping key blocks.26.self_attn.k_norm._extra_state introduced by TransformerEngine for FP8 in the checkpoint.
+[07-31 00:27:57|WARNING|cosmos_policy/_src/imaginaire/utils/checkpointer.py:451:non_strict_load_model] Skipping key blocks.26.cross_attn.q_norm._extra_state introduced by TransformerEngine for FP8 in the checkpoint.
+[07-31 00:27:57|WARNING|cosmos_policy/_src/imaginaire/utils/checkpointer.py:451:non_strict_load_model] Skipping key blocks.26.cross_attn.k_norm._extra_state introduced by TransformerEngine for FP8 in the checkpoint.
+[07-31 00:27:57|WARNING|cosmos_policy/_src/imaginaire/utils/checkpointer.py:451:non_strict_load_model] Skipping key blocks.27.self_attn.q_norm._extra_state introduced by TransformerEngine for FP8 in the checkpoint.
+[07-31 00:27:57|WARNING|cosmos_policy/_src/imaginaire/utils/checkpointer.py:451:non_strict_load_model] Skipping key blocks.27.self_attn.k_norm._extra_state introduced by TransformerEngine for FP8 in the checkpoint.
+[07-31 00:27:57|WARNING|cosmos_policy/_src/imaginaire/utils/checkpointer.py:451:non_strict_load_model] Skipping key blocks.27.cross_attn.q_norm._extra_state introduced by TransformerEngine for FP8 in the checkpoint.
+[07-31 00:27:57|WARNING|cosmos_policy/_src/imaginaire/utils/checkpointer.py:451:non_strict_load_model] Skipping key blocks.27.cross_attn.k_norm._extra_state introduced by TransformerEngine for FP8 in the checkpoint.
+[07-31 00:27:57|WARNING|cosmos_policy/_src/imaginaire/utils/checkpointer.py:451:non_strict_load_model] Skipping key t_embedding_norm._extra_state introduced by TransformerEngine for FP8 in the checkpoint.
+[07-31 00:27:57|CRITICAL|cosmos_policy/_src/predict2/models/text2world_model.py:840:load_state_dict] [RANK 0] _IncompatibleKeys(missing_keys=[], unexpected_keys=[], incorrect_shapes=[])
+INFO:cosmos_policy.experiments.robot.robot_utils:Logging to local log file: cosmos_policy/experiments/robot/libero/logs/libero_goal/ENV_EVAL-libero_goal-cosmos-2026_07_31-00_27_45.txt
+INFO:cosmos_policy.experiments.robot.robot_utils:Eval config: PolicyEvalConfig(suite='libero', model_family='cosmos', config='cosmos_predict2_2b_480p_libero_cl_stage_inference_only', ckpt_path='/home/azureuser/REGEN-main/old/cosmos_policy/cosmos_v2_finetune/cosmos_predict2_2b_480p_libero_goal_task6_regen_cl_from40k_2gpu/best_action_l1/model', planning_model_config_name='', planning_model_ckpt_path='', config_file='cosmos_policy/config/config.py', packnet_mask_path='', packnet_first_cl_libero_task=6, use_third_person_image=True, num_third_person_images=1, use_wrist_image=True, num_wrist_images=1, use_proprio=True, flip_images=True, use_variance_scale=False, use_jpeg_compression=True, ar_future_prediction=False, ar_value_prediction=False, ar_qvalue_prediction=False, num_denoising_steps_action=5, num_denoising_steps_future_state=1, num_denoising_steps_value=1, unnormalize_actions=True, normalize_proprio=True, dataset_stats_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/libero_goal_regen/dataset_statistics.json', t5_text_embeddings_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/t5_embeddings.pkl', trained_with_image_aug=True, chunk_size=16, num_open_loop_steps=16, deterministic=True, deterministic_reset=False, deterministic_reset_seed=None, use_ensemble_future_state_predictions=False, num_future_state_predictions_in_ensemble=3, future_state_ensemble_aggregation_scheme='average', use_ensemble_value_predictions=False, num_value_predictions_in_ensemble=5, value_ensemble_aggregation_scheme='average', search_depth=1, mask_current_state_action_for_value_prediction=False, mask_future_state_for_qvalue_prediction=False, num_queries_best_of_n=1, use_parallel_inference=False, available_gpus='0,1,2,3', parallel_timeout=15, parallel_tasks_across_gpus=False, task_suite_name='libero_goal', num_trials_per_task=50, task_ids_to_run='0,1,2,3,4,5', initial_states_path='DEFAULT', env_img_res=256, local_log_dir='cosmos_policy/experiments/robot/libero/logs/libero_goal', run_id_note=None, use_wandb=False, wandb_entity='YOUR_ENTITY', wandb_project='YOUR_PROJECT', seed=195, randomize_seed=False, data_collection=False, jpeg_compress=True, reward_stop_threshold=None, reward_stop_consecutive_steps=3, use_gpt_reward=False, gpt_reward_model='gpt-5.4-mini', gpt_reward_stop_threshold=4, gpt_reward_timeout_s=30.0, save_rollout_video=True, eval_hdf5_path='', eval_hdf5_demo_key='demo_0', data_gen_demo_ids='', replay_actions=False, replay_action_path_dir='', replay_hdf5_path='', data_generation=False, max_generation_steps=200)
+INFO:cosmos_policy.experiments.robot.robot_utils:Using serial inference (parallel inference disabled)
+INFO:cosmos_policy.experiments.robot.robot_utils:Task suite: libero_goal
+INFO:cosmos_policy.experiments.robot.robot_utils:Number of tasks: 10
+INFO:cosmos_policy.experiments.robot.robot_utils:Running only task IDs: [0, 1, 2, 3, 4, 5]
+Eval config: PolicyEvalConfig(suite='libero', model_family='cosmos', config='cosmos_predict2_2b_480p_libero_cl_stage_inference_only', ckpt_path='/home/azureuser/REGEN-main/old/cosmos_policy/cosmos_v2_finetune/cosmos_predict2_2b_480p_libero_goal_task6_regen_cl_from40k_2gpu/best_action_l1/model', planning_model_config_name='', planning_model_ckpt_path='', config_file='cosmos_policy/config/config.py', packnet_mask_path='', packnet_first_cl_libero_task=6, use_third_person_image=True, num_third_person_images=1, use_wrist_image=True, num_wrist_images=1, use_proprio=True, flip_images=True, use_variance_scale=False, use_jpeg_compression=True, ar_future_prediction=False, ar_value_prediction=False, ar_qvalue_prediction=False, num_denoising_steps_action=5, num_denoising_steps_future_state=1, num_denoising_steps_value=1, unnormalize_actions=True, normalize_proprio=True, dataset_stats_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/libero_goal_regen/dataset_statistics.json', t5_text_embeddings_path='/home/azureuser/REGEN-main/LIBERO-Cosmos-Policy/success_only/t5_embeddings.pkl', trained_with_image_aug=True, chunk_size=16, num_open_loop_steps=16, deterministic=True, deterministic_reset=False, deterministic_reset_seed=None, use_ensemble_future_state_predictions=False, num_future_state_predictions_in_ensemble=3, future_state_ensemble_aggregation_scheme='average', use_ensemble_value_predictions=False, num_value_predictions_in_ensemble=5, value_ensemble_aggregation_scheme='average', search_depth=1, mask_current_state_action_for_value_prediction=False, mask_future_state_for_qvalue_prediction=False, num_queries_best_of_n=1, use_parallel_inference=False, available_gpus='0,1,2,3', parallel_timeout=15, parallel_tasks_across_gpus=False, task_suite_name='libero_goal', num_trials_per_task=50, task_ids_to_run='0,1,2,3,4,5', initial_states_path='DEFAULT', env_img_res=256, local_log_dir='cosmos_policy/experiments/robot/libero/logs/libero_goal', run_id_note=None, use_wandb=False, wandb_entity='YOUR_ENTITY', wandb_project='YOUR_PROJECT', seed=195, randomize_seed=False, data_collection=False, jpeg_compress=True, reward_stop_threshold=None, reward_stop_consecutive_steps=3, use_gpt_reward=False, gpt_reward_model='gpt-5.4-mini', gpt_reward_stop_threshold=4, gpt_reward_timeout_s=30.0, save_rollout_video=True, eval_hdf5_path='', eval_hdf5_demo_key='demo_0', data_gen_demo_ids='', replay_actions=False, replay_action_path_dir='', replay_hdf5_path='', data_generation=False, max_generation_steps=200)
+Using serial inference (parallel inference disabled)
+[info] using task orders [0, 1, 2, 3, 4, 5, 6, 7, 8, 9]
+Task suite: libero_goal
+Number of tasks: 10
+Running only task IDs: [0, 1, 2, 3, 4, 5]
+
  0%|          | 0/10 [00:00<?, ?it/s]INFO:cosmos_policy.experiments.robot.robot_utils:Using default initial states
+Using default initial states
+Local assets not found. Downloading from HuggingFace Hub...
+Assets already downloaded at /home/azureuser/.cache/libero/assets
+
+
  0%|          | 0/50 [00:00<?, ?it/s]INFO:cosmos_policy.experiments.robot.robot_utils:
+Task: open the middle drawer of the cabinet
+INFO:cosmos_policy.experiments.robot.robot_utils:Starting episode 1...
+
+Task: open the middle drawer of the cabinet
+Starting episode 1...
+[07-31 00:28:02|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.558 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=10: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.3321
+INFO:cosmos_policy.experiments.robot.robot_utils:t=10: Selected seed 195 with value = 0.3321
+Query 1/1: Action query time = 1.558 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3321
+t=10: Selected seed 195 with value = 0.3321
+t: 10	 action: [ 2.176e-01  7.397e-03  3.881e-03 -5.301e-04  3.138e-02  2.958e-02 -9.982e-01]
+t: 11	 action: [ 0.397  0.033  0.03  -0.014  0.047  0.059 -1.007]
+t: 12	 action: [ 0.52   0.022  0.02  -0.01   0.053  0.075 -1.012]
+t: 13	 action: [ 0.645  0.037  0.039 -0.019  0.072  0.079 -1.016]
+t: 14	 action: [ 0.666  0.021  0.035 -0.026  0.054  0.083 -1.01 ]
+t: 15	 action: [ 0.707  0.039  0.009 -0.028  0.054  0.08  -1.044]
+t: 16	 action: [ 0.708  0.026  0.027 -0.041  0.056  0.113 -1.012]
+t: 17	 action: [ 0.736  0.042  0.012 -0.041  0.053  0.096 -1.045]
+t: 18	 action: [ 0.739  0.03   0.034 -0.042  0.033  0.148 -1.03 ]
+t: 19	 action: [ 7.700e-01  1.782e-02  7.275e-05 -4.290e-02  3.293e-02  1.332e-01 -1.029e+00]
+t: 20	 action: [ 0.723  0.03   0.018 -0.057  0.03   0.153 -1.029]
+t: 21	 action: [ 7.580e-01  4.112e-02  9.022e-04 -5.162e-02  2.630e-02  1.327e-01 -1.022e+00]
+t: 22	 action: [ 0.712  0.027  0.02  -0.061  0.027  0.164 -1.007]
+t: 23	 action: [ 0.715  0.022 -0.009 -0.058  0.015  0.151 -1.053]
+t: 24	 action: [ 6.752e-01  3.473e-02 -9.963e-04 -7.666e-02  2.803e-02  1.622e-01 -1.007e+00]
+t: 25	 action: [ 0.677  0.056 -0.012 -0.07   0.015  0.148 -1.045]
+[07-31 00:28:04|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.956 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=26: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.4094
+INFO:cosmos_policy.experiments.robot.robot_utils:t=26: Selected seed 195 with value = 0.4094
+Query 1/1: Action query time = 0.956 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4094
+t=26: Selected seed 195 with value = 0.4094
+t: 26	 action: [ 0.509 -0.009 -0.043 -0.084  0.023  0.171 -1.012]
+t: 27	 action: [ 0.505  0.003 -0.059 -0.083  0.027  0.173 -1.015]
+t: 28	 action: [ 0.444  0.004 -0.09  -0.09   0.039  0.191 -1.004]
+t: 29	 action: [ 0.443  0.019 -0.098 -0.088  0.049  0.191 -1.011]
+t: 30	 action: [ 0.412  0.029 -0.118 -0.109  0.045  0.212 -0.999]
+t: 31	 action: [ 0.389  0.04  -0.188 -0.096  0.056  0.201 -1.032]
+t: 32	 action: [ 0.37   0.034 -0.162 -0.111  0.074  0.231 -0.996]
+t: 33	 action: [ 0.36   0.049 -0.211 -0.098  0.095  0.217 -1.034]
+t: 34	 action: [ 0.344  0.024 -0.149 -0.091  0.116  0.222 -1.007]
+t: 35	 action: [ 0.354  0.02  -0.192 -0.083  0.114  0.2   -1.018]
+t: 36	 action: [ 0.339  0.016 -0.18  -0.093  0.141  0.224 -1.003]
+t: 37	 action: [ 0.36   0.018 -0.204 -0.085  0.147  0.205 -1.013]
+t: 38	 action: [ 0.333  0.012 -0.182 -0.096  0.146  0.232 -0.995]
+t: 39	 action: [ 0.323  0.035 -0.237 -0.082  0.156  0.204 -1.041]
+t: 40	 action: [ 0.317  0.015 -0.213 -0.092  0.168  0.23  -0.995]
+t: 41	 action: [ 0.311  0.03  -0.236 -0.083  0.178  0.206 -1.039]
+[07-31 00:28:05|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.968 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=42: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.4942
+INFO:cosmos_policy.experiments.robot.robot_utils:t=42: Selected seed 195 with value = 0.4942
+Query 1/1: Action query time = 0.968 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4942
+t=42: Selected seed 195 with value = 0.4942
+t: 42	 action: [ 0.227  0.026 -0.16  -0.078  0.154  0.247 -0.988]
+t: 43	 action: [ 0.23   0.055 -0.137 -0.081  0.165  0.244 -0.993]
+t: 44	 action: [ 0.214  0.024 -0.158 -0.073  0.171  0.249 -0.991]
+t: 45	 action: [ 0.232  0.053 -0.118 -0.073  0.186  0.239 -1.   ]
+t: 46	 action: [ 0.215  0.03  -0.166 -0.082  0.183  0.252 -0.995]
+t: 47	 action: [ 0.211  0.048 -0.135 -0.079  0.196  0.242 -1.031]
+t: 48	 action: [ 0.197  0.023 -0.172 -0.072  0.197  0.251 -0.999]
+t: 49	 action: [ 0.198  0.043 -0.131 -0.072  0.211  0.237 -1.034]
+t: 50	 action: [ 0.134 -0.005 -0.164 -0.058  0.21   0.252 -0.996]
+t: 51	 action: [ 0.143 -0.006 -0.165 -0.041  0.22   0.242 -1.006]
+t: 52	 action: [ 0.142 -0.019 -0.147 -0.055  0.215  0.259 -0.996]
+t: 53	 action: [ 0.151 -0.026 -0.151 -0.037  0.215  0.246 -1.008]
+t: 54	 action: [ 0.128 -0.028 -0.146 -0.049  0.2    0.265 -0.99 ]
+t: 55	 action: [ 0.127 -0.02  -0.106 -0.04   0.198  0.243 -1.033]
+t: 56	 action: [ 0.127 -0.046 -0.145 -0.043  0.196  0.264 -0.994]
+t: 57	 action: [ 0.127 -0.047 -0.112 -0.034  0.188  0.247 -1.029]
+[07-31 00:28:06|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.978 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=58: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.5789
+INFO:cosmos_policy.experiments.robot.robot_utils:t=58: Selected seed 195 with value = 0.5789
+Query 1/1: Action query time = 0.978 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5789
+t=58: Selected seed 195 with value = 0.5789
+t: 58	 action: [ 0.045 -0.125 -0.083 -0.034  0.22   0.231 -0.995]
+t: 59	 action: [ 0.05  -0.129 -0.08  -0.011  0.212  0.223 -0.987]
+t: 60	 action: [ 0.043 -0.149 -0.049 -0.014  0.196  0.239 -0.999]
+t: 61	 action: [ 0.068 -0.154 -0.049 -0.003  0.179  0.223 -1.004]
+t: 62	 action: [ 0.075 -0.21  -0.037 -0.018  0.177  0.238 -0.996]
+t: 63	 action: [ 1.054e-01 -1.949e-01 -4.031e-02  2.101e-04  1.517e-01  2.237e-01 -1.016e+00]
+t: 64	 action: [ 0.096 -0.251 -0.046 -0.006  0.139  0.239 -0.999]
+t: 65	 action: [ 0.153 -0.231 -0.06   0.003  0.112  0.218 -1.017]
+t: 66	 action: [ 0.114 -0.342 -0.055 -0.014  0.106  0.248 -1.002]
+t: 67	 action: [ 0.143 -0.329 -0.048  0.002  0.063  0.216 -1.018]
+t: 68	 action: [ 1.186e-01 -3.627e-01 -6.271e-02  3.121e-05  7.020e-02  2.364e-01 -1.000e+00]
+t: 69	 action: [ 0.143 -0.354 -0.049  0.005  0.027  0.196 -1.008]
+t: 70	 action: [ 0.114 -0.416 -0.058  0.002  0.028  0.22  -0.995]
+t: 71	 action: [ 0.128 -0.411 -0.022  0.005  0.018  0.181 -1.021]
+t: 72	 action: [ 8.342e-02 -3.970e-01 -6.875e-02  4.546e-03 -9.003e-04  2.023e-01 -9.976e-01]
+t: 73	 action: [ 0.062 -0.396 -0.021  0.005  0.004  0.165 -1.007]
+[07-31 00:28:07|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.966 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=74: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.6543
+INFO:cosmos_policy.experiments.robot.robot_utils:t=74: Selected seed 195 with value = 0.6543
+Query 1/1: Action query time = 0.966 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6543
+t=74: Selected seed 195 with value = 0.6543
+t: 74	 action: [ 0.07  -0.387  0.016 -0.004  0.034  0.145 -0.998]
+t: 75	 action: [ 0.063 -0.393  0.029  0.006  0.014  0.139 -1.009]
+t: 76	 action: [ 0.046 -0.399 -0.009  0.007  0.012  0.164 -0.991]
+t: 77	 action: [ 0.051 -0.38   0.023  0.012  0.003  0.142 -1.016]
+t: 78	 action: [ 0.014 -0.405 -0.02   0.004  0.009  0.144 -0.992]
+t: 79	 action: [ 0.021 -0.425 -0.005  0.018 -0.003  0.145 -1.028]
+t: 80	 action: [-0.022 -0.386 -0.034  0.007 -0.012  0.149 -0.989]
+t: 81	 action: [-0.017 -0.373 -0.035  0.017 -0.022  0.133 -1.021]
+t: 82	 action: [-0.091 -0.432 -0.008 -0.002 -0.048  0.121 -1.008]
+t: 83	 action: [-0.123 -0.368  0.003  0.015 -0.057  0.095 -1.015]
+t: 84	 action: [-0.162 -0.401 -0.03   0.006 -0.066  0.114 -0.998]
+t: 85	 action: [-0.186 -0.332 -0.032  0.016 -0.07   0.089 -1.004]
+t: 86	 action: [-0.216 -0.431 -0.051  0.008 -0.079  0.094 -1.002]
+t: 87	 action: [-0.251 -0.37  -0.056  0.021 -0.07   0.081 -1.026]
+t: 88	 action: [-0.253 -0.382 -0.054  0.008 -0.093  0.086 -0.994]
+t: 89	 action: [-0.273 -0.322 -0.072  0.021 -0.072  0.077 -1.022]
+[07-31 00:28:09|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.953 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=90: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.7315
+INFO:cosmos_policy.experiments.robot.robot_utils:t=90: Selected seed 195 with value = 0.7315
+Query 1/1: Action query time = 0.953 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7315
+t=90: Selected seed 195 with value = 0.7315
+t: 90	 action: [-4.179e-04 -3.072e-01 -8.034e-02  4.009e-03 -2.074e-02  4.984e-02 -9.936e-01]
+t: 91	 action: [ 0.018 -0.38  -0.074  0.011 -0.043  0.051 -0.981]
+t: 92	 action: [-0.07  -0.33  -0.159  0.007 -0.034  0.057 -0.988]
+t: 93	 action: [-0.048 -0.382 -0.136  0.016 -0.042  0.051 -0.998]
+t: 94	 action: [-0.117 -0.35  -0.2    0.015 -0.034  0.055 -0.988]
+t: 95	 action: [-0.104 -0.397 -0.134  0.024 -0.034  0.058 -1.015]
+t: 96	 action: [-0.206 -0.361 -0.215  0.025 -0.03   0.064 -0.982]
+t: 97	 action: [-0.212 -0.358 -0.198  0.027 -0.025  0.055 -1.018]
+t: 98	 action: [-0.225 -0.41  -0.131  0.012 -0.023  0.071 -0.995]
+t: 99	 action: [-0.239 -0.38  -0.166  0.024 -0.021  0.062 -1.014]
+t: 100	 action: [-0.294 -0.415 -0.171  0.013 -0.029  0.079 -0.989]
+t: 101	 action: [-0.287 -0.365 -0.205  0.021 -0.029  0.075 -1.008]
+t: 102	 action: [-0.384 -0.399 -0.204  0.012 -0.041  0.081 -0.991]
+t: 103	 action: [-0.368 -0.338 -0.287  0.03  -0.04   0.07  -1.034]
+t: 104	 action: [-0.461 -0.371 -0.256  0.012 -0.049  0.087 -0.982]
+t: 105	 action: [-0.432 -0.313 -0.356  0.031 -0.045  0.085 -1.029]
+[07-31 00:28:10|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.964 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=106: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.7364
+INFO:cosmos_policy.experiments.robot.robot_utils:t=106: Selected seed 195 with value = 0.7364
+Query 1/1: Action query time = 0.964 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7364
+t=106: Selected seed 195 with value = 0.7364
+t: 106	 action: [ 0.093 -0.275 -0.068 -0.013  0.009 -0.003 -1.023]
+t: 107	 action: [ 0.104 -0.328 -0.028 -0.009  0.003 -0.032 -1.039]
+t: 108	 action: [ 0.029 -0.285 -0.135 -0.004 -0.014 -0.024 -1.024]
+t: 109	 action: [ 4.197e-02 -3.329e-01 -1.083e-01  7.607e-04 -1.166e-02 -4.763e-02 -1.044e+00]
+t: 110	 action: [-0.016 -0.313 -0.154  0.005 -0.006 -0.032 -1.022]
+t: 111	 action: [-0.027 -0.314 -0.139  0.016 -0.019 -0.045 -1.065]
+t: 112	 action: [-0.057 -0.288 -0.24   0.005 -0.023 -0.042 -1.019]
+t: 113	 action: [-0.073 -0.28  -0.24   0.019 -0.029 -0.057 -1.064]
+t: 114	 action: [-1.176e-01 -3.493e-01 -2.296e-01  1.883e-02 -4.349e-02 -6.353e-04 -1.026e+00]
+t: 115	 action: [-0.101 -0.331 -0.241  0.023 -0.05  -0.01  -1.044]
+t: 116	 action: [-0.139 -0.363 -0.326  0.023 -0.054  0.004 -1.034]
+t: 117	 action: [-0.126 -0.318 -0.381  0.022 -0.06  -0.003 -1.041]
+t: 118	 action: [-0.128 -0.284 -0.566  0.032 -0.046 -0.001 -1.016]
+t: 119	 action: [-0.124 -0.225 -0.593  0.041 -0.038 -0.006 -1.054]
+t: 120	 action: [-0.131 -0.22  -0.772  0.03  -0.039 -0.001 -1.02 ]
+t: 121	 action: [-0.124 -0.156 -0.754  0.039 -0.021  0.004 -1.059]
+[07-31 00:28:11|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.969 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=122: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.7105
+INFO:cosmos_policy.experiments.robot.robot_utils:t=122: Selected seed 195 with value = 0.7105
+Query 1/1: Action query time = 0.969 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7105
+t=122: Selected seed 195 with value = 0.7105
+t: 122	 action: [-6.704e-02 -2.574e-01 -7.400e-02 -7.835e-03 -8.124e-05  3.802e-03 -9.940e-01]
+t: 123	 action: [-1.457e-02 -2.374e-01 -1.876e-03 -4.945e-03  1.522e-04 -4.876e-03 -1.008e+00]
+t: 124	 action: [-0.11  -0.277 -0.078 -0.005 -0.003  0.002 -0.995]
+t: 125	 action: [-5.092e-02 -2.618e-01 -1.387e-02  2.373e-03 -2.158e-04 -1.143e-02 -1.018e+00]
+t: 126	 action: [-1.174e-01 -2.652e-01 -4.220e-02  2.077e-03  4.284e-04 -4.488e-03 -9.853e-01]
+t: 127	 action: [-0.06  -0.246 -0.012  0.009 -0.002 -0.009 -1.039]
+t: 128	 action: [-0.158 -0.301 -0.058  0.004  0.001 -0.004 -0.984]
+t: 129	 action: [-0.109 -0.258 -0.024  0.014 -0.003 -0.011 -1.038]
+t: 130	 action: [-0.146 -0.392 -0.043  0.004 -0.026  0.013 -0.994]
+t: 131	 action: [-0.147 -0.336 -0.008  0.016 -0.028  0.005 -1.02 ]
+t: 132	 action: [-0.24  -0.411 -0.135  0.007 -0.047  0.019 -0.993]
+t: 133	 action: [-0.226 -0.349 -0.105  0.014 -0.053  0.019 -1.015]
+t: 134	 action: [-0.335 -0.401 -0.16   0.009 -0.052  0.016 -0.987]
+t: 135	 action: [-0.34  -0.309 -0.191  0.024 -0.058  0.022 -1.037]
+t: 136	 action: [-0.43  -0.395 -0.274  0.009 -0.066  0.04  -0.985]
+t: 137	 action: [-0.418 -0.287 -0.336  0.024 -0.069  0.04  -1.036]
+[07-31 00:28:12|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.953 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=138: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.7390
+INFO:cosmos_policy.experiments.robot.robot_utils:t=138: Selected seed 195 with value = 0.7390
+Query 1/1: Action query time = 0.953 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7390
+t=138: Selected seed 195 with value = 0.7390
+t: 138	 action: [ 0.037 -0.313 -0.062 -0.005  0.004 -0.011 -1.018]
+t: 139	 action: [ 0.053 -0.352 -0.019  0.002 -0.001 -0.038 -1.037]
+t: 140	 action: [-2.556e-02 -3.109e-01 -1.044e-01  8.823e-05 -1.832e-02 -2.472e-02 -1.022e+00]
+t: 141	 action: [-0.002 -0.347 -0.074  0.009 -0.021 -0.045 -1.041]
+t: 142	 action: [-0.067 -0.332 -0.114  0.01  -0.014 -0.037 -1.015]
+t: 143	 action: [-0.064 -0.319 -0.115  0.025 -0.026 -0.047 -1.061]
+t: 144	 action: [-0.102 -0.299 -0.177  0.012 -0.028 -0.038 -1.015]
+t: 145	 action: [-0.116 -0.294 -0.206  0.026 -0.035 -0.051 -1.057]
+t: 146	 action: [-1.565e-01 -3.567e-01 -2.174e-01  2.836e-02 -4.909e-02  6.631e-04 -1.023e+00]
+t: 147	 action: [-0.159 -0.341 -0.225  0.027 -0.058 -0.01  -1.043]
+t: 148	 action: [-0.194 -0.37  -0.334  0.029 -0.058  0.004 -1.031]
+t: 149	 action: [-0.196 -0.325 -0.389  0.025 -0.068 -0.003 -1.037]
+t: 150	 action: [-0.189 -0.305 -0.547  0.035 -0.055 -0.003 -1.014]
+t: 151	 action: [-0.201 -0.22  -0.603  0.046 -0.043 -0.009 -1.049]
+t: 152	 action: [-0.203 -0.255 -0.79   0.028 -0.044 -0.002 -1.016]
+t: 153	 action: [-0.204 -0.158 -0.794  0.041 -0.02   0.001 -1.056]
+[07-31 00:28:14|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.981 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=154: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.7008
+INFO:cosmos_policy.experiments.robot.robot_utils:t=154: Selected seed 195 with value = 0.7008
+Query 1/1: Action query time = 0.981 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7008
+t=154: Selected seed 195 with value = 0.7008
+t: 154	 action: [-0.051 -0.262 -0.095 -0.005  0.002  0.002 -0.997]
+t: 155	 action: [-0.007 -0.23  -0.029 -0.003  0.003 -0.008 -1.01 ]
+t: 156	 action: [-9.968e-02 -2.707e-01 -9.109e-02 -3.466e-03 -1.987e-04 -4.001e-04 -9.987e-01]
+t: 157	 action: [-0.045 -0.248 -0.04   0.002  0.001 -0.014 -1.02 ]
+t: 158	 action: [-1.145e-01 -2.467e-01 -5.897e-02  1.672e-03  1.035e-04 -6.721e-03 -9.915e-01]
+t: 159	 action: [-0.071 -0.22  -0.03   0.008 -0.001 -0.012 -1.042]
+t: 160	 action: [-0.153 -0.277 -0.06   0.002  0.001 -0.005 -0.992]
+t: 161	 action: [-0.112 -0.235 -0.033  0.011 -0.002 -0.013 -1.041]
+t: 162	 action: [-0.128 -0.366 -0.039  0.003 -0.022  0.011 -1.001]
+t: 163	 action: [-0.129 -0.307 -0.005  0.014 -0.02   0.002 -1.023]
+t: 164	 action: [-0.226 -0.391 -0.124  0.006 -0.04   0.017 -1.001]
+t: 165	 action: [-0.217 -0.333 -0.096  0.013 -0.042  0.016 -1.017]
+t: 166	 action: [-0.324 -0.383 -0.156  0.007 -0.045  0.013 -0.995]
+t: 167	 action: [-0.342 -0.292 -0.185  0.022 -0.047  0.019 -1.038]
+t: 168	 action: [-0.434 -0.382 -0.268  0.006 -0.057  0.036 -0.994]
+t: 169	 action: [-0.427 -0.277 -0.326  0.023 -0.059  0.036 -1.037]
+[07-31 00:28:15|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.971 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=170: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.7345
+INFO:cosmos_policy.experiments.robot.robot_utils:t=170: Selected seed 195 with value = 0.7345
+Query 1/1: Action query time = 0.971 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7345
+t=170: Selected seed 195 with value = 0.7345
+t: 170	 action: [ 0.06  -0.307 -0.045 -0.003  0.006 -0.01  -1.021]
+t: 171	 action: [ 0.073 -0.344 -0.012  0.003  0.002 -0.035 -1.039]
+t: 172	 action: [-0.004 -0.31  -0.094  0.001 -0.015 -0.025 -1.022]
+t: 173	 action: [ 0.016 -0.337 -0.06   0.009 -0.016 -0.043 -1.044]
+t: 174	 action: [-0.056 -0.324 -0.108  0.01  -0.01  -0.035 -1.019]
+t: 175	 action: [-0.049 -0.309 -0.105  0.024 -0.022 -0.043 -1.063]
+t: 176	 action: [-0.087 -0.282 -0.178  0.011 -0.022 -0.037 -1.018]
+t: 177	 action: [-0.094 -0.273 -0.205  0.023 -0.028 -0.049 -1.061]
+t: 178	 action: [-1.356e-01 -3.390e-01 -1.881e-01  2.504e-02 -3.977e-02 -4.087e-04 -1.026e+00]
+t: 179	 action: [-0.128 -0.315 -0.192  0.024 -0.051 -0.011 -1.045]
+t: 180	 action: [-0.167 -0.346 -0.311  0.025 -0.048  0.004 -1.033]
+t: 181	 action: [-0.161 -0.299 -0.365  0.022 -0.06  -0.004 -1.039]
+t: 182	 action: [-0.169 -0.283 -0.551  0.032 -0.044 -0.002 -1.017]
+t: 183	 action: [-0.178 -0.207 -0.596  0.042 -0.036 -0.009 -1.05 ]
+t: 184	 action: [-0.181 -0.245 -0.791  0.025 -0.035 -0.001 -1.02 ]
+t: 185	 action: [-0.181 -0.152 -0.785  0.038 -0.015  0.002 -1.056]
+[07-31 00:28:16|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.975 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=186: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.6944
+INFO:cosmos_policy.experiments.robot.robot_utils:t=186: Selected seed 195 with value = 0.6944
+Query 1/1: Action query time = 0.975 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6944
+t=186: Selected seed 195 with value = 0.6944
+t: 186	 action: [-4.470e-02 -2.583e-01 -9.596e-02 -3.570e-03  1.956e-03  8.408e-04 -9.969e-01]
+t: 187	 action: [-7.768e-03 -2.189e-01 -3.514e-02 -4.661e-04  2.628e-03 -9.191e-03 -1.008e+00]
+t: 188	 action: [-0.097 -0.253 -0.089 -0.003 -0.001 -0.002 -0.996]
+t: 189	 action: [-4.597e-02 -2.265e-01 -4.107e-02  2.636e-03  8.353e-04 -1.435e-02 -1.017e+00]
+t: 190	 action: [-1.182e-01 -2.266e-01 -5.558e-02  1.518e-03 -9.647e-05 -7.248e-03 -9.949e-01]
+t: 191	 action: [-8.914e-02 -1.991e-01 -3.625e-02  8.759e-03 -9.755e-04 -1.240e-02 -1.043e+00]
+t: 192	 action: [-0.153 -0.248 -0.052  0.002  0.002 -0.005 -0.993]
+t: 193	 action: [-1.210e-01 -2.110e-01 -3.361e-02  9.738e-03 -9.483e-04 -1.290e-02 -1.041e+00]
+t: 194	 action: [-0.121 -0.352 -0.048  0.003 -0.02   0.01  -1.005]
+t: 195	 action: [-0.125 -0.295 -0.013  0.014 -0.016  0.002 -1.023]
+t: 196	 action: [-0.223 -0.385 -0.137  0.006 -0.035  0.015 -1.004]
+t: 197	 action: [-0.221 -0.326 -0.101  0.012 -0.036  0.016 -1.017]
+t: 198	 action: [-0.329 -0.372 -0.162  0.006 -0.04   0.013 -1.002]
+t: 199	 action: [-0.364 -0.283 -0.207  0.021 -0.04   0.019 -1.04 ]
+t: 200	 action: [-0.458 -0.374 -0.282  0.005 -0.049  0.035 -0.998]
+t: 201	 action: [-0.465 -0.272 -0.348  0.022 -0.049  0.035 -1.038]
+[07-31 00:28:17|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.966 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=202: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.7347
+INFO:cosmos_policy.experiments.robot.robot_utils:t=202: Selected seed 195 with value = 0.7347
+Query 1/1: Action query time = 0.966 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7347
+t=202: Selected seed 195 with value = 0.7347
+t: 202	 action: [ 0.091 -0.271 -0.017 -0.008  0.008 -0.005 -1.021]
+t: 203	 action: [ 0.104 -0.311  0.008 -0.003  0.004 -0.029 -1.037]
+t: 204	 action: [ 2.382e-02 -2.922e-01 -8.219e-02  3.017e-04 -1.002e-02 -2.112e-02 -1.022e+00]
+t: 205	 action: [ 0.038 -0.316 -0.041  0.005 -0.01  -0.038 -1.045]
+t: 206	 action: [-0.032 -0.301 -0.102  0.006 -0.005 -0.026 -1.023]
+t: 207	 action: [-0.03  -0.298 -0.092  0.018 -0.016 -0.036 -1.065]
+t: 208	 action: [-0.065 -0.263 -0.202  0.007 -0.015 -0.032 -1.021]
+t: 209	 action: [-0.068 -0.253 -0.232  0.019 -0.021 -0.043 -1.064]
+t: 210	 action: [-1.075e-01 -3.152e-01 -1.861e-01  1.904e-02 -2.929e-02 -1.010e-03 -1.026e+00]
+t: 211	 action: [-0.081 -0.288 -0.198  0.021 -0.042 -0.011 -1.047]
+t: 212	 action: [-0.124 -0.318 -0.315  0.021 -0.039  0.003 -1.032]
+t: 213	 action: [-0.107 -0.268 -0.372  0.019 -0.05  -0.004 -1.04 ]
+t: 214	 action: [-0.135 -0.263 -0.575  0.029 -0.032 -0.002 -1.019]
+t: 215	 action: [-0.135 -0.2   -0.607  0.038 -0.027 -0.007 -1.052]
+t: 216	 action: [-0.138 -0.227 -0.782  0.025 -0.027 -0.001 -1.022]
+t: 217	 action: [-0.13  -0.145 -0.758  0.034 -0.011  0.003 -1.057]
+[07-31 00:28:19|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.962 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=218: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.6913
+INFO:cosmos_policy.experiments.robot.robot_utils:t=218: Selected seed 195 with value = 0.6913
+Query 1/1: Action query time = 0.962 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6913
+t=218: Selected seed 195 with value = 0.6913
+t: 218	 action: [-4.539e-02 -2.512e-01 -7.772e-02 -3.050e-03 -9.526e-04 -8.204e-04 -9.953e-01]
+t: 219	 action: [-1.050e-02 -1.997e-01 -2.597e-02 -1.014e-03  5.249e-04 -9.467e-03 -1.006e+00]
+t: 220	 action: [-0.103 -0.234 -0.076 -0.003 -0.004 -0.003 -0.994]
+t: 221	 action: [-5.653e-02 -1.991e-01 -3.237e-02  2.202e-03 -9.135e-04 -1.288e-02 -1.015e+00]
+t: 222	 action: [-0.126 -0.194 -0.049  0.001 -0.002 -0.007 -0.996]
+t: 223	 action: [-0.11  -0.169 -0.04   0.008 -0.002 -0.011 -1.042]
+t: 224	 action: [-0.161 -0.213 -0.048  0.002  0.002 -0.004 -0.994]
+t: 225	 action: [-0.139 -0.181 -0.04   0.009 -0.001 -0.009 -1.041]
+t: 226	 action: [-0.128 -0.331 -0.063  0.004 -0.019  0.011 -1.005]
+t: 227	 action: [-0.131 -0.284 -0.025  0.015 -0.014  0.004 -1.023]
+t: 228	 action: [-0.23  -0.375 -0.156  0.006 -0.03   0.016 -1.004]
+t: 229	 action: [-0.23  -0.32  -0.112  0.012 -0.03   0.018 -1.015]
+t: 230	 action: [-0.334 -0.362 -0.182  0.006 -0.036  0.016 -1.006]
+t: 231	 action: [-0.386 -0.279 -0.224  0.021 -0.033  0.022 -1.04 ]
+t: 232	 action: [-0.471 -0.371 -0.31   0.004 -0.042  0.038 -1.002]
+t: 233	 action: [-0.494 -0.27  -0.366  0.022 -0.039  0.038 -1.038]
+[07-31 00:28:20|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.952 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=234: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.7391
+INFO:cosmos_policy.experiments.robot.robot_utils:t=234: Selected seed 195 with value = 0.7391
+Query 1/1: Action query time = 0.952 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7391
+t=234: Selected seed 195 with value = 0.7391
+t: 234	 action: [ 1.134e-01 -2.291e-01 -2.148e-02 -1.050e-02  1.201e-02 -2.869e-04 -1.017e+00]
+t: 235	 action: [ 0.126 -0.274  0.003 -0.006  0.005 -0.019 -1.032]
+t: 236	 action: [ 4.890e-02 -2.588e-01 -9.159e-02  2.890e-04 -3.124e-03 -1.451e-02 -1.017e+00]
+t: 237	 action: [ 0.055 -0.29  -0.047  0.004 -0.003 -0.027 -1.041]
+t: 238	 action: [-0.005 -0.264 -0.115  0.004  0.005 -0.013 -1.022]
+t: 239	 action: [-0.016 -0.268 -0.103  0.014 -0.008 -0.024 -1.064]
+t: 240	 action: [-0.046 -0.242 -0.233  0.004 -0.005 -0.022 -1.019]
+t: 241	 action: [-0.049 -0.233 -0.263  0.016 -0.01  -0.029 -1.063]
+t: 242	 action: [-0.089 -0.296 -0.187  0.018 -0.02  -0.001 -1.024]
+t: 243	 action: [-0.045 -0.27  -0.197  0.02  -0.03  -0.009 -1.044]
+t: 244	 action: [-0.097 -0.295 -0.317  0.021 -0.031  0.003 -1.03 ]
+t: 245	 action: [-0.068 -0.251 -0.372  0.019 -0.038 -0.003 -1.038]
+t: 246	 action: [-1.120e-01 -2.454e-01 -5.902e-01  2.743e-02 -2.088e-02 -4.591e-04 -1.020e+00]
+t: 247	 action: [-0.105 -0.19  -0.601  0.034 -0.018 -0.003 -1.051]
+t: 248	 action: [-1.098e-01 -2.030e-01 -7.619e-01  2.191e-02 -2.000e-02 -8.776e-04 -1.022e+00]
+t: 249	 action: [-0.101 -0.133 -0.719  0.029 -0.008  0.006 -1.056]
+[07-31 00:28:21|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.971 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=250: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.6934
+INFO:cosmos_policy.experiments.robot.robot_utils:t=250: Selected seed 195 with value = 0.6934
+Query 1/1: Action query time = 0.971 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6934
+t=250: Selected seed 195 with value = 0.6934
+t: 250	 action: [-6.398e-02 -2.533e-01 -6.417e-02 -2.662e-03 -6.662e-03  2.455e-04 -9.939e-01]
+t: 251	 action: [-0.022 -0.192 -0.017 -0.002 -0.005 -0.007 -1.002]
+t: 252	 action: [-1.216e-01 -2.203e-01 -6.594e-02 -2.644e-03 -9.196e-03 -4.925e-04 -9.893e-01]
+t: 253	 action: [-0.069 -0.179 -0.026  0.002 -0.006 -0.01  -1.01 ]
+t: 254	 action: [-1.431e-01 -1.707e-01 -4.383e-02  5.025e-04 -6.108e-03 -3.934e-03 -9.956e-01]
+t: 255	 action: [-0.127 -0.146 -0.043  0.008 -0.007 -0.006 -1.043]
+t: 256	 action: [-0.176 -0.177 -0.048  0.001 -0.001 -0.002 -0.991]
+t: 257	 action: [-0.151 -0.152 -0.051  0.009 -0.003 -0.004 -1.04 ]
+t: 258	 action: [-0.135 -0.311 -0.076  0.005 -0.019  0.012 -1.001]
+t: 259	 action: [-0.128 -0.277 -0.033  0.016 -0.013  0.006 -1.019]
+t: 260	 action: [-0.234 -0.363 -0.165  0.007 -0.028  0.017 -1.001]
+t: 261	 action: [-0.226 -0.322 -0.12   0.013 -0.026  0.02  -1.013]
+t: 262	 action: [-0.333 -0.347 -0.198  0.006 -0.034  0.018 -1.007]
+t: 263	 action: [-0.386 -0.279 -0.23   0.022 -0.027  0.024 -1.04 ]
+t: 264	 action: [-0.467 -0.373 -0.331  0.004 -0.036  0.04  -1.004]
+t: 265	 action: [-0.492 -0.276 -0.376  0.023 -0.029  0.04  -1.039]
+[07-31 00:28:22|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.948 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=266: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.7464
+INFO:cosmos_policy.experiments.robot.robot_utils:t=266: Selected seed 195 with value = 0.7464
+Query 1/1: Action query time = 0.948 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7464
+t=266: Selected seed 195 with value = 0.7464
+t: 266	 action: [ 1.051e-01 -2.094e-01 -1.923e-02 -1.366e-02  1.103e-02  9.008e-04 -1.009e+00]
+t: 267	 action: [ 0.121 -0.245  0.001 -0.007  0.005 -0.015 -1.028]
+t: 268	 action: [ 4.813e-02 -2.455e-01 -8.718e-02 -5.217e-04 -1.686e-03 -1.239e-02 -1.011e+00]
+t: 269	 action: [ 0.059 -0.264 -0.045  0.003 -0.002 -0.021 -1.035]
+t: 270	 action: [ 7.957e-04 -2.493e-01 -1.128e-01  3.559e-03  7.184e-03 -6.927e-03 -1.019e+00]
+t: 271	 action: [-0.013 -0.243 -0.106  0.012 -0.007 -0.016 -1.064]
+t: 272	 action: [-3.986e-02 -2.381e-01 -2.393e-01  1.907e-03  3.576e-05 -1.508e-02 -1.015e+00]
+t: 273	 action: [-0.042 -0.207 -0.281  0.015 -0.006 -0.019 -1.059]
+t: 274	 action: [-0.086 -0.296 -0.169  0.018 -0.015 -0.002 -1.021]
+t: 275	 action: [-0.034 -0.26  -0.184  0.021 -0.022 -0.007 -1.041]
+t: 276	 action: [-0.09  -0.29  -0.294  0.02  -0.024  0.004 -1.025]
+t: 277	 action: [-5.536e-02 -2.411e-01 -3.533e-01  1.903e-02 -2.713e-02  7.677e-05 -1.034e+00]
+t: 278	 action: [-1.059e-01 -2.409e-01 -5.750e-01  2.499e-02 -1.357e-02  3.761e-04 -1.019e+00]
+t: 279	 action: [-0.102 -0.18  -0.586  0.031 -0.011  0.001 -1.049]
+t: 280	 action: [-1.055e-01 -1.974e-01 -7.395e-01  1.820e-02 -1.264e-02 -2.967e-05 -1.019e+00]
+t: 281	 action: [-0.1   -0.124 -0.696  0.024 -0.003  0.01  -1.053]
+[07-31 00:28:24|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.952 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=282: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.6929
+INFO:cosmos_policy.experiments.robot.robot_utils:t=282: Selected seed 195 with value = 0.6929
+Query 1/1: Action query time = 0.952 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6929
+t=282: Selected seed 195 with value = 0.6929
+t: 282	 action: [-7.578e-02 -2.505e-01 -6.825e-02 -1.702e-03 -1.207e-02  7.412e-04 -9.910e-01]
+t: 283	 action: [-3.148e-02 -1.896e-01 -2.649e-02 -4.489e-04 -1.075e-02 -4.965e-03 -1.000e+00]
+t: 284	 action: [-0.133 -0.207 -0.068 -0.002 -0.014  0.001 -0.986]
+t: 285	 action: [-0.08  -0.169 -0.034  0.003 -0.01  -0.007 -1.008]
+t: 286	 action: [-1.526e-01 -1.545e-01 -4.559e-02  4.171e-04 -1.065e-02 -2.738e-03 -9.959e-01]
+t: 287	 action: [-0.139 -0.131 -0.052  0.009 -0.013 -0.002 -1.042]
+t: 288	 action: [-0.185 -0.151 -0.051  0.001 -0.005 -0.001 -0.989]
+t: 289	 action: [-1.562e-01 -1.338e-01 -6.102e-02  9.494e-03 -5.123e-03 -7.282e-04 -1.041e+00]
+t: 290	 action: [-0.139 -0.294 -0.075  0.005 -0.017  0.013 -0.998]
+t: 291	 action: [-0.124 -0.269 -0.036  0.017 -0.011  0.009 -1.018]
+t: 292	 action: [-0.232 -0.353 -0.163  0.007 -0.024  0.017 -0.997]
+t: 293	 action: [-0.218 -0.317 -0.119  0.015 -0.021  0.021 -1.013]
+t: 294	 action: [-0.327 -0.33  -0.196  0.006 -0.03   0.02  -1.007]
+t: 295	 action: [-0.378 -0.274 -0.234  0.023 -0.021  0.026 -1.041]
+t: 296	 action: [-0.455 -0.365 -0.331  0.004 -0.031  0.04  -1.002]
+t: 297	 action: [-0.477 -0.274 -0.38   0.024 -0.022  0.04  -1.041]
+[07-31 00:28:25|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.963 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=298: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.7546
+INFO:cosmos_policy.experiments.robot.robot_utils:t=298: Selected seed 195 with value = 0.7546
+WARNING:imageio_ffmpeg:IMAGEIO FFMPEG_WRITER WARNING: input image is not divisible by macro_block_size=16, resizing from (896, 284) to (896, 288) to ensure video compatibility with most codecs and players. To prevent resizing, make your input image divisible by the macro_block_size or set the macro_block_size to 1 (risking incompatibility).
+INFO:cosmos_policy.experiments.robot.robot_utils:Success: False
+INFO:cosmos_policy.experiments.robot.robot_utils:# episodes completed so far: 1
+INFO:cosmos_policy.experiments.robot.robot_utils:# successes: 0 (0.0%)
+
+
  2%|▏         | 1/50 [00:31<25:31, 31.25s/it]INFO:cosmos_policy.experiments.robot.robot_utils:
+Task: open the middle drawer of the cabinet
+INFO:cosmos_policy.experiments.robot.robot_utils:Starting episode 2...
+Query 1/1: Action query time = 0.963 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7546
+t=298: Selected seed 195 with value = 0.7546
+t: 298	 action: [ 8.355e-02 -1.946e-01 -1.254e-02 -1.785e-02  6.826e-03  8.061e-04 -1.004e+00]
+t: 299	 action: [ 0.1   -0.218  0.009 -0.009  0.002 -0.013 -1.022]
+t: 300	 action: [ 0.033 -0.238 -0.07  -0.003 -0.003 -0.012 -1.003]
+t: 301	 action: [ 0.052 -0.243 -0.023  0.002 -0.005 -0.017 -1.029]
+t: 302	 action: [-0.006 -0.243 -0.086  0.003  0.006 -0.005 -1.015]
+t: 303	 action: [-0.019 -0.237 -0.086  0.012 -0.009 -0.011 -1.059]
+t: 304	 action: [-0.046 -0.248 -0.215  0.001  0.002 -0.011 -1.009]
+t: 305	 action: [-0.048 -0.209 -0.27   0.015 -0.004 -0.013 -1.053]
+t: 306	 action: [-0.089 -0.311 -0.139  0.018 -0.009 -0.003 -1.018]
+t: 307	 action: [-0.035 -0.266 -0.164  0.022 -0.013 -0.005 -1.039]
+t: 308	 action: [-0.093 -0.297 -0.269  0.019 -0.017  0.004 -1.02 ]
+t: 309	 action: [-0.054 -0.242 -0.335  0.019 -0.015  0.002 -1.031]
+Saved rollout MP4 at path ./rollouts/None/2026_07_31-00_27_45--episode=1--success=False--task=open_the_middle_drawer_of_the_cabinet.mp4
+300 300 19 19
+Saved rollout MP4 at path ./rollouts/None/2026_07_31-00_27_45--with_future_img--episode=1--success=False--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: False
+# episodes completed so far: 1
+# successes: 0 (0.0%)
+
+Task: open the middle drawer of the cabinet
+Starting episode 2...
+[07-31 00:28:33|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.976 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=10: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.3556
+INFO:cosmos_policy.experiments.robot.robot_utils:t=10: Selected seed 195 with value = 0.3556
+Query 1/1: Action query time = 0.976 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3556
+t=10: Selected seed 195 with value = 0.3556
+t: 10	 action: [ 0.018 -0.036 -0.043  0.008  0.035  0.014 -0.996]
+t: 11	 action: [ 0.171 -0.026  0.028  0.015  0.059  0.034 -0.995]
+t: 12	 action: [ 0.182 -0.056 -0.012  0.003  0.082  0.031 -1.005]
+t: 13	 action: [ 0.386 -0.006  0.051  0.009  0.1    0.051 -1.011]
+t: 14	 action: [ 0.475 -0.045  0.046  0.005  0.108  0.05  -1.009]
+t: 15	 action: [ 0.573 -0.014  0.047  0.005  0.101  0.05  -1.038]
+t: 16	 action: [ 0.585 -0.012  0.06   0.001  0.116  0.078 -1.011]
+t: 17	 action: [ 0.643  0.024  0.056 -0.004  0.103  0.069 -1.041]
+t: 18	 action: [ 0.591  0.013  0.053 -0.022  0.107  0.122 -1.02 ]
+t: 19	 action: [ 0.617  0.038  0.063 -0.02   0.105  0.118 -1.02 ]
+t: 20	 action: [ 0.59   0.022  0.029 -0.04   0.103  0.134 -1.018]
+t: 21	 action: [ 0.617  0.06   0.039 -0.033  0.102  0.128 -1.018]
+t: 22	 action: [ 0.558  0.012  0.048 -0.047  0.093  0.141 -1.009]
+t: 23	 action: [ 0.567  0.033  0.036 -0.053  0.082  0.135 -1.044]
+t: 24	 action: [ 0.532  0.024  0.025 -0.064  0.09   0.154 -1.009]
+t: 25	 action: [ 0.556  0.059  0.026 -0.075  0.088  0.145 -1.042]
+[07-31 00:28:34|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.966 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=26: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.4090
+INFO:cosmos_policy.experiments.robot.robot_utils:t=26: Selected seed 195 with value = 0.4090
+Query 1/1: Action query time = 0.966 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4090
+t=26: Selected seed 195 with value = 0.4090
+t: 26	 action: [ 0.464  0.04   0.006 -0.064  0.054  0.198 -1.012]
+t: 27	 action: [ 0.466  0.076  0.013 -0.067  0.051  0.199 -1.008]
+t: 28	 action: [ 0.404  0.057 -0.015 -0.073  0.045  0.214 -1.008]
+t: 29	 action: [ 0.407  0.088 -0.002 -0.076  0.047  0.217 -1.005]
+t: 30	 action: [ 0.383  0.038 -0.01  -0.091  0.048  0.238 -0.994]
+t: 31	 action: [ 0.344  0.082 -0.025 -0.077  0.04   0.233 -1.031]
+t: 32	 action: [ 0.32   0.062 -0.043 -0.101  0.044  0.256 -0.996]
+t: 33	 action: [ 0.294  0.088 -0.062 -0.087  0.047  0.248 -1.032]
+t: 34	 action: [ 0.245  0.046 -0.066 -0.098  0.04   0.272 -0.995]
+t: 35	 action: [ 0.265  0.067 -0.08  -0.1    0.045  0.26  -1.001]
+t: 36	 action: [ 0.208  0.048 -0.088 -0.106  0.049  0.281 -0.996]
+t: 37	 action: [ 0.231  0.065 -0.095 -0.107  0.055  0.266 -0.998]
+t: 38	 action: [ 0.196  0.033 -0.101 -0.126  0.045  0.297 -0.983]
+t: 39	 action: [ 0.187  0.08  -0.11  -0.101  0.058  0.28  -1.026]
+t: 40	 action: [ 0.168  0.04  -0.124 -0.126  0.062  0.298 -0.99 ]
+t: 41	 action: [ 0.172  0.078 -0.119 -0.104  0.085  0.279 -1.025]
+[07-31 00:28:35|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.976 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=42: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.4569
+INFO:cosmos_policy.experiments.robot.robot_utils:t=42: Selected seed 195 with value = 0.4569
+Query 1/1: Action query time = 0.976 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4569
+t=42: Selected seed 195 with value = 0.4569
+t: 42	 action: [ 0.143  0.058 -0.12  -0.09   0.083  0.304 -0.983]
+t: 43	 action: [ 0.166  0.092 -0.122 -0.091  0.086  0.292 -0.991]
+t: 44	 action: [ 0.138  0.075 -0.132 -0.086  0.1    0.305 -0.98 ]
+t: 45	 action: [ 0.163  0.098 -0.122 -0.084  0.11   0.286 -0.999]
+t: 46	 action: [ 0.152  0.053 -0.139 -0.096  0.107  0.305 -0.983]
+t: 47	 action: [ 0.151  0.087 -0.142 -0.086  0.113  0.286 -1.018]
+t: 48	 action: [ 0.15   0.057 -0.153 -0.086  0.131  0.297 -0.983]
+t: 49	 action: [ 0.157  0.087 -0.147 -0.079  0.149  0.274 -1.023]
+t: 50	 action: [ 0.189  0.038 -0.16  -0.069  0.177  0.269 -0.996]
+t: 51	 action: [ 0.217  0.034 -0.197 -0.056  0.194  0.248 -1.008]
+t: 52	 action: [ 0.239  0.026 -0.16  -0.06   0.197  0.248 -0.997]
+t: 53	 action: [ 0.276  0.01  -0.183 -0.048  0.217  0.222 -1.003]
+t: 54	 action: [ 2.570e-01  6.018e-04 -1.570e-01 -5.794e-02  2.093e-01  2.372e-01 -9.876e-01]
+t: 55	 action: [ 0.287  0.016 -0.155 -0.043  0.222  0.215 -1.033]
+t: 56	 action: [ 0.299 -0.026 -0.155 -0.047  0.224  0.21  -0.99 ]
+t: 57	 action: [ 0.325 -0.016 -0.137 -0.036  0.235  0.19  -1.024]
+[07-31 00:28:37|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.973 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=58: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.5257
+INFO:cosmos_policy.experiments.robot.robot_utils:t=58: Selected seed 195 with value = 0.5257
+Query 1/1: Action query time = 0.973 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5257
+t=58: Selected seed 195 with value = 0.5257
+t: 58	 action: [ 0.328  0.009 -0.148 -0.053  0.24   0.207 -0.987]
+t: 59	 action: [ 0.335  0.028 -0.102 -0.048  0.236  0.186 -0.996]
+t: 60	 action: [ 0.343  0.001 -0.108 -0.06   0.227  0.202 -1.   ]
+t: 61	 action: [ 0.364  0.008 -0.059 -0.05   0.218  0.175 -1.016]
+t: 62	 action: [ 0.394 -0.009 -0.045 -0.065  0.227  0.176 -1.007]
+t: 63	 action: [ 0.378 -0.02  -0.025 -0.065  0.207  0.161 -1.037]
+t: 64	 action: [ 0.403 -0.044 -0.03  -0.062  0.209  0.164 -1.014]
+t: 65	 action: [ 0.39  -0.061 -0.014 -0.064  0.189  0.149 -1.045]
+t: 66	 action: [ 0.415 -0.167 -0.03  -0.056  0.196  0.155 -1.032]
+t: 67	 action: [ 0.435 -0.18  -0.013 -0.031  0.184  0.128 -1.032]
+t: 68	 action: [ 4.101e-01 -2.512e-01  8.826e-04 -3.322e-02  1.664e-01  1.532e-01 -1.028e+00]
+t: 69	 action: [ 0.412 -0.272  0.003 -0.02   0.14   0.122 -1.027]
+t: 70	 action: [ 0.375 -0.334  0.016 -0.005  0.136  0.144 -1.03 ]
+t: 71	 action: [ 0.33  -0.375  0.022 -0.006  0.1    0.122 -1.044]
+t: 72	 action: [ 0.319 -0.388 -0.014  0.008  0.09   0.13  -1.025]
+t: 73	 action: [ 0.263 -0.418  0.001  0.002  0.055  0.112 -1.039]
+[07-31 00:28:38|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.978 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=74: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.6163
+INFO:cosmos_policy.experiments.robot.robot_utils:t=74: Selected seed 195 with value = 0.6163
+Query 1/1: Action query time = 0.978 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6163
+t=74: Selected seed 195 with value = 0.6163
+t: 74	 action: [ 0.142 -0.349 -0.027 -0.041  0.05   0.134 -0.999]
+t: 75	 action: [ 0.156 -0.402  0.011 -0.016  0.02   0.122 -1.017]
+t: 76	 action: [ 0.103 -0.392 -0.06  -0.014  0.019  0.144 -0.993]
+t: 77	 action: [ 0.096 -0.395 -0.005 -0.007  0.002  0.115 -1.017]
+t: 78	 action: [ 7.680e-02 -4.138e-01 -3.352e-02  1.586e-04  4.996e-03  1.217e-01 -9.901e-01]
+t: 79	 action: [ 0.071 -0.479 -0.02   0.005 -0.005  0.117 -1.032]
+t: 80	 action: [ 0.033 -0.419 -0.078  0.002 -0.02   0.119 -0.988]
+t: 81	 action: [ 0.026 -0.426 -0.047  0.006 -0.029  0.101 -1.028]
+t: 82	 action: [-1.271e-02 -4.514e-01 -5.388e-02  3.023e-05 -4.198e-02  9.297e-02 -1.014e+00]
+t: 83	 action: [-0.027 -0.402 -0.025  0.01  -0.055  0.073 -1.021]
+t: 84	 action: [-0.082 -0.435 -0.068  0.003 -0.066  0.085 -1.009]
+t: 85	 action: [-0.1   -0.38  -0.049  0.011 -0.07   0.068 -1.009]
+t: 86	 action: [-0.141 -0.457 -0.101  0.008 -0.079  0.073 -1.009]
+t: 87	 action: [-0.205 -0.412 -0.098  0.019 -0.077  0.062 -1.035]
+t: 88	 action: [-0.194 -0.433 -0.106  0.007 -0.092  0.069 -1.005]
+t: 89	 action: [-0.25  -0.379 -0.111  0.019 -0.079  0.062 -1.032]
+[07-31 00:28:39|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.964 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=90: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.7059
+INFO:cosmos_policy.experiments.robot.robot_utils:t=90: Selected seed 195 with value = 0.7059
+Query 1/1: Action query time = 0.964 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7059
+t=90: Selected seed 195 with value = 0.7059
+t: 90	 action: [ 0.079 -0.197 -0.075 -0.025 -0.004  0.055 -0.976]
+t: 91	 action: [ 0.08  -0.183 -0.044 -0.015 -0.009  0.055 -0.989]
+t: 92	 action: [ 0.014 -0.196 -0.05  -0.013 -0.017  0.076 -0.98 ]
+t: 93	 action: [ 0.033 -0.202 -0.022 -0.006 -0.014  0.067 -1.011]
+t: 94	 action: [-0.018 -0.188 -0.084 -0.007 -0.015  0.074 -0.982]
+t: 95	 action: [-0.05  -0.214 -0.05  -0.003 -0.026  0.066 -1.035]
+t: 96	 action: [-0.126 -0.226 -0.088 -0.004 -0.024  0.1   -0.986]
+t: 97	 action: [-0.166 -0.223 -0.095  0.002 -0.03   0.081 -1.035]
+t: 98	 action: [-0.192 -0.308 -0.015 -0.014 -0.033  0.107 -0.987]
+t: 99	 action: [-0.256 -0.217 -0.071 -0.001 -0.037  0.094 -1.008]
+t: 100	 action: [-0.324 -0.305 -0.058 -0.018 -0.05   0.127 -0.982]
+t: 101	 action: [-0.353 -0.204 -0.129 -0.002 -0.057  0.117 -1.002]
+t: 102	 action: [-4.355e-01 -2.313e-01 -1.274e-01 -9.754e-04 -7.142e-02  1.330e-01 -9.888e-01]
+t: 103	 action: [-0.45  -0.192 -0.167  0.006 -0.075  0.109 -1.035]
+t: 104	 action: [-0.51  -0.219 -0.126 -0.004 -0.111  0.155 -0.977]
+t: 105	 action: [-0.504 -0.165 -0.15   0.003 -0.092  0.128 -1.027]
+[07-31 00:28:40|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.956 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=106: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.7714
+INFO:cosmos_policy.experiments.robot.robot_utils:t=106: Selected seed 195 with value = 0.7714
+Query 1/1: Action query time = 0.956 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7714
+t=106: Selected seed 195 with value = 0.7714
+t: 106	 action: [-0.163 -0.327 -0.124 -0.008 -0.023  0.032 -0.994]
+t: 107	 action: [-0.128 -0.38  -0.114  0.007 -0.018  0.036 -1.008]
+t: 108	 action: [-0.22  -0.335 -0.136 -0.002 -0.026  0.037 -0.983]
+t: 109	 action: [-0.205 -0.382 -0.108  0.017 -0.015  0.037 -1.011]
+t: 110	 action: [-0.23  -0.382 -0.175  0.024 -0.012  0.052 -0.99 ]
+t: 111	 action: [-0.247 -0.423 -0.128  0.04  -0.018  0.049 -1.04 ]
+t: 112	 action: [-0.294 -0.4   -0.213  0.028 -0.011  0.06  -0.979]
+t: 113	 action: [-0.303 -0.391 -0.215  0.044 -0.008  0.048 -1.031]
+t: 114	 action: [-0.321 -0.418 -0.217  0.018 -0.013  0.075 -0.992]
+t: 115	 action: [-0.327 -0.39  -0.272  0.026 -0.005  0.072 -1.025]
+t: 116	 action: [-0.355 -0.384 -0.323  0.032 -0.017  0.081 -0.987]
+t: 117	 action: [-0.346 -0.362 -0.427  0.034 -0.004  0.084 -1.02 ]
+t: 118	 action: [-0.449 -0.329 -0.608  0.039 -0.014  0.076 -0.99 ]
+t: 119	 action: [-0.419 -0.282 -0.737  0.065 -0.007  0.073 -1.048]
+t: 120	 action: [-0.468 -0.245 -0.825  0.046 -0.018  0.08  -0.981]
+t: 121	 action: [-0.427 -0.144 -0.865  0.058 -0.01   0.084 -1.046]
+[07-31 00:28:42|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.979 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=122: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.7324
+INFO:cosmos_policy.experiments.robot.robot_utils:t=122: Selected seed 195 with value = 0.7324
+Query 1/1: Action query time = 0.979 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7324
+t=122: Selected seed 195 with value = 0.7324
+t: 122	 action: [ 0.071 -0.246 -0.109 -0.013 -0.001 -0.006 -1.024]
+t: 123	 action: [ 0.077 -0.315 -0.102 -0.007 -0.003 -0.033 -1.033]
+t: 124	 action: [ 4.422e-03 -2.788e-01 -2.385e-01  3.971e-04 -1.745e-02 -2.546e-02 -1.023e+00]
+t: 125	 action: [ 0.028 -0.338 -0.222  0.01  -0.011 -0.049 -1.034]
+t: 126	 action: [-0.026 -0.317 -0.268  0.012 -0.004 -0.029 -1.021]
+t: 127	 action: [-0.05  -0.303 -0.297  0.025 -0.015 -0.047 -1.06 ]
+t: 128	 action: [-0.087 -0.308 -0.383  0.015 -0.015 -0.038 -1.017]
+t: 129	 action: [-0.115 -0.276 -0.385  0.027 -0.018 -0.061 -1.058]
+t: 130	 action: [-0.121 -0.383 -0.401  0.021 -0.028  0.007 -1.022]
+t: 131	 action: [-0.1   -0.339 -0.426  0.028 -0.03   0.001 -1.036]
+t: 132	 action: [-0.126 -0.375 -0.457  0.024 -0.036  0.01  -1.031]
+t: 133	 action: [-0.085 -0.312 -0.518  0.025 -0.04   0.005 -1.034]
+t: 134	 action: [-0.073 -0.207 -0.697  0.028 -0.028  0.003 -1.015]
+t: 135	 action: [-0.046 -0.152 -0.638  0.037 -0.024 -0.001 -1.056]
+t: 136	 action: [-0.06  -0.118 -0.776  0.019 -0.018  0.004 -1.018]
+t: 137	 action: [-0.039 -0.058 -0.705  0.029 -0.008  0.006 -1.062]
+[07-31 00:28:43|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.979 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=138: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.7455
+INFO:cosmos_policy.experiments.robot.robot_utils:t=138: Selected seed 195 with value = 0.7455
+Query 1/1: Action query time = 0.979 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7455
+t=138: Selected seed 195 with value = 0.7455
+t: 138	 action: [ 0.036 -0.255 -0.095 -0.013  0.008 -0.003 -0.999]
+t: 139	 action: [ 0.03  -0.278 -0.037 -0.004  0.006 -0.017 -1.007]
+t: 140	 action: [-4.134e-02 -3.136e-01 -9.177e-02 -5.847e-03 -8.261e-04 -6.493e-03 -9.919e-01]
+t: 141	 action: [-0.025 -0.341 -0.049  0.008  0.006 -0.018 -1.011]
+t: 142	 action: [-0.076 -0.341 -0.114  0.009 -0.001 -0.006 -0.984]
+t: 143	 action: [-0.049 -0.353 -0.07   0.016 -0.001 -0.013 -1.046]
+t: 144	 action: [-1.580e-01 -4.158e-01 -1.250e-01  1.921e-02 -8.430e-04 -4.040e-03 -9.769e-01]
+t: 145	 action: [-0.157 -0.372 -0.098  0.024 -0.001 -0.011 -1.04 ]
+t: 146	 action: [-0.168 -0.491 -0.172  0.011 -0.025  0.017 -0.988]
+t: 147	 action: [-0.205 -0.458 -0.188  0.026 -0.017  0.019 -1.025]
+t: 148	 action: [-0.262 -0.496 -0.271  0.017 -0.042  0.03  -0.988]
+t: 149	 action: [-0.306 -0.439 -0.307  0.025 -0.04   0.039 -1.021]
+t: 150	 action: [-0.431 -0.471 -0.339  0.027 -0.056  0.043 -0.972]
+t: 151	 action: [-0.429 -0.36  -0.463  0.038 -0.055  0.051 -1.05 ]
+t: 152	 action: [-0.531 -0.383 -0.592  0.039 -0.065  0.072 -0.966]
+t: 153	 action: [-0.514 -0.272 -0.696  0.044 -0.057  0.077 -1.044]
+[07-31 00:28:44|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.980 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=154: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.7462
+INFO:cosmos_policy.experiments.robot.robot_utils:t=154: Selected seed 195 with value = 0.7462
+Query 1/1: Action query time = 0.980 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7462
+t=154: Selected seed 195 with value = 0.7462
+t: 154	 action: [-0.082 -0.332 -0.223 -0.006 -0.029 -0.004 -0.996]
+t: 155	 action: [-0.047 -0.397 -0.213  0.008 -0.021 -0.016 -1.022]
+t: 156	 action: [-0.132 -0.331 -0.229 -0.004 -0.026 -0.007 -0.99 ]
+t: 157	 action: [-0.1   -0.404 -0.226  0.013 -0.01  -0.017 -1.02 ]
+t: 158	 action: [-0.14  -0.365 -0.217  0.01  -0.013 -0.007 -0.985]
+t: 159	 action: [-0.145 -0.381 -0.196  0.025 -0.009 -0.012 -1.052]
+t: 160	 action: [-0.185 -0.374 -0.224  0.013 -0.003 -0.006 -0.98 ]
+t: 161	 action: [-1.977e-01 -3.752e-01 -2.284e-01  2.747e-02 -7.349e-04 -1.151e-02 -1.042e+00]
+t: 162	 action: [-0.227 -0.451 -0.218  0.02  -0.023  0.014 -0.99 ]
+t: 163	 action: [-0.218 -0.47  -0.269  0.032 -0.024  0.011 -1.031]
+t: 164	 action: [-0.278 -0.461 -0.36   0.033 -0.025  0.014 -0.994]
+t: 165	 action: [-0.272 -0.458 -0.466  0.034 -0.031  0.018 -1.029]
+t: 166	 action: [-0.362 -0.362 -0.616  0.043 -0.027  0.014 -0.988]
+t: 167	 action: [-0.358 -0.253 -0.752  0.056 -0.023  0.022 -1.045]
+t: 168	 action: [-0.381 -0.256 -0.891  0.051 -0.022  0.022 -0.984]
+t: 169	 action: [-0.376 -0.108 -0.927  0.059 -0.012  0.032 -1.054]
+[07-31 00:28:46|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.972 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=170: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.7408
+INFO:cosmos_policy.experiments.robot.robot_utils:t=170: Selected seed 195 with value = 0.7408
+Query 1/1: Action query time = 0.972 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7408
+t=170: Selected seed 195 with value = 0.7408
+t: 170	 action: [-0.049 -0.291 -0.053 -0.006 -0.015 -0.007 -0.995]
+t: 171	 action: [-0.006 -0.287  0.022  0.004 -0.009 -0.02  -1.015]
+t: 172	 action: [-0.099 -0.306 -0.081 -0.004 -0.021 -0.007 -0.99 ]
+t: 173	 action: [-0.05  -0.3   -0.012  0.01  -0.003 -0.02  -1.02 ]
+t: 174	 action: [-0.121 -0.288 -0.079  0.006 -0.015 -0.007 -0.985]
+t: 175	 action: [-0.072 -0.281 -0.037  0.018 -0.005 -0.016 -1.049]
+t: 176	 action: [-0.168 -0.301 -0.111  0.011 -0.008 -0.004 -0.98 ]
+t: 177	 action: [-1.352e-01 -2.706e-01 -8.558e-02  2.086e-02 -4.505e-04 -1.306e-02 -1.044e+00]
+t: 178	 action: [-0.175 -0.417 -0.154  0.01  -0.023  0.014 -0.989]
+t: 179	 action: [-0.171 -0.379 -0.121  0.024 -0.018  0.013 -1.025]
+t: 180	 action: [-0.258 -0.438 -0.278  0.016 -0.031  0.021 -0.989]
+t: 181	 action: [-0.263 -0.374 -0.28   0.022 -0.032  0.032 -1.021]
+t: 182	 action: [-0.378 -0.377 -0.338  0.021 -0.038  0.027 -0.982]
+t: 183	 action: [-0.387 -0.277 -0.414  0.031 -0.035  0.034 -1.045]
+t: 184	 action: [-0.473 -0.345 -0.602  0.029 -0.037  0.051 -0.977]
+t: 185	 action: [-0.468 -0.21  -0.663  0.035 -0.029  0.056 -1.045]
+[07-31 00:28:47|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.962 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=186: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.7392
+INFO:cosmos_policy.experiments.robot.robot_utils:t=186: Selected seed 195 with value = 0.7392
+Query 1/1: Action query time = 0.962 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7392
+t=186: Selected seed 195 with value = 0.7392
+t: 186	 action: [-0.089 -0.325 -0.13   0.002 -0.023 -0.027 -1.   ]
+t: 187	 action: [-0.041 -0.338 -0.109  0.013 -0.026 -0.038 -1.02 ]
+t: 188	 action: [-0.134 -0.304 -0.145  0.004 -0.026 -0.03  -0.999]
+t: 189	 action: [-0.098 -0.325 -0.133  0.016 -0.019 -0.037 -1.024]
+t: 190	 action: [-0.144 -0.262 -0.124  0.009 -0.013 -0.036 -0.994]
+t: 191	 action: [-0.147 -0.283 -0.144  0.022 -0.018 -0.038 -1.048]
+t: 192	 action: [-0.178 -0.257 -0.166  0.01  -0.005 -0.029 -0.992]
+t: 193	 action: [-0.195 -0.275 -0.211  0.021 -0.004 -0.036 -1.043]
+t: 194	 action: [-0.244 -0.371 -0.214  0.025 -0.013  0.003 -0.998]
+t: 195	 action: [-0.232 -0.361 -0.242  0.028 -0.015 -0.004 -1.03 ]
+t: 196	 action: [-0.298 -0.381 -0.369  0.026 -0.015  0.008 -1.001]
+t: 197	 action: [-0.284 -0.335 -0.452  0.024 -0.021  0.005 -1.027]
+t: 198	 action: [-0.315 -0.285 -0.601  0.027 -0.015  0.001 -0.998]
+t: 199	 action: [-3.421e-01 -2.064e-01 -6.566e-01  3.397e-02 -1.422e-02  6.994e-04 -1.041e+00]
+t: 200	 action: [-0.332 -0.234 -0.837  0.018 -0.009  0.006 -0.995]
+t: 201	 action: [-3.503e-01 -1.167e-01 -8.390e-01  2.630e-02 -9.392e-04  1.209e-02 -1.050e+00]
+[07-31 00:28:48|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.958 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=202: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.7328
+INFO:cosmos_policy.experiments.robot.robot_utils:t=202: Selected seed 195 with value = 0.7328
+Query 1/1: Action query time = 0.958 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7328
+t=202: Selected seed 195 with value = 0.7328
+t: 202	 action: [-0.088 -0.311 -0.145  0.003 -0.019 -0.028 -1.001]
+t: 203	 action: [-0.036 -0.305 -0.13   0.014 -0.021 -0.035 -1.019]
+t: 204	 action: [-0.136 -0.281 -0.149  0.005 -0.019 -0.032 -1.   ]
+t: 205	 action: [-0.096 -0.293 -0.142  0.016 -0.013 -0.034 -1.024]
+t: 206	 action: [-0.143 -0.213 -0.116  0.008 -0.006 -0.04  -0.998]
+t: 207	 action: [-0.141 -0.238 -0.141  0.02  -0.015 -0.037 -1.048]
+t: 208	 action: [-0.176 -0.214 -0.161  0.009  0.002 -0.032 -0.996]
+t: 209	 action: [-1.858e-01 -2.361e-01 -2.172e-01  1.775e-02 -7.644e-04 -3.483e-02 -1.043e+00]
+t: 210	 action: [-0.228 -0.348 -0.213  0.027 -0.003  0.002 -1.002]
+t: 211	 action: [-0.218 -0.337 -0.231  0.028 -0.005 -0.005 -1.033]
+t: 212	 action: [-0.282 -0.361 -0.377  0.027 -0.006  0.007 -1.004]
+t: 213	 action: [-0.27  -0.315 -0.446  0.024 -0.01   0.005 -1.028]
+t: 214	 action: [-3.038e-01 -2.727e-01 -5.989e-01  2.724e-02 -4.969e-03  5.149e-04 -1.005e+00]
+t: 215	 action: [-3.362e-01 -1.895e-01 -6.601e-01  3.266e-02 -7.655e-03  6.611e-04 -1.043e+00]
+t: 216	 action: [-0.324 -0.225 -0.821  0.016 -0.003  0.008 -1.   ]
+t: 217	 action: [-0.344 -0.106 -0.829  0.024  0.001  0.013 -1.05 ]
+[07-31 00:28:49|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.976 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=218: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.7338
+INFO:cosmos_policy.experiments.robot.robot_utils:t=218: Selected seed 195 with value = 0.7338
+Query 1/1: Action query time = 0.976 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7338
+t=218: Selected seed 195 with value = 0.7338
+t: 218	 action: [-1.378e-01 -2.644e-01 -1.425e-01 -5.080e-04 -1.707e-02 -1.263e-02 -9.955e-01]
+t: 219	 action: [-0.101 -0.262 -0.133  0.014 -0.015 -0.014 -1.012]
+t: 220	 action: [-0.176 -0.241 -0.14   0.001 -0.011 -0.012 -0.992]
+t: 221	 action: [-0.137 -0.258 -0.14   0.017 -0.003 -0.014 -1.017]
+t: 222	 action: [-1.739e-01 -1.884e-01 -1.399e-01  5.684e-03  6.087e-04 -1.418e-02 -9.947e-01]
+t: 223	 action: [-1.793e-01 -2.033e-01 -1.753e-01  1.820e-02 -1.043e-03 -1.280e-02 -1.043e+00]
+t: 224	 action: [-0.204 -0.214 -0.153  0.007  0.011 -0.009 -0.992]
+t: 225	 action: [-0.212 -0.214 -0.215  0.018  0.007 -0.012 -1.037]
+t: 226	 action: [-0.237 -0.343 -0.169  0.027  0.002  0.005 -0.996]
+t: 227	 action: [-0.227 -0.336 -0.167  0.031  0.005  0.002 -1.027]
+t: 228	 action: [-0.293 -0.371 -0.275  0.031  0.002  0.008 -0.997]
+t: 229	 action: [-0.275 -0.333 -0.341  0.028  0.005  0.009 -1.023]
+t: 230	 action: [-0.34  -0.328 -0.456  0.021  0.005  0.003 -1.003]
+t: 231	 action: [-0.378 -0.227 -0.546  0.031  0.005  0.008 -1.041]
+t: 232	 action: [-0.364 -0.301 -0.674  0.015  0.01   0.01  -0.996]
+t: 233	 action: [-0.386 -0.157 -0.753  0.025  0.01   0.018 -1.046]
+[07-31 00:28:51|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.970 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=234: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.7512
+INFO:cosmos_policy.experiments.robot.robot_utils:t=234: Selected seed 195 with value = 0.7512
+Query 1/1: Action query time = 0.970 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7512
+t=234: Selected seed 195 with value = 0.7512
+t: 234	 action: [ 0.015 -0.203 -0.03  -0.003 -0.008 -0.006 -1.003]
+t: 235	 action: [ 0.046 -0.247 -0.042  0.003 -0.009 -0.019 -1.018]
+t: 236	 action: [-0.024 -0.258 -0.104  0.006 -0.012 -0.02  -1.003]
+t: 237	 action: [ 0.018 -0.277 -0.089  0.011 -0.008 -0.024 -1.022]
+t: 238	 action: [-0.041 -0.246 -0.106  0.007  0.01  -0.014 -1.012]
+t: 239	 action: [-5.709e-02 -2.289e-01 -1.750e-01  2.097e-02 -1.667e-04 -1.780e-02 -1.056e+00]
+t: 240	 action: [-0.071 -0.241 -0.243  0.01   0.013 -0.02  -1.007]
+t: 241	 action: [-0.087 -0.196 -0.333  0.021  0.004 -0.022 -1.049]
+t: 242	 action: [-0.114 -0.306 -0.205  0.021 -0.004 -0.002 -1.017]
+t: 243	 action: [-0.08  -0.286 -0.247  0.023 -0.007 -0.006 -1.037]
+t: 244	 action: [-0.109 -0.285 -0.345  0.022 -0.008  0.003 -1.018]
+t: 245	 action: [-8.556e-02 -2.459e-01 -4.090e-01  1.851e-02 -7.806e-03 -2.844e-04 -1.031e+00]
+t: 246	 action: [-0.119 -0.221 -0.614  0.029 -0.001 -0.001 -1.019]
+t: 247	 action: [-1.348e-01 -1.644e-01 -6.355e-01  3.228e-02 -3.963e-04 -8.727e-05 -1.046e+00]
+t: 248	 action: [-1.057e-01 -1.545e-01 -7.784e-01  1.856e-02  1.939e-03 -7.480e-04 -1.014e+00]
+t: 249	 action: [-0.118 -0.097 -0.739  0.021  0.005  0.008 -1.05 ]
+[07-31 00:28:52|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.969 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=250: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.7066
+INFO:cosmos_policy.experiments.robot.robot_utils:t=250: Selected seed 195 with value = 0.7066
+Query 1/1: Action query time = 0.969 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7066
+t=250: Selected seed 195 with value = 0.7066
+t: 250	 action: [-0.135 -0.211 -0.086 -0.003 -0.019 -0.002 -0.995]
+t: 251	 action: [-0.13  -0.167 -0.069  0.005 -0.019 -0.003 -0.994]
+t: 252	 action: [-0.184 -0.171 -0.092 -0.002 -0.016  0.002 -0.987]
+t: 253	 action: [-0.163 -0.16  -0.07   0.009 -0.011 -0.004 -1.005]
+t: 254	 action: [-0.191 -0.137 -0.102  0.002 -0.015 -0.002 -1.001]
+t: 255	 action: [-0.221 -0.109 -0.118  0.017 -0.015  0.007 -1.039]
+t: 256	 action: [-0.217 -0.149 -0.115  0.004 -0.007  0.005 -0.991]
+t: 257	 action: [-0.23  -0.123 -0.132  0.02  -0.002  0.01  -1.037]
+t: 258	 action: [-0.156 -0.3   -0.125  0.015 -0.012  0.011 -0.994]
+t: 259	 action: [-0.13  -0.284 -0.057  0.026 -0.005  0.008 -1.013]
+t: 260	 action: [-0.222 -0.369 -0.223  0.019 -0.015  0.014 -0.992]
+t: 261	 action: [-0.189 -0.329 -0.153  0.023 -0.009  0.019 -1.011]
+t: 262	 action: [-0.287 -0.351 -0.266  0.009 -0.02   0.016 -1.006]
+t: 263	 action: [-0.34  -0.269 -0.285  0.029 -0.013  0.023 -1.042]
+t: 264	 action: [-0.342 -0.404 -0.418  0.006 -0.018  0.032 -0.998]
+t: 265	 action: [-0.384 -0.28  -0.444  0.027 -0.009  0.035 -1.043]
+[07-31 00:28:53|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.959 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=266: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.7470
+INFO:cosmos_policy.experiments.robot.robot_utils:t=266: Selected seed 195 with value = 0.7470
+Query 1/1: Action query time = 0.959 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7470
+t=266: Selected seed 195 with value = 0.7470
+t: 266	 action: [-0.034 -0.192 -0.028 -0.004 -0.007 -0.005 -0.99 ]
+t: 267	 action: [ 0.016 -0.239 -0.027  0.004 -0.008 -0.014 -1.01 ]
+t: 268	 action: [-0.06  -0.238 -0.07   0.004 -0.008 -0.018 -0.989]
+t: 269	 action: [-0.019 -0.261 -0.045  0.01  -0.002 -0.019 -1.015]
+t: 270	 action: [-0.066 -0.222 -0.063  0.006  0.016 -0.01  -1.002]
+t: 271	 action: [-0.084 -0.238 -0.13   0.021  0.003 -0.011 -1.048]
+t: 272	 action: [-0.083 -0.237 -0.167  0.006  0.021 -0.014 -0.995]
+t: 273	 action: [-0.098 -0.211 -0.281  0.021  0.008 -0.014 -1.041]
+t: 274	 action: [-1.023e-01 -3.255e-01 -1.550e-01  2.194e-02  1.119e-03 -9.980e-04 -1.008e+00]
+t: 275	 action: [-0.069 -0.314 -0.18   0.023  0.004 -0.003 -1.032]
+t: 276	 action: [-0.094 -0.316 -0.274  0.023 -0.003  0.002 -1.008]
+t: 277	 action: [-0.07  -0.28  -0.331  0.019  0.003  0.002 -1.024]
+t: 278	 action: [-0.113 -0.246 -0.493  0.029  0.004 -0.002 -1.012]
+t: 279	 action: [-0.124 -0.19  -0.591  0.03   0.003  0.002 -1.041]
+t: 280	 action: [-0.099 -0.169 -0.708  0.02   0.006 -0.002 -1.006]
+t: 281	 action: [-0.112 -0.109 -0.718  0.021  0.005  0.008 -1.045]
+[07-31 00:28:54|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.962 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=282: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.7094
+INFO:cosmos_policy.experiments.robot.robot_utils:t=282: Selected seed 195 with value = 0.7094
+Query 1/1: Action query time = 0.962 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7094
+t=282: Selected seed 195 with value = 0.7094
+t: 282	 action: [-1.679e-01 -1.891e-01 -1.114e-01 -2.534e-03 -2.253e-02  8.978e-04 -9.951e-01]
+t: 283	 action: [-1.745e-01 -1.406e-01 -8.201e-02  7.631e-03 -2.225e-02  1.519e-04 -9.934e-01]
+t: 284	 action: [-2.050e-01 -1.561e-01 -1.162e-01 -1.347e-04 -1.607e-02  4.353e-03 -9.883e-01]
+t: 285	 action: [-0.182 -0.146 -0.075  0.012 -0.01   0.001 -1.002]
+t: 286	 action: [-2.063e-01 -1.128e-01 -1.296e-01  2.705e-03 -1.472e-02  8.422e-04 -1.003e+00]
+t: 287	 action: [-0.239 -0.104 -0.128  0.019 -0.014  0.011 -1.036]
+t: 288	 action: [-0.226 -0.149 -0.145  0.005 -0.005  0.012 -0.995]
+t: 289	 action: [-2.353e-01 -1.327e-01 -1.403e-01  2.138e-02  7.229e-04  1.538e-02 -1.033e+00]
+t: 290	 action: [-0.161 -0.282 -0.105  0.011 -0.014  0.011 -0.994]
+t: 291	 action: [-0.125 -0.26  -0.024  0.019 -0.003  0.006 -1.007]
+t: 292	 action: [-0.208 -0.347 -0.183  0.014 -0.014  0.013 -0.99 ]
+t: 293	 action: [-0.16  -0.307 -0.092  0.018 -0.005  0.014 -1.008]
+t: 294	 action: [-0.256 -0.336 -0.232  0.006 -0.016  0.013 -1.006]
+t: 295	 action: [-0.297 -0.27  -0.25   0.023 -0.01   0.019 -1.039]
+t: 296	 action: [-0.297 -0.375 -0.37   0.003 -0.011  0.025 -0.998]
+t: 297	 action: [-0.324 -0.28  -0.398  0.021 -0.004  0.028 -1.041]
+[07-31 00:28:56|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.957 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=298: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.7512
+INFO:cosmos_policy.experiments.robot.robot_utils:t=298: Selected seed 195 with value = 0.7512
+WARNING:imageio_ffmpeg:IMAGEIO FFMPEG_WRITER WARNING: input image is not divisible by macro_block_size=16, resizing from (896, 284) to (896, 288) to ensure video compatibility with most codecs and players. To prevent resizing, make your input image divisible by the macro_block_size or set the macro_block_size to 1 (risking incompatibility).
+INFO:cosmos_policy.experiments.robot.robot_utils:Success: False
+INFO:cosmos_policy.experiments.robot.robot_utils:# episodes completed so far: 2
+INFO:cosmos_policy.experiments.robot.robot_utils:# successes: 0 (0.0%)
+
+
  4%|▍         | 2/50 [01:02<24:46, 30.96s/it]INFO:cosmos_policy.experiments.robot.robot_utils:
+Task: open the middle drawer of the cabinet
+INFO:cosmos_policy.experiments.robot.robot_utils:Starting episode 3...
+Query 1/1: Action query time = 0.957 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7512
+t=298: Selected seed 195 with value = 0.7512
+t: 298	 action: [-1.589e-01 -2.980e-01 -1.408e-01  1.689e-02 -3.370e-03  1.858e-05 -1.001e+00]
+t: 299	 action: [-1.435e-01 -3.149e-01 -1.218e-01  2.427e-02 -8.641e-04 -1.411e-03 -1.018e+00]
+t: 300	 action: [-1.553e-01 -3.290e-01 -1.687e-01  2.334e-02  2.166e-03  1.310e-04 -9.994e-01]
+t: 301	 action: [-1.230e-01 -2.876e-01 -1.702e-01  2.572e-02  2.856e-03 -4.489e-06 -1.013e+00]
+t: 302	 action: [-0.146 -0.272 -0.224  0.017  0.008 -0.002 -1.011]
+t: 303	 action: [-0.162 -0.228 -0.34   0.026 -0.005  0.001 -1.055]
+t: 304	 action: [-0.134 -0.251 -0.323  0.015  0.018 -0.003 -1.005]
+t: 305	 action: [-1.439e-01 -1.588e-01 -5.151e-01  2.250e-02  1.951e-03  6.503e-04 -1.038e+00]
+t: 306	 action: [-0.169 -0.191 -0.184  0.022 -0.001  0.001 -0.983]
+t: 307	 action: [-0.164 -0.257 -0.177  0.03   0.009  0.002 -1.016]
+t: 308	 action: [-0.14  -0.228 -0.207  0.019  0.007  0.001 -0.989]
+t: 309	 action: [-9.513e-02 -2.376e-01 -2.203e-01  2.877e-02  1.681e-02  8.029e-04 -1.012e+00]
+Saved rollout MP4 at path ./rollouts/None/2026_07_31-00_27_45--episode=2--success=False--task=open_the_middle_drawer_of_the_cabinet.mp4
+300 300 19 19
+Saved rollout MP4 at path ./rollouts/None/2026_07_31-00_27_45--with_future_img--episode=2--success=False--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: False
+# episodes completed so far: 2
+# successes: 0 (0.0%)
+
+Task: open the middle drawer of the cabinet
+Starting episode 3...
+[07-31 00:29:04|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.964 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=10: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.3729
+INFO:cosmos_policy.experiments.robot.robot_utils:t=10: Selected seed 195 with value = 0.3729
+Query 1/1: Action query time = 0.964 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3729
+t=10: Selected seed 195 with value = 0.3729
+t: 10	 action: [ 0.05  -0.076 -0.02   0.007  0.107  0.012 -0.997]
+t: 11	 action: [ 0.167 -0.06   0.037  0.011  0.132  0.026 -0.989]
+t: 12	 action: [ 0.19  -0.077  0.008  0.002  0.147  0.027 -1.001]
+t: 13	 action: [ 0.36  -0.019  0.055  0.007  0.159  0.045 -1.007]
+t: 14	 action: [ 0.481 -0.05   0.053  0.006  0.16   0.043 -1.012]
+t: 15	 action: [ 5.760e-01 -1.471e-02  5.982e-02  8.735e-04  1.491e-01  3.861e-02 -1.036e+00]
+t: 16	 action: [ 5.982e-01  4.008e-03  6.155e-02 -6.788e-04  1.596e-01  6.986e-02 -1.010e+00]
+t: 17	 action: [ 0.638  0.039  0.054 -0.01   0.146  0.06  -1.041]
+t: 18	 action: [ 0.61   0.051  0.059 -0.02   0.142  0.112 -1.017]
+t: 19	 action: [ 0.645  0.084  0.065 -0.019  0.138  0.112 -1.018]
+t: 20	 action: [ 0.61   0.059  0.035 -0.036  0.132  0.129 -1.016]
+t: 21	 action: [ 0.64   0.1    0.058 -0.032  0.128  0.13  -1.014]
+t: 22	 action: [ 0.576  0.052  0.055 -0.043  0.117  0.144 -1.011]
+t: 23	 action: [ 0.585  0.083  0.045 -0.047  0.098  0.14  -1.039]
+t: 24	 action: [ 0.547  0.07   0.03  -0.062  0.104  0.162 -1.012]
+t: 25	 action: [ 0.566  0.1    0.037 -0.07   0.095  0.157 -1.034]
+[07-31 00:29:05|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.966 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=26: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.4259
+INFO:cosmos_policy.experiments.robot.robot_utils:t=26: Selected seed 195 with value = 0.4259
+Query 1/1: Action query time = 0.966 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4259
+t=26: Selected seed 195 with value = 0.4259
+t: 26	 action: [ 0.469  0.057  0.026 -0.08   0.099  0.185 -1.005]
+t: 27	 action: [ 0.461  0.097  0.012 -0.077  0.098  0.187 -1.002]
+t: 28	 action: [ 0.406  0.08  -0.005 -0.091  0.091  0.202 -1.001]
+t: 29	 action: [ 0.411  0.116  0.016 -0.087  0.091  0.202 -1.004]
+t: 30	 action: [ 0.388  0.062  0.007 -0.105  0.084  0.226 -0.991]
+t: 31	 action: [ 0.345  0.105 -0.012 -0.092  0.073  0.216 -1.026]
+t: 32	 action: [ 0.326  0.088 -0.033 -0.112  0.08   0.244 -0.992]
+t: 33	 action: [ 0.301  0.113 -0.03  -0.101  0.075  0.231 -1.03 ]
+t: 34	 action: [ 0.26   0.058 -0.055 -0.11   0.071  0.252 -0.993]
+t: 35	 action: [ 0.278  0.088 -0.041 -0.108  0.071  0.24  -0.996]
+t: 36	 action: [ 0.233  0.057 -0.065 -0.116  0.074  0.262 -0.993]
+t: 37	 action: [ 0.254  0.083 -0.039 -0.115  0.075  0.248 -0.995]
+t: 38	 action: [ 0.211  0.046 -0.086 -0.128  0.07   0.285 -0.985]
+t: 39	 action: [ 0.194  0.093 -0.085 -0.112  0.075  0.263 -1.025]
+t: 40	 action: [ 0.191  0.051 -0.096 -0.127  0.083  0.286 -0.989]
+t: 41	 action: [ 0.19   0.088 -0.075 -0.112  0.1    0.263 -1.022]
+[07-31 00:29:06|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.978 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=42: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.4786
+INFO:cosmos_policy.experiments.robot.robot_utils:t=42: Selected seed 195 with value = 0.4786
+Query 1/1: Action query time = 0.978 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4786
+t=42: Selected seed 195 with value = 0.4786
+t: 42	 action: [ 0.084  0.016 -0.086 -0.092  0.113  0.281 -0.981]
+t: 43	 action: [ 0.091  0.034 -0.046 -0.095  0.108  0.276 -0.985]
+t: 44	 action: [ 0.075  0.014 -0.102 -0.094  0.102  0.292 -0.972]
+t: 45	 action: [ 0.087  0.034 -0.059 -0.096  0.093  0.279 -0.988]
+t: 46	 action: [ 0.089  0.004 -0.08  -0.106  0.076  0.305 -0.978]
+t: 47	 action: [ 0.081  0.028 -0.062 -0.1    0.069  0.288 -1.009]
+t: 48	 action: [ 0.093  0.002 -0.099 -0.105  0.071  0.306 -0.974]
+t: 49	 action: [ 0.092  0.022 -0.088 -0.099  0.069  0.281 -1.015]
+t: 50	 action: [ 0.133 -0.044 -0.099 -0.084  0.082  0.27  -0.984]
+t: 51	 action: [ 0.154 -0.059 -0.108 -0.08   0.067  0.258 -0.995]
+t: 52	 action: [ 0.167 -0.071 -0.098 -0.08   0.086  0.255 -0.981]
+t: 53	 action: [ 0.19  -0.084 -0.097 -0.073  0.084  0.239 -0.99 ]
+t: 54	 action: [ 0.185 -0.102 -0.079 -0.076  0.095  0.249 -0.979]
+t: 55	 action: [ 0.225 -0.082 -0.088 -0.07   0.101  0.232 -1.027]
+t: 56	 action: [ 0.212 -0.126 -0.075 -0.062  0.117  0.229 -0.981]
+t: 57	 action: [ 0.249 -0.11  -0.068 -0.06   0.137  0.213 -1.019]
+[07-31 00:29:07|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.959 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=58: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.5514
+INFO:cosmos_policy.experiments.robot.robot_utils:t=58: Selected seed 195 with value = 0.5514
+Query 1/1: Action query time = 0.959 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5514
+t=58: Selected seed 195 with value = 0.5514
+t: 58	 action: [ 0.227  0.006 -0.07  -0.057  0.132  0.249 -1.001]
+t: 59	 action: [ 0.232  0.035 -0.039 -0.061  0.135  0.212 -1.013]
+t: 60	 action: [ 0.259  0.011 -0.067 -0.056  0.151  0.235 -0.999]
+t: 61	 action: [ 0.278  0.006 -0.031 -0.054  0.158  0.198 -1.012]
+t: 62	 action: [ 0.324 -0.034 -0.038 -0.052  0.172  0.207 -1.01 ]
+t: 63	 action: [ 0.33  -0.026 -0.029 -0.051  0.183  0.181 -1.03 ]
+t: 64	 action: [ 0.399 -0.095 -0.044 -0.04   0.191  0.184 -1.009]
+t: 65	 action: [ 0.408 -0.086 -0.037 -0.044  0.202  0.166 -1.032]
+t: 66	 action: [ 0.445 -0.144 -0.046 -0.04   0.212  0.152 -1.023]
+t: 67	 action: [ 0.485 -0.119 -0.031 -0.019  0.225  0.117 -1.023]
+t: 68	 action: [ 0.503 -0.21  -0.041 -0.023  0.211  0.132 -1.016]
+t: 69	 action: [ 0.554 -0.186 -0.038 -0.009  0.219  0.092 -1.008]
+t: 70	 action: [ 0.543 -0.3   -0.041  0.001  0.212  0.104 -1.017]
+t: 71	 action: [ 0.544 -0.296 -0.057  0.001  0.2    0.088 -1.029]
+t: 72	 action: [ 0.541 -0.347 -0.095  0.006  0.186  0.079 -1.014]
+t: 73	 action: [ 0.492 -0.345 -0.116  0.008  0.154  0.065 -1.02 ]
+[07-31 00:29:09|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.954 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=74: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.6108
+INFO:cosmos_policy.experiments.robot.robot_utils:t=74: Selected seed 195 with value = 0.6108
+Query 1/1: Action query time = 0.954 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6108
+t=74: Selected seed 195 with value = 0.6108
+t: 74	 action: [ 0.197 -0.426 -0.271  0.005  0.093  0.076 -1.03 ]
+t: 75	 action: [ 0.175 -0.381 -0.181  0.01   0.077  0.08  -1.04 ]
+t: 76	 action: [ 0.144 -0.399 -0.305  0.001  0.062  0.088 -1.019]
+t: 77	 action: [ 0.139 -0.333 -0.216  0.005  0.038  0.084 -1.033]
+t: 78	 action: [ 0.156 -0.383 -0.23   0.003  0.047  0.091 -1.013]
+t: 79	 action: [ 0.134 -0.349 -0.181  0.007  0.025  0.086 -1.055]
+t: 80	 action: [ 0.108 -0.379 -0.236  0.003  0.021  0.099 -1.01 ]
+t: 81	 action: [ 0.075 -0.325 -0.185  0.002  0.008  0.083 -1.047]
+t: 82	 action: [ 0.069 -0.344 -0.142 -0.01  -0.002  0.077 -1.019]
+t: 83	 action: [ 0.053 -0.349 -0.063 -0.007 -0.006  0.074 -1.028]
+t: 84	 action: [-0.015 -0.363 -0.114 -0.004 -0.025  0.082 -1.015]
+t: 85	 action: [ 0.003 -0.346 -0.038 -0.007 -0.023  0.074 -1.022]
+t: 86	 action: [-0.07  -0.421 -0.144  0.002 -0.039  0.088 -1.017]
+t: 87	 action: [-1.240e-01 -4.044e-01 -9.753e-02  9.840e-04 -4.232e-02  7.704e-02 -1.040e+00]
+t: 88	 action: [-0.158 -0.408 -0.148  0.002 -0.059  0.09  -1.016]
+t: 89	 action: [-0.22  -0.375 -0.109  0.002 -0.057  0.079 -1.04 ]
+[07-31 00:29:10|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.957 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=90: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.6844
+INFO:cosmos_policy.experiments.robot.robot_utils:t=90: Selected seed 195 with value = 0.6844
+Query 1/1: Action query time = 0.957 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6844
+t=90: Selected seed 195 with value = 0.6844
+t: 90	 action: [ 0.138 -0.232 -0.061 -0.03   0.034  0.041 -0.998]
+t: 91	 action: [ 0.139 -0.225 -0.037 -0.014  0.025  0.045 -1.02 ]
+t: 92	 action: [ 0.083 -0.248  0.01  -0.016  0.008  0.057 -0.99 ]
+t: 93	 action: [ 0.071 -0.237  0.024 -0.007  0.008  0.053 -1.014]
+t: 94	 action: [-1.429e-02 -2.486e-01  5.217e-04 -1.054e-02 -3.760e-04  5.876e-02 -1.001e+00]
+t: 95	 action: [-0.073 -0.223 -0.023 -0.003 -0.033  0.057 -1.046]
+t: 96	 action: [-0.172 -0.284 -0.076 -0.003 -0.043  0.08  -1.003]
+t: 97	 action: [-0.263 -0.24  -0.127  0.004 -0.075  0.066 -1.034]
+t: 98	 action: [-0.318 -0.331 -0.12  -0.022 -0.088  0.094 -0.971]
+t: 99	 action: [-0.377 -0.26  -0.143 -0.005 -0.109  0.095 -1.002]
+t: 100	 action: [-0.476 -0.302 -0.173 -0.024 -0.132  0.107 -0.948]
+t: 101	 action: [-0.493 -0.229 -0.198 -0.005 -0.142  0.117 -0.987]
+t: 102	 action: [-0.607 -0.244 -0.201 -0.004 -0.164  0.121 -0.961]
+t: 103	 action: [-0.584 -0.215 -0.173  0.003 -0.145  0.108 -1.022]
+t: 104	 action: [-0.625 -0.205 -0.183 -0.005 -0.195  0.136 -0.928]
+t: 105	 action: [-5.843e-01 -1.685e-01 -1.154e-01 -7.882e-04 -1.606e-01  1.291e-01 -1.010e+00]
+[07-31 00:29:11|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.972 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=106: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.7836
+INFO:cosmos_policy.experiments.robot.robot_utils:t=106: Selected seed 195 with value = 0.7836
+Query 1/1: Action query time = 0.972 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7836
+t=106: Selected seed 195 with value = 0.7836
+t: 106	 action: [-0.251 -0.425 -0.346  0.003 -0.038  0.024 -0.987]
+t: 107	 action: [-0.254 -0.453 -0.408  0.011 -0.033  0.028 -1.008]
+t: 108	 action: [-0.294 -0.43  -0.387  0.004 -0.039  0.023 -0.982]
+t: 109	 action: [-0.286 -0.456 -0.42   0.015 -0.03   0.028 -1.005]
+t: 110	 action: [-0.291 -0.475 -0.4    0.019 -0.04   0.021 -0.973]
+t: 111	 action: [-0.325 -0.444 -0.401  0.029 -0.032  0.034 -1.033]
+t: 112	 action: [-0.336 -0.479 -0.454  0.031 -0.032  0.035 -0.968]
+t: 113	 action: [-0.346 -0.422 -0.469  0.035 -0.024  0.034 -1.032]
+t: 114	 action: [-0.33  -0.461 -0.412  0.025 -0.025  0.052 -0.988]
+t: 115	 action: [-0.343 -0.463 -0.565  0.035 -0.029  0.056 -1.025]
+t: 116	 action: [-0.341 -0.459 -0.596  0.044 -0.028  0.064 -0.992]
+t: 117	 action: [-0.337 -0.402 -0.77   0.052 -0.026  0.062 -1.019]
+t: 118	 action: [-0.414 -0.296 -0.95   0.08  -0.028  0.072 -0.986]
+t: 119	 action: [-0.377 -0.169 -0.961  0.088 -0.023  0.073 -1.04 ]
+t: 120	 action: [-0.329 -0.092 -1.028  0.084 -0.025  0.077 -0.983]
+t: 121	 action: [-0.286  0.046 -1.005  0.073 -0.018  0.073 -1.045]
+[07-31 00:29:13|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.973 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=122: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.7627
+INFO:cosmos_policy.experiments.robot.robot_utils:t=122: Selected seed 195 with value = 0.7627
+Query 1/1: Action query time = 0.973 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7627
+t=122: Selected seed 195 with value = 0.7627
+t: 122	 action: [-0.047 -0.267 -0.016 -0.029 -0.016  0.005 -1.022]
+t: 123	 action: [-0.025 -0.298  0.019 -0.01  -0.02  -0.02  -1.02 ]
+t: 124	 action: [-0.079 -0.276  0.041 -0.005 -0.027  0.001 -1.017]
+t: 125	 action: [-0.063 -0.311  0.055  0.005 -0.03  -0.02  -1.021]
+t: 126	 action: [-0.085 -0.308  0.027  0.011 -0.013 -0.008 -1.014]
+t: 127	 action: [-0.091 -0.297  0.024  0.023 -0.026 -0.025 -1.048]
+t: 128	 action: [-0.1   -0.325  0.04   0.019 -0.022 -0.01  -1.013]
+t: 129	 action: [-0.11  -0.323  0.024  0.031 -0.037 -0.026 -1.044]
+t: 130	 action: [-0.157 -0.392 -0.034  0.027 -0.035 -0.014 -1.03 ]
+t: 131	 action: [-0.127 -0.383  0.005  0.022 -0.038 -0.031 -1.027]
+t: 132	 action: [-0.141 -0.426 -0.118  0.033 -0.04  -0.022 -1.028]
+t: 133	 action: [-0.099 -0.387 -0.107  0.029 -0.044 -0.031 -1.013]
+t: 134	 action: [-0.161 -0.428 -0.223  0.054 -0.031 -0.035 -1.022]
+t: 135	 action: [-0.121 -0.402 -0.271  0.045 -0.023 -0.038 -1.049]
+t: 136	 action: [-0.126 -0.353 -0.608  0.061 -0.022 -0.035 -1.02 ]
+t: 137	 action: [-0.081 -0.263 -0.654  0.05  -0.009 -0.037 -1.044]
+[07-31 00:29:14|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.959 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=138: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.7454
+INFO:cosmos_policy.experiments.robot.robot_utils:t=138: Selected seed 195 with value = 0.7454
+Query 1/1: Action query time = 0.959 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7454
+t=138: Selected seed 195 with value = 0.7454
+t: 138	 action: [-0.054 -0.276 -0.111 -0.034 -0.018  0.004 -1.015]
+t: 139	 action: [-0.013 -0.257 -0.016 -0.023 -0.027 -0.025 -1.021]
+t: 140	 action: [-5.897e-02 -2.137e-01 -1.393e-02 -1.416e-02 -3.434e-02 -9.981e-04 -1.020e+00]
+t: 141	 action: [-0.01  -0.194  0.082 -0.018 -0.047 -0.026 -1.027]
+t: 142	 action: [-0.042 -0.136  0.062 -0.007 -0.027 -0.007 -1.025]
+t: 143	 action: [-0.02  -0.113  0.09  -0.001 -0.058 -0.028 -1.06 ]
+t: 144	 action: [-0.005 -0.093  0.216 -0.002 -0.043 -0.007 -1.027]
+t: 145	 action: [-1.687e-03 -1.173e-01  2.104e-01 -6.913e-04 -6.912e-02 -3.128e-02 -1.053e+00]
+t: 146	 action: [-0.014 -0.204  0.296  0.001 -0.062 -0.004 -1.03 ]
+t: 147	 action: [ 0.023 -0.23   0.277 -0.007 -0.074 -0.028 -1.031]
+t: 148	 action: [-0.008 -0.267  0.155  0.005 -0.072 -0.01  -1.029]
+t: 149	 action: [ 0.027 -0.288  0.098  0.002 -0.088 -0.032 -1.02 ]
+t: 150	 action: [-0.013 -0.286  0.022  0.029 -0.081 -0.028 -1.034]
+t: 151	 action: [ 1.028e-03 -3.164e-01 -5.589e-02  2.093e-02 -7.273e-02 -3.836e-02 -1.051e+00]
+t: 152	 action: [-0.004 -0.309 -0.3    0.035 -0.071 -0.034 -1.03 ]
+t: 153	 action: [ 0.002 -0.357 -0.294  0.03  -0.058 -0.044 -1.051]
+[07-31 00:29:15|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.982 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=154: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.7461
+INFO:cosmos_policy.experiments.robot.robot_utils:t=154: Selected seed 195 with value = 0.7461
+Query 1/1: Action query time = 0.982 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7461
+t=154: Selected seed 195 with value = 0.7461
+t: 154	 action: [-8.729e-02 -2.895e-01 -5.772e-02 -2.539e-02 -2.095e-02 -7.516e-04 -1.023e+00]
+t: 155	 action: [-0.031 -0.283  0.025 -0.014 -0.014 -0.03  -1.021]
+t: 156	 action: [-0.1   -0.255  0.065 -0.01  -0.033 -0.004 -1.022]
+t: 157	 action: [-0.038 -0.219  0.134 -0.008 -0.026 -0.028 -1.025]
+t: 158	 action: [-9.595e-02 -1.711e-01  9.087e-02 -6.402e-04 -1.853e-02 -1.071e-02 -1.020e+00]
+t: 159	 action: [-0.044 -0.134  0.115  0.01  -0.025 -0.032 -1.058]
+t: 160	 action: [-0.066 -0.139  0.177  0.003 -0.028 -0.009 -1.02 ]
+t: 161	 action: [-0.028 -0.137  0.19   0.011 -0.035 -0.031 -1.053]
+t: 162	 action: [-0.105 -0.264  0.158  0.009 -0.037 -0.003 -1.029]
+t: 163	 action: [-0.036 -0.259  0.127  0.013 -0.057 -0.028 -1.025]
+t: 164	 action: [-0.067 -0.323 -0.03   0.019 -0.046 -0.008 -1.031]
+t: 165	 action: [-0.025 -0.298 -0.057  0.024 -0.069 -0.031 -1.021]
+t: 166	 action: [-0.075 -0.348 -0.154  0.041 -0.051 -0.026 -1.025]
+t: 167	 action: [-0.023 -0.344 -0.202  0.044 -0.065 -0.037 -1.05 ]
+t: 168	 action: [-0.017 -0.299 -0.586  0.059 -0.044 -0.031 -1.024]
+t: 169	 action: [-0.003 -0.276 -0.613  0.061 -0.051 -0.042 -1.052]
+[07-31 00:29:16|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.968 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=170: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.7753
+INFO:cosmos_policy.experiments.robot.robot_utils:t=170: Selected seed 195 with value = 0.7753
+Query 1/1: Action query time = 0.968 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7753
+t=170: Selected seed 195 with value = 0.7753
+t: 170	 action: [ 0.017 -0.22   0.014 -0.004 -0.106 -0.054 -1.028]
+t: 171	 action: [ 0.057 -0.234  0.089 -0.004 -0.086 -0.032 -1.032]
+t: 172	 action: [ 0.04  -0.226  0.213  0.003 -0.108 -0.018 -1.027]
+t: 173	 action: [ 0.059 -0.242  0.268  0.001 -0.101 -0.025 -1.034]
+t: 174	 action: [ 0.01  -0.171  0.25   0.011 -0.115 -0.019 -1.026]
+t: 175	 action: [ 0.027 -0.22   0.224  0.022 -0.114 -0.026 -1.062]
+t: 176	 action: [ 0.04  -0.175  0.198  0.021 -0.079 -0.009 -1.027]
+t: 177	 action: [ 0.026 -0.253  0.112  0.039 -0.072 -0.018 -1.058]
+t: 178	 action: [ 0.025 -0.356  0.046  0.05  -0.084 -0.02  -1.04 ]
+t: 179	 action: [ 0.045 -0.37  -0.056  0.043 -0.089 -0.032 -1.036]
+t: 180	 action: [ 0.051 -0.386 -0.313  0.058 -0.05  -0.013 -1.035]
+t: 181	 action: [ 0.046 -0.373 -0.424  0.063 -0.059 -0.026 -1.034]
+t: 182	 action: [ 0.033 -0.348 -0.668  0.107 -0.036 -0.028 -1.04 ]
+t: 183	 action: [ 0.014 -0.273 -0.788  0.11  -0.027 -0.028 -1.066]
+t: 184	 action: [ 0.051 -0.204 -0.984  0.085 -0.011 -0.016 -1.034]
+t: 185	 action: [-2.843e-04 -8.756e-02 -9.968e-01  8.209e-02 -1.114e-02 -2.042e-02 -1.068e+00]
+[07-31 00:29:18|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.982 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=186: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9571
+INFO:cosmos_policy.experiments.robot.robot_utils:t=186: Selected seed 195 with value = 0.9571
+Query 1/1: Action query time = 0.982 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9571
+t=186: Selected seed 195 with value = 0.9571
+t: 186	 action: [ 0.018  0.616 -0.849  0.013 -0.004  0.016 -0.978]
+t: 187	 action: [-2.224e-02  6.965e-01 -8.889e-01 -8.177e-04 -2.008e-03  1.563e-02 -1.016e+00]
+t: 188	 action: [-0.077  0.785 -0.825  0.007 -0.005  0.018 -0.98 ]
+t: 189	 action: [-0.101  0.826 -0.862 -0.007 -0.003  0.022 -1.01 ]
+t: 190	 action: [-1.816e-01  8.676e-01 -8.203e-01 -2.832e-03  2.600e-04  1.257e-02 -9.778e-01]
+t: 191	 action: [-0.197  0.862 -0.889 -0.002 -0.005  0.019 -1.043]
+t: 192	 action: [-0.24   0.921 -0.802 -0.009  0.003  0.026 -0.976]
+t: 193	 action: [-0.23   0.898 -0.867 -0.005 -0.004  0.025 -1.04 ]
+t: 194	 action: [-0.094  0.885 -0.79   0.005 -0.01   0.035 -0.976]
+t: 195	 action: [-1.184e-01  8.658e-01 -8.345e-01 -7.735e-03 -6.380e-04  3.294e-02 -1.019e+00]
+t: 196	 action: [-1.575e-01  9.090e-01 -7.957e-01 -7.213e-04 -5.456e-03  3.811e-02 -9.751e-01]
+t: 197	 action: [-0.166  0.883 -0.829 -0.009 -0.001  0.039 -1.01 ]
+t: 198	 action: [-0.209  0.894 -0.771 -0.011 -0.004  0.044 -0.974]
+t: 199	 action: [-0.242  0.904 -0.845 -0.008 -0.002  0.036 -1.047]
+t: 200	 action: [-0.238  0.899 -0.775 -0.011  0.003  0.051 -0.972]
+t: 201	 action: [-0.259  0.901 -0.834 -0.006 -0.002  0.043 -1.043]
+[07-31 00:29:19|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.950 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=202: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9941
+INFO:cosmos_policy.experiments.robot.robot_utils:t=202: Selected seed 195 with value = 0.9941
+WARNING:imageio_ffmpeg:IMAGEIO FFMPEG_WRITER WARNING: input image is not divisible by macro_block_size=16, resizing from (896, 284) to (896, 288) to ensure video compatibility with most codecs and players. To prevent resizing, make your input image divisible by the macro_block_size or set the macro_block_size to 1 (risking incompatibility).
+INFO:cosmos_policy.experiments.robot.robot_utils:Success: True
+INFO:cosmos_policy.experiments.robot.robot_utils:# episodes completed so far: 3
+INFO:cosmos_policy.experiments.robot.robot_utils:# successes: 1 (33.3%)
+
+
  6%|▌         | 3/50 [01:23<20:53, 26.66s/it]INFO:cosmos_policy.experiments.robot.robot_utils:
+Task: open the middle drawer of the cabinet
+INFO:cosmos_policy.experiments.robot.robot_utils:Starting episode 4...
+Query 1/1: Action query time = 0.950 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9941
+t=202: Selected seed 195 with value = 0.9941
+t: 202	 action: [-2.771e-01  9.030e-01 -7.458e-01  5.457e-03  8.008e-04  2.122e-02 -9.555e-01]
+t: 203	 action: [-2.799e-01  9.082e-01 -6.876e-01 -2.052e-03 -4.735e-04  3.636e-02 -9.279e-01]
+t: 204	 action: [-0.266  0.927 -0.75   0.006  0.011  0.022 -0.973]
+t: 205	 action: [-2.751e-01  9.182e-01 -6.903e-01 -8.158e-05  4.366e-03  2.899e-02 -9.886e-01]
+t: 206	 action: [-0.29   0.916 -0.719 -0.002  0.018  0.04  -0.954]
+t: 207	 action: [-3.477e-01  9.388e-01 -7.105e-01  5.133e-04  2.927e-03  4.462e-02 -9.912e-01]
+t: 208	 action: [-0.29   0.924 -0.722 -0.002  0.029  0.045 -0.971]
+Saved rollout MP4 at path ./rollouts/None/2026_07_31-00_27_45--episode=3--success=True--task=open_the_middle_drawer_of_the_cabinet.mp4
+199 199 13 13
+Saved rollout MP4 at path ./rollouts/None/2026_07_31-00_27_45--with_future_img--episode=3--success=True--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: True
+# episodes completed so far: 3
+# successes: 1 (33.3%)
+
+Task: open the middle drawer of the cabinet
+Starting episode 4...
+[07-31 00:29:25|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.970 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=10: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.3331
+INFO:cosmos_policy.experiments.robot.robot_utils:t=10: Selected seed 195 with value = 0.3331
+Query 1/1: Action query time = 0.970 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3331
+t=10: Selected seed 195 with value = 0.3331
+t: 10	 action: [ 0.282  0.04  -0.008 -0.011  0.034  0.007 -0.996]
+t: 11	 action: [ 0.421  0.084  0.045 -0.022  0.063  0.015 -0.996]
+t: 12	 action: [ 0.603  0.075  0.009 -0.026  0.059  0.021 -1.011]
+t: 13	 action: [ 0.706  0.11   0.072 -0.026  0.09   0.029 -1.016]
+t: 14	 action: [ 0.737  0.057  0.041 -0.036  0.067  0.034 -1.022]
+t: 15	 action: [ 0.769  0.103  0.051 -0.025  0.082  0.04  -1.051]
+t: 16	 action: [ 0.811  0.086  0.046 -0.04   0.077  0.075 -1.026]
+t: 17	 action: [ 0.819  0.117  0.057 -0.027  0.084  0.052 -1.053]
+t: 18	 action: [ 0.799  0.083  0.065 -0.037  0.042  0.116 -1.041]
+t: 19	 action: [ 0.817  0.065  0.081 -0.043  0.039  0.108 -1.033]
+t: 20	 action: [ 0.777  0.065  0.045 -0.042  0.031  0.128 -1.042]
+t: 21	 action: [ 0.802  0.066  0.035 -0.055  0.022  0.118 -1.031]
+t: 22	 action: [ 0.748  0.046  0.034 -0.049  0.031  0.155 -1.024]
+t: 23	 action: [ 0.719  0.047  0.014 -0.05   0.018  0.14  -1.055]
+t: 24	 action: [ 0.659  0.058 -0.006 -0.06   0.024  0.172 -1.03 ]
+t: 25	 action: [ 0.64   0.078  0.006 -0.067  0.009  0.151 -1.049]
+[07-31 00:29:27|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.976 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=26: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.3894
+INFO:cosmos_policy.experiments.robot.robot_utils:t=26: Selected seed 195 with value = 0.3894
+Query 1/1: Action query time = 0.976 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3894
+t=26: Selected seed 195 with value = 0.3894
+t: 26	 action: [ 0.399  0.012 -0.031 -0.072  0.038  0.204 -1.018]
+t: 27	 action: [ 0.397  0.028 -0.052 -0.069  0.038  0.211 -1.004]
+t: 28	 action: [ 0.31   0.032 -0.081 -0.086  0.047  0.229 -1.01 ]
+t: 29	 action: [ 0.317  0.053 -0.097 -0.083  0.05   0.232 -1.   ]
+t: 30	 action: [ 0.272  0.036 -0.12  -0.111  0.052  0.259 -1.009]
+t: 31	 action: [ 0.238  0.072 -0.175 -0.1    0.051  0.243 -1.032]
+t: 32	 action: [ 0.229  0.048 -0.166 -0.118  0.07   0.277 -1.003]
+t: 33	 action: [ 0.216  0.081 -0.211 -0.107  0.083  0.257 -1.03 ]
+t: 34	 action: [ 0.166  0.03  -0.158 -0.094  0.098  0.268 -1.012]
+t: 35	 action: [ 0.203  0.02  -0.189 -0.078  0.107  0.242 -1.007]
+t: 36	 action: [ 0.17   0.025 -0.201 -0.095  0.122  0.265 -1.009]
+t: 37	 action: [ 0.211  0.009 -0.211 -0.081  0.132  0.242 -1.007]
+t: 38	 action: [ 0.163  0.009 -0.198 -0.099  0.125  0.28  -1.004]
+t: 39	 action: [ 0.17   0.034 -0.236 -0.081  0.127  0.247 -1.04 ]
+t: 40	 action: [ 1.549e-01  1.061e-04 -2.445e-01 -9.079e-02  1.467e-01  2.711e-01 -1.001e+00]
+t: 41	 action: [ 0.164  0.014 -0.264 -0.08   0.143  0.24  -1.037]
+[07-31 00:29:28|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.973 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=42: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.4778
+INFO:cosmos_policy.experiments.robot.robot_utils:t=42: Selected seed 195 with value = 0.4778
+Query 1/1: Action query time = 0.973 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4778
+t=42: Selected seed 195 with value = 0.4778
+t: 42	 action: [ 0.203  0.023 -0.141 -0.092  0.155  0.265 -0.994]
+t: 43	 action: [ 0.215  0.045 -0.134 -0.09   0.162  0.255 -0.997]
+t: 44	 action: [ 0.193  0.022 -0.154 -0.084  0.162  0.27  -0.995]
+t: 45	 action: [ 0.219  0.043 -0.12  -0.084  0.166  0.254 -1.003]
+t: 46	 action: [ 0.198  0.027 -0.169 -0.094  0.172  0.27  -1.   ]
+t: 47	 action: [ 0.198  0.039 -0.15  -0.085  0.183  0.253 -1.035]
+t: 48	 action: [ 0.185  0.022 -0.192 -0.081  0.181  0.269 -1.002]
+t: 49	 action: [ 0.19   0.034 -0.164 -0.079  0.189  0.249 -1.038]
+t: 50	 action: [ 0.143 -0.032 -0.178 -0.056  0.202  0.253 -1.005]
+t: 51	 action: [ 0.158 -0.018 -0.211 -0.043  0.21   0.236 -1.011]
+t: 52	 action: [ 0.182 -0.06  -0.171 -0.052  0.212  0.246 -1.007]
+t: 53	 action: [ 0.201 -0.039 -0.211 -0.039  0.216  0.222 -1.014]
+t: 54	 action: [ 0.184 -0.068 -0.154 -0.047  0.204  0.237 -1.002]
+t: 55	 action: [ 0.206 -0.059 -0.153 -0.041  0.204  0.215 -1.044]
+t: 56	 action: [ 0.214 -0.086 -0.16  -0.04   0.212  0.219 -1.005]
+t: 57	 action: [ 0.229 -0.086 -0.187 -0.035  0.203  0.2   -1.039]
+[07-31 00:29:29|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.960 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=58: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.5694
+INFO:cosmos_policy.experiments.robot.robot_utils:t=58: Selected seed 195 with value = 0.5694
+Query 1/1: Action query time = 0.960 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5694
+t=58: Selected seed 195 with value = 0.5694
+t: 58	 action: [ 0.092 -0.09  -0.076 -0.04   0.231  0.231 -1.001]
+t: 59	 action: [ 0.1   -0.109 -0.057 -0.014  0.221  0.216 -0.996]
+t: 60	 action: [ 0.102 -0.113 -0.043 -0.023  0.209  0.232 -1.005]
+t: 61	 action: [ 0.13  -0.135 -0.024 -0.006  0.191  0.209 -1.008]
+t: 62	 action: [ 0.141 -0.199 -0.033 -0.021  0.191  0.221 -1.005]
+t: 63	 action: [ 1.834e-01 -1.887e-01 -2.023e-02  2.707e-05  1.681e-01  2.017e-01 -1.026e+00]
+t: 64	 action: [ 0.164 -0.262 -0.045 -0.008  0.156  0.215 -1.007]
+t: 65	 action: [ 0.219 -0.236 -0.038  0.003  0.132  0.19  -1.026]
+t: 66	 action: [ 0.167 -0.34  -0.08  -0.014  0.132  0.209 -1.015]
+t: 67	 action: [ 0.19  -0.321 -0.068  0.006  0.092  0.175 -1.018]
+t: 68	 action: [ 1.668e-01 -3.660e-01 -9.835e-02  6.775e-04  9.152e-02  2.016e-01 -1.011e+00]
+t: 69	 action: [ 0.187 -0.345 -0.08   0.009  0.042  0.164 -1.012]
+t: 70	 action: [ 0.16  -0.421 -0.114  0.006  0.052  0.187 -1.007]
+t: 71	 action: [ 0.172 -0.412 -0.056  0.011  0.028  0.147 -1.027]
+t: 72	 action: [ 0.132 -0.411 -0.132  0.006  0.013  0.174 -1.007]
+t: 73	 action: [ 0.101 -0.399 -0.06   0.012  0.007  0.138 -1.017]
+[07-31 00:29:30|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.966 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=74: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.6511
+INFO:cosmos_policy.experiments.robot.robot_utils:t=74: Selected seed 195 with value = 0.6511
+Query 1/1: Action query time = 0.966 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6511
+t=74: Selected seed 195 with value = 0.6511
+t: 74	 action: [ 0.067 -0.379  0.036 -0.004  0.046  0.151 -0.994]
+t: 75	 action: [ 0.053 -0.386  0.038  0.006  0.021  0.142 -1.006]
+t: 76	 action: [ 0.042 -0.393  0.007  0.006  0.02   0.165 -0.988]
+t: 77	 action: [ 0.041 -0.375  0.038  0.012  0.009  0.141 -1.014]
+t: 78	 action: [ 0.01  -0.414 -0.008  0.004  0.012  0.145 -0.992]
+t: 79	 action: [ 0.015 -0.427  0.012  0.017 -0.001  0.141 -1.027]
+t: 80	 action: [-0.016 -0.396 -0.025  0.005 -0.009  0.145 -0.988]
+t: 81	 action: [-0.017 -0.383 -0.014  0.017 -0.016  0.127 -1.019]
+t: 82	 action: [-0.063 -0.434 -0.002 -0.004 -0.04   0.121 -1.005]
+t: 83	 action: [-0.091 -0.365  0.011  0.014 -0.052  0.092 -1.014]
+t: 84	 action: [-0.128 -0.416 -0.023  0.005 -0.056  0.11  -0.999]
+t: 85	 action: [-0.151 -0.338 -0.021  0.017 -0.064  0.084 -1.005]
+t: 86	 action: [-0.16  -0.464 -0.049  0.008 -0.069  0.093 -1.001]
+t: 87	 action: [-0.2   -0.388 -0.039  0.021 -0.07   0.077 -1.024]
+t: 88	 action: [-0.205 -0.424 -0.053  0.008 -0.08   0.083 -0.997]
+t: 89	 action: [-0.232 -0.346 -0.057  0.022 -0.073  0.072 -1.022]
+[07-31 00:29:32|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.964 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=90: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.7187
+INFO:cosmos_policy.experiments.robot.robot_utils:t=90: Selected seed 195 with value = 0.7187
+Query 1/1: Action query time = 0.964 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7187
+t=90: Selected seed 195 with value = 0.7187
+t: 90	 action: [ 0.026 -0.3   -0.005  0.005 -0.004  0.065 -0.995]
+t: 91	 action: [ 0.027 -0.347 -0.031  0.013 -0.023  0.067 -0.992]
+t: 92	 action: [-0.046 -0.331 -0.093  0.009 -0.02   0.074 -0.988]
+t: 93	 action: [-0.035 -0.37  -0.086  0.019 -0.028  0.067 -1.007]
+t: 94	 action: [-0.097 -0.354 -0.135  0.012 -0.024  0.064 -0.992]
+t: 95	 action: [-0.112 -0.387 -0.132  0.023 -0.033  0.071 -1.023]
+t: 96	 action: [-0.19  -0.372 -0.182  0.023 -0.029  0.074 -0.987]
+t: 97	 action: [-0.218 -0.362 -0.218  0.026 -0.032  0.069 -1.022]
+t: 98	 action: [-0.241 -0.424 -0.105  0.005 -0.033  0.081 -0.999]
+t: 99	 action: [-0.265 -0.339 -0.161  0.015 -0.036  0.069 -1.017]
+t: 100	 action: [-0.328 -0.422 -0.13   0.004 -0.045  0.092 -0.988]
+t: 101	 action: [-0.321 -0.315 -0.186  0.012 -0.045  0.085 -1.005]
+t: 102	 action: [-0.416 -0.376 -0.168  0.006 -0.055  0.087 -0.994]
+t: 103	 action: [-0.39  -0.311 -0.229  0.018 -0.054  0.075 -1.033]
+t: 104	 action: [-0.493 -0.334 -0.172  0.006 -0.069  0.099 -0.983]
+t: 105	 action: [-0.451 -0.272 -0.228  0.016 -0.062  0.093 -1.024]
+[07-31 00:29:33|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.961 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=106: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.7446
+INFO:cosmos_policy.experiments.robot.robot_utils:t=106: Selected seed 195 with value = 0.7446
+Query 1/1: Action query time = 0.961 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7446
+t=106: Selected seed 195 with value = 0.7446
+t: 106	 action: [ 6.366e-02 -2.238e-01 -5.695e-02 -1.929e-02  1.352e-02 -4.899e-04 -1.014e+00]
+t: 107	 action: [ 0.077 -0.271 -0.016 -0.015  0.004 -0.024 -1.033]
+t: 108	 action: [ 0.011 -0.259 -0.133 -0.006 -0.005 -0.018 -1.014]
+t: 109	 action: [ 3.877e-02 -3.001e-01 -1.089e-01 -9.698e-04 -3.458e-03 -3.430e-02 -1.038e+00]
+t: 110	 action: [-0.01  -0.287 -0.159  0.004  0.005 -0.015 -1.015]
+t: 111	 action: [-0.033 -0.277 -0.168  0.012 -0.01  -0.031 -1.058]
+t: 112	 action: [-0.062 -0.287 -0.271  0.003 -0.008 -0.025 -1.011]
+t: 113	 action: [-0.089 -0.24  -0.324  0.017 -0.016 -0.038 -1.057]
+t: 114	 action: [-0.122 -0.347 -0.264  0.012 -0.027  0.01  -1.019]
+t: 115	 action: [-0.089 -0.319 -0.284  0.021 -0.027  0.004 -1.034]
+t: 116	 action: [-0.138 -0.355 -0.355  0.017 -0.037  0.014 -1.026]
+t: 117	 action: [-0.113 -0.305 -0.434  0.02  -0.035  0.012 -1.034]
+t: 118	 action: [-0.118 -0.276 -0.637  0.025 -0.024  0.006 -1.012]
+t: 119	 action: [-0.102 -0.196 -0.647  0.037 -0.02   0.009 -1.05 ]
+t: 120	 action: [-0.117 -0.199 -0.79   0.021 -0.017  0.011 -1.014]
+t: 121	 action: [-0.106 -0.12  -0.747  0.035 -0.008  0.019 -1.057]
+[07-31 00:29:34|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.966 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=122: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.6985
+INFO:cosmos_policy.experiments.robot.robot_utils:t=122: Selected seed 195 with value = 0.6985
+Query 1/1: Action query time = 0.966 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6985
+t=122: Selected seed 195 with value = 0.6985
+t: 122	 action: [-0.027 -0.236 -0.09  -0.006  0.004 -0.003 -1.002]
+t: 123	 action: [ 0.006 -0.199 -0.019 -0.005  0.005 -0.014 -1.011]
+t: 124	 action: [-0.086 -0.252 -0.077 -0.005  0.003 -0.005 -1.001]
+t: 125	 action: [-4.318e-02 -2.193e-01 -2.577e-02 -9.091e-04  3.566e-03 -1.835e-02 -1.020e+00]
+t: 126	 action: [-0.107 -0.231 -0.035  0.001  0.003 -0.01  -0.998]
+t: 127	 action: [-7.975e-02 -1.999e-01 -9.671e-03  4.894e-03  4.646e-04 -1.523e-02 -1.045e+00]
+t: 128	 action: [-0.155 -0.258 -0.041  0.002  0.005 -0.006 -0.996]
+t: 129	 action: [-1.345e-01 -2.125e-01 -1.646e-02  7.443e-03  2.023e-04 -1.417e-02 -1.042e+00]
+t: 130	 action: [-0.143 -0.365 -0.036  0.001 -0.013  0.015 -0.997]
+t: 131	 action: [-0.159 -0.315 -0.019  0.014 -0.011  0.007 -1.021]
+t: 132	 action: [-0.252 -0.384 -0.121  0.003 -0.032  0.024 -0.997]
+t: 133	 action: [-0.252 -0.345 -0.111  0.012 -0.035  0.026 -1.016]
+t: 134	 action: [-0.362 -0.382 -0.151  0.005 -0.038  0.028 -0.994]
+t: 135	 action: [-0.381 -0.309 -0.193  0.021 -0.043  0.029 -1.04 ]
+t: 136	 action: [-0.484 -0.373 -0.263  0.004 -0.053  0.055 -0.991]
+t: 137	 action: [-0.476 -0.3   -0.329  0.022 -0.058  0.05  -1.039]
+[07-31 00:29:35|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.960 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=138: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.7401
+INFO:cosmos_policy.experiments.robot.robot_utils:t=138: Selected seed 195 with value = 0.7401
+Query 1/1: Action query time = 0.960 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7401
+t=138: Selected seed 195 with value = 0.7401
+t: 138	 action: [ 0.068 -0.262 -0.056 -0.014  0.012 -0.006 -1.02 ]
+t: 139	 action: [ 0.078 -0.309 -0.011 -0.009  0.003 -0.032 -1.038]
+t: 140	 action: [ 0.002 -0.282 -0.121 -0.004 -0.011 -0.025 -1.02 ]
+t: 141	 action: [ 0.026 -0.323 -0.08   0.002 -0.01  -0.043 -1.043]
+t: 142	 action: [-0.033 -0.32  -0.134  0.006 -0.002 -0.031 -1.016]
+t: 143	 action: [-0.048 -0.31  -0.129  0.019 -0.018 -0.04  -1.061]
+t: 144	 action: [-0.077 -0.304 -0.234  0.006 -0.017 -0.038 -1.015]
+t: 145	 action: [-0.096 -0.28  -0.255  0.021 -0.025 -0.049 -1.06 ]
+t: 146	 action: [-0.151 -0.357 -0.237  0.017 -0.038  0.003 -1.024]
+t: 147	 action: [-0.124 -0.334 -0.244  0.021 -0.047 -0.007 -1.042]
+t: 148	 action: [-0.178 -0.358 -0.354  0.02  -0.047  0.005 -1.032]
+t: 149	 action: [-1.516e-01 -3.225e-01 -4.130e-01  1.917e-02 -5.632e-02 -9.569e-04 -1.038e+00]
+t: 150	 action: [-1.609e-01 -2.855e-01 -6.135e-01  2.591e-02 -3.842e-02 -5.153e-05 -1.013e+00]
+t: 151	 action: [-0.147 -0.208 -0.637  0.04  -0.035 -0.005 -1.052]
+t: 152	 action: [-1.648e-01 -2.185e-01 -8.095e-01  2.084e-02 -3.040e-02 -6.827e-05 -1.017e+00]
+t: 153	 action: [-0.144 -0.147 -0.786  0.035 -0.017  0.005 -1.058]
+[07-31 00:29:37|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.968 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=154: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.6957
+INFO:cosmos_policy.experiments.robot.robot_utils:t=154: Selected seed 195 with value = 0.6957
+Query 1/1: Action query time = 0.968 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6957
+t=154: Selected seed 195 with value = 0.6957
+t: 154	 action: [-0.032 -0.243 -0.087 -0.006  0.004 -0.003 -1.003]
+t: 155	 action: [ 0.003 -0.202 -0.017 -0.005  0.005 -0.014 -1.011]
+t: 156	 action: [-0.09  -0.25  -0.076 -0.005  0.002 -0.005 -1.001]
+t: 157	 action: [-4.780e-02 -2.160e-01 -2.572e-02 -6.155e-04  3.069e-03 -1.746e-02 -1.018e+00]
+t: 158	 action: [-1.106e-01 -2.173e-01 -3.278e-02  9.085e-04  2.963e-03 -9.429e-03 -9.985e-01]
+t: 159	 action: [-8.792e-02 -1.911e-01 -1.014e-02  4.250e-03  4.098e-04 -1.433e-02 -1.045e+00]
+t: 160	 action: [-0.157 -0.244 -0.04   0.001  0.005 -0.005 -0.995]
+t: 161	 action: [-1.391e-01 -2.048e-01 -1.853e-02  6.931e-03  6.082e-04 -1.278e-02 -1.041e+00]
+t: 162	 action: [-0.143 -0.355 -0.044  0.002 -0.013  0.014 -0.999]
+t: 163	 action: [-0.159 -0.309 -0.024  0.014 -0.01   0.007 -1.021]
+t: 164	 action: [-0.249 -0.379 -0.131  0.004 -0.03   0.022 -0.999]
+t: 165	 action: [-0.252 -0.343 -0.115  0.012 -0.033  0.025 -1.016]
+t: 166	 action: [-0.368 -0.374 -0.161  0.006 -0.036  0.027 -0.997]
+t: 167	 action: [-0.39  -0.303 -0.201  0.021 -0.04   0.028 -1.04 ]
+t: 168	 action: [-0.496 -0.369 -0.278  0.004 -0.049  0.053 -0.994]
+t: 169	 action: [-0.489 -0.295 -0.34   0.022 -0.053  0.049 -1.039]
+[07-31 00:29:38|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.976 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=170: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.7384
+INFO:cosmos_policy.experiments.robot.robot_utils:t=170: Selected seed 195 with value = 0.7384
+Query 1/1: Action query time = 0.976 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7384
+t=170: Selected seed 195 with value = 0.7384
+t: 170	 action: [ 0.103 -0.25  -0.048 -0.014  0.015 -0.004 -1.02 ]
+t: 171	 action: [ 0.111 -0.293 -0.006 -0.01   0.005 -0.027 -1.037]
+t: 172	 action: [ 0.036 -0.277 -0.119 -0.003 -0.006 -0.022 -1.021]
+t: 173	 action: [ 4.745e-02 -3.132e-01 -7.827e-02  8.305e-04 -4.788e-03 -3.902e-02 -1.043e+00]
+t: 174	 action: [-0.01  -0.306 -0.139  0.005  0.003 -0.026 -1.019]
+t: 175	 action: [-0.027 -0.294 -0.131  0.016 -0.012 -0.036 -1.063]
+t: 176	 action: [-0.054 -0.29  -0.244  0.004 -0.011 -0.035 -1.017]
+t: 177	 action: [-0.066 -0.26  -0.264  0.019 -0.018 -0.045 -1.062]
+t: 178	 action: [-0.116 -0.339 -0.225  0.015 -0.031  0.002 -1.025]
+t: 179	 action: [-0.083 -0.32  -0.234  0.018 -0.04  -0.009 -1.042]
+t: 180	 action: [-0.14  -0.339 -0.336  0.018 -0.042  0.005 -1.031]
+t: 181	 action: [-0.11  -0.31  -0.397  0.017 -0.049 -0.003 -1.039]
+t: 182	 action: [-1.355e-01 -2.828e-01 -6.001e-01  2.488e-02 -3.130e-02 -8.096e-05 -1.016e+00]
+t: 183	 action: [-0.122 -0.199 -0.617  0.038 -0.029 -0.005 -1.052]
+t: 184	 action: [-1.434e-01 -2.238e-01 -7.854e-01  2.091e-02 -2.542e-02 -9.213e-04 -1.018e+00]
+t: 185	 action: [-0.122 -0.149 -0.758  0.034 -0.014  0.004 -1.059]
+[07-31 00:29:39|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.977 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=186: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.6942
+INFO:cosmos_policy.experiments.robot.robot_utils:t=186: Selected seed 195 with value = 0.6942
+Query 1/1: Action query time = 0.977 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6942
+t=186: Selected seed 195 with value = 0.6942
+t: 186	 action: [-0.034 -0.249 -0.09  -0.005  0.004 -0.003 -1.002]
+t: 187	 action: [ 0.001 -0.202 -0.025 -0.004  0.005 -0.013 -1.009]
+t: 188	 action: [-0.092 -0.244 -0.081 -0.004  0.002 -0.005 -0.999]
+t: 189	 action: [-5.297e-02 -2.092e-01 -3.291e-02 -5.144e-04  3.491e-03 -1.609e-02 -1.017e+00]
+t: 190	 action: [-1.138e-01 -2.061e-01 -4.125e-02  8.389e-04  3.112e-03 -9.058e-03 -9.989e-01]
+t: 191	 action: [-0.099 -0.18  -0.019  0.004  0.001 -0.013 -1.044]
+t: 192	 action: [-0.159 -0.231 -0.043  0.001  0.006 -0.004 -0.995]
+t: 193	 action: [-0.144 -0.194 -0.023  0.006  0.001 -0.011 -1.04 ]
+t: 194	 action: [-0.136 -0.348 -0.044  0.002 -0.011  0.013 -1.001]
+t: 195	 action: [-0.153 -0.306 -0.023  0.014 -0.006  0.006 -1.021]
+t: 196	 action: [-0.239 -0.379 -0.131  0.005 -0.026  0.021 -0.999]
+t: 197	 action: [-0.251 -0.344 -0.113  0.012 -0.028  0.024 -1.017]
+t: 198	 action: [-0.368 -0.371 -0.162  0.005 -0.033  0.025 -0.999]
+t: 199	 action: [-0.397 -0.301 -0.21   0.021 -0.035  0.028 -1.039]
+t: 200	 action: [-0.507 -0.368 -0.285  0.004 -0.044  0.053 -0.995]
+t: 201	 action: [-0.507 -0.29  -0.358  0.021 -0.047  0.049 -1.04 ]
+[07-31 00:29:40|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.960 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=202: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.7419
+INFO:cosmos_policy.experiments.robot.robot_utils:t=202: Selected seed 195 with value = 0.7419
+Query 1/1: Action query time = 0.960 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7419
+t=202: Selected seed 195 with value = 0.7419
+t: 202	 action: [ 0.115 -0.231 -0.037 -0.015  0.015 -0.002 -1.018]
+t: 203	 action: [ 0.127 -0.274  0.001 -0.013  0.005 -0.025 -1.033]
+t: 204	 action: [ 0.051 -0.264 -0.103 -0.003 -0.002 -0.02  -1.019]
+t: 205	 action: [ 5.847e-02 -3.019e-01 -6.606e-02 -3.920e-04 -2.392e-03 -3.565e-02 -1.041e+00]
+t: 206	 action: [ 0.002 -0.289 -0.125  0.005  0.007 -0.021 -1.02 ]
+t: 207	 action: [-0.017 -0.282 -0.112  0.015 -0.008 -0.032 -1.062]
+t: 208	 action: [-0.043 -0.279 -0.244  0.004 -0.005 -0.029 -1.018]
+t: 209	 action: [-0.052 -0.25  -0.266  0.018 -0.012 -0.04  -1.062]
+t: 210	 action: [-0.098 -0.321 -0.212  0.014 -0.026  0.002 -1.024]
+t: 211	 action: [-0.056 -0.306 -0.237  0.018 -0.035 -0.01  -1.042]
+t: 212	 action: [-0.119 -0.321 -0.331  0.017 -0.037  0.004 -1.031]
+t: 213	 action: [-0.085 -0.296 -0.404  0.017 -0.043 -0.004 -1.038]
+t: 214	 action: [-1.227e-01 -2.751e-01 -6.048e-01  2.508e-02 -2.520e-02 -2.504e-04 -1.017e+00]
+t: 215	 action: [-0.109 -0.195 -0.611  0.037 -0.024 -0.005 -1.052]
+t: 216	 action: [-0.133 -0.225 -0.775  0.021 -0.021 -0.001 -1.019]
+t: 217	 action: [-0.113 -0.15  -0.74   0.033 -0.011  0.004 -1.058]
+[07-31 00:29:42|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.961 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=218: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.6953
+INFO:cosmos_policy.experiments.robot.robot_utils:t=218: Selected seed 195 with value = 0.6953
+Query 1/1: Action query time = 0.961 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6953
+t=218: Selected seed 195 with value = 0.6953
+t: 218	 action: [-0.032 -0.244 -0.088 -0.004  0.004 -0.003 -1.002]
+t: 219	 action: [ 0.001 -0.196 -0.033 -0.003  0.005 -0.012 -1.008]
+t: 220	 action: [-0.092 -0.231 -0.082 -0.004  0.002 -0.004 -0.997]
+t: 221	 action: [-5.549e-02 -1.974e-01 -3.939e-02 -5.362e-05  3.381e-03 -1.443e-02 -1.015e+00]
+t: 222	 action: [-1.193e-01 -1.874e-01 -5.141e-02  5.498e-04  2.732e-03 -7.516e-03 -1.001e+00]
+t: 223	 action: [-1.088e-01 -1.637e-01 -3.116e-02  4.459e-03  8.946e-04 -1.083e-02 -1.044e+00]
+t: 224	 action: [-0.164 -0.21  -0.047  0.001  0.006 -0.003 -0.994]
+t: 225	 action: [-0.152 -0.175 -0.029  0.006  0.001 -0.009 -1.04 ]
+t: 226	 action: [-0.135 -0.333 -0.039  0.002 -0.011  0.013 -1.001]
+t: 227	 action: [-0.153 -0.294 -0.019  0.014 -0.007  0.007 -1.021]
+t: 228	 action: [-0.239 -0.372 -0.13   0.005 -0.025  0.022 -0.998]
+t: 229	 action: [-0.254 -0.334 -0.107  0.012 -0.027  0.025 -1.016]
+t: 230	 action: [-0.376 -0.36  -0.161  0.005 -0.031  0.027 -1.001]
+t: 231	 action: [-0.413 -0.292 -0.214  0.021 -0.032  0.029 -1.039]
+t: 232	 action: [-0.519 -0.359 -0.297  0.003 -0.041  0.054 -0.995]
+t: 233	 action: [-0.527 -0.282 -0.372  0.022 -0.042  0.05  -1.039]
+[07-31 00:29:43|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.964 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=234: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.7464
+INFO:cosmos_policy.experiments.robot.robot_utils:t=234: Selected seed 195 with value = 0.7464
+Query 1/1: Action query time = 0.964 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7464
+t=234: Selected seed 195 with value = 0.7464
+t: 234	 action: [ 1.162e-01 -2.028e-01 -3.179e-02 -1.716e-02  1.749e-02  1.212e-04 -1.016e+00]
+t: 235	 action: [ 0.129 -0.252  0.005 -0.015  0.006 -0.02  -1.032]
+t: 236	 action: [ 0.059 -0.244 -0.094 -0.003  0.001 -0.017 -1.018]
+t: 237	 action: [ 6.367e-02 -2.847e-01 -5.431e-02 -1.146e-03  3.752e-04 -2.996e-02 -1.040e+00]
+t: 238	 action: [ 0.013 -0.272 -0.117  0.004  0.012 -0.014 -1.021]
+t: 239	 action: [-0.012 -0.268 -0.098  0.013 -0.004 -0.026 -1.063]
+t: 240	 action: [-3.291e-02 -2.718e-01 -2.482e-01  3.467e-03 -1.026e-04 -2.422e-02 -1.017e+00]
+t: 241	 action: [-0.047 -0.238 -0.27   0.017 -0.006 -0.033 -1.062]
+t: 242	 action: [-0.088 -0.314 -0.208  0.014 -0.02   0.003 -1.023]
+t: 243	 action: [-0.044 -0.293 -0.245  0.018 -0.027 -0.006 -1.04 ]
+t: 244	 action: [-0.105 -0.311 -0.331  0.018 -0.031  0.006 -1.03 ]
+t: 245	 action: [-7.125e-02 -2.731e-01 -4.137e-01  1.767e-02 -3.544e-02 -5.517e-04 -1.036e+00]
+t: 246	 action: [-1.110e-01 -2.658e-01 -6.192e-01  2.626e-02 -1.918e-02  7.929e-04 -1.017e+00]
+t: 247	 action: [-1.006e-01 -1.841e-01 -6.226e-01  3.708e-02 -1.823e-02 -4.692e-04 -1.052e+00]
+t: 248	 action: [-1.201e-01 -2.166e-01 -7.789e-01  2.212e-02 -1.611e-02  7.792e-05 -1.020e+00]
+t: 249	 action: [-0.105 -0.136 -0.737  0.034 -0.007  0.008 -1.057]
+[07-31 00:29:44|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.967 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=250: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.6941
+INFO:cosmos_policy.experiments.robot.robot_utils:t=250: Selected seed 195 with value = 0.6941
+Query 1/1: Action query time = 0.967 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6941
+t=250: Selected seed 195 with value = 0.6941
+t: 250	 action: [-0.04  -0.243 -0.076 -0.003  0.003 -0.003 -1.001]
+t: 251	 action: [-0.006 -0.195 -0.029 -0.002  0.003 -0.011 -1.007]
+t: 252	 action: [-1.037e-01 -2.236e-01 -7.609e-02 -3.555e-03  8.360e-04 -3.129e-03 -9.932e-01]
+t: 253	 action: [-6.544e-02 -1.876e-01 -4.052e-02  9.884e-04  2.651e-03 -1.258e-02 -1.013e+00]
+t: 254	 action: [-1.340e-01 -1.749e-01 -5.020e-02  4.766e-04  1.554e-03 -6.468e-03 -1.000e+00]
+t: 255	 action: [-1.281e-01 -1.502e-01 -3.952e-02  5.842e-03 -2.612e-04 -8.793e-03 -1.044e+00]
+t: 256	 action: [-0.177 -0.189 -0.046  0.001  0.006 -0.002 -0.992]
+t: 257	 action: [-1.646e-01 -1.565e-01 -3.939e-02  6.327e-03  8.510e-04 -6.101e-03 -1.040e+00]
+t: 258	 action: [-0.144 -0.319 -0.05   0.003 -0.012  0.013 -0.999]
+t: 259	 action: [-0.154 -0.283 -0.027  0.016 -0.007  0.008 -1.02 ]
+t: 260	 action: [-0.247 -0.367 -0.142  0.006 -0.023  0.021 -0.996]
+t: 261	 action: [-0.256 -0.327 -0.113  0.013 -0.023  0.026 -1.015]
+t: 262	 action: [-0.375 -0.351 -0.177  0.005 -0.029  0.027 -1.002]
+t: 263	 action: [-0.419 -0.283 -0.231  0.022 -0.027  0.03  -1.039]
+t: 264	 action: [-0.52  -0.363 -0.325  0.003 -0.036  0.053 -0.994]
+t: 265	 action: [-0.536 -0.277 -0.395  0.023 -0.034  0.05  -1.039]
+[07-31 00:29:45|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.979 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=266: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.7513
+INFO:cosmos_policy.experiments.robot.robot_utils:t=266: Selected seed 195 with value = 0.7513
+Query 1/1: Action query time = 0.979 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7513
+t=266: Selected seed 195 with value = 0.7513
+t: 266	 action: [ 0.121 -0.183 -0.022 -0.019  0.018  0.002 -1.013]
+t: 267	 action: [ 0.137 -0.233  0.008 -0.016  0.007 -0.016 -1.03 ]
+t: 268	 action: [ 0.068 -0.23  -0.079 -0.004  0.004 -0.013 -1.015]
+t: 269	 action: [ 0.071 -0.267 -0.043 -0.002  0.002 -0.024 -1.037]
+t: 270	 action: [ 0.023 -0.257 -0.106  0.003  0.014 -0.008 -1.021]
+t: 271	 action: [-0.006 -0.252 -0.096  0.011 -0.003 -0.019 -1.061]
+t: 272	 action: [-0.026 -0.26  -0.249  0.002  0.004 -0.017 -1.016]
+t: 273	 action: [-0.039 -0.218 -0.282  0.016 -0.004 -0.023 -1.059]
+t: 274	 action: [-0.076 -0.304 -0.195  0.014 -0.016  0.004 -1.024]
+t: 275	 action: [-0.031 -0.277 -0.244  0.019 -0.02  -0.004 -1.039]
+t: 276	 action: [-0.089 -0.297 -0.32   0.018 -0.025  0.008 -1.029]
+t: 277	 action: [-0.057 -0.25  -0.412  0.018 -0.025  0.002 -1.035]
+t: 278	 action: [-0.099 -0.246 -0.616  0.025 -0.013  0.002 -1.018]
+t: 279	 action: [-0.096 -0.175 -0.632  0.035 -0.011  0.004 -1.051]
+t: 280	 action: [-0.107 -0.198 -0.77   0.02  -0.01   0.002 -1.019]
+t: 281	 action: [-0.1   -0.124 -0.73   0.031 -0.002  0.012 -1.055]
+[07-31 00:29:47|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.972 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=282: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.6925
+INFO:cosmos_policy.experiments.robot.robot_utils:t=282: Selected seed 195 with value = 0.6925
+Query 1/1: Action query time = 0.972 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6925
+t=282: Selected seed 195 with value = 0.6925
+t: 282	 action: [-0.047 -0.243 -0.073 -0.003  0.001 -0.002 -0.999]
+t: 283	 action: [-1.310e-02 -1.936e-01 -3.389e-02 -9.418e-04  2.276e-03 -8.031e-03 -1.005e+00]
+t: 284	 action: [-1.116e-01 -2.173e-01 -7.329e-02 -3.179e-03 -4.673e-04 -1.656e-03 -9.904e-01]
+t: 285	 action: [-0.072 -0.178 -0.043  0.002  0.001 -0.01  -1.01 ]
+t: 286	 action: [-1.437e-01 -1.608e-01 -5.229e-02  2.416e-04  2.468e-04 -4.504e-03 -9.998e-01]
+t: 287	 action: [-0.141 -0.136 -0.047  0.007 -0.002 -0.006 -1.043]
+t: 288	 action: [-1.842e-01 -1.611e-01 -4.664e-02  9.159e-04  4.973e-03 -1.518e-03 -9.900e-01]
+t: 289	 action: [-1.692e-01 -1.357e-01 -4.532e-02  6.707e-03  4.473e-04 -2.687e-03 -1.038e+00]
+t: 290	 action: [-0.152 -0.305 -0.052  0.004 -0.012  0.014 -0.998]
+t: 291	 action: [-0.155 -0.27  -0.028  0.017 -0.005  0.01  -1.019]
+t: 292	 action: [-0.253 -0.361 -0.145  0.006 -0.021  0.021 -0.994]
+t: 293	 action: [-0.254 -0.318 -0.111  0.014 -0.019  0.027 -1.014]
+t: 294	 action: [-0.372 -0.337 -0.178  0.005 -0.028  0.028 -1.003]
+t: 295	 action: [-0.419 -0.275 -0.234  0.022 -0.023  0.031 -1.039]
+t: 296	 action: [-0.518 -0.367 -0.332  0.003 -0.032  0.053 -0.995]
+t: 297	 action: [-0.536 -0.279 -0.396  0.024 -0.027  0.051 -1.04 ]
+[07-31 00:29:48|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.968 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=298: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.7551
+INFO:cosmos_policy.experiments.robot.robot_utils:t=298: Selected seed 195 with value = 0.7551
+WARNING:imageio_ffmpeg:IMAGEIO FFMPEG_WRITER WARNING: input image is not divisible by macro_block_size=16, resizing from (896, 284) to (896, 288) to ensure video compatibility with most codecs and players. To prevent resizing, make your input image divisible by the macro_block_size or set the macro_block_size to 1 (risking incompatibility).
+INFO:cosmos_policy.experiments.robot.robot_utils:Success: False
+INFO:cosmos_policy.experiments.robot.robot_utils:# episodes completed so far: 4
+INFO:cosmos_policy.experiments.robot.robot_utils:# successes: 1 (25.0%)
+
+
  8%|▊         | 4/50 [01:54<21:40, 28.26s/it]INFO:cosmos_policy.experiments.robot.robot_utils:
+Task: open the middle drawer of the cabinet
+INFO:cosmos_policy.experiments.robot.robot_utils:Starting episode 5...
+Query 1/1: Action query time = 0.968 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7551
+t=298: Selected seed 195 with value = 0.7551
+t: 298	 action: [ 0.126 -0.169 -0.014 -0.019  0.018  0.002 -1.011]
+t: 299	 action: [ 0.144 -0.212  0.009 -0.015  0.007 -0.011 -1.028]
+t: 300	 action: [ 0.076 -0.217 -0.077 -0.004  0.005 -0.011 -1.01 ]
+t: 301	 action: [ 0.077 -0.245 -0.039 -0.002  0.002 -0.018 -1.036]
+t: 302	 action: [ 0.029 -0.236 -0.103  0.002  0.015 -0.004 -1.019]
+t: 303	 action: [-0.002 -0.228 -0.097  0.011 -0.003 -0.012 -1.06 ]
+t: 304	 action: [-2.089e-02 -2.431e-01 -2.515e-01  2.012e-04  5.639e-03 -1.120e-02 -1.013e+00]
+t: 305	 action: [-0.032 -0.196 -0.285  0.015 -0.003 -0.015 -1.058]
+t: 306	 action: [-0.074 -0.292 -0.186  0.015 -0.013  0.005 -1.022]
+t: 307	 action: [-0.026 -0.259 -0.236  0.019 -0.015 -0.002 -1.038]
+t: 308	 action: [-0.081 -0.281 -0.309  0.017 -0.02   0.009 -1.027]
+t: 309	 action: [-0.049 -0.228 -0.403  0.018 -0.017  0.006 -1.033]
+Saved rollout MP4 at path ./rollouts/None/2026_07_31-00_27_45--episode=4--success=False--task=open_the_middle_drawer_of_the_cabinet.mp4
+300 300 19 19
+Saved rollout MP4 at path ./rollouts/None/2026_07_31-00_27_45--with_future_img--episode=4--success=False--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: False
+# episodes completed so far: 4
+# successes: 1 (25.0%)
+
+Task: open the middle drawer of the cabinet
+Starting episode 5...
+[07-31 00:29:56|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.979 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=10: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.3650
+INFO:cosmos_policy.experiments.robot.robot_utils:t=10: Selected seed 195 with value = 0.3650
+Query 1/1: Action query time = 0.979 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3650
+t=10: Selected seed 195 with value = 0.3650
+t: 10	 action: [ 0.024 -0.068 -0.052  0.007  0.066  0.008 -0.997]
+t: 11	 action: [ 0.17  -0.054  0.028  0.014  0.103  0.023 -0.994]
+t: 12	 action: [ 0.177 -0.084 -0.006  0.002  0.129  0.021 -1.007]
+t: 13	 action: [ 0.375 -0.017  0.064  0.009  0.149  0.044 -1.012]
+t: 14	 action: [ 0.403 -0.058  0.063  0.005  0.153  0.037 -1.014]
+t: 15	 action: [ 0.539 -0.024  0.075  0.003  0.155  0.038 -1.041]
+t: 16	 action: [ 0.523 -0.002  0.062 -0.003  0.157  0.072 -1.015]
+t: 17	 action: [ 0.59   0.036  0.063 -0.008  0.149  0.064 -1.042]
+t: 18	 action: [ 0.52   0.042  0.046 -0.014  0.146  0.126 -1.022]
+t: 19	 action: [ 0.57   0.102  0.055 -0.019  0.136  0.127 -1.025]
+t: 20	 action: [ 0.534  0.062  0.017 -0.032  0.13   0.138 -1.022]
+t: 21	 action: [ 0.58   0.127  0.039 -0.032  0.119  0.138 -1.017]
+t: 22	 action: [ 0.542  0.078  0.029 -0.047  0.115  0.149 -1.01 ]
+t: 23	 action: [ 0.557  0.128  0.031 -0.052  0.096  0.143 -1.046]
+t: 24	 action: [ 0.532  0.107  0.003 -0.064  0.098  0.159 -1.012]
+t: 25	 action: [ 0.553  0.145  0.026 -0.069  0.087  0.154 -1.042]
+[07-31 00:29:57|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.986 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=26: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.4112
+INFO:cosmos_policy.experiments.robot.robot_utils:t=26: Selected seed 195 with value = 0.4112
+Query 1/1: Action query time = 0.986 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4112
+t=26: Selected seed 195 with value = 0.4112
+t: 26	 action: [ 0.388  0.064 -0.002 -0.071  0.074  0.202 -1.015]
+t: 27	 action: [ 0.388  0.115  0.008 -0.072  0.071  0.196 -1.002]
+t: 28	 action: [ 0.349  0.095 -0.025 -0.08   0.074  0.215 -1.008]
+t: 29	 action: [ 0.369  0.134  0.007 -0.083  0.074  0.208 -1.004]
+t: 30	 action: [ 0.384  0.077 -0.009 -0.099  0.078  0.227 -1.   ]
+t: 31	 action: [ 0.378  0.119 -0.014 -0.092  0.074  0.211 -1.024]
+t: 32	 action: [ 0.364  0.097 -0.032 -0.105  0.084  0.235 -0.998]
+t: 33	 action: [ 0.376  0.121 -0.02  -0.102  0.092  0.22  -1.029]
+t: 34	 action: [ 0.324  0.068 -0.031 -0.102  0.106  0.248 -1.001]
+t: 35	 action: [ 0.35   0.105 -0.017 -0.109  0.11   0.23  -1.002]
+t: 36	 action: [ 0.302  0.065 -0.036 -0.109  0.112  0.253 -1.   ]
+t: 37	 action: [ 0.329  0.092 -0.016 -0.113  0.117  0.235 -1.001]
+t: 38	 action: [ 0.287  0.05  -0.047 -0.116  0.107  0.259 -0.992]
+t: 39	 action: [ 0.285  0.096 -0.056 -0.113  0.115  0.241 -1.03 ]
+t: 40	 action: [ 0.266  0.05  -0.058 -0.115  0.116  0.256 -0.995]
+t: 41	 action: [ 0.276  0.085 -0.051 -0.113  0.13   0.237 -1.03 ]
+[07-31 00:29:59|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.970 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=42: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.4663
+INFO:cosmos_policy.experiments.robot.robot_utils:t=42: Selected seed 195 with value = 0.4663
+Query 1/1: Action query time = 0.970 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4663
+t=42: Selected seed 195 with value = 0.4663
+t: 42	 action: [ 0.124  0.03  -0.076 -0.085  0.123  0.261 -0.995]
+t: 43	 action: [ 0.126  0.056 -0.052 -0.093  0.122  0.254 -0.988]
+t: 44	 action: [ 0.132  0.024 -0.089 -0.089  0.12   0.27  -0.986]
+t: 45	 action: [ 0.146  0.055 -0.053 -0.091  0.111  0.256 -0.995]
+t: 46	 action: [ 0.167  0.021 -0.077 -0.103  0.098  0.277 -0.993]
+t: 47	 action: [ 0.169  0.045 -0.064 -0.096  0.093  0.258 -1.013]
+t: 48	 action: [ 0.183  0.016 -0.094 -0.1    0.099  0.274 -0.988]
+t: 49	 action: [ 0.193  0.035 -0.089 -0.093  0.095  0.251 -1.023]
+t: 50	 action: [ 0.189 -0.028 -0.106 -0.084  0.118  0.26  -0.997]
+t: 51	 action: [ 0.221 -0.042 -0.128 -0.076  0.109  0.245 -0.998]
+t: 52	 action: [ 0.219 -0.059 -0.121 -0.081  0.116  0.247 -0.993]
+t: 53	 action: [ 0.243 -0.067 -0.128 -0.07   0.115  0.23  -0.993]
+t: 54	 action: [ 0.232 -0.107 -0.097 -0.074  0.131  0.238 -0.994]
+t: 55	 action: [ 0.261 -0.08  -0.118 -0.064  0.136  0.218 -1.033]
+t: 56	 action: [ 0.246 -0.134 -0.111 -0.061  0.141  0.225 -0.993]
+t: 57	 action: [ 0.272 -0.11  -0.119 -0.056  0.156  0.207 -1.027]
+[07-31 00:30:00|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.957 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=58: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.5448
+INFO:cosmos_policy.experiments.robot.robot_utils:t=58: Selected seed 195 with value = 0.5448
+Query 1/1: Action query time = 0.957 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5448
+t=58: Selected seed 195 with value = 0.5448
+t: 58	 action: [ 0.172 -0.041 -0.059 -0.032  0.187  0.222 -1.01 ]
+t: 59	 action: [ 0.204 -0.055  0.003 -0.027  0.184  0.189 -1.01 ]
+t: 60	 action: [ 0.21  -0.067 -0.038 -0.028  0.184  0.209 -1.011]
+t: 61	 action: [ 0.268 -0.086  0.01  -0.024  0.18   0.178 -1.011]
+t: 62	 action: [ 0.312 -0.119 -0.008 -0.022  0.189  0.188 -1.016]
+t: 63	 action: [ 0.342 -0.121 -0.015 -0.021  0.186  0.164 -1.029]
+t: 64	 action: [ 0.371 -0.182 -0.012 -0.014  0.185  0.17  -1.015]
+t: 65	 action: [ 0.402 -0.166 -0.015 -0.018  0.19   0.153 -1.035]
+t: 66	 action: [ 0.45  -0.25  -0.015 -0.012  0.195  0.136 -1.029]
+t: 67	 action: [ 0.495 -0.217 -0.014  0.007  0.199  0.114 -1.024]
+t: 68	 action: [ 0.488 -0.297 -0.02   0.003  0.184  0.134 -1.028]
+t: 69	 action: [ 0.542 -0.255 -0.041  0.008  0.181  0.107 -1.016]
+t: 70	 action: [ 0.48  -0.327 -0.097  0.007  0.167  0.125 -1.019]
+t: 71	 action: [ 0.484 -0.314 -0.121  0.011  0.141  0.106 -1.037]
+t: 72	 action: [ 0.469 -0.341 -0.247  0.008  0.122  0.113 -1.019]
+t: 73	 action: [ 0.425 -0.31  -0.273  0.009  0.087  0.1   -1.033]
+[07-31 00:30:01|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.980 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=74: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.6129
+INFO:cosmos_policy.experiments.robot.robot_utils:t=74: Selected seed 195 with value = 0.6129
+Query 1/1: Action query time = 0.980 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6129
+t=74: Selected seed 195 with value = 0.6129
+t: 74	 action: [ 0.163 -0.401 -0.218  0.003  0.106  0.102 -1.026]
+t: 75	 action: [ 0.153 -0.387 -0.152  0.013  0.077  0.11  -1.033]
+t: 76	 action: [ 0.12  -0.417 -0.295  0.005  0.063  0.122 -1.015]
+t: 77	 action: [ 0.106 -0.339 -0.234  0.012  0.026  0.116 -1.031]
+t: 78	 action: [ 0.12  -0.382 -0.266  0.004  0.035  0.129 -1.008]
+t: 79	 action: [ 0.093 -0.375 -0.21   0.015  0.009  0.129 -1.048]
+t: 80	 action: [ 7.538e-02 -3.402e-01 -2.941e-01  6.235e-03  7.342e-05  1.405e-01 -1.007e+00]
+t: 81	 action: [ 0.038 -0.293 -0.245  0.009 -0.012  0.122 -1.045]
+t: 82	 action: [ 0.076 -0.346 -0.166 -0.017 -0.032  0.114 -1.013]
+t: 83	 action: [ 0.058 -0.314 -0.137 -0.014 -0.04   0.102 -1.023]
+t: 84	 action: [-0.021 -0.329 -0.115 -0.014 -0.053  0.116 -1.006]
+t: 85	 action: [-0.023 -0.304 -0.077 -0.013 -0.057  0.098 -1.015]
+t: 86	 action: [-0.11  -0.352 -0.151 -0.003 -0.072  0.128 -1.013]
+t: 87	 action: [-0.192 -0.335 -0.118 -0.007 -0.069  0.107 -1.041]
+t: 88	 action: [-0.222 -0.349 -0.119 -0.002 -0.089  0.127 -1.009]
+t: 89	 action: [-0.295 -0.317 -0.102 -0.004 -0.081  0.105 -1.036]
+[07-31 00:30:02|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.974 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=90: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.6889
+INFO:cosmos_policy.experiments.robot.robot_utils:t=90: Selected seed 195 with value = 0.6889
+Query 1/1: Action query time = 0.974 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6889
+t=90: Selected seed 195 with value = 0.6889
+t: 90	 action: [ 0.085 -0.275 -0.062 -0.022  0.009  0.057 -0.99 ]
+t: 91	 action: [ 0.094 -0.253 -0.048 -0.01   0.007  0.062 -1.017]
+t: 92	 action: [ 0.035 -0.277 -0.02  -0.014 -0.016  0.078 -0.984]
+t: 93	 action: [ 0.019 -0.255 -0.016 -0.005 -0.018  0.074 -1.014]
+t: 94	 action: [-0.053 -0.278 -0.031 -0.011 -0.016  0.076 -0.991]
+t: 95	 action: [-0.122 -0.243 -0.052 -0.002 -0.05   0.076 -1.044]
+t: 96	 action: [-0.208 -0.287 -0.09  -0.005 -0.061  0.101 -0.994]
+t: 97	 action: [-0.304 -0.24  -0.147  0.002 -0.092  0.09  -1.036]
+t: 98	 action: [-0.368 -0.307 -0.11  -0.035 -0.096  0.104 -0.972]
+t: 99	 action: [-0.408 -0.224 -0.141 -0.01  -0.135  0.109 -1.002]
+t: 100	 action: [-0.494 -0.27  -0.149 -0.039 -0.14   0.116 -0.955]
+t: 101	 action: [-0.505 -0.194 -0.18  -0.01  -0.161  0.128 -0.987]
+t: 102	 action: [-0.612 -0.185 -0.164 -0.01  -0.183  0.131 -0.961]
+t: 103	 action: [-0.586 -0.173 -0.14  -0.005 -0.174  0.124 -1.021]
+t: 104	 action: [-0.588 -0.161 -0.13  -0.01  -0.211  0.14  -0.935]
+t: 105	 action: [-0.544 -0.136 -0.074 -0.007 -0.179  0.137 -1.009]
+[07-31 00:30:04|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.982 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=106: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.7196
+INFO:cosmos_policy.experiments.robot.robot_utils:t=106: Selected seed 195 with value = 0.7196
+Query 1/1: Action query time = 0.982 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7196
+t=106: Selected seed 195 with value = 0.7196
+t: 106	 action: [ 0.051 -0.169 -0.013 -0.045  0.03   0.022 -0.998]
+t: 107	 action: [ 0.065 -0.161 -0.001 -0.02   0.021  0.029 -1.018]
+t: 108	 action: [-0.03  -0.208 -0.005 -0.027  0.003  0.038 -0.993]
+t: 109	 action: [-1.654e-02 -1.950e-01  5.454e-03 -9.805e-03  7.712e-04  4.141e-02 -1.013e+00]
+t: 110	 action: [-8.237e-02 -2.455e-01 -4.763e-02 -1.274e-02 -8.671e-04  4.600e-02 -1.002e+00]
+t: 111	 action: [-0.151 -0.227 -0.028 -0.005 -0.028  0.045 -1.052]
+t: 112	 action: [-0.222 -0.269 -0.086 -0.006 -0.03   0.079 -1.003]
+t: 113	 action: [-2.811e-01 -2.309e-01 -9.499e-02 -1.080e-04 -5.975e-02  6.184e-02 -1.043e+00]
+t: 114	 action: [-0.298 -0.326 -0.071 -0.022 -0.09   0.103 -0.979]
+t: 115	 action: [-3.277e-01 -2.790e-01 -9.283e-02 -4.497e-04 -9.907e-02  9.706e-02 -1.008e+00]
+t: 116	 action: [-0.423 -0.303 -0.12  -0.022 -0.126  0.119 -0.971]
+t: 117	 action: [-4.455e-01 -2.568e-01 -1.442e-01 -2.061e-04 -1.380e-01  1.216e-01 -9.941e-01]
+t: 118	 action: [-0.496 -0.231 -0.136 -0.001 -0.157  0.135 -0.972]
+t: 119	 action: [-0.507 -0.211 -0.114  0.009 -0.13   0.111 -1.026]
+t: 120	 action: [-5.554e-01 -2.051e-01 -1.432e-01 -8.476e-04 -1.905e-01  1.509e-01 -9.536e-01]
+t: 121	 action: [-0.571 -0.178 -0.088  0.009 -0.144  0.135 -1.026]
+[07-31 00:30:05|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.972 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=122: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.7409
+INFO:cosmos_policy.experiments.robot.robot_utils:t=122: Selected seed 195 with value = 0.7409
+Query 1/1: Action query time = 0.972 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7409
+t=122: Selected seed 195 with value = 0.7409
+t: 122	 action: [ 0.043 -0.295 -0.343  0.014 -0.025 -0.027 -1.022]
+t: 123	 action: [ 0.047 -0.302 -0.32   0.019 -0.029 -0.065 -1.029]
+t: 124	 action: [ 0.021 -0.294 -0.409  0.022 -0.028 -0.039 -1.019]
+t: 125	 action: [ 0.031 -0.303 -0.372  0.021 -0.021 -0.056 -1.034]
+t: 126	 action: [-0.003 -0.287 -0.354  0.025 -0.018 -0.051 -1.018]
+t: 127	 action: [-1.670e-04 -2.743e-01 -3.432e-01  3.115e-02 -1.787e-02 -7.329e-02 -1.068e+00]
+t: 128	 action: [-0.023 -0.247 -0.397  0.026 -0.016 -0.049 -1.017]
+t: 129	 action: [-0.013 -0.268 -0.336  0.029 -0.016 -0.062 -1.061]
+t: 130	 action: [-0.052 -0.366 -0.393  0.038 -0.032 -0.035 -1.038]
+t: 131	 action: [-0.014 -0.345 -0.304  0.017 -0.026 -0.026 -1.04 ]
+t: 132	 action: [-0.083 -0.356 -0.454  0.043 -0.037 -0.011 -1.04 ]
+t: 133	 action: [-0.043 -0.316 -0.352  0.014 -0.034 -0.016 -1.035]
+t: 134	 action: [-0.112 -0.242 -0.418  0.025 -0.04  -0.018 -1.034]
+t: 135	 action: [-0.091 -0.255 -0.348  0.02  -0.038 -0.018 -1.053]
+t: 136	 action: [-1.475e-01 -2.454e-01 -5.512e-01  2.562e-02 -3.679e-02 -7.474e-04 -1.033e+00]
+t: 137	 action: [-0.137 -0.197 -0.561  0.022 -0.026 -0.005 -1.053]
+[07-31 00:30:06|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.977 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=138: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.7765
+INFO:cosmos_policy.experiments.robot.robot_utils:t=138: Selected seed 195 with value = 0.7765
+Query 1/1: Action query time = 0.977 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7765
+t=138: Selected seed 195 with value = 0.7765
+t: 138	 action: [-0.028 -0.236 -0.147 -0.018  0.004 -0.013 -1.024]
+t: 139	 action: [-0.001 -0.216 -0.136 -0.003  0.008 -0.026 -1.012]
+t: 140	 action: [-0.072 -0.247 -0.136 -0.007  0.004 -0.016 -1.015]
+t: 141	 action: [-0.035 -0.26  -0.097  0.001  0.009 -0.027 -1.014]
+t: 142	 action: [-0.091 -0.29  -0.151  0.003  0.009 -0.021 -1.017]
+t: 143	 action: [-0.096 -0.262 -0.138  0.016  0.006 -0.026 -1.039]
+t: 144	 action: [-0.145 -0.321 -0.182  0.006  0.009 -0.02  -1.014]
+t: 145	 action: [-0.153 -0.3   -0.164  0.017  0.004 -0.026 -1.04 ]
+t: 146	 action: [-2.047e-01 -3.844e-01 -2.795e-01  1.303e-02  6.845e-03  4.502e-04 -1.025e+00]
+t: 147	 action: [-0.199 -0.342 -0.294 -0.005 -0.01  -0.012 -1.015]
+t: 148	 action: [-0.18  -0.353 -0.472  0.024  0.007  0.005 -1.024]
+t: 149	 action: [-0.174 -0.243 -0.531  0.007 -0.004 -0.005 -1.012]
+t: 150	 action: [-1.888e-01 -2.207e-01 -6.877e-01  3.849e-02  1.455e-02  8.407e-05 -1.019e+00]
+t: 151	 action: [-0.13  -0.156 -0.737  0.041  0.015 -0.005 -1.042]
+t: 152	 action: [-0.132 -0.071 -0.895  0.045  0.023  0.002 -1.019]
+t: 153	 action: [-8.184e-02  9.776e-03 -9.243e-01  3.862e-02  2.080e-02  5.358e-04 -1.048e+00]
+[07-31 00:30:07|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.964 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=154: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9735
+INFO:cosmos_policy.experiments.robot.robot_utils:t=154: Selected seed 195 with value = 0.9735
+Query 1/1: Action query time = 0.964 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9735
+t=154: Selected seed 195 with value = 0.9735
+t: 154	 action: [-0.051  0.488 -0.904  0.051 -0.007 -0.014 -0.991]
+t: 155	 action: [-0.032  0.516 -0.931  0.029 -0.012 -0.018 -1.017]
+t: 156	 action: [-9.201e-02  6.695e-01 -8.944e-01  1.324e-02 -8.116e-04 -2.674e-03 -9.963e-01]
+t: 157	 action: [-0.069  0.735 -0.899  0.006 -0.007 -0.01  -1.021]
+t: 158	 action: [-0.155  0.833 -0.896  0.012  0.008 -0.01  -0.994]
+t: 159	 action: [-0.15   0.759 -0.918  0.009 -0.007 -0.013 -1.048]
+t: 160	 action: [-0.18   0.92  -0.885 -0.001  0.012 -0.001 -0.997]
+t: 161	 action: [-0.169  0.883 -0.896 -0.005 -0.007 -0.005 -1.052]
+t: 162	 action: [-1.541e-01  9.128e-01 -8.654e-01  9.889e-03  5.251e-03  8.690e-04 -9.840e-01]
+t: 163	 action: [-0.165  0.862 -0.865  0.002  0.007 -0.006 -1.022]
+t: 164	 action: [-0.184  0.923 -0.865  0.003  0.011  0.007 -0.991]
+t: 165	 action: [-0.16   0.871 -0.863 -0.006  0.006 -0.002 -1.019]
+t: 166	 action: [-0.23   0.974 -0.873 -0.004  0.013  0.002 -0.985]
+t: 167	 action: [-0.234  0.941 -0.873 -0.004 -0.003  0.001 -1.054]
+t: 168	 action: [-0.231  0.971 -0.87  -0.012  0.018  0.006 -0.99 ]
+t: 169	 action: [-0.226  0.929 -0.866 -0.009 -0.004  0.007 -1.057]
+[07-31 00:30:09|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.963 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=170: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9970
+INFO:cosmos_policy.experiments.robot.robot_utils:t=170: Selected seed 195 with value = 0.9970
+WARNING:imageio_ffmpeg:IMAGEIO FFMPEG_WRITER WARNING: input image is not divisible by macro_block_size=16, resizing from (896, 284) to (896, 288) to ensure video compatibility with most codecs and players. To prevent resizing, make your input image divisible by the macro_block_size or set the macro_block_size to 1 (risking incompatibility).
+INFO:cosmos_policy.experiments.robot.robot_utils:Success: True
+INFO:cosmos_policy.experiments.robot.robot_utils:# episodes completed so far: 5
+INFO:cosmos_policy.experiments.robot.robot_utils:# successes: 2 (40.0%)
+
+
 10%|█         | 5/50 [02:12<18:33, 24.75s/it]INFO:cosmos_policy.experiments.robot.robot_utils:
+Task: open the middle drawer of the cabinet
+INFO:cosmos_policy.experiments.robot.robot_utils:Starting episode 6...
+Query 1/1: Action query time = 0.963 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9970
+t=170: Selected seed 195 with value = 0.9970
+t: 170	 action: [-0.224  0.933 -0.785 -0.016  0.016  0.012 -0.973]
+t: 171	 action: [-0.231  0.925 -0.802 -0.026  0.015  0.019 -0.985]
+t: 172	 action: [-0.229  0.962 -0.768 -0.015  0.016  0.012 -0.983]
+t: 173	 action: [-0.23   0.931 -0.775 -0.026  0.012  0.014 -0.992]
+t: 174	 action: [-0.259  0.976 -0.757 -0.027  0.024  0.017 -0.97 ]
+t: 175	 action: [-0.28   0.963 -0.749 -0.024  0.016  0.022 -1.02 ]
+Saved rollout MP4 at path ./rollouts/None/2026_07_31-00_27_45--episode=5--success=True--task=open_the_middle_drawer_of_the_cabinet.mp4
+166 166 11 11
+Saved rollout MP4 at path ./rollouts/None/2026_07_31-00_27_45--with_future_img--episode=5--success=True--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: True
+# episodes completed so far: 5
+# successes: 2 (40.0%)
+
+Task: open the middle drawer of the cabinet
+Starting episode 6...
+[07-31 00:30:14|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.985 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=10: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.3516
+INFO:cosmos_policy.experiments.robot.robot_utils:t=10: Selected seed 195 with value = 0.3516
+Query 1/1: Action query time = 0.985 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3516
+t=10: Selected seed 195 with value = 0.3516
+t: 10	 action: [ 0.163  0.033 -0.007  0.004  0.032  0.005 -0.996]
+t: 11	 action: [ 0.261  0.089  0.039 -0.008  0.055  0.008 -0.991]
+t: 12	 action: [ 0.386  0.076  0.002 -0.002  0.065  0.019 -1.02 ]
+t: 13	 action: [ 0.523  0.115  0.055 -0.013  0.09   0.025 -1.009]
+t: 14	 action: [ 0.604  0.086  0.029 -0.013  0.083  0.025 -1.031]
+t: 15	 action: [ 0.687  0.131  0.041 -0.016  0.095  0.032 -1.049]
+t: 16	 action: [ 0.743  0.096  0.03  -0.017  0.093  0.065 -1.036]
+t: 17	 action: [ 0.754  0.131  0.039 -0.021  0.1    0.048 -1.052]
+t: 18	 action: [ 0.715  0.049  0.055 -0.01   0.047  0.123 -1.036]
+t: 19	 action: [ 0.739  0.043  0.077 -0.028  0.049  0.112 -1.026]
+t: 20	 action: [ 0.742  0.058  0.05  -0.022  0.036  0.133 -1.036]
+t: 21	 action: [ 0.759  0.068  0.077 -0.038  0.032  0.12  -1.025]
+t: 22	 action: [ 0.715  0.033  0.042 -0.032  0.037  0.155 -1.022]
+t: 23	 action: [ 0.707  0.061  0.031 -0.049  0.026  0.142 -1.049]
+t: 24	 action: [ 0.707  0.046  0.03  -0.053  0.029  0.168 -1.021]
+t: 25	 action: [ 0.678  0.103  0.036 -0.068  0.016  0.15  -1.046]
+[07-31 00:30:16|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.960 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=26: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.3792
+INFO:cosmos_policy.experiments.robot.robot_utils:t=26: Selected seed 195 with value = 0.3792
+Query 1/1: Action query time = 0.960 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3792
+t=26: Selected seed 195 with value = 0.3792
+t: 26	 action: [ 0.438 -0.002 -0.007 -0.038  0.05   0.19  -1.008]
+t: 27	 action: [ 0.43   0.026  0.007 -0.036  0.051  0.2   -1.002]
+t: 28	 action: [ 0.366  0.02  -0.029 -0.052  0.061  0.21  -1.005]
+t: 29	 action: [ 3.642e-01  4.989e-02  7.919e-04 -5.191e-02  6.633e-02  2.165e-01 -1.001e+00]
+t: 30	 action: [ 0.318  0.027 -0.056 -0.077  0.07   0.24  -1.004]
+t: 31	 action: [ 0.285  0.07  -0.065 -0.074  0.07   0.23  -1.027]
+t: 32	 action: [ 0.283  0.03  -0.083 -0.09   0.087  0.256 -1.004]
+t: 33	 action: [ 0.264  0.075 -0.109 -0.094  0.101  0.244 -1.027]
+t: 34	 action: [ 0.181  0.02  -0.111 -0.073  0.116  0.262 -0.998]
+t: 35	 action: [ 0.206  0.012 -0.111 -0.075  0.131  0.243 -0.999]
+t: 36	 action: [ 0.193  0.016 -0.156 -0.076  0.132  0.263 -0.999]
+t: 37	 action: [ 2.198e-01  5.918e-04 -1.499e-01 -8.204e-02  1.479e-01  2.435e-01 -1.004e+00]
+t: 38	 action: [ 0.188  0.01  -0.159 -0.087  0.132  0.271 -0.994]
+t: 39	 action: [ 0.187  0.033 -0.194 -0.088  0.126  0.246 -1.031]
+t: 40	 action: [ 0.184  0.003 -0.208 -0.08   0.144  0.262 -0.998]
+t: 41	 action: [ 0.18   0.015 -0.23  -0.089  0.136  0.239 -1.03 ]
+[07-31 00:30:17|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.974 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=42: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.4604
+INFO:cosmos_policy.experiments.robot.robot_utils:t=42: Selected seed 195 with value = 0.4604
+Query 1/1: Action query time = 0.974 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4604
+t=42: Selected seed 195 with value = 0.4604
+t: 42	 action: [ 0.101  0.066 -0.124 -0.084  0.137  0.288 -0.993]
+t: 43	 action: [ 0.111  0.084 -0.136 -0.085  0.136  0.283 -0.988]
+t: 44	 action: [ 0.117  0.07  -0.134 -0.085  0.142  0.291 -0.993]
+t: 45	 action: [ 0.145  0.079 -0.122 -0.08   0.142  0.276 -1.004]
+t: 46	 action: [ 0.151  0.064 -0.157 -0.092  0.143  0.294 -1.   ]
+t: 47	 action: [ 0.169  0.069 -0.141 -0.087  0.144  0.276 -1.02 ]
+t: 48	 action: [ 0.179  0.051 -0.18  -0.086  0.151  0.287 -0.999]
+t: 49	 action: [ 0.206  0.058 -0.155 -0.082  0.157  0.265 -1.033]
+t: 50	 action: [ 0.174  0.006 -0.173 -0.073  0.167  0.262 -1.004]
+t: 51	 action: [ 0.203 -0.013 -0.219 -0.052  0.168  0.245 -1.01 ]
+t: 52	 action: [ 0.205 -0.025 -0.193 -0.068  0.172  0.249 -1.005]
+t: 53	 action: [ 0.235 -0.05  -0.226 -0.048  0.17   0.225 -1.009]
+t: 54	 action: [ 0.206 -0.048 -0.18  -0.066  0.17   0.237 -1.002]
+t: 55	 action: [ 0.211 -0.073 -0.187 -0.052  0.164  0.212 -1.041]
+t: 56	 action: [ 0.214 -0.092 -0.225 -0.054  0.174  0.219 -1.007]
+t: 57	 action: [ 0.212 -0.112 -0.237 -0.047  0.167  0.201 -1.035]
+[07-31 00:30:18|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.966 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=58: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.5499
+INFO:cosmos_policy.experiments.robot.robot_utils:t=58: Selected seed 195 with value = 0.5499
+Query 1/1: Action query time = 0.966 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5499
+t=58: Selected seed 195 with value = 0.5499
+t: 58	 action: [ 0.118 -0.055 -0.121 -0.051  0.232  0.234 -1.   ]
+t: 59	 action: [ 0.123 -0.062 -0.091 -0.041  0.221  0.219 -0.994]
+t: 60	 action: [ 0.136 -0.074 -0.073 -0.044  0.214  0.235 -1.008]
+t: 61	 action: [ 0.172 -0.085 -0.051 -0.033  0.193  0.207 -1.009]
+t: 62	 action: [ 0.197 -0.097 -0.05  -0.041  0.195  0.224 -1.008]
+t: 63	 action: [ 0.23  -0.114 -0.044 -0.029  0.167  0.204 -1.029]
+t: 64	 action: [ 0.224 -0.162 -0.05  -0.028  0.166  0.212 -1.013]
+t: 65	 action: [ 0.265 -0.161 -0.057 -0.021  0.135  0.185 -1.033]
+t: 66	 action: [ 0.266 -0.251 -0.079 -0.029  0.155  0.193 -1.031]
+t: 67	 action: [ 0.292 -0.243 -0.09  -0.004  0.125  0.155 -1.021]
+t: 68	 action: [ 0.262 -0.295 -0.089 -0.006  0.117  0.188 -1.029]
+t: 69	 action: [ 0.279 -0.293 -0.103  0.002  0.077  0.148 -1.019]
+t: 70	 action: [ 2.476e-01 -3.569e-01 -7.804e-02 -6.619e-04  9.503e-02  1.617e-01 -1.027e+00]
+t: 71	 action: [ 0.254 -0.382 -0.071  0.003  0.052  0.129 -1.038]
+t: 72	 action: [ 0.224 -0.386 -0.101  0.005  0.053  0.147 -1.028]
+t: 73	 action: [ 0.192 -0.4   -0.074  0.005  0.019  0.123 -1.033]
+[07-31 00:30:19|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.968 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=74: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.6320
+INFO:cosmos_policy.experiments.robot.robot_utils:t=74: Selected seed 195 with value = 0.6320
+Query 1/1: Action query time = 0.968 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6320
+t=74: Selected seed 195 with value = 0.6320
+t: 74	 action: [ 0.067 -0.349 -0.014 -0.015  0.057  0.145 -0.997]
+t: 75	 action: [ 7.940e-02 -3.869e-01  1.764e-02 -9.789e-04  2.734e-02  1.343e-01 -1.008e+00]
+t: 76	 action: [ 0.05  -0.378 -0.04   0.001  0.027  0.157 -0.99 ]
+t: 77	 action: [ 0.057 -0.378  0.004  0.005  0.011  0.129 -1.012]
+t: 78	 action: [ 0.01  -0.38  -0.026  0.003  0.013  0.135 -0.992]
+t: 79	 action: [ 0.04  -0.458 -0.011  0.013  0.002  0.13  -1.027]
+t: 80	 action: [-0.008 -0.364 -0.06   0.002 -0.009  0.133 -0.986]
+t: 81	 action: [ 0.016 -0.394 -0.043  0.011 -0.014  0.114 -1.022]
+t: 82	 action: [-0.03  -0.414 -0.029 -0.004 -0.036  0.105 -1.011]
+t: 83	 action: [-0.05  -0.368 -0.006  0.008 -0.046  0.081 -1.016]
+t: 84	 action: [-0.094 -0.4   -0.05   0.001 -0.054  0.097 -1.003]
+t: 85	 action: [-0.11  -0.343 -0.039  0.009 -0.06   0.074 -1.007]
+t: 86	 action: [-0.153 -0.448 -0.076  0.006 -0.066  0.083 -1.005]
+t: 87	 action: [-0.187 -0.398 -0.062  0.015 -0.065  0.07  -1.03 ]
+t: 88	 action: [-0.197 -0.43  -0.084  0.006 -0.08   0.08  -1.001]
+t: 89	 action: [-0.231 -0.364 -0.079  0.016 -0.068  0.067 -1.028]
+[07-31 00:30:21|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.969 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=90: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.6905
+INFO:cosmos_policy.experiments.robot.robot_utils:t=90: Selected seed 195 with value = 0.6905
+Query 1/1: Action query time = 0.969 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6905
+t=90: Selected seed 195 with value = 0.6905
+t: 90	 action: [ 0.042 -0.3   -0.043 -0.001 -0.005  0.081 -0.987]
+t: 91	 action: [ 0.048 -0.311 -0.03   0.007 -0.014  0.078 -0.996]
+t: 92	 action: [-0.022 -0.315 -0.069  0.002 -0.019  0.098 -0.984]
+t: 93	 action: [-0.002 -0.319 -0.051  0.01  -0.02   0.087 -1.009]
+t: 94	 action: [-6.080e-02 -3.161e-01 -1.031e-01  1.238e-04 -1.674e-02  8.621e-02 -9.861e-01]
+t: 95	 action: [-0.089 -0.334 -0.092  0.012 -0.029  0.084 -1.027]
+t: 96	 action: [-0.158 -0.34  -0.137  0.002 -0.03   0.103 -0.987]
+t: 97	 action: [-0.204 -0.319 -0.167  0.015 -0.037  0.091 -1.025]
+t: 98	 action: [-0.246 -0.384 -0.058 -0.014 -0.043  0.104 -0.992]
+t: 99	 action: [-0.292 -0.279 -0.101  0.001 -0.05   0.086 -1.012]
+t: 100	 action: [-0.361 -0.373 -0.089 -0.018 -0.061  0.116 -0.981]
+t: 101	 action: [-3.707e-01 -2.453e-01 -1.328e-01  3.665e-04 -6.708e-02  1.026e-01 -9.989e-01]
+t: 102	 action: [-4.553e-01 -3.059e-01 -1.270e-01 -6.925e-05 -7.461e-02  1.081e-01 -9.890e-01]
+t: 103	 action: [-0.451 -0.247 -0.15   0.007 -0.074  0.089 -1.033]
+t: 104	 action: [-0.516 -0.264 -0.121 -0.002 -0.104  0.123 -0.975]
+t: 105	 action: [-0.488 -0.207 -0.133  0.004 -0.087  0.105 -1.023]
+[07-31 00:30:22|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.972 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=106: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.7477
+INFO:cosmos_policy.experiments.robot.robot_utils:t=106: Selected seed 195 with value = 0.7477
+Query 1/1: Action query time = 0.972 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7477
+t=106: Selected seed 195 with value = 0.7477
+t: 106	 action: [-1.822e-01 -4.007e-01 -2.155e-01  5.221e-04  3.638e-04 -1.066e-02 -9.902e-01]
+t: 107	 action: [-0.169 -0.426 -0.237  0.013 -0.001 -0.015 -1.014]
+t: 108	 action: [-0.2   -0.391 -0.287  0.005 -0.013 -0.018 -0.992]
+t: 109	 action: [-0.196 -0.398 -0.283  0.017 -0.008 -0.019 -1.019]
+t: 110	 action: [-0.188 -0.383 -0.274  0.02   0.003 -0.01  -0.99 ]
+t: 111	 action: [-0.23  -0.362 -0.292  0.035 -0.004 -0.01  -1.049]
+t: 112	 action: [-0.188 -0.331 -0.358  0.015 -0.003 -0.009 -0.99 ]
+t: 113	 action: [-0.222 -0.312 -0.393  0.03  -0.006 -0.016 -1.041]
+t: 114	 action: [-0.159 -0.387 -0.339  0.019 -0.02   0.024 -0.996]
+t: 115	 action: [-0.121 -0.363 -0.376  0.03  -0.015  0.024 -1.021]
+t: 116	 action: [-0.146 -0.356 -0.47   0.021 -0.027  0.017 -1.006]
+t: 117	 action: [-0.11  -0.313 -0.512  0.025 -0.019  0.019 -1.025]
+t: 118	 action: [-0.145 -0.213 -0.788  0.034 -0.028  0.019 -1.002]
+t: 119	 action: [-0.162 -0.144 -0.764  0.035 -0.03   0.022 -1.052]
+t: 120	 action: [-0.136 -0.127 -0.92   0.023 -0.026  0.012 -1.007]
+t: 121	 action: [-0.171 -0.031 -0.857  0.025 -0.025  0.021 -1.061]
+[07-31 00:30:23|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.979 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=122: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.7339
+INFO:cosmos_policy.experiments.robot.robot_utils:t=122: Selected seed 195 with value = 0.7339
+Query 1/1: Action query time = 0.979 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7339
+t=122: Selected seed 195 with value = 0.7339
+t: 122	 action: [ 0.005 -0.245 -0.054 -0.016  0.004 -0.002 -1.001]
+t: 123	 action: [ 0.02  -0.247  0.025 -0.008  0.004 -0.012 -1.012]
+t: 124	 action: [-0.062 -0.292 -0.058 -0.009 -0.008 -0.004 -0.995]
+t: 125	 action: [-0.025 -0.291  0.012  0.004  0.002 -0.014 -1.019]
+t: 126	 action: [-0.1   -0.294 -0.06   0.005 -0.009 -0.004 -0.987]
+t: 127	 action: [-0.058 -0.291 -0.016  0.012 -0.006 -0.007 -1.048]
+t: 128	 action: [-0.177 -0.351 -0.091  0.012 -0.008 -0.001 -0.982]
+t: 129	 action: [-0.155 -0.301 -0.055  0.019 -0.007 -0.006 -1.042]
+t: 130	 action: [-0.185 -0.441 -0.137  0.004 -0.03   0.02  -0.989]
+t: 131	 action: [-0.215 -0.4   -0.135  0.022 -0.026  0.022 -1.021]
+t: 132	 action: [-0.291 -0.446 -0.258  0.008 -0.049  0.037 -0.986]
+t: 133	 action: [-0.311 -0.396 -0.259  0.02  -0.05   0.045 -1.018]
+t: 134	 action: [-0.444 -0.436 -0.266  0.017 -0.059  0.052 -0.977]
+t: 135	 action: [-0.443 -0.325 -0.341  0.031 -0.061  0.051 -1.046]
+t: 136	 action: [-0.537 -0.395 -0.406  0.021 -0.068  0.078 -0.968]
+t: 137	 action: [-0.524 -0.28  -0.5    0.034 -0.062  0.077 -1.041]
+[07-31 00:30:25|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.968 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=138: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.7471
+INFO:cosmos_policy.experiments.robot.robot_utils:t=138: Selected seed 195 with value = 0.7471
+Query 1/1: Action query time = 0.968 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7471
+t=138: Selected seed 195 with value = 0.7471
+t: 138	 action: [-0.077 -0.362 -0.152  0.003 -0.008 -0.023 -1.004]
+t: 139	 action: [-0.021 -0.387 -0.127  0.013 -0.013 -0.043 -1.025]
+t: 140	 action: [-0.124 -0.359 -0.209  0.007 -0.024 -0.035 -1.003]
+t: 141	 action: [-0.082 -0.37  -0.181  0.018 -0.019 -0.046 -1.025]
+t: 142	 action: [-0.126 -0.334 -0.199  0.014 -0.011 -0.04  -0.996]
+t: 143	 action: [-0.14  -0.317 -0.205  0.029 -0.02  -0.048 -1.05 ]
+t: 144	 action: [-0.158 -0.295 -0.264  0.013 -0.016 -0.037 -0.995]
+t: 145	 action: [-0.18  -0.282 -0.292  0.026 -0.018 -0.05  -1.045]
+t: 146	 action: [-0.21  -0.37  -0.32   0.02  -0.036  0.006 -1.007]
+t: 147	 action: [-0.19  -0.343 -0.348  0.026 -0.041 -0.003 -1.032]
+t: 148	 action: [-0.236 -0.372 -0.442  0.017 -0.039  0.008 -1.013]
+t: 149	 action: [-0.206 -0.321 -0.514  0.021 -0.049  0.002 -1.032]
+t: 150	 action: [-2.155e-01 -2.593e-01 -7.019e-01  2.422e-02 -4.002e-02  2.806e-04 -1.003e+00]
+t: 151	 action: [-0.221 -0.183 -0.709  0.037 -0.039 -0.005 -1.043]
+t: 152	 action: [-0.219 -0.205 -0.89   0.017 -0.03   0.001 -1.002]
+t: 153	 action: [-0.226 -0.128 -0.859  0.03  -0.022  0.003 -1.054]
+[07-31 00:30:26|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.977 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=154: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.7105
+INFO:cosmos_policy.experiments.robot.robot_utils:t=154: Selected seed 195 with value = 0.7105
+Query 1/1: Action query time = 0.977 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7105
+t=154: Selected seed 195 with value = 0.7105
+t: 154	 action: [-0.018 -0.223 -0.043 -0.008  0.003 -0.014 -1.004]
+t: 155	 action: [ 0.01  -0.19   0.011 -0.003  0.005 -0.023 -1.018]
+t: 156	 action: [-7.777e-02 -2.522e-01 -5.559e-02 -4.762e-03  7.356e-04 -1.372e-02 -9.986e-01]
+t: 157	 action: [-0.037 -0.22  -0.008  0.004  0.003 -0.027 -1.026]
+t: 158	 action: [-1.135e-01 -2.325e-01 -4.642e-02  1.937e-03  2.942e-04 -1.596e-02 -9.962e-01]
+t: 159	 action: [-8.216e-02 -2.047e-01 -2.169e-02  1.168e-02  1.011e-03 -2.057e-02 -1.051e+00]
+t: 160	 action: [-0.169 -0.266 -0.069  0.005  0.003 -0.009 -0.991]
+t: 161	 action: [-1.479e-01 -2.179e-01 -4.328e-02  1.518e-02  8.542e-04 -1.997e-02 -1.046e+00]
+t: 162	 action: [-0.159 -0.374 -0.088  0.003 -0.021  0.014 -0.991]
+t: 163	 action: [-0.185 -0.311 -0.068  0.018 -0.017  0.009 -1.024]
+t: 164	 action: [-0.262 -0.4   -0.189  0.006 -0.037  0.025 -0.988]
+t: 165	 action: [-0.277 -0.342 -0.173  0.015 -0.04   0.029 -1.02 ]
+t: 166	 action: [-0.388 -0.388 -0.211  0.008 -0.043  0.029 -0.985]
+t: 167	 action: [-0.42  -0.292 -0.248  0.024 -0.047  0.032 -1.042]
+t: 168	 action: [-0.488 -0.387 -0.326  0.007 -0.053  0.056 -0.979]
+t: 169	 action: [-0.5   -0.283 -0.383  0.025 -0.055  0.054 -1.043]
+[07-31 00:30:27|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.977 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=170: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.7379
+INFO:cosmos_policy.experiments.robot.robot_utils:t=170: Selected seed 195 with value = 0.7379
+Query 1/1: Action query time = 0.977 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7379
+t=170: Selected seed 195 with value = 0.7379
+t: 170	 action: [ 0.038 -0.268 -0.06  -0.007  0.003 -0.02  -1.018]
+t: 171	 action: [ 0.063 -0.314 -0.018 -0.003 -0.002 -0.045 -1.031]
+t: 172	 action: [-2.143e-02 -3.046e-01 -1.262e-01  8.330e-04 -1.699e-02 -3.685e-02 -1.019e+00]
+t: 173	 action: [ 0.018 -0.341 -0.078  0.007 -0.012 -0.055 -1.038]
+t: 174	 action: [-0.039 -0.321 -0.136  0.009 -0.002 -0.044 -1.015]
+t: 175	 action: [-0.05  -0.305 -0.139  0.022 -0.016 -0.052 -1.057]
+t: 176	 action: [-0.082 -0.3   -0.241  0.008 -0.014 -0.046 -1.013]
+t: 177	 action: [-0.095 -0.275 -0.264  0.021 -0.019 -0.06  -1.056]
+t: 178	 action: [-0.151 -0.35  -0.261  0.018 -0.031 -0.003 -1.024]
+t: 179	 action: [-0.128 -0.324 -0.268  0.023 -0.042 -0.012 -1.043]
+t: 180	 action: [-0.169 -0.342 -0.364  0.017 -0.039  0.002 -1.031]
+t: 181	 action: [-0.141 -0.302 -0.423  0.018 -0.05  -0.005 -1.037]
+t: 182	 action: [-0.144 -0.255 -0.639  0.024 -0.032 -0.003 -1.015]
+t: 183	 action: [-0.134 -0.183 -0.629  0.038 -0.032 -0.008 -1.052]
+t: 184	 action: [-0.139 -0.185 -0.812  0.015 -0.025 -0.002 -1.016]
+t: 185	 action: [-0.127 -0.121 -0.759  0.029 -0.014  0.001 -1.057]
+[07-31 00:30:28|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.966 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=186: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.7009
+INFO:cosmos_policy.experiments.robot.robot_utils:t=186: Selected seed 195 with value = 0.7009
+Query 1/1: Action query time = 0.966 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7009
+t=186: Selected seed 195 with value = 0.7009
+t: 186	 action: [-0.024 -0.225 -0.001 -0.006  0.003 -0.021 -1.005]
+t: 187	 action: [ 0.008 -0.181  0.034 -0.002  0.004 -0.025 -1.014]
+t: 188	 action: [-8.786e-02 -2.434e-01 -2.102e-02 -3.501e-03 -3.376e-05 -1.843e-02 -9.966e-01]
+t: 189	 action: [-0.046 -0.2    0.013  0.004  0.002 -0.026 -1.022]
+t: 190	 action: [-1.211e-01 -2.112e-01 -5.470e-03  1.135e-03 -2.148e-04 -1.833e-02 -1.003e+00]
+t: 191	 action: [-1.063e-01 -1.827e-01 -3.686e-03  1.123e-02 -2.989e-04 -2.037e-02 -1.049e+00]
+t: 192	 action: [-0.174 -0.238 -0.04   0.004  0.003 -0.009 -0.994]
+t: 193	 action: [-1.616e-01 -1.902e-01 -2.770e-02  1.442e-02  7.480e-04 -1.652e-02 -1.045e+00]
+t: 194	 action: [-0.154 -0.353 -0.097  0.004 -0.015  0.013 -0.995]
+t: 195	 action: [-0.174 -0.294 -0.067  0.019 -0.012  0.009 -1.023]
+t: 196	 action: [-0.251 -0.396 -0.201  0.006 -0.027  0.024 -0.992]
+t: 197	 action: [-0.267 -0.331 -0.168  0.016 -0.03   0.03  -1.019]
+t: 198	 action: [-0.376 -0.366 -0.233  0.006 -0.033  0.028 -0.995]
+t: 199	 action: [-0.417 -0.278 -0.264  0.025 -0.034  0.032 -1.043]
+t: 200	 action: [-0.488 -0.375 -0.366  0.004 -0.039  0.056 -0.988]
+t: 201	 action: [-0.51  -0.266 -0.416  0.025 -0.039  0.054 -1.043]
+[07-31 00:30:30|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.960 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=202: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.7466
+INFO:cosmos_policy.experiments.robot.robot_utils:t=202: Selected seed 195 with value = 0.7466
+Query 1/1: Action query time = 0.960 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7466
+t=202: Selected seed 195 with value = 0.7466
+t: 202	 action: [ 0.06  -0.218 -0.02  -0.017  0.005 -0.013 -1.017]
+t: 203	 action: [ 8.204e-02 -2.594e-01  1.302e-02 -1.219e-02 -8.548e-04 -3.445e-02 -1.029e+00]
+t: 204	 action: [ 0.004 -0.27  -0.076 -0.004 -0.011 -0.03  -1.017]
+t: 205	 action: [ 3.811e-02 -2.993e-01 -2.544e-02  2.204e-04 -7.639e-03 -4.096e-02 -1.036e+00]
+t: 206	 action: [-0.021 -0.298 -0.081  0.006  0.004 -0.028 -1.017]
+t: 207	 action: [-0.039 -0.28  -0.094  0.016 -0.01  -0.037 -1.058]
+t: 208	 action: [-0.071 -0.294 -0.215  0.004 -0.005 -0.034 -1.014]
+t: 209	 action: [-0.084 -0.256 -0.257  0.018 -0.01  -0.042 -1.057]
+t: 210	 action: [-0.134 -0.328 -0.212  0.015 -0.022 -0.004 -1.025]
+t: 211	 action: [-0.099 -0.301 -0.233  0.02  -0.032 -0.013 -1.042]
+t: 212	 action: [-1.416e-01 -3.125e-01 -3.375e-01  1.551e-02 -3.063e-02  3.021e-04 -1.029e+00]
+t: 213	 action: [-0.108 -0.279 -0.4    0.017 -0.037 -0.006 -1.036]
+t: 214	 action: [-0.127 -0.231 -0.638  0.024 -0.021 -0.002 -1.017]
+t: 215	 action: [-0.123 -0.172 -0.631  0.035 -0.02  -0.007 -1.051]
+t: 216	 action: [-0.125 -0.17  -0.802  0.015 -0.016 -0.002 -1.017]
+t: 217	 action: [-0.116 -0.114 -0.747  0.027 -0.007  0.003 -1.055]
+[07-31 00:30:31|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.958 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=218: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.7013
+INFO:cosmos_policy.experiments.robot.robot_utils:t=218: Selected seed 195 with value = 0.7013
+Query 1/1: Action query time = 0.958 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7013
+t=218: Selected seed 195 with value = 0.7013
+t: 218	 action: [-4.222e-02 -2.249e-01  7.375e-03 -5.363e-03  4.231e-04 -1.919e-02 -1.003e+00]
+t: 219	 action: [-0.008 -0.175  0.033 -0.002  0.002 -0.021 -1.01 ]
+t: 220	 action: [-0.107 -0.232 -0.017 -0.003 -0.001 -0.016 -0.992]
+t: 221	 action: [-6.395e-02 -1.853e-01  1.268e-02  4.367e-03  7.143e-04 -2.145e-02 -1.018e+00]
+t: 222	 action: [-1.371e-01 -1.846e-01 -6.894e-04  5.021e-04 -1.416e-03 -1.407e-02 -1.003e+00]
+t: 223	 action: [-0.131 -0.158 -0.007  0.011 -0.002 -0.015 -1.048]
+t: 224	 action: [-0.184 -0.206 -0.039  0.003  0.003 -0.006 -0.992]
+t: 225	 action: [-1.748e-01 -1.636e-01 -3.238e-02  1.390e-02  9.452e-04 -1.033e-02 -1.043e+00]
+t: 226	 action: [-0.159 -0.337 -0.101  0.006 -0.013  0.012 -0.996]
+t: 227	 action: [-0.166 -0.289 -0.064  0.02  -0.009  0.01  -1.022]
+t: 228	 action: [-0.254 -0.39  -0.208  0.008 -0.021  0.021 -0.992]
+t: 229	 action: [-0.259 -0.331 -0.166  0.017 -0.022  0.029 -1.018]
+t: 230	 action: [-0.376 -0.356 -0.248  0.006 -0.028  0.027 -1.   ]
+t: 231	 action: [-0.415 -0.27  -0.272  0.025 -0.026  0.033 -1.043]
+t: 232	 action: [-0.483 -0.373 -0.398  0.003 -0.03   0.054 -0.991]
+t: 233	 action: [-0.507 -0.264 -0.437  0.024 -0.026  0.054 -1.044]
+[07-31 00:30:32|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.961 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=234: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.7441
+INFO:cosmos_policy.experiments.robot.robot_utils:t=234: Selected seed 195 with value = 0.7441
+Query 1/1: Action query time = 0.961 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7441
+t=234: Selected seed 195 with value = 0.7441
+t: 234	 action: [-0.134 -0.368 -0.145  0.011 -0.028  0.005 -1.018]
+t: 235	 action: [-0.078 -0.391 -0.151  0.017 -0.033 -0.007 -1.027]
+t: 236	 action: [-0.125 -0.361 -0.165  0.014 -0.034 -0.002 -1.018]
+t: 237	 action: [-0.063 -0.363 -0.205  0.021 -0.042 -0.008 -1.026]
+t: 238	 action: [-0.102 -0.27  -0.247  0.02  -0.032 -0.004 -1.017]
+t: 239	 action: [-0.107 -0.212 -0.373  0.033 -0.044 -0.008 -1.052]
+t: 240	 action: [-0.083 -0.157 -0.573  0.019 -0.025 -0.009 -1.016]
+t: 241	 action: [-0.104 -0.102 -0.708  0.037 -0.03  -0.011 -1.039]
+t: 242	 action: [-1.017e-01 -1.850e-01 -4.971e-01  5.077e-02  3.522e-04 -8.738e-03 -9.991e-01]
+t: 243	 action: [-0.047 -0.181 -0.602  0.043  0.013 -0.027 -1.031]
+t: 244	 action: [-0.05  -0.123 -0.702  0.044  0.013 -0.016 -0.997]
+t: 245	 action: [-0.023 -0.104 -0.742  0.037  0.021 -0.028 -1.015]
+t: 246	 action: [-0.102 -0.07  -0.775  0.032  0.023 -0.015 -1.011]
+t: 247	 action: [-0.12  -0.032 -0.79   0.034  0.023 -0.026 -1.057]
+t: 248	 action: [-0.08   0.02  -0.771  0.012  0.034 -0.015 -1.007]
+t: 249	 action: [-0.104  0.113 -0.791  0.017  0.031 -0.023 -1.059]
+[07-31 00:30:33|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.971 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=250: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.7689
+INFO:cosmos_policy.experiments.robot.robot_utils:t=250: Selected seed 195 with value = 0.7689
+Query 1/1: Action query time = 0.971 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7689
+t=250: Selected seed 195 with value = 0.7689
+t: 250	 action: [-0.161 -0.32  -0.163  0.004 -0.022  0.003 -1.006]
+t: 251	 action: [-1.234e-01 -3.351e-01 -1.154e-01  1.780e-02 -2.424e-02  4.972e-04 -1.022e+00]
+t: 252	 action: [-0.186 -0.396 -0.166  0.012 -0.026  0.007 -1.005]
+t: 253	 action: [-0.134 -0.365 -0.155  0.022 -0.033  0.01  -1.02 ]
+t: 254	 action: [-2.011e-01 -3.807e-01 -2.451e-01  1.393e-02 -2.479e-02  6.365e-05 -1.007e+00]
+t: 255	 action: [-0.219 -0.332 -0.332  0.033 -0.036  0.014 -1.051]
+t: 256	 action: [-0.233 -0.355 -0.525  0.017 -0.025  0.005 -1.001]
+t: 257	 action: [-0.235 -0.254 -0.682  0.041 -0.03   0.021 -1.035]
+t: 258	 action: [-1.357e-01  4.592e-04 -6.451e-01  3.666e-02  7.272e-04  1.154e-02 -9.879e-01]
+t: 259	 action: [-0.107  0.013 -0.716  0.03   0.009  0.016 -1.013]
+t: 260	 action: [-0.125  0.153 -0.712  0.028  0.006  0.015 -0.988]
+t: 261	 action: [-0.093  0.175 -0.779  0.021  0.015  0.02  -1.015]
+t: 262	 action: [-0.223  0.188 -0.697  0.017  0.01   0.021 -1.   ]
+t: 263	 action: [-0.222  0.274 -0.785  0.026  0.004  0.027 -1.036]
+t: 264	 action: [-0.228  0.379 -0.659  0.007  0.018  0.032 -0.992]
+t: 265	 action: [-0.231  0.46  -0.741  0.013  0.01   0.031 -1.036]
+[07-31 00:30:35|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.969 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=266: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.7577
+INFO:cosmos_policy.experiments.robot.robot_utils:t=266: Selected seed 195 with value = 0.7577
+Query 1/1: Action query time = 0.969 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7577
+t=266: Selected seed 195 with value = 0.7577
+t: 266	 action: [-0.164 -0.352 -0.095  0.009 -0.023  0.002 -1.005]
+t: 267	 action: [-0.139 -0.363 -0.066  0.023 -0.025 -0.001 -1.018]
+t: 268	 action: [-0.187 -0.405 -0.139  0.016 -0.024  0.006 -1.002]
+t: 269	 action: [-0.161 -0.368 -0.126  0.025 -0.03   0.007 -1.017]
+t: 270	 action: [-0.205 -0.373 -0.19   0.016 -0.025 -0.002 -1.008]
+t: 271	 action: [-0.232 -0.321 -0.253  0.032 -0.036  0.008 -1.057]
+t: 272	 action: [-0.229 -0.357 -0.365  0.014 -0.02   0.002 -1.002]
+t: 273	 action: [-0.25  -0.262 -0.492  0.033 -0.028  0.016 -1.04 ]
+t: 274	 action: [-0.178 -0.196 -0.238  0.032 -0.012  0.005 -0.995]
+t: 275	 action: [-0.158 -0.198 -0.269  0.038 -0.009  0.006 -1.018]
+t: 276	 action: [-0.172 -0.176 -0.327  0.033 -0.005  0.008 -0.994]
+t: 277	 action: [-0.128 -0.171 -0.381  0.032  0.006  0.013 -1.019]
+t: 278	 action: [-0.209 -0.181 -0.476  0.033 -0.001  0.004 -1.004]
+t: 279	 action: [-0.232 -0.157 -0.524  0.047  0.005  0.016 -1.046]
+t: 280	 action: [-0.206 -0.178 -0.52   0.023  0.01   0.017 -0.996]
+t: 281	 action: [-0.214 -0.119 -0.574  0.034  0.015  0.025 -1.04 ]
+[07-31 00:30:36|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.974 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=282: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.7667
+INFO:cosmos_policy.experiments.robot.robot_utils:t=282: Selected seed 195 with value = 0.7667
+Query 1/1: Action query time = 0.974 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7667
+t=282: Selected seed 195 with value = 0.7667
+t: 282	 action: [-0.19  -0.316 -0.192  0.008 -0.02   0.005 -1.   ]
+t: 283	 action: [-0.158 -0.312 -0.147  0.018 -0.022  0.003 -1.016]
+t: 284	 action: [-0.207 -0.382 -0.198  0.014 -0.022  0.008 -1.   ]
+t: 285	 action: [-0.161 -0.346 -0.191  0.02  -0.026  0.011 -1.016]
+t: 286	 action: [-2.250e-01 -3.444e-01 -3.016e-01  1.019e-02 -1.725e-02 -6.216e-04 -1.006e+00]
+t: 287	 action: [-0.247 -0.288 -0.361  0.031 -0.024  0.015 -1.051]
+t: 288	 action: [-0.239 -0.302 -0.558  0.013 -0.016  0.005 -1.001]
+t: 289	 action: [-0.251 -0.194 -0.679  0.035 -0.018  0.021 -1.036]
+t: 290	 action: [-0.161  0.109 -0.606  0.024  0.004  0.012 -0.982]
+t: 291	 action: [-0.137  0.15  -0.694  0.022  0.013  0.017 -1.01 ]
+t: 292	 action: [-0.149  0.273 -0.638  0.015  0.009  0.016 -0.982]
+t: 293	 action: [-0.112  0.279 -0.729  0.014  0.021  0.02  -1.013]
+t: 294	 action: [-0.234  0.329 -0.627  0.006  0.013  0.024 -0.998]
+t: 295	 action: [-0.233  0.359 -0.708  0.019  0.009  0.028 -1.035]
+t: 296	 action: [-2.414e-01  4.396e-01 -5.876e-01  6.450e-04  2.083e-02  3.366e-02 -9.885e-01]
+t: 297	 action: [-0.239  0.471 -0.637  0.01   0.017  0.031 -1.037]
+[07-31 00:30:37|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.951 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=298: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.7458
+INFO:cosmos_policy.experiments.robot.robot_utils:t=298: Selected seed 195 with value = 0.7458
+WARNING:imageio_ffmpeg:IMAGEIO FFMPEG_WRITER WARNING: input image is not divisible by macro_block_size=16, resizing from (896, 284) to (896, 288) to ensure video compatibility with most codecs and players. To prevent resizing, make your input image divisible by the macro_block_size or set the macro_block_size to 1 (risking incompatibility).
+INFO:cosmos_policy.experiments.robot.robot_utils:Success: False
+INFO:cosmos_policy.experiments.robot.robot_utils:# episodes completed so far: 6
+INFO:cosmos_policy.experiments.robot.robot_utils:# successes: 2 (33.3%)
+
+
 12%|█▏        | 6/50 [02:43<19:39, 26.81s/it]INFO:cosmos_policy.experiments.robot.robot_utils:
+Task: open the middle drawer of the cabinet
+INFO:cosmos_policy.experiments.robot.robot_utils:Starting episode 7...
+Query 1/1: Action query time = 0.951 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7458
+t=298: Selected seed 195 with value = 0.7458
+t: 298	 action: [-1.865e-01 -3.139e-01 -1.442e-01  9.699e-03 -1.339e-02  2.299e-04 -1.002e+00]
+t: 299	 action: [-1.788e-01 -3.057e-01 -1.031e-01  2.847e-02 -1.512e-02 -3.663e-04 -1.011e+00]
+t: 300	 action: [-0.212 -0.367 -0.203  0.019 -0.008  0.006 -0.994]
+t: 301	 action: [-0.189 -0.315 -0.187  0.029 -0.01   0.009 -1.014]
+t: 302	 action: [-2.286e-01 -3.086e-01 -2.649e-01  1.502e-02 -8.527e-03 -8.183e-04 -1.007e+00]
+t: 303	 action: [-0.251 -0.253 -0.282  0.036 -0.013  0.012 -1.051]
+t: 304	 action: [-0.244 -0.321 -0.394  0.015  0.001  0.008 -0.996]
+t: 305	 action: [-2.458e-01 -2.204e-01 -4.782e-01  3.522e-02 -6.935e-04  2.177e-02 -1.038e+00]
+t: 306	 action: [-0.191 -0.247 -0.17   0.028 -0.012  0.005 -0.997]
+t: 307	 action: [-0.193 -0.255 -0.129  0.035 -0.006  0.004 -1.012]
+t: 308	 action: [-0.211 -0.255 -0.222  0.03  -0.006  0.008 -0.994]
+t: 309	 action: [-0.181 -0.256 -0.221  0.032  0.005  0.013 -1.019]
+Saved rollout MP4 at path ./rollouts/None/2026_07_31-00_27_45--episode=6--success=False--task=open_the_middle_drawer_of_the_cabinet.mp4
+300 300 19 19
+Saved rollout MP4 at path ./rollouts/None/2026_07_31-00_27_45--with_future_img--episode=6--success=False--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: False
+# episodes completed so far: 6
+# successes: 2 (33.3%)
+
+Task: open the middle drawer of the cabinet
+Starting episode 7...
+[07-31 00:30:45|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.972 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=10: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.3446
+INFO:cosmos_policy.experiments.robot.robot_utils:t=10: Selected seed 195 with value = 0.3446
+Query 1/1: Action query time = 0.972 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3446
+t=10: Selected seed 195 with value = 0.3446
+t: 10	 action: [ 3.419e-02 -1.308e-01 -4.046e-02  1.437e-02 -6.598e-06 -1.509e-03 -9.605e-01]
+t: 11	 action: [ 0.17  -0.133  0.035  0.022  0.04   0.008 -0.966]
+t: 12	 action: [ 0.156 -0.168  0.019  0.007  0.065  0.012 -0.991]
+t: 13	 action: [ 0.337 -0.13   0.103  0.019  0.095  0.028 -1.009]
+t: 14	 action: [ 0.381 -0.143  0.108  0.01   0.112  0.021 -1.01 ]
+t: 15	 action: [ 0.517 -0.111  0.119  0.02   0.126  0.031 -1.045]
+t: 16	 action: [ 0.482 -0.083  0.146  0.004  0.131  0.053 -1.013]
+t: 17	 action: [ 0.575 -0.077  0.124  0.012  0.137  0.051 -1.048]
+t: 18	 action: [ 0.54  -0.09   0.091 -0.005  0.11   0.126 -1.022]
+t: 19	 action: [ 0.56  -0.078  0.093 -0.011  0.1    0.118 -1.023]
+t: 20	 action: [ 0.565 -0.047  0.032 -0.028  0.093  0.133 -1.023]
+t: 21	 action: [ 0.589 -0.001  0.026 -0.021  0.079  0.123 -1.02 ]
+t: 22	 action: [ 0.581 -0.022  0.044 -0.03   0.086  0.136 -1.007]
+t: 23	 action: [ 0.603 -0.04   0.022 -0.029  0.063  0.128 -1.048]
+t: 24	 action: [ 0.603  0.021 -0.006 -0.053  0.072  0.147 -1.01 ]
+t: 25	 action: [ 0.636  0.038  0.009 -0.048  0.053  0.133 -1.047]
+[07-31 00:30:47|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.964 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=26: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.4035
+INFO:cosmos_policy.experiments.robot.robot_utils:t=26: Selected seed 195 with value = 0.4035
+Query 1/1: Action query time = 0.964 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4035
+t=26: Selected seed 195 with value = 0.4035
+t: 26	 action: [ 0.531 -0.016  0.02  -0.025  0.089  0.148 -1.013]
+t: 27	 action: [ 0.541  0.01   0.037 -0.024  0.081  0.14  -1.01 ]
+t: 28	 action: [ 0.497 -0.007  0.017 -0.031  0.09   0.156 -1.014]
+t: 29	 action: [ 0.503  0.027  0.035 -0.029  0.085  0.15  -1.013]
+t: 30	 action: [ 0.491  0.006  0.02  -0.047  0.098  0.169 -1.007]
+t: 31	 action: [ 0.451  0.028  0.008 -0.037  0.087  0.157 -1.039]
+t: 32	 action: [ 0.454  0.022  0.011 -0.055  0.105  0.173 -1.008]
+t: 33	 action: [ 0.432  0.049  0.01  -0.051  0.107  0.169 -1.041]
+t: 34	 action: [ 0.47   0.039  0.027 -0.064  0.137  0.178 -1.013]
+t: 35	 action: [ 0.491  0.078  0.03  -0.07   0.139  0.163 -1.013]
+t: 36	 action: [ 0.478  0.062  0.007 -0.083  0.137  0.182 -1.013]
+t: 37	 action: [ 0.495  0.102  0.029 -0.085  0.147  0.17  -1.009]
+t: 38	 action: [ 0.433  0.052  0.018 -0.089  0.14   0.202 -1.003]
+t: 39	 action: [ 0.44   0.103  0.005 -0.089  0.134  0.185 -1.035]
+t: 40	 action: [ 0.442  0.079 -0.011 -0.102  0.137  0.208 -1.005]
+t: 41	 action: [ 0.44   0.12   0.005 -0.097  0.137  0.193 -1.031]
+[07-31 00:30:48|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.959 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=42: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.4551
+INFO:cosmos_policy.experiments.robot.robot_utils:t=42: Selected seed 195 with value = 0.4551
+Query 1/1: Action query time = 0.959 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4551
+t=42: Selected seed 195 with value = 0.4551
+t: 42	 action: [ 0.329  0.039 -0.012 -0.088  0.174  0.224 -0.997]
+t: 43	 action: [ 3.311e-01  6.834e-02 -9.826e-04 -8.590e-02  1.687e-01  2.209e-01 -9.941e-01]
+t: 44	 action: [ 0.277  0.037 -0.031 -0.09   0.16   0.234 -0.996]
+t: 45	 action: [ 0.28   0.072 -0.004 -0.093  0.145  0.234 -0.998]
+t: 46	 action: [ 0.238  0.036 -0.066 -0.115  0.136  0.257 -1.004]
+t: 47	 action: [ 0.208  0.057 -0.049 -0.113  0.123  0.235 -1.021]
+t: 48	 action: [ 0.19   0.037 -0.12  -0.116  0.121  0.266 -1.003]
+t: 49	 action: [ 0.175  0.052 -0.119 -0.115  0.113  0.251 -1.022]
+t: 50	 action: [ 0.175  0.007 -0.185 -0.093  0.124  0.275 -0.978]
+t: 51	 action: [ 0.181  0.022 -0.184 -0.087  0.12   0.273 -0.973]
+t: 52	 action: [ 0.184 -0.006 -0.238 -0.094  0.122  0.28  -0.965]
+t: 53	 action: [ 0.214  0.016 -0.24  -0.083  0.117  0.279 -0.972]
+t: 54	 action: [ 0.224  0.032 -0.259 -0.104  0.112  0.302 -0.978]
+t: 55	 action: [ 0.262  0.052 -0.276 -0.09   0.115  0.287 -1.   ]
+t: 56	 action: [ 0.244  0.024 -0.3   -0.099  0.117  0.299 -0.971]
+t: 57	 action: [ 0.27   0.048 -0.29  -0.082  0.123  0.288 -0.995]
+[07-31 00:30:49|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.987 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=58: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.5329
+INFO:cosmos_policy.experiments.robot.robot_utils:t=58: Selected seed 195 with value = 0.5329
+Query 1/1: Action query time = 0.987 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5329
+t=58: Selected seed 195 with value = 0.5329
+t: 58	 action: [ 0.019 -0.119 -0.426 -0.04   0.091  0.262 -0.99 ]
+t: 59	 action: [ 0.028 -0.137 -0.439 -0.04   0.08   0.25  -0.967]
+t: 60	 action: [ 0.019 -0.101 -0.429 -0.028  0.084  0.272 -0.985]
+t: 61	 action: [ 0.035 -0.127 -0.421 -0.03   0.073  0.267 -0.973]
+t: 62	 action: [ 0.069 -0.104 -0.487 -0.023  0.072  0.292 -0.982]
+t: 63	 action: [ 0.076 -0.131 -0.419 -0.029  0.058  0.269 -1.007]
+t: 64	 action: [ 0.103 -0.13  -0.444 -0.012  0.067  0.301 -0.979]
+t: 65	 action: [ 0.122 -0.132 -0.382 -0.015  0.057  0.276 -1.011]
+t: 66	 action: [ 0.133 -0.186 -0.251 -0.013  0.089  0.292 -1.002]
+t: 67	 action: [ 0.157 -0.156 -0.262 -0.012  0.067  0.26  -0.998]
+t: 68	 action: [ 0.162 -0.2   -0.192 -0.007  0.078  0.283 -0.997]
+t: 69	 action: [ 0.195 -0.193 -0.207 -0.005  0.056  0.248 -0.994]
+t: 70	 action: [ 1.904e-01 -2.173e-01 -1.368e-01 -7.335e-04  6.308e-02  2.588e-01 -9.939e-01]
+t: 71	 action: [ 0.214 -0.224 -0.092 -0.004  0.05   0.221 -1.025]
+t: 72	 action: [ 1.777e-01 -2.671e-01 -1.255e-01  1.609e-04  4.603e-02  2.387e-01 -9.979e-01]
+t: 73	 action: [ 0.157 -0.264 -0.112  0.003  0.034  0.21  -1.021]
+[07-31 00:30:50|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.962 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=74: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.6325
+INFO:cosmos_policy.experiments.robot.robot_utils:t=74: Selected seed 195 with value = 0.6325
+Query 1/1: Action query time = 0.962 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6325
+t=74: Selected seed 195 with value = 0.6325
+t: 74	 action: [ 0.053 -0.394 -0.128  0.012  0.047  0.19  -0.988]
+t: 75	 action: [ 0.053 -0.417 -0.105  0.021  0.039  0.175 -0.994]
+t: 76	 action: [ 0.049 -0.406 -0.109  0.017  0.043  0.197 -0.978]
+t: 77	 action: [ 0.05  -0.409 -0.07   0.021  0.037  0.169 -1.002]
+t: 78	 action: [ 0.054 -0.454 -0.107  0.012  0.039  0.17  -0.984]
+t: 79	 action: [ 0.019 -0.447 -0.089  0.02   0.031  0.161 -1.01 ]
+t: 80	 action: [ 0.021 -0.417 -0.103  0.016  0.027  0.163 -0.982]
+t: 81	 action: [-0.014 -0.392 -0.112  0.017  0.021  0.139 -1.01 ]
+t: 82	 action: [-0.077 -0.415 -0.043 -0.004 -0.013  0.109 -0.988]
+t: 83	 action: [-0.129 -0.408 -0.021  0.008 -0.013  0.089 -1.014]
+t: 84	 action: [-2.187e-01 -3.779e-01 -5.560e-02 -2.018e-04 -2.627e-02  1.041e-01 -9.832e-01]
+t: 85	 action: [-0.223 -0.362 -0.047  0.007 -0.029  0.082 -1.005]
+t: 86	 action: [-0.265 -0.433 -0.101  0.01  -0.039  0.091 -0.983]
+t: 87	 action: [-0.313 -0.414 -0.086  0.01  -0.04   0.077 -1.026]
+t: 88	 action: [-0.374 -0.406 -0.121  0.009 -0.058  0.082 -0.984]
+t: 89	 action: [-0.371 -0.376 -0.118  0.009 -0.052  0.071 -1.028]
+[07-31 00:30:52|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.984 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=90: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.7191
+INFO:cosmos_policy.experiments.robot.robot_utils:t=90: Selected seed 195 with value = 0.7191
+Query 1/1: Action query time = 0.984 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7191
+t=90: Selected seed 195 with value = 0.7191
+t: 90	 action: [ 0.017 -0.277  0.006 -0.004 -0.019  0.019 -0.99 ]
+t: 91	 action: [ 0.042 -0.307  0.044 -0.002 -0.027  0.016 -1.007]
+t: 92	 action: [-0.031 -0.338  0.021  0.005 -0.022  0.021 -0.988]
+t: 93	 action: [ 0.017 -0.369  0.054  0.01  -0.018  0.013 -1.014]
+t: 94	 action: [-0.037 -0.385  0.028  0.006 -0.016  0.009 -0.991]
+t: 95	 action: [-0.03  -0.372  0.017  0.021 -0.022  0.015 -1.046]
+t: 96	 action: [-0.13  -0.427 -0.056  0.018 -0.021  0.015 -0.99 ]
+t: 97	 action: [-0.149 -0.396 -0.09   0.03  -0.025  0.015 -1.039]
+t: 98	 action: [-0.242 -0.45  -0.127  0.012 -0.045  0.043 -0.986]
+t: 99	 action: [-0.257 -0.406 -0.15   0.028 -0.052  0.046 -1.015]
+t: 100	 action: [-0.341 -0.428 -0.231  0.015 -0.064  0.061 -0.98 ]
+t: 101	 action: [-0.321 -0.347 -0.245  0.027 -0.078  0.059 -1.007]
+t: 102	 action: [-0.441 -0.38  -0.283  0.023 -0.078  0.078 -0.983]
+t: 103	 action: [-0.411 -0.339 -0.323  0.04  -0.083  0.064 -1.034]
+t: 104	 action: [-0.471 -0.338 -0.339  0.027 -0.083  0.089 -0.975]
+t: 105	 action: [-0.42  -0.272 -0.375  0.046 -0.076  0.074 -1.031]
+[07-31 00:30:53|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.966 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=106: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.7490
+INFO:cosmos_policy.experiments.robot.robot_utils:t=106: Selected seed 195 with value = 0.7490
+Query 1/1: Action query time = 0.966 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7490
+t=106: Selected seed 195 with value = 0.7490
+t: 106	 action: [-0.023 -0.365 -0.119  0.002 -0.038 -0.014 -1.018]
+t: 107	 action: [ 0.007 -0.408 -0.129  0.013 -0.057 -0.033 -1.037]
+t: 108	 action: [-0.046 -0.37  -0.15   0.013 -0.06  -0.022 -1.019]
+t: 109	 action: [-0.027 -0.405 -0.147  0.023 -0.071 -0.034 -1.039]
+t: 110	 action: [-0.079 -0.379 -0.139  0.027 -0.048 -0.035 -1.011]
+t: 111	 action: [-0.086 -0.356 -0.176  0.04  -0.058 -0.039 -1.06 ]
+t: 112	 action: [-0.089 -0.36  -0.189  0.035 -0.057 -0.03  -1.011]
+t: 113	 action: [-0.114 -0.347 -0.23   0.044 -0.055 -0.038 -1.055]
+t: 114	 action: [-0.121 -0.408 -0.276  0.043 -0.069 -0.011 -1.025]
+t: 115	 action: [-0.127 -0.402 -0.254  0.037 -0.077 -0.019 -1.043]
+t: 116	 action: [-0.159 -0.433 -0.382  0.043 -0.066 -0.007 -1.031]
+t: 117	 action: [-0.166 -0.385 -0.414  0.039 -0.075 -0.014 -1.033]
+t: 118	 action: [-0.163 -0.332 -0.516  0.049 -0.061 -0.017 -1.016]
+t: 119	 action: [-0.195 -0.261 -0.59   0.061 -0.031 -0.022 -1.056]
+t: 120	 action: [-0.192 -0.254 -0.792  0.041 -0.039 -0.011 -1.017]
+t: 121	 action: [-0.223 -0.164 -0.842  0.052 -0.005 -0.015 -1.06 ]
+[07-31 00:30:54|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.977 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=122: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.7556
+INFO:cosmos_policy.experiments.robot.robot_utils:t=122: Selected seed 195 with value = 0.7556
+Query 1/1: Action query time = 0.977 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7556
+t=122: Selected seed 195 with value = 0.7556
+t: 122	 action: [-0.246 -0.28  -0.047 -0.023 -0.035  0.013 -1.009]
+t: 123	 action: [-1.796e-01 -3.416e-01 -8.382e-06 -4.276e-03 -4.121e-02 -6.229e-04 -1.018e+00]
+t: 124	 action: [-0.237 -0.297  0.015 -0.008 -0.047  0.009 -1.001]
+t: 125	 action: [-1.597e-01 -3.497e-01  3.905e-02  6.328e-03 -4.967e-02 -1.810e-04 -1.022e+00]
+t: 126	 action: [-0.217 -0.323  0.005  0.011 -0.022  0.003 -1.002]
+t: 127	 action: [-0.148 -0.333 -0.005  0.026 -0.039 -0.002 -1.052]
+t: 128	 action: [-0.195 -0.341 -0.004  0.018 -0.021  0.003 -0.993]
+t: 129	 action: [-1.449e-01 -3.466e-01 -5.779e-02  3.521e-02 -2.471e-02 -8.150e-04 -1.050e+00]
+t: 130	 action: [-0.249 -0.431 -0.132  0.022 -0.032  0.024 -1.008]
+t: 131	 action: [-0.23  -0.391 -0.212  0.034 -0.037  0.009 -1.032]
+t: 132	 action: [-0.205 -0.455 -0.39   0.047 -0.028  0.014 -1.004]
+t: 133	 action: [-0.172 -0.368 -0.538  0.054 -0.022  0.005 -1.027]
+t: 134	 action: [-0.197 -0.283 -0.667  0.073 -0.002  0.007 -1.001]
+t: 135	 action: [-0.15  -0.18  -0.75   0.083  0.008 -0.002 -1.047]
+t: 136	 action: [-0.099 -0.164 -0.914  0.076  0.018  0.003 -0.99 ]
+t: 137	 action: [-0.08  -0.032 -0.903  0.067  0.019 -0.005 -1.053]
+[07-31 00:30:55|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.974 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=138: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9587
+INFO:cosmos_policy.experiments.robot.robot_utils:t=138: Selected seed 195 with value = 0.9587
+Query 1/1: Action query time = 0.974 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9587
+t=138: Selected seed 195 with value = 0.9587
+t: 138	 action: [-0.217  0.718 -0.898  0.004  0.002  0.036 -0.975]
+t: 139	 action: [-0.221  0.73  -0.945 -0.009 -0.001  0.029 -0.997]
+t: 140	 action: [-0.255  0.792 -0.882 -0.007  0.006  0.035 -0.977]
+t: 141	 action: [-0.244  0.788 -0.928 -0.015  0.003  0.027 -0.997]
+t: 142	 action: [-0.317  0.864 -0.874 -0.021  0.011  0.04  -0.978]
+t: 143	 action: [-0.272  0.842 -0.939 -0.016 -0.003  0.031 -1.03 ]
+t: 144	 action: [-0.298  0.89  -0.847 -0.036  0.017  0.04  -0.978]
+t: 145	 action: [-0.253  0.855 -0.91  -0.021 -0.002  0.029 -1.03 ]
+t: 146	 action: [-0.312  0.918 -0.842 -0.023  0.01   0.038 -0.962]
+t: 147	 action: [-0.283  0.864 -0.796 -0.028  0.009  0.029 -0.994]
+t: 148	 action: [-0.319  0.928 -0.833 -0.029  0.013  0.038 -0.966]
+t: 149	 action: [-0.273  0.861 -0.77  -0.027  0.007  0.03  -0.995]
+t: 150	 action: [-0.311  0.943 -0.816 -0.038  0.01   0.044 -0.966]
+t: 151	 action: [-0.308  0.891 -0.779 -0.028 -0.003  0.033 -1.027]
+t: 152	 action: [-0.313  0.945 -0.804 -0.042  0.017  0.046 -0.967]
+t: 153	 action: [-0.315  0.88  -0.746 -0.025 -0.003  0.035 -1.031]
+[07-31 00:30:57|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.968 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=154: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9955
+INFO:cosmos_policy.experiments.robot.robot_utils:t=154: Selected seed 195 with value = 0.9955
+WARNING:imageio_ffmpeg:IMAGEIO FFMPEG_WRITER WARNING: input image is not divisible by macro_block_size=16, resizing from (896, 284) to (896, 288) to ensure video compatibility with most codecs and players. To prevent resizing, make your input image divisible by the macro_block_size or set the macro_block_size to 1 (risking incompatibility).
+INFO:cosmos_policy.experiments.robot.robot_utils:Success: True
+INFO:cosmos_policy.experiments.robot.robot_utils:# episodes completed so far: 7
+INFO:cosmos_policy.experiments.robot.robot_utils:# successes: 3 (42.9%)
+
+
 14%|█▍        | 7/50 [03:00<16:54, 23.59s/it]INFO:cosmos_policy.experiments.robot.robot_utils:
+Task: open the middle drawer of the cabinet
+INFO:cosmos_policy.experiments.robot.robot_utils:Starting episode 8...
+Query 1/1: Action query time = 0.968 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9955
+t=154: Selected seed 195 with value = 0.9955
+t: 154	 action: [-2.433e-01  8.719e-01 -7.849e-01 -3.378e-02  3.848e-04  4.374e-02 -9.501e-01]
+t: 155	 action: [-0.237  0.818 -0.698 -0.04   0.001  0.046 -0.94 ]
+t: 156	 action: [-0.244  0.896 -0.808 -0.032  0.01   0.051 -0.965]
+t: 157	 action: [-0.25   0.823 -0.724 -0.04   0.008  0.047 -0.976]
+t: 158	 action: [-0.252  0.893 -0.766 -0.045  0.013  0.056 -0.958]
+Saved rollout MP4 at path ./rollouts/None/2026_07_31-00_27_45--episode=7--success=True--task=open_the_middle_drawer_of_the_cabinet.mp4
+149 149 10 10
+Saved rollout MP4 at path ./rollouts/None/2026_07_31-00_27_45--with_future_img--episode=7--success=True--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: True
+# episodes completed so far: 7
+# successes: 3 (42.9%)
+
+Task: open the middle drawer of the cabinet
+Starting episode 8...
+[07-31 00:31:02|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.981 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=10: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.3423
+INFO:cosmos_policy.experiments.robot.robot_utils:t=10: Selected seed 195 with value = 0.3423
+Query 1/1: Action query time = 0.981 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3423
+t=10: Selected seed 195 with value = 0.3423
+t: 10	 action: [ 0.009 -0.111 -0.034  0.005  0.033 -0.003 -0.987]
+t: 11	 action: [ 0.099 -0.073  0.039  0.009  0.079  0.006 -0.982]
+t: 12	 action: [ 0.173 -0.07   0.018 -0.001  0.11   0.014 -1.002]
+t: 13	 action: [ 0.322 -0.005  0.088  0.002  0.147  0.026 -1.01 ]
+t: 14	 action: [ 3.828e-01 -5.610e-02  9.883e-02  3.687e-04  1.402e-01  2.623e-02 -1.016e+00]
+t: 15	 action: [ 0.532 -0.023  0.099  0.004  0.147  0.026 -1.039]
+t: 16	 action: [ 0.547  0.014  0.115 -0.014  0.159  0.062 -1.014]
+t: 17	 action: [ 0.614  0.05   0.104 -0.007  0.164  0.045 -1.041]
+t: 18	 action: [ 0.571  0.044  0.101 -0.018  0.144  0.112 -1.014]
+t: 19	 action: [ 0.6    0.09   0.104 -0.024  0.136  0.108 -1.02 ]
+t: 20	 action: [ 0.594  0.043  0.066 -0.037  0.124  0.128 -1.015]
+t: 21	 action: [ 0.622  0.091  0.073 -0.041  0.113  0.118 -1.014]
+t: 22	 action: [ 0.592  0.043  0.068 -0.054  0.111  0.138 -1.   ]
+t: 23	 action: [ 0.619  0.095  0.042 -0.059  0.083  0.123 -1.043]
+t: 24	 action: [ 0.584  0.041  0.029 -0.073  0.087  0.152 -1.003]
+t: 25	 action: [ 0.605  0.097  0.034 -0.079  0.067  0.132 -1.039]
+[07-31 00:31:04|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.971 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=26: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.3862
+INFO:cosmos_policy.experiments.robot.robot_utils:t=26: Selected seed 195 with value = 0.3862
+Query 1/1: Action query time = 0.971 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3862
+t=26: Selected seed 195 with value = 0.3862
+t: 26	 action: [ 0.556  0.047  0.052 -0.063  0.063  0.149 -1.022]
+t: 27	 action: [ 0.56   0.097  0.057 -0.057  0.06   0.151 -1.017]
+t: 28	 action: [ 0.498  0.06   0.028 -0.073  0.07   0.165 -1.017]
+t: 29	 action: [ 0.508  0.104  0.029 -0.069  0.07   0.168 -1.016]
+t: 30	 action: [ 0.485  0.052  0.033 -0.087  0.089  0.182 -1.006]
+t: 31	 action: [ 0.466  0.109  0.019 -0.08   0.096  0.173 -1.043]
+t: 32	 action: [ 0.433  0.062  0.008 -0.097  0.102  0.198 -1.005]
+t: 33	 action: [ 0.43   0.104  0.011 -0.096  0.126  0.191 -1.041]
+t: 34	 action: [ 0.388  0.048 -0.005 -0.097  0.16   0.2   -1.009]
+t: 35	 action: [ 0.398  0.075  0.012 -0.099  0.176  0.196 -1.011]
+t: 36	 action: [ 0.356  0.04  -0.03  -0.105  0.17   0.212 -1.008]
+t: 37	 action: [ 0.369  0.065 -0.001 -0.105  0.184  0.205 -1.006]
+t: 38	 action: [ 0.311  0.038 -0.039 -0.113  0.161  0.235 -0.998]
+t: 39	 action: [ 0.302  0.081 -0.044 -0.109  0.167  0.219 -1.039]
+t: 40	 action: [ 0.284  0.036 -0.064 -0.116  0.167  0.24  -1.001]
+t: 41	 action: [ 0.287  0.073 -0.057 -0.111  0.17   0.222 -1.034]
+[07-31 00:31:05|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.973 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=42: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.4555
+INFO:cosmos_policy.experiments.robot.robot_utils:t=42: Selected seed 195 with value = 0.4555
+Query 1/1: Action query time = 0.973 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4555
+t=42: Selected seed 195 with value = 0.4555
+t: 42	 action: [ 0.155  0.022 -0.033 -0.091  0.121  0.25  -1.   ]
+t: 43	 action: [ 0.161  0.051 -0.013 -0.092  0.121  0.24  -0.999]
+t: 44	 action: [ 0.13   0.014 -0.043 -0.098  0.106  0.261 -0.99 ]
+t: 45	 action: [ 0.148  0.048 -0.006 -0.098  0.104  0.254 -1.003]
+t: 46	 action: [ 0.164  0.017 -0.022 -0.111  0.087  0.267 -0.998]
+t: 47	 action: [ 0.168  0.045 -0.019 -0.107  0.087  0.246 -1.015]
+t: 48	 action: [ 0.154  0.009 -0.037 -0.113  0.077  0.27  -0.991]
+t: 49	 action: [ 0.169  0.035 -0.029 -0.109  0.082  0.254 -1.022]
+t: 50	 action: [ 0.176 -0.014 -0.076 -0.092  0.087  0.276 -0.989]
+t: 51	 action: [ 0.208 -0.013 -0.06  -0.085  0.085  0.268 -0.993]
+t: 52	 action: [ 0.195 -0.033 -0.093 -0.093  0.091  0.275 -0.986]
+t: 53	 action: [ 0.231 -0.028 -0.072 -0.085  0.092  0.263 -0.989]
+t: 54	 action: [ 0.216 -0.043 -0.071 -0.091  0.087  0.276 -0.99 ]
+t: 55	 action: [ 0.268 -0.012 -0.077 -0.082  0.096  0.257 -1.026]
+t: 56	 action: [ 0.234 -0.061 -0.091 -0.085  0.105  0.267 -0.987]
+t: 57	 action: [ 0.282 -0.033 -0.096 -0.076  0.118  0.249 -1.021]
+[07-31 00:31:06|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.970 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=58: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.5256
+INFO:cosmos_policy.experiments.robot.robot_utils:t=58: Selected seed 195 with value = 0.5256
+Query 1/1: Action query time = 0.970 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5256
+t=58: Selected seed 195 with value = 0.5256
+t: 58	 action: [ 0.2   -0.018 -0.042 -0.031  0.053  0.266 -1.006]
+t: 59	 action: [ 0.217 -0.009 -0.014 -0.043  0.054  0.229 -1.01 ]
+t: 60	 action: [ 0.22  -0.023 -0.047 -0.031  0.068  0.264 -1.008]
+t: 61	 action: [ 0.24  -0.011 -0.018 -0.043  0.078  0.226 -1.011]
+t: 62	 action: [ 0.271 -0.044 -0.048 -0.032  0.081  0.245 -1.009]
+t: 63	 action: [ 0.262 -0.03  -0.036 -0.038  0.085  0.212 -1.036]
+t: 64	 action: [ 0.313 -0.082 -0.06  -0.027  0.102  0.235 -1.008]
+t: 65	 action: [ 0.324 -0.047 -0.057 -0.036  0.118  0.2   -1.037]
+t: 66	 action: [ 0.367 -0.123 -0.16  -0.026  0.128  0.215 -1.021]
+t: 67	 action: [ 0.394 -0.101 -0.157 -0.02   0.122  0.181 -1.019]
+t: 68	 action: [ 0.417 -0.156 -0.204 -0.019  0.131  0.21  -1.017]
+t: 69	 action: [ 0.467 -0.136 -0.201 -0.019  0.127  0.166 -1.01 ]
+t: 70	 action: [ 0.445 -0.235 -0.182 -0.006  0.143  0.198 -1.014]
+t: 71	 action: [ 0.469 -0.181 -0.156 -0.007  0.125  0.166 -1.045]
+t: 72	 action: [ 0.472 -0.279 -0.222 -0.002  0.135  0.184 -1.014]
+t: 73	 action: [ 0.447 -0.23  -0.209 -0.005  0.113  0.151 -1.034]
+[07-31 00:31:07|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.964 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=74: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.5953
+INFO:cosmos_policy.experiments.robot.robot_utils:t=74: Selected seed 195 with value = 0.5953
+Query 1/1: Action query time = 0.964 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5953
+t=74: Selected seed 195 with value = 0.5953
+t: 74	 action: [ 0.145 -0.388 -0.239  0.003  0.124  0.118 -1.009]
+t: 75	 action: [ 0.155 -0.379 -0.177  0.011  0.112  0.1   -1.019]
+t: 76	 action: [ 1.102e-01 -4.044e-01 -2.581e-01 -6.186e-04  9.098e-02  1.111e-01 -9.982e-01]
+t: 77	 action: [ 0.109 -0.38  -0.195  0.006  0.079  0.086 -1.024]
+t: 78	 action: [ 0.105 -0.427 -0.222  0.004  0.066  0.094 -0.998]
+t: 79	 action: [ 0.082 -0.379 -0.183  0.007  0.047  0.084 -1.041]
+t: 80	 action: [ 0.069 -0.406 -0.231  0.002  0.037  0.082 -0.997]
+t: 81	 action: [ 4.376e-02 -3.544e-01 -2.016e-01  1.011e-03  2.746e-02  6.908e-02 -1.047e+00]
+t: 82	 action: [ 0.011 -0.385 -0.182 -0.002  0.014  0.069 -1.001]
+t: 83	 action: [ 2.697e-02 -3.787e-01 -1.310e-01 -9.299e-04  1.261e-02  5.606e-02 -1.022e+00]
+t: 84	 action: [-0.051 -0.374 -0.165 -0.003 -0.005  0.066 -1.001]
+t: 85	 action: [-0.015 -0.345 -0.101 -0.005  0.005  0.053 -1.023]
+t: 86	 action: [-0.08  -0.428 -0.166  0.002 -0.003  0.065 -0.997]
+t: 87	 action: [-0.095 -0.408 -0.114  0.001 -0.006  0.053 -1.038]
+t: 88	 action: [-0.159 -0.384 -0.171  0.002 -0.018  0.062 -1.002]
+t: 89	 action: [-0.184 -0.362 -0.119 -0.001 -0.019  0.053 -1.038]
+[07-31 00:31:09|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.972 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=90: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.6455
+INFO:cosmos_policy.experiments.robot.robot_utils:t=90: Selected seed 195 with value = 0.6455
+Query 1/1: Action query time = 0.972 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6455
+t=90: Selected seed 195 with value = 0.6455
+t: 90	 action: [ 0.057 -0.271 -0.284 -0.019  0.019  0.047 -1.   ]
+t: 91	 action: [ 0.067 -0.239 -0.211 -0.011  0.018  0.044 -1.018]
+t: 92	 action: [ 0.011 -0.276 -0.16  -0.019  0.008  0.058 -0.993]
+t: 93	 action: [ 0.03  -0.263 -0.133 -0.012  0.014  0.047 -1.02 ]
+t: 94	 action: [-0.024 -0.313 -0.123 -0.012  0.007  0.037 -1.003]
+t: 95	 action: [-0.062 -0.251 -0.119 -0.003 -0.007  0.04  -1.045]
+t: 96	 action: [-0.131 -0.31  -0.187 -0.008 -0.011  0.054 -1.003]
+t: 97	 action: [-0.225 -0.257 -0.209 -0.002 -0.026  0.046 -1.04 ]
+t: 98	 action: [-0.346 -0.334 -0.157 -0.036 -0.063  0.084 -0.981]
+t: 99	 action: [-0.369 -0.284 -0.191 -0.015 -0.081  0.085 -1.012]
+t: 100	 action: [-0.478 -0.277 -0.202 -0.04  -0.087  0.105 -0.962]
+t: 101	 action: [-0.469 -0.243 -0.231 -0.017 -0.099  0.105 -1.   ]
+t: 102	 action: [-0.607 -0.253 -0.221 -0.013 -0.107  0.118 -0.964]
+t: 103	 action: [-0.594 -0.234 -0.204 -0.006 -0.109  0.104 -1.025]
+t: 104	 action: [-0.599 -0.231 -0.205 -0.018 -0.121  0.131 -0.943]
+t: 105	 action: [-0.559 -0.195 -0.147 -0.011 -0.104  0.119 -1.021]
+[07-31 00:31:10|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.971 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=106: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.7447
+INFO:cosmos_policy.experiments.robot.robot_utils:t=106: Selected seed 195 with value = 0.7447
+Query 1/1: Action query time = 0.971 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7447
+t=106: Selected seed 195 with value = 0.7447
+t: 106	 action: [-0.079 -0.295  0.031 -0.011 -0.024  0.012 -0.991]
+t: 107	 action: [-0.03  -0.326  0.07  -0.007 -0.008  0.008 -1.012]
+t: 108	 action: [-1.750e-01 -3.311e-01 -6.138e-04 -2.360e-03 -3.780e-02  1.706e-02 -9.927e-01]
+t: 109	 action: [-0.151 -0.357  0.043  0.002 -0.02   0.013 -1.004]
+t: 110	 action: [-0.153 -0.373 -0.012  0.003 -0.035  0.008 -0.993]
+t: 111	 action: [-0.171 -0.361  0.002  0.009 -0.034  0.012 -1.044]
+t: 112	 action: [-0.221 -0.401 -0.06   0.005 -0.05   0.02  -0.995]
+t: 113	 action: [-0.239 -0.373 -0.072  0.016 -0.051  0.018 -1.036]
+t: 114	 action: [-0.239 -0.412 -0.111  0.004 -0.072  0.039 -0.978]
+t: 115	 action: [-0.205 -0.407 -0.097  0.016 -0.062  0.037 -1.006]
+t: 116	 action: [-0.248 -0.422 -0.2    0.012 -0.09   0.049 -0.987]
+t: 117	 action: [-0.237 -0.385 -0.193  0.02  -0.083  0.043 -0.998]
+t: 118	 action: [-0.273 -0.407 -0.217  0.025 -0.09   0.067 -0.979]
+t: 119	 action: [-0.265 -0.359 -0.274  0.043 -0.068  0.055 -1.036]
+t: 120	 action: [-0.265 -0.4   -0.297  0.042 -0.095  0.073 -0.983]
+t: 121	 action: [-0.265 -0.32  -0.382  0.06  -0.061  0.056 -1.035]
+[07-31 00:31:11|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.985 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=122: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.7584
+INFO:cosmos_policy.experiments.robot.robot_utils:t=122: Selected seed 195 with value = 0.7584
+Query 1/1: Action query time = 0.985 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7584
+t=122: Selected seed 195 with value = 0.7584
+t: 122	 action: [-0.005 -0.417 -0.282  0.011 -0.017 -0.015 -1.027]
+t: 123	 action: [ 0.026 -0.417 -0.313  0.027 -0.034 -0.037 -1.045]
+t: 124	 action: [-0.04  -0.399 -0.431  0.033 -0.032 -0.034 -1.028]
+t: 125	 action: [-0.007 -0.404 -0.414  0.042 -0.039 -0.053 -1.048]
+t: 126	 action: [-0.064 -0.376 -0.426  0.044 -0.015 -0.048 -1.018]
+t: 127	 action: [-0.074 -0.323 -0.454  0.056 -0.028 -0.053 -1.07 ]
+t: 128	 action: [-0.087 -0.331 -0.531  0.05  -0.02  -0.05  -1.02 ]
+t: 129	 action: [-0.108 -0.306 -0.528  0.062 -0.026 -0.067 -1.071]
+t: 130	 action: [-0.141 -0.391 -0.626  0.056 -0.034 -0.004 -1.04 ]
+t: 131	 action: [-0.124 -0.325 -0.604  0.049 -0.043 -0.012 -1.043]
+t: 132	 action: [-1.542e-01 -3.865e-01 -6.739e-01  5.801e-02 -3.209e-02  3.318e-04 -1.050e+00]
+t: 133	 action: [-0.119 -0.294 -0.701  0.049 -0.039 -0.012 -1.042]
+t: 134	 action: [-0.093 -0.241 -0.735  0.057 -0.026 -0.023 -1.027]
+t: 135	 action: [-0.093 -0.205 -0.723  0.074 -0.017 -0.028 -1.063]
+t: 136	 action: [-0.1   -0.19  -0.783  0.045 -0.009 -0.017 -1.034]
+t: 137	 action: [-0.11  -0.11  -0.83   0.06   0.004 -0.022 -1.069]
+[07-31 00:31:12|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.973 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=138: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9603
+INFO:cosmos_policy.experiments.robot.robot_utils:t=138: Selected seed 195 with value = 0.9603
+Query 1/1: Action query time = 0.973 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9603
+t=138: Selected seed 195 with value = 0.9603
+t: 138	 action: [-0.236  0.31  -0.874  0.035 -0.002  0.027 -0.991]
+t: 139	 action: [-0.261  0.382 -0.9    0.024  0.002  0.029 -1.013]
+t: 140	 action: [-0.198  0.611 -0.886  0.016 -0.001  0.023 -0.993]
+t: 141	 action: [-0.214  0.681 -0.89   0.009 -0.002  0.023 -1.017]
+t: 142	 action: [-0.258  0.672 -0.88   0.006  0.016  0.026 -0.988]
+t: 143	 action: [-0.237  0.542 -0.897  0.009  0.003  0.023 -1.038]
+t: 144	 action: [-1.847e-01  8.643e-01 -8.774e-01 -1.597e-05  2.103e-02  2.408e-02 -9.915e-01]
+t: 145	 action: [-0.197  0.808 -0.895 -0.001  0.003  0.016 -1.04 ]
+t: 146	 action: [-0.214  0.623 -0.897  0.022  0.008  0.036 -0.996]
+t: 147	 action: [-0.19   0.632 -0.895  0.025  0.013  0.02  -1.019]
+t: 148	 action: [-0.184  0.776 -0.885  0.006  0.009  0.033 -0.998]
+t: 149	 action: [-0.139  0.788 -0.871  0.01   0.009  0.019 -1.017]
+t: 150	 action: [-0.245  0.871 -0.896  0.006  0.023  0.028 -0.993]
+t: 151	 action: [-0.21   0.802 -0.911  0.012  0.005  0.012 -1.043]
+t: 152	 action: [-0.19   0.924 -0.874 -0.003  0.027  0.024 -0.993]
+t: 153	 action: [-0.161  0.885 -0.882  0.002  0.003  0.011 -1.049]
+[07-31 00:31:14|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.973 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=154: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9491
+INFO:cosmos_policy.experiments.robot.robot_utils:t=154: Selected seed 195 with value = 0.9491
+WARNING:imageio_ffmpeg:IMAGEIO FFMPEG_WRITER WARNING: input image is not divisible by macro_block_size=16, resizing from (896, 284) to (896, 288) to ensure video compatibility with most codecs and players. To prevent resizing, make your input image divisible by the macro_block_size or set the macro_block_size to 1 (risking incompatibility).
+INFO:cosmos_policy.experiments.robot.robot_utils:Success: True
+INFO:cosmos_policy.experiments.robot.robot_utils:# episodes completed so far: 8
+INFO:cosmos_policy.experiments.robot.robot_utils:# successes: 4 (50.0%)
+
+
 16%|█▌        | 8/50 [03:17<15:03, 21.51s/it]INFO:cosmos_policy.experiments.robot.robot_utils:
+Task: open the middle drawer of the cabinet
+INFO:cosmos_policy.experiments.robot.robot_utils:Starting episode 9...
+Query 1/1: Action query time = 0.973 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9491
+t=154: Selected seed 195 with value = 0.9491
+t: 154	 action: [-0.311  0.761 -0.537  0.009 -0.031  0.078 -1.009]
+t: 155	 action: [-3.086e-01  7.520e-01 -5.366e-01 -2.087e-04 -3.048e-02  6.780e-02 -1.003e+00]
+t: 156	 action: [-0.317  0.816 -0.573  0.007 -0.023  0.076 -1.007]
+t: 157	 action: [-0.309  0.77  -0.572 -0.003 -0.03   0.063 -1.011]
+t: 158	 action: [-0.308  0.865 -0.507  0.004 -0.011  0.079 -1.02 ]
+t: 159	 action: [-0.309  0.84  -0.549  0.005 -0.008  0.066 -1.038]
+t: 160	 action: [-0.303  0.886 -0.528 -0.002 -0.003  0.074 -1.014]
+t: 161	 action: [-2.931e-01  8.422e-01 -5.370e-01  8.861e-04 -5.593e-03  5.821e-02 -1.039e+00]
+t: 162	 action: [-0.18   0.783 -0.368 -0.011 -0.014  0.042 -0.987]
+Saved rollout MP4 at path ./rollouts/None/2026_07_31-00_27_45--episode=8--success=True--task=open_the_middle_drawer_of_the_cabinet.mp4
+153 153 10 10
+Saved rollout MP4 at path ./rollouts/None/2026_07_31-00_27_45--with_future_img--episode=8--success=True--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: True
+# episodes completed so far: 8
+# successes: 4 (50.0%)
+
+Task: open the middle drawer of the cabinet
+Starting episode 9...
+[07-31 00:31:19|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.973 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=10: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.3461
+INFO:cosmos_policy.experiments.robot.robot_utils:t=10: Selected seed 195 with value = 0.3461
+Query 1/1: Action query time = 0.973 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3461
+t=10: Selected seed 195 with value = 0.3461
+t: 10	 action: [ 1.507e-01  5.394e-04  1.069e-02 -1.208e-03  6.631e-02  7.962e-03 -9.950e-01]
+t: 11	 action: [ 0.261  0.078  0.06  -0.013  0.09   0.018 -0.993]
+t: 12	 action: [ 0.4    0.044  0.035 -0.009  0.105  0.028 -1.017]
+t: 13	 action: [ 0.528  0.112  0.093 -0.017  0.127  0.042 -1.02 ]
+t: 14	 action: [ 0.584  0.048  0.069 -0.021  0.117  0.045 -1.023]
+t: 15	 action: [ 0.654  0.113  0.09  -0.017  0.11   0.044 -1.046]
+t: 16	 action: [ 0.681  0.078  0.068 -0.031  0.115  0.091 -1.024]
+t: 17	 action: [ 0.718  0.132  0.074 -0.026  0.098  0.07  -1.05 ]
+t: 18	 action: [ 0.666  0.071  0.075 -0.034  0.056  0.144 -1.03 ]
+t: 19	 action: [ 0.696  0.091  0.057 -0.038  0.048  0.136 -1.021]
+t: 20	 action: [ 0.674  0.067  0.054 -0.047  0.035  0.158 -1.027]
+t: 21	 action: [ 0.7    0.102  0.027 -0.048  0.02   0.145 -1.018]
+t: 22	 action: [ 0.655  0.054  0.056 -0.06   0.028  0.178 -1.012]
+t: 23	 action: [ 0.655  0.091  0.022 -0.053  0.011  0.163 -1.046]
+t: 24	 action: [ 0.613  0.065  0.027 -0.08   0.02   0.189 -1.011]
+t: 25	 action: [ 0.601  0.113  0.017 -0.068  0.008  0.169 -1.04 ]
+[07-31 00:31:21|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.976 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=26: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.3892
+INFO:cosmos_policy.experiments.robot.robot_utils:t=26: Selected seed 195 with value = 0.3892
+Query 1/1: Action query time = 0.976 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3892
+t=26: Selected seed 195 with value = 0.3892
+t: 26	 action: [ 0.432  0.034 -0.01  -0.057  0.048  0.2   -1.006]
+t: 27	 action: [ 0.426  0.066 -0.002 -0.054  0.051  0.214 -0.996]
+t: 28	 action: [ 0.333  0.041 -0.045 -0.071  0.063  0.225 -1.005]
+t: 29	 action: [ 0.326  0.077 -0.025 -0.07   0.069  0.237 -0.995]
+t: 30	 action: [ 0.262  0.044 -0.065 -0.098  0.067  0.256 -1.003]
+t: 31	 action: [ 0.214  0.092 -0.078 -0.087  0.073  0.248 -1.025]
+t: 32	 action: [ 0.198  0.056 -0.104 -0.109  0.085  0.277 -1.004]
+t: 33	 action: [ 0.166  0.097 -0.122 -0.101  0.103  0.265 -1.023]
+t: 34	 action: [ 0.105  0.042 -0.123 -0.093  0.126  0.277 -0.999]
+t: 35	 action: [ 0.146  0.055 -0.132 -0.088  0.141  0.26  -0.999]
+t: 36	 action: [ 0.123  0.037 -0.165 -0.098  0.141  0.282 -0.999]
+t: 37	 action: [ 0.167  0.048 -0.157 -0.089  0.155  0.262 -1.007]
+t: 38	 action: [ 0.142  0.029 -0.17  -0.106  0.134  0.292 -0.993]
+t: 39	 action: [ 0.165  0.067 -0.198 -0.091  0.132  0.267 -1.032]
+t: 40	 action: [ 0.158  0.025 -0.216 -0.098  0.144  0.283 -0.996]
+t: 41	 action: [ 0.183  0.051 -0.225 -0.09   0.14   0.256 -1.035]
+[07-31 00:31:22|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.971 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=42: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.4573
+INFO:cosmos_policy.experiments.robot.robot_utils:t=42: Selected seed 195 with value = 0.4573
+Query 1/1: Action query time = 0.971 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4573
+t=42: Selected seed 195 with value = 0.4573
+t: 42	 action: [ 0.118  0.049 -0.105 -0.085  0.131  0.29  -0.988]
+t: 43	 action: [ 0.129  0.067 -0.117 -0.082  0.128  0.275 -0.992]
+t: 44	 action: [ 0.146  0.05  -0.117 -0.083  0.145  0.29  -0.986]
+t: 45	 action: [ 0.169  0.066 -0.106 -0.076  0.146  0.27  -1.002]
+t: 46	 action: [ 0.192  0.036 -0.124 -0.088  0.148  0.287 -0.993]
+t: 47	 action: [ 0.209  0.053 -0.131 -0.079  0.148  0.264 -1.028]
+t: 48	 action: [ 0.224  0.031 -0.144 -0.081  0.166  0.276 -0.991]
+t: 49	 action: [ 0.248  0.046 -0.142 -0.073  0.173  0.253 -1.036]
+t: 50	 action: [ 0.226 -0.005 -0.148 -0.07   0.191  0.243 -1.009]
+t: 51	 action: [ 0.251 -0.017 -0.193 -0.05   0.199  0.221 -1.014]
+t: 52	 action: [ 0.27  -0.037 -0.156 -0.064  0.201  0.223 -1.007]
+t: 53	 action: [ 0.296 -0.048 -0.187 -0.044  0.209  0.2   -1.012]
+t: 54	 action: [ 0.28  -0.081 -0.147 -0.059  0.204  0.196 -1.007]
+t: 55	 action: [ 0.291 -0.079 -0.153 -0.045  0.203  0.176 -1.048]
+t: 56	 action: [ 0.294 -0.125 -0.167 -0.048  0.209  0.174 -1.008]
+t: 57	 action: [ 0.3   -0.12  -0.172 -0.039  0.207  0.164 -1.043]
+[07-31 00:31:23|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.978 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=58: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.5508
+INFO:cosmos_policy.experiments.robot.robot_utils:t=58: Selected seed 195 with value = 0.5508
+Query 1/1: Action query time = 0.978 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5508
+t=58: Selected seed 195 with value = 0.5508
+t: 58	 action: [ 0.221 -0.042 -0.097 -0.057  0.228  0.221 -0.997]
+t: 59	 action: [ 0.251 -0.054 -0.035 -0.038  0.217  0.197 -1.004]
+t: 60	 action: [ 0.266 -0.062 -0.055 -0.05   0.214  0.218 -1.008]
+t: 61	 action: [ 0.312 -0.083 -0.013 -0.029  0.195  0.183 -1.021]
+t: 62	 action: [ 0.329 -0.12  -0.018 -0.038  0.199  0.194 -1.01 ]
+t: 63	 action: [ 0.339 -0.144 -0.017 -0.019  0.172  0.17  -1.039]
+t: 64	 action: [ 0.342 -0.195 -0.036 -0.021  0.177  0.178 -1.017]
+t: 65	 action: [ 0.352 -0.197 -0.038 -0.01   0.145  0.155 -1.045]
+t: 66	 action: [ 0.334 -0.315 -0.065 -0.019  0.167  0.159 -1.031]
+t: 67	 action: [ 0.348 -0.311 -0.074  0.007  0.135  0.127 -1.028]
+t: 68	 action: [ 0.288 -0.38  -0.088  0.003  0.131  0.157 -1.03 ]
+t: 69	 action: [ 0.289 -0.361 -0.091  0.013  0.085  0.122 -1.026]
+t: 70	 action: [ 0.242 -0.397 -0.097  0.008  0.091  0.135 -1.028]
+t: 71	 action: [ 0.21  -0.417 -0.074  0.015  0.049  0.109 -1.043]
+t: 72	 action: [ 0.182 -0.408 -0.133  0.013  0.039  0.124 -1.027]
+t: 73	 action: [ 0.138 -0.413 -0.082  0.015  0.01   0.104 -1.04 ]
+[07-31 00:31:24|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.970 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=74: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.6280
+INFO:cosmos_policy.experiments.robot.robot_utils:t=74: Selected seed 195 with value = 0.6280
+Query 1/1: Action query time = 0.970 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6280
+t=74: Selected seed 195 with value = 0.6280
+t: 74	 action: [ 0.128 -0.365  0.012 -0.03   0.049  0.127 -0.995]
+t: 75	 action: [ 0.125 -0.406  0.034 -0.011  0.024  0.121 -1.012]
+t: 76	 action: [ 0.094 -0.387 -0.035 -0.006  0.019  0.137 -0.992]
+t: 77	 action: [ 0.082 -0.385  0.022 -0.002  0.008  0.115 -1.017]
+t: 78	 action: [ 0.063 -0.38  -0.01   0.001  0.013  0.122 -0.986]
+t: 79	 action: [ 4.902e-02 -4.665e-01 -3.778e-03  9.800e-03  1.198e-04  1.240e-01 -1.033e+00]
+t: 80	 action: [ 2.579e-02 -3.706e-01 -6.947e-02  5.775e-04 -1.168e-02  1.230e-01 -9.875e-01]
+t: 81	 action: [ 0.018 -0.405 -0.048  0.009 -0.02   0.109 -1.032]
+t: 82	 action: [-2.227e-02 -4.506e-01 -6.294e-02  5.881e-05 -4.275e-02  1.027e-01 -1.010e+00]
+t: 83	 action: [-0.038 -0.389 -0.037  0.009 -0.055  0.083 -1.021]
+t: 84	 action: [-0.083 -0.43  -0.088  0.002 -0.064  0.101 -1.002]
+t: 85	 action: [-0.103 -0.354 -0.08   0.008 -0.069  0.079 -1.009]
+t: 86	 action: [-0.136 -0.422 -0.107  0.005 -0.078  0.089 -1.002]
+t: 87	 action: [-0.195 -0.38  -0.11   0.016 -0.076  0.075 -1.035]
+t: 88	 action: [-0.184 -0.394 -0.109  0.004 -0.087  0.087 -0.998]
+t: 89	 action: [-0.241 -0.341 -0.13   0.014 -0.077  0.074 -1.031]
+[07-31 00:31:26|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.965 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=90: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.7265
+INFO:cosmos_policy.experiments.robot.robot_utils:t=90: Selected seed 195 with value = 0.7265
+Query 1/1: Action query time = 0.965 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7265
+t=90: Selected seed 195 with value = 0.7265
+t: 90	 action: [ 0.032 -0.245 -0.018 -0.009 -0.009  0.058 -0.971]
+t: 91	 action: [ 0.046 -0.213 -0.021 -0.006 -0.021  0.059 -0.979]
+t: 92	 action: [-0.032 -0.22  -0.039 -0.004 -0.023  0.077 -0.975]
+t: 93	 action: [-1.293e-02 -2.206e-01 -3.484e-02  2.388e-04 -2.378e-02  6.733e-02 -1.003e+00]
+t: 94	 action: [-0.058 -0.187 -0.094 -0.002 -0.018  0.076 -0.978]
+t: 95	 action: [-0.081 -0.224 -0.09   0.003 -0.029  0.068 -1.028]
+t: 96	 action: [-0.163 -0.224 -0.108 -0.003 -0.023  0.098 -0.98 ]
+t: 97	 action: [-0.194 -0.229 -0.153  0.006 -0.027  0.076 -1.028]
+t: 98	 action: [-0.253 -0.312 -0.044 -0.012 -0.03   0.108 -0.987]
+t: 99	 action: [-2.914e-01 -2.374e-01 -9.657e-02  5.332e-04 -3.288e-02  9.007e-02 -1.007e+00]
+t: 100	 action: [-0.34  -0.321 -0.089 -0.018 -0.043  0.126 -0.984]
+t: 101	 action: [-0.355 -0.235 -0.149 -0.001 -0.044  0.11  -1.002]
+t: 102	 action: [-4.082e-01 -2.807e-01 -1.666e-01  2.099e-05 -5.326e-02  1.176e-01 -9.874e-01]
+t: 103	 action: [-0.409 -0.239 -0.204  0.008 -0.056  0.095 -1.039]
+t: 104	 action: [-0.457 -0.279 -0.181 -0.003 -0.079  0.137 -0.98 ]
+t: 105	 action: [-0.442 -0.22  -0.199  0.006 -0.064  0.112 -1.028]
+[07-31 00:31:27|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.958 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=106: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.7695
+INFO:cosmos_policy.experiments.robot.robot_utils:t=106: Selected seed 195 with value = 0.7695
+Query 1/1: Action query time = 0.958 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7695
+t=106: Selected seed 195 with value = 0.7695
+t: 106	 action: [-0.217 -0.384 -0.115 -0.007 -0.006  0.024 -0.995]
+t: 107	 action: [-2.256e-01 -4.344e-01 -8.817e-02  7.821e-03 -3.877e-04  3.474e-02 -1.014e+00]
+t: 108	 action: [-0.264 -0.372 -0.152  0.002 -0.01   0.031 -0.986]
+t: 109	 action: [-2.663e-01 -3.943e-01 -1.168e-01  2.404e-02  6.367e-04  4.297e-02 -1.015e+00]
+t: 110	 action: [-2.571e-01 -4.043e-01 -2.059e-01  2.766e-02  1.466e-04  4.207e-02 -9.919e-01]
+t: 111	 action: [-0.307 -0.457 -0.21   0.046  0.001  0.049 -1.038]
+t: 112	 action: [-0.31  -0.377 -0.377  0.037 -0.002  0.057 -0.981]
+t: 113	 action: [-0.323 -0.371 -0.486  0.056  0.005  0.055 -1.03 ]
+t: 114	 action: [-0.321 -0.395 -0.298  0.041 -0.022  0.063 -0.997]
+t: 115	 action: [-0.302 -0.379 -0.375  0.052 -0.007  0.064 -1.021]
+t: 116	 action: [-0.326 -0.315 -0.425  0.054 -0.028  0.07  -0.992]
+t: 117	 action: [-0.292 -0.276 -0.543  0.054 -0.006  0.076 -1.021]
+t: 118	 action: [-0.389 -0.238 -0.732  0.073 -0.026  0.066 -0.995]
+t: 119	 action: [-0.367 -0.118 -0.829  0.076 -0.023  0.069 -1.048]
+t: 120	 action: [-0.389 -0.109 -0.871  0.07  -0.031  0.072 -0.985]
+t: 121	 action: [-0.351  0.066 -0.885  0.06  -0.025  0.081 -1.044]
+[07-31 00:31:28|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.957 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=122: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.8146
+INFO:cosmos_policy.experiments.robot.robot_utils:t=122: Selected seed 195 with value = 0.8146
+Query 1/1: Action query time = 0.957 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8146
+t=122: Selected seed 195 with value = 0.8146
+t: 122	 action: [-0.419  0.332 -0.853  0.023 -0.052  0.105 -0.999]
+t: 123	 action: [-0.382  0.291 -0.906  0.017 -0.068  0.1   -1.   ]
+t: 124	 action: [-0.448  0.497 -0.849  0.01  -0.047  0.108 -0.994]
+t: 125	 action: [-0.395  0.448 -0.898  0.009 -0.054  0.092 -0.998]
+t: 126	 action: [-0.529  0.624 -0.839  0.011 -0.051  0.116 -0.995]
+t: 127	 action: [-0.435  0.539 -0.881  0.018 -0.053  0.103 -1.019]
+t: 128	 action: [-0.483  0.692 -0.833  0.002 -0.044  0.107 -0.987]
+t: 129	 action: [-0.401  0.645 -0.865  0.006 -0.038  0.087 -1.019]
+t: 130	 action: [-0.424  0.724 -0.763  0.005 -0.029  0.103 -0.98 ]
+t: 131	 action: [-0.405  0.695 -0.792 -0.004 -0.024  0.087 -1.005]
+t: 132	 action: [-0.403  0.806 -0.757  0.001 -0.019  0.097 -0.983]
+t: 133	 action: [-0.365  0.735 -0.757 -0.005 -0.012  0.076 -1.005]
+t: 134	 action: [-0.452  0.82  -0.753 -0.004 -0.021  0.093 -0.982]
+t: 135	 action: [-0.389  0.774 -0.75  -0.003 -0.012  0.081 -1.024]
+t: 136	 action: [-0.387  0.867 -0.745 -0.005 -0.008  0.09  -0.977]
+t: 137	 action: [-0.352  0.797 -0.688 -0.004 -0.006  0.071 -1.034]
+[07-31 00:31:29|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.962 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=138: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.6947
+INFO:cosmos_policy.experiments.robot.robot_utils:t=138: Selected seed 195 with value = 0.6947
+Query 1/1: Action query time = 0.962 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6947
+t=138: Selected seed 195 with value = 0.6947
+t: 138	 action: [-0.098 -0.42  -0.009  0.005 -0.039  0.035 -0.992]
+t: 139	 action: [-0.092 -0.452  0.005  0.012 -0.046  0.03  -1.012]
+t: 140	 action: [-0.139 -0.41  -0.058  0.006 -0.053  0.034 -0.989]
+t: 141	 action: [-0.149 -0.434 -0.02   0.018 -0.054  0.03  -1.011]
+t: 142	 action: [-0.163 -0.427 -0.117  0.009 -0.052  0.026 -0.991]
+t: 143	 action: [-0.22  -0.471 -0.085  0.024 -0.048  0.027 -1.036]
+t: 144	 action: [-0.21  -0.404 -0.146  0.014 -0.059  0.027 -0.987]
+t: 145	 action: [-0.253 -0.425 -0.135  0.026 -0.054  0.027 -1.032]
+t: 146	 action: [-0.27  -0.388 -0.138  0.015 -0.065  0.03  -0.996]
+t: 147	 action: [-0.281 -0.356 -0.109  0.023 -0.07   0.023 -1.017]
+t: 148	 action: [-0.254 -0.396 -0.165  0.016 -0.062  0.03  -0.996]
+t: 149	 action: [-0.249 -0.351 -0.169  0.02  -0.065  0.028 -1.011]
+t: 150	 action: [-0.246 -0.362 -0.276  0.014 -0.067  0.024 -0.991]
+t: 151	 action: [-0.216 -0.36  -0.256  0.027 -0.057  0.022 -1.035]
+t: 152	 action: [-0.222 -0.346 -0.372  0.013 -0.055  0.024 -0.991]
+t: 153	 action: [-0.197 -0.344 -0.321  0.021 -0.047  0.028 -1.037]
+[07-31 00:31:31|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.967 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=154: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.7451
+INFO:cosmos_policy.experiments.robot.robot_utils:t=154: Selected seed 195 with value = 0.7451
+Query 1/1: Action query time = 0.967 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7451
+t=154: Selected seed 195 with value = 0.7451
+t: 154	 action: [-0.165 -0.354 -0.134 -0.004 -0.016  0.023 -0.992]
+t: 155	 action: [-0.172 -0.436 -0.139  0.009 -0.014  0.021 -1.012]
+t: 156	 action: [-2.092e-01 -3.430e-01 -1.455e-01  6.163e-04 -2.673e-02  1.339e-02 -9.840e-01]
+t: 157	 action: [-0.224 -0.407 -0.13   0.017 -0.024  0.013 -1.018]
+t: 158	 action: [-0.216 -0.376 -0.209  0.02  -0.014  0.019 -0.987]
+t: 159	 action: [-0.265 -0.419 -0.243  0.035 -0.022  0.021 -1.035]
+t: 160	 action: [-0.26  -0.37  -0.244  0.022 -0.021  0.011 -0.981]
+t: 161	 action: [-0.293 -0.37  -0.338  0.038 -0.026  0.012 -1.03 ]
+t: 162	 action: [-0.292 -0.345 -0.236  0.025 -0.032  0.036 -0.988]
+t: 163	 action: [-0.302 -0.381 -0.278  0.035 -0.035  0.038 -1.024]
+t: 164	 action: [-0.283 -0.339 -0.341  0.036 -0.038  0.029 -0.991]
+t: 165	 action: [-0.293 -0.353 -0.425  0.036 -0.038  0.04  -1.025]
+t: 166	 action: [-0.343 -0.278 -0.667  0.045 -0.038  0.036 -0.989]
+t: 167	 action: [-0.328 -0.22  -0.75   0.045 -0.046  0.036 -1.047]
+t: 168	 action: [-0.312 -0.187 -0.859  0.041 -0.039  0.034 -0.985]
+t: 169	 action: [-0.315 -0.076 -0.887  0.035 -0.045  0.04  -1.048]
+[07-31 00:31:32|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.995 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=170: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.8022
+INFO:cosmos_policy.experiments.robot.robot_utils:t=170: Selected seed 195 with value = 0.8022
+Query 1/1: Action query time = 0.995 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8022
+t=170: Selected seed 195 with value = 0.8022
+t: 170	 action: [-0.422  0.336 -0.859  0.021 -0.053  0.104 -0.999]
+t: 171	 action: [-0.38   0.296 -0.902  0.016 -0.069  0.099 -0.998]
+t: 172	 action: [-0.443  0.498 -0.853  0.01  -0.046  0.105 -0.993]
+t: 173	 action: [-0.389  0.448 -0.896  0.007 -0.054  0.09  -0.997]
+t: 174	 action: [-0.517  0.627 -0.845  0.01  -0.049  0.114 -0.994]
+t: 175	 action: [-0.422  0.537 -0.879  0.018 -0.049  0.101 -1.018]
+t: 176	 action: [-4.719e-01  6.944e-01 -8.380e-01  5.486e-04 -4.091e-02  1.049e-01 -9.870e-01]
+t: 177	 action: [-0.39   0.641 -0.864  0.007 -0.035  0.085 -1.019]
+t: 178	 action: [-0.414  0.717 -0.765  0.004 -0.027  0.101 -0.981]
+t: 179	 action: [-0.396  0.698 -0.795 -0.004 -0.022  0.086 -1.003]
+t: 180	 action: [-3.963e-01  8.031e-01 -7.567e-01 -1.156e-04 -1.572e-02  9.530e-02 -9.829e-01]
+t: 181	 action: [-0.359  0.738 -0.759 -0.006 -0.01   0.074 -1.004]
+t: 182	 action: [-0.458  0.818 -0.754 -0.005 -0.018  0.092 -0.983]
+t: 183	 action: [-0.389  0.781 -0.754 -0.003 -0.01   0.08  -1.023]
+t: 184	 action: [-0.389  0.866 -0.742 -0.007 -0.004  0.089 -0.977]
+t: 185	 action: [-0.352  0.803 -0.691 -0.005 -0.005  0.069 -1.034]
+[07-31 00:31:33|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.975 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=186: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.6952
+INFO:cosmos_policy.experiments.robot.robot_utils:t=186: Selected seed 195 with value = 0.6952
+Query 1/1: Action query time = 0.975 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6952
+t=186: Selected seed 195 with value = 0.6952
+t: 186	 action: [-0.083 -0.432 -0.004  0.005 -0.044  0.04  -0.989]
+t: 187	 action: [-0.074 -0.463  0.009  0.012 -0.051  0.033 -1.009]
+t: 188	 action: [-0.127 -0.424 -0.058  0.007 -0.062  0.038 -0.989]
+t: 189	 action: [-0.133 -0.441 -0.016  0.018 -0.064  0.032 -1.009]
+t: 190	 action: [-0.146 -0.435 -0.121  0.009 -0.068  0.029 -0.988]
+t: 191	 action: [-0.202 -0.473 -0.083  0.024 -0.058  0.03  -1.031]
+t: 192	 action: [-0.195 -0.413 -0.155  0.014 -0.075  0.03  -0.986]
+t: 193	 action: [-0.238 -0.427 -0.138  0.027 -0.067  0.029 -1.03 ]
+t: 194	 action: [-0.266 -0.402 -0.133  0.015 -0.077  0.033 -0.993]
+t: 195	 action: [-0.27  -0.367 -0.105  0.022 -0.076  0.026 -1.014]
+t: 196	 action: [-0.254 -0.408 -0.161  0.016 -0.072  0.034 -0.993]
+t: 197	 action: [-0.252 -0.359 -0.167  0.019 -0.072  0.031 -1.007]
+t: 198	 action: [-0.255 -0.377 -0.253  0.013 -0.081  0.029 -0.989]
+t: 199	 action: [-0.226 -0.362 -0.241  0.027 -0.064  0.026 -1.032]
+t: 200	 action: [-0.233 -0.357 -0.331  0.013 -0.067  0.029 -0.989]
+t: 201	 action: [-0.209 -0.346 -0.306  0.021 -0.052  0.032 -1.034]
+[07-31 00:31:35|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.968 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=202: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.7442
+INFO:cosmos_policy.experiments.robot.robot_utils:t=202: Selected seed 195 with value = 0.7442
+Query 1/1: Action query time = 0.968 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7442
+t=202: Selected seed 195 with value = 0.7442
+t: 202	 action: [-1.675e-01 -3.926e-01 -2.541e-01  6.895e-04 -2.525e-02  3.437e-02 -9.914e-01]
+t: 203	 action: [-0.17  -0.465 -0.225  0.014 -0.025  0.034 -1.015]
+t: 204	 action: [-0.221 -0.364 -0.27   0.005 -0.03   0.025 -0.983]
+t: 205	 action: [-0.228 -0.422 -0.236  0.023 -0.026  0.027 -1.018]
+t: 206	 action: [-0.234 -0.389 -0.34   0.029 -0.016  0.038 -0.983]
+t: 207	 action: [-0.264 -0.427 -0.322  0.042 -0.018  0.038 -1.037]
+t: 208	 action: [-0.282 -0.368 -0.353  0.036 -0.017  0.033 -0.975]
+t: 209	 action: [-0.296 -0.361 -0.37   0.047 -0.016  0.029 -1.031]
+t: 210	 action: [-0.289 -0.346 -0.258  0.028 -0.027  0.044 -0.985]
+t: 211	 action: [-0.295 -0.393 -0.329  0.039 -0.028  0.047 -1.025]
+t: 212	 action: [-0.282 -0.341 -0.358  0.043 -0.033  0.04  -0.988]
+t: 213	 action: [-0.296 -0.365 -0.468  0.043 -0.032  0.051 -1.026]
+t: 214	 action: [-0.377 -0.257 -0.714  0.052 -0.034  0.05  -0.984]
+t: 215	 action: [-0.36  -0.202 -0.783  0.055 -0.041  0.049 -1.046]
+t: 216	 action: [-0.37  -0.14  -0.905  0.051 -0.036  0.051 -0.981]
+t: 217	 action: [-0.363 -0.044 -0.914  0.044 -0.041  0.055 -1.048]
+[07-31 00:31:36|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.979 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=218: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.8110
+INFO:cosmos_policy.experiments.robot.robot_utils:t=218: Selected seed 195 with value = 0.8110
+Query 1/1: Action query time = 0.979 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8110
+t=218: Selected seed 195 with value = 0.8110
+t: 218	 action: [-0.392  0.291 -0.857  0.023 -0.048  0.096 -0.996]
+t: 219	 action: [-0.375  0.265 -0.901  0.019 -0.062  0.092 -0.999]
+t: 220	 action: [-0.444  0.485 -0.854  0.011 -0.043  0.098 -0.993]
+t: 221	 action: [-0.398  0.439 -0.9    0.01  -0.05   0.086 -0.999]
+t: 222	 action: [-0.522  0.594 -0.856  0.01  -0.046  0.114 -0.993]
+t: 223	 action: [-0.437  0.509 -0.884  0.021 -0.046  0.099 -1.02 ]
+t: 224	 action: [-0.494  0.671 -0.842  0.002 -0.039  0.106 -0.984]
+t: 225	 action: [-0.413  0.625 -0.867  0.009 -0.034  0.085 -1.02 ]
+t: 226	 action: [-0.42   0.707 -0.77   0.006 -0.028  0.101 -0.978]
+t: 227	 action: [-0.41   0.703 -0.799 -0.004 -0.024  0.088 -1.003]
+t: 228	 action: [-0.408  0.809 -0.756  0.001 -0.014  0.096 -0.982]
+t: 229	 action: [-0.374  0.744 -0.765 -0.006 -0.01   0.075 -1.004]
+t: 230	 action: [-0.483  0.816 -0.758 -0.003 -0.017  0.094 -0.98 ]
+t: 231	 action: [-0.407  0.796 -0.756 -0.003 -0.009  0.083 -1.022]
+t: 232	 action: [-0.409  0.873 -0.741 -0.005 -0.002  0.092 -0.975]
+t: 233	 action: [-0.366  0.815 -0.694 -0.005 -0.003  0.072 -1.033]
+[07-31 00:31:37|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.962 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=234: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.7019
+INFO:cosmos_policy.experiments.robot.robot_utils:t=234: Selected seed 195 with value = 0.7019
+Query 1/1: Action query time = 0.962 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7019
+t=234: Selected seed 195 with value = 0.7019
+t: 234	 action: [-0.023 -0.422  0.013  0.003 -0.028  0.048 -0.973]
+t: 235	 action: [-0.005 -0.46   0.011  0.008 -0.044  0.039 -0.989]
+t: 236	 action: [-0.067 -0.417 -0.051  0.008 -0.064  0.047 -0.983]
+t: 237	 action: [-0.06  -0.434 -0.01   0.016 -0.066  0.037 -1.   ]
+t: 238	 action: [-0.088 -0.424 -0.103  0.008 -0.079  0.034 -0.976]
+t: 239	 action: [-0.119 -0.446 -0.059  0.021 -0.057  0.035 -1.018]
+t: 240	 action: [-0.14  -0.402 -0.145  0.011 -0.084  0.038 -0.981]
+t: 241	 action: [-0.162 -0.401 -0.117  0.025 -0.067  0.032 -1.022]
+t: 242	 action: [-0.212 -0.407 -0.101  0.015 -0.084  0.037 -0.982]
+t: 243	 action: [-0.217 -0.365 -0.081  0.021 -0.078  0.032 -1.008]
+t: 244	 action: [-0.206 -0.414 -0.133  0.016 -0.084  0.041 -0.98 ]
+t: 245	 action: [-0.213 -0.354 -0.14   0.018 -0.077  0.038 -0.998]
+t: 246	 action: [-0.229 -0.395 -0.184  0.012 -0.093  0.039 -0.983]
+t: 247	 action: [-0.216 -0.345 -0.206  0.025 -0.069  0.034 -1.028]
+t: 248	 action: [-0.223 -0.368 -0.248  0.012 -0.081  0.045 -0.98 ]
+t: 249	 action: [-0.215 -0.325 -0.29   0.022 -0.058  0.042 -1.027]
+[07-31 00:31:39|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.973 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=250: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.7364
+INFO:cosmos_policy.experiments.robot.robot_utils:t=250: Selected seed 195 with value = 0.7364
+Query 1/1: Action query time = 0.973 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7364
+t=250: Selected seed 195 with value = 0.7364
+t: 250	 action: [-0.15  -0.421 -0.244  0.006 -0.018  0.012 -0.983]
+t: 251	 action: [-0.15  -0.465 -0.261  0.02  -0.026  0.011 -1.013]
+t: 252	 action: [-0.178 -0.381 -0.286  0.008 -0.02   0.008 -0.979]
+t: 253	 action: [-0.182 -0.422 -0.286  0.024 -0.019  0.009 -1.016]
+t: 254	 action: [-0.185 -0.39  -0.324  0.022 -0.007  0.007 -0.978]
+t: 255	 action: [-0.22  -0.391 -0.356  0.039 -0.005  0.018 -1.042]
+t: 256	 action: [-0.216 -0.349 -0.354  0.024 -0.006  0.007 -0.973]
+t: 257	 action: [-2.448e-01 -3.413e-01 -3.976e-01  3.953e-02  2.104e-04  1.584e-02 -1.035e+00]
+t: 258	 action: [-0.213 -0.33  -0.26   0.027 -0.016  0.025 -0.984]
+t: 259	 action: [-0.214 -0.388 -0.315  0.037 -0.017  0.031 -1.023]
+t: 260	 action: [-0.22  -0.322 -0.386  0.039 -0.02   0.024 -0.985]
+t: 261	 action: [-0.231 -0.335 -0.478  0.036 -0.019  0.038 -1.021]
+t: 262	 action: [-0.288 -0.224 -0.705  0.049 -0.024  0.035 -0.988]
+t: 263	 action: [-0.3   -0.169 -0.762  0.05  -0.023  0.039 -1.046]
+t: 264	 action: [-0.313 -0.093 -0.909  0.05  -0.025  0.04  -0.984]
+t: 265	 action: [-0.335 -0.013 -0.905  0.043 -0.018  0.049 -1.048]
+[07-31 00:31:40|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.983 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=266: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.8159
+INFO:cosmos_policy.experiments.robot.robot_utils:t=266: Selected seed 195 with value = 0.8159
+Query 1/1: Action query time = 0.983 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8159
+t=266: Selected seed 195 with value = 0.8159
+t: 266	 action: [-0.237 -0.018 -0.76   0.04  -0.043  0.077 -0.993]
+t: 267	 action: [-0.263 -0.039 -0.853  0.038 -0.055  0.076 -1.003]
+t: 268	 action: [-0.336  0.259 -0.856  0.034 -0.04   0.08  -0.99 ]
+t: 269	 action: [-0.323  0.243 -0.901  0.031 -0.05   0.073 -1.001]
+t: 270	 action: [-0.45   0.382 -0.91   0.033 -0.042  0.101 -0.991]
+t: 271	 action: [-0.385  0.343 -0.901  0.037 -0.051  0.085 -1.029]
+t: 272	 action: [-0.464  0.593 -0.862  0.009 -0.036  0.096 -0.984]
+t: 273	 action: [-0.395  0.546 -0.887  0.023 -0.042  0.076 -1.026]
+t: 274	 action: [-0.34   0.672 -0.788  0.01  -0.027  0.095 -0.979]
+t: 275	 action: [-0.373  0.713 -0.833 -0.004 -0.029  0.089 -1.011]
+t: 276	 action: [-0.351  0.815 -0.765  0.006 -0.012  0.093 -0.984]
+t: 277	 action: [-0.351  0.764 -0.808 -0.007 -0.017  0.079 -1.01 ]
+t: 278	 action: [-0.474  0.828 -0.77  -0.001 -0.015  0.096 -0.979]
+t: 279	 action: [-3.865e-01  8.242e-01 -7.866e-01 -2.549e-04 -1.643e-02  8.509e-02 -1.029e+00]
+t: 280	 action: [-0.392  0.889 -0.742 -0.005  0.002  0.096 -0.977]
+t: 281	 action: [-0.35   0.839 -0.73  -0.003 -0.008  0.077 -1.035]
+[07-31 00:31:41|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.963 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=282: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.7037
+INFO:cosmos_policy.experiments.robot.robot_utils:t=282: Selected seed 195 with value = 0.7037
+Query 1/1: Action query time = 0.963 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7037
+t=282: Selected seed 195 with value = 0.7037
+t: 282	 action: [-0.064 -0.366 -0.092 -0.001 -0.036  0.015 -0.974]
+t: 283	 action: [-0.056 -0.417 -0.043  0.005 -0.05   0.014 -0.985]
+t: 284	 action: [-0.106 -0.334 -0.136  0.002 -0.041  0.014 -0.979]
+t: 285	 action: [-0.112 -0.378 -0.086  0.01  -0.046  0.014 -1.004]
+t: 286	 action: [-0.13  -0.352 -0.204  0.006 -0.042  0.01  -0.968]
+t: 287	 action: [-0.133 -0.373 -0.149  0.017 -0.035  0.017 -1.021]
+t: 288	 action: [-0.176 -0.337 -0.21   0.005 -0.032  0.013 -0.974]
+t: 289	 action: [-0.2   -0.335 -0.201  0.022 -0.023  0.018 -1.029]
+t: 290	 action: [-0.171 -0.37  -0.111  0.016 -0.028  0.033 -0.983]
+t: 291	 action: [-0.165 -0.362 -0.087  0.027 -0.033  0.035 -1.016]
+t: 292	 action: [-0.197 -0.374 -0.143  0.017 -0.028  0.041 -0.982]
+t: 293	 action: [-0.19  -0.34  -0.148  0.022 -0.03   0.046 -1.012]
+t: 294	 action: [-0.232 -0.381 -0.205  0.014 -0.036  0.053 -0.987]
+t: 295	 action: [-0.254 -0.332 -0.25   0.031 -0.033  0.046 -1.033]
+t: 296	 action: [-0.277 -0.34  -0.277  0.012 -0.034  0.065 -0.983]
+t: 297	 action: [-0.304 -0.299 -0.334  0.027 -0.03   0.061 -1.034]
+[07-31 00:31:42|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.973 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=298: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.7400
+INFO:cosmos_policy.experiments.robot.robot_utils:t=298: Selected seed 195 with value = 0.7400
+WARNING:imageio_ffmpeg:IMAGEIO FFMPEG_WRITER WARNING: input image is not divisible by macro_block_size=16, resizing from (896, 284) to (896, 288) to ensure video compatibility with most codecs and players. To prevent resizing, make your input image divisible by the macro_block_size or set the macro_block_size to 1 (risking incompatibility).
+INFO:cosmos_policy.experiments.robot.robot_utils:Success: False
+INFO:cosmos_policy.experiments.robot.robot_utils:# episodes completed so far: 9
+INFO:cosmos_policy.experiments.robot.robot_utils:# successes: 4 (44.4%)
+
+
 18%|█▊        | 9/50 [03:48<16:45, 24.53s/it]INFO:cosmos_policy.experiments.robot.robot_utils:
+Task: open the middle drawer of the cabinet
+INFO:cosmos_policy.experiments.robot.robot_utils:Starting episode 10...
+Query 1/1: Action query time = 0.973 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7400
+t=298: Selected seed 195 with value = 0.7400
+t: 298	 action: [-0.137 -0.349 -0.278  0.012 -0.013  0.012 -0.988]
+t: 299	 action: [-0.127 -0.428 -0.263  0.026 -0.014  0.015 -1.015]
+t: 300	 action: [-0.16  -0.339 -0.391  0.023 -0.013  0.01  -0.984]
+t: 301	 action: [-0.144 -0.399 -0.306  0.029 -0.017  0.018 -1.015]
+t: 302	 action: [-0.183 -0.296 -0.429  0.032 -0.013  0.008 -0.989]
+t: 303	 action: [-0.196 -0.332 -0.433  0.042 -0.01   0.021 -1.044]
+t: 304	 action: [-0.191 -0.214 -0.612  0.036 -0.012  0.013 -0.98 ]
+t: 305	 action: [-0.202 -0.249 -0.648  0.039 -0.012  0.024 -1.03 ]
+t: 306	 action: [-0.183 -0.275 -0.452  0.048 -0.016  0.026 -0.988]
+t: 307	 action: [-0.169 -0.313 -0.53   0.041 -0.009  0.034 -1.026]
+t: 308	 action: [-0.178 -0.156 -0.72   0.057 -0.015  0.022 -0.991]
+t: 309	 action: [-0.171 -0.14  -0.75   0.038 -0.005  0.036 -1.029]
+Saved rollout MP4 at path ./rollouts/None/2026_07_31-00_27_45--episode=9--success=False--task=open_the_middle_drawer_of_the_cabinet.mp4
+300 300 19 19
+Saved rollout MP4 at path ./rollouts/None/2026_07_31-00_27_45--with_future_img--episode=9--success=False--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: False
+# episodes completed so far: 9
+# successes: 4 (44.4%)
+
+Task: open the middle drawer of the cabinet
+Starting episode 10...
+[07-31 00:31:50|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.988 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=10: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.3872
+INFO:cosmos_policy.experiments.robot.robot_utils:t=10: Selected seed 195 with value = 0.3872
+Query 1/1: Action query time = 0.988 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3872
+t=10: Selected seed 195 with value = 0.3872
+t: 10	 action: [ 0.11  -0.023 -0.029  0.005  0.097  0.023 -1.015]
+t: 11	 action: [ 0.237  0.007  0.027  0.004  0.12   0.048 -1.007]
+t: 12	 action: [ 0.251 -0.005 -0.017  0.002  0.135  0.051 -1.018]
+t: 13	 action: [ 4.067e-01  4.621e-02  3.605e-02 -2.780e-04  1.456e-01  7.084e-02 -1.018e+00]
+t: 14	 action: [ 0.443  0.022  0.012 -0.005  0.148  0.073 -1.016]
+t: 15	 action: [ 0.542  0.042  0.03  -0.011  0.139  0.067 -1.042]
+t: 16	 action: [ 0.547  0.035  0.008 -0.013  0.146  0.101 -1.014]
+t: 17	 action: [ 0.598  0.08   0.025 -0.022  0.132  0.096 -1.041]
+t: 18	 action: [ 0.575  0.059  0.049 -0.019  0.142  0.132 -1.015]
+t: 19	 action: [ 0.615  0.09   0.069 -0.017  0.135  0.14  -1.023]
+t: 20	 action: [ 0.58   0.056  0.043 -0.03   0.124  0.148 -1.014]
+t: 21	 action: [ 0.615  0.092  0.074 -0.028  0.117  0.154 -1.021]
+t: 22	 action: [ 0.552  0.06   0.052 -0.038  0.103  0.17  -1.002]
+t: 23	 action: [ 0.536  0.077  0.059 -0.048  0.082  0.165 -1.044]
+t: 24	 action: [ 0.522  0.066  0.034 -0.052  0.085  0.182 -1.003]
+t: 25	 action: [ 0.512  0.088  0.057 -0.063  0.075  0.177 -1.041]
+[07-31 00:31:52|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.974 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=26: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.4205
+INFO:cosmos_policy.experiments.robot.robot_utils:t=26: Selected seed 195 with value = 0.4205
+Query 1/1: Action query time = 0.974 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4205
+t=26: Selected seed 195 with value = 0.4205
+t: 26	 action: [ 0.42   0.04   0.007 -0.079  0.091  0.202 -1.011]
+t: 27	 action: [ 0.417  0.064  0.01  -0.084  0.086  0.191 -1.009]
+t: 28	 action: [ 0.389  0.04  -0.01  -0.083  0.084  0.209 -1.005]
+t: 29	 action: [ 0.4    0.069  0.01  -0.089  0.076  0.198 -1.011]
+t: 30	 action: [ 0.413  0.036  0.003 -0.096  0.071  0.221 -0.996]
+t: 31	 action: [ 0.391  0.067 -0.018 -0.095  0.055  0.204 -1.026]
+t: 32	 action: [ 0.389  0.042 -0.016 -0.098  0.067  0.227 -0.996]
+t: 33	 action: [ 0.382  0.069 -0.026 -0.099  0.059  0.212 -1.032]
+t: 34	 action: [ 0.36   0.033  0.006 -0.09   0.045  0.231 -0.999]
+t: 35	 action: [ 0.379  0.059  0.007 -0.1    0.039  0.215 -1.006]
+t: 36	 action: [ 0.334  0.028 -0.007 -0.095  0.054  0.241 -0.997]
+t: 37	 action: [ 0.348  0.056 -0.008 -0.103  0.049  0.223 -1.006]
+t: 38	 action: [ 0.32   0.021 -0.017 -0.102  0.055  0.242 -0.989]
+t: 39	 action: [ 0.306  0.059 -0.042 -0.101  0.057  0.226 -1.032]
+t: 40	 action: [ 0.295  0.023 -0.039 -0.099  0.079  0.245 -0.991]
+t: 41	 action: [ 0.294  0.055 -0.06  -0.098  0.092  0.228 -1.03 ]
+[07-31 00:31:53|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.978 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=42: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.4589
+INFO:cosmos_policy.experiments.robot.robot_utils:t=42: Selected seed 195 with value = 0.4589
+Query 1/1: Action query time = 0.978 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4589
+t=42: Selected seed 195 with value = 0.4589
+t: 42	 action: [ 0.105  0.045 -0.071 -0.085  0.127  0.287 -0.986]
+t: 43	 action: [ 0.115  0.075 -0.057 -0.091  0.125  0.276 -0.987]
+t: 44	 action: [ 0.113  0.037 -0.083 -0.085  0.133  0.291 -0.981]
+t: 45	 action: [ 0.132  0.063 -0.052 -0.088  0.131  0.274 -0.999]
+t: 46	 action: [ 0.141  0.026 -0.08  -0.096  0.122  0.292 -0.988]
+t: 47	 action: [ 0.145  0.052 -0.064 -0.09   0.124  0.274 -1.014]
+t: 48	 action: [ 0.158  0.017 -0.098 -0.092  0.132  0.283 -0.986]
+t: 49	 action: [ 0.172  0.039 -0.077 -0.086  0.139  0.262 -1.025]
+t: 50	 action: [ 0.199 -0.056 -0.101 -0.069  0.156  0.234 -1.   ]
+t: 51	 action: [ 0.225 -0.082 -0.128 -0.059  0.158  0.22  -1.005]
+t: 52	 action: [ 0.24  -0.096 -0.112 -0.063  0.161  0.216 -0.995]
+t: 53	 action: [ 0.261 -0.113 -0.131 -0.05   0.168  0.2   -0.999]
+t: 54	 action: [ 0.246 -0.156 -0.101 -0.058  0.166  0.207 -0.994]
+t: 55	 action: [ 0.263 -0.133 -0.123 -0.049  0.171  0.191 -1.036]
+t: 56	 action: [ 0.261 -0.185 -0.116 -0.046  0.173  0.19  -0.995]
+t: 57	 action: [ 0.272 -0.165 -0.13  -0.041  0.183  0.18  -1.028]
+[07-31 00:31:54|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.969 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=58: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.5469
+INFO:cosmos_policy.experiments.robot.robot_utils:t=58: Selected seed 195 with value = 0.5469
+Query 1/1: Action query time = 0.969 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5469
+t=58: Selected seed 195 with value = 0.5469
+t: 58	 action: [ 0.181 -0.011 -0.109 -0.038  0.217  0.227 -1.006]
+t: 59	 action: [ 0.211 -0.019 -0.053 -0.032  0.21   0.203 -1.009]
+t: 60	 action: [ 0.228 -0.022 -0.089 -0.037  0.208  0.221 -1.008]
+t: 61	 action: [ 0.275 -0.059 -0.037 -0.027  0.194  0.193 -1.015]
+t: 62	 action: [ 0.323 -0.065 -0.048 -0.031  0.202  0.195 -1.013]
+t: 63	 action: [ 0.341 -0.092 -0.04  -0.024  0.184  0.176 -1.033]
+t: 64	 action: [ 0.366 -0.14  -0.063 -0.022  0.189  0.177 -1.014]
+t: 65	 action: [ 0.388 -0.15  -0.056 -0.019  0.171  0.161 -1.041]
+t: 66	 action: [ 0.422 -0.233 -0.056 -0.019  0.183  0.144 -1.031]
+t: 67	 action: [ 0.45  -0.232 -0.054  0.003  0.172  0.118 -1.026]
+t: 68	 action: [ 0.429 -0.309 -0.073  0.002  0.16   0.14  -1.032]
+t: 69	 action: [ 0.441 -0.289 -0.08   0.008  0.136  0.109 -1.02 ]
+t: 70	 action: [ 0.395 -0.336 -0.101  0.008  0.126  0.123 -1.026]
+t: 71	 action: [ 0.365 -0.35  -0.103  0.014  0.088  0.104 -1.035]
+t: 72	 action: [ 0.346 -0.355 -0.183  0.009  0.075  0.109 -1.025]
+t: 73	 action: [ 0.29  -0.356 -0.156  0.011  0.036  0.095 -1.031]
+[07-31 00:31:56|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.974 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=74: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.6246
+INFO:cosmos_policy.experiments.robot.robot_utils:t=74: Selected seed 195 with value = 0.6246
+Query 1/1: Action query time = 0.974 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6246
+t=74: Selected seed 195 with value = 0.6246
+t: 74	 action: [ 0.115 -0.418 -0.113  0.004  0.09   0.114 -1.012]
+t: 75	 action: [ 0.093 -0.413 -0.057  0.018  0.064  0.12  -1.026]
+t: 76	 action: [ 0.073 -0.433 -0.167  0.006  0.056  0.132 -1.001]
+t: 77	 action: [ 0.056 -0.378 -0.098  0.018  0.024  0.124 -1.027]
+t: 78	 action: [ 0.065 -0.386 -0.164  0.004  0.029  0.136 -1.001]
+t: 79	 action: [ 0.032 -0.406 -0.132  0.02   0.007  0.139 -1.043]
+t: 80	 action: [ 2.014e-02 -3.472e-01 -2.048e-01  7.144e-03 -4.316e-04  1.457e-01 -9.968e-01]
+t: 81	 action: [-0.015 -0.33  -0.163  0.014 -0.01   0.129 -1.04 ]
+t: 82	 action: [-0.006 -0.392 -0.12  -0.008 -0.031  0.117 -1.012]
+t: 83	 action: [-0.023 -0.377 -0.094 -0.004 -0.044  0.1   -1.026]
+t: 84	 action: [-0.094 -0.378 -0.113 -0.006 -0.053  0.118 -1.002]
+t: 85	 action: [-0.111 -0.355 -0.084 -0.004 -0.058  0.097 -1.013]
+t: 86	 action: [-0.182 -0.417 -0.153  0.005 -0.071  0.116 -1.008]
+t: 87	 action: [-0.274 -0.388 -0.139  0.003 -0.07   0.098 -1.038]
+t: 88	 action: [-0.286 -0.383 -0.135  0.004 -0.086  0.117 -1.   ]
+t: 89	 action: [-0.344 -0.349 -0.131  0.004 -0.076  0.098 -1.031]
+[07-31 00:31:57|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.957 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=90: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.7205
+INFO:cosmos_policy.experiments.robot.robot_utils:t=90: Selected seed 195 with value = 0.7205
+Query 1/1: Action query time = 0.957 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7205
+t=90: Selected seed 195 with value = 0.7205
+t: 90	 action: [ 0.06  -0.243  0.049 -0.011 -0.012  0.045 -0.978]
+t: 91	 action: [ 0.074 -0.208  0.041 -0.008 -0.018  0.048 -0.994]
+t: 92	 action: [-0.002 -0.233  0.023 -0.003 -0.03   0.064 -0.976]
+t: 93	 action: [ 2.182e-02 -2.259e-01  4.257e-02 -5.829e-04 -2.902e-02  5.783e-02 -1.007e+00]
+t: 94	 action: [-0.037 -0.188 -0.041 -0.002 -0.026  0.068 -0.985]
+t: 95	 action: [-6.214e-02 -2.113e-01 -3.695e-02  6.923e-04 -4.490e-02  5.827e-02 -1.040e+00]
+t: 96	 action: [-0.158 -0.196 -0.09  -0.003 -0.038  0.091 -0.988]
+t: 97	 action: [-0.197 -0.207 -0.126  0.005 -0.05   0.071 -1.031]
+t: 98	 action: [-0.288 -0.282 -0.086 -0.009 -0.048  0.112 -0.989]
+t: 99	 action: [-3.227e-01 -1.843e-01 -1.286e-01 -1.265e-04 -5.534e-02  9.742e-02 -1.009e+00]
+t: 100	 action: [-0.38  -0.265 -0.147 -0.018 -0.065  0.131 -0.983]
+t: 101	 action: [-0.391 -0.173 -0.192 -0.003 -0.073  0.121 -0.998]
+t: 102	 action: [-0.457 -0.178 -0.208 -0.002 -0.068  0.126 -0.99 ]
+t: 103	 action: [-0.456 -0.163 -0.213  0.006 -0.074  0.105 -1.037]
+t: 104	 action: [-0.5   -0.18  -0.226 -0.005 -0.096  0.149 -0.979]
+t: 105	 action: [-0.483 -0.147 -0.202  0.002 -0.083  0.125 -1.024]
+[07-31 00:31:58|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.958 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=106: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.7620
+INFO:cosmos_policy.experiments.robot.robot_utils:t=106: Selected seed 195 with value = 0.7620
+Query 1/1: Action query time = 0.958 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7620
+t=106: Selected seed 195 with value = 0.7620
+t: 106	 action: [-0.22  -0.459 -0.24   0.006 -0.005  0.018 -0.989]
+t: 107	 action: [-0.231 -0.49  -0.274  0.02  -0.004  0.019 -1.009]
+t: 108	 action: [-0.236 -0.445 -0.308  0.012 -0.012  0.013 -0.99 ]
+t: 109	 action: [-0.24  -0.458 -0.315  0.026 -0.008  0.015 -1.01 ]
+t: 110	 action: [-0.234 -0.434 -0.361  0.03  -0.002  0.011 -0.988]
+t: 111	 action: [-2.470e-01 -4.225e-01 -3.958e-01  4.025e-02 -1.006e-03  1.748e-02 -1.036e+00]
+t: 112	 action: [-0.238 -0.376 -0.508  0.037 -0.004  0.01  -0.986]
+t: 113	 action: [-0.245 -0.355 -0.555  0.041 -0.003  0.013 -1.027]
+t: 114	 action: [-0.216 -0.423 -0.432  0.036 -0.012  0.039 -0.989]
+t: 115	 action: [-0.208 -0.413 -0.542  0.044 -0.003  0.044 -1.018]
+t: 116	 action: [-0.194 -0.348 -0.627  0.048 -0.016  0.029 -0.999]
+t: 117	 action: [-0.181 -0.33  -0.711  0.046 -0.002  0.038 -1.021]
+t: 118	 action: [-0.205 -0.233 -0.893  0.059 -0.014  0.037 -0.993]
+t: 119	 action: [-0.212 -0.162 -0.876  0.051 -0.018  0.044 -1.051]
+t: 120	 action: [-0.188 -0.085 -0.929  0.043 -0.012  0.031 -0.995]
+t: 121	 action: [-0.2    0.022 -0.909  0.04  -0.013  0.041 -1.052]
+[07-31 00:31:59|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.979 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=122: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.7271
+INFO:cosmos_policy.experiments.robot.robot_utils:t=122: Selected seed 195 with value = 0.7271
+Query 1/1: Action query time = 0.979 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7271
+t=122: Selected seed 195 with value = 0.7271
+t: 122	 action: [ 0.011 -0.25  -0.1   -0.016  0.008  0.002 -0.998]
+t: 123	 action: [ 0.023 -0.256 -0.02  -0.003  0.007 -0.009 -1.012]
+t: 124	 action: [-0.054 -0.299 -0.077 -0.01  -0.003 -0.003 -0.994]
+t: 125	 action: [-0.026 -0.304 -0.017  0.005  0.004 -0.014 -1.017]
+t: 126	 action: [-0.093 -0.312 -0.081  0.005 -0.003 -0.007 -0.983]
+t: 127	 action: [-0.066 -0.303 -0.033  0.013 -0.002 -0.009 -1.041]
+t: 128	 action: [-0.176 -0.364 -0.098  0.01  -0.005 -0.005 -0.98 ]
+t: 129	 action: [-0.182 -0.321 -0.063  0.019 -0.005 -0.01  -1.038]
+t: 130	 action: [-0.195 -0.45  -0.121  0.002 -0.021  0.017 -0.986]
+t: 131	 action: [-0.228 -0.426 -0.144  0.018 -0.019  0.016 -1.018]
+t: 132	 action: [-0.308 -0.44  -0.213  0.004 -0.046  0.033 -0.98 ]
+t: 133	 action: [-0.317 -0.414 -0.246  0.016 -0.05   0.036 -1.015]
+t: 134	 action: [-0.425 -0.454 -0.225  0.009 -0.058  0.043 -0.97 ]
+t: 135	 action: [-0.424 -0.363 -0.303  0.027 -0.065  0.044 -1.042]
+t: 136	 action: [-0.497 -0.423 -0.32   0.007 -0.077  0.073 -0.962]
+t: 137	 action: [-0.485 -0.33  -0.428  0.026 -0.083  0.069 -1.041]
+[07-31 00:32:01|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.973 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=138: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.7514
+INFO:cosmos_policy.experiments.robot.robot_utils:t=138: Selected seed 195 with value = 0.7514
+Query 1/1: Action query time = 0.973 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7514
+t=138: Selected seed 195 with value = 0.7514
+t: 138	 action: [-0.026 -0.364 -0.149  0.002 -0.008 -0.018 -1.013]
+t: 139	 action: [ 0.014 -0.409 -0.121  0.011 -0.013 -0.042 -1.032]
+t: 140	 action: [-0.074 -0.375 -0.221  0.01  -0.033 -0.031 -1.013]
+t: 141	 action: [-0.037 -0.396 -0.188  0.019 -0.027 -0.045 -1.029]
+t: 142	 action: [-0.086 -0.372 -0.212  0.017 -0.021 -0.041 -1.002]
+t: 143	 action: [-0.1   -0.337 -0.216  0.035 -0.034 -0.051 -1.049]
+t: 144	 action: [-0.116 -0.328 -0.281  0.018 -0.035 -0.039 -1.001]
+t: 145	 action: [-0.144 -0.302 -0.293  0.032 -0.041 -0.05  -1.045]
+t: 146	 action: [-0.187 -0.405 -0.394  0.027 -0.058  0.005 -1.016]
+t: 147	 action: [-0.179 -0.373 -0.4    0.031 -0.056 -0.002 -1.035]
+t: 148	 action: [-0.224 -0.403 -0.497  0.026 -0.061  0.007 -1.023]
+t: 149	 action: [-0.215 -0.349 -0.551  0.027 -0.067  0.002 -1.033]
+t: 150	 action: [-2.014e-01 -2.930e-01 -6.994e-01  2.844e-02 -6.171e-02 -5.450e-04 -1.006e+00]
+t: 151	 action: [-0.219 -0.205 -0.71   0.045 -0.046 -0.005 -1.046]
+t: 152	 action: [-2.158e-01 -2.317e-01 -8.583e-01  2.146e-02 -4.830e-02  7.877e-04 -1.009e+00]
+t: 153	 action: [-0.239 -0.137 -0.863  0.037 -0.026  0.002 -1.055]
+[07-31 00:32:02|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.968 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=154: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.7114
+INFO:cosmos_policy.experiments.robot.robot_utils:t=154: Selected seed 195 with value = 0.7114
+Query 1/1: Action query time = 0.968 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7114
+t=154: Selected seed 195 with value = 0.7114
+t: 154	 action: [-0.004 -0.225 -0.08  -0.011  0.007 -0.003 -1.002]
+t: 155	 action: [ 0.019 -0.208 -0.004 -0.004  0.008 -0.016 -1.018]
+t: 156	 action: [-0.061 -0.27  -0.073 -0.008  0.003 -0.005 -1.   ]
+t: 157	 action: [-0.018 -0.248 -0.014  0.003  0.005 -0.019 -1.022]
+t: 158	 action: [-0.094 -0.265 -0.059  0.002  0.001 -0.012 -0.991]
+t: 159	 action: [-5.059e-02 -2.409e-01 -1.786e-02  1.009e-02 -2.148e-04 -1.649e-02 -1.046e+00]
+t: 160	 action: [-0.165 -0.305 -0.08   0.004  0.001 -0.007 -0.989]
+t: 161	 action: [-0.143 -0.256 -0.044  0.014 -0.002 -0.016 -1.042]
+t: 162	 action: [-1.808e-01 -4.068e-01 -7.723e-02  6.149e-04 -2.049e-02  1.606e-02 -9.857e-01]
+t: 163	 action: [-0.211 -0.357 -0.08   0.016 -0.02   0.01  -1.021]
+t: 164	 action: [-0.296 -0.407 -0.158  0.003 -0.044  0.029 -0.981]
+t: 165	 action: [-0.296 -0.366 -0.183  0.014 -0.049  0.03  -1.017]
+t: 166	 action: [-0.403 -0.406 -0.179  0.007 -0.049  0.036 -0.974]
+t: 167	 action: [-0.403 -0.312 -0.234  0.024 -0.059  0.036 -1.042]
+t: 168	 action: [-0.479 -0.392 -0.257  0.006 -0.067  0.064 -0.968]
+t: 169	 action: [-0.462 -0.295 -0.347  0.024 -0.075  0.059 -1.04 ]
+[07-31 00:32:03|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.985 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=170: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.7405
+INFO:cosmos_policy.experiments.robot.robot_utils:t=170: Selected seed 195 with value = 0.7405
+Query 1/1: Action query time = 0.985 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7405
+t=170: Selected seed 195 with value = 0.7405
+t: 170	 action: [ 2.753e-02 -3.188e-01 -9.759e-02 -2.788e-03 -1.808e-04 -1.644e-02 -1.022e+00]
+t: 171	 action: [ 0.049 -0.366 -0.062  0.003 -0.006 -0.044 -1.038]
+t: 172	 action: [-0.031 -0.338 -0.179  0.003 -0.024 -0.034 -1.022]
+t: 173	 action: [ 0.004 -0.373 -0.133  0.012 -0.022 -0.056 -1.04 ]
+t: 174	 action: [-0.054 -0.346 -0.174  0.011 -0.015 -0.046 -1.013]
+t: 175	 action: [-0.061 -0.321 -0.175  0.027 -0.031 -0.056 -1.056]
+t: 176	 action: [-0.09  -0.307 -0.265  0.011 -0.03  -0.048 -1.011]
+t: 177	 action: [-0.103 -0.289 -0.266  0.026 -0.038 -0.065 -1.055]
+t: 178	 action: [-0.174 -0.378 -0.313  0.023 -0.046  0.003 -1.025]
+t: 179	 action: [-0.166 -0.362 -0.318  0.027 -0.055 -0.006 -1.042]
+t: 180	 action: [-0.208 -0.382 -0.416  0.021 -0.053  0.006 -1.033]
+t: 181	 action: [-1.919e-01 -3.418e-01 -4.743e-01  2.313e-02 -6.525e-02 -9.922e-04 -1.039e+00]
+t: 182	 action: [-0.179 -0.284 -0.656  0.025 -0.051 -0.001 -1.012]
+t: 183	 action: [-0.173 -0.202 -0.656  0.043 -0.047 -0.008 -1.051]
+t: 184	 action: [-1.883e-01 -2.157e-01 -8.352e-01  1.774e-02 -3.950e-02  5.232e-05 -1.016e+00]
+t: 185	 action: [-0.18  -0.135 -0.81   0.036 -0.025  0.001 -1.059]
+[07-31 00:32:04|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.973 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=186: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.7039
+INFO:cosmos_policy.experiments.robot.robot_utils:t=186: Selected seed 195 with value = 0.7039
+Query 1/1: Action query time = 0.973 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7039
+t=186: Selected seed 195 with value = 0.7039
+t: 186	 action: [-0.002 -0.217 -0.083 -0.007  0.006 -0.009 -1.003]
+t: 187	 action: [ 0.02  -0.194 -0.014 -0.002  0.008 -0.021 -1.017]
+t: 188	 action: [-0.06  -0.253 -0.073 -0.005  0.005 -0.011 -1.001]
+t: 189	 action: [-0.018 -0.23  -0.027  0.003  0.006 -0.025 -1.024]
+t: 190	 action: [-0.095 -0.242 -0.051  0.002  0.003 -0.016 -0.995]
+t: 191	 action: [-0.06  -0.216 -0.017  0.01   0.002 -0.022 -1.047]
+t: 192	 action: [-0.156 -0.276 -0.064  0.004  0.005 -0.01  -0.993]
+t: 193	 action: [-1.350e-01 -2.298e-01 -3.297e-02  1.258e-02  9.429e-04 -2.132e-02 -1.045e+00]
+t: 194	 action: [-0.157 -0.384 -0.06   0.002 -0.016  0.015 -0.989]
+t: 195	 action: [-0.187 -0.329 -0.052  0.014 -0.015  0.009 -1.023]
+t: 196	 action: [-0.273 -0.393 -0.14   0.004 -0.037  0.027 -0.986]
+t: 197	 action: [-0.276 -0.35  -0.151  0.012 -0.043  0.029 -1.019]
+t: 198	 action: [-0.381 -0.393 -0.165  0.006 -0.042  0.033 -0.981]
+t: 199	 action: [-0.397 -0.307 -0.21   0.022 -0.051  0.033 -1.041]
+t: 200	 action: [-0.477 -0.387 -0.253  0.004 -0.059  0.061 -0.976]
+t: 201	 action: [-0.467 -0.299 -0.333  0.021 -0.068  0.056 -1.041]
+[07-31 00:32:06|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.976 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=202: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.7398
+INFO:cosmos_policy.experiments.robot.robot_utils:t=202: Selected seed 195 with value = 0.7398
+Query 1/1: Action query time = 0.976 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7398
+t=202: Selected seed 195 with value = 0.7398
+t: 202	 action: [ 0.038 -0.295 -0.075 -0.006  0.004 -0.017 -1.023]
+t: 203	 action: [ 0.057 -0.343 -0.028 -0.001 -0.002 -0.042 -1.036]
+t: 204	 action: [-2.510e-02 -3.134e-01 -1.459e-01  3.429e-05 -1.986e-02 -3.453e-02 -1.022e+00]
+t: 205	 action: [ 0.006 -0.354 -0.091  0.007 -0.018 -0.054 -1.04 ]
+t: 206	 action: [-0.052 -0.333 -0.144  0.009 -0.01  -0.045 -1.015]
+t: 207	 action: [-0.065 -0.323 -0.133  0.023 -0.026 -0.052 -1.056]
+t: 208	 action: [-0.094 -0.305 -0.239  0.009 -0.024 -0.047 -1.014]
+t: 209	 action: [-0.111 -0.294 -0.241  0.023 -0.032 -0.061 -1.055]
+t: 210	 action: [-0.172 -0.373 -0.277  0.021 -0.04   0.002 -1.026]
+t: 211	 action: [-0.162 -0.351 -0.274  0.025 -0.049 -0.007 -1.041]
+t: 212	 action: [-0.201 -0.377 -0.389  0.022 -0.047  0.005 -1.034]
+t: 213	 action: [-1.857e-01 -3.340e-01 -4.422e-01  2.215e-02 -5.912e-02 -6.606e-04 -1.037e+00]
+t: 214	 action: [-1.750e-01 -2.818e-01 -6.416e-01  2.667e-02 -4.318e-02 -8.969e-04 -1.014e+00]
+t: 215	 action: [-0.168 -0.203 -0.644  0.041 -0.042 -0.006 -1.05 ]
+t: 216	 action: [-1.796e-01 -2.086e-01 -8.321e-01  1.969e-02 -3.361e-02  1.994e-05 -1.016e+00]
+t: 217	 action: [-0.167 -0.133 -0.799  0.035 -0.022  0.003 -1.057]
+[07-31 00:32:07|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.991 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=218: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.6975
+INFO:cosmos_policy.experiments.robot.robot_utils:t=218: Selected seed 195 with value = 0.6975
+Query 1/1: Action query time = 0.991 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6975
+t=218: Selected seed 195 with value = 0.6975
+t: 218	 action: [-0.009 -0.223 -0.076 -0.006  0.004 -0.012 -1.004]
+t: 219	 action: [ 0.018 -0.189 -0.01  -0.002  0.006 -0.023 -1.013]
+t: 220	 action: [-0.069 -0.247 -0.072 -0.004  0.003 -0.015 -1.   ]
+t: 221	 action: [-0.027 -0.217 -0.027  0.002  0.004 -0.026 -1.021]
+t: 222	 action: [-0.101 -0.232 -0.043  0.002  0.002 -0.018 -1.   ]
+t: 223	 action: [-0.074 -0.203 -0.017  0.009  0.002 -0.022 -1.045]
+t: 224	 action: [-0.154 -0.263 -0.057  0.003  0.005 -0.012 -0.996]
+t: 225	 action: [-0.137 -0.217 -0.031  0.011  0.001 -0.021 -1.042]
+t: 226	 action: [-0.141 -0.373 -0.058  0.002 -0.012  0.014 -0.995]
+t: 227	 action: [-0.167 -0.319 -0.046  0.015 -0.008  0.006 -1.023]
+t: 228	 action: [-0.246 -0.394 -0.144  0.004 -0.029  0.024 -0.993]
+t: 229	 action: [-0.258 -0.35  -0.142  0.013 -0.032  0.026 -1.019]
+t: 230	 action: [-0.367 -0.381 -0.171  0.005 -0.035  0.028 -0.989]
+t: 231	 action: [-0.393 -0.302 -0.215  0.022 -0.039  0.03  -1.04 ]
+t: 232	 action: [-0.483 -0.373 -0.279  0.003 -0.048  0.056 -0.986]
+t: 233	 action: [-0.481 -0.291 -0.351  0.022 -0.055  0.052 -1.041]
+[07-31 00:32:08|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.984 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=234: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.7389
+INFO:cosmos_policy.experiments.robot.robot_utils:t=234: Selected seed 195 with value = 0.7389
+Query 1/1: Action query time = 0.984 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7389
+t=234: Selected seed 195 with value = 0.7389
+t: 234	 action: [ 0.047 -0.272 -0.056 -0.01   0.006 -0.015 -1.019]
+t: 235	 action: [ 6.850e-02 -3.169e-01 -9.239e-03 -4.472e-03 -2.005e-04 -3.990e-02 -1.034e+00]
+t: 236	 action: [-0.015 -0.301 -0.117 -0.002 -0.016 -0.033 -1.02 ]
+t: 237	 action: [ 0.019 -0.338 -0.065  0.005 -0.014 -0.05  -1.038]
+t: 238	 action: [-0.045 -0.328 -0.118  0.008 -0.005 -0.039 -1.015]
+t: 239	 action: [-0.054 -0.319 -0.109  0.021 -0.021 -0.047 -1.057]
+t: 240	 action: [-0.085 -0.306 -0.22   0.007 -0.018 -0.043 -1.014]
+t: 241	 action: [-0.098 -0.29  -0.236  0.022 -0.024 -0.055 -1.056]
+t: 242	 action: [-0.158 -0.366 -0.238  0.019 -0.036  0.001 -1.025]
+t: 243	 action: [-0.134 -0.344 -0.243  0.023 -0.046 -0.009 -1.042]
+t: 244	 action: [-0.18  -0.358 -0.358  0.02  -0.044  0.005 -1.031]
+t: 245	 action: [-0.154 -0.327 -0.417  0.02  -0.054 -0.001 -1.036]
+t: 246	 action: [-0.157 -0.264 -0.625  0.026 -0.037 -0.001 -1.014]
+t: 247	 action: [-0.149 -0.202 -0.637  0.039 -0.036 -0.006 -1.05 ]
+t: 248	 action: [-1.606e-01 -1.967e-01 -8.186e-01  1.846e-02 -2.931e-02 -2.853e-04 -1.016e+00]
+t: 249	 action: [-0.146 -0.142 -0.789  0.033 -0.017  0.004 -1.056]
+[07-31 00:32:10|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.986 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=250: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.6954
+INFO:cosmos_policy.experiments.robot.robot_utils:t=250: Selected seed 195 with value = 0.6954
+Query 1/1: Action query time = 0.986 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6954
+t=250: Selected seed 195 with value = 0.6954
+t: 250	 action: [-0.008 -0.225 -0.061 -0.005  0.006 -0.015 -1.006]
+t: 251	 action: [ 0.017 -0.188 -0.002 -0.002  0.006 -0.023 -1.012]
+t: 252	 action: [-0.071 -0.238 -0.062 -0.004  0.003 -0.017 -0.999]
+t: 253	 action: [-3.046e-02 -2.037e-01 -2.034e-02  1.013e-03  3.268e-03 -2.517e-02 -1.019e+00]
+t: 254	 action: [-0.1   -0.208 -0.034  0.001  0.002 -0.018 -1.003]
+t: 255	 action: [-0.085 -0.184 -0.016  0.007  0.001 -0.021 -1.045]
+t: 256	 action: [-0.152 -0.235 -0.048  0.002  0.004 -0.011 -0.997]
+t: 257	 action: [-1.402e-01 -1.932e-01 -2.942e-02  8.389e-03  6.965e-04 -1.830e-02 -1.042e+00]
+t: 258	 action: [-0.137 -0.355 -0.06   0.002 -0.012  0.013 -0.997]
+t: 259	 action: [-0.161 -0.297 -0.042  0.015 -0.007  0.005 -1.022]
+t: 260	 action: [-0.239 -0.386 -0.151  0.004 -0.025  0.022 -0.995]
+t: 261	 action: [-0.257 -0.333 -0.136  0.013 -0.027  0.025 -1.018]
+t: 262	 action: [-0.371 -0.366 -0.177  0.005 -0.032  0.026 -0.995]
+t: 263	 action: [-0.405 -0.283 -0.228  0.022 -0.033  0.029 -1.04 ]
+t: 264	 action: [-0.498 -0.359 -0.304  0.003 -0.041  0.055 -0.992]
+t: 265	 action: [-0.509 -0.271 -0.377  0.022 -0.043  0.051 -1.041]
+[07-31 00:32:11|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.978 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=266: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.7451
+INFO:cosmos_policy.experiments.robot.robot_utils:t=266: Selected seed 195 with value = 0.7451
+Query 1/1: Action query time = 0.978 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7451
+t=266: Selected seed 195 with value = 0.7451
+t: 266	 action: [ 0.066 -0.243 -0.047 -0.016  0.007 -0.011 -1.017]
+t: 267	 action: [ 8.660e-02 -2.817e-01 -3.948e-03 -1.032e-02  6.186e-04 -3.335e-02 -1.030e+00]
+t: 268	 action: [ 0.005 -0.286 -0.108 -0.003 -0.012 -0.029 -1.017]
+t: 269	 action: [ 0.037 -0.312 -0.056  0.002 -0.009 -0.041 -1.037]
+t: 270	 action: [-2.640e-02 -3.210e-01 -1.138e-01  7.174e-03  5.623e-04 -2.914e-02 -1.018e+00]
+t: 271	 action: [-0.042 -0.299 -0.107  0.018 -0.015 -0.038 -1.058]
+t: 272	 action: [-0.073 -0.313 -0.226  0.006 -0.011 -0.035 -1.015]
+t: 273	 action: [-0.084 -0.273 -0.246  0.02  -0.016 -0.043 -1.056]
+t: 274	 action: [-0.136 -0.355 -0.212  0.016 -0.028 -0.002 -1.023]
+t: 275	 action: [-0.096 -0.32  -0.219  0.021 -0.037 -0.012 -1.041]
+t: 276	 action: [-0.153 -0.341 -0.333  0.017 -0.036  0.003 -1.029]
+t: 277	 action: [-0.115 -0.301 -0.389  0.018 -0.043 -0.004 -1.036]
+t: 278	 action: [-0.145 -0.262 -0.612  0.025 -0.026 -0.001 -1.016]
+t: 279	 action: [-0.132 -0.193 -0.614  0.037 -0.024 -0.007 -1.051]
+t: 280	 action: [-0.152 -0.203 -0.793  0.018 -0.02  -0.002 -1.017]
+t: 281	 action: [-0.131 -0.134 -0.751  0.03  -0.009  0.004 -1.056]
+[07-31 00:32:12|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.976 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=282: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.6900
+INFO:cosmos_policy.experiments.robot.robot_utils:t=282: Selected seed 195 with value = 0.6900
+Query 1/1: Action query time = 0.976 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6900
+t=282: Selected seed 195 with value = 0.6900
+t: 282	 action: [-0.017 -0.231 -0.043 -0.005  0.005 -0.012 -1.004]
+t: 283	 action: [ 0.013 -0.186  0.008 -0.003  0.006 -0.019 -1.009]
+t: 284	 action: [-0.081 -0.233 -0.049 -0.004  0.002 -0.013 -0.995]
+t: 285	 action: [-4.020e-02 -1.935e-01 -1.082e-02  9.831e-04  3.215e-03 -2.161e-02 -1.016e+00]
+t: 286	 action: [-1.096e-01 -1.868e-01 -2.225e-02  4.022e-04  2.290e-03 -1.414e-02 -1.003e+00]
+t: 287	 action: [-0.1   -0.165 -0.01   0.006  0.001 -0.017 -1.045]
+t: 288	 action: [-0.158 -0.21  -0.04   0.002  0.006 -0.007 -0.994]
+t: 289	 action: [-0.148 -0.174 -0.028  0.008  0.001 -0.014 -1.041]
+t: 290	 action: [-0.144 -0.332 -0.061  0.003 -0.011  0.012 -0.997]
+t: 291	 action: [-0.161 -0.284 -0.038  0.017 -0.009  0.007 -1.022]
+t: 292	 action: [-0.245 -0.372 -0.154  0.005 -0.023  0.021 -0.994]
+t: 293	 action: [-0.262 -0.325 -0.128  0.013 -0.027  0.026 -1.017]
+t: 294	 action: [-0.381 -0.355 -0.19   0.005 -0.03   0.027 -0.998]
+t: 295	 action: [-0.42  -0.278 -0.23   0.022 -0.031  0.03  -1.041]
+t: 296	 action: [-0.519 -0.357 -0.325  0.003 -0.036  0.055 -0.991]
+t: 297	 action: [-0.535 -0.268 -0.378  0.023 -0.039  0.052 -1.041]
+[07-31 00:32:13|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.963 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=298: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.7512
+INFO:cosmos_policy.experiments.robot.robot_utils:t=298: Selected seed 195 with value = 0.7512
+WARNING:imageio_ffmpeg:IMAGEIO FFMPEG_WRITER WARNING: input image is not divisible by macro_block_size=16, resizing from (896, 284) to (896, 288) to ensure video compatibility with most codecs and players. To prevent resizing, make your input image divisible by the macro_block_size or set the macro_block_size to 1 (risking incompatibility).
+INFO:cosmos_policy.experiments.robot.robot_utils:Success: False
+INFO:cosmos_policy.experiments.robot.robot_utils:# episodes completed so far: 10
+INFO:cosmos_policy.experiments.robot.robot_utils:# successes: 4 (40.0%)
+
+
 20%|██        | 10/50 [04:19<17:40, 26.51s/it]INFO:cosmos_policy.experiments.robot.robot_utils:
+Task: open the middle drawer of the cabinet
+INFO:cosmos_policy.experiments.robot.robot_utils:Starting episode 11...
+Query 1/1: Action query time = 0.963 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7512
+t=298: Selected seed 195 with value = 0.7512
+t: 298	 action: [ 0.096 -0.206 -0.024 -0.019  0.011 -0.005 -1.014]
+t: 299	 action: [ 0.11  -0.243  0.006 -0.016  0.003 -0.024 -1.028]
+t: 300	 action: [ 0.04  -0.254 -0.089 -0.004 -0.004 -0.022 -1.016]
+t: 301	 action: [ 0.057 -0.278 -0.043 -0.001 -0.004 -0.03  -1.036]
+t: 302	 action: [ 6.047e-04 -2.768e-01 -9.765e-02  4.636e-03  7.031e-03 -1.653e-02 -1.019e+00]
+t: 303	 action: [-0.027 -0.264 -0.106  0.013 -0.009 -0.026 -1.059]
+t: 304	 action: [-0.054 -0.277 -0.238  0.003 -0.002 -0.024 -1.016]
+t: 305	 action: [-0.068 -0.237 -0.275  0.017 -0.008 -0.03  -1.056]
+t: 306	 action: [-1.071e-01 -3.299e-01 -2.031e-01  1.367e-02 -1.841e-02 -6.769e-04 -1.024e+00]
+t: 307	 action: [-0.064 -0.291 -0.224  0.019 -0.025 -0.009 -1.04 ]
+t: 308	 action: [-0.118 -0.312 -0.333  0.016 -0.026  0.004 -1.029]
+t: 309	 action: [-0.084 -0.269 -0.393  0.018 -0.029 -0.002 -1.034]
+Saved rollout MP4 at path ./rollouts/None/2026_07_31-00_27_45--episode=10--success=False--task=open_the_middle_drawer_of_the_cabinet.mp4
+300 300 19 19
+Saved rollout MP4 at path ./rollouts/None/2026_07_31-00_27_45--with_future_img--episode=10--success=False--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: False
+# episodes completed so far: 10
+# successes: 4 (40.0%)
+
+Task: open the middle drawer of the cabinet
+Starting episode 11...
+[07-31 00:32:21|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.982 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=10: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.3539
+INFO:cosmos_policy.experiments.robot.robot_utils:t=10: Selected seed 195 with value = 0.3539
+Query 1/1: Action query time = 0.982 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3539
+t=10: Selected seed 195 with value = 0.3539
+t: 10	 action: [ 0.196  0.03   0.008 -0.018  0.062  0.008 -0.987]
+t: 11	 action: [ 0.326  0.064  0.074 -0.024  0.084  0.027 -0.989]
+t: 12	 action: [ 0.418  0.053  0.047 -0.031  0.096  0.033 -1.009]
+t: 13	 action: [ 0.528  0.053  0.113 -0.035  0.117  0.052 -1.021]
+t: 14	 action: [ 0.53   0.019  0.086 -0.048  0.095  0.046 -1.01 ]
+t: 15	 action: [ 0.598  0.062  0.134 -0.036  0.096  0.062 -1.041]
+t: 16	 action: [ 0.596  0.04   0.083 -0.057  0.093  0.095 -1.009]
+t: 17	 action: [ 0.638  0.052  0.099 -0.052  0.082  0.085 -1.048]
+t: 18	 action: [ 0.642  0.038  0.072 -0.055  0.057  0.133 -1.028]
+t: 19	 action: [ 0.664  0.01   0.056 -0.062  0.046  0.125 -1.023]
+t: 20	 action: [ 0.642  0.036  0.05  -0.065  0.036  0.144 -1.027]
+t: 21	 action: [ 0.669  0.043  0.02  -0.07   0.029  0.129 -1.02 ]
+t: 22	 action: [ 0.623  0.029  0.048 -0.076  0.019  0.169 -1.003]
+t: 23	 action: [ 0.617  0.016  0.017 -0.086  0.016  0.152 -1.047]
+t: 24	 action: [ 0.599  0.038  0.02  -0.091  0.016  0.178 -1.001]
+t: 25	 action: [ 0.602  0.069  0.013 -0.095  0.016  0.154 -1.042]
+[07-31 00:32:23|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.960 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=26: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.3702
+INFO:cosmos_policy.experiments.robot.robot_utils:t=26: Selected seed 195 with value = 0.3702
+Query 1/1: Action query time = 0.960 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3702
+t=26: Selected seed 195 with value = 0.3702
+t: 26	 action: [ 0.549  0.013  0.008 -0.092 -0.007  0.199 -1.017]
+t: 27	 action: [ 0.561  0.057 -0.008 -0.088  0.006  0.199 -1.014]
+t: 28	 action: [ 0.457  0.042 -0.041 -0.107 -0.011  0.228 -1.013]
+t: 29	 action: [ 4.511e-01  7.794e-02 -5.721e-02 -1.045e-01  6.671e-04  2.224e-01 -1.007e+00]
+t: 30	 action: [ 0.379  0.045 -0.064 -0.134 -0.015  0.262 -1.012]
+t: 31	 action: [ 0.329  0.089 -0.131 -0.123 -0.011  0.243 -1.034]
+t: 32	 action: [ 0.281  0.08  -0.12  -0.145 -0.013  0.288 -1.011]
+t: 33	 action: [ 0.241  0.098 -0.19  -0.133 -0.004  0.264 -1.029]
+t: 34	 action: [ 0.167  0.051 -0.146 -0.133 -0.002  0.307 -1.   ]
+t: 35	 action: [ 0.202  0.061 -0.208 -0.131  0.005  0.292 -0.994]
+t: 36	 action: [ 1.309e-01  5.618e-02 -2.088e-01 -1.392e-01  2.195e-04  3.214e-01 -9.944e-01]
+t: 37	 action: [ 0.152  0.058 -0.26  -0.135  0.008  0.302 -0.994]
+t: 38	 action: [ 0.07   0.044 -0.21  -0.147 -0.004  0.338 -0.999]
+t: 39	 action: [ 6.098e-02  7.288e-02 -3.133e-01 -1.353e-01  5.104e-05  3.195e-01 -1.012e+00]
+t: 40	 action: [ 0.037  0.049 -0.262 -0.148  0.005  0.347 -0.995]
+t: 41	 action: [ 0.04   0.066 -0.353 -0.132  0.005  0.322 -1.012]
+[07-31 00:32:24|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.975 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=42: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.4167
+INFO:cosmos_policy.experiments.robot.robot_utils:t=42: Selected seed 195 with value = 0.4167
+Query 1/1: Action query time = 0.975 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4167
+t=42: Selected seed 195 with value = 0.4167
+t: 42	 action: [ 0.037  0.012 -0.286 -0.148 -0.006  0.333 -0.968]
+t: 43	 action: [ 0.089  0.021 -0.261 -0.155  0.006  0.316 -0.978]
+t: 44	 action: [ 0.027  0.013 -0.346 -0.153  0.003  0.344 -0.964]
+t: 45	 action: [ 0.068  0.018 -0.3   -0.157  0.014  0.322 -0.981]
+t: 46	 action: [ 0.043  0.008 -0.367 -0.166  0.005  0.342 -0.974]
+t: 47	 action: [ 0.05   0.031 -0.356 -0.164  0.016  0.315 -1.012]
+t: 48	 action: [ 0.033  0.005 -0.436 -0.166  0.021  0.347 -0.968]
+t: 49	 action: [ 0.046  0.027 -0.423 -0.16   0.047  0.314 -1.013]
+t: 50	 action: [ 0.009 -0.075 -0.437 -0.149  0.099  0.322 -0.988]
+t: 51	 action: [ 0.035 -0.046 -0.454 -0.137  0.098  0.279 -1.009]
+t: 52	 action: [ 0.034 -0.057 -0.46  -0.152  0.129  0.32  -0.987]
+t: 53	 action: [ 0.053 -0.038 -0.457 -0.126  0.14   0.272 -1.009]
+t: 54	 action: [ 0.047 -0.061 -0.462 -0.144  0.151  0.299 -0.981]
+t: 55	 action: [ 0.082 -0.017 -0.431 -0.13   0.156  0.253 -1.029]
+t: 56	 action: [ 0.092 -0.051 -0.455 -0.138  0.18   0.276 -0.98 ]
+t: 57	 action: [ 0.136 -0.022 -0.406 -0.119  0.195  0.228 -1.031]
+[07-31 00:32:25|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.973 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=58: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.5426
+INFO:cosmos_policy.experiments.robot.robot_utils:t=58: Selected seed 195 with value = 0.5426
+Query 1/1: Action query time = 0.973 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5426
+t=58: Selected seed 195 with value = 0.5426
+t: 58	 action: [ 0.065 -0.127 -0.402 -0.076  0.222  0.22  -0.982]
+t: 59	 action: [ 0.099 -0.114 -0.308 -0.06   0.229  0.186 -1.005]
+t: 60	 action: [ 0.124 -0.152 -0.286 -0.073  0.211  0.204 -0.988]
+t: 61	 action: [ 0.205 -0.143 -0.181 -0.061  0.208  0.163 -1.018]
+t: 62	 action: [ 0.231 -0.201 -0.14  -0.083  0.208  0.176 -0.988]
+t: 63	 action: [ 0.298 -0.165 -0.022 -0.068  0.18   0.147 -1.043]
+t: 64	 action: [ 0.401 -0.207 -0.02  -0.078  0.188  0.151 -0.991]
+t: 65	 action: [ 0.428 -0.165  0.054 -0.068  0.158  0.12  -1.046]
+t: 66	 action: [ 0.477 -0.239  0.008 -0.062  0.155  0.117 -1.01 ]
+t: 67	 action: [ 0.531 -0.201  0.052 -0.046  0.155  0.082 -1.018]
+t: 68	 action: [ 0.549 -0.221  0.108 -0.059  0.131  0.095 -1.007]
+t: 69	 action: [ 0.612 -0.175  0.15  -0.045  0.132  0.06  -1.017]
+t: 70	 action: [ 0.575 -0.211  0.091 -0.037  0.131  0.079 -1.005]
+t: 71	 action: [ 0.569 -0.19   0.144 -0.028  0.105  0.056 -1.036]
+t: 72	 action: [ 0.573 -0.185  0.123 -0.028  0.117  0.058 -1.002]
+t: 73	 action: [ 0.55  -0.177  0.157 -0.022  0.099  0.037 -1.037]
+[07-31 00:32:26|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.973 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=74: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.6337
+INFO:cosmos_policy.experiments.robot.robot_utils:t=74: Selected seed 195 with value = 0.6337
+Query 1/1: Action query time = 0.973 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6337
+t=74: Selected seed 195 with value = 0.6337
+t: 74	 action: [ 0.221 -0.34   0.174  0.002  0.154  0.063 -1.019]
+t: 75	 action: [ 0.221 -0.275  0.138 -0.004  0.161  0.065 -1.022]
+t: 76	 action: [ 0.235 -0.343  0.088  0.002  0.148  0.071 -1.01 ]
+t: 77	 action: [ 0.233 -0.294  0.075 -0.001  0.149  0.057 -1.023]
+t: 78	 action: [ 2.363e-01 -3.815e-01  2.839e-02 -9.874e-04  1.285e-01  5.586e-02 -1.011e+00]
+t: 79	 action: [ 0.236 -0.28  -0.018  0.002  0.104  0.055 -1.049]
+t: 80	 action: [ 0.227 -0.287 -0.052 -0.004  0.105  0.055 -1.005]
+t: 81	 action: [ 0.19  -0.229 -0.1   -0.003  0.085  0.043 -1.045]
+t: 82	 action: [ 0.108 -0.245 -0.131  0.002  0.033  0.037 -1.012]
+t: 83	 action: [ 0.057 -0.2   -0.105 -0.004  0.036  0.037 -1.029]
+t: 84	 action: [ 0.022 -0.172 -0.168 -0.002  0.023  0.039 -1.009]
+t: 85	 action: [ 0.021 -0.155 -0.152 -0.009  0.029  0.034 -1.009]
+t: 86	 action: [-0.03  -0.183 -0.175 -0.006  0.014  0.026 -1.   ]
+t: 87	 action: [-0.042 -0.193 -0.182 -0.004  0.009  0.022 -1.034]
+t: 88	 action: [-0.113 -0.163 -0.163 -0.008  0.015  0.029 -1.   ]
+t: 89	 action: [-0.115 -0.172 -0.148 -0.007  0.012  0.023 -1.019]
+[07-31 00:32:28|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.964 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=90: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.6746
+INFO:cosmos_policy.experiments.robot.robot_utils:t=90: Selected seed 195 with value = 0.6746
+Query 1/1: Action query time = 0.964 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6746
+t=90: Selected seed 195 with value = 0.6746
+t: 90	 action: [ 2.681e-02 -2.078e-01 -7.809e-02 -4.515e-04  3.248e-02  4.960e-02 -9.791e-01]
+t: 91	 action: [ 0.033 -0.235 -0.036 -0.004  0.025  0.04  -1.003]
+t: 92	 action: [-0.05  -0.18  -0.057 -0.004  0.023  0.045 -0.984]
+t: 93	 action: [-0.019 -0.237  0.004 -0.009  0.019  0.033 -1.01 ]
+t: 94	 action: [-5.473e-02 -2.141e-01 -1.458e-02  2.121e-04  3.318e-02  3.259e-02 -9.787e-01]
+t: 95	 action: [-4.940e-02 -1.909e-01 -9.648e-04  3.206e-03  1.299e-02  3.132e-02 -1.027e+00]
+t: 96	 action: [-0.114 -0.178  0.005 -0.002  0.018  0.036 -0.984]
+t: 97	 action: [-0.085 -0.175  0.015 -0.007  0.006  0.027 -1.028]
+t: 98	 action: [-1.263e-01 -1.873e-01  1.119e-01 -5.085e-03  6.400e-04  4.678e-02 -9.746e-01]
+t: 99	 action: [-0.114 -0.188  0.128  0.006  0.005  0.037 -1.011]
+t: 100	 action: [-0.205 -0.185  0.091 -0.005 -0.014  0.051 -0.978]
+t: 101	 action: [-0.196 -0.193  0.099  0.004 -0.004  0.04  -1.005]
+t: 102	 action: [-2.423e-01 -2.144e-01  6.798e-02  5.510e-04 -1.971e-02  4.290e-02 -9.685e-01]
+t: 103	 action: [-0.229 -0.197  0.057  0.015 -0.018  0.033 -1.018]
+t: 104	 action: [-0.355 -0.217  0.031  0.002 -0.028  0.047 -0.973]
+t: 105	 action: [-0.329 -0.205  0.028  0.015 -0.024  0.037 -1.016]
+[07-31 00:32:29|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.976 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=106: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.6884
+INFO:cosmos_policy.experiments.robot.robot_utils:t=106: Selected seed 195 with value = 0.6884
+Query 1/1: Action query time = 0.976 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6884
+t=106: Selected seed 195 with value = 0.6884
+t: 106	 action: [-0.073 -0.257 -0.094 -0.013 -0.003  0.014 -0.986]
+t: 107	 action: [-2.618e-02 -2.335e-01 -1.377e-02 -6.421e-03 -4.146e-04  3.816e-03 -1.011e+00]
+t: 108	 action: [-0.11  -0.211 -0.065 -0.01  -0.013  0.011 -0.993]
+t: 109	 action: [-0.024 -0.202  0.013 -0.005 -0.009  0.001 -1.012]
+t: 110	 action: [-0.099 -0.145 -0.01  -0.003 -0.005  0.006 -0.981]
+t: 111	 action: [-0.035 -0.144  0.01   0.003 -0.012  0.001 -1.041]
+t: 112	 action: [-0.118 -0.15   0.004 -0.003 -0.013  0.006 -0.989]
+t: 113	 action: [-4.187e-02 -1.646e-01  7.077e-03  5.375e-03 -1.494e-02  5.843e-04 -1.040e+00]
+t: 114	 action: [-0.084 -0.279  0.02   0.007 -0.036  0.024 -1.001]
+t: 115	 action: [-0.069 -0.252  0.036  0.016 -0.032  0.015 -1.019]
+t: 116	 action: [-0.168 -0.312 -0.055  0.009 -0.042  0.026 -1.005]
+t: 117	 action: [-0.144 -0.275 -0.025  0.017 -0.043  0.02  -1.01 ]
+t: 118	 action: [-0.213 -0.29  -0.088  0.007 -0.048  0.021 -1.002]
+t: 119	 action: [-0.232 -0.263 -0.099  0.023 -0.045  0.017 -1.034]
+t: 120	 action: [-0.3   -0.287 -0.186  0.008 -0.044  0.026 -1.003]
+t: 121	 action: [-0.303 -0.268 -0.201  0.022 -0.045  0.022 -1.032]
+[07-31 00:32:30|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.988 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=122: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.7725
+INFO:cosmos_policy.experiments.robot.robot_utils:t=122: Selected seed 195 with value = 0.7725
+Query 1/1: Action query time = 0.988 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7725
+t=122: Selected seed 195 with value = 0.7725
+t: 122	 action: [-0.023 -0.396 -0.148  0.021 -0.094  0.008 -1.008]
+t: 123	 action: [ 0.009 -0.445 -0.154  0.027 -0.085 -0.006 -1.022]
+t: 124	 action: [-3.661e-02 -4.687e-01 -2.280e-01  3.135e-02 -9.502e-02  1.907e-04 -1.002e+00]
+t: 125	 action: [-3.085e-04 -4.560e-01 -2.806e-01  3.333e-02 -9.112e-02 -1.226e-02 -1.013e+00]
+t: 126	 action: [-0.007 -0.43  -0.393  0.063 -0.072 -0.003 -1.004]
+t: 127	 action: [-0.019 -0.418 -0.513  0.076 -0.065 -0.008 -1.058]
+t: 128	 action: [ 5.792e-04 -3.374e-01 -7.531e-01  8.695e-02 -4.152e-02 -9.467e-03 -9.943e-01]
+t: 129	 action: [-0.008 -0.273 -0.858  0.1   -0.033 -0.013 -1.052]
+t: 130	 action: [ 1.760e-02 -3.273e-01 -6.948e-01  8.833e-02 -2.160e-02 -2.543e-04 -9.925e-01]
+t: 131	 action: [ 0.023 -0.302 -0.753  0.097 -0.001 -0.014 -1.025]
+t: 132	 action: [ 4.229e-02 -1.212e-01 -8.950e-01  7.074e-02  8.788e-04  5.932e-03 -9.848e-01]
+t: 133	 action: [ 0.027 -0.061 -0.913  0.074  0.014 -0.008 -1.009]
+t: 134	 action: [ 0.016  0.024 -0.938  0.074  0.02  -0.003 -0.993]
+t: 135	 action: [-0.006  0.106 -0.97   0.045  0.018 -0.001 -1.062]
+t: 136	 action: [-6.409e-04  2.479e-01 -9.081e-01  3.614e-02  3.311e-02  7.375e-04 -9.845e-01]
+t: 137	 action: [-0.017  0.416 -0.938  0.013  0.027  0.007 -1.054]
+[07-31 00:32:32|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.967 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=138: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9555
+INFO:cosmos_policy.experiments.robot.robot_utils:t=138: Selected seed 195 with value = 0.9555
+Query 1/1: Action query time = 0.967 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9555
+t=138: Selected seed 195 with value = 0.9555
+t: 138	 action: [-0.158  0.772 -0.822  0.003 -0.017  0.09  -0.988]
+t: 139	 action: [-0.144  0.747 -0.889 -0.012 -0.004  0.087 -1.011]
+t: 140	 action: [-0.178  0.792 -0.818 -0.008 -0.009  0.101 -0.99 ]
+t: 141	 action: [-0.166  0.768 -0.893 -0.012  0.003  0.09  -1.008]
+t: 142	 action: [-0.207  0.799 -0.821 -0.004 -0.002  0.106 -0.992]
+t: 143	 action: [-0.223  0.794 -0.873 -0.009 -0.007  0.107 -1.036]
+t: 144	 action: [-0.201  0.807 -0.8   -0.01   0.004  0.109 -0.991]
+t: 145	 action: [-0.211  0.809 -0.854 -0.009 -0.005  0.1   -1.031]
+t: 146	 action: [-0.176  0.831 -0.758  0.013 -0.001  0.098 -0.978]
+t: 147	 action: [-1.836e-01  8.257e-01 -8.149e-01 -2.725e-04  4.482e-03  8.818e-02 -1.005e+00]
+t: 148	 action: [-2.022e-01  8.315e-01 -7.680e-01  9.960e-03  5.066e-04  1.049e-01 -9.807e-01]
+t: 149	 action: [-2.023e-01  8.226e-01 -8.047e-01 -2.082e-04  1.722e-03  9.470e-02 -1.002e+00]
+t: 150	 action: [-0.205  0.828 -0.766  0.001  0.004  0.104 -0.985]
+t: 151	 action: [-0.264  0.856 -0.809 -0.003 -0.005  0.094 -1.03 ]
+t: 152	 action: [-2.195e-01  8.271e-01 -7.559e-01  3.044e-04  9.285e-03  1.078e-01 -9.832e-01]
+t: 153	 action: [-0.28   0.85  -0.76  -0.001 -0.007  0.098 -1.031]
+[07-31 00:32:33|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.972 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=154: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9829
+INFO:cosmos_policy.experiments.robot.robot_utils:t=154: Selected seed 195 with value = 0.9829
+WARNING:imageio_ffmpeg:IMAGEIO FFMPEG_WRITER WARNING: input image is not divisible by macro_block_size=16, resizing from (896, 284) to (896, 288) to ensure video compatibility with most codecs and players. To prevent resizing, make your input image divisible by the macro_block_size or set the macro_block_size to 1 (risking incompatibility).
+INFO:cosmos_policy.experiments.robot.robot_utils:Success: True
+INFO:cosmos_policy.experiments.robot.robot_utils:# episodes completed so far: 11
+INFO:cosmos_policy.experiments.robot.robot_utils:# successes: 5 (45.5%)
+
+
 22%|██▏       | 11/50 [04:36<15:21, 23.64s/it]INFO:cosmos_policy.experiments.robot.robot_utils:
+Task: open the middle drawer of the cabinet
+INFO:cosmos_policy.experiments.robot.robot_utils:Starting episode 12...
+Query 1/1: Action query time = 0.972 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9829
+t=154: Selected seed 195 with value = 0.9829
+t: 154	 action: [-0.214  0.789 -0.538  0.005 -0.003  0.035 -0.938]
+t: 155	 action: [-0.257  0.781 -0.461 -0.002  0.004  0.056 -0.914]
+t: 156	 action: [-0.238  0.828 -0.563  0.004  0.014  0.046 -0.966]
+t: 157	 action: [-0.264  0.812 -0.518 -0.001  0.008  0.062 -0.995]
+t: 158	 action: [-0.211  0.825 -0.538 -0.002  0.011  0.05  -0.948]
+t: 159	 action: [-0.316  0.832 -0.5   -0.001  0.003  0.061 -0.992]
+t: 160	 action: [-0.253  0.841 -0.583 -0.004  0.025  0.064 -0.965]
+Saved rollout MP4 at path ./rollouts/None/2026_07_31-00_27_45--episode=11--success=True--task=open_the_middle_drawer_of_the_cabinet.mp4
+151 151 10 10
+Saved rollout MP4 at path ./rollouts/None/2026_07_31-00_27_45--with_future_img--episode=11--success=True--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: True
+# episodes completed so far: 11
+# successes: 5 (45.5%)
+
+Task: open the middle drawer of the cabinet
+Starting episode 12...
+[07-31 00:32:39|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.989 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=10: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.3675
+INFO:cosmos_policy.experiments.robot.robot_utils:t=10: Selected seed 195 with value = 0.3675
+Query 1/1: Action query time = 0.989 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3675
+t=10: Selected seed 195 with value = 0.3675
+t: 10	 action: [ 0.125 -0.141  0.021  0.007  0.066  0.007 -1.001]
+t: 11	 action: [ 0.208 -0.086  0.06   0.013  0.104  0.022 -0.994]
+t: 12	 action: [ 2.553e-01 -7.663e-02  5.617e-02  8.686e-04  1.239e-01  2.438e-02 -1.016e+00]
+t: 13	 action: [ 0.373 -0.021  0.092  0.007  0.142  0.044 -1.017]
+t: 14	 action: [ 0.434 -0.051  0.107  0.003  0.148  0.041 -1.02 ]
+t: 15	 action: [ 0.525  0.003  0.099  0.004  0.156  0.047 -1.044]
+t: 16	 action: [ 0.51   0.012  0.097 -0.008  0.156  0.076 -1.026]
+t: 17	 action: [ 0.572  0.053  0.071 -0.005  0.154  0.069 -1.048]
+t: 18	 action: [ 0.563 -0.012  0.061 -0.011  0.131  0.127 -1.028]
+t: 19	 action: [ 0.573  0.017  0.032 -0.013  0.121  0.117 -1.024]
+t: 20	 action: [ 0.586  0.004  0.015 -0.027  0.118  0.129 -1.027]
+t: 21	 action: [ 0.608  0.047  0.017 -0.022  0.106  0.119 -1.017]
+t: 22	 action: [ 0.599  0.029  0.023 -0.033  0.112  0.137 -1.014]
+t: 23	 action: [ 0.607  0.06   0.006 -0.027  0.097  0.123 -1.048]
+t: 24	 action: [ 0.613  0.027 -0.014 -0.049  0.103  0.146 -1.016]
+t: 25	 action: [ 0.636  0.082 -0.008 -0.043  0.098  0.128 -1.044]
+[07-31 00:32:40|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.975 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=26: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.3964
+INFO:cosmos_policy.experiments.robot.robot_utils:t=26: Selected seed 195 with value = 0.3964
+Query 1/1: Action query time = 0.975 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3964
+t=26: Selected seed 195 with value = 0.3964
+t: 26	 action: [ 0.407  0.009  0.025 -0.045  0.132  0.176 -1.006]
+t: 27	 action: [ 0.387  0.045  0.023 -0.046  0.121  0.178 -1.008]
+t: 28	 action: [ 0.34   0.023  0.01  -0.061  0.137  0.194 -1.001]
+t: 29	 action: [ 0.329  0.068  0.013 -0.059  0.126  0.198 -1.003]
+t: 30	 action: [ 0.301  0.025  0.003 -0.085  0.136  0.22  -0.994]
+t: 31	 action: [ 2.616e-01  7.004e-02 -5.963e-04 -7.743e-02  1.284e-01  2.064e-01 -1.034e+00]
+t: 32	 action: [ 0.241  0.034 -0.014 -0.097  0.144  0.24  -0.993]
+t: 33	 action: [ 2.273e-01  8.289e-02 -6.534e-04 -9.145e-02  1.510e-01  2.284e-01 -1.027e+00]
+t: 34	 action: [ 0.227  0.039 -0.002 -0.094  0.18   0.233 -0.998]
+t: 35	 action: [ 0.245  0.076  0.013 -0.091  0.195  0.221 -1.005]
+t: 36	 action: [ 2.336e-01  4.868e-02 -5.426e-04 -1.013e-01  1.843e-01  2.371e-01 -9.945e-01]
+t: 37	 action: [ 0.252  0.083  0.023 -0.098  0.198  0.226 -0.997]
+t: 38	 action: [ 0.235  0.044  0.006 -0.111  0.18   0.257 -0.985]
+t: 39	 action: [ 0.258  0.093 -0.005 -0.101  0.175  0.236 -1.028]
+t: 40	 action: [ 0.245  0.051  0.002 -0.11   0.178  0.254 -0.987]
+t: 41	 action: [ 0.278  0.094  0.004 -0.101  0.177  0.234 -1.021]
+[07-31 00:32:41|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.958 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=42: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.4566
+INFO:cosmos_policy.experiments.robot.robot_utils:t=42: Selected seed 195 with value = 0.4566
+Query 1/1: Action query time = 0.958 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4566
+t=42: Selected seed 195 with value = 0.4566
+t: 42	 action: [ 0.159  0.032 -0.03  -0.093  0.177  0.238 -0.999]
+t: 43	 action: [ 0.16   0.07  -0.016 -0.089  0.17   0.224 -0.993]
+t: 44	 action: [ 0.155  0.025 -0.014 -0.093  0.157  0.244 -0.996]
+t: 45	 action: [ 0.172  0.06   0.015 -0.089  0.138  0.233 -1.001]
+t: 46	 action: [ 0.209  0.029  0.006 -0.099  0.116  0.254 -0.999]
+t: 47	 action: [ 0.228  0.053 -0.013 -0.094  0.098  0.227 -1.018]
+t: 48	 action: [ 0.241  0.025  0.012 -0.091  0.085  0.252 -0.998]
+t: 49	 action: [ 0.276  0.039 -0.003 -0.091  0.078  0.231 -1.025]
+t: 50	 action: [ 0.281  0.002 -0.019 -0.079  0.074  0.246 -0.992]
+t: 51	 action: [ 3.059e-01  1.702e-02  4.543e-04 -6.748e-02  5.706e-02  2.353e-01 -9.922e-01]
+t: 52	 action: [ 0.32  -0.009 -0.036 -0.072  0.059  0.242 -0.989]
+t: 53	 action: [ 0.353  0.005 -0.001 -0.064  0.05   0.23  -0.988]
+t: 54	 action: [ 0.351 -0.011 -0.012 -0.065  0.044  0.247 -0.99 ]
+t: 55	 action: [ 0.415  0.012 -0.013 -0.057  0.041  0.229 -1.016]
+t: 56	 action: [ 0.375 -0.024 -0.043 -0.051  0.05   0.236 -0.992]
+t: 57	 action: [ 0.435 -0.002 -0.016 -0.051  0.053  0.222 -1.018]
+[07-31 00:32:42|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.972 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=58: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.5257
+INFO:cosmos_policy.experiments.robot.robot_utils:t=58: Selected seed 195 with value = 0.5257
+Query 1/1: Action query time = 0.972 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5257
+t=58: Selected seed 195 with value = 0.5257
+t: 58	 action: [ 0.413 -0.063 -0.021 -0.036  0.005  0.21  -1.015]
+t: 59	 action: [ 0.414 -0.018 -0.005 -0.043  0.011  0.187 -1.001]
+t: 60	 action: [ 0.448 -0.047 -0.066 -0.031  0.001  0.214 -1.019]
+t: 61	 action: [ 0.44  -0.003 -0.005 -0.044  0.012  0.196 -1.017]
+t: 62	 action: [ 0.495 -0.084 -0.065 -0.039  0.013  0.219 -1.02 ]
+t: 63	 action: [ 0.438 -0.038 -0.044 -0.043  0.005  0.19  -1.038]
+t: 64	 action: [ 0.517 -0.096 -0.143 -0.03   0.011  0.217 -1.026]
+t: 65	 action: [ 0.475 -0.031 -0.11  -0.042  0.008  0.192 -1.043]
+t: 66	 action: [ 0.47  -0.119 -0.251 -0.029  0.017  0.222 -1.013]
+t: 67	 action: [ 0.466 -0.084 -0.255 -0.033  0.012  0.201 -1.014]
+t: 68	 action: [ 0.462 -0.106 -0.332 -0.029  0.019  0.225 -1.015]
+t: 69	 action: [ 0.478 -0.077 -0.318 -0.035  0.018  0.193 -1.01 ]
+t: 70	 action: [ 0.446 -0.128 -0.323 -0.037  0.038  0.226 -1.009]
+t: 71	 action: [ 0.419 -0.105 -0.262 -0.028  0.027  0.204 -1.044]
+t: 72	 action: [ 0.397 -0.135 -0.319 -0.031  0.039  0.215 -1.014]
+t: 73	 action: [ 0.366 -0.114 -0.26  -0.03   0.04   0.188 -1.035]
+[07-31 00:32:44|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.965 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=74: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.6016
+INFO:cosmos_policy.experiments.robot.robot_utils:t=74: Selected seed 195 with value = 0.6016
+Query 1/1: Action query time = 0.965 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6016
+t=74: Selected seed 195 with value = 0.6016
+t: 74	 action: [ 0.14  -0.3   -0.337 -0.01   0.071  0.141 -0.995]
+t: 75	 action: [ 0.164 -0.347 -0.266 -0.007  0.075  0.107 -1.004]
+t: 76	 action: [ 0.105 -0.347 -0.312 -0.009  0.057  0.126 -0.99 ]
+t: 77	 action: [ 0.114 -0.368 -0.241 -0.007  0.059  0.085 -1.014]
+t: 78	 action: [ 0.095 -0.401 -0.231 -0.007  0.054  0.098 -0.986]
+t: 79	 action: [ 0.087 -0.384 -0.201 -0.003  0.044  0.081 -1.035]
+t: 80	 action: [ 0.044 -0.375 -0.212 -0.008  0.037  0.079 -0.99 ]
+t: 81	 action: [ 0.038 -0.347 -0.197 -0.004  0.032  0.062 -1.044]
+t: 82	 action: [-0.005 -0.393 -0.177 -0.006  0.005  0.064 -0.995]
+t: 83	 action: [ 0.027 -0.374 -0.17  -0.003  0.009  0.049 -1.01 ]
+t: 84	 action: [-0.056 -0.368 -0.179 -0.004 -0.009  0.06  -0.997]
+t: 85	 action: [-1.074e-02 -3.258e-01 -1.697e-01 -3.810e-03 -4.493e-04  4.452e-02 -1.010e+00]
+t: 86	 action: [-0.103 -0.395 -0.184 -0.002 -0.004  0.052 -0.989]
+t: 87	 action: [-0.08  -0.365 -0.18   0.001 -0.005  0.04  -1.029]
+t: 88	 action: [-0.163 -0.339 -0.191 -0.001 -0.015  0.05  -0.996]
+t: 89	 action: [-1.558e-01 -3.038e-01 -1.867e-01  1.007e-03 -1.442e-02  3.954e-02 -1.026e+00]
+[07-31 00:32:45|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.965 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=90: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.6563
+INFO:cosmos_policy.experiments.robot.robot_utils:t=90: Selected seed 195 with value = 0.6563
+Query 1/1: Action query time = 0.965 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6563
+t=90: Selected seed 195 with value = 0.6563
+t: 90	 action: [-0.031 -0.316 -0.168 -0.003 -0.014  0.021 -0.975]
+t: 91	 action: [-0.049 -0.315 -0.139  0.001 -0.004  0.03  -0.992]
+t: 92	 action: [-0.122 -0.318 -0.152 -0.002 -0.014  0.03  -0.984]
+t: 93	 action: [-1.609e-01 -3.210e-01 -1.195e-01  3.577e-04 -1.796e-03  3.346e-02 -9.975e-01]
+t: 94	 action: [-2.163e-01 -3.695e-01 -1.749e-01 -5.615e-04 -8.413e-03  2.507e-02 -9.773e-01]
+t: 95	 action: [-0.263 -0.319 -0.135  0.008 -0.004  0.032 -1.033]
+t: 96	 action: [-0.332 -0.311 -0.19  -0.002 -0.008  0.046 -0.986]
+t: 97	 action: [-0.358 -0.28  -0.168  0.005 -0.004  0.041 -1.031]
+t: 98	 action: [-0.406 -0.272 -0.172 -0.026 -0.03   0.056 -0.983]
+t: 99	 action: [-0.409 -0.253 -0.212 -0.011 -0.027  0.058 -1.003]
+t: 100	 action: [-0.462 -0.235 -0.184 -0.028 -0.037  0.082 -0.98 ]
+t: 101	 action: [-0.44  -0.228 -0.223 -0.012 -0.035  0.074 -1.002]
+t: 102	 action: [-0.527 -0.229 -0.19  -0.003 -0.037  0.095 -0.967]
+t: 103	 action: [-0.496 -0.199 -0.138  0.002 -0.026  0.08  -1.029]
+t: 104	 action: [-0.513 -0.235 -0.155 -0.004 -0.046  0.116 -0.958]
+t: 105	 action: [-0.466 -0.182 -0.081 -0.001 -0.024  0.094 -1.014]
+[07-31 00:32:46|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.991 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=106: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.7163
+INFO:cosmos_policy.experiments.robot.robot_utils:t=106: Selected seed 195 with value = 0.7163
+Query 1/1: Action query time = 0.991 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7163
+t=106: Selected seed 195 with value = 0.7163
+t: 106	 action: [-0.247 -0.19  -0.123 -0.047 -0.086  0.083 -0.954]
+t: 107	 action: [-0.277 -0.223 -0.063 -0.033 -0.088  0.093 -0.975]
+t: 108	 action: [-0.323 -0.182 -0.025 -0.032 -0.115  0.105 -0.982]
+t: 109	 action: [-0.335 -0.216  0.028 -0.026 -0.118  0.117 -1.003]
+t: 110	 action: [-0.314 -0.276  0.003 -0.027 -0.114  0.107 -0.962]
+t: 111	 action: [-0.278 -0.26   0.063 -0.025 -0.129  0.104 -1.017]
+t: 112	 action: [-0.344 -0.263  0.024 -0.011 -0.127  0.135 -0.981]
+t: 113	 action: [-0.314 -0.247  0.048 -0.014 -0.142  0.131 -1.022]
+t: 114	 action: [-0.268 -0.39   0.043 -0.025 -0.124  0.171 -0.97 ]
+t: 115	 action: [-0.245 -0.353  0.009 -0.011 -0.14   0.158 -0.999]
+t: 116	 action: [-0.271 -0.36   0.002 -0.019 -0.128  0.185 -0.974]
+t: 117	 action: [-0.263 -0.322 -0.044 -0.009 -0.134  0.172 -0.99 ]
+t: 118	 action: [-0.288 -0.308 -0.04  -0.003 -0.114  0.199 -0.966]
+t: 119	 action: [-0.259 -0.292 -0.071  0.005 -0.129  0.177 -1.01 ]
+t: 120	 action: [-0.269 -0.308 -0.081 -0.003 -0.109  0.2   -0.963]
+t: 121	 action: [-0.268 -0.281 -0.105  0.005 -0.094  0.183 -1.016]
+[07-31 00:32:47|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.962 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=122: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.7985
+INFO:cosmos_policy.experiments.robot.robot_utils:t=122: Selected seed 195 with value = 0.7985
+Query 1/1: Action query time = 0.962 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7985
+t=122: Selected seed 195 with value = 0.7985
+t: 122	 action: [-0.085 -0.464 -0.38   0.03  -0.03  -0.006 -1.02 ]
+t: 123	 action: [-0.049 -0.393 -0.473  0.035 -0.063 -0.011 -1.025]
+t: 124	 action: [-0.076 -0.385 -0.575  0.064 -0.041 -0.017 -1.025]
+t: 125	 action: [-0.034 -0.325 -0.627  0.055 -0.066 -0.023 -1.038]
+t: 126	 action: [-0.066 -0.241 -0.645  0.069 -0.023 -0.037 -1.014]
+t: 127	 action: [-0.058 -0.207 -0.616  0.075 -0.031 -0.031 -1.053]
+t: 128	 action: [-0.04  -0.093 -0.806  0.067 -0.021 -0.036 -1.02 ]
+t: 129	 action: [-0.05  -0.115 -0.775  0.072 -0.013 -0.044 -1.062]
+t: 130	 action: [-0.072 -0.281 -0.674  0.079 -0.018  0.005 -1.03 ]
+t: 131	 action: [-0.02  -0.223 -0.723  0.059 -0.027 -0.02  -1.034]
+t: 132	 action: [-0.091 -0.256 -0.761  0.064 -0.012 -0.005 -1.044]
+t: 133	 action: [-0.02  -0.158 -0.815  0.05  -0.018 -0.031 -1.04 ]
+t: 134	 action: [-0.048 -0.063 -0.88   0.069 -0.006 -0.048 -1.026]
+t: 135	 action: [-0.047 -0.035 -0.854  0.072 -0.002 -0.074 -1.064]
+t: 136	 action: [-0.079 -0.065 -0.876  0.038  0.009 -0.05  -1.034]
+t: 137	 action: [-0.075  0.047 -0.876  0.051  0.012 -0.056 -1.075]
+[07-31 00:32:49|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.971 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=138: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9180
+INFO:cosmos_policy.experiments.robot.robot_utils:t=138: Selected seed 195 with value = 0.9180
+Query 1/1: Action query time = 0.971 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9180
+t=138: Selected seed 195 with value = 0.9180
+t: 138	 action: [-3.323e-01  6.480e-01 -5.640e-01  2.374e-02 -7.306e-04  7.841e-02 -9.936e-01]
+t: 139	 action: [-0.332  0.638 -0.636  0.018  0.001  0.067 -1.02 ]
+t: 140	 action: [-3.627e-01  7.702e-01 -5.917e-01  2.204e-02 -6.905e-04  6.745e-02 -9.899e-01]
+t: 141	 action: [-0.361  0.725 -0.648  0.017  0.001  0.05  -1.019]
+t: 142	 action: [-0.358  0.791 -0.588  0.012  0.013  0.074 -0.999]
+t: 143	 action: [-3.657e-01  7.413e-01 -6.088e-01  1.911e-02 -9.013e-04  5.618e-02 -1.035e+00]
+t: 144	 action: [-0.337  0.857 -0.613  0.01   0.015  0.059 -0.998]
+t: 145	 action: [-0.327  0.817 -0.62   0.018 -0.001  0.04  -1.037]
+t: 146	 action: [-0.125  0.759 -0.579  0.02  -0.002  0.008 -0.99 ]
+t: 147	 action: [-1.055e-01  6.853e-01 -5.437e-01  1.869e-02 -1.340e-04 -4.864e-03 -1.028e+00]
+t: 148	 action: [-0.13   0.735 -0.568  0.014 -0.007  0.007 -0.997]
+t: 149	 action: [-0.1    0.593 -0.536  0.016 -0.006 -0.01  -1.018]
+t: 150	 action: [-0.201  0.802 -0.567  0.008 -0.008 -0.002 -0.995]
+t: 151	 action: [-0.16   0.649 -0.446  0.019 -0.017 -0.018 -1.047]
+t: 152	 action: [-0.192  0.685 -0.507  0.002 -0.011 -0.008 -1.003]
+t: 153	 action: [-0.149  0.449 -0.359  0.015 -0.021 -0.02  -1.05 ]
+[07-31 00:32:50|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.982 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=154: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9923
+INFO:cosmos_policy.experiments.robot.robot_utils:t=154: Selected seed 195 with value = 0.9923
+WARNING:imageio_ffmpeg:IMAGEIO FFMPEG_WRITER WARNING: input image is not divisible by macro_block_size=16, resizing from (896, 284) to (896, 288) to ensure video compatibility with most codecs and players. To prevent resizing, make your input image divisible by the macro_block_size or set the macro_block_size to 1 (risking incompatibility).
+INFO:cosmos_policy.experiments.robot.robot_utils:Success: True
+INFO:cosmos_policy.experiments.robot.robot_utils:# episodes completed so far: 12
+INFO:cosmos_policy.experiments.robot.robot_utils:# successes: 6 (50.0%)
+
+
 24%|██▍       | 12/50 [04:53<13:41, 21.61s/it]INFO:cosmos_policy.experiments.robot.robot_utils:
+Task: open the middle drawer of the cabinet
+INFO:cosmos_policy.experiments.robot.robot_utils:Starting episode 13...
+Query 1/1: Action query time = 0.982 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9923
+t=154: Selected seed 195 with value = 0.9923
+t: 154	 action: [-0.214  0.924 -0.667 -0.012 -0.019  0.029 -0.96 ]
+t: 155	 action: [-0.226  0.909 -0.703 -0.028 -0.015  0.039 -0.98 ]
+t: 156	 action: [-0.163  0.915 -0.664 -0.018 -0.015  0.032 -0.985]
+t: 157	 action: [-0.142  0.822 -0.622 -0.029 -0.017  0.025 -1.009]
+t: 158	 action: [-0.156  0.942 -0.55  -0.02  -0.003  0.034 -0.989]
+t: 159	 action: [-0.075  0.917 -0.48  -0.028 -0.011  0.037 -1.028]
+Saved rollout MP4 at path ./rollouts/None/2026_07_31-00_27_45--episode=12--success=True--task=open_the_middle_drawer_of_the_cabinet.mp4
+150 150 10 10
+Saved rollout MP4 at path ./rollouts/None/2026_07_31-00_27_45--with_future_img--episode=12--success=True--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: True
+# episodes completed so far: 12
+# successes: 6 (50.0%)
+
+Task: open the middle drawer of the cabinet
+Starting episode 13...
+[07-31 00:32:56|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.977 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=10: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.3671
+INFO:cosmos_policy.experiments.robot.robot_utils:t=10: Selected seed 195 with value = 0.3671
+Query 1/1: Action query time = 0.977 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3671
+t=10: Selected seed 195 with value = 0.3671
+t: 10	 action: [ 0.017 -0.172 -0.035  0.019  0.013 -0.006 -0.995]
+t: 11	 action: [ 0.116 -0.136  0.021  0.017  0.053  0.005 -0.986]
+t: 12	 action: [ 0.14  -0.146  0.01   0.011  0.083  0.011 -1.007]
+t: 13	 action: [ 0.307 -0.076  0.061  0.014  0.112  0.025 -1.012]
+t: 14	 action: [ 0.322 -0.109  0.072  0.011  0.125  0.022 -1.02 ]
+t: 15	 action: [ 0.493 -0.053  0.064  0.011  0.141  0.027 -1.047]
+t: 16	 action: [ 0.467 -0.008  0.099  0.004  0.148  0.056 -1.02 ]
+t: 17	 action: [ 0.558  0.021  0.081  0.003  0.159  0.047 -1.048]
+t: 18	 action: [ 0.538  0.016  0.071 -0.004  0.147  0.116 -1.028]
+t: 19	 action: [ 0.571  0.062  0.068 -0.012  0.141  0.111 -1.024]
+t: 20	 action: [ 0.567  0.037  0.027 -0.027  0.131  0.125 -1.025]
+t: 21	 action: [ 0.591  0.096  0.034 -0.023  0.118  0.121 -1.017]
+t: 22	 action: [ 0.566  0.048  0.034 -0.036  0.121  0.132 -1.013]
+t: 23	 action: [ 0.575  0.097  0.024 -0.029  0.099  0.121 -1.046]
+t: 24	 action: [ 0.574  0.076 -0.009 -0.058  0.101  0.145 -1.013]
+t: 25	 action: [ 0.588  0.125  0.017 -0.046  0.087  0.132 -1.042]
+[07-31 00:32:57|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.979 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=26: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.3940
+INFO:cosmos_policy.experiments.robot.robot_utils:t=26: Selected seed 195 with value = 0.3940
+Query 1/1: Action query time = 0.979 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3940
+t=26: Selected seed 195 with value = 0.3940
+t: 26	 action: [ 0.421  0.03   0.018 -0.048  0.102  0.17  -1.01 ]
+t: 27	 action: [ 0.425  0.069  0.021 -0.051  0.088  0.169 -1.009]
+t: 28	 action: [ 0.373  0.051  0.006 -0.061  0.109  0.188 -1.006]
+t: 29	 action: [ 0.386  0.094  0.015 -0.063  0.096  0.188 -1.009]
+t: 30	 action: [ 0.352  0.04   0.001 -0.082  0.116  0.209 -0.996]
+t: 31	 action: [ 3.240e-01  8.972e-02 -1.210e-04 -7.383e-02  1.119e-01  1.953e-01 -1.038e+00]
+t: 32	 action: [ 0.299  0.066 -0.015 -0.094  0.129  0.227 -0.996]
+t: 33	 action: [ 0.293  0.102  0.003 -0.088  0.142  0.213 -1.036]
+t: 34	 action: [ 0.284  0.051 -0.013 -0.092  0.171  0.223 -1.006]
+t: 35	 action: [ 0.296  0.085  0.009 -0.094  0.181  0.209 -1.009]
+t: 36	 action: [ 0.266  0.06  -0.021 -0.1    0.176  0.229 -1.003]
+t: 37	 action: [ 0.276  0.087  0.01  -0.104  0.185  0.215 -1.003]
+t: 38	 action: [ 0.239  0.049 -0.026 -0.112  0.173  0.249 -0.992]
+t: 39	 action: [ 0.239  0.094 -0.012 -0.106  0.173  0.227 -1.036]
+t: 40	 action: [ 0.229  0.063 -0.036 -0.113  0.172  0.248 -0.995]
+t: 41	 action: [ 0.245  0.09  -0.008 -0.108  0.176  0.226 -1.033]
+[07-31 00:32:58|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.981 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=42: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.4477
+INFO:cosmos_policy.experiments.robot.robot_utils:t=42: Selected seed 195 with value = 0.4477
+Query 1/1: Action query time = 0.981 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4477
+t=42: Selected seed 195 with value = 0.4477
+t: 42	 action: [ 0.17   0.03  -0.044 -0.09   0.164  0.24  -0.999]
+t: 43	 action: [ 0.159  0.065 -0.03  -0.09   0.164  0.226 -0.986]
+t: 44	 action: [ 0.165  0.025 -0.031 -0.091  0.15   0.247 -0.994]
+t: 45	 action: [ 0.18   0.059  0.006 -0.091  0.14   0.235 -0.999]
+t: 46	 action: [ 0.222  0.026 -0.007 -0.104  0.12   0.249 -1.   ]
+t: 47	 action: [ 0.233  0.048 -0.013 -0.097  0.105  0.226 -1.014]
+t: 48	 action: [ 0.252  0.023 -0.002 -0.1    0.098  0.249 -0.996]
+t: 49	 action: [ 2.798e-01  3.516e-02  3.876e-04 -9.743e-02  9.191e-02  2.306e-01 -1.027e+00]
+t: 50	 action: [ 0.296 -0.008 -0.014 -0.081  0.098  0.249 -0.994]
+t: 51	 action: [ 0.327  0.002 -0.007 -0.073  0.087  0.242 -0.998]
+t: 52	 action: [ 0.327 -0.017 -0.028 -0.081  0.086  0.245 -0.992]
+t: 53	 action: [ 0.353 -0.01  -0.009 -0.071  0.08   0.233 -0.993]
+t: 54	 action: [ 0.328 -0.019 -0.012 -0.072  0.071  0.253 -0.99 ]
+t: 55	 action: [ 3.756e-01 -5.392e-04 -2.408e-02 -6.354e-02  7.058e-02  2.365e-01 -1.023e+00]
+t: 56	 action: [ 0.339 -0.029 -0.036 -0.066  0.081  0.244 -0.994]
+t: 57	 action: [ 0.385 -0.015 -0.036 -0.059  0.08   0.226 -1.023]
+[07-31 00:32:59|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.980 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=58: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.5172
+INFO:cosmos_policy.experiments.robot.robot_utils:t=58: Selected seed 195 with value = 0.5172
+Query 1/1: Action query time = 0.980 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5172
+t=58: Selected seed 195 with value = 0.5172
+t: 58	 action: [ 0.308 -0.055 -0.007 -0.035  0.011  0.244 -1.011]
+t: 59	 action: [ 0.318 -0.041 -0.003 -0.042  0.017  0.217 -1.004]
+t: 60	 action: [ 0.331 -0.064 -0.03  -0.029  0.006  0.237 -1.011]
+t: 61	 action: [ 3.433e-01 -4.136e-02  6.617e-04 -3.856e-02  1.588e-02  2.176e-01 -1.011e+00]
+t: 62	 action: [ 0.406 -0.082 -0.032 -0.031  0.016  0.235 -1.015]
+t: 63	 action: [ 0.385 -0.058 -0.028 -0.037  0.008  0.207 -1.037]
+t: 64	 action: [ 0.446 -0.121 -0.071 -0.022  0.011  0.225 -1.015]
+t: 65	 action: [ 0.44  -0.07  -0.068 -0.031  0.011  0.204 -1.04 ]
+t: 66	 action: [ 0.494 -0.144 -0.191 -0.022  0.024  0.21  -1.01 ]
+t: 67	 action: [ 0.521 -0.096 -0.184 -0.024  0.017  0.186 -1.013]
+t: 68	 action: [ 0.516 -0.149 -0.262 -0.018  0.027  0.216 -1.01 ]
+t: 69	 action: [ 0.564 -0.1   -0.237 -0.029  0.025  0.188 -1.007]
+t: 70	 action: [ 0.524 -0.154 -0.243 -0.018  0.046  0.211 -1.009]
+t: 71	 action: [ 0.527 -0.106 -0.181 -0.017  0.043  0.186 -1.042]
+t: 72	 action: [ 0.503 -0.157 -0.28  -0.013  0.049  0.208 -1.011]
+t: 73	 action: [ 0.478 -0.111 -0.221 -0.021  0.056  0.187 -1.037]
+[07-31 00:33:01|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.964 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=74: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.5952
+INFO:cosmos_policy.experiments.robot.robot_utils:t=74: Selected seed 195 with value = 0.5952
+Query 1/1: Action query time = 0.964 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5952
+t=74: Selected seed 195 with value = 0.5952
+t: 74	 action: [ 0.166 -0.293 -0.364 -0.007  0.085  0.153 -1.008]
+t: 75	 action: [ 0.189 -0.317 -0.28  -0.008  0.085  0.12  -1.013]
+t: 76	 action: [ 0.153 -0.342 -0.339 -0.008  0.071  0.139 -0.999]
+t: 77	 action: [ 0.178 -0.345 -0.254 -0.009  0.07   0.099 -1.017]
+t: 78	 action: [ 0.152 -0.394 -0.236 -0.007  0.067  0.113 -0.995]
+t: 79	 action: [ 0.16  -0.363 -0.203 -0.005  0.052  0.096 -1.039]
+t: 80	 action: [ 0.115 -0.384 -0.209 -0.008  0.047  0.091 -0.996]
+t: 81	 action: [ 0.099 -0.345 -0.196 -0.007  0.037  0.074 -1.046]
+t: 82	 action: [ 0.06  -0.396 -0.158 -0.005  0.018  0.071 -1.003]
+t: 83	 action: [ 0.048 -0.383 -0.15  -0.001  0.015  0.055 -1.016]
+t: 84	 action: [-7.914e-03 -3.812e-01 -1.495e-01 -4.277e-03 -2.711e-04  6.100e-02 -1.003e+00]
+t: 85	 action: [ 0.025 -0.337 -0.137 -0.003  0.007  0.046 -1.018]
+t: 86	 action: [-4.753e-02 -4.210e-01 -1.558e-01 -2.119e-04  2.584e-03  5.901e-02 -9.985e-01]
+t: 87	 action: [-4.791e-02 -3.894e-01 -1.495e-01  1.676e-03 -4.164e-04  4.548e-02 -1.034e+00]
+t: 88	 action: [-1.229e-01 -3.625e-01 -1.666e-01 -3.802e-04 -1.141e-02  5.230e-02 -1.003e+00]
+t: 89	 action: [-1.340e-01 -3.246e-01 -1.626e-01  7.628e-04 -1.373e-02  4.221e-02 -1.032e+00]
+[07-31 00:33:02|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.969 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=90: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.6395
+INFO:cosmos_policy.experiments.robot.robot_utils:t=90: Selected seed 195 with value = 0.6395
+Query 1/1: Action query time = 0.969 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6395
+t=90: Selected seed 195 with value = 0.6395
+t: 90	 action: [-0.009 -0.346 -0.19  -0.005 -0.002  0.03  -0.985]
+t: 91	 action: [ 2.357e-04 -3.086e-01 -1.450e-01 -2.222e-03  5.775e-03  3.603e-02 -1.004e+00]
+t: 92	 action: [-0.061 -0.335 -0.167 -0.005 -0.005  0.039 -0.988]
+t: 93	 action: [-0.074 -0.316 -0.127 -0.005  0.005  0.037 -1.008]
+t: 94	 action: [-0.112 -0.369 -0.19  -0.003 -0.002  0.029 -0.982]
+t: 95	 action: [-1.621e-01 -3.053e-01 -1.400e-01  1.905e-03 -8.545e-04  3.455e-02 -1.038e+00]
+t: 96	 action: [-0.204 -0.313 -0.208 -0.005 -0.006  0.048 -0.99 ]
+t: 97	 action: [-0.264 -0.271 -0.181 -0.002 -0.004  0.04  -1.035]
+t: 98	 action: [-0.329 -0.268 -0.172 -0.03  -0.032  0.05  -0.982]
+t: 99	 action: [-0.359 -0.234 -0.197 -0.017 -0.034  0.054 -1.008]
+t: 100	 action: [-0.451 -0.214 -0.191 -0.033 -0.042  0.075 -0.973]
+t: 101	 action: [-0.434 -0.207 -0.223 -0.019 -0.043  0.069 -1.002]
+t: 102	 action: [-0.552 -0.193 -0.21  -0.015 -0.045  0.084 -0.966]
+t: 103	 action: [-0.55  -0.182 -0.162 -0.004 -0.038  0.072 -1.027]
+t: 104	 action: [-0.581 -0.19  -0.177 -0.014 -0.051  0.105 -0.955]
+t: 105	 action: [-0.545 -0.158 -0.115 -0.005 -0.036  0.087 -1.021]
+[07-31 00:33:03|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.973 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=106: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.7159
+INFO:cosmos_policy.experiments.robot.robot_utils:t=106: Selected seed 195 with value = 0.7159
+Query 1/1: Action query time = 0.973 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7159
+t=106: Selected seed 195 with value = 0.7159
+t: 106	 action: [-0.154 -0.138 -0.092 -0.056 -0.03   0.03  -0.954]
+t: 107	 action: [-0.152 -0.195 -0.039 -0.041 -0.023  0.041 -0.971]
+t: 108	 action: [-0.23  -0.13  -0.004 -0.039 -0.048  0.048 -0.977]
+t: 109	 action: [-0.239 -0.196  0.018 -0.028 -0.04   0.056 -1.002]
+t: 110	 action: [-0.256 -0.254 -0.01  -0.024 -0.046  0.041 -0.979]
+t: 111	 action: [-0.287 -0.265  0.032 -0.018 -0.055  0.044 -1.038]
+t: 112	 action: [-3.535e-01 -2.643e-01  8.051e-04 -8.747e-03 -6.336e-02  7.165e-02 -9.904e-01]
+t: 113	 action: [-0.362 -0.269  0.009 -0.009 -0.072  0.062 -1.036]
+t: 114	 action: [-0.327 -0.374 -0.035 -0.035 -0.096  0.116 -0.969]
+t: 115	 action: [-0.306 -0.337 -0.076 -0.013 -0.104  0.107 -1.002]
+t: 116	 action: [-0.355 -0.365 -0.077 -0.031 -0.11   0.145 -0.978]
+t: 117	 action: [-0.345 -0.325 -0.124 -0.011 -0.12   0.136 -0.991]
+t: 118	 action: [-0.376 -0.29  -0.113 -0.005 -0.113  0.174 -0.964]
+t: 119	 action: [-0.356 -0.259 -0.119  0.003 -0.111  0.138 -1.022]
+t: 120	 action: [-0.378 -0.278 -0.131 -0.002 -0.115  0.193 -0.966]
+t: 121	 action: [-0.374 -0.244 -0.13   0.005 -0.092  0.16  -1.017]
+[07-31 00:33:04|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.976 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=122: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.7539
+INFO:cosmos_policy.experiments.robot.robot_utils:t=122: Selected seed 195 with value = 0.7539
+Query 1/1: Action query time = 0.976 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7539
+t=122: Selected seed 195 with value = 0.7539
+t: 122	 action: [ 0.015 -0.395 -0.337  0.018 -0.022 -0.023 -1.028]
+t: 123	 action: [ 0.035 -0.374 -0.371  0.028 -0.042 -0.051 -1.038]
+t: 124	 action: [-0.012 -0.371 -0.499  0.044 -0.034 -0.042 -1.028]
+t: 125	 action: [ 0.009 -0.359 -0.479  0.046 -0.043 -0.066 -1.046]
+t: 126	 action: [-0.049 -0.337 -0.484  0.054 -0.017 -0.059 -1.022]
+t: 127	 action: [-0.046 -0.282 -0.508  0.059 -0.026 -0.074 -1.075]
+t: 128	 action: [-0.067 -0.276 -0.568  0.058 -0.021 -0.059 -1.023]
+t: 129	 action: [-0.08  -0.27  -0.542  0.064 -0.023 -0.085 -1.076]
+t: 130	 action: [-0.098 -0.36  -0.625  0.069 -0.033 -0.017 -1.043]
+t: 131	 action: [-0.079 -0.297 -0.597  0.056 -0.043 -0.02  -1.044]
+t: 132	 action: [-0.103 -0.36  -0.64   0.069 -0.033 -0.009 -1.054]
+t: 133	 action: [-0.072 -0.27  -0.648  0.055 -0.037 -0.017 -1.043]
+t: 134	 action: [-0.064 -0.213 -0.696  0.065 -0.025 -0.037 -1.032]
+t: 135	 action: [-0.063 -0.195 -0.636  0.076 -0.013 -0.041 -1.068]
+t: 136	 action: [-0.084 -0.212 -0.787  0.055 -0.008 -0.025 -1.039]
+t: 137	 action: [-0.098 -0.133 -0.828  0.065  0.012 -0.028 -1.07 ]
+[07-31 00:33:06|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.970 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=138: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.8637
+INFO:cosmos_policy.experiments.robot.robot_utils:t=138: Selected seed 195 with value = 0.8637
+Query 1/1: Action query time = 0.970 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8637
+t=138: Selected seed 195 with value = 0.8637
+t: 138	 action: [-0.16  -0.226 -0.06  -0.001 -0.016  0.031 -0.996]
+t: 139	 action: [-0.148 -0.274 -0.049  0.007 -0.014  0.018 -1.026]
+t: 140	 action: [-0.16  -0.295  0.03   0.005 -0.02   0.024 -0.993]
+t: 141	 action: [-0.144 -0.267  0.033  0.015 -0.013  0.012 -1.027]
+t: 142	 action: [-0.159 -0.263 -0.019  0.023  0.01   0.018 -0.991]
+t: 143	 action: [-0.128 -0.248 -0.055  0.031 -0.003  0.007 -1.053]
+t: 144	 action: [-0.138 -0.266 -0.077  0.032  0.014  0.016 -0.994]
+t: 145	 action: [-0.107 -0.254 -0.23   0.038  0.008  0.003 -1.051]
+t: 146	 action: [-0.131 -0.339 -0.277  0.074  0.005  0.003 -1.007]
+t: 147	 action: [-0.037 -0.296 -0.401  0.062  0.01  -0.015 -1.034]
+t: 148	 action: [-6.871e-02 -2.896e-01 -6.514e-01  8.817e-02  8.942e-03  6.390e-04 -1.007e+00]
+t: 149	 action: [-0.001 -0.158 -0.749  0.076  0.017 -0.016 -1.026]
+t: 150	 action: [-0.074 -0.151 -0.844  0.104  0.026 -0.01  -1.005]
+t: 151	 action: [-0.016 -0.05  -0.874  0.093  0.022 -0.027 -1.051]
+t: 152	 action: [-0.01   0.057 -0.982  0.082  0.031 -0.014 -1.004]
+t: 153	 action: [ 0.011  0.204 -0.92   0.057  0.018 -0.027 -1.058]
+[07-31 00:33:07|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.971 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=154: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9627
+INFO:cosmos_policy.experiments.robot.robot_utils:t=154: Selected seed 195 with value = 0.9627
+Query 1/1: Action query time = 0.971 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9627
+t=154: Selected seed 195 with value = 0.9627
+t: 154	 action: [-0.094  0.229 -0.937  0.068 -0.019 -0.013 -0.988]
+t: 155	 action: [-0.076  0.329 -0.976  0.042 -0.021 -0.015 -1.013]
+t: 156	 action: [-0.113  0.494 -0.934  0.028 -0.016 -0.007 -0.988]
+t: 157	 action: [-0.088  0.592 -0.956  0.013 -0.024 -0.01  -1.013]
+t: 158	 action: [-0.161  0.694 -0.92   0.015  0.001 -0.013 -0.983]
+t: 159	 action: [-0.141  0.64  -0.946  0.007 -0.008 -0.014 -1.036]
+t: 160	 action: [-0.167  0.885 -0.91  -0.001  0.006 -0.007 -0.981]
+t: 161	 action: [-0.145  0.829 -0.939 -0.011 -0.006 -0.009 -1.037]
+t: 162	 action: [-0.112  0.89  -0.852  0.01   0.007  0.011 -0.986]
+t: 163	 action: [-1.341e-01  8.732e-01 -8.990e-01 -1.266e-04  9.863e-03  2.565e-03 -1.019e+00]
+t: 164	 action: [-0.16   0.935 -0.858  0.005  0.01   0.014 -0.991]
+t: 165	 action: [-0.159  0.904 -0.898 -0.01   0.006  0.007 -1.018]
+t: 166	 action: [-0.25   0.981 -0.855 -0.001  0.016  0.005 -0.983]
+t: 167	 action: [-0.237  0.937 -0.913 -0.01   0.004  0.003 -1.044]
+t: 168	 action: [-0.261  0.977 -0.856 -0.006  0.021  0.014 -0.984]
+t: 169	 action: [-0.252  0.936 -0.91  -0.014  0.003  0.008 -1.048]
+[07-31 00:33:08|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.984 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=170: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9912
+INFO:cosmos_policy.experiments.robot.robot_utils:t=170: Selected seed 195 with value = 0.9912
+WARNING:imageio_ffmpeg:IMAGEIO FFMPEG_WRITER WARNING: input image is not divisible by macro_block_size=16, resizing from (896, 284) to (896, 288) to ensure video compatibility with most codecs and players. To prevent resizing, make your input image divisible by the macro_block_size or set the macro_block_size to 1 (risking incompatibility).
+INFO:cosmos_policy.experiments.robot.robot_utils:Success: True
+INFO:cosmos_policy.experiments.robot.robot_utils:# episodes completed so far: 13
+INFO:cosmos_policy.experiments.robot.robot_utils:# successes: 7 (53.8%)
+
+
 26%|██▌       | 13/50 [05:12<12:47, 20.75s/it]INFO:cosmos_policy.experiments.robot.robot_utils:
+Task: open the middle drawer of the cabinet
+INFO:cosmos_policy.experiments.robot.robot_utils:Starting episode 14...
+Query 1/1: Action query time = 0.984 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9912
+t=170: Selected seed 195 with value = 0.9912
+t: 170	 action: [-0.331  0.886 -0.733  0.004 -0.005  0.018 -0.963]
+t: 171	 action: [-3.103e-01  8.840e-01 -6.727e-01 -6.825e-03  2.203e-04  2.743e-02 -9.628e-01]
+t: 172	 action: [-0.322  0.917 -0.738  0.003  0.005  0.018 -0.969]
+t: 173	 action: [-0.303  0.897 -0.675 -0.007  0.003  0.022 -0.992]
+t: 174	 action: [-0.316  0.92  -0.718 -0.004  0.015  0.03  -0.961]
+t: 175	 action: [-3.240e-01  9.236e-01 -7.200e-01 -4.581e-03  9.481e-04  3.280e-02 -1.014e+00]
+t: 176	 action: [-0.318  0.937 -0.721 -0.005  0.025  0.033 -0.966]
+t: 177	 action: [-0.32   0.93  -0.719 -0.004  0.008  0.027 -1.028]
+t: 178	 action: [-0.248  0.885 -0.666  0.001  0.006  0.019 -0.984]
+Saved rollout MP4 at path ./rollouts/None/2026_07_31-00_27_45--episode=13--success=True--task=open_the_middle_drawer_of_the_cabinet.mp4
+169 169 11 11
+Saved rollout MP4 at path ./rollouts/None/2026_07_31-00_27_45--with_future_img--episode=13--success=True--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: True
+# episodes completed so far: 13
+# successes: 7 (53.8%)
+
+Task: open the middle drawer of the cabinet
+Starting episode 14...
+[07-31 00:33:14|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.976 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=10: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.3557
+INFO:cosmos_policy.experiments.robot.robot_utils:t=10: Selected seed 195 with value = 0.3557
+Query 1/1: Action query time = 0.976 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3557
+t=10: Selected seed 195 with value = 0.3557
+t: 10	 action: [ 3.723e-03 -1.202e-01 -4.377e-02  1.044e-02  5.532e-02  8.542e-04 -9.762e-01]
+t: 11	 action: [ 0.105 -0.085  0.029  0.016  0.093  0.012 -0.975]
+t: 12	 action: [ 1.227e-01 -1.208e-01 -3.579e-03  9.746e-04  1.232e-01  1.368e-02 -9.901e-01]
+t: 13	 action: [ 0.295 -0.045  0.062  0.01   0.151  0.032 -1.004]
+t: 14	 action: [ 0.356 -0.114  0.074  0.006  0.157  0.026 -1.004]
+t: 15	 action: [ 0.501 -0.049  0.078  0.012  0.156  0.029 -1.038]
+t: 16	 action: [ 5.237e-01 -2.477e-02  9.442e-02 -4.574e-04  1.669e-01  5.556e-02 -1.004e+00]
+t: 17	 action: [ 0.588  0.017  0.083  0.002  0.166  0.052 -1.04 ]
+t: 18	 action: [ 0.549  0.029  0.099 -0.012  0.152  0.107 -1.01 ]
+t: 19	 action: [ 0.587  0.069  0.094 -0.02   0.148  0.104 -1.016]
+t: 20	 action: [ 0.572  0.039  0.064 -0.033  0.139  0.118 -1.012]
+t: 21	 action: [ 0.611  0.087  0.071 -0.034  0.132  0.115 -1.009]
+t: 22	 action: [ 0.568  0.045  0.069 -0.049  0.12   0.128 -0.999]
+t: 23	 action: [ 0.598  0.089  0.046 -0.055  0.097  0.121 -1.041]
+t: 24	 action: [ 0.558  0.051  0.028 -0.072  0.097  0.144 -1.003]
+t: 25	 action: [ 0.588  0.102  0.039 -0.073  0.084  0.133 -1.038]
+[07-31 00:33:16|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.970 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=26: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.3910
+INFO:cosmos_policy.experiments.robot.robot_utils:t=26: Selected seed 195 with value = 0.3910
+Query 1/1: Action query time = 0.970 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3910
+t=26: Selected seed 195 with value = 0.3910
+t: 26	 action: [ 0.512  0.021  0.041 -0.071  0.036  0.18  -1.008]
+t: 27	 action: [ 0.518  0.054  0.033 -0.066  0.034  0.178 -1.014]
+t: 28	 action: [ 0.459  0.034  0.017 -0.084  0.031  0.191 -1.007]
+t: 29	 action: [ 0.47   0.084  0.014 -0.079  0.03   0.186 -1.014]
+t: 30	 action: [ 0.447  0.028  0.019 -0.104  0.042  0.209 -0.993]
+t: 31	 action: [ 0.412  0.071  0.002 -0.093  0.042  0.2   -1.039]
+t: 32	 action: [ 0.384  0.038 -0.008 -0.116  0.047  0.215 -1.   ]
+t: 33	 action: [ 3.699e-01  8.539e-02 -7.543e-04 -1.065e-01  6.160e-02  2.041e-01 -1.040e+00]
+t: 34	 action: [ 0.388  0.043 -0.009 -0.115  0.077  0.199 -1.01 ]
+t: 35	 action: [ 0.403  0.068  0.012 -0.112  0.087  0.182 -1.011]
+t: 36	 action: [ 0.356  0.037 -0.031 -0.125  0.098  0.201 -1.011]
+t: 37	 action: [ 0.376  0.064  0.007 -0.124  0.112  0.18  -1.008]
+t: 38	 action: [ 0.319  0.03  -0.038 -0.135  0.108  0.213 -1.001]
+t: 39	 action: [ 0.32   0.065 -0.017 -0.129  0.136  0.196 -1.041]
+t: 40	 action: [ 0.292  0.031 -0.055 -0.138  0.131  0.214 -1.006]
+t: 41	 action: [ 0.311  0.058 -0.024 -0.133  0.159  0.194 -1.039]
+[07-31 00:33:17|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.968 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=42: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.4605
+INFO:cosmos_policy.experiments.robot.robot_utils:t=42: Selected seed 195 with value = 0.4605
+Query 1/1: Action query time = 0.968 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4605
+t=42: Selected seed 195 with value = 0.4605
+t: 42	 action: [ 0.086  0.017 -0.043 -0.093  0.049  0.271 -0.989]
+t: 43	 action: [ 0.112  0.037 -0.003 -0.099  0.057  0.263 -0.988]
+t: 44	 action: [ 0.068  0.012 -0.064 -0.099  0.042  0.284 -0.98 ]
+t: 45	 action: [ 0.102  0.039 -0.015 -0.104  0.051  0.278 -0.992]
+t: 46	 action: [ 0.087  0.011 -0.064 -0.116  0.029  0.296 -0.984]
+t: 47	 action: [ 0.097  0.036 -0.043 -0.109  0.033  0.276 -1.01 ]
+t: 48	 action: [ 0.083  0.005 -0.084 -0.12   0.028  0.301 -0.981]
+t: 49	 action: [ 0.102  0.031 -0.069 -0.111  0.037  0.282 -1.015]
+t: 50	 action: [ 0.118  0.006 -0.093 -0.101  0.058  0.297 -0.986]
+t: 51	 action: [ 0.155  0.003 -0.081 -0.094  0.059  0.287 -0.987]
+t: 52	 action: [ 0.147 -0.003 -0.11  -0.103  0.074  0.291 -0.981]
+t: 53	 action: [ 0.188 -0.012 -0.087 -0.093  0.083  0.274 -0.99 ]
+t: 54	 action: [ 0.167 -0.035 -0.1   -0.106  0.08   0.286 -0.985]
+t: 55	 action: [ 2.315e-01 -1.681e-04 -1.036e-01 -8.953e-02  9.695e-02  2.726e-01 -1.023e+00]
+t: 56	 action: [ 0.203 -0.053 -0.114 -0.101  0.109  0.271 -0.983]
+t: 57	 action: [ 0.262 -0.02  -0.105 -0.085  0.135  0.253 -1.021]
+[07-31 00:33:18|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.995 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=58: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.5199
+INFO:cosmos_policy.experiments.robot.robot_utils:t=58: Selected seed 195 with value = 0.5199
+Query 1/1: Action query time = 0.995 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5199
+t=58: Selected seed 195 with value = 0.5199
+t: 58	 action: [ 0.157  0.002 -0.062 -0.061  0.087  0.246 -1.007]
+t: 59	 action: [ 0.18   0.013 -0.023 -0.063  0.095  0.219 -1.023]
+t: 60	 action: [ 0.175 -0.005 -0.076 -0.067  0.114  0.247 -1.004]
+t: 61	 action: [ 0.198  0.014 -0.033 -0.061  0.126  0.217 -1.021]
+t: 62	 action: [ 0.21  -0.017 -0.075 -0.069  0.136  0.248 -1.003]
+t: 63	 action: [ 2.167e-01 -3.552e-04 -6.097e-02 -6.933e-02  1.512e-01  2.123e-01 -1.042e+00]
+t: 64	 action: [ 0.255 -0.043 -0.092 -0.074  0.168  0.237 -1.001]
+t: 65	 action: [ 0.285 -0.012 -0.082 -0.072  0.188  0.205 -1.041]
+t: 66	 action: [ 0.309 -0.101 -0.107 -0.065  0.211  0.211 -1.02 ]
+t: 67	 action: [ 0.335 -0.063 -0.109 -0.047  0.226  0.173 -1.029]
+t: 68	 action: [ 0.392 -0.154 -0.133 -0.064  0.211  0.187 -1.017]
+t: 69	 action: [ 0.445 -0.117 -0.144 -0.045  0.226  0.144 -1.016]
+t: 70	 action: [ 0.451 -0.26  -0.101 -0.041  0.219  0.15  -1.017]
+t: 71	 action: [ 0.498 -0.21  -0.128 -0.038  0.217  0.124 -1.043]
+t: 72	 action: [ 0.499 -0.309 -0.151 -0.034  0.204  0.117 -1.016]
+t: 73	 action: [ 0.484 -0.264 -0.197 -0.033  0.197  0.102 -1.031]
+[07-31 00:33:19|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.980 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=74: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.6047
+INFO:cosmos_policy.experiments.robot.robot_utils:t=74: Selected seed 195 with value = 0.6047
+Query 1/1: Action query time = 0.980 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6047
+t=74: Selected seed 195 with value = 0.6047
+t: 74	 action: [ 0.271 -0.29  -0.386 -0.001  0.105  0.131 -1.028]
+t: 75	 action: [ 2.689e-01 -2.709e-01 -2.891e-01  2.612e-04  9.967e-02  1.112e-01 -1.029e+00]
+t: 76	 action: [ 0.214 -0.321 -0.399 -0.003  0.089  0.125 -1.013]
+t: 77	 action: [ 0.203 -0.298 -0.293 -0.003  0.085  0.099 -1.028]
+t: 78	 action: [ 0.21  -0.36  -0.283 -0.002  0.078  0.106 -1.014]
+t: 79	 action: [ 0.189 -0.317 -0.234 -0.003  0.063  0.096 -1.047]
+t: 80	 action: [ 0.16  -0.375 -0.261 -0.002  0.054  0.092 -1.009]
+t: 81	 action: [ 0.125 -0.326 -0.206 -0.008  0.043  0.079 -1.045]
+t: 82	 action: [ 0.101 -0.354 -0.163 -0.006  0.036  0.067 -1.014]
+t: 83	 action: [ 0.062 -0.346 -0.086 -0.008  0.021  0.057 -1.026]
+t: 84	 action: [ 0.041 -0.348 -0.114 -0.009  0.01   0.065 -1.009]
+t: 85	 action: [ 0.046 -0.312 -0.043 -0.014  0.011  0.057 -1.028]
+t: 86	 action: [-0.012 -0.375 -0.121 -0.001  0.003  0.066 -1.007]
+t: 87	 action: [-0.034 -0.366 -0.069 -0.006 -0.002  0.055 -1.037]
+t: 88	 action: [-0.089 -0.328 -0.122 -0.005 -0.017  0.069 -1.008]
+t: 89	 action: [-0.118 -0.317 -0.076 -0.01  -0.017  0.061 -1.041]
+[07-31 00:33:21|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.964 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=90: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.6558
+INFO:cosmos_policy.experiments.robot.robot_utils:t=90: Selected seed 195 with value = 0.6558
+Query 1/1: Action query time = 0.964 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6558
+t=90: Selected seed 195 with value = 0.6558
+t: 90	 action: [ 0.037 -0.25  -0.164 -0.008  0.014  0.035 -1.   ]
+t: 91	 action: [ 0.058 -0.242 -0.088 -0.007  0.013  0.031 -1.023]
+t: 92	 action: [-0.022 -0.271 -0.084 -0.005  0.004  0.041 -0.992]
+t: 93	 action: [ 0.012 -0.266 -0.038 -0.006  0.01   0.033 -1.02 ]
+t: 94	 action: [-5.814e-02 -2.909e-01 -6.734e-02 -5.788e-03 -7.657e-04  1.807e-02 -9.999e-01]
+t: 95	 action: [-8.958e-02 -2.607e-01 -8.658e-02  4.024e-04 -1.406e-02  2.287e-02 -1.045e+00]
+t: 96	 action: [-0.164 -0.306 -0.127 -0.002 -0.019  0.031 -0.998]
+t: 97	 action: [-0.234 -0.272 -0.177  0.003 -0.032  0.029 -1.037]
+t: 98	 action: [-0.362 -0.349 -0.115 -0.024 -0.05   0.057 -0.986]
+t: 99	 action: [-0.36  -0.313 -0.11  -0.006 -0.057  0.058 -1.014]
+t: 100	 action: [-0.466 -0.307 -0.157 -0.025 -0.071  0.081 -0.975]
+t: 101	 action: [-0.441 -0.262 -0.157 -0.007 -0.073  0.081 -1.004]
+t: 102	 action: [-5.545e-01 -2.983e-01 -1.726e-01 -4.002e-04 -7.898e-02  9.163e-02 -9.704e-01]
+t: 103	 action: [-0.54  -0.277 -0.152  0.005 -0.081  0.078 -1.033]
+t: 104	 action: [-0.559 -0.268 -0.158 -0.004 -0.092  0.108 -0.956]
+t: 105	 action: [-0.513 -0.224 -0.118  0.002 -0.079  0.098 -1.028]
+[07-31 00:33:22|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.982 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=106: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.7696
+INFO:cosmos_policy.experiments.robot.robot_utils:t=106: Selected seed 195 with value = 0.7696
+Query 1/1: Action query time = 0.982 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7696
+t=106: Selected seed 195 with value = 0.7696
+t: 106	 action: [-0.013 -0.36  -0.173 -0.002 -0.039  0.004 -1.005]
+t: 107	 action: [ 0.019 -0.412 -0.109  0.001 -0.027 -0.01  -1.026]
+t: 108	 action: [-0.083 -0.394 -0.172  0.002 -0.046  0.004 -1.003]
+t: 109	 action: [-0.05  -0.434 -0.123  0.01  -0.025 -0.008 -1.022]
+t: 110	 action: [-0.101 -0.423 -0.223  0.008 -0.049 -0.004 -0.997]
+t: 111	 action: [-0.124 -0.427 -0.169  0.017 -0.039 -0.006 -1.051]
+t: 112	 action: [-1.759e-01 -4.516e-01 -2.236e-01  1.091e-02 -4.805e-02 -9.440e-04 -9.948e-01]
+t: 113	 action: [-0.208 -0.427 -0.194  0.024 -0.039 -0.003 -1.05 ]
+t: 114	 action: [-0.2   -0.474 -0.289  0.025 -0.051  0.011 -1.002]
+t: 115	 action: [-0.203 -0.484 -0.301  0.026 -0.053  0.002 -1.029]
+t: 116	 action: [-0.241 -0.492 -0.383  0.036 -0.053  0.015 -1.002]
+t: 117	 action: [-0.264 -0.466 -0.446  0.031 -0.065  0.014 -1.022]
+t: 118	 action: [-0.314 -0.388 -0.508  0.053 -0.067  0.017 -1.   ]
+t: 119	 action: [-0.315 -0.351 -0.614  0.068 -0.057  0.032 -1.054]
+t: 120	 action: [-0.292 -0.23  -0.793  0.072 -0.062  0.043 -0.996]
+t: 121	 action: [-0.297 -0.157 -0.862  0.085 -0.044  0.049 -1.056]
+[07-31 00:33:23|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.984 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=122: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.7537
+INFO:cosmos_policy.experiments.robot.robot_utils:t=122: Selected seed 195 with value = 0.7537
+Query 1/1: Action query time = 0.984 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7537
+t=122: Selected seed 195 with value = 0.7537
+t: 122	 action: [-0.061 -0.356 -0.151  0.001 -0.026  0.005 -1.015]
+t: 123	 action: [-0.05  -0.385 -0.174  0.016 -0.031 -0.004 -1.021]
+t: 124	 action: [-0.108 -0.369 -0.186  0.007 -0.028  0.003 -1.004]
+t: 125	 action: [-0.097 -0.394 -0.199  0.024 -0.027 -0.006 -1.013]
+t: 126	 action: [-0.118 -0.418 -0.211  0.022 -0.021 -0.002 -1.002]
+t: 127	 action: [-0.176 -0.389 -0.251  0.039 -0.024 -0.002 -1.04 ]
+t: 128	 action: [-0.183 -0.424 -0.273  0.039 -0.021 -0.003 -0.995]
+t: 129	 action: [-0.228 -0.38  -0.327  0.047 -0.018 -0.003 -1.035]
+t: 130	 action: [-2.361e-01 -4.080e-01 -3.732e-01  4.522e-02 -2.930e-02  4.023e-04 -1.015e+00]
+t: 131	 action: [-0.248 -0.396 -0.41   0.047 -0.042 -0.01  -1.019]
+t: 132	 action: [-0.222 -0.409 -0.548  0.062 -0.024  0.003 -1.016]
+t: 133	 action: [-0.231 -0.324 -0.625  0.068 -0.027 -0.006 -1.011]
+t: 134	 action: [-0.227 -0.309 -0.769  0.088 -0.012 -0.003 -1.011]
+t: 135	 action: [-0.195 -0.212 -0.834  0.093  0.004 -0.005 -1.038]
+t: 136	 action: [-1.627e-01 -1.065e-01 -9.532e-01  8.750e-02  9.289e-03  6.873e-04 -1.010e+00]
+t: 137	 action: [-0.145  0.009 -0.962  0.073  0.021  0.005 -1.039]
+[07-31 00:33:25|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.976 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=138: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9172
+INFO:cosmos_policy.experiments.robot.robot_utils:t=138: Selected seed 195 with value = 0.9172
+Query 1/1: Action query time = 0.976 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9172
+t=138: Selected seed 195 with value = 0.9172
+t: 138	 action: [-0.085  0.287 -0.985  0.014 -0.001 -0.009 -0.998]
+t: 139	 action: [-0.089  0.391 -0.98  -0.003  0.002 -0.01  -0.995]
+t: 140	 action: [-1.344e-01  5.248e-01 -9.560e-01  1.022e-04  9.586e-03 -3.015e-03 -9.910e-01]
+t: 141	 action: [-0.15   0.638 -0.953 -0.018  0.009 -0.007 -0.997]
+t: 142	 action: [-0.227  0.667 -0.943 -0.019  0.015 -0.007 -0.993]
+t: 143	 action: [-0.243  0.74  -0.945 -0.027 -0.004 -0.008 -1.034]
+t: 144	 action: [-0.269  0.834 -0.897 -0.042  0.022 -0.003 -0.986]
+t: 145	 action: [-0.276  0.868 -0.923 -0.038 -0.002 -0.007 -1.035]
+t: 146	 action: [-0.275  0.917 -0.887 -0.038  0.016  0.01  -0.981]
+t: 147	 action: [-0.278  0.932 -0.866 -0.046  0.016  0.004 -0.998]
+t: 148	 action: [-0.293  0.946 -0.871 -0.048  0.016  0.012 -0.975]
+t: 149	 action: [-0.272  0.941 -0.85  -0.048  0.01   0.007 -0.996]
+t: 150	 action: [-0.296  0.974 -0.862 -0.057  0.009  0.008 -0.981]
+t: 151	 action: [-3.039e-01  9.750e-01 -8.680e-01 -4.957e-02  6.932e-04  9.455e-03 -1.035e+00]
+t: 152	 action: [-0.301  0.98  -0.845 -0.058  0.013  0.012 -0.972]
+t: 153	 action: [-3.019e-01  9.695e-01 -8.435e-01 -4.574e-02  9.244e-04  1.262e-02 -1.038e+00]
+[07-31 00:33:26|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.974 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=154: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9968
+INFO:cosmos_policy.experiments.robot.robot_utils:t=154: Selected seed 195 with value = 0.9968
+WARNING:imageio_ffmpeg:IMAGEIO FFMPEG_WRITER WARNING: input image is not divisible by macro_block_size=16, resizing from (896, 284) to (896, 288) to ensure video compatibility with most codecs and players. To prevent resizing, make your input image divisible by the macro_block_size or set the macro_block_size to 1 (risking incompatibility).
+INFO:cosmos_policy.experiments.robot.robot_utils:Success: True
+INFO:cosmos_policy.experiments.robot.robot_utils:# episodes completed so far: 14
+INFO:cosmos_policy.experiments.robot.robot_utils:# successes: 8 (57.1%)
+
+
 28%|██▊       | 14/50 [05:29<11:48, 19.67s/it]INFO:cosmos_policy.experiments.robot.robot_utils:
+Task: open the middle drawer of the cabinet
+INFO:cosmos_policy.experiments.robot.robot_utils:Starting episode 15...
+Query 1/1: Action query time = 0.974 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9968
+t=154: Selected seed 195 with value = 0.9968
+t: 154	 action: [-0.301  0.897 -0.794 -0.017  0.006  0.034 -0.97 ]
+t: 155	 action: [-0.286  0.877 -0.796 -0.029  0.004  0.037 -0.984]
+t: 156	 action: [-0.324  0.932 -0.806 -0.02   0.013  0.038 -0.978]
+t: 157	 action: [-0.307  0.894 -0.792 -0.027  0.01   0.037 -0.991]
+t: 158	 action: [-0.318  0.942 -0.792 -0.038  0.015  0.042 -0.967]
+t: 159	 action: [-3.497e-01  9.289e-01 -7.891e-01 -3.081e-02 -5.076e-05  4.017e-02 -1.021e+00]
+t: 160	 action: [-0.342  0.964 -0.804 -0.039  0.02   0.048 -0.973]
+Saved rollout MP4 at path ./rollouts/None/2026_07_31-00_27_45--episode=14--success=True--task=open_the_middle_drawer_of_the_cabinet.mp4
+151 151 10 10
+Saved rollout MP4 at path ./rollouts/None/2026_07_31-00_27_45--with_future_img--episode=14--success=True--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: True
+# episodes completed so far: 14
+# successes: 8 (57.1%)
+
+Task: open the middle drawer of the cabinet
+Starting episode 15...
+[07-31 00:33:31|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.986 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=10: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.3319
+INFO:cosmos_policy.experiments.robot.robot_utils:t=10: Selected seed 195 with value = 0.3319
+Query 1/1: Action query time = 0.986 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3319
+t=10: Selected seed 195 with value = 0.3319
+t: 10	 action: [-0.021 -0.064 -0.043  0.009 -0.029  0.012 -0.973]
+t: 11	 action: [-0.004 -0.041 -0.048  0.005  0.007  0.021 -0.965]
+t: 12	 action: [ 0.034  0.003 -0.038  0.005 -0.006  0.027 -1.001]
+t: 13	 action: [ 0.15   0.046 -0.017 -0.004  0.026  0.04  -0.99 ]
+t: 14	 action: [ 2.525e-01  5.629e-02 -1.062e-05 -4.396e-03  4.962e-02  2.514e-02 -1.012e+00]
+t: 15	 action: [ 0.434  0.087 -0.006 -0.009  0.058  0.028 -1.039]
+t: 16	 action: [ 0.499  0.106  0.017 -0.017  0.097  0.06  -1.016]
+t: 17	 action: [ 0.593  0.143 -0.002 -0.019  0.107  0.05  -1.044]
+t: 18	 action: [ 0.632  0.154  0.068 -0.037  0.159  0.094 -1.018]
+t: 19	 action: [ 0.674  0.191  0.099 -0.034  0.173  0.097 -1.008]
+t: 20	 action: [ 0.66   0.143  0.061 -0.053  0.159  0.112 -1.02 ]
+t: 21	 action: [ 0.699  0.182  0.101 -0.048  0.162  0.109 -1.007]
+t: 22	 action: [ 0.655  0.132  0.068 -0.058  0.147  0.123 -1.007]
+t: 23	 action: [ 0.663  0.159  0.06  -0.061  0.137  0.117 -1.045]
+t: 24	 action: [ 0.636  0.142  0.051 -0.071  0.136  0.14  -1.011]
+t: 25	 action: [ 0.652  0.164  0.053 -0.072  0.127  0.131 -1.043]
+[07-31 00:33:33|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.973 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=26: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.3981
+INFO:cosmos_policy.experiments.robot.robot_utils:t=26: Selected seed 195 with value = 0.3981
+Query 1/1: Action query time = 0.973 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3981
+t=26: Selected seed 195 with value = 0.3981
+t: 26	 action: [ 0.591  0.076  0.046 -0.063  0.109  0.142 -1.022]
+t: 27	 action: [ 0.554  0.105  0.02  -0.059  0.109  0.14  -1.02 ]
+t: 28	 action: [ 0.53   0.05   0.03  -0.063  0.11   0.157 -1.014]
+t: 29	 action: [ 0.493  0.087  0.018 -0.064  0.104  0.158 -1.016]
+t: 30	 action: [ 0.498  0.052  0.009 -0.078  0.098  0.182 -1.01 ]
+t: 31	 action: [ 0.42   0.087 -0.004 -0.069  0.083  0.161 -1.038]
+t: 32	 action: [ 0.435  0.042 -0.01  -0.079  0.102  0.202 -1.006]
+t: 33	 action: [ 0.379  0.077 -0.011 -0.075  0.095  0.184 -1.039]
+t: 34	 action: [ 0.333  0.037 -0.02  -0.084  0.12   0.237 -1.004]
+t: 35	 action: [ 0.328  0.058 -0.018 -0.091  0.116  0.226 -1.007]
+t: 36	 action: [ 0.314  0.032 -0.053 -0.091  0.124  0.248 -1.003]
+t: 37	 action: [ 0.308  0.06  -0.04  -0.094  0.122  0.231 -1.005]
+t: 38	 action: [ 0.298  0.027 -0.061 -0.102  0.115  0.266 -0.997]
+t: 39	 action: [ 0.281  0.069 -0.088 -0.098  0.103  0.242 -1.035]
+t: 40	 action: [ 0.311  0.027 -0.091 -0.103  0.122  0.268 -0.998]
+t: 41	 action: [ 0.309  0.07  -0.103 -0.098  0.116  0.239 -1.034]
+[07-31 00:33:34|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.976 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=42: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.4686
+INFO:cosmos_policy.experiments.robot.robot_utils:t=42: Selected seed 195 with value = 0.4686
+Query 1/1: Action query time = 0.976 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4686
+t=42: Selected seed 195 with value = 0.4686
+t: 42	 action: [ 0.129  0.017 -0.071 -0.081  0.112  0.269 -0.996]
+t: 43	 action: [ 0.139  0.03  -0.08  -0.091  0.11   0.256 -1.   ]
+t: 44	 action: [ 0.137  0.015 -0.098 -0.09   0.114  0.274 -0.989]
+t: 45	 action: [ 0.154  0.032 -0.105 -0.091  0.109  0.253 -1.005]
+t: 46	 action: [ 0.164  0.009 -0.099 -0.099  0.104  0.274 -1.   ]
+t: 47	 action: [ 0.174  0.029 -0.129 -0.095  0.109  0.252 -1.02 ]
+t: 48	 action: [ 0.182  0.005 -0.128 -0.095  0.116  0.268 -0.996]
+t: 49	 action: [ 0.203  0.025 -0.167 -0.09   0.125  0.241 -1.031]
+t: 50	 action: [ 0.178 -0.019 -0.16  -0.09   0.154  0.244 -1.007]
+t: 51	 action: [ 0.202 -0.036 -0.211 -0.077  0.154  0.225 -1.006]
+t: 52	 action: [ 0.221 -0.047 -0.175 -0.088  0.162  0.228 -1.002]
+t: 53	 action: [ 0.248 -0.061 -0.214 -0.069  0.16   0.201 -1.   ]
+t: 54	 action: [ 0.259 -0.107 -0.141 -0.08   0.167  0.211 -1.006]
+t: 55	 action: [ 0.286 -0.097 -0.179 -0.067  0.169  0.19  -1.047]
+t: 56	 action: [ 0.274 -0.157 -0.158 -0.065  0.176  0.191 -1.004]
+t: 57	 action: [ 0.288 -0.145 -0.186 -0.057  0.179  0.172 -1.038]
+[07-31 00:33:35|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.971 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=58: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.5515
+INFO:cosmos_policy.experiments.robot.robot_utils:t=58: Selected seed 195 with value = 0.5515
+Query 1/1: Action query time = 0.971 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5515
+t=58: Selected seed 195 with value = 0.5515
+t: 58	 action: [ 0.102 -0.014 -0.114 -0.046  0.228  0.264 -0.995]
+t: 59	 action: [ 0.101 -0.03  -0.068 -0.034  0.223  0.238 -1.002]
+t: 60	 action: [ 0.118 -0.037 -0.083 -0.032  0.222  0.259 -1.   ]
+t: 61	 action: [ 0.146 -0.079 -0.042 -0.021  0.21   0.224 -1.011]
+t: 62	 action: [ 0.201 -0.1   -0.06  -0.022  0.21   0.231 -1.009]
+t: 63	 action: [ 0.213 -0.129 -0.045 -0.012  0.204  0.208 -1.039]
+t: 64	 action: [ 0.232 -0.208 -0.07  -0.007  0.2    0.211 -1.012]
+t: 65	 action: [ 2.641e-01 -2.094e-01 -6.397e-02 -9.308e-04  1.928e-01  1.856e-01 -1.039e+00]
+t: 66	 action: [ 0.286 -0.328 -0.119  0.003  0.195  0.167 -1.023]
+t: 67	 action: [ 0.318 -0.318 -0.089  0.014  0.186  0.141 -1.021]
+t: 68	 action: [ 0.319 -0.397 -0.119  0.015  0.177  0.163 -1.026]
+t: 69	 action: [ 0.339 -0.367 -0.097  0.022  0.158  0.131 -1.017]
+t: 70	 action: [ 0.287 -0.399 -0.152  0.012  0.154  0.146 -1.022]
+t: 71	 action: [ 0.279 -0.401 -0.111  0.021  0.121  0.12  -1.042]
+t: 72	 action: [ 0.266 -0.382 -0.183  0.024  0.112  0.131 -1.026]
+t: 73	 action: [ 0.232 -0.384 -0.126  0.021  0.071  0.112 -1.035]
+[07-31 00:33:37|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.984 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=74: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.6305
+INFO:cosmos_policy.experiments.robot.robot_utils:t=74: Selected seed 195 with value = 0.6305
+Query 1/1: Action query time = 0.984 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6305
+t=74: Selected seed 195 with value = 0.6305
+t: 74	 action: [ 0.099 -0.322  0.033 -0.016  0.08   0.156 -0.992]
+t: 75	 action: [ 0.124 -0.406  0.047 -0.006  0.062  0.149 -1.016]
+t: 76	 action: [ 7.694e-02 -4.001e-01 -2.003e-02  2.286e-04  4.527e-02  1.614e-01 -9.872e-01]
+t: 77	 action: [ 0.089 -0.416  0.035  0.006  0.024  0.139 -1.021]
+t: 78	 action: [ 0.079 -0.46  -0.022  0.007  0.033  0.152 -0.988]
+t: 79	 action: [ 0.078 -0.537 -0.016  0.02   0.019  0.148 -1.038]
+t: 80	 action: [ 0.04  -0.472 -0.08   0.007  0.005  0.145 -0.987]
+t: 81	 action: [ 0.032 -0.478 -0.062  0.018  0.006  0.126 -1.036]
+t: 82	 action: [-0.013 -0.511 -0.07   0.007 -0.028  0.108 -1.006]
+t: 83	 action: [-0.002 -0.451 -0.013  0.013 -0.033  0.084 -1.018]
+t: 84	 action: [-0.054 -0.487 -0.078  0.005 -0.042  0.101 -1.002]
+t: 85	 action: [-0.05  -0.406 -0.032  0.01  -0.04   0.075 -1.008]
+t: 86	 action: [-0.096 -0.463 -0.085  0.009 -0.041  0.085 -1.002]
+t: 87	 action: [-0.119 -0.414 -0.045  0.013 -0.037  0.07  -1.039]
+t: 88	 action: [-0.134 -0.419 -0.089  0.007 -0.049  0.081 -1.   ]
+t: 89	 action: [-0.166 -0.374 -0.056  0.009 -0.039  0.065 -1.035]
+[07-31 00:33:38|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.982 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=90: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.7562
+INFO:cosmos_policy.experiments.robot.robot_utils:t=90: Selected seed 195 with value = 0.7562
+Query 1/1: Action query time = 0.982 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7562
+t=90: Selected seed 195 with value = 0.7562
+t: 90	 action: [ 0.047 -0.22  -0.038 -0.019  0.011  0.047 -0.969]
+t: 91	 action: [ 0.05  -0.171 -0.017 -0.009  0.003  0.051 -0.985]
+t: 92	 action: [-0.01  -0.212 -0.021 -0.01   0.001  0.068 -0.976]
+t: 93	 action: [ 5.418e-04 -2.000e-01 -1.248e-02 -1.798e-03  3.111e-03  5.994e-02 -1.012e+00]
+t: 94	 action: [-0.029 -0.189 -0.049 -0.003  0.009  0.068 -0.979]
+t: 95	 action: [-5.715e-02 -2.291e-01 -3.331e-02  4.137e-04 -1.081e-03  5.888e-02 -1.046e+00]
+t: 96	 action: [-0.123 -0.247 -0.04  -0.003  0.003  0.091 -0.984]
+t: 97	 action: [-1.600e-01 -2.618e-01 -5.010e-02  4.162e-03  5.172e-04  7.136e-02 -1.043e+00]
+t: 98	 action: [-0.219 -0.337  0.039 -0.008 -0.016  0.113 -0.988]
+t: 99	 action: [-2.527e-01 -3.076e-01  9.040e-04  4.051e-03 -1.282e-02  9.869e-02 -1.008e+00]
+t: 100	 action: [-0.319 -0.362  0.014 -0.012 -0.031  0.129 -0.989]
+t: 101	 action: [-0.334 -0.313 -0.036  0.003 -0.024  0.118 -1.004]
+t: 102	 action: [-0.385 -0.33  -0.048  0.002 -0.039  0.132 -0.984]
+t: 103	 action: [-0.378 -0.308 -0.098  0.011 -0.041  0.113 -1.036]
+t: 104	 action: [-4.493e-01 -3.197e-01 -7.113e-02 -4.767e-04 -7.051e-02  1.461e-01 -9.801e-01]
+t: 105	 action: [-0.433 -0.284 -0.114  0.009 -0.053  0.13  -1.029]
+[07-31 00:33:39|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.976 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=106: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.8408
+INFO:cosmos_policy.experiments.robot.robot_utils:t=106: Selected seed 195 with value = 0.8408
+Query 1/1: Action query time = 0.976 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8408
+t=106: Selected seed 195 with value = 0.8408
+t: 106	 action: [-0.135 -0.22  -0.129 -0.015 -0.013  0.062 -1.007]
+t: 107	 action: [-1.305e-01 -2.878e-01 -7.265e-02 -7.704e-04 -6.427e-03  5.500e-02 -1.021e+00]
+t: 108	 action: [-0.214 -0.227 -0.157  0.003 -0.016  0.072 -1.005]
+t: 109	 action: [-0.201 -0.274 -0.138  0.016 -0.01   0.061 -1.016]
+t: 110	 action: [-0.193 -0.212 -0.231  0.013 -0.004  0.086 -1.003]
+t: 111	 action: [-0.294 -0.282 -0.298  0.027 -0.005  0.062 -1.043]
+t: 112	 action: [-0.327 -0.146 -0.562  0.02  -0.007  0.1   -1.002]
+t: 113	 action: [-3.710e-01 -1.154e-01 -7.359e-01  3.995e-02 -7.637e-05  6.623e-02 -1.032e+00]
+t: 114	 action: [-0.284 -0.157 -0.683  0.057 -0.005  0.122 -0.999]
+t: 115	 action: [-0.322 -0.067 -0.83   0.062 -0.003  0.122 -1.009]
+t: 116	 action: [-0.316  0.041 -0.843  0.063 -0.015  0.137 -1.01 ]
+t: 117	 action: [-0.302  0.07  -0.9    0.055 -0.014  0.13  -1.004]
+t: 118	 action: [-0.479  0.154 -0.909  0.05  -0.022  0.142 -1.004]
+t: 119	 action: [-0.475  0.238 -0.959  0.055 -0.027  0.129 -1.029]
+t: 120	 action: [-0.53   0.234 -0.862  0.019 -0.036  0.152 -1.007]
+t: 121	 action: [-0.477  0.303 -0.888  0.042 -0.029  0.135 -1.03 ]
+[07-31 00:33:40|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.981 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=122: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.8572
+INFO:cosmos_policy.experiments.robot.robot_utils:t=122: Selected seed 195 with value = 0.8572
+Query 1/1: Action query time = 0.981 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8572
+t=122: Selected seed 195 with value = 0.8572
+t: 122	 action: [-0.192 -0.4   -0.479  0.012 -0.034  0.071 -0.997]
+t: 123	 action: [-0.166 -0.404 -0.604  0.034 -0.052  0.073 -1.01 ]
+t: 124	 action: [-0.27   0.005 -0.757  0.038 -0.033  0.083 -0.997]
+t: 125	 action: [-0.254 -0.021 -0.807  0.046 -0.04   0.076 -1.007]
+t: 126	 action: [-0.366  0.144 -0.885  0.054 -0.036  0.102 -0.996]
+t: 127	 action: [-0.355  0.178 -0.882  0.047 -0.046  0.086 -1.029]
+t: 128	 action: [-0.451  0.437 -0.877  0.025 -0.036  0.105 -0.994]
+t: 129	 action: [-0.381  0.465 -0.893  0.026 -0.037  0.082 -1.026]
+t: 130	 action: [-0.385  0.596 -0.835  0.016 -0.048  0.094 -0.988]
+t: 131	 action: [-0.424  0.581 -0.858  0.012 -0.056  0.077 -1.022]
+t: 132	 action: [-0.406  0.717 -0.822  0.011 -0.041  0.09  -0.994]
+t: 133	 action: [-0.413  0.645 -0.837  0.005 -0.04   0.068 -1.016]
+t: 134	 action: [-0.546  0.751 -0.843  0.004 -0.05   0.083 -0.991]
+t: 135	 action: [-0.454  0.705 -0.833  0.004 -0.047  0.067 -1.04 ]
+t: 136	 action: [-4.814e-01  7.895e-01 -8.215e-01 -7.588e-04 -3.655e-02  8.136e-02 -9.908e-01]
+t: 137	 action: [-0.427  0.714 -0.784 -0.002 -0.03   0.062 -1.041]
+[07-31 00:33:42|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.976 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=138: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.7294
+INFO:cosmos_policy.experiments.robot.robot_utils:t=138: Selected seed 195 with value = 0.7294
+Query 1/1: Action query time = 0.976 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7294
+t=138: Selected seed 195 with value = 0.7294
+t: 138	 action: [-0.156 -0.436 -0.26   0.009 -0.079 -0.001 -1.   ]
+t: 139	 action: [-0.148 -0.531 -0.216  0.018 -0.074  0.001 -1.005]
+t: 140	 action: [-0.193 -0.442 -0.283  0.012 -0.069  0.007 -0.99 ]
+t: 141	 action: [-0.188 -0.493 -0.229  0.021 -0.058  0.007 -1.007]
+t: 142	 action: [-0.204 -0.484 -0.348  0.028 -0.07   0.002 -0.994]
+t: 143	 action: [-0.223 -0.535 -0.266  0.037 -0.04   0.011 -1.028]
+t: 144	 action: [-0.25  -0.477 -0.332  0.036 -0.053  0.005 -0.986]
+t: 145	 action: [-0.26  -0.472 -0.286  0.037 -0.033  0.016 -1.029]
+t: 146	 action: [-0.293 -0.451 -0.3    0.025 -0.037  0.026 -0.99 ]
+t: 147	 action: [-0.301 -0.438 -0.258  0.031 -0.034  0.03  -1.019]
+t: 148	 action: [-0.31  -0.458 -0.302  0.032 -0.04   0.035 -0.99 ]
+t: 149	 action: [-0.32  -0.4   -0.308  0.029 -0.037  0.04  -1.021]
+t: 150	 action: [-0.348 -0.432 -0.447  0.037 -0.051  0.039 -0.99 ]
+t: 151	 action: [-0.337 -0.397 -0.497  0.048 -0.046  0.043 -1.046]
+t: 152	 action: [-0.342 -0.354 -0.626  0.044 -0.051  0.052 -0.987]
+t: 153	 action: [-0.311 -0.337 -0.652  0.047 -0.042  0.051 -1.049]
+[07-31 00:33:43|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.975 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=154: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.8469
+INFO:cosmos_policy.experiments.robot.robot_utils:t=154: Selected seed 195 with value = 0.8469
+Query 1/1: Action query time = 0.975 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8469
+t=154: Selected seed 195 with value = 0.8469
+t: 154	 action: [-0.364  0.183 -0.863  0.029 -0.056  0.106 -0.998]
+t: 155	 action: [-0.347  0.152 -0.921  0.022 -0.072  0.099 -1.002]
+t: 156	 action: [-0.414  0.4   -0.877  0.012 -0.054  0.107 -0.993]
+t: 157	 action: [-0.373  0.36  -0.92   0.014 -0.061  0.092 -0.999]
+t: 158	 action: [-0.52   0.567 -0.868  0.013 -0.06   0.118 -0.993]
+t: 159	 action: [-0.426  0.489 -0.876  0.015 -0.061  0.1   -1.019]
+t: 160	 action: [-4.839e-01  6.498e-01 -8.554e-01  1.885e-05 -5.487e-02  1.094e-01 -9.854e-01]
+t: 161	 action: [-4.029e-01  6.051e-01 -8.615e-01  9.165e-04 -4.755e-02  8.631e-02 -1.020e+00]
+t: 162	 action: [-0.423  0.702 -0.773  0.006 -0.038  0.101 -0.982]
+t: 163	 action: [-0.42   0.677 -0.798 -0.004 -0.034  0.084 -1.011]
+t: 164	 action: [-0.396  0.792 -0.777  0.001 -0.028  0.094 -0.986]
+t: 165	 action: [-0.377  0.726 -0.773 -0.005 -0.02   0.072 -1.01 ]
+t: 166	 action: [-0.469  0.806 -0.773 -0.005 -0.031  0.091 -0.984]
+t: 167	 action: [-0.406  0.76  -0.757 -0.006 -0.02   0.076 -1.029]
+t: 168	 action: [-0.399  0.854 -0.771 -0.008 -0.017  0.087 -0.979]
+t: 169	 action: [-0.373  0.789 -0.707 -0.007 -0.01   0.067 -1.036]
+[07-31 00:33:44|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.974 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=170: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.6934
+INFO:cosmos_policy.experiments.robot.robot_utils:t=170: Selected seed 195 with value = 0.6934
+Query 1/1: Action query time = 0.974 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6934
+t=170: Selected seed 195 with value = 0.6934
+t: 170	 action: [-0.095 -0.448 -0.154  0.007 -0.079  0.019 -0.997]
+t: 171	 action: [-0.084 -0.491 -0.096  0.01  -0.073  0.019 -1.01 ]
+t: 172	 action: [-0.124 -0.457 -0.195  0.011 -0.091  0.026 -0.994]
+t: 173	 action: [-0.118 -0.458 -0.132  0.015 -0.086  0.024 -1.01 ]
+t: 174	 action: [-0.146 -0.474 -0.235  0.015 -0.105  0.022 -0.994]
+t: 175	 action: [-0.174 -0.483 -0.167  0.021 -0.09   0.023 -1.028]
+t: 176	 action: [-0.174 -0.458 -0.265  0.028 -0.099  0.033 -0.991]
+t: 177	 action: [-0.188 -0.432 -0.227  0.025 -0.089  0.026 -1.026]
+t: 178	 action: [-0.189 -0.445 -0.224  0.019 -0.092  0.032 -0.992]
+t: 179	 action: [-0.184 -0.415 -0.183  0.026 -0.083  0.031 -1.012]
+t: 180	 action: [-0.182 -0.445 -0.263  0.026 -0.08   0.041 -0.991]
+t: 181	 action: [-0.179 -0.403 -0.224  0.025 -0.077  0.037 -1.008]
+t: 182	 action: [-0.211 -0.442 -0.294  0.031 -0.097  0.041 -0.996]
+t: 183	 action: [-0.187 -0.402 -0.283  0.036 -0.068  0.038 -1.034]
+t: 184	 action: [-0.192 -0.415 -0.348  0.035 -0.081  0.047 -0.994]
+t: 185	 action: [-0.17  -0.383 -0.324  0.034 -0.053  0.044 -1.037]
+[07-31 00:33:46|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.980 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=186: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.7928
+INFO:cosmos_policy.experiments.robot.robot_utils:t=186: Selected seed 195 with value = 0.7928
+Query 1/1: Action query time = 0.980 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7928
+t=186: Selected seed 195 with value = 0.7928
+t: 186	 action: [-0.244 -0.348 -0.496  0.009 -0.04   0.066 -1.   ]
+t: 187	 action: [-0.23  -0.397 -0.6    0.024 -0.05   0.061 -1.007]
+t: 188	 action: [-0.295 -0.113 -0.661  0.021 -0.039  0.074 -0.995]
+t: 189	 action: [-0.273 -0.195 -0.732  0.03  -0.046  0.063 -1.005]
+t: 190	 action: [-3.527e-01  3.566e-04 -7.959e-01  1.908e-02 -3.954e-02  8.286e-02 -9.908e-01]
+t: 191	 action: [-0.334  0.044 -0.765  0.032 -0.051  0.067 -1.027]
+t: 192	 action: [-0.376  0.249 -0.914  0.015 -0.036  0.086 -0.982]
+t: 193	 action: [-0.321  0.245 -0.887  0.024 -0.041  0.064 -1.021]
+t: 194	 action: [-0.369  0.307 -0.878  0.019 -0.045  0.101 -0.993]
+t: 195	 action: [-0.385  0.33  -0.899  0.017 -0.041  0.084 -1.016]
+t: 196	 action: [-0.371  0.545 -0.866  0.012 -0.038  0.095 -0.994]
+t: 197	 action: [-0.384  0.542 -0.867  0.012 -0.028  0.072 -1.018]
+t: 198	 action: [-0.537  0.628 -0.884  0.003 -0.042  0.093 -0.99 ]
+t: 199	 action: [-0.44   0.643 -0.879  0.007 -0.044  0.077 -1.038]
+t: 200	 action: [-0.474  0.737 -0.865 -0.005 -0.03   0.088 -0.985]
+t: 201	 action: [-4.218e-01  7.102e-01 -8.187e-01  6.528e-04 -2.731e-02  6.761e-02 -1.046e+00]
+[07-31 00:33:47|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.983 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=202: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.7458
+INFO:cosmos_policy.experiments.robot.robot_utils:t=202: Selected seed 195 with value = 0.7458
+Query 1/1: Action query time = 0.983 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7458
+t=202: Selected seed 195 with value = 0.7458
+t: 202	 action: [-0.192 -0.44  -0.345  0.002 -0.024  0.018 -0.992]
+t: 203	 action: [-0.172 -0.495 -0.294  0.016 -0.03   0.015 -1.016]
+t: 204	 action: [-0.236 -0.413 -0.336  0.004 -0.024  0.016 -0.985]
+t: 205	 action: [-0.229 -0.465 -0.263  0.018 -0.018  0.019 -1.022]
+t: 206	 action: [-0.244 -0.466 -0.363  0.02  -0.018  0.021 -0.977]
+t: 207	 action: [-0.244 -0.482 -0.294  0.034 -0.015  0.028 -1.039]
+t: 208	 action: [-0.289 -0.419 -0.36   0.019 -0.012  0.032 -0.97 ]
+t: 209	 action: [-0.278 -0.426 -0.319  0.034 -0.007  0.032 -1.039]
+t: 210	 action: [-0.293 -0.371 -0.307  0.019 -0.022  0.055 -0.987]
+t: 211	 action: [-0.319 -0.439 -0.387  0.028 -0.018  0.061 -1.028]
+t: 212	 action: [-0.304 -0.31  -0.476  0.036 -0.028  0.068 -0.985]
+t: 213	 action: [-0.347 -0.334 -0.598  0.032 -0.023  0.077 -1.024]
+t: 214	 action: [-0.488 -0.155 -0.814  0.038 -0.035  0.083 -0.981]
+t: 215	 action: [-0.443 -0.106 -0.843  0.046 -0.04   0.082 -1.043]
+t: 216	 action: [-0.541  0.066 -0.979  0.042 -0.042  0.097 -0.975]
+t: 217	 action: [-0.475  0.094 -0.945  0.039 -0.041  0.092 -1.043]
+[07-31 00:33:48|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.987 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=218: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.8097
+INFO:cosmos_policy.experiments.robot.robot_utils:t=218: Selected seed 195 with value = 0.8097
+Query 1/1: Action query time = 0.987 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8097
+t=218: Selected seed 195 with value = 0.8097
+t: 218	 action: [-0.317 -0.027 -0.804  0.046 -0.06   0.083 -1.001]
+t: 219	 action: [-0.327 -0.078 -0.883  0.042 -0.074  0.075 -1.   ]
+t: 220	 action: [-0.392  0.264 -0.896  0.025 -0.057  0.086 -0.996]
+t: 221	 action: [-0.368  0.199 -0.929  0.031 -0.065  0.073 -0.994]
+t: 222	 action: [-0.47   0.411 -0.927  0.031 -0.059  0.101 -0.994]
+t: 223	 action: [-0.407  0.339 -0.888  0.036 -0.06   0.079 -1.018]
+t: 224	 action: [-0.444  0.574 -0.896  0.005 -0.053  0.098 -0.986]
+t: 225	 action: [-0.383  0.501 -0.873  0.015 -0.051  0.074 -1.015]
+t: 226	 action: [-0.411  0.65  -0.82   0.01  -0.032  0.083 -0.987]
+t: 227	 action: [-0.422  0.658 -0.849  0.002 -0.033  0.07  -1.006]
+t: 228	 action: [-0.392  0.775 -0.805  0.001 -0.016  0.076 -0.989]
+t: 229	 action: [-0.388  0.729 -0.821 -0.003 -0.016  0.057 -1.007]
+t: 230	 action: [-0.518  0.78  -0.825 -0.008 -0.019  0.078 -0.987]
+t: 231	 action: [-0.438  0.774 -0.818 -0.003 -0.014  0.065 -1.028]
+t: 232	 action: [-4.181e-01  8.591e-01 -8.012e-01 -1.423e-02 -9.761e-04  7.619e-02 -9.836e-01]
+t: 233	 action: [-0.396  0.805 -0.758 -0.007 -0.003  0.055 -1.04 ]
+[07-31 00:33:50|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.997 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=234: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.7137
+INFO:cosmos_policy.experiments.robot.robot_utils:t=234: Selected seed 195 with value = 0.7137
+Query 1/1: Action query time = 0.997 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7137
+t=234: Selected seed 195 with value = 0.7137
+t: 234	 action: [-0.093 -0.412 -0.205  0.006 -0.085  0.013 -0.991]
+t: 235	 action: [-0.058 -0.477 -0.135  0.009 -0.07   0.011 -1.003]
+t: 236	 action: [-0.134 -0.412 -0.234  0.009 -0.075  0.016 -0.986]
+t: 237	 action: [-0.108 -0.454 -0.184  0.014 -0.065  0.016 -1.007]
+t: 238	 action: [-0.149 -0.462 -0.265  0.014 -0.075  0.008 -0.987]
+t: 239	 action: [-0.175 -0.47  -0.221  0.023 -0.059  0.016 -1.032]
+t: 240	 action: [-0.197 -0.445 -0.274  0.025 -0.056  0.018 -0.981]
+t: 241	 action: [-0.214 -0.429 -0.273  0.027 -0.046  0.02  -1.03 ]
+t: 242	 action: [-0.242 -0.446 -0.221  0.021 -0.055  0.03  -0.983]
+t: 243	 action: [-0.237 -0.432 -0.216  0.031 -0.052  0.033 -1.014]
+t: 244	 action: [-0.255 -0.444 -0.246  0.027 -0.051  0.044 -0.983]
+t: 245	 action: [-0.259 -0.412 -0.257  0.029 -0.053  0.045 -1.011]
+t: 246	 action: [-0.279 -0.464 -0.282  0.028 -0.066  0.049 -0.984]
+t: 247	 action: [-0.273 -0.406 -0.335  0.041 -0.056  0.048 -1.037]
+t: 248	 action: [-0.275 -0.435 -0.329  0.03  -0.063  0.065 -0.983]
+t: 249	 action: [-0.268 -0.38  -0.411  0.042 -0.052  0.06  -1.039]
+[07-31 00:33:51|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.977 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=250: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.7574
+INFO:cosmos_policy.experiments.robot.robot_utils:t=250: Selected seed 195 with value = 0.7574
+Query 1/1: Action query time = 0.977 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7574
+t=250: Selected seed 195 with value = 0.7574
+t: 250	 action: [-0.137 -0.439 -0.248  0.008 -0.041  0.026 -1.001]
+t: 251	 action: [-0.122 -0.451 -0.257  0.018 -0.049  0.03  -1.016]
+t: 252	 action: [-0.186 -0.362 -0.308  0.013 -0.046  0.038 -0.992]
+t: 253	 action: [-0.167 -0.396 -0.355  0.026 -0.057  0.042 -1.014]
+t: 254	 action: [-0.197 -0.28  -0.51   0.027 -0.046  0.049 -0.994]
+t: 255	 action: [-0.236 -0.223 -0.628  0.046 -0.058  0.043 -1.038]
+t: 256	 action: [-0.237 -0.011 -0.857  0.031 -0.05   0.065 -0.986]
+t: 257	 action: [-0.222  0.01  -0.939  0.042 -0.055  0.053 -1.03 ]
+t: 258	 action: [-0.268  0.098 -0.898  0.044 -0.041  0.073 -0.985]
+t: 259	 action: [-0.306  0.166 -0.933  0.03  -0.035  0.062 -1.016]
+t: 260	 action: [-0.285  0.387 -0.894  0.019 -0.031  0.072 -0.979]
+t: 261	 action: [-0.314  0.456 -0.916  0.016 -0.021  0.055 -1.018]
+t: 262	 action: [-0.445  0.517 -0.897  0.009 -0.034  0.071 -0.989]
+t: 263	 action: [-0.371  0.608 -0.906  0.01  -0.035  0.058 -1.043]
+t: 264	 action: [-0.42   0.711 -0.874  0.003 -0.019  0.073 -0.98 ]
+t: 265	 action: [-3.613e-01  7.533e-01 -8.567e-01  9.017e-04 -1.881e-02  5.562e-02 -1.050e+00]
+[07-31 00:33:52|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.960 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=266: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.7462
+INFO:cosmos_policy.experiments.robot.robot_utils:t=266: Selected seed 195 with value = 0.7462
+Query 1/1: Action query time = 0.960 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7462
+t=266: Selected seed 195 with value = 0.7462
+t: 266	 action: [-0.165 -0.431 -0.318  0.004 -0.018  0.018 -0.981]
+t: 267	 action: [-0.179 -0.458 -0.301  0.012 -0.014  0.024 -1.011]
+t: 268	 action: [-0.221 -0.39  -0.409  0.009 -0.022  0.02  -0.975]
+t: 269	 action: [-0.224 -0.422 -0.34   0.016 -0.018  0.033 -1.016]
+t: 270	 action: [-0.24  -0.382 -0.457  0.015 -0.023  0.02  -0.974]
+t: 271	 action: [-0.267 -0.404 -0.446  0.028 -0.021  0.037 -1.037]
+t: 272	 action: [-0.282 -0.269 -0.643  0.019 -0.025  0.04  -0.964]
+t: 273	 action: [-0.282 -0.308 -0.683  0.027 -0.023  0.044 -1.03 ]
+t: 274	 action: [-0.24  -0.202 -0.668  0.043 -0.034  0.055 -0.987]
+t: 275	 action: [-0.245 -0.221 -0.745  0.034 -0.026  0.058 -1.023]
+t: 276	 action: [-0.235  0.006 -0.845  0.047 -0.033  0.059 -0.989]
+t: 277	 action: [-0.26   0.068 -0.884  0.03  -0.024  0.065 -1.029]
+t: 278	 action: [-0.412  0.132 -0.894  0.04  -0.043  0.07  -0.983]
+t: 279	 action: [-0.376  0.229 -0.91   0.033 -0.055  0.065 -1.046]
+t: 280	 action: [-0.44   0.41  -0.865  0.022 -0.038  0.074 -0.977]
+t: 281	 action: [-0.377  0.481 -0.885  0.023 -0.047  0.071 -1.049]
+[07-31 00:33:53|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.977 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=282: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.7624
+INFO:cosmos_policy.experiments.robot.robot_utils:t=282: Selected seed 195 with value = 0.7624
+Query 1/1: Action query time = 0.977 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7624
+t=282: Selected seed 195 with value = 0.7624
+t: 282	 action: [-0.095 -0.439 -0.165  0.008 -0.027  0.016 -0.998]
+t: 283	 action: [-0.062 -0.447 -0.171  0.015 -0.029  0.013 -1.02 ]
+t: 284	 action: [-0.146 -0.433 -0.195  0.011 -0.036  0.019 -0.991]
+t: 285	 action: [-0.117 -0.449 -0.219  0.018 -0.048  0.03  -1.019]
+t: 286	 action: [-0.172 -0.426 -0.332  0.022 -0.04   0.028 -0.996]
+t: 287	 action: [-0.208 -0.357 -0.499  0.043 -0.051  0.038 -1.046]
+t: 288	 action: [-0.226 -0.218 -0.714  0.026 -0.048  0.057 -0.986]
+t: 289	 action: [-0.23  -0.126 -0.883  0.047 -0.052  0.054 -1.037]
+t: 290	 action: [-1.584e-01 -4.336e-04 -8.829e-01  5.342e-02 -3.036e-02  6.563e-02 -9.858e-01]
+t: 291	 action: [-0.189  0.076 -0.939  0.031 -0.016  0.065 -1.021]
+t: 292	 action: [-0.154  0.301 -0.886  0.029 -0.022  0.072 -0.981]
+t: 293	 action: [-0.21   0.39  -0.929  0.015 -0.009  0.065 -1.021]
+t: 294	 action: [-0.323  0.437 -0.88   0.02  -0.024  0.075 -0.99 ]
+t: 295	 action: [-0.3    0.534 -0.924  0.019 -0.027  0.067 -1.048]
+t: 296	 action: [-0.361  0.683 -0.849  0.009 -0.014  0.082 -0.983]
+t: 297	 action: [-0.304  0.721 -0.865  0.007 -0.016  0.07  -1.048]
+[07-31 00:33:55|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.981 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=298: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.7553
+INFO:cosmos_policy.experiments.robot.robot_utils:t=298: Selected seed 195 with value = 0.7553
+WARNING:imageio_ffmpeg:IMAGEIO FFMPEG_WRITER WARNING: input image is not divisible by macro_block_size=16, resizing from (896, 284) to (896, 288) to ensure video compatibility with most codecs and players. To prevent resizing, make your input image divisible by the macro_block_size or set the macro_block_size to 1 (risking incompatibility).
+INFO:cosmos_policy.experiments.robot.robot_utils:Success: False
+INFO:cosmos_policy.experiments.robot.robot_utils:# episodes completed so far: 15
+INFO:cosmos_policy.experiments.robot.robot_utils:# successes: 8 (53.3%)
+
+
 30%|███       | 15/50 [06:01<13:32, 23.21s/it]INFO:cosmos_policy.experiments.robot.robot_utils:
+Task: open the middle drawer of the cabinet
+INFO:cosmos_policy.experiments.robot.robot_utils:Starting episode 16...
+Query 1/1: Action query time = 0.981 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7553
+t=298: Selected seed 195 with value = 0.7553
+t: 298	 action: [-0.129 -0.371 -0.295  0.003 -0.014  0.015 -0.984]
+t: 299	 action: [-0.127 -0.428 -0.258  0.012 -0.009  0.019 -1.014]
+t: 300	 action: [-0.192 -0.404 -0.378  0.011 -0.019  0.018 -0.976]
+t: 301	 action: [-0.183 -0.432 -0.286  0.017 -0.015  0.031 -1.017]
+t: 302	 action: [-0.222 -0.411 -0.421  0.016 -0.021  0.017 -0.977]
+t: 303	 action: [-0.249 -0.401 -0.41   0.029 -0.023  0.035 -1.043]
+t: 304	 action: [-0.268 -0.334 -0.612  0.021 -0.024  0.037 -0.966]
+t: 305	 action: [-0.276 -0.302 -0.696  0.03  -0.026  0.046 -1.035]
+t: 306	 action: [-0.176 -0.237 -0.736  0.048 -0.029  0.041 -0.988]
+t: 307	 action: [-0.168 -0.199 -0.77   0.031 -0.017  0.048 -1.024]
+t: 308	 action: [-0.156  0.017 -0.847  0.048 -0.028  0.047 -0.989]
+t: 309	 action: [-0.206  0.123 -0.87   0.027 -0.016  0.059 -1.028]
+Saved rollout MP4 at path ./rollouts/None/2026_07_31-00_27_45--episode=15--success=False--task=open_the_middle_drawer_of_the_cabinet.mp4
+300 300 19 19
+Saved rollout MP4 at path ./rollouts/None/2026_07_31-00_27_45--with_future_img--episode=15--success=False--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: False
+# episodes completed so far: 15
+# successes: 8 (53.3%)
+
+Task: open the middle drawer of the cabinet
+Starting episode 16...
+[07-31 00:34:03|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.986 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=10: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.3370
+INFO:cosmos_policy.experiments.robot.robot_utils:t=10: Selected seed 195 with value = 0.3370
+Query 1/1: Action query time = 0.986 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3370
+t=10: Selected seed 195 with value = 0.3370
+t: 10	 action: [ 0.023 -0.106 -0.018  0.008  0.024 -0.014 -0.964]
+t: 11	 action: [ 0.149 -0.141  0.055  0.015  0.068  0.004 -0.959]
+t: 12	 action: [ 0.171 -0.165  0.034  0.005  0.091  0.012 -0.992]
+t: 13	 action: [ 0.318 -0.137  0.113  0.015  0.129  0.028 -1.008]
+t: 14	 action: [ 0.388 -0.181  0.11   0.005  0.13   0.018 -1.009]
+t: 15	 action: [ 0.49  -0.154  0.121  0.02   0.139  0.03  -1.04 ]
+t: 16	 action: [ 0.511 -0.104  0.133 -0.003  0.147  0.05  -1.011]
+t: 17	 action: [ 0.561 -0.109  0.115  0.014  0.154  0.058 -1.044]
+t: 18	 action: [ 0.518 -0.066  0.098  0.001  0.126  0.117 -1.009]
+t: 19	 action: [ 0.542 -0.044  0.118 -0.008  0.123  0.113 -1.016]
+t: 20	 action: [ 0.551 -0.035  0.066 -0.02   0.107  0.133 -1.011]
+t: 21	 action: [ 0.579  0.003  0.088 -0.021  0.104  0.123 -1.01 ]
+t: 22	 action: [ 0.565 -0.006  0.07  -0.025  0.099  0.14  -0.998]
+t: 23	 action: [ 0.596 -0.016  0.049 -0.03   0.079  0.128 -1.044]
+t: 24	 action: [ 0.576  0.017  0.03  -0.059  0.08   0.154 -1.   ]
+t: 25	 action: [ 0.608  0.034  0.037 -0.058  0.068  0.137 -1.041]
+[07-31 00:34:04|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.962 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=26: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.3934
+INFO:cosmos_policy.experiments.robot.robot_utils:t=26: Selected seed 195 with value = 0.3934
+Query 1/1: Action query time = 0.962 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3934
+t=26: Selected seed 195 with value = 0.3934
+t: 26	 action: [ 0.51   0.014  0.058 -0.044  0.09   0.173 -1.006]
+t: 27	 action: [ 0.522  0.054  0.063 -0.049  0.079  0.171 -1.01 ]
+t: 28	 action: [ 0.461  0.027  0.041 -0.058  0.08   0.185 -1.004]
+t: 29	 action: [ 0.469  0.078  0.037 -0.062  0.07   0.184 -1.009]
+t: 30	 action: [ 0.438  0.019  0.035 -0.079  0.082  0.206 -0.995]
+t: 31	 action: [ 0.397  0.068  0.018 -0.068  0.07   0.195 -1.04 ]
+t: 32	 action: [ 0.373  0.033  0.011 -0.093  0.081  0.216 -0.997]
+t: 33	 action: [ 0.355  0.084  0.013 -0.086  0.083  0.207 -1.037]
+t: 34	 action: [ 0.372  0.044  0.005 -0.088  0.096  0.212 -1.008]
+t: 35	 action: [ 0.392  0.088  0.016 -0.089  0.099  0.193 -1.007]
+t: 36	 action: [ 0.364  0.058 -0.01  -0.1    0.112  0.213 -1.007]
+t: 37	 action: [ 0.379  0.096  0.02  -0.1    0.125  0.195 -1.003]
+t: 38	 action: [ 3.309e-01  4.525e-02  9.124e-04 -1.150e-01  1.196e-01  2.353e-01 -9.973e-01]
+t: 39	 action: [ 0.334  0.097 -0.004 -0.11   0.123  0.214 -1.038]
+t: 40	 action: [ 0.333  0.055 -0.011 -0.119  0.136  0.235 -1.001]
+t: 41	 action: [ 0.343  0.098  0.003 -0.112  0.148  0.212 -1.034]
+[07-31 00:34:05|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.970 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=42: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.4497
+INFO:cosmos_policy.experiments.robot.robot_utils:t=42: Selected seed 195 with value = 0.4497
+Query 1/1: Action query time = 0.970 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4497
+t=42: Selected seed 195 with value = 0.4497
+t: 42	 action: [ 0.188  0.028 -0.018 -0.092  0.154  0.241 -1.   ]
+t: 43	 action: [ 0.194  0.062 -0.004 -0.092  0.156  0.229 -1.002]
+t: 44	 action: [ 0.156  0.026 -0.023 -0.097  0.14   0.249 -0.997]
+t: 45	 action: [ 0.174  0.067  0.004 -0.096  0.134  0.241 -1.006]
+t: 46	 action: [ 0.176  0.023 -0.023 -0.112  0.117  0.259 -1.001]
+t: 47	 action: [ 0.177  0.06  -0.019 -0.102  0.11   0.234 -1.026]
+t: 48	 action: [ 0.16   0.021 -0.034 -0.117  0.101  0.262 -1.   ]
+t: 49	 action: [ 0.171  0.056 -0.02  -0.106  0.099  0.245 -1.031]
+t: 50	 action: [ 0.165  0.014 -0.079 -0.096  0.114  0.27  -0.991]
+t: 51	 action: [ 0.194  0.032 -0.057 -0.091  0.114  0.264 -0.992]
+t: 52	 action: [ 0.189  0.006 -0.108 -0.099  0.11   0.27  -0.985]
+t: 53	 action: [ 0.231  0.02  -0.089 -0.089  0.111  0.262 -0.992]
+t: 54	 action: [ 0.232  0.007 -0.098 -0.1    0.101  0.279 -0.992]
+t: 55	 action: [ 0.291  0.039 -0.099 -0.083  0.109  0.261 -1.023]
+t: 56	 action: [ 0.256 -0.014 -0.129 -0.093  0.11   0.269 -0.99 ]
+t: 57	 action: [ 0.302  0.017 -0.133 -0.076  0.12   0.253 -1.02 ]
+[07-31 00:34:07|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.984 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=58: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.5208
+INFO:cosmos_policy.experiments.robot.robot_utils:t=58: Selected seed 195 with value = 0.5208
+Query 1/1: Action query time = 0.984 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5208
+t=58: Selected seed 195 with value = 0.5208
+t: 58	 action: [ 0.331 -0.047 -0.015 -0.039  0.017  0.219 -1.02 ]
+t: 59	 action: [ 0.351 -0.018 -0.005 -0.046  0.022  0.198 -1.011]
+t: 60	 action: [ 0.347 -0.049 -0.052 -0.038  0.013  0.22  -1.02 ]
+t: 61	 action: [ 0.363 -0.01  -0.024 -0.046  0.022  0.206 -1.016]
+t: 62	 action: [ 0.39  -0.073 -0.069 -0.045  0.019  0.227 -1.021]
+t: 63	 action: [ 0.355 -0.041 -0.068 -0.053  0.012  0.201 -1.041]
+t: 64	 action: [ 0.417 -0.108 -0.133 -0.039  0.018  0.226 -1.023]
+t: 65	 action: [ 0.4   -0.043 -0.138 -0.05   0.019  0.206 -1.043]
+t: 66	 action: [ 0.444 -0.132 -0.286 -0.033  0.032  0.223 -1.015]
+t: 67	 action: [ 0.466 -0.079 -0.285 -0.036  0.025  0.201 -1.017]
+t: 68	 action: [ 0.466 -0.131 -0.374 -0.033  0.036  0.229 -1.015]
+t: 69	 action: [ 0.501 -0.086 -0.359 -0.041  0.031  0.199 -1.01 ]
+t: 70	 action: [ 0.461 -0.15  -0.351 -0.033  0.052  0.226 -1.014]
+t: 71	 action: [ 0.456 -0.099 -0.264 -0.033  0.048  0.203 -1.045]
+t: 72	 action: [ 0.441 -0.178 -0.36  -0.027  0.055  0.222 -1.015]
+t: 73	 action: [ 0.409 -0.125 -0.277 -0.037  0.056  0.197 -1.035]
+[07-31 00:34:08|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.977 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=74: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.5987
+INFO:cosmos_policy.experiments.robot.robot_utils:t=74: Selected seed 195 with value = 0.5987
+Query 1/1: Action query time = 0.977 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5987
+t=74: Selected seed 195 with value = 0.5987
+t: 74	 action: [ 0.133 -0.292 -0.347 -0.01   0.072  0.141 -1.005]
+t: 75	 action: [ 0.156 -0.306 -0.273 -0.011  0.077  0.106 -1.006]
+t: 76	 action: [ 0.114 -0.344 -0.304 -0.012  0.064  0.126 -0.998]
+t: 77	 action: [ 0.134 -0.343 -0.222 -0.012  0.07   0.084 -1.014]
+t: 78	 action: [ 0.113 -0.404 -0.186 -0.009  0.063  0.094 -0.995]
+t: 79	 action: [ 0.109 -0.354 -0.164 -0.009  0.052  0.079 -1.035]
+t: 80	 action: [ 0.08  -0.392 -0.169 -0.01   0.048  0.074 -0.998]
+t: 81	 action: [ 0.067 -0.343 -0.162 -0.011  0.041  0.06  -1.044]
+t: 82	 action: [ 0.043 -0.406 -0.149 -0.009  0.016  0.056 -1.002]
+t: 83	 action: [ 0.046 -0.375 -0.132 -0.005  0.016  0.045 -1.013]
+t: 84	 action: [-0.017 -0.392 -0.149 -0.009 -0.002  0.053 -1.004]
+t: 85	 action: [ 0.019 -0.331 -0.126 -0.008  0.007  0.041 -1.014]
+t: 86	 action: [-0.069 -0.401 -0.156 -0.003  0.004  0.047 -0.996]
+t: 87	 action: [-5.637e-02 -3.716e-01 -1.435e-01 -2.014e-03  7.973e-04  3.740e-02 -1.031e+00]
+t: 88	 action: [-0.138 -0.334 -0.171 -0.004 -0.011  0.046 -1.005]
+t: 89	 action: [-0.141 -0.307 -0.154 -0.004 -0.014  0.038 -1.028]
+[07-31 00:34:09|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.978 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=90: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.6381
+INFO:cosmos_policy.experiments.robot.robot_utils:t=90: Selected seed 195 with value = 0.6381
+Query 1/1: Action query time = 0.978 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6381
+t=90: Selected seed 195 with value = 0.6381
+t: 90	 action: [ 0.017 -0.332 -0.183 -0.004  0.003  0.025 -0.985]
+t: 91	 action: [ 0.011 -0.298 -0.14  -0.003  0.008  0.03  -1.001]
+t: 92	 action: [-0.043 -0.333 -0.16  -0.004  0.001  0.032 -0.99 ]
+t: 93	 action: [-0.068 -0.309 -0.124 -0.005  0.008  0.03  -1.007]
+t: 94	 action: [-0.088 -0.362 -0.175 -0.002  0.003  0.021 -0.986]
+t: 95	 action: [-0.147 -0.309 -0.128  0.003  0.004  0.027 -1.035]
+t: 96	 action: [-1.701e-01 -3.115e-01 -1.861e-01 -3.683e-03  7.523e-04  3.806e-02 -9.921e-01]
+t: 97	 action: [-2.350e-01 -2.731e-01 -1.588e-01 -7.001e-04  2.213e-03  3.176e-02 -1.036e+00]
+t: 98	 action: [-0.278 -0.272 -0.133 -0.022 -0.017  0.046 -0.984]
+t: 99	 action: [-0.314 -0.244 -0.147 -0.014 -0.015  0.048 -1.009]
+t: 100	 action: [-0.405 -0.216 -0.148 -0.026 -0.026  0.069 -0.979]
+t: 101	 action: [-0.386 -0.214 -0.174 -0.015 -0.025  0.062 -1.003]
+t: 102	 action: [-0.485 -0.207 -0.171 -0.01  -0.027  0.077 -0.972]
+t: 103	 action: [-0.496 -0.194 -0.138 -0.002 -0.025  0.065 -1.029]
+t: 104	 action: [-0.543 -0.209 -0.142 -0.01  -0.033  0.099 -0.965]
+t: 105	 action: [-0.523 -0.166 -0.096 -0.004 -0.026  0.081 -1.025]
+[07-31 00:34:11|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.989 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=106: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.7299
+INFO:cosmos_policy.experiments.robot.robot_utils:t=106: Selected seed 195 with value = 0.7299
+Query 1/1: Action query time = 0.989 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7299
+t=106: Selected seed 195 with value = 0.7299
+t: 106	 action: [-0.299 -0.124  0.061 -0.048 -0.021 -0.002 -0.953]
+t: 107	 action: [-0.248 -0.166  0.139 -0.043 -0.011 -0.01  -0.96 ]
+t: 108	 action: [-0.332 -0.117  0.129 -0.031 -0.014  0.003 -0.979]
+t: 109	 action: [-2.696e-01 -1.826e-01  1.572e-01 -2.578e-02 -5.331e-03  9.735e-04 -1.005e+00]
+t: 110	 action: [-2.636e-01 -2.243e-01  1.243e-01 -1.879e-02 -8.228e-03 -3.968e-04 -9.820e-01]
+t: 111	 action: [-2.367e-01 -2.392e-01  1.406e-01 -6.571e-04  3.938e-03 -1.005e-03 -1.048e+00]
+t: 112	 action: [-0.306 -0.285  0.106 -0.003  0.004  0.007 -0.998]
+t: 113	 action: [-0.269 -0.266  0.073  0.013  0.006  0.011 -1.042]
+t: 114	 action: [-2.803e-01 -3.862e-01  1.777e-02  8.651e-04 -1.478e-03  4.148e-02 -9.765e-01]
+t: 115	 action: [-0.26  -0.394 -0.015  0.015 -0.009  0.05  -1.011]
+t: 116	 action: [-0.306 -0.41  -0.065  0.005 -0.009  0.079 -0.989]
+t: 117	 action: [-0.271 -0.396 -0.103  0.014 -0.024  0.078 -1.008]
+t: 118	 action: [-0.32  -0.39  -0.142  0.015 -0.004  0.099 -0.978]
+t: 119	 action: [-0.311 -0.384 -0.202  0.038 -0.01   0.081 -1.031]
+t: 120	 action: [-0.338 -0.368 -0.245  0.014 -0.009  0.134 -0.984]
+t: 121	 action: [-0.358 -0.35  -0.312  0.043 -0.01   0.107 -1.029]
+[07-31 00:34:12|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.974 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=122: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.7371
+INFO:cosmos_policy.experiments.robot.robot_utils:t=122: Selected seed 195 with value = 0.7371
+Query 1/1: Action query time = 0.974 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7371
+t=122: Selected seed 195 with value = 0.7371
+t: 122	 action: [-0.004 -0.376 -0.157  0.022 -0.043  0.006 -1.017]
+t: 123	 action: [ 0.013 -0.369 -0.219  0.026 -0.053 -0.006 -1.012]
+t: 124	 action: [-0.005 -0.309 -0.283  0.027 -0.041  0.006 -1.011]
+t: 125	 action: [ 0.023 -0.267 -0.333  0.033 -0.051 -0.007 -1.014]
+t: 126	 action: [-1.281e-02 -1.575e-01 -4.744e-01  3.180e-02 -2.876e-02 -7.299e-04 -1.009e+00]
+t: 127	 action: [-0.013 -0.159 -0.556  0.037 -0.033 -0.01  -1.036]
+t: 128	 action: [-1.027e-02 -2.943e-02 -7.416e-01  4.165e-02 -1.678e-02  6.089e-05 -1.004e+00]
+t: 129	 action: [ 0.006 -0.018 -0.846  0.045 -0.013 -0.014 -1.036]
+t: 130	 action: [ 0.023  0.021 -0.884  0.055  0.011 -0.015 -1.006]
+t: 131	 action: [ 0.045  0.078 -0.877  0.047  0.011 -0.016 -1.016]
+t: 132	 action: [ 0.013  0.1   -0.937  0.032  0.037 -0.006 -1.002]
+t: 133	 action: [ 0.034  0.189 -0.937  0.034  0.029 -0.013 -0.996]
+t: 134	 action: [-0.062  0.238 -0.938  0.025  0.035 -0.008 -1.012]
+t: 135	 action: [-0.033  0.306 -0.963  0.011  0.026 -0.011 -1.039]
+t: 136	 action: [-0.101  0.404 -0.943  0.009  0.052 -0.002 -1.008]
+t: 137	 action: [-0.057  0.461 -0.93  -0.006  0.039 -0.005 -1.045]
+[07-31 00:34:13|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.992 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=138: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9483
+INFO:cosmos_policy.experiments.robot.robot_utils:t=138: Selected seed 195 with value = 0.9483
+Query 1/1: Action query time = 0.992 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9483
+t=138: Selected seed 195 with value = 0.9483
+t: 138	 action: [-7.044e-02  6.244e-01 -9.062e-01  1.236e-03  2.197e-04  3.458e-02 -9.851e-01]
+t: 139	 action: [-0.076  0.686 -0.899 -0.017 -0.003  0.036 -1.004]
+t: 140	 action: [-1.329e-01  8.084e-01 -8.643e-01 -1.718e-02  8.550e-04  3.908e-02 -9.833e-01]
+t: 141	 action: [-1.080e-01  8.052e-01 -8.452e-01 -2.282e-02 -2.104e-04  3.886e-02 -9.987e-01]
+t: 142	 action: [-0.178  0.874 -0.846 -0.018  0.004  0.046 -0.989]
+t: 143	 action: [-0.175  0.86  -0.854 -0.017 -0.004  0.042 -1.032]
+t: 144	 action: [-0.193  0.923 -0.8   -0.029  0.004  0.051 -0.989]
+t: 145	 action: [-0.186  0.874 -0.794 -0.019 -0.005  0.041 -1.031]
+t: 146	 action: [-0.158  0.914 -0.816 -0.02   0.002  0.043 -0.979]
+t: 147	 action: [-1.651e-01  8.568e-01 -8.007e-01 -2.255e-02 -9.741e-04  3.846e-02 -1.004e+00]
+t: 148	 action: [-0.178  0.92  -0.787 -0.026  0.003  0.048 -0.981]
+t: 149	 action: [-0.163  0.853 -0.765 -0.024 -0.002  0.043 -1.002]
+t: 150	 action: [-0.202  0.941 -0.759 -0.028  0.002  0.055 -0.984]
+t: 151	 action: [-0.227  0.901 -0.75  -0.023 -0.009  0.044 -1.032]
+t: 152	 action: [-0.205  0.94  -0.73  -0.028  0.004  0.058 -0.984]
+t: 153	 action: [-0.221  0.88  -0.694 -0.021 -0.007  0.047 -1.034]
+[07-31 00:34:14|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.976 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=154: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9973
+INFO:cosmos_policy.experiments.robot.robot_utils:t=154: Selected seed 195 with value = 0.9973
+WARNING:imageio_ffmpeg:IMAGEIO FFMPEG_WRITER WARNING: input image is not divisible by macro_block_size=16, resizing from (896, 284) to (896, 288) to ensure video compatibility with most codecs and players. To prevent resizing, make your input image divisible by the macro_block_size or set the macro_block_size to 1 (risking incompatibility).
+INFO:cosmos_policy.experiments.robot.robot_utils:Success: True
+INFO:cosmos_policy.experiments.robot.robot_utils:# episodes completed so far: 16
+INFO:cosmos_policy.experiments.robot.robot_utils:# successes: 9 (56.2%)
+
+
 32%|███▏      | 16/50 [06:18<12:06, 21.38s/it]INFO:cosmos_policy.experiments.robot.robot_utils:
+Task: open the middle drawer of the cabinet
+INFO:cosmos_policy.experiments.robot.robot_utils:Starting episode 17...
+Query 1/1: Action query time = 0.976 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9973
+t=154: Selected seed 195 with value = 0.9973
+t: 154	 action: [-0.278  0.878 -0.77  -0.001  0.014  0.047 -0.971]
+t: 155	 action: [-0.272  0.871 -0.75  -0.011  0.006  0.045 -0.974]
+t: 156	 action: [-2.941e-01  9.016e-01 -7.741e-01 -8.906e-04  2.475e-02  4.902e-02 -9.727e-01]
+t: 157	 action: [-0.289  0.88  -0.748 -0.009  0.013  0.046 -0.991]
+t: 158	 action: [-0.292  0.897 -0.738 -0.008  0.029  0.057 -0.967]
+t: 159	 action: [-0.331  0.912 -0.711 -0.009  0.015  0.05  -1.015]
+t: 160	 action: [-0.307  0.909 -0.746 -0.007  0.038  0.064 -0.97 ]
+Saved rollout MP4 at path ./rollouts/None/2026_07_31-00_27_45--episode=16--success=True--task=open_the_middle_drawer_of_the_cabinet.mp4
+151 151 10 10
+Saved rollout MP4 at path ./rollouts/None/2026_07_31-00_27_45--with_future_img--episode=16--success=True--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: True
+# episodes completed so far: 16
+# successes: 9 (56.2%)
+
+Task: open the middle drawer of the cabinet
+Starting episode 17...
+[07-31 00:34:20|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.980 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=10: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.3473
+INFO:cosmos_policy.experiments.robot.robot_utils:t=10: Selected seed 195 with value = 0.3473
+Query 1/1: Action query time = 0.980 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3473
+t=10: Selected seed 195 with value = 0.3473
+t: 10	 action: [ 2.162e-01  7.373e-04  1.615e-02 -9.624e-03  3.825e-02  3.567e-02 -1.013e+00]
+t: 11	 action: [ 0.353  0.059  0.047 -0.02   0.054  0.069 -1.013]
+t: 12	 action: [ 0.463  0.021  0.031 -0.018  0.06   0.086 -1.021]
+t: 13	 action: [ 0.572  0.069  0.065 -0.026  0.078  0.095 -1.021]
+t: 14	 action: [ 0.623  0.035  0.048 -0.033  0.069  0.099 -1.017]
+t: 15	 action: [ 0.661  0.072  0.047 -0.032  0.067  0.097 -1.041]
+t: 16	 action: [ 0.676  0.038  0.039 -0.043  0.067  0.134 -1.016]
+t: 17	 action: [ 0.689  0.073  0.03  -0.043  0.061  0.119 -1.041]
+t: 18	 action: [ 0.697  0.034  0.029 -0.047  0.037  0.162 -1.031]
+t: 19	 action: [ 0.727  0.039  0.009 -0.052  0.035  0.149 -1.028]
+t: 20	 action: [ 0.69   0.038  0.008 -0.059  0.029  0.165 -1.027]
+t: 21	 action: [ 0.721  0.056  0.005 -0.06   0.027  0.149 -1.018]
+t: 22	 action: [ 0.678  0.039  0.017 -0.062  0.023  0.184 -1.008]
+t: 23	 action: [ 6.757e-01  4.973e-02 -6.422e-04 -7.017e-02  1.346e-02  1.686e-01 -1.047e+00]
+t: 24	 action: [ 0.647  0.049 -0.009 -0.078  0.024  0.181 -1.006]
+t: 25	 action: [ 0.641  0.077 -0.009 -0.08   0.015  0.168 -1.037]
+[07-31 00:34:21|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.983 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=26: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.4074
+INFO:cosmos_policy.experiments.robot.robot_utils:t=26: Selected seed 195 with value = 0.4074
+Query 1/1: Action query time = 0.983 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4074
+t=26: Selected seed 195 with value = 0.4074
+t: 26	 action: [ 0.5   -0.004 -0.027 -0.087  0.013  0.171 -1.014]
+t: 27	 action: [ 0.502  0.005 -0.052 -0.084  0.018  0.174 -1.014]
+t: 28	 action: [ 0.436  0.012 -0.08  -0.094  0.026  0.194 -1.006]
+t: 29	 action: [ 0.441  0.026 -0.093 -0.093  0.034  0.196 -1.009]
+t: 30	 action: [ 0.402  0.037 -0.106 -0.112  0.03   0.217 -1.001]
+t: 31	 action: [ 0.377  0.049 -0.185 -0.099  0.035  0.208 -1.033]
+t: 32	 action: [ 0.357  0.04  -0.156 -0.117  0.056  0.238 -0.997]
+t: 33	 action: [ 0.345  0.063 -0.213 -0.103  0.078  0.226 -1.034]
+t: 34	 action: [ 0.327  0.033 -0.158 -0.099  0.099  0.236 -1.005]
+t: 35	 action: [ 0.349  0.03  -0.204 -0.089  0.096  0.214 -1.014]
+t: 36	 action: [ 0.32   0.03  -0.195 -0.101  0.126  0.238 -1.003]
+t: 37	 action: [ 0.348  0.03  -0.216 -0.091  0.132  0.219 -1.008]
+t: 38	 action: [ 0.306  0.02  -0.196 -0.104  0.134  0.251 -0.993]
+t: 39	 action: [ 0.295  0.043 -0.252 -0.088  0.146  0.224 -1.042]
+t: 40	 action: [ 0.289  0.021 -0.229 -0.101  0.16   0.249 -0.994]
+t: 41	 action: [ 0.282  0.04  -0.254 -0.089  0.172  0.224 -1.037]
+[07-31 00:34:23|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.978 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=42: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.4950
+INFO:cosmos_policy.experiments.robot.robot_utils:t=42: Selected seed 195 with value = 0.4950
+Query 1/1: Action query time = 0.978 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4950
+t=42: Selected seed 195 with value = 0.4950
+t: 42	 action: [ 0.219  0.035 -0.172 -0.087  0.141  0.261 -0.984]
+t: 43	 action: [ 0.223  0.063 -0.158 -0.087  0.155  0.257 -0.993]
+t: 44	 action: [ 0.207  0.037 -0.172 -0.081  0.163  0.263 -0.989]
+t: 45	 action: [ 0.226  0.063 -0.136 -0.081  0.182  0.252 -1.   ]
+t: 46	 action: [ 0.205  0.04  -0.188 -0.093  0.181  0.265 -0.992]
+t: 47	 action: [ 0.191  0.057 -0.162 -0.085  0.198  0.254 -1.032]
+t: 48	 action: [ 0.185  0.034 -0.194 -0.083  0.199  0.261 -0.997]
+t: 49	 action: [ 0.179  0.054 -0.159 -0.078  0.215  0.247 -1.034]
+t: 50	 action: [ 0.132  0.011 -0.193 -0.064  0.215  0.254 -0.995]
+t: 51	 action: [ 0.144  0.016 -0.188 -0.05   0.225  0.244 -1.006]
+t: 52	 action: [ 0.144 -0.004 -0.181 -0.059  0.219  0.258 -0.997]
+t: 53	 action: [ 0.155 -0.002 -0.172 -0.045  0.222  0.243 -1.01 ]
+t: 54	 action: [ 0.13  -0.012 -0.168 -0.06   0.205  0.259 -0.989]
+t: 55	 action: [ 0.137  0.004 -0.128 -0.049  0.206  0.238 -1.034]
+t: 56	 action: [ 0.137 -0.028 -0.167 -0.054  0.201  0.252 -0.994]
+t: 57	 action: [ 0.148 -0.02  -0.134 -0.042  0.198  0.235 -1.032]
+[07-31 00:34:24|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.979 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=58: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.5781
+INFO:cosmos_policy.experiments.robot.robot_utils:t=58: Selected seed 195 with value = 0.5781
+Query 1/1: Action query time = 0.979 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5781
+t=58: Selected seed 195 with value = 0.5781
+t: 58	 action: [ 0.105 -0.106 -0.07  -0.039  0.222  0.226 -0.998]
+t: 59	 action: [ 0.111 -0.115 -0.062 -0.015  0.213  0.209 -0.993]
+t: 60	 action: [ 0.107 -0.133 -0.038 -0.02   0.2    0.225 -1.001]
+t: 61	 action: [ 0.135 -0.148 -0.025 -0.005  0.185  0.201 -1.008]
+t: 62	 action: [ 0.141 -0.211 -0.021 -0.017  0.182  0.209 -1.002]
+t: 63	 action: [ 1.868e-01 -1.987e-01 -1.812e-02 -3.857e-04  1.592e-01  1.906e-01 -1.028e+00]
+t: 64	 action: [ 0.162 -0.272 -0.031 -0.004  0.146  0.205 -1.004]
+t: 65	 action: [ 0.217 -0.251 -0.034  0.004  0.123  0.184 -1.025]
+t: 66	 action: [ 0.152 -0.352 -0.062 -0.017  0.109  0.207 -1.009]
+t: 67	 action: [ 0.182 -0.333 -0.051  0.003  0.067  0.173 -1.015]
+t: 68	 action: [ 1.506e-01 -3.819e-01 -8.251e-02  5.565e-05  6.739e-02  2.016e-01 -1.005e+00]
+t: 69	 action: [ 0.17  -0.357 -0.065  0.006  0.026  0.165 -1.01 ]
+t: 70	 action: [ 0.135 -0.448 -0.093  0.007  0.032  0.194 -1.004]
+t: 71	 action: [ 0.155 -0.428 -0.043  0.01   0.014  0.152 -1.026]
+t: 72	 action: [ 0.108 -0.431 -0.125  0.006 -0.003  0.185 -1.002]
+t: 73	 action: [ 0.085 -0.408 -0.055  0.01  -0.003  0.144 -1.014]
+[07-31 00:34:25|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.992 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=74: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.6548
+INFO:cosmos_policy.experiments.robot.robot_utils:t=74: Selected seed 195 with value = 0.6548
+Query 1/1: Action query time = 0.992 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6548
+t=74: Selected seed 195 with value = 0.6548
+t: 74	 action: [ 0.08  -0.362  0.019 -0.002  0.042  0.135 -0.995]
+t: 75	 action: [ 0.06  -0.366  0.026  0.007  0.019  0.128 -1.005]
+t: 76	 action: [ 4.276e-02 -3.746e-01 -3.247e-04  5.576e-03  1.820e-02  1.543e-01 -9.915e-01]
+t: 77	 action: [ 0.047 -0.36   0.028  0.011  0.008  0.133 -1.014]
+t: 78	 action: [-4.187e-04 -3.957e-01 -1.560e-02  3.594e-03  1.468e-02  1.307e-01 -9.926e-01]
+t: 79	 action: [ 1.486e-02 -4.054e-01  6.846e-03  1.717e-02  1.939e-04  1.303e-01 -1.027e+00]
+t: 80	 action: [-0.044 -0.385 -0.022  0.004 -0.007  0.136 -0.992]
+t: 81	 action: [-0.026 -0.369 -0.012  0.017 -0.018  0.121 -1.023]
+t: 82	 action: [-0.085 -0.425  0.017 -0.005 -0.049  0.119 -1.004]
+t: 83	 action: [-0.115 -0.369  0.021  0.016 -0.062  0.095 -1.013]
+t: 84	 action: [-0.159 -0.405 -0.01   0.005 -0.07   0.11  -0.997]
+t: 85	 action: [-0.18  -0.334 -0.015  0.019 -0.078  0.087 -1.004]
+t: 86	 action: [-0.219 -0.444 -0.04   0.008 -0.088  0.098 -0.998]
+t: 87	 action: [-0.238 -0.385 -0.049  0.024 -0.081  0.082 -1.02 ]
+t: 88	 action: [-0.255 -0.398 -0.049  0.008 -0.103  0.087 -0.994]
+t: 89	 action: [-0.262 -0.331 -0.076  0.026 -0.083  0.076 -1.02 ]
+[07-31 00:34:26|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.981 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=90: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.7069
+INFO:cosmos_policy.experiments.robot.robot_utils:t=90: Selected seed 195 with value = 0.7069
+Query 1/1: Action query time = 0.981 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7069
+t=90: Selected seed 195 with value = 0.7069
+t: 90	 action: [-0.009 -0.283 -0.028  0.002 -0.006  0.042 -0.99 ]
+t: 91	 action: [ 0.014 -0.309 -0.01   0.007 -0.025  0.044 -0.982]
+t: 92	 action: [-0.063 -0.302 -0.093  0.004 -0.019  0.047 -0.989]
+t: 93	 action: [-0.036 -0.332 -0.061  0.011 -0.025  0.042 -0.999]
+t: 94	 action: [-0.106 -0.318 -0.094  0.007 -0.018  0.043 -0.987]
+t: 95	 action: [-0.092 -0.332 -0.076  0.017 -0.027  0.048 -1.017]
+t: 96	 action: [-0.183 -0.329 -0.147  0.015 -0.019  0.051 -0.988]
+t: 97	 action: [-0.191 -0.313 -0.151  0.019 -0.024  0.045 -1.019]
+t: 98	 action: [-0.194 -0.38  -0.095  0.009 -0.03   0.056 -0.998]
+t: 99	 action: [-0.225 -0.338 -0.113  0.021 -0.027  0.053 -1.01 ]
+t: 100	 action: [-0.3   -0.387 -0.149  0.009 -0.043  0.066 -0.993]
+t: 101	 action: [-0.29  -0.315 -0.16   0.018 -0.04   0.066 -1.004]
+t: 102	 action: [-0.405 -0.361 -0.174  0.009 -0.054  0.074 -0.998]
+t: 103	 action: [-0.381 -0.304 -0.218  0.024 -0.052  0.065 -1.03 ]
+t: 104	 action: [-0.502 -0.345 -0.21   0.009 -0.067  0.082 -0.99 ]
+t: 105	 action: [-0.449 -0.273 -0.246  0.022 -0.059  0.082 -1.023]
+[07-31 00:34:28|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.976 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=106: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.7336
+INFO:cosmos_policy.experiments.robot.robot_utils:t=106: Selected seed 195 with value = 0.7336
+Query 1/1: Action query time = 0.976 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7336
+t=106: Selected seed 195 with value = 0.7336
+t: 106	 action: [ 0.14  -0.237 -0.066 -0.014  0.016  0.004 -1.024]
+t: 107	 action: [ 0.154 -0.283 -0.033 -0.012  0.006 -0.017 -1.036]
+t: 108	 action: [ 0.076 -0.257 -0.158 -0.002 -0.004 -0.011 -1.025]
+t: 109	 action: [ 7.596e-02 -3.009e-01 -1.438e-01 -4.160e-05 -1.345e-03 -3.197e-02 -1.044e+00]
+t: 110	 action: [ 0.025 -0.266 -0.192  0.002  0.003 -0.017 -1.024]
+t: 111	 action: [ 3.246e-04 -2.751e-01 -1.762e-01  9.812e-03 -8.864e-03 -3.052e-02 -1.064e+00]
+t: 112	 action: [-0.022 -0.249 -0.295  0.002 -0.012 -0.03  -1.022]
+t: 113	 action: [-0.035 -0.236 -0.293  0.014 -0.018 -0.042 -1.066]
+t: 114	 action: [-0.075 -0.324 -0.241  0.013 -0.031  0.004 -1.024]
+t: 115	 action: [-0.042 -0.307 -0.259  0.02  -0.034 -0.004 -1.041]
+t: 116	 action: [-0.094 -0.337 -0.322  0.021 -0.042  0.008 -1.033]
+t: 117	 action: [-0.074 -0.293 -0.389  0.021 -0.044  0.001 -1.038]
+t: 118	 action: [-0.089 -0.275 -0.568  0.031 -0.032  0.002 -1.017]
+t: 119	 action: [-8.852e-02 -2.214e-01 -5.715e-01  3.757e-02 -2.943e-02  9.252e-04 -1.055e+00]
+t: 120	 action: [-0.098 -0.219 -0.734  0.035 -0.027  0.001 -1.021]
+t: 121	 action: [-0.1   -0.158 -0.705  0.041 -0.016  0.009 -1.06 ]
+[07-31 00:34:29|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.962 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=122: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.7034
+INFO:cosmos_policy.experiments.robot.robot_utils:t=122: Selected seed 195 with value = 0.7034
+Query 1/1: Action query time = 0.962 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7034
+t=122: Selected seed 195 with value = 0.7034
+t: 122	 action: [-4.925e-02 -2.560e-01 -9.372e-02 -4.414e-03  2.360e-03 -1.184e-04 -9.989e-01]
+t: 123	 action: [-0.005 -0.221 -0.028 -0.002  0.003 -0.011 -1.009]
+t: 124	 action: [-9.902e-02 -2.650e-01 -8.916e-02 -3.152e-03  6.057e-04 -3.049e-03 -9.990e-01]
+t: 125	 action: [-0.045 -0.242 -0.037  0.003  0.003 -0.017 -1.019]
+t: 126	 action: [-0.118 -0.244 -0.056  0.002  0.002 -0.009 -0.993]
+t: 127	 action: [-7.293e-02 -2.154e-01 -2.506e-02  9.094e-03  5.210e-04 -1.481e-02 -1.042e+00]
+t: 128	 action: [-0.156 -0.27  -0.06   0.003  0.004 -0.007 -0.993]
+t: 129	 action: [-1.184e-01 -2.300e-01 -2.989e-02  1.153e-02  6.482e-04 -1.598e-02 -1.041e+00]
+t: 130	 action: [-0.133 -0.363 -0.041  0.003 -0.017  0.011 -1.   ]
+t: 131	 action: [-0.139 -0.31  -0.011  0.015 -0.014  0.002 -1.021]
+t: 132	 action: [-0.231 -0.387 -0.13   0.006 -0.035  0.017 -0.999]
+t: 133	 action: [-0.229 -0.333 -0.105  0.013 -0.038  0.017 -1.017]
+t: 134	 action: [-0.336 -0.376 -0.163  0.007 -0.041  0.014 -0.994]
+t: 135	 action: [-0.355 -0.29  -0.197  0.022 -0.044  0.019 -1.039]
+t: 136	 action: [-0.449 -0.374 -0.281  0.006 -0.055  0.037 -0.992]
+t: 137	 action: [-0.443 -0.272 -0.341  0.022 -0.058  0.038 -1.038]
+[07-31 00:34:30|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.988 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=138: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.7399
+INFO:cosmos_policy.experiments.robot.robot_utils:t=138: Selected seed 195 with value = 0.7399
+Query 1/1: Action query time = 0.988 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7399
+t=138: Selected seed 195 with value = 0.7399
+t: 138	 action: [ 0.06  -0.295 -0.061 -0.005  0.007 -0.01  -1.022]
+t: 139	 action: [ 6.946e-02 -3.354e-01 -2.559e-02 -4.058e-04  1.358e-03 -3.686e-02 -1.037e+00]
+t: 140	 action: [-1.451e-03 -3.004e-01 -1.185e-01  5.831e-04 -1.343e-02 -2.638e-02 -1.023e+00]
+t: 141	 action: [ 0.018 -0.333 -0.088  0.007 -0.014 -0.047 -1.041]
+t: 142	 action: [-0.045 -0.318 -0.135  0.009 -0.007 -0.037 -1.018]
+t: 143	 action: [-0.049 -0.302 -0.132  0.023 -0.02  -0.047 -1.064]
+t: 144	 action: [-0.078 -0.28  -0.213  0.011 -0.021 -0.041 -1.017]
+t: 145	 action: [-0.088 -0.264 -0.233  0.023 -0.028 -0.054 -1.062]
+t: 146	 action: [-0.127 -0.329 -0.219  0.022 -0.037 -0.001 -1.024]
+t: 147	 action: [-0.114 -0.319 -0.232  0.025 -0.048 -0.012 -1.044]
+t: 148	 action: [-0.154 -0.34  -0.339  0.025 -0.047  0.003 -1.032]
+t: 149	 action: [-0.142 -0.302 -0.394  0.023 -0.057 -0.005 -1.04 ]
+t: 150	 action: [-0.146 -0.28  -0.585  0.035 -0.042 -0.003 -1.016]
+t: 151	 action: [-0.153 -0.205 -0.616  0.044 -0.036 -0.009 -1.052]
+t: 152	 action: [-0.15  -0.227 -0.807  0.03  -0.034 -0.002 -1.018]
+t: 153	 action: [-1.488e-01 -1.437e-01 -7.857e-01  3.967e-02 -1.651e-02  7.343e-04 -1.060e+00]
+[07-31 00:34:32|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.969 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=154: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.7018
+INFO:cosmos_policy.experiments.robot.robot_utils:t=154: Selected seed 195 with value = 0.7018
+Query 1/1: Action query time = 0.969 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7018
+t=154: Selected seed 195 with value = 0.7018
+t: 154	 action: [-5.362e-02 -2.630e-01 -7.707e-02 -3.211e-03  2.455e-03  1.323e-04 -9.987e-01]
+t: 155	 action: [-0.014 -0.218 -0.022 -0.001  0.002 -0.008 -1.009]
+t: 156	 action: [-1.067e-01 -2.510e-01 -8.018e-02 -2.665e-03 -8.843e-04 -1.538e-03 -9.969e-01]
+t: 157	 action: [-0.056 -0.221 -0.036  0.003  0.001 -0.013 -1.017]
+t: 158	 action: [-1.343e-01 -2.138e-01 -5.773e-02  1.592e-03  1.417e-04 -6.026e-03 -9.963e-01]
+t: 159	 action: [-1.046e-01 -1.865e-01 -3.785e-02  8.563e-03 -7.984e-04 -9.641e-03 -1.043e+00]
+t: 160	 action: [-0.171 -0.235 -0.06   0.002  0.002 -0.003 -0.994]
+t: 161	 action: [-1.397e-01 -1.960e-01 -4.374e-02  1.024e-02 -5.141e-05 -9.860e-03 -1.042e+00]
+t: 162	 action: [-0.139 -0.338 -0.061  0.004 -0.019  0.012 -1.003]
+t: 163	 action: [-0.146 -0.295 -0.029  0.015 -0.014  0.005 -1.02 ]
+t: 164	 action: [-0.238 -0.377 -0.154  0.007 -0.032  0.017 -1.001]
+t: 165	 action: [-0.24  -0.327 -0.12   0.013 -0.033  0.019 -1.015]
+t: 166	 action: [-0.355 -0.361 -0.185  0.006 -0.038  0.016 -1.002]
+t: 167	 action: [-0.384 -0.276 -0.222  0.022 -0.036  0.022 -1.039]
+t: 168	 action: [-0.478 -0.367 -0.31   0.005 -0.046  0.039 -0.998]
+t: 169	 action: [-0.479 -0.262 -0.366  0.022 -0.044  0.04  -1.039]
+[07-31 00:34:33|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.978 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=170: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.7418
+INFO:cosmos_policy.experiments.robot.robot_utils:t=170: Selected seed 195 with value = 0.7418
+Query 1/1: Action query time = 0.978 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7418
+t=170: Selected seed 195 with value = 0.7418
+t: 170	 action: [ 0.099 -0.246 -0.033 -0.011  0.013 -0.002 -1.021]
+t: 171	 action: [ 0.107 -0.292 -0.002 -0.007  0.005 -0.025 -1.033]
+t: 172	 action: [ 4.104e-02 -2.710e-01 -1.066e-01  1.216e-04 -4.134e-03 -1.931e-02 -1.023e+00]
+t: 173	 action: [ 0.05  -0.307 -0.065  0.004 -0.003 -0.036 -1.039]
+t: 174	 action: [-0.006 -0.284 -0.131  0.006  0.003 -0.021 -1.022]
+t: 175	 action: [-0.024 -0.282 -0.123  0.016 -0.008 -0.032 -1.062]
+t: 176	 action: [-0.042 -0.257 -0.249  0.006 -0.008 -0.03  -1.021]
+t: 177	 action: [-0.057 -0.237 -0.272  0.018 -0.013 -0.04  -1.062]
+t: 178	 action: [-0.085 -0.303 -0.216  0.017 -0.025 -0.002 -1.025]
+t: 179	 action: [-0.056 -0.286 -0.239  0.021 -0.035 -0.011 -1.041]
+t: 180	 action: [-0.1   -0.303 -0.346  0.022 -0.036  0.002 -1.033]
+t: 181	 action: [-0.082 -0.261 -0.407  0.02  -0.044 -0.005 -1.037]
+t: 182	 action: [-0.103 -0.248 -0.609  0.031 -0.027 -0.001 -1.019]
+t: 183	 action: [-0.115 -0.191 -0.628  0.038 -0.025 -0.006 -1.053]
+t: 184	 action: [-0.105 -0.202 -0.784  0.028 -0.025 -0.002 -1.022]
+t: 185	 action: [-0.11  -0.133 -0.75   0.034 -0.012  0.003 -1.059]
+[07-31 00:34:34|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.966 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=186: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.6995
+INFO:cosmos_policy.experiments.robot.robot_utils:t=186: Selected seed 195 with value = 0.6995
+Query 1/1: Action query time = 0.966 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6995
+t=186: Selected seed 195 with value = 0.6995
+t: 186	 action: [-5.662e-02 -2.558e-01 -5.907e-02 -2.746e-03 -1.420e-03  4.277e-04 -9.955e-01]
+t: 187	 action: [-1.719e-02 -2.031e-01 -1.587e-02 -1.836e-03 -5.975e-04 -6.002e-03 -1.004e+00]
+t: 188	 action: [-1.121e-01 -2.298e-01 -6.562e-02 -2.761e-03 -3.895e-03 -4.021e-04 -9.923e-01]
+t: 189	 action: [-6.352e-02 -1.954e-01 -3.164e-02  2.042e-03 -9.228e-04 -9.668e-03 -1.012e+00]
+t: 190	 action: [-1.443e-01 -1.873e-01 -4.788e-02  8.347e-04 -2.177e-03 -4.250e-03 -9.957e-01]
+t: 191	 action: [-0.125 -0.159 -0.044  0.008 -0.003 -0.005 -1.043]
+t: 192	 action: [-0.178 -0.199 -0.053  0.002  0.002 -0.002 -0.991]
+t: 193	 action: [-1.539e-01 -1.657e-01 -5.449e-02  9.637e-03 -5.146e-04 -4.447e-03 -1.040e+00]
+t: 194	 action: [-0.141 -0.321 -0.078  0.005 -0.018  0.013 -1.001]
+t: 195	 action: [-0.14  -0.285 -0.04   0.016 -0.011  0.007 -1.019]
+t: 196	 action: [-0.242 -0.371 -0.172  0.007 -0.028  0.018 -1.001]
+t: 197	 action: [-0.236 -0.325 -0.13   0.014 -0.026  0.022 -1.013]
+t: 198	 action: [-0.351 -0.348 -0.204  0.006 -0.035  0.02  -1.005]
+t: 199	 action: [-0.391 -0.269 -0.24   0.022 -0.03   0.026 -1.039]
+t: 200	 action: [-0.479 -0.375 -0.336  0.005 -0.04   0.043 -1.   ]
+t: 201	 action: [-0.488 -0.267 -0.383  0.023 -0.034  0.043 -1.039]
+[07-31 00:34:35|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.974 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=202: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.7481
+INFO:cosmos_policy.experiments.robot.robot_utils:t=202: Selected seed 195 with value = 0.7481
+Query 1/1: Action query time = 0.974 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7481
+t=202: Selected seed 195 with value = 0.7481
+t: 202	 action: [ 0.09  -0.217 -0.032 -0.013  0.011 -0.001 -1.014]
+t: 203	 action: [ 0.105 -0.261 -0.006 -0.006  0.004 -0.02  -1.029]
+t: 204	 action: [ 3.622e-02 -2.521e-01 -1.088e-01  9.445e-04 -1.757e-03 -1.710e-02 -1.016e+00]
+t: 205	 action: [ 0.052 -0.287 -0.068  0.006 -0.002 -0.027 -1.035]
+t: 206	 action: [-0.007 -0.269 -0.136  0.006  0.007 -0.013 -1.019]
+t: 207	 action: [-0.026 -0.262 -0.135  0.017 -0.006 -0.022 -1.06 ]
+t: 208	 action: [-4.999e-02 -2.550e-01 -2.669e-01  7.170e-03 -6.469e-04 -2.099e-02 -1.017e+00]
+t: 209	 action: [-0.062 -0.222 -0.3    0.019 -0.007 -0.027 -1.058]
+t: 210	 action: [-9.793e-02 -2.995e-01 -2.009e-01  1.822e-02 -1.645e-02 -2.201e-04 -1.022e+00]
+t: 211	 action: [-0.057 -0.285 -0.235  0.023 -0.025 -0.008 -1.039]
+t: 212	 action: [-0.106 -0.291 -0.336  0.022 -0.026  0.004 -1.029]
+t: 213	 action: [-7.937e-02 -2.521e-01 -4.088e-01  2.051e-02 -3.127e-02 -1.030e-03 -1.033e+00]
+t: 214	 action: [-1.142e-01 -2.427e-01 -6.200e-01  2.993e-02 -1.625e-02  1.241e-04 -1.018e+00]
+t: 215	 action: [-0.116 -0.185 -0.628  0.035 -0.015 -0.001 -1.05 ]
+t: 216	 action: [-1.134e-01 -1.907e-01 -7.816e-01  2.308e-02 -1.414e-02 -7.913e-04 -1.019e+00]
+t: 217	 action: [-0.111 -0.123 -0.732  0.028 -0.005  0.008 -1.055]
+[07-31 00:34:37|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.967 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=218: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.6980
+INFO:cosmos_policy.experiments.robot.robot_utils:t=218: Selected seed 195 with value = 0.6980
+Query 1/1: Action query time = 0.967 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6980
+t=218: Selected seed 195 with value = 0.6980
+t: 218	 action: [-7.247e-02 -2.552e-01 -6.770e-02 -2.286e-03 -6.523e-03  5.306e-04 -9.940e-01]
+t: 219	 action: [-0.028 -0.195 -0.026 -0.001 -0.006 -0.005 -0.999]
+t: 220	 action: [-1.274e-01 -2.169e-01 -7.142e-02 -2.578e-03 -7.828e-03  6.160e-04 -9.879e-01]
+t: 221	 action: [-0.074 -0.178 -0.038  0.003 -0.004 -0.008 -1.008]
+t: 222	 action: [-1.574e-01 -1.659e-01 -5.653e-02  6.894e-04 -4.951e-03 -2.895e-03 -9.963e-01]
+t: 223	 action: [-0.139 -0.138 -0.053  0.009 -0.006 -0.002 -1.041]
+t: 224	 action: [-1.871e-01 -1.641e-01 -5.559e-02  1.494e-03  8.843e-04 -1.453e-03 -9.893e-01]
+t: 225	 action: [-0.158 -0.139 -0.063  0.01  -0.001 -0.001 -1.039]
+t: 226	 action: [-0.142 -0.301 -0.072  0.006 -0.015  0.013 -0.998]
+t: 227	 action: [-0.134 -0.271 -0.03   0.018 -0.008  0.009 -1.018]
+t: 228	 action: [-0.243 -0.36  -0.164  0.008 -0.023  0.018 -0.998]
+t: 229	 action: [-0.23  -0.321 -0.114  0.016 -0.02   0.023 -1.013]
+t: 230	 action: [-0.341 -0.33  -0.197  0.007 -0.03   0.021 -1.006]
+t: 231	 action: [-0.387 -0.27  -0.228  0.024 -0.022  0.027 -1.039]
+t: 232	 action: [-0.468 -0.378 -0.336  0.005 -0.032  0.043 -1.001]
+t: 233	 action: [-0.481 -0.277 -0.374  0.024 -0.025  0.043 -1.039]
+[07-31 00:34:38|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.983 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=234: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.7580
+INFO:cosmos_policy.experiments.robot.robot_utils:t=234: Selected seed 195 with value = 0.7580
+Query 1/1: Action query time = 0.983 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7580
+t=234: Selected seed 195 with value = 0.7580
+t: 234	 action: [ 7.610e-02 -1.870e-01 -3.597e-02 -1.745e-02  8.930e-03  2.716e-04 -1.006e+00]
+t: 235	 action: [ 0.094 -0.222 -0.01  -0.008  0.002 -0.015 -1.022]
+t: 236	 action: [ 0.031 -0.232 -0.096 -0.001 -0.003 -0.014 -1.006]
+t: 237	 action: [ 0.053 -0.253 -0.054  0.004 -0.004 -0.02  -1.027]
+t: 238	 action: [-0.01  -0.249 -0.124  0.005  0.008 -0.006 -1.016]
+t: 239	 action: [-0.027 -0.232 -0.119  0.015 -0.009 -0.013 -1.057]
+t: 240	 action: [-0.051 -0.253 -0.25   0.003  0.003 -0.013 -1.011]
+t: 241	 action: [-0.057 -0.204 -0.29   0.017 -0.004 -0.016 -1.052]
+t: 242	 action: [-9.399e-02 -3.062e-01 -1.553e-01  1.759e-02 -9.945e-03  1.686e-04 -1.019e+00]
+t: 243	 action: [-0.046 -0.273 -0.189  0.023 -0.014 -0.004 -1.037]
+t: 244	 action: [-0.097 -0.292 -0.29   0.02  -0.017  0.006 -1.022]
+t: 245	 action: [-0.066 -0.243 -0.365  0.02  -0.016  0.003 -1.03 ]
+t: 246	 action: [-1.098e-01 -2.361e-01 -5.904e-01  2.530e-02 -7.658e-03  7.875e-04 -1.018e+00]
+t: 247	 action: [-0.11  -0.171 -0.596  0.031 -0.005  0.005 -1.046]
+t: 248	 action: [-0.106 -0.177 -0.76   0.017 -0.005  0.001 -1.016]
+t: 249	 action: [-0.105 -0.109 -0.7    0.023  0.001  0.014 -1.049]
+[07-31 00:34:39|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.991 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=250: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.6956
+INFO:cosmos_policy.experiments.robot.robot_utils:t=250: Selected seed 195 with value = 0.6956
+Query 1/1: Action query time = 0.991 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6956
+t=250: Selected seed 195 with value = 0.6956
+t: 250	 action: [-9.349e-02 -2.499e-01 -7.223e-02 -1.394e-03 -1.524e-02  7.808e-05 -9.921e-01]
+t: 251	 action: [-0.052 -0.191 -0.039  0.001 -0.015 -0.004 -0.996]
+t: 252	 action: [-0.152 -0.202 -0.075 -0.002 -0.015  0.001 -0.986]
+t: 253	 action: [-0.107 -0.17  -0.048  0.004 -0.011 -0.007 -1.006]
+t: 254	 action: [-0.178 -0.157 -0.058  0.001 -0.012 -0.003 -0.997]
+t: 255	 action: [-1.709e-01 -1.275e-01 -6.181e-02  1.185e-02 -1.335e-02  2.327e-04 -1.040e+00]
+t: 256	 action: [-2.070e-01 -1.448e-01 -5.904e-02  1.908e-03 -4.296e-03 -3.621e-04 -9.893e-01]
+t: 257	 action: [-0.182 -0.127 -0.07   0.012 -0.004  0.002 -1.039]
+t: 258	 action: [-0.153 -0.288 -0.069  0.007 -0.013  0.013 -0.996]
+t: 259	 action: [-0.136 -0.264 -0.033  0.02  -0.005  0.01  -1.016]
+t: 260	 action: [-0.242 -0.355 -0.157  0.009 -0.019  0.017 -0.994]
+t: 261	 action: [-0.221 -0.318 -0.111  0.018 -0.014  0.022 -1.012]
+t: 262	 action: [-0.327 -0.319 -0.192  0.007 -0.025  0.022 -1.006]
+t: 263	 action: [-0.373 -0.269 -0.228  0.025 -0.016  0.027 -1.04 ]
+t: 264	 action: [-0.435 -0.378 -0.328  0.006 -0.026  0.041 -1.   ]
+t: 265	 action: [-0.457 -0.281 -0.363  0.025 -0.018  0.042 -1.041]
+[07-31 00:34:41|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.001 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=266: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.7639
+INFO:cosmos_policy.experiments.robot.robot_utils:t=266: Selected seed 195 with value = 0.7639
+Query 1/1: Action query time = 1.001 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7639
+t=266: Selected seed 195 with value = 0.7639
+t: 266	 action: [ 0.074 -0.174 -0.027 -0.021  0.008  0.003 -1.001]
+t: 267	 action: [ 8.618e-02 -1.983e-01  3.624e-04 -9.992e-03  2.060e-03 -8.236e-03 -1.018e+00]
+t: 268	 action: [ 0.034 -0.223 -0.087 -0.003 -0.002 -0.01  -1.   ]
+t: 269	 action: [ 0.052 -0.231 -0.04   0.002 -0.004 -0.013 -1.024]
+t: 270	 action: [-0.007 -0.236 -0.107  0.003  0.009 -0.002 -1.012]
+t: 271	 action: [-0.027 -0.224 -0.111  0.013 -0.008 -0.004 -1.056]
+t: 272	 action: [-4.583e-02 -2.431e-01 -2.359e-01  3.556e-04  4.827e-03 -6.647e-03 -1.006e+00]
+t: 273	 action: [-0.054 -0.193 -0.29   0.015 -0.002 -0.006 -1.05 ]
+t: 274	 action: [-0.088 -0.299 -0.136  0.016 -0.007  0.002 -1.016]
+t: 275	 action: [-4.086e-02 -2.639e-01 -1.686e-01  2.131e-02 -6.520e-03  1.890e-04 -1.035e+00]
+t: 276	 action: [-0.093 -0.284 -0.261  0.017 -0.012  0.008 -1.018]
+t: 277	 action: [-0.063 -0.234 -0.334  0.019 -0.005  0.009 -1.027]
+t: 278	 action: [-0.109 -0.234 -0.557  0.02  -0.003  0.002 -1.015]
+t: 279	 action: [-1.071e-01 -1.668e-01 -5.793e-01  2.816e-02  6.485e-05  1.199e-02 -1.043e+00]
+t: 280	 action: [-1.073e-01 -1.777e-01 -7.284e-01  1.270e-02 -4.035e-04  5.132e-03 -1.013e+00]
+t: 281	 action: [-0.102 -0.105 -0.685  0.021  0.004  0.021 -1.046]
+[07-31 00:34:42|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.978 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=282: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.6930
+INFO:cosmos_policy.experiments.robot.robot_utils:t=282: Selected seed 195 with value = 0.6930
+Query 1/1: Action query time = 0.978 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6930
+t=282: Selected seed 195 with value = 0.6930
+t: 282	 action: [-9.413e-02 -2.392e-01 -8.684e-02 -1.315e-03 -1.865e-02 -9.453e-05 -9.925e-01]
+t: 283	 action: [-0.059 -0.179 -0.055  0.002 -0.019 -0.005 -0.992]
+t: 284	 action: [-0.155 -0.187 -0.081 -0.002 -0.017  0.001 -0.986]
+t: 285	 action: [-0.115 -0.157 -0.053  0.005 -0.013 -0.007 -1.003]
+t: 286	 action: [-0.176 -0.148 -0.064  0.001 -0.015 -0.002 -0.999]
+t: 287	 action: [-0.179 -0.118 -0.066  0.013 -0.015  0.001 -1.038]
+t: 288	 action: [-2.080e-01 -1.325e-01 -5.919e-02  1.813e-03 -6.422e-03  2.903e-04 -9.914e-01]
+t: 289	 action: [-0.191 -0.118 -0.068  0.012 -0.004  0.003 -1.039]
+t: 290	 action: [-0.151 -0.276 -0.061  0.007 -0.01   0.013 -0.994]
+t: 291	 action: [-0.129 -0.254 -0.023  0.02  -0.002  0.01  -1.014]
+t: 292	 action: [-0.234 -0.35  -0.147  0.01  -0.015  0.017 -0.992]
+t: 293	 action: [-0.208 -0.312 -0.097  0.018 -0.009  0.021 -1.012]
+t: 294	 action: [-0.309 -0.317 -0.185  0.007 -0.022  0.021 -1.006]
+t: 295	 action: [-0.357 -0.267 -0.227  0.024 -0.012  0.026 -1.041]
+t: 296	 action: [-0.409 -0.383 -0.327  0.005 -0.022  0.038 -1.   ]
+t: 297	 action: [-0.436 -0.281 -0.367  0.024 -0.013  0.039 -1.043]
+[07-31 00:34:43|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.974 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=298: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.7631
+INFO:cosmos_policy.experiments.robot.robot_utils:t=298: Selected seed 195 with value = 0.7631
+WARNING:imageio_ffmpeg:IMAGEIO FFMPEG_WRITER WARNING: input image is not divisible by macro_block_size=16, resizing from (896, 284) to (896, 288) to ensure video compatibility with most codecs and players. To prevent resizing, make your input image divisible by the macro_block_size or set the macro_block_size to 1 (risking incompatibility).
+INFO:cosmos_policy.experiments.robot.robot_utils:Success: False
+INFO:cosmos_policy.experiments.robot.robot_utils:# episodes completed so far: 17
+INFO:cosmos_policy.experiments.robot.robot_utils:# successes: 9 (52.9%)
+
+
 34%|███▍      | 17/50 [06:49<13:22, 24.31s/it]INFO:cosmos_policy.experiments.robot.robot_utils:
+Task: open the middle drawer of the cabinet
+INFO:cosmos_policy.experiments.robot.robot_utils:Starting episode 18...
+Query 1/1: Action query time = 0.974 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7631
+t=298: Selected seed 195 with value = 0.7631
+t: 298	 action: [ 0.046 -0.162 -0.015 -0.024  0.006  0.003 -0.996]
+t: 299	 action: [ 0.06  -0.186  0.005 -0.009  0.001 -0.006 -1.014]
+t: 300	 action: [ 0.008 -0.217 -0.074 -0.004 -0.001 -0.008 -0.995]
+t: 301	 action: [ 0.037 -0.219 -0.027  0.001 -0.002 -0.011 -1.02 ]
+t: 302	 action: [-0.024 -0.234 -0.084  0.003  0.011 -0.001 -1.007]
+t: 303	 action: [-0.042 -0.236 -0.095  0.013 -0.004 -0.002 -1.052]
+t: 304	 action: [-5.889e-02 -2.488e-01 -2.077e-01 -2.116e-04  9.644e-03 -5.276e-03 -1.001e+00]
+t: 305	 action: [-6.723e-02 -2.064e-01 -2.671e-01  1.441e-02  6.518e-04 -3.258e-03 -1.046e+00]
+t: 306	 action: [-0.091 -0.301 -0.124  0.016 -0.004  0.003 -1.013]
+t: 307	 action: [-0.044 -0.27  -0.155  0.021 -0.001  0.003 -1.034]
+t: 308	 action: [-0.093 -0.287 -0.243  0.016 -0.008  0.009 -1.015]
+t: 309	 action: [-6.292e-02 -2.406e-01 -3.094e-01  1.740e-02  4.376e-04  1.107e-02 -1.026e+00]
+Saved rollout MP4 at path ./rollouts/None/2026_07_31-00_27_45--episode=17--success=False--task=open_the_middle_drawer_of_the_cabinet.mp4
+300 300 19 19
+Saved rollout MP4 at path ./rollouts/None/2026_07_31-00_27_45--with_future_img--episode=17--success=False--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: False
+# episodes completed so far: 17
+# successes: 9 (52.9%)
+
+Task: open the middle drawer of the cabinet
+Starting episode 18...
+[07-31 00:34:51|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.995 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=10: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.3292
+INFO:cosmos_policy.experiments.robot.robot_utils:t=10: Selected seed 195 with value = 0.3292
+Query 1/1: Action query time = 0.995 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3292
+t=10: Selected seed 195 with value = 0.3292
+t: 10	 action: [ 0.164  0.03  -0.023  0.006  0.007  0.02  -1.006]
+t: 11	 action: [ 0.274  0.065  0.013 -0.009  0.025  0.035 -1.007]
+t: 12	 action: [ 0.433  0.084 -0.025 -0.002  0.028  0.046 -1.02 ]
+t: 13	 action: [ 0.574  0.129  0.015 -0.014  0.045  0.054 -1.012]
+t: 14	 action: [ 0.628  0.108  0.007 -0.018  0.042  0.053 -1.018]
+t: 15	 action: [ 0.711  0.137 -0.003 -0.022  0.055  0.05  -1.05 ]
+t: 16	 action: [ 0.762  0.167  0.007 -0.033  0.059  0.083 -1.023]
+t: 17	 action: [ 0.791  0.169 -0.007 -0.031  0.067  0.068 -1.049]
+t: 18	 action: [ 0.777  0.134  0.035 -0.035  0.068  0.117 -1.027]
+t: 19	 action: [ 0.818  0.128  0.043 -0.029  0.078  0.115 -1.027]
+t: 20	 action: [ 0.772  0.116  0.031 -0.05   0.064  0.127 -1.027]
+t: 21	 action: [ 0.799  0.108  0.03  -0.037  0.071  0.118 -1.024]
+t: 22	 action: [ 0.729  0.092  0.047 -0.056  0.057  0.135 -1.015]
+t: 23	 action: [ 0.685  0.092  0.019 -0.038  0.046  0.136 -1.058]
+t: 24	 action: [ 0.661  0.083  0.03  -0.066  0.051  0.141 -1.016]
+t: 25	 action: [ 0.618  0.085  0.016 -0.05   0.042  0.139 -1.051]
+[07-31 00:34:52|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.979 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=26: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.3984
+INFO:cosmos_policy.experiments.robot.robot_utils:t=26: Selected seed 195 with value = 0.3984
+Query 1/1: Action query time = 0.979 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3984
+t=26: Selected seed 195 with value = 0.3984
+t: 26	 action: [ 0.479  0.026 -0.04  -0.075  0.035  0.188 -0.999]
+t: 27	 action: [ 0.478  0.023 -0.049 -0.083  0.037  0.188 -1.009]
+t: 28	 action: [ 0.41   0.018 -0.086 -0.077  0.043  0.207 -0.991]
+t: 29	 action: [ 0.411  0.015 -0.091 -0.088  0.045  0.205 -1.005]
+t: 30	 action: [ 0.372  0.021 -0.112 -0.098  0.037  0.228 -0.991]
+t: 31	 action: [ 0.347  0.024 -0.173 -0.096  0.033  0.213 -1.029]
+t: 32	 action: [ 0.318  0.024 -0.159 -0.101  0.053  0.245 -0.988]
+t: 33	 action: [ 0.304  0.023 -0.208 -0.099  0.06   0.228 -1.031]
+t: 34	 action: [ 0.278  0.011 -0.151 -0.091  0.096  0.232 -1.   ]
+t: 35	 action: [ 0.289  0.01  -0.197 -0.082  0.092  0.213 -1.009]
+t: 36	 action: [ 0.275  0.01  -0.176 -0.093  0.12   0.23  -0.999]
+t: 37	 action: [ 0.295  0.016 -0.208 -0.085  0.125  0.209 -1.006]
+t: 38	 action: [ 0.272  0.022 -0.188 -0.098  0.129  0.241 -0.991]
+t: 39	 action: [ 0.27   0.037 -0.24  -0.084  0.135  0.215 -1.037]
+t: 40	 action: [ 0.264  0.018 -0.213 -0.094  0.152  0.232 -0.994]
+t: 41	 action: [ 0.267  0.038 -0.245 -0.083  0.162  0.206 -1.035]
+[07-31 00:34:54|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.978 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=42: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.4871
+INFO:cosmos_policy.experiments.robot.robot_utils:t=42: Selected seed 195 with value = 0.4871
+Query 1/1: Action query time = 0.978 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4871
+t=42: Selected seed 195 with value = 0.4871
+t: 42	 action: [ 0.136  0.017 -0.18  -0.081  0.16   0.266 -0.989]
+t: 43	 action: [ 0.146  0.039 -0.163 -0.079  0.167  0.26  -0.996]
+t: 44	 action: [ 0.123  0.018 -0.181 -0.072  0.172  0.27  -0.989]
+t: 45	 action: [ 0.15   0.039 -0.147 -0.07   0.178  0.258 -1.001]
+t: 46	 action: [ 0.148  0.012 -0.183 -0.077  0.181  0.271 -0.996]
+t: 47	 action: [ 0.161  0.033 -0.155 -0.074  0.193  0.258 -1.029]
+t: 48	 action: [ 0.14   0.011 -0.19  -0.065  0.191  0.269 -0.997]
+t: 49	 action: [ 0.161  0.029 -0.151 -0.066  0.202  0.252 -1.032]
+t: 50	 action: [ 0.122 -0.014 -0.178 -0.043  0.211  0.241 -1.005]
+t: 51	 action: [ 0.156 -0.028 -0.171 -0.033  0.227  0.225 -1.012]
+t: 52	 action: [ 0.158 -0.039 -0.141 -0.035  0.224  0.24  -1.006]
+t: 53	 action: [ 0.196 -0.055 -0.14  -0.026  0.231  0.215 -1.012]
+t: 54	 action: [ 0.16  -0.048 -0.13  -0.032  0.211  0.236 -1.002]
+t: 55	 action: [ 0.191 -0.058 -0.083 -0.032  0.209  0.211 -1.041]
+t: 56	 action: [ 0.177 -0.072 -0.116 -0.026  0.213  0.22  -1.004]
+t: 57	 action: [ 0.195 -0.088 -0.076 -0.026  0.201  0.197 -1.033]
+[07-31 00:34:55|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.972 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=58: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.5619
+INFO:cosmos_policy.experiments.robot.robot_utils:t=58: Selected seed 195 with value = 0.5619
+Query 1/1: Action query time = 0.972 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5619
+t=58: Selected seed 195 with value = 0.5619
+t: 58	 action: [ 0.103 -0.106 -0.104 -0.031  0.216  0.229 -0.986]
+t: 59	 action: [ 0.108 -0.124 -0.074 -0.009  0.205  0.217 -0.989]
+t: 60	 action: [ 0.11  -0.126 -0.047 -0.006  0.197  0.231 -0.991]
+t: 61	 action: [ 0.143 -0.154 -0.01   0.002  0.18   0.211 -1.002]
+t: 62	 action: [ 0.145 -0.23  -0.01  -0.013  0.185  0.231 -0.988]
+t: 63	 action: [ 0.205 -0.206 -0.003  0.005  0.166  0.213 -1.011]
+t: 64	 action: [ 1.647e-01 -2.892e-01 -9.339e-04 -2.729e-04  1.571e-01  2.237e-01 -9.919e-01]
+t: 65	 action: [ 2.319e-01 -2.540e-01 -3.503e-04  1.050e-02  1.396e-01  1.977e-01 -1.011e+00]
+t: 66	 action: [ 1.616e-01 -3.640e-01 -3.679e-02  9.086e-04  1.512e-01  2.106e-01 -1.007e+00]
+t: 67	 action: [ 0.187 -0.342  0.006  0.014  0.118  0.179 -1.016]
+t: 68	 action: [ 0.144 -0.397 -0.049  0.01   0.122  0.202 -1.005]
+t: 69	 action: [ 0.156 -0.358 -0.007  0.017  0.076  0.166 -1.01 ]
+t: 70	 action: [ 0.138 -0.442 -0.061  0.008  0.071  0.181 -1.002]
+t: 71	 action: [ 1.489e-01 -4.122e-01 -3.965e-04  1.957e-02  5.357e-02  1.426e-01 -1.022e+00]
+t: 72	 action: [ 0.101 -0.424 -0.084  0.017  0.024  0.169 -1.002]
+t: 73	 action: [ 0.076 -0.396 -0.003  0.019  0.02   0.136 -1.01 ]
+[07-31 00:34:56|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.961 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=74: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.6423
+INFO:cosmos_policy.experiments.robot.robot_utils:t=74: Selected seed 195 with value = 0.6423
+Query 1/1: Action query time = 0.961 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6423
+t=74: Selected seed 195 with value = 0.6423
+t: 74	 action: [ 0.05  -0.314  0.027 -0.029  0.027  0.169 -0.982]
+t: 75	 action: [ 0.055 -0.326  0.025 -0.012  0.013  0.157 -0.993]
+t: 76	 action: [ 0.037 -0.333  0.01  -0.004  0.002  0.173 -0.981]
+t: 77	 action: [ 0.049 -0.338  0.038 -0.002 -0.006  0.145 -1.006]
+t: 78	 action: [ 4.518e-03 -3.783e-01  8.307e-03  4.484e-04 -4.594e-03  1.466e-01 -9.839e-01]
+t: 79	 action: [ 0.021 -0.421  0.019  0.011 -0.012  0.145 -1.023]
+t: 80	 action: [-0.003 -0.389 -0.003  0.001 -0.024  0.137 -0.985]
+t: 81	 action: [ 0.014 -0.392  0.021  0.012 -0.028  0.123 -1.019]
+t: 82	 action: [-2.936e-02 -4.417e-01  1.642e-02 -3.708e-04 -3.982e-02  1.135e-01 -1.001e+00]
+t: 83	 action: [-0.041 -0.364  0.028  0.013 -0.051  0.089 -1.01 ]
+t: 84	 action: [-0.066 -0.425 -0.002  0.006 -0.054  0.101 -0.998]
+t: 85	 action: [-0.087 -0.343 -0.003  0.014 -0.064  0.077 -1.001]
+t: 86	 action: [-0.104 -0.445 -0.03   0.007 -0.072  0.079 -1.001]
+t: 87	 action: [-0.13  -0.37  -0.022  0.019 -0.068  0.068 -1.025]
+t: 88	 action: [-0.132 -0.403 -0.045  0.007 -0.079  0.072 -1.   ]
+t: 89	 action: [-0.16  -0.346 -0.048  0.019 -0.072  0.062 -1.024]
+[07-31 00:34:58|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.982 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=90: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.7203
+INFO:cosmos_policy.experiments.robot.robot_utils:t=90: Selected seed 195 with value = 0.7203
+Query 1/1: Action query time = 0.982 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7203
+t=90: Selected seed 195 with value = 0.7203
+t: 90	 action: [-0.012 -0.254 -0.038  0.005 -0.01   0.059 -0.969]
+t: 91	 action: [ 0.005 -0.295 -0.084  0.018 -0.034  0.063 -0.974]
+t: 92	 action: [-0.089 -0.28  -0.11   0.01  -0.03   0.072 -0.974]
+t: 93	 action: [-0.075 -0.322 -0.117  0.022 -0.038  0.067 -1.   ]
+t: 94	 action: [-0.108 -0.28  -0.162  0.018 -0.031  0.066 -0.977]
+t: 95	 action: [-0.125 -0.36  -0.157  0.028 -0.035  0.068 -1.016]
+t: 96	 action: [-0.192 -0.304 -0.177  0.024 -0.036  0.078 -0.977]
+t: 97	 action: [-0.209 -0.329 -0.18   0.029 -0.031  0.069 -1.022]
+t: 98	 action: [-0.21  -0.382 -0.07   0.006 -0.015  0.088 -0.994]
+t: 99	 action: [-0.214 -0.307 -0.084  0.014 -0.016  0.071 -1.018]
+t: 100	 action: [-0.257 -0.38  -0.096  0.005 -0.023  0.098 -0.992]
+t: 101	 action: [-0.248 -0.283 -0.11   0.011 -0.02   0.086 -1.008]
+t: 102	 action: [-0.292 -0.303 -0.146  0.005 -0.035  0.083 -0.996]
+t: 103	 action: [-0.268 -0.283 -0.196  0.018 -0.035  0.07  -1.034]
+t: 104	 action: [-0.313 -0.277 -0.187  0.004 -0.051  0.093 -0.99 ]
+t: 105	 action: [-0.293 -0.254 -0.241  0.014 -0.045  0.086 -1.024]
+[07-31 00:34:59|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.968 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=106: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.7505
+INFO:cosmos_policy.experiments.robot.robot_utils:t=106: Selected seed 195 with value = 0.7505
+Query 1/1: Action query time = 0.968 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7505
+t=106: Selected seed 195 with value = 0.7505
+t: 106	 action: [-1.299e-01 -3.297e-01 -1.492e-01 -8.547e-03 -2.486e-04 -4.978e-03 -9.961e-01]
+t: 107	 action: [-0.086 -0.363 -0.178  0.004 -0.005 -0.018 -1.017]
+t: 108	 action: [-0.153 -0.333 -0.208  0.002 -0.016 -0.015 -1.   ]
+t: 109	 action: [-0.138 -0.362 -0.204  0.017 -0.012 -0.021 -1.019]
+t: 110	 action: [-0.156 -0.343 -0.221  0.024  0.003 -0.009 -0.999]
+t: 111	 action: [-0.195 -0.325 -0.269  0.034 -0.012 -0.015 -1.05 ]
+t: 112	 action: [-0.174 -0.333 -0.277  0.029 -0.004 -0.012 -1.001]
+t: 113	 action: [-0.211 -0.304 -0.341  0.034 -0.011 -0.019 -1.046]
+t: 114	 action: [-0.158 -0.406 -0.257  0.024 -0.031  0.017 -1.002]
+t: 115	 action: [-0.134 -0.38  -0.28   0.038 -0.027  0.018 -1.025]
+t: 116	 action: [-0.155 -0.388 -0.38   0.028 -0.039  0.016 -1.013]
+t: 117	 action: [-0.132 -0.33  -0.42   0.037 -0.035  0.02  -1.025]
+t: 118	 action: [-0.159 -0.278 -0.668  0.048 -0.037  0.013 -1.007]
+t: 119	 action: [-0.163 -0.195 -0.677  0.042 -0.034  0.02  -1.045]
+t: 120	 action: [-0.133 -0.178 -0.859  0.04  -0.036  0.015 -1.012]
+t: 121	 action: [-0.152 -0.099 -0.781  0.036 -0.028  0.026 -1.053]
+[07-31 00:35:00|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.967 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=122: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.7336
+INFO:cosmos_policy.experiments.robot.robot_utils:t=122: Selected seed 195 with value = 0.7336
+Query 1/1: Action query time = 0.967 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7336
+t=122: Selected seed 195 with value = 0.7336
+t: 122	 action: [-0.103 -0.315  0.028 -0.018 -0.048  0.011 -0.992]
+t: 123	 action: [-0.042 -0.353  0.032 -0.005 -0.048  0.004 -1.016]
+t: 124	 action: [-0.1   -0.305  0.005 -0.003 -0.064  0.009 -0.994]
+t: 125	 action: [-0.049 -0.357  0.019  0.008 -0.069  0.003 -1.017]
+t: 126	 action: [-0.089 -0.341 -0.014  0.011 -0.046  0.007 -0.996]
+t: 127	 action: [-0.067 -0.351 -0.058  0.027 -0.053  0.008 -1.051]
+t: 128	 action: [-0.107 -0.354 -0.062  0.02  -0.053  0.01  -0.994]
+t: 129	 action: [-0.096 -0.355 -0.138  0.037 -0.057  0.004 -1.045]
+t: 130	 action: [-0.15  -0.439 -0.147  0.029 -0.061  0.033 -1.002]
+t: 131	 action: [-0.117 -0.427 -0.145  0.039 -0.046  0.022 -1.026]
+t: 132	 action: [-0.175 -0.448 -0.271  0.039 -0.065  0.028 -1.004]
+t: 133	 action: [-0.155 -0.407 -0.316  0.044 -0.056  0.021 -1.015]
+t: 134	 action: [-0.21  -0.423 -0.463  0.057 -0.063  0.023 -1.004]
+t: 135	 action: [-0.172 -0.366 -0.537  0.059 -0.035  0.018 -1.043]
+t: 136	 action: [-0.196 -0.362 -0.749  0.062 -0.049  0.017 -0.998]
+t: 137	 action: [-0.17  -0.278 -0.774  0.064 -0.015  0.018 -1.049]
+[07-31 00:35:01|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.996 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=138: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.7783
+INFO:cosmos_policy.experiments.robot.robot_utils:t=138: Selected seed 195 with value = 0.7783
+Query 1/1: Action query time = 0.996 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7783
+t=138: Selected seed 195 with value = 0.7783
+t: 138	 action: [-0.225 -0.27   0.054 -0.019 -0.037  0.018 -0.988]
+t: 139	 action: [-0.195 -0.33   0.035  0.009 -0.04   0.013 -1.016]
+t: 140	 action: [-1.952e-01 -3.218e-01  2.784e-02  7.896e-04 -4.541e-02  1.322e-02 -9.946e-01]
+t: 141	 action: [-0.15  -0.365  0.025  0.021 -0.046  0.011 -1.016]
+t: 142	 action: [-0.173 -0.357  0.021  0.018 -0.023  0.012 -0.996]
+t: 143	 action: [-0.131 -0.373 -0.076  0.036 -0.033  0.012 -1.055]
+t: 144	 action: [-0.105 -0.386 -0.074  0.026 -0.024  0.013 -0.996]
+t: 145	 action: [-0.072 -0.374 -0.219  0.038 -0.024  0.011 -1.048]
+t: 146	 action: [-0.184 -0.298 -0.057  0.015 -0.045  0.024 -0.997]
+t: 147	 action: [-0.129 -0.372  0.013  0.026 -0.041  0.013 -1.023]
+t: 148	 action: [-0.155 -0.414 -0.109  0.025 -0.055  0.017 -1.001]
+t: 149	 action: [-0.095 -0.399 -0.086  0.028 -0.05   0.013 -1.023]
+t: 150	 action: [-0.152 -0.451 -0.246  0.043 -0.043  0.013 -1.002]
+t: 151	 action: [-0.117 -0.39  -0.345  0.037 -0.054  0.01  -1.059]
+t: 152	 action: [-0.092 -0.408 -0.447  0.049 -0.042  0.009 -0.999]
+t: 153	 action: [-0.074 -0.334 -0.542  0.034 -0.045  0.012 -1.06 ]
+[07-31 00:35:03|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.969 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=154: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.7963
+INFO:cosmos_policy.experiments.robot.robot_utils:t=154: Selected seed 195 with value = 0.7963
+Query 1/1: Action query time = 0.969 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7963
+t=154: Selected seed 195 with value = 0.7963
+t: 154	 action: [-0.217 -0.278 -0.122 -0.002 -0.027  0.017 -0.995]
+t: 155	 action: [-0.188 -0.294 -0.024  0.006 -0.032  0.014 -1.02 ]
+t: 156	 action: [-0.196 -0.348 -0.155  0.007 -0.033  0.017 -0.994]
+t: 157	 action: [-0.146 -0.316 -0.079  0.013 -0.036  0.017 -1.017]
+t: 158	 action: [-0.192 -0.355 -0.234  0.017 -0.022  0.011 -0.999]
+t: 159	 action: [-0.155 -0.345 -0.169  0.023 -0.041  0.015 -1.054]
+t: 160	 action: [-0.107 -0.321 -0.328  0.023 -0.014  0.017 -0.996]
+t: 161	 action: [-0.067 -0.297 -0.271  0.022 -0.029  0.017 -1.047]
+t: 162	 action: [-0.204 -0.175 -0.054 -0.002 -0.026  0.025 -0.986]
+t: 163	 action: [-0.179 -0.265  0.024  0.008 -0.029  0.016 -1.023]
+t: 164	 action: [-0.185 -0.275 -0.097  0.006 -0.03   0.022 -0.992]
+t: 165	 action: [-0.124 -0.3   -0.065  0.014 -0.025  0.018 -1.017]
+t: 166	 action: [-0.164 -0.25  -0.223  0.01  -0.014  0.022 -0.995]
+t: 167	 action: [-0.152 -0.3   -0.313  0.029 -0.019  0.017 -1.051]
+t: 168	 action: [-0.082 -0.295 -0.439  0.019 -0.007  0.022 -0.994]
+t: 169	 action: [-0.059 -0.254 -0.544  0.025 -0.005  0.021 -1.05 ]
+[07-31 00:35:04|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.975 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=170: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.8092
+INFO:cosmos_policy.experiments.robot.robot_utils:t=170: Selected seed 195 with value = 0.8092
+Query 1/1: Action query time = 0.975 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8092
+t=170: Selected seed 195 with value = 0.8092
+t: 170	 action: [-0.227 -0.258 -0.159 -0.002 -0.021  0.013 -0.993]
+t: 171	 action: [-0.187 -0.286 -0.039  0.001 -0.024  0.009 -1.021]
+t: 172	 action: [-0.208 -0.32  -0.184  0.006 -0.026  0.013 -0.991]
+t: 173	 action: [-0.146 -0.296 -0.091  0.009 -0.027  0.012 -1.016]
+t: 174	 action: [-0.203 -0.322 -0.254  0.012 -0.015  0.006 -0.998]
+t: 175	 action: [-0.166 -0.335 -0.169  0.017 -0.035  0.012 -1.054]
+t: 176	 action: [-0.122 -0.292 -0.34   0.018 -0.007  0.012 -0.992]
+t: 177	 action: [-0.083 -0.287 -0.267  0.016 -0.023  0.014 -1.046]
+t: 178	 action: [-0.202 -0.149 -0.063 -0.003 -0.016  0.019 -0.982]
+t: 179	 action: [-0.171 -0.222  0.007  0.002 -0.016  0.013 -1.023]
+t: 180	 action: [-0.189 -0.227 -0.102  0.004 -0.016  0.018 -0.986]
+t: 181	 action: [-0.124 -0.251 -0.089  0.008 -0.007  0.016 -1.016]
+t: 182	 action: [-0.18  -0.185 -0.282  0.005  0.003  0.02  -0.99 ]
+t: 183	 action: [-1.752e-01 -2.531e-01 -3.554e-01  2.302e-02  8.263e-05  1.665e-02 -1.050e+00]
+t: 184	 action: [-0.106 -0.231 -0.487  0.013  0.011  0.022 -0.988]
+t: 185	 action: [-0.079 -0.213 -0.57   0.02   0.008  0.021 -1.049]
+[07-31 00:35:05|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.999 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=186: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.8103
+INFO:cosmos_policy.experiments.robot.robot_utils:t=186: Selected seed 195 with value = 0.8103
+Query 1/1: Action query time = 0.999 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8103
+t=186: Selected seed 195 with value = 0.8103
+t: 186	 action: [-2.287e-01 -2.687e-01 -1.621e-01 -4.180e-04 -1.973e-02  1.206e-02 -9.925e-01]
+t: 187	 action: [-0.185 -0.301 -0.046  0.003 -0.021  0.007 -1.021]
+t: 188	 action: [-0.212 -0.328 -0.187  0.007 -0.025  0.011 -0.991]
+t: 189	 action: [-0.148 -0.303 -0.103  0.01  -0.025  0.01  -1.015]
+t: 190	 action: [-0.206 -0.327 -0.254  0.013 -0.015  0.004 -0.997]
+t: 191	 action: [-0.168 -0.34  -0.176  0.017 -0.034  0.009 -1.055]
+t: 192	 action: [-0.128 -0.295 -0.332  0.02  -0.006  0.009 -0.993]
+t: 193	 action: [-0.088 -0.29  -0.271  0.016 -0.023  0.012 -1.048]
+t: 194	 action: [-0.206 -0.158 -0.062 -0.002 -0.014  0.017 -0.981]
+t: 195	 action: [-0.172 -0.223 -0.007  0.002 -0.014  0.011 -1.022]
+t: 196	 action: [-0.193 -0.227 -0.102  0.004 -0.013  0.016 -0.983]
+t: 197	 action: [-0.128 -0.248 -0.107  0.007 -0.004  0.014 -1.015]
+t: 198	 action: [-0.189 -0.18  -0.297  0.006  0.007  0.017 -0.989]
+t: 199	 action: [-0.182 -0.247 -0.375  0.023  0.003  0.015 -1.05 ]
+t: 200	 action: [-0.116 -0.225 -0.49   0.013  0.015  0.019 -0.987]
+t: 201	 action: [-0.087 -0.21  -0.58   0.019  0.01   0.019 -1.05 ]
+[07-31 00:35:07|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.980 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=202: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.8083
+INFO:cosmos_policy.experiments.robot.robot_utils:t=202: Selected seed 195 with value = 0.8083
+Query 1/1: Action query time = 0.980 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8083
+t=202: Selected seed 195 with value = 0.8083
+t: 202	 action: [-0.235 -0.277 -0.16   0.002 -0.019  0.011 -0.992]
+t: 203	 action: [-0.192 -0.312 -0.057  0.004 -0.02   0.006 -1.021]
+t: 204	 action: [-0.217 -0.332 -0.188  0.008 -0.024  0.01  -0.991]
+t: 205	 action: [-0.156 -0.307 -0.12   0.011 -0.023  0.008 -1.015]
+t: 206	 action: [-0.21  -0.33  -0.256  0.014 -0.014  0.003 -0.996]
+t: 207	 action: [-0.168 -0.341 -0.194  0.017 -0.032  0.008 -1.056]
+t: 208	 action: [-0.131 -0.291 -0.334  0.021 -0.005  0.006 -0.993]
+t: 209	 action: [-0.091 -0.287 -0.283  0.015 -0.022  0.01  -1.049]
+t: 210	 action: [-0.213 -0.169 -0.069 -0.002 -0.012  0.016 -0.98 ]
+t: 211	 action: [-0.175 -0.231 -0.023  0.002 -0.011  0.009 -1.022]
+t: 212	 action: [-0.198 -0.23  -0.112  0.003 -0.011  0.014 -0.983]
+t: 213	 action: [-0.132 -0.252 -0.121  0.007 -0.002  0.011 -1.014]
+t: 214	 action: [-0.195 -0.186 -0.31   0.005  0.009  0.015 -0.989]
+t: 215	 action: [-0.183 -0.246 -0.39   0.022  0.004  0.013 -1.051]
+t: 216	 action: [-0.123 -0.232 -0.49   0.012  0.017  0.016 -0.987]
+t: 217	 action: [-0.093 -0.212 -0.578  0.018  0.011  0.017 -1.05 ]
+[07-31 00:35:08|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.966 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=218: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.8161
+INFO:cosmos_policy.experiments.robot.robot_utils:t=218: Selected seed 195 with value = 0.8161
+Query 1/1: Action query time = 0.966 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8161
+t=218: Selected seed 195 with value = 0.8161
+t: 218	 action: [-0.24  -0.274 -0.19   0.002 -0.019  0.011 -0.99 ]
+t: 219	 action: [-0.193 -0.309 -0.079  0.003 -0.019  0.005 -1.02 ]
+t: 220	 action: [-0.22  -0.329 -0.212  0.008 -0.025  0.011 -0.99 ]
+t: 221	 action: [-0.154 -0.301 -0.134  0.009 -0.023  0.008 -1.015]
+t: 222	 action: [-0.211 -0.317 -0.269  0.013 -0.015  0.002 -0.995]
+t: 223	 action: [-0.167 -0.332 -0.2    0.014 -0.034  0.008 -1.057]
+t: 224	 action: [-0.13  -0.277 -0.346  0.019 -0.007  0.006 -0.992]
+t: 225	 action: [-0.091 -0.275 -0.294  0.014 -0.023  0.01  -1.048]
+t: 226	 action: [-0.207 -0.141 -0.077 -0.002 -0.012  0.015 -0.978]
+t: 227	 action: [-1.662e-01 -2.003e-01 -4.277e-02 -3.475e-04 -8.267e-03  1.015e-02 -1.021e+00]
+t: 228	 action: [-0.193 -0.195 -0.13   0.003 -0.008  0.014 -0.979]
+t: 229	 action: [-0.126 -0.217 -0.151  0.004  0.001  0.013 -1.014]
+t: 230	 action: [-0.197 -0.144 -0.365  0.004  0.015  0.016 -0.987]
+t: 231	 action: [-0.19  -0.209 -0.444  0.021  0.008  0.015 -1.049]
+t: 232	 action: [-0.13  -0.191 -0.542  0.012  0.023  0.018 -0.984]
+t: 233	 action: [-0.105 -0.171 -0.616  0.017  0.018  0.02  -1.049]
+[07-31 00:35:09|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.960 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=234: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.8180
+INFO:cosmos_policy.experiments.robot.robot_utils:t=234: Selected seed 195 with value = 0.8180
+Query 1/1: Action query time = 0.960 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8180
+t=234: Selected seed 195 with value = 0.8180
+t: 234	 action: [-2.383e-01 -2.754e-01 -2.007e-01  8.393e-04 -1.853e-02  1.071e-02 -9.890e-01]
+t: 235	 action: [-0.19  -0.306 -0.086  0.002 -0.017  0.005 -1.02 ]
+t: 236	 action: [-0.219 -0.33  -0.219  0.007 -0.024  0.01  -0.989]
+t: 237	 action: [-0.149 -0.299 -0.135  0.008 -0.021  0.008 -1.014]
+t: 238	 action: [-0.208 -0.312 -0.271  0.012 -0.014  0.002 -0.994]
+t: 239	 action: [-0.164 -0.325 -0.197  0.014 -0.033  0.007 -1.057]
+t: 240	 action: [-0.127 -0.271 -0.344  0.019 -0.007  0.006 -0.992]
+t: 241	 action: [-0.086 -0.271 -0.291  0.014 -0.023  0.01  -1.048]
+t: 242	 action: [-0.2   -0.131 -0.084 -0.002 -0.011  0.015 -0.977]
+t: 243	 action: [-0.161 -0.19  -0.047 -0.001 -0.007  0.011 -1.021]
+t: 244	 action: [-0.188 -0.184 -0.142  0.003 -0.007  0.015 -0.978]
+t: 245	 action: [-0.122 -0.204 -0.159  0.004  0.002  0.014 -1.013]
+t: 246	 action: [-0.194 -0.131 -0.385  0.004  0.017  0.017 -0.987]
+t: 247	 action: [-0.191 -0.197 -0.456  0.02   0.01   0.016 -1.048]
+t: 248	 action: [-0.132 -0.174 -0.564  0.012  0.025  0.02  -0.983]
+t: 249	 action: [-0.106 -0.155 -0.628  0.017  0.022  0.021 -1.048]
+[07-31 00:35:11|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.981 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=250: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.8148
+INFO:cosmos_policy.experiments.robot.robot_utils:t=250: Selected seed 195 with value = 0.8148
+Query 1/1: Action query time = 0.981 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8148
+t=250: Selected seed 195 with value = 0.8148
+t: 250	 action: [-0.24  -0.275 -0.196  0.001 -0.019  0.011 -0.989]
+t: 251	 action: [-0.193 -0.307 -0.081  0.003 -0.018  0.005 -1.02 ]
+t: 252	 action: [-0.221 -0.329 -0.213  0.007 -0.026  0.011 -0.99 ]
+t: 253	 action: [-0.153 -0.301 -0.131  0.009 -0.023  0.008 -1.014]
+t: 254	 action: [-0.21  -0.315 -0.268  0.012 -0.016  0.002 -0.994]
+t: 255	 action: [-0.166 -0.329 -0.196  0.014 -0.034  0.007 -1.057]
+t: 256	 action: [-0.129 -0.275 -0.34   0.019 -0.008  0.007 -0.992]
+t: 257	 action: [-0.089 -0.275 -0.291  0.014 -0.024  0.01  -1.048]
+t: 258	 action: [-0.207 -0.14  -0.078 -0.002 -0.012  0.015 -0.978]
+t: 259	 action: [-1.669e-01 -1.984e-01 -4.215e-02 -4.377e-04 -8.795e-03  1.047e-02 -1.021e+00]
+t: 260	 action: [-0.194 -0.193 -0.132  0.003 -0.008  0.014 -0.979]
+t: 261	 action: [-0.127 -0.214 -0.154  0.004  0.001  0.014 -1.014]
+t: 262	 action: [-0.196 -0.142 -0.375  0.004  0.015  0.017 -0.987]
+t: 263	 action: [-0.193 -0.206 -0.452  0.021  0.009  0.016 -1.049]
+t: 264	 action: [-0.131 -0.181 -0.551  0.012  0.024  0.019 -0.983]
+t: 265	 action: [-0.106 -0.164 -0.626  0.018  0.019  0.021 -1.049]
+[07-31 00:35:12|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.961 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=266: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.8154
+INFO:cosmos_policy.experiments.robot.robot_utils:t=266: Selected seed 195 with value = 0.8154
+Query 1/1: Action query time = 0.961 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8154
+t=266: Selected seed 195 with value = 0.8154
+t: 266	 action: [-0.239 -0.273 -0.201  0.001 -0.019  0.011 -0.989]
+t: 267	 action: [-0.192 -0.307 -0.086  0.003 -0.018  0.005 -1.02 ]
+t: 268	 action: [-0.219 -0.328 -0.217  0.007 -0.025  0.011 -0.989]
+t: 269	 action: [-0.15  -0.301 -0.132  0.008 -0.023  0.008 -1.015]
+t: 270	 action: [-0.208 -0.313 -0.269  0.012 -0.015  0.002 -0.994]
+t: 271	 action: [-0.165 -0.326 -0.198  0.014 -0.034  0.007 -1.056]
+t: 272	 action: [-0.127 -0.273 -0.338  0.018 -0.008  0.007 -0.991]
+t: 273	 action: [-0.088 -0.273 -0.287  0.013 -0.025  0.01  -1.048]
+t: 274	 action: [-2.002e-01 -1.391e-01 -7.808e-02 -7.838e-04 -1.174e-02  1.536e-02 -9.778e-01]
+t: 275	 action: [-1.622e-01 -1.974e-01 -4.441e-02  3.365e-04 -8.703e-03  1.086e-02 -1.022e+00]
+t: 276	 action: [-0.187 -0.193 -0.138  0.003 -0.008  0.014 -0.978]
+t: 277	 action: [-0.122 -0.211 -0.161  0.005  0.001  0.014 -1.014]
+t: 278	 action: [-0.192 -0.14  -0.386  0.005  0.015  0.017 -0.987]
+t: 279	 action: [-0.19  -0.201 -0.465  0.022  0.009  0.016 -1.048]
+t: 280	 action: [-0.127 -0.177 -0.569  0.013  0.024  0.02  -0.983]
+t: 281	 action: [-0.103 -0.154 -0.641  0.018  0.019  0.021 -1.048]
+[07-31 00:35:13|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.973 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=282: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.8143
+INFO:cosmos_policy.experiments.robot.robot_utils:t=282: Selected seed 195 with value = 0.8143
+Query 1/1: Action query time = 0.973 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8143
+t=282: Selected seed 195 with value = 0.8143
+t: 282	 action: [-2.388e-01 -2.727e-01 -2.011e-01  8.759e-04 -1.987e-02  1.101e-02 -9.896e-01]
+t: 283	 action: [-0.193 -0.306 -0.085  0.003 -0.02   0.005 -1.02 ]
+t: 284	 action: [-0.219 -0.329 -0.217  0.007 -0.026  0.011 -0.989]
+t: 285	 action: [-0.152 -0.302 -0.128  0.009 -0.024  0.008 -1.015]
+t: 286	 action: [-0.208 -0.317 -0.268  0.012 -0.016  0.003 -0.995]
+t: 287	 action: [-0.164 -0.328 -0.191  0.014 -0.036  0.007 -1.057]
+t: 288	 action: [-0.125 -0.278 -0.335  0.019 -0.009  0.007 -0.992]
+t: 289	 action: [-0.086 -0.276 -0.28   0.014 -0.026  0.01  -1.048]
+t: 290	 action: [-2.012e-01 -1.368e-01 -7.542e-02 -7.288e-04 -1.238e-02  1.558e-02 -9.780e-01]
+t: 291	 action: [-1.642e-01 -1.978e-01 -3.924e-02  4.901e-04 -9.824e-03  1.093e-02 -1.022e+00]
+t: 292	 action: [-0.188 -0.193 -0.133  0.003 -0.009  0.015 -0.979]
+t: 293	 action: [-0.125 -0.214 -0.156  0.005  0.001  0.014 -1.015]
+t: 294	 action: [-0.193 -0.141 -0.377  0.005  0.015  0.017 -0.987]
+t: 295	 action: [-0.19  -0.203 -0.457  0.022  0.009  0.016 -1.048]
+t: 296	 action: [-0.127 -0.179 -0.566  0.014  0.023  0.02  -0.983]
+t: 297	 action: [-0.102 -0.156 -0.639  0.018  0.019  0.021 -1.048]
+[07-31 00:35:14|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.965 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=298: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.8112
+INFO:cosmos_policy.experiments.robot.robot_utils:t=298: Selected seed 195 with value = 0.8112
+WARNING:imageio_ffmpeg:IMAGEIO FFMPEG_WRITER WARNING: input image is not divisible by macro_block_size=16, resizing from (896, 284) to (896, 288) to ensure video compatibility with most codecs and players. To prevent resizing, make your input image divisible by the macro_block_size or set the macro_block_size to 1 (risking incompatibility).
+INFO:cosmos_policy.experiments.robot.robot_utils:Success: False
+INFO:cosmos_policy.experiments.robot.robot_utils:# episodes completed so far: 18
+INFO:cosmos_policy.experiments.robot.robot_utils:# successes: 9 (50.0%)
+
+
 36%|███▌      | 18/50 [07:20<14:04, 26.40s/it]INFO:cosmos_policy.experiments.robot.robot_utils:
+Task: open the middle drawer of the cabinet
+INFO:cosmos_policy.experiments.robot.robot_utils:Starting episode 19...
+Query 1/1: Action query time = 0.965 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8112
+t=298: Selected seed 195 with value = 0.8112
+t: 298	 action: [-2.368e-01 -2.773e-01 -1.936e-01  8.198e-04 -1.933e-02  1.097e-02 -9.903e-01]
+t: 299	 action: [-0.191 -0.309 -0.079  0.003 -0.019  0.005 -1.021]
+t: 300	 action: [-0.218 -0.334 -0.21   0.007 -0.025  0.011 -0.99 ]
+t: 301	 action: [-0.151 -0.305 -0.124  0.01  -0.023  0.008 -1.015]
+t: 302	 action: [-0.207 -0.324 -0.265  0.012 -0.016  0.003 -0.996]
+t: 303	 action: [-0.165 -0.333 -0.191  0.015 -0.035  0.007 -1.057]
+t: 304	 action: [-0.126 -0.283 -0.332  0.019 -0.008  0.007 -0.992]
+t: 305	 action: [-0.088 -0.28  -0.279  0.015 -0.025  0.01  -1.048]
+t: 306	 action: [-0.202 -0.149 -0.071 -0.001 -0.013  0.016 -0.978]
+t: 307	 action: [-1.654e-01 -2.085e-01 -3.372e-02  6.641e-04 -1.001e-02  1.041e-02 -1.022e+00]
+t: 308	 action: [-0.189 -0.205 -0.123  0.003 -0.009  0.015 -0.98 ]
+t: 309	 action: [-1.241e-01 -2.270e-01 -1.444e-01  5.482e-03  5.337e-04  1.370e-02 -1.014e+00]
+Saved rollout MP4 at path ./rollouts/None/2026_07_31-00_27_45--episode=18--success=False--task=open_the_middle_drawer_of_the_cabinet.mp4
+300 300 19 19
+Saved rollout MP4 at path ./rollouts/None/2026_07_31-00_27_45--with_future_img--episode=18--success=False--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: False
+# episodes completed so far: 18
+# successes: 9 (50.0%)
+
+Task: open the middle drawer of the cabinet
+Starting episode 19...
+[07-31 00:35:22|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.993 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=10: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.3420
+INFO:cosmos_policy.experiments.robot.robot_utils:t=10: Selected seed 195 with value = 0.3420
+Query 1/1: Action query time = 0.993 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3420
+t=10: Selected seed 195 with value = 0.3420
+t: 10	 action: [-0.074 -0.101 -0.071  0.005 -0.03   0.01  -0.985]
+t: 11	 action: [ 0.06  -0.06   0.007  0.007  0.004  0.023 -0.984]
+t: 12	 action: [ 0.065 -0.086 -0.041  0.002  0.01   0.029 -1.012]
+t: 13	 action: [ 0.257 -0.027  0.031 -0.001  0.048  0.054 -1.017]
+t: 14	 action: [ 0.363 -0.032  0.048 -0.002  0.068  0.043 -1.016]
+t: 15	 action: [ 0.461 -0.021  0.019  0.002  0.077  0.058 -1.044]
+t: 16	 action: [ 0.519  0.017  0.066 -0.008  0.105  0.091 -1.018]
+t: 17	 action: [ 0.559  0.029  0.024 -0.012  0.11   0.097 -1.044]
+t: 18	 action: [ 0.528  0.01   0.063 -0.025  0.108  0.135 -1.021]
+t: 19	 action: [ 0.559  0.035  0.091 -0.029  0.107  0.13  -1.017]
+t: 20	 action: [ 0.544  0.018  0.041 -0.053  0.094  0.148 -1.019]
+t: 21	 action: [ 0.568  0.058  0.065 -0.048  0.094  0.14  -1.013]
+t: 22	 action: [ 0.546  0.023  0.049 -0.062  0.088  0.158 -1.008]
+t: 23	 action: [ 0.534  0.036  0.033 -0.076  0.085  0.146 -1.052]
+t: 24	 action: [ 0.53   0.027  0.035 -0.086  0.079  0.169 -1.007]
+t: 25	 action: [ 0.528  0.062  0.027 -0.091  0.083  0.156 -1.046]
+[07-31 00:35:24|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.985 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=26: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.3985
+INFO:cosmos_policy.experiments.robot.robot_utils:t=26: Selected seed 195 with value = 0.3985
+Query 1/1: Action query time = 0.985 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3985
+t=26: Selected seed 195 with value = 0.3985
+t: 26	 action: [ 0.463  0.062 -0.002 -0.064  0.046  0.195 -1.014]
+t: 27	 action: [ 0.476  0.1   -0.006 -0.066  0.045  0.196 -1.013]
+t: 28	 action: [ 0.395  0.088 -0.025 -0.075  0.044  0.217 -1.008]
+t: 29	 action: [ 0.41   0.115 -0.034 -0.079  0.047  0.221 -1.008]
+t: 30	 action: [ 0.375  0.085 -0.029 -0.096  0.049  0.245 -0.996]
+t: 31	 action: [ 0.342  0.114 -0.067 -0.081  0.048  0.238 -1.031]
+t: 32	 action: [ 0.307  0.109 -0.06  -0.107  0.052  0.267 -0.998]
+t: 33	 action: [ 0.295  0.119 -0.111 -0.092  0.066  0.256 -1.03 ]
+t: 34	 action: [ 0.26   0.083 -0.078 -0.1    0.065  0.282 -0.995]
+t: 35	 action: [ 0.285  0.111 -0.114 -0.102  0.066  0.268 -1.006]
+t: 36	 action: [ 0.221  0.083 -0.106 -0.106  0.074  0.293 -0.997]
+t: 37	 action: [ 0.249  0.099 -0.132 -0.105  0.079  0.273 -1.007]
+t: 38	 action: [ 0.215  0.067 -0.104 -0.121  0.064  0.305 -0.982]
+t: 39	 action: [ 0.208  0.108 -0.153 -0.103  0.071  0.284 -1.027]
+t: 40	 action: [ 0.187  0.072 -0.135 -0.119  0.077  0.307 -0.988]
+t: 41	 action: [ 0.192  0.098 -0.168 -0.103  0.096  0.281 -1.029]
+[07-31 00:35:25|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.978 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=42: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.4496
+INFO:cosmos_policy.experiments.robot.robot_utils:t=42: Selected seed 195 with value = 0.4496
+Query 1/1: Action query time = 0.978 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4496
+t=42: Selected seed 195 with value = 0.4496
+t: 42	 action: [ 0.131  0.043 -0.12  -0.097  0.096  0.292 -0.979]
+t: 43	 action: [ 0.149  0.071 -0.133 -0.09   0.1    0.277 -0.99 ]
+t: 44	 action: [ 0.133  0.054 -0.131 -0.093  0.119  0.296 -0.977]
+t: 45	 action: [ 0.156  0.077 -0.128 -0.083  0.132  0.276 -0.994]
+t: 46	 action: [ 0.154  0.037 -0.141 -0.099  0.137  0.293 -0.982]
+t: 47	 action: [ 0.155  0.072 -0.162 -0.088  0.144  0.271 -1.017]
+t: 48	 action: [ 0.161  0.046 -0.16  -0.091  0.164  0.286 -0.982]
+t: 49	 action: [ 0.168  0.074 -0.169 -0.082  0.183  0.262 -1.022]
+t: 50	 action: [ 0.205  0.041 -0.158 -0.076  0.212  0.258 -0.999]
+t: 51	 action: [ 0.239  0.045 -0.19  -0.065  0.23   0.233 -1.01 ]
+t: 52	 action: [ 0.259  0.035 -0.163 -0.07   0.23   0.236 -1.   ]
+t: 53	 action: [ 0.296  0.032 -0.177 -0.059  0.247  0.208 -1.006]
+t: 54	 action: [ 0.273  0.02  -0.16  -0.067  0.237  0.22  -0.994]
+t: 55	 action: [ 0.303  0.037 -0.157 -0.058  0.242  0.198 -1.036]
+t: 56	 action: [ 0.316  0.009 -0.166 -0.059  0.248  0.194 -0.997]
+t: 57	 action: [ 0.34   0.012 -0.158 -0.051  0.246  0.175 -1.028]
+[07-31 00:35:26|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.985 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=58: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.5280
+INFO:cosmos_policy.experiments.robot.robot_utils:t=58: Selected seed 195 with value = 0.5280
+Query 1/1: Action query time = 0.985 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5280
+t=58: Selected seed 195 with value = 0.5280
+t: 58	 action: [ 0.31  -0.006 -0.13  -0.049  0.238  0.212 -0.981]
+t: 59	 action: [ 0.327 -0.003 -0.076 -0.04   0.229  0.19  -0.994]
+t: 60	 action: [ 0.341 -0.012 -0.09  -0.052  0.224  0.204 -0.998]
+t: 61	 action: [ 0.371 -0.019 -0.035 -0.039  0.212  0.174 -1.014]
+t: 62	 action: [ 0.4   -0.048 -0.035 -0.047  0.226  0.173 -1.005]
+t: 63	 action: [ 0.394 -0.062 -0.012 -0.04   0.206  0.159 -1.036]
+t: 64	 action: [ 0.419 -0.082 -0.025 -0.043  0.208  0.157 -1.014]
+t: 65	 action: [ 0.413 -0.093 -0.006 -0.039  0.188  0.144 -1.044]
+t: 66	 action: [ 0.431 -0.21  -0.019 -0.054  0.203  0.146 -1.03 ]
+t: 67	 action: [ 0.451 -0.214 -0.006 -0.015  0.19   0.12  -1.031]
+t: 68	 action: [ 0.422 -0.29  -0.004 -0.027  0.177  0.145 -1.03 ]
+t: 69	 action: [ 0.422 -0.297  0.003 -0.007  0.146  0.115 -1.027]
+t: 70	 action: [ 0.375 -0.36  -0.007 -0.004  0.135  0.13  -1.029]
+t: 71	 action: [ 0.337 -0.395  0.01   0.003  0.097  0.109 -1.045]
+t: 72	 action: [ 0.321 -0.415 -0.048  0.01   0.079  0.117 -1.027]
+t: 73	 action: [ 0.267 -0.431 -0.011  0.008  0.047  0.101 -1.039]
+[07-31 00:35:28|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.993 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=74: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.6261
+INFO:cosmos_policy.experiments.robot.robot_utils:t=74: Selected seed 195 with value = 0.6261
+Query 1/1: Action query time = 0.993 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6261
+t=74: Selected seed 195 with value = 0.6261
+t: 74	 action: [ 0.114 -0.257  0.02  -0.067  0.028  0.135 -0.984]
+t: 75	 action: [ 0.152 -0.341  0.04  -0.048  0.011  0.122 -0.999]
+t: 76	 action: [ 0.099 -0.309 -0.008 -0.035  0.002  0.138 -0.987]
+t: 77	 action: [ 0.109 -0.365  0.035 -0.025 -0.009  0.106 -1.012]
+t: 78	 action: [ 0.073 -0.391  0.019 -0.006 -0.002  0.114 -0.98 ]
+t: 79	 action: [ 0.09  -0.492  0.021 -0.001 -0.013  0.112 -1.018]
+t: 80	 action: [ 0.039 -0.428 -0.026  0.001 -0.027  0.105 -0.985]
+t: 81	 action: [ 0.043 -0.461  0.009  0.002 -0.03   0.091 -1.022]
+t: 82	 action: [ 4.110e-03 -4.669e-01 -2.671e-02  1.812e-04 -5.001e-02  8.263e-02 -1.013e+00]
+t: 83	 action: [-0.011 -0.41  -0.02   0.011 -0.057  0.068 -1.017]
+t: 84	 action: [-0.057 -0.446 -0.068  0.004 -0.071  0.078 -1.009]
+t: 85	 action: [-0.079 -0.376 -0.062  0.011 -0.07   0.064 -1.008]
+t: 86	 action: [-0.111 -0.455 -0.08   0.005 -0.08   0.066 -1.009]
+t: 87	 action: [-0.149 -0.406 -0.087  0.018 -0.073  0.058 -1.035]
+t: 88	 action: [-0.151 -0.431 -0.106  0.005 -0.092  0.065 -1.007]
+t: 89	 action: [-0.192 -0.37  -0.102  0.017 -0.073  0.059 -1.033]
+[07-31 00:35:29|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.972 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=90: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.7094
+INFO:cosmos_policy.experiments.robot.robot_utils:t=90: Selected seed 195 with value = 0.7094
+Query 1/1: Action query time = 0.972 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7094
+t=90: Selected seed 195 with value = 0.7094
+t: 90	 action: [ 0.053 -0.254 -0.084 -0.012 -0.005  0.087 -0.972]
+t: 91	 action: [ 0.053 -0.222 -0.078 -0.004 -0.017  0.083 -0.982]
+t: 92	 action: [-0.001 -0.257 -0.087 -0.005 -0.017  0.106 -0.978]
+t: 93	 action: [ 0.012 -0.238 -0.08   0.001 -0.019  0.093 -1.008]
+t: 94	 action: [-0.021 -0.236 -0.117 -0.001 -0.011  0.098 -0.977]
+t: 95	 action: [-0.053 -0.268 -0.085  0.004 -0.021  0.091 -1.028]
+t: 96	 action: [-0.1   -0.261 -0.108 -0.002 -0.018  0.118 -0.982]
+t: 97	 action: [-0.147 -0.258 -0.108  0.006 -0.021  0.1   -1.031]
+t: 98	 action: [-0.19  -0.345  0.009 -0.018 -0.023  0.112 -0.989]
+t: 99	 action: [-0.229 -0.272 -0.046 -0.001 -0.03   0.095 -1.007]
+t: 100	 action: [-0.297 -0.346 -0.016 -0.022 -0.037  0.126 -0.985]
+t: 101	 action: [-0.313 -0.254 -0.08  -0.003 -0.047  0.112 -1.001]
+t: 102	 action: [-0.366 -0.288 -0.081 -0.001 -0.057  0.121 -0.989]
+t: 103	 action: [-0.385 -0.252 -0.12   0.004 -0.064  0.103 -1.036]
+t: 104	 action: [-0.442 -0.269 -0.083 -0.005 -0.097  0.136 -0.982]
+t: 105	 action: [-0.441 -0.222 -0.112  0.002 -0.081  0.115 -1.027]
+[07-31 00:35:30|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.967 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=106: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.8203
+INFO:cosmos_policy.experiments.robot.robot_utils:t=106: Selected seed 195 with value = 0.8203
+Query 1/1: Action query time = 0.967 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8203
+t=106: Selected seed 195 with value = 0.8203
+t: 106	 action: [-0.136 -0.166  0.101 -0.021 -0.014  0.013 -0.992]
+t: 107	 action: [-0.085 -0.113  0.088 -0.009 -0.007  0.008 -1.008]
+t: 108	 action: [-0.184 -0.183  0.071 -0.008 -0.019  0.017 -0.987]
+t: 109	 action: [-0.145 -0.155  0.075  0.004 -0.004  0.017 -1.013]
+t: 110	 action: [-0.173 -0.193  0.046  0.007 -0.008  0.027 -0.999]
+t: 111	 action: [-0.196 -0.193  0.04   0.013 -0.015  0.024 -1.051]
+t: 112	 action: [-0.233 -0.238  0.004  0.004 -0.007  0.048 -0.994]
+t: 113	 action: [-0.234 -0.213 -0.002  0.017 -0.006  0.032 -1.04 ]
+t: 114	 action: [-0.265 -0.298 -0.039  0.003 -0.01   0.071 -1.003]
+t: 115	 action: [-0.25  -0.25  -0.036  0.01   0.003  0.071 -1.024]
+t: 116	 action: [-0.284 -0.307 -0.094  0.005 -0.017  0.09  -1.001]
+t: 117	 action: [-0.257 -0.26  -0.151  0.011  0.006  0.093 -1.016]
+t: 118	 action: [-0.29  -0.257 -0.281  0.003 -0.006  0.087 -1.003]
+t: 119	 action: [-0.284 -0.245 -0.386  0.022  0.002  0.081 -1.05 ]
+t: 120	 action: [-0.302 -0.261 -0.514  0.004 -0.01   0.104 -0.996]
+t: 121	 action: [-0.275 -0.196 -0.582  0.021  0.003  0.102 -1.043]
+[07-31 00:35:31|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.979 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=122: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.8373
+INFO:cosmos_policy.experiments.robot.robot_utils:t=122: Selected seed 195 with value = 0.8373
+Query 1/1: Action query time = 0.979 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8373
+t=122: Selected seed 195 with value = 0.8373
+t: 122	 action: [-0.174 -0.425 -0.198  0.004 -0.019  0.052 -1.003]
+t: 123	 action: [-0.164 -0.436 -0.269  0.02  -0.03   0.059 -1.017]
+t: 124	 action: [-0.211 -0.169 -0.387  0.015 -0.027  0.067 -0.995]
+t: 125	 action: [-0.21  -0.182 -0.484  0.035 -0.032  0.067 -1.013]
+t: 126	 action: [-0.286 -0.031 -0.575  0.031 -0.031  0.078 -1.   ]
+t: 127	 action: [-0.302  0.018 -0.699  0.041 -0.045  0.07  -1.035]
+t: 128	 action: [-0.337  0.278 -0.851  0.022 -0.038  0.087 -0.994]
+t: 129	 action: [-0.297  0.348 -0.867  0.019 -0.046  0.07  -1.029]
+t: 130	 action: [-0.338  0.415 -0.813  0.019 -0.052  0.073 -0.985]
+t: 131	 action: [-0.386  0.454 -0.844  0.013 -0.05   0.062 -1.016]
+t: 132	 action: [-0.362  0.608 -0.812  0.011 -0.052  0.071 -0.985]
+t: 133	 action: [-0.369  0.602 -0.811  0.004 -0.043  0.055 -1.016]
+t: 134	 action: [-0.516  0.709 -0.815  0.003 -0.051  0.069 -0.991]
+t: 135	 action: [-0.423  0.7   -0.814 -0.002 -0.051  0.056 -1.035]
+t: 136	 action: [-0.452  0.771 -0.799 -0.003 -0.044  0.071 -0.985]
+t: 137	 action: [-0.397  0.729 -0.725 -0.007 -0.039  0.052 -1.038]
+[07-31 00:35:33|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.977 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=138: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.7339
+INFO:cosmos_policy.experiments.robot.robot_utils:t=138: Selected seed 195 with value = 0.7339
+Query 1/1: Action query time = 0.977 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7339
+t=138: Selected seed 195 with value = 0.7339
+t: 138	 action: [-0.171 -0.339 -0.044 -0.039 -0.015  0.002 -0.989]
+t: 139	 action: [-0.171 -0.427 -0.046 -0.014 -0.019 -0.005 -1.011]
+t: 140	 action: [-0.19  -0.337 -0.072 -0.017 -0.035  0.001 -0.985]
+t: 141	 action: [-1.949e-01 -4.221e-01 -5.151e-02  9.770e-04 -3.848e-02 -1.324e-03 -1.018e+00]
+t: 142	 action: [-0.208 -0.338 -0.097  0.011 -0.026  0.001 -0.99 ]
+t: 143	 action: [-2.643e-01 -4.002e-01 -1.539e-01  1.924e-02 -4.913e-02  3.203e-04 -1.045e+00]
+t: 144	 action: [-0.233 -0.317 -0.162  0.007 -0.038  0.002 -0.989]
+t: 145	 action: [-0.269 -0.372 -0.238  0.019 -0.051  0.003 -1.038]
+t: 146	 action: [-0.277 -0.366 -0.248  0.011 -0.046  0.033 -0.99 ]
+t: 147	 action: [-0.283 -0.322 -0.231  0.021 -0.049  0.035 -1.024]
+t: 148	 action: [-0.269 -0.314 -0.382  0.013 -0.051  0.035 -0.994]
+t: 149	 action: [-0.262 -0.263 -0.429  0.018 -0.05   0.043 -1.023]
+t: 150	 action: [-0.305 -0.27  -0.682  0.02  -0.05   0.037 -0.995]
+t: 151	 action: [-0.313 -0.224 -0.661  0.022 -0.052  0.034 -1.051]
+t: 152	 action: [-0.282 -0.198 -0.842  0.011 -0.049  0.04  -0.995]
+t: 153	 action: [-0.283 -0.106 -0.815  0.011 -0.047  0.041 -1.049]
+[07-31 00:35:34|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.966 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=154: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.8767
+INFO:cosmos_policy.experiments.robot.robot_utils:t=154: Selected seed 195 with value = 0.8767
+Query 1/1: Action query time = 0.966 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8767
+t=154: Selected seed 195 with value = 0.8767
+t: 154	 action: [-0.302  0.326 -0.847  0.032 -0.046  0.095 -1.   ]
+t: 155	 action: [-0.295  0.286 -0.886  0.029 -0.067  0.087 -1.002]
+t: 156	 action: [-0.351  0.491 -0.848  0.02  -0.043  0.096 -1.   ]
+t: 157	 action: [-0.316  0.461 -0.865  0.025 -0.059  0.078 -1.004]
+t: 158	 action: [-0.509  0.628 -0.83   0.018 -0.052  0.1   -1.001]
+t: 159	 action: [-0.404  0.549 -0.838  0.016 -0.06   0.084 -1.021]
+t: 160	 action: [-0.458  0.709 -0.828  0.007 -0.046  0.091 -0.999]
+t: 161	 action: [-0.374  0.66  -0.817  0.006 -0.048  0.07  -1.026]
+t: 162	 action: [-0.363  0.737 -0.746  0.007 -0.036  0.086 -0.986]
+t: 163	 action: [-0.377  0.692 -0.748  0.005 -0.037  0.069 -1.012]
+t: 164	 action: [-0.356  0.81  -0.762  0.005 -0.03   0.081 -0.995]
+t: 165	 action: [-0.335  0.722 -0.738  0.002 -0.028  0.06  -1.01 ]
+t: 166	 action: [-0.426  0.846 -0.754 -0.002 -0.033  0.08  -0.991]
+t: 167	 action: [-0.379  0.772 -0.719  0.001 -0.027  0.063 -1.028]
+t: 168	 action: [-0.37   0.874 -0.761 -0.002 -0.022  0.077 -0.992]
+t: 169	 action: [-3.430e-01  7.790e-01 -6.842e-01 -6.326e-04 -1.819e-02  5.595e-02 -1.034e+00]
+[07-31 00:35:35|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.969 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=170: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.6881
+INFO:cosmos_policy.experiments.robot.robot_utils:t=170: Selected seed 195 with value = 0.6881
+Query 1/1: Action query time = 0.969 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6881
+t=170: Selected seed 195 with value = 0.6881
+t: 170	 action: [-0.085 -0.462 -0.052  0.005 -0.053  0.009 -0.997]
+t: 171	 action: [-0.089 -0.489 -0.019  0.011 -0.055  0.007 -1.018]
+t: 172	 action: [-0.117 -0.463 -0.112  0.008 -0.079  0.014 -0.994]
+t: 173	 action: [-0.131 -0.46  -0.052  0.018 -0.069  0.012 -1.014]
+t: 174	 action: [-0.144 -0.467 -0.178  0.014 -0.108  0.008 -0.995]
+t: 175	 action: [-0.204 -0.496 -0.131  0.026 -0.082  0.014 -1.032]
+t: 176	 action: [-0.18  -0.452 -0.245  0.025 -0.122  0.02  -0.993]
+t: 177	 action: [-0.218 -0.442 -0.192  0.029 -0.094  0.018 -1.029]
+t: 178	 action: [-0.195 -0.419 -0.199  0.018 -0.099  0.025 -0.993]
+t: 179	 action: [-0.203 -0.4   -0.139  0.024 -0.093  0.019 -1.015]
+t: 180	 action: [-0.191 -0.418 -0.246  0.019 -0.1    0.028 -0.994]
+t: 181	 action: [-0.19  -0.385 -0.189  0.017 -0.088  0.023 -1.009]
+t: 182	 action: [-0.209 -0.416 -0.334  0.029 -0.113  0.023 -0.994]
+t: 183	 action: [-0.192 -0.397 -0.261  0.029 -0.08   0.022 -1.035]
+t: 184	 action: [-0.197 -0.383 -0.417  0.026 -0.101  0.026 -0.995]
+t: 185	 action: [-0.172 -0.374 -0.3    0.019 -0.064  0.027 -1.036]
+[07-31 00:35:37|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.973 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=186: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.7684
+INFO:cosmos_policy.experiments.robot.robot_utils:t=186: Selected seed 195 with value = 0.7684
+Query 1/1: Action query time = 0.973 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7684
+t=186: Selected seed 195 with value = 0.7684
+t: 186	 action: [-0.204 -0.377 -0.335 -0.008 -0.005  0.02  -0.984]
+t: 187	 action: [-0.217 -0.434 -0.317  0.006 -0.002  0.021 -1.01 ]
+t: 188	 action: [-0.245 -0.34  -0.282 -0.003 -0.014  0.02  -0.981]
+t: 189	 action: [-0.259 -0.381 -0.227  0.013 -0.005  0.022 -1.019]
+t: 190	 action: [-0.247 -0.341 -0.307  0.009 -0.004  0.02  -0.981]
+t: 191	 action: [-0.307 -0.403 -0.272  0.025 -0.007  0.025 -1.034]
+t: 192	 action: [-0.297 -0.254 -0.402  0.005 -0.008  0.028 -0.974]
+t: 193	 action: [-0.332 -0.308 -0.463  0.024 -0.005  0.025 -1.028]
+t: 194	 action: [-0.312 -0.281 -0.353  0.015 -0.028  0.047 -0.988]
+t: 195	 action: [-0.317 -0.289 -0.417  0.024 -0.024  0.042 -1.024]
+t: 196	 action: [-0.292 -0.176 -0.523  0.025 -0.033  0.041 -0.988]
+t: 197	 action: [-0.306 -0.175 -0.593  0.024 -0.026  0.048 -1.027]
+t: 198	 action: [-0.464 -0.024 -0.805  0.026 -0.037  0.049 -0.987]
+t: 199	 action: [-0.434  0.036 -0.824  0.029 -0.054  0.042 -1.048]
+t: 200	 action: [-0.478  0.074 -0.872  0.02  -0.036  0.048 -0.983]
+t: 201	 action: [-0.422  0.178 -0.858  0.021 -0.051  0.052 -1.044]
+[07-31 00:35:38|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.978 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=202: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.8364
+INFO:cosmos_policy.experiments.robot.robot_utils:t=202: Selected seed 195 with value = 0.8364
+Query 1/1: Action query time = 0.978 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8364
+t=202: Selected seed 195 with value = 0.8364
+t: 202	 action: [-0.374  0.204 -0.852  0.033 -0.05   0.109 -1.002]
+t: 203	 action: [-0.354  0.158 -0.912  0.028 -0.067  0.099 -1.001]
+t: 204	 action: [-0.41   0.416 -0.864  0.014 -0.047  0.108 -0.997]
+t: 205	 action: [-0.37   0.371 -0.909  0.017 -0.057  0.09  -0.999]
+t: 206	 action: [-0.508  0.564 -0.855  0.016 -0.053  0.116 -0.996]
+t: 207	 action: [-0.414  0.488 -0.874  0.02  -0.056  0.097 -1.019]
+t: 208	 action: [-0.47   0.657 -0.843  0.002 -0.047  0.105 -0.989]
+t: 209	 action: [-0.394  0.611 -0.854  0.005 -0.043  0.082 -1.02 ]
+t: 210	 action: [-0.406  0.698 -0.778  0.007 -0.035  0.097 -0.986]
+t: 211	 action: [-0.406  0.679 -0.816 -0.004 -0.032  0.079 -1.011]
+t: 212	 action: [-0.387  0.789 -0.783  0.002 -0.025  0.088 -0.991]
+t: 213	 action: [-0.365  0.724 -0.791 -0.006 -0.018  0.067 -1.011]
+t: 214	 action: [-0.478  0.808 -0.781 -0.005 -0.029  0.086 -0.988]
+t: 215	 action: [-0.407  0.768 -0.779 -0.006 -0.019  0.071 -1.027]
+t: 216	 action: [-0.405  0.856 -0.778 -0.008 -0.015  0.081 -0.985]
+t: 217	 action: [-0.371  0.791 -0.725 -0.007 -0.009  0.062 -1.037]
+[07-31 00:35:39|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.979 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=218: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.6904
+INFO:cosmos_policy.experiments.robot.robot_utils:t=218: Selected seed 195 with value = 0.6904
+Query 1/1: Action query time = 0.979 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6904
+t=218: Selected seed 195 with value = 0.6904
+t: 218	 action: [-0.098 -0.466 -0.124  0.007 -0.071  0.02  -0.995]
+t: 219	 action: [-0.089 -0.492 -0.075  0.013 -0.066  0.02  -1.011]
+t: 220	 action: [-0.127 -0.466 -0.171  0.01  -0.091  0.027 -0.992]
+t: 221	 action: [-0.128 -0.457 -0.108  0.017 -0.085  0.023 -1.01 ]
+t: 222	 action: [-0.152 -0.468 -0.218  0.014 -0.109  0.022 -0.99 ]
+t: 223	 action: [-0.188 -0.481 -0.153  0.023 -0.085  0.022 -1.025]
+t: 224	 action: [-0.183 -0.447 -0.261  0.027 -0.111  0.032 -0.988]
+t: 225	 action: [-0.203 -0.427 -0.212  0.027 -0.093  0.025 -1.024]
+t: 226	 action: [-0.201 -0.43  -0.217  0.019 -0.095  0.03  -0.993]
+t: 227	 action: [-0.198 -0.4   -0.162  0.025 -0.084  0.028 -1.012]
+t: 228	 action: [-0.189 -0.43  -0.256  0.023 -0.086  0.036 -0.993]
+t: 229	 action: [-0.188 -0.387 -0.204  0.022 -0.078  0.033 -1.008]
+t: 230	 action: [-0.22  -0.426 -0.291  0.029 -0.099  0.034 -0.994]
+t: 231	 action: [-0.194 -0.39  -0.258  0.032 -0.067  0.032 -1.031]
+t: 232	 action: [-0.199 -0.401 -0.346  0.032 -0.083  0.038 -0.995]
+t: 233	 action: [-0.179 -0.37  -0.303  0.028 -0.055  0.037 -1.034]
+[07-31 00:35:40|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.980 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=234: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.7681
+INFO:cosmos_policy.experiments.robot.robot_utils:t=234: Selected seed 195 with value = 0.7681
+Query 1/1: Action query time = 0.980 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7681
+t=234: Selected seed 195 with value = 0.7681
+t: 234	 action: [-0.228 -0.364 -0.385  0.001 -0.015  0.029 -0.992]
+t: 235	 action: [-0.214 -0.405 -0.34   0.013 -0.014  0.035 -1.011]
+t: 236	 action: [-0.253 -0.278 -0.439  0.007 -0.019  0.035 -0.987]
+t: 237	 action: [-0.232 -0.325 -0.349  0.017 -0.019  0.039 -1.015]
+t: 238	 action: [-0.253 -0.255 -0.46   0.008 -0.013  0.04  -0.986]
+t: 239	 action: [-0.26  -0.299 -0.415  0.026 -0.016  0.039 -1.035]
+t: 240	 action: [-0.265 -0.059 -0.691  0.006 -0.014  0.047 -0.976]
+t: 241	 action: [-0.263 -0.14  -0.742  0.025 -0.015  0.04  -1.029]
+t: 242	 action: [-0.254 -0.033 -0.725  0.028 -0.027  0.063 -0.991]
+t: 243	 action: [-0.243 -0.056 -0.781  0.023 -0.013  0.054 -1.026]
+t: 244	 action: [-0.232  0.134 -0.83   0.019 -0.026  0.056 -0.99 ]
+t: 245	 action: [-0.249  0.196 -0.842  0.019 -0.013  0.049 -1.03 ]
+t: 246	 action: [-0.351  0.301 -0.849  0.013 -0.03   0.062 -0.992]
+t: 247	 action: [-0.333  0.38  -0.859  0.017 -0.043  0.05  -1.051]
+t: 248	 action: [-0.373  0.494 -0.831  0.003 -0.022  0.056 -0.984]
+t: 249	 action: [-0.34   0.575 -0.811  0.01  -0.031  0.048 -1.054]
+[07-31 00:35:42|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.988 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=250: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.8216
+INFO:cosmos_policy.experiments.robot.robot_utils:t=250: Selected seed 195 with value = 0.8216
+Query 1/1: Action query time = 0.988 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8216
+t=250: Selected seed 195 with value = 0.8216
+t: 250	 action: [-0.264 -0.066 -0.735  0.038 -0.047  0.087 -0.998]
+t: 251	 action: [-0.279 -0.088 -0.817  0.04  -0.069  0.083 -1.004]
+t: 252	 action: [-0.377  0.279 -0.844  0.029 -0.043  0.092 -0.993]
+t: 253	 action: [-0.352  0.241 -0.884  0.031 -0.06   0.08  -1.001]
+t: 254	 action: [-0.457  0.395 -0.891  0.037 -0.051  0.113 -0.992]
+t: 255	 action: [-0.409  0.329 -0.877  0.037 -0.056  0.092 -1.026]
+t: 256	 action: [-0.478  0.581 -0.856  0.009 -0.044  0.109 -0.984]
+t: 257	 action: [-0.418  0.516 -0.866  0.02  -0.045  0.082 -1.02 ]
+t: 258	 action: [-0.447  0.646 -0.813  0.015 -0.043  0.107 -0.984]
+t: 259	 action: [-0.452  0.628 -0.836  0.01  -0.047  0.093 -1.011]
+t: 260	 action: [-0.423  0.769 -0.794  0.01  -0.027  0.098 -0.988]
+t: 261	 action: [-0.413  0.691 -0.8    0.003 -0.028  0.078 -1.008]
+t: 262	 action: [-0.522  0.765 -0.816  0.004 -0.037  0.098 -0.982]
+t: 263	 action: [-0.44   0.73  -0.803  0.006 -0.029  0.084 -1.028]
+t: 264	 action: [-4.399e-01  8.417e-01 -7.915e-01 -7.032e-04 -1.703e-02  9.192e-02 -9.802e-01]
+t: 265	 action: [-3.964e-01  7.605e-01 -7.380e-01  1.609e-04 -1.330e-02  7.134e-02 -1.035e+00]
+[07-31 00:35:43|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.981 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=266: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.6987
+INFO:cosmos_policy.experiments.robot.robot_utils:t=266: Selected seed 195 with value = 0.6987
+Query 1/1: Action query time = 0.981 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6987
+t=266: Selected seed 195 with value = 0.6987
+t: 266	 action: [-0.079 -0.426 -0.143  0.004 -0.078  0.027 -0.987]
+t: 267	 action: [-0.045 -0.477 -0.088  0.009 -0.067  0.023 -1.004]
+t: 268	 action: [-0.108 -0.422 -0.178  0.008 -0.084  0.031 -0.986]
+t: 269	 action: [-0.084 -0.449 -0.13   0.015 -0.075  0.025 -1.006]
+t: 270	 action: [-0.125 -0.454 -0.209  0.01  -0.088  0.026 -0.984]
+t: 271	 action: [-0.146 -0.46  -0.153  0.02  -0.067  0.023 -1.027]
+t: 272	 action: [-0.161 -0.431 -0.234  0.018 -0.079  0.032 -0.981]
+t: 273	 action: [-0.177 -0.416 -0.217  0.025 -0.062  0.025 -1.025]
+t: 274	 action: [-0.224 -0.431 -0.182  0.017 -0.077  0.032 -0.984]
+t: 275	 action: [-0.219 -0.411 -0.163  0.028 -0.068  0.032 -1.011]
+t: 276	 action: [-0.232 -0.428 -0.214  0.022 -0.071  0.042 -0.981]
+t: 277	 action: [-0.24  -0.392 -0.216  0.027 -0.068  0.041 -1.004]
+t: 278	 action: [-0.263 -0.419 -0.251  0.022 -0.088  0.042 -0.987]
+t: 279	 action: [-0.265 -0.375 -0.261  0.036 -0.064  0.04  -1.032]
+t: 280	 action: [-0.259 -0.39  -0.296  0.028 -0.075  0.052 -0.983]
+t: 281	 action: [-0.266 -0.351 -0.315  0.036 -0.055  0.049 -1.033]
+[07-31 00:35:44|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.987 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=282: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.7545
+INFO:cosmos_policy.experiments.robot.robot_utils:t=282: Selected seed 195 with value = 0.7545
+Query 1/1: Action query time = 0.987 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7545
+t=282: Selected seed 195 with value = 0.7545
+t: 282	 action: [-0.148 -0.404 -0.259  0.008 -0.022  0.018 -0.993]
+t: 283	 action: [-0.132 -0.44  -0.234  0.017 -0.023  0.018 -1.016]
+t: 284	 action: [-0.176 -0.368 -0.316  0.012 -0.025  0.021 -0.99 ]
+t: 285	 action: [-0.157 -0.402 -0.281  0.022 -0.034  0.026 -1.016]
+t: 286	 action: [-0.178 -0.329 -0.397  0.015 -0.025  0.02  -0.988]
+t: 287	 action: [-0.202 -0.34  -0.406  0.032 -0.029  0.024 -1.038]
+t: 288	 action: [-0.205 -0.217 -0.696  0.021 -0.025  0.033 -0.981]
+t: 289	 action: [-0.214 -0.24  -0.741  0.036 -0.028  0.03  -1.029]
+t: 290	 action: [-0.212 -0.073 -0.751  0.046 -0.027  0.05  -0.987]
+t: 291	 action: [-0.212 -0.116 -0.811  0.035 -0.015  0.049 -1.024]
+t: 292	 action: [-0.208  0.082 -0.881  0.03  -0.022  0.05  -0.989]
+t: 293	 action: [-0.23   0.147 -0.901  0.027 -0.009  0.048 -1.029]
+t: 294	 action: [-0.311  0.212 -0.897  0.025 -0.027  0.057 -0.991]
+t: 295	 action: [-0.313  0.316 -0.892  0.023 -0.027  0.048 -1.046]
+t: 296	 action: [-0.343  0.469 -0.882  0.007 -0.017  0.058 -0.986]
+t: 297	 action: [-0.328  0.564 -0.862  0.01  -0.016  0.051 -1.053]
+[07-31 00:35:46|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.982 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=298: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.7794
+INFO:cosmos_policy.experiments.robot.robot_utils:t=298: Selected seed 195 with value = 0.7794
+WARNING:imageio_ffmpeg:IMAGEIO FFMPEG_WRITER WARNING: input image is not divisible by macro_block_size=16, resizing from (896, 284) to (896, 288) to ensure video compatibility with most codecs and players. To prevent resizing, make your input image divisible by the macro_block_size or set the macro_block_size to 1 (risking incompatibility).
+INFO:cosmos_policy.experiments.robot.robot_utils:Success: False
+INFO:cosmos_policy.experiments.robot.robot_utils:# episodes completed so far: 19
+INFO:cosmos_policy.experiments.robot.robot_utils:# successes: 9 (47.4%)
+
+
 38%|███▊      | 19/50 [07:52<14:24, 27.89s/it]INFO:cosmos_policy.experiments.robot.robot_utils:
+Task: open the middle drawer of the cabinet
+INFO:cosmos_policy.experiments.robot.robot_utils:Starting episode 20...
+Query 1/1: Action query time = 0.982 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7794
+t=298: Selected seed 195 with value = 0.7794
+t: 298	 action: [-0.082 -0.438 -0.154  0.006 -0.029  0.022 -1.002]
+t: 299	 action: [-0.056 -0.442 -0.168  0.017 -0.033  0.024 -1.025]
+t: 300	 action: [-0.134 -0.452 -0.171  0.013 -0.036  0.029 -0.994]
+t: 301	 action: [-0.116 -0.469 -0.205  0.024 -0.048  0.037 -1.024]
+t: 302	 action: [-0.166 -0.44  -0.328  0.025 -0.037  0.043 -0.994]
+t: 303	 action: [-0.194 -0.371 -0.454  0.046 -0.051  0.041 -1.046]
+t: 304	 action: [-0.23  -0.261 -0.688  0.029 -0.043  0.059 -0.987]
+t: 305	 action: [-0.234 -0.14  -0.85   0.05  -0.051  0.051 -1.037]
+t: 306	 action: [-0.146  0.016 -0.868  0.061 -0.039  0.066 -0.99 ]
+t: 307	 action: [-0.196  0.094 -0.929  0.032 -0.021  0.064 -1.026]
+t: 308	 action: [-0.143  0.331 -0.88   0.034 -0.031  0.07  -0.988]
+t: 309	 action: [-0.225  0.419 -0.908  0.016 -0.016  0.063 -1.024]
+Saved rollout MP4 at path ./rollouts/None/2026_07_31-00_27_45--episode=19--success=False--task=open_the_middle_drawer_of_the_cabinet.mp4
+300 300 19 19
+Saved rollout MP4 at path ./rollouts/None/2026_07_31-00_27_45--with_future_img--episode=19--success=False--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: False
+# episodes completed so far: 19
+# successes: 9 (47.4%)
+
+Task: open the middle drawer of the cabinet
+Starting episode 20...
+[07-31 00:35:54|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.988 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=10: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.3754
+INFO:cosmos_policy.experiments.robot.robot_utils:t=10: Selected seed 195 with value = 0.3754
+Query 1/1: Action query time = 0.988 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3754
+t=10: Selected seed 195 with value = 0.3754
+t: 10	 action: [ 0.031 -0.016 -0.029  0.005  0.042  0.015 -1.004]
+t: 11	 action: [ 0.144  0.004  0.018  0.003  0.062  0.036 -0.999]
+t: 12	 action: [ 0.162 -0.01  -0.017  0.001  0.085  0.043 -1.015]
+t: 13	 action: [ 0.34   0.038  0.025 -0.003  0.101  0.064 -1.018]
+t: 14	 action: [ 0.382  0.012  0.009 -0.008  0.1    0.062 -1.015]
+t: 15	 action: [ 0.524  0.026 -0.001 -0.011  0.09   0.061 -1.043]
+t: 16	 action: [ 0.536  0.024  0.002 -0.019  0.111  0.101 -1.014]
+t: 17	 action: [ 0.59   0.065  0.005 -0.023  0.098  0.098 -1.04 ]
+t: 18	 action: [ 0.58   0.021  0.046 -0.027  0.122  0.131 -1.017]
+t: 19	 action: [ 0.623  0.046  0.068 -0.016  0.113  0.136 -1.021]
+t: 20	 action: [ 0.589  0.019  0.044 -0.04   0.107  0.149 -1.014]
+t: 21	 action: [ 0.621  0.048  0.068 -0.028  0.101  0.152 -1.019]
+t: 22	 action: [ 0.557  0.024  0.053 -0.045  0.089  0.173 -1.003]
+t: 23	 action: [ 0.542  0.034  0.043 -0.05   0.067  0.167 -1.047]
+t: 24	 action: [ 0.528  0.032  0.034 -0.056  0.079  0.19  -1.002]
+t: 25	 action: [ 0.514  0.046  0.037 -0.064  0.074  0.182 -1.04 ]
+[07-31 00:35:55|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.982 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=26: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.4102
+INFO:cosmos_policy.experiments.robot.robot_utils:t=26: Selected seed 195 with value = 0.4102
+Query 1/1: Action query time = 0.982 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4102
+t=26: Selected seed 195 with value = 0.4102
+t: 26	 action: [ 0.429  0.016  0.028 -0.066  0.037  0.193 -1.015]
+t: 27	 action: [ 0.44   0.027  0.022 -0.065  0.03   0.187 -1.012]
+t: 28	 action: [ 0.403  0.012  0.017 -0.069  0.035  0.2   -1.01 ]
+t: 29	 action: [ 0.417  0.028  0.022 -0.072  0.03   0.194 -1.012]
+t: 30	 action: [ 0.425  0.014  0.021 -0.081  0.039  0.217 -0.999]
+t: 31	 action: [ 0.406  0.025 -0.011 -0.071  0.023  0.205 -1.03 ]
+t: 32	 action: [ 0.398  0.018  0.004 -0.084  0.044  0.222 -0.998]
+t: 33	 action: [ 0.383  0.027 -0.026 -0.078  0.034  0.21  -1.035]
+t: 34	 action: [ 0.4    0.013  0.006 -0.084  0.055  0.228 -1.004]
+t: 35	 action: [ 0.418  0.021 -0.014 -0.09   0.055  0.216 -1.012]
+t: 36	 action: [ 0.372  0.017 -0.022 -0.09   0.065  0.235 -1.004]
+t: 37	 action: [ 0.387  0.026 -0.046 -0.094  0.072  0.219 -1.009]
+t: 38	 action: [ 0.35   0.005 -0.021 -0.106  0.071  0.24  -0.991]
+t: 39	 action: [ 0.331  0.035 -0.069 -0.095  0.074  0.228 -1.038]
+t: 40	 action: [ 0.316  0.018 -0.057 -0.106  0.091  0.242 -0.995]
+t: 41	 action: [ 0.307  0.039 -0.101 -0.095  0.109  0.227 -1.035]
+[07-31 00:35:56|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.975 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=42: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.4581
+INFO:cosmos_policy.experiments.robot.robot_utils:t=42: Selected seed 195 with value = 0.4581
+Query 1/1: Action query time = 0.975 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4581
+t=42: Selected seed 195 with value = 0.4581
+t: 42	 action: [ 0.177  0.041 -0.102 -0.088  0.094  0.295 -0.988]
+t: 43	 action: [ 0.195  0.067 -0.114 -0.089  0.095  0.286 -0.994]
+t: 44	 action: [ 0.176  0.05  -0.116 -0.085  0.109  0.295 -0.985]
+t: 45	 action: [ 0.202  0.069 -0.113 -0.082  0.117  0.28  -1.002]
+t: 46	 action: [ 0.203  0.036 -0.126 -0.093  0.12   0.291 -0.99 ]
+t: 47	 action: [ 0.206  0.063 -0.141 -0.084  0.127  0.277 -1.023]
+t: 48	 action: [ 0.204  0.041 -0.145 -0.083  0.142  0.281 -0.99 ]
+t: 49	 action: [ 0.214  0.06  -0.147 -0.077  0.159  0.264 -1.03 ]
+t: 50	 action: [ 0.219  0.027 -0.162 -0.068  0.18   0.254 -1.004]
+t: 51	 action: [ 0.246  0.016 -0.195 -0.054  0.19   0.233 -1.01 ]
+t: 52	 action: [ 0.255  0.013 -0.171 -0.06   0.196  0.234 -1.003]
+t: 53	 action: [ 0.285 -0.005 -0.189 -0.047  0.211  0.21  -1.006]
+t: 54	 action: [ 0.263 -0.006 -0.163 -0.059  0.205  0.216 -0.995]
+t: 55	 action: [ 0.279  0.002 -0.153 -0.045  0.215  0.198 -1.037]
+t: 56	 action: [ 0.288 -0.022 -0.173 -0.047  0.218  0.193 -0.997]
+t: 57	 action: [ 0.3   -0.027 -0.154 -0.037  0.226  0.18  -1.031]
+[07-31 00:35:58|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.988 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=58: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.5268
+INFO:cosmos_policy.experiments.robot.robot_utils:t=58: Selected seed 195 with value = 0.5268
+Query 1/1: Action query time = 0.988 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5268
+t=58: Selected seed 195 with value = 0.5268
+t: 58	 action: [ 0.224 -0.015 -0.144 -0.044  0.235  0.228 -0.998]
+t: 59	 action: [ 0.237 -0.022 -0.109 -0.038  0.229  0.214 -1.001]
+t: 60	 action: [ 0.24  -0.027 -0.107 -0.045  0.221  0.226 -1.005]
+t: 61	 action: [ 0.274 -0.042 -0.077 -0.035  0.207  0.201 -1.018]
+t: 62	 action: [ 0.311 -0.033 -0.069 -0.049  0.211  0.206 -1.01 ]
+t: 63	 action: [ 0.301 -0.058 -0.065 -0.039  0.191  0.193 -1.032]
+t: 64	 action: [ 0.321 -0.085 -0.073 -0.041  0.191  0.194 -1.017]
+t: 65	 action: [ 0.321 -0.103 -0.074 -0.036  0.165  0.176 -1.04 ]
+t: 66	 action: [ 0.354 -0.193 -0.075 -0.045  0.177  0.176 -1.031]
+t: 67	 action: [ 0.372 -0.192 -0.087 -0.012  0.156  0.142 -1.028]
+t: 68	 action: [ 0.352 -0.261 -0.055 -0.02   0.144  0.169 -1.03 ]
+t: 69	 action: [ 0.364 -0.265 -0.074 -0.005  0.112  0.133 -1.024]
+t: 70	 action: [ 0.338 -0.327 -0.034 -0.004  0.122  0.145 -1.029]
+t: 71	 action: [ 3.177e-01 -3.560e-01 -1.645e-02 -5.370e-04  8.468e-02  1.204e-01 -1.040e+00]
+t: 72	 action: [ 0.296 -0.384 -0.042  0.007  0.082  0.122 -1.029]
+t: 73	 action: [ 0.255 -0.398 -0.01   0.005  0.046  0.107 -1.036]
+[07-31 00:35:59|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.969 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=74: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.6252
+INFO:cosmos_policy.experiments.robot.robot_utils:t=74: Selected seed 195 with value = 0.6252
+Query 1/1: Action query time = 0.969 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6252
+t=74: Selected seed 195 with value = 0.6252
+t: 74	 action: [ 0.097 -0.341 -0.011 -0.032  0.058  0.148 -0.995]
+t: 75	 action: [ 0.098 -0.377  0.005 -0.009  0.027  0.139 -1.011]
+t: 76	 action: [ 0.063 -0.378 -0.045 -0.008  0.025  0.159 -0.992]
+t: 77	 action: [ 0.06  -0.374 -0.006 -0.001  0.008  0.133 -1.016]
+t: 78	 action: [ 2.976e-02 -3.746e-01 -3.312e-02  5.873e-04  6.349e-03  1.369e-01 -9.880e-01]
+t: 79	 action: [ 0.045 -0.448 -0.023  0.008 -0.004  0.135 -1.032]
+t: 80	 action: [ 9.604e-03 -3.769e-01 -6.979e-02  9.870e-04 -1.959e-02  1.351e-01 -9.874e-01]
+t: 81	 action: [ 0.017 -0.398 -0.052  0.007 -0.028  0.12  -1.028]
+t: 82	 action: [ 0.002 -0.43  -0.048 -0.004 -0.035  0.11  -1.011]
+t: 83	 action: [-6.031e-04 -3.854e-01 -2.913e-02  7.343e-03 -4.826e-02  8.615e-02 -1.020e+00]
+t: 84	 action: [-0.06  -0.428 -0.077  0.002 -0.058  0.101 -1.005]
+t: 85	 action: [-0.071 -0.368 -0.065  0.009 -0.065  0.077 -1.008]
+t: 86	 action: [-0.125 -0.442 -0.102  0.006 -0.076  0.09  -1.005]
+t: 87	 action: [-0.174 -0.406 -0.105  0.015 -0.074  0.075 -1.032]
+t: 88	 action: [-0.189 -0.422 -0.116  0.006 -0.09   0.085 -1.003]
+t: 89	 action: [-0.238 -0.372 -0.124  0.017 -0.077  0.07  -1.028]
+[07-31 00:36:00|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.981 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=90: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.7097
+INFO:cosmos_policy.experiments.robot.robot_utils:t=90: Selected seed 195 with value = 0.7097
+Query 1/1: Action query time = 0.981 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7097
+t=90: Selected seed 195 with value = 0.7097
+t: 90	 action: [ 0.063 -0.259 -0.028 -0.008 -0.007  0.061 -0.98 ]
+t: 91	 action: [ 0.064 -0.247 -0.013 -0.003 -0.014  0.062 -0.988]
+t: 92	 action: [-0.006 -0.254 -0.045 -0.004 -0.02   0.081 -0.98 ]
+t: 93	 action: [ 0.015 -0.252 -0.028  0.002 -0.019  0.072 -1.007]
+t: 94	 action: [-0.037 -0.233 -0.082 -0.002 -0.016  0.078 -0.983]
+t: 95	 action: [-0.06  -0.261 -0.073  0.004 -0.029  0.072 -1.031]
+t: 96	 action: [-0.143 -0.264 -0.113 -0.002 -0.026  0.1   -0.986]
+t: 97	 action: [-0.184 -0.255 -0.14   0.008 -0.033  0.083 -1.029]
+t: 98	 action: [-0.233 -0.341 -0.044 -0.012 -0.036  0.106 -0.99 ]
+t: 99	 action: [-2.849e-01 -2.428e-01 -9.889e-02  8.983e-04 -3.825e-02  9.035e-02 -1.010e+00]
+t: 100	 action: [-0.349 -0.339 -0.084 -0.02  -0.053  0.121 -0.984]
+t: 101	 action: [-0.366 -0.223 -0.141 -0.002 -0.056  0.109 -1.001]
+t: 102	 action: [-4.356e-01 -2.649e-01 -1.414e-01 -2.198e-04 -6.689e-02  1.180e-01 -9.912e-01]
+t: 103	 action: [-0.445 -0.218 -0.172  0.007 -0.067  0.097 -1.037]
+t: 104	 action: [-0.501 -0.24  -0.136 -0.004 -0.099  0.137 -0.98 ]
+t: 105	 action: [-0.49  -0.186 -0.147  0.003 -0.082  0.114 -1.027]
+[07-31 00:36:01|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.983 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=106: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.7611
+INFO:cosmos_policy.experiments.robot.robot_utils:t=106: Selected seed 195 with value = 0.7611
+Query 1/1: Action query time = 0.983 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7611
+t=106: Selected seed 195 with value = 0.7611
+t: 106	 action: [-0.209 -0.389 -0.152 -0.001 -0.015  0.032 -0.996]
+t: 107	 action: [-0.207 -0.446 -0.146  0.016 -0.006  0.04  -1.013]
+t: 108	 action: [-0.244 -0.371 -0.198  0.006 -0.018  0.036 -0.989]
+t: 109	 action: [-0.239 -0.413 -0.183  0.03  -0.006  0.04  -1.015]
+t: 110	 action: [-0.25  -0.383 -0.243  0.032 -0.007  0.045 -0.995]
+t: 111	 action: [-0.275 -0.429 -0.242  0.046 -0.005  0.047 -1.042]
+t: 112	 action: [-0.278 -0.363 -0.393  0.041 -0.007  0.052 -0.985]
+t: 113	 action: [-2.852e-01 -3.546e-01 -4.722e-01  5.340e-02 -8.771e-04  4.371e-02 -1.031e+00]
+t: 114	 action: [-0.273 -0.377 -0.301  0.043 -0.026  0.063 -0.998]
+t: 115	 action: [-0.253 -0.39  -0.368  0.051 -0.015  0.06  -1.023]
+t: 116	 action: [-0.262 -0.315 -0.437  0.055 -0.03   0.062 -0.996]
+t: 117	 action: [-0.245 -0.316 -0.539  0.052 -0.012  0.065 -1.022]
+t: 118	 action: [-0.331 -0.26  -0.72   0.062 -0.029  0.063 -0.999]
+t: 119	 action: [-0.324 -0.189 -0.797  0.068 -0.032  0.061 -1.052]
+t: 120	 action: [-0.308 -0.131 -0.87   0.054 -0.029  0.061 -0.991]
+t: 121	 action: [-0.307  0.002 -0.873  0.053 -0.028  0.066 -1.049]
+[07-31 00:36:03|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.979 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=122: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.7510
+INFO:cosmos_policy.experiments.robot.robot_utils:t=122: Selected seed 195 with value = 0.7510
+Query 1/1: Action query time = 0.979 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7510
+t=122: Selected seed 195 with value = 0.7510
+t: 122	 action: [-0.1   -0.363 -0.207  0.002 -0.02  -0.023 -1.   ]
+t: 123	 action: [-0.052 -0.399 -0.183  0.014 -0.02  -0.04  -1.02 ]
+t: 124	 action: [-0.149 -0.358 -0.237  0.004 -0.027 -0.031 -0.996]
+t: 125	 action: [-0.114 -0.382 -0.219  0.017 -0.021 -0.041 -1.019]
+t: 126	 action: [-0.158 -0.335 -0.197  0.011 -0.016 -0.033 -0.989]
+t: 127	 action: [-0.173 -0.334 -0.204  0.027 -0.023 -0.042 -1.047]
+t: 128	 action: [-0.191 -0.31  -0.238  0.011 -0.013 -0.03  -0.986]
+t: 129	 action: [-0.219 -0.308 -0.272  0.025 -0.014 -0.042 -1.039]
+t: 130	 action: [-0.247 -0.387 -0.289  0.019 -0.033  0.006 -0.997]
+t: 131	 action: [-0.228 -0.357 -0.334  0.024 -0.034 -0.003 -1.026]
+t: 132	 action: [-0.281 -0.387 -0.427  0.019 -0.034  0.008 -1.002]
+t: 133	 action: [-0.258 -0.332 -0.513  0.022 -0.039  0.004 -1.026]
+t: 134	 action: [-2.826e-01 -2.735e-01 -6.968e-01  2.681e-02 -3.676e-02  7.581e-04 -9.943e-01]
+t: 135	 action: [-2.988e-01 -1.949e-01 -7.394e-01  3.667e-02 -3.438e-02  3.963e-04 -1.037e+00]
+t: 136	 action: [-0.278 -0.214 -0.913  0.021 -0.026  0.003 -0.992]
+t: 137	 action: [-0.297 -0.12  -0.891  0.031 -0.019  0.009 -1.051]
+[07-31 00:36:04|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.987 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=138: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.7310
+INFO:cosmos_policy.experiments.robot.robot_utils:t=138: Selected seed 195 with value = 0.7310
+Query 1/1: Action query time = 0.987 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7310
+t=138: Selected seed 195 with value = 0.7310
+t: 138	 action: [-0.05  -0.275 -0.016 -0.009 -0.011 -0.008 -0.999]
+t: 139	 action: [-0.002 -0.249  0.039 -0.001 -0.006 -0.018 -1.018]
+t: 140	 action: [-0.104 -0.291 -0.045 -0.006 -0.016 -0.006 -0.992]
+t: 141	 action: [-0.051 -0.27   0.012  0.006 -0.003 -0.021 -1.024]
+t: 142	 action: [-0.137 -0.26  -0.037  0.004 -0.012 -0.007 -0.986]
+t: 143	 action: [-0.089 -0.241 -0.018  0.016 -0.005 -0.014 -1.052]
+t: 144	 action: [-0.195 -0.275 -0.076  0.009 -0.005 -0.004 -0.981]
+t: 145	 action: [-0.158 -0.237 -0.054  0.019 -0.001 -0.014 -1.045]
+t: 146	 action: [-0.195 -0.387 -0.135  0.005 -0.027  0.015 -0.988]
+t: 147	 action: [-0.203 -0.332 -0.091  0.021 -0.023  0.015 -1.025]
+t: 148	 action: [-0.292 -0.405 -0.265  0.01  -0.036  0.027 -0.987]
+t: 149	 action: [-0.29  -0.34  -0.22   0.019 -0.039  0.034 -1.021]
+t: 150	 action: [-0.423 -0.367 -0.274  0.018 -0.043  0.033 -0.983]
+t: 151	 action: [-0.426 -0.276 -0.32   0.028 -0.042  0.035 -1.045]
+t: 152	 action: [-0.518 -0.373 -0.448  0.022 -0.043  0.057 -0.976]
+t: 153	 action: [-0.502 -0.245 -0.504  0.031 -0.036  0.058 -1.044]
+[07-31 00:36:05|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.978 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=154: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.7405
+INFO:cosmos_policy.experiments.robot.robot_utils:t=154: Selected seed 195 with value = 0.7405
+Query 1/1: Action query time = 0.978 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7405
+t=154: Selected seed 195 with value = 0.7405
+t: 154	 action: [ 0.043 -0.26  -0.052 -0.009  0.003 -0.017 -1.021]
+t: 155	 action: [ 0.066 -0.3   -0.018 -0.005 -0.002 -0.042 -1.035]
+t: 156	 action: [-1.641e-02 -2.950e-01 -1.253e-01 -1.931e-04 -1.560e-02 -3.370e-02 -1.021e+00]
+t: 157	 action: [ 0.021 -0.326 -0.083  0.005 -0.013 -0.052 -1.04 ]
+t: 158	 action: [-0.041 -0.308 -0.138  0.008 -0.001 -0.04  -1.016]
+t: 159	 action: [-0.053 -0.293 -0.144  0.02  -0.017 -0.049 -1.061]
+t: 160	 action: [-0.081 -0.281 -0.247  0.007 -0.013 -0.043 -1.014]
+t: 161	 action: [-0.096 -0.259 -0.269  0.02  -0.021 -0.057 -1.06 ]
+t: 162	 action: [-0.145 -0.333 -0.261  0.018 -0.03  -0.004 -1.025]
+t: 163	 action: [-0.122 -0.309 -0.271  0.022 -0.041 -0.013 -1.043]
+t: 164	 action: [-1.591e-01 -3.251e-01 -3.689e-01  1.887e-02 -3.827e-02  7.386e-04 -1.032e+00]
+t: 165	 action: [-0.134 -0.288 -0.426  0.019 -0.048 -0.006 -1.039]
+t: 166	 action: [-0.134 -0.245 -0.64   0.027 -0.031 -0.003 -1.015]
+t: 167	 action: [-0.131 -0.181 -0.623  0.038 -0.031 -0.009 -1.054]
+t: 168	 action: [-0.128 -0.178 -0.805  0.018 -0.024 -0.002 -1.017]
+t: 169	 action: [-1.230e-01 -1.192e-01 -7.480e-01  3.017e-02 -1.416e-02  3.319e-04 -1.059e+00]
+[07-31 00:36:07|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.978 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=170: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.7012
+INFO:cosmos_policy.experiments.robot.robot_utils:t=170: Selected seed 195 with value = 0.7012
+Query 1/1: Action query time = 0.978 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7012
+t=170: Selected seed 195 with value = 0.7012
+t: 170	 action: [-0.031 -0.228 -0.004 -0.005  0.002 -0.025 -1.003]
+t: 171	 action: [ 1.353e-06 -1.786e-01  2.677e-02 -1.422e-03  3.821e-03 -2.708e-02 -1.013e+00]
+t: 172	 action: [-9.588e-02 -2.420e-01 -2.429e-02 -3.029e-03 -7.593e-04 -2.220e-02 -9.944e-01]
+t: 173	 action: [-0.057 -0.196  0.008  0.005  0.001 -0.028 -1.02 ]
+t: 174	 action: [-1.298e-01 -2.047e-01 -7.686e-03  1.563e-03 -2.347e-04 -2.118e-02 -1.001e+00]
+t: 175	 action: [-1.216e-01 -1.718e-01 -5.619e-03  1.249e-02  2.937e-04 -2.267e-02 -1.048e+00]
+t: 176	 action: [-0.179 -0.223 -0.041  0.004  0.003 -0.011 -0.993]
+t: 177	 action: [-0.172 -0.177 -0.03   0.015  0.001 -0.019 -1.045]
+t: 178	 action: [-0.164 -0.344 -0.098  0.005 -0.014  0.012 -0.994]
+t: 179	 action: [-0.178 -0.282 -0.067  0.019 -0.009  0.007 -1.022]
+t: 180	 action: [-0.258 -0.387 -0.203  0.007 -0.024  0.021 -0.99 ]
+t: 181	 action: [-0.267 -0.321 -0.169  0.016 -0.024  0.026 -1.019]
+t: 182	 action: [-0.378 -0.354 -0.243  0.007 -0.031  0.024 -0.995]
+t: 183	 action: [-0.417 -0.262 -0.27   0.025 -0.029  0.029 -1.043]
+t: 184	 action: [-0.486 -0.367 -0.391  0.005 -0.035  0.051 -0.987]
+t: 185	 action: [-0.509 -0.256 -0.428  0.024 -0.033  0.05  -1.044]
+[07-31 00:36:08|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.980 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=186: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.7451
+INFO:cosmos_policy.experiments.robot.robot_utils:t=186: Selected seed 195 with value = 0.7451
+Query 1/1: Action query time = 0.980 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7451
+t=186: Selected seed 195 with value = 0.7451
+t: 186	 action: [-0.116 -0.359 -0.205  0.006 -0.019 -0.017 -1.004]
+t: 187	 action: [-0.079 -0.369 -0.256  0.02  -0.016 -0.016 -1.028]
+t: 188	 action: [-0.133 -0.352 -0.295  0.013 -0.017 -0.024 -1.008]
+t: 189	 action: [-0.091 -0.337 -0.352  0.022 -0.012 -0.02  -1.03 ]
+t: 190	 action: [-0.124 -0.25  -0.31   0.016 -0.005 -0.022 -1.004]
+t: 191	 action: [-0.138 -0.23  -0.359  0.03  -0.008 -0.016 -1.055]
+t: 192	 action: [-1.045e-01 -1.739e-01 -4.623e-01  1.649e-02  6.839e-04 -2.123e-02 -1.003e+00]
+t: 193	 action: [-0.123 -0.16  -0.511  0.025 -0.002 -0.021 -1.045]
+t: 194	 action: [-0.129 -0.311 -0.331  0.027 -0.012 -0.002 -1.01 ]
+t: 195	 action: [-0.079 -0.319 -0.407  0.033 -0.004 -0.018 -1.033]
+t: 196	 action: [-0.123 -0.322 -0.491  0.027 -0.011 -0.006 -1.016]
+t: 197	 action: [-0.072 -0.29  -0.547  0.027 -0.003 -0.016 -1.034]
+t: 198	 action: [-0.136 -0.225 -0.748  0.041 -0.011 -0.007 -1.013]
+t: 199	 action: [-0.152 -0.122 -0.756  0.036 -0.013 -0.02  -1.056]
+t: 200	 action: [-0.119 -0.115 -0.891  0.019 -0.003 -0.009 -1.012]
+t: 201	 action: [-0.149 -0.004 -0.865  0.02  -0.005 -0.014 -1.062]
+[07-31 00:36:09|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.989 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=202: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.7549
+INFO:cosmos_policy.experiments.robot.robot_utils:t=202: Selected seed 195 with value = 0.7549
+Query 1/1: Action query time = 0.989 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7549
+t=202: Selected seed 195 with value = 0.7549
+t: 202	 action: [-0.135 -0.264 -0.175 -0.003 -0.004 -0.002 -1.002]
+t: 203	 action: [-1.371e-01 -2.652e-01 -1.526e-01  2.118e-02 -6.344e-03  3.851e-05 -1.015e+00]
+t: 204	 action: [-0.191 -0.329 -0.237  0.007 -0.003  0.005 -0.996]
+t: 205	 action: [-1.597e-01 -2.969e-01 -2.289e-01  2.694e-02 -9.208e-04  8.951e-03 -1.020e+00]
+t: 206	 action: [-0.19  -0.237 -0.296  0.012 -0.001  0.002 -0.999]
+t: 207	 action: [-2.101e-01 -2.273e-01 -2.906e-01  3.433e-02 -4.049e-04  1.367e-02 -1.041e+00]
+t: 208	 action: [-0.227 -0.29  -0.418  0.018  0.004  0.012 -0.99 ]
+t: 209	 action: [-0.217 -0.209 -0.437  0.037  0.008  0.022 -1.033]
+t: 210	 action: [-0.178 -0.302 -0.231  0.013 -0.011  0.009 -1.003]
+t: 211	 action: [-1.403e-01 -2.691e-01 -1.776e-01  2.520e-02 -6.772e-04  4.191e-03 -1.020e+00]
+t: 212	 action: [-0.202 -0.333 -0.311  0.022 -0.007  0.011 -1.003]
+t: 213	 action: [-1.529e-01 -2.820e-01 -3.083e-01  2.620e-02  8.828e-04  1.432e-02 -1.025e+00]
+t: 214	 action: [-0.248 -0.306 -0.474  0.018 -0.009  0.005 -1.004]
+t: 215	 action: [-0.258 -0.198 -0.548  0.031 -0.012  0.015 -1.047]
+t: 216	 action: [-0.256 -0.285 -0.654  0.018 -0.001  0.016 -0.996]
+t: 217	 action: [-0.263 -0.117 -0.747  0.029 -0.001  0.027 -1.044]
+[07-31 00:36:10|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.974 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=218: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.7662
+INFO:cosmos_policy.experiments.robot.robot_utils:t=218: Selected seed 195 with value = 0.7662
+Query 1/1: Action query time = 0.974 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7662
+t=218: Selected seed 195 with value = 0.7662
+t: 218	 action: [-0.172 -0.329 -0.187  0.006 -0.02   0.003 -1.005]
+t: 219	 action: [-1.354e-01 -3.314e-01 -1.452e-01  1.837e-02 -2.162e-02  4.126e-04 -1.017e+00]
+t: 220	 action: [-0.191 -0.398 -0.189  0.014 -0.022  0.006 -1.005]
+t: 221	 action: [-0.143 -0.364 -0.188  0.022 -0.026  0.009 -1.017]
+t: 222	 action: [-0.21  -0.369 -0.286  0.012 -0.018 -0.002 -1.009]
+t: 223	 action: [-0.232 -0.313 -0.366  0.032 -0.026  0.013 -1.052]
+t: 224	 action: [-0.231 -0.337 -0.554  0.016 -0.016  0.002 -1.003]
+t: 225	 action: [-0.24  -0.23  -0.697  0.038 -0.019  0.019 -1.035]
+t: 226	 action: [-0.149  0.014 -0.579  0.028  0.003  0.011 -0.987]
+t: 227	 action: [-0.118  0.033 -0.663  0.026  0.011  0.015 -1.011]
+t: 228	 action: [-0.132  0.128 -0.652  0.022  0.01   0.014 -0.988]
+t: 229	 action: [-0.093  0.15  -0.74   0.02   0.02   0.018 -1.012]
+t: 230	 action: [-0.217  0.153 -0.647  0.013  0.014  0.021 -1.   ]
+t: 231	 action: [-0.22   0.223 -0.729  0.026  0.008  0.026 -1.037]
+t: 232	 action: [-0.219  0.279 -0.615  0.005  0.022  0.031 -0.993]
+t: 233	 action: [-0.223  0.367 -0.686  0.015  0.018  0.03  -1.036]
+[07-31 00:36:12|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.981 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=234: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.7552
+INFO:cosmos_policy.experiments.robot.robot_utils:t=234: Selected seed 195 with value = 0.7552
+Query 1/1: Action query time = 0.981 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7552
+t=234: Selected seed 195 with value = 0.7552
+t: 234	 action: [-0.167 -0.356 -0.102  0.01  -0.025  0.001 -1.005]
+t: 235	 action: [-0.144 -0.353 -0.065  0.024 -0.026 -0.002 -1.017]
+t: 236	 action: [-0.19  -0.409 -0.14   0.017 -0.024  0.005 -1.001]
+t: 237	 action: [-0.161 -0.364 -0.124  0.025 -0.029  0.005 -1.017]
+t: 238	 action: [-0.211 -0.373 -0.211  0.016 -0.023 -0.003 -1.01 ]
+t: 239	 action: [-0.242 -0.31  -0.27   0.033 -0.032  0.007 -1.059]
+t: 240	 action: [-2.379e-01 -3.548e-01 -4.037e-01  1.579e-02 -1.657e-02  2.405e-05 -1.002e+00]
+t: 241	 action: [-0.256 -0.249 -0.524  0.036 -0.023  0.014 -1.044]
+t: 242	 action: [-0.185 -0.207 -0.226  0.032 -0.013  0.004 -0.994]
+t: 243	 action: [-0.174 -0.189 -0.244  0.038 -0.01   0.004 -1.016]
+t: 244	 action: [-0.181 -0.182 -0.299  0.032 -0.005  0.007 -0.993]
+t: 245	 action: [-0.137 -0.173 -0.345  0.033  0.006  0.01  -1.018]
+t: 246	 action: [-2.071e-01 -1.843e-01 -4.568e-01  3.340e-02  5.474e-04  2.209e-03 -1.005e+00]
+t: 247	 action: [-0.238 -0.154 -0.484  0.049  0.006  0.014 -1.048]
+t: 248	 action: [-0.208 -0.2   -0.477  0.023  0.012  0.015 -0.996]
+t: 249	 action: [-0.219 -0.14  -0.503  0.037  0.018  0.023 -1.044]
+[07-31 00:36:13|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.984 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=250: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.7709
+INFO:cosmos_policy.experiments.robot.robot_utils:t=250: Selected seed 195 with value = 0.7709
+Query 1/1: Action query time = 0.984 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7709
+t=250: Selected seed 195 with value = 0.7709
+t: 250	 action: [-0.208 -0.293 -0.234  0.008 -0.017  0.006 -0.995]
+t: 251	 action: [-0.168 -0.276 -0.195  0.014 -0.019  0.003 -1.014]
+t: 252	 action: [-0.223 -0.353 -0.245  0.014 -0.016  0.007 -0.993]
+t: 253	 action: [-0.162 -0.316 -0.238  0.017 -0.017  0.01  -1.012]
+t: 254	 action: [-0.235 -0.279 -0.375  0.006 -0.008 -0.001 -1.005]
+t: 255	 action: [-0.255 -0.242 -0.426  0.027 -0.012  0.015 -1.052]
+t: 256	 action: [-0.251 -0.243 -0.601  0.01  -0.003  0.002 -0.997]
+t: 257	 action: [-0.258 -0.158 -0.697  0.03  -0.005  0.019 -1.036]
+t: 258	 action: [-0.186  0.146 -0.57   0.019  0.004  0.015 -0.975]
+t: 259	 action: [-0.161  0.187 -0.664  0.018  0.016  0.019 -1.006]
+t: 260	 action: [-0.17   0.268 -0.597  0.011  0.012  0.018 -0.975]
+t: 261	 action: [-0.126  0.276 -0.692  0.012  0.026  0.02  -1.007]
+t: 262	 action: [-0.236  0.336 -0.597  0.002  0.017  0.028 -0.993]
+t: 263	 action: [-0.245  0.339 -0.657  0.018  0.016  0.029 -1.036]
+t: 264	 action: [-0.244  0.385 -0.559 -0.002  0.026  0.034 -0.983]
+t: 265	 action: [-0.24   0.412 -0.558  0.01   0.026  0.03  -1.037]
+[07-31 00:36:14|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.968 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=266: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.7402
+INFO:cosmos_policy.experiments.robot.robot_utils:t=266: Selected seed 195 with value = 0.7402
+Query 1/1: Action query time = 0.968 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7402
+t=266: Selected seed 195 with value = 0.7402
+t: 266	 action: [-0.202 -0.268 -0.199  0.007 -0.006  0.004 -1.001]
+t: 267	 action: [-0.203 -0.229 -0.142  0.025 -0.005  0.002 -1.005]
+t: 268	 action: [-2.246e-01 -3.127e-01 -2.385e-01  1.674e-02 -3.161e-05  7.069e-03 -9.913e-01]
+t: 269	 action: [-1.988e-01 -2.545e-01 -2.089e-01  2.626e-02  9.716e-04  9.921e-03 -1.010e+00]
+t: 270	 action: [-2.380e-01 -2.540e-01 -3.280e-01  7.941e-03 -3.666e-04  2.610e-03 -1.008e+00]
+t: 271	 action: [-0.271 -0.196 -0.324  0.033 -0.002  0.016 -1.043]
+t: 272	 action: [-0.257 -0.281 -0.448  0.012  0.01   0.017 -0.994]
+t: 273	 action: [-0.265 -0.185 -0.489  0.034  0.007  0.024 -1.033]
+t: 274	 action: [-0.203 -0.229 -0.213  0.019 -0.007  0.006 -0.995]
+t: 275	 action: [-0.203 -0.217 -0.124  0.027  0.002  0.003 -1.008]
+t: 276	 action: [-2.250e-01 -2.584e-01 -2.497e-01  2.421e-02 -6.252e-04  8.402e-03 -9.942e-01]
+t: 277	 action: [-0.19  -0.239 -0.206  0.027  0.009  0.012 -1.015]
+t: 278	 action: [-0.229 -0.226 -0.379  0.013 -0.002  0.007 -1.007]
+t: 279	 action: [-0.286 -0.185 -0.398  0.034  0.003  0.018 -1.043]
+t: 280	 action: [-0.249 -0.252 -0.515  0.013  0.009  0.02  -0.996]
+t: 281	 action: [-0.284 -0.167 -0.545  0.033  0.016  0.028 -1.042]
+[07-31 00:36:16|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.982 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=282: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.7778
+INFO:cosmos_policy.experiments.robot.robot_utils:t=282: Selected seed 195 with value = 0.7778
+Query 1/1: Action query time = 0.982 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7778
+t=282: Selected seed 195 with value = 0.7778
+t: 282	 action: [-0.138 -0.17  -0.403  0.014  0.009  0.003 -1.009]
+t: 283	 action: [-6.861e-02 -1.933e-01 -3.957e-01  2.041e-02  1.076e-02  7.354e-04 -1.027e+00]
+t: 284	 action: [-0.117 -0.122 -0.474  0.016  0.014  0.004 -1.005]
+t: 285	 action: [-0.057 -0.127 -0.484  0.021  0.011  0.002 -1.023]
+t: 286	 action: [-0.126 -0.056 -0.511  0.006  0.02  -0.001 -1.014]
+t: 287	 action: [-0.118 -0.044 -0.594  0.02   0.011  0.004 -1.047]
+t: 288	 action: [-0.116  0.021 -0.636  0.002  0.027 -0.002 -1.003]
+t: 289	 action: [-0.121  0.064 -0.797  0.014  0.012  0.004 -1.038]
+t: 290	 action: [-0.111  0.012 -0.51   0.025  0.018  0.001 -0.991]
+t: 291	 action: [-0.085 -0.042 -0.547  0.03   0.032 -0.003 -1.028]
+t: 292	 action: [-0.085  0.028 -0.651  0.014  0.023  0.002 -0.992]
+t: 293	 action: [-6.328e-02  2.777e-02 -6.617e-01  2.385e-02  3.420e-02  2.496e-06 -1.021e+00]
+t: 294	 action: [-0.14   0.113 -0.654  0.001  0.03  -0.002 -1.005]
+t: 295	 action: [-0.174  0.095 -0.705  0.013  0.037  0.002 -1.047]
+t: 296	 action: [-0.137  0.131 -0.726 -0.007  0.035 -0.001 -0.995]
+t: 297	 action: [-0.167  0.232 -0.756  0.006  0.038  0.005 -1.044]
+[07-31 00:36:17|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.986 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=298: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.7642
+INFO:cosmos_policy.experiments.robot.robot_utils:t=298: Selected seed 195 with value = 0.7642
+WARNING:imageio_ffmpeg:IMAGEIO FFMPEG_WRITER WARNING: input image is not divisible by macro_block_size=16, resizing from (896, 284) to (896, 288) to ensure video compatibility with most codecs and players. To prevent resizing, make your input image divisible by the macro_block_size or set the macro_block_size to 1 (risking incompatibility).
+INFO:cosmos_policy.experiments.robot.robot_utils:Success: False
+INFO:cosmos_policy.experiments.robot.robot_utils:# episodes completed so far: 20
+INFO:cosmos_policy.experiments.robot.robot_utils:# successes: 9 (45.0%)
+
+
 40%|████      | 20/50 [08:23<14:27, 28.91s/it]INFO:cosmos_policy.experiments.robot.robot_utils:
+Task: open the middle drawer of the cabinet
+INFO:cosmos_policy.experiments.robot.robot_utils:Starting episode 21...
+Query 1/1: Action query time = 0.986 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7642
+t=298: Selected seed 195 with value = 0.7642
+t: 298	 action: [-0.214 -0.206 -0.263  0.005 -0.01   0.011 -0.993]
+t: 299	 action: [-0.185 -0.183 -0.191  0.009 -0.006  0.01  -1.005]
+t: 300	 action: [-0.238 -0.276 -0.291  0.01  -0.006  0.012 -0.986]
+t: 301	 action: [-0.184 -0.245 -0.227  0.011 -0.002  0.016 -1.009]
+t: 302	 action: [-2.425e-01 -2.322e-01 -4.138e-01 -1.162e-04 -1.224e-04  6.733e-03 -1.004e+00]
+t: 303	 action: [-0.278 -0.183 -0.444  0.022 -0.001  0.024 -1.043]
+t: 304	 action: [-0.27  -0.208 -0.628  0.003  0.007  0.02  -0.992]
+t: 305	 action: [-0.284 -0.12  -0.664  0.026  0.004  0.029 -1.036]
+t: 306	 action: [-0.219  0.214 -0.487  0.006 -0.008  0.016 -0.977]
+t: 307	 action: [-0.215  0.249 -0.543  0.01   0.009  0.02  -0.997]
+t: 308	 action: [-2.248e-01  3.087e-01 -4.960e-01  4.813e-03  3.026e-04  2.123e-02 -9.768e-01]
+t: 309	 action: [-0.191  0.305 -0.541  0.007  0.017  0.024 -1.002]
+Saved rollout MP4 at path ./rollouts/None/2026_07_31-00_27_45--episode=20--success=False--task=open_the_middle_drawer_of_the_cabinet.mp4
+300 300 19 19
+Saved rollout MP4 at path ./rollouts/None/2026_07_31-00_27_45--with_future_img--episode=20--success=False--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: False
+# episodes completed so far: 20
+# successes: 9 (45.0%)
+
+Task: open the middle drawer of the cabinet
+Starting episode 21...
+[07-31 00:36:25|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.986 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=10: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.3392
+INFO:cosmos_policy.experiments.robot.robot_utils:t=10: Selected seed 195 with value = 0.3392
+Query 1/1: Action query time = 0.986 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3392
+t=10: Selected seed 195 with value = 0.3392
+t: 10	 action: [ 0.21   0.033 -0.005 -0.002  0.04   0.012 -0.993]
+t: 11	 action: [ 0.342  0.079  0.041 -0.017  0.065  0.02  -0.996]
+t: 12	 action: [ 0.521  0.07   0.004 -0.014  0.073  0.033 -1.012]
+t: 13	 action: [ 0.65   0.111  0.051 -0.022  0.102  0.035 -1.013]
+t: 14	 action: [ 0.695  0.066  0.036 -0.028  0.082  0.044 -1.018]
+t: 15	 action: [ 0.756  0.114  0.044 -0.024  0.087  0.039 -1.046]
+t: 16	 action: [ 0.805  0.092  0.032 -0.039  0.09   0.082 -1.023]
+t: 17	 action: [ 0.819  0.129  0.037 -0.035  0.09   0.052 -1.049]
+t: 18	 action: [ 0.814  0.089  0.046 -0.038  0.043  0.118 -1.033]
+t: 19	 action: [ 0.835  0.075  0.046 -0.044  0.039  0.105 -1.032]
+t: 20	 action: [ 0.811  0.071  0.029 -0.048  0.03   0.13  -1.034]
+t: 21	 action: [ 0.83   0.078  0.015 -0.055  0.016  0.112 -1.029]
+t: 22	 action: [ 0.784  0.066  0.032 -0.054  0.025  0.149 -1.013]
+t: 23	 action: [ 0.759  0.072  0.014 -0.057  0.01   0.131 -1.053]
+t: 24	 action: [ 0.721  0.078  0.002 -0.066  0.016  0.161 -1.016]
+t: 25	 action: [ 0.695  0.092  0.008 -0.07   0.006  0.139 -1.047]
+[07-31 00:36:26|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.983 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=26: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.3906
+INFO:cosmos_policy.experiments.robot.robot_utils:t=26: Selected seed 195 with value = 0.3906
+Query 1/1: Action query time = 0.983 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3906
+t=26: Selected seed 195 with value = 0.3906
+t: 26	 action: [ 0.445  0.017 -0.024 -0.069  0.033  0.201 -1.014]
+t: 27	 action: [ 0.437  0.029 -0.04  -0.07   0.035  0.205 -1.008]
+t: 28	 action: [ 0.359  0.023 -0.072 -0.082  0.042  0.222 -1.006]
+t: 29	 action: [ 0.354  0.042 -0.085 -0.084  0.045  0.222 -1.004]
+t: 30	 action: [ 0.317  0.03  -0.116 -0.106  0.044  0.246 -1.006]
+t: 31	 action: [ 0.274  0.058 -0.173 -0.101  0.045  0.231 -1.034]
+t: 32	 action: [ 0.261  0.036 -0.163 -0.114  0.061  0.263 -1.001]
+t: 33	 action: [ 0.241  0.068 -0.208 -0.11   0.073  0.245 -1.031]
+t: 34	 action: [ 0.191  0.026 -0.151 -0.094  0.101  0.256 -1.009]
+t: 35	 action: [ 0.214  0.02  -0.191 -0.082  0.11   0.234 -1.009]
+t: 36	 action: [ 0.197  0.024 -0.193 -0.098  0.123  0.256 -1.007]
+t: 37	 action: [ 0.231  0.015 -0.214 -0.089  0.137  0.236 -1.008]
+t: 38	 action: [ 0.2    0.017 -0.192 -0.103  0.125  0.269 -1.   ]
+t: 39	 action: [ 0.203  0.043 -0.235 -0.091  0.128  0.24  -1.038]
+t: 40	 action: [ 0.201  0.01  -0.236 -0.096  0.146  0.264 -0.999]
+t: 41	 action: [ 0.207  0.029 -0.257 -0.092  0.144  0.237 -1.036]
+[07-31 00:36:28|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.972 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=42: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.4738
+INFO:cosmos_policy.experiments.robot.robot_utils:t=42: Selected seed 195 with value = 0.4738
+Query 1/1: Action query time = 0.972 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4738
+t=42: Selected seed 195 with value = 0.4738
+t: 42	 action: [ 0.197  0.021 -0.144 -0.087  0.163  0.261 -0.993]
+t: 43	 action: [ 0.204  0.041 -0.132 -0.084  0.171  0.253 -0.993]
+t: 44	 action: [ 0.19   0.021 -0.153 -0.08   0.172  0.266 -0.993]
+t: 45	 action: [ 0.211  0.041 -0.117 -0.078  0.176  0.253 -1.001]
+t: 46	 action: [ 0.196  0.026 -0.162 -0.086  0.182  0.269 -0.999]
+t: 47	 action: [ 0.199  0.039 -0.135 -0.078  0.194  0.254 -1.033]
+t: 48	 action: [ 0.188  0.023 -0.178 -0.075  0.191  0.27  -1.001]
+t: 49	 action: [ 0.195  0.036 -0.141 -0.073  0.198  0.251 -1.036]
+t: 50	 action: [ 0.148 -0.011 -0.164 -0.058  0.209  0.252 -1.004]
+t: 51	 action: [ 0.164 -0.012 -0.176 -0.04   0.217  0.237 -1.012]
+t: 52	 action: [ 0.179 -0.037 -0.152 -0.052  0.217  0.248 -1.005]
+t: 53	 action: [ 0.197 -0.036 -0.164 -0.036  0.218  0.224 -1.013]
+t: 54	 action: [ 0.176 -0.05  -0.143 -0.042  0.207  0.239 -1.001]
+t: 55	 action: [ 0.194 -0.043 -0.119 -0.037  0.204  0.217 -1.045]
+t: 56	 action: [ 0.194 -0.071 -0.146 -0.033  0.209  0.223 -1.004]
+t: 57	 action: [ 0.202 -0.072 -0.135 -0.031  0.198  0.203 -1.038]
+[07-31 00:36:29|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.975 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=58: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.5668
+INFO:cosmos_policy.experiments.robot.robot_utils:t=58: Selected seed 195 with value = 0.5668
+Query 1/1: Action query time = 0.975 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5668
+t=58: Selected seed 195 with value = 0.5668
+t: 58	 action: [ 0.09  -0.077 -0.068 -0.036  0.227  0.236 -0.998]
+t: 59	 action: [ 0.093 -0.104 -0.052 -0.016  0.216  0.224 -0.996]
+t: 60	 action: [ 0.091 -0.102 -0.036 -0.02   0.204  0.24  -1.002]
+t: 61	 action: [ 0.112 -0.132 -0.024 -0.007  0.184  0.219 -1.006]
+t: 62	 action: [ 0.131 -0.196 -0.035 -0.019  0.186  0.234 -1.002]
+t: 63	 action: [ 1.666e-01 -1.926e-01 -2.568e-02 -2.113e-04  1.621e-01  2.155e-01 -1.022e+00]
+t: 64	 action: [ 0.145 -0.257 -0.05  -0.006  0.15   0.229 -1.005]
+t: 65	 action: [ 0.195 -0.237 -0.05   0.004  0.125  0.203 -1.021]
+t: 66	 action: [ 0.159 -0.345 -0.091 -0.01   0.135  0.214 -1.017]
+t: 67	 action: [ 0.187 -0.32  -0.08   0.006  0.094  0.18  -1.019]
+t: 68	 action: [ 0.164 -0.358 -0.114  0.002  0.094  0.206 -1.013]
+t: 69	 action: [ 0.184 -0.334 -0.098  0.008  0.046  0.166 -1.013]
+t: 70	 action: [ 0.151 -0.399 -0.128  0.004  0.052  0.186 -1.011]
+t: 71	 action: [ 0.163 -0.39  -0.067  0.01   0.028  0.146 -1.028]
+t: 72	 action: [ 0.127 -0.378 -0.141  0.006  0.014  0.171 -1.009]
+t: 73	 action: [ 0.099 -0.374 -0.068  0.009  0.008  0.137 -1.017]
+[07-31 00:36:30|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.977 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=74: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.6487
+INFO:cosmos_policy.experiments.robot.robot_utils:t=74: Selected seed 195 with value = 0.6487
+Query 1/1: Action query time = 0.977 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6487
+t=74: Selected seed 195 with value = 0.6487
+t: 74	 action: [ 0.074 -0.372  0.027 -0.006  0.047  0.151 -0.997]
+t: 75	 action: [ 0.063 -0.382  0.037  0.004  0.021  0.143 -1.009]
+t: 76	 action: [ 5.065e-02 -3.837e-01  2.720e-04  5.679e-03  2.177e-02  1.642e-01 -9.897e-01]
+t: 77	 action: [ 0.049 -0.371  0.035  0.01   0.009  0.138 -1.013]
+t: 78	 action: [ 0.019 -0.403 -0.01   0.004  0.012  0.147 -0.993]
+t: 79	 action: [ 0.026 -0.429  0.006  0.016  0.001  0.143 -1.029]
+t: 80	 action: [-0.01  -0.375 -0.03   0.004 -0.007  0.146 -0.988]
+t: 81	 action: [-0.003 -0.375 -0.022  0.015 -0.013  0.124 -1.019]
+t: 82	 action: [-0.055 -0.429 -0.003 -0.003 -0.036  0.117 -1.006]
+t: 83	 action: [-0.082 -0.363  0.012  0.013 -0.046  0.089 -1.013]
+t: 84	 action: [-0.118 -0.411 -0.022  0.005 -0.052  0.106 -0.998]
+t: 85	 action: [-0.14  -0.339 -0.02   0.016 -0.059  0.08  -1.005]
+t: 86	 action: [-0.15  -0.457 -0.047  0.007 -0.065  0.088 -1.002]
+t: 87	 action: [-0.195 -0.387 -0.037  0.02  -0.065  0.074 -1.025]
+t: 88	 action: [-0.194 -0.424 -0.053  0.008 -0.076  0.08  -0.997]
+t: 89	 action: [-0.228 -0.349 -0.054  0.021 -0.067  0.069 -1.024]
+[07-31 00:36:32|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.967 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=90: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.7151
+INFO:cosmos_policy.experiments.robot.robot_utils:t=90: Selected seed 195 with value = 0.7151
+Query 1/1: Action query time = 0.967 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7151
+t=90: Selected seed 195 with value = 0.7151
+t: 90	 action: [ 0.034 -0.331 -0.009  0.005 -0.003  0.074 -0.996]
+t: 91	 action: [ 0.033 -0.367 -0.038  0.014 -0.019  0.074 -0.997]
+t: 92	 action: [-0.041 -0.347 -0.093  0.01  -0.019  0.083 -0.989]
+t: 93	 action: [-0.031 -0.382 -0.09   0.021 -0.026  0.075 -1.009]
+t: 94	 action: [-0.088 -0.374 -0.145  0.011 -0.024  0.07  -0.993]
+t: 95	 action: [-0.115 -0.397 -0.149  0.024 -0.032  0.077 -1.025]
+t: 96	 action: [-0.183 -0.384 -0.193  0.022 -0.031  0.08  -0.987]
+t: 97	 action: [-0.223 -0.37  -0.243  0.028 -0.034  0.075 -1.025]
+t: 98	 action: [-0.249 -0.433 -0.116  0.005 -0.037  0.085 -0.998]
+t: 99	 action: [-0.275 -0.342 -0.167  0.014 -0.04   0.071 -1.016]
+t: 100	 action: [-0.337 -0.43  -0.133  0.002 -0.048  0.097 -0.986]
+t: 101	 action: [-0.33  -0.317 -0.183  0.011 -0.05   0.087 -1.004]
+t: 102	 action: [-0.414 -0.38  -0.171  0.006 -0.058  0.089 -0.992]
+t: 103	 action: [-0.397 -0.313 -0.213  0.016 -0.057  0.075 -1.033]
+t: 104	 action: [-0.484 -0.333 -0.16   0.006 -0.074  0.102 -0.981]
+t: 105	 action: [-0.449 -0.273 -0.197  0.014 -0.065  0.093 -1.024]
+[07-31 00:36:33|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.967 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=106: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.7357
+INFO:cosmos_policy.experiments.robot.robot_utils:t=106: Selected seed 195 with value = 0.7357
+Query 1/1: Action query time = 0.967 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7357
+t=106: Selected seed 195 with value = 0.7357
+t: 106	 action: [ 0.064 -0.265 -0.075 -0.017  0.008 -0.002 -1.02 ]
+t: 107	 action: [ 0.076 -0.323 -0.046 -0.012  0.004 -0.03  -1.037]
+t: 108	 action: [ 0.005 -0.282 -0.163 -0.005 -0.012 -0.022 -1.021]
+t: 109	 action: [ 2.920e-02 -3.303e-01 -1.467e-01  9.156e-04 -5.256e-03 -4.415e-02 -1.038e+00]
+t: 110	 action: [-0.021 -0.306 -0.195  0.006 -0.002 -0.021 -1.016]
+t: 111	 action: [-0.043 -0.301 -0.203  0.015 -0.013 -0.043 -1.059]
+t: 112	 action: [-0.073 -0.29  -0.296  0.006 -0.017 -0.032 -1.014]
+t: 113	 action: [-0.106 -0.262 -0.329  0.019 -0.022 -0.052 -1.058]
+t: 114	 action: [-0.133 -0.337 -0.304  0.013 -0.041  0.009 -1.019]
+t: 115	 action: [-0.127 -0.319 -0.325  0.024 -0.039  0.003 -1.035]
+t: 116	 action: [-0.152 -0.353 -0.401  0.02  -0.05   0.013 -1.029]
+t: 117	 action: [-0.151 -0.304 -0.464  0.024 -0.05   0.01  -1.035]
+t: 118	 action: [-0.116 -0.288 -0.656  0.03  -0.042  0.005 -1.009]
+t: 119	 action: [-0.114 -0.215 -0.659  0.039 -0.037  0.006 -1.052]
+t: 120	 action: [-0.103 -0.203 -0.801  0.028 -0.034  0.008 -1.013]
+t: 121	 action: [-0.108 -0.131 -0.758  0.036 -0.022  0.016 -1.059]
+[07-31 00:36:34|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.988 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=122: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.7310
+INFO:cosmos_policy.experiments.robot.robot_utils:t=122: Selected seed 195 with value = 0.7310
+Query 1/1: Action query time = 0.988 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7310
+t=122: Selected seed 195 with value = 0.7310
+t: 122	 action: [-0.05  -0.28  -0.067 -0.017 -0.003  0.005 -0.988]
+t: 123	 action: [-0.012 -0.285  0.013 -0.008 -0.002 -0.003 -1.004]
+t: 124	 action: [-0.109 -0.314 -0.066 -0.01  -0.011  0.003 -0.986]
+t: 125	 action: [-0.067 -0.313  0.012  0.002 -0.005 -0.007 -1.01 ]
+t: 126	 action: [-0.117 -0.323 -0.051  0.005 -0.003 -0.002 -0.972]
+t: 127	 action: [-0.073 -0.299 -0.003  0.013 -0.007 -0.004 -1.033]
+t: 128	 action: [-0.175 -0.354 -0.069  0.009 -0.005 -0.002 -0.969]
+t: 129	 action: [-0.138 -0.303 -0.014  0.019 -0.009 -0.006 -1.029]
+t: 130	 action: [-0.18  -0.434 -0.071  0.003 -0.032  0.016 -0.985]
+t: 131	 action: [-0.167 -0.384 -0.042  0.018 -0.032  0.009 -1.015]
+t: 132	 action: [-0.253 -0.444 -0.163  0.005 -0.053  0.021 -0.98 ]
+t: 133	 action: [-0.229 -0.39  -0.154  0.015 -0.057  0.022 -1.009]
+t: 134	 action: [-0.323 -0.446 -0.207  0.012 -0.064  0.021 -0.975]
+t: 135	 action: [-0.3   -0.331 -0.267  0.027 -0.067  0.027 -1.037]
+t: 136	 action: [-0.396 -0.425 -0.382  0.014 -0.075  0.044 -0.969]
+t: 137	 action: [-0.372 -0.3   -0.465  0.029 -0.073  0.043 -1.036]
+[07-31 00:36:35|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.002 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=138: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.7492
+INFO:cosmos_policy.experiments.robot.robot_utils:t=138: Selected seed 195 with value = 0.7492
+Query 1/1: Action query time = 1.002 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7492
+t=138: Selected seed 195 with value = 0.7492
+t: 138	 action: [-0.009 -0.327 -0.112 -0.01  -0.007 -0.008 -1.015]
+t: 139	 action: [ 1.684e-02 -3.968e-01 -7.138e-02  3.581e-04 -4.196e-03 -3.294e-02 -1.035e+00]
+t: 140	 action: [-0.063 -0.334 -0.131 -0.004 -0.02  -0.017 -1.014]
+t: 141	 action: [-0.044 -0.392 -0.111  0.009 -0.016 -0.034 -1.029]
+t: 142	 action: [-0.089 -0.339 -0.136  0.009 -0.016 -0.028 -1.001]
+t: 143	 action: [-0.097 -0.368 -0.15   0.023 -0.024 -0.04  -1.053]
+t: 144	 action: [-0.136 -0.331 -0.179  0.013 -0.023 -0.029 -0.999]
+t: 145	 action: [-0.167 -0.352 -0.213  0.027 -0.032 -0.039 -1.044]
+t: 146	 action: [-2.256e-01 -4.107e-01 -2.449e-01  2.175e-02 -6.725e-02 -5.826e-04 -1.006e+00]
+t: 147	 action: [-0.232 -0.388 -0.252  0.028 -0.065 -0.01  -1.03 ]
+t: 148	 action: [-0.268 -0.422 -0.355  0.026 -0.073  0.002 -1.013]
+t: 149	 action: [-0.275 -0.364 -0.418  0.03  -0.079 -0.005 -1.024]
+t: 150	 action: [-0.269 -0.347 -0.527  0.038 -0.074 -0.003 -0.995]
+t: 151	 action: [-0.274 -0.281 -0.607  0.048 -0.055 -0.007 -1.037]
+t: 152	 action: [-0.267 -0.299 -0.812  0.037 -0.056 -0.003 -0.996]
+t: 153	 action: [-2.684e-01 -1.949e-01 -8.351e-01  5.195e-02 -2.631e-02  9.530e-05 -1.044e+00]
+[07-31 00:36:37|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.978 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=154: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.7253
+INFO:cosmos_policy.experiments.robot.robot_utils:t=154: Selected seed 195 with value = 0.7253
+Query 1/1: Action query time = 0.978 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7253
+t=154: Selected seed 195 with value = 0.7253
+t: 154	 action: [-3.969e-02 -2.681e-01 -7.044e-02 -1.470e-02  3.425e-04  2.152e-03 -9.900e-01]
+t: 155	 action: [ 4.181e-04 -2.811e-01  1.293e-02 -6.641e-03  1.497e-04 -7.594e-03 -1.012e+00]
+t: 156	 action: [-9.623e-02 -3.070e-01 -7.125e-02 -8.224e-03 -7.806e-03  7.632e-05 -9.891e-01]
+t: 157	 action: [-0.049 -0.312  0.007  0.003 -0.002 -0.012 -1.015]
+t: 158	 action: [-0.1   -0.31  -0.053  0.004 -0.003 -0.006 -0.974]
+t: 159	 action: [-0.061 -0.296 -0.003  0.012 -0.006 -0.01  -1.039]
+t: 160	 action: [-0.16  -0.335 -0.077  0.008 -0.005 -0.005 -0.974]
+t: 161	 action: [-0.126 -0.301 -0.019  0.018 -0.008 -0.011 -1.035]
+t: 162	 action: [-0.181 -0.42  -0.072  0.004 -0.034  0.009 -0.989]
+t: 163	 action: [-1.772e-01 -3.723e-01 -3.667e-02  1.859e-02 -3.446e-02  2.820e-04 -1.018e+00]
+t: 164	 action: [-0.258 -0.434 -0.161  0.007 -0.054  0.015 -0.987]
+t: 165	 action: [-0.24  -0.378 -0.143  0.017 -0.06   0.013 -1.013]
+t: 166	 action: [-0.329 -0.423 -0.211  0.019 -0.063  0.008 -0.977]
+t: 167	 action: [-0.317 -0.324 -0.258  0.029 -0.068  0.016 -1.036]
+t: 168	 action: [-0.402 -0.4   -0.371  0.021 -0.074  0.029 -0.974]
+t: 169	 action: [-0.381 -0.284 -0.449  0.03  -0.073  0.032 -1.037]
+[07-31 00:36:38|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.998 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=170: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.7355
+INFO:cosmos_policy.experiments.robot.robot_utils:t=170: Selected seed 195 with value = 0.7355
+Query 1/1: Action query time = 0.998 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7355
+t=170: Selected seed 195 with value = 0.7355
+t: 170	 action: [ 3.433e-02 -3.147e-01 -5.760e-02 -8.236e-03 -9.226e-04 -7.042e-03 -1.018e+00]
+t: 171	 action: [ 0.05  -0.354 -0.002 -0.001 -0.005 -0.036 -1.038]
+t: 172	 action: [-0.026 -0.306 -0.077 -0.003 -0.024 -0.018 -1.021]
+t: 173	 action: [-0.008 -0.348 -0.039  0.005 -0.028 -0.039 -1.039]
+t: 174	 action: [-0.07  -0.322 -0.083  0.007 -0.023 -0.033 -1.011]
+t: 175	 action: [-0.066 -0.329 -0.077  0.023 -0.038 -0.047 -1.058]
+t: 176	 action: [-0.11  -0.293 -0.118  0.011 -0.037 -0.034 -1.01 ]
+t: 177	 action: [-0.131 -0.315 -0.139  0.025 -0.049 -0.046 -1.052]
+t: 178	 action: [-0.206 -0.376 -0.18   0.031 -0.068 -0.002 -1.019]
+t: 179	 action: [-0.226 -0.364 -0.174  0.027 -0.075 -0.012 -1.04 ]
+t: 180	 action: [-0.264 -0.39  -0.284  0.032 -0.072  0.002 -1.026]
+t: 181	 action: [-0.28  -0.349 -0.349  0.026 -0.083 -0.005 -1.032]
+t: 182	 action: [-0.257 -0.329 -0.443  0.036 -0.071 -0.005 -1.005]
+t: 183	 action: [-0.277 -0.258 -0.53   0.047 -0.053 -0.012 -1.045]
+t: 184	 action: [-0.283 -0.295 -0.717  0.028 -0.052 -0.003 -1.008]
+t: 185	 action: [-0.284 -0.189 -0.784  0.047 -0.021 -0.002 -1.049]
+[07-31 00:36:39|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.987 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=186: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.7236
+INFO:cosmos_policy.experiments.robot.robot_utils:t=186: Selected seed 195 with value = 0.7236
+Query 1/1: Action query time = 0.987 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7236
+t=186: Selected seed 195 with value = 0.7236
+t: 186	 action: [-0.026 -0.298 -0.074 -0.014 -0.014 -0.005 -1.001]
+t: 187	 action: [ 0.003 -0.334 -0.003 -0.003 -0.009 -0.02  -1.024]
+t: 188	 action: [-0.085 -0.316 -0.089 -0.009 -0.023 -0.006 -0.999]
+t: 189	 action: [-0.051 -0.345 -0.034  0.003 -0.009 -0.019 -1.023]
+t: 190	 action: [-0.103 -0.326 -0.082  0.004 -0.019 -0.01  -0.985]
+t: 191	 action: [-0.083 -0.335 -0.051  0.014 -0.018 -0.02  -1.046]
+t: 192	 action: [-0.159 -0.323 -0.105  0.006 -0.019 -0.008 -0.984]
+t: 193	 action: [-0.143 -0.326 -0.076  0.018 -0.016 -0.017 -1.041]
+t: 194	 action: [-0.215 -0.409 -0.106  0.012 -0.048  0.01  -0.996]
+t: 195	 action: [-2.336e-01 -3.795e-01 -7.368e-02  2.652e-02 -5.209e-02  6.815e-04 -1.026e+00]
+t: 196	 action: [-0.289 -0.425 -0.183  0.02  -0.057  0.013 -0.997]
+t: 197	 action: [-0.286 -0.371 -0.186  0.025 -0.071  0.01  -1.02 ]
+t: 198	 action: [-0.329 -0.368 -0.26   0.036 -0.061  0.003 -0.981]
+t: 199	 action: [-0.329 -0.298 -0.304  0.037 -0.065  0.006 -1.039]
+t: 200	 action: [-0.392 -0.339 -0.456  0.035 -0.057  0.016 -0.98 ]
+t: 201	 action: [-0.369 -0.234 -0.523  0.04  -0.05   0.018 -1.041]
+[07-31 00:36:41|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.981 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=202: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.7244
+INFO:cosmos_policy.experiments.robot.robot_utils:t=202: Selected seed 195 with value = 0.7244
+Query 1/1: Action query time = 0.981 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7244
+t=202: Selected seed 195 with value = 0.7244
+t: 202	 action: [ 0.099 -0.299 -0.066 -0.005 -0.003 -0.012 -1.024]
+t: 203	 action: [ 1.009e-01 -3.250e-01 -2.821e-02  6.974e-04 -1.138e-02 -4.446e-02 -1.038e+00]
+t: 204	 action: [ 3.631e-02 -2.929e-01 -9.477e-02  6.353e-04 -2.759e-02 -2.856e-02 -1.025e+00]
+t: 205	 action: [ 0.035 -0.327 -0.064  0.008 -0.037 -0.054 -1.045]
+t: 206	 action: [-0.03  -0.326 -0.095  0.013 -0.029 -0.048 -1.02 ]
+t: 207	 action: [-0.025 -0.316 -0.068  0.026 -0.041 -0.059 -1.065]
+t: 208	 action: [-0.051 -0.268 -0.127  0.017 -0.043 -0.048 -1.017]
+t: 209	 action: [-0.054 -0.293 -0.123  0.027 -0.049 -0.063 -1.062]
+t: 210	 action: [-0.109 -0.341 -0.154  0.025 -0.055 -0.006 -1.032]
+t: 211	 action: [-0.128 -0.331 -0.128  0.021 -0.067 -0.015 -1.049]
+t: 212	 action: [-1.649e-01 -3.679e-01 -2.525e-01  2.739e-02 -5.881e-02  4.930e-04 -1.039e+00]
+t: 213	 action: [-0.184 -0.338 -0.282  0.021 -0.072 -0.008 -1.04 ]
+t: 214	 action: [-0.172 -0.326 -0.412  0.036 -0.06  -0.008 -1.018]
+t: 215	 action: [-0.21  -0.268 -0.495  0.048 -0.045 -0.015 -1.056]
+t: 216	 action: [-0.227 -0.304 -0.707  0.031 -0.045 -0.004 -1.022]
+t: 217	 action: [-0.24  -0.206 -0.755  0.05  -0.016 -0.002 -1.057]
+[07-31 00:36:42|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.991 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=218: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.6927
+INFO:cosmos_policy.experiments.robot.robot_utils:t=218: Selected seed 195 with value = 0.6927
+Query 1/1: Action query time = 0.991 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6927
+t=218: Selected seed 195 with value = 0.6927
+t: 218	 action: [-0.02  -0.247 -0.154 -0.005  0.006  0.001 -0.994]
+t: 219	 action: [ 0.006 -0.23  -0.089 -0.001  0.007 -0.011 -1.012]
+t: 220	 action: [-0.07  -0.251 -0.131 -0.004  0.004 -0.003 -0.996]
+t: 221	 action: [-2.511e-02 -2.445e-01 -8.294e-02  8.647e-04  2.333e-03 -1.705e-02 -1.023e+00]
+t: 222	 action: [-0.085 -0.241 -0.081  0.001  0.003 -0.01  -0.988]
+t: 223	 action: [-4.582e-02 -2.236e-01 -5.667e-02  7.147e-03  4.747e-04 -1.849e-02 -1.043e+00]
+t: 224	 action: [-1.179e-01 -2.584e-01 -5.939e-02  7.276e-04  2.701e-03 -9.137e-03 -9.858e-01]
+t: 225	 action: [-0.075 -0.238 -0.038  0.008 -0.002 -0.019 -1.043]
+t: 226	 action: [-0.1   -0.349 -0.006  0.002 -0.019  0.003 -1.003]
+t: 227	 action: [-0.108 -0.289  0.016  0.014 -0.017 -0.006 -1.029]
+t: 228	 action: [-0.195 -0.379 -0.08   0.005 -0.036  0.011 -1.002]
+t: 229	 action: [-0.195 -0.318 -0.058  0.015 -0.04   0.006 -1.022]
+t: 230	 action: [-0.28  -0.376 -0.113  0.006 -0.039  0.004 -0.992]
+t: 231	 action: [-0.307 -0.294 -0.166  0.022 -0.045  0.006 -1.045]
+t: 232	 action: [-0.395 -0.376 -0.217  0.007 -0.052  0.019 -0.991]
+t: 233	 action: [-0.399 -0.288 -0.298  0.023 -0.06   0.023 -1.042]
+[07-31 00:36:43|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.973 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=234: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.7274
+INFO:cosmos_policy.experiments.robot.robot_utils:t=234: Selected seed 195 with value = 0.7274
+Query 1/1: Action query time = 0.973 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7274
+t=234: Selected seed 195 with value = 0.7274
+t: 234	 action: [ 0.101 -0.293 -0.064 -0.005 -0.004 -0.011 -1.022]
+t: 235	 action: [ 0.11  -0.315 -0.019  0.001 -0.009 -0.04  -1.037]
+t: 236	 action: [ 0.036 -0.294 -0.1    0.001 -0.026 -0.027 -1.024]
+t: 237	 action: [ 0.038 -0.317 -0.057  0.009 -0.034 -0.049 -1.043]
+t: 238	 action: [-0.032 -0.316 -0.1    0.012 -0.025 -0.042 -1.021]
+t: 239	 action: [-0.024 -0.31  -0.081  0.025 -0.035 -0.051 -1.065]
+t: 240	 action: [-0.058 -0.257 -0.14   0.015 -0.036 -0.044 -1.019]
+t: 241	 action: [-0.059 -0.28  -0.151  0.026 -0.04  -0.056 -1.061]
+t: 242	 action: [-0.12  -0.339 -0.162  0.024 -0.044 -0.002 -1.031]
+t: 243	 action: [-0.124 -0.314 -0.135  0.021 -0.058 -0.012 -1.049]
+t: 244	 action: [-0.17  -0.363 -0.269  0.025 -0.048  0.003 -1.037]
+t: 245	 action: [-0.178 -0.315 -0.304  0.02  -0.063 -0.005 -1.04 ]
+t: 246	 action: [-0.181 -0.303 -0.463  0.03  -0.048 -0.004 -1.021]
+t: 247	 action: [-0.205 -0.242 -0.533  0.044 -0.037 -0.011 -1.055]
+t: 248	 action: [-0.225 -0.282 -0.746  0.025 -0.034 -0.002 -1.024]
+t: 249	 action: [-2.308e-01 -1.832e-01 -7.676e-01  4.433e-02 -1.085e-02  1.038e-03 -1.057e+00]
+[07-31 00:36:44|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.975 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=250: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.6891
+INFO:cosmos_policy.experiments.robot.robot_utils:t=250: Selected seed 195 with value = 0.6891
+Query 1/1: Action query time = 0.975 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6891
+t=250: Selected seed 195 with value = 0.6891
+t: 250	 action: [-1.905e-02 -2.478e-01 -1.532e-01 -5.218e-03  3.495e-03  4.742e-04 -9.959e-01]
+t: 251	 action: [ 0.006 -0.217 -0.089 -0.001  0.006 -0.012 -1.011]
+t: 252	 action: [-0.07  -0.24  -0.132 -0.005  0.001 -0.004 -0.996]
+t: 253	 action: [-2.443e-02 -2.290e-01 -8.453e-02  4.128e-04  1.503e-03 -1.737e-02 -1.021e+00]
+t: 254	 action: [-0.086 -0.221 -0.08   0.001  0.002 -0.01  -0.992]
+t: 255	 action: [-5.114e-02 -2.081e-01 -6.070e-02  6.022e-03  8.247e-04 -1.879e-02 -1.043e+00]
+t: 256	 action: [-1.171e-01 -2.355e-01 -5.706e-02  5.167e-04  3.433e-03 -9.060e-03 -9.896e-01]
+t: 257	 action: [-7.506e-02 -2.249e-01 -4.303e-02  6.325e-03 -8.825e-04 -1.949e-02 -1.043e+00]
+t: 258	 action: [-0.096 -0.342 -0.019  0.001 -0.017  0.003 -1.006]
+t: 259	 action: [-0.104 -0.279  0.01   0.013 -0.014 -0.005 -1.029]
+t: 260	 action: [-0.191 -0.38  -0.098  0.005 -0.03   0.01  -1.004]
+t: 261	 action: [-0.197 -0.312 -0.071  0.014 -0.034  0.007 -1.021]
+t: 262	 action: [-0.286 -0.363 -0.129  0.004 -0.034  0.005 -0.997]
+t: 263	 action: [-0.325 -0.284 -0.189  0.021 -0.038  0.007 -1.046]
+t: 264	 action: [-0.411 -0.36  -0.238  0.004 -0.044  0.02  -0.995]
+t: 265	 action: [-0.428 -0.273 -0.321  0.023 -0.05   0.024 -1.041]
+[07-31 00:36:46|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.976 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=266: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.7296
+INFO:cosmos_policy.experiments.robot.robot_utils:t=266: Selected seed 195 with value = 0.7296
+Query 1/1: Action query time = 0.976 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7296
+t=266: Selected seed 195 with value = 0.7296
+t: 266	 action: [ 1.116e-01 -2.791e-01 -4.647e-02 -6.708e-03 -8.914e-04 -8.158e-03 -1.022e+00]
+t: 267	 action: [ 1.238e-01 -3.017e-01 -5.596e-03 -7.193e-04 -3.208e-03 -3.532e-02 -1.037e+00]
+t: 268	 action: [ 0.043 -0.288 -0.093  0.001 -0.023 -0.025 -1.024]
+t: 269	 action: [ 0.045 -0.305 -0.048  0.008 -0.029 -0.045 -1.043]
+t: 270	 action: [-0.025 -0.306 -0.095  0.009 -0.02  -0.036 -1.023]
+t: 271	 action: [-0.018 -0.303 -0.083  0.023 -0.03  -0.045 -1.065]
+t: 272	 action: [-0.049 -0.243 -0.152  0.012 -0.031 -0.04  -1.021]
+t: 273	 action: [-0.048 -0.263 -0.177  0.023 -0.035 -0.052 -1.062]
+t: 274	 action: [-1.074e-01 -3.231e-01 -1.660e-01  2.121e-02 -3.964e-02  5.169e-04 -1.031e+00]
+t: 275	 action: [-0.099 -0.297 -0.145  0.021 -0.054 -0.011 -1.048]
+t: 276	 action: [-0.146 -0.343 -0.278  0.024 -0.044  0.004 -1.038]
+t: 277	 action: [-0.148 -0.296 -0.317  0.02  -0.057 -0.004 -1.039]
+t: 278	 action: [-0.166 -0.287 -0.495  0.031 -0.042 -0.002 -1.023]
+t: 279	 action: [-0.18  -0.231 -0.561  0.044 -0.033 -0.008 -1.054]
+t: 280	 action: [-1.973e-01 -2.655e-01 -7.567e-01  2.647e-02 -2.870e-02 -7.605e-04 -1.026e+00]
+t: 281	 action: [-0.198 -0.178 -0.77   0.043 -0.008  0.003 -1.057]
+[07-31 00:36:47|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.985 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=282: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.6803
+INFO:cosmos_policy.experiments.robot.robot_utils:t=282: Selected seed 195 with value = 0.6803
+Query 1/1: Action query time = 0.985 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6803
+t=282: Selected seed 195 with value = 0.6803
+t: 282	 action: [-0.016 -0.243 -0.153 -0.005  0.003 -0.002 -0.998]
+t: 283	 action: [ 6.382e-03 -1.994e-01 -9.111e-02 -5.000e-04  5.659e-03 -1.436e-02 -1.009e+00]
+t: 284	 action: [-7.145e-02 -2.202e-01 -1.359e-01 -4.816e-03 -3.279e-04 -6.946e-03 -9.978e-01]
+t: 285	 action: [-3.032e-02 -2.053e-01 -9.193e-02  9.346e-05  1.498e-03 -1.885e-02 -1.018e+00]
+t: 286	 action: [-8.350e-02 -1.921e-01 -8.380e-02  8.410e-04  1.399e-03 -1.230e-02 -9.976e-01]
+t: 287	 action: [-0.064 -0.181 -0.071  0.006  0.001 -0.02  -1.043]
+t: 288	 action: [-1.172e-01 -2.036e-01 -6.252e-02  3.069e-04  3.760e-03 -9.809e-03 -9.936e-01]
+t: 289	 action: [-8.834e-02 -1.981e-01 -5.438e-02  5.034e-03 -2.581e-04 -1.976e-02 -1.042e+00]
+t: 290	 action: [-1.010e-01 -3.210e-01 -3.550e-02  6.639e-04 -1.306e-02  2.708e-03 -1.005e+00]
+t: 291	 action: [-1.063e-01 -2.601e-01  7.372e-04  1.253e-02 -1.023e-02 -4.220e-03 -1.029e+00]
+t: 292	 action: [-0.197 -0.37  -0.116  0.004 -0.025  0.01  -1.001]
+t: 293	 action: [-0.203 -0.298 -0.082  0.012 -0.029  0.008 -1.019]
+t: 294	 action: [-0.299 -0.349 -0.142  0.003 -0.03   0.008 -1.   ]
+t: 295	 action: [-0.352 -0.269 -0.205  0.02  -0.031  0.01  -1.045]
+t: 296	 action: [-0.439 -0.34  -0.254  0.002 -0.038  0.024 -0.995]
+t: 297	 action: [-0.47  -0.253 -0.34   0.022 -0.041  0.027 -1.04 ]
+[07-31 00:36:48|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.974 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=298: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.7276
+INFO:cosmos_policy.experiments.robot.robot_utils:t=298: Selected seed 195 with value = 0.7276
+WARNING:imageio_ffmpeg:IMAGEIO FFMPEG_WRITER WARNING: input image is not divisible by macro_block_size=16, resizing from (896, 284) to (896, 288) to ensure video compatibility with most codecs and players. To prevent resizing, make your input image divisible by the macro_block_size or set the macro_block_size to 1 (risking incompatibility).
+INFO:cosmos_policy.experiments.robot.robot_utils:Success: False
+INFO:cosmos_policy.experiments.robot.robot_utils:# episodes completed so far: 21
+INFO:cosmos_policy.experiments.robot.robot_utils:# successes: 9 (42.9%)
+
+
 42%|████▏     | 21/50 [08:54<14:18, 29.61s/it]INFO:cosmos_policy.experiments.robot.robot_utils:
+Task: open the middle drawer of the cabinet
+INFO:cosmos_policy.experiments.robot.robot_utils:Starting episode 22...
+Query 1/1: Action query time = 0.974 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7276
+t=298: Selected seed 195 with value = 0.7276
+t: 298	 action: [ 0.133 -0.266 -0.024 -0.01   0.005 -0.003 -1.021]
+t: 299	 action: [ 0.149 -0.287  0.005 -0.004  0.004 -0.028 -1.036]
+t: 300	 action: [ 6.190e-02 -2.827e-01 -8.271e-02  3.575e-04 -1.503e-02 -2.096e-02 -1.021e+00]
+t: 301	 action: [ 0.058 -0.293 -0.039  0.005 -0.018 -0.039 -1.043]
+t: 302	 action: [-0.009 -0.287 -0.09   0.005 -0.01  -0.028 -1.025]
+t: 303	 action: [-0.009 -0.287 -0.076  0.018 -0.019 -0.037 -1.069]
+t: 304	 action: [-0.035 -0.224 -0.172  0.007 -0.02  -0.036 -1.022]
+t: 305	 action: [-0.037 -0.243 -0.197  0.019 -0.025 -0.045 -1.066]
+t: 306	 action: [-9.398e-02 -2.936e-01 -1.789e-01  1.678e-02 -3.274e-02 -5.613e-05 -1.027e+00]
+t: 307	 action: [-0.068 -0.269 -0.167  0.018 -0.046 -0.01  -1.048]
+t: 308	 action: [-0.119 -0.308 -0.301  0.021 -0.039  0.004 -1.035]
+t: 309	 action: [-0.109 -0.266 -0.339  0.019 -0.047 -0.004 -1.039]
+Saved rollout MP4 at path ./rollouts/None/2026_07_31-00_27_45--episode=21--success=False--task=open_the_middle_drawer_of_the_cabinet.mp4
+300 300 19 19
+Saved rollout MP4 at path ./rollouts/None/2026_07_31-00_27_45--with_future_img--episode=21--success=False--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: False
+# episodes completed so far: 21
+# successes: 9 (42.9%)
+
+Task: open the middle drawer of the cabinet
+Starting episode 22...
+[07-31 00:36:56|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.972 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=10: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.3516
+INFO:cosmos_policy.experiments.robot.robot_utils:t=10: Selected seed 195 with value = 0.3516
+Query 1/1: Action query time = 0.972 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3516
+t=10: Selected seed 195 with value = 0.3516
+t: 10	 action: [ 0.078 -0.115 -0.001  0.008  0.029  0.003 -0.98 ]
+t: 11	 action: [ 0.188 -0.089  0.066  0.018  0.054  0.014 -0.975]
+t: 12	 action: [ 0.208 -0.153  0.04   0.006  0.075  0.021 -1.003]
+t: 13	 action: [ 0.327 -0.096  0.111  0.019  0.097  0.046 -1.014]
+t: 14	 action: [ 3.425e-01 -1.640e-01  1.069e-01  7.293e-05  8.812e-02  3.755e-02 -1.014e+00]
+t: 15	 action: [ 0.422 -0.098  0.108  0.021  0.094  0.061 -1.045]
+t: 16	 action: [ 4.454e-01 -9.093e-02  1.149e-01  2.798e-04  1.053e-01  8.595e-02 -1.013e+00]
+t: 17	 action: [ 0.487 -0.062  0.094  0.018  0.102  0.104 -1.043]
+t: 18	 action: [ 0.471 -0.164  0.064  0.005  0.065  0.141 -1.023]
+t: 19	 action: [ 0.512 -0.121  0.092 -0.001  0.066  0.131 -1.016]
+t: 20	 action: [ 0.538 -0.093  0.032 -0.015  0.062  0.149 -1.02 ]
+t: 21	 action: [ 0.571 -0.027  0.053 -0.013  0.061  0.138 -1.011]
+t: 22	 action: [ 0.575 -0.019  0.032 -0.024  0.054  0.162 -1.007]
+t: 23	 action: [ 0.57  -0.026  0.019 -0.034  0.053  0.149 -1.048]
+t: 24	 action: [ 0.616  0.04   0.004 -0.055  0.061  0.168 -1.004]
+t: 25	 action: [ 0.618  0.061  0.015 -0.069  0.073  0.154 -1.043]
+[07-31 00:36:58|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.978 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=26: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.3956
+INFO:cosmos_policy.experiments.robot.robot_utils:t=26: Selected seed 195 with value = 0.3956
+Query 1/1: Action query time = 0.978 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3956
+t=26: Selected seed 195 with value = 0.3956
+t: 26	 action: [ 0.512 -0.012  0.033 -0.027  0.034  0.155 -1.014]
+t: 27	 action: [ 0.546 -0.002  0.05  -0.032  0.036  0.149 -1.012]
+t: 28	 action: [ 0.482  0.007  0.029 -0.039  0.045  0.165 -1.015]
+t: 29	 action: [ 0.503  0.031  0.049 -0.044  0.049  0.159 -1.014]
+t: 30	 action: [ 0.476  0.007  0.025 -0.054  0.062  0.187 -1.002]
+t: 31	 action: [ 0.453  0.027  0.016 -0.047  0.064  0.172 -1.041]
+t: 32	 action: [ 0.427  0.022  0.014 -0.067  0.078  0.195 -1.004]
+t: 33	 action: [ 0.405  0.056  0.018 -0.064  0.093  0.188 -1.038]
+t: 34	 action: [ 0.395  0.034 -0.003 -0.083  0.118  0.201 -1.013]
+t: 35	 action: [ 0.406  0.068  0.013 -0.083  0.12   0.188 -1.01 ]
+t: 36	 action: [ 0.368  0.053 -0.033 -0.099  0.124  0.213 -1.009]
+t: 37	 action: [ 0.371  0.096 -0.004 -0.093  0.133  0.206 -1.002]
+t: 38	 action: [ 0.317  0.051 -0.024 -0.114  0.13   0.232 -0.997]
+t: 39	 action: [ 0.297  0.107 -0.032 -0.094  0.124  0.215 -1.033]
+t: 40	 action: [ 0.293  0.081 -0.052 -0.121  0.134  0.245 -0.996]
+t: 41	 action: [ 0.279  0.124 -0.05  -0.097  0.138  0.23  -1.026]
+[07-31 00:36:59|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.967 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=42: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.4439
+INFO:cosmos_policy.experiments.robot.robot_utils:t=42: Selected seed 195 with value = 0.4439
+Query 1/1: Action query time = 0.967 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4439
+t=42: Selected seed 195 with value = 0.4439
+t: 42	 action: [ 0.126  0.034 -0.013 -0.082  0.177  0.249 -0.99 ]
+t: 43	 action: [ 0.135  0.074  0.002 -0.077  0.177  0.23  -0.994]
+t: 44	 action: [ 0.134  0.035 -0.017 -0.084  0.172  0.256 -0.988]
+t: 45	 action: [ 0.149  0.08   0.007 -0.081  0.165  0.237 -1.004]
+t: 46	 action: [ 0.153  0.029 -0.031 -0.101  0.165  0.267 -0.994]
+t: 47	 action: [ 0.167  0.073 -0.019 -0.095  0.148  0.233 -1.021]
+t: 48	 action: [ 0.165  0.031 -0.048 -0.105  0.153  0.267 -0.992]
+t: 49	 action: [ 0.178  0.073 -0.016 -0.099  0.139  0.239 -1.026]
+t: 50	 action: [ 0.138  0.025 -0.096 -0.089  0.143  0.271 -0.988]
+t: 51	 action: [ 0.169  0.047 -0.108 -0.081  0.139  0.261 -0.992]
+t: 52	 action: [ 0.157  0.026 -0.144 -0.093  0.137  0.267 -0.984]
+t: 53	 action: [ 0.187  0.046 -0.168 -0.078  0.127  0.256 -0.994]
+t: 54	 action: [ 0.176  0.027 -0.148 -0.102  0.124  0.288 -0.988]
+t: 55	 action: [ 0.207  0.063 -0.182 -0.078  0.117  0.262 -1.016]
+t: 56	 action: [ 0.18   0.023 -0.213 -0.098  0.12   0.278 -0.987]
+t: 57	 action: [ 0.204  0.056 -0.268 -0.072  0.114  0.258 -1.014]
+[07-31 00:37:00|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.984 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=58: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.5287
+INFO:cosmos_policy.experiments.robot.robot_utils:t=58: Selected seed 195 with value = 0.5287
+Query 1/1: Action query time = 0.984 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5287
+t=58: Selected seed 195 with value = 0.5287
+t: 58	 action: [ 0.185 -0.038 -0.064 -0.055  0.142  0.224 -1.011]
+t: 59	 action: [ 0.184 -0.011 -0.04  -0.046  0.121  0.194 -0.995]
+t: 60	 action: [ 0.204 -0.036 -0.08  -0.054  0.136  0.225 -1.014]
+t: 61	 action: [ 0.231 -0.007 -0.063 -0.046  0.105  0.192 -1.012]
+t: 62	 action: [ 0.268 -0.045 -0.065 -0.054  0.122  0.227 -1.014]
+t: 63	 action: [ 0.27  -0.03  -0.08  -0.051  0.09   0.188 -1.029]
+t: 64	 action: [ 0.32  -0.085 -0.104 -0.048  0.114  0.218 -1.016]
+t: 65	 action: [ 0.335 -0.044 -0.127 -0.046  0.084  0.179 -1.04 ]
+t: 66	 action: [ 0.407 -0.178 -0.21  -0.036  0.099  0.169 -1.03 ]
+t: 67	 action: [ 0.416 -0.136 -0.201 -0.021  0.079  0.142 -1.018]
+t: 68	 action: [ 0.442 -0.206 -0.256 -0.028  0.08   0.166 -1.028]
+t: 69	 action: [ 0.466 -0.158 -0.267 -0.027  0.054  0.134 -1.016]
+t: 70	 action: [ 0.437 -0.224 -0.251 -0.022  0.083  0.167 -1.027]
+t: 71	 action: [ 0.416 -0.199 -0.256 -0.017  0.056  0.136 -1.043]
+t: 72	 action: [ 0.421 -0.261 -0.329 -0.015  0.062  0.162 -1.03 ]
+t: 73	 action: [ 0.366 -0.221 -0.35  -0.021  0.031  0.131 -1.04 ]
+[07-31 00:37:01|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.987 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=74: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.6035
+INFO:cosmos_policy.experiments.robot.robot_utils:t=74: Selected seed 195 with value = 0.6035
+Query 1/1: Action query time = 0.987 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6035
+t=74: Selected seed 195 with value = 0.6035
+t: 74	 action: [ 0.163 -0.279 -0.235 -0.003  0.137  0.113 -1.026]
+t: 75	 action: [ 0.148 -0.274 -0.155  0.002  0.115  0.116 -1.025]
+t: 76	 action: [ 1.440e-01 -3.184e-01 -3.173e-01  4.593e-05  1.087e-01  1.300e-01 -1.017e+00]
+t: 77	 action: [ 0.149 -0.273 -0.218  0.002  0.075  0.116 -1.027]
+t: 78	 action: [ 1.600e-01 -3.414e-01 -2.841e-01  9.002e-04  7.850e-02  1.224e-01 -1.005e+00]
+t: 79	 action: [ 0.146 -0.325 -0.219  0.005  0.038  0.122 -1.037]
+t: 80	 action: [ 1.342e-01 -3.304e-01 -3.134e-01  3.011e-04  3.143e-02  1.328e-01 -1.006e+00]
+t: 81	 action: [ 0.097 -0.274 -0.237 -0.002  0.003  0.113 -1.041]
+t: 82	 action: [ 0.154 -0.313 -0.228 -0.028 -0.007  0.111 -1.015]
+t: 83	 action: [ 0.104 -0.283 -0.19  -0.023 -0.017  0.096 -1.023]
+t: 84	 action: [ 0.066 -0.291 -0.161 -0.028 -0.032  0.108 -1.009]
+t: 85	 action: [ 0.06  -0.278 -0.129 -0.021 -0.038  0.088 -1.018]
+t: 86	 action: [-0.007 -0.306 -0.168 -0.013 -0.049  0.122 -1.013]
+t: 87	 action: [-0.072 -0.306 -0.123 -0.017 -0.056  0.1   -1.037]
+t: 88	 action: [-0.133 -0.333 -0.125 -0.007 -0.069  0.121 -1.014]
+t: 89	 action: [-0.213 -0.303 -0.103 -0.011 -0.068  0.094 -1.034]
+[07-31 00:37:03|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.974 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=90: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.6248
+INFO:cosmos_policy.experiments.robot.robot_utils:t=90: Selected seed 195 with value = 0.6248
+Query 1/1: Action query time = 0.974 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6248
+t=90: Selected seed 195 with value = 0.6248
+t: 90	 action: [ 0.063 -0.29  -0.159 -0.009  0.025  0.066 -0.997]
+t: 91	 action: [ 0.067 -0.286 -0.151 -0.002  0.017  0.069 -1.015]
+t: 92	 action: [ 0.026 -0.295 -0.093 -0.005  0.006  0.084 -0.992]
+t: 93	 action: [ 3.298e-02 -2.925e-01 -9.594e-02 -9.969e-04  5.248e-03  7.897e-02 -1.017e+00]
+t: 94	 action: [-1.502e-02 -3.262e-01 -8.703e-02 -1.155e-03  5.497e-04  7.050e-02 -9.999e-01]
+t: 95	 action: [-0.064 -0.305 -0.109  0.006 -0.02   0.075 -1.035]
+t: 96	 action: [-1.230e-01 -3.183e-01 -1.449e-01 -2.553e-04 -3.089e-02  9.030e-02 -1.002e+00]
+t: 97	 action: [-0.234 -0.283 -0.182  0.007 -0.051  0.085 -1.031]
+t: 98	 action: [-0.279 -0.32  -0.108 -0.031 -0.073  0.098 -0.974]
+t: 99	 action: [-0.344 -0.261 -0.139 -0.012 -0.099  0.097 -1.009]
+t: 100	 action: [-0.468 -0.274 -0.142 -0.034 -0.105  0.114 -0.948]
+t: 101	 action: [-0.472 -0.221 -0.178 -0.012 -0.119  0.113 -0.992]
+t: 102	 action: [-0.585 -0.227 -0.159 -0.011 -0.141  0.119 -0.963]
+t: 103	 action: [-0.589 -0.221 -0.155 -0.005 -0.129  0.108 -1.017]
+t: 104	 action: [-0.609 -0.204 -0.142 -0.013 -0.16   0.129 -0.931]
+t: 105	 action: [-0.585 -0.178 -0.112 -0.008 -0.129  0.12  -1.009]
+[07-31 00:37:04|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.962 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=106: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.7430
+INFO:cosmos_policy.experiments.robot.robot_utils:t=106: Selected seed 195 with value = 0.7430
+Query 1/1: Action query time = 0.962 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7430
+t=106: Selected seed 195 with value = 0.7430
+t: 106	 action: [ 0.047 -0.336  0.097 -0.008  0.002  0.012 -1.001]
+t: 107	 action: [ 6.756e-02 -3.447e-01  8.781e-02 -8.372e-04  8.811e-04  7.298e-03 -1.015e+00]
+t: 108	 action: [-0.033 -0.394  0.066  0.003 -0.025  0.014 -0.995]
+t: 109	 action: [ 0.001 -0.386  0.08   0.01  -0.014  0.008 -1.014]
+t: 110	 action: [-0.061 -0.394  0.026  0.008 -0.027  0.008 -1.003]
+t: 111	 action: [-0.083 -0.366 -0.015  0.02  -0.042  0.015 -1.057]
+t: 112	 action: [-0.194 -0.397 -0.095  0.017 -0.048  0.02  -1.001]
+t: 113	 action: [-0.243 -0.357 -0.178  0.027 -0.062  0.017 -1.046]
+t: 114	 action: [-0.341 -0.38  -0.237  0.012 -0.082  0.059 -0.982]
+t: 115	 action: [-0.343 -0.34  -0.209  0.03  -0.088  0.058 -1.009]
+t: 116	 action: [-0.391 -0.359 -0.356  0.022 -0.095  0.073 -0.986]
+t: 117	 action: [-0.392 -0.304 -0.318  0.034 -0.111  0.068 -1.002]
+t: 118	 action: [-0.48  -0.327 -0.35   0.038 -0.101  0.086 -0.982]
+t: 119	 action: [-0.448 -0.28  -0.328  0.05  -0.094  0.071 -1.035]
+t: 120	 action: [-0.45  -0.303 -0.384  0.044 -0.094  0.087 -0.977]
+t: 121	 action: [-0.403 -0.239 -0.361  0.058 -0.079  0.075 -1.034]
+[07-31 00:37:05|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.974 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=122: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.7566
+INFO:cosmos_policy.experiments.robot.robot_utils:t=122: Selected seed 195 with value = 0.7566
+Query 1/1: Action query time = 0.974 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7566
+t=122: Selected seed 195 with value = 0.7566
+t: 122	 action: [-4.999e-03 -3.453e-01 -1.789e-01  2.836e-04 -4.153e-02 -1.978e-02 -1.026e+00]
+t: 123	 action: [ 0.008 -0.398 -0.19   0.009 -0.053 -0.038 -1.034]
+t: 124	 action: [-0.036 -0.368 -0.195  0.012 -0.052 -0.023 -1.024]
+t: 125	 action: [-0.027 -0.406 -0.195  0.022 -0.057 -0.036 -1.031]
+t: 126	 action: [-0.077 -0.402 -0.21   0.029 -0.042 -0.034 -1.015]
+t: 127	 action: [-0.099 -0.371 -0.222  0.038 -0.047 -0.041 -1.06 ]
+t: 128	 action: [-0.102 -0.385 -0.243  0.047 -0.048 -0.026 -1.014]
+t: 129	 action: [-0.141 -0.356 -0.252  0.046 -0.046 -0.036 -1.051]
+t: 130	 action: [-0.101 -0.429 -0.275  0.042 -0.072 -0.021 -1.031]
+t: 131	 action: [-0.098 -0.394 -0.234  0.032 -0.071 -0.028 -1.035]
+t: 132	 action: [-0.104 -0.447 -0.368  0.051 -0.069 -0.016 -1.033]
+t: 133	 action: [-0.099 -0.37  -0.361  0.042 -0.068 -0.024 -1.021]
+t: 134	 action: [-0.131 -0.337 -0.48   0.061 -0.062 -0.022 -1.022]
+t: 135	 action: [-0.134 -0.275 -0.501  0.064 -0.02  -0.029 -1.054]
+t: 136	 action: [-0.113 -0.236 -0.785  0.061 -0.035 -0.016 -1.021]
+t: 137	 action: [-0.117 -0.148 -0.792  0.06   0.009 -0.022 -1.051]
+[07-31 00:37:06|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.971 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=138: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9188
+INFO:cosmos_policy.experiments.robot.robot_utils:t=138: Selected seed 195 with value = 0.9188
+Query 1/1: Action query time = 0.971 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9188
+t=138: Selected seed 195 with value = 0.9188
+t: 138	 action: [-0.06  -0.143 -0.885  0.07  -0.041 -0.005 -0.985]
+t: 139	 action: [-0.017 -0.037 -0.954  0.057 -0.043 -0.004 -1.004]
+t: 140	 action: [-0.07   0.072 -0.956  0.033 -0.032  0.004 -0.984]
+t: 141	 action: [-0.034  0.204 -0.977  0.028 -0.041  0.004 -1.003]
+t: 142	 action: [-1.267e-01  2.737e-01 -9.208e-01  2.204e-02 -2.353e-02  6.826e-04 -9.887e-01]
+t: 143	 action: [-0.121  0.404 -0.986  0.018 -0.036  0.004 -1.037]
+t: 144	 action: [-0.156  0.664 -0.929 -0.009 -0.015  0.01  -0.988]
+t: 145	 action: [-1.387e-01  7.068e-01 -9.460e-01  1.267e-05 -2.502e-02  1.062e-02 -1.036e+00]
+t: 146	 action: [-1.791e-01  8.432e-01 -8.710e-01 -7.528e-03  8.534e-04  6.041e-02 -9.811e-01]
+t: 147	 action: [-0.22   0.854 -0.867 -0.021  0.001  0.055 -1.022]
+t: 148	 action: [-0.234  0.91  -0.854 -0.029  0.005  0.068 -0.979]
+t: 149	 action: [-2.344e-01  8.766e-01 -8.371e-01 -2.547e-02  2.390e-04  5.922e-02 -1.016e+00]
+t: 150	 action: [-0.3    0.952 -0.847 -0.028  0.003  0.066 -0.986]
+t: 151	 action: [-0.287  0.907 -0.837 -0.022 -0.002  0.053 -1.046]
+t: 152	 action: [-0.296  0.943 -0.818 -0.039  0.009  0.072 -0.979]
+t: 153	 action: [-2.817e-01  8.905e-01 -7.934e-01 -2.262e-02 -7.499e-04  5.519e-02 -1.043e+00]
+[07-31 00:37:08|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.972 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=154: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9951
+INFO:cosmos_policy.experiments.robot.robot_utils:t=154: Selected seed 195 with value = 0.9951
+WARNING:imageio_ffmpeg:IMAGEIO FFMPEG_WRITER WARNING: input image is not divisible by macro_block_size=16, resizing from (896, 284) to (896, 288) to ensure video compatibility with most codecs and players. To prevent resizing, make your input image divisible by the macro_block_size or set the macro_block_size to 1 (risking incompatibility).
+INFO:cosmos_policy.experiments.robot.robot_utils:Success: True
+INFO:cosmos_policy.experiments.robot.robot_utils:# episodes completed so far: 22
+INFO:cosmos_policy.experiments.robot.robot_utils:# successes: 10 (45.5%)
+
+
 44%|████▍     | 22/50 [09:11<12:05, 25.90s/it]INFO:cosmos_policy.experiments.robot.robot_utils:
+Task: open the middle drawer of the cabinet
+INFO:cosmos_policy.experiments.robot.robot_utils:Starting episode 23...
+Query 1/1: Action query time = 0.972 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9951
+t=154: Selected seed 195 with value = 0.9951
+t: 154	 action: [-0.237  0.924 -0.85  -0.026  0.016  0.042 -0.977]
+t: 155	 action: [-0.249  0.887 -0.837 -0.024  0.014  0.037 -0.997]
+t: 156	 action: [-0.236  0.934 -0.84  -0.028  0.021  0.046 -0.981]
+t: 157	 action: [-0.231  0.893 -0.822 -0.021  0.024  0.039 -0.998]
+t: 158	 action: [-0.222  0.938 -0.821 -0.036  0.028  0.05  -0.972]
+t: 159	 action: [-0.257  0.915 -0.809 -0.019  0.018  0.043 -1.029]
+t: 160	 action: [-0.223  0.94  -0.809 -0.035  0.033  0.053 -0.977]
+t: 161	 action: [-0.241  0.909 -0.795 -0.016  0.028  0.042 -1.037]
+t: 162	 action: [-0.23   0.923 -0.808 -0.021  0.023  0.041 -0.987]
+t: 163	 action: [-0.223  0.904 -0.793 -0.021  0.025  0.035 -0.999]
+t: 164	 action: [-0.211  0.925 -0.779 -0.025  0.023  0.043 -0.99 ]
+t: 165	 action: [-0.198  0.862 -0.781 -0.02   0.028  0.037 -0.996]
+Saved rollout MP4 at path ./rollouts/None/2026_07_31-00_27_45--episode=22--success=True--task=open_the_middle_drawer_of_the_cabinet.mp4
+156 156 10 10
+Saved rollout MP4 at path ./rollouts/None/2026_07_31-00_27_45--with_future_img--episode=22--success=True--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: True
+# episodes completed so far: 22
+# successes: 10 (45.5%)
+
+Task: open the middle drawer of the cabinet
+Starting episode 23...
+[07-31 00:37:14|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.985 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=10: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.3728
+INFO:cosmos_policy.experiments.robot.robot_utils:t=10: Selected seed 195 with value = 0.3728
+Query 1/1: Action query time = 0.985 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3728
+t=10: Selected seed 195 with value = 0.3728
+t: 10	 action: [ 0.085 -0.056 -0.042  0.004  0.093  0.005 -0.996]
+t: 11	 action: [ 0.191 -0.01   0.008  0.002  0.119  0.015 -0.994]
+t: 12	 action: [ 0.23  -0.003 -0.013 -0.001  0.149  0.018 -1.002]
+t: 13	 action: [ 0.376  0.048  0.019 -0.004  0.162  0.032 -1.008]
+t: 14	 action: [ 0.443  0.01   0.038 -0.002  0.178  0.029 -1.013]
+t: 15	 action: [ 0.551  0.049  0.023 -0.01   0.172  0.029 -1.043]
+t: 16	 action: [ 0.573  0.034  0.046 -0.015  0.181  0.057 -1.012]
+t: 17	 action: [ 0.615  0.097  0.03  -0.019  0.181  0.047 -1.043]
+t: 18	 action: [ 0.604  0.065  0.066 -0.028  0.175  0.094 -1.021]
+t: 19	 action: [ 0.638  0.101  0.043 -0.026  0.171  0.097 -1.025]
+t: 20	 action: [ 0.622  0.059  0.037 -0.039  0.161  0.11  -1.024]
+t: 21	 action: [ 0.653  0.105  0.03  -0.037  0.157  0.111 -1.016]
+t: 22	 action: [ 0.605  0.06   0.047 -0.055  0.145  0.123 -1.013]
+t: 23	 action: [ 0.603  0.1    0.025 -0.047  0.121  0.119 -1.042]
+t: 24	 action: [ 0.594  0.054  0.008 -0.069  0.121  0.142 -1.017]
+t: 25	 action: [ 0.599  0.106  0.021 -0.065  0.106  0.135 -1.035]
+[07-31 00:37:15|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.965 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=26: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.4178
+INFO:cosmos_policy.experiments.robot.robot_utils:t=26: Selected seed 195 with value = 0.4178
+Query 1/1: Action query time = 0.965 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4178
+t=26: Selected seed 195 with value = 0.4178
+t: 26	 action: [ 0.535  0.036  0.028 -0.08   0.057  0.166 -1.004]
+t: 27	 action: [ 0.514  0.083  0.011 -0.074  0.058  0.167 -1.006]
+t: 28	 action: [ 4.624e-01  5.332e-02 -4.889e-04 -9.278e-02  4.670e-02  1.777e-01 -1.005e+00]
+t: 29	 action: [ 0.453  0.102  0.013 -0.086  0.052  0.178 -1.009]
+t: 30	 action: [ 0.422  0.038  0.005 -0.106  0.045  0.204 -0.994]
+t: 31	 action: [ 0.366  0.098 -0.012 -0.094  0.037  0.194 -1.03 ]
+t: 32	 action: [ 0.348  0.064 -0.036 -0.117  0.039  0.219 -1.   ]
+t: 33	 action: [ 0.324  0.106 -0.031 -0.106  0.039  0.208 -1.034]
+t: 34	 action: [ 0.273  0.037 -0.064 -0.125  0.043  0.226 -0.998]
+t: 35	 action: [ 0.286  0.055 -0.047 -0.115  0.045  0.218 -1.003]
+t: 36	 action: [ 0.221  0.03  -0.089 -0.132  0.047  0.243 -1.   ]
+t: 37	 action: [ 0.24   0.046 -0.066 -0.123  0.05   0.239 -0.999]
+t: 38	 action: [ 0.203  0.024 -0.11  -0.133  0.049  0.268 -0.994]
+t: 39	 action: [ 0.192  0.056 -0.104 -0.118  0.061  0.249 -1.037]
+t: 40	 action: [ 0.171  0.026 -0.128 -0.133  0.057  0.282 -0.999]
+t: 41	 action: [ 0.173  0.052 -0.101 -0.119  0.077  0.263 -1.032]
+[07-31 00:37:16|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.974 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=42: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.4755
+INFO:cosmos_policy.experiments.robot.robot_utils:t=42: Selected seed 195 with value = 0.4755
+Query 1/1: Action query time = 0.974 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4755
+t=42: Selected seed 195 with value = 0.4755
+t: 42	 action: [ 0.056  0.014 -0.071 -0.097  0.011  0.288 -0.975]
+t: 43	 action: [ 0.079  0.019 -0.038 -0.094  0.019  0.279 -0.987]
+t: 44	 action: [ 0.042  0.01  -0.09  -0.097  0.01   0.306 -0.965]
+t: 45	 action: [ 0.063  0.024 -0.053 -0.096  0.02   0.297 -0.986]
+t: 46	 action: [ 0.047  0.007 -0.082 -0.109  0.009  0.322 -0.966]
+t: 47	 action: [ 0.045  0.023 -0.078 -0.099  0.006  0.305 -1.004]
+t: 48	 action: [ 0.044  0.005 -0.098 -0.11   0.012  0.332 -0.962]
+t: 49	 action: [ 0.048  0.027 -0.097 -0.099  0.015  0.311 -1.003]
+t: 50	 action: [ 0.082  0.007 -0.102 -0.099  0.036  0.322 -0.978]
+t: 51	 action: [ 0.107 -0.002 -0.11  -0.095  0.038  0.31  -0.989]
+t: 52	 action: [ 1.068e-01  2.894e-04 -1.177e-01 -1.031e-01  5.508e-02  3.158e-01 -9.748e-01]
+t: 53	 action: [ 0.133 -0.021 -0.109 -0.098  0.061  0.296 -0.991]
+t: 54	 action: [ 0.127 -0.027 -0.093 -0.1    0.066  0.306 -0.972]
+t: 55	 action: [ 0.17  -0.003 -0.106 -0.089  0.1    0.294 -1.021]
+t: 56	 action: [ 0.159 -0.047 -0.107 -0.096  0.101  0.289 -0.972]
+t: 57	 action: [ 0.202 -0.026 -0.095 -0.086  0.149  0.268 -1.015]
+[07-31 00:37:17|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.972 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=58: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.5653
+INFO:cosmos_policy.experiments.robot.robot_utils:t=58: Selected seed 195 with value = 0.5653
+Query 1/1: Action query time = 0.972 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5653
+t=58: Selected seed 195 with value = 0.5653
+t: 58	 action: [ 0.094  0.021 -0.207 -0.094  0.132  0.288 -0.986]
+t: 59	 action: [ 0.107  0.055 -0.19  -0.087  0.155  0.251 -1.002]
+t: 60	 action: [ 0.112  0.025 -0.224 -0.094  0.173  0.284 -0.987]
+t: 61	 action: [ 0.121  0.057 -0.198 -0.08   0.197  0.244 -1.014]
+t: 62	 action: [ 0.156  0.01  -0.206 -0.089  0.199  0.255 -0.996]
+t: 63	 action: [ 0.172  0.036 -0.209 -0.073  0.227  0.221 -1.034]
+t: 64	 action: [ 0.209  0.005 -0.219 -0.082  0.227  0.228 -1.   ]
+t: 65	 action: [ 0.248  0.008 -0.226 -0.068  0.244  0.197 -1.038]
+t: 66	 action: [ 0.321 -0.103 -0.234 -0.063  0.254  0.181 -1.02 ]
+t: 67	 action: [ 0.356 -0.102 -0.229 -0.035  0.273  0.13  -1.027]
+t: 68	 action: [ 0.403 -0.166 -0.206 -0.047  0.254  0.147 -1.009]
+t: 69	 action: [ 0.469 -0.158 -0.214 -0.023  0.261  0.089 -1.011]
+t: 70	 action: [ 0.471 -0.309 -0.141 -0.007  0.25   0.107 -1.014]
+t: 71	 action: [ 0.52  -0.283 -0.108 -0.007  0.229  0.077 -1.045]
+t: 72	 action: [ 0.501 -0.368 -0.103  0.003  0.23   0.067 -1.011]
+t: 73	 action: [ 0.47  -0.336 -0.068  0.002  0.193  0.044 -1.033]
+[07-31 00:37:19|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.987 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=74: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.6186
+INFO:cosmos_policy.experiments.robot.robot_utils:t=74: Selected seed 195 with value = 0.6186
+Query 1/1: Action query time = 0.987 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6186
+t=74: Selected seed 195 with value = 0.6186
+t: 74	 action: [ 0.23  -0.272 -0.024 -0.007  0.133  0.065 -1.007]
+t: 75	 action: [ 0.175 -0.26   0.011 -0.005  0.118  0.052 -1.016]
+t: 76	 action: [ 0.108 -0.314 -0.027 -0.003  0.095  0.06  -1.004]
+t: 77	 action: [ 0.055 -0.318  0.005 -0.002  0.076  0.047 -1.016]
+t: 78	 action: [ 5.403e-02 -3.790e-01 -2.223e-02  5.220e-04  6.933e-02  5.257e-02 -1.005e+00]
+t: 79	 action: [ 0.032 -0.352 -0.011  0.002  0.057  0.043 -1.04 ]
+t: 80	 action: [-1.970e-03 -3.932e-01 -3.687e-02  5.549e-04  4.141e-02  5.263e-02 -1.004e+00]
+t: 81	 action: [-0.014 -0.385 -0.032  0.002  0.033  0.039 -1.038]
+t: 82	 action: [-0.039 -0.351 -0.029  0.002  0.018  0.045 -1.003]
+t: 83	 action: [-2.738e-02 -3.799e-01  4.067e-04  9.962e-03  1.580e-02  4.553e-02 -1.016e+00]
+t: 84	 action: [-0.091 -0.347 -0.04   0.002  0.005  0.056 -1.008]
+t: 85	 action: [-0.079 -0.375 -0.009  0.009  0.013  0.052 -1.012]
+t: 86	 action: [-0.131 -0.425 -0.078  0.006 -0.001  0.057 -0.996]
+t: 87	 action: [-0.153 -0.439 -0.054  0.014  0.004  0.048 -1.031]
+t: 88	 action: [-0.163 -0.433 -0.093  0.008 -0.01   0.065 -1.002]
+t: 89	 action: [-0.182 -0.43  -0.069  0.014 -0.002  0.054 -1.029]
+[07-31 00:37:20|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.990 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=90: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.7068
+INFO:cosmos_policy.experiments.robot.robot_utils:t=90: Selected seed 195 with value = 0.7068
+Query 1/1: Action query time = 0.990 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7068
+t=90: Selected seed 195 with value = 0.7068
+t: 90	 action: [-0.026 -0.4   -0.102  0.002 -0.017  0.036 -0.999]
+t: 91	 action: [ 0.01  -0.428 -0.057  0.01  -0.023  0.04  -1.008]
+t: 92	 action: [-0.061 -0.417 -0.133  0.008 -0.016  0.042 -0.992]
+t: 93	 action: [-0.021 -0.448 -0.093  0.017 -0.016  0.041 -1.015]
+t: 94	 action: [-0.074 -0.483 -0.17   0.007 -0.022  0.036 -0.991]
+t: 95	 action: [-0.079 -0.474 -0.158  0.019 -0.025  0.04  -1.035]
+t: 96	 action: [-0.123 -0.481 -0.215  0.019 -0.016  0.045 -0.985]
+t: 97	 action: [-0.145 -0.459 -0.25   0.024 -0.014  0.041 -1.032]
+t: 98	 action: [-0.185 -0.5   -0.184  0.012 -0.017  0.067 -1.002]
+t: 99	 action: [-0.186 -0.456 -0.17   0.022 -0.02   0.066 -1.016]
+t: 100	 action: [-0.251 -0.492 -0.213  0.014 -0.02   0.089 -0.995]
+t: 101	 action: [-0.242 -0.415 -0.224  0.02  -0.025  0.086 -1.008]
+t: 102	 action: [-0.302 -0.484 -0.252  0.012 -0.036  0.109 -0.997]
+t: 103	 action: [-0.307 -0.407 -0.268  0.031 -0.035  0.094 -1.035]
+t: 104	 action: [-0.358 -0.429 -0.254  0.014 -0.044  0.125 -0.989]
+t: 105	 action: [-0.34  -0.348 -0.285  0.032 -0.036  0.11  -1.032]
+[07-31 00:37:21|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.972 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=106: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.7425
+INFO:cosmos_policy.experiments.robot.robot_utils:t=106: Selected seed 195 with value = 0.7425
+Query 1/1: Action query time = 0.972 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7425
+t=106: Selected seed 195 with value = 0.7425
+t: 106	 action: [-0.069 -0.439 -0.218  0.005 -0.035  0.01  -1.008]
+t: 107	 action: [-0.05  -0.474 -0.232  0.018 -0.036  0.006 -1.03 ]
+t: 108	 action: [-0.096 -0.422 -0.249  0.01  -0.035  0.008 -0.997]
+t: 109	 action: [-0.081 -0.445 -0.274  0.023 -0.037  0.002 -1.024]
+t: 110	 action: [-0.096 -0.456 -0.283  0.03  -0.035  0.003 -0.994]
+t: 111	 action: [-0.118 -0.446 -0.28   0.042 -0.025  0.012 -1.048]
+t: 112	 action: [-1.416e-01 -4.349e-01 -3.199e-01  4.210e-02 -3.034e-02  8.543e-04 -9.850e-01]
+t: 113	 action: [-0.161 -0.407 -0.34   0.052 -0.019  0.009 -1.044]
+t: 114	 action: [-0.153 -0.494 -0.351  0.042 -0.053  0.01  -1.003]
+t: 115	 action: [-0.152 -0.472 -0.398  0.045 -0.058  0.003 -1.028]
+t: 116	 action: [-0.184 -0.507 -0.483  0.055 -0.051  0.011 -1.003]
+t: 117	 action: [-0.194 -0.444 -0.565  0.053 -0.059  0.006 -1.024]
+t: 118	 action: [-0.236 -0.371 -0.725  0.071 -0.052  0.003 -1.001]
+t: 119	 action: [-0.239 -0.252 -0.806  0.082 -0.033  0.011 -1.045]
+t: 120	 action: [-0.242 -0.169 -0.951  0.076 -0.034  0.01  -0.997]
+t: 121	 action: [-0.264 -0.041 -0.962  0.078 -0.01   0.023 -1.051]
+[07-31 00:37:23|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.965 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=122: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.7311
+INFO:cosmos_policy.experiments.robot.robot_utils:t=122: Selected seed 195 with value = 0.7311
+Query 1/1: Action query time = 0.965 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7311
+t=122: Selected seed 195 with value = 0.7311
+t: 122	 action: [-0.028 -0.293  0.063 -0.019 -0.028  0.014 -1.023]
+t: 123	 action: [ 0.015 -0.338  0.093 -0.007 -0.027  0.003 -1.021]
+t: 124	 action: [-0.013 -0.28   0.094 -0.004 -0.038  0.012 -1.014]
+t: 125	 action: [ 0.017 -0.352  0.103  0.007 -0.044  0.003 -1.014]
+t: 126	 action: [-0.003 -0.356  0.059  0.01  -0.021  0.007 -1.013]
+t: 127	 action: [-0.01  -0.366  0.051  0.022 -0.029  0.004 -1.049]
+t: 128	 action: [-0.045 -0.383  0.027  0.017 -0.029  0.006 -1.007]
+t: 129	 action: [-0.034 -0.4   -0.02   0.033 -0.034  0.002 -1.043]
+t: 130	 action: [-0.141 -0.435 -0.122  0.028 -0.059  0.011 -1.022]
+t: 131	 action: [-0.122 -0.441 -0.175  0.032 -0.066 -0.001 -1.025]
+t: 132	 action: [-0.138 -0.443 -0.325  0.042 -0.064  0.006 -1.019]
+t: 133	 action: [-0.142 -0.429 -0.39   0.048 -0.076 -0.005 -1.016]
+t: 134	 action: [-1.752e-01 -3.937e-01 -5.623e-01  7.230e-02 -5.372e-02 -3.021e-04 -1.010e+00]
+t: 135	 action: [-0.125 -0.32  -0.713  0.078 -0.038 -0.007 -1.044]
+t: 136	 action: [-0.133 -0.281 -0.865  0.086 -0.037 -0.005 -1.006]
+t: 137	 action: [-0.106 -0.171 -0.905  0.08  -0.02  -0.007 -1.045]
+[07-31 00:37:24|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.971 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=138: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9783
+INFO:cosmos_policy.experiments.robot.robot_utils:t=138: Selected seed 195 with value = 0.9783
+Query 1/1: Action query time = 0.971 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9783
+t=138: Selected seed 195 with value = 0.9783
+t: 138	 action: [-1.601e-01  8.779e-01 -9.165e-01  8.256e-05  8.297e-03 -2.971e-03 -9.855e-01]
+t: 139	 action: [-0.148  0.831 -0.893 -0.017  0.003 -0.008 -1.003]
+t: 140	 action: [-0.174  0.882 -0.923 -0.01   0.014  0.004 -0.986]
+t: 141	 action: [-0.165  0.851 -0.893 -0.02   0.005 -0.004 -1.005]
+t: 142	 action: [-2.088e-01  9.387e-01 -9.198e-01 -1.302e-02  1.730e-02 -8.883e-04 -9.797e-01]
+t: 143	 action: [-1.873e-01  8.790e-01 -8.984e-01 -1.461e-02 -2.229e-03 -9.281e-04 -1.032e+00]
+t: 144	 action: [-2.122e-01  9.448e-01 -9.142e-01 -2.487e-02  2.262e-02  5.802e-04 -9.799e-01]
+t: 145	 action: [-0.187  0.884 -0.874 -0.016 -0.002  0.004 -1.035]
+t: 146	 action: [-0.168  0.935 -0.901 -0.008  0.011  0.003 -0.98 ]
+t: 147	 action: [-0.153  0.868 -0.853 -0.019  0.01  -0.004 -1.006]
+t: 148	 action: [-0.186  0.936 -0.906 -0.016  0.016  0.006 -0.984]
+t: 149	 action: [-1.684e-01  8.708e-01 -8.565e-01 -2.147e-02  1.099e-02 -4.932e-04 -1.002e+00]
+t: 150	 action: [-2.040e-01  9.687e-01 -9.085e-01 -1.773e-02  1.837e-02 -4.660e-05 -9.752e-01]
+t: 151	 action: [-2.209e-01  9.087e-01 -8.713e-01 -1.572e-02 -7.729e-04  2.877e-03 -1.031e+00]
+t: 152	 action: [-2.098e-01  9.781e-01 -8.989e-01 -2.574e-02  2.349e-02  8.998e-04 -9.768e-01]
+t: 153	 action: [-0.224  0.907 -0.849 -0.018  0.003  0.008 -1.036]
+[07-31 00:37:25|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.002 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=154: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9572
+INFO:cosmos_policy.experiments.robot.robot_utils:t=154: Selected seed 195 with value = 0.9572
+WARNING:imageio_ffmpeg:IMAGEIO FFMPEG_WRITER WARNING: input image is not divisible by macro_block_size=16, resizing from (896, 284) to (896, 288) to ensure video compatibility with most codecs and players. To prevent resizing, make your input image divisible by the macro_block_size or set the macro_block_size to 1 (risking incompatibility).
+INFO:cosmos_policy.experiments.robot.robot_utils:Success: True
+INFO:cosmos_policy.experiments.robot.robot_utils:# episodes completed so far: 23
+INFO:cosmos_policy.experiments.robot.robot_utils:# successes: 11 (47.8%)
+
+
 46%|████▌     | 23/50 [09:29<10:28, 23.27s/it]INFO:cosmos_policy.experiments.robot.robot_utils:
+Task: open the middle drawer of the cabinet
+INFO:cosmos_policy.experiments.robot.robot_utils:Starting episode 24...
+Query 1/1: Action query time = 1.002 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9572
+t=154: Selected seed 195 with value = 0.9572
+t: 154	 action: [-0.166  0.737 -0.52  -0.025 -0.032  0.061 -0.971]
+t: 155	 action: [-0.157  0.758 -0.44  -0.033 -0.016  0.061 -0.982]
+t: 156	 action: [-0.142  0.761 -0.511 -0.025 -0.029  0.054 -0.987]
+t: 157	 action: [-0.125  0.688 -0.423 -0.033 -0.022  0.039 -1.009]
+t: 158	 action: [-0.17   0.78  -0.362 -0.029 -0.019  0.051 -1.002]
+t: 159	 action: [-0.156  0.759 -0.233 -0.031 -0.013  0.053 -1.052]
+Saved rollout MP4 at path ./rollouts/None/2026_07_31-00_27_45--episode=23--success=True--task=open_the_middle_drawer_of_the_cabinet.mp4
+150 150 10 10
+Saved rollout MP4 at path ./rollouts/None/2026_07_31-00_27_45--with_future_img--episode=23--success=True--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: True
+# episodes completed so far: 23
+# successes: 11 (47.8%)
+
+Task: open the middle drawer of the cabinet
+Starting episode 24...
+[07-31 00:37:31|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.989 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=10: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.3427
+INFO:cosmos_policy.experiments.robot.robot_utils:t=10: Selected seed 195 with value = 0.3427
+Query 1/1: Action query time = 0.989 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3427
+t=10: Selected seed 195 with value = 0.3427
+t: 10	 action: [ 0.085 -0.043 -0.002  0.005  0.04  -0.002 -0.966]
+t: 11	 action: [ 1.182e-01  1.870e-02  5.853e-02  4.281e-05  7.263e-02 -4.917e-03 -9.593e-01]
+t: 12	 action: [ 2.754e-01  1.620e-02  2.830e-02  2.422e-04  9.376e-02  1.208e-02 -9.867e-01]
+t: 13	 action: [ 0.391  0.067  0.095 -0.006  0.127  0.011 -0.989]
+t: 14	 action: [ 0.472  0.041  0.086 -0.011  0.122  0.017 -1.015]
+t: 15	 action: [ 0.601  0.09   0.117 -0.007  0.135  0.016 -1.034]
+t: 16	 action: [ 0.668  0.043  0.095 -0.018  0.141  0.05  -1.01 ]
+t: 17	 action: [ 0.703  0.108  0.11  -0.015  0.15   0.032 -1.04 ]
+t: 18	 action: [ 0.68   0.062  0.1   -0.016  0.134  0.093 -1.018]
+t: 19	 action: [ 0.708  0.096  0.132 -0.023  0.141  0.09  -1.02 ]
+t: 20	 action: [ 0.701  0.068  0.075 -0.027  0.112  0.114 -1.015]
+t: 21	 action: [ 0.723  0.116  0.114 -0.036  0.115  0.11  -1.019]
+t: 22	 action: [ 0.682  0.045  0.089 -0.03   0.104  0.138 -1.004]
+t: 23	 action: [ 0.677  0.099  0.067 -0.045  0.087  0.124 -1.043]
+t: 24	 action: [ 0.661  0.085  0.045 -0.048  0.083  0.163 -1.001]
+t: 25	 action: [ 0.643  0.139  0.048 -0.066  0.076  0.149 -1.038]
+[07-31 00:37:32|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.992 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=26: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.3620
+INFO:cosmos_policy.experiments.robot.robot_utils:t=26: Selected seed 195 with value = 0.3620
+Query 1/1: Action query time = 0.992 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3620
+t=26: Selected seed 195 with value = 0.3620
+t: 26	 action: [ 0.601  0.07   0.065 -0.025  0.101  0.108 -1.031]
+t: 27	 action: [ 0.599  0.096  0.062 -0.025  0.104  0.108 -1.025]
+t: 28	 action: [ 0.585  0.066  0.05  -0.027  0.104  0.122 -1.025]
+t: 29	 action: [ 0.585  0.092  0.044 -0.031  0.108  0.116 -1.023]
+t: 30	 action: [ 0.588  0.047  0.041 -0.042  0.122  0.123 -1.014]
+t: 31	 action: [ 0.578  0.088  0.03  -0.033  0.112  0.12  -1.043]
+t: 32	 action: [ 0.574  0.046  0.026 -0.046  0.121  0.137 -1.014]
+t: 33	 action: [ 0.565  0.083  0.017 -0.048  0.123  0.132 -1.041]
+t: 34	 action: [ 0.527  0.023  0.009 -0.071  0.163  0.159 -1.003]
+t: 35	 action: [ 0.508  0.046  0.013 -0.076  0.175  0.168 -1.018]
+t: 36	 action: [ 0.459  0.017 -0.032 -0.079  0.16   0.175 -1.003]
+t: 37	 action: [ 0.431  0.048 -0.01  -0.084  0.168  0.189 -1.01 ]
+t: 38	 action: [ 0.345  0.025 -0.056 -0.089  0.137  0.222 -0.999]
+t: 39	 action: [ 0.305  0.07  -0.072 -0.086  0.122  0.215 -1.051]
+t: 40	 action: [ 0.27   0.022 -0.098 -0.097  0.13   0.244 -1.002]
+t: 41	 action: [ 0.242  0.076 -0.109 -0.094  0.118  0.234 -1.042]
+[07-31 00:37:33|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.979 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=42: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.4237
+INFO:cosmos_policy.experiments.robot.robot_utils:t=42: Selected seed 195 with value = 0.4237
+Query 1/1: Action query time = 0.979 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4237
+t=42: Selected seed 195 with value = 0.4237
+t: 42	 action: [ 0.219  0.02  -0.034 -0.092  0.109  0.25  -0.997]
+t: 43	 action: [ 0.22   0.034 -0.038 -0.09   0.101  0.24  -0.999]
+t: 44	 action: [ 0.181  0.017 -0.071 -0.103  0.1    0.259 -0.994]
+t: 45	 action: [ 0.19   0.033 -0.066 -0.099  0.089  0.247 -1.006]
+t: 46	 action: [ 0.2    0.016 -0.068 -0.111  0.089  0.258 -1.001]
+t: 47	 action: [ 0.196  0.033 -0.095 -0.103  0.091  0.237 -1.024]
+t: 48	 action: [ 0.173  0.008 -0.117 -0.111  0.086  0.261 -0.998]
+t: 49	 action: [ 0.167  0.024 -0.163 -0.105  0.089  0.239 -1.031]
+t: 50	 action: [ 0.135 -0.052 -0.21  -0.098  0.119  0.251 -0.999]
+t: 51	 action: [ 0.149 -0.041 -0.221 -0.089  0.118  0.244 -1.007]
+t: 52	 action: [ 0.138 -0.067 -0.254 -0.096  0.125  0.255 -0.996]
+t: 53	 action: [ 0.164 -0.057 -0.277 -0.083  0.12   0.242 -0.999]
+t: 54	 action: [ 0.171 -0.07  -0.245 -0.087  0.125  0.262 -0.996]
+t: 55	 action: [ 0.197 -0.046 -0.27  -0.077  0.122  0.241 -1.032]
+t: 56	 action: [ 0.179 -0.091 -0.292 -0.069  0.137  0.259 -0.992]
+t: 57	 action: [ 0.202 -0.075 -0.326 -0.065  0.13   0.234 -1.025]
+[07-31 00:37:35|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.973 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=58: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.5385
+INFO:cosmos_policy.experiments.robot.robot_utils:t=58: Selected seed 195 with value = 0.5385
+Query 1/1: Action query time = 0.973 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5385
+t=58: Selected seed 195 with value = 0.5385
+t: 58	 action: [ 0.017 -0.141 -0.352 -0.034  0.145  0.257 -1.003]
+t: 59	 action: [ 0.021 -0.154 -0.264 -0.029  0.136  0.24  -0.98 ]
+t: 60	 action: [ 0.025 -0.169 -0.413 -0.019  0.145  0.268 -1.001]
+t: 61	 action: [ 0.034 -0.185 -0.31  -0.017  0.136  0.244 -0.992]
+t: 62	 action: [ 0.093 -0.245 -0.442 -0.008  0.129  0.261 -0.997]
+t: 63	 action: [ 0.089 -0.252 -0.311 -0.01   0.12   0.24  -1.02 ]
+t: 64	 action: [ 0.126 -0.308 -0.417 -0.002  0.128  0.266 -0.996]
+t: 65	 action: [ 0.131 -0.287 -0.319  0.002  0.11   0.233 -1.016]
+t: 66	 action: [ 0.094 -0.363 -0.345  0.002  0.116  0.256 -1.006]
+t: 67	 action: [ 0.126 -0.341 -0.343  0.004  0.096  0.23  -0.997]
+t: 68	 action: [ 0.098 -0.352 -0.266  0.006  0.098  0.253 -1.004]
+t: 69	 action: [ 0.128 -0.331 -0.264  0.008  0.072  0.215 -0.995]
+t: 70	 action: [ 1.076e-01 -3.374e-01 -1.777e-01 -1.282e-04  8.624e-02  2.394e-01 -9.937e-01]
+t: 71	 action: [ 0.117 -0.343 -0.157  0.008  0.053  0.209 -1.027]
+t: 72	 action: [ 0.095 -0.304 -0.127  0.004  0.055  0.227 -0.999]
+t: 73	 action: [ 0.081 -0.319 -0.12   0.008  0.024  0.196 -1.02 ]
+[07-31 00:37:36|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.965 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=74: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.6543
+INFO:cosmos_policy.experiments.robot.robot_utils:t=74: Selected seed 195 with value = 0.6543
+Query 1/1: Action query time = 0.965 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6543
+t=74: Selected seed 195 with value = 0.6543
+t: 74	 action: [-2.351e-04 -3.884e-01 -1.070e-01  1.468e-02  2.471e-02  2.550e-01 -9.751e-01]
+t: 75	 action: [-0.004 -0.423 -0.111  0.024  0.022  0.243 -0.967]
+t: 76	 action: [-0.012 -0.394 -0.109  0.024  0.018  0.26  -0.977]
+t: 77	 action: [-0.012 -0.417 -0.094  0.029  0.016  0.235 -0.991]
+t: 78	 action: [-7.650e-04 -4.167e-01 -1.150e-01  1.723e-02  1.851e-02  2.575e-01 -9.799e-01]
+t: 79	 action: [-0.028 -0.454 -0.125  0.027  0.009  0.243 -1.009]
+t: 80	 action: [-0.028 -0.389 -0.111  0.028  0.005  0.253 -0.986]
+t: 81	 action: [-0.07  -0.4   -0.121  0.028  0.004  0.22  -1.01 ]
+t: 82	 action: [-0.095 -0.414 -0.05   0.006 -0.015  0.189 -0.987]
+t: 83	 action: [-0.094 -0.394 -0.016  0.015 -0.015  0.156 -1.013]
+t: 84	 action: [-0.167 -0.394 -0.04   0.004 -0.023  0.166 -0.982]
+t: 85	 action: [-0.147 -0.353 -0.014  0.01  -0.034  0.132 -0.998]
+t: 86	 action: [-0.203 -0.416 -0.055  0.01  -0.027  0.149 -0.982]
+t: 87	 action: [-0.225 -0.397 -0.025  0.012 -0.03   0.124 -1.012]
+t: 88	 action: [-0.27  -0.388 -0.062  0.007 -0.045  0.124 -0.982]
+t: 89	 action: [-0.271 -0.361 -0.05   0.008 -0.047  0.105 -1.014]
+[07-31 00:37:37|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.978 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=90: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.6967
+INFO:cosmos_policy.experiments.robot.robot_utils:t=90: Selected seed 195 with value = 0.6967
+Query 1/1: Action query time = 0.978 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6967
+t=90: Selected seed 195 with value = 0.6967
+t: 90	 action: [-1.546e-04 -3.213e-01 -3.601e-02 -5.711e-03 -3.205e-02  9.043e-02 -9.951e-01]
+t: 91	 action: [ 2.821e-02 -3.165e-01 -2.946e-02 -7.270e-04 -3.181e-02  9.551e-02 -1.018e+00]
+t: 92	 action: [-0.045 -0.331 -0.036 -0.003 -0.061  0.11  -0.991]
+t: 93	 action: [-6.395e-02 -3.000e-01 -2.099e-02 -8.167e-04 -5.916e-02  1.070e-01 -1.014e+00]
+t: 94	 action: [-1.223e-01 -3.650e-01 -3.785e-02  7.603e-04 -5.803e-02  1.018e-01 -9.962e-01]
+t: 95	 action: [-0.193 -0.308 -0.068  0.006 -0.091  0.105 -1.04 ]
+t: 96	 action: [-0.257 -0.317 -0.083 -0.002 -0.102  0.123 -0.995]
+t: 97	 action: [-0.342 -0.255 -0.146  0.003 -0.115  0.118 -1.029]
+t: 98	 action: [-0.459 -0.285 -0.123 -0.037 -0.116  0.131 -0.984]
+t: 99	 action: [-0.455 -0.232 -0.132 -0.013 -0.119  0.126 -1.005]
+t: 100	 action: [-0.542 -0.25  -0.161 -0.039 -0.133  0.147 -0.98 ]
+t: 101	 action: [-0.524 -0.204 -0.154 -0.013 -0.122  0.141 -0.998]
+t: 102	 action: [-0.611 -0.144 -0.151 -0.01  -0.143  0.147 -0.97 ]
+t: 103	 action: [-0.585 -0.185 -0.101 -0.002 -0.11   0.134 -1.019]
+t: 104	 action: [-0.573 -0.161 -0.116 -0.009 -0.148  0.155 -0.959]
+t: 105	 action: [-0.5   -0.17  -0.043 -0.004 -0.091  0.143 -1.018]
+[07-31 00:37:38|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.981 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=106: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.6962
+INFO:cosmos_policy.experiments.robot.robot_utils:t=106: Selected seed 195 with value = 0.6962
+Query 1/1: Action query time = 0.981 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6962
+t=106: Selected seed 195 with value = 0.6962
+t: 106	 action: [-0.123 -0.288 -0.193 -0.015 -0.071  0.102 -0.972]
+t: 107	 action: [-0.149 -0.277 -0.218 -0.003 -0.08   0.105 -0.992]
+t: 108	 action: [-0.238 -0.263 -0.162 -0.012 -0.096  0.11  -0.977]
+t: 109	 action: [-0.262 -0.265 -0.161 -0.003 -0.094  0.107 -1.   ]
+t: 110	 action: [-0.276 -0.292 -0.133 -0.006 -0.093  0.112 -0.968]
+t: 111	 action: [-0.331 -0.245 -0.109 -0.001 -0.118  0.108 -1.022]
+t: 112	 action: [-0.379 -0.275 -0.1   -0.007 -0.113  0.123 -0.974]
+t: 113	 action: [-0.4   -0.228 -0.079 -0.003 -0.119  0.112 -1.028]
+t: 114	 action: [-0.397 -0.325 -0.025 -0.045 -0.118  0.143 -0.987]
+t: 115	 action: [-0.354 -0.316 -0.022 -0.021 -0.127  0.132 -1.003]
+t: 116	 action: [-0.406 -0.325 -0.002 -0.042 -0.142  0.144 -0.987]
+t: 117	 action: [-0.373 -0.291  0.006 -0.018 -0.14   0.141 -0.995]
+t: 118	 action: [-0.471 -0.3   -0.005 -0.01  -0.138  0.166 -0.977]
+t: 119	 action: [-0.42  -0.279  0.003 -0.007 -0.127  0.147 -1.024]
+t: 120	 action: [-0.429 -0.296  0.009 -0.005 -0.168  0.169 -0.972]
+t: 121	 action: [-0.381 -0.259  0.007 -0.006 -0.129  0.15  -1.023]
+[07-31 00:37:40|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.989 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=122: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.7089
+INFO:cosmos_policy.experiments.robot.robot_utils:t=122: Selected seed 195 with value = 0.7089
+Query 1/1: Action query time = 0.989 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7089
+t=122: Selected seed 195 with value = 0.7089
+t: 122	 action: [-0.36  -0.342 -0.155 -0.01  -0.104  0.144 -0.965]
+t: 123	 action: [-0.363 -0.392 -0.145  0.001 -0.09   0.148 -0.977]
+t: 124	 action: [-0.388 -0.328 -0.125 -0.004 -0.123  0.153 -0.975]
+t: 125	 action: [-0.373 -0.377 -0.115  0.004 -0.097  0.156 -0.991]
+t: 126	 action: [-0.321 -0.371 -0.113 -0.001 -0.096  0.164 -0.942]
+t: 127	 action: [-0.234 -0.368 -0.052  0.003 -0.092  0.159 -1.013]
+t: 128	 action: [-0.292 -0.326 -0.067 -0.001 -0.105  0.176 -0.956]
+t: 129	 action: [-0.201 -0.321 -0.03   0.006 -0.08   0.166 -1.02 ]
+t: 130	 action: [-2.035e-01 -4.093e-01 -7.417e-04 -1.601e-02 -8.497e-02  1.887e-01 -9.820e-01]
+t: 131	 action: [-0.143 -0.386 -0.057 -0.008 -0.09   0.162 -0.998]
+t: 132	 action: [-0.231 -0.366 -0.04  -0.01  -0.085  0.183 -0.985]
+t: 133	 action: [-0.2   -0.35  -0.102 -0.005 -0.085  0.158 -0.987]
+t: 134	 action: [-0.241 -0.354 -0.056 -0.004 -0.076  0.189 -0.968]
+t: 135	 action: [-0.215 -0.332 -0.102  0.006 -0.076  0.162 -1.021]
+t: 136	 action: [-0.28  -0.347 -0.111 -0.002 -0.089  0.181 -0.972]
+t: 137	 action: [-0.258 -0.324 -0.172  0.008 -0.075  0.154 -1.024]
+[07-31 00:37:41|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.975 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=138: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.7620
+INFO:cosmos_policy.experiments.robot.robot_utils:t=138: Selected seed 195 with value = 0.7620
+Query 1/1: Action query time = 0.975 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7620
+t=138: Selected seed 195 with value = 0.7620
+t: 138	 action: [-0.503 -0.252 -0.144 -0.012 -0.109  0.082 -0.961]
+t: 139	 action: [-0.51  -0.303 -0.072 -0.008 -0.103  0.09  -0.976]
+t: 140	 action: [-0.499 -0.248 -0.088 -0.011 -0.12   0.104 -0.979]
+t: 141	 action: [-0.477 -0.292  0.007 -0.008 -0.091  0.11  -0.997]
+t: 142	 action: [-0.454 -0.286 -0.061 -0.002 -0.089  0.112 -0.939]
+t: 143	 action: [-3.400e-01 -2.987e-01 -3.993e-03 -5.607e-04 -7.228e-02  1.084e-01 -1.021e+00]
+t: 144	 action: [-0.373 -0.287 -0.03  -0.002 -0.086  0.134 -0.96 ]
+t: 145	 action: [-0.26  -0.291  0.028  0.004 -0.056  0.127 -1.02 ]
+t: 146	 action: [-0.238 -0.416 -0.035  0.01  -0.046  0.182 -0.971]
+t: 147	 action: [-0.198 -0.379 -0.035  0.004 -0.043  0.157 -0.997]
+t: 148	 action: [-0.269 -0.395 -0.095  0.011 -0.04   0.187 -0.967]
+t: 149	 action: [-0.266 -0.372 -0.181  0.008 -0.028  0.165 -0.983]
+t: 150	 action: [-0.321 -0.319 -0.394  0.035 -0.032  0.179 -0.975]
+t: 151	 action: [-0.326 -0.282 -0.594  0.067 -0.01   0.155 -1.013]
+t: 152	 action: [-0.429 -0.242 -0.741  0.062 -0.034  0.174 -0.969]
+t: 153	 action: [-4.503e-01 -1.962e-01 -8.245e-01  8.361e-02 -5.210e-04  1.612e-01 -1.019e+00]
+[07-31 00:37:42|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.977 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=154: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.8956
+INFO:cosmos_policy.experiments.robot.robot_utils:t=154: Selected seed 195 with value = 0.8956
+Query 1/1: Action query time = 0.977 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8956
+t=154: Selected seed 195 with value = 0.8956
+t: 154	 action: [-0.45  -0.419 -0.539  0.023 -0.033  0.044 -0.996]
+t: 155	 action: [-0.422 -0.416 -0.707  0.051 -0.071  0.057 -1.017]
+t: 156	 action: [-0.408 -0.417 -0.745  0.062 -0.044  0.082 -0.995]
+t: 157	 action: [-0.39  -0.399 -0.792  0.08  -0.072  0.077 -1.015]
+t: 158	 action: [-0.35  -0.322 -1.009  0.095 -0.04   0.093 -0.992]
+t: 159	 action: [-0.309 -0.274 -0.945  0.097 -0.059  0.079 -1.033]
+t: 160	 action: [-0.212 -0.247 -1.014  0.073 -0.039  0.107 -0.983]
+t: 161	 action: [-0.193 -0.188 -0.965  0.075 -0.038  0.089 -1.028]
+t: 162	 action: [-0.252 -0.221 -0.888  0.068 -0.024  0.075 -0.984]
+t: 163	 action: [-0.226 -0.085 -0.843  0.072 -0.011  0.078 -1.013]
+t: 164	 action: [-0.203  0.111 -0.95   0.035 -0.021  0.079 -0.994]
+t: 165	 action: [-0.196  0.176 -0.87   0.037 -0.005  0.073 -1.008]
+t: 166	 action: [-0.181  0.168 -0.981  0.014 -0.019  0.077 -0.983]
+t: 167	 action: [-0.193  0.279 -0.903  0.006 -0.006  0.073 -1.041]
+t: 168	 action: [-0.166  0.533 -0.913 -0.002 -0.011  0.076 -0.989]
+t: 169	 action: [-0.175  0.517 -0.831 -0.013 -0.004  0.07  -1.049]
+[07-31 00:37:44|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.964 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=170: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.8572
+INFO:cosmos_policy.experiments.robot.robot_utils:t=170: Selected seed 195 with value = 0.8572
+Query 1/1: Action query time = 0.964 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8572
+t=170: Selected seed 195 with value = 0.8572
+t: 170	 action: [-0.324 -0.416 -0.149 -0.006 -0.017  0.015 -1.003]
+t: 171	 action: [-3.226e-01 -4.084e-01 -3.318e-01  2.318e-04 -4.746e-02  2.117e-02 -1.012e+00]
+t: 172	 action: [-0.405 -0.412 -0.402  0.005 -0.049  0.033 -1.   ]
+t: 173	 action: [-0.399 -0.386 -0.59   0.026 -0.075  0.035 -1.007]
+t: 174	 action: [-0.424 -0.345 -0.823  0.042 -0.065  0.034 -0.995]
+t: 175	 action: [-0.413 -0.31  -0.873  0.074 -0.066  0.042 -1.025]
+t: 176	 action: [-0.356 -0.323 -1.001  0.067 -0.071  0.062 -0.987]
+t: 177	 action: [-0.331 -0.255 -0.979  0.089 -0.063  0.045 -1.021]
+t: 178	 action: [-0.339 -0.289 -0.924  0.075 -0.052  0.036 -0.997]
+t: 179	 action: [-0.31  -0.111 -0.934  0.066 -0.03   0.046 -1.006]
+t: 180	 action: [-0.236 -0.019 -0.962  0.054 -0.037  0.06  -1.005]
+t: 181	 action: [-0.242  0.054 -0.945  0.047 -0.012  0.06  -1.001]
+t: 182	 action: [-0.281 -0.024 -0.971  0.032 -0.052  0.073 -0.997]
+t: 183	 action: [-0.264  0.103 -0.928  0.032 -0.015  0.058 -1.038]
+t: 184	 action: [-0.2    0.298 -0.92   0.01  -0.033  0.088 -1.   ]
+t: 185	 action: [-2.064e-01  3.718e-01 -8.559e-01  6.099e-04 -6.934e-03  7.169e-02 -1.040e+00]
+[07-31 00:37:45|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.977 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=186: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.8304
+INFO:cosmos_policy.experiments.robot.robot_utils:t=186: Selected seed 195 with value = 0.8304
+Query 1/1: Action query time = 0.977 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8304
+t=186: Selected seed 195 with value = 0.8304
+t: 186	 action: [-1.817e-01 -4.279e-01 -2.583e-02 -4.064e-03  9.470e-04  7.036e-03 -1.001e+00]
+t: 187	 action: [-1.650e-01 -4.111e-01 -1.470e-01  4.521e-04 -1.537e-04  9.204e-03 -1.017e+00]
+t: 188	 action: [-0.277 -0.432 -0.241  0.006 -0.028  0.017 -1.002]
+t: 189	 action: [-0.256 -0.394 -0.372  0.018 -0.018  0.021 -1.012]
+t: 190	 action: [-0.325 -0.386 -0.603  0.028 -0.046  0.015 -0.992]
+t: 191	 action: [-0.353 -0.35  -0.694  0.038 -0.034  0.023 -1.037]
+t: 192	 action: [-0.366 -0.342 -0.892  0.048 -0.053  0.042 -0.991]
+t: 193	 action: [-0.377 -0.283 -0.936  0.058 -0.027  0.031 -1.033]
+t: 194	 action: [-0.424 -0.257 -0.865  0.071 -0.053  0.029 -1.009]
+t: 195	 action: [-0.391 -0.148 -0.934  0.061 -0.041  0.041 -1.011]
+t: 196	 action: [-0.358 -0.172 -0.932  0.063 -0.042  0.057 -1.019]
+t: 197	 action: [-0.337 -0.053 -0.971  0.056 -0.034  0.054 -1.008]
+t: 198	 action: [-0.398 -0.136 -0.969  0.047 -0.054  0.075 -1.007]
+t: 199	 action: [-0.356 -0.013 -0.955  0.052 -0.019  0.061 -1.04 ]
+t: 200	 action: [-0.277  0.026 -0.915  0.02  -0.038  0.094 -1.008]
+t: 201	 action: [-0.258  0.147 -0.888  0.027 -0.008  0.073 -1.046]
+[07-31 00:37:46|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.989 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=202: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.8309
+INFO:cosmos_policy.experiments.robot.robot_utils:t=202: Selected seed 195 with value = 0.8309
+Query 1/1: Action query time = 0.989 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8309
+t=202: Selected seed 195 with value = 0.8309
+t: 202	 action: [-1.902e-01 -4.281e-01 -1.240e-01  6.661e-04  2.509e-03 -1.515e-02 -1.006e+00]
+t: 203	 action: [-0.164 -0.41  -0.261  0.006  0.004 -0.005 -1.017]
+t: 204	 action: [-0.282 -0.426 -0.365  0.011 -0.016  0.009 -1.006]
+t: 205	 action: [-0.25  -0.38  -0.501  0.023 -0.011  0.007 -1.013]
+t: 206	 action: [-0.325 -0.377 -0.694  0.032 -0.02   0.006 -0.997]
+t: 207	 action: [-0.329 -0.311 -0.742  0.041 -0.019  0.013 -1.034]
+t: 208	 action: [-0.34  -0.333 -0.92   0.051 -0.029  0.021 -0.994]
+t: 209	 action: [-0.342 -0.236 -0.928  0.058 -0.022  0.019 -1.031]
+t: 210	 action: [-0.364 -0.243 -0.853  0.067 -0.02   0.018 -1.006]
+t: 211	 action: [-0.315 -0.128 -0.907  0.05  -0.013  0.031 -1.012]
+t: 212	 action: [-0.283 -0.108 -0.906  0.057 -0.017  0.042 -1.02 ]
+t: 213	 action: [-0.271 -0.024 -0.946  0.044 -0.008  0.052 -1.009]
+t: 214	 action: [-0.357 -0.108 -0.935  0.042 -0.023  0.06  -1.004]
+t: 215	 action: [-0.327  0.019 -0.919  0.044 -0.011  0.052 -1.045]
+t: 216	 action: [-0.244  0.095 -0.863  0.018 -0.018  0.077 -1.007]
+t: 217	 action: [-0.238  0.182 -0.851  0.022 -0.007  0.072 -1.046]
+[07-31 00:37:47|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.979 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=218: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.8055
+INFO:cosmos_policy.experiments.robot.robot_utils:t=218: Selected seed 195 with value = 0.8055
+Query 1/1: Action query time = 0.979 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8055
+t=218: Selected seed 195 with value = 0.8055
+t: 218	 action: [-1.288e-01 -3.953e-01 -7.247e-02  7.549e-04  3.186e-02 -4.059e-02 -1.007e+00]
+t: 219	 action: [-0.081 -0.403 -0.11   0.003  0.042 -0.047 -1.023]
+t: 220	 action: [-0.198 -0.421 -0.178  0.004  0.018 -0.027 -1.008]
+t: 221	 action: [-0.162 -0.386 -0.239  0.015  0.028 -0.027 -1.016]
+t: 222	 action: [-0.246 -0.381 -0.375  0.022  0.019 -0.011 -0.999]
+t: 223	 action: [-0.278 -0.321 -0.47   0.032  0.014 -0.03  -1.062]
+t: 224	 action: [-0.319 -0.344 -0.631  0.031  0.009  0.007 -1.   ]
+t: 225	 action: [-0.333 -0.269 -0.681  0.04   0.008 -0.009 -1.049]
+t: 226	 action: [-0.389 -0.29  -0.69   0.037 -0.007  0.032 -1.007]
+t: 227	 action: [-0.37  -0.195 -0.811  0.038 -0.013  0.042 -1.024]
+t: 228	 action: [-0.423 -0.244 -0.825  0.045 -0.019  0.059 -1.017]
+t: 229	 action: [-0.373 -0.136 -0.912  0.042 -0.029  0.061 -1.023]
+t: 230	 action: [-0.456 -0.177 -0.897  0.04  -0.023  0.088 -1.004]
+t: 231	 action: [-0.425 -0.073 -0.913  0.047 -0.021  0.072 -1.036]
+t: 232	 action: [-0.407 -0.167 -0.82   0.022 -0.03   0.106 -1.002]
+t: 233	 action: [-0.355 -0.02  -0.86   0.034 -0.017  0.088 -1.038]
+[07-31 00:37:49|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.983 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=234: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.8189
+INFO:cosmos_policy.experiments.robot.robot_utils:t=234: Selected seed 195 with value = 0.8189
+Query 1/1: Action query time = 0.983 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8189
+t=234: Selected seed 195 with value = 0.8189
+t: 234	 action: [-0.193 -0.414 -0.29   0.002  0.004 -0.012 -1.018]
+t: 235	 action: [-0.146 -0.396 -0.397  0.012  0.001 -0.009 -1.019]
+t: 236	 action: [-0.256 -0.402 -0.433  0.011 -0.013  0.009 -1.016]
+t: 237	 action: [-0.213 -0.369 -0.548  0.022 -0.025  0.005 -1.016]
+t: 238	 action: [-0.266 -0.307 -0.713  0.029 -0.01   0.016 -1.006]
+t: 239	 action: [-0.283 -0.262 -0.664  0.042 -0.025  0.021 -1.035]
+t: 240	 action: [-0.279 -0.259 -0.899  0.041 -0.024  0.034 -0.999]
+t: 241	 action: [-0.291 -0.205 -0.85   0.049 -0.034  0.032 -1.028]
+t: 242	 action: [-0.251 -0.256 -0.772  0.055  0.005  0.017 -0.999]
+t: 243	 action: [-0.216 -0.113 -0.841  0.044  0.01   0.029 -1.021]
+t: 244	 action: [-0.209 -0.116 -0.86   0.05   0.002  0.031 -1.009]
+t: 245	 action: [-0.223 -0.013 -0.904  0.035  0.008  0.044 -1.015]
+t: 246	 action: [-0.318 -0.095 -0.937  0.04  -0.001  0.055 -0.998]
+t: 247	 action: [-0.34   0.029 -0.908  0.035  0.002  0.053 -1.047]
+t: 248	 action: [-2.708e-01  4.969e-02 -8.823e-01  1.908e-02 -1.321e-04  6.942e-02 -1.003e+00]
+t: 249	 action: [-0.295  0.157 -0.878  0.017  0.003  0.066 -1.051]
+[07-31 00:37:50|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.979 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=250: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.7798
+INFO:cosmos_policy.experiments.robot.robot_utils:t=250: Selected seed 195 with value = 0.7798
+Query 1/1: Action query time = 0.979 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7798
+t=250: Selected seed 195 with value = 0.7798
+t: 250	 action: [-0.087 -0.337 -0.091 -0.003  0.038 -0.043 -1.008]
+t: 251	 action: [-0.026 -0.357 -0.069  0.003  0.053 -0.05  -1.023]
+t: 252	 action: [-1.636e-01 -3.606e-01 -1.727e-01 -5.568e-04  3.198e-02 -3.338e-02 -1.004e+00]
+t: 253	 action: [-0.119 -0.357 -0.161  0.011  0.048 -0.035 -1.017]
+t: 254	 action: [-0.219 -0.336 -0.26   0.012  0.031 -0.015 -1.   ]
+t: 255	 action: [-0.258 -0.296 -0.309  0.026  0.027 -0.034 -1.061]
+t: 256	 action: [-3.204e-01 -3.217e-01 -4.051e-01  1.248e-02  2.558e-02  6.995e-06 -9.985e-01]
+t: 257	 action: [-0.341 -0.258 -0.451  0.03   0.017 -0.017 -1.05 ]
+t: 258	 action: [-0.393 -0.332 -0.515  0.019  0.017  0.031 -0.999]
+t: 259	 action: [-0.373 -0.252 -0.637  0.026  0.006  0.039 -1.029]
+t: 260	 action: [-4.660e-01 -2.771e-01 -6.971e-01  2.875e-02 -9.792e-04  5.808e-02 -1.006e+00]
+t: 261	 action: [-0.407 -0.18  -0.809  0.03  -0.017  0.062 -1.027]
+t: 262	 action: [-0.498 -0.213 -0.815  0.026 -0.015  0.091 -0.993]
+t: 263	 action: [-0.483 -0.107 -0.842  0.034 -0.025  0.073 -1.04 ]
+t: 264	 action: [-0.51  -0.205 -0.794  0.013 -0.029  0.112 -0.99 ]
+t: 265	 action: [-0.467 -0.053 -0.855  0.023 -0.027  0.093 -1.038]
+[07-31 00:37:51|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.977 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=266: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.8201
+INFO:cosmos_policy.experiments.robot.robot_utils:t=266: Selected seed 195 with value = 0.8201
+Query 1/1: Action query time = 0.977 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8201
+t=266: Selected seed 195 with value = 0.8201
+t: 266	 action: [-0.185 -0.384 -0.389  0.008  0.004  0.015 -1.013]
+t: 267	 action: [-0.131 -0.37  -0.505  0.015 -0.004  0.01  -1.025]
+t: 268	 action: [-0.219 -0.308 -0.57   0.027 -0.001  0.021 -1.012]
+t: 269	 action: [-0.168 -0.305 -0.703  0.029 -0.015  0.015 -1.021]
+t: 270	 action: [-1.771e-01 -1.687e-01 -8.376e-01  5.336e-02  2.636e-04  6.568e-03 -1.006e+00]
+t: 271	 action: [-0.192 -0.168 -0.791  0.065 -0.005  0.015 -1.042]
+t: 272	 action: [-0.168 -0.114 -0.942  0.05  -0.001  0.016 -1.002]
+t: 273	 action: [-0.192 -0.094 -0.928  0.062 -0.003  0.017 -1.037]
+t: 274	 action: [-0.161 -0.18  -0.802  0.047  0.01   0.024 -0.994]
+t: 275	 action: [-0.181 -0.115 -0.896  0.03   0.012  0.027 -1.03 ]
+t: 276	 action: [-0.168 -0.035 -0.884  0.032  0.012  0.029 -1.   ]
+t: 277	 action: [-0.205 -0.007 -0.949  0.021  0.013  0.04  -1.026]
+t: 278	 action: [-0.238 -0.017 -0.888  0.021  0.02   0.038 -0.999]
+t: 279	 action: [-0.294  0.082 -0.951  0.039  0.016  0.035 -1.055]
+t: 280	 action: [-0.24   0.086 -0.875  0.005  0.023  0.051 -1.001]
+t: 281	 action: [-0.286  0.2   -0.926  0.02   0.015  0.051 -1.056]
+[07-31 00:37:53|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.978 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=282: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.7511
+INFO:cosmos_policy.experiments.robot.robot_utils:t=282: Selected seed 195 with value = 0.7511
+Query 1/1: Action query time = 0.978 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7511
+t=282: Selected seed 195 with value = 0.7511
+t: 282	 action: [-0.056 -0.305 -0.097 -0.003  0.036 -0.035 -1.007]
+t: 283	 action: [ 0.015 -0.299 -0.022  0.003  0.05  -0.038 -1.023]
+t: 284	 action: [-0.145 -0.318 -0.159 -0.004  0.033 -0.026 -1.002]
+t: 285	 action: [-0.08  -0.296 -0.079  0.007  0.047 -0.028 -1.019]
+t: 286	 action: [-0.19  -0.282 -0.199  0.005  0.03  -0.012 -1.002]
+t: 287	 action: [-0.214 -0.243 -0.199  0.018  0.028 -0.023 -1.059]
+t: 288	 action: [-2.954e-01 -2.709e-01 -2.924e-01  4.119e-03  2.737e-02  7.910e-04 -9.994e-01]
+t: 289	 action: [-0.312 -0.217 -0.272  0.019  0.019 -0.012 -1.05 ]
+t: 290	 action: [-0.38  -0.319 -0.429  0.01   0.023  0.032 -1.001]
+t: 291	 action: [-0.355 -0.254 -0.464  0.018  0.013  0.036 -1.03 ]
+t: 292	 action: [-0.471 -0.276 -0.584  0.021  0.005  0.058 -1.006]
+t: 293	 action: [-0.405 -0.213 -0.666  0.022 -0.007  0.06  -1.03 ]
+t: 294	 action: [-0.492 -0.24  -0.698  0.011 -0.017  0.091 -0.992]
+t: 295	 action: [-0.502 -0.164 -0.708  0.026 -0.026  0.07  -1.042]
+t: 296	 action: [-0.538 -0.233 -0.772  0.011 -0.031  0.116 -0.99 ]
+t: 297	 action: [-0.515 -0.104 -0.834  0.021 -0.031  0.095 -1.04 ]
+[07-31 00:37:54|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.976 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=298: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.8203
+INFO:cosmos_policy.experiments.robot.robot_utils:t=298: Selected seed 195 with value = 0.8203
+WARNING:imageio_ffmpeg:IMAGEIO FFMPEG_WRITER WARNING: input image is not divisible by macro_block_size=16, resizing from (896, 284) to (896, 288) to ensure video compatibility with most codecs and players. To prevent resizing, make your input image divisible by the macro_block_size or set the macro_block_size to 1 (risking incompatibility).
+INFO:cosmos_policy.experiments.robot.robot_utils:Success: False
+INFO:cosmos_policy.experiments.robot.robot_utils:# episodes completed so far: 24
+INFO:cosmos_policy.experiments.robot.robot_utils:# successes: 11 (45.8%)
+
+
 48%|████▊     | 24/50 [10:00<11:08, 25.70s/it]INFO:cosmos_policy.experiments.robot.robot_utils:
+Task: open the middle drawer of the cabinet
+INFO:cosmos_policy.experiments.robot.robot_utils:Starting episode 25...
+Query 1/1: Action query time = 0.976 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8203
+t=298: Selected seed 195 with value = 0.8203
+t: 298	 action: [-0.117 -0.229 -0.573  0.01   0.008  0.025 -1.013]
+t: 299	 action: [-0.101 -0.169 -0.752  0.014  0.003  0.022 -1.024]
+t: 300	 action: [-0.161 -0.059 -0.822  0.023  0.01   0.029 -1.01 ]
+t: 301	 action: [-0.14  -0.014 -0.899  0.019  0.004  0.024 -1.018]
+t: 302	 action: [-0.153  0.026 -0.925  0.027  0.01   0.022 -1.011]
+t: 303	 action: [-0.165  0.067 -0.899  0.029  0.002  0.023 -1.044]
+t: 304	 action: [-0.149  0.088 -0.898  0.014  0.016  0.03  -1.004]
+t: 305	 action: [-0.16   0.159 -0.916  0.023  0.007  0.024 -1.035]
+t: 306	 action: [-0.092  0.056 -0.86   0.023  0.017  0.037 -0.998]
+t: 307	 action: [-0.111  0.076 -0.925  0.017  0.016  0.04  -1.03 ]
+t: 308	 action: [-0.107  0.164 -0.91   0.009  0.019  0.04  -1.002]
+t: 309	 action: [-0.124  0.246 -0.958  0.012  0.017  0.045 -1.029]
+Saved rollout MP4 at path ./rollouts/None/2026_07_31-00_27_45--episode=24--success=False--task=open_the_middle_drawer_of_the_cabinet.mp4
+300 300 19 19
+Saved rollout MP4 at path ./rollouts/None/2026_07_31-00_27_45--with_future_img--episode=24--success=False--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: False
+# episodes completed so far: 24
+# successes: 11 (45.8%)
+
+Task: open the middle drawer of the cabinet
+Starting episode 25...
+[07-31 00:38:02|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.979 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=10: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.3652
+INFO:cosmos_policy.experiments.robot.robot_utils:t=10: Selected seed 195 with value = 0.3652
+Query 1/1: Action query time = 0.979 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3652
+t=10: Selected seed 195 with value = 0.3652
+t: 10	 action: [ 0.026 -0.099 -0.058  0.022  0.034  0.012 -0.994]
+t: 11	 action: [ 1.012e-01 -8.752e-02  6.104e-04  2.106e-02  5.699e-02  2.806e-02 -9.888e-01]
+t: 12	 action: [ 0.125 -0.093 -0.037  0.013  0.086  0.026 -0.999]
+t: 13	 action: [ 0.294 -0.038  0.013  0.015  0.102  0.047 -1.008]
+t: 14	 action: [ 0.386 -0.034  0.005  0.013  0.118  0.044 -1.009]
+t: 15	 action: [ 0.522 -0.009 -0.003  0.011  0.111  0.047 -1.044]
+t: 16	 action: [ 0.537  0.027  0.027  0.006  0.132  0.075 -1.008]
+t: 17	 action: [ 6.058e-01  4.726e-02  3.550e-03  3.591e-04  1.219e-01  6.956e-02 -1.045e+00]
+t: 18	 action: [ 0.594  0.059  0.037 -0.022  0.135  0.121 -1.018]
+t: 19	 action: [ 0.626  0.098  0.022 -0.016  0.131  0.119 -1.023]
+t: 20	 action: [ 0.605  0.071  0.013 -0.041  0.128  0.132 -1.017]
+t: 21	 action: [ 0.642  0.123  0.019 -0.028  0.12   0.128 -1.019]
+t: 22	 action: [ 0.588  0.077  0.035 -0.051  0.113  0.139 -1.011]
+t: 23	 action: [ 0.591  0.112  0.014 -0.048  0.092  0.135 -1.047]
+t: 24	 action: [ 0.574  0.112  0.012 -0.07   0.1    0.15  -1.011]
+t: 25	 action: [ 0.587  0.135  0.008 -0.07   0.087  0.143 -1.042]
+[07-31 00:38:03|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.979 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=26: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.4174
+INFO:cosmos_policy.experiments.robot.robot_utils:t=26: Selected seed 195 with value = 0.4174
+Query 1/1: Action query time = 0.979 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4174
+t=26: Selected seed 195 with value = 0.4174
+t: 26	 action: [ 0.463  0.041  0.02  -0.067  0.074  0.188 -1.015]
+t: 27	 action: [ 0.458  0.071  0.016 -0.071  0.073  0.189 -1.009]
+t: 28	 action: [ 0.416  0.053  0.003 -0.073  0.067  0.202 -1.012]
+t: 29	 action: [ 0.416  0.083  0.019 -0.077  0.068  0.203 -1.01 ]
+t: 30	 action: [ 0.411  0.037  0.02  -0.086  0.067  0.225 -0.995]
+t: 31	 action: [ 0.37   0.08  -0.009 -0.079  0.058  0.216 -1.033]
+t: 32	 action: [ 0.359  0.059 -0.006 -0.092  0.065  0.242 -0.997]
+t: 33	 action: [ 0.334  0.086 -0.017 -0.085  0.063  0.231 -1.035]
+t: 34	 action: [ 0.288  0.049 -0.026 -0.093  0.064  0.264 -0.993]
+t: 35	 action: [ 0.295  0.072 -0.034 -0.095  0.066  0.255 -1.001]
+t: 36	 action: [ 0.245  0.05  -0.044 -0.101  0.069  0.274 -0.994]
+t: 37	 action: [ 0.255  0.071 -0.046 -0.1    0.072  0.262 -0.998]
+t: 38	 action: [ 0.218  0.038 -0.057 -0.114  0.064  0.295 -0.981]
+t: 39	 action: [ 0.183  0.086 -0.067 -0.095  0.074  0.28  -1.024]
+t: 40	 action: [ 0.182  0.046 -0.082 -0.115  0.078  0.298 -0.986]
+t: 41	 action: [ 0.166  0.084 -0.077 -0.097  0.1    0.28  -1.02 ]
+[07-31 00:38:05|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.981 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=42: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.4668
+INFO:cosmos_policy.experiments.robot.robot_utils:t=42: Selected seed 195 with value = 0.4668
+Query 1/1: Action query time = 0.981 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4668
+t=42: Selected seed 195 with value = 0.4668
+t: 42	 action: [ 0.116  0.03  -0.114 -0.099  0.128  0.29  -0.972]
+t: 43	 action: [ 0.142  0.063 -0.087 -0.099  0.125  0.274 -0.977]
+t: 44	 action: [ 0.121  0.027 -0.131 -0.099  0.132  0.295 -0.973]
+t: 45	 action: [ 0.153  0.052 -0.094 -0.099  0.124  0.273 -0.993]
+t: 46	 action: [ 0.135  0.011 -0.121 -0.108  0.113  0.292 -0.978]
+t: 47	 action: [ 0.141  0.038 -0.1   -0.101  0.108  0.273 -1.009]
+t: 48	 action: [ 0.143  0.01  -0.139 -0.106  0.116  0.283 -0.98 ]
+t: 49	 action: [ 0.153  0.024 -0.116 -0.1    0.113  0.262 -1.022]
+t: 50	 action: [ 0.171 -0.079 -0.152 -0.086  0.132  0.243 -0.989]
+t: 51	 action: [ 0.2   -0.088 -0.173 -0.075  0.123  0.226 -1.004]
+t: 52	 action: [ 0.201 -0.109 -0.152 -0.079  0.133  0.223 -0.989]
+t: 53	 action: [ 0.22  -0.112 -0.165 -0.065  0.132  0.204 -0.998]
+t: 54	 action: [ 0.198 -0.151 -0.14  -0.072  0.139  0.22  -0.98 ]
+t: 55	 action: [ 0.225 -0.117 -0.139 -0.063  0.134  0.201 -1.025]
+t: 56	 action: [ 0.216 -0.17  -0.13  -0.058  0.147  0.201 -0.985]
+t: 57	 action: [ 0.24  -0.137 -0.111 -0.054  0.15   0.187 -1.019]
+[07-31 00:38:06|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.973 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=58: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.5423
+INFO:cosmos_policy.experiments.robot.robot_utils:t=58: Selected seed 195 with value = 0.5423
+Query 1/1: Action query time = 0.973 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5423
+t=58: Selected seed 195 with value = 0.5423
+t: 58	 action: [ 0.222  0.009 -0.087 -0.056  0.19   0.242 -0.994]
+t: 59	 action: [ 0.248  0.021 -0.05  -0.045  0.187  0.211 -1.006]
+t: 60	 action: [ 0.253 -0.004 -0.072 -0.055  0.181  0.229 -0.994]
+t: 61	 action: [ 0.294 -0.024 -0.031 -0.038  0.176  0.198 -1.012]
+t: 62	 action: [ 0.341 -0.052 -0.028 -0.051  0.182  0.195 -1.003]
+t: 63	 action: [ 0.35  -0.062 -0.023 -0.043  0.168  0.179 -1.029]
+t: 64	 action: [ 0.385 -0.129 -0.024 -0.041  0.172  0.174 -1.002]
+t: 65	 action: [ 0.394 -0.119 -0.02  -0.038  0.162  0.162 -1.036]
+t: 66	 action: [ 0.442 -0.212 -0.024 -0.038  0.165  0.142 -1.025]
+t: 67	 action: [ 0.476 -0.189 -0.009 -0.016  0.161  0.121 -1.021]
+t: 68	 action: [ 0.468 -0.249 -0.011 -0.019  0.152  0.135 -1.022]
+t: 69	 action: [ 0.494 -0.221 -0.001 -0.01   0.144  0.11  -1.012]
+t: 70	 action: [ 4.694e-01 -2.635e-01  1.929e-02 -8.271e-04  1.392e-01  1.326e-01 -1.018e+00]
+t: 71	 action: [ 4.516e-01 -2.587e-01  2.119e-02 -8.363e-04  1.209e-01  1.162e-01 -1.028e+00]
+t: 72	 action: [ 0.448 -0.277 -0.004  0.005  0.122  0.119 -1.014]
+t: 73	 action: [ 0.402 -0.274  0.013  0.002  0.094  0.103 -1.022]
+[07-31 00:38:07|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.973 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=74: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.6129
+INFO:cosmos_policy.experiments.robot.robot_utils:t=74: Selected seed 195 with value = 0.6129
+Query 1/1: Action query time = 0.973 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6129
+t=74: Selected seed 195 with value = 0.6129
+t: 74	 action: [ 0.187 -0.42  -0.226  0.003  0.084  0.1   -1.023]
+t: 75	 action: [ 0.164 -0.399 -0.157  0.011  0.061  0.105 -1.028]
+t: 76	 action: [ 0.121 -0.431 -0.305  0.004  0.054  0.115 -1.012]
+t: 77	 action: [ 0.1   -0.353 -0.215  0.011  0.025  0.111 -1.029]
+t: 78	 action: [ 0.133 -0.397 -0.271  0.002  0.032  0.12  -1.011]
+t: 79	 action: [ 0.08  -0.374 -0.216  0.01   0.007  0.122 -1.051]
+t: 80	 action: [ 0.074 -0.343 -0.296  0.004  0.005  0.13  -1.007]
+t: 81	 action: [ 0.026 -0.295 -0.216  0.005 -0.007  0.116 -1.047]
+t: 82	 action: [ 0.081 -0.358 -0.175 -0.013 -0.019  0.107 -1.013]
+t: 83	 action: [ 0.068 -0.348 -0.122 -0.012 -0.033  0.097 -1.026]
+t: 84	 action: [-0.008 -0.345 -0.136 -0.011 -0.041  0.111 -1.007]
+t: 85	 action: [-0.008 -0.34  -0.078 -0.012 -0.049  0.096 -1.017]
+t: 86	 action: [-1.042e-01 -3.962e-01 -1.679e-01  8.710e-04 -5.927e-02  1.199e-01 -1.016e+00]
+t: 87	 action: [-0.185 -0.374 -0.126 -0.004 -0.066  0.101 -1.043]
+t: 88	 action: [-2.180e-01 -3.791e-01 -1.369e-01  3.169e-04 -8.094e-02  1.215e-01 -1.012e+00]
+t: 89	 action: [-0.28  -0.352 -0.114 -0.003 -0.078  0.103 -1.038]
+[07-31 00:38:08|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.970 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=90: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.7188
+INFO:cosmos_policy.experiments.robot.robot_utils:t=90: Selected seed 195 with value = 0.7188
+Query 1/1: Action query time = 0.970 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7188
+t=90: Selected seed 195 with value = 0.7188
+t: 90	 action: [ 0.099 -0.252  0.041 -0.011  0.011  0.036 -0.992]
+t: 91	 action: [ 0.107 -0.254  0.041 -0.006  0.011  0.043 -1.017]
+t: 92	 action: [ 2.462e-02 -2.748e-01  1.851e-02 -8.419e-04 -7.669e-03  5.637e-02 -9.859e-01]
+t: 93	 action: [ 0.034 -0.266  0.043  0.002 -0.002  0.054 -1.015]
+t: 94	 action: [-6.094e-02 -2.666e-01 -7.738e-03  2.091e-04 -9.267e-03  5.328e-02 -9.975e-01]
+t: 95	 action: [-0.103 -0.266 -0.031  0.007 -0.036  0.057 -1.047]
+t: 96	 action: [-2.249e-01 -2.850e-01 -9.272e-02 -2.392e-04 -3.474e-02  7.634e-02 -9.982e-01]
+t: 97	 action: [-0.281 -0.256 -0.153  0.011 -0.059  0.067 -1.034]
+t: 98	 action: [-0.321 -0.319 -0.116 -0.007 -0.064  0.091 -0.978]
+t: 99	 action: [-0.378 -0.229 -0.144  0.006 -0.068  0.087 -1.009]
+t: 100	 action: [-0.466 -0.295 -0.171 -0.011 -0.096  0.104 -0.964]
+t: 101	 action: [-0.475 -0.201 -0.196  0.004 -0.095  0.106 -0.992]
+t: 102	 action: [-0.582 -0.215 -0.208  0.003 -0.118  0.119 -0.976]
+t: 103	 action: [-0.554 -0.181 -0.18   0.011 -0.105  0.1   -1.028]
+t: 104	 action: [-0.605 -0.194 -0.193  0.001 -0.149  0.136 -0.953]
+t: 105	 action: [-0.551 -0.145 -0.125  0.006 -0.118  0.117 -1.017]
+[07-31 00:38:10|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.968 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=106: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.7427
+INFO:cosmos_policy.experiments.robot.robot_utils:t=106: Selected seed 195 with value = 0.7427
+Query 1/1: Action query time = 0.968 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7427
+t=106: Selected seed 195 with value = 0.7427
+t: 106	 action: [-0.159 -0.467 -0.299  0.006 -0.033  0.019 -0.995]
+t: 107	 action: [-0.14  -0.494 -0.327  0.019 -0.028  0.015 -1.018]
+t: 108	 action: [-0.199 -0.462 -0.335  0.011 -0.035  0.015 -0.989]
+t: 109	 action: [-0.19  -0.483 -0.362  0.024 -0.027  0.011 -1.015]
+t: 110	 action: [-0.2   -0.517 -0.351  0.034 -0.027  0.012 -0.987]
+t: 111	 action: [-0.23  -0.481 -0.344  0.042 -0.02   0.019 -1.043]
+t: 112	 action: [-0.241 -0.475 -0.374  0.042 -0.021  0.013 -0.98 ]
+t: 113	 action: [-0.256 -0.447 -0.372  0.048 -0.011  0.014 -1.04 ]
+t: 114	 action: [-0.267 -0.49  -0.37   0.039 -0.042  0.018 -0.998]
+t: 115	 action: [-0.251 -0.463 -0.448  0.043 -0.043  0.011 -1.031]
+t: 116	 action: [-0.274 -0.494 -0.506  0.054 -0.039  0.015 -1.003]
+t: 117	 action: [-0.262 -0.456 -0.598  0.054 -0.042  0.012 -1.029]
+t: 118	 action: [-0.317 -0.343 -0.796  0.068 -0.039  0.008 -0.998]
+t: 119	 action: [-0.281 -0.274 -0.863  0.079 -0.025  0.01  -1.049]
+t: 120	 action: [-0.259 -0.197 -0.971  0.073 -0.026  0.007 -0.998]
+t: 121	 action: [-0.248 -0.108 -0.974  0.073 -0.009  0.017 -1.057]
+[07-31 00:38:11|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.987 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=122: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.7474
+INFO:cosmos_policy.experiments.robot.robot_utils:t=122: Selected seed 195 with value = 0.7474
+Query 1/1: Action query time = 0.987 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7474
+t=122: Selected seed 195 with value = 0.7474
+t: 122	 action: [-0.011 -0.307 -0.012 -0.02  -0.036  0.006 -1.025]
+t: 123	 action: [ 0.007 -0.371 -0.006 -0.005 -0.04  -0.009 -1.028]
+t: 124	 action: [-0.035 -0.312 -0.022 -0.002 -0.044  0.003 -1.015]
+t: 125	 action: [-0.011 -0.386 -0.021  0.011 -0.047 -0.009 -1.019]
+t: 126	 action: [-4.447e-02 -3.953e-01 -5.750e-02  1.578e-02 -2.845e-02 -3.569e-04 -1.014e+00]
+t: 127	 action: [-0.053 -0.401 -0.077  0.03  -0.034 -0.009 -1.055]
+t: 128	 action: [-0.086 -0.41  -0.111  0.037 -0.033 -0.002 -1.007]
+t: 129	 action: [-0.1   -0.407 -0.193  0.044 -0.039 -0.009 -1.047]
+t: 130	 action: [-0.164 -0.465 -0.221  0.04  -0.06   0.003 -1.019]
+t: 131	 action: [-0.156 -0.445 -0.26   0.043 -0.071 -0.012 -1.028]
+t: 132	 action: [-1.634e-01 -4.815e-01 -4.320e-01  5.466e-02 -6.334e-02 -6.593e-04 -1.018e+00]
+t: 133	 action: [-0.171 -0.423 -0.479  0.06  -0.078 -0.012 -1.019]
+t: 134	 action: [-0.202 -0.4   -0.644  0.085 -0.056 -0.006 -1.012]
+t: 135	 action: [-0.167 -0.312 -0.729  0.083 -0.046 -0.013 -1.048]
+t: 136	 action: [-0.145 -0.284 -0.905  0.089 -0.039 -0.007 -1.006]
+t: 137	 action: [-0.13  -0.148 -0.902  0.078 -0.028 -0.01  -1.049]
+[07-31 00:38:12|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.972 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=138: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9784
+INFO:cosmos_policy.experiments.robot.robot_utils:t=138: Selected seed 195 with value = 0.9784
+Query 1/1: Action query time = 0.972 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9784
+t=138: Selected seed 195 with value = 0.9784
+t: 138	 action: [-0.112  0.858 -0.906  0.002  0.002 -0.01  -0.995]
+t: 139	 action: [-0.083  0.813 -0.854 -0.014 -0.008 -0.015 -1.008]
+t: 140	 action: [-1.164e-01  8.493e-01 -9.062e-01 -8.231e-03  8.045e-03  6.402e-05 -1.001e+00]
+t: 141	 action: [-0.092  0.821 -0.849 -0.017 -0.002 -0.009 -1.01 ]
+t: 142	 action: [-0.155  0.92  -0.911 -0.008  0.012 -0.006 -0.992]
+t: 143	 action: [-0.129  0.853 -0.863 -0.01  -0.009 -0.009 -1.037]
+t: 144	 action: [-0.151  0.915 -0.9   -0.019  0.018 -0.002 -0.998]
+t: 145	 action: [-0.13   0.848 -0.841 -0.013 -0.006 -0.002 -1.04 ]
+t: 146	 action: [-0.142  0.931 -0.873 -0.011  0.008 -0.001 -0.987]
+t: 147	 action: [-0.113  0.871 -0.788 -0.018  0.007 -0.011 -1.013]
+t: 148	 action: [-0.149  0.925 -0.884 -0.017  0.014  0.004 -0.995]
+t: 149	 action: [-0.116  0.862 -0.801 -0.019  0.006 -0.007 -1.007]
+t: 150	 action: [-0.161  0.963 -0.889 -0.015  0.015 -0.002 -0.985]
+t: 151	 action: [-0.182  0.906 -0.819 -0.014 -0.001 -0.004 -1.041]
+t: 152	 action: [-1.652e-01  9.665e-01 -8.848e-01 -2.159e-02  2.212e-02 -8.184e-04 -9.913e-01]
+t: 153	 action: [-0.184  0.894 -0.813 -0.015 -0.002  0.001 -1.043]
+[07-31 00:38:14|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.987 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=154: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9497
+INFO:cosmos_policy.experiments.robot.robot_utils:t=154: Selected seed 195 with value = 0.9497
+Query 1/1: Action query time = 0.987 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9497
+t=154: Selected seed 195 with value = 0.9497
+t: 154	 action: [-0.125  0.32  -0.485 -0.004 -0.021  0.051 -0.956]
+t: 155	 action: [-0.099  0.383 -0.394 -0.02  -0.002  0.051 -0.976]
+t: 156	 action: [-0.091  0.387 -0.459 -0.007 -0.023  0.042 -0.982]
+t: 157	 action: [-0.032  0.372 -0.313 -0.02  -0.013  0.029 -1.02 ]
+t: 158	 action: [-0.152  0.499 -0.263 -0.026 -0.013  0.041 -0.998]
+t: 159	 action: [-0.091  0.492 -0.095 -0.034 -0.017  0.042 -1.066]
+t: 160	 action: [-0.092  0.423 -0.105 -0.03  -0.01   0.03  -1.   ]
+t: 161	 action: [-0.043  0.335  0.014 -0.038 -0.019  0.019 -1.057]
+t: 162	 action: [-1.237e-02  6.458e-02 -2.969e-02 -1.998e-02 -1.279e-02  2.987e-04 -1.005e+00]
+t: 163	 action: [ 0.04   0.091  0.005 -0.025 -0.006 -0.014 -1.034]
+t: 164	 action: [ 0.009  0.055 -0.025 -0.028 -0.019 -0.007 -1.01 ]
+t: 165	 action: [ 0.05   0.065  0.009 -0.03  -0.016 -0.022 -1.028]
+t: 166	 action: [-0.012  0.048 -0.001 -0.02  -0.024 -0.012 -1.013]
+t: 167	 action: [-0.015  0.068  0.008 -0.021 -0.033 -0.02  -1.046]
+t: 168	 action: [ 0.013  0.043 -0.043 -0.026 -0.024 -0.021 -1.01 ]
+t: 169	 action: [-0.01   0.073 -0.033 -0.024 -0.041 -0.024 -1.049]
+[07-31 00:38:15|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.980 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=170: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9882
+INFO:cosmos_policy.experiments.robot.robot_utils:t=170: Selected seed 195 with value = 0.9882
+Query 1/1: Action query time = 0.980 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9882
+t=170: Selected seed 195 with value = 0.9882
+t: 170	 action: [-0.047  0.345 -0.5   -0.028 -0.014  0.043 -0.993]
+t: 171	 action: [ 0.021  0.333 -0.237 -0.038  0.005  0.03  -0.995]
+t: 172	 action: [ 0.012  0.303 -0.077 -0.035 -0.018  0.031 -0.998]
+t: 173	 action: [ 0.068  0.241  0.108 -0.049 -0.011  0.016 -1.023]
+t: 174	 action: [ 0.001  0.288  0.092 -0.042 -0.002  0.019 -1.009]
+t: 175	 action: [ 0.019  0.234  0.254 -0.047 -0.006  0.014 -1.046]
+t: 176	 action: [ 0.027  0.251  0.166 -0.036  0.002  0.012 -1.002]
+t: 177	 action: [ 4.002e-02  2.093e-01  2.433e-01 -3.435e-02  4.150e-04  6.398e-03 -1.047e+00]
+t: 178	 action: [ 3.072e-02  1.326e-01  1.092e-01 -2.913e-02  9.276e-03 -3.055e-04 -1.008e+00]
+t: 179	 action: [ 0.045  0.166  0.11  -0.047  0.01  -0.006 -1.026]
+t: 180	 action: [ 2.632e-02  1.951e-01  3.925e-02 -4.239e-02  1.002e-03  1.404e-03 -1.007e+00]
+t: 181	 action: [ 0.045  0.189  0.044 -0.048  0.007 -0.005 -1.026]
+t: 182	 action: [-4.693e-04  1.905e-01  5.638e-02 -3.259e-02  2.697e-03 -7.314e-03 -1.009e+00]
+t: 183	 action: [-0.008  0.217  0.053 -0.045 -0.002 -0.009 -1.044]
+t: 184	 action: [-6.059e-04  2.269e-01  9.807e-03 -4.386e-02 -6.168e-04 -6.117e-03 -1.007e+00]
+t: 185	 action: [-0.002  0.242  0.025 -0.046 -0.019 -0.007 -1.053]
+[07-31 00:38:16|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.967 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=186: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9939
+INFO:cosmos_policy.experiments.robot.robot_utils:t=186: Selected seed 195 with value = 0.9939
+Query 1/1: Action query time = 0.967 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9939
+t=186: Selected seed 195 with value = 0.9939
+t: 186	 action: [ 0.078  0.295  0.177 -0.041 -0.007  0.017 -1.001]
+t: 187	 action: [ 7.457e-02  2.575e-01  2.176e-01 -6.232e-02 -4.439e-04  9.307e-03 -1.005e+00]
+t: 188	 action: [ 0.056  0.312  0.214 -0.027 -0.004  0.012 -0.993]
+t: 189	 action: [ 0.071  0.248  0.233 -0.05   0.002  0.007 -1.009]
+t: 190	 action: [ 0.062  0.262  0.253 -0.026  0.004  0.009 -1.003]
+t: 191	 action: [ 0.064  0.242  0.265 -0.034  0.006  0.006 -1.038]
+t: 192	 action: [ 0.062  0.265  0.178 -0.026  0.01   0.007 -1.   ]
+t: 193	 action: [ 0.056  0.264  0.18  -0.031  0.008  0.005 -1.042]
+t: 194	 action: [ 0.049  0.23   0.161 -0.024  0.007  0.011 -1.001]
+t: 195	 action: [ 0.066  0.234  0.173 -0.046  0.011  0.005 -1.01 ]
+t: 196	 action: [ 0.044  0.266  0.15  -0.034  0.002  0.011 -0.994]
+t: 197	 action: [ 0.069  0.241  0.155 -0.049  0.008  0.007 -1.01 ]
+t: 198	 action: [ 0.042  0.253  0.126 -0.033  0.011  0.005 -1.004]
+t: 199	 action: [ 0.031  0.27   0.143 -0.037  0.003  0.004 -1.041]
+t: 200	 action: [ 0.048  0.26   0.117 -0.039  0.011  0.004 -1.   ]
+t: 201	 action: [ 0.045  0.279  0.13  -0.038  0.002  0.005 -1.046]
+[07-31 00:38:17|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.972 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=202: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9941
+INFO:cosmos_policy.experiments.robot.robot_utils:t=202: Selected seed 195 with value = 0.9941
+Query 1/1: Action query time = 0.972 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9941
+t=202: Selected seed 195 with value = 0.9941
+t: 202	 action: [ 0.073  0.291  0.067 -0.001  0.042  0.049 -1.02 ]
+t: 203	 action: [ 0.072  0.235  0.064 -0.01   0.046  0.035 -1.014]
+t: 204	 action: [ 0.057  0.286  0.064 -0.006  0.041  0.052 -1.01 ]
+t: 205	 action: [ 0.067  0.216  0.071 -0.015  0.047  0.031 -1.015]
+t: 206	 action: [ 0.064  0.193  0.062 -0.003  0.04   0.027 -1.011]
+t: 207	 action: [ 0.042  0.17   0.094 -0.009  0.04   0.028 -1.034]
+t: 208	 action: [ 0.05   0.183  0.048 -0.012  0.037  0.028 -1.008]
+t: 209	 action: [ 0.037  0.161  0.07  -0.015  0.035  0.024 -1.036]
+t: 210	 action: [ 0.063  0.258  0.07  -0.002  0.042  0.046 -1.015]
+t: 211	 action: [ 0.075  0.222  0.066 -0.01   0.048  0.031 -1.014]
+t: 212	 action: [ 0.051  0.266  0.065 -0.008  0.04   0.047 -1.007]
+t: 213	 action: [ 0.068  0.212  0.064 -0.016  0.044  0.03  -1.015]
+t: 214	 action: [ 0.057  0.175  0.064 -0.008  0.042  0.026 -1.008]
+t: 215	 action: [ 0.044  0.174  0.083 -0.01   0.037  0.024 -1.034]
+t: 216	 action: [ 0.044  0.175  0.047 -0.016  0.038  0.025 -1.004]
+t: 217	 action: [ 0.039  0.169  0.058 -0.016  0.032  0.024 -1.037]
+[07-31 00:38:19|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.969 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=218: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9908
+INFO:cosmos_policy.experiments.robot.robot_utils:t=218: Selected seed 195 with value = 0.9908
+Query 1/1: Action query time = 0.969 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9908
+t=218: Selected seed 195 with value = 0.9908
+t: 218	 action: [ 9.685e-02  2.565e-01 -5.301e-02  1.341e-04  2.733e-02  6.274e-02 -1.023e+00]
+t: 219	 action: [ 0.1    0.208  0.021 -0.002  0.03   0.044 -1.013]
+t: 220	 action: [ 6.660e-02  2.664e-01  3.743e-04 -1.485e-03  3.634e-02  6.035e-02 -1.015e+00]
+t: 221	 action: [ 0.077  0.195  0.034 -0.009  0.034  0.033 -1.019]
+t: 222	 action: [ 0.069  0.19   0.021  0.005  0.036  0.04  -1.022]
+t: 223	 action: [ 0.063  0.154  0.067 -0.002  0.039  0.034 -1.047]
+t: 224	 action: [ 0.049  0.177  0.012 -0.003  0.042  0.04  -1.023]
+t: 225	 action: [ 0.041  0.151  0.045 -0.009  0.039  0.024 -1.046]
+t: 226	 action: [ 5.368e-02  1.326e-01 -6.753e-03 -6.966e-04  3.250e-02  4.733e-02 -1.019e+00]
+t: 227	 action: [ 0.089  0.166  0.027 -0.005  0.032  0.03  -1.022]
+t: 228	 action: [ 0.041  0.193 -0.007 -0.008  0.037  0.048 -1.014]
+t: 229	 action: [ 0.072  0.177  0.02  -0.012  0.03   0.029 -1.02 ]
+t: 230	 action: [ 0.036  0.119  0.011 -0.004  0.041  0.031 -1.018]
+t: 231	 action: [ 0.042  0.148  0.036 -0.005  0.032  0.023 -1.043]
+t: 232	 action: [ 0.026  0.15  -0.001 -0.013  0.045  0.031 -1.018]
+t: 233	 action: [ 0.037  0.158  0.019 -0.011  0.03   0.022 -1.048]
+[07-31 00:38:20|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.978 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=234: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9770
+INFO:cosmos_policy.experiments.robot.robot_utils:t=234: Selected seed 195 with value = 0.9770
+Query 1/1: Action query time = 0.978 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9770
+t=234: Selected seed 195 with value = 0.9770
+t: 234	 action: [ 0.165  0.204 -0.186  0.006  0.023  0.066 -1.017]
+t: 235	 action: [ 0.212  0.189 -0.017  0.008  0.031  0.046 -1.01 ]
+t: 236	 action: [ 0.113  0.235 -0.047  0.005  0.039  0.054 -1.02 ]
+t: 237	 action: [ 0.156  0.175  0.026  0.001  0.042  0.028 -1.027]
+t: 238	 action: [ 0.109  0.199  0.004  0.01   0.038  0.045 -1.028]
+t: 239	 action: [ 0.12   0.152  0.062  0.007  0.044  0.037 -1.07 ]
+t: 240	 action: [ 0.068  0.166 -0.003  0.006  0.051  0.042 -1.034]
+t: 241	 action: [ 0.07   0.139  0.033  0.003  0.053  0.022 -1.063]
+t: 242	 action: [ 0.051  0.027 -0.025  0.008  0.043  0.033 -1.023]
+t: 243	 action: [ 0.098  0.094  0.013  0.002  0.041  0.022 -1.025]
+t: 244	 action: [ 4.359e-02  8.845e-02 -3.773e-02 -1.006e-03  5.039e-02  2.990e-02 -1.024e+00]
+t: 245	 action: [ 0.089  0.121  0.002 -0.005  0.043  0.017 -1.026]
+t: 246	 action: [ 0.009  0.035 -0.023  0.005  0.054  0.024 -1.03 ]
+t: 247	 action: [ 0.025  0.104  0.014  0.001  0.039  0.018 -1.055]
+t: 248	 action: [ 0.004  0.096 -0.036 -0.004  0.059  0.024 -1.031]
+t: 249	 action: [ 0.031  0.128  0.004 -0.004  0.04   0.016 -1.063]
+[07-31 00:38:21|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.976 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=250: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9347
+INFO:cosmos_policy.experiments.robot.robot_utils:t=250: Selected seed 195 with value = 0.9347
+Query 1/1: Action query time = 0.976 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9347
+t=250: Selected seed 195 with value = 0.9347
+t: 250	 action: [ 0.239  0.137 -0.28   0.004  0.025  0.075 -0.993]
+t: 251	 action: [ 0.291  0.169 -0.06   0.009  0.027  0.051 -0.987]
+t: 252	 action: [ 0.171  0.217 -0.135  0.005  0.039  0.05  -1.011]
+t: 253	 action: [ 2.250e-01  1.858e-01  6.024e-04  9.934e-03  3.838e-02  2.407e-02 -1.029e+00]
+t: 254	 action: [ 0.179  0.23  -0.056  0.008  0.041  0.048 -1.029]
+t: 255	 action: [ 0.157  0.175  0.036  0.012  0.039  0.039 -1.085]
+t: 256	 action: [ 0.099  0.191 -0.048  0.01   0.057  0.036 -1.038]
+t: 257	 action: [ 0.083  0.158  0.005  0.014  0.056  0.017 -1.078]
+t: 258	 action: [ 0.032  0.018 -0.042  0.016  0.051  0.027 -1.019]
+t: 259	 action: [ 0.061  0.07  -0.005  0.011  0.044  0.02  -1.023]
+t: 260	 action: [ 0.022  0.061 -0.069  0.002  0.064  0.022 -1.025]
+t: 261	 action: [ 0.063  0.103 -0.027  0.004  0.053  0.011 -1.028]
+t: 262	 action: [-0.029  0.023 -0.052  0.01   0.064  0.022 -1.035]
+t: 263	 action: [-0.011  0.088 -0.006  0.011  0.045  0.017 -1.065]
+t: 264	 action: [-0.032  0.077 -0.072  0.001  0.075  0.019 -1.038]
+t: 265	 action: [-0.002  0.118 -0.018  0.005  0.051  0.012 -1.074]
+[07-31 00:38:22|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.974 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=266: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.8644
+INFO:cosmos_policy.experiments.robot.robot_utils:t=266: Selected seed 195 with value = 0.8644
+Query 1/1: Action query time = 0.974 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8644
+t=266: Selected seed 195 with value = 0.8644
+t: 266	 action: [ 0.234 -0.011 -0.135 -0.001  0.028  0.048 -0.982]
+t: 267	 action: [ 0.275  0.052  0.027  0.001  0.03   0.044 -0.971]
+t: 268	 action: [ 0.208  0.102 -0.072  0.002  0.042  0.032 -1.007]
+t: 269	 action: [ 0.254  0.12   0.034  0.01   0.041  0.016 -1.028]
+t: 270	 action: [ 0.23   0.147 -0.014  0.007  0.051  0.038 -1.032]
+t: 271	 action: [ 0.188  0.123  0.06   0.015  0.044  0.036 -1.091]
+t: 272	 action: [ 0.154  0.151 -0.035  0.012  0.064  0.029 -1.041]
+t: 273	 action: [ 0.107  0.129  0.023  0.021  0.059  0.013 -1.081]
+t: 274	 action: [ 0.041  0.014 -0.048  0.021  0.052  0.029 -1.028]
+t: 275	 action: [ 0.054  0.049 -0.001  0.017  0.049  0.023 -1.025]
+t: 276	 action: [ 0.012  0.049 -0.096  0.011  0.068  0.024 -1.033]
+t: 277	 action: [ 0.042  0.078 -0.044  0.013  0.065  0.012 -1.029]
+t: 278	 action: [-0.037  0.023 -0.069  0.018  0.072  0.03  -1.049]
+t: 279	 action: [-0.043  0.07  -0.019  0.02   0.057  0.021 -1.071]
+t: 280	 action: [-0.05   0.071 -0.1    0.009  0.082  0.027 -1.049]
+t: 281	 action: [-0.048  0.098 -0.037  0.016  0.066  0.015 -1.079]
+[07-31 00:38:24|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.978 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=282: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.8122
+INFO:cosmos_policy.experiments.robot.robot_utils:t=282: Selected seed 195 with value = 0.8122
+Query 1/1: Action query time = 0.978 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8122
+t=282: Selected seed 195 with value = 0.8122
+t: 282	 action: [ 2.148e-01 -7.662e-02 -6.670e-02  7.073e-04  3.204e-02  3.405e-02 -9.843e-01]
+t: 283	 action: [ 2.309e-01 -2.328e-02  4.977e-02  7.133e-04  3.228e-02  3.949e-02 -9.767e-01]
+t: 284	 action: [ 0.207  0.038 -0.031  0.005  0.045  0.029 -1.009]
+t: 285	 action: [ 0.234  0.082  0.049  0.011  0.041  0.017 -1.032]
+t: 286	 action: [ 0.25   0.104  0.006  0.004  0.055  0.034 -1.039]
+t: 287	 action: [ 0.194  0.116  0.08   0.012  0.045  0.035 -1.098]
+t: 288	 action: [ 0.178  0.132 -0.025  0.011  0.067  0.032 -1.044]
+t: 289	 action: [ 0.104  0.123  0.025  0.02   0.056  0.015 -1.083]
+t: 290	 action: [ 0.034  0.009 -0.058  0.022  0.054  0.034 -1.038]
+t: 291	 action: [ 4.159e-02  3.548e-02  5.465e-04  1.928e-02  5.477e-02  2.744e-02 -1.034e+00]
+t: 292	 action: [-0.016  0.036 -0.118  0.015  0.067  0.032 -1.043]
+t: 293	 action: [-0.006  0.06  -0.055  0.016  0.067  0.018 -1.035]
+t: 294	 action: [-0.062  0.019 -0.088  0.023  0.073  0.041 -1.06 ]
+t: 295	 action: [-0.102  0.06  -0.03   0.024  0.06   0.027 -1.075]
+t: 296	 action: [-0.094  0.063 -0.134  0.016  0.08   0.04  -1.059]
+t: 297	 action: [-0.136  0.087 -0.059  0.02   0.063  0.022 -1.082]
+[07-31 00:38:25|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.963 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=298: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.8078
+INFO:cosmos_policy.experiments.robot.robot_utils:t=298: Selected seed 195 with value = 0.8078
+WARNING:imageio_ffmpeg:IMAGEIO FFMPEG_WRITER WARNING: input image is not divisible by macro_block_size=16, resizing from (896, 284) to (896, 288) to ensure video compatibility with most codecs and players. To prevent resizing, make your input image divisible by the macro_block_size or set the macro_block_size to 1 (risking incompatibility).
+INFO:cosmos_policy.experiments.robot.robot_utils:Success: False
+INFO:cosmos_policy.experiments.robot.robot_utils:# episodes completed so far: 25
+INFO:cosmos_policy.experiments.robot.robot_utils:# successes: 11 (44.0%)
+
+
 50%|█████     | 25/50 [10:31<11:21, 27.27s/it]INFO:cosmos_policy.experiments.robot.robot_utils:
+Task: open the middle drawer of the cabinet
+INFO:cosmos_policy.experiments.robot.robot_utils:Starting episode 26...
+Query 1/1: Action query time = 0.963 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8078
+t=298: Selected seed 195 with value = 0.8078
+t: 298	 action: [ 0.155 -0.089  0.077 -0.009  0.035  0.028 -1.   ]
+t: 299	 action: [ 0.162 -0.04   0.149 -0.015  0.029  0.033 -0.991]
+t: 300	 action: [ 0.175  0.016  0.105  0.001  0.044  0.029 -1.015]
+t: 301	 action: [ 0.186  0.038  0.162  0.003  0.034  0.019 -1.029]
+t: 302	 action: [ 2.454e-01  6.318e-02  1.506e-01 -1.129e-04  5.661e-02  3.147e-02 -1.046e+00]
+t: 303	 action: [ 0.177  0.063  0.167  0.013  0.043  0.031 -1.097]
+t: 304	 action: [ 0.176  0.07   0.065  0.012  0.066  0.035 -1.046]
+t: 305	 action: [ 0.09   0.07   0.057  0.024  0.055  0.018 -1.078]
+t: 306	 action: [ 0.013  0.008 -0.072  0.017  0.061  0.043 -1.043]
+t: 307	 action: [ 0.018  0.026 -0.014  0.016  0.061  0.035 -1.037]
+t: 308	 action: [-0.051  0.033 -0.171  0.011  0.069  0.044 -1.045]
+t: 309	 action: [-0.062  0.052 -0.098  0.013  0.068  0.028 -1.034]
+Saved rollout MP4 at path ./rollouts/None/2026_07_31-00_27_45--episode=25--success=False--task=open_the_middle_drawer_of_the_cabinet.mp4
+300 300 19 19
+Saved rollout MP4 at path ./rollouts/None/2026_07_31-00_27_45--with_future_img--episode=25--success=False--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: False
+# episodes completed so far: 25
+# successes: 11 (44.0%)
+
+Task: open the middle drawer of the cabinet
+Starting episode 26...
+[07-31 00:38:33|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.981 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=10: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.3664
+INFO:cosmos_policy.experiments.robot.robot_utils:t=10: Selected seed 195 with value = 0.3664
+Query 1/1: Action query time = 0.981 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3664
+t=10: Selected seed 195 with value = 0.3664
+t: 10	 action: [ 2.983e-02 -1.509e-01 -3.991e-02  1.103e-02  2.539e-02 -4.619e-04 -9.983e-01]
+t: 11	 action: [ 0.115 -0.108  0.032  0.018  0.068  0.012 -0.992]
+t: 12	 action: [ 0.149 -0.166 -0.003  0.005  0.094  0.018 -1.007]
+t: 13	 action: [ 0.297 -0.079  0.071  0.017  0.13   0.04  -1.015]
+t: 14	 action: [ 0.332 -0.16   0.072  0.003  0.132  0.027 -1.017]
+t: 15	 action: [ 0.467 -0.06   0.07   0.018  0.142  0.036 -1.05 ]
+t: 16	 action: [ 5.118e-01 -3.292e-02  8.943e-02  6.250e-04  1.503e-01  7.275e-02 -1.015e+00]
+t: 17	 action: [ 0.561  0.013  0.087  0.012  0.157  0.071 -1.048]
+t: 18	 action: [ 4.979e-01 -2.317e-02  6.202e-02  9.326e-04  1.285e-01  1.295e-01 -1.021e+00]
+t: 19	 action: [ 0.556  0.048  0.082 -0.009  0.126  0.12  -1.019]
+t: 20	 action: [ 0.544  0.035  0.041 -0.022  0.112  0.135 -1.021]
+t: 21	 action: [ 0.583  0.098  0.07  -0.024  0.105  0.129 -1.012]
+t: 22	 action: [ 0.562  0.047  0.042 -0.031  0.098  0.146 -1.008]
+t: 23	 action: [ 0.564  0.091  0.037 -0.027  0.086  0.132 -1.05 ]
+t: 24	 action: [ 0.542  0.097  0.014 -0.061  0.084  0.155 -1.009]
+t: 25	 action: [ 0.559  0.133  0.031 -0.051  0.081  0.142 -1.043]
+[07-31 00:38:34|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.966 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=26: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.3822
+INFO:cosmos_policy.experiments.robot.robot_utils:t=26: Selected seed 195 with value = 0.3822
+Query 1/1: Action query time = 0.966 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3822
+t=26: Selected seed 195 with value = 0.3822
+t: 26	 action: [ 0.459  0.043  0.038 -0.038  0.075  0.179 -1.012]
+t: 27	 action: [ 0.48   0.077  0.039 -0.052  0.067  0.177 -1.013]
+t: 28	 action: [ 0.439  0.07   0.023 -0.054  0.08   0.196 -1.006]
+t: 29	 action: [ 0.457  0.101  0.022 -0.065  0.075  0.191 -1.015]
+t: 30	 action: [ 0.443  0.043  0.02  -0.074  0.09   0.215 -0.997]
+t: 31	 action: [ 0.425  0.091  0.012 -0.074  0.086  0.201 -1.039]
+t: 32	 action: [ 0.403  0.072  0.003 -0.088  0.1    0.225 -0.997]
+t: 33	 action: [ 0.396  0.104  0.007 -0.089  0.109  0.213 -1.039]
+t: 34	 action: [ 0.343  0.057 -0.007 -0.087  0.117  0.238 -1.009]
+t: 35	 action: [ 0.346  0.097  0.006 -0.098  0.123  0.217 -1.008]
+t: 36	 action: [ 0.316  0.066 -0.018 -0.098  0.13   0.24  -1.003]
+t: 37	 action: [ 0.321  0.101  0.003 -0.107  0.141  0.221 -1.003]
+t: 38	 action: [ 0.293  0.049 -0.026 -0.111  0.134  0.252 -0.996]
+t: 39	 action: [ 0.286  0.105 -0.027 -0.112  0.146  0.229 -1.036]
+t: 40	 action: [ 0.273  0.057 -0.035 -0.114  0.148  0.247 -0.994]
+t: 41	 action: [ 0.283  0.098 -0.023 -0.114  0.161  0.226 -1.03 ]
+[07-31 00:38:36|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.994 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=42: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.4395
+INFO:cosmos_policy.experiments.robot.robot_utils:t=42: Selected seed 195 with value = 0.4395
+Query 1/1: Action query time = 0.994 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4395
+t=42: Selected seed 195 with value = 0.4395
+t: 42	 action: [ 0.189  0.025 -0.039 -0.088  0.145  0.244 -1.007]
+t: 43	 action: [ 0.195  0.057 -0.018 -0.087  0.145  0.227 -1.003]
+t: 44	 action: [ 0.191  0.019 -0.035 -0.093  0.133  0.248 -1.003]
+t: 45	 action: [ 0.209  0.057  0.002 -0.092  0.125  0.231 -1.01 ]
+t: 46	 action: [ 0.229  0.023 -0.024 -0.107  0.109  0.249 -1.006]
+t: 47	 action: [ 0.242  0.047 -0.017 -0.102  0.101  0.223 -1.022]
+t: 48	 action: [ 0.242  0.017 -0.028 -0.108  0.094  0.247 -1.004]
+t: 49	 action: [ 0.262  0.038 -0.015 -0.106  0.091  0.228 -1.032]
+t: 50	 action: [ 0.245 -0.012 -0.077 -0.088  0.112  0.251 -1.   ]
+t: 51	 action: [ 0.276  0.006 -0.078 -0.086  0.107  0.243 -1.   ]
+t: 52	 action: [ 0.265 -0.018 -0.108 -0.092  0.108  0.253 -0.996]
+t: 53	 action: [ 0.297 -0.002 -0.111 -0.088  0.105  0.242 -0.996]
+t: 54	 action: [ 0.278 -0.016 -0.089 -0.093  0.106  0.258 -1.   ]
+t: 55	 action: [ 0.326  0.01  -0.123 -0.085  0.113  0.24  -1.029]
+t: 56	 action: [ 0.28  -0.024 -0.125 -0.088  0.114  0.253 -0.998]
+t: 57	 action: [ 0.322 -0.006 -0.176 -0.082  0.123  0.237 -1.025]
+[07-31 00:38:37|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.972 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=58: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.5224
+INFO:cosmos_policy.experiments.robot.robot_utils:t=58: Selected seed 195 with value = 0.5224
+Query 1/1: Action query time = 0.972 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5224
+t=58: Selected seed 195 with value = 0.5224
+t: 58	 action: [ 0.253 -0.056 -0.047 -0.036  0.046  0.231 -1.021]
+t: 59	 action: [ 0.257 -0.032 -0.019 -0.041  0.046  0.203 -1.007]
+t: 60	 action: [ 0.274 -0.055 -0.072 -0.033  0.045  0.229 -1.022]
+t: 61	 action: [ 0.287 -0.03  -0.046 -0.041  0.047  0.205 -1.014]
+t: 62	 action: [ 0.335 -0.076 -0.082 -0.036  0.052  0.229 -1.022]
+t: 63	 action: [ 0.316 -0.051 -0.072 -0.04   0.053  0.199 -1.04 ]
+t: 64	 action: [ 0.383 -0.115 -0.129 -0.029  0.052  0.224 -1.023]
+t: 65	 action: [ 0.375 -0.062 -0.127 -0.037  0.061  0.195 -1.042]
+t: 66	 action: [ 0.44  -0.167 -0.258 -0.018  0.071  0.204 -1.025]
+t: 67	 action: [ 0.462 -0.123 -0.256 -0.019  0.058  0.177 -1.019]
+t: 68	 action: [ 0.475 -0.177 -0.331 -0.014  0.065  0.208 -1.024]
+t: 69	 action: [ 0.514 -0.132 -0.321 -0.024  0.05   0.175 -1.015]
+t: 70	 action: [ 0.469 -0.196 -0.333 -0.014  0.074  0.207 -1.021]
+t: 71	 action: [ 0.462 -0.155 -0.273 -0.013  0.057  0.175 -1.048]
+t: 72	 action: [ 0.452 -0.221 -0.369 -0.012  0.06   0.205 -1.022]
+t: 73	 action: [ 0.4   -0.176 -0.312 -0.019  0.044  0.175 -1.042]
+[07-31 00:38:38|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.973 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=74: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.5970
+INFO:cosmos_policy.experiments.robot.robot_utils:t=74: Selected seed 195 with value = 0.5970
+Query 1/1: Action query time = 0.973 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5970
+t=74: Selected seed 195 with value = 0.5970
+t: 74	 action: [ 1.020e-01 -3.792e-01 -2.656e-01  2.317e-04  9.167e-02  1.237e-01 -1.005e+00]
+t: 75	 action: [ 0.107 -0.365 -0.197  0.006  0.085  0.106 -1.012]
+t: 76	 action: [ 0.083 -0.4   -0.252 -0.002  0.072  0.12  -0.996]
+t: 77	 action: [ 8.512e-02 -3.725e-01 -1.739e-01  5.182e-04  6.623e-02  9.070e-02 -1.017e+00]
+t: 78	 action: [ 8.225e-02 -4.318e-01 -1.832e-01  8.859e-04  6.206e-02  9.824e-02 -9.942e-01]
+t: 79	 action: [ 0.058 -0.375 -0.141  0.002  0.045  0.09  -1.034]
+t: 80	 action: [ 0.05  -0.401 -0.185 -0.001  0.038  0.089 -0.996]
+t: 81	 action: [ 0.034 -0.347 -0.161 -0.004  0.028  0.073 -1.039]
+t: 82	 action: [-0.003 -0.396 -0.151 -0.005  0.007  0.071 -1.   ]
+t: 83	 action: [ 0.013 -0.384 -0.112 -0.004  0.01   0.057 -1.019]
+t: 84	 action: [-0.089 -0.375 -0.145 -0.006 -0.012  0.068 -1.   ]
+t: 85	 action: [-0.051 -0.347 -0.098 -0.007 -0.003  0.054 -1.019]
+t: 86	 action: [-0.117 -0.434 -0.16   0.001 -0.012  0.066 -0.995]
+t: 87	 action: [-0.137 -0.407 -0.126 -0.002 -0.016  0.053 -1.034]
+t: 88	 action: [-2.127e-01 -3.849e-01 -1.719e-01  6.068e-04 -2.803e-02  6.422e-02 -1.001e+00]
+t: 89	 action: [-0.229 -0.357 -0.136 -0.003 -0.03   0.053 -1.034]
+[07-31 00:38:39|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.974 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=90: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.6487
+INFO:cosmos_policy.experiments.robot.robot_utils:t=90: Selected seed 195 with value = 0.6487
+Query 1/1: Action query time = 0.974 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6487
+t=90: Selected seed 195 with value = 0.6487
+t: 90	 action: [ 0.063 -0.277 -0.231 -0.017  0.017  0.053 -0.995]
+t: 91	 action: [ 0.063 -0.256 -0.191 -0.01   0.016  0.055 -1.014]
+t: 92	 action: [ 0.019 -0.277 -0.16  -0.018  0.007  0.069 -0.991]
+t: 93	 action: [ 0.019 -0.275 -0.142 -0.011  0.012  0.06  -1.017]
+t: 94	 action: [-0.034 -0.319 -0.156 -0.011  0.006  0.054 -0.998]
+t: 95	 action: [-0.083 -0.267 -0.15  -0.003 -0.005  0.055 -1.039]
+t: 96	 action: [-0.142 -0.3   -0.192 -0.009 -0.012  0.076 -0.999]
+t: 97	 action: [-0.243 -0.258 -0.209 -0.004 -0.022  0.063 -1.039]
+t: 98	 action: [-0.325 -0.315 -0.158 -0.039 -0.062  0.091 -0.974]
+t: 99	 action: [-0.382 -0.261 -0.184 -0.018 -0.08   0.09  -1.007]
+t: 100	 action: [-0.488 -0.267 -0.188 -0.046 -0.083  0.114 -0.954]
+t: 101	 action: [-0.492 -0.228 -0.213 -0.022 -0.096  0.11  -0.995]
+t: 102	 action: [-0.624 -0.236 -0.203 -0.019 -0.107  0.126 -0.958]
+t: 103	 action: [-0.615 -0.226 -0.172 -0.01  -0.104  0.107 -1.02 ]
+t: 104	 action: [-0.631 -0.21  -0.179 -0.022 -0.12   0.143 -0.933]
+t: 105	 action: [-0.596 -0.186 -0.114 -0.015 -0.098  0.122 -1.017]
+[07-31 00:38:41|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.991 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=106: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.7317
+INFO:cosmos_policy.experiments.robot.robot_utils:t=106: Selected seed 195 with value = 0.7317
+Query 1/1: Action query time = 0.991 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7317
+t=106: Selected seed 195 with value = 0.7317
+t: 106	 action: [-0.131 -0.199  0.007 -0.025 -0.044  0.02  -0.983]
+t: 107	 action: [-0.093 -0.236  0.056 -0.019 -0.027  0.021 -1.004]
+t: 108	 action: [-0.225 -0.241  0.028 -0.009 -0.048  0.024 -0.984]
+t: 109	 action: [-0.205 -0.283  0.047 -0.005 -0.025  0.023 -1.003]
+t: 110	 action: [-0.209 -0.305  0.033 -0.004 -0.042  0.02  -0.991]
+t: 111	 action: [-0.206 -0.302  0.044  0.002 -0.03   0.024 -1.045]
+t: 112	 action: [-0.283 -0.35   0.009  0.003 -0.044  0.037 -0.989]
+t: 113	 action: [-0.279 -0.336 -0.003  0.01  -0.036  0.028 -1.036]
+t: 114	 action: [-0.277 -0.416 -0.043 -0.007 -0.06   0.057 -0.965]
+t: 115	 action: [-0.246 -0.393 -0.056  0.009 -0.059  0.059 -1.005]
+t: 116	 action: [-0.307 -0.419 -0.117  0.001 -0.079  0.079 -0.975]
+t: 117	 action: [-0.287 -0.375 -0.126  0.013 -0.086  0.075 -0.996]
+t: 118	 action: [-0.337 -0.397 -0.173  0.012 -0.082  0.102 -0.964]
+t: 119	 action: [-0.313 -0.357 -0.234  0.031 -0.072  0.084 -1.032]
+t: 120	 action: [-0.337 -0.379 -0.236  0.019 -0.089  0.12  -0.967]
+t: 121	 action: [-0.333 -0.326 -0.308  0.044 -0.063  0.094 -1.03 ]
+[07-31 00:38:42|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.986 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=122: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.7562
+INFO:cosmos_policy.experiments.robot.robot_utils:t=122: Selected seed 195 with value = 0.7562
+Query 1/1: Action query time = 0.986 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7562
+t=122: Selected seed 195 with value = 0.7562
+t: 122	 action: [ 0.006 -0.363 -0.323  0.015 -0.038 -0.035 -1.034]
+t: 123	 action: [ 0.017 -0.385 -0.353  0.024 -0.046 -0.052 -1.042]
+t: 124	 action: [-0.022 -0.362 -0.418  0.039 -0.043 -0.041 -1.03 ]
+t: 125	 action: [-0.014 -0.383 -0.398  0.044 -0.041 -0.048 -1.038]
+t: 126	 action: [-0.062 -0.354 -0.398  0.051 -0.028 -0.052 -1.025]
+t: 127	 action: [-0.084 -0.315 -0.422  0.053 -0.025 -0.058 -1.073]
+t: 128	 action: [-0.084 -0.304 -0.477  0.061 -0.028 -0.043 -1.023]
+t: 129	 action: [-0.116 -0.291 -0.464  0.062 -0.018 -0.052 -1.065]
+t: 130	 action: [-0.065 -0.376 -0.477  0.059 -0.044 -0.017 -1.042]
+t: 131	 action: [-0.048 -0.323 -0.44   0.044 -0.042 -0.029 -1.04 ]
+t: 132	 action: [-0.064 -0.35  -0.541  0.066 -0.033 -0.012 -1.042]
+t: 133	 action: [-0.032 -0.248 -0.56   0.052 -0.02  -0.027 -1.033]
+t: 134	 action: [-0.062 -0.209 -0.678  0.068 -0.025 -0.033 -1.036]
+t: 135	 action: [-0.054 -0.165 -0.671  0.069  0.002 -0.041 -1.066]
+t: 136	 action: [-0.067 -0.158 -0.82   0.065 -0.001 -0.031 -1.033]
+t: 137	 action: [-0.063 -0.055 -0.894  0.062  0.022 -0.035 -1.066]
+[07-31 00:38:43|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.977 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=138: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9576
+INFO:cosmos_policy.experiments.robot.robot_utils:t=138: Selected seed 195 with value = 0.9576
+Query 1/1: Action query time = 0.977 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9576
+t=138: Selected seed 195 with value = 0.9576
+t: 138	 action: [-0.033  0.734 -0.927  0.003  0.008  0.014 -0.989]
+t: 139	 action: [-0.044  0.771 -0.903 -0.009  0.006  0.014 -1.006]
+t: 140	 action: [-0.106  0.843 -0.898 -0.013  0.006  0.015 -0.989]
+t: 141	 action: [-0.092  0.855 -0.861 -0.015  0.002  0.017 -1.003]
+t: 142	 action: [-0.119  0.922 -0.89  -0.014  0.007  0.014 -0.991]
+t: 143	 action: [-0.134  0.9   -0.881 -0.013 -0.003  0.021 -1.041]
+t: 144	 action: [-0.153  0.957 -0.858 -0.026  0.007  0.022 -0.99 ]
+t: 145	 action: [-0.153  0.916 -0.829 -0.016 -0.004  0.021 -1.039]
+t: 146	 action: [-0.143  0.929 -0.876 -0.017  0.006  0.016 -0.988]
+t: 147	 action: [-0.141  0.882 -0.838 -0.016  0.004  0.015 -1.008]
+t: 148	 action: [-0.161  0.934 -0.85  -0.024  0.006  0.018 -0.99 ]
+t: 149	 action: [-1.437e-01  8.907e-01 -8.072e-01 -1.846e-02  4.005e-04  1.998e-02 -1.003e+00]
+t: 150	 action: [-0.172  0.961 -0.833 -0.026  0.006  0.021 -0.991]
+t: 151	 action: [-0.188  0.928 -0.817 -0.017 -0.005  0.023 -1.042]
+t: 152	 action: [-0.177  0.97  -0.806 -0.03   0.007  0.026 -0.991]
+t: 153	 action: [-0.188  0.926 -0.768 -0.018 -0.006  0.027 -1.04 ]
+[07-31 00:38:45|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.990 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=154: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9931
+INFO:cosmos_policy.experiments.robot.robot_utils:t=154: Selected seed 195 with value = 0.9931
+WARNING:imageio_ffmpeg:IMAGEIO FFMPEG_WRITER WARNING: input image is not divisible by macro_block_size=16, resizing from (896, 284) to (896, 288) to ensure video compatibility with most codecs and players. To prevent resizing, make your input image divisible by the macro_block_size or set the macro_block_size to 1 (risking incompatibility).
+INFO:cosmos_policy.experiments.robot.robot_utils:Success: True
+INFO:cosmos_policy.experiments.robot.robot_utils:# episodes completed so far: 26
+INFO:cosmos_policy.experiments.robot.robot_utils:# successes: 12 (46.2%)
+
+
 52%|█████▏    | 26/50 [10:48<09:41, 24.25s/it]INFO:cosmos_policy.experiments.robot.robot_utils:
+Task: open the middle drawer of the cabinet
+INFO:cosmos_policy.experiments.robot.robot_utils:Starting episode 27...
+Query 1/1: Action query time = 0.990 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9931
+t=154: Selected seed 195 with value = 0.9931
+t: 154	 action: [-0.24   0.933 -0.799 -0.013  0.018  0.02  -0.968]
+t: 155	 action: [-0.246  0.913 -0.811 -0.023  0.02   0.029 -0.982]
+t: 156	 action: [-0.25   0.959 -0.789 -0.014  0.021  0.022 -0.979]
+t: 157	 action: [-0.247  0.924 -0.794 -0.024  0.021  0.026 -0.988]
+t: 158	 action: [-0.257  0.967 -0.774 -0.024  0.028  0.031 -0.967]
+t: 159	 action: [-0.295  0.959 -0.761 -0.021  0.02   0.034 -1.018]
+Saved rollout MP4 at path ./rollouts/None/2026_07_31-00_27_45--episode=26--success=True--task=open_the_middle_drawer_of_the_cabinet.mp4
+150 150 10 10
+Saved rollout MP4 at path ./rollouts/None/2026_07_31-00_27_45--with_future_img--episode=26--success=True--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: True
+# episodes completed so far: 26
+# successes: 12 (46.2%)
+
+Task: open the middle drawer of the cabinet
+Starting episode 27...
+[07-31 00:38:50|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.994 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=10: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.3427
+INFO:cosmos_policy.experiments.robot.robot_utils:t=10: Selected seed 195 with value = 0.3427
+Query 1/1: Action query time = 0.994 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3427
+t=10: Selected seed 195 with value = 0.3427
+t: 10	 action: [-0.025 -0.089 -0.053  0.01  -0.008  0.009 -0.995]
+t: 11	 action: [ 0.034 -0.033 -0.021  0.007  0.028  0.025 -0.979]
+t: 12	 action: [ 0.105  0.023 -0.041  0.004  0.048  0.035 -1.009]
+t: 13	 action: [ 0.216  0.074 -0.007 -0.003  0.085  0.051 -1.002]
+t: 14	 action: [ 0.223  0.088 -0.009 -0.005  0.102  0.059 -1.016]
+t: 15	 action: [ 0.418  0.165 -0.003 -0.006  0.11   0.052 -1.04 ]
+t: 16	 action: [ 0.429  0.167  0.007 -0.014  0.136  0.105 -1.01 ]
+t: 17	 action: [ 0.563  0.21  -0.002 -0.019  0.154  0.089 -1.037]
+t: 18	 action: [ 0.504  0.183  0.033 -0.014  0.158  0.171 -1.019]
+t: 19	 action: [ 0.55   0.215  0.028 -0.03   0.173  0.165 -1.015]
+t: 20	 action: [ 0.557  0.192  0.031 -0.031  0.152  0.178 -1.012]
+t: 21	 action: [ 0.6    0.219  0.039 -0.045  0.151  0.165 -1.013]
+t: 22	 action: [ 0.566  0.194  0.039 -0.05   0.126  0.197 -0.997]
+t: 23	 action: [ 0.6    0.205  0.02  -0.056  0.121  0.18  -1.044]
+t: 24	 action: [ 0.599  0.196  0.025 -0.065  0.099  0.192 -0.99 ]
+t: 25	 action: [ 0.639  0.214  0.024 -0.067  0.097  0.176 -1.036]
+[07-31 00:38:52|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.976 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=26: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.3799
+INFO:cosmos_policy.experiments.robot.robot_utils:t=26: Selected seed 195 with value = 0.3799
+Query 1/1: Action query time = 0.976 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3799
+t=26: Selected seed 195 with value = 0.3799
+t: 26	 action: [ 0.527  0.045  0.057 -0.055  0.085  0.149 -1.028]
+t: 27	 action: [ 0.513  0.085  0.046 -0.058  0.077  0.138 -1.017]
+t: 28	 action: [ 0.529  0.022  0.044 -0.06   0.083  0.158 -1.02 ]
+t: 29	 action: [ 0.514  0.055  0.028 -0.058  0.074  0.144 -1.015]
+t: 30	 action: [ 0.536  0.014  0.033 -0.071  0.071  0.166 -1.019]
+t: 31	 action: [ 0.498  0.045  0.009 -0.069  0.057  0.147 -1.039]
+t: 32	 action: [ 0.532 -0.003  0.01  -0.073  0.075  0.172 -1.017]
+t: 33	 action: [ 0.505  0.031  0.002 -0.069  0.063  0.155 -1.04 ]
+t: 34	 action: [ 0.46  -0.007 -0.027 -0.081  0.098  0.203 -1.011]
+t: 35	 action: [ 0.453  0.008 -0.019 -0.078  0.082  0.185 -1.008]
+t: 36	 action: [ 0.442  0.003 -0.064 -0.085  0.103  0.209 -1.01 ]
+t: 37	 action: [ 0.429  0.02  -0.054 -0.079  0.092  0.187 -1.007]
+t: 38	 action: [ 0.406 -0.017 -0.072 -0.087  0.098  0.216 -1.006]
+t: 39	 action: [ 0.383  0.015 -0.093 -0.08   0.086  0.195 -1.039]
+t: 40	 action: [ 3.868e-01 -1.662e-04 -1.038e-01 -8.666e-02  1.125e-01  2.202e-01 -1.008e+00]
+t: 41	 action: [ 0.379  0.025 -0.118 -0.08   0.104  0.196 -1.039]
+[07-31 00:38:53|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.970 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=42: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.4522
+INFO:cosmos_policy.experiments.robot.robot_utils:t=42: Selected seed 195 with value = 0.4522
+Query 1/1: Action query time = 0.970 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4522
+t=42: Selected seed 195 with value = 0.4522
+t: 42	 action: [ 0.148  0.03  -0.083 -0.086  0.107  0.275 -1.003]
+t: 43	 action: [ 0.16   0.044 -0.092 -0.092  0.104  0.258 -1.001]
+t: 44	 action: [ 0.174  0.023 -0.104 -0.092  0.114  0.276 -0.997]
+t: 45	 action: [ 0.2    0.034 -0.104 -0.091  0.109  0.25  -1.01 ]
+t: 46	 action: [ 0.211  0.019 -0.107 -0.098  0.109  0.277 -1.006]
+t: 47	 action: [ 0.223  0.033 -0.131 -0.094  0.11   0.251 -1.022]
+t: 48	 action: [ 0.239  0.007 -0.138 -0.091  0.122  0.267 -1.002]
+t: 49	 action: [ 0.259  0.016 -0.169 -0.089  0.129  0.237 -1.033]
+t: 50	 action: [ 0.208 -0.023 -0.175 -0.082  0.151  0.242 -1.012]
+t: 51	 action: [ 0.237 -0.04  -0.223 -0.067  0.151  0.222 -1.01 ]
+t: 52	 action: [ 0.251 -0.049 -0.204 -0.076  0.157  0.228 -1.007]
+t: 53	 action: [ 0.281 -0.064 -0.242 -0.06   0.15   0.201 -1.008]
+t: 54	 action: [ 0.284 -0.107 -0.174 -0.069  0.157  0.213 -1.014]
+t: 55	 action: [ 0.309 -0.101 -0.201 -0.058  0.158  0.19  -1.045]
+t: 56	 action: [ 0.3   -0.152 -0.215 -0.05   0.165  0.197 -1.011]
+t: 57	 action: [ 0.309 -0.143 -0.24  -0.049  0.161  0.175 -1.038]
+[07-31 00:38:54|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.998 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=58: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.5504
+INFO:cosmos_policy.experiments.robot.robot_utils:t=58: Selected seed 195 with value = 0.5504
+Query 1/1: Action query time = 0.998 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5504
+t=58: Selected seed 195 with value = 0.5504
+t: 58	 action: [ 0.107 -0.032 -0.117 -0.059  0.218  0.247 -1.007]
+t: 59	 action: [ 0.101 -0.042 -0.071 -0.043  0.209  0.22  -1.001]
+t: 60	 action: [ 0.125 -0.052 -0.062 -0.052  0.215  0.247 -1.012]
+t: 61	 action: [ 0.152 -0.072 -0.032 -0.034  0.2    0.208 -1.01 ]
+t: 62	 action: [ 0.212 -0.094 -0.039 -0.044  0.2    0.225 -1.013]
+t: 63	 action: [ 0.236 -0.121 -0.021 -0.033  0.189  0.198 -1.031]
+t: 64	 action: [ 0.244 -0.186 -0.041 -0.028  0.191  0.207 -1.018]
+t: 65	 action: [ 0.281 -0.187 -0.038 -0.022  0.176  0.175 -1.032]
+t: 66	 action: [ 0.288 -0.292 -0.11  -0.016  0.183  0.173 -1.032]
+t: 67	 action: [ 0.324 -0.292 -0.107  0.004  0.168  0.141 -1.02 ]
+t: 68	 action: [ 0.303 -0.348 -0.143  0.004  0.156  0.171 -1.032]
+t: 69	 action: [ 0.321 -0.337 -0.146  0.01   0.129  0.134 -1.018]
+t: 70	 action: [ 0.249 -0.371 -0.172  0.005  0.134  0.153 -1.032]
+t: 71	 action: [ 0.232 -0.393 -0.173  0.013  0.09   0.125 -1.041]
+t: 72	 action: [ 0.222 -0.376 -0.232  0.008  0.086  0.143 -1.034]
+t: 73	 action: [ 0.179 -0.384 -0.205  0.014  0.04   0.12  -1.039]
+[07-31 00:38:55|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.976 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=74: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.6392
+INFO:cosmos_policy.experiments.robot.robot_utils:t=74: Selected seed 195 with value = 0.6392
+Query 1/1: Action query time = 0.976 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6392
+t=74: Selected seed 195 with value = 0.6392
+t: 74	 action: [ 0.081 -0.308  0.006 -0.024  0.085  0.162 -0.997]
+t: 75	 action: [ 0.116 -0.388  0.034 -0.004  0.06   0.146 -1.013]
+t: 76	 action: [ 6.934e-02 -3.772e-01 -2.666e-02 -1.457e-04  5.174e-02  1.693e-01 -9.924e-01]
+t: 77	 action: [ 0.091 -0.399  0.022  0.008  0.021  0.139 -1.02 ]
+t: 78	 action: [ 0.064 -0.42  -0.021  0.007  0.032  0.147 -0.993]
+t: 79	 action: [ 0.084 -0.504 -0.005  0.017  0.018  0.139 -1.036]
+t: 80	 action: [ 0.028 -0.417 -0.071  0.006  0.002  0.143 -0.993]
+t: 81	 action: [ 0.039 -0.44  -0.051  0.017  0.006  0.12  -1.033]
+t: 82	 action: [-0.012 -0.466 -0.054  0.004 -0.027  0.106 -1.011]
+t: 83	 action: [-0.017 -0.397 -0.024  0.012 -0.033  0.08  -1.021]
+t: 84	 action: [-0.071 -0.452 -0.069  0.004 -0.041  0.098 -1.003]
+t: 85	 action: [-0.075 -0.367 -0.054  0.01  -0.043  0.072 -1.009]
+t: 86	 action: [-0.107 -0.469 -0.098  0.006 -0.048  0.084 -1.008]
+t: 87	 action: [-0.136 -0.411 -0.075  0.013 -0.045  0.067 -1.039]
+t: 88	 action: [-0.151 -0.453 -0.103  0.007 -0.057  0.081 -1.003]
+t: 89	 action: [-0.19  -0.378 -0.09   0.011 -0.047  0.064 -1.032]
+[07-31 00:38:57|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.986 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=90: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.7190
+INFO:cosmos_policy.experiments.robot.robot_utils:t=90: Selected seed 195 with value = 0.7190
+Query 1/1: Action query time = 0.986 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7190
+t=90: Selected seed 195 with value = 0.7190
+t: 90	 action: [ 0.036 -0.315 -0.098 -0.006 -0.013  0.101 -0.975]
+t: 91	 action: [ 4.604e-02 -2.625e-01 -9.008e-02  1.711e-04 -2.306e-02  9.847e-02 -9.945e-01]
+t: 92	 action: [-0.009 -0.306 -0.086 -0.003 -0.028  0.12  -0.977]
+t: 93	 action: [ 0.007 -0.26  -0.077  0.003 -0.028  0.107 -1.009]
+t: 94	 action: [-0.034 -0.295 -0.106 -0.002 -0.018  0.106 -0.977]
+t: 95	 action: [-0.063 -0.283 -0.078  0.008 -0.023  0.106 -1.037]
+t: 96	 action: [-0.113 -0.297 -0.104 -0.002 -0.032  0.125 -0.982]
+t: 97	 action: [-0.161 -0.253 -0.098  0.007 -0.031  0.112 -1.033]
+t: 98	 action: [-0.227 -0.349 -0.013 -0.021 -0.041  0.131 -0.987]
+t: 99	 action: [-0.254 -0.257 -0.062 -0.002 -0.051  0.112 -1.004]
+t: 100	 action: [-0.332 -0.333 -0.024 -0.027 -0.051  0.135 -0.98 ]
+t: 101	 action: [-0.325 -0.229 -0.079 -0.004 -0.069  0.12  -0.996]
+t: 102	 action: [-0.401 -0.25  -0.082 -0.006 -0.079  0.133 -0.984]
+t: 103	 action: [-0.407 -0.212 -0.096  0.002 -0.075  0.116 -1.035]
+t: 104	 action: [-0.443 -0.242 -0.066 -0.01  -0.128  0.134 -0.976]
+t: 105	 action: [-0.433 -0.185 -0.063 -0.001 -0.091  0.117 -1.027]
+[07-31 00:38:58|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.993 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=106: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.8197
+INFO:cosmos_policy.experiments.robot.robot_utils:t=106: Selected seed 195 with value = 0.8197
+Query 1/1: Action query time = 0.993 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8197
+t=106: Selected seed 195 with value = 0.8197
+t: 106	 action: [-0.074 -0.129  0.123 -0.037 -0.015  0.01  -0.98 ]
+t: 107	 action: [-0.007 -0.085  0.14  -0.025 -0.034  0.009 -0.994]
+t: 108	 action: [-0.114 -0.153  0.106 -0.022 -0.022  0.021 -0.979]
+t: 109	 action: [-0.068 -0.132  0.11  -0.013 -0.024  0.023 -1.008]
+t: 110	 action: [-0.116 -0.156  0.069 -0.004 -0.016  0.026 -0.994]
+t: 111	 action: [-0.14  -0.157  0.077 -0.007 -0.033  0.022 -1.051]
+t: 112	 action: [-0.185 -0.206  0.059 -0.004 -0.013  0.063 -0.992]
+t: 113	 action: [-0.191 -0.18   0.05  -0.003 -0.021  0.04  -1.042]
+t: 114	 action: [-0.246 -0.263  0.077 -0.015 -0.022  0.106 -1.   ]
+t: 115	 action: [-0.245 -0.196  0.035 -0.003 -0.019  0.098 -1.018]
+t: 116	 action: [-0.306 -0.288  0.025 -0.016 -0.037  0.131 -0.996]
+t: 117	 action: [-0.295 -0.23  -0.022 -0.003 -0.022  0.131 -1.006]
+t: 118	 action: [-0.316 -0.221 -0.055 -0.001 -0.027  0.138 -1.002]
+t: 119	 action: [-0.331 -0.218 -0.15   0.007 -0.024  0.12  -1.046]
+t: 120	 action: [-0.351 -0.268 -0.199 -0.005 -0.039  0.162 -0.992]
+t: 121	 action: [-0.335 -0.207 -0.308  0.01  -0.014  0.148 -1.035]
+[07-31 00:38:59|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.981 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=122: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.8244
+INFO:cosmos_policy.experiments.robot.robot_utils:t=122: Selected seed 195 with value = 0.8244
+Query 1/1: Action query time = 0.981 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8244
+t=122: Selected seed 195 with value = 0.8244
+t: 122	 action: [-2.014e-01 -2.965e-01 -2.633e-01 -1.555e-02 -1.181e-04  7.876e-02 -1.008e+00]
+t: 123	 action: [-1.851e-01 -3.205e-01 -2.571e-01  5.026e-04 -4.999e-03  8.369e-02 -1.013e+00]
+t: 124	 action: [-0.25  -0.282 -0.317  0.001 -0.007  0.094 -1.   ]
+t: 125	 action: [-0.225 -0.28  -0.314  0.017 -0.009  0.087 -1.008]
+t: 126	 action: [-0.246 -0.258 -0.436  0.013  0.001  0.111 -1.001]
+t: 127	 action: [-0.293 -0.259 -0.475  0.028 -0.002  0.097 -1.026]
+t: 128	 action: [-0.311 -0.171 -0.705  0.023 -0.005  0.125 -0.993]
+t: 129	 action: [-3.257e-01 -1.386e-01 -8.363e-01  3.971e-02 -5.055e-04  9.255e-02 -1.017e+00]
+t: 130	 action: [-2.049e-01 -7.625e-02 -6.837e-01  5.062e-02 -6.293e-04  1.213e-01 -1.006e+00]
+t: 131	 action: [-0.199 -0.027 -0.819  0.051  0.012  0.121 -1.012]
+t: 132	 action: [-0.192  0.096 -0.799  0.045 -0.011  0.133 -1.012]
+t: 133	 action: [-0.192  0.116 -0.86   0.042  0.003  0.12  -1.004]
+t: 134	 action: [-0.285  0.234 -0.857  0.033 -0.019  0.142 -1.008]
+t: 135	 action: [-0.31   0.222 -0.927  0.044 -0.023  0.129 -1.037]
+t: 136	 action: [-0.34   0.35  -0.805  0.009 -0.026  0.151 -1.008]
+t: 137	 action: [-0.322  0.311 -0.839  0.032 -0.019  0.123 -1.03 ]
+[07-31 00:39:01|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.974 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=138: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.8519
+INFO:cosmos_policy.experiments.robot.robot_utils:t=138: Selected seed 195 with value = 0.8519
+Query 1/1: Action query time = 0.974 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8519
+t=138: Selected seed 195 with value = 0.8519
+t: 138	 action: [-0.113 -0.252 -0.688  0.064 -0.057  0.06  -0.998]
+t: 139	 action: [-0.085 -0.254 -0.757  0.081 -0.071  0.062 -1.007]
+t: 140	 action: [-0.166  0.06  -0.852  0.077 -0.059  0.065 -1.002]
+t: 141	 action: [-0.145  0.066 -0.865  0.086 -0.064  0.053 -1.003]
+t: 142	 action: [-0.259  0.303 -0.894  0.074 -0.063  0.081 -1.004]
+t: 143	 action: [-0.235  0.27  -0.852  0.055 -0.067  0.064 -1.029]
+t: 144	 action: [-0.294  0.529 -0.863  0.044 -0.063  0.077 -1.005]
+t: 145	 action: [-0.251  0.498 -0.837  0.027 -0.06   0.052 -1.032]
+t: 146	 action: [-0.225  0.654 -0.788  0.027 -0.043  0.056 -0.998]
+t: 147	 action: [-0.292  0.621 -0.782  0.027 -0.048  0.051 -1.022]
+t: 148	 action: [-0.277  0.753 -0.767  0.013 -0.041  0.056 -1.002]
+t: 149	 action: [-0.289  0.678 -0.769  0.014 -0.04   0.04  -1.012]
+t: 150	 action: [-0.436  0.805 -0.798  0.007 -0.044  0.058 -1.005]
+t: 151	 action: [-0.356  0.721 -0.755  0.008 -0.044  0.046 -1.042]
+t: 152	 action: [-3.804e-01  8.308e-01 -7.620e-01 -9.788e-05 -3.413e-02  6.062e-02 -1.003e+00]
+t: 153	 action: [-0.331  0.737 -0.718 -0.001 -0.034  0.04  -1.043]
+[07-31 00:39:02|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.994 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=154: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.7324
+INFO:cosmos_policy.experiments.robot.robot_utils:t=154: Selected seed 195 with value = 0.7324
+Query 1/1: Action query time = 0.994 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7324
+t=154: Selected seed 195 with value = 0.7324
+t: 154	 action: [-1.142e-01 -4.015e-01 -7.118e-02 -5.485e-03 -3.545e-02  2.913e-04 -9.956e-01]
+t: 155	 action: [-0.104 -0.489 -0.038  0.004 -0.041 -0.005 -1.019]
+t: 156	 action: [-1.463e-01 -4.249e-01 -1.349e-01  7.002e-04 -4.147e-02  5.771e-03 -9.903e-01]
+t: 157	 action: [-0.153 -0.483 -0.077  0.016 -0.038  0.002 -1.019]
+t: 158	 action: [-0.166 -0.486 -0.175  0.026 -0.026  0.001 -0.994]
+t: 159	 action: [-2.214e-01 -5.078e-01 -1.264e-01  3.829e-02 -3.004e-02  8.948e-04 -1.045e+00]
+t: 160	 action: [-0.21  -0.461 -0.224  0.035 -0.031  0.002 -0.993]
+t: 161	 action: [-0.245 -0.457 -0.155  0.04  -0.036  0.006 -1.038]
+t: 162	 action: [-0.272 -0.435 -0.224  0.036 -0.045  0.017 -0.995]
+t: 163	 action: [-0.278 -0.38  -0.167  0.042 -0.051  0.016 -1.027]
+t: 164	 action: [-0.268 -0.403 -0.308  0.034 -0.05   0.019 -0.999]
+t: 165	 action: [-0.258 -0.318 -0.28   0.037 -0.052  0.02  -1.021]
+t: 166	 action: [-0.275 -0.349 -0.63   0.058 -0.052  0.014 -0.998]
+t: 167	 action: [-0.249 -0.325 -0.559  0.051 -0.047  0.021 -1.054]
+t: 168	 action: [-0.224 -0.251 -0.825  0.043 -0.048  0.019 -0.999]
+t: 169	 action: [-0.183 -0.184 -0.726  0.036 -0.036  0.024 -1.049]
+[07-31 00:39:03|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.979 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=170: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.7575
+INFO:cosmos_policy.experiments.robot.robot_utils:t=170: Selected seed 195 with value = 0.7575
+Query 1/1: Action query time = 0.979 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7575
+t=170: Selected seed 195 with value = 0.7575
+t: 170	 action: [-0.108 -0.342 -0.306  0.019 -0.044  0.043 -1.028]
+t: 171	 action: [-0.075 -0.306 -0.417  0.038 -0.064  0.04  -1.029]
+t: 172	 action: [-0.104 -0.161 -0.505  0.03  -0.046  0.041 -1.025]
+t: 173	 action: [-0.065 -0.167 -0.581  0.044 -0.059  0.033 -1.025]
+t: 174	 action: [-0.126 -0.017 -0.709  0.053 -0.046  0.041 -1.026]
+t: 175	 action: [-0.11  -0.014 -0.706  0.047 -0.055  0.035 -1.052]
+t: 176	 action: [-0.103  0.147 -0.88   0.035 -0.04   0.036 -1.024]
+t: 177	 action: [-0.092  0.186 -0.916  0.03  -0.044  0.025 -1.048]
+t: 178	 action: [-0.103  0.298 -0.864  0.03  -0.036  0.017 -1.006]
+t: 179	 action: [-0.122  0.324 -0.911  0.029 -0.028  0.016 -1.031]
+t: 180	 action: [-0.126  0.476 -0.862  0.016 -0.036  0.014 -1.009]
+t: 181	 action: [-0.134  0.529 -0.868  0.015 -0.025  0.008 -1.027]
+t: 182	 action: [-0.266  0.643 -0.848  0.003 -0.035  0.013 -1.019]
+t: 183	 action: [-2.541e-01  6.195e-01 -8.853e-01 -5.880e-04 -3.799e-02  1.041e-02 -1.057e+00]
+t: 184	 action: [-0.276  0.716 -0.796 -0.01  -0.028  0.015 -1.016]
+t: 185	 action: [-0.263  0.705 -0.759 -0.013 -0.032  0.009 -1.058]
+[07-31 00:39:04|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.994 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=186: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.7828
+INFO:cosmos_policy.experiments.robot.robot_utils:t=186: Selected seed 195 with value = 0.7828
+Query 1/1: Action query time = 0.994 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7828
+t=186: Selected seed 195 with value = 0.7828
+t: 186	 action: [-0.142 -0.409 -0.134 -0.023 -0.03   0.01  -0.996]
+t: 187	 action: [-0.107 -0.45  -0.078 -0.003 -0.021  0.007 -1.022]
+t: 188	 action: [-0.186 -0.417 -0.177 -0.003 -0.044  0.01  -0.989]
+t: 189	 action: [-0.16  -0.423 -0.083  0.015 -0.032  0.009 -1.023]
+t: 190	 action: [-0.202 -0.426 -0.225  0.016 -0.032  0.006 -0.995]
+t: 191	 action: [-0.219 -0.44  -0.167  0.028 -0.036  0.012 -1.046]
+t: 192	 action: [-0.255 -0.372 -0.333  0.016 -0.042  0.008 -0.989]
+t: 193	 action: [-0.256 -0.373 -0.296  0.032 -0.039  0.013 -1.035]
+t: 194	 action: [-0.321 -0.376 -0.376  0.027 -0.05   0.035 -0.998]
+t: 195	 action: [-0.311 -0.288 -0.465  0.036 -0.048  0.042 -1.031]
+t: 196	 action: [-0.32  -0.238 -0.611  0.035 -0.054  0.042 -0.999]
+t: 197	 action: [-0.297 -0.139 -0.704  0.034 -0.048  0.048 -1.027]
+t: 198	 action: [-0.447 -0.059 -0.882  0.038 -0.058  0.053 -0.999]
+t: 199	 action: [-0.394  0.03  -0.866  0.036 -0.06   0.049 -1.048]
+t: 200	 action: [-0.437  0.071 -0.938  0.019 -0.058  0.058 -0.994]
+t: 201	 action: [-0.367  0.191 -0.911  0.019 -0.058  0.054 -1.047]
+[07-31 00:39:06|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.974 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=202: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.7957
+INFO:cosmos_policy.experiments.robot.robot_utils:t=202: Selected seed 195 with value = 0.7957
+Query 1/1: Action query time = 0.974 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7957
+t=202: Selected seed 195 with value = 0.7957
+t: 202	 action: [-0.155 -0.307 -0.52   0.031 -0.066  0.054 -1.017]
+t: 203	 action: [-0.118 -0.3   -0.636  0.045 -0.082  0.05  -1.021]
+t: 204	 action: [-0.162 -0.012 -0.767  0.042 -0.07   0.05  -1.013]
+t: 205	 action: [-0.125 -0.045 -0.82   0.049 -0.076  0.041 -1.014]
+t: 206	 action: [-0.205  0.148 -0.877  0.051 -0.073  0.057 -1.013]
+t: 207	 action: [-0.174  0.165 -0.85   0.037 -0.083  0.045 -1.041]
+t: 208	 action: [-0.189  0.396 -0.871  0.017 -0.072  0.051 -1.01 ]
+t: 209	 action: [-0.153  0.393 -0.864  0.01  -0.073  0.032 -1.039]
+t: 210	 action: [-0.173  0.534 -0.848  0.018 -0.043  0.035 -1.001]
+t: 211	 action: [-0.224  0.535 -0.876  0.017 -0.045  0.029 -1.033]
+t: 212	 action: [-0.224  0.671 -0.838  0.012 -0.041  0.029 -1.005]
+t: 213	 action: [-0.233  0.654 -0.84   0.006 -0.038  0.019 -1.023]
+t: 214	 action: [-4.016e-01  7.699e-01 -8.415e-01 -4.098e-04 -4.075e-02  2.985e-02 -1.007e+00]
+t: 215	 action: [-0.34   0.722 -0.85  -0.004 -0.045  0.02  -1.053]
+t: 216	 action: [-0.37   0.801 -0.812 -0.013 -0.032  0.029 -1.005]
+t: 217	 action: [-0.335  0.76  -0.774 -0.013 -0.038  0.015 -1.052]
+[07-31 00:39:07|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.969 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=218: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.7402
+INFO:cosmos_policy.experiments.robot.robot_utils:t=218: Selected seed 195 with value = 0.7402
+Query 1/1: Action query time = 0.969 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7402
+t=218: Selected seed 195 with value = 0.7402
+t: 218	 action: [-0.136 -0.426 -0.12  -0.007 -0.044  0.004 -0.998]
+t: 219	 action: [-1.261e-01 -4.947e-01 -8.783e-02  5.058e-03 -3.996e-02 -9.876e-09 -1.023e+00]
+t: 220	 action: [-0.168 -0.444 -0.158 -0.002 -0.049  0.006 -0.992]
+t: 221	 action: [-0.175 -0.478 -0.11   0.016 -0.039  0.003 -1.016]
+t: 222	 action: [-0.186 -0.501 -0.192  0.027 -0.037  0.001 -0.998]
+t: 223	 action: [-0.232 -0.51  -0.122  0.038 -0.031  0.003 -1.045]
+t: 224	 action: [-0.235 -0.478 -0.229  0.034 -0.04   0.002 -0.993]
+t: 225	 action: [-0.265 -0.452 -0.174  0.041 -0.039  0.004 -1.033]
+t: 226	 action: [-0.303 -0.486 -0.212  0.029 -0.044  0.017 -0.998]
+t: 227	 action: [-0.315 -0.416 -0.205  0.039 -0.044  0.015 -1.029]
+t: 228	 action: [-0.313 -0.455 -0.33   0.038 -0.049  0.017 -1.   ]
+t: 229	 action: [-0.306 -0.36  -0.358  0.041 -0.049  0.017 -1.024]
+t: 230	 action: [-0.338 -0.379 -0.676  0.06  -0.054  0.011 -0.999]
+t: 231	 action: [-0.32  -0.327 -0.681  0.056 -0.048  0.017 -1.056]
+t: 232	 action: [-0.299 -0.254 -0.899  0.054 -0.051  0.014 -0.997]
+t: 233	 action: [-0.263 -0.165 -0.861  0.047 -0.041  0.02  -1.05 ]
+[07-31 00:39:08|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.974 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=234: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.7400
+INFO:cosmos_policy.experiments.robot.robot_utils:t=234: Selected seed 195 with value = 0.7400
+Query 1/1: Action query time = 0.974 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7400
+t=234: Selected seed 195 with value = 0.7400
+t: 234	 action: [-0.146 -0.371 -0.278  0.016 -0.054  0.028 -1.026]
+t: 235	 action: [-0.1   -0.34  -0.33   0.032 -0.066  0.025 -1.03 ]
+t: 236	 action: [-0.146 -0.296 -0.403  0.024 -0.063  0.023 -1.026]
+t: 237	 action: [-0.07  -0.262 -0.454  0.036 -0.073  0.021 -1.029]
+t: 238	 action: [-0.14  -0.172 -0.604  0.046 -0.061  0.02  -1.023]
+t: 239	 action: [-0.11  -0.121 -0.605  0.043 -0.071  0.019 -1.055]
+t: 240	 action: [-0.089  0.017 -0.842  0.03  -0.062  0.015 -1.022]
+t: 241	 action: [-0.068  0.068 -0.906  0.032 -0.062  0.012 -1.049]
+t: 242	 action: [-0.049  0.082 -0.808  0.041 -0.031  0.012 -1.008]
+t: 243	 action: [-0.031  0.119 -0.894  0.033 -0.02   0.008 -1.04 ]
+t: 244	 action: [-0.041  0.27  -0.861  0.022 -0.031  0.009 -1.009]
+t: 245	 action: [-0.04   0.363 -0.897  0.02  -0.016  0.002 -1.035]
+t: 246	 action: [-0.162  0.446 -0.834  0.005 -0.031  0.005 -1.018]
+t: 247	 action: [-1.736e-01  4.862e-01 -9.046e-01  5.321e-03 -3.483e-02  5.439e-04 -1.069e+00]
+t: 248	 action: [-0.212  0.577 -0.773 -0.01  -0.026  0.004 -1.014]
+t: 249	 action: [-2.006e-01  6.419e-01 -7.529e-01 -1.222e-02 -3.006e-02  8.239e-06 -1.071e+00]
+[07-31 00:39:10|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.984 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=250: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.7960
+INFO:cosmos_policy.experiments.robot.robot_utils:t=250: Selected seed 195 with value = 0.7960
+Query 1/1: Action query time = 0.984 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7960
+t=250: Selected seed 195 with value = 0.7960
+t: 250	 action: [-0.187 -0.432 -0.274  0.005 -0.043  0.02  -0.999]
+t: 251	 action: [-0.21  -0.414 -0.339  0.021 -0.036  0.023 -1.026]
+t: 252	 action: [-0.262 -0.375 -0.44   0.026 -0.052  0.018 -0.998]
+t: 253	 action: [-0.26  -0.358 -0.424  0.038 -0.046  0.021 -1.022]
+t: 254	 action: [-0.276 -0.307 -0.489  0.038 -0.062  0.021 -0.997]
+t: 255	 action: [-0.323 -0.318 -0.383  0.034 -0.061  0.025 -1.047]
+t: 256	 action: [-0.339 -0.17  -0.701  0.038 -0.064  0.029 -0.994]
+t: 257	 action: [-0.348 -0.167 -0.637  0.035 -0.058  0.021 -1.037]
+t: 258	 action: [-0.267 -0.241 -0.492  0.055 -0.06   0.033 -1.002]
+t: 259	 action: [-0.247 -0.217 -0.566  0.05  -0.056  0.026 -1.038]
+t: 260	 action: [-0.292  0.035 -0.728  0.059 -0.06   0.028 -1.008]
+t: 261	 action: [-0.267 -0.009 -0.828  0.049 -0.051  0.026 -1.03 ]
+t: 262	 action: [-0.42   0.098 -0.898  0.055 -0.081  0.034 -1.005]
+t: 263	 action: [-0.39   0.124 -0.918  0.043 -0.085  0.024 -1.063]
+t: 264	 action: [-0.47   0.292 -0.867  0.024 -0.07   0.031 -1.006]
+t: 265	 action: [-0.39   0.343 -0.887  0.031 -0.071  0.027 -1.056]
+[07-31 00:39:11|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.986 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=266: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.7811
+INFO:cosmos_policy.experiments.robot.robot_utils:t=266: Selected seed 195 with value = 0.7811
+Query 1/1: Action query time = 0.986 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7811
+t=266: Selected seed 195 with value = 0.7811
+t: 266	 action: [-0.207 -0.457 -0.367  0.015 -0.046  0.021 -0.999]
+t: 267	 action: [-0.173 -0.421 -0.385  0.03  -0.047  0.024 -1.025]
+t: 268	 action: [-0.263 -0.417 -0.444  0.029 -0.058  0.024 -1.002]
+t: 269	 action: [-0.224 -0.375 -0.458  0.042 -0.062  0.027 -1.022]
+t: 270	 action: [-0.273 -0.376 -0.612  0.048 -0.079  0.031 -1.   ]
+t: 271	 action: [-0.285 -0.307 -0.561  0.043 -0.086  0.029 -1.048]
+t: 272	 action: [-0.294 -0.15  -0.854  0.041 -0.085  0.04  -0.997]
+t: 273	 action: [-0.288 -0.068 -0.879  0.042 -0.079  0.029 -1.037]
+t: 274	 action: [-0.183  0.121 -0.8    0.059 -0.047  0.029 -0.993]
+t: 275	 action: [-0.224  0.141 -0.88   0.043 -0.032  0.022 -1.035]
+t: 276	 action: [-0.198  0.37  -0.836  0.035 -0.043  0.026 -0.995]
+t: 277	 action: [-0.233  0.4   -0.886  0.029 -0.023  0.02  -1.025]
+t: 278	 action: [-0.346  0.492 -0.856  0.019 -0.053  0.027 -0.998]
+t: 279	 action: [-0.335  0.493 -0.924  0.021 -0.049  0.019 -1.056]
+t: 280	 action: [-0.358  0.633 -0.815  0.005 -0.042  0.03  -0.999]
+t: 281	 action: [-0.339  0.654 -0.828  0.003 -0.038  0.02  -1.05 ]
+[07-31 00:39:12|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.996 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=282: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.7481
+INFO:cosmos_policy.experiments.robot.robot_utils:t=282: Selected seed 195 with value = 0.7481
+Query 1/1: Action query time = 0.996 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7481
+t=282: Selected seed 195 with value = 0.7481
+t: 282	 action: [-0.157 -0.364 -0.114 -0.016 -0.051  0.008 -0.999]
+t: 283	 action: [-1.508e-01 -4.245e-01 -1.007e-01  7.094e-04 -3.306e-02  2.746e-04 -1.023e+00]
+t: 284	 action: [-0.212 -0.388 -0.117 -0.001 -0.064  0.005 -0.991]
+t: 285	 action: [-0.218 -0.418 -0.091  0.017 -0.046 -0.002 -1.018]
+t: 286	 action: [-0.208 -0.429 -0.142  0.023 -0.058  0.001 -0.996]
+t: 287	 action: [-0.24  -0.443 -0.091  0.034 -0.051  0.003 -1.047]
+t: 288	 action: [-2.667e-01 -4.335e-01 -2.056e-01  2.884e-02 -6.586e-02 -6.282e-05 -9.887e-01]
+t: 289	 action: [-2.879e-01 -4.051e-01 -2.183e-01  3.868e-02 -5.721e-02  3.083e-04 -1.034e+00]
+t: 290	 action: [-0.3   -0.496 -0.24   0.027 -0.069  0.013 -0.998]
+t: 291	 action: [-0.298 -0.463 -0.317  0.042 -0.065  0.011 -1.032]
+t: 292	 action: [-0.322 -0.464 -0.425  0.042 -0.075  0.015 -0.997]
+t: 293	 action: [-0.319 -0.419 -0.546  0.045 -0.071  0.019 -1.025]
+t: 294	 action: [-0.405 -0.354 -0.777  0.059 -0.084  0.01  -0.996]
+t: 295	 action: [-0.393 -0.239 -0.836  0.054 -0.077  0.02  -1.057]
+t: 296	 action: [-0.388 -0.172 -0.95   0.054 -0.08   0.019 -0.99 ]
+t: 297	 action: [-0.377 -0.048 -0.952  0.046 -0.069  0.03  -1.053]
+[07-31 00:39:14|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.990 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=298: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.7299
+INFO:cosmos_policy.experiments.robot.robot_utils:t=298: Selected seed 195 with value = 0.7299
+WARNING:imageio_ffmpeg:IMAGEIO FFMPEG_WRITER WARNING: input image is not divisible by macro_block_size=16, resizing from (896, 284) to (896, 288) to ensure video compatibility with most codecs and players. To prevent resizing, make your input image divisible by the macro_block_size or set the macro_block_size to 1 (risking incompatibility).
+INFO:cosmos_policy.experiments.robot.robot_utils:Success: False
+INFO:cosmos_policy.experiments.robot.robot_utils:# episodes completed so far: 27
+INFO:cosmos_policy.experiments.robot.robot_utils:# successes: 12 (44.4%)
+
+
 54%|█████▍    | 27/50 [11:20<10:08, 26.44s/it]INFO:cosmos_policy.experiments.robot.robot_utils:
+Task: open the middle drawer of the cabinet
+INFO:cosmos_policy.experiments.robot.robot_utils:Starting episode 28...
+Query 1/1: Action query time = 0.990 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7299
+t=298: Selected seed 195 with value = 0.7299
+t: 298	 action: [-0.197 -0.389 -0.318  0.013 -0.056  0.012 -1.021]
+t: 299	 action: [-0.147 -0.378 -0.36   0.025 -0.056  0.004 -1.023]
+t: 300	 action: [-0.213 -0.395 -0.391  0.02  -0.065  0.008 -1.024]
+t: 301	 action: [-0.137 -0.339 -0.426  0.03  -0.067  0.002 -1.023]
+t: 302	 action: [-0.16  -0.293 -0.438  0.039 -0.066  0.003 -1.02 ]
+t: 303	 action: [-0.124 -0.211 -0.419  0.037 -0.075 -0.001 -1.053]
+t: 304	 action: [-7.217e-02 -1.476e-01 -6.275e-01  2.792e-02 -6.568e-02  9.542e-04 -1.017e+00]
+t: 305	 action: [-0.061 -0.07  -0.616  0.031 -0.068 -0.006 -1.044]
+t: 306	 action: [-0.046 -0.222 -0.282  0.03  -0.037  0.002 -1.006]
+t: 307	 action: [ 0.008 -0.238 -0.35   0.032 -0.021 -0.019 -1.041]
+t: 308	 action: [-0.021 -0.14  -0.393  0.027 -0.027 -0.005 -1.005]
+t: 309	 action: [ 0.014 -0.158 -0.477  0.028 -0.009 -0.023 -1.033]
+Saved rollout MP4 at path ./rollouts/None/2026_07_31-00_27_45--episode=27--success=False--task=open_the_middle_drawer_of_the_cabinet.mp4
+300 300 19 19
+Saved rollout MP4 at path ./rollouts/None/2026_07_31-00_27_45--with_future_img--episode=27--success=False--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: False
+# episodes completed so far: 27
+# successes: 12 (44.4%)
+
+Task: open the middle drawer of the cabinet
+Starting episode 28...
+[07-31 00:39:22|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.988 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=10: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.3531
+INFO:cosmos_policy.experiments.robot.robot_utils:t=10: Selected seed 195 with value = 0.3531
+Query 1/1: Action query time = 0.988 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3531
+t=10: Selected seed 195 with value = 0.3531
+t: 10	 action: [ 0.08  -0.058 -0.013  0.004  0.072  0.011 -1.006]
+t: 11	 action: [ 0.221 -0.044  0.038  0.004  0.101  0.03  -0.999]
+t: 12	 action: [ 2.293e-01 -6.268e-02  1.414e-02  7.475e-04  1.238e-01  3.150e-02 -1.017e+00]
+t: 13	 action: [ 3.762e-01 -1.832e-02  5.292e-02  3.446e-04  1.419e-01  5.779e-02 -1.022e+00]
+t: 14	 action: [ 4.527e-01 -3.304e-02  6.008e-02  7.397e-04  1.351e-01  5.224e-02 -1.019e+00]
+t: 15	 action: [ 0.508 -0.018  0.053 -0.002  0.13   0.056 -1.04 ]
+t: 16	 action: [ 5.337e-01  4.276e-04  4.879e-02 -6.560e-03  1.380e-01  9.024e-02 -1.020e+00]
+t: 17	 action: [ 0.544  0.023  0.036 -0.011  0.123  0.096 -1.042]
+t: 18	 action: [ 0.525 -0.019  0.064 -0.015  0.127  0.141 -1.026]
+t: 19	 action: [ 0.548  0.005  0.068 -0.022  0.111  0.14  -1.027]
+t: 20	 action: [ 0.558 -0.001  0.036 -0.033  0.103  0.153 -1.024]
+t: 21	 action: [ 0.573  0.03   0.046 -0.036  0.098  0.15  -1.02 ]
+t: 22	 action: [ 0.578  0.013  0.041 -0.042  0.088  0.172 -1.008]
+t: 23	 action: [ 0.556  0.028  0.027 -0.05   0.073  0.16  -1.047]
+t: 24	 action: [ 0.585  0.023  0.014 -0.061  0.082  0.18  -1.009]
+t: 25	 action: [ 0.569  0.05   0.02  -0.069  0.088  0.168 -1.042]
+[07-31 00:39:23|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.995 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=26: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.4195
+INFO:cosmos_policy.experiments.robot.robot_utils:t=26: Selected seed 195 with value = 0.4195
+Query 1/1: Action query time = 0.995 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4195
+t=26: Selected seed 195 with value = 0.4195
+t: 26	 action: [ 0.408  0.035  0.005 -0.074  0.053  0.21  -1.007]
+t: 27	 action: [ 0.419  0.07   0.012 -0.075  0.051  0.203 -1.004]
+t: 28	 action: [ 0.374  0.045 -0.02  -0.082  0.052  0.221 -1.005]
+t: 29	 action: [ 0.39   0.084  0.003 -0.084  0.054  0.213 -1.008]
+t: 30	 action: [ 0.379  0.031 -0.01  -0.099  0.056  0.234 -0.993]
+t: 31	 action: [ 0.365  0.074 -0.027 -0.092  0.051  0.222 -1.028]
+t: 32	 action: [ 0.347  0.047 -0.042 -0.105  0.06   0.239 -0.996]
+t: 33	 action: [ 0.346  0.08  -0.056 -0.1    0.067  0.229 -1.033]
+t: 34	 action: [ 0.301  0.037 -0.087 -0.103  0.077  0.256 -0.999]
+t: 35	 action: [ 0.321  0.055 -0.094 -0.106  0.076  0.236 -1.005]
+t: 36	 action: [ 0.272  0.037 -0.112 -0.11   0.089  0.258 -0.999]
+t: 37	 action: [ 0.294  0.054 -0.112 -0.111  0.092  0.236 -1.003]
+t: 38	 action: [ 0.255  0.026 -0.119 -0.118  0.092  0.265 -0.988]
+t: 39	 action: [ 0.25   0.06  -0.15  -0.108  0.102  0.248 -1.029]
+t: 40	 action: [ 0.229  0.03  -0.146 -0.117  0.11   0.262 -0.992]
+t: 41	 action: [ 0.24   0.057 -0.161 -0.11   0.13   0.242 -1.031]
+[07-31 00:39:24|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.976 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=42: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.4587
+INFO:cosmos_policy.experiments.robot.robot_utils:t=42: Selected seed 195 with value = 0.4587
+Query 1/1: Action query time = 0.976 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4587
+t=42: Selected seed 195 with value = 0.4587
+t: 42	 action: [ 0.094  0.037 -0.08  -0.085  0.113  0.291 -0.977]
+t: 43	 action: [ 0.11   0.067 -0.056 -0.093  0.109  0.276 -0.98 ]
+t: 44	 action: [ 0.094  0.027 -0.093 -0.085  0.12   0.295 -0.975]
+t: 45	 action: [ 0.117  0.052 -0.057 -0.091  0.116  0.276 -0.994]
+t: 46	 action: [ 0.119  0.015 -0.089 -0.096  0.107  0.296 -0.98 ]
+t: 47	 action: [ 0.121  0.042 -0.066 -0.093  0.108  0.279 -1.011]
+t: 48	 action: [ 0.125  0.007 -0.107 -0.095  0.116  0.288 -0.981]
+t: 49	 action: [ 0.138  0.025 -0.077 -0.091  0.12   0.269 -1.022]
+t: 50	 action: [ 0.195 -0.085 -0.104 -0.07   0.138  0.237 -0.995]
+t: 51	 action: [ 0.215 -0.109 -0.121 -0.059  0.132  0.22  -1.004]
+t: 52	 action: [ 0.228 -0.126 -0.109 -0.065  0.14   0.221 -0.99 ]
+t: 53	 action: [ 0.251 -0.137 -0.12  -0.052  0.138  0.202 -0.998]
+t: 54	 action: [ 0.24  -0.19  -0.102 -0.06   0.144  0.212 -0.986]
+t: 55	 action: [ 0.264 -0.15  -0.111 -0.05   0.14   0.196 -1.029]
+t: 56	 action: [ 0.251 -0.211 -0.109 -0.05   0.147  0.198 -0.987]
+t: 57	 action: [ 0.273 -0.171 -0.104 -0.044  0.147  0.184 -1.021]
+[07-31 00:39:26|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.995 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=58: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.5443
+INFO:cosmos_policy.experiments.robot.robot_utils:t=58: Selected seed 195 with value = 0.5443
+Query 1/1: Action query time = 0.995 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5443
+t=58: Selected seed 195 with value = 0.5443
+t: 58	 action: [ 0.193 -0.007 -0.07  -0.047  0.198  0.22  -1.004]
+t: 59	 action: [ 0.231 -0.008 -0.045 -0.036  0.192  0.201 -1.009]
+t: 60	 action: [ 0.238 -0.019 -0.062 -0.052  0.194  0.216 -1.006]
+t: 61	 action: [ 0.292 -0.043 -0.043 -0.036  0.183  0.193 -1.014]
+t: 62	 action: [ 0.333 -0.057 -0.036 -0.049  0.194  0.194 -1.009]
+t: 63	 action: [ 0.352 -0.074 -0.046 -0.041  0.178  0.181 -1.025]
+t: 64	 action: [ 0.385 -0.119 -0.05  -0.044  0.186  0.178 -1.009]
+t: 65	 action: [ 0.404 -0.121 -0.068 -0.039  0.169  0.166 -1.037]
+t: 66	 action: [ 0.441 -0.188 -0.057 -0.045  0.182  0.15  -1.029]
+t: 67	 action: [ 0.475 -0.175 -0.074 -0.017  0.169  0.127 -1.029]
+t: 68	 action: [ 0.45  -0.242 -0.09  -0.025  0.159  0.148 -1.027]
+t: 69	 action: [ 0.462 -0.222 -0.115 -0.017  0.132  0.118 -1.019]
+t: 70	 action: [ 0.425 -0.277 -0.108 -0.007  0.123  0.131 -1.021]
+t: 71	 action: [ 0.382 -0.281 -0.116 -0.011  0.079  0.113 -1.029]
+t: 72	 action: [ 3.741e-01 -3.119e-01 -1.891e-01 -4.087e-04  6.848e-02  1.163e-01 -1.017e+00]
+t: 73	 action: [ 0.296 -0.302 -0.158 -0.013  0.028  0.102 -1.024]
+[07-31 00:39:27|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.971 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=74: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.6206
+INFO:cosmos_policy.experiments.robot.robot_utils:t=74: Selected seed 195 with value = 0.6206
+Query 1/1: Action query time = 0.971 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6206
+t=74: Selected seed 195 with value = 0.6206
+t: 74	 action: [ 0.116 -0.401 -0.262  0.002  0.061  0.103 -1.016]
+t: 75	 action: [ 0.086 -0.355 -0.194  0.009  0.036  0.108 -1.022]
+t: 76	 action: [ 0.07  -0.401 -0.299  0.002  0.037  0.122 -1.006]
+t: 77	 action: [ 0.049 -0.327 -0.227  0.009  0.016  0.115 -1.023]
+t: 78	 action: [ 0.074 -0.385 -0.255  0.003  0.025  0.126 -1.004]
+t: 79	 action: [ 0.031 -0.344 -0.186  0.007  0.006  0.127 -1.042]
+t: 80	 action: [ 0.029 -0.352 -0.26   0.004  0.002  0.137 -1.001]
+t: 81	 action: [-0.011 -0.292 -0.189  0.003 -0.006  0.12  -1.04 ]
+t: 82	 action: [ 0.012 -0.365 -0.11  -0.02  -0.024  0.11  -1.01 ]
+t: 83	 action: [ 0.005 -0.359 -0.065 -0.012 -0.035  0.099 -1.025]
+t: 84	 action: [-0.084 -0.354 -0.073 -0.015 -0.046  0.114 -1.002]
+t: 85	 action: [-0.091 -0.341 -0.032 -0.011 -0.053  0.099 -1.013]
+t: 86	 action: [-1.933e-01 -4.061e-01 -1.233e-01  1.430e-04 -7.043e-02  1.214e-01 -1.009e+00]
+t: 87	 action: [-0.274 -0.376 -0.103 -0.004 -0.074  0.104 -1.04 ]
+t: 88	 action: [-3.172e-01 -3.716e-01 -1.052e-01 -6.967e-04 -9.481e-02  1.239e-01 -1.003e+00]
+t: 89	 action: [-0.36  -0.341 -0.105 -0.002 -0.088  0.107 -1.033]
+[07-31 00:39:28|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.986 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=90: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.7035
+INFO:cosmos_policy.experiments.robot.robot_utils:t=90: Selected seed 195 with value = 0.7035
+Query 1/1: Action query time = 0.986 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7035
+t=90: Selected seed 195 with value = 0.7035
+t: 90	 action: [ 0.127 -0.25   0.024 -0.018  0.023  0.036 -0.994]
+t: 91	 action: [ 0.135 -0.241  0.034 -0.01   0.019  0.042 -1.019]
+t: 92	 action: [ 0.061 -0.26   0.033 -0.006  0.002  0.055 -0.987]
+t: 93	 action: [ 0.064 -0.248  0.053 -0.003  0.004  0.052 -1.016]
+t: 94	 action: [-0.029 -0.244 -0.005 -0.004 -0.004  0.055 -0.999]
+t: 95	 action: [-0.084 -0.232 -0.031  0.002 -0.033  0.054 -1.049]
+t: 96	 action: [-0.198 -0.26  -0.093 -0.003 -0.038  0.078 -1.001]
+t: 97	 action: [-0.271 -0.231 -0.157  0.006 -0.068  0.065 -1.035]
+t: 98	 action: [-0.328 -0.305 -0.123 -0.011 -0.073  0.093 -0.972]
+t: 99	 action: [-0.39  -0.221 -0.149  0.001 -0.09   0.092 -1.006]
+t: 100	 action: [-0.482 -0.272 -0.184 -0.015 -0.111  0.107 -0.953]
+t: 101	 action: [-5.024e-01 -1.947e-01 -2.096e-01  4.320e-04 -1.212e-01  1.134e-01 -9.887e-01]
+t: 102	 action: [-0.604 -0.196 -0.222  0.001 -0.14   0.124 -0.967]
+t: 103	 action: [-0.586 -0.176 -0.183  0.006 -0.129  0.106 -1.025]
+t: 104	 action: [-6.266e-01 -1.695e-01 -2.092e-01  1.226e-04 -1.693e-01  1.409e-01 -9.366e-01]
+t: 105	 action: [-0.589 -0.135 -0.129  0.003 -0.141  0.125 -1.012]
+[07-31 00:39:29|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.980 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=106: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.7484
+INFO:cosmos_policy.experiments.robot.robot_utils:t=106: Selected seed 195 with value = 0.7484
+Query 1/1: Action query time = 0.980 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7484
+t=106: Selected seed 195 with value = 0.7484
+t: 106	 action: [-0.138 -0.476 -0.29   0.008 -0.043  0.017 -1.005]
+t: 107	 action: [-0.126 -0.503 -0.316  0.02  -0.042  0.013 -1.024]
+t: 108	 action: [-0.161 -0.467 -0.322  0.012 -0.044  0.013 -0.995]
+t: 109	 action: [-0.156 -0.482 -0.352  0.023 -0.039  0.009 -1.02 ]
+t: 110	 action: [-0.166 -0.506 -0.344  0.033 -0.043  0.008 -0.992]
+t: 111	 action: [-0.183 -0.487 -0.314  0.042 -0.029  0.016 -1.044]
+t: 112	 action: [-0.198 -0.475 -0.366  0.041 -0.036  0.007 -0.985]
+t: 113	 action: [-0.212 -0.447 -0.349  0.048 -0.02   0.012 -1.041]
+t: 114	 action: [-0.2   -0.507 -0.381  0.037 -0.058  0.013 -1.006]
+t: 115	 action: [-0.189 -0.465 -0.443  0.039 -0.062  0.005 -1.031]
+t: 116	 action: [-0.224 -0.509 -0.518  0.051 -0.05   0.014 -1.006]
+t: 117	 action: [-0.222 -0.436 -0.61   0.046 -0.058  0.01  -1.027]
+t: 118	 action: [-0.284 -0.319 -0.795  0.062 -0.054  0.005 -1.005]
+t: 119	 action: [-0.262 -0.224 -0.858  0.075 -0.034  0.012 -1.052]
+t: 120	 action: [-0.264 -0.099 -0.985  0.067 -0.034  0.011 -1.001]
+t: 121	 action: [-2.682e-01  6.930e-05 -9.901e-01  6.794e-02 -1.188e-02  2.212e-02 -1.056e+00]
+[07-31 00:39:31|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.992 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=122: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.7525
+INFO:cosmos_policy.experiments.robot.robot_utils:t=122: Selected seed 195 with value = 0.7525
+Query 1/1: Action query time = 0.992 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7525
+t=122: Selected seed 195 with value = 0.7525
+t: 122	 action: [-0.02  -0.259 -0.002 -0.023 -0.03   0.005 -1.026]
+t: 123	 action: [-0.006 -0.322  0.016 -0.008 -0.032 -0.013 -1.023]
+t: 124	 action: [-0.052 -0.287  0.023 -0.003 -0.038  0.003 -1.018]
+t: 125	 action: [-0.035 -0.351  0.026  0.008 -0.039 -0.011 -1.016]
+t: 126	 action: [-0.061 -0.361  0.005  0.013 -0.021 -0.002 -1.015]
+t: 127	 action: [-6.038e-02 -3.580e-01 -3.218e-04  2.538e-02 -2.935e-02 -1.628e-02 -1.050e+00]
+t: 128	 action: [-0.098 -0.39  -0.018  0.026 -0.027 -0.003 -1.01 ]
+t: 129	 action: [-0.104 -0.38  -0.045  0.036 -0.036 -0.014 -1.04 ]
+t: 130	 action: [-1.692e-01 -4.106e-01 -1.044e-01  3.333e-02 -3.935e-02 -7.692e-04 -1.024e+00]
+t: 131	 action: [-0.162 -0.419 -0.095  0.03  -0.052 -0.017 -1.026]
+t: 132	 action: [-0.158 -0.433 -0.224  0.045 -0.043 -0.005 -1.025]
+t: 133	 action: [-0.16  -0.396 -0.24   0.041 -0.058 -0.015 -1.014]
+t: 134	 action: [-0.203 -0.434 -0.356  0.069 -0.035 -0.012 -1.016]
+t: 135	 action: [-0.168 -0.373 -0.447  0.066 -0.026 -0.019 -1.046]
+t: 136	 action: [-0.164 -0.344 -0.699  0.077 -0.024 -0.011 -1.015]
+t: 137	 action: [-0.129 -0.228 -0.74   0.066 -0.01  -0.015 -1.043]
+[07-31 00:39:32|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.982 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=138: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.7942
+INFO:cosmos_policy.experiments.robot.robot_utils:t=138: Selected seed 195 with value = 0.7942
+Query 1/1: Action query time = 0.982 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7942
+t=138: Selected seed 195 with value = 0.7942
+t: 138	 action: [-0.029 -0.247 -0.013 -0.006 -0.085 -0.009 -1.029]
+t: 139	 action: [ 0.017 -0.271  0.052  0.012 -0.082 -0.029 -1.033]
+t: 140	 action: [-0.011 -0.255  0.152  0.006 -0.089 -0.009 -1.03 ]
+t: 141	 action: [ 0.016 -0.279  0.177  0.017 -0.091 -0.024 -1.032]
+t: 142	 action: [-0.013 -0.224  0.165  0.016 -0.071 -0.015 -1.023]
+t: 143	 action: [ 0.006 -0.254  0.129  0.035 -0.077 -0.031 -1.057]
+t: 144	 action: [ 0.03  -0.197  0.105  0.018 -0.055 -0.012 -1.024]
+t: 145	 action: [ 0.015 -0.265 -0.012  0.03  -0.06  -0.027 -1.052]
+t: 146	 action: [-0.012 -0.313 -0.075  0.04  -0.073 -0.011 -1.033]
+t: 147	 action: [ 0.026 -0.31  -0.142  0.046 -0.081 -0.04  -1.034]
+t: 148	 action: [ 0.01  -0.338 -0.366  0.045 -0.068 -0.015 -1.032]
+t: 149	 action: [ 0.031 -0.274 -0.428  0.059 -0.075 -0.028 -1.032]
+t: 150	 action: [ 0.019 -0.283 -0.739  0.088 -0.053 -0.036 -1.028]
+t: 151	 action: [ 0.005 -0.202 -0.77   0.083 -0.054 -0.043 -1.063]
+t: 152	 action: [ 0.054 -0.133 -0.985  0.065 -0.037 -0.025 -1.024]
+t: 153	 action: [ 0.008 -0.015 -0.908  0.061 -0.042 -0.029 -1.063]
+[07-31 00:39:33|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.987 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=154: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9718
+INFO:cosmos_policy.experiments.robot.robot_utils:t=154: Selected seed 195 with value = 0.9718
+Query 1/1: Action query time = 0.987 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9718
+t=154: Selected seed 195 with value = 0.9718
+t: 154	 action: [-0.088  0.737 -0.868  0.012 -0.022  0.019 -0.983]
+t: 155	 action: [-0.09   0.74  -0.869  0.001 -0.027  0.018 -1.01 ]
+t: 156	 action: [-0.136  0.799 -0.857  0.007 -0.018  0.022 -0.985]
+t: 157	 action: [-0.121  0.791 -0.854 -0.003 -0.019  0.023 -1.008]
+t: 158	 action: [-0.2    0.836 -0.852  0.002 -0.005  0.023 -0.982]
+t: 159	 action: [-0.155  0.815 -0.849  0.008 -0.014  0.022 -1.038]
+t: 160	 action: [-0.202  0.86  -0.84  -0.002  0.003  0.032 -0.981]
+t: 161	 action: [-0.143  0.837 -0.824  0.005 -0.009  0.026 -1.036]
+t: 162	 action: [-0.165  0.89  -0.797  0.006 -0.006  0.056 -0.975]
+t: 163	 action: [-1.572e-01  8.625e-01 -8.104e-01 -7.852e-03  7.225e-04  4.237e-02 -1.018e+00]
+t: 164	 action: [-0.197  0.899 -0.795  0.003 -0.002  0.06  -0.979]
+t: 165	 action: [-0.177  0.87  -0.806 -0.007  0.002  0.05  -1.014]
+t: 166	 action: [-0.231  0.907 -0.799 -0.006  0.005  0.058 -0.975]
+t: 167	 action: [-2.346e-01  8.908e-01 -8.248e-01 -4.961e-03 -2.286e-04  4.221e-02 -1.045e+00]
+t: 168	 action: [-0.228  0.904 -0.796 -0.007  0.014  0.062 -0.976]
+t: 169	 action: [-0.232  0.882 -0.813 -0.002 -0.002  0.05  -1.042]
+[07-31 00:39:35|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.970 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=170: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9993
+INFO:cosmos_policy.experiments.robot.robot_utils:t=170: Selected seed 195 with value = 0.9993
+WARNING:imageio_ffmpeg:IMAGEIO FFMPEG_WRITER WARNING: input image is not divisible by macro_block_size=16, resizing from (896, 284) to (896, 288) to ensure video compatibility with most codecs and players. To prevent resizing, make your input image divisible by the macro_block_size or set the macro_block_size to 1 (risking incompatibility).
+INFO:cosmos_policy.experiments.robot.robot_utils:Success: True
+INFO:cosmos_policy.experiments.robot.robot_utils:# episodes completed so far: 28
+INFO:cosmos_policy.experiments.robot.robot_utils:# successes: 13 (46.4%)
+
+
 56%|█████▌    | 28/50 [11:38<08:50, 24.12s/it]INFO:cosmos_policy.experiments.robot.robot_utils:
+Task: open the middle drawer of the cabinet
+INFO:cosmos_policy.experiments.robot.robot_utils:Starting episode 29...
+Query 1/1: Action query time = 0.970 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9993
+t=170: Selected seed 195 with value = 0.9993
+t: 170	 action: [-0.304  0.873 -0.702  0.003 -0.007  0.028 -0.953]
+t: 171	 action: [-0.28   0.876 -0.639 -0.009 -0.003  0.044 -0.948]
+t: 172	 action: [-0.286  0.891 -0.719  0.003  0.005  0.03  -0.972]
+t: 173	 action: [-0.272  0.877 -0.662 -0.01   0.002  0.037 -0.995]
+t: 174	 action: [-0.306  0.897 -0.682 -0.003  0.013  0.049 -0.961]
+t: 175	 action: [-0.325  0.91  -0.659 -0.007 -0.002  0.05  -1.005]
+Saved rollout MP4 at path ./rollouts/None/2026_07_31-00_27_45--episode=28--success=True--task=open_the_middle_drawer_of_the_cabinet.mp4
+166 166 11 11
+Saved rollout MP4 at path ./rollouts/None/2026_07_31-00_27_45--with_future_img--episode=28--success=True--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: True
+# episodes completed so far: 28
+# successes: 13 (46.4%)
+
+Task: open the middle drawer of the cabinet
+Starting episode 29...
+[07-31 00:39:40|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.990 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=10: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.3545
+INFO:cosmos_policy.experiments.robot.robot_utils:t=10: Selected seed 195 with value = 0.3545
+Query 1/1: Action query time = 0.990 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3545
+t=10: Selected seed 195 with value = 0.3545
+t: 10	 action: [-0.007 -0.045 -0.039  0.005  0.012  0.006 -0.978]
+t: 11	 action: [ 0.138 -0.076  0.026  0.012  0.041  0.019 -0.974]
+t: 12	 action: [ 0.13  -0.11  -0.003  0.002  0.067  0.021 -1.005]
+t: 13	 action: [ 0.322 -0.078  0.053  0.009  0.086  0.046 -1.012]
+t: 14	 action: [ 0.378 -0.118  0.045  0.002  0.097  0.028 -1.013]
+t: 15	 action: [ 0.497 -0.109  0.031  0.009  0.09   0.041 -1.034]
+t: 16	 action: [ 5.025e-01 -9.039e-02  6.429e-02 -7.615e-04  1.177e-01  7.274e-02 -1.015e+00]
+t: 17	 action: [ 0.554 -0.066  0.041  0.003  0.105  0.073 -1.038]
+t: 18	 action: [ 0.554 -0.083  0.074 -0.01   0.111  0.125 -1.02 ]
+t: 19	 action: [ 0.589 -0.043  0.092 -0.015  0.105  0.116 -1.019]
+t: 20	 action: [ 0.586 -0.047  0.038 -0.031  0.104  0.135 -1.017]
+t: 21	 action: [ 0.627  0.001  0.062 -0.026  0.102  0.124 -1.011]
+t: 22	 action: [ 0.603 -0.006  0.054 -0.036  0.102  0.143 -1.003]
+t: 23	 action: [ 0.615 -0.002  0.038 -0.05   0.088  0.132 -1.042]
+t: 24	 action: [ 0.617  0.03   0.019 -0.062  0.097  0.156 -1.002]
+t: 25	 action: [ 0.632  0.047  0.029 -0.072  0.097  0.14  -1.037]
+[07-31 00:39:42|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.982 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=26: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.4061
+INFO:cosmos_policy.experiments.robot.robot_utils:t=26: Selected seed 195 with value = 0.4061
+Query 1/1: Action query time = 0.982 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4061
+t=26: Selected seed 195 with value = 0.4061
+t: 26	 action: [ 0.476  0.024  0.034 -0.053  0.049  0.197 -1.01 ]
+t: 27	 action: [ 0.476  0.055  0.012 -0.058  0.049  0.195 -1.003]
+t: 28	 action: [ 0.415  0.03   0.013 -0.064  0.042  0.208 -1.008]
+t: 29	 action: [ 0.419  0.065  0.02  -0.066  0.048  0.209 -1.004]
+t: 30	 action: [ 0.407  0.026  0.013 -0.085  0.049  0.229 -0.995]
+t: 31	 action: [ 0.361  0.062 -0.013 -0.071  0.049  0.219 -1.028]
+t: 32	 action: [ 0.347  0.036 -0.016 -0.096  0.045  0.238 -0.997]
+t: 33	 action: [ 0.32   0.069 -0.026 -0.081  0.054  0.231 -1.031]
+t: 34	 action: [ 0.329  0.035 -0.029 -0.093  0.057  0.241 -1.004]
+t: 35	 action: [ 0.348  0.062 -0.029 -0.098  0.059  0.227 -1.005]
+t: 36	 action: [ 0.324  0.036 -0.054 -0.103  0.062  0.244 -1.005]
+t: 37	 action: [ 0.347  0.06  -0.039 -0.107  0.069  0.227 -1.002]
+t: 38	 action: [ 0.315  0.03  -0.047 -0.12   0.065  0.257 -0.99 ]
+t: 39	 action: [ 0.318  0.07  -0.064 -0.105  0.07   0.242 -1.032]
+t: 40	 action: [ 0.319  0.031 -0.075 -0.122  0.081  0.251 -0.995]
+t: 41	 action: [ 0.325  0.067 -0.074 -0.109  0.095  0.234 -1.031]
+[07-31 00:39:43|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.970 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=42: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.4546
+INFO:cosmos_policy.experiments.robot.robot_utils:t=42: Selected seed 195 with value = 0.4546
+Query 1/1: Action query time = 0.970 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4546
+t=42: Selected seed 195 with value = 0.4546
+t: 42	 action: [ 0.117  0.045 -0.066 -0.086  0.134  0.282 -0.984]
+t: 43	 action: [ 0.139  0.071 -0.061 -0.089  0.131  0.265 -0.983]
+t: 44	 action: [ 0.112  0.039 -0.083 -0.085  0.137  0.286 -0.981]
+t: 45	 action: [ 0.142  0.063 -0.063 -0.089  0.134  0.268 -0.997]
+t: 46	 action: [ 0.136  0.032 -0.096 -0.1    0.123  0.287 -0.987]
+t: 47	 action: [ 0.138  0.053 -0.088 -0.093  0.119  0.266 -1.015]
+t: 48	 action: [ 0.136  0.024 -0.116 -0.102  0.126  0.281 -0.987]
+t: 49	 action: [ 0.143  0.043 -0.096 -0.094  0.124  0.264 -1.025]
+t: 50	 action: [ 0.183 -0.017 -0.115 -0.083  0.144  0.258 -0.997]
+t: 51	 action: [ 0.207 -0.038 -0.136 -0.072  0.134  0.24  -1.006]
+t: 52	 action: [ 0.212 -0.043 -0.131 -0.086  0.14   0.245 -0.993]
+t: 53	 action: [ 0.235 -0.054 -0.135 -0.07   0.137  0.228 -1.004]
+t: 54	 action: [ 0.218 -0.095 -0.133 -0.089  0.142  0.236 -0.989]
+t: 55	 action: [ 0.236 -0.068 -0.138 -0.068  0.133  0.22  -1.027]
+t: 56	 action: [ 0.227 -0.114 -0.149 -0.087  0.141  0.222 -0.991]
+t: 57	 action: [ 0.24  -0.082 -0.134 -0.067  0.141  0.212 -1.024]
+[07-31 00:39:44|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.977 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=58: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.5311
+INFO:cosmos_policy.experiments.robot.robot_utils:t=58: Selected seed 195 with value = 0.5311
+Query 1/1: Action query time = 0.977 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5311
+t=58: Selected seed 195 with value = 0.5311
+t: 58	 action: [ 0.162  0.007 -0.105 -0.048  0.185  0.233 -1.003]
+t: 59	 action: [ 0.198  0.016 -0.09  -0.038  0.171  0.212 -1.003]
+t: 60	 action: [ 0.21   0.003 -0.113 -0.056  0.19   0.233 -1.007]
+t: 61	 action: [ 0.264 -0.001 -0.1   -0.041  0.17   0.207 -1.009]
+t: 62	 action: [ 0.296 -0.015 -0.095 -0.062  0.187  0.217 -1.009]
+t: 63	 action: [ 0.314 -0.026 -0.108 -0.056  0.163  0.199 -1.028]
+t: 64	 action: [ 0.35  -0.056 -0.113 -0.068  0.187  0.202 -1.011]
+t: 65	 action: [ 0.37  -0.056 -0.137 -0.059  0.162  0.182 -1.038]
+t: 66	 action: [ 0.415 -0.127 -0.089 -0.065  0.187  0.178 -1.026]
+t: 67	 action: [ 0.449 -0.116 -0.142 -0.03   0.175  0.148 -1.027]
+t: 68	 action: [ 0.432 -0.169 -0.101 -0.06   0.169  0.173 -1.025]
+t: 69	 action: [ 0.456 -0.156 -0.177 -0.038  0.145  0.135 -1.017]
+t: 70	 action: [ 0.423 -0.199 -0.098 -0.041  0.145  0.151 -1.019]
+t: 71	 action: [ 0.394 -0.215 -0.146 -0.04   0.097  0.128 -1.026]
+t: 72	 action: [ 0.4   -0.251 -0.128 -0.026  0.1    0.133 -1.014]
+t: 73	 action: [ 0.334 -0.253 -0.161 -0.04   0.048  0.112 -1.023]
+[07-31 00:39:46|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.978 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=74: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.6099
+INFO:cosmos_policy.experiments.robot.robot_utils:t=74: Selected seed 195 with value = 0.6099
+Query 1/1: Action query time = 0.978 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6099
+t=74: Selected seed 195 with value = 0.6099
+t: 74	 action: [ 1.650e-01 -3.888e-01 -1.505e-01  9.652e-04  1.209e-01  9.939e-02 -1.024e+00]
+t: 75	 action: [ 0.151 -0.379 -0.091  0.01   0.099  0.103 -1.033]
+t: 76	 action: [ 1.250e-01 -4.073e-01 -1.981e-01  5.953e-04  8.727e-02  1.175e-01 -1.010e+00]
+t: 77	 action: [ 0.11  -0.348 -0.129  0.007  0.049  0.109 -1.03 ]
+t: 78	 action: [ 1.172e-01 -3.919e-01 -1.763e-01  9.056e-04  4.953e-02  1.192e-01 -1.008e+00]
+t: 79	 action: [ 0.091 -0.365 -0.134  0.01   0.02   0.117 -1.051]
+t: 80	 action: [ 0.068 -0.353 -0.215  0.002  0.01   0.13  -1.004]
+t: 81	 action: [ 0.035 -0.296 -0.169  0.002 -0.004  0.11  -1.045]
+t: 82	 action: [ 0.057 -0.38  -0.131 -0.019 -0.02   0.103 -1.016]
+t: 83	 action: [ 0.029 -0.367 -0.103 -0.009 -0.03   0.091 -1.026]
+t: 84	 action: [-0.049 -0.371 -0.133 -0.011 -0.044  0.105 -1.01 ]
+t: 85	 action: [-0.067 -0.357 -0.094 -0.007 -0.049  0.088 -1.017]
+t: 86	 action: [-0.142 -0.432 -0.16   0.001 -0.062  0.109 -1.012]
+t: 87	 action: [-2.244e-01 -4.036e-01 -1.438e-01  2.538e-04 -6.512e-02  9.177e-02 -1.043e+00]
+t: 88	 action: [-0.246 -0.423 -0.16   0.002 -0.081  0.109 -1.011]
+t: 89	 action: [-0.309 -0.377 -0.147  0.003 -0.075  0.09  -1.038]
+[07-31 00:39:47|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.962 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=90: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.6626
+INFO:cosmos_policy.experiments.robot.robot_utils:t=90: Selected seed 195 with value = 0.6626
+Query 1/1: Action query time = 0.962 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6626
+t=90: Selected seed 195 with value = 0.6626
+t: 90	 action: [ 0.132 -0.229 -0.092 -0.019  0.029  0.057 -0.995]
+t: 91	 action: [ 0.133 -0.232 -0.04  -0.012  0.021  0.058 -1.016]
+t: 92	 action: [ 0.081 -0.239 -0.018 -0.012  0.007  0.074 -0.988]
+t: 93	 action: [ 0.076 -0.236  0.012 -0.007  0.008  0.067 -1.014]
+t: 94	 action: [-1.107e-02 -2.380e-01 -2.508e-02 -7.507e-03 -8.729e-04  6.991e-02 -9.977e-01]
+t: 95	 action: [-0.059 -0.234 -0.036 -0.003 -0.025  0.068 -1.039]
+t: 96	 action: [-0.165 -0.269 -0.084 -0.003 -0.035  0.091 -1.001]
+t: 97	 action: [-0.233 -0.242 -0.117  0.002 -0.06   0.078 -1.03 ]
+t: 98	 action: [-0.256 -0.326 -0.078 -0.021 -0.068  0.096 -0.969]
+t: 99	 action: [-0.338 -0.23  -0.105 -0.003 -0.089  0.096 -1.005]
+t: 100	 action: [-0.445 -0.294 -0.121 -0.021 -0.107  0.109 -0.946]
+t: 101	 action: [-0.466 -0.196 -0.155 -0.002 -0.119  0.115 -0.991]
+t: 102	 action: [-0.598 -0.207 -0.163 -0.002 -0.143  0.125 -0.964]
+t: 103	 action: [-0.568 -0.185 -0.154  0.002 -0.131  0.109 -1.02 ]
+t: 104	 action: [-0.639 -0.177 -0.151 -0.003 -0.177  0.139 -0.931]
+t: 105	 action: [-0.594 -0.143 -0.117  0.001 -0.142  0.126 -1.01 ]
+[07-31 00:39:48|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.985 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=106: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.7479
+INFO:cosmos_policy.experiments.robot.robot_utils:t=106: Selected seed 195 with value = 0.7479
+Query 1/1: Action query time = 0.985 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7479
+t=106: Selected seed 195 with value = 0.7479
+t: 106	 action: [-0.178 -0.478 -0.316  0.005 -0.042  0.022 -1.   ]
+t: 107	 action: [-0.163 -0.51  -0.328  0.019 -0.038  0.02  -1.021]
+t: 108	 action: [-0.209 -0.464 -0.339  0.007 -0.042  0.018 -0.991]
+t: 109	 action: [-0.197 -0.495 -0.349  0.021 -0.032  0.015 -1.019]
+t: 110	 action: [-0.212 -0.529 -0.352  0.028 -0.039  0.017 -0.987]
+t: 111	 action: [-0.218 -0.505 -0.316  0.037 -0.027  0.023 -1.045]
+t: 112	 action: [-0.242 -0.493 -0.354  0.034 -0.032  0.018 -0.98 ]
+t: 113	 action: [-0.241 -0.47  -0.32   0.039 -0.019  0.018 -1.044]
+t: 114	 action: [-0.252 -0.502 -0.343  0.031 -0.047  0.025 -1.   ]
+t: 115	 action: [-0.233 -0.488 -0.389  0.036 -0.05   0.02  -1.034]
+t: 116	 action: [-0.265 -0.516 -0.467  0.045 -0.046  0.024 -1.   ]
+t: 117	 action: [-0.257 -0.502 -0.54   0.043 -0.053  0.024 -1.03 ]
+t: 118	 action: [-0.343 -0.359 -0.756  0.06  -0.052  0.024 -0.997]
+t: 119	 action: [-0.299 -0.28  -0.838  0.078 -0.04   0.025 -1.052]
+t: 120	 action: [-0.313 -0.166 -0.979  0.07  -0.04   0.03  -0.994]
+t: 121	 action: [-0.3   -0.086 -0.995  0.076 -0.024  0.033 -1.057]
+[07-31 00:39:49|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.973 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=122: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.7492
+INFO:cosmos_policy.experiments.robot.robot_utils:t=122: Selected seed 195 with value = 0.7492
+Query 1/1: Action query time = 0.973 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7492
+t=122: Selected seed 195 with value = 0.7492
+t: 122	 action: [-0.046 -0.293 -0.032 -0.018 -0.036  0.004 -1.026]
+t: 123	 action: [-0.02  -0.354 -0.009 -0.004 -0.041 -0.013 -1.026]
+t: 124	 action: [-0.062 -0.318 -0.018 -0.002 -0.044  0.003 -1.019]
+t: 125	 action: [-0.046 -0.376 -0.008  0.011 -0.048 -0.011 -1.021]
+t: 126	 action: [-0.08  -0.386 -0.023  0.015 -0.03  -0.002 -1.014]
+t: 127	 action: [-0.078 -0.386 -0.047  0.03  -0.036 -0.013 -1.05 ]
+t: 128	 action: [-0.104 -0.402 -0.065  0.031 -0.036 -0.002 -1.009]
+t: 129	 action: [-0.114 -0.391 -0.112  0.041 -0.042 -0.011 -1.041]
+t: 130	 action: [-0.151 -0.452 -0.151  0.043 -0.054 -0.005 -1.025]
+t: 131	 action: [-0.153 -0.435 -0.148  0.04  -0.066 -0.021 -1.03 ]
+t: 132	 action: [-0.161 -0.474 -0.27   0.054 -0.058 -0.008 -1.028]
+t: 133	 action: [-0.165 -0.408 -0.305  0.051 -0.071 -0.018 -1.018]
+t: 134	 action: [-0.211 -0.424 -0.43   0.074 -0.051 -0.013 -1.016]
+t: 135	 action: [-0.193 -0.352 -0.491  0.074 -0.039 -0.021 -1.05 ]
+t: 136	 action: [-0.182 -0.312 -0.754  0.078 -0.035 -0.01  -1.017]
+t: 137	 action: [-0.163 -0.193 -0.78   0.07  -0.016 -0.015 -1.046]
+[07-31 00:39:51|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.970 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=138: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9539
+INFO:cosmos_policy.experiments.robot.robot_utils:t=138: Selected seed 195 with value = 0.9539
+Query 1/1: Action query time = 0.970 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9539
+t=138: Selected seed 195 with value = 0.9539
+t: 138	 action: [-0.047  0.212 -0.954  0.059 -0.026  0.001 -0.996]
+t: 139	 action: [-0.028  0.307 -0.985  0.038 -0.036 -0.01  -1.007]
+t: 140	 action: [-0.064  0.472 -0.952  0.015 -0.015  0.002 -0.999]
+t: 141	 action: [-0.041  0.571 -0.96   0.011 -0.027 -0.005 -1.008]
+t: 142	 action: [-0.097  0.635 -0.939  0.009 -0.001 -0.006 -0.997]
+t: 143	 action: [-0.078  0.663 -0.96   0.012 -0.015 -0.009 -1.038]
+t: 144	 action: [-0.129  0.819 -0.915 -0.018  0.007 -0.003 -0.999]
+t: 145	 action: [-0.091  0.831 -0.93  -0.006 -0.009 -0.005 -1.041]
+t: 146	 action: [-0.14   0.91  -0.859 -0.008  0.009  0.014 -0.988]
+t: 147	 action: [-0.154  0.915 -0.822 -0.024  0.01   0.003 -1.016]
+t: 148	 action: [-0.195  0.945 -0.862 -0.026  0.014  0.017 -0.992]
+t: 149	 action: [-0.173  0.923 -0.827 -0.028  0.007  0.008 -1.012]
+t: 150	 action: [-0.248  0.976 -0.864 -0.026  0.01   0.012 -0.99 ]
+t: 151	 action: [-0.252  0.951 -0.841 -0.022  0.002  0.007 -1.048]
+t: 152	 action: [-0.272  0.972 -0.858 -0.037  0.018  0.021 -0.992]
+t: 153	 action: [-2.688e-01  9.366e-01 -8.458e-01 -2.172e-02  6.888e-04  1.197e-02 -1.051e+00]
+[07-31 00:39:52|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.978 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=154: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9948
+INFO:cosmos_policy.experiments.robot.robot_utils:t=154: Selected seed 195 with value = 0.9948
+WARNING:imageio_ffmpeg:IMAGEIO FFMPEG_WRITER WARNING: input image is not divisible by macro_block_size=16, resizing from (896, 284) to (896, 288) to ensure video compatibility with most codecs and players. To prevent resizing, make your input image divisible by the macro_block_size or set the macro_block_size to 1 (risking incompatibility).
+INFO:cosmos_policy.experiments.robot.robot_utils:Success: True
+INFO:cosmos_policy.experiments.robot.robot_utils:# episodes completed so far: 29
+INFO:cosmos_policy.experiments.robot.robot_utils:# successes: 14 (48.3%)
+
+
 58%|█████▊    | 29/50 [11:55<07:42, 22.03s/it]INFO:cosmos_policy.experiments.robot.robot_utils:
+Task: open the middle drawer of the cabinet
+INFO:cosmos_policy.experiments.robot.robot_utils:Starting episode 30...
+Query 1/1: Action query time = 0.978 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9948
+t=154: Selected seed 195 with value = 0.9948
+t: 154	 action: [-0.194  0.938 -0.783 -0.028  0.019  0.009 -0.975]
+t: 155	 action: [-0.214  0.922 -0.777 -0.033  0.027  0.015 -0.984]
+t: 156	 action: [-0.199  0.953 -0.767 -0.029  0.019  0.01  -0.985]
+t: 157	 action: [-0.194  0.92  -0.739 -0.033  0.028  0.014 -0.993]
+t: 158	 action: [-0.213  0.968 -0.754 -0.039  0.024  0.008 -0.972]
+t: 159	 action: [-0.237  0.942 -0.74  -0.03   0.025  0.019 -1.02 ]
+t: 160	 action: [-0.22   0.974 -0.725 -0.042  0.024  0.015 -0.983]
+t: 161	 action: [-0.219  0.933 -0.675 -0.031  0.024  0.016 -1.03 ]
+Saved rollout MP4 at path ./rollouts/None/2026_07_31-00_27_45--episode=29--success=True--task=open_the_middle_drawer_of_the_cabinet.mp4
+152 152 10 10
+Saved rollout MP4 at path ./rollouts/None/2026_07_31-00_27_45--with_future_img--episode=29--success=True--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: True
+# episodes completed so far: 29
+# successes: 14 (48.3%)
+
+Task: open the middle drawer of the cabinet
+Starting episode 30...
+[07-31 00:39:58|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.005 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=10: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.3528
+INFO:cosmos_policy.experiments.robot.robot_utils:t=10: Selected seed 195 with value = 0.3528
+Query 1/1: Action query time = 1.005 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3528
+t=10: Selected seed 195 with value = 0.3528
+t: 10	 action: [ 0.099 -0.124 -0.018  0.024  0.038  0.022 -1.001]
+t: 11	 action: [ 0.191 -0.097  0.029  0.02   0.051  0.055 -1.   ]
+t: 12	 action: [ 0.227 -0.115  0.008  0.015  0.071  0.054 -1.009]
+t: 13	 action: [ 0.375 -0.05   0.048  0.014  0.078  0.073 -1.018]
+t: 14	 action: [ 0.43  -0.037  0.041  0.014  0.085  0.077 -1.012]
+t: 15	 action: [ 0.532 -0.013  0.034  0.01   0.077  0.076 -1.047]
+t: 16	 action: [ 0.539  0.02   0.051  0.005  0.093  0.104 -1.012]
+t: 17	 action: [ 5.971e-01  3.749e-02  3.036e-02 -7.804e-04  7.593e-02  9.511e-02 -1.050e+00]
+t: 18	 action: [ 0.581  0.029  0.024 -0.025  0.078  0.151 -1.027]
+t: 19	 action: [ 0.585  0.059  0.011 -0.025  0.066  0.136 -1.028]
+t: 20	 action: [ 0.594  0.051 -0.016 -0.045  0.073  0.151 -1.021]
+t: 21	 action: [ 0.612  0.091 -0.007 -0.039  0.058  0.135 -1.022]
+t: 22	 action: [ 0.606  0.061  0.006 -0.055  0.066  0.153 -1.012]
+t: 23	 action: [ 0.587  0.094 -0.021 -0.053  0.05   0.142 -1.053]
+t: 24	 action: [ 0.593  0.085 -0.023 -0.073  0.066  0.154 -1.008]
+t: 25	 action: [ 0.589  0.115 -0.051 -0.075  0.055  0.14  -1.048]
+[07-31 00:39:59|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.972 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=26: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.4041
+INFO:cosmos_policy.experiments.robot.robot_utils:t=26: Selected seed 195 with value = 0.4041
+Query 1/1: Action query time = 0.972 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4041
+t=26: Selected seed 195 with value = 0.4041
+t: 26	 action: [ 0.457 -0.058  0.005 -0.036  0.017  0.194 -1.007]
+t: 27	 action: [ 0.471 -0.038  0.012 -0.045  0.015  0.193 -1.005]
+t: 28	 action: [ 0.393 -0.023 -0.021 -0.05   0.02   0.206 -1.005]
+t: 29	 action: [ 0.399 -0.015 -0.015 -0.056  0.022  0.214 -1.002]
+t: 30	 action: [ 0.349 -0.013 -0.024 -0.066  0.03   0.24  -0.993]
+t: 31	 action: [ 0.301  0.005 -0.05  -0.062  0.024  0.231 -1.033]
+t: 32	 action: [ 0.274  0.013 -0.06  -0.083  0.033  0.259 -0.996]
+t: 33	 action: [ 0.244  0.029 -0.1   -0.081  0.036  0.255 -1.032]
+t: 34	 action: [ 0.188  0.023 -0.1   -0.105  0.043  0.282 -0.993]
+t: 35	 action: [ 0.214  0.025 -0.124 -0.103  0.043  0.275 -0.993]
+t: 36	 action: [ 0.167  0.024 -0.132 -0.116  0.04   0.296 -0.995]
+t: 37	 action: [ 0.193  0.028 -0.142 -0.113  0.04   0.284 -0.992]
+t: 38	 action: [ 0.157  0.013 -0.133 -0.133  0.035  0.312 -0.981]
+t: 39	 action: [ 0.149  0.049 -0.145 -0.107  0.042  0.299 -1.019]
+t: 40	 action: [ 0.137  0.012 -0.162 -0.135  0.037  0.317 -0.986]
+t: 41	 action: [ 0.133  0.05  -0.154 -0.11   0.055  0.299 -1.02 ]
+[07-31 00:40:00|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.986 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=42: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.4589
+INFO:cosmos_policy.experiments.robot.robot_utils:t=42: Selected seed 195 with value = 0.4589
+Query 1/1: Action query time = 0.986 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4589
+t=42: Selected seed 195 with value = 0.4589
+t: 42	 action: [ 0.103  0.008 -0.171 -0.105  0.081  0.297 -0.974]
+t: 43	 action: [ 0.126  0.038 -0.155 -0.102  0.082  0.29  -0.983]
+t: 44	 action: [ 0.103  0.014 -0.181 -0.102  0.094  0.304 -0.974]
+t: 45	 action: [ 0.134  0.046 -0.152 -0.098  0.097  0.288 -0.995]
+t: 46	 action: [ 0.131  0.013 -0.171 -0.108  0.1    0.305 -0.976]
+t: 47	 action: [ 0.133  0.053 -0.182 -0.096  0.097  0.286 -1.012]
+t: 48	 action: [ 0.136  0.017 -0.183 -0.098  0.118  0.303 -0.978]
+t: 49	 action: [ 0.144  0.055 -0.183 -0.091  0.121  0.279 -1.02 ]
+t: 50	 action: [ 0.169  0.026 -0.167 -0.07   0.154  0.275 -0.99 ]
+t: 51	 action: [ 0.189  0.025 -0.194 -0.066  0.165  0.256 -0.996]
+t: 52	 action: [ 0.204  0.028 -0.157 -0.063  0.179  0.266 -0.991]
+t: 53	 action: [ 0.218  0.02  -0.175 -0.06   0.192  0.244 -0.999]
+t: 54	 action: [ 0.208  0.013 -0.134 -0.058  0.193  0.249 -0.981]
+t: 55	 action: [ 0.221  0.031 -0.127 -0.054  0.206  0.231 -1.024]
+t: 56	 action: [ 0.236  0.013 -0.117 -0.047  0.214  0.226 -0.983]
+t: 57	 action: [ 0.247  0.022 -0.099 -0.049  0.222  0.213 -1.021]
+[07-31 00:40:01|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.989 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=58: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.5118
+INFO:cosmos_policy.experiments.robot.robot_utils:t=58: Selected seed 195 with value = 0.5118
+Query 1/1: Action query time = 0.989 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5118
+t=58: Selected seed 195 with value = 0.5118
+t: 58	 action: [ 0.38   0.059 -0.206 -0.042  0.242  0.186 -0.987]
+t: 59	 action: [ 0.367  0.086 -0.197 -0.044  0.243  0.17  -0.995]
+t: 60	 action: [ 0.388  0.044 -0.155 -0.063  0.233  0.186 -1.   ]
+t: 61	 action: [ 0.39   0.08  -0.134 -0.065  0.23   0.162 -1.013]
+t: 62	 action: [ 0.419  0.053 -0.107 -0.102  0.233  0.168 -1.001]
+t: 63	 action: [ 0.391  0.068 -0.091 -0.127  0.216  0.156 -1.038]
+t: 64	 action: [ 0.416  0.036 -0.068 -0.128  0.217  0.163 -1.008]
+t: 65	 action: [ 0.395  0.048 -0.042 -0.14   0.196  0.146 -1.045]
+t: 66	 action: [ 0.434 -0.009 -0.007 -0.126  0.194  0.167 -1.032]
+t: 67	 action: [ 0.45  -0.033  0.002 -0.128  0.183  0.136 -1.032]
+t: 68	 action: [ 0.427 -0.058  0.043 -0.12   0.155  0.174 -1.026]
+t: 69	 action: [ 0.417 -0.093  0.027 -0.128  0.13   0.139 -1.025]
+t: 70	 action: [ 0.375 -0.177  0.048 -0.091  0.13   0.164 -1.024]
+t: 71	 action: [ 0.317 -0.218  0.041 -0.082  0.088  0.137 -1.04 ]
+t: 72	 action: [ 0.317 -0.231  0.047 -0.053  0.084  0.155 -1.021]
+t: 73	 action: [ 0.253 -0.264  0.045 -0.047  0.044  0.134 -1.037]
+[07-31 00:40:03|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.964 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=74: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.6170
+INFO:cosmos_policy.experiments.robot.robot_utils:t=74: Selected seed 195 with value = 0.6170
+Query 1/1: Action query time = 0.964 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6170
+t=74: Selected seed 195 with value = 0.6170
+t: 74	 action: [ 0.126 -0.368 -0.056 -0.043  0.038  0.131 -0.998]
+t: 75	 action: [ 0.129 -0.382 -0.028 -0.019  0.016  0.118 -1.015]
+t: 76	 action: [ 0.091 -0.403 -0.057 -0.017  0.01   0.14  -0.992]
+t: 77	 action: [ 0.084 -0.382 -0.017 -0.01  -0.005  0.115 -1.016]
+t: 78	 action: [ 0.051 -0.424 -0.037 -0.003 -0.002  0.116 -0.992]
+t: 79	 action: [ 5.506e-02 -4.357e-01 -1.896e-02 -2.503e-04 -1.549e-02  1.085e-01 -1.034e+00]
+t: 80	 action: [ 2.792e-02 -4.373e-01 -5.160e-02  1.109e-04 -2.645e-02  1.149e-01 -9.871e-01]
+t: 81	 action: [ 0.028 -0.407 -0.027  0.002 -0.038  0.099 -1.028]
+t: 82	 action: [ 0.011 -0.468 -0.008 -0.004 -0.04   0.099 -1.016]
+t: 83	 action: [ 0.003 -0.416  0.006  0.007 -0.054  0.075 -1.02 ]
+t: 84	 action: [-0.051 -0.468 -0.022  0.004 -0.068  0.087 -1.01 ]
+t: 85	 action: [-0.067 -0.404 -0.014  0.01  -0.072  0.066 -1.009]
+t: 86	 action: [-0.109 -0.491 -0.059  0.008 -0.086  0.074 -1.011]
+t: 87	 action: [-0.169 -0.437 -0.066  0.018 -0.084  0.063 -1.034]
+t: 88	 action: [-0.167 -0.466 -0.071  0.008 -0.105  0.066 -1.008]
+t: 89	 action: [-0.222 -0.406 -0.096  0.02  -0.09   0.058 -1.03 ]
+[07-31 00:40:04|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.963 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=90: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.6821
+INFO:cosmos_policy.experiments.robot.robot_utils:t=90: Selected seed 195 with value = 0.6821
+Query 1/1: Action query time = 0.963 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6821
+t=90: Selected seed 195 with value = 0.6821
+t: 90	 action: [ 0.136 -0.245 -0.167 -0.031  0.013  0.061 -0.994]
+t: 91	 action: [ 0.129 -0.245 -0.108 -0.019  0.012  0.056 -1.003]
+t: 92	 action: [ 0.067 -0.248 -0.078 -0.024 -0.004  0.074 -0.988]
+t: 93	 action: [ 0.074 -0.251 -0.033 -0.013 -0.002  0.063 -1.013]
+t: 94	 action: [-0.005 -0.231 -0.084 -0.013 -0.009  0.068 -0.996]
+t: 95	 action: [-0.045 -0.232 -0.049 -0.011 -0.029  0.062 -1.035]
+t: 96	 action: [-0.133 -0.265 -0.125 -0.006 -0.029  0.087 -0.998]
+t: 97	 action: [-0.193 -0.248 -0.123 -0.003 -0.047  0.07  -1.031]
+t: 98	 action: [-0.209 -0.343 -0.06  -0.016 -0.055  0.095 -0.978]
+t: 99	 action: [-0.301 -0.24  -0.104 -0.002 -0.069  0.089 -1.008]
+t: 100	 action: [-0.393 -0.317 -0.103 -0.017 -0.082  0.114 -0.957]
+t: 101	 action: [-4.279e-01 -2.076e-01 -1.584e-01 -5.732e-04 -9.781e-02  1.112e-01 -9.959e-01]
+t: 102	 action: [-0.561 -0.253 -0.156 -0.001 -0.11   0.132 -0.975]
+t: 103	 action: [-0.561 -0.206 -0.168  0.004 -0.109  0.109 -1.026]
+t: 104	 action: [-0.623 -0.223 -0.141 -0.003 -0.143  0.152 -0.944]
+t: 105	 action: [-0.594 -0.163 -0.126  0.002 -0.125  0.129 -1.017]
+[07-31 00:40:05|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.962 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=106: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.7514
+INFO:cosmos_policy.experiments.robot.robot_utils:t=106: Selected seed 195 with value = 0.7514
+Query 1/1: Action query time = 0.962 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7514
+t=106: Selected seed 195 with value = 0.7514
+t: 106	 action: [-0.148 -0.47  -0.284  0.011 -0.027  0.006 -0.996]
+t: 107	 action: [-0.127 -0.496 -0.323  0.022 -0.023 -0.002 -1.017]
+t: 108	 action: [-0.175 -0.476 -0.351  0.017 -0.036  0.003 -0.993]
+t: 109	 action: [-0.165 -0.475 -0.376  0.027 -0.025 -0.005 -1.015]
+t: 110	 action: [-0.181 -0.514 -0.34   0.038 -0.024 -0.002 -0.989]
+t: 111	 action: [-0.211 -0.458 -0.35   0.046 -0.021 -0.001 -1.044]
+t: 112	 action: [-0.194 -0.461 -0.385  0.041 -0.026 -0.001 -0.986]
+t: 113	 action: [-0.22  -0.413 -0.384  0.046 -0.016 -0.005 -1.038]
+t: 114	 action: [-0.211 -0.495 -0.421  0.035 -0.049  0.01  -1.002]
+t: 115	 action: [-0.196 -0.447 -0.478  0.037 -0.049  0.001 -1.024]
+t: 116	 action: [-0.214 -0.485 -0.535  0.043 -0.045  0.007 -1.006]
+t: 117	 action: [-0.184 -0.428 -0.6    0.041 -0.044  0.001 -1.024]
+t: 118	 action: [-2.029e-01 -3.037e-01 -8.140e-01  5.475e-02 -4.248e-02  9.523e-04 -1.003e+00]
+t: 119	 action: [-0.201 -0.246 -0.841  0.061 -0.025 -0.002 -1.047]
+t: 120	 action: [-1.673e-01 -1.753e-01 -9.638e-01  5.582e-02 -2.533e-02 -4.259e-04 -1.002e+00]
+t: 121	 action: [-0.192 -0.11  -0.954  0.058 -0.005  0.004 -1.055]
+[07-31 00:40:06|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.979 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=122: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.7224
+INFO:cosmos_policy.experiments.robot.robot_utils:t=122: Selected seed 195 with value = 0.7224
+Query 1/1: Action query time = 0.979 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7224
+t=122: Selected seed 195 with value = 0.7224
+t: 122	 action: [ 1.397e-02 -2.538e-01 -1.356e-01 -6.398e-03  2.481e-02 -4.193e-04 -9.928e-01]
+t: 123	 action: [ 0.022 -0.277 -0.086  0.005  0.018 -0.015 -1.005]
+t: 124	 action: [-0.034 -0.313 -0.125 -0.003  0.015 -0.007 -0.991]
+t: 125	 action: [-0.012 -0.337 -0.095  0.011  0.012 -0.022 -1.011]
+t: 126	 action: [-0.059 -0.363 -0.126  0.006  0.011 -0.018 -0.978]
+t: 127	 action: [-0.045 -0.344 -0.093  0.021  0.006 -0.021 -1.029]
+t: 128	 action: [-0.109 -0.41  -0.13   0.012  0.005 -0.018 -0.976]
+t: 129	 action: [-1.116e-01 -3.683e-01 -1.069e-01  2.608e-02  8.414e-04 -2.351e-02 -1.032e+00]
+t: 130	 action: [-0.135 -0.47  -0.104  0.007 -0.012 -0.005 -0.989]
+t: 131	 action: [-0.149 -0.437 -0.105  0.019 -0.014 -0.008 -1.018]
+t: 132	 action: [-0.213 -0.464 -0.162  0.007 -0.04   0.012 -0.986]
+t: 133	 action: [-0.216 -0.43  -0.178  0.017 -0.045  0.007 -1.014]
+t: 134	 action: [-0.291 -0.469 -0.188  0.014 -0.057  0.009 -0.971]
+t: 135	 action: [-0.297 -0.377 -0.232  0.027 -0.066  0.014 -1.038]
+t: 136	 action: [-0.355 -0.427 -0.26   0.013 -0.083  0.031 -0.968]
+t: 137	 action: [-0.345 -0.35  -0.339  0.026 -0.088  0.036 -1.04 ]
+[07-31 00:40:08|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.975 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=138: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.7485
+INFO:cosmos_policy.experiments.robot.robot_utils:t=138: Selected seed 195 with value = 0.7485
+Query 1/1: Action query time = 0.975 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7485
+t=138: Selected seed 195 with value = 0.7485
+t: 138	 action: [-0.018 -0.362 -0.199 -0.012 -0.021  0.003 -0.998]
+t: 139	 action: [ 1.516e-03 -3.976e-01 -1.982e-01  9.453e-04 -1.362e-02 -7.949e-03 -1.018e+00]
+t: 140	 action: [-8.129e-02 -3.734e-01 -2.159e-01 -6.490e-03 -2.112e-02  7.453e-04 -9.890e-01]
+t: 141	 action: [-0.062 -0.413 -0.226  0.007 -0.005 -0.01  -1.015]
+t: 142	 action: [-0.1   -0.421 -0.222  0.01  -0.018 -0.002 -0.98 ]
+t: 143	 action: [-0.093 -0.421 -0.2    0.02  -0.008 -0.004 -1.041]
+t: 144	 action: [-0.168 -0.418 -0.229  0.016 -0.011 -0.003 -0.973]
+t: 145	 action: [-0.174 -0.404 -0.211  0.023 -0.004 -0.004 -1.036]
+t: 146	 action: [-0.216 -0.476 -0.221  0.014 -0.032  0.014 -0.989]
+t: 147	 action: [-0.24  -0.464 -0.224  0.026 -0.03   0.009 -1.028]
+t: 148	 action: [-0.28  -0.477 -0.3    0.02  -0.04   0.017 -0.987]
+t: 149	 action: [-0.306 -0.45  -0.349  0.021 -0.052  0.019 -1.024]
+t: 150	 action: [-0.375 -0.416 -0.4    0.037 -0.051  0.017 -0.976]
+t: 151	 action: [-0.37  -0.359 -0.552  0.047 -0.047  0.026 -1.041]
+t: 152	 action: [-0.434 -0.319 -0.711  0.047 -0.049  0.034 -0.972]
+t: 153	 action: [-0.42  -0.244 -0.827  0.057 -0.036  0.041 -1.048]
+[07-31 00:40:09|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.977 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=154: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.7432
+INFO:cosmos_policy.experiments.robot.robot_utils:t=154: Selected seed 195 with value = 0.7432
+Query 1/1: Action query time = 0.977 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7432
+t=154: Selected seed 195 with value = 0.7432
+t: 154	 action: [-7.177e-03 -3.212e-01 -1.334e-01 -1.409e-02 -1.025e-02 -1.458e-04 -9.941e-01]
+t: 155	 action: [ 1.193e-02 -3.576e-01 -9.057e-02  1.420e-04 -4.261e-03 -1.577e-02 -1.015e+00]
+t: 156	 action: [-0.073 -0.352 -0.148 -0.007 -0.013 -0.004 -0.987]
+t: 157	 action: [-5.484e-02 -3.890e-01 -1.207e-01  7.909e-03  2.728e-04 -1.732e-02 -1.014e+00]
+t: 158	 action: [-0.096 -0.394 -0.155  0.009 -0.01  -0.006 -0.975]
+t: 159	 action: [-0.076 -0.398 -0.122  0.02  -0.002 -0.014 -1.039]
+t: 160	 action: [-0.163 -0.412 -0.171  0.015 -0.006 -0.006 -0.968]
+t: 161	 action: [-0.159 -0.39  -0.147  0.024 -0.002 -0.012 -1.035]
+t: 162	 action: [-0.191 -0.479 -0.176  0.012 -0.021  0.012 -0.987]
+t: 163	 action: [-0.209 -0.455 -0.169  0.026 -0.018  0.006 -1.024]
+t: 164	 action: [-0.257 -0.48  -0.269  0.016 -0.034  0.017 -0.985]
+t: 165	 action: [-0.282 -0.438 -0.287  0.021 -0.042  0.021 -1.021]
+t: 166	 action: [-0.364 -0.435 -0.319  0.03  -0.049  0.02  -0.971]
+t: 167	 action: [-0.354 -0.355 -0.432  0.038 -0.052  0.031 -1.04 ]
+t: 168	 action: [-0.442 -0.345 -0.57   0.035 -0.053  0.044 -0.967]
+t: 169	 action: [-0.428 -0.268 -0.688  0.044 -0.049  0.05  -1.045]
+[07-31 00:40:10|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.965 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=170: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.7447
+INFO:cosmos_policy.experiments.robot.robot_utils:t=170: Selected seed 195 with value = 0.7447
+Query 1/1: Action query time = 0.965 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7447
+t=170: Selected seed 195 with value = 0.7447
+t: 170	 action: [-0.023 -0.328 -0.167 -0.014 -0.021 -0.003 -0.997]
+t: 171	 action: [ 0.001 -0.376 -0.152  0.001 -0.014 -0.017 -1.02 ]
+t: 172	 action: [-0.082 -0.338 -0.181 -0.008 -0.021 -0.005 -0.99 ]
+t: 173	 action: [-0.055 -0.389 -0.178  0.007 -0.005 -0.017 -1.016]
+t: 174	 action: [-0.099 -0.384 -0.188  0.007 -0.018 -0.006 -0.98 ]
+t: 175	 action: [-0.081 -0.389 -0.173  0.018 -0.008 -0.014 -1.041]
+t: 176	 action: [-0.156 -0.385 -0.199  0.011 -0.011 -0.005 -0.973]
+t: 177	 action: [-0.147 -0.38  -0.187  0.021 -0.003 -0.011 -1.036]
+t: 178	 action: [-0.208 -0.464 -0.198  0.014 -0.033  0.014 -0.987]
+t: 179	 action: [-0.217 -0.447 -0.182  0.026 -0.034  0.007 -1.026]
+t: 180	 action: [-0.267 -0.467 -0.284  0.02  -0.038  0.016 -0.987]
+t: 181	 action: [-0.281 -0.432 -0.321  0.021 -0.053  0.018 -1.023]
+t: 182	 action: [-0.352 -0.397 -0.382  0.032 -0.05   0.018 -0.975]
+t: 183	 action: [-0.345 -0.329 -0.508  0.041 -0.045  0.024 -1.037]
+t: 184	 action: [-0.416 -0.302 -0.694  0.039 -0.044  0.035 -0.972]
+t: 185	 action: [-0.396 -0.221 -0.79   0.048 -0.03   0.038 -1.046]
+[07-31 00:40:12|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.988 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=186: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.7349
+INFO:cosmos_policy.experiments.robot.robot_utils:t=186: Selected seed 195 with value = 0.7349
+Query 1/1: Action query time = 0.988 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7349
+t=186: Selected seed 195 with value = 0.7349
+t: 186	 action: [-0.02  -0.295 -0.088 -0.013 -0.005 -0.001 -0.992]
+t: 187	 action: [ 3.771e-03 -3.258e-01 -1.717e-02  8.996e-04 -2.649e-03 -1.892e-02 -1.016e+00]
+t: 188	 action: [-0.079 -0.331 -0.1   -0.007 -0.012 -0.005 -0.988]
+t: 189	 action: [-5.377e-02 -3.582e-01 -4.233e-02  8.201e-03  6.341e-04 -1.986e-02 -1.018e+00]
+t: 190	 action: [-0.1   -0.36  -0.109  0.007 -0.009 -0.008 -0.975]
+t: 191	 action: [-0.068 -0.362 -0.057  0.018 -0.002 -0.018 -1.04 ]
+t: 192	 action: [-0.155 -0.382 -0.126  0.013 -0.005 -0.007 -0.971]
+t: 193	 action: [-0.136 -0.362 -0.089  0.023 -0.001 -0.016 -1.039]
+t: 194	 action: [-0.16  -0.472 -0.144  0.01  -0.019  0.009 -0.986]
+t: 195	 action: [-0.171 -0.427 -0.118  0.025 -0.016  0.003 -1.023]
+t: 196	 action: [-0.229 -0.477 -0.244  0.016 -0.032  0.014 -0.986]
+t: 197	 action: [-0.246 -0.415 -0.247  0.022 -0.04   0.017 -1.02 ]
+t: 198	 action: [-0.336 -0.418 -0.297  0.024 -0.047  0.014 -0.971]
+t: 199	 action: [-0.331 -0.325 -0.381  0.034 -0.051  0.025 -1.038]
+t: 200	 action: [-0.428 -0.334 -0.52   0.029 -0.05   0.037 -0.969]
+t: 201	 action: [-0.417 -0.248 -0.611  0.038 -0.05   0.044 -1.044]
+[07-31 00:40:13|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.982 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=202: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.7429
+INFO:cosmos_policy.experiments.robot.robot_utils:t=202: Selected seed 195 with value = 0.7429
+Query 1/1: Action query time = 0.982 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7429
+t=202: Selected seed 195 with value = 0.7429
+t: 202	 action: [-0.047 -0.316 -0.164 -0.015 -0.024 -0.007 -1.001]
+t: 203	 action: [-0.012 -0.355 -0.122  0.002 -0.026 -0.021 -1.023]
+t: 204	 action: [-0.097 -0.319 -0.168 -0.01  -0.028 -0.008 -0.998]
+t: 205	 action: [-0.063 -0.358 -0.133  0.008 -0.017 -0.019 -1.022]
+t: 206	 action: [-0.113 -0.338 -0.169  0.006 -0.023 -0.008 -0.988]
+t: 207	 action: [-0.093 -0.343 -0.147  0.017 -0.02  -0.018 -1.043]
+t: 208	 action: [-0.16  -0.335 -0.173  0.007 -0.017 -0.006 -0.984]
+t: 209	 action: [-0.151 -0.337 -0.156  0.02  -0.01  -0.014 -1.038]
+t: 210	 action: [-0.226 -0.438 -0.195  0.015 -0.037  0.013 -0.993]
+t: 211	 action: [-0.232 -0.412 -0.156  0.029 -0.041  0.007 -1.026]
+t: 212	 action: [-0.296 -0.44  -0.291  0.021 -0.038  0.016 -0.996]
+t: 213	 action: [-0.295 -0.387 -0.323  0.026 -0.054  0.015 -1.023]
+t: 214	 action: [-0.344 -0.346 -0.401  0.03  -0.048  0.013 -0.984]
+t: 215	 action: [-0.346 -0.285 -0.476  0.039 -0.042  0.015 -1.032]
+t: 216	 action: [-0.401 -0.274 -0.702  0.032 -0.036  0.026 -0.982]
+t: 217	 action: [-0.378 -0.184 -0.756  0.044 -0.02   0.026 -1.043]
+[07-31 00:40:14|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.983 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=218: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.7361
+INFO:cosmos_policy.experiments.robot.robot_utils:t=218: Selected seed 195 with value = 0.7361
+Query 1/1: Action query time = 0.983 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7361
+t=218: Selected seed 195 with value = 0.7361
+t: 218	 action: [-0.049 -0.306 -0.127 -0.011 -0.019 -0.012 -1.003]
+t: 219	 action: [-0.01  -0.331 -0.067  0.002 -0.027 -0.027 -1.024]
+t: 220	 action: [-0.099 -0.305 -0.141 -0.006 -0.028 -0.013 -1.002]
+t: 221	 action: [-0.068 -0.331 -0.095  0.007 -0.022 -0.024 -1.027]
+t: 222	 action: [-0.125 -0.31  -0.139  0.006 -0.024 -0.015 -0.994]
+t: 223	 action: [-0.106 -0.315 -0.122  0.017 -0.025 -0.025 -1.048]
+t: 224	 action: [-0.169 -0.304 -0.151  0.005 -0.02  -0.01  -0.992]
+t: 225	 action: [-0.164 -0.309 -0.142  0.019 -0.016 -0.02  -1.044]
+t: 226	 action: [-0.237 -0.42  -0.184  0.017 -0.035  0.01  -0.999]
+t: 227	 action: [-0.245 -0.389 -0.138  0.027 -0.042  0.001 -1.03 ]
+t: 228	 action: [-0.315 -0.425 -0.278  0.021 -0.038  0.015 -1.001]
+t: 229	 action: [-0.309 -0.368 -0.301  0.024 -0.053  0.011 -1.025]
+t: 230	 action: [-0.344 -0.336 -0.382  0.024 -0.046  0.006 -0.99 ]
+t: 231	 action: [-0.35  -0.276 -0.425  0.034 -0.041  0.007 -1.037]
+t: 232	 action: [-0.403 -0.284 -0.648  0.021 -0.034  0.019 -0.987]
+t: 233	 action: [-0.383 -0.187 -0.698  0.034 -0.017  0.018 -1.045]
+[07-31 00:40:15|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.973 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=234: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.7278
+INFO:cosmos_policy.experiments.robot.robot_utils:t=234: Selected seed 195 with value = 0.7278
+Query 1/1: Action query time = 0.973 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7278
+t=234: Selected seed 195 with value = 0.7278
+t: 234	 action: [ 2.417e-02 -3.218e-01 -1.059e-01 -1.176e-05 -6.731e-03 -1.752e-02 -1.014e+00]
+t: 235	 action: [ 0.044 -0.344 -0.085  0.011 -0.01  -0.038 -1.032]
+t: 236	 action: [-0.036 -0.315 -0.145  0.004 -0.022 -0.028 -1.015]
+t: 237	 action: [-0.014 -0.331 -0.134  0.016 -0.022 -0.039 -1.036]
+t: 238	 action: [-0.086 -0.313 -0.133  0.013 -0.02  -0.039 -1.012]
+t: 239	 action: [-0.07  -0.3   -0.125  0.03  -0.028 -0.044 -1.058]
+t: 240	 action: [-0.112 -0.268 -0.155  0.015 -0.025 -0.035 -1.01 ]
+t: 241	 action: [-0.114 -0.273 -0.159  0.027 -0.027 -0.042 -1.054]
+t: 242	 action: [-0.161 -0.362 -0.181  0.023 -0.03  -0.003 -1.02 ]
+t: 243	 action: [-0.156 -0.336 -0.138  0.026 -0.044 -0.014 -1.042]
+t: 244	 action: [-0.208 -0.377 -0.255  0.021 -0.036  0.003 -1.026]
+t: 245	 action: [-0.203 -0.327 -0.284  0.02  -0.052 -0.005 -1.034]
+t: 246	 action: [-0.21  -0.294 -0.434  0.024 -0.039 -0.004 -1.013]
+t: 247	 action: [-0.225 -0.231 -0.479  0.038 -0.035 -0.012 -1.05 ]
+t: 248	 action: [-0.243 -0.267 -0.719  0.014 -0.029 -0.001 -1.014]
+t: 249	 action: [-2.465e-01 -1.635e-01 -7.398e-01  3.455e-02 -1.150e-02  5.802e-04 -1.055e+00]
+[07-31 00:40:17|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.960 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=250: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.6843
+INFO:cosmos_policy.experiments.robot.robot_utils:t=250: Selected seed 195 with value = 0.6843
+Query 1/1: Action query time = 0.960 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6843
+t=250: Selected seed 195 with value = 0.6843
+t: 250	 action: [-0.007 -0.239 -0.113 -0.004  0.006 -0.003 -1.   ]
+t: 251	 action: [ 0.016 -0.205 -0.059  0.002  0.006 -0.015 -1.01 ]
+t: 252	 action: [-0.051 -0.243 -0.108 -0.003  0.004 -0.009 -0.998]
+t: 253	 action: [-0.007 -0.223 -0.07   0.004  0.006 -0.021 -1.02 ]
+t: 254	 action: [-0.078 -0.222 -0.079  0.002  0.004 -0.013 -0.998]
+t: 255	 action: [-0.049 -0.209 -0.053  0.009  0.004 -0.019 -1.041]
+t: 256	 action: [-0.11  -0.255 -0.074  0.003  0.007 -0.01  -0.995]
+t: 257	 action: [-0.082 -0.228 -0.048  0.01   0.004 -0.02  -1.04 ]
+t: 258	 action: [-0.083 -0.366 -0.045  0.003 -0.005  0.005 -1.005]
+t: 259	 action: [-0.087 -0.294 -0.019  0.014 -0.001 -0.002 -1.027]
+t: 260	 action: [-0.178 -0.402 -0.138  0.006 -0.019  0.013 -1.001]
+t: 261	 action: [-0.188 -0.323 -0.115  0.013 -0.02   0.011 -1.019]
+t: 262	 action: [-0.293 -0.378 -0.174  0.004 -0.027  0.009 -0.999]
+t: 263	 action: [-0.331 -0.275 -0.223  0.019 -0.028  0.012 -1.043]
+t: 264	 action: [-0.419 -0.36  -0.312  0.003 -0.036  0.027 -0.997]
+t: 265	 action: [-0.435 -0.246 -0.378  0.019 -0.041  0.03  -1.041]
+[07-31 00:40:18|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.968 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=266: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.7343
+INFO:cosmos_policy.experiments.robot.robot_utils:t=266: Selected seed 195 with value = 0.7343
+Query 1/1: Action query time = 0.968 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7343
+t=266: Selected seed 195 with value = 0.7343
+t: 266	 action: [-0.068 -0.312 -0.127  0.002 -0.013 -0.016 -1.003]
+t: 267	 action: [-0.022 -0.33  -0.087  0.014 -0.017 -0.028 -1.022]
+t: 268	 action: [-0.116 -0.288 -0.147  0.004 -0.019 -0.021 -1.002]
+t: 269	 action: [-0.085 -0.311 -0.119  0.017 -0.016 -0.028 -1.025]
+t: 270	 action: [-0.143 -0.259 -0.142  0.01  -0.01  -0.027 -1.002]
+t: 271	 action: [-0.135 -0.275 -0.148  0.024 -0.017 -0.03  -1.051]
+t: 272	 action: [-0.175 -0.248 -0.157  0.011 -0.006 -0.022 -1.   ]
+t: 273	 action: [-0.177 -0.263 -0.193  0.022 -0.007 -0.028 -1.046]
+t: 274	 action: [-0.224 -0.37  -0.195  0.025 -0.013  0.005 -1.006]
+t: 275	 action: [-0.209 -0.352 -0.178  0.029 -0.019 -0.005 -1.035]
+t: 276	 action: [-0.28  -0.389 -0.301  0.027 -0.016  0.008 -1.009]
+t: 277	 action: [-0.261 -0.337 -0.358  0.025 -0.026  0.004 -1.028]
+t: 278	 action: [-2.931e-01 -3.121e-01 -5.027e-01  2.716e-02 -1.851e-02  5.168e-04 -1.007e+00]
+t: 279	 action: [-0.306 -0.228 -0.558  0.035 -0.017 -0.002 -1.041]
+t: 280	 action: [-0.321 -0.284 -0.75   0.022 -0.012  0.005 -1.003]
+t: 281	 action: [-3.190e-01 -1.560e-01 -7.714e-01  2.986e-02  5.380e-04  9.528e-03 -1.048e+00]
+[07-31 00:40:19|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.970 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=282: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.7301
+INFO:cosmos_policy.experiments.robot.robot_utils:t=282: Selected seed 195 with value = 0.7301
+Query 1/1: Action query time = 0.970 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7301
+t=282: Selected seed 195 with value = 0.7301
+t: 282	 action: [-8.356e-02 -2.951e-01 -1.404e-01  5.621e-04 -1.412e-02 -1.701e-02 -9.984e-01]
+t: 283	 action: [-0.035 -0.307 -0.089  0.014 -0.014 -0.025 -1.018]
+t: 284	 action: [-0.137 -0.264 -0.14   0.001 -0.016 -0.021 -0.999]
+t: 285	 action: [-0.102 -0.288 -0.094  0.015 -0.011 -0.024 -1.022]
+t: 286	 action: [-0.163 -0.224 -0.129  0.007 -0.006 -0.024 -1.001]
+t: 287	 action: [-0.155 -0.248 -0.111  0.021 -0.012 -0.026 -1.048]
+t: 288	 action: [-1.908e-01 -2.181e-01 -1.288e-01  7.133e-03  2.901e-04 -1.841e-02 -9.990e-01]
+t: 289	 action: [-0.186 -0.244 -0.145  0.017 -0.002 -0.023 -1.043]
+t: 290	 action: [-0.219 -0.361 -0.161  0.023  0.001  0.006 -1.005]
+t: 291	 action: [-1.978e-01 -3.422e-01 -1.421e-01  2.930e-02 -3.718e-04 -1.289e-03 -1.036e+00]
+t: 292	 action: [-0.282 -0.389 -0.272  0.027 -0.003  0.01  -1.007]
+t: 293	 action: [-0.257 -0.341 -0.326  0.026 -0.007  0.008 -1.027]
+t: 294	 action: [-0.301 -0.315 -0.485  0.024 -0.005  0.002 -1.009]
+t: 295	 action: [-0.321 -0.238 -0.537  0.032 -0.005  0.003 -1.043]
+t: 296	 action: [-0.344 -0.304 -0.716  0.019 -0.003  0.012 -1.004]
+t: 297	 action: [-0.346 -0.174 -0.751  0.027  0.005  0.016 -1.046]
+[07-31 00:40:21|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.979 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=298: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.7368
+INFO:cosmos_policy.experiments.robot.robot_utils:t=298: Selected seed 195 with value = 0.7368
+WARNING:imageio_ffmpeg:IMAGEIO FFMPEG_WRITER WARNING: input image is not divisible by macro_block_size=16, resizing from (896, 284) to (896, 288) to ensure video compatibility with most codecs and players. To prevent resizing, make your input image divisible by the macro_block_size or set the macro_block_size to 1 (risking incompatibility).
+INFO:cosmos_policy.experiments.robot.robot_utils:Success: False
+INFO:cosmos_policy.experiments.robot.robot_utils:# episodes completed so far: 30
+INFO:cosmos_policy.experiments.robot.robot_utils:# successes: 14 (46.7%)
+
+
 60%|██████    | 30/50 [12:26<08:14, 24.71s/it]INFO:cosmos_policy.experiments.robot.robot_utils:
+Task: open the middle drawer of the cabinet
+INFO:cosmos_policy.experiments.robot.robot_utils:Starting episode 31...
+Query 1/1: Action query time = 0.979 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7368
+t=298: Selected seed 195 with value = 0.7368
+t: 298	 action: [-0.063 -0.281 -0.113  0.002 -0.013 -0.015 -0.997]
+t: 299	 action: [-0.014 -0.302 -0.074  0.017 -0.015 -0.023 -1.012]
+t: 300	 action: [-0.122 -0.268 -0.108  0.003 -0.015 -0.021 -0.998]
+t: 301	 action: [-0.094 -0.286 -0.066  0.016 -0.013 -0.023 -1.02 ]
+t: 302	 action: [-1.515e-01 -2.238e-01 -1.026e-01  8.436e-03 -5.120e-04 -2.303e-02 -1.006e+00]
+t: 303	 action: [-0.15  -0.251 -0.096  0.022 -0.013 -0.024 -1.05 ]
+t: 304	 action: [-0.179 -0.22  -0.131  0.006  0.007 -0.019 -1.002]
+t: 305	 action: [-0.183 -0.241 -0.171  0.017  0.001 -0.022 -1.045]
+t: 306	 action: [-0.191 -0.357 -0.129  0.024  0.009  0.003 -1.008]
+t: 307	 action: [-1.703e-01 -3.262e-01 -1.490e-01  2.659e-02  7.512e-03 -8.854e-04 -1.039e+00]
+t: 308	 action: [-0.218 -0.378 -0.261  0.024  0.004  0.008 -1.011]
+t: 309	 action: [-0.203 -0.318 -0.331  0.022  0.004  0.008 -1.03 ]
+Saved rollout MP4 at path ./rollouts/None/2026_07_31-00_27_45--episode=30--success=False--task=open_the_middle_drawer_of_the_cabinet.mp4
+300 300 19 19
+Saved rollout MP4 at path ./rollouts/None/2026_07_31-00_27_45--with_future_img--episode=30--success=False--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: False
+# episodes completed so far: 30
+# successes: 14 (46.7%)
+
+Task: open the middle drawer of the cabinet
+Starting episode 31...
+[07-31 00:40:29|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.004 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=10: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.3498
+INFO:cosmos_policy.experiments.robot.robot_utils:t=10: Selected seed 195 with value = 0.3498
+Query 1/1: Action query time = 1.004 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3498
+t=10: Selected seed 195 with value = 0.3498
+t: 10	 action: [ 0.036 -0.097 -0.043  0.005  0.046  0.009 -1.005]
+t: 11	 action: [ 0.195 -0.045  0.03   0.011  0.079  0.021 -0.999]
+t: 12	 action: [ 1.981e-01 -8.363e-02 -3.751e-03  6.832e-04  1.071e-01  2.137e-02 -1.015e+00]
+t: 13	 action: [ 3.799e-01 -8.569e-04  5.823e-02  5.032e-03  1.334e-01  4.342e-02 -1.018e+00]
+t: 14	 action: [ 0.422 -0.063  0.069  0.002  0.135  0.037 -1.02 ]
+t: 15	 action: [ 0.519 -0.014  0.063  0.002  0.143  0.041 -1.046]
+t: 16	 action: [ 0.53   0.004  0.067 -0.007  0.15   0.073 -1.021]
+t: 17	 action: [ 0.578  0.044  0.057 -0.007  0.15   0.069 -1.044]
+t: 18	 action: [ 0.502  0.012  0.068 -0.008  0.146  0.126 -1.03 ]
+t: 19	 action: [ 0.545  0.059  0.064 -0.015  0.139  0.122 -1.027]
+t: 20	 action: [ 0.54   0.036  0.038 -0.028  0.13   0.135 -1.029]
+t: 21	 action: [ 0.574  0.085  0.039 -0.027  0.122  0.132 -1.019]
+t: 22	 action: [ 0.563  0.048  0.034 -0.04   0.115  0.147 -1.017]
+t: 23	 action: [ 0.58   0.087  0.026 -0.036  0.097  0.137 -1.049]
+t: 24	 action: [ 0.573  0.059  0.009 -0.064  0.099  0.158 -1.019]
+t: 25	 action: [ 0.597  0.108  0.023 -0.058  0.087  0.146 -1.045]
+[07-31 00:40:30|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.983 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=26: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.4184
+INFO:cosmos_policy.experiments.robot.robot_utils:t=26: Selected seed 195 with value = 0.4184
+Query 1/1: Action query time = 0.983 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4184
+t=26: Selected seed 195 with value = 0.4184
+t: 26	 action: [ 0.396  0.044  0.007 -0.065  0.063  0.209 -1.011]
+t: 27	 action: [ 0.397  0.089  0.008 -0.069  0.061  0.205 -1.005]
+t: 28	 action: [ 0.351  0.071 -0.024 -0.079  0.068  0.225 -1.005]
+t: 29	 action: [ 0.366  0.11   0.003 -0.084  0.069  0.218 -1.006]
+t: 30	 action: [ 0.354  0.058 -0.014 -0.101  0.075  0.236 -0.998]
+t: 31	 action: [ 0.343  0.103 -0.022 -0.099  0.078  0.223 -1.029]
+t: 32	 action: [ 0.322  0.084 -0.045 -0.11   0.087  0.246 -0.999]
+t: 33	 action: [ 0.326  0.109 -0.052 -0.11   0.101  0.231 -1.031]
+t: 34	 action: [ 0.277  0.049 -0.078 -0.103  0.12   0.244 -1.001]
+t: 35	 action: [ 0.301  0.081 -0.084 -0.111  0.127  0.226 -1.003]
+t: 36	 action: [ 0.261  0.047 -0.093 -0.111  0.129  0.245 -0.999]
+t: 37	 action: [ 0.286  0.075 -0.093 -0.116  0.136  0.227 -1.001]
+t: 38	 action: [ 0.242  0.038 -0.104 -0.121  0.121  0.256 -0.992]
+t: 39	 action: [ 0.243  0.08  -0.158 -0.118  0.13   0.236 -1.032]
+t: 40	 action: [ 0.228  0.041 -0.119 -0.122  0.131  0.249 -0.995]
+t: 41	 action: [ 0.24   0.07  -0.158 -0.119  0.147  0.23  -1.03 ]
+[07-31 00:40:31|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.978 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=42: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.4799
+INFO:cosmos_policy.experiments.robot.robot_utils:t=42: Selected seed 195 with value = 0.4799
+Query 1/1: Action query time = 0.978 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4799
+t=42: Selected seed 195 with value = 0.4799
+t: 42	 action: [ 0.101  0.026 -0.102 -0.092  0.134  0.275 -0.987]
+t: 43	 action: [ 0.106  0.055 -0.097 -0.102  0.13   0.265 -0.982]
+t: 44	 action: [ 0.112  0.024 -0.117 -0.097  0.13   0.282 -0.983]
+t: 45	 action: [ 0.13   0.053 -0.105 -0.102  0.117  0.263 -0.995]
+t: 46	 action: [ 0.148  0.013 -0.096 -0.109  0.104  0.281 -0.992]
+t: 47	 action: [ 0.154  0.039 -0.11  -0.105  0.1    0.263 -1.011]
+t: 48	 action: [ 0.169  0.014 -0.116 -0.106  0.102  0.274 -0.991]
+t: 49	 action: [ 0.184  0.028 -0.138 -0.101  0.099  0.25  -1.024]
+t: 50	 action: [ 0.195 -0.048 -0.136 -0.087  0.118  0.245 -0.996]
+t: 51	 action: [ 0.225 -0.06  -0.157 -0.077  0.106  0.228 -1.001]
+t: 52	 action: [ 0.229 -0.084 -0.14  -0.083  0.116  0.228 -0.994]
+t: 53	 action: [ 0.253 -0.088 -0.147 -0.068  0.112  0.208 -0.992]
+t: 54	 action: [ 0.243 -0.125 -0.112 -0.074  0.125  0.224 -0.992]
+t: 55	 action: [ 0.271 -0.102 -0.13  -0.064  0.126  0.203 -1.031]
+t: 56	 action: [ 0.252 -0.157 -0.111 -0.059  0.135  0.208 -0.993]
+t: 57	 action: [ 0.275 -0.134 -0.109 -0.053  0.147  0.188 -1.023]
+[07-31 00:40:32|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.972 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=58: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.5539
+INFO:cosmos_policy.experiments.robot.robot_utils:t=58: Selected seed 195 with value = 0.5539
+Query 1/1: Action query time = 0.972 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5539
+t=58: Selected seed 195 with value = 0.5539
+t: 58	 action: [ 0.172 -0.01  -0.06  -0.035  0.189  0.248 -0.996]
+t: 59	 action: [ 0.194 -0.031  0.003 -0.032  0.188  0.216 -1.005]
+t: 60	 action: [ 0.208 -0.039 -0.043 -0.025  0.182  0.228 -0.995]
+t: 61	 action: [ 0.255 -0.088  0.012 -0.021  0.178  0.198 -1.01 ]
+t: 62	 action: [ 0.311 -0.115 -0.009 -0.02   0.18   0.197 -1.007]
+t: 63	 action: [ 0.333 -0.134 -0.005 -0.016  0.179  0.175 -1.02 ]
+t: 64	 action: [ 0.367 -0.206 -0.016 -0.008  0.173  0.171 -1.005]
+t: 65	 action: [ 0.391 -0.203 -0.01  -0.009  0.178  0.156 -1.028]
+t: 66	 action: [ 4.391e-01 -2.865e-01 -1.594e-02 -8.147e-04  1.829e-01  1.244e-01 -1.025e+00]
+t: 67	 action: [ 0.474 -0.26   0.003  0.013  0.186  0.104 -1.018]
+t: 68	 action: [ 0.471 -0.347 -0.02   0.012  0.174  0.119 -1.024]
+t: 69	 action: [ 0.507 -0.302  0.002  0.019  0.173  0.092 -1.007]
+t: 70	 action: [ 0.478 -0.359 -0.031  0.015  0.161  0.105 -1.017]
+t: 71	 action: [ 0.496 -0.349 -0.026  0.02   0.147  0.088 -1.027]
+t: 72	 action: [ 0.463 -0.357 -0.141  0.023  0.129  0.093 -1.019]
+t: 73	 action: [ 0.446 -0.342 -0.112  0.019  0.104  0.079 -1.021]
+[07-31 00:40:34|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.969 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=74: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.6182
+INFO:cosmos_policy.experiments.robot.robot_utils:t=74: Selected seed 195 with value = 0.6182
+Query 1/1: Action query time = 0.969 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6182
+t=74: Selected seed 195 with value = 0.6182
+t: 74	 action: [ 0.156 -0.418 -0.267  0.005  0.06   0.115 -1.03 ]
+t: 75	 action: [ 0.139 -0.375 -0.21   0.011  0.027  0.122 -1.026]
+t: 76	 action: [ 0.104 -0.426 -0.358  0.007  0.03   0.139 -1.018]
+t: 77	 action: [ 0.074 -0.322 -0.315  0.013  0.011  0.131 -1.023]
+t: 78	 action: [ 0.11  -0.389 -0.335  0.005  0.016  0.143 -1.015]
+t: 79	 action: [ 6.278e-02 -3.479e-01 -2.716e-01  1.270e-02  1.947e-04  1.446e-01 -1.046e+00]
+t: 80	 action: [ 0.06  -0.34  -0.34   0.006 -0.009  0.155 -1.013]
+t: 81	 action: [ 0.016 -0.27  -0.278  0.009 -0.02   0.136 -1.041]
+t: 82	 action: [ 0.071 -0.335 -0.168 -0.019 -0.028  0.13  -1.007]
+t: 83	 action: [ 0.067 -0.298 -0.138 -0.015 -0.039  0.115 -1.02 ]
+t: 84	 action: [-0.02  -0.304 -0.075 -0.016 -0.048  0.13  -0.999]
+t: 85	 action: [-0.016 -0.286 -0.043 -0.014 -0.057  0.11  -1.01 ]
+t: 86	 action: [-0.12  -0.327 -0.121 -0.005 -0.068  0.142 -1.009]
+t: 87	 action: [-0.199 -0.308 -0.085 -0.01  -0.071  0.119 -1.038]
+t: 88	 action: [-0.24  -0.311 -0.066 -0.004 -0.093  0.141 -1.004]
+t: 89	 action: [-0.298 -0.291 -0.056 -0.006 -0.087  0.116 -1.032]
+[07-31 00:40:35|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.974 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=90: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.6973
+INFO:cosmos_policy.experiments.robot.robot_utils:t=90: Selected seed 195 with value = 0.6973
+Query 1/1: Action query time = 0.974 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6973
+t=90: Selected seed 195 with value = 0.6973
+t: 90	 action: [ 0.11  -0.237  0.003 -0.02   0.022  0.042 -0.991]
+t: 91	 action: [ 0.12  -0.232  0.003 -0.011  0.017  0.05  -1.021]
+t: 92	 action: [ 0.05  -0.249  0.02  -0.01  -0.007  0.066 -0.986]
+t: 93	 action: [ 0.03  -0.236  0.016 -0.004 -0.012  0.064 -1.016]
+t: 94	 action: [-0.057 -0.249 -0.015 -0.008 -0.012  0.064 -0.997]
+t: 95	 action: [-0.133 -0.225 -0.05  -0.001 -0.052  0.066 -1.048]
+t: 96	 action: [-0.242 -0.267 -0.089 -0.003 -0.063  0.092 -0.999]
+t: 97	 action: [-0.326 -0.223 -0.162  0.003 -0.1    0.082 -1.035]
+t: 98	 action: [-0.394 -0.29  -0.125 -0.026 -0.094  0.099 -0.966]
+t: 99	 action: [-0.433 -0.211 -0.148 -0.006 -0.126  0.105 -1.004]
+t: 100	 action: [-0.519 -0.255 -0.167 -0.031 -0.142  0.11  -0.949]
+t: 101	 action: [-0.529 -0.182 -0.19  -0.006 -0.154  0.124 -0.99 ]
+t: 102	 action: [-0.631 -0.157 -0.177 -0.007 -0.18   0.129 -0.955]
+t: 103	 action: [-0.598 -0.152 -0.141 -0.002 -0.169  0.119 -1.019]
+t: 104	 action: [-0.606 -0.127 -0.139 -0.009 -0.21   0.142 -0.927]
+t: 105	 action: [-0.554 -0.11  -0.069 -0.004 -0.174  0.135 -1.006]
+[07-31 00:40:36|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.976 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=106: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.7629
+INFO:cosmos_policy.experiments.robot.robot_utils:t=106: Selected seed 195 with value = 0.7629
+Query 1/1: Action query time = 0.976 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7629
+t=106: Selected seed 195 with value = 0.7629
+t: 106	 action: [-0.036 -0.352 -0.07  -0.013 -0.029  0.006 -1.002]
+t: 107	 action: [-0.003 -0.376 -0.008 -0.004 -0.014 -0.004 -1.022]
+t: 108	 action: [-0.101 -0.397 -0.063 -0.005 -0.042  0.007 -0.998]
+t: 109	 action: [-0.084 -0.418  0.005  0.005 -0.02  -0.004 -1.02 ]
+t: 110	 action: [-0.104 -0.412 -0.104  0.007 -0.049  0.002 -0.994]
+t: 111	 action: [-1.417e-01 -4.001e-01 -6.678e-02  1.332e-02 -4.079e-02  6.126e-04 -1.047e+00]
+t: 112	 action: [-0.195 -0.439 -0.145  0.01  -0.054  0.006 -0.991]
+t: 113	 action: [-0.255 -0.412 -0.136  0.021 -0.049  0.003 -1.046]
+t: 114	 action: [-0.272 -0.459 -0.232  0.015 -0.064  0.032 -0.993]
+t: 115	 action: [-0.303 -0.475 -0.256  0.026 -0.058  0.034 -1.023]
+t: 116	 action: [-0.337 -0.453 -0.363  0.028 -0.073  0.043 -0.998]
+t: 117	 action: [-0.368 -0.454 -0.421  0.032 -0.081  0.044 -1.02 ]
+t: 118	 action: [-0.408 -0.416 -0.487  0.054 -0.086  0.06  -0.987]
+t: 119	 action: [-0.415 -0.393 -0.558  0.072 -0.07   0.054 -1.042]
+t: 120	 action: [-0.393 -0.374 -0.724  0.076 -0.08   0.068 -0.987]
+t: 121	 action: [-0.376 -0.328 -0.768  0.092 -0.055  0.062 -1.047]
+[07-31 00:40:38|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.976 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=122: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.7611
+INFO:cosmos_policy.experiments.robot.robot_utils:t=122: Selected seed 195 with value = 0.7611
+Query 1/1: Action query time = 0.976 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7611
+t=122: Selected seed 195 with value = 0.7611
+t: 122	 action: [-2.661e-02 -3.522e-01 -1.785e-01 -6.079e-04 -3.276e-02 -1.959e-02 -1.029e+00]
+t: 123	 action: [-0.011 -0.39  -0.201  0.005 -0.042 -0.035 -1.033]
+t: 124	 action: [-0.063 -0.375 -0.211  0.01  -0.039 -0.022 -1.024]
+t: 125	 action: [-0.059 -0.393 -0.22   0.019 -0.041 -0.033 -1.028]
+t: 126	 action: [-0.106 -0.403 -0.227  0.029 -0.028 -0.032 -1.017]
+t: 127	 action: [-0.147 -0.36  -0.263  0.039 -0.031 -0.037 -1.06 ]
+t: 128	 action: [-0.135 -0.38  -0.277  0.048 -0.032 -0.024 -1.014]
+t: 129	 action: [-0.18  -0.336 -0.296  0.049 -0.029 -0.033 -1.05 ]
+t: 130	 action: [-0.117 -0.419 -0.327  0.045 -0.05  -0.018 -1.035]
+t: 131	 action: [-0.104 -0.379 -0.289  0.033 -0.051 -0.027 -1.031]
+t: 132	 action: [-0.094 -0.425 -0.425  0.054 -0.043 -0.012 -1.033]
+t: 133	 action: [-0.062 -0.34  -0.429  0.044 -0.039 -0.023 -1.021]
+t: 134	 action: [-0.102 -0.302 -0.581  0.065 -0.035 -0.021 -1.027]
+t: 135	 action: [-0.078 -0.251 -0.582  0.067 -0.002 -0.028 -1.054]
+t: 136	 action: [-0.066 -0.203 -0.837  0.065 -0.011 -0.017 -1.024]
+t: 137	 action: [-0.05  -0.12  -0.839  0.06   0.02  -0.022 -1.05 ]
+[07-31 00:40:39|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.981 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=138: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9406
+INFO:cosmos_policy.experiments.robot.robot_utils:t=138: Selected seed 195 with value = 0.9406
+Query 1/1: Action query time = 0.981 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9406
+t=138: Selected seed 195 with value = 0.9406
+t: 138	 action: [-0.03   0.239 -0.972  0.036 -0.003  0.004 -0.99 ]
+t: 139	 action: [-0.015  0.33  -1.001  0.017  0.002 -0.002 -1.   ]
+t: 140	 action: [-0.07   0.488 -0.954  0.011  0.007  0.004 -0.988]
+t: 141	 action: [-6.085e-02  5.953e-01 -9.737e-01 -4.087e-03  9.338e-03 -3.311e-04 -1.004e+00]
+t: 142	 action: [-1.384e-01  6.568e-01 -9.461e-01 -2.754e-03  1.541e-02 -7.255e-04 -9.900e-01]
+t: 143	 action: [-0.15   0.722 -0.974 -0.009  0.002 -0.003 -1.036]
+t: 144	 action: [-1.846e-01  8.656e-01 -9.148e-01 -2.419e-02  2.068e-02 -4.041e-04 -9.867e-01]
+t: 145	 action: [-0.186  0.881 -0.952 -0.022  0.004 -0.002 -1.039]
+t: 146	 action: [-0.242  0.933 -0.894 -0.012  0.014  0.017 -0.98 ]
+t: 147	 action: [-0.25   0.918 -0.877 -0.029  0.016  0.012 -1.007]
+t: 148	 action: [-0.28   0.957 -0.882 -0.026  0.016  0.018 -0.978]
+t: 149	 action: [-0.252  0.925 -0.859 -0.032  0.013  0.016 -1.003]
+t: 150	 action: [-0.302  0.979 -0.883 -0.033  0.012  0.019 -0.983]
+t: 151	 action: [-0.312  0.96  -0.879 -0.029  0.005  0.016 -1.04 ]
+t: 152	 action: [-0.313  0.981 -0.868 -0.041  0.017  0.023 -0.977]
+t: 153	 action: [-0.311  0.95  -0.86  -0.029  0.004  0.019 -1.043]
+[07-31 00:40:40|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.975 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=154: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9915
+INFO:cosmos_policy.experiments.robot.robot_utils:t=154: Selected seed 195 with value = 0.9915
+WARNING:imageio_ffmpeg:IMAGEIO FFMPEG_WRITER WARNING: input image is not divisible by macro_block_size=16, resizing from (896, 284) to (896, 288) to ensure video compatibility with most codecs and players. To prevent resizing, make your input image divisible by the macro_block_size or set the macro_block_size to 1 (risking incompatibility).
+INFO:cosmos_policy.experiments.robot.robot_utils:Success: True
+INFO:cosmos_policy.experiments.robot.robot_utils:# episodes completed so far: 31
+INFO:cosmos_policy.experiments.robot.robot_utils:# successes: 15 (48.4%)
+
+
 62%|██████▏   | 31/50 [12:44<07:06, 22.45s/it]INFO:cosmos_policy.experiments.robot.robot_utils:
+Task: open the middle drawer of the cabinet
+INFO:cosmos_policy.experiments.robot.robot_utils:Starting episode 32...
+Query 1/1: Action query time = 0.975 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9915
+t=154: Selected seed 195 with value = 0.9915
+t: 154	 action: [-0.256  0.935 -0.789 -0.016  0.021  0.019 -0.965]
+t: 155	 action: [-0.263  0.905 -0.8   -0.024  0.026  0.026 -0.98 ]
+t: 156	 action: [-0.265  0.958 -0.782 -0.017  0.023  0.021 -0.976]
+t: 157	 action: [-0.256  0.915 -0.781 -0.024  0.027  0.024 -0.986]
+t: 158	 action: [-0.275  0.97  -0.764 -0.026  0.028  0.029 -0.963]
+t: 159	 action: [-0.296  0.943 -0.755 -0.023  0.024  0.031 -1.016]
+t: 160	 action: [-0.283  0.986 -0.757 -0.027  0.028  0.034 -0.973]
+t: 161	 action: [-0.292  0.946 -0.723 -0.025  0.023  0.026 -1.028]
+Saved rollout MP4 at path ./rollouts/None/2026_07_31-00_27_45--episode=31--success=True--task=open_the_middle_drawer_of_the_cabinet.mp4
+152 152 10 10
+Saved rollout MP4 at path ./rollouts/None/2026_07_31-00_27_45--with_future_img--episode=31--success=True--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: True
+# episodes completed so far: 31
+# successes: 15 (48.4%)
+
+Task: open the middle drawer of the cabinet
+Starting episode 32...
+[07-31 00:40:46|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.984 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=10: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.3385
+INFO:cosmos_policy.experiments.robot.robot_utils:t=10: Selected seed 195 with value = 0.3385
+Query 1/1: Action query time = 0.984 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3385
+t=10: Selected seed 195 with value = 0.3385
+t: 10	 action: [ 0.006 -0.064 -0.039  0.021  0.001  0.008 -0.967]
+t: 11	 action: [ 0.101 -0.076  0.02   0.022  0.033  0.02  -0.972]
+t: 12	 action: [ 0.109 -0.109 -0.004  0.013  0.058  0.018 -0.992]
+t: 13	 action: [ 0.302 -0.067  0.053  0.015  0.082  0.036 -1.008]
+t: 14	 action: [ 0.394 -0.071  0.066  0.016  0.103  0.033 -1.006]
+t: 15	 action: [ 0.541 -0.053  0.064  0.015  0.111  0.039 -1.041]
+t: 16	 action: [ 0.538 -0.032  0.097  0.007  0.123  0.064 -1.01 ]
+t: 17	 action: [ 0.618 -0.015  0.083  0.003  0.123  0.058 -1.044]
+t: 18	 action: [ 0.574 -0.054  0.076 -0.022  0.102  0.113 -1.024]
+t: 19	 action: [ 0.602 -0.035  0.071 -0.019  0.094  0.105 -1.025]
+t: 20	 action: [ 0.589 -0.026  0.033 -0.041  0.093  0.123 -1.025]
+t: 21	 action: [ 0.621  0.014  0.022 -0.031  0.084  0.116 -1.023]
+t: 22	 action: [ 0.581 -0.037  0.056 -0.047  0.09   0.117 -1.012]
+t: 23	 action: [ 0.6   -0.026  0.028 -0.039  0.074  0.115 -1.048]
+t: 24	 action: [ 0.584  0.003  0.018 -0.061  0.082  0.135 -1.015]
+t: 25	 action: [ 0.604  0.026  0.012 -0.059  0.069  0.126 -1.046]
+[07-31 00:40:47|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.971 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=26: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.3992
+INFO:cosmos_policy.experiments.robot.robot_utils:t=26: Selected seed 195 with value = 0.3992
+Query 1/1: Action query time = 0.971 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3992
+t=26: Selected seed 195 with value = 0.3992
+t: 26	 action: [ 0.519 -0.022  0.032 -0.04   0.04   0.17  -1.009]
+t: 27	 action: [ 0.517 -0.006  0.013 -0.044  0.038  0.172 -1.006]
+t: 28	 action: [ 0.462 -0.007  0.013 -0.05   0.035  0.184 -1.011]
+t: 29	 action: [ 0.46   0.006  0.021 -0.052  0.037  0.19  -1.009]
+t: 30	 action: [ 0.439 -0.01   0.011 -0.07   0.045  0.206 -0.996]
+t: 31	 action: [ 0.38   0.007 -0.011 -0.056  0.039  0.2   -1.032]
+t: 32	 action: [ 0.374  0.011 -0.017 -0.083  0.044  0.223 -1.001]
+t: 33	 action: [ 0.332  0.021 -0.023 -0.069  0.047  0.221 -1.035]
+t: 34	 action: [ 0.324  0.022 -0.049 -0.094  0.066  0.234 -1.005]
+t: 35	 action: [ 0.331  0.042 -0.044 -0.1    0.069  0.229 -0.999]
+t: 36	 action: [ 0.298  0.03  -0.077 -0.108  0.067  0.252 -1.006]
+t: 37	 action: [ 0.312  0.052 -0.062 -0.113  0.073  0.248 -0.997]
+t: 38	 action: [ 0.276  0.027 -0.079 -0.128  0.072  0.27  -0.992]
+t: 39	 action: [ 0.251  0.064 -0.076 -0.109  0.081  0.257 -1.028]
+t: 40	 action: [ 0.248  0.029 -0.111 -0.132  0.077  0.282 -0.999]
+t: 41	 action: [ 0.234  0.069 -0.089 -0.116  0.094  0.27  -1.024]
+[07-31 00:40:48|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.968 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=42: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.4390
+INFO:cosmos_policy.experiments.robot.robot_utils:t=42: Selected seed 195 with value = 0.4390
+Query 1/1: Action query time = 0.968 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4390
+t=42: Selected seed 195 with value = 0.4390
+t: 42	 action: [ 0.092  0.039 -0.099 -0.088  0.142  0.296 -0.97 ]
+t: 43	 action: [ 0.11   0.067 -0.095 -0.088  0.141  0.287 -0.974]
+t: 44	 action: [ 0.091  0.042 -0.115 -0.088  0.147  0.301 -0.971]
+t: 45	 action: [ 0.11   0.069 -0.097 -0.088  0.148  0.288 -0.99 ]
+t: 46	 action: [ 0.108  0.026 -0.12  -0.1    0.142  0.306 -0.972]
+t: 47	 action: [ 0.102  0.059 -0.118 -0.091  0.141  0.287 -1.007]
+t: 48	 action: [ 0.109  0.031 -0.134 -0.098  0.147  0.305 -0.975]
+t: 49	 action: [ 0.106  0.059 -0.116 -0.092  0.148  0.285 -1.019]
+t: 50	 action: [ 0.15   0.005 -0.12  -0.08   0.154  0.284 -0.985]
+t: 51	 action: [ 0.158 -0.002 -0.142 -0.072  0.152  0.271 -0.994]
+t: 52	 action: [ 0.18  -0.008 -0.119 -0.08   0.155  0.272 -0.984]
+t: 53	 action: [ 0.187 -0.015 -0.14  -0.07   0.157  0.259 -0.997]
+t: 54	 action: [ 0.183 -0.023 -0.116 -0.084  0.145  0.268 -0.977]
+t: 55	 action: [ 0.186 -0.009 -0.105 -0.069  0.145  0.252 -1.019]
+t: 56	 action: [ 0.199 -0.025 -0.12  -0.079  0.15   0.245 -0.981]
+t: 57	 action: [ 0.196 -0.023 -0.094 -0.067  0.154  0.235 -1.018]
+[07-31 00:40:50|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.978 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=58: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.5318
+INFO:cosmos_policy.experiments.robot.robot_utils:t=58: Selected seed 195 with value = 0.5318
+Query 1/1: Action query time = 0.978 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5318
+t=58: Selected seed 195 with value = 0.5318
+t: 58	 action: [ 0.168 -0.007 -0.08  -0.049  0.183  0.231 -0.996]
+t: 59	 action: [ 0.216 -0.005 -0.059 -0.04   0.167  0.213 -1.   ]
+t: 60	 action: [ 0.204 -0.021 -0.08  -0.053  0.183  0.231 -0.998]
+t: 61	 action: [ 0.26  -0.036 -0.062 -0.039  0.161  0.213 -1.012]
+t: 62	 action: [ 0.272 -0.054 -0.061 -0.058  0.175  0.219 -0.999]
+t: 63	 action: [ 0.29  -0.058 -0.079 -0.05   0.145  0.205 -1.02 ]
+t: 64	 action: [ 0.309 -0.107 -0.079 -0.059  0.169  0.204 -1.   ]
+t: 65	 action: [ 0.333 -0.096 -0.108 -0.049  0.139  0.193 -1.035]
+t: 66	 action: [ 0.38  -0.173 -0.07  -0.055  0.165  0.186 -1.024]
+t: 67	 action: [ 0.415 -0.155 -0.117 -0.029  0.145  0.161 -1.027]
+t: 68	 action: [ 0.395 -0.202 -0.088 -0.048  0.144  0.177 -1.021]
+t: 69	 action: [ 0.411 -0.18  -0.147 -0.034  0.117  0.144 -1.016]
+t: 70	 action: [ 0.385 -0.223 -0.076 -0.032  0.113  0.16  -1.015]
+t: 71	 action: [ 0.363 -0.216 -0.095 -0.042  0.07   0.137 -1.028]
+t: 72	 action: [ 0.362 -0.259 -0.106 -0.018  0.075  0.138 -1.011]
+t: 73	 action: [ 0.302 -0.244 -0.103 -0.043  0.036  0.118 -1.019]
+[07-31 00:40:51|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.972 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=74: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.6102
+INFO:cosmos_policy.experiments.robot.robot_utils:t=74: Selected seed 195 with value = 0.6102
+Query 1/1: Action query time = 0.972 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6102
+t=74: Selected seed 195 with value = 0.6102
+t: 74	 action: [ 2.143e-01 -4.017e-01 -2.473e-01  7.517e-04  9.582e-02  8.156e-02 -1.022e+00]
+t: 75	 action: [ 0.182 -0.384 -0.16   0.007  0.074  0.086 -1.028]
+t: 76	 action: [ 1.399e-01 -4.164e-01 -3.287e-01  2.784e-04  6.621e-02  9.647e-02 -1.013e+00]
+t: 77	 action: [ 0.11  -0.342 -0.221  0.005  0.035  0.092 -1.029]
+t: 78	 action: [ 1.496e-01 -3.784e-01 -2.800e-01 -7.815e-05  4.305e-02  1.009e-01 -1.014e+00]
+t: 79	 action: [ 0.088 -0.358 -0.225  0.006  0.014  0.098 -1.055]
+t: 80	 action: [ 8.898e-02 -3.263e-01 -3.030e-01 -6.880e-04  1.177e-02  1.115e-01 -1.009e+00]
+t: 81	 action: [ 0.03  -0.282 -0.216 -0.002 -0.002  0.096 -1.05 ]
+t: 82	 action: [ 0.1   -0.345 -0.185 -0.017 -0.013  0.092 -1.013]
+t: 83	 action: [ 0.08  -0.33  -0.124 -0.015 -0.028  0.086 -1.024]
+t: 84	 action: [ 0.01  -0.33  -0.136 -0.016 -0.037  0.1   -1.005]
+t: 85	 action: [ 0.016 -0.323 -0.08  -0.016 -0.047  0.088 -1.018]
+t: 86	 action: [-0.089 -0.371 -0.158 -0.004 -0.056  0.112 -1.016]
+t: 87	 action: [-0.161 -0.352 -0.12  -0.008 -0.067  0.095 -1.042]
+t: 88	 action: [-0.204 -0.359 -0.122 -0.003 -0.078  0.117 -1.011]
+t: 89	 action: [-0.257 -0.332 -0.107 -0.006 -0.079  0.1   -1.037]
+[07-31 00:40:52|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.959 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=90: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.7365
+INFO:cosmos_policy.experiments.robot.robot_utils:t=90: Selected seed 195 with value = 0.7365
+Query 1/1: Action query time = 0.959 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7365
+t=90: Selected seed 195 with value = 0.7365
+t: 90	 action: [ 0.025 -0.294 -0.034 -0.002 -0.001  0.034 -0.997]
+t: 91	 action: [ 0.035 -0.337 -0.012  0.004 -0.009  0.039 -1.004]
+t: 92	 action: [-0.044 -0.337 -0.07   0.004 -0.006  0.045 -0.989]
+t: 93	 action: [-0.023 -0.37  -0.03   0.011 -0.006  0.041 -1.01 ]
+t: 94	 action: [-0.089 -0.388 -0.105  0.009 -0.004  0.042 -0.998]
+t: 95	 action: [-0.112 -0.376 -0.081  0.02  -0.019  0.047 -1.042]
+t: 96	 action: [-0.193 -0.401 -0.156  0.016 -0.006  0.056 -0.992]
+t: 97	 action: [-0.238 -0.366 -0.178  0.025 -0.018  0.048 -1.035]
+t: 98	 action: [-0.256 -0.415 -0.143  0.007 -0.026  0.074 -0.992]
+t: 99	 action: [-0.287 -0.365 -0.152  0.02  -0.025  0.068 -1.012]
+t: 100	 action: [-0.349 -0.398 -0.215  0.007 -0.041  0.091 -0.987]
+t: 101	 action: [-0.353 -0.321 -0.208  0.017 -0.042  0.084 -1.003]
+t: 102	 action: [-0.454 -0.336 -0.246  0.008 -0.048  0.098 -0.989]
+t: 103	 action: [-0.44  -0.293 -0.272  0.026 -0.051  0.082 -1.033]
+t: 104	 action: [-0.518 -0.286 -0.282  0.007 -0.062  0.111 -0.98 ]
+t: 105	 action: [-0.489 -0.234 -0.277  0.024 -0.06   0.098 -1.026]
+[07-31 00:40:53|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.980 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=106: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.7630
+INFO:cosmos_policy.experiments.robot.robot_utils:t=106: Selected seed 195 with value = 0.7630
+Query 1/1: Action query time = 0.980 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7630
+t=106: Selected seed 195 with value = 0.7630
+t: 106	 action: [-1.300e-01 -4.150e-01 -1.921e-01  4.564e-03 -2.354e-02 -3.791e-04 -1.002e+00]
+t: 107	 action: [-0.089 -0.427 -0.199  0.02  -0.027 -0.012 -1.022]
+t: 108	 action: [-0.145 -0.412 -0.255  0.016 -0.043 -0.007 -1.006]
+t: 109	 action: [-0.121 -0.404 -0.249  0.029 -0.04  -0.016 -1.022]
+t: 110	 action: [-0.151 -0.407 -0.234  0.03  -0.025 -0.016 -1.   ]
+t: 111	 action: [-0.176 -0.356 -0.279  0.043 -0.027 -0.017 -1.049]
+t: 112	 action: [-0.147 -0.367 -0.299  0.036 -0.031 -0.014 -1.   ]
+t: 113	 action: [-0.181 -0.323 -0.345  0.043 -0.023 -0.022 -1.045]
+t: 114	 action: [-0.169 -0.436 -0.346  0.033 -0.041  0.007 -1.01 ]
+t: 115	 action: [-0.131 -0.397 -0.384  0.04  -0.039 -0.003 -1.029]
+t: 116	 action: [-0.192 -0.452 -0.48   0.038 -0.039  0.005 -1.02 ]
+t: 117	 action: [-0.144 -0.37  -0.553  0.041 -0.037 -0.003 -1.029]
+t: 118	 action: [-1.742e-01 -3.051e-01 -7.441e-01  4.900e-02 -3.137e-02 -9.199e-04 -1.011e+00]
+t: 119	 action: [-0.186 -0.224 -0.759  0.054 -0.014 -0.01  -1.047]
+t: 120	 action: [-0.165 -0.222 -0.907  0.042 -0.019 -0.003 -1.013]
+t: 121	 action: [-1.869e-01 -1.296e-01 -8.729e-01  4.570e-02 -5.922e-04 -4.881e-03 -1.059e+00]
+[07-31 00:40:55|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.967 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=122: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.7431
+INFO:cosmos_policy.experiments.robot.robot_utils:t=122: Selected seed 195 with value = 0.7431
+Query 1/1: Action query time = 0.967 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7431
+t=122: Selected seed 195 with value = 0.7431
+t: 122	 action: [-0.138 -0.296  0.011 -0.023 -0.023  0.017 -1.   ]
+t: 123	 action: [-0.06  -0.352  0.039 -0.005 -0.019  0.008 -1.018]
+t: 124	 action: [-0.151 -0.31   0.055 -0.005 -0.039  0.013 -0.996]
+t: 125	 action: [-0.085 -0.361  0.06   0.011 -0.037  0.006 -1.016]
+t: 126	 action: [-0.131 -0.355  0.036  0.015 -0.008  0.009 -1.   ]
+t: 127	 action: [-0.096 -0.363  0.005  0.034 -0.02   0.005 -1.049]
+t: 128	 action: [-0.156 -0.384  0.006  0.03  -0.013  0.007 -0.995]
+t: 129	 action: [-0.13  -0.376 -0.072  0.044 -0.024  0.001 -1.045]
+t: 130	 action: [-0.214 -0.478 -0.117  0.026 -0.047  0.022 -1.006]
+t: 131	 action: [-0.184 -0.426 -0.154  0.039 -0.048  0.009 -1.031]
+t: 132	 action: [-0.204 -0.491 -0.32   0.043 -0.052  0.011 -1.008]
+t: 133	 action: [-0.177 -0.415 -0.407  0.055 -0.056  0.003 -1.023]
+t: 134	 action: [-0.214 -0.397 -0.574  0.075 -0.035  0.007 -1.003]
+t: 135	 action: [-0.158 -0.303 -0.68   0.076 -0.022 -0.003 -1.048]
+t: 136	 action: [-1.278e-01 -2.901e-01 -8.555e-01  8.030e-02 -2.246e-02 -4.947e-04 -9.956e-01]
+t: 137	 action: [-0.094 -0.178 -0.871  0.07  -0.008 -0.008 -1.053]
+[07-31 00:40:56|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.972 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=138: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9518
+INFO:cosmos_policy.experiments.robot.robot_utils:t=138: Selected seed 195 with value = 0.9518
+Query 1/1: Action query time = 0.972 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9518
+t=138: Selected seed 195 with value = 0.9518
+t: 138	 action: [-0.297  0.679 -0.909  0.013 -0.052  0.073 -0.988]
+t: 139	 action: [-0.273  0.58  -0.923  0.007 -0.055  0.06  -1.002]
+t: 140	 action: [-0.284  0.728 -0.894  0.009 -0.041  0.061 -0.991]
+t: 141	 action: [-0.258  0.602 -0.913  0.005 -0.041  0.046 -0.996]
+t: 142	 action: [-0.318  0.779 -0.873  0.004 -0.038  0.067 -0.995]
+t: 143	 action: [-0.262  0.67  -0.872  0.01  -0.047  0.054 -1.022]
+t: 144	 action: [-0.265  0.804 -0.83  -0.001 -0.024  0.055 -0.992]
+t: 145	 action: [-0.208  0.714 -0.797  0.008 -0.036  0.041 -1.024]
+t: 146	 action: [-0.255  0.863 -0.78   0.003 -0.006  0.059 -0.978]
+t: 147	 action: [-0.226  0.796 -0.81  -0.01   0.003  0.046 -1.01 ]
+t: 148	 action: [-2.443e-01  8.826e-01 -7.872e-01 -1.666e-04 -7.274e-04  5.826e-02 -9.858e-01]
+t: 149	 action: [-2.133e-01  8.252e-01 -8.197e-01 -1.204e-02  7.873e-04  4.508e-02 -1.004e+00]
+t: 150	 action: [-0.27   0.911 -0.791 -0.003  0.003  0.067 -0.983]
+t: 151	 action: [-2.811e-01  8.788e-01 -8.375e-01 -6.330e-03  5.160e-04  4.689e-02 -1.028e+00]
+t: 152	 action: [-0.246  0.922 -0.795 -0.006  0.012  0.065 -0.985]
+t: 153	 action: [-2.693e-01  8.932e-01 -8.359e-01 -6.724e-03  5.297e-05  4.670e-02 -1.033e+00]
+[07-31 00:40:57|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.977 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=154: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9742
+INFO:cosmos_policy.experiments.robot.robot_utils:t=154: Selected seed 195 with value = 0.9742
+WARNING:imageio_ffmpeg:IMAGEIO FFMPEG_WRITER WARNING: input image is not divisible by macro_block_size=16, resizing from (896, 284) to (896, 288) to ensure video compatibility with most codecs and players. To prevent resizing, make your input image divisible by the macro_block_size or set the macro_block_size to 1 (risking incompatibility).
+INFO:cosmos_policy.experiments.robot.robot_utils:Success: True
+INFO:cosmos_policy.experiments.robot.robot_utils:# episodes completed so far: 32
+INFO:cosmos_policy.experiments.robot.robot_utils:# successes: 16 (50.0%)
+
+
 64%|██████▍   | 32/50 [13:01<06:15, 20.86s/it]INFO:cosmos_policy.experiments.robot.robot_utils:
+Task: open the middle drawer of the cabinet
+INFO:cosmos_policy.experiments.robot.robot_utils:Starting episode 33...
+Query 1/1: Action query time = 0.977 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9742
+t=154: Selected seed 195 with value = 0.9742
+t: 154	 action: [-0.273  0.785 -0.6   -0.006 -0.022  0.045 -0.957]
+t: 155	 action: [-0.26   0.752 -0.538 -0.019 -0.008  0.053 -0.972]
+t: 156	 action: [-0.303  0.808 -0.654 -0.004 -0.01   0.057 -0.977]
+t: 157	 action: [-0.286  0.764 -0.619 -0.02  -0.003  0.063 -1.006]
+t: 158	 action: [-0.281  0.823 -0.638 -0.005 -0.003  0.066 -0.981]
+t: 159	 action: [-3.175e-01  8.092e-01 -6.044e-01 -1.159e-02 -5.316e-04  6.002e-02 -1.031e+00]
+t: 160	 action: [-0.297  0.826 -0.668 -0.008  0.008  0.078 -0.986]
+Saved rollout MP4 at path ./rollouts/None/2026_07_31-00_27_45--episode=32--success=True--task=open_the_middle_drawer_of_the_cabinet.mp4
+151 151 10 10
+Saved rollout MP4 at path ./rollouts/None/2026_07_31-00_27_45--with_future_img--episode=32--success=True--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: True
+# episodes completed so far: 32
+# successes: 16 (50.0%)
+
+Task: open the middle drawer of the cabinet
+Starting episode 33...
+[07-31 00:41:03|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.990 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=10: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.3420
+INFO:cosmos_policy.experiments.robot.robot_utils:t=10: Selected seed 195 with value = 0.3420
+Query 1/1: Action query time = 0.990 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3420
+t=10: Selected seed 195 with value = 0.3420
+t: 10	 action: [ 0.229  0.035 -0.012 -0.002  0.019  0.033 -1.012]
+t: 11	 action: [ 0.381  0.072  0.025 -0.014  0.038  0.056 -1.009]
+t: 12	 action: [ 4.963e-01  5.653e-02  7.767e-05 -5.716e-03  3.714e-02  7.461e-02 -1.022e+00]
+t: 13	 action: [ 0.628  0.079  0.044 -0.015  0.058  0.078 -1.015]
+t: 14	 action: [ 0.652  0.056  0.019 -0.019  0.048  0.081 -1.014]
+t: 15	 action: [ 0.716  0.083  0.007 -0.022  0.057  0.079 -1.044]
+t: 16	 action: [ 0.738  0.052  0.022 -0.023  0.052  0.113 -1.017]
+t: 17	 action: [ 0.773  0.079  0.02  -0.025  0.057  0.098 -1.042]
+t: 18	 action: [ 0.772  0.027  0.038 -0.027  0.033  0.137 -1.03 ]
+t: 19	 action: [ 0.808 -0.003  0.031 -0.029  0.036  0.128 -1.027]
+t: 20	 action: [ 0.767  0.008  0.025 -0.036  0.025  0.149 -1.027]
+t: 21	 action: [ 0.798 -0.004  0.015 -0.036  0.024  0.136 -1.021]
+t: 22	 action: [ 0.749  0.013  0.025 -0.04   0.026  0.164 -1.01 ]
+t: 23	 action: [ 0.723  0.005  0.003 -0.041  0.016  0.153 -1.05 ]
+t: 24	 action: [ 0.686  0.014 -0.003 -0.053  0.021  0.17  -1.01 ]
+t: 25	 action: [ 0.656  0.027  0.001 -0.053  0.01   0.16  -1.04 ]
+[07-31 00:41:04|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.969 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=26: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.4204
+INFO:cosmos_policy.experiments.robot.robot_utils:t=26: Selected seed 195 with value = 0.4204
+Query 1/1: Action query time = 0.969 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4204
+t=26: Selected seed 195 with value = 0.4204
+t: 26	 action: [ 0.457 -0.038 -0.078 -0.057  0.032  0.187 -1.01 ]
+t: 27	 action: [ 0.457 -0.029 -0.071 -0.068  0.038  0.187 -1.01 ]
+t: 28	 action: [ 0.403 -0.013 -0.119 -0.067  0.046  0.204 -1.001]
+t: 29	 action: [ 0.408 -0.004 -0.108 -0.076  0.055  0.202 -1.008]
+t: 30	 action: [ 0.374  0.011 -0.151 -0.089  0.048  0.224 -0.999]
+t: 31	 action: [ 0.345  0.028 -0.197 -0.091  0.056  0.21  -1.036]
+t: 32	 action: [ 0.335  0.027 -0.187 -0.094  0.073  0.239 -0.996]
+t: 33	 action: [ 0.319  0.041 -0.226 -0.096  0.089  0.222 -1.037]
+t: 34	 action: [ 0.288  0.021 -0.155 -0.079  0.117  0.234 -1.007]
+t: 35	 action: [ 0.296  0.018 -0.2   -0.075  0.123  0.212 -1.016]
+t: 36	 action: [ 0.297  0.017 -0.184 -0.084  0.138  0.233 -1.001]
+t: 37	 action: [ 0.319  0.018 -0.204 -0.081  0.149  0.211 -1.012]
+t: 38	 action: [ 0.297  0.017 -0.187 -0.086  0.141  0.236 -0.997]
+t: 39	 action: [ 0.296  0.035 -0.225 -0.086  0.144  0.21  -1.038]
+t: 40	 action: [ 0.291  0.017 -0.214 -0.084  0.16   0.225 -0.995]
+t: 41	 action: [ 0.287  0.033 -0.218 -0.087  0.165  0.203 -1.038]
+[07-31 00:41:05|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.977 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=42: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.4876
+INFO:cosmos_policy.experiments.robot.robot_utils:t=42: Selected seed 195 with value = 0.4876
+Query 1/1: Action query time = 0.977 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4876
+t=42: Selected seed 195 with value = 0.4876
+t: 42	 action: [ 0.103  0.023 -0.158 -0.078  0.158  0.273 -0.976]
+t: 43	 action: [ 0.116  0.046 -0.151 -0.078  0.166  0.279 -0.988]
+t: 44	 action: [ 0.085  0.023 -0.158 -0.075  0.166  0.28  -0.978]
+t: 45	 action: [ 0.115  0.049 -0.133 -0.075  0.173  0.275 -1.001]
+t: 46	 action: [ 0.102  0.02  -0.181 -0.087  0.17   0.287 -0.983]
+t: 47	 action: [ 0.1    0.048 -0.162 -0.081  0.177  0.278 -1.024]
+t: 48	 action: [ 0.087  0.02  -0.194 -0.08   0.175  0.286 -0.986]
+t: 49	 action: [ 0.097  0.046 -0.163 -0.077  0.183  0.273 -1.034]
+t: 50	 action: [ 0.058  0.012 -0.197 -0.06   0.182  0.28  -0.99 ]
+t: 51	 action: [ 0.076  0.008 -0.208 -0.05   0.189  0.265 -1.007]
+t: 52	 action: [ 0.085  0.005 -0.172 -0.056  0.189  0.279 -0.99 ]
+t: 53	 action: [ 0.112 -0.01  -0.183 -0.044  0.193  0.257 -1.012]
+t: 54	 action: [ 0.097 -0.002 -0.155 -0.058  0.174  0.273 -0.982]
+t: 55	 action: [ 0.119 -0.009 -0.101 -0.049  0.175  0.245 -1.032]
+t: 56	 action: [ 0.114 -0.017 -0.13  -0.048  0.176  0.254 -0.986]
+t: 57	 action: [ 0.14  -0.036 -0.072 -0.041  0.173  0.23  -1.031]
+[07-31 00:41:07|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.970 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=58: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.5616
+INFO:cosmos_policy.experiments.robot.robot_utils:t=58: Selected seed 195 with value = 0.5616
+Query 1/1: Action query time = 0.970 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5616
+t=58: Selected seed 195 with value = 0.5616
+t: 58	 action: [ 0.101 -0.098 -0.097 -0.041  0.21   0.233 -0.987]
+t: 59	 action: [ 0.109 -0.111 -0.068 -0.013  0.2    0.216 -0.988]
+t: 60	 action: [ 0.111 -0.138 -0.048 -0.015  0.189  0.23  -0.992]
+t: 61	 action: [ 0.143 -0.151 -0.01  -0.002  0.173  0.205 -1.005]
+t: 62	 action: [ 0.146 -0.212 -0.008 -0.018  0.177  0.216 -0.995]
+t: 63	 action: [ 0.189 -0.184  0.005  0.001  0.157  0.197 -1.026]
+t: 64	 action: [ 0.171 -0.277 -0.001 -0.004  0.147  0.206 -0.998]
+t: 65	 action: [ 0.229 -0.24   0.008  0.006  0.129  0.183 -1.022]
+t: 66	 action: [ 0.21  -0.347  0.003 -0.013  0.137  0.196 -1.013]
+t: 67	 action: [ 0.241 -0.331  0.016  0.007  0.097  0.159 -1.016]
+t: 68	 action: [ 0.207 -0.377 -0.017  0.005  0.102  0.188 -1.009]
+t: 69	 action: [ 0.23  -0.349  0.004  0.011  0.05   0.15  -1.013]
+t: 70	 action: [ 0.184 -0.427 -0.024  0.008  0.048  0.167 -1.01 ]
+t: 71	 action: [ 0.207 -0.419  0.009  0.015  0.031  0.129 -1.027]
+t: 72	 action: [ 0.153 -0.414 -0.061  0.009  0.006  0.155 -1.009]
+t: 73	 action: [ 0.137 -0.404 -0.002  0.015  0.006  0.123 -1.018]
+[07-31 00:41:08|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.955 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=74: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.6300
+INFO:cosmos_policy.experiments.robot.robot_utils:t=74: Selected seed 195 with value = 0.6300
+Query 1/1: Action query time = 0.955 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6300
+t=74: Selected seed 195 with value = 0.6300
+t: 74	 action: [ 0.097 -0.323  0.028 -0.013  0.045  0.148 -0.987]
+t: 75	 action: [ 0.067 -0.33   0.022 -0.006  0.02   0.137 -1.   ]
+t: 76	 action: [ 5.888e-02 -3.248e-01  5.493e-03 -8.554e-04  1.671e-02  1.577e-01 -9.854e-01]
+t: 77	 action: [ 4.843e-02 -3.252e-01  2.268e-02  3.952e-04  7.691e-03  1.323e-01 -1.010e+00]
+t: 78	 action: [ 0.011 -0.339 -0.009 -0.002  0.006  0.129 -0.987]
+t: 79	 action: [ 0.013 -0.363 -0.003  0.006 -0.006  0.129 -1.027]
+t: 80	 action: [-0.021 -0.332 -0.021 -0.002 -0.019  0.124 -0.988]
+t: 81	 action: [-0.01  -0.338 -0.021  0.006 -0.027  0.114 -1.024]
+t: 82	 action: [-0.017 -0.416  0.006 -0.015 -0.042  0.112 -1.002]
+t: 83	 action: [-2.061e-02 -3.555e-01  9.069e-04  3.749e-03 -5.992e-02  8.695e-02 -1.013e+00]
+t: 84	 action: [-6.638e-02 -4.205e-01 -2.862e-02 -8.545e-04 -6.875e-02  1.017e-01 -9.993e-01]
+t: 85	 action: [-0.085 -0.34  -0.042  0.007 -0.078  0.078 -1.004]
+t: 86	 action: [-0.131 -0.41  -0.046  0.003 -0.102  0.088 -1.   ]
+t: 87	 action: [-0.149 -0.364 -0.066  0.012 -0.097  0.072 -1.021]
+t: 88	 action: [-0.179 -0.379 -0.07   0.004 -0.12   0.08  -1.   ]
+t: 89	 action: [-0.202 -0.329 -0.098  0.016 -0.1    0.067 -1.021]
+[07-31 00:41:09|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.981 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=90: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.7205
+INFO:cosmos_policy.experiments.robot.robot_utils:t=90: Selected seed 195 with value = 0.7205
+Query 1/1: Action query time = 0.981 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7205
+t=90: Selected seed 195 with value = 0.7205
+t: 90	 action: [-0.026 -0.269 -0.059  0.002 -0.016  0.029 -0.979]
+t: 91	 action: [ 1.743e-06 -2.990e-01 -5.098e-02  7.954e-03 -4.958e-02  3.549e-02 -9.622e-01]
+t: 92	 action: [-0.088 -0.28  -0.129  0.005 -0.031  0.037 -0.986]
+t: 93	 action: [-0.067 -0.317 -0.105  0.013 -0.045  0.038 -0.993]
+t: 94	 action: [-0.121 -0.284 -0.159  0.011 -0.03   0.038 -0.988]
+t: 95	 action: [-0.115 -0.318 -0.13   0.02  -0.037  0.043 -1.014]
+t: 96	 action: [-0.193 -0.287 -0.18   0.02  -0.027  0.05  -0.99 ]
+t: 97	 action: [-0.204 -0.289 -0.162  0.023 -0.026  0.044 -1.022]
+t: 98	 action: [-0.206 -0.367 -0.069  0.009 -0.017  0.06  -1.   ]
+t: 99	 action: [-0.223 -0.326 -0.097  0.02  -0.016  0.057 -1.014]
+t: 100	 action: [-0.285 -0.382 -0.101  0.009 -0.023  0.07  -0.995]
+t: 101	 action: [-0.274 -0.315 -0.127  0.018 -0.02   0.071 -1.007]
+t: 102	 action: [-0.367 -0.335 -0.149  0.009 -0.033  0.081 -1.003]
+t: 103	 action: [-0.375 -0.305 -0.226  0.023 -0.028  0.071 -1.036]
+t: 104	 action: [-0.455 -0.339 -0.198  0.009 -0.042  0.09  -0.993]
+t: 105	 action: [-0.444 -0.285 -0.291  0.025 -0.034  0.089 -1.027]
+[07-31 00:41:10|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.980 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=106: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.7587
+INFO:cosmos_policy.experiments.robot.robot_utils:t=106: Selected seed 195 with value = 0.7587
+Query 1/1: Action query time = 0.980 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7587
+t=106: Selected seed 195 with value = 0.7587
+t: 106	 action: [ 0.032 -0.228 -0.089 -0.017  0.001 -0.004 -1.008]
+t: 107	 action: [ 0.062 -0.261 -0.058 -0.009 -0.007 -0.019 -1.025]
+t: 108	 action: [-0.009 -0.249 -0.153 -0.004 -0.014 -0.018 -1.012]
+t: 109	 action: [ 0.032 -0.274 -0.128  0.003 -0.016 -0.025 -1.031]
+t: 110	 action: [-0.033 -0.262 -0.185  0.005 -0.003 -0.008 -1.017]
+t: 111	 action: [-0.047 -0.238 -0.173  0.016 -0.021 -0.016 -1.06 ]
+t: 112	 action: [-0.072 -0.267 -0.265  0.004 -0.012 -0.013 -1.016]
+t: 113	 action: [-0.078 -0.209 -0.274  0.018 -0.018 -0.02  -1.057]
+t: 114	 action: [-0.09  -0.321 -0.172  0.015 -0.018 -0.002 -1.021]
+t: 115	 action: [-0.055 -0.304 -0.203  0.024 -0.019 -0.004 -1.036]
+t: 116	 action: [-0.096 -0.329 -0.275  0.02  -0.024  0.006 -1.031]
+t: 117	 action: [-0.072 -0.276 -0.344  0.023 -0.022  0.003 -1.03 ]
+t: 118	 action: [-0.104 -0.266 -0.56   0.025 -0.017  0.003 -1.022]
+t: 119	 action: [-0.107 -0.195 -0.569  0.032 -0.011  0.007 -1.047]
+t: 120	 action: [-0.108 -0.22  -0.744  0.023 -0.014  0.003 -1.024]
+t: 121	 action: [-0.108 -0.132 -0.696  0.028 -0.004  0.017 -1.051]
+[07-31 00:41:12|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.985 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=122: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.7264
+INFO:cosmos_policy.experiments.robot.robot_utils:t=122: Selected seed 195 with value = 0.7264
+Query 1/1: Action query time = 0.985 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7264
+t=122: Selected seed 195 with value = 0.7264
+t: 122	 action: [-0.103 -0.304  0.007 -0.022 -0.041  0.013 -0.97 ]
+t: 123	 action: [-0.041 -0.287  0.024 -0.01  -0.043  0.009 -1.003]
+t: 124	 action: [-0.112 -0.253  0.018 -0.006 -0.054  0.014 -0.977]
+t: 125	 action: [-3.658e-02 -2.635e-01  2.825e-02 -1.031e-04 -6.678e-02  6.893e-03 -1.013e+00]
+t: 126	 action: [-0.094 -0.25   0.015  0.003 -0.036  0.009 -0.976]
+t: 127	 action: [-0.057 -0.241 -0.012  0.018 -0.042  0.011 -1.047]
+t: 128	 action: [-0.116 -0.278 -0.001  0.005 -0.036  0.013 -0.98 ]
+t: 129	 action: [-0.084 -0.256 -0.048  0.027 -0.041  0.008 -1.046]
+t: 130	 action: [-0.144 -0.351 -0.119  0.016 -0.045  0.021 -0.985]
+t: 131	 action: [-0.117 -0.345 -0.105  0.024 -0.037  0.016 -1.023]
+t: 132	 action: [-0.19  -0.39  -0.211  0.021 -0.045  0.019 -0.983]
+t: 133	 action: [-0.177 -0.339 -0.23   0.023 -0.041  0.016 -1.013]
+t: 134	 action: [-0.231 -0.357 -0.282  0.023 -0.043  0.015 -0.993]
+t: 135	 action: [-0.226 -0.308 -0.34   0.032 -0.03   0.015 -1.045]
+t: 136	 action: [-0.252 -0.354 -0.475  0.025 -0.025  0.013 -0.984]
+t: 137	 action: [-0.251 -0.278 -0.538  0.031 -0.011  0.017 -1.044]
+[07-31 00:41:13|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.963 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=138: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.7565
+INFO:cosmos_policy.experiments.robot.robot_utils:t=138: Selected seed 195 with value = 0.7565
+Query 1/1: Action query time = 0.963 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7565
+t=138: Selected seed 195 with value = 0.7565
+t: 138	 action: [-2.002e-01 -3.242e-01 -3.942e-02 -5.104e-03 -4.911e-02  6.824e-04 -9.854e-01]
+t: 139	 action: [-0.169 -0.375 -0.079  0.019 -0.045  0.001 -1.012]
+t: 140	 action: [-0.188 -0.363 -0.065  0.007 -0.057  0.002 -0.992]
+t: 141	 action: [-1.571e-01 -3.920e-01 -1.047e-01  3.156e-02 -5.173e-02 -4.684e-04 -1.012e+00]
+t: 142	 action: [-0.175 -0.355 -0.07   0.02  -0.036 -0.004 -0.996]
+t: 143	 action: [-1.651e-01 -3.465e-01 -1.201e-01  3.971e-02 -2.790e-02  6.639e-05 -1.060e+00]
+t: 144	 action: [-1.303e-01 -3.685e-01 -1.025e-01  3.409e-02 -2.786e-02  2.910e-04 -9.935e-01]
+t: 145	 action: [-0.125 -0.345 -0.187  0.04  -0.018 -0.003 -1.051]
+t: 146	 action: [-0.177 -0.394 -0.11   0.025 -0.041  0.013 -0.995]
+t: 147	 action: [-0.125 -0.423 -0.082  0.033 -0.036  0.003 -1.021]
+t: 148	 action: [-0.183 -0.45  -0.181  0.04  -0.05   0.006 -1.002]
+t: 149	 action: [-1.296e-01 -4.272e-01 -2.008e-01  3.856e-02 -4.523e-02  1.679e-04 -1.020e+00]
+t: 150	 action: [-0.193 -0.435 -0.307  0.044 -0.032  0.004 -1.004]
+t: 151	 action: [-0.175 -0.372 -0.411  0.043 -0.037 -0.002 -1.063]
+t: 152	 action: [-1.508e-01 -3.869e-01 -4.775e-01  4.755e-02 -2.550e-02 -4.131e-04 -1.000e+00]
+t: 153	 action: [-0.144 -0.317 -0.623  0.041 -0.024 -0.003 -1.066]
+[07-31 00:41:14|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.974 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=154: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.7963
+INFO:cosmos_policy.experiments.robot.robot_utils:t=154: Selected seed 195 with value = 0.7963
+Query 1/1: Action query time = 0.974 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7963
+t=154: Selected seed 195 with value = 0.7963
+t: 154	 action: [-2.371e-01 -2.800e-01 -1.261e-01  5.860e-04 -4.521e-03  9.272e-03 -9.911e-01]
+t: 155	 action: [-0.205 -0.288 -0.069  0.007 -0.005  0.008 -1.021]
+t: 156	 action: [-0.227 -0.329 -0.152  0.01  -0.007  0.008 -0.99 ]
+t: 157	 action: [-0.18  -0.31  -0.114  0.015 -0.006  0.011 -1.014]
+t: 158	 action: [-0.236 -0.328 -0.253  0.014  0.005  0.003 -1.001]
+t: 159	 action: [-0.209 -0.31  -0.203  0.021 -0.005  0.012 -1.054]
+t: 160	 action: [-0.179 -0.324 -0.315  0.023  0.011  0.007 -0.992]
+t: 161	 action: [-1.366e-01 -2.989e-01 -2.249e-01  2.112e-02  3.601e-05  1.368e-02 -1.044e+00]
+t: 162	 action: [-0.243 -0.222 -0.118  0.003 -0.002  0.014 -0.985]
+t: 163	 action: [-0.2   -0.278 -0.034  0.008  0.001  0.007 -1.024]
+t: 164	 action: [-0.227 -0.308 -0.144  0.01  -0.004  0.011 -0.99 ]
+t: 165	 action: [-0.164 -0.309 -0.103  0.015  0.003  0.01  -1.017]
+t: 166	 action: [-0.227 -0.306 -0.27   0.009  0.008  0.01  -0.997]
+t: 167	 action: [-0.214 -0.297 -0.31   0.023  0.003  0.01  -1.055]
+t: 168	 action: [-0.159 -0.353 -0.387  0.016  0.014  0.009 -0.993]
+t: 169	 action: [-0.135 -0.274 -0.501  0.021  0.009  0.015 -1.055]
+[07-31 00:41:16|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.963 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=170: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.8040
+INFO:cosmos_policy.experiments.robot.robot_utils:t=170: Selected seed 195 with value = 0.8040
+Query 1/1: Action query time = 0.963 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8040
+t=170: Selected seed 195 with value = 0.8040
+t: 170	 action: [-0.216 -0.276 -0.145  0.005 -0.012  0.01  -0.994]
+t: 171	 action: [-0.187 -0.315 -0.057  0.01  -0.012  0.009 -1.022]
+t: 172	 action: [-0.201 -0.341 -0.166  0.011 -0.014  0.011 -0.994]
+t: 173	 action: [-0.15  -0.316 -0.118  0.013 -0.013  0.014 -1.015]
+t: 174	 action: [-0.195 -0.354 -0.262  0.015 -0.006  0.002 -0.997]
+t: 175	 action: [-0.157 -0.346 -0.249  0.018 -0.024  0.013 -1.055]
+t: 176	 action: [-0.127 -0.321 -0.336  0.019  0.002  0.01  -0.994]
+t: 177	 action: [-0.09  -0.291 -0.324  0.015 -0.016  0.017 -1.046]
+t: 178	 action: [-0.18  -0.18  -0.087  0.001 -0.004  0.016 -0.982]
+t: 179	 action: [-0.16  -0.242 -0.039  0.009 -0.002  0.015 -1.022]
+t: 180	 action: [-0.17  -0.231 -0.105  0.004 -0.002  0.016 -0.988]
+t: 181	 action: [-0.114 -0.253 -0.107  0.01   0.004  0.02  -1.016]
+t: 182	 action: [-0.163 -0.18  -0.276  0.003  0.016  0.018 -0.99 ]
+t: 183	 action: [-0.166 -0.239 -0.374  0.02   0.008  0.02  -1.048]
+t: 184	 action: [-0.11  -0.223 -0.414  0.008  0.023  0.022 -0.991]
+t: 185	 action: [-0.095 -0.207 -0.515  0.017  0.015  0.026 -1.049]
+[07-31 00:41:17|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.970 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=186: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.8019
+INFO:cosmos_policy.experiments.robot.robot_utils:t=186: Selected seed 195 with value = 0.8019
+Query 1/1: Action query time = 0.970 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8019
+t=186: Selected seed 195 with value = 0.8019
+t: 186	 action: [-0.215 -0.274 -0.148  0.005 -0.012  0.01  -0.995]
+t: 187	 action: [-0.184 -0.309 -0.056  0.01  -0.012  0.01  -1.022]
+t: 188	 action: [-0.2   -0.34  -0.167  0.011 -0.013  0.011 -0.995]
+t: 189	 action: [-0.147 -0.311 -0.115  0.013 -0.012  0.015 -1.015]
+t: 190	 action: [-0.195 -0.351 -0.266  0.015 -0.006  0.003 -0.998]
+t: 191	 action: [-0.156 -0.342 -0.248  0.019 -0.023  0.014 -1.055]
+t: 192	 action: [-0.126 -0.32  -0.337  0.02   0.003  0.011 -0.995]
+t: 193	 action: [-0.089 -0.288 -0.313  0.015 -0.016  0.018 -1.046]
+t: 194	 action: [-0.179 -0.18  -0.087  0.002 -0.004  0.017 -0.983]
+t: 195	 action: [-0.158 -0.242 -0.037  0.01  -0.002  0.016 -1.022]
+t: 196	 action: [-0.17  -0.235 -0.106  0.005 -0.002  0.017 -0.99 ]
+t: 197	 action: [-0.113 -0.253 -0.104  0.011  0.004  0.021 -1.016]
+t: 198	 action: [-0.162 -0.177 -0.276  0.004  0.015  0.02  -0.991]
+t: 199	 action: [-0.167 -0.239 -0.376  0.021  0.007  0.021 -1.047]
+t: 200	 action: [-0.109 -0.22  -0.417  0.009  0.022  0.024 -0.991]
+t: 201	 action: [-0.094 -0.206 -0.521  0.018  0.014  0.028 -1.049]
+[07-31 00:41:18|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.982 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=202: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.8031
+INFO:cosmos_policy.experiments.robot.robot_utils:t=202: Selected seed 195 with value = 0.8031
+Query 1/1: Action query time = 0.982 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8031
+t=202: Selected seed 195 with value = 0.8031
+t: 202	 action: [-0.211 -0.27  -0.141  0.005 -0.012  0.011 -0.996]
+t: 203	 action: [-0.181 -0.303 -0.05   0.01  -0.013  0.011 -1.022]
+t: 204	 action: [-0.196 -0.336 -0.16   0.011 -0.013  0.012 -0.995]
+t: 205	 action: [-0.144 -0.307 -0.106  0.013 -0.013  0.017 -1.015]
+t: 206	 action: [-0.192 -0.35  -0.269  0.014 -0.005  0.004 -0.999]
+t: 207	 action: [-0.155 -0.34  -0.245  0.019 -0.023  0.015 -1.054]
+t: 208	 action: [-0.124 -0.321 -0.34   0.019  0.004  0.013 -0.995]
+t: 209	 action: [-0.087 -0.288 -0.306  0.016 -0.015  0.02  -1.044]
+t: 210	 action: [-0.178 -0.179 -0.085  0.002 -0.004  0.017 -0.984]
+t: 211	 action: [-0.16  -0.243 -0.033  0.01  -0.003  0.017 -1.022]
+t: 212	 action: [-0.169 -0.239 -0.103  0.005 -0.003  0.017 -0.99 ]
+t: 213	 action: [-0.114 -0.256 -0.098  0.011  0.003  0.022 -1.016]
+t: 214	 action: [-0.16  -0.178 -0.269  0.004  0.013  0.02  -0.992]
+t: 215	 action: [-0.164 -0.243 -0.364  0.022  0.006  0.021 -1.047]
+t: 216	 action: [-0.104 -0.224 -0.41   0.01   0.02   0.024 -0.992]
+t: 217	 action: [-0.089 -0.21  -0.504  0.018  0.013  0.028 -1.048]
+[07-31 00:41:20|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.977 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=218: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.8027
+INFO:cosmos_policy.experiments.robot.robot_utils:t=218: Selected seed 195 with value = 0.8027
+Query 1/1: Action query time = 0.977 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8027
+t=218: Selected seed 195 with value = 0.8027
+t: 218	 action: [-0.207 -0.273 -0.141  0.005 -0.012  0.011 -0.996]
+t: 219	 action: [-0.178 -0.306 -0.048  0.011 -0.014  0.011 -1.021]
+t: 220	 action: [-0.194 -0.34  -0.159  0.011 -0.014  0.012 -0.996]
+t: 221	 action: [-0.141 -0.31  -0.105  0.013 -0.013  0.017 -1.016]
+t: 222	 action: [-0.188 -0.355 -0.266  0.015 -0.006  0.004 -0.999]
+t: 223	 action: [-0.152 -0.34  -0.243  0.019 -0.023  0.015 -1.054]
+t: 224	 action: [-0.12  -0.324 -0.336  0.019  0.003  0.013 -0.996]
+t: 225	 action: [-0.083 -0.288 -0.305  0.016 -0.015  0.02  -1.045]
+t: 226	 action: [-0.176 -0.184 -0.082  0.002 -0.005  0.017 -0.984]
+t: 227	 action: [-0.158 -0.248 -0.026  0.01  -0.004  0.017 -1.022]
+t: 228	 action: [-0.168 -0.247 -0.098  0.005 -0.004  0.017 -0.991]
+t: 229	 action: [-0.111 -0.262 -0.088  0.012  0.002  0.022 -1.017]
+t: 230	 action: [-0.156 -0.186 -0.259  0.005  0.012  0.02  -0.992]
+t: 231	 action: [-0.16  -0.25  -0.35   0.022  0.005  0.021 -1.048]
+t: 232	 action: [-0.099 -0.232 -0.397  0.01   0.019  0.024 -0.992]
+t: 233	 action: [-0.084 -0.219 -0.496  0.018  0.012  0.028 -1.049]
+[07-31 00:41:21|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.956 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=234: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.8035
+INFO:cosmos_policy.experiments.robot.robot_utils:t=234: Selected seed 195 with value = 0.8035
+Query 1/1: Action query time = 0.956 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8035
+t=234: Selected seed 195 with value = 0.8035
+t: 234	 action: [-0.207 -0.274 -0.143  0.005 -0.012  0.011 -0.996]
+t: 235	 action: [-0.179 -0.303 -0.054  0.01  -0.013  0.012 -1.021]
+t: 236	 action: [-0.193 -0.34  -0.16   0.01  -0.013  0.012 -0.995]
+t: 237	 action: [-0.141 -0.307 -0.11   0.013 -0.013  0.018 -1.015]
+t: 238	 action: [-0.188 -0.354 -0.269  0.014 -0.005  0.005 -0.999]
+t: 239	 action: [-0.152 -0.335 -0.247  0.019 -0.023  0.016 -1.054]
+t: 240	 action: [-0.119 -0.321 -0.337  0.018  0.004  0.014 -0.995]
+t: 241	 action: [-0.083 -0.283 -0.305  0.016 -0.014  0.021 -1.044]
+t: 242	 action: [-0.176 -0.183 -0.085  0.002 -0.005  0.018 -0.984]
+t: 243	 action: [-0.159 -0.247 -0.028  0.01  -0.004  0.017 -1.022]
+t: 244	 action: [-0.167 -0.246 -0.103  0.005 -0.004  0.017 -0.991]
+t: 245	 action: [-0.113 -0.259 -0.091  0.012  0.002  0.022 -1.016]
+t: 246	 action: [-0.155 -0.183 -0.261  0.004  0.012  0.02  -0.992]
+t: 247	 action: [-0.16  -0.247 -0.353  0.022  0.005  0.022 -1.048]
+t: 248	 action: [-0.099 -0.227 -0.396  0.009  0.018  0.025 -0.992]
+t: 249	 action: [-0.085 -0.213 -0.496  0.018  0.011  0.028 -1.049]
+[07-31 00:41:22|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.973 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=250: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.8023
+INFO:cosmos_policy.experiments.robot.robot_utils:t=250: Selected seed 195 with value = 0.8023
+Query 1/1: Action query time = 0.973 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8023
+t=250: Selected seed 195 with value = 0.8023
+t: 250	 action: [-0.207 -0.274 -0.141  0.005 -0.013  0.011 -0.996]
+t: 251	 action: [-0.179 -0.306 -0.049  0.01  -0.015  0.012 -1.021]
+t: 252	 action: [-0.193 -0.341 -0.159  0.011 -0.014  0.012 -0.996]
+t: 253	 action: [-0.141 -0.309 -0.106  0.013 -0.014  0.017 -1.015]
+t: 254	 action: [-0.188 -0.358 -0.266  0.014 -0.006  0.005 -0.999]
+t: 255	 action: [-0.152 -0.34  -0.245  0.019 -0.024  0.016 -1.055]
+t: 256	 action: [-0.12  -0.325 -0.335  0.019  0.002  0.014 -0.996]
+t: 257	 action: [-0.085 -0.287 -0.306  0.016 -0.015  0.021 -1.045]
+t: 258	 action: [-0.176 -0.185 -0.08   0.002 -0.006  0.018 -0.984]
+t: 259	 action: [-0.159 -0.248 -0.027  0.01  -0.005  0.017 -1.022]
+t: 260	 action: [-0.166 -0.246 -0.098  0.005 -0.005  0.017 -0.991]
+t: 261	 action: [-0.112 -0.26  -0.088  0.012  0.001  0.022 -1.016]
+t: 262	 action: [-0.155 -0.183 -0.256  0.004  0.011  0.021 -0.992]
+t: 263	 action: [-0.16  -0.248 -0.351  0.022  0.005  0.022 -1.048]
+t: 264	 action: [-0.099 -0.229 -0.394  0.009  0.018  0.025 -0.993]
+t: 265	 action: [-0.086 -0.215 -0.492  0.018  0.011  0.028 -1.049]
+[07-31 00:41:23|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.952 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=266: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.8018
+INFO:cosmos_policy.experiments.robot.robot_utils:t=266: Selected seed 195 with value = 0.8018
+Query 1/1: Action query time = 0.952 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8018
+t=266: Selected seed 195 with value = 0.8018
+t: 266	 action: [-0.205 -0.274 -0.136  0.005 -0.013  0.011 -0.996]
+t: 267	 action: [-0.179 -0.308 -0.046  0.01  -0.014  0.012 -1.021]
+t: 268	 action: [-0.19  -0.342 -0.154  0.011 -0.014  0.012 -0.996]
+t: 269	 action: [-0.141 -0.311 -0.101  0.013 -0.014  0.017 -1.015]
+t: 270	 action: [-0.187 -0.36  -0.26   0.015 -0.006  0.005 -1.   ]
+t: 271	 action: [-0.152 -0.341 -0.237  0.02  -0.024  0.016 -1.054]
+t: 272	 action: [-0.118 -0.326 -0.328  0.019  0.002  0.014 -0.997]
+t: 273	 action: [-0.083 -0.29  -0.291  0.016 -0.016  0.02  -1.045]
+t: 274	 action: [-0.176 -0.185 -0.077  0.002 -0.006  0.018 -0.984]
+t: 275	 action: [-0.16  -0.251 -0.02   0.011 -0.006  0.017 -1.021]
+t: 276	 action: [-0.166 -0.249 -0.093  0.005 -0.005  0.017 -0.991]
+t: 277	 action: [-1.120e-01 -2.649e-01 -7.807e-02  1.181e-02  4.214e-04  2.185e-02 -1.016e+00]
+t: 278	 action: [-0.153 -0.189 -0.246  0.004  0.01   0.02  -0.993]
+t: 279	 action: [-0.159 -0.255 -0.336  0.022  0.004  0.021 -1.049]
+t: 280	 action: [-0.096 -0.235 -0.382  0.009  0.017  0.024 -0.993]
+t: 281	 action: [-0.083 -0.225 -0.479  0.018  0.01   0.028 -1.049]
+[07-31 00:41:25|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.982 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=282: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.8045
+INFO:cosmos_policy.experiments.robot.robot_utils:t=282: Selected seed 195 with value = 0.8045
+Query 1/1: Action query time = 0.982 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8045
+t=282: Selected seed 195 with value = 0.8045
+t: 282	 action: [-0.205 -0.273 -0.143  0.004 -0.013  0.012 -0.997]
+t: 283	 action: [-0.178 -0.303 -0.053  0.01  -0.015  0.013 -1.021]
+t: 284	 action: [-0.19  -0.34  -0.161  0.01  -0.014  0.013 -0.996]
+t: 285	 action: [-0.139 -0.307 -0.11   0.013 -0.014  0.018 -1.015]
+t: 286	 action: [-0.185 -0.352 -0.27   0.014 -0.006  0.006 -1.   ]
+t: 287	 action: [-0.148 -0.333 -0.243  0.019 -0.024  0.017 -1.054]
+t: 288	 action: [-0.114 -0.317 -0.337  0.018  0.003  0.015 -0.996]
+t: 289	 action: [-0.079 -0.281 -0.297  0.016 -0.016  0.022 -1.044]
+t: 290	 action: [-0.176 -0.181 -0.084  0.002 -0.006  0.018 -0.984]
+t: 291	 action: [-0.16  -0.249 -0.026  0.011 -0.005  0.018 -1.022]
+t: 292	 action: [-0.165 -0.25  -0.101  0.005 -0.005  0.018 -0.992]
+t: 293	 action: [-1.109e-01 -2.630e-01 -8.432e-02  1.189e-02  5.678e-04  2.300e-02 -1.016e+00]
+t: 294	 action: [-0.152 -0.181 -0.254  0.004  0.01   0.021 -0.993]
+t: 295	 action: [-0.156 -0.25  -0.343  0.022  0.003  0.022 -1.048]
+t: 296	 action: [-0.093 -0.23  -0.392  0.009  0.017  0.025 -0.994]
+t: 297	 action: [-0.079 -0.216 -0.487  0.018  0.009  0.029 -1.048]
+[07-31 00:41:26|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.987 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=298: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.8071
+INFO:cosmos_policy.experiments.robot.robot_utils:t=298: Selected seed 195 with value = 0.8071
+WARNING:imageio_ffmpeg:IMAGEIO FFMPEG_WRITER WARNING: input image is not divisible by macro_block_size=16, resizing from (896, 284) to (896, 288) to ensure video compatibility with most codecs and players. To prevent resizing, make your input image divisible by the macro_block_size or set the macro_block_size to 1 (risking incompatibility).
+INFO:cosmos_policy.experiments.robot.robot_utils:Success: False
+INFO:cosmos_policy.experiments.robot.robot_utils:# episodes completed so far: 33
+INFO:cosmos_policy.experiments.robot.robot_utils:# successes: 16 (48.5%)
+
+
 66%|██████▌   | 33/50 [13:32<06:47, 23.95s/it]INFO:cosmos_policy.experiments.robot.robot_utils:
+Task: open the middle drawer of the cabinet
+INFO:cosmos_policy.experiments.robot.robot_utils:Starting episode 34...
+Query 1/1: Action query time = 0.987 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8071
+t=298: Selected seed 195 with value = 0.8071
+t: 298	 action: [-0.204 -0.272 -0.153  0.004 -0.013  0.012 -0.996]
+t: 299	 action: [-0.177 -0.301 -0.058  0.009 -0.015  0.014 -1.02 ]
+t: 300	 action: [-0.189 -0.34  -0.17   0.01  -0.014  0.014 -0.996]
+t: 301	 action: [-0.137 -0.308 -0.114  0.012 -0.015  0.019 -1.015]
+t: 302	 action: [-0.182 -0.347 -0.278  0.013 -0.007  0.006 -0.999]
+t: 303	 action: [-0.145 -0.331 -0.248  0.018 -0.025  0.017 -1.053]
+t: 304	 action: [-0.112 -0.31  -0.346  0.017  0.002  0.016 -0.995]
+t: 305	 action: [-0.076 -0.274 -0.309  0.015 -0.017  0.022 -1.044]
+t: 306	 action: [-0.174 -0.17  -0.09   0.002 -0.006  0.019 -0.984]
+t: 307	 action: [-0.159 -0.24  -0.031  0.01  -0.005  0.019 -1.021]
+t: 308	 action: [-0.163 -0.239 -0.106  0.005 -0.005  0.019 -0.991]
+t: 309	 action: [-1.092e-01 -2.542e-01 -9.070e-02  1.112e-02  7.579e-04  2.446e-02 -1.017e+00]
+Saved rollout MP4 at path ./rollouts/None/2026_07_31-00_27_45--episode=33--success=False--task=open_the_middle_drawer_of_the_cabinet.mp4
+300 300 19 19
+Saved rollout MP4 at path ./rollouts/None/2026_07_31-00_27_45--with_future_img--episode=33--success=False--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: False
+# episodes completed so far: 33
+# successes: 16 (48.5%)
+
+Task: open the middle drawer of the cabinet
+Starting episode 34...
+[07-31 00:41:34|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.006 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=10: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.3647
+INFO:cosmos_policy.experiments.robot.robot_utils:t=10: Selected seed 195 with value = 0.3647
+Query 1/1: Action query time = 1.006 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3647
+t=10: Selected seed 195 with value = 0.3647
+t: 10	 action: [ 0.086 -0.132  0.032  0.013  0.06   0.002 -0.974]
+t: 11	 action: [ 0.168 -0.098  0.08   0.017  0.102  0.01  -0.968]
+t: 12	 action: [ 0.225 -0.074  0.07   0.004  0.117  0.016 -0.997]
+t: 13	 action: [ 0.353 -0.037  0.126  0.01   0.144  0.033 -1.005]
+t: 14	 action: [ 0.44  -0.049  0.121  0.007  0.139  0.021 -1.014]
+t: 15	 action: [ 0.539 -0.011  0.131  0.011  0.15   0.033 -1.048]
+t: 16	 action: [ 5.571e-01  1.257e-02  1.192e-01 -7.770e-04  1.477e-01  5.817e-02 -1.017e+00]
+t: 17	 action: [ 6.081e-01  4.028e-02  1.149e-01  1.815e-04  1.538e-01  5.439e-02 -1.051e+00]
+t: 18	 action: [ 0.574 -0.013  0.096 -0.002  0.108  0.108 -1.022]
+t: 19	 action: [ 0.59   0.015  0.101 -0.006  0.107  0.102 -1.015]
+t: 20	 action: [ 0.591  0.001  0.062 -0.015  0.096  0.118 -1.024]
+t: 21	 action: [ 0.613  0.04   0.078 -0.017  0.096  0.109 -1.013]
+t: 22	 action: [ 0.591  0.021  0.065 -0.024  0.093  0.122 -1.009]
+t: 23	 action: [ 0.603  0.042  0.04  -0.019  0.09   0.114 -1.042]
+t: 24	 action: [ 0.589  0.02   0.027 -0.042  0.087  0.138 -1.011]
+t: 25	 action: [ 0.614  0.063  0.03  -0.037  0.094  0.122 -1.042]
+[07-31 00:41:35|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.989 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=26: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.3742
+INFO:cosmos_policy.experiments.robot.robot_utils:t=26: Selected seed 195 with value = 0.3742
+Query 1/1: Action query time = 0.989 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3742
+t=26: Selected seed 195 with value = 0.3742
+t: 26	 action: [ 0.469  0.032  0.07  -0.041  0.158  0.143 -1.012]
+t: 27	 action: [ 0.452  0.064  0.089 -0.042  0.155  0.145 -1.01 ]
+t: 28	 action: [ 0.425  0.047  0.061 -0.053  0.165  0.162 -1.007]
+t: 29	 action: [ 0.405  0.089  0.064 -0.052  0.157  0.161 -1.009]
+t: 30	 action: [ 0.396  0.034  0.037 -0.074  0.164  0.184 -1.   ]
+t: 31	 action: [ 0.354  0.085  0.043 -0.065  0.152  0.17  -1.036]
+t: 32	 action: [ 0.334  0.056  0.022 -0.084  0.168  0.203 -0.998]
+t: 33	 action: [ 0.303  0.098  0.024 -0.081  0.165  0.189 -1.032]
+t: 34	 action: [ 0.288  0.042  0.008 -0.085  0.185  0.211 -1.004]
+t: 35	 action: [ 0.284  0.073  0.015 -0.075  0.199  0.212 -1.004]
+t: 36	 action: [ 0.269  0.055 -0.006 -0.091  0.192  0.224 -0.998]
+t: 37	 action: [ 0.258  0.091  0.017 -0.081  0.208  0.227 -0.996]
+t: 38	 action: [ 2.246e-01  4.787e-02 -6.505e-04 -9.397e-02  1.922e-01  2.564e-01 -9.892e-01]
+t: 39	 action: [ 0.217  0.101 -0.007 -0.087  0.191  0.244 -1.031]
+t: 40	 action: [ 0.216  0.066 -0.012 -0.093  0.194  0.264 -0.987]
+t: 41	 action: [ 0.219  0.107 -0.004 -0.084  0.194  0.253 -1.018]
+[07-31 00:41:37|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.976 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=42: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.4306
+INFO:cosmos_policy.experiments.robot.robot_utils:t=42: Selected seed 195 with value = 0.4306
+Query 1/1: Action query time = 0.976 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4306
+t=42: Selected seed 195 with value = 0.4306
+t: 42	 action: [ 0.274  0.044  0.004 -0.091  0.138  0.208 -1.004]
+t: 43	 action: [ 0.262  0.084  0.001 -0.081  0.133  0.194 -1.004]
+t: 44	 action: [ 0.273  0.039  0.013 -0.095  0.118  0.215 -0.999]
+t: 45	 action: [ 0.27   0.085  0.019 -0.086  0.108  0.207 -1.007]
+t: 46	 action: [ 0.316  0.046  0.032 -0.1    0.104  0.228 -0.998]
+t: 47	 action: [ 0.314  0.073 -0.007 -0.095  0.09   0.201 -1.026]
+t: 48	 action: [ 0.337  0.042  0.032 -0.1    0.086  0.23  -0.997]
+t: 49	 action: [ 0.349  0.071  0.005 -0.1    0.081  0.215 -1.029]
+t: 50	 action: [ 0.31   0.022 -0.005 -0.095  0.084  0.235 -0.992]
+t: 51	 action: [ 3.306e-01  5.076e-02 -2.274e-04 -8.644e-02  7.866e-02  2.321e-01 -9.968e-01]
+t: 52	 action: [ 0.326  0.016 -0.031 -0.094  0.079  0.242 -0.988]
+t: 53	 action: [ 0.349  0.045 -0.011 -0.089  0.077  0.237 -0.992]
+t: 54	 action: [ 0.325  0.031 -0.016 -0.087  0.071  0.249 -0.988]
+t: 55	 action: [ 0.361  0.065 -0.03  -0.089  0.075  0.237 -1.019]
+t: 56	 action: [ 0.332  0.028 -0.058 -0.082  0.077  0.249 -0.988]
+t: 57	 action: [ 0.376  0.06  -0.073 -0.086  0.085  0.237 -1.018]
+[07-31 00:41:38|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.980 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=58: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.5134
+INFO:cosmos_policy.experiments.robot.robot_utils:t=58: Selected seed 195 with value = 0.5134
+Query 1/1: Action query time = 0.980 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5134
+t=58: Selected seed 195 with value = 0.5134
+t: 58	 action: [ 0.373 -0.011 -0.045 -0.064  0.003  0.231 -0.984]
+t: 59	 action: [ 0.366  0.021 -0.013 -0.076  0.01   0.215 -0.975]
+t: 60	 action: [ 0.389  0.007 -0.082 -0.063  0.008  0.243 -1.   ]
+t: 61	 action: [ 0.375  0.034 -0.028 -0.074  0.018  0.222 -1.013]
+t: 62	 action: [ 0.441 -0.02  -0.063 -0.065  0.024  0.244 -0.993]
+t: 63	 action: [ 0.394  0.008 -0.05  -0.065  0.01   0.219 -1.025]
+t: 64	 action: [ 0.457 -0.023 -0.109 -0.054  0.031  0.245 -1.008]
+t: 65	 action: [ 0.416  0.012 -0.09  -0.058  0.036  0.212 -1.041]
+t: 66	 action: [ 0.423 -0.049 -0.191 -0.043  0.06   0.238 -1.008]
+t: 67	 action: [ 0.418 -0.038 -0.166 -0.041  0.054  0.203 -1.015]
+t: 68	 action: [ 0.431 -0.035 -0.219 -0.042  0.068  0.234 -1.011]
+t: 69	 action: [ 0.443 -0.03  -0.188 -0.039  0.066  0.188 -1.01 ]
+t: 70	 action: [ 0.442 -0.083 -0.189 -0.038  0.097  0.23  -1.006]
+t: 71	 action: [ 0.429 -0.062 -0.152 -0.03   0.094  0.194 -1.043]
+t: 72	 action: [ 0.429 -0.086 -0.191 -0.029  0.103  0.215 -1.013]
+t: 73	 action: [ 0.402 -0.065 -0.167 -0.027  0.098  0.177 -1.035]
+[07-31 00:41:39|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.970 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=74: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.5903
+INFO:cosmos_policy.experiments.robot.robot_utils:t=74: Selected seed 195 with value = 0.5903
+Query 1/1: Action query time = 0.970 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5903
+t=74: Selected seed 195 with value = 0.5903
+t: 74	 action: [ 0.203 -0.228 -0.221 -0.016  0.165  0.143 -1.004]
+t: 75	 action: [ 2.341e-01 -2.894e-01 -1.745e-01 -7.702e-04  1.541e-01  1.095e-01 -1.015e+00]
+t: 76	 action: [ 0.204 -0.321 -0.245 -0.006  0.149  0.128 -0.999]
+t: 77	 action: [ 0.219 -0.346 -0.2    0.004  0.132  0.094 -1.024]
+t: 78	 action: [ 0.185 -0.421 -0.251  0.001  0.128  0.123 -0.997]
+t: 79	 action: [ 0.192 -0.428 -0.227  0.01   0.096  0.097 -1.046]
+t: 80	 action: [ 1.576e-01 -4.020e-01 -2.484e-01  4.044e-04  1.025e-01  1.079e-01 -9.975e-01]
+t: 81	 action: [ 0.129 -0.382 -0.244  0.009  0.075  0.082 -1.047]
+t: 82	 action: [ 1.067e-01 -4.226e-01 -1.950e-01 -3.292e-04  5.808e-02  9.550e-02 -9.946e-01]
+t: 83	 action: [ 0.097 -0.375 -0.2    0.004  0.051  0.068 -1.008]
+t: 84	 action: [ 0.05  -0.388 -0.192 -0.002  0.036  0.083 -0.992]
+t: 85	 action: [ 4.980e-02 -3.233e-01 -1.876e-01  4.001e-04  3.408e-02  5.898e-02 -1.013e+00]
+t: 86	 action: [-9.482e-05 -3.839e-01 -1.759e-01  3.232e-04  3.445e-02  7.769e-02 -9.898e-01]
+t: 87	 action: [ 0.011 -0.353 -0.179  0.005  0.025  0.054 -1.034]
+t: 88	 action: [-0.057 -0.332 -0.168 -0.001  0.022  0.068 -0.992]
+t: 89	 action: [-0.032 -0.303 -0.181  0.002  0.015  0.05  -1.032]
+[07-31 00:41:40|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.980 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=90: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.6395
+INFO:cosmos_policy.experiments.robot.robot_utils:t=90: Selected seed 195 with value = 0.6395
+Query 1/1: Action query time = 0.980 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6395
+t=90: Selected seed 195 with value = 0.6395
+t: 90	 action: [-1.782e-02 -3.223e-01 -1.888e-01 -5.267e-03  3.051e-04  3.440e-02 -9.922e-01]
+t: 91	 action: [-2.756e-03 -3.193e-01 -1.279e-01  4.264e-04  7.580e-03  3.988e-02 -1.011e+00]
+t: 92	 action: [-0.067 -0.327 -0.174 -0.009 -0.006  0.043 -0.992]
+t: 93	 action: [-0.067 -0.325 -0.115 -0.005  0.005  0.04  -1.016]
+t: 94	 action: [-1.099e-01 -3.586e-01 -1.818e-01 -2.382e-03 -7.902e-04  2.966e-02 -9.917e-01]
+t: 95	 action: [-0.16  -0.313 -0.157  0.006 -0.004  0.038 -1.045]
+t: 96	 action: [-0.216 -0.314 -0.223 -0.005 -0.008  0.045 -0.996]
+t: 97	 action: [-0.288 -0.279 -0.222  0.001 -0.012  0.042 -1.034]
+t: 98	 action: [-0.412 -0.269 -0.209 -0.03  -0.052  0.063 -0.986]
+t: 99	 action: [-0.433 -0.237 -0.247 -0.013 -0.057  0.061 -1.013]
+t: 100	 action: [-0.517 -0.21  -0.255 -0.034 -0.065  0.087 -0.977]
+t: 101	 action: [-0.505 -0.203 -0.283 -0.016 -0.065  0.079 -1.004]
+t: 102	 action: [-0.625 -0.195 -0.251 -0.009 -0.063  0.092 -0.965]
+t: 103	 action: [-6.040e-01 -1.796e-01 -2.076e-01 -1.027e-03 -5.552e-02  7.614e-02 -1.034e+00]
+t: 104	 action: [-0.602 -0.187 -0.222 -0.011 -0.066  0.107 -0.952]
+t: 105	 action: [-0.54  -0.156 -0.15  -0.006 -0.048  0.091 -1.021]
+[07-31 00:41:42|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.979 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=106: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.6967
+INFO:cosmos_policy.experiments.robot.robot_utils:t=106: Selected seed 195 with value = 0.6967
+Query 1/1: Action query time = 0.979 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6967
+t=106: Selected seed 195 with value = 0.6967
+t: 106	 action: [-0.197 -0.275 -0.209 -0.027 -0.075  0.094 -0.963]
+t: 107	 action: [-0.245 -0.261 -0.231 -0.009 -0.075  0.1   -0.984]
+t: 108	 action: [-0.353 -0.247 -0.183 -0.023 -0.1    0.101 -0.974]
+t: 109	 action: [-0.371 -0.256 -0.186 -0.008 -0.094  0.105 -0.997]
+t: 110	 action: [-0.371 -0.281 -0.176 -0.015 -0.102  0.108 -0.955]
+t: 111	 action: [-0.394 -0.247 -0.136 -0.009 -0.12   0.104 -1.018]
+t: 112	 action: [-0.44  -0.258 -0.127 -0.012 -0.12   0.124 -0.964]
+t: 113	 action: [-0.428 -0.229 -0.083 -0.009 -0.126  0.112 -1.031]
+t: 114	 action: [-0.357 -0.328 -0.023 -0.05  -0.124  0.15  -0.992]
+t: 115	 action: [-0.302 -0.309 -0.017 -0.022 -0.154  0.142 -1.001]
+t: 116	 action: [-0.331 -0.327  0.002 -0.047 -0.144  0.154 -0.994]
+t: 117	 action: [-0.291 -0.289  0.013 -0.018 -0.169  0.153 -0.995]
+t: 118	 action: [-0.371 -0.283  0.007 -0.018 -0.147  0.187 -0.979]
+t: 119	 action: [-0.307 -0.26   0.011 -0.007 -0.166  0.167 -1.018]
+t: 120	 action: [-0.333 -0.296 -0.002 -0.011 -0.171  0.19  -0.978]
+t: 121	 action: [-0.294 -0.26  -0.012 -0.002 -0.174  0.171 -1.022]
+[07-31 00:41:43|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.980 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=122: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.7905
+INFO:cosmos_policy.experiments.robot.robot_utils:t=122: Selected seed 195 with value = 0.7905
+Query 1/1: Action query time = 0.980 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7905
+t=122: Selected seed 195 with value = 0.7905
+t: 122	 action: [-0.293 -0.257 -0.193 -0.032 -0.086  0.096 -0.984]
+t: 123	 action: [-0.28  -0.314 -0.173 -0.02  -0.069  0.084 -0.998]
+t: 124	 action: [-0.352 -0.237 -0.155 -0.016 -0.097  0.112 -0.991]
+t: 125	 action: [-0.339 -0.324 -0.105 -0.006 -0.079  0.09  -0.989]
+t: 126	 action: [-0.327 -0.31  -0.134 -0.005 -0.084  0.102 -0.974]
+t: 127	 action: [-0.284 -0.316 -0.06   0.001 -0.067  0.082 -1.017]
+t: 128	 action: [-0.328 -0.339 -0.127  0.004 -0.089  0.112 -0.985]
+t: 129	 action: [-0.283 -0.344 -0.069  0.015 -0.071  0.084 -1.012]
+t: 130	 action: [-0.21  -0.453 -0.23   0.019 -0.087  0.146 -0.959]
+t: 131	 action: [-0.17  -0.446 -0.352  0.042 -0.091  0.114 -0.988]
+t: 132	 action: [-0.182 -0.434 -0.451  0.051 -0.082  0.132 -0.972]
+t: 133	 action: [-0.164 -0.408 -0.605  0.077 -0.083  0.09  -0.971]
+t: 134	 action: [-0.233 -0.325 -0.823  0.084 -0.082  0.139 -0.961]
+t: 135	 action: [-0.167 -0.269 -0.868  0.11  -0.058  0.102 -1.   ]
+t: 136	 action: [-0.159 -0.207 -0.978  0.096 -0.06   0.102 -0.977]
+t: 137	 action: [-0.132 -0.11  -0.998  0.114 -0.025  0.073 -1.009]
+[07-31 00:41:44|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.977 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=138: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.7608
+INFO:cosmos_policy.experiments.robot.robot_utils:t=138: Selected seed 195 with value = 0.7608
+Query 1/1: Action query time = 0.977 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7608
+t=138: Selected seed 195 with value = 0.7608
+t: 138	 action: [-0.233 -0.348 -0.117  0.012 -0.026  0.024 -1.005]
+t: 139	 action: [-0.202 -0.339 -0.16   0.027 -0.036  0.006 -1.023]
+t: 140	 action: [-0.216 -0.352 -0.194  0.022 -0.035  0.012 -1.004]
+t: 141	 action: [-0.176 -0.318 -0.213  0.033 -0.045 -0.003 -1.03 ]
+t: 142	 action: [-1.777e-01 -2.770e-01 -1.778e-01  3.453e-02 -2.043e-02 -3.193e-04 -9.980e-01]
+t: 143	 action: [-0.12  -0.265 -0.248  0.036 -0.036 -0.02  -1.055]
+t: 144	 action: [-0.104 -0.163 -0.24   0.034 -0.026 -0.011 -1.003]
+t: 145	 action: [-0.076 -0.207 -0.289  0.031 -0.036 -0.031 -1.058]
+t: 146	 action: [-0.086 -0.212 -0.319  0.047 -0.036 -0.025 -1.018]
+t: 147	 action: [-0.007 -0.167 -0.29   0.044 -0.045 -0.068 -1.032]
+t: 148	 action: [-0.051 -0.158 -0.316  0.039 -0.041 -0.058 -1.02 ]
+t: 149	 action: [ 0.017 -0.165 -0.253  0.035 -0.044 -0.113 -1.035]
+t: 150	 action: [-0.049 -0.011 -0.295  0.045 -0.03  -0.099 -1.014]
+t: 151	 action: [-0.02  -0.048 -0.178  0.036 -0.039 -0.161 -1.067]
+t: 152	 action: [-0.041  0.002 -0.238  0.029 -0.034 -0.115 -1.016]
+t: 153	 action: [-0.023 -0.084 -0.09   0.024 -0.044 -0.166 -1.078]
+[07-31 00:41:46|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.960 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=154: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9647
+INFO:cosmos_policy.experiments.robot.robot_utils:t=154: Selected seed 195 with value = 0.9647
+Query 1/1: Action query time = 0.960 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9647
+t=154: Selected seed 195 with value = 0.9647
+t: 154	 action: [-8.311e-02  5.368e-01 -7.836e-01  4.161e-02 -9.393e-05  2.355e-03 -9.917e-01]
+t: 155	 action: [-0.081  0.655 -0.868  0.032  0.003  0.005 -1.036]
+t: 156	 action: [-7.805e-02  7.533e-01 -8.105e-01  2.204e-02 -4.404e-04 -1.019e-03 -9.937e-01]
+t: 157	 action: [-5.306e-02  7.681e-01 -8.707e-01  1.873e-02  8.340e-05 -5.811e-03 -1.034e+00]
+t: 158	 action: [-1.191e-01  7.986e-01 -7.765e-01  1.257e-02  9.545e-03 -6.457e-04 -9.900e-01]
+t: 159	 action: [-0.087  0.771 -0.856  0.023 -0.002 -0.004 -1.06 ]
+t: 160	 action: [-0.103  0.876 -0.797  0.005  0.01  -0.003 -0.993]
+t: 161	 action: [-0.074  0.836 -0.847  0.016 -0.003 -0.014 -1.052]
+t: 162	 action: [-0.03   0.79  -0.771  0.017  0.008 -0.009 -0.989]
+t: 163	 action: [-0.011  0.788 -0.77   0.02   0.007 -0.042 -1.035]
+t: 164	 action: [-0.027  0.821 -0.756  0.004  0.001 -0.009 -0.999]
+t: 165	 action: [-0.002  0.78  -0.749  0.006  0.001 -0.025 -1.036]
+t: 166	 action: [-0.132  0.908 -0.761  0.002  0.002 -0.019 -0.991]
+t: 167	 action: [-0.076  0.842 -0.723  0.01  -0.005 -0.051 -1.066]
+t: 168	 action: [-0.127  0.874 -0.73  -0.007 -0.001 -0.02  -0.999]
+t: 169	 action: [-0.071  0.787 -0.688  0.002 -0.01  -0.031 -1.062]
+[07-31 00:41:47|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.972 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=170: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9987
+INFO:cosmos_policy.experiments.robot.robot_utils:t=170: Selected seed 195 with value = 0.9987
+WARNING:imageio_ffmpeg:IMAGEIO FFMPEG_WRITER WARNING: input image is not divisible by macro_block_size=16, resizing from (896, 284) to (896, 288) to ensure video compatibility with most codecs and players. To prevent resizing, make your input image divisible by the macro_block_size or set the macro_block_size to 1 (risking incompatibility).
+INFO:cosmos_policy.experiments.robot.robot_utils:Success: True
+INFO:cosmos_policy.experiments.robot.robot_utils:# episodes completed so far: 34
+INFO:cosmos_policy.experiments.robot.robot_utils:# successes: 17 (50.0%)
+
+
 68%|██████▊   | 34/50 [13:51<05:58, 22.40s/it]INFO:cosmos_policy.experiments.robot.robot_utils:
+Task: open the middle drawer of the cabinet
+INFO:cosmos_policy.experiments.robot.robot_utils:Starting episode 35...
+Query 1/1: Action query time = 0.972 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9987
+t=170: Selected seed 195 with value = 0.9987
+t: 170	 action: [-0.239  0.914 -0.763 -0.005 -0.022  0.009 -0.985]
+t: 171	 action: [-0.215  0.922 -0.755 -0.017 -0.018  0.012 -0.982]
+t: 172	 action: [-0.26   0.939 -0.754 -0.005 -0.017  0.01  -0.985]
+t: 173	 action: [-0.245  0.934 -0.741 -0.013 -0.019  0.009 -0.995]
+t: 174	 action: [-0.248  0.951 -0.731 -0.016 -0.01   0.007 -0.979]
+t: 175	 action: [-0.268  0.957 -0.747 -0.015 -0.012  0.016 -1.022]
+t: 176	 action: [-0.27   0.964 -0.723 -0.014 -0.005  0.013 -0.98 ]
+t: 177	 action: [-0.272  0.957 -0.723 -0.009 -0.012  0.012 -1.031]
+t: 178	 action: [-1.216e-01  9.407e-01 -6.361e-01  3.171e-03 -5.208e-04  6.045e-03 -1.001e+00]
+Saved rollout MP4 at path ./rollouts/None/2026_07_31-00_27_45--episode=34--success=True--task=open_the_middle_drawer_of_the_cabinet.mp4
+169 169 11 11
+Saved rollout MP4 at path ./rollouts/None/2026_07_31-00_27_45--with_future_img--episode=34--success=True--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: True
+# episodes completed so far: 34
+# successes: 17 (50.0%)
+
+Task: open the middle drawer of the cabinet
+Starting episode 35...
+[07-31 00:41:53|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.995 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=10: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.3503
+INFO:cosmos_policy.experiments.robot.robot_utils:t=10: Selected seed 195 with value = 0.3503
+Query 1/1: Action query time = 0.995 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3503
+t=10: Selected seed 195 with value = 0.3503
+t: 10	 action: [ 2.839e-01  4.851e-02  6.038e-03  1.162e-04  5.028e-02  1.294e-02 -1.006e+00]
+t: 11	 action: [ 0.445  0.097  0.054 -0.014  0.07   0.013 -0.997]
+t: 12	 action: [ 0.559  0.073  0.009 -0.008  0.069  0.025 -1.022]
+t: 13	 action: [ 0.673  0.104  0.06  -0.019  0.09   0.03  -1.013]
+t: 14	 action: [ 0.721  0.068  0.033 -0.02   0.077  0.028 -1.028]
+t: 15	 action: [ 0.766  0.119  0.042 -0.021  0.088  0.035 -1.046]
+t: 16	 action: [ 0.792  0.077  0.029 -0.025  0.081  0.063 -1.033]
+t: 17	 action: [ 0.805  0.116  0.03  -0.027  0.083  0.051 -1.048]
+t: 18	 action: [ 0.751  0.051  0.027 -0.024  0.038  0.12  -1.04 ]
+t: 19	 action: [ 0.768  0.046  0.031 -0.038  0.037  0.114 -1.032]
+t: 20	 action: [ 0.752  0.055  0.018 -0.035  0.03   0.138 -1.037]
+t: 21	 action: [ 0.752  0.071  0.021 -0.047  0.03   0.131 -1.03 ]
+t: 22	 action: [ 0.708  0.031  0.018 -0.041  0.028  0.16  -1.025]
+t: 23	 action: [ 0.669  0.057  0.009 -0.056  0.018  0.151 -1.052]
+t: 24	 action: [ 0.671  0.042  0.005 -0.06   0.026  0.182 -1.023]
+t: 25	 action: [ 0.614  0.099  0.01  -0.073  0.018  0.169 -1.048]
+[07-31 00:41:54|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.966 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=26: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.3897
+INFO:cosmos_policy.experiments.robot.robot_utils:t=26: Selected seed 195 with value = 0.3897
+Query 1/1: Action query time = 0.966 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3897
+t=26: Selected seed 195 with value = 0.3897
+t: 26	 action: [ 0.372  0.008 -0.026 -0.046  0.048  0.216 -1.004]
+t: 27	 action: [ 0.363  0.026 -0.017 -0.051  0.047  0.225 -0.993]
+t: 28	 action: [ 0.278  0.03  -0.056 -0.059  0.058  0.238 -0.999]
+t: 29	 action: [ 0.282  0.057 -0.046 -0.068  0.064  0.246 -0.992]
+t: 30	 action: [ 0.219  0.036 -0.089 -0.087  0.069  0.269 -1.   ]
+t: 31	 action: [ 0.182  0.074 -0.113 -0.087  0.068  0.26  -1.017]
+t: 32	 action: [ 0.177  0.053 -0.12  -0.097  0.085  0.286 -0.998]
+t: 33	 action: [ 0.157  0.087 -0.15  -0.101  0.096  0.273 -1.016]
+t: 34	 action: [ 0.107  0.033 -0.13  -0.078  0.112  0.279 -0.998]
+t: 35	 action: [ 0.143  0.026 -0.144 -0.08   0.124  0.256 -0.998]
+t: 36	 action: [ 0.129  0.03  -0.17  -0.081  0.13   0.275 -0.997]
+t: 37	 action: [ 0.171  0.012 -0.173 -0.086  0.142  0.255 -1.002]
+t: 38	 action: [ 0.136  0.012 -0.17  -0.088  0.134  0.281 -0.993]
+t: 39	 action: [ 0.152  0.038 -0.2   -0.086  0.128  0.254 -1.028]
+t: 40	 action: [ 0.134  0.005 -0.215 -0.079  0.147  0.268 -0.994]
+t: 41	 action: [ 0.145  0.016 -0.234 -0.087  0.139  0.244 -1.028]
+[07-31 00:41:55|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.986 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=42: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.4676
+INFO:cosmos_policy.experiments.robot.robot_utils:t=42: Selected seed 195 with value = 0.4676
+Query 1/1: Action query time = 0.986 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4676
+t=42: Selected seed 195 with value = 0.4676
+t: 42	 action: [ 0.115  0.046 -0.144 -0.089  0.15   0.284 -0.992]
+t: 43	 action: [ 0.129  0.065 -0.156 -0.084  0.15   0.279 -0.994]
+t: 44	 action: [ 0.122  0.049 -0.156 -0.084  0.154  0.287 -0.992]
+t: 45	 action: [ 0.153  0.063 -0.143 -0.079  0.152  0.272 -1.005]
+t: 46	 action: [ 0.159  0.042 -0.173 -0.091  0.159  0.288 -0.998]
+t: 47	 action: [ 0.179  0.054 -0.167 -0.083  0.161  0.271 -1.03 ]
+t: 48	 action: [ 0.176  0.039 -0.197 -0.083  0.164  0.28  -0.999]
+t: 49	 action: [ 0.204  0.046 -0.177 -0.079  0.168  0.259 -1.038]
+t: 50	 action: [ 0.182  0.006 -0.199 -0.06   0.179  0.262 -1.005]
+t: 51	 action: [ 2.075e-01 -2.099e-04 -2.291e-01 -4.623e-02  1.826e-01  2.428e-01 -1.013e+00]
+t: 52	 action: [ 0.221 -0.018 -0.197 -0.056  0.188  0.248 -1.007]
+t: 53	 action: [ 0.249 -0.026 -0.215 -0.044  0.191  0.222 -1.012]
+t: 54	 action: [ 0.228 -0.031 -0.173 -0.056  0.184  0.233 -1.001]
+t: 55	 action: [ 0.237 -0.048 -0.148 -0.047  0.182  0.208 -1.043]
+t: 56	 action: [ 0.245 -0.059 -0.177 -0.049  0.191  0.209 -1.005]
+t: 57	 action: [ 0.243 -0.075 -0.156 -0.044  0.188  0.191 -1.038]
+[07-31 00:41:57|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.978 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=58: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.5532
+INFO:cosmos_policy.experiments.robot.robot_utils:t=58: Selected seed 195 with value = 0.5532
+Query 1/1: Action query time = 0.978 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5532
+t=58: Selected seed 195 with value = 0.5532
+t: 58	 action: [ 0.173 -0.07  -0.106 -0.052  0.224  0.228 -1.001]
+t: 59	 action: [ 0.183 -0.077 -0.067 -0.034  0.214  0.21  -0.995]
+t: 60	 action: [ 0.184 -0.095 -0.049 -0.038  0.205  0.227 -1.006]
+t: 61	 action: [ 0.213 -0.111 -0.014 -0.022  0.189  0.199 -1.013]
+t: 62	 action: [ 0.222 -0.164 -0.019 -0.032  0.188  0.209 -1.008]
+t: 63	 action: [ 0.246 -0.163 -0.009 -0.015  0.163  0.189 -1.028]
+t: 64	 action: [ 0.231 -0.241 -0.021 -0.016  0.157  0.201 -1.01 ]
+t: 65	 action: [ 0.26  -0.223 -0.013 -0.008  0.132  0.179 -1.03 ]
+t: 66	 action: [ 0.21  -0.324 -0.049 -0.023  0.14   0.193 -1.023]
+t: 67	 action: [ 0.23  -0.31  -0.05   0.002  0.102  0.159 -1.021]
+t: 68	 action: [ 0.197 -0.373 -0.077  0.001  0.096  0.188 -1.019]
+t: 69	 action: [ 0.209 -0.35  -0.067  0.008  0.048  0.152 -1.018]
+t: 70	 action: [ 0.188 -0.437 -0.088  0.007  0.063  0.172 -1.016]
+t: 71	 action: [ 0.195 -0.433 -0.045  0.011  0.032  0.137 -1.032]
+t: 72	 action: [ 0.165 -0.446 -0.123  0.008  0.019  0.161 -1.015]
+t: 73	 action: [ 0.136 -0.432 -0.049  0.012  0.007  0.13  -1.026]
+[07-31 00:41:58|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.969 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=74: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.6335
+INFO:cosmos_policy.experiments.robot.robot_utils:t=74: Selected seed 195 with value = 0.6335
+Query 1/1: Action query time = 0.969 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6335
+t=74: Selected seed 195 with value = 0.6335
+t: 74	 action: [ 0.077 -0.344 -0.011 -0.015  0.039  0.138 -0.988]
+t: 75	 action: [ 0.065 -0.358  0.011 -0.004  0.018  0.127 -1.   ]
+t: 76	 action: [ 0.044 -0.374 -0.025  0.001  0.013  0.151 -0.986]
+t: 77	 action: [ 0.046 -0.359  0.015  0.003  0.004  0.126 -1.008]
+t: 78	 action: [-0.004 -0.381 -0.014  0.001  0.005  0.121 -0.987]
+t: 79	 action: [ 0.021 -0.414  0.006  0.009 -0.008  0.119 -1.023]
+t: 80	 action: [-2.541e-02 -3.719e-01 -2.932e-02  1.716e-04 -1.703e-02  1.201e-01 -9.858e-01]
+t: 81	 action: [-0.01  -0.374 -0.011  0.008 -0.025  0.108 -1.018]
+t: 82	 action: [-0.045 -0.416 -0.004 -0.01  -0.044  0.107 -1.004]
+t: 83	 action: [-0.061 -0.364  0.014  0.007 -0.057  0.084 -1.013]
+t: 84	 action: [-0.109 -0.409 -0.035  0.001 -0.066  0.098 -0.999]
+t: 85	 action: [-0.125 -0.341 -0.028  0.01  -0.074  0.077 -1.004]
+t: 86	 action: [-0.165 -0.453 -0.055  0.005 -0.082  0.086 -1.001]
+t: 87	 action: [-0.191 -0.393 -0.057  0.016 -0.082  0.072 -1.024]
+t: 88	 action: [-0.208 -0.428 -0.072  0.005 -0.099  0.081 -0.997]
+t: 89	 action: [-0.234 -0.354 -0.085  0.019 -0.089  0.07  -1.022]
+[07-31 00:41:59|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.982 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=90: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.6977
+INFO:cosmos_policy.experiments.robot.robot_utils:t=90: Selected seed 195 with value = 0.6977
+Query 1/1: Action query time = 0.982 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6977
+t=90: Selected seed 195 with value = 0.6977
+t: 90	 action: [ 0.04  -0.256 -0.057 -0.005 -0.007  0.055 -0.983]
+t: 91	 action: [ 4.340e-02 -2.585e-01 -4.251e-02 -6.293e-04 -1.688e-02  5.815e-02 -9.828e-01]
+t: 92	 action: [-0.032 -0.276 -0.085 -0.002 -0.017  0.072 -0.984]
+t: 93	 action: [-0.015 -0.283 -0.07   0.005 -0.02   0.066 -1.004]
+t: 94	 action: [-0.069 -0.277 -0.101 -0.002 -0.015  0.067 -0.988]
+t: 95	 action: [-0.092 -0.3   -0.094  0.007 -0.031  0.066 -1.024]
+t: 96	 action: [-1.629e-01 -3.078e-01 -1.371e-01 -2.831e-04 -2.161e-02  8.528e-02 -9.889e-01]
+t: 97	 action: [-0.201 -0.298 -0.154  0.011 -0.03   0.072 -1.027]
+t: 98	 action: [-0.228 -0.388 -0.034 -0.007 -0.034  0.096 -0.992]
+t: 99	 action: [-0.282 -0.308 -0.097  0.004 -0.04   0.084 -1.011]
+t: 100	 action: [-0.343 -0.388 -0.067 -0.012 -0.054  0.11  -0.983]
+t: 101	 action: [-0.358 -0.286 -0.128  0.003 -0.057  0.1   -1.003]
+t: 102	 action: [-0.46  -0.336 -0.111  0.002 -0.062  0.115 -0.991]
+t: 103	 action: [-0.461 -0.284 -0.16   0.01  -0.069  0.095 -1.034]
+t: 104	 action: [-5.361e-01 -3.013e-01 -1.061e-01 -2.750e-04 -8.814e-02  1.293e-01 -9.786e-01]
+t: 105	 action: [-0.51  -0.247 -0.14   0.009 -0.079  0.11  -1.028]
+[07-31 00:42:01|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.991 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=106: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.7469
+INFO:cosmos_policy.experiments.robot.robot_utils:t=106: Selected seed 195 with value = 0.7469
+Query 1/1: Action query time = 0.991 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7469
+t=106: Selected seed 195 with value = 0.7469
+t: 106	 action: [-0.089 -0.314 -0.183 -0.006  0.005 -0.019 -0.999]
+t: 107	 action: [-0.043 -0.368 -0.171  0.006 -0.003 -0.03  -1.022]
+t: 108	 action: [-0.132 -0.326 -0.26   0.003 -0.01  -0.031 -1.   ]
+t: 109	 action: [-0.109 -0.359 -0.233  0.015 -0.008 -0.034 -1.021]
+t: 110	 action: [-0.121 -0.343 -0.259  0.016  0.006 -0.02  -0.997]
+t: 111	 action: [-0.172 -0.31  -0.284  0.032 -0.005 -0.028 -1.054]
+t: 112	 action: [-1.560e-01 -3.099e-01 -3.473e-01  1.401e-02 -6.158e-04 -2.133e-02 -9.958e-01]
+t: 113	 action: [-0.202 -0.273 -0.382  0.03  -0.004 -0.031 -1.048]
+t: 114	 action: [-0.15  -0.367 -0.328  0.014 -0.02   0.012 -1.004]
+t: 115	 action: [-0.114 -0.353 -0.374  0.024 -0.02   0.01  -1.032]
+t: 116	 action: [-0.148 -0.347 -0.465  0.017 -0.025  0.013 -1.012]
+t: 117	 action: [-0.105 -0.306 -0.526  0.021 -0.025  0.013 -1.032]
+t: 118	 action: [-0.13  -0.207 -0.789  0.022 -0.023  0.007 -1.005]
+t: 119	 action: [-0.134 -0.132 -0.738  0.034 -0.02   0.012 -1.051]
+t: 120	 action: [-0.117 -0.121 -0.91   0.015 -0.018  0.009 -1.009]
+t: 121	 action: [-0.133 -0.045 -0.823  0.024 -0.011  0.019 -1.06 ]
+[07-31 00:42:02|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.967 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=122: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.7140
+INFO:cosmos_policy.experiments.robot.robot_utils:t=122: Selected seed 195 with value = 0.7140
+Query 1/1: Action query time = 0.967 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7140
+t=122: Selected seed 195 with value = 0.7140
+t: 122	 action: [ 0.014 -0.209 -0.043 -0.009  0.01  -0.012 -1.008]
+t: 123	 action: [ 0.029 -0.187  0.019 -0.004  0.006 -0.023 -1.018]
+t: 124	 action: [-0.04  -0.249 -0.049 -0.006  0.005 -0.014 -1.003]
+t: 125	 action: [ 0.002 -0.228  0.003  0.005  0.006 -0.028 -1.025]
+t: 126	 action: [-0.082 -0.24  -0.042  0.002  0.003 -0.016 -0.998]
+t: 127	 action: [-0.039 -0.221 -0.014  0.011  0.002 -0.022 -1.046]
+t: 128	 action: [-0.138 -0.289 -0.068  0.007  0.005 -0.01  -0.994]
+t: 129	 action: [-0.105 -0.242 -0.043  0.016  0.002 -0.022 -1.044]
+t: 130	 action: [-0.142 -0.389 -0.085  0.004 -0.016  0.014 -0.995]
+t: 131	 action: [-0.179 -0.326 -0.07   0.019 -0.013  0.01  -1.025]
+t: 132	 action: [-0.252 -0.416 -0.192  0.007 -0.034  0.025 -0.989]
+t: 133	 action: [-0.274 -0.343 -0.177  0.018 -0.036  0.03  -1.021]
+t: 134	 action: [-0.395 -0.396 -0.216  0.011 -0.042  0.032 -0.984]
+t: 135	 action: [-0.417 -0.294 -0.277  0.026 -0.045  0.034 -1.043]
+t: 136	 action: [-0.494 -0.385 -0.334  0.013 -0.055  0.061 -0.975]
+t: 137	 action: [-0.493 -0.264 -0.409  0.027 -0.056  0.059 -1.043]
+[07-31 00:42:03|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.966 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=138: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.7453
+INFO:cosmos_policy.experiments.robot.robot_utils:t=138: Selected seed 195 with value = 0.7453
+Query 1/1: Action query time = 0.966 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7453
+t=138: Selected seed 195 with value = 0.7453
+t: 138	 action: [-0.084 -0.335 -0.112  0.002 -0.01  -0.025 -1.002]
+t: 139	 action: [-0.024 -0.361 -0.088  0.012 -0.02  -0.043 -1.021]
+t: 140	 action: [-0.126 -0.335 -0.162  0.007 -0.021 -0.037 -1.002]
+t: 141	 action: [-0.081 -0.351 -0.13   0.016 -0.02  -0.046 -1.027]
+t: 142	 action: [-0.128 -0.314 -0.153  0.012 -0.006 -0.038 -0.998]
+t: 143	 action: [-0.137 -0.302 -0.161  0.027 -0.015 -0.045 -1.055]
+t: 144	 action: [-0.156 -0.287 -0.224  0.013 -0.005 -0.035 -0.997]
+t: 145	 action: [-0.172 -0.277 -0.258  0.024 -0.007 -0.046 -1.05 ]
+t: 146	 action: [-0.202 -0.375 -0.253  0.024 -0.018  0.002 -1.009]
+t: 147	 action: [-0.178 -0.36  -0.271  0.029 -0.021 -0.006 -1.035]
+t: 148	 action: [-0.226 -0.371 -0.385  0.021 -0.02   0.005 -1.015]
+t: 149	 action: [-1.971e-01 -3.262e-01 -4.484e-01  2.365e-02 -2.620e-02  7.551e-04 -1.032e+00]
+t: 150	 action: [-0.207 -0.264 -0.648  0.028 -0.019 -0.001 -1.008]
+t: 151	 action: [-0.216 -0.193 -0.656  0.036 -0.02  -0.006 -1.046]
+t: 152	 action: [-2.127e-01 -1.990e-01 -8.569e-01  1.765e-02 -1.487e-02  5.999e-04 -1.007e+00]
+t: 153	 action: [-0.22  -0.115 -0.809  0.025 -0.01   0.004 -1.054]
+[07-31 00:42:04|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.971 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=154: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.7149
+INFO:cosmos_policy.experiments.robot.robot_utils:t=154: Selected seed 195 with value = 0.7149
+Query 1/1: Action query time = 0.971 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7149
+t=154: Selected seed 195 with value = 0.7149
+t: 154	 action: [-0.05  -0.268  0.001 -0.004 -0.008 -0.01  -1.004]
+t: 155	 action: [-0.005 -0.229  0.036  0.002 -0.005 -0.015 -1.014]
+t: 156	 action: [-0.1   -0.268 -0.038 -0.003 -0.009 -0.007 -0.996]
+t: 157	 action: [-5.050e-02 -2.396e-01  4.421e-03  7.242e-03 -8.537e-05 -1.737e-02 -1.022e+00]
+t: 158	 action: [-0.131 -0.221 -0.021  0.002 -0.006 -0.009 -0.997]
+t: 159	 action: [-9.745e-02 -2.019e-01 -2.506e-02  1.360e-02 -7.035e-04 -1.037e-02 -1.048e+00]
+t: 160	 action: [-0.171 -0.239 -0.068  0.005  0.002 -0.004 -0.989]
+t: 161	 action: [-0.144 -0.203 -0.065  0.016  0.003 -0.01  -1.045]
+t: 162	 action: [-0.164 -0.355 -0.152  0.01  -0.009  0.014 -0.996]
+t: 163	 action: [-0.178 -0.313 -0.103  0.024 -0.006  0.015 -1.026]
+t: 164	 action: [-0.261 -0.396 -0.275  0.014 -0.017  0.024 -0.992]
+t: 165	 action: [-0.275 -0.335 -0.226  0.021 -0.017  0.033 -1.023]
+t: 166	 action: [-0.396 -0.349 -0.298  0.015 -0.022  0.029 -0.995]
+t: 167	 action: [-0.426 -0.259 -0.325  0.027 -0.02   0.033 -1.047]
+t: 168	 action: [-0.504 -0.349 -0.45   0.015 -0.025  0.053 -0.985]
+t: 169	 action: [-0.517 -0.235 -0.49   0.027 -0.021  0.054 -1.047]
+[07-31 00:42:06|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.991 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=170: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.7539
+INFO:cosmos_policy.experiments.robot.robot_utils:t=170: Selected seed 195 with value = 0.7539
+Query 1/1: Action query time = 0.991 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7539
+t=170: Selected seed 195 with value = 0.7539
+t: 170	 action: [-0.003 -0.261 -0.07  -0.007 -0.004 -0.023 -1.005]
+t: 171	 action: [ 0.037 -0.297 -0.042  0.001 -0.008 -0.035 -1.019]
+t: 172	 action: [-0.049 -0.291 -0.12   0.001 -0.012 -0.037 -1.008]
+t: 173	 action: [-0.011 -0.313 -0.084  0.01  -0.011 -0.039 -1.026]
+t: 174	 action: [-0.066 -0.283 -0.11   0.008  0.004 -0.031 -1.009]
+t: 175	 action: [-0.085 -0.268 -0.14   0.021 -0.008 -0.034 -1.056]
+t: 176	 action: [-0.104 -0.268 -0.226  0.007  0.003 -0.032 -1.008]
+t: 177	 action: [-0.131 -0.241 -0.287  0.02  -0.002 -0.036 -1.051]
+t: 178	 action: [-0.157 -0.347 -0.211  0.021 -0.009 -0.007 -1.018]
+t: 179	 action: [-0.13  -0.327 -0.249  0.026 -0.015 -0.012 -1.04 ]
+t: 180	 action: [-1.654e-01 -3.230e-01 -3.721e-01  2.195e-02 -1.270e-02 -6.566e-05 -1.023e+00]
+t: 181	 action: [-0.142 -0.283 -0.431  0.022 -0.017 -0.003 -1.032]
+t: 182	 action: [-0.162 -0.225 -0.66   0.029 -0.009 -0.003 -1.016]
+t: 183	 action: [-0.175 -0.168 -0.673  0.034 -0.007 -0.006 -1.048]
+t: 184	 action: [-0.169 -0.169 -0.83   0.018 -0.005 -0.002 -1.015]
+t: 185	 action: [-0.177 -0.096 -0.78   0.024  0.001  0.005 -1.051]
+[07-31 00:42:07|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.976 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=186: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.6956
+INFO:cosmos_policy.experiments.robot.robot_utils:t=186: Selected seed 195 with value = 0.6956
+Query 1/1: Action query time = 0.976 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6956
+t=186: Selected seed 195 with value = 0.6956
+t: 186	 action: [-0.041 -0.227 -0.007 -0.005 -0.002 -0.011 -1.   ]
+t: 187	 action: [-8.461e-03 -1.820e-01  1.670e-02 -8.634e-04 -1.436e-03 -1.280e-02 -1.004e+00]
+t: 188	 action: [-0.099 -0.223 -0.034 -0.003 -0.001 -0.008 -0.987]
+t: 189	 action: [-5.810e-02 -1.830e-01 -8.743e-03  5.855e-03  5.824e-04 -1.394e-02 -1.013e+00]
+t: 190	 action: [-1.299e-01 -1.754e-01 -2.315e-02  5.485e-04 -2.337e-03 -7.684e-03 -1.004e+00]
+t: 191	 action: [-0.129 -0.153 -0.03   0.011 -0.002 -0.007 -1.045]
+t: 192	 action: [-0.172 -0.186 -0.057  0.003  0.004 -0.002 -0.99 ]
+t: 193	 action: [-0.165 -0.15  -0.062  0.014  0.002 -0.003 -1.042]
+t: 194	 action: [-0.157 -0.324 -0.112  0.009 -0.006  0.013 -0.998]
+t: 195	 action: [-0.16  -0.295 -0.069  0.024 -0.003  0.013 -1.022]
+t: 196	 action: [-0.255 -0.385 -0.221  0.011 -0.012  0.021 -0.993]
+t: 197	 action: [-0.252 -0.338 -0.174  0.021 -0.011  0.03  -1.018]
+t: 198	 action: [-0.36  -0.352 -0.259  0.007 -0.019  0.028 -1.004]
+t: 199	 action: [-0.403 -0.271 -0.285  0.027 -0.013  0.033 -1.046]
+t: 200	 action: [-0.453 -0.401 -0.411  0.004 -0.02   0.052 -0.993]
+t: 201	 action: [-0.483 -0.275 -0.442  0.026 -0.015  0.052 -1.045]
+[07-31 00:42:08|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.988 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=202: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.7601
+INFO:cosmos_policy.experiments.robot.robot_utils:t=202: Selected seed 195 with value = 0.7601
+Query 1/1: Action query time = 0.988 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7601
+t=202: Selected seed 195 with value = 0.7601
+t: 202	 action: [-0.011 -0.207 -0.083 -0.009 -0.004 -0.019 -0.999]
+t: 203	 action: [ 3.122e-02 -2.515e-01 -6.456e-02 -2.512e-04 -6.947e-03 -2.689e-02 -1.015e+00]
+t: 204	 action: [-5.113e-02 -2.536e-01 -1.252e-01  5.130e-04 -7.299e-03 -3.419e-02 -9.997e-01]
+t: 205	 action: [-0.009 -0.273 -0.092  0.008 -0.005 -0.03  -1.023]
+t: 206	 action: [-0.059 -0.247 -0.104  0.005  0.011 -0.021 -1.007]
+t: 207	 action: [-0.08  -0.231 -0.138  0.018 -0.002 -0.022 -1.057]
+t: 208	 action: [-0.091 -0.247 -0.219  0.004  0.013 -0.023 -1.002]
+t: 209	 action: [-0.114 -0.205 -0.284  0.018  0.003 -0.024 -1.048]
+t: 210	 action: [-0.129 -0.332 -0.178  0.019 -0.004 -0.007 -1.018]
+t: 211	 action: [-0.096 -0.314 -0.221  0.024 -0.004 -0.008 -1.04 ]
+t: 212	 action: [-1.314e-01 -3.009e-01 -3.378e-01  1.962e-02 -7.066e-03  3.637e-04 -1.021e+00]
+t: 213	 action: [-1.112e-01 -2.628e-01 -3.853e-01  1.938e-02 -5.663e-03  1.668e-05 -1.032e+00]
+t: 214	 action: [-0.146 -0.228 -0.624  0.025 -0.004 -0.002 -1.017]
+t: 215	 action: [-1.661e-01 -1.615e-01 -6.433e-01  2.964e-02 -3.477e-03 -3.449e-04 -1.047e+00]
+t: 216	 action: [-0.149 -0.17  -0.803  0.015 -0.001 -0.001 -1.012]
+t: 217	 action: [-0.167 -0.091 -0.753  0.02   0.002  0.009 -1.049]
+[07-31 00:42:09|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.978 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=218: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.7009
+INFO:cosmos_policy.experiments.robot.robot_utils:t=218: Selected seed 195 with value = 0.7009
+Query 1/1: Action query time = 0.978 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7009
+t=218: Selected seed 195 with value = 0.7009
+t: 218	 action: [-0.1   -0.231 -0.045 -0.002 -0.014 -0.007 -0.997]
+t: 219	 action: [-0.078 -0.189 -0.022  0.004 -0.013 -0.008 -0.997]
+t: 220	 action: [-0.155 -0.207 -0.063 -0.001 -0.011 -0.003 -0.985]
+t: 221	 action: [-0.125 -0.182 -0.043  0.01  -0.006 -0.009 -1.009]
+t: 222	 action: [-0.177 -0.168 -0.069  0.002 -0.01  -0.004 -1.002]
+t: 223	 action: [-0.19  -0.138 -0.079  0.016 -0.01   0.001 -1.044]
+t: 224	 action: [-2.135e-01 -1.722e-01 -8.886e-02  3.920e-03 -2.445e-03  9.726e-05 -9.891e-01]
+t: 225	 action: [-2.118e-01 -1.391e-01 -1.004e-01  1.780e-02 -2.580e-05  4.239e-03 -1.041e+00]
+t: 226	 action: [-0.169 -0.309 -0.117  0.012 -0.007  0.013 -0.994]
+t: 227	 action: [-0.159 -0.294 -0.067  0.028 -0.002  0.014 -1.018]
+t: 228	 action: [-0.257 -0.381 -0.218  0.015 -0.012  0.02  -0.991]
+t: 229	 action: [-0.231 -0.343 -0.158  0.025 -0.008  0.028 -1.015]
+t: 230	 action: [-0.343 -0.35  -0.25   0.009 -0.017  0.028 -1.004]
+t: 231	 action: [-0.378 -0.278 -0.273  0.03  -0.01   0.032 -1.045]
+t: 232	 action: [-0.411 -0.439 -0.388  0.007 -0.018  0.048 -0.994]
+t: 233	 action: [-0.435 -0.303 -0.413  0.029 -0.01   0.049 -1.046]
+[07-31 00:42:11|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.974 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=234: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.7628
+INFO:cosmos_policy.experiments.robot.robot_utils:t=234: Selected seed 195 with value = 0.7628
+Query 1/1: Action query time = 0.974 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7628
+t=234: Selected seed 195 with value = 0.7628
+t: 234	 action: [-5.376e-03 -1.539e-01 -7.679e-02 -1.317e-02 -1.008e-05 -8.936e-03 -9.951e-01]
+t: 235	 action: [ 0.032 -0.213 -0.055 -0.003 -0.004 -0.018 -1.014]
+t: 236	 action: [-0.04  -0.222 -0.112 -0.002 -0.003 -0.024 -0.993]
+t: 237	 action: [ 0.004 -0.241 -0.069  0.005 -0.002 -0.022 -1.021]
+t: 238	 action: [-0.042 -0.229 -0.072  0.004  0.014 -0.01  -1.005]
+t: 239	 action: [-0.064 -0.21  -0.098  0.017 -0.001 -0.012 -1.053]
+t: 240	 action: [-0.071 -0.245 -0.186  0.002  0.016 -0.014 -0.997]
+t: 241	 action: [-0.087 -0.185 -0.238  0.017  0.003 -0.013 -1.046]
+t: 242	 action: [-0.089 -0.317 -0.141  0.015 -0.001 -0.006 -1.017]
+t: 243	 action: [-0.047 -0.295 -0.18   0.021  0.001 -0.004 -1.037]
+t: 244	 action: [-0.087 -0.29  -0.283  0.016 -0.004  0.002 -1.018]
+t: 245	 action: [-0.061 -0.251 -0.338  0.017  0.002  0.003 -1.028]
+t: 246	 action: [-1.006e-01 -2.260e-01 -5.642e-01  2.073e-02 -1.913e-03 -2.280e-04 -1.016e+00]
+t: 247	 action: [-1.213e-01 -1.571e-01 -5.888e-01  2.772e-02 -8.359e-04  5.272e-03 -1.043e+00]
+t: 248	 action: [-9.736e-02 -1.602e-01 -7.616e-01  1.421e-02  1.509e-03 -5.645e-04 -1.011e+00]
+t: 249	 action: [-0.121 -0.09  -0.718  0.02   0.004  0.015 -1.045]
+[07-31 00:42:12|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.983 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=250: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.7048
+INFO:cosmos_policy.experiments.robot.robot_utils:t=250: Selected seed 195 with value = 0.7048
+Query 1/1: Action query time = 0.983 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7048
+t=250: Selected seed 195 with value = 0.7048
+t: 250	 action: [-0.133 -0.214 -0.092 -0.003 -0.02  -0.004 -0.999]
+t: 251	 action: [-0.126 -0.178 -0.072  0.004 -0.021 -0.005 -0.995]
+t: 252	 action: [-1.885e-01 -1.785e-01 -9.169e-02 -1.843e-03 -1.687e-02 -1.934e-04 -9.895e-01]
+t: 253	 action: [-0.167 -0.171 -0.072  0.01  -0.011 -0.005 -1.004]
+t: 254	 action: [-0.196 -0.143 -0.11   0.002 -0.016 -0.002 -1.004]
+t: 255	 action: [-0.218 -0.126 -0.108  0.016 -0.016  0.005 -1.039]
+t: 256	 action: [-0.228 -0.151 -0.112  0.004 -0.007  0.003 -0.993]
+t: 257	 action: [-0.232 -0.135 -0.113  0.02  -0.001  0.009 -1.037]
+t: 258	 action: [-0.169 -0.296 -0.098  0.013 -0.008  0.013 -0.996]
+t: 259	 action: [-0.148 -0.284 -0.047  0.026 -0.001  0.012 -1.012]
+t: 260	 action: [-0.238 -0.371 -0.191  0.016 -0.012  0.018 -0.994]
+t: 261	 action: [-0.204 -0.333 -0.132  0.024 -0.005  0.024 -1.011]
+t: 262	 action: [-0.302 -0.338 -0.227  0.009 -0.017  0.024 -1.006]
+t: 263	 action: [-0.339 -0.279 -0.243  0.029 -0.009  0.028 -1.043]
+t: 264	 action: [-0.351 -0.422 -0.365  0.006 -0.016  0.041 -0.999]
+t: 265	 action: [-0.383 -0.298 -0.377  0.027 -0.008  0.041 -1.043]
+[07-31 00:42:13|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.955 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=266: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.7596
+INFO:cosmos_policy.experiments.robot.robot_utils:t=266: Selected seed 195 with value = 0.7596
+Query 1/1: Action query time = 0.955 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7596
+t=266: Selected seed 195 with value = 0.7596
+t: 266	 action: [-2.408e-02 -1.461e-01 -5.093e-02 -1.311e-02 -9.534e-04 -5.903e-03 -9.901e-01]
+t: 267	 action: [ 0.018 -0.212 -0.032 -0.003 -0.005 -0.014 -1.012]
+t: 268	 action: [-0.058 -0.218 -0.077 -0.002 -0.002 -0.02  -0.987]
+t: 269	 action: [-0.02  -0.232 -0.032  0.004 -0.001 -0.018 -1.017]
+t: 270	 action: [-0.057 -0.215 -0.043  0.004  0.015 -0.008 -1.   ]
+t: 271	 action: [-7.630e-02 -2.163e-01 -6.724e-02  1.689e-02  4.448e-04 -7.838e-03 -1.050e+00]
+t: 272	 action: [-0.076 -0.236 -0.136  0.002  0.019 -0.011 -0.991]
+t: 273	 action: [-0.092 -0.189 -0.191  0.017  0.005 -0.009 -1.042]
+t: 274	 action: [-0.083 -0.33  -0.124  0.017  0.003 -0.004 -1.012]
+t: 275	 action: [-0.04  -0.296 -0.139  0.02   0.006 -0.003 -1.034]
+t: 276	 action: [-7.794e-02 -3.122e-01 -2.459e-01  1.753e-02 -1.938e-04  2.168e-03 -1.011e+00]
+t: 277	 action: [-0.048 -0.253 -0.279  0.015  0.007  0.005 -1.025]
+t: 278	 action: [-8.905e-02 -2.352e-01 -4.868e-01  2.072e-02  2.513e-03 -3.806e-04 -1.011e+00]
+t: 279	 action: [-0.099 -0.158 -0.546  0.025  0.002  0.006 -1.041]
+t: 280	 action: [-8.184e-02 -1.666e-01 -6.997e-01  1.366e-02  5.486e-03 -2.506e-04 -1.004e+00]
+t: 281	 action: [-0.096 -0.087 -0.678  0.017  0.005  0.016 -1.043]
+[07-31 00:42:15|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.973 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=282: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.7016
+INFO:cosmos_policy.experiments.robot.robot_utils:t=282: Selected seed 195 with value = 0.7016
+Query 1/1: Action query time = 0.973 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7016
+t=282: Selected seed 195 with value = 0.7016
+t: 282	 action: [-0.148 -0.2   -0.118 -0.003 -0.023 -0.002 -0.997]
+t: 283	 action: [-0.159 -0.168 -0.097  0.005 -0.024 -0.003 -0.993]
+t: 284	 action: [-0.201 -0.167 -0.118 -0.002 -0.019  0.003 -0.99 ]
+t: 285	 action: [-1.888e-01 -1.688e-01 -9.048e-02  1.002e-02 -1.329e-02 -7.780e-04 -1.003e+00]
+t: 286	 action: [-2.022e-01 -1.226e-01 -1.398e-01  2.080e-03 -1.801e-02 -3.328e-04 -1.004e+00]
+t: 287	 action: [-0.239 -0.117 -0.129  0.017 -0.017  0.009 -1.039]
+t: 288	 action: [-0.235 -0.152 -0.139  0.004 -0.009  0.008 -0.995]
+t: 289	 action: [-2.470e-01 -1.437e-01 -1.247e-01  2.016e-02 -9.935e-04  1.339e-02 -1.037e+00]
+t: 290	 action: [-0.167 -0.286 -0.088  0.01  -0.01   0.012 -0.995]
+t: 291	 action: [-1.409e-01 -2.743e-01 -2.540e-02  2.212e-02  2.158e-04  1.001e-02 -1.009e+00]
+t: 292	 action: [-0.224 -0.356 -0.17   0.012 -0.012  0.016 -0.993]
+t: 293	 action: [-0.183 -0.322 -0.092  0.02  -0.003  0.019 -1.01 ]
+t: 294	 action: [-0.275 -0.335 -0.205  0.007 -0.015  0.02  -1.006]
+t: 295	 action: [-0.31  -0.285 -0.215  0.025 -0.008  0.024 -1.042]
+t: 296	 action: [-0.318 -0.4   -0.325  0.004 -0.013  0.033 -0.999]
+t: 297	 action: [-0.341 -0.302 -0.33   0.023 -0.005  0.033 -1.043]
+[07-31 00:42:16|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.971 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=298: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.7538
+INFO:cosmos_policy.experiments.robot.robot_utils:t=298: Selected seed 195 with value = 0.7538
+WARNING:imageio_ffmpeg:IMAGEIO FFMPEG_WRITER WARNING: input image is not divisible by macro_block_size=16, resizing from (896, 284) to (896, 288) to ensure video compatibility with most codecs and players. To prevent resizing, make your input image divisible by the macro_block_size or set the macro_block_size to 1 (risking incompatibility).
+INFO:cosmos_policy.experiments.robot.robot_utils:Success: False
+INFO:cosmos_policy.experiments.robot.robot_utils:# episodes completed so far: 35
+INFO:cosmos_policy.experiments.robot.robot_utils:# successes: 17 (48.6%)
+
+
 70%|███████   | 35/50 [14:22<06:14, 24.99s/it]INFO:cosmos_policy.experiments.robot.robot_utils:
+Task: open the middle drawer of the cabinet
+INFO:cosmos_policy.experiments.robot.robot_utils:Starting episode 36...
+Query 1/1: Action query time = 0.971 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7538
+t=298: Selected seed 195 with value = 0.7538
+t: 298	 action: [-3.933e-02 -1.299e-01 -3.467e-02 -1.174e-02 -4.045e-04 -3.084e-03 -9.866e-01]
+t: 299	 action: [ 0.003 -0.214 -0.017 -0.002 -0.004 -0.009 -1.011]
+t: 300	 action: [-6.946e-02 -2.053e-01 -6.097e-02 -8.899e-04 -8.386e-04 -1.639e-02 -9.847e-01]
+t: 301	 action: [-3.242e-02 -2.298e-01 -1.513e-02  5.524e-03 -3.147e-04 -1.296e-02 -1.015e+00]
+t: 302	 action: [-0.056 -0.197 -0.043  0.003  0.016 -0.005 -0.998]
+t: 303	 action: [-0.081 -0.223 -0.074  0.016  0.002 -0.002 -1.05 ]
+t: 304	 action: [-0.072 -0.239 -0.127  0.003  0.02  -0.009 -0.987]
+t: 305	 action: [-0.084 -0.197 -0.189  0.019  0.007 -0.005 -1.041]
+t: 306	 action: [-0.068 -0.328 -0.108  0.017  0.004 -0.001 -1.008]
+t: 307	 action: [-2.670e-02 -3.042e-01 -9.882e-02  1.787e-02  7.281e-03 -2.343e-04 -1.030e+00]
+t: 308	 action: [-0.064 -0.325 -0.205  0.017  0.002  0.003 -1.006]
+t: 309	 action: [-0.03  -0.262 -0.211  0.014  0.01   0.006 -1.021]
+Saved rollout MP4 at path ./rollouts/None/2026_07_31-00_27_45--episode=35--success=False--task=open_the_middle_drawer_of_the_cabinet.mp4
+300 300 19 19
+Saved rollout MP4 at path ./rollouts/None/2026_07_31-00_27_45--with_future_img--episode=35--success=False--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: False
+# episodes completed so far: 35
+# successes: 17 (48.6%)
+
+Task: open the middle drawer of the cabinet
+Starting episode 36...
+[07-31 00:42:24|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.989 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=10: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.3487
+INFO:cosmos_policy.experiments.robot.robot_utils:t=10: Selected seed 195 with value = 0.3487
+Query 1/1: Action query time = 0.989 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3487
+t=10: Selected seed 195 with value = 0.3487
+t: 10	 action: [ 0.036 -0.07  -0.017  0.008  0.063  0.01  -0.991]
+t: 11	 action: [ 0.176 -0.079  0.043  0.011  0.094  0.024 -0.989]
+t: 12	 action: [ 0.206 -0.109  0.024  0.003  0.115  0.022 -1.004]
+t: 13	 action: [ 0.384 -0.061  0.071  0.006  0.136  0.04  -1.011]
+t: 14	 action: [ 0.497 -0.09   0.082  0.005  0.129  0.034 -1.012]
+t: 15	 action: [ 0.576 -0.067  0.071  0.006  0.122  0.038 -1.038]
+t: 16	 action: [ 0.603 -0.044  0.093  0.001  0.134  0.065 -1.013]
+t: 17	 action: [ 0.634 -0.021  0.06  -0.006  0.121  0.056 -1.042]
+t: 18	 action: [ 0.587 -0.014  0.069 -0.017  0.117  0.117 -1.019]
+t: 19	 action: [ 0.602  0.009  0.057 -0.017  0.106  0.111 -1.025]
+t: 20	 action: [ 0.596 -0.001  0.031 -0.035  0.101  0.132 -1.017]
+t: 21	 action: [ 0.616  0.033  0.029 -0.029  0.095  0.124 -1.021]
+t: 22	 action: [ 0.574  0.003  0.045 -0.039  0.093  0.138 -1.007]
+t: 23	 action: [ 0.585  0.016  0.025 -0.043  0.074  0.131 -1.043]
+t: 24	 action: [ 0.567  0.016  0.011 -0.057  0.083  0.156 -1.008]
+t: 25	 action: [ 0.582  0.042  0.016 -0.067  0.078  0.144 -1.04 ]
+[07-31 00:42:25|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.975 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=26: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.4129
+INFO:cosmos_policy.experiments.robot.robot_utils:t=26: Selected seed 195 with value = 0.4129
+Query 1/1: Action query time = 0.975 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4129
+t=26: Selected seed 195 with value = 0.4129
+t: 26	 action: [ 0.469  0.026  0.045 -0.061  0.08   0.195 -1.004]
+t: 27	 action: [ 0.464  0.058  0.011 -0.067  0.076  0.195 -1.003]
+t: 28	 action: [ 0.405  0.03   0.021 -0.073  0.07   0.208 -1.003]
+t: 29	 action: [ 0.405  0.067  0.019 -0.077  0.07   0.208 -1.002]
+t: 30	 action: [ 0.382  0.024  0.016 -0.094  0.069  0.226 -0.991]
+t: 31	 action: [ 0.338  0.069 -0.013 -0.083  0.06   0.217 -1.03 ]
+t: 32	 action: [ 0.323  0.035 -0.018 -0.104  0.064  0.237 -0.994]
+t: 33	 action: [ 0.304  0.076 -0.033 -0.093  0.065  0.228 -1.031]
+t: 34	 action: [ 0.297  0.04  -0.043 -0.1    0.058  0.235 -1.003]
+t: 35	 action: [ 0.312  0.063 -0.044 -0.104  0.058  0.218 -1.002]
+t: 36	 action: [ 0.297  0.037 -0.064 -0.108  0.066  0.242 -1.002]
+t: 37	 action: [ 0.319  0.058 -0.046 -0.112  0.074  0.223 -1.001]
+t: 38	 action: [ 0.299  0.029 -0.068 -0.124  0.075  0.254 -0.991]
+t: 39	 action: [ 0.308  0.065 -0.074 -0.109  0.087  0.234 -1.03 ]
+t: 40	 action: [ 0.303  0.029 -0.085 -0.122  0.096  0.251 -0.994]
+t: 41	 action: [ 0.322  0.058 -0.071 -0.111  0.122  0.231 -1.031]
+[07-31 00:42:26|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.977 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=42: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.4550
+INFO:cosmos_policy.experiments.robot.robot_utils:t=42: Selected seed 195 with value = 0.4550
+Query 1/1: Action query time = 0.977 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4550
+t=42: Selected seed 195 with value = 0.4550
+t: 42	 action: [ 0.075  0.032 -0.095 -0.085  0.099  0.288 -0.975]
+t: 43	 action: [ 0.102  0.059 -0.073 -0.095  0.098  0.273 -0.975]
+t: 44	 action: [ 0.066  0.026 -0.111 -0.084  0.104  0.298 -0.972]
+t: 45	 action: [ 0.097  0.051 -0.077 -0.093  0.101  0.281 -0.989]
+t: 46	 action: [ 0.088  0.012 -0.106 -0.099  0.086  0.301 -0.978]
+t: 47	 action: [ 0.098  0.036 -0.091 -0.098  0.088  0.284 -1.007]
+t: 48	 action: [ 0.086  0.009 -0.123 -0.1    0.089  0.301 -0.979]
+t: 49	 action: [ 0.098  0.027 -0.101 -0.098  0.093  0.283 -1.018]
+t: 50	 action: [ 0.126 -0.047 -0.13  -0.075  0.107  0.266 -0.99 ]
+t: 51	 action: [ 0.148 -0.07  -0.138 -0.069  0.095  0.251 -0.998]
+t: 52	 action: [ 0.151 -0.074 -0.134 -0.074  0.111  0.257 -0.985]
+t: 53	 action: [ 0.174 -0.092 -0.136 -0.064  0.103  0.238 -0.995]
+t: 54	 action: [ 0.164 -0.127 -0.12  -0.074  0.109  0.249 -0.983]
+t: 55	 action: [ 0.205 -0.089 -0.113 -0.063  0.104  0.233 -1.024]
+t: 56	 action: [ 0.18  -0.152 -0.121 -0.067  0.118  0.233 -0.983]
+t: 57	 action: [ 0.216 -0.113 -0.101 -0.059  0.119  0.218 -1.018]
+[07-31 00:42:28|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.985 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=58: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.5366
+INFO:cosmos_policy.experiments.robot.robot_utils:t=58: Selected seed 195 with value = 0.5366
+Query 1/1: Action query time = 0.985 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5366
+t=58: Selected seed 195 with value = 0.5366
+t: 58	 action: [ 0.167  0.021 -0.11  -0.052  0.154  0.244 -1.007]
+t: 59	 action: [ 0.191  0.051 -0.109 -0.043  0.146  0.219 -1.013]
+t: 60	 action: [ 0.211  0.018 -0.107 -0.058  0.166  0.236 -1.006]
+t: 61	 action: [ 0.257  0.029 -0.103 -0.045  0.159  0.207 -1.013]
+t: 62	 action: [ 0.305 -0.004 -0.074 -0.069  0.178  0.211 -1.009]
+t: 63	 action: [ 0.321  0.003 -0.087 -0.063  0.174  0.197 -1.031]
+t: 64	 action: [ 0.365 -0.037 -0.078 -0.07   0.187  0.192 -1.011]
+t: 65	 action: [ 0.381 -0.031 -0.101 -0.066  0.186  0.176 -1.038]
+t: 66	 action: [ 0.426 -0.105 -0.073 -0.062  0.202  0.164 -1.029]
+t: 67	 action: [ 0.461 -0.092 -0.109 -0.029  0.206  0.136 -1.028]
+t: 68	 action: [ 0.463 -0.15  -0.074 -0.055  0.19   0.153 -1.023]
+t: 69	 action: [ 0.496 -0.139 -0.131 -0.032  0.182  0.118 -1.016]
+t: 70	 action: [ 0.478 -0.179 -0.068 -0.037  0.17   0.131 -1.018]
+t: 71	 action: [ 0.448 -0.186 -0.098 -0.043  0.146  0.114 -1.03 ]
+t: 72	 action: [ 0.466 -0.232 -0.088 -0.023  0.131  0.107 -1.015]
+t: 73	 action: [ 0.391 -0.234 -0.107 -0.033  0.094  0.093 -1.023]
+[07-31 00:42:29|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.988 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=74: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.6105
+INFO:cosmos_policy.experiments.robot.robot_utils:t=74: Selected seed 195 with value = 0.6105
+Query 1/1: Action query time = 0.988 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6105
+t=74: Selected seed 195 with value = 0.6105
+t: 74	 action: [ 0.139 -0.407 -0.192  0.002  0.116  0.086 -1.026]
+t: 75	 action: [ 0.12  -0.374 -0.126  0.01   0.098  0.09  -1.033]
+t: 76	 action: [ 1.054e-01 -4.010e-01 -2.047e-01  2.805e-04  8.926e-02  9.975e-02 -1.012e+00]
+t: 77	 action: [ 0.096 -0.345 -0.141  0.004  0.061  0.096 -1.03 ]
+t: 78	 action: [ 0.105 -0.394 -0.16   0.001  0.06   0.103 -1.009]
+t: 79	 action: [ 0.076 -0.347 -0.119  0.006  0.03   0.099 -1.05 ]
+t: 80	 action: [ 0.064 -0.379 -0.181  0.002  0.024  0.113 -1.004]
+t: 81	 action: [ 0.037 -0.311 -0.143 -0.002  0.005  0.097 -1.044]
+t: 82	 action: [ 0.047 -0.366 -0.103 -0.013 -0.005  0.094 -1.019]
+t: 83	 action: [ 0.031 -0.374 -0.046 -0.007 -0.01   0.087 -1.026]
+t: 84	 action: [-0.042 -0.372 -0.1   -0.008 -0.028  0.099 -1.013]
+t: 85	 action: [-0.045 -0.363 -0.042 -0.007 -0.028  0.086 -1.019]
+t: 86	 action: [-0.121 -0.445 -0.131  0.003 -0.042  0.103 -1.016]
+t: 87	 action: [-0.183 -0.416 -0.096  0.003 -0.045  0.088 -1.04 ]
+t: 88	 action: [-0.209 -0.424 -0.135  0.003 -0.063  0.102 -1.014]
+t: 89	 action: [-0.262 -0.383 -0.107  0.003 -0.056  0.088 -1.039]
+[07-31 00:42:30|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.985 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=90: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.6839
+INFO:cosmos_policy.experiments.robot.robot_utils:t=90: Selected seed 195 with value = 0.6839
+Query 1/1: Action query time = 0.985 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6839
+t=90: Selected seed 195 with value = 0.6839
+t: 90	 action: [ 0.187 -0.218 -0.112 -0.029  0.035  0.044 -1.   ]
+t: 91	 action: [ 0.195 -0.219 -0.052 -0.017  0.026  0.045 -1.017]
+t: 92	 action: [ 0.119 -0.233 -0.007 -0.017  0.014  0.057 -0.991]
+t: 93	 action: [ 0.111 -0.232  0.029 -0.011  0.014  0.051 -1.016]
+t: 94	 action: [ 0.025 -0.221 -0.007 -0.012  0.006  0.056 -1.004]
+t: 95	 action: [-0.038 -0.214 -0.013 -0.007 -0.021  0.054 -1.047]
+t: 96	 action: [-0.129 -0.257 -0.067 -0.004 -0.025  0.075 -1.006]
+t: 97	 action: [-1.998e-01 -2.337e-01 -9.364e-02 -3.464e-04 -5.351e-02  6.207e-02 -1.035e+00]
+t: 98	 action: [-0.247 -0.329 -0.079 -0.012 -0.067  0.092 -0.974]
+t: 99	 action: [-0.327 -0.243 -0.093 -0.001 -0.086  0.093 -1.007]
+t: 100	 action: [-0.432 -0.287 -0.136 -0.013 -0.105  0.109 -0.948]
+t: 101	 action: [-4.655e-01 -2.063e-01 -1.598e-01 -7.788e-04 -1.179e-01  1.148e-01 -9.956e-01]
+t: 102	 action: [-5.928e-01 -2.196e-01 -1.809e-01  3.429e-04 -1.363e-01  1.301e-01 -9.683e-01]
+t: 103	 action: [-0.579 -0.196 -0.164  0.003 -0.133  0.112 -1.023]
+t: 104	 action: [-0.638 -0.185 -0.179 -0.001 -0.175  0.146 -0.931]
+t: 105	 action: [-6.069e-01 -1.490e-01 -1.296e-01  1.011e-03 -1.524e-01  1.318e-01 -1.014e+00]
+[07-31 00:42:32|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.983 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=106: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.7551
+INFO:cosmos_policy.experiments.robot.robot_utils:t=106: Selected seed 195 with value = 0.7551
+Query 1/1: Action query time = 0.983 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7551
+t=106: Selected seed 195 with value = 0.7551
+t: 106	 action: [-0.172 -0.489 -0.328  0.007 -0.046  0.019 -1.001]
+t: 107	 action: [-0.162 -0.509 -0.35   0.019 -0.042  0.019 -1.022]
+t: 108	 action: [-0.194 -0.479 -0.351  0.008 -0.045  0.014 -0.99 ]
+t: 109	 action: [-0.182 -0.494 -0.369  0.021 -0.035  0.015 -1.02 ]
+t: 110	 action: [-0.189 -0.527 -0.362  0.026 -0.045  0.011 -0.986]
+t: 111	 action: [-0.199 -0.505 -0.322  0.036 -0.029  0.024 -1.044]
+t: 112	 action: [-0.221 -0.498 -0.369  0.032 -0.037  0.012 -0.978]
+t: 113	 action: [-0.228 -0.467 -0.333  0.038 -0.023  0.02  -1.042]
+t: 114	 action: [-0.223 -0.525 -0.344  0.027 -0.052  0.024 -0.999]
+t: 115	 action: [-0.235 -0.513 -0.405  0.032 -0.055  0.022 -1.032]
+t: 116	 action: [-0.271 -0.521 -0.493  0.041 -0.05   0.026 -0.998]
+t: 117	 action: [-0.283 -0.471 -0.605  0.038 -0.058  0.031 -1.028]
+t: 118	 action: [-0.36  -0.329 -0.802  0.058 -0.059  0.032 -0.997]
+t: 119	 action: [-0.351 -0.219 -0.874  0.073 -0.047  0.036 -1.05 ]
+t: 120	 action: [-0.356 -0.072 -1.005  0.065 -0.048  0.045 -0.993]
+t: 121	 action: [-0.365  0.03  -1.002  0.069 -0.033  0.049 -1.053]
+[07-31 00:42:33|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.984 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=122: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.7519
+INFO:cosmos_policy.experiments.robot.robot_utils:t=122: Selected seed 195 with value = 0.7519
+Query 1/1: Action query time = 0.984 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7519
+t=122: Selected seed 195 with value = 0.7519
+t: 122	 action: [-0.026 -0.278 -0.016 -0.018 -0.029  0.005 -1.026]
+t: 123	 action: [-0.008 -0.337  0.009 -0.005 -0.03  -0.014 -1.022]
+t: 124	 action: [-0.049 -0.309  0.011 -0.002 -0.036  0.003 -1.019]
+t: 125	 action: [-0.033 -0.361  0.02   0.01  -0.037 -0.013 -1.018]
+t: 126	 action: [-0.064 -0.37   0.004  0.014 -0.021 -0.003 -1.015]
+t: 127	 action: [-0.069 -0.366 -0.011  0.027 -0.029 -0.015 -1.047]
+t: 128	 action: [-0.097 -0.391 -0.024  0.025 -0.027 -0.003 -1.01 ]
+t: 129	 action: [-0.111 -0.377 -0.053  0.037 -0.035 -0.014 -1.039]
+t: 130	 action: [-0.162 -0.423 -0.102  0.035 -0.041 -0.003 -1.026]
+t: 131	 action: [-0.156 -0.422 -0.086  0.03  -0.053 -0.019 -1.026]
+t: 132	 action: [-0.165 -0.444 -0.201  0.046 -0.046 -0.006 -1.027]
+t: 133	 action: [-0.163 -0.398 -0.225  0.041 -0.06  -0.015 -1.014]
+t: 134	 action: [-0.208 -0.43  -0.341  0.066 -0.038 -0.01  -1.018]
+t: 135	 action: [-0.184 -0.373 -0.413  0.066 -0.028 -0.017 -1.047]
+t: 136	 action: [-0.18  -0.327 -0.685  0.074 -0.025 -0.009 -1.017]
+t: 137	 action: [-0.154 -0.224 -0.727  0.065 -0.011 -0.012 -1.042]
+[07-31 00:42:34|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.982 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=138: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.7693
+INFO:cosmos_policy.experiments.robot.robot_utils:t=138: Selected seed 195 with value = 0.7693
+Query 1/1: Action query time = 0.982 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7693
+t=138: Selected seed 195 with value = 0.7693
+t: 138	 action: [ 0.002 -0.266  0.042 -0.004 -0.104 -0.03  -1.026]
+t: 139	 action: [ 0.026 -0.31   0.085  0.005 -0.086 -0.034 -1.039]
+t: 140	 action: [ 0.011 -0.277  0.168  0.008 -0.111 -0.014 -1.023]
+t: 141	 action: [ 0.026 -0.298  0.195  0.018 -0.099 -0.029 -1.039]
+t: 142	 action: [-0.01  -0.257  0.164  0.019 -0.116 -0.019 -1.019]
+t: 143	 action: [ 0.004 -0.287  0.11   0.03  -0.109 -0.035 -1.059]
+t: 144	 action: [ 0.013 -0.241  0.097  0.035 -0.095 -0.013 -1.016]
+t: 145	 action: [ 0.003 -0.293 -0.014  0.038 -0.088 -0.031 -1.056]
+t: 146	 action: [ 0.009 -0.38  -0.133  0.066 -0.069 -0.015 -1.033]
+t: 147	 action: [ 0.03  -0.412 -0.237  0.071 -0.075 -0.042 -1.043]
+t: 148	 action: [ 0.025 -0.386 -0.487  0.066 -0.053 -0.019 -1.029]
+t: 149	 action: [ 0.031 -0.346 -0.596  0.082 -0.058 -0.035 -1.036]
+t: 150	 action: [ 0.018 -0.301 -0.808  0.113 -0.05  -0.037 -1.026]
+t: 151	 action: [ 0.004 -0.208 -0.862  0.095 -0.046 -0.046 -1.062]
+t: 152	 action: [ 0.034 -0.133 -0.995  0.075 -0.029 -0.029 -1.02 ]
+t: 153	 action: [-0.007 -0.035 -0.968  0.06  -0.033 -0.035 -1.064]
+[07-31 00:42:35|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.979 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=154: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9738
+INFO:cosmos_policy.experiments.robot.robot_utils:t=154: Selected seed 195 with value = 0.9738
+Query 1/1: Action query time = 0.979 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9738
+t=154: Selected seed 195 with value = 0.9738
+t: 154	 action: [-0.06   0.766 -0.858  0.009 -0.021  0.017 -0.979]
+t: 155	 action: [-0.077  0.777 -0.889 -0.008 -0.027  0.018 -1.008]
+t: 156	 action: [-0.122  0.822 -0.848  0.004 -0.019  0.02  -0.979]
+t: 157	 action: [-0.116  0.824 -0.878 -0.012 -0.021  0.025 -1.006]
+t: 158	 action: [-0.2    0.859 -0.841 -0.002 -0.011  0.019 -0.978]
+t: 159	 action: [-0.172  0.847 -0.883 -0.001 -0.019  0.023 -1.037]
+t: 160	 action: [-0.215  0.88  -0.832 -0.008 -0.005  0.031 -0.976]
+t: 161	 action: [-0.175  0.864 -0.869 -0.003 -0.014  0.03  -1.035]
+t: 162	 action: [-1.409e-01  8.985e-01 -8.030e-01 -6.961e-04 -1.553e-02  4.117e-02 -9.734e-01]
+t: 163	 action: [-0.149  0.876 -0.839 -0.012 -0.009  0.036 -1.018]
+t: 164	 action: [-0.181  0.905 -0.799 -0.005 -0.012  0.046 -0.976]
+t: 165	 action: [-0.174  0.88  -0.826 -0.011 -0.007  0.046 -1.014]
+t: 166	 action: [-0.219  0.903 -0.792 -0.014 -0.005  0.05  -0.975]
+t: 167	 action: [-0.244  0.902 -0.854 -0.009 -0.007  0.038 -1.045]
+t: 168	 action: [-0.229  0.901 -0.787 -0.014  0.003  0.056 -0.973]
+t: 169	 action: [-0.251  0.891 -0.835 -0.005 -0.005  0.048 -1.041]
+[07-31 00:42:37|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.980 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=170: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9951
+INFO:cosmos_policy.experiments.robot.robot_utils:t=170: Selected seed 195 with value = 0.9951
+WARNING:imageio_ffmpeg:IMAGEIO FFMPEG_WRITER WARNING: input image is not divisible by macro_block_size=16, resizing from (896, 284) to (896, 288) to ensure video compatibility with most codecs and players. To prevent resizing, make your input image divisible by the macro_block_size or set the macro_block_size to 1 (risking incompatibility).
+INFO:cosmos_policy.experiments.robot.robot_utils:Success: True
+INFO:cosmos_policy.experiments.robot.robot_utils:# episodes completed so far: 36
+INFO:cosmos_policy.experiments.robot.robot_utils:# successes: 18 (50.0%)
+
+
 72%|███████▏  | 36/50 [14:40<05:23, 23.11s/it]INFO:cosmos_policy.experiments.robot.robot_utils:
+Task: open the middle drawer of the cabinet
+INFO:cosmos_policy.experiments.robot.robot_utils:Starting episode 37...
+Query 1/1: Action query time = 0.980 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9951
+t=170: Selected seed 195 with value = 0.9951
+t: 170	 action: [-0.293  0.899 -0.729  0.005 -0.004  0.018 -0.946]
+t: 171	 action: [-0.296  0.899 -0.675 -0.005 -0.003  0.038 -0.927]
+t: 172	 action: [-0.276  0.92  -0.736  0.005  0.008  0.019 -0.972]
+t: 173	 action: [-0.281  0.904 -0.683 -0.005  0.002  0.029 -0.992]
+t: 174	 action: [-0.297  0.912 -0.704 -0.002  0.016  0.039 -0.95 ]
+t: 175	 action: [-3.455e-01  9.262e-01 -6.852e-01 -2.870e-03  9.558e-04  4.654e-02 -9.904e-01]
+Saved rollout MP4 at path ./rollouts/None/2026_07_31-00_27_45--episode=36--success=True--task=open_the_middle_drawer_of_the_cabinet.mp4
+166 166 11 11
+Saved rollout MP4 at path ./rollouts/None/2026_07_31-00_27_45--with_future_img--episode=36--success=True--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: True
+# episodes completed so far: 36
+# successes: 18 (50.0%)
+
+Task: open the middle drawer of the cabinet
+Starting episode 37...
+[07-31 00:42:43|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.995 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=10: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.3523
+INFO:cosmos_policy.experiments.robot.robot_utils:t=10: Selected seed 195 with value = 0.3523
+Query 1/1: Action query time = 0.995 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3523
+t=10: Selected seed 195 with value = 0.3523
+t: 10	 action: [ 0.262 -0.097  0.073  0.007  0.064  0.021 -1.014]
+t: 11	 action: [ 0.426 -0.078  0.133 -0.001  0.083  0.051 -1.014]
+t: 12	 action: [ 0.492 -0.067  0.097  0.003  0.077  0.067 -1.028]
+t: 13	 action: [ 0.609 -0.073  0.163 -0.006  0.088  0.076 -1.031]
+t: 14	 action: [ 0.633 -0.063  0.122 -0.001  0.077  0.079 -1.027]
+t: 15	 action: [ 0.656 -0.052  0.124 -0.007  0.077  0.076 -1.054]
+t: 16	 action: [ 0.659 -0.038  0.097 -0.015  0.069  0.112 -1.027]
+t: 17	 action: [ 0.678 -0.047  0.074 -0.015  0.061  0.099 -1.056]
+t: 18	 action: [ 0.645 -0.061  0.051 -0.033  0.038  0.156 -1.041]
+t: 19	 action: [ 0.672 -0.063  0.026 -0.029  0.029  0.142 -1.025]
+t: 20	 action: [ 0.612 -0.029  0.011 -0.05   0.035  0.158 -1.041]
+t: 21	 action: [ 0.637  0.011  0.012 -0.04   0.025  0.142 -1.023]
+t: 22	 action: [ 0.559  0.003  0.012 -0.062  0.028  0.173 -1.018]
+t: 23	 action: [ 0.525 -0.012  0.001 -0.04   0.012  0.157 -1.05 ]
+t: 24	 action: [ 0.48   0.035 -0.023 -0.08   0.031  0.176 -1.02 ]
+t: 25	 action: [ 0.473  0.059 -0.033 -0.058  0.016  0.158 -1.05 ]
+[07-31 00:42:44|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.986 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=26: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.4003
+INFO:cosmos_policy.experiments.robot.robot_utils:t=26: Selected seed 195 with value = 0.4003
+Query 1/1: Action query time = 0.986 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4003
+t=26: Selected seed 195 with value = 0.4003
+t: 26	 action: [ 0.38  -0.041  0.019 -0.055  0.074  0.183 -1.004]
+t: 27	 action: [ 0.386  0.001  0.009 -0.057  0.077  0.199 -1.001]
+t: 28	 action: [ 0.304  0.003 -0.005 -0.075  0.092  0.208 -1.001]
+t: 29	 action: [ 0.305  0.042  0.014 -0.072  0.097  0.221 -0.996]
+t: 30	 action: [ 0.227  0.019 -0.02  -0.101  0.104  0.246 -0.999]
+t: 31	 action: [ 0.185  0.058 -0.019 -0.096  0.104  0.242 -1.028]
+t: 32	 action: [ 0.175  0.028 -0.051 -0.113  0.121  0.269 -0.999]
+t: 33	 action: [ 0.145  0.082 -0.052 -0.102  0.126  0.266 -1.023]
+t: 34	 action: [ 0.129  0.032 -0.094 -0.103  0.144  0.277 -0.997]
+t: 35	 action: [ 0.166  0.056 -0.099 -0.089  0.147  0.269 -0.999]
+t: 36	 action: [ 0.135  0.042 -0.137 -0.109  0.151  0.284 -0.998]
+t: 37	 action: [ 0.166  0.065 -0.144 -0.087  0.156  0.277 -0.998]
+t: 38	 action: [ 0.135  0.041 -0.138 -0.111  0.154  0.297 -0.987]
+t: 39	 action: [ 0.145  0.095 -0.166 -0.085  0.149  0.281 -1.019]
+t: 40	 action: [ 0.14   0.051 -0.191 -0.105  0.156  0.298 -0.991]
+t: 41	 action: [ 0.152  0.101 -0.212 -0.081  0.155  0.283 -1.019]
+[07-31 00:42:45|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.988 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=42: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.4677
+INFO:cosmos_policy.experiments.robot.robot_utils:t=42: Selected seed 195 with value = 0.4677
+Query 1/1: Action query time = 0.988 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4677
+t=42: Selected seed 195 with value = 0.4677
+t: 42	 action: [ 0.079  0.038 -0.082 -0.075  0.146  0.292 -0.978]
+t: 43	 action: [ 0.106  0.063 -0.07  -0.083  0.139  0.271 -0.976]
+t: 44	 action: [ 0.076  0.03  -0.094 -0.076  0.144  0.295 -0.981]
+t: 45	 action: [ 0.109  0.054 -0.065 -0.084  0.133  0.274 -0.997]
+t: 46	 action: [ 0.103  0.024 -0.111 -0.096  0.13   0.298 -0.981]
+t: 47	 action: [ 0.106  0.042 -0.105 -0.094  0.11   0.272 -1.013]
+t: 48	 action: [ 0.108  0.019 -0.126 -0.102  0.122  0.291 -0.985]
+t: 49	 action: [ 0.125  0.028 -0.109 -0.096  0.107  0.269 -1.028]
+t: 50	 action: [ 0.148 -0.029 -0.122 -0.08   0.133  0.268 -0.995]
+t: 51	 action: [ 0.162 -0.047 -0.149 -0.071  0.117  0.252 -1.003]
+t: 52	 action: [ 0.189 -0.06  -0.119 -0.081  0.126  0.252 -0.995]
+t: 53	 action: [ 0.216 -0.059 -0.14  -0.072  0.11   0.235 -1.005]
+t: 54	 action: [ 0.22  -0.1   -0.121 -0.086  0.113  0.248 -0.987]
+t: 55	 action: [ 0.262 -0.079 -0.114 -0.073  0.094  0.231 -1.025]
+t: 56	 action: [ 0.25  -0.114 -0.115 -0.086  0.107  0.225 -0.99 ]
+t: 57	 action: [ 0.279 -0.082 -0.091 -0.077  0.091  0.215 -1.024]
+[07-31 00:42:46|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.000 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=58: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.5537
+INFO:cosmos_policy.experiments.robot.robot_utils:t=58: Selected seed 195 with value = 0.5537
+Query 1/1: Action query time = 1.000 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5537
+t=58: Selected seed 195 with value = 0.5537
+t: 58	 action: [ 0.269 -0.063 -0.043 -0.036  0.194  0.168 -1.   ]
+t: 59	 action: [ 0.33  -0.066 -0.019 -0.017  0.181  0.15  -0.988]
+t: 60	 action: [ 0.309 -0.053 -0.072 -0.047  0.197  0.175 -1.008]
+t: 61	 action: [ 0.371 -0.069 -0.049 -0.027  0.179  0.152 -1.008]
+t: 62	 action: [ 0.37  -0.098 -0.048 -0.048  0.193  0.165 -1.005]
+t: 63	 action: [ 0.367 -0.114 -0.093 -0.037  0.156  0.148 -1.021]
+t: 64	 action: [ 0.397 -0.133 -0.11  -0.053  0.188  0.16  -1.012]
+t: 65	 action: [ 0.397 -0.127 -0.177 -0.047  0.144  0.144 -1.04 ]
+t: 66	 action: [ 0.412 -0.183 -0.183 -0.044  0.158  0.144 -1.023]
+t: 67	 action: [ 0.434 -0.146 -0.193 -0.029  0.132  0.121 -1.027]
+t: 68	 action: [ 0.406 -0.222 -0.237 -0.038  0.126  0.146 -1.021]
+t: 69	 action: [ 0.4   -0.171 -0.248 -0.039  0.088  0.114 -1.017]
+t: 70	 action: [ 0.318 -0.241 -0.235 -0.028  0.09   0.133 -1.016]
+t: 71	 action: [ 0.244 -0.219 -0.212 -0.043  0.035  0.111 -1.017]
+t: 72	 action: [ 0.248 -0.246 -0.244 -0.025  0.032  0.125 -1.014]
+t: 73	 action: [ 1.397e-01 -2.126e-01 -2.081e-01 -4.494e-02 -4.402e-04  1.018e-01 -1.016e+00]
+[07-31 00:42:48|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.969 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=74: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.6269
+INFO:cosmos_policy.experiments.robot.robot_utils:t=74: Selected seed 195 with value = 0.6269
+Query 1/1: Action query time = 0.969 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6269
+t=74: Selected seed 195 with value = 0.6269
+t: 74	 action: [ 1.243e-01 -4.172e-01 -3.019e-01  1.555e-04  3.649e-02  8.437e-02 -1.005e+00]
+t: 75	 action: [ 0.076 -0.364 -0.228  0.007  0.015  0.089 -1.012]
+t: 76	 action: [ 5.506e-02 -4.072e-01 -3.438e-01  3.246e-05  2.183e-02  1.008e-01 -1.000e+00]
+t: 77	 action: [ 0.038 -0.331 -0.263  0.006  0.01   0.097 -1.02 ]
+t: 78	 action: [ 5.745e-02 -3.888e-01 -2.890e-01  5.088e-04  1.597e-02  1.056e-01 -1.001e+00]
+t: 79	 action: [ 0.003 -0.35  -0.228  0.005  0.002  0.102 -1.043]
+t: 80	 action: [ 7.443e-03 -3.577e-01 -2.695e-01  9.863e-04 -7.738e-04  1.168e-01 -9.983e-01]
+t: 81	 action: [-5.003e-02 -3.084e-01 -1.906e-01  1.000e-03 -9.694e-03  1.016e-01 -1.042e+00]
+t: 82	 action: [-0.008 -0.35  -0.091 -0.026 -0.021  0.099 -1.007]
+t: 83	 action: [-8.377e-04 -3.491e-01 -4.496e-02 -1.559e-02 -3.672e-02  9.150e-02 -1.023e+00]
+t: 84	 action: [-0.085 -0.346 -0.044 -0.023 -0.044  0.109 -0.998]
+t: 85	 action: [-0.08  -0.334 -0.011 -0.014 -0.057  0.097 -1.016]
+t: 86	 action: [-0.191 -0.39  -0.089 -0.004 -0.066  0.123 -1.007]
+t: 87	 action: [-0.263 -0.367 -0.082 -0.007 -0.078  0.104 -1.039]
+t: 88	 action: [-0.314 -0.352 -0.07  -0.006 -0.094  0.131 -1.002]
+t: 89	 action: [-0.345 -0.331 -0.088 -0.005 -0.096  0.113 -1.034]
+[07-31 00:42:49|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.975 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=90: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.7704
+INFO:cosmos_policy.experiments.robot.robot_utils:t=90: Selected seed 195 with value = 0.7704
+Query 1/1: Action query time = 0.975 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7704
+t=90: Selected seed 195 with value = 0.7704
+t: 90	 action: [ 0.02  -0.359 -0.08  -0.006 -0.009  0.03  -0.997]
+t: 91	 action: [ 0.025 -0.406 -0.075  0.003 -0.013  0.032 -1.005]
+t: 92	 action: [-8.794e-02 -3.828e-01 -1.378e-01 -4.029e-04 -1.286e-02  4.079e-02 -9.846e-01]
+t: 93	 action: [-0.081 -0.421 -0.112  0.01  -0.009  0.036 -1.007]
+t: 94	 action: [-0.133 -0.444 -0.199  0.017 -0.011  0.047 -0.991]
+t: 95	 action: [-0.163 -0.434 -0.165  0.025 -0.02   0.045 -1.041]
+t: 96	 action: [-0.261 -0.44  -0.211  0.022 -0.009  0.06  -0.978]
+t: 97	 action: [-0.288 -0.409 -0.219  0.029 -0.015  0.047 -1.034]
+t: 98	 action: [-0.345 -0.432 -0.243  0.012 -0.013  0.074 -0.986]
+t: 99	 action: [-0.355 -0.431 -0.264  0.027 -0.01   0.065 -1.016]
+t: 100	 action: [-0.39  -0.422 -0.302  0.02  -0.021  0.085 -0.983]
+t: 101	 action: [-0.388 -0.408 -0.33   0.023 -0.022  0.079 -1.014]
+t: 102	 action: [-0.477 -0.41  -0.38   0.034 -0.029  0.092 -0.974]
+t: 103	 action: [-0.448 -0.379 -0.498  0.059 -0.026  0.078 -1.038]
+t: 104	 action: [-0.516 -0.353 -0.548  0.048 -0.034  0.098 -0.967]
+t: 105	 action: [-0.476 -0.307 -0.668  0.073 -0.024  0.091 -1.035]
+[07-31 00:42:50|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.979 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=106: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.7488
+INFO:cosmos_policy.experiments.robot.robot_utils:t=106: Selected seed 195 with value = 0.7488
+Query 1/1: Action query time = 0.979 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7488
+t=106: Selected seed 195 with value = 0.7488
+t: 106	 action: [-0.088 -0.425 -0.19   0.003 -0.025  0.005 -1.008]
+t: 107	 action: [-0.063 -0.454 -0.213  0.014 -0.028 -0.005 -1.025]
+t: 108	 action: [-1.133e-01 -4.091e-01 -2.530e-01  1.066e-02 -3.336e-02  9.098e-04 -1.006e+00]
+t: 109	 action: [-0.106 -0.437 -0.269  0.027 -0.033 -0.01  -1.018]
+t: 110	 action: [-0.125 -0.439 -0.284  0.032 -0.019 -0.005 -1.002]
+t: 111	 action: [-0.169 -0.414 -0.341  0.045 -0.022 -0.008 -1.052]
+t: 112	 action: [-0.146 -0.404 -0.358  0.049 -0.019 -0.007 -0.999]
+t: 113	 action: [-0.196 -0.39  -0.433  0.054 -0.018 -0.013 -1.044]
+t: 114	 action: [-1.593e-01 -4.742e-01 -3.844e-01  3.847e-02 -4.481e-02  3.349e-04 -1.012e+00]
+t: 115	 action: [-0.145 -0.438 -0.466  0.047 -0.047 -0.012 -1.024]
+t: 116	 action: [-0.173 -0.495 -0.566  0.053 -0.044 -0.009 -1.015]
+t: 117	 action: [-0.158 -0.43  -0.652  0.057 -0.046 -0.015 -1.019]
+t: 118	 action: [-0.174 -0.314 -0.808  0.075 -0.038 -0.009 -1.012]
+t: 119	 action: [-0.19  -0.265 -0.845  0.073 -0.018 -0.016 -1.043]
+t: 120	 action: [-0.121 -0.192 -0.962  0.072 -0.019 -0.011 -1.008]
+t: 121	 action: [-0.169 -0.12  -0.946  0.066  0.002 -0.012 -1.054]
+[07-31 00:42:52|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.981 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=122: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.7531
+INFO:cosmos_policy.experiments.robot.robot_utils:t=122: Selected seed 195 with value = 0.7531
+Query 1/1: Action query time = 0.981 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7531
+t=122: Selected seed 195 with value = 0.7531
+t: 122	 action: [-0.17  -0.269  0.074 -0.033 -0.047  0.017 -0.999]
+t: 123	 action: [-0.086 -0.299  0.148 -0.018 -0.048  0.011 -1.015]
+t: 124	 action: [-0.119 -0.283  0.193 -0.01  -0.059  0.015 -1.006]
+t: 125	 action: [-0.05  -0.333  0.238  0.002 -0.052  0.009 -1.02 ]
+t: 126	 action: [-0.077 -0.319  0.188  0.007 -0.036  0.013 -0.996]
+t: 127	 action: [-0.036 -0.337  0.177  0.022 -0.047  0.011 -1.049]
+t: 128	 action: [-0.042 -0.382  0.158  0.012 -0.038  0.017 -1.003]
+t: 129	 action: [-0.021 -0.381  0.056  0.031 -0.034  0.008 -1.047]
+t: 130	 action: [-0.153 -0.425 -0.048  0.024 -0.064  0.03  -1.01 ]
+t: 131	 action: [-0.081 -0.442 -0.084  0.027 -0.066  0.014 -1.027]
+t: 132	 action: [-0.117 -0.521 -0.282  0.045 -0.063  0.014 -1.017]
+t: 133	 action: [-0.059 -0.512 -0.368  0.047 -0.063  0.005 -1.026]
+t: 134	 action: [-0.11  -0.501 -0.611  0.083 -0.049  0.011 -1.006]
+t: 135	 action: [-0.047 -0.356 -0.743  0.081 -0.039  0.005 -1.051]
+t: 136	 action: [-1.413e-02 -3.423e-01 -9.044e-01  9.673e-02 -3.595e-02  4.830e-04 -1.007e+00]
+t: 137	 action: [-0.019 -0.162 -0.939  0.077 -0.029 -0.002 -1.061]
+[07-31 00:42:53|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.988 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=138: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9582
+INFO:cosmos_policy.experiments.robot.robot_utils:t=138: Selected seed 195 with value = 0.9582
+Query 1/1: Action query time = 0.988 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9582
+t=138: Selected seed 195 with value = 0.9582
+t: 138	 action: [-0.264  0.652 -0.92   0.01  -0.042  0.061 -0.986]
+t: 139	 action: [-0.227  0.581 -0.932 -0.002 -0.044  0.056 -1.003]
+t: 140	 action: [-0.253  0.715 -0.904  0.005 -0.03   0.056 -0.986]
+t: 141	 action: [-0.211  0.634 -0.919 -0.007 -0.028  0.046 -0.998]
+t: 142	 action: [-2.814e-01  7.703e-01 -8.851e-01 -3.351e-04 -2.191e-02  6.219e-02 -9.911e-01]
+t: 143	 action: [-0.215  0.691 -0.891  0.001 -0.026  0.053 -1.027]
+t: 144	 action: [-0.233  0.783 -0.837 -0.008 -0.009  0.056 -0.987]
+t: 145	 action: [-0.157  0.74  -0.808 -0.003 -0.016  0.044 -1.027]
+t: 146	 action: [-0.258  0.86  -0.801  0.002 -0.005  0.062 -0.975]
+t: 147	 action: [-0.224  0.813 -0.841 -0.016  0.002  0.053 -1.01 ]
+t: 148	 action: [-2.577e-01  8.790e-01 -8.022e-01 -4.038e-03  6.253e-05  6.389e-02 -9.805e-01]
+t: 149	 action: [-0.221  0.844 -0.846 -0.017  0.003  0.054 -1.005]
+t: 150	 action: [-0.274  0.912 -0.808 -0.006  0.007  0.07  -0.978]
+t: 151	 action: [-0.282  0.898 -0.871 -0.012  0.002  0.055 -1.031]
+t: 152	 action: [-0.255  0.923 -0.801 -0.008  0.015  0.07  -0.979]
+t: 153	 action: [-0.267  0.912 -0.864 -0.011  0.001  0.056 -1.035]
+[07-31 00:42:54|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.971 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=154: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9733
+INFO:cosmos_policy.experiments.robot.robot_utils:t=154: Selected seed 195 with value = 0.9733
+WARNING:imageio_ffmpeg:IMAGEIO FFMPEG_WRITER WARNING: input image is not divisible by macro_block_size=16, resizing from (896, 284) to (896, 288) to ensure video compatibility with most codecs and players. To prevent resizing, make your input image divisible by the macro_block_size or set the macro_block_size to 1 (risking incompatibility).
+INFO:cosmos_policy.experiments.robot.robot_utils:Success: True
+INFO:cosmos_policy.experiments.robot.robot_utils:# episodes completed so far: 37
+INFO:cosmos_policy.experiments.robot.robot_utils:# successes: 19 (51.4%)
+
+
 74%|███████▍  | 37/50 [14:58<04:37, 21.33s/it]INFO:cosmos_policy.experiments.robot.robot_utils:
+Task: open the middle drawer of the cabinet
+INFO:cosmos_policy.experiments.robot.robot_utils:Starting episode 38...
+Query 1/1: Action query time = 0.971 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9733
+t=154: Selected seed 195 with value = 0.9733
+t: 154	 action: [-0.267  0.774 -0.59  -0.005 -0.027  0.048 -0.958]
+t: 155	 action: [-0.255  0.749 -0.527 -0.018 -0.011  0.056 -0.968]
+t: 156	 action: [-0.299  0.804 -0.654 -0.003 -0.017  0.061 -0.979]
+t: 157	 action: [-0.286  0.762 -0.622 -0.017 -0.009  0.065 -1.004]
+t: 158	 action: [-0.276  0.818 -0.631 -0.004 -0.009  0.068 -0.985]
+t: 159	 action: [-0.317  0.816 -0.602 -0.01  -0.003  0.062 -1.028]
+t: 160	 action: [-2.969e-01  8.281e-01 -6.643e-01 -7.154e-03  8.474e-04  7.909e-02 -9.897e-01]
+Saved rollout MP4 at path ./rollouts/None/2026_07_31-00_27_45--episode=37--success=True--task=open_the_middle_drawer_of_the_cabinet.mp4
+151 151 10 10
+Saved rollout MP4 at path ./rollouts/None/2026_07_31-00_27_45--with_future_img--episode=37--success=True--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: True
+# episodes completed so far: 37
+# successes: 19 (51.4%)
+
+Task: open the middle drawer of the cabinet
+Starting episode 38...
+[07-31 00:43:00|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.983 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=10: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.3574
+INFO:cosmos_policy.experiments.robot.robot_utils:t=10: Selected seed 195 with value = 0.3574
+Query 1/1: Action query time = 0.983 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3574
+t=10: Selected seed 195 with value = 0.3574
+t: 10	 action: [-0.015 -0.084 -0.055  0.012 -0.005  0.002 -0.988]
+t: 11	 action: [ 0.121 -0.082  0.015  0.017  0.028  0.01  -0.979]
+t: 12	 action: [ 0.104 -0.109 -0.006  0.005  0.059  0.015 -1.006]
+t: 13	 action: [ 0.295 -0.063  0.05   0.014  0.087  0.031 -1.012]
+t: 14	 action: [ 0.315 -0.106  0.076  0.008  0.108  0.022 -1.019]
+t: 15	 action: [ 0.468 -0.08   0.05   0.013  0.118  0.031 -1.042]
+t: 16	 action: [ 0.422 -0.055  0.108  0.002  0.134  0.059 -1.021]
+t: 17	 action: [ 0.522 -0.033  0.063  0.004  0.138  0.058 -1.044]
+t: 18	 action: [ 0.493 -0.072  0.084 -0.01   0.135  0.124 -1.027]
+t: 19	 action: [ 0.534 -0.035  0.069 -0.017  0.123  0.119 -1.027]
+t: 20	 action: [ 0.531 -0.037  0.027 -0.031  0.123  0.133 -1.023]
+t: 21	 action: [ 0.567  0.017  0.023 -0.028  0.109  0.127 -1.018]
+t: 22	 action: [ 0.56   0.003  0.04  -0.042  0.114  0.139 -1.013]
+t: 23	 action: [ 0.584  0.011  0.017 -0.041  0.092  0.129 -1.048]
+t: 24	 action: [ 0.607  0.032 -0.009 -0.061  0.106  0.151 -1.011]
+t: 25	 action: [ 0.632  0.064  0.005 -0.06   0.097  0.137 -1.045]
+[07-31 00:43:01|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.973 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=26: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.4026
+INFO:cosmos_policy.experiments.robot.robot_utils:t=26: Selected seed 195 with value = 0.4026
+Query 1/1: Action query time = 0.973 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4026
+t=26: Selected seed 195 with value = 0.4026
+t: 26	 action: [ 0.447  0.004  0.021 -0.051  0.068  0.172 -1.011]
+t: 27	 action: [ 0.449  0.028  0.021 -0.054  0.065  0.17  -1.003]
+t: 28	 action: [ 0.399  0.009  0.006 -0.059  0.069  0.188 -1.006]
+t: 29	 action: [ 0.407  0.039  0.019 -0.062  0.069  0.19  -1.004]
+t: 30	 action: [ 0.391  0.011  0.012 -0.079  0.077  0.208 -0.996]
+t: 31	 action: [ 0.354  0.037 -0.007 -0.067  0.078  0.196 -1.032]
+t: 32	 action: [ 0.337  0.024 -0.008 -0.088  0.085  0.223 -0.996]
+t: 33	 action: [ 0.322  0.045 -0.006 -0.077  0.098  0.217 -1.035]
+t: 34	 action: [ 0.297  0.03  -0.026 -0.09   0.116  0.24  -0.999]
+t: 35	 action: [ 0.306  0.061 -0.008 -0.096  0.119  0.224 -1.004]
+t: 36	 action: [ 0.284  0.039 -0.039 -0.1    0.12   0.247 -0.999]
+t: 37	 action: [ 0.299  0.072 -0.015 -0.106  0.128  0.231 -1.   ]
+t: 38	 action: [ 0.281  0.037 -0.034 -0.117  0.122  0.256 -0.987]
+t: 39	 action: [ 0.288  0.079 -0.036 -0.106  0.127  0.239 -1.03 ]
+t: 40	 action: [ 0.284  0.043 -0.051 -0.119  0.127  0.254 -0.991]
+t: 41	 action: [ 0.299  0.085 -0.043 -0.112  0.14   0.238 -1.03 ]
+[07-31 00:43:02|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.970 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=42: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.4564
+INFO:cosmos_policy.experiments.robot.robot_utils:t=42: Selected seed 195 with value = 0.4564
+Query 1/1: Action query time = 0.970 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4564
+t=42: Selected seed 195 with value = 0.4564
+t: 42	 action: [ 0.057  0.041 -0.101 -0.094  0.154  0.287 -0.978]
+t: 43	 action: [ 0.072  0.072 -0.08  -0.102  0.152  0.27  -0.968]
+t: 44	 action: [ 0.07   0.04  -0.1   -0.095  0.148  0.291 -0.977]
+t: 45	 action: [ 0.099  0.061 -0.061 -0.102  0.138  0.269 -0.988]
+t: 46	 action: [ 0.109  0.023 -0.088 -0.111  0.117  0.283 -0.983]
+t: 47	 action: [ 0.128  0.043 -0.073 -0.107  0.115  0.266 -1.003]
+t: 48	 action: [ 0.141  0.02  -0.091 -0.109  0.103  0.277 -0.985]
+t: 49	 action: [ 0.172  0.028 -0.069 -0.106  0.104  0.256 -1.019]
+t: 50	 action: [ 0.219 -0.037 -0.106 -0.089  0.116  0.257 -0.996]
+t: 51	 action: [ 0.252 -0.051 -0.115 -0.078  0.103  0.237 -0.998]
+t: 52	 action: [ 0.26  -0.066 -0.108 -0.084  0.108  0.238 -0.992]
+t: 53	 action: [ 0.293 -0.076 -0.111 -0.071  0.097  0.217 -0.989]
+t: 54	 action: [ 0.281 -0.111 -0.095 -0.081  0.098  0.237 -0.987]
+t: 55	 action: [ 0.322 -0.081 -0.116 -0.07   0.096  0.216 -1.02 ]
+t: 56	 action: [ 0.289 -0.136 -0.096 -0.07   0.101  0.221 -0.99 ]
+t: 57	 action: [ 0.321 -0.108 -0.108 -0.064  0.1    0.204 -1.013]
+[07-31 00:43:04|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.979 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=58: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.5379
+INFO:cosmos_policy.experiments.robot.robot_utils:t=58: Selected seed 195 with value = 0.5379
+Query 1/1: Action query time = 0.979 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5379
+t=58: Selected seed 195 with value = 0.5379
+t: 58	 action: [ 0.121 -0.046 -0.039 -0.053  0.142  0.248 -1.005]
+t: 59	 action: [ 0.154 -0.046 -0.003 -0.041  0.125  0.214 -1.002]
+t: 60	 action: [ 0.161 -0.073 -0.028 -0.048  0.14   0.241 -1.003]
+t: 61	 action: [ 0.221 -0.076  0.002 -0.035  0.121  0.214 -1.008]
+t: 62	 action: [ 0.265 -0.125 -0.008 -0.046  0.13   0.221 -1.007]
+t: 63	 action: [ 0.32  -0.102 -0.031 -0.041  0.105  0.191 -1.023]
+t: 64	 action: [ 0.342 -0.181 -0.017 -0.038  0.129  0.204 -1.004]
+t: 65	 action: [ 0.397 -0.14  -0.032 -0.035  0.114  0.182 -1.03 ]
+t: 66	 action: [ 0.45  -0.221 -0.056 -0.034  0.146  0.163 -1.027]
+t: 67	 action: [ 0.47  -0.177 -0.075 -0.01   0.139  0.134 -1.019]
+t: 68	 action: [ 0.5   -0.254 -0.086 -0.025  0.143  0.155 -1.026]
+t: 69	 action: [ 0.539 -0.198 -0.112 -0.012  0.137  0.125 -1.007]
+t: 70	 action: [ 0.527 -0.241 -0.069 -0.011  0.144  0.14  -1.012]
+t: 71	 action: [ 0.54  -0.203 -0.164 -0.013  0.127  0.117 -1.023]
+t: 72	 action: [ 0.544 -0.258 -0.176 -0.004  0.133  0.129 -1.012]
+t: 73	 action: [ 0.523 -0.204 -0.299 -0.016  0.11   0.112 -1.019]
+[07-31 00:43:05|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.995 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=74: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.6186
+INFO:cosmos_policy.experiments.robot.robot_utils:t=74: Selected seed 195 with value = 0.6186
+Query 1/1: Action query time = 0.995 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6186
+t=74: Selected seed 195 with value = 0.6186
+t: 74	 action: [ 0.263 -0.335 -0.517  0.003  0.023  0.119 -1.027]
+t: 75	 action: [ 0.239 -0.24  -0.478 -0.004  0.013  0.116 -1.018]
+t: 76	 action: [ 1.981e-01 -2.971e-01 -5.551e-01  6.356e-04  1.886e-02  1.389e-01 -1.013e+00]
+t: 77	 action: [ 0.173 -0.211 -0.511 -0.008  0.011  0.124 -1.017]
+t: 78	 action: [ 0.201 -0.295 -0.496 -0.004  0.019  0.132 -1.004]
+t: 79	 action: [ 0.153 -0.23  -0.424 -0.012  0.008  0.122 -1.028]
+t: 80	 action: [ 0.149 -0.3   -0.406 -0.008  0.012  0.137 -1.001]
+t: 81	 action: [ 0.098 -0.228 -0.269 -0.017  0.007  0.117 -1.034]
+t: 82	 action: [ 1.684e-01 -2.514e-01 -1.389e-01 -4.564e-02 -5.717e-04  1.081e-01 -1.004e+00]
+t: 83	 action: [ 0.127 -0.248 -0.073 -0.035 -0.008  0.102 -1.021]
+t: 84	 action: [ 0.087 -0.231 -0.006 -0.039 -0.018  0.108 -0.999]
+t: 85	 action: [ 0.078 -0.242  0.004 -0.028 -0.034  0.094 -1.022]
+t: 86	 action: [-0.006 -0.27  -0.06  -0.025 -0.053  0.135 -1.005]
+t: 87	 action: [-0.081 -0.278 -0.039 -0.026 -0.067  0.113 -1.033]
+t: 88	 action: [-0.161 -0.291 -0.048 -0.012 -0.084  0.135 -1.01 ]
+t: 89	 action: [-0.248 -0.276 -0.061 -0.015 -0.092  0.108 -1.032]
+[07-31 00:43:06|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.985 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=90: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.6509
+INFO:cosmos_policy.experiments.robot.robot_utils:t=90: Selected seed 195 with value = 0.6509
+Query 1/1: Action query time = 0.985 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6509
+t=90: Selected seed 195 with value = 0.6509
+t: 90	 action: [ 0.106 -0.232 -0.095 -0.013  0.013  0.054 -0.984]
+t: 91	 action: [ 0.111 -0.257 -0.083 -0.011  0.011  0.06  -1.014]
+t: 92	 action: [ 0.029 -0.255 -0.055 -0.009 -0.009  0.068 -0.982]
+t: 93	 action: [-0.015 -0.276 -0.045 -0.011 -0.008  0.063 -1.011]
+t: 94	 action: [-0.104 -0.299 -0.074 -0.004 -0.025  0.05  -1.002]
+t: 95	 action: [-0.223 -0.299 -0.101 -0.002 -0.037  0.063 -1.042]
+t: 96	 action: [-0.312 -0.274 -0.133 -0.004 -0.061  0.071 -0.999]
+t: 97	 action: [-0.436 -0.277 -0.199 -0.002 -0.068  0.069 -1.034]
+t: 98	 action: [-0.479 -0.26  -0.152 -0.039 -0.079  0.078 -0.957]
+t: 99	 action: [-0.5   -0.221 -0.177 -0.016 -0.097  0.085 -1.003]
+t: 100	 action: [-0.585 -0.23  -0.19  -0.044 -0.109  0.103 -0.941]
+t: 101	 action: [-0.598 -0.201 -0.202 -0.017 -0.112  0.108 -0.992]
+t: 102	 action: [-0.647 -0.186 -0.179 -0.016 -0.137  0.114 -0.941]
+t: 103	 action: [-0.66  -0.204 -0.15  -0.006 -0.116  0.106 -1.019]
+t: 104	 action: [-0.621 -0.185 -0.143 -0.018 -0.145  0.138 -0.916]
+t: 105	 action: [-0.595 -0.179 -0.076 -0.008 -0.102  0.123 -1.012]
+[07-31 00:43:08|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.978 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=106: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.7191
+INFO:cosmos_policy.experiments.robot.robot_utils:t=106: Selected seed 195 with value = 0.7191
+Query 1/1: Action query time = 0.978 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7191
+t=106: Selected seed 195 with value = 0.7191
+t: 106	 action: [-8.292e-02 -3.442e-01  6.658e-02 -2.239e-04 -5.695e-02  7.460e-03 -9.952e-01]
+t: 107	 action: [-1.458e-02 -3.676e-01  7.439e-02 -2.548e-03 -6.637e-02  1.459e-04 -1.014e+00]
+t: 108	 action: [-0.114 -0.361  0.019  0.01  -0.064  0.01  -1.   ]
+t: 109	 action: [-0.076 -0.379  0.024  0.013 -0.067  0.002 -1.017]
+t: 110	 action: [-1.062e-01 -3.893e-01  2.721e-03  9.746e-03 -4.959e-02 -1.397e-04 -9.984e-01]
+t: 111	 action: [-0.087 -0.358 -0.012  0.027 -0.062 -0.003 -1.045]
+t: 112	 action: [-0.11  -0.377 -0.061  0.029 -0.051  0.005 -1.002]
+t: 113	 action: [-0.086 -0.345 -0.12   0.035 -0.061 -0.002 -1.046]
+t: 114	 action: [-0.084 -0.364 -0.056  0.021 -0.078  0.001 -0.997]
+t: 115	 action: [-0.042 -0.352 -0.064  0.021 -0.096 -0.021 -1.009]
+t: 116	 action: [-0.04  -0.354 -0.114  0.029 -0.089 -0.004 -0.994]
+t: 117	 action: [ 0.008 -0.337 -0.098  0.027 -0.108 -0.043 -0.996]
+t: 118	 action: [-0.04  -0.348 -0.124  0.049 -0.068 -0.025 -1.003]
+t: 119	 action: [-0.023 -0.285 -0.183  0.062 -0.067 -0.04  -1.041]
+t: 120	 action: [-0.021 -0.332 -0.187  0.053 -0.066 -0.039 -0.996]
+t: 121	 action: [-0.013 -0.268 -0.267  0.077 -0.055 -0.066 -1.047]
+[07-31 00:43:09|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.987 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=122: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.8921
+INFO:cosmos_policy.experiments.robot.robot_utils:t=122: Selected seed 195 with value = 0.8921
+Query 1/1: Action query time = 0.987 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8921
+t=122: Selected seed 195 with value = 0.8921
+t: 122	 action: [-0.03  -0.449 -0.432  0.057 -0.04  -0.026 -1.017]
+t: 123	 action: [ 0.013 -0.303 -0.609  0.066 -0.043 -0.023 -1.012]
+t: 124	 action: [ 0.018 -0.221 -0.868  0.091 -0.033 -0.015 -1.014]
+t: 125	 action: [ 0.047 -0.083 -0.903  0.078 -0.028 -0.013 -1.004]
+t: 126	 action: [ 0.035  0.047 -0.975  0.063 -0.02  -0.019 -1.018]
+t: 127	 action: [ 0.02   0.161 -1.002  0.059 -0.02  -0.015 -1.034]
+t: 128	 action: [ 0.032  0.298 -0.961  0.037 -0.015 -0.005 -1.017]
+t: 129	 action: [ 0.019  0.401 -0.946  0.032 -0.02  -0.002 -1.032]
+t: 130	 action: [-0.003  0.418 -0.926  0.025  0.003  0.039 -1.009]
+t: 131	 action: [-0.054  0.55  -0.915  0.008  0.008  0.052 -1.024]
+t: 132	 action: [-0.126  0.678 -0.88   0.007  0.004  0.065 -1.012]
+t: 133	 action: [-0.147  0.706 -0.852 -0.006  0.003  0.076 -1.017]
+t: 134	 action: [-0.269  0.798 -0.908  0.003  0.002  0.076 -1.02 ]
+t: 135	 action: [-0.268  0.759 -0.88  -0.006 -0.003  0.067 -1.049]
+t: 136	 action: [-0.328  0.88  -0.85  -0.013  0.008  0.099 -1.017]
+t: 137	 action: [-0.31   0.804 -0.804 -0.014 -0.002  0.089 -1.047]
+[07-31 00:43:10|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.972 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=138: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9734
+INFO:cosmos_policy.experiments.robot.robot_utils:t=138: Selected seed 195 with value = 0.9734
+WARNING:imageio_ffmpeg:IMAGEIO FFMPEG_WRITER WARNING: input image is not divisible by macro_block_size=16, resizing from (896, 284) to (896, 288) to ensure video compatibility with most codecs and players. To prevent resizing, make your input image divisible by the macro_block_size or set the macro_block_size to 1 (risking incompatibility).
+INFO:cosmos_policy.experiments.robot.robot_utils:Success: True
+INFO:cosmos_policy.experiments.robot.robot_utils:# episodes completed so far: 38
+INFO:cosmos_policy.experiments.robot.robot_utils:# successes: 20 (52.6%)
+
+
 76%|███████▌  | 38/50 [15:14<03:56, 19.72s/it]INFO:cosmos_policy.experiments.robot.robot_utils:
+Task: open the middle drawer of the cabinet
+INFO:cosmos_policy.experiments.robot.robot_utils:Starting episode 39...
+Query 1/1: Action query time = 0.972 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9734
+t=138: Selected seed 195 with value = 0.9734
+t: 138	 action: [-0.15   0.874 -0.784  0.002 -0.016  0.068 -0.992]
+t: 139	 action: [-0.168  0.86  -0.832 -0.01  -0.018  0.063 -1.005]
+t: 140	 action: [-1.716e-01  8.890e-01 -7.642e-01  9.017e-05 -7.176e-03  7.441e-02 -9.871e-01]
+t: 141	 action: [-0.167  0.87  -0.82  -0.009 -0.01   0.068 -1.005]
+t: 142	 action: [-0.207  0.888 -0.741 -0.01  -0.01   0.074 -0.984]
+t: 143	 action: [-0.233  0.906 -0.81  -0.01  -0.008  0.067 -1.033]
+t: 144	 action: [-0.228  0.89  -0.723 -0.008 -0.002  0.083 -0.98 ]
+t: 145	 action: [-0.24   0.903 -0.787 -0.007 -0.005  0.073 -1.034]
+t: 146	 action: [-0.165  0.883 -0.75   0.002 -0.01   0.076 -0.991]
+t: 147	 action: [-0.159  0.873 -0.779 -0.009 -0.005  0.063 -1.006]
+t: 148	 action: [-0.18   0.885 -0.728  0.001 -0.003  0.083 -0.988]
+t: 149	 action: [-1.619e-01  8.644e-01 -7.679e-01 -7.392e-03 -3.808e-04  6.959e-02 -1.005e+00]
+t: 150	 action: [-0.208  0.89  -0.708 -0.007 -0.006  0.08  -0.985]
+t: 151	 action: [-0.233  0.902 -0.755 -0.009 -0.004  0.067 -1.031]
+t: 152	 action: [-0.228  0.878 -0.683 -0.005  0.003  0.086 -0.977]
+t: 153	 action: [-0.24   0.872 -0.714 -0.007 -0.005  0.074 -1.036]
+Saved rollout MP4 at path ./rollouts/None/2026_07_31-00_27_45--episode=38--success=True--task=open_the_middle_drawer_of_the_cabinet.mp4
+144 144 9 9
+Saved rollout MP4 at path ./rollouts/None/2026_07_31-00_27_45--with_future_img--episode=38--success=True--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: True
+# episodes completed so far: 38
+# successes: 20 (52.6%)
+
+Task: open the middle drawer of the cabinet
+Starting episode 39...
+[07-31 00:43:16|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.978 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=10: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.3551
+INFO:cosmos_policy.experiments.robot.robot_utils:t=10: Selected seed 195 with value = 0.3551
+Query 1/1: Action query time = 0.978 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3551
+t=10: Selected seed 195 with value = 0.3551
+t: 10	 action: [ 0.146  0.012 -0.01   0.002  0.025  0.009 -0.991]
+t: 11	 action: [ 0.234  0.051  0.039 -0.008  0.058  0.015 -0.989]
+t: 12	 action: [ 0.414  0.069  0.002 -0.009  0.072  0.024 -1.003]
+t: 13	 action: [ 0.558  0.091  0.05  -0.022  0.111  0.027 -1.007]
+t: 14	 action: [ 0.592  0.041  0.046 -0.023  0.112  0.031 -1.031]
+t: 15	 action: [ 0.692  0.089  0.078 -0.022  0.147  0.025 -1.054]
+t: 16	 action: [ 0.791  0.059  0.048 -0.039  0.134  0.061 -1.026]
+t: 17	 action: [ 0.79   0.095  0.066 -0.043  0.171  0.035 -1.049]
+t: 18	 action: [ 0.826  0.052  0.053 -0.042  0.136  0.064 -1.025]
+t: 19	 action: [ 0.865  0.055  0.075 -0.041  0.148  0.065 -1.024]
+t: 20	 action: [ 0.842  0.034  0.048 -0.047  0.131  0.072 -1.026]
+t: 21	 action: [ 0.866  0.059  0.048 -0.046  0.139  0.067 -1.018]
+t: 22	 action: [ 0.809  0.012  0.057 -0.051  0.124  0.083 -1.018]
+t: 23	 action: [ 0.791  0.036  0.022 -0.051  0.118  0.079 -1.05 ]
+t: 24	 action: [ 0.773  0.009  0.036 -0.057  0.117  0.097 -1.022]
+t: 25	 action: [ 0.73   0.051  0.014 -0.062  0.109  0.085 -1.042]
+[07-31 00:43:17|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.980 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=26: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.4063
+INFO:cosmos_policy.experiments.robot.robot_utils:t=26: Selected seed 195 with value = 0.4063
+Query 1/1: Action query time = 0.980 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4063
+t=26: Selected seed 195 with value = 0.4063
+t: 26	 action: [ 0.67   0.052  0.051 -0.046  0.12   0.113 -1.019]
+t: 27	 action: [ 0.642  0.077  0.057 -0.044  0.128  0.121 -1.02 ]
+t: 28	 action: [ 0.586  0.046  0.032 -0.049  0.132  0.134 -1.015]
+t: 29	 action: [ 0.556  0.07   0.029 -0.049  0.142  0.144 -1.018]
+t: 30	 action: [ 0.515  0.04   0.019 -0.058  0.146  0.158 -1.012]
+t: 31	 action: [ 0.436  0.076  0.013 -0.054  0.153  0.153 -1.042]
+t: 32	 action: [ 0.401  0.037  0.001 -0.065  0.153  0.189 -1.013]
+t: 33	 action: [ 0.347  0.063  0.005 -0.072  0.17   0.189 -1.037]
+t: 34	 action: [ 0.31   0.018 -0.012 -0.077  0.192  0.21  -0.994]
+t: 35	 action: [ 0.31   0.022  0.003 -0.08   0.205  0.216 -1.007]
+t: 36	 action: [ 0.252  0.003 -0.043 -0.086  0.19   0.231 -0.991]
+t: 37	 action: [ 0.255  0.008 -0.021 -0.087  0.199  0.239 -1.002]
+t: 38	 action: [ 0.219  0.013 -0.056 -0.093  0.171  0.258 -0.989]
+t: 39	 action: [ 0.217  0.043 -0.059 -0.096  0.16   0.248 -1.032]
+t: 40	 action: [ 0.208  0.011 -0.094 -0.096  0.157  0.273 -0.989]
+t: 41	 action: [ 0.209  0.033 -0.09  -0.096  0.149  0.262 -1.026]
+[07-31 00:43:18|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.986 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=42: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.4522
+INFO:cosmos_policy.experiments.robot.robot_utils:t=42: Selected seed 195 with value = 0.4522
+Query 1/1: Action query time = 0.986 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4522
+t=42: Selected seed 195 with value = 0.4522
+t: 42	 action: [ 0.121  0.009 -0.104 -0.109  0.114  0.267 -0.987]
+t: 43	 action: [ 0.128  0.026 -0.075 -0.101  0.11   0.262 -0.989]
+t: 44	 action: [ 0.092  0.004 -0.13  -0.109  0.106  0.275 -0.984]
+t: 45	 action: [ 0.1    0.012 -0.089 -0.101  0.103  0.268 -1.   ]
+t: 46	 action: [ 0.109 -0.007 -0.12  -0.107  0.095  0.282 -0.992]
+t: 47	 action: [ 0.094  0.01  -0.135 -0.098  0.098  0.263 -1.012]
+t: 48	 action: [ 0.086 -0.038 -0.15  -0.096  0.092  0.283 -0.988]
+t: 49	 action: [ 0.081 -0.015 -0.17  -0.094  0.098  0.263 -1.021]
+t: 50	 action: [ 0.056 -0.116 -0.216 -0.08   0.127  0.277 -0.99 ]
+t: 51	 action: [ 0.081 -0.105 -0.208 -0.062  0.129  0.271 -0.998]
+t: 52	 action: [ 0.055 -0.161 -0.247 -0.068  0.125  0.275 -0.99 ]
+t: 53	 action: [ 0.099 -0.137 -0.245 -0.047  0.126  0.264 -0.993]
+t: 54	 action: [ 0.121 -0.16  -0.223 -0.05   0.128  0.279 -0.988]
+t: 55	 action: [ 0.164 -0.131 -0.253 -0.043  0.125  0.264 -1.025]
+t: 56	 action: [ 0.136 -0.16  -0.268 -0.03   0.133  0.271 -0.987]
+t: 57	 action: [ 0.178 -0.153 -0.309 -0.027  0.128  0.253 -1.021]
+[07-31 00:43:20|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.964 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=58: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.5551
+INFO:cosmos_policy.experiments.robot.robot_utils:t=58: Selected seed 195 with value = 0.5551
+Query 1/1: Action query time = 0.964 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5551
+t=58: Selected seed 195 with value = 0.5551
+t: 58	 action: [ 0.005 -0.201 -0.372 -0.012  0.122  0.26  -0.991]
+t: 59	 action: [ 0.013 -0.225 -0.306 -0.016  0.112  0.249 -0.964]
+t: 60	 action: [ 0.013 -0.213 -0.416 -0.001  0.112  0.268 -0.991]
+t: 61	 action: [ 0.031 -0.237 -0.341 -0.007  0.108  0.254 -0.982]
+t: 62	 action: [ 0.077 -0.256 -0.409  0.001  0.098  0.27  -0.985]
+t: 63	 action: [ 7.906e-02 -2.645e-01 -3.121e-01 -2.440e-04  8.413e-02  2.551e-01 -1.013e+00]
+t: 64	 action: [ 0.114 -0.313 -0.372  0.003  0.085  0.276 -0.99 ]
+t: 65	 action: [ 0.126 -0.291 -0.302  0.009  0.073  0.251 -1.016]
+t: 66	 action: [ 0.119 -0.362 -0.325  0.004  0.079  0.265 -0.998]
+t: 67	 action: [ 0.157 -0.343 -0.291  0.004  0.06   0.249 -1.   ]
+t: 68	 action: [ 0.118 -0.366 -0.269  0.007  0.06   0.262 -1.002]
+t: 69	 action: [ 0.153 -0.338 -0.251  0.009  0.034  0.231 -0.995]
+t: 70	 action: [ 0.116 -0.357 -0.187  0.003  0.048  0.251 -0.991]
+t: 71	 action: [ 0.109 -0.354 -0.142  0.011  0.027  0.235 -1.029]
+t: 72	 action: [ 0.089 -0.33  -0.141  0.005  0.021  0.24  -1.   ]
+t: 73	 action: [ 0.059 -0.329 -0.122  0.013  0.005  0.215 -1.024]
+[07-31 00:43:21|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.976 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=74: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.6593
+INFO:cosmos_policy.experiments.robot.robot_utils:t=74: Selected seed 195 with value = 0.6593
+Query 1/1: Action query time = 0.976 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6593
+t=74: Selected seed 195 with value = 0.6593
+t: 74	 action: [-0.033 -0.464 -0.151  0.023  0.021  0.258 -0.971]
+t: 75	 action: [-0.022 -0.446 -0.179  0.031  0.019  0.237 -0.969]
+t: 76	 action: [-0.057 -0.454 -0.148  0.028  0.011  0.265 -0.975]
+t: 77	 action: [-0.052 -0.44  -0.159  0.031  0.011  0.231 -0.99 ]
+t: 78	 action: [-0.035 -0.459 -0.131  0.027  0.015  0.243 -0.978]
+t: 79	 action: [-0.068 -0.461 -0.138  0.033  0.006  0.227 -1.012]
+t: 80	 action: [-0.076 -0.409 -0.11   0.028 -0.002  0.241 -0.982]
+t: 81	 action: [-0.126 -0.401 -0.115  0.027 -0.001  0.207 -1.009]
+t: 82	 action: [-0.137 -0.398 -0.042  0.002 -0.012  0.159 -0.985]
+t: 83	 action: [-0.107 -0.374 -0.009  0.005 -0.008  0.133 -1.014]
+t: 84	 action: [-0.225 -0.378 -0.019 -0.003 -0.023  0.15  -0.979]
+t: 85	 action: [-0.179 -0.327  0.008  0.001 -0.029  0.123 -0.996]
+t: 86	 action: [-0.247 -0.35  -0.03   0.004 -0.027  0.134 -0.979]
+t: 87	 action: [-0.245 -0.351  0.007  0.005 -0.025  0.114 -1.012]
+t: 88	 action: [-3.334e-01 -3.462e-01 -4.253e-02  2.601e-04 -5.218e-02  1.191e-01 -9.768e-01]
+t: 89	 action: [-0.317 -0.319 -0.018  0.003 -0.043  0.104 -1.012]
+[07-31 00:43:22|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.968 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=90: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.7515
+INFO:cosmos_policy.experiments.robot.robot_utils:t=90: Selected seed 195 with value = 0.7515
+Query 1/1: Action query time = 0.968 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7515
+t=90: Selected seed 195 with value = 0.7515
+t: 90	 action: [-0.155 -0.368  0.09   0.001 -0.008  0.027 -0.991]
+t: 91	 action: [-0.129 -0.394  0.095  0.01  -0.011  0.024 -1.01 ]
+t: 92	 action: [-0.287 -0.383  0.057  0.005 -0.035  0.041 -0.994]
+t: 93	 action: [-0.274 -0.401  0.053  0.016 -0.035  0.032 -1.007]
+t: 94	 action: [-0.325 -0.453  0.027  0.01  -0.029  0.025 -0.99 ]
+t: 95	 action: [-0.321 -0.426  0.004  0.03  -0.033  0.026 -1.037]
+t: 96	 action: [-0.389 -0.431 -0.02   0.014 -0.055  0.045 -0.989]
+t: 97	 action: [-0.35  -0.403 -0.051  0.035 -0.061  0.033 -1.033]
+t: 98	 action: [-0.37  -0.429 -0.101  0.011 -0.062  0.065 -0.991]
+t: 99	 action: [-0.341 -0.426 -0.121  0.028 -0.07   0.04  -1.006]
+t: 100	 action: [-0.291 -0.453 -0.188  0.021 -0.085  0.061 -0.998]
+t: 101	 action: [-0.213 -0.416 -0.178  0.034 -0.088  0.035 -0.995]
+t: 102	 action: [-0.243 -0.454 -0.157  0.051 -0.064  0.036 -0.985]
+t: 103	 action: [-0.104 -0.412 -0.206  0.086 -0.051  0.024 -1.04 ]
+t: 104	 action: [-0.128 -0.462 -0.179  0.067 -0.074  0.023 -0.991]
+t: 105	 action: [-0.035 -0.394 -0.228  0.103 -0.057  0.016 -1.034]
+[07-31 00:43:23|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.970 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=106: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.7318
+INFO:cosmos_policy.experiments.robot.robot_utils:t=106: Selected seed 195 with value = 0.7318
+Query 1/1: Action query time = 0.970 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7318
+t=106: Selected seed 195 with value = 0.7318
+t: 106	 action: [ 0.079 -0.317 -0.176  0.005  0.022 -0.003 -1.036]
+t: 107	 action: [ 0.105 -0.331 -0.193  0.023  0.015 -0.035 -1.044]
+t: 108	 action: [ 0.032 -0.343 -0.336  0.024  0.002 -0.027 -1.039]
+t: 109	 action: [ 0.048 -0.349 -0.311  0.038  0.008 -0.061 -1.048]
+t: 110	 action: [-0.023 -0.377 -0.391  0.042  0.012 -0.053 -1.032]
+t: 111	 action: [-0.014 -0.336 -0.386  0.048  0.004 -0.069 -1.069]
+t: 112	 action: [-0.044 -0.321 -0.526  0.051 -0.001 -0.062 -1.037]
+t: 113	 action: [-0.043 -0.292 -0.461  0.054 -0.004 -0.091 -1.069]
+t: 114	 action: [-0.104 -0.372 -0.589  0.052 -0.037 -0.003 -1.031]
+t: 115	 action: [-0.059 -0.3   -0.544  0.05  -0.034 -0.015 -1.044]
+t: 116	 action: [-9.728e-02 -3.338e-01 -6.265e-01  4.729e-02 -4.794e-02  5.503e-04 -1.046e+00]
+t: 117	 action: [-0.047 -0.258 -0.638  0.044 -0.042 -0.01  -1.037]
+t: 118	 action: [-0.058 -0.182 -0.682  0.056 -0.038 -0.012 -1.024]
+t: 119	 action: [-0.034 -0.17  -0.599  0.064 -0.032 -0.025 -1.06 ]
+t: 120	 action: [-0.062 -0.149 -0.656  0.046 -0.026 -0.008 -1.037]
+t: 121	 action: [-0.057 -0.113 -0.612  0.057 -0.008 -0.015 -1.058]
+[07-31 00:43:25|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.986 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=122: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.7595
+INFO:cosmos_policy.experiments.robot.robot_utils:t=122: Selected seed 195 with value = 0.7595
+Query 1/1: Action query time = 0.986 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7595
+t=122: Selected seed 195 with value = 0.7595
+t: 122	 action: [-0.336 -0.216 -0.013 -0.039 -0.016  0.041 -1.004]
+t: 123	 action: [-0.305 -0.228  0.041 -0.025 -0.025  0.02  -1.014]
+t: 124	 action: [-0.374 -0.228  0.093 -0.019 -0.033  0.042 -1.002]
+t: 125	 action: [-0.31  -0.242  0.163 -0.014 -0.043  0.02  -1.022]
+t: 126	 action: [-3.254e-01 -2.522e-01  1.256e-01  4.806e-04 -7.813e-03  3.103e-02 -1.005e+00]
+t: 127	 action: [-0.227 -0.243  0.128  0.008 -0.036  0.012 -1.049]
+t: 128	 action: [-0.241 -0.245  0.119  0.003 -0.016  0.031 -1.004]
+t: 129	 action: [-0.148 -0.251  0.086  0.016 -0.034  0.011 -1.045]
+t: 130	 action: [-0.208 -0.428  0.033  0.026 -0.036  0.014 -1.02 ]
+t: 131	 action: [-0.117 -0.37  -0.018  0.027 -0.053 -0.011 -1.027]
+t: 132	 action: [-0.142 -0.44  -0.222  0.039 -0.039  0.007 -1.026]
+t: 133	 action: [-0.053 -0.366 -0.253  0.049 -0.048 -0.019 -1.022]
+t: 134	 action: [-0.151 -0.414 -0.533  0.086 -0.018 -0.017 -1.021]
+t: 135	 action: [-0.056 -0.365 -0.527  0.096 -0.005 -0.035 -1.055]
+t: 136	 action: [-0.071 -0.341 -0.863  0.088 -0.008 -0.035 -1.022]
+t: 137	 action: [-0.024 -0.241 -0.739  0.089  0.003 -0.039 -1.056]
+[07-31 00:43:26|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.976 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=138: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.7946
+INFO:cosmos_policy.experiments.robot.robot_utils:t=138: Selected seed 195 with value = 0.7946
+Query 1/1: Action query time = 0.976 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7946
+t=138: Selected seed 195 with value = 0.7946
+t: 138	 action: [-0.148 -0.268  0.033 -0.014 -0.061 -0.009 -1.009]
+t: 139	 action: [-1.071e-01 -2.742e-01  1.329e-01 -2.299e-04 -6.216e-02 -2.826e-02 -1.030e+00]
+t: 140	 action: [-0.116 -0.328  0.156  0.001 -0.062 -0.011 -1.004]
+t: 141	 action: [-0.059 -0.313  0.2    0.015 -0.055 -0.026 -1.027]
+t: 142	 action: [-0.112 -0.329  0.117  0.014 -0.02  -0.015 -1.002]
+t: 143	 action: [-0.101 -0.292  0.093  0.039 -0.028 -0.026 -1.054]
+t: 144	 action: [-0.061 -0.335  0.032  0.023 -0.006 -0.013 -1.   ]
+t: 145	 action: [-0.048 -0.321 -0.08   0.045 -0.004 -0.026 -1.05 ]
+t: 146	 action: [-0.13  -0.397 -0.19   0.062 -0.029 -0.012 -1.012]
+t: 147	 action: [-0.046 -0.401 -0.33   0.06  -0.031 -0.037 -1.032]
+t: 148	 action: [-0.072 -0.436 -0.587  0.077 -0.019 -0.015 -1.011]
+t: 149	 action: [-0.01  -0.324 -0.694  0.083 -0.015 -0.032 -1.027]
+t: 150	 action: [-0.054 -0.281 -0.848  0.119 -0.002 -0.039 -1.009]
+t: 151	 action: [-0.041 -0.142 -0.892  0.111  0.003 -0.045 -1.056]
+t: 152	 action: [ 0.012 -0.062 -1.024  0.093  0.01  -0.036 -1.006]
+t: 153	 action: [-0.018  0.059 -0.941  0.074  0.008 -0.037 -1.059]
+[07-31 00:43:27|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.964 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=154: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9613
+INFO:cosmos_policy.experiments.robot.robot_utils:t=154: Selected seed 195 with value = 0.9613
+Query 1/1: Action query time = 0.964 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9613
+t=154: Selected seed 195 with value = 0.9613
+t: 154	 action: [-0.136  0.57  -0.912  0.031 -0.033  0.006 -0.997]
+t: 155	 action: [-0.137  0.542 -0.926  0.018 -0.042 -0.003 -1.021]
+t: 156	 action: [-0.134  0.665 -0.911  0.025 -0.027  0.003 -1.001]
+t: 157	 action: [-0.118  0.634 -0.886  0.013 -0.037 -0.006 -1.019]
+t: 158	 action: [-1.890e-01  7.884e-01 -9.040e-01  1.649e-02 -1.152e-02  6.791e-04 -9.976e-01]
+t: 159	 action: [-0.144  0.638 -0.887  0.018 -0.023 -0.003 -1.038]
+t: 160	 action: [-0.16   0.834 -0.894  0.007 -0.004 -0.001 -0.999]
+t: 161	 action: [-0.116  0.751 -0.85   0.013 -0.019 -0.007 -1.039]
+t: 162	 action: [-0.125  0.76  -0.87   0.016 -0.009  0.012 -0.993]
+t: 163	 action: [-0.13   0.741 -0.885  0.013 -0.005 -0.002 -1.025]
+t: 164	 action: [-0.148  0.833 -0.873  0.004 -0.007  0.013 -1.004]
+t: 165	 action: [-1.265e-01  8.047e-01 -8.743e-01  4.742e-03 -8.012e-03 -6.585e-04 -1.023e+00]
+t: 166	 action: [-0.216  0.921 -0.877  0.004  0.005  0.005 -0.996]
+t: 167	 action: [-0.201  0.855 -0.918  0.012 -0.003 -0.004 -1.046]
+t: 168	 action: [-0.19   0.931 -0.877 -0.005  0.01   0.007 -1.001]
+t: 169	 action: [-0.182  0.871 -0.907  0.006 -0.006 -0.002 -1.05 ]
+[07-31 00:43:29|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.983 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=170: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9645
+INFO:cosmos_policy.experiments.robot.robot_utils:t=170: Selected seed 195 with value = 0.9645
+WARNING:imageio_ffmpeg:IMAGEIO FFMPEG_WRITER WARNING: input image is not divisible by macro_block_size=16, resizing from (896, 284) to (896, 288) to ensure video compatibility with most codecs and players. To prevent resizing, make your input image divisible by the macro_block_size or set the macro_block_size to 1 (risking incompatibility).
+INFO:cosmos_policy.experiments.robot.robot_utils:Success: True
+INFO:cosmos_policy.experiments.robot.robot_utils:# episodes completed so far: 39
+INFO:cosmos_policy.experiments.robot.robot_utils:# successes: 21 (53.8%)
+
+
 78%|███████▊  | 39/50 [15:32<03:33, 19.42s/it]INFO:cosmos_policy.experiments.robot.robot_utils:
+Task: open the middle drawer of the cabinet
+INFO:cosmos_policy.experiments.robot.robot_utils:Starting episode 40...
+Query 1/1: Action query time = 0.983 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9645
+t=170: Selected seed 195 with value = 0.9645
+t: 170	 action: [-0.302  0.808 -0.631  0.003 -0.006  0.023 -0.985]
+t: 171	 action: [-2.805e-01  7.956e-01 -6.123e-01 -9.534e-03 -1.501e-04  3.360e-02 -9.914e-01]
+t: 172	 action: [-0.292  0.849 -0.663  0.002 -0.002  0.026 -0.985]
+t: 173	 action: [-0.266  0.818 -0.643 -0.012 -0.003  0.031 -1.002]
+t: 174	 action: [-0.274  0.882 -0.628 -0.005  0.013  0.04  -0.994]
+t: 175	 action: [-2.787e-01  8.739e-01 -6.621e-01 -5.449e-03 -7.036e-04  3.894e-02 -1.037e+00]
+t: 176	 action: [-0.267  0.902 -0.657 -0.008  0.018  0.043 -0.991]
+t: 177	 action: [-2.520e-01  8.767e-01 -6.759e-01 -6.825e-03  4.387e-04  3.493e-02 -1.033e+00]
+t: 178	 action: [-0.136  0.791 -0.597  0.001 -0.005  0.017 -0.99 ]
+t: 179	 action: [-1.475e-01  6.645e-01 -5.808e-01 -8.747e-03  7.260e-04  9.556e-03 -1.003e+00]
+Saved rollout MP4 at path ./rollouts/None/2026_07_31-00_27_45--episode=39--success=True--task=open_the_middle_drawer_of_the_cabinet.mp4
+170 170 11 11
+Saved rollout MP4 at path ./rollouts/None/2026_07_31-00_27_45--with_future_img--episode=39--success=True--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: True
+# episodes completed so far: 39
+# successes: 21 (53.8%)
+
+Task: open the middle drawer of the cabinet
+Starting episode 40...
+[07-31 00:43:35|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.984 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=10: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.3393
+INFO:cosmos_policy.experiments.robot.robot_utils:t=10: Selected seed 195 with value = 0.3393
+Query 1/1: Action query time = 0.984 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3393
+t=10: Selected seed 195 with value = 0.3393
+t: 10	 action: [ 0.14   0.019 -0.028  0.003  0.012  0.003 -0.967]
+t: 11	 action: [ 0.225  0.055  0.022 -0.012  0.041  0.01  -0.974]
+t: 12	 action: [ 0.447  0.094 -0.018 -0.014  0.045  0.012 -0.998]
+t: 13	 action: [ 0.611  0.115  0.03  -0.022  0.08   0.021 -1.007]
+t: 14	 action: [ 0.718  0.089  0.004 -0.031  0.062  0.021 -1.022]
+t: 15	 action: [ 0.771  0.128  0.018 -0.023  0.089  0.028 -1.057]
+t: 16	 action: [ 0.877  0.13   0.01  -0.042  0.087  0.057 -1.029]
+t: 17	 action: [ 0.847  0.143  0.02  -0.03   0.105  0.036 -1.058]
+t: 18	 action: [ 0.853  0.066  0.034 -0.034  0.061  0.071 -1.038]
+t: 19	 action: [ 0.886  0.035  0.023 -0.031  0.071  0.075 -1.037]
+t: 20	 action: [ 0.853  0.058  0.012 -0.037  0.054  0.08  -1.041]
+t: 21	 action: [ 0.892  0.041  0.002 -0.034  0.055  0.077 -1.032]
+t: 22	 action: [ 0.833  0.037 -0.005 -0.045  0.051  0.096 -1.03 ]
+t: 23	 action: [ 0.782  0.032 -0.01  -0.033  0.033  0.095 -1.062]
+t: 24	 action: [ 0.762  0.047 -0.042 -0.051  0.046  0.112 -1.037]
+t: 25	 action: [ 0.711  0.054 -0.033 -0.039  0.026  0.103 -1.053]
+[07-31 00:43:36|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.980 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=26: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.3891
+INFO:cosmos_policy.experiments.robot.robot_utils:t=26: Selected seed 195 with value = 0.3891
+Query 1/1: Action query time = 0.980 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3891
+t=26: Selected seed 195 with value = 0.3891
+t: 26	 action: [ 0.492  0.004 -0.019 -0.045  0.053  0.184 -1.01 ]
+t: 27	 action: [ 0.477  0.02  -0.013 -0.048  0.056  0.196 -1.006]
+t: 28	 action: [ 0.391  0.02  -0.055 -0.059  0.055  0.207 -1.007]
+t: 29	 action: [ 0.384  0.049 -0.052 -0.063  0.06   0.214 -1.006]
+t: 30	 action: [ 0.334  0.033 -0.103 -0.086  0.06   0.237 -1.005]
+t: 31	 action: [ 0.282  0.072 -0.135 -0.08   0.05   0.225 -1.03 ]
+t: 32	 action: [ 0.258  0.051 -0.141 -0.098  0.072  0.254 -1.003]
+t: 33	 action: [ 0.23   0.084 -0.185 -0.096  0.075  0.239 -1.031]
+t: 34	 action: [ 0.143  0.023 -0.164 -0.064  0.106  0.257 -1.005]
+t: 35	 action: [ 0.162 -0.009 -0.203 -0.065  0.119  0.235 -1.005]
+t: 36	 action: [ 0.141  0.006 -0.214 -0.067  0.127  0.255 -1.005]
+t: 37	 action: [ 0.169 -0.027 -0.248 -0.068  0.14   0.232 -1.008]
+t: 38	 action: [ 0.134 -0.004 -0.215 -0.073  0.134  0.268 -0.995]
+t: 39	 action: [ 0.138  0.006 -0.255 -0.07   0.129  0.239 -1.035]
+t: 40	 action: [ 0.127 -0.015 -0.272 -0.067  0.149  0.262 -0.996]
+t: 41	 action: [ 0.14  -0.018 -0.301 -0.07   0.137  0.23  -1.035]
+[07-31 00:43:37|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.973 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=42: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.4762
+INFO:cosmos_policy.experiments.robot.robot_utils:t=42: Selected seed 195 with value = 0.4762
+Query 1/1: Action query time = 0.973 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4762
+t=42: Selected seed 195 with value = 0.4762
+t: 42	 action: [ 0.106  0.021 -0.143 -0.08   0.167  0.275 -0.995]
+t: 43	 action: [ 0.114  0.041 -0.133 -0.079  0.171  0.27  -0.999]
+t: 44	 action: [ 0.104  0.017 -0.154 -0.074  0.171  0.274 -0.993]
+t: 45	 action: [ 0.13   0.035 -0.124 -0.071  0.17   0.261 -1.007]
+t: 46	 action: [ 0.133  0.019 -0.16  -0.083  0.171  0.274 -1.001]
+t: 47	 action: [ 0.145  0.037 -0.135 -0.078  0.177  0.261 -1.027]
+t: 48	 action: [ 0.148  0.013 -0.181 -0.071  0.176  0.265 -1.   ]
+t: 49	 action: [ 0.174  0.027 -0.144 -0.07   0.186  0.247 -1.036]
+t: 50	 action: [ 0.147 -0.04  -0.168 -0.054  0.191  0.244 -1.004]
+t: 51	 action: [ 0.179 -0.055 -0.19  -0.034  0.199  0.231 -1.014]
+t: 52	 action: [ 0.183 -0.077 -0.159 -0.045  0.2    0.235 -1.004]
+t: 53	 action: [ 0.217 -0.089 -0.183 -0.028  0.203  0.212 -1.012]
+t: 54	 action: [ 0.198 -0.09  -0.144 -0.04   0.19   0.231 -1.002]
+t: 55	 action: [ 0.208 -0.103 -0.133 -0.031  0.183  0.209 -1.044]
+t: 56	 action: [ 0.213 -0.123 -0.157 -0.029  0.191  0.212 -1.004]
+t: 57	 action: [ 0.205 -0.14  -0.158 -0.025  0.179  0.192 -1.035]
+[07-31 00:43:38|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.990 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=58: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.5535
+INFO:cosmos_policy.experiments.robot.robot_utils:t=58: Selected seed 195 with value = 0.5535
+Query 1/1: Action query time = 0.990 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5535
+t=58: Selected seed 195 with value = 0.5535
+t: 58	 action: [ 0.068 -0.078 -0.128 -0.042  0.218  0.244 -0.986]
+t: 59	 action: [ 0.068 -0.101 -0.105 -0.02   0.211  0.232 -0.985]
+t: 60	 action: [ 0.075 -0.106 -0.068 -0.023  0.199  0.249 -0.992]
+t: 61	 action: [ 0.098 -0.131 -0.042 -0.01   0.182  0.226 -1.002]
+t: 62	 action: [ 0.109 -0.19  -0.033 -0.024  0.183  0.245 -0.991]
+t: 63	 action: [ 0.143 -0.177 -0.025 -0.006  0.162  0.226 -1.018]
+t: 64	 action: [ 0.13  -0.261 -0.017 -0.009  0.156  0.238 -0.996]
+t: 65	 action: [ 0.186 -0.225 -0.013 -0.001  0.133  0.211 -1.018]
+t: 66	 action: [ 0.166 -0.344 -0.048 -0.007  0.146  0.231 -1.006]
+t: 67	 action: [ 0.175 -0.333 -0.026  0.008  0.111  0.199 -1.015]
+t: 68	 action: [ 0.158 -0.386 -0.062  0.007  0.118  0.22  -1.007]
+t: 69	 action: [ 0.166 -0.371 -0.037  0.012  0.074  0.184 -1.013]
+t: 70	 action: [ 0.162 -0.434 -0.05   0.006  0.077  0.197 -1.001]
+t: 71	 action: [ 0.162 -0.42  -0.016  0.013  0.054  0.161 -1.027]
+t: 72	 action: [ 0.13  -0.42  -0.072  0.007  0.037  0.184 -1.004]
+t: 73	 action: [ 0.101 -0.409 -0.017  0.013  0.023  0.155 -1.018]
+[07-31 00:43:40|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.975 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=74: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.6349
+INFO:cosmos_policy.experiments.robot.robot_utils:t=74: Selected seed 195 with value = 0.6349
+Query 1/1: Action query time = 0.975 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6349
+t=74: Selected seed 195 with value = 0.6349
+t: 74	 action: [ 0.072 -0.347  0.034 -0.017  0.039  0.169 -0.985]
+t: 75	 action: [ 0.072 -0.374  0.036 -0.005  0.016  0.16  -0.999]
+t: 76	 action: [ 0.045 -0.364 -0.001  0.001  0.01   0.176 -0.983]
+t: 77	 action: [ 0.052 -0.374  0.031  0.004  0.001  0.149 -1.01 ]
+t: 78	 action: [ 2.303e-02 -3.787e-01 -6.491e-03  3.667e-03  8.246e-04  1.547e-01 -9.853e-01]
+t: 79	 action: [ 0.028 -0.451  0.002  0.014 -0.004  0.154 -1.031]
+t: 80	 action: [-0.002 -0.375 -0.039  0.002 -0.022  0.146 -0.985]
+t: 81	 action: [ 0.004 -0.404 -0.022  0.014 -0.022  0.13  -1.025]
+t: 82	 action: [-0.037 -0.438 -0.029  0.003 -0.039  0.113 -1.003]
+t: 83	 action: [-0.037 -0.379 -0.006  0.014 -0.051  0.088 -1.012]
+t: 84	 action: [-0.077 -0.428 -0.046  0.005 -0.056  0.101 -0.999]
+t: 85	 action: [-0.084 -0.359 -0.039  0.014 -0.064  0.076 -1.002]
+t: 86	 action: [-0.124 -0.438 -0.062  0.007 -0.07   0.083 -1.001]
+t: 87	 action: [-0.146 -0.379 -0.048  0.018 -0.07   0.069 -1.028]
+t: 88	 action: [-0.152 -0.405 -0.073  0.007 -0.079  0.076 -0.999]
+t: 89	 action: [-0.181 -0.353 -0.073  0.016 -0.074  0.063 -1.024]
+[07-31 00:43:41|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.969 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=90: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.7390
+INFO:cosmos_policy.experiments.robot.robot_utils:t=90: Selected seed 195 with value = 0.7390
+Query 1/1: Action query time = 0.969 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7390
+t=90: Selected seed 195 with value = 0.7390
+t: 90	 action: [ 3.500e-03 -2.805e-01 -3.985e-02 -1.857e-04 -1.081e-02  6.246e-02 -9.735e-01]
+t: 91	 action: [ 0.019 -0.285 -0.072  0.008 -0.029  0.063 -0.978]
+t: 92	 action: [-0.074 -0.293 -0.1    0.002 -0.024  0.08  -0.976]
+t: 93	 action: [-0.063 -0.308 -0.108  0.013 -0.032  0.072 -1.002]
+t: 94	 action: [-0.096 -0.295 -0.166  0.005 -0.02   0.077 -0.978]
+t: 95	 action: [-0.126 -0.337 -0.146  0.019 -0.03   0.071 -1.019]
+t: 96	 action: [-0.188 -0.316 -0.173  0.01  -0.023  0.094 -0.977]
+t: 97	 action: [-0.217 -0.319 -0.177  0.02  -0.025  0.077 -1.025]
+t: 98	 action: [-0.252 -0.386 -0.062 -0.004 -0.011  0.101 -0.99 ]
+t: 99	 action: [-0.266 -0.309 -0.096  0.005 -0.01   0.082 -1.013]
+t: 100	 action: [-0.313 -0.388 -0.088 -0.008 -0.019  0.113 -0.988]
+t: 101	 action: [-0.315 -0.295 -0.123  0.004 -0.016  0.1   -1.005]
+t: 102	 action: [-0.354 -0.324 -0.149  0.003 -0.03   0.102 -0.989]
+t: 103	 action: [-0.345 -0.29  -0.198  0.012 -0.031  0.084 -1.036]
+t: 104	 action: [-0.392 -0.308 -0.183  0.001 -0.049  0.115 -0.984]
+t: 105	 action: [-0.38  -0.27  -0.23   0.01  -0.044  0.101 -1.028]
+[07-31 00:43:42|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.967 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=106: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.7430
+INFO:cosmos_policy.experiments.robot.robot_utils:t=106: Selected seed 195 with value = 0.7430
+Query 1/1: Action query time = 0.967 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7430
+t=106: Selected seed 195 with value = 0.7430
+t: 106	 action: [-0.078 -0.315 -0.128 -0.014  0.004 -0.016 -1.004]
+t: 107	 action: [-0.034 -0.359 -0.137 -0.002 -0.004 -0.028 -1.028]
+t: 108	 action: [-0.127 -0.335 -0.219 -0.001 -0.02  -0.026 -1.007]
+t: 109	 action: [-0.11  -0.356 -0.204  0.011 -0.019 -0.027 -1.023]
+t: 110	 action: [-0.128 -0.363 -0.236  0.018 -0.003 -0.013 -1.002]
+t: 111	 action: [-0.197 -0.318 -0.296  0.031 -0.018 -0.023 -1.048]
+t: 112	 action: [-0.174 -0.34  -0.338  0.018 -0.017 -0.013 -1.002]
+t: 113	 action: [-0.231 -0.276 -0.395  0.03  -0.023 -0.022 -1.044]
+t: 114	 action: [-0.155 -0.397 -0.345  0.015 -0.03   0.019 -1.006]
+t: 115	 action: [-0.135 -0.354 -0.38   0.027 -0.027  0.02  -1.028]
+t: 116	 action: [-0.147 -0.362 -0.467  0.02  -0.035  0.02  -1.017]
+t: 117	 action: [-0.119 -0.301 -0.533  0.025 -0.031  0.025 -1.028]
+t: 118	 action: [-0.123 -0.232 -0.756  0.031 -0.032  0.018 -1.007]
+t: 119	 action: [-0.126 -0.163 -0.732  0.034 -0.027  0.021 -1.052]
+t: 120	 action: [-0.104 -0.137 -0.871  0.022 -0.027  0.021 -1.013]
+t: 121	 action: [-0.119 -0.067 -0.797  0.025 -0.018  0.029 -1.059]
+[07-31 00:43:43|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.972 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=122: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.7387
+INFO:cosmos_policy.experiments.robot.robot_utils:t=122: Selected seed 195 with value = 0.7387
+Query 1/1: Action query time = 0.972 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7387
+t=122: Selected seed 195 with value = 0.7387
+t: 122	 action: [-0.024 -0.329 -0.155 -0.015 -0.027  0.024 -0.986]
+t: 123	 action: [ 0.008 -0.376 -0.108 -0.008 -0.02   0.019 -1.002]
+t: 124	 action: [-0.097 -0.339 -0.164 -0.006 -0.03   0.024 -0.98 ]
+t: 125	 action: [-0.066 -0.404 -0.13   0.004 -0.018  0.014 -1.005]
+t: 126	 action: [-0.094 -0.389 -0.189  0.01  -0.024  0.023 -0.977]
+t: 127	 action: [-0.076 -0.403 -0.122  0.019 -0.014  0.022 -1.037]
+t: 128	 action: [-0.18  -0.419 -0.187  0.022 -0.018  0.025 -0.968]
+t: 129	 action: [-0.184 -0.404 -0.149  0.028 -0.014  0.017 -1.034]
+t: 130	 action: [-0.228 -0.459 -0.182  0.011 -0.038  0.028 -0.987]
+t: 131	 action: [-0.226 -0.465 -0.183  0.027 -0.032  0.022 -1.021]
+t: 132	 action: [-0.277 -0.477 -0.26   0.019 -0.049  0.029 -0.986]
+t: 133	 action: [-0.284 -0.449 -0.3    0.024 -0.051  0.028 -1.017]
+t: 134	 action: [-0.343 -0.498 -0.393  0.04  -0.063  0.035 -0.976]
+t: 135	 action: [-0.324 -0.411 -0.558  0.049 -0.058  0.034 -1.043]
+t: 136	 action: [-0.375 -0.446 -0.69   0.053 -0.063  0.041 -0.969]
+t: 137	 action: [-0.357 -0.325 -0.81   0.061 -0.053  0.041 -1.045]
+[07-31 00:43:45|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.980 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=138: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.7378
+INFO:cosmos_policy.experiments.robot.robot_utils:t=138: Selected seed 195 with value = 0.7378
+Query 1/1: Action query time = 0.980 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7378
+t=138: Selected seed 195 with value = 0.7378
+t: 138	 action: [-0.01  -0.333 -0.139 -0.016 -0.026  0.022 -0.987]
+t: 139	 action: [ 0.014 -0.381 -0.088 -0.008 -0.017  0.015 -1.006]
+t: 140	 action: [-0.081 -0.34  -0.15  -0.006 -0.029  0.021 -0.981]
+t: 141	 action: [-0.048 -0.405 -0.12   0.004 -0.014  0.011 -1.007]
+t: 142	 action: [-0.08  -0.393 -0.174  0.011 -0.021  0.019 -0.977]
+t: 143	 action: [-0.065 -0.408 -0.115  0.02  -0.011  0.018 -1.041]
+t: 144	 action: [-0.167 -0.414 -0.181  0.023 -0.015  0.02  -0.969]
+t: 145	 action: [-0.17  -0.404 -0.156  0.028 -0.012  0.013 -1.035]
+t: 146	 action: [-0.229 -0.458 -0.187  0.013 -0.041  0.024 -0.988]
+t: 147	 action: [-0.228 -0.455 -0.193  0.028 -0.036  0.018 -1.023]
+t: 148	 action: [-0.275 -0.476 -0.275  0.022 -0.05   0.023 -0.986]
+t: 149	 action: [-0.282 -0.439 -0.316  0.026 -0.056  0.021 -1.018]
+t: 150	 action: [-0.333 -0.472 -0.418  0.045 -0.063  0.026 -0.976]
+t: 151	 action: [-0.309 -0.389 -0.578  0.051 -0.058  0.027 -1.042]
+t: 152	 action: [-0.358 -0.423 -0.722  0.055 -0.059  0.031 -0.969]
+t: 153	 action: [-0.335 -0.3   -0.823  0.063 -0.048  0.033 -1.045]
+[07-31 00:43:46|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.965 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=154: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.7369
+INFO:cosmos_policy.experiments.robot.robot_utils:t=154: Selected seed 195 with value = 0.7369
+Query 1/1: Action query time = 0.965 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7369
+t=154: Selected seed 195 with value = 0.7369
+t: 154	 action: [ 0.002 -0.3   -0.079 -0.017 -0.014  0.008 -0.988]
+t: 155	 action: [ 1.763e-02 -3.323e-01 -8.737e-03 -6.961e-03 -7.485e-03  5.000e-04 -1.008e+00]
+t: 156	 action: [-0.066 -0.328 -0.082 -0.008 -0.019  0.006 -0.983]
+t: 157	 action: [-0.032 -0.362 -0.02   0.005 -0.007 -0.003 -1.008]
+t: 158	 action: [-0.071 -0.358 -0.095  0.009 -0.011  0.001 -0.975]
+t: 159	 action: [-5.037e-02 -3.578e-01 -3.955e-02  1.797e-02 -7.701e-03  6.838e-04 -1.039e+00]
+t: 160	 action: [-0.147 -0.388 -0.114  0.019 -0.01   0.001 -0.968]
+t: 161	 action: [-0.132 -0.363 -0.07   0.025 -0.01  -0.002 -1.033]
+t: 162	 action: [-0.192 -0.454 -0.133  0.007 -0.038  0.018 -0.986]
+t: 163	 action: [-0.185 -0.418 -0.122  0.024 -0.036  0.013 -1.016]
+t: 164	 action: [-0.246 -0.474 -0.221  0.012 -0.05   0.02  -0.984]
+t: 165	 action: [-0.242 -0.406 -0.242  0.021 -0.058  0.021 -1.012]
+t: 166	 action: [-0.302 -0.454 -0.33   0.032 -0.064  0.022 -0.973]
+t: 167	 action: [-0.272 -0.348 -0.438  0.037 -0.062  0.026 -1.037]
+t: 168	 action: [-0.35  -0.419 -0.622  0.04  -0.061  0.036 -0.969]
+t: 169	 action: [-0.319 -0.286 -0.704  0.042 -0.054  0.037 -1.04 ]
+[07-31 00:43:47|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.961 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=170: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.7357
+INFO:cosmos_policy.experiments.robot.robot_utils:t=170: Selected seed 195 with value = 0.7357
+Query 1/1: Action query time = 0.961 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7357
+t=170: Selected seed 195 with value = 0.7357
+t: 170	 action: [ 5.146e-04 -2.870e-01 -7.075e-02 -1.866e-02 -1.032e-02  3.610e-03 -9.904e-01]
+t: 171	 action: [ 1.687e-02 -3.228e-01  7.049e-04 -5.960e-03 -3.752e-03 -5.042e-03 -1.015e+00]
+t: 172	 action: [-0.065 -0.321 -0.077 -0.008 -0.017  0.003 -0.986]
+t: 173	 action: [-0.027 -0.352 -0.012  0.005 -0.004 -0.007 -1.014]
+t: 174	 action: [-0.074 -0.343 -0.081  0.007 -0.01  -0.002 -0.975]
+t: 175	 action: [-0.053 -0.348 -0.035  0.017 -0.006 -0.005 -1.042]
+t: 176	 action: [-0.147 -0.373 -0.11   0.017 -0.01  -0.002 -0.97 ]
+t: 177	 action: [-0.126 -0.351 -0.07   0.023 -0.008 -0.006 -1.036]
+t: 178	 action: [-0.202 -0.446 -0.129  0.008 -0.044  0.015 -0.986]
+t: 179	 action: [-0.195 -0.401 -0.112  0.024 -0.042  0.009 -1.017]
+t: 180	 action: [-0.255 -0.465 -0.212  0.014 -0.053  0.016 -0.985]
+t: 181	 action: [-0.245 -0.389 -0.237  0.021 -0.062  0.017 -1.011]
+t: 182	 action: [-0.31  -0.426 -0.32   0.035 -0.065  0.015 -0.974]
+t: 183	 action: [-0.28  -0.323 -0.409  0.037 -0.063  0.021 -1.035]
+t: 184	 action: [-0.353 -0.386 -0.597  0.042 -0.06   0.03  -0.97 ]
+t: 185	 action: [-0.318 -0.255 -0.676  0.042 -0.051  0.032 -1.039]
+[07-31 00:43:49|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.977 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=186: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.7366
+INFO:cosmos_policy.experiments.robot.robot_utils:t=186: Selected seed 195 with value = 0.7366
+Query 1/1: Action query time = 0.977 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7366
+t=186: Selected seed 195 with value = 0.7366
+t: 186	 action: [-0.002 -0.293 -0.08  -0.018 -0.015 -0.002 -0.996]
+t: 187	 action: [ 0.015 -0.339 -0.018 -0.003 -0.005 -0.015 -1.022]
+t: 188	 action: [-0.06  -0.318 -0.092 -0.009 -0.021 -0.003 -0.993]
+t: 189	 action: [-0.025 -0.362 -0.046  0.006 -0.004 -0.014 -1.018]
+t: 190	 action: [-0.073 -0.345 -0.094  0.007 -0.016 -0.006 -0.98 ]
+t: 191	 action: [-0.058 -0.358 -0.073  0.017 -0.009 -0.015 -1.046]
+t: 192	 action: [-0.137 -0.361 -0.125  0.015 -0.016 -0.006 -0.976]
+t: 193	 action: [-0.119 -0.357 -0.108  0.022 -0.01  -0.012 -1.039]
+t: 194	 action: [-0.205 -0.438 -0.14   0.011 -0.051  0.011 -0.989]
+t: 195	 action: [-0.208 -0.399 -0.127  0.026 -0.049  0.005 -1.02 ]
+t: 196	 action: [-0.258 -0.46  -0.223  0.019 -0.057  0.012 -0.991]
+t: 197	 action: [-0.253 -0.39  -0.264  0.024 -0.069  0.011 -1.015]
+t: 198	 action: [-0.304 -0.4   -0.335  0.041 -0.067  0.006 -0.976]
+t: 199	 action: [-0.282 -0.308 -0.429  0.041 -0.063  0.014 -1.036]
+t: 200	 action: [-0.343 -0.346 -0.628  0.046 -0.056  0.018 -0.975]
+t: 201	 action: [-0.307 -0.226 -0.709  0.047 -0.046  0.024 -1.042]
+[07-31 00:43:50|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.983 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=202: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.7300
+INFO:cosmos_policy.experiments.robot.robot_utils:t=202: Selected seed 195 with value = 0.7300
+Query 1/1: Action query time = 0.983 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7300
+t=202: Selected seed 195 with value = 0.7300
+t: 202	 action: [-0.017 -0.289 -0.065 -0.016 -0.013 -0.004 -0.997]
+t: 203	 action: [ 0.007 -0.321  0.002 -0.002 -0.007 -0.019 -1.022]
+t: 204	 action: [-0.073 -0.318 -0.083 -0.008 -0.022 -0.006 -0.996]
+t: 205	 action: [-0.036 -0.343 -0.024  0.006 -0.006 -0.018 -1.02 ]
+t: 206	 action: [-0.089 -0.338 -0.08   0.006 -0.017 -0.011 -0.981]
+t: 207	 action: [-0.064 -0.338 -0.042  0.017 -0.012 -0.02  -1.047]
+t: 208	 action: [-0.147 -0.352 -0.111  0.013 -0.018 -0.009 -0.98 ]
+t: 209	 action: [-0.123 -0.337 -0.078  0.022 -0.012 -0.017 -1.041]
+t: 210	 action: [-0.194 -0.424 -0.113  0.01  -0.05   0.008 -0.995]
+t: 211	 action: [-1.981e-01 -3.794e-01 -8.269e-02  2.643e-02 -4.942e-02  4.125e-04 -1.021e+00]
+t: 212	 action: [-0.254 -0.446 -0.192  0.018 -0.059  0.011 -0.996]
+t: 213	 action: [-0.245 -0.373 -0.203  0.025 -0.07   0.009 -1.016]
+t: 214	 action: [-0.309 -0.396 -0.281  0.04  -0.066  0.004 -0.981]
+t: 215	 action: [-0.293 -0.3   -0.349  0.038 -0.066  0.011 -1.038]
+t: 216	 action: [-0.362 -0.354 -0.509  0.044 -0.063  0.018 -0.98 ]
+t: 217	 action: [-0.333 -0.23  -0.585  0.042 -0.054  0.023 -1.041]
+[07-31 00:43:51|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.986 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=218: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.7282
+INFO:cosmos_policy.experiments.robot.robot_utils:t=218: Selected seed 195 with value = 0.7282
+Query 1/1: Action query time = 0.986 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7282
+t=218: Selected seed 195 with value = 0.7282
+t: 218	 action: [-0.006 -0.296 -0.082 -0.013 -0.011 -0.006 -1.01 ]
+t: 219	 action: [ 0.016 -0.34  -0.02  -0.001 -0.013 -0.024 -1.03 ]
+t: 220	 action: [-0.055 -0.297 -0.095 -0.006 -0.024 -0.009 -1.01 ]
+t: 221	 action: [-0.032 -0.34  -0.05   0.006 -0.02  -0.023 -1.03 ]
+t: 222	 action: [-0.085 -0.308 -0.1    0.006 -0.023 -0.02  -0.999]
+t: 223	 action: [-0.072 -0.332 -0.077  0.02  -0.03  -0.029 -1.056]
+t: 224	 action: [-0.123 -0.3   -0.106  0.011 -0.028 -0.018 -0.999]
+t: 225	 action: [-0.119 -0.325 -0.097  0.023 -0.033 -0.026 -1.049]
+t: 226	 action: [-0.199 -0.407 -0.129  0.022 -0.059  0.005 -1.008]
+t: 227	 action: [-0.226 -0.373 -0.092  0.032 -0.067 -0.003 -1.032]
+t: 228	 action: [-0.26  -0.435 -0.208  0.033 -0.068  0.009 -1.013]
+t: 229	 action: [-0.276 -0.375 -0.229  0.034 -0.081  0.004 -1.024]
+t: 230	 action: [-0.283 -0.36  -0.315  0.044 -0.069 -0.002 -0.992]
+t: 231	 action: [-0.291 -0.287 -0.355  0.044 -0.06  -0.004 -1.043]
+t: 232	 action: [-0.321 -0.324 -0.56   0.04  -0.058  0.003 -0.994]
+t: 233	 action: [-0.312 -0.201 -0.636  0.047 -0.032  0.006 -1.046]
+[07-31 00:43:52|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.977 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=234: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.7197
+INFO:cosmos_policy.experiments.robot.robot_utils:t=234: Selected seed 195 with value = 0.7197
+Query 1/1: Action query time = 0.977 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7197
+t=234: Selected seed 195 with value = 0.7197
+t: 234	 action: [ 0.028 -0.278 -0.067 -0.009 -0.01  -0.009 -1.011]
+t: 235	 action: [ 3.599e-02 -3.000e-01 -1.488e-02  6.693e-04 -1.518e-02 -3.355e-02 -1.033e+00]
+t: 236	 action: [-0.022 -0.277 -0.088 -0.003 -0.025 -0.018 -1.016]
+t: 237	 action: [-0.007 -0.306 -0.048  0.007 -0.026 -0.035 -1.036]
+t: 238	 action: [-0.071 -0.292 -0.086  0.007 -0.026 -0.032 -1.007]
+t: 239	 action: [-0.055 -0.301 -0.061  0.023 -0.034 -0.04  -1.06 ]
+t: 240	 action: [-0.096 -0.269 -0.086  0.012 -0.031 -0.031 -1.008]
+t: 241	 action: [-0.092 -0.293 -0.07   0.024 -0.036 -0.039 -1.054]
+t: 242	 action: [-0.163 -0.384 -0.105  0.026 -0.046 -0.003 -1.015]
+t: 243	 action: [-0.192 -0.352 -0.071  0.031 -0.062 -0.012 -1.036]
+t: 244	 action: [-0.231 -0.414 -0.186  0.037 -0.053  0.004 -1.02 ]
+t: 245	 action: [-0.251 -0.359 -0.198  0.032 -0.071 -0.002 -1.028]
+t: 246	 action: [-0.254 -0.348 -0.289  0.043 -0.054 -0.006 -1.004]
+t: 247	 action: [-0.285 -0.281 -0.336  0.045 -0.044 -0.011 -1.049]
+t: 248	 action: [-0.311 -0.328 -0.539  0.036 -0.044 -0.002 -1.006]
+t: 249	 action: [-0.314 -0.204 -0.619  0.047 -0.018  0.002 -1.048]
+[07-31 00:43:54|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.979 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=250: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.7136
+INFO:cosmos_policy.experiments.robot.robot_utils:t=250: Selected seed 195 with value = 0.7136
+Query 1/1: Action query time = 0.979 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7136
+t=250: Selected seed 195 with value = 0.7136
+t: 250	 action: [ 0.028 -0.267 -0.056 -0.009 -0.008 -0.01  -1.01 ]
+t: 251	 action: [ 3.549e-02 -2.788e-01 -3.718e-03  9.681e-04 -9.826e-03 -3.246e-02 -1.032e+00]
+t: 252	 action: [-0.024 -0.274 -0.077 -0.004 -0.022 -0.019 -1.013]
+t: 253	 action: [-0.006 -0.289 -0.036  0.007 -0.022 -0.034 -1.035]
+t: 254	 action: [-0.071 -0.279 -0.067  0.005 -0.023 -0.03  -1.007]
+t: 255	 action: [-0.052 -0.285 -0.046  0.021 -0.032 -0.038 -1.06 ]
+t: 256	 action: [-0.094 -0.255 -0.074  0.008 -0.027 -0.029 -1.007]
+t: 257	 action: [-0.087 -0.275 -0.063  0.02  -0.033 -0.037 -1.054]
+t: 258	 action: [-0.147 -0.369 -0.096  0.024 -0.04  -0.002 -1.016]
+t: 259	 action: [-0.17  -0.331 -0.061  0.032 -0.055 -0.012 -1.035]
+t: 260	 action: [-0.211 -0.401 -0.183  0.036 -0.045  0.004 -1.02 ]
+t: 261	 action: [-0.226 -0.35  -0.18   0.033 -0.063 -0.002 -1.029]
+t: 262	 action: [-0.24  -0.327 -0.264  0.041 -0.044 -0.005 -1.007]
+t: 263	 action: [-0.27  -0.274 -0.29   0.042 -0.041 -0.012 -1.051]
+t: 264	 action: [-2.970e-01 -3.181e-01 -4.814e-01  3.422e-02 -3.516e-02 -9.217e-04 -1.008e+00]
+t: 265	 action: [-0.308 -0.217 -0.549  0.043 -0.018  0.003 -1.049]
+[07-31 00:43:55|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.986 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=266: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.7094
+INFO:cosmos_policy.experiments.robot.robot_utils:t=266: Selected seed 195 with value = 0.7094
+Query 1/1: Action query time = 0.986 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7094
+t=266: Selected seed 195 with value = 0.7094
+t: 266	 action: [ 0.04  -0.263 -0.049 -0.007 -0.006 -0.009 -1.01 ]
+t: 267	 action: [ 4.583e-02 -2.702e-01  6.149e-04  2.177e-03 -4.781e-03 -3.054e-02 -1.032e+00]
+t: 268	 action: [-0.015 -0.268 -0.074 -0.003 -0.018 -0.018 -1.014]
+t: 269	 action: [ 2.052e-04 -2.809e-01 -2.969e-02  7.019e-03 -1.734e-02 -3.423e-02 -1.035e+00]
+t: 270	 action: [-0.061 -0.269 -0.062  0.004 -0.02  -0.028 -1.009]
+t: 271	 action: [-0.049 -0.279 -0.037  0.02  -0.029 -0.036 -1.059]
+t: 272	 action: [-0.086 -0.239 -0.074  0.006 -0.023 -0.027 -1.01 ]
+t: 273	 action: [-0.084 -0.268 -0.057  0.018 -0.029 -0.036 -1.053]
+t: 274	 action: [-0.137 -0.346 -0.098  0.024 -0.032 -0.004 -1.017]
+t: 275	 action: [-0.151 -0.309 -0.063  0.032 -0.047 -0.013 -1.036]
+t: 276	 action: [-0.201 -0.378 -0.188  0.036 -0.034  0.004 -1.023]
+t: 277	 action: [-0.212 -0.336 -0.185  0.032 -0.052 -0.003 -1.031]
+t: 278	 action: [-0.229 -0.31  -0.27   0.038 -0.036 -0.005 -1.011]
+t: 279	 action: [-0.266 -0.263 -0.305  0.041 -0.034 -0.012 -1.051]
+t: 280	 action: [-2.893e-01 -3.107e-01 -4.883e-01  3.055e-02 -2.617e-02 -4.441e-04 -1.015e+00]
+t: 281	 action: [-0.308 -0.215 -0.558  0.041 -0.013  0.003 -1.05 ]
+[07-31 00:43:56|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.989 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=282: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.7038
+INFO:cosmos_policy.experiments.robot.robot_utils:t=282: Selected seed 195 with value = 0.7038
+Query 1/1: Action query time = 0.989 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7038
+t=282: Selected seed 195 with value = 0.7038
+t: 282	 action: [ 0.04  -0.246 -0.047 -0.009 -0.003 -0.008 -1.007]
+t: 283	 action: [ 4.630e-02 -2.522e-01 -8.417e-04 -4.341e-04  1.098e-03 -2.621e-02 -1.028e+00]
+t: 284	 action: [-0.018 -0.254 -0.073 -0.005 -0.012 -0.015 -1.01 ]
+t: 285	 action: [-0.002 -0.265 -0.031  0.004 -0.009 -0.03  -1.031]
+t: 286	 action: [-0.064 -0.248 -0.06   0.001 -0.015 -0.022 -1.007]
+t: 287	 action: [-0.051 -0.262 -0.042  0.015 -0.021 -0.031 -1.056]
+t: 288	 action: [-8.836e-02 -2.165e-01 -7.194e-02  1.435e-04 -1.684e-02 -2.169e-02 -1.008e+00]
+t: 289	 action: [-0.087 -0.249 -0.058  0.013 -0.021 -0.031 -1.051]
+t: 290	 action: [-0.131 -0.321 -0.092  0.022 -0.025 -0.003 -1.016]
+t: 291	 action: [-0.141 -0.288 -0.05   0.032 -0.038 -0.013 -1.034]
+t: 292	 action: [-0.192 -0.359 -0.179  0.034 -0.026  0.004 -1.021]
+t: 293	 action: [-0.201 -0.324 -0.155  0.032 -0.042 -0.003 -1.029]
+t: 294	 action: [-0.224 -0.293 -0.256  0.033 -0.028 -0.004 -1.012]
+t: 295	 action: [-0.267 -0.259 -0.276  0.039 -0.032 -0.012 -1.052]
+t: 296	 action: [-2.860e-01 -3.000e-01 -4.581e-01  2.680e-02 -1.939e-02  1.331e-04 -1.014e+00]
+t: 297	 action: [-0.316 -0.229 -0.498  0.037 -0.014  0.003 -1.05 ]
+[07-31 00:43:58|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.986 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=298: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.7025
+INFO:cosmos_policy.experiments.robot.robot_utils:t=298: Selected seed 195 with value = 0.7025
+WARNING:imageio_ffmpeg:IMAGEIO FFMPEG_WRITER WARNING: input image is not divisible by macro_block_size=16, resizing from (896, 284) to (896, 288) to ensure video compatibility with most codecs and players. To prevent resizing, make your input image divisible by the macro_block_size or set the macro_block_size to 1 (risking incompatibility).
+INFO:cosmos_policy.experiments.robot.robot_utils:Success: False
+INFO:cosmos_policy.experiments.robot.robot_utils:# episodes completed so far: 40
+INFO:cosmos_policy.experiments.robot.robot_utils:# successes: 21 (52.5%)
+
+
 80%|████████  | 40/50 [16:03<03:49, 22.95s/it]INFO:cosmos_policy.experiments.robot.robot_utils:
+Task: open the middle drawer of the cabinet
+INFO:cosmos_policy.experiments.robot.robot_utils:Starting episode 41...
+Query 1/1: Action query time = 0.986 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7025
+t=298: Selected seed 195 with value = 0.7025
+t: 298	 action: [ 0.06  -0.236 -0.054 -0.007 -0.003 -0.003 -1.008]
+t: 299	 action: [ 0.063 -0.253 -0.011  0.003  0.003 -0.021 -1.028]
+t: 300	 action: [-0.004 -0.248 -0.085 -0.003 -0.012 -0.01  -1.012]
+t: 301	 action: [ 0.008 -0.266 -0.043  0.007 -0.008 -0.027 -1.032]
+t: 302	 action: [-0.054 -0.241 -0.07   0.002 -0.013 -0.017 -1.013]
+t: 303	 action: [-0.045 -0.264 -0.055  0.018 -0.018 -0.028 -1.056]
+t: 304	 action: [-0.076 -0.199 -0.087  0.002 -0.015 -0.02  -1.013]
+t: 305	 action: [-0.078 -0.244 -0.071  0.015 -0.018 -0.032 -1.052]
+t: 306	 action: [-0.119 -0.315 -0.118  0.022 -0.019 -0.002 -1.019]
+t: 307	 action: [-0.124 -0.283 -0.063  0.031 -0.031 -0.012 -1.037]
+t: 308	 action: [-0.169 -0.353 -0.205  0.032 -0.019  0.005 -1.026]
+t: 309	 action: [-0.182 -0.316 -0.184  0.03  -0.032 -0.002 -1.031]
+Saved rollout MP4 at path ./rollouts/None/2026_07_31-00_27_45--episode=40--success=False--task=open_the_middle_drawer_of_the_cabinet.mp4
+300 300 19 19
+Saved rollout MP4 at path ./rollouts/None/2026_07_31-00_27_45--with_future_img--episode=40--success=False--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: False
+# episodes completed so far: 40
+# successes: 21 (52.5%)
+
+Task: open the middle drawer of the cabinet
+Starting episode 41...
+[07-31 00:44:06|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.984 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=10: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.3676
+INFO:cosmos_policy.experiments.robot.robot_utils:t=10: Selected seed 195 with value = 0.3676
+Query 1/1: Action query time = 0.984 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3676
+t=10: Selected seed 195 with value = 0.3676
+t: 10	 action: [-0.008 -0.127 -0.065  0.016  0.052  0.006 -0.986]
+t: 11	 action: [ 0.089 -0.103  0.008  0.019  0.087  0.02  -0.983]
+t: 12	 action: [ 0.092 -0.139 -0.036  0.007  0.116  0.018 -0.995]
+t: 13	 action: [ 0.279 -0.061  0.023  0.015  0.137  0.038 -1.005]
+t: 14	 action: [ 0.345 -0.1    0.02   0.011  0.153  0.032 -1.01 ]
+t: 15	 action: [ 0.495 -0.042  0.017  0.012  0.148  0.036 -1.043]
+t: 16	 action: [ 0.515 -0.011  0.04   0.004  0.161  0.062 -1.008]
+t: 17	 action: [ 5.822e-01  2.601e-02  2.595e-02  7.103e-04  1.531e-01  5.739e-02 -1.044e+00]
+t: 18	 action: [ 0.566  0.066  0.05  -0.013  0.154  0.114 -1.014]
+t: 19	 action: [ 0.612  0.118  0.044 -0.018  0.151  0.11  -1.018]
+t: 20	 action: [ 0.598  0.083  0.028 -0.032  0.145  0.122 -1.014]
+t: 21	 action: [ 0.641  0.143  0.037 -0.029  0.135  0.119 -1.011]
+t: 22	 action: [ 0.602  0.108  0.04  -0.049  0.13   0.127 -1.005]
+t: 23	 action: [ 0.615  0.138  0.029 -0.049  0.108  0.124 -1.042]
+t: 24	 action: [ 0.596  0.135  0.017 -0.068  0.112  0.138 -1.007]
+t: 25	 action: [ 0.617  0.159  0.025 -0.065  0.097  0.133 -1.038]
+[07-31 00:44:07|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.966 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=26: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.4156
+INFO:cosmos_policy.experiments.robot.robot_utils:t=26: Selected seed 195 with value = 0.4156
+Query 1/1: Action query time = 0.966 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4156
+t=26: Selected seed 195 with value = 0.4156
+t: 26	 action: [ 0.476  0.045  0.029 -0.073  0.07   0.182 -1.011]
+t: 27	 action: [ 0.47   0.084  0.018 -0.07   0.072  0.182 -1.006]
+t: 28	 action: [ 0.43   0.07   0.007 -0.083  0.06   0.196 -1.007]
+t: 29	 action: [ 0.431  0.107  0.02  -0.079  0.065  0.196 -1.008]
+t: 30	 action: [ 0.423  0.045  0.018 -0.096  0.062  0.219 -0.994]
+t: 31	 action: [ 0.381  0.095 -0.004 -0.084  0.054  0.21  -1.029]
+t: 32	 action: [ 0.377  0.076 -0.012 -0.104  0.058  0.234 -0.996]
+t: 33	 action: [ 0.358  0.105 -0.006 -0.094  0.059  0.223 -1.034]
+t: 34	 action: [ 0.338  0.057 -0.029 -0.107  0.066  0.243 -1.001]
+t: 35	 action: [ 0.354  0.093 -0.013 -0.105  0.069  0.229 -1.002]
+t: 36	 action: [ 0.305  0.056 -0.044 -0.115  0.073  0.253 -1.002]
+t: 37	 action: [ 0.323  0.087 -0.017 -0.112  0.077  0.237 -1.001]
+t: 38	 action: [ 0.283  0.046 -0.054 -0.12   0.073  0.27  -0.991]
+t: 39	 action: [ 0.262  0.093 -0.057 -0.108  0.081  0.25  -1.03 ]
+t: 40	 action: [ 0.25   0.048 -0.071 -0.121  0.087  0.273 -0.995]
+t: 41	 action: [ 0.248  0.089 -0.058 -0.111  0.103  0.251 -1.03 ]
+[07-31 00:44:08|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.971 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=42: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.4698
+INFO:cosmos_policy.experiments.robot.robot_utils:t=42: Selected seed 195 with value = 0.4698
+Query 1/1: Action query time = 0.971 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4698
+t=42: Selected seed 195 with value = 0.4698
+t: 42	 action: [ 0.077  0.046 -0.106 -0.093  0.106  0.286 -0.988]
+t: 43	 action: [ 0.084  0.075 -0.081 -0.099  0.106  0.28  -0.983]
+t: 44	 action: [ 0.074  0.041 -0.122 -0.095  0.108  0.294 -0.982]
+t: 45	 action: [ 0.094  0.07  -0.082 -0.099  0.103  0.28  -0.993]
+t: 46	 action: [ 0.108  0.032 -0.11  -0.11   0.085  0.302 -0.99 ]
+t: 47	 action: [ 0.115  0.057 -0.092 -0.103  0.086  0.286 -1.012]
+t: 48	 action: [ 0.117  0.024 -0.128 -0.108  0.091  0.298 -0.987]
+t: 49	 action: [ 0.134  0.046 -0.113 -0.102  0.093  0.276 -1.023]
+t: 50	 action: [ 0.156 -0.019 -0.12  -0.087  0.117  0.266 -0.995]
+t: 51	 action: [ 0.188 -0.045 -0.136 -0.081  0.11   0.25  -0.999]
+t: 52	 action: [ 0.186 -0.055 -0.132 -0.084  0.119  0.25  -0.991]
+t: 53	 action: [ 0.22  -0.076 -0.137 -0.072  0.12   0.231 -0.992]
+t: 54	 action: [ 0.21  -0.108 -0.11  -0.079  0.128  0.242 -0.992]
+t: 55	 action: [ 0.257 -0.087 -0.133 -0.07   0.131  0.222 -1.033]
+t: 56	 action: [ 0.229 -0.148 -0.121 -0.066  0.14   0.227 -0.992]
+t: 57	 action: [ 0.271 -0.125 -0.128 -0.06   0.155  0.207 -1.025]
+[07-31 00:44:10|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.982 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=58: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.5460
+INFO:cosmos_policy.experiments.robot.robot_utils:t=58: Selected seed 195 with value = 0.5460
+Query 1/1: Action query time = 0.982 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5460
+t=58: Selected seed 195 with value = 0.5460
+t: 58	 action: [ 0.185  0.003 -0.075 -0.038  0.164  0.244 -1.01 ]
+t: 59	 action: [ 0.206  0.021 -0.038 -0.039  0.161  0.209 -1.015]
+t: 60	 action: [ 2.445e-01 -6.713e-04 -6.836e-02 -4.016e-02  1.721e-01  2.299e-01 -1.008e+00]
+t: 61	 action: [ 0.285 -0.014 -0.034 -0.034  0.17   0.194 -1.012]
+t: 62	 action: [ 0.346 -0.044 -0.04  -0.034  0.183  0.199 -1.018]
+t: 63	 action: [ 0.373 -0.055 -0.034 -0.034  0.185  0.177 -1.031]
+t: 64	 action: [ 0.421 -0.108 -0.046 -0.029  0.19   0.176 -1.017]
+t: 65	 action: [ 0.437 -0.104 -0.044 -0.031  0.196  0.159 -1.034]
+t: 66	 action: [ 0.454 -0.169 -0.05  -0.03   0.206  0.145 -1.03 ]
+t: 67	 action: [ 0.493 -0.147 -0.046 -0.004  0.216  0.114 -1.027]
+t: 68	 action: [ 0.485 -0.224 -0.053 -0.012  0.201  0.131 -1.024]
+t: 69	 action: [ 5.281e-01 -2.048e-01 -6.671e-02 -1.548e-04  2.055e-01  9.704e-02 -1.013e+00]
+t: 70	 action: [ 0.498 -0.284 -0.064  0.003  0.193  0.109 -1.024]
+t: 71	 action: [ 0.5   -0.293 -0.084  0.002  0.176  0.093 -1.035]
+t: 72	 action: [ 0.484 -0.325 -0.141  0.006  0.161  0.089 -1.02 ]
+t: 73	 action: [ 0.441 -0.327 -0.168  0.004  0.129  0.077 -1.027]
+[07-31 00:44:11|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.980 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=74: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.6106
+INFO:cosmos_policy.experiments.robot.robot_utils:t=74: Selected seed 195 with value = 0.6106
+Query 1/1: Action query time = 0.980 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6106
+t=74: Selected seed 195 with value = 0.6106
+t: 74	 action: [ 0.148 -0.413 -0.184  0.002  0.116  0.103 -1.025]
+t: 75	 action: [ 0.136 -0.387 -0.114  0.013  0.095  0.109 -1.033]
+t: 76	 action: [ 0.118 -0.421 -0.225  0.003  0.08   0.12  -1.011]
+t: 77	 action: [ 0.108 -0.348 -0.144  0.01   0.044  0.114 -1.029]
+t: 78	 action: [ 0.121 -0.4   -0.19   0.003  0.048  0.126 -1.008]
+t: 79	 action: [ 0.09  -0.373 -0.14   0.012  0.021  0.125 -1.047]
+t: 80	 action: [ 0.075 -0.359 -0.226  0.005  0.012  0.135 -1.003]
+t: 81	 action: [ 3.593e-02 -3.052e-01 -1.700e-01  4.938e-03 -2.361e-04  1.160e-01 -1.041e+00]
+t: 82	 action: [ 0.049 -0.39  -0.122 -0.014 -0.021  0.098 -1.016]
+t: 83	 action: [ 0.026 -0.377 -0.086 -0.007 -0.027  0.09  -1.027]
+t: 84	 action: [-0.056 -0.382 -0.119 -0.008 -0.045  0.1   -1.011]
+t: 85	 action: [-0.068 -0.361 -0.072 -0.007 -0.044  0.087 -1.018]
+t: 86	 action: [-0.136 -0.433 -0.149  0.002 -0.063  0.105 -1.013]
+t: 87	 action: [-2.245e-01 -4.035e-01 -1.257e-01  2.700e-04 -6.309e-02  9.095e-02 -1.043e+00]
+t: 88	 action: [-0.246 -0.412 -0.153  0.002 -0.083  0.104 -1.011]
+t: 89	 action: [-3.190e-01 -3.719e-01 -1.365e-01  9.278e-04 -7.361e-02  9.023e-02 -1.039e+00]
+[07-31 00:44:12|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.965 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=90: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.6853
+INFO:cosmos_policy.experiments.robot.robot_utils:t=90: Selected seed 195 with value = 0.6853
+Query 1/1: Action query time = 0.965 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6853
+t=90: Selected seed 195 with value = 0.6853
+t: 90	 action: [ 0.124 -0.222 -0.071 -0.028  0.021  0.045 -0.99 ]
+t: 91	 action: [ 0.124 -0.209 -0.031 -0.015  0.016  0.052 -1.014]
+t: 92	 action: [ 0.067 -0.231 -0.004 -0.018 -0.002  0.067 -0.984]
+t: 93	 action: [ 0.056 -0.22   0.017 -0.007 -0.001  0.064 -1.013]
+t: 94	 action: [-0.023 -0.236 -0.021 -0.013 -0.005  0.07  -0.992]
+t: 95	 action: [-0.083 -0.22  -0.027 -0.005 -0.037  0.068 -1.041]
+t: 96	 action: [-0.181 -0.263 -0.072 -0.006 -0.042  0.099 -0.996]
+t: 97	 action: [-2.606e-01 -2.253e-01 -1.124e-01  8.552e-04 -7.461e-02  8.374e-02 -1.032e+00]
+t: 98	 action: [-0.312 -0.308 -0.091 -0.026 -0.079  0.111 -0.969]
+t: 99	 action: [-0.372 -0.221 -0.119 -0.007 -0.115  0.11  -1.003]
+t: 100	 action: [-0.471 -0.275 -0.129 -0.031 -0.12   0.121 -0.95 ]
+t: 101	 action: [-0.481 -0.191 -0.162 -0.007 -0.143  0.129 -0.99 ]
+t: 102	 action: [-0.607 -0.188 -0.16  -0.007 -0.164  0.14  -0.959]
+t: 103	 action: [-0.577 -0.171 -0.141 -0.003 -0.156  0.125 -1.02 ]
+t: 104	 action: [-0.62  -0.164 -0.134 -0.008 -0.2    0.151 -0.93 ]
+t: 105	 action: [-0.579 -0.134 -0.086 -0.004 -0.164  0.139 -1.011]
+[07-31 00:44:13|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.987 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=106: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.7436
+INFO:cosmos_policy.experiments.robot.robot_utils:t=106: Selected seed 195 with value = 0.7436
+Query 1/1: Action query time = 0.987 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7436
+t=106: Selected seed 195 with value = 0.7436
+t: 106	 action: [-8.970e-04 -2.014e-01  2.099e-02 -3.449e-02  2.189e-02  9.985e-03 -9.988e-01]
+t: 107	 action: [ 0.042 -0.203  0.055 -0.013  0.016  0.01  -1.015]
+t: 108	 action: [-0.053 -0.229  0.031 -0.018  0.004  0.015 -0.994]
+t: 109	 action: [ 0.003 -0.223  0.072 -0.003  0.012  0.017 -1.017]
+t: 110	 action: [-0.075 -0.263 -0.014 -0.006 -0.003  0.014 -1.003]
+t: 111	 action: [-0.088 -0.253  0.002  0.002 -0.015  0.026 -1.052]
+t: 112	 action: [-0.18  -0.284 -0.069 -0.001 -0.017  0.039 -1.006]
+t: 113	 action: [-0.21  -0.254 -0.068  0.007 -0.036  0.034 -1.047]
+t: 114	 action: [-0.279 -0.357 -0.158 -0.006 -0.067  0.088 -0.988]
+t: 115	 action: [-0.322 -0.316 -0.171  0.009 -0.063  0.086 -1.014]
+t: 116	 action: [-4.082e-01 -3.316e-01 -2.771e-01 -1.309e-04 -9.561e-02  1.109e-01 -9.802e-01]
+t: 117	 action: [-0.444 -0.281 -0.292  0.011 -0.099  0.11  -1.002]
+t: 118	 action: [-5.304e-01 -2.726e-01 -3.009e-01  3.639e-04 -1.049e-01  1.167e-01 -9.879e-01]
+t: 119	 action: [-0.58  -0.235 -0.295  0.018 -0.102  0.105 -1.032]
+t: 120	 action: [-0.62  -0.22  -0.4    0.001 -0.122  0.13  -0.965]
+t: 121	 action: [-0.666 -0.176 -0.4    0.023 -0.1    0.128 -1.028]
+[07-31 00:44:15|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.965 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=122: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.7266
+INFO:cosmos_policy.experiments.robot.robot_utils:t=122: Selected seed 195 with value = 0.7266
+Query 1/1: Action query time = 0.965 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7266
+t=122: Selected seed 195 with value = 0.7266
+t: 122	 action: [ 0.104 -0.295 -0.332  0.008  0.016  0.003 -1.028]
+t: 123	 action: [ 0.108 -0.341 -0.312  0.019  0.011 -0.02  -1.04 ]
+t: 124	 action: [ 0.046 -0.329 -0.499  0.031 -0.002 -0.024 -1.027]
+t: 125	 action: [ 0.05  -0.355 -0.459  0.031  0.004 -0.046 -1.042]
+t: 126	 action: [-0.007 -0.345 -0.521  0.036  0.008 -0.044 -1.025]
+t: 127	 action: [-0.003 -0.323 -0.512  0.038  0.003 -0.049 -1.074]
+t: 128	 action: [-0.033 -0.297 -0.598  0.038 -0.005 -0.058 -1.025]
+t: 129	 action: [-0.027 -0.301 -0.56   0.039 -0.002 -0.072 -1.072]
+t: 130	 action: [-0.069 -0.395 -0.632  0.052 -0.021  0.005 -1.033]
+t: 131	 action: [-0.026 -0.336 -0.576  0.045 -0.012 -0.002 -1.038]
+t: 132	 action: [-0.058 -0.383 -0.592  0.046 -0.035  0.011 -1.041]
+t: 133	 action: [ 0.002 -0.314 -0.576  0.035 -0.031  0.002 -1.036]
+t: 134	 action: [-1.730e-02 -2.190e-01 -6.003e-01  3.906e-02 -2.832e-02 -9.285e-04 -1.022e+00]
+t: 135	 action: [ 0.001 -0.208 -0.538  0.055 -0.019 -0.01  -1.056]
+t: 136	 action: [-0.035 -0.158 -0.617  0.032 -0.025  0.003 -1.028]
+t: 137	 action: [-0.024 -0.115 -0.681  0.052 -0.006 -0.001 -1.058]
+[07-31 00:44:16|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.972 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=138: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.7284
+INFO:cosmos_policy.experiments.robot.robot_utils:t=138: Selected seed 195 with value = 0.7284
+Query 1/1: Action query time = 0.972 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7284
+t=138: Selected seed 195 with value = 0.7284
+t: 138	 action: [ 0.089 -0.196 -0.151 -0.006  0.028 -0.005 -0.999]
+t: 139	 action: [ 0.08  -0.222 -0.089  0.005  0.025 -0.02  -1.003]
+t: 140	 action: [ 1.567e-02 -2.759e-01 -1.350e-01  2.769e-04  1.702e-02 -1.046e-02 -9.940e-01]
+t: 141	 action: [ 0.024 -0.304 -0.09   0.012  0.014 -0.024 -1.007]
+t: 142	 action: [-0.008 -0.327 -0.123  0.006  0.012 -0.022 -0.986]
+t: 143	 action: [-0.034 -0.323 -0.087  0.022  0.008 -0.024 -1.029]
+t: 144	 action: [-0.083 -0.383 -0.136  0.01   0.004 -0.022 -0.983]
+t: 145	 action: [-1.246e-01 -3.605e-01 -1.075e-01  2.544e-02  1.024e-03 -2.583e-02 -1.031e+00]
+t: 146	 action: [-0.135 -0.446 -0.131  0.009 -0.011 -0.024 -0.996]
+t: 147	 action: [-0.129 -0.43  -0.126  0.013 -0.013 -0.024 -1.01 ]
+t: 148	 action: [-0.195 -0.421 -0.179  0.005 -0.032 -0.006 -0.996]
+t: 149	 action: [-0.183 -0.437 -0.193  0.008 -0.038 -0.013 -1.004]
+t: 150	 action: [-0.226 -0.44  -0.185  0.009 -0.052 -0.005 -0.979]
+t: 151	 action: [-0.242 -0.39  -0.199  0.018 -0.061 -0.008 -1.034]
+t: 152	 action: [-0.265 -0.428 -0.232  0.006 -0.074  0.004 -0.979]
+t: 153	 action: [-0.275 -0.395 -0.281  0.012 -0.08   0.006 -1.036]
+[07-31 00:44:17|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.985 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=154: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.7378
+INFO:cosmos_policy.experiments.robot.robot_utils:t=154: Selected seed 195 with value = 0.7378
+Query 1/1: Action query time = 0.985 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7378
+t=154: Selected seed 195 with value = 0.7378
+t: 154	 action: [-0.11  -0.352 -0.055 -0.011 -0.025  0.007 -1.   ]
+t: 155	 action: [-0.067 -0.353 -0.027  0.004 -0.035 -0.006 -1.013]
+t: 156	 action: [-0.151 -0.372 -0.053 -0.003 -0.034  0.007 -0.999]
+t: 157	 action: [-0.118 -0.383 -0.019  0.01  -0.035 -0.005 -1.015]
+t: 158	 action: [-0.143 -0.386 -0.04   0.005 -0.026 -0.002 -0.986]
+t: 159	 action: [-0.131 -0.354 -0.036  0.021 -0.029 -0.006 -1.039]
+t: 160	 action: [-1.897e-01 -3.737e-01 -7.289e-02  7.174e-03 -2.726e-02  4.912e-04 -9.851e-01]
+t: 161	 action: [-0.185 -0.356 -0.068  0.027 -0.028 -0.003 -1.037]
+t: 162	 action: [-0.229 -0.426 -0.154  0.011 -0.043  0.014 -1.006]
+t: 163	 action: [-0.205 -0.437 -0.15   0.019 -0.058  0.005 -1.02 ]
+t: 164	 action: [-0.243 -0.413 -0.263  0.017 -0.055  0.018 -1.008]
+t: 165	 action: [-0.215 -0.427 -0.268  0.018 -0.074  0.009 -1.013]
+t: 166	 action: [-0.246 -0.353 -0.303  0.035 -0.052  0.006 -0.996]
+t: 167	 action: [-0.211 -0.344 -0.385  0.057 -0.053  0.006 -1.035]
+t: 168	 action: [-0.219 -0.312 -0.527  0.044 -0.046  0.013 -0.995]
+t: 169	 action: [-0.178 -0.29  -0.613  0.071 -0.028  0.009 -1.038]
+[07-31 00:44:18|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.979 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=170: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.7621
+INFO:cosmos_policy.experiments.robot.robot_utils:t=170: Selected seed 195 with value = 0.7621
+Query 1/1: Action query time = 0.979 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7621
+t=170: Selected seed 195 with value = 0.7621
+t: 170	 action: [-0.208 -0.373 -0.141 -0.005 -0.037  0.005 -1.012]
+t: 171	 action: [-0.176 -0.396 -0.143  0.015 -0.044 -0.006 -1.014]
+t: 172	 action: [-0.234 -0.395 -0.103  0.001 -0.043  0.003 -1.002]
+t: 173	 action: [-0.218 -0.413 -0.074  0.024 -0.043 -0.006 -1.013]
+t: 174	 action: [-0.211 -0.42  -0.106  0.018 -0.022 -0.003 -0.999]
+t: 175	 action: [-0.211 -0.369 -0.124  0.04  -0.025 -0.006 -1.042]
+t: 176	 action: [-0.231 -0.41  -0.138  0.035 -0.016 -0.001 -0.989]
+t: 177	 action: [-0.224 -0.371 -0.207  0.048 -0.015 -0.005 -1.039]
+t: 178	 action: [-0.289 -0.479 -0.227  0.023 -0.03   0.025 -1.012]
+t: 179	 action: [-0.294 -0.446 -0.305  0.038 -0.039  0.013 -1.026]
+t: 180	 action: [-0.254 -0.473 -0.464  0.044 -0.028  0.017 -1.017]
+t: 181	 action: [-0.226 -0.433 -0.585  0.059 -0.031  0.009 -1.02 ]
+t: 182	 action: [-0.204 -0.302 -0.711  0.067 -0.012  0.007 -1.002]
+t: 183	 action: [-0.145 -0.227 -0.809  0.09  -0.002 -0.003 -1.037]
+t: 184	 action: [-0.084 -0.147 -0.942  0.066  0.004  0.002 -0.995]
+t: 185	 action: [-0.057 -0.073 -0.942  0.071  0.014 -0.004 -1.045]
+[07-31 00:44:20|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.977 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=186: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9179
+INFO:cosmos_policy.experiments.robot.robot_utils:t=186: Selected seed 195 with value = 0.9179
+Query 1/1: Action query time = 0.977 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9179
+t=186: Selected seed 195 with value = 0.9179
+t: 186	 action: [-0.101  0.262 -0.965  0.019 -0.006  0.015 -0.996]
+t: 187	 action: [-9.517e-02  3.873e-01 -1.000e+00  6.004e-03  9.798e-04  6.539e-03 -1.002e+00]
+t: 188	 action: [-0.138  0.531 -0.952  0.002  0.004  0.015 -0.986]
+t: 189	 action: [-0.135  0.651 -0.976 -0.013  0.01   0.007 -1.001]
+t: 190	 action: [-0.191  0.667 -0.926 -0.021  0.011  0.009 -0.992]
+t: 191	 action: [-2.020e-01  7.688e-01 -9.551e-01 -2.619e-02  1.979e-05  6.635e-03 -1.036e+00]
+t: 192	 action: [-0.215  0.834 -0.88  -0.043  0.02   0.012 -0.983]
+t: 193	 action: [-0.223  0.872 -0.928 -0.04   0.006  0.006 -1.036]
+t: 194	 action: [-0.243  0.906 -0.869 -0.033  0.013  0.021 -0.979]
+t: 195	 action: [-0.234  0.906 -0.882 -0.052  0.024  0.017 -1.006]
+t: 196	 action: [-0.248  0.934 -0.857 -0.044  0.013  0.021 -0.972]
+t: 197	 action: [-0.227  0.914 -0.864 -0.052  0.018  0.017 -1.004]
+t: 198	 action: [-0.251  0.957 -0.829 -0.055  0.007  0.024 -0.98 ]
+t: 199	 action: [-0.267  0.953 -0.858 -0.059  0.009  0.019 -1.037]
+t: 200	 action: [-0.249  0.961 -0.817 -0.057  0.012  0.028 -0.97 ]
+t: 201	 action: [-0.268  0.944 -0.828 -0.051  0.008  0.021 -1.039]
+[07-31 00:44:21|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.972 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=202: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9982
+INFO:cosmos_policy.experiments.robot.robot_utils:t=202: Selected seed 195 with value = 0.9982
+WARNING:imageio_ffmpeg:IMAGEIO FFMPEG_WRITER WARNING: input image is not divisible by macro_block_size=16, resizing from (896, 284) to (896, 288) to ensure video compatibility with most codecs and players. To prevent resizing, make your input image divisible by the macro_block_size or set the macro_block_size to 1 (risking incompatibility).
+INFO:cosmos_policy.experiments.robot.robot_utils:Success: True
+INFO:cosmos_policy.experiments.robot.robot_utils:# episodes completed so far: 41
+INFO:cosmos_policy.experiments.robot.robot_utils:# successes: 22 (53.7%)
+
+
 82%|████████▏ | 41/50 [16:25<03:23, 22.58s/it]INFO:cosmos_policy.experiments.robot.robot_utils:
+Task: open the middle drawer of the cabinet
+INFO:cosmos_policy.experiments.robot.robot_utils:Starting episode 42...
+Query 1/1: Action query time = 0.972 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9982
+t=202: Selected seed 195 with value = 0.9982
+t: 202	 action: [-0.29   0.877 -0.781 -0.014  0.007  0.052 -0.969]
+t: 203	 action: [-0.277  0.844 -0.755 -0.023  0.007  0.046 -0.978]
+t: 204	 action: [-0.317  0.915 -0.79  -0.014  0.014  0.055 -0.982]
+t: 205	 action: [-0.294  0.864 -0.746 -0.021  0.013  0.048 -0.988]
+t: 206	 action: [-0.311  0.93  -0.777 -0.03   0.015  0.058 -0.967]
+t: 207	 action: [-0.338  0.898 -0.751 -0.023  0.005  0.049 -1.018]
+t: 208	 action: [-0.338  0.953 -0.786 -0.03   0.021  0.064 -0.979]
+Saved rollout MP4 at path ./rollouts/None/2026_07_31-00_27_45--episode=41--success=True--task=open_the_middle_drawer_of_the_cabinet.mp4
+199 199 13 13
+Saved rollout MP4 at path ./rollouts/None/2026_07_31-00_27_45--with_future_img--episode=41--success=True--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: True
+# episodes completed so far: 41
+# successes: 22 (53.7%)
+
+Task: open the middle drawer of the cabinet
+Starting episode 42...
+[07-31 00:44:27|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.980 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=10: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.3509
+INFO:cosmos_policy.experiments.robot.robot_utils:t=10: Selected seed 195 with value = 0.3509
+Query 1/1: Action query time = 0.980 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3509
+t=10: Selected seed 195 with value = 0.3509
+t: 10	 action: [ 0.054 -0.026 -0.033  0.005 -0.004  0.005 -0.969]
+t: 11	 action: [ 0.125  0.051  0.015 -0.001  0.016  0.009 -0.963]
+t: 12	 action: [ 2.287e-01  5.072e-02 -1.880e-02  5.681e-04  3.149e-02  1.985e-02 -1.008e+00]
+t: 13	 action: [ 0.365  0.117  0.032 -0.01   0.062  0.039 -1.011]
+t: 14	 action: [ 0.444  0.056  0.034 -0.015  0.061  0.029 -1.024]
+t: 15	 action: [ 0.549  0.132  0.032 -0.012  0.079  0.041 -1.051]
+t: 16	 action: [ 0.586  0.098  0.045 -0.025  0.087  0.078 -1.024]
+t: 17	 action: [ 0.639  0.149  0.033 -0.023  0.099  0.081 -1.052]
+t: 18	 action: [ 0.578  0.032  0.074 -0.019  0.07   0.143 -1.035]
+t: 19	 action: [ 0.606  0.028  0.051 -0.026  0.075  0.138 -1.024]
+t: 20	 action: [ 0.61   0.029  0.054 -0.033  0.065  0.157 -1.033]
+t: 21	 action: [ 0.634  0.055  0.023 -0.034  0.065  0.147 -1.02 ]
+t: 22	 action: [ 0.606  0.019  0.061 -0.043  0.054  0.175 -1.023]
+t: 23	 action: [ 0.603  0.033  0.014 -0.035  0.047  0.164 -1.054]
+t: 24	 action: [ 0.599  0.024  0.038 -0.055  0.055  0.184 -1.02 ]
+t: 25	 action: [ 0.597  0.065  0.009 -0.047  0.049  0.171 -1.046]
+[07-31 00:44:29|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.984 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=26: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.3834
+INFO:cosmos_policy.experiments.robot.robot_utils:t=26: Selected seed 195 with value = 0.3834
+Query 1/1: Action query time = 0.984 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3834
+t=26: Selected seed 195 with value = 0.3834
+t: 26	 action: [ 0.587  0.01   0.009 -0.046  0.016  0.163 -1.02 ]
+t: 27	 action: [ 0.586  0.028  0.01  -0.046  0.022  0.168 -1.014]
+t: 28	 action: [ 0.508  0.021 -0.016 -0.057  0.022  0.183 -1.017]
+t: 29	 action: [ 0.489  0.044  0.002 -0.059  0.027  0.192 -1.011]
+t: 30	 action: [ 0.432  0.03  -0.037 -0.079  0.025  0.212 -1.012]
+t: 31	 action: [ 0.364  0.062 -0.065 -0.072  0.022  0.203 -1.037]
+t: 32	 action: [ 0.328  0.038 -0.069 -0.091  0.039  0.233 -1.012]
+t: 33	 action: [ 0.283  0.074 -0.105 -0.088  0.06   0.227 -1.036]
+t: 34	 action: [ 0.238  0.036 -0.099 -0.08   0.085  0.246 -1.007]
+t: 35	 action: [ 0.248  0.047 -0.106 -0.074  0.096  0.234 -1.008]
+t: 36	 action: [ 0.227  0.032 -0.148 -0.09   0.104  0.257 -1.008]
+t: 37	 action: [ 0.238  0.047 -0.136 -0.082  0.123  0.244 -1.007]
+t: 38	 action: [ 0.232  0.038 -0.146 -0.102  0.108  0.27  -0.998]
+t: 39	 action: [ 0.225  0.07  -0.183 -0.089  0.12   0.252 -1.038]
+t: 40	 action: [ 0.243  0.033 -0.194 -0.104  0.126  0.273 -1.001]
+t: 41	 action: [ 0.245  0.066 -0.208 -0.092  0.14   0.251 -1.035]
+[07-31 00:44:30|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.984 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=42: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.4473
+INFO:cosmos_policy.experiments.robot.robot_utils:t=42: Selected seed 195 with value = 0.4473
+Query 1/1: Action query time = 0.984 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4473
+t=42: Selected seed 195 with value = 0.4473
+t: 42	 action: [ 0.126  0.038 -0.131 -0.096  0.095  0.303 -0.988]
+t: 43	 action: [ 0.148  0.065 -0.148 -0.093  0.091  0.29  -0.988]
+t: 44	 action: [ 0.13   0.051 -0.148 -0.093  0.106  0.307 -0.987]
+t: 45	 action: [ 0.158  0.07  -0.144 -0.089  0.108  0.288 -0.996]
+t: 46	 action: [ 0.158  0.037 -0.167 -0.099  0.112  0.306 -0.993]
+t: 47	 action: [ 0.169  0.063 -0.183 -0.092  0.112  0.284 -1.021]
+t: 48	 action: [ 0.17   0.042 -0.195 -0.093  0.129  0.302 -0.993]
+t: 49	 action: [ 0.186  0.061 -0.197 -0.088  0.137  0.277 -1.028]
+t: 50	 action: [ 0.179  0.029 -0.207 -0.085  0.162  0.274 -1.002]
+t: 51	 action: [ 0.204  0.022 -0.241 -0.065  0.165  0.248 -1.009]
+t: 52	 action: [ 0.228  0.013 -0.222 -0.08   0.178  0.256 -1.004]
+t: 53	 action: [ 2.627e-01 -2.083e-04 -2.360e-01 -6.022e-02  1.847e-01  2.296e-01 -1.010e+00]
+t: 54	 action: [ 0.247 -0.012 -0.212 -0.076  0.184  0.236 -0.998]
+t: 55	 action: [ 0.272 -0.015 -0.199 -0.062  0.188  0.211 -1.038]
+t: 56	 action: [ 0.275 -0.042 -0.236 -0.067  0.199  0.213 -1.002]
+t: 57	 action: [ 0.29  -0.042 -0.219 -0.057  0.205  0.196 -1.036]
+[07-31 00:44:31|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.971 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=58: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.5306
+INFO:cosmos_policy.experiments.robot.robot_utils:t=58: Selected seed 195 with value = 0.5306
+Query 1/1: Action query time = 0.971 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5306
+t=58: Selected seed 195 with value = 0.5306
+t: 58	 action: [ 0.221 -0.023 -0.126 -0.055  0.241  0.223 -1.007]
+t: 59	 action: [ 0.23  -0.027 -0.093 -0.042  0.236  0.211 -1.005]
+t: 60	 action: [ 0.227 -0.038 -0.083 -0.053  0.226  0.222 -1.014]
+t: 61	 action: [ 0.257 -0.044 -0.052 -0.039  0.213  0.198 -1.017]
+t: 62	 action: [ 0.269 -0.074 -0.058 -0.055  0.215  0.21  -1.016]
+t: 63	 action: [ 0.268 -0.08  -0.046 -0.039  0.193  0.195 -1.036]
+t: 64	 action: [ 0.278 -0.13  -0.053 -0.048  0.19   0.2   -1.021]
+t: 65	 action: [ 0.289 -0.123 -0.046 -0.038  0.162  0.179 -1.041]
+t: 66	 action: [ 0.286 -0.224 -0.096 -0.05   0.178  0.192 -1.032]
+t: 67	 action: [ 0.306 -0.214 -0.111 -0.016  0.153  0.157 -1.028]
+t: 68	 action: [ 0.29  -0.269 -0.085 -0.025  0.136  0.188 -1.027]
+t: 69	 action: [ 0.309 -0.268 -0.104 -0.011  0.101  0.152 -1.024]
+t: 70	 action: [ 0.281 -0.334 -0.073 -0.01   0.112  0.166 -1.026]
+t: 71	 action: [ 0.295 -0.351 -0.036 -0.005  0.071  0.134 -1.043]
+t: 72	 action: [ 0.259 -0.37  -0.082  0.004  0.063  0.152 -1.023]
+t: 73	 action: [ 2.366e-01 -3.788e-01 -2.667e-02 -7.987e-04  3.262e-02  1.275e-01 -1.037e+00]
+[07-31 00:44:32|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.972 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=74: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.6206
+INFO:cosmos_policy.experiments.robot.robot_utils:t=74: Selected seed 195 with value = 0.6206
+Query 1/1: Action query time = 0.972 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6206
+t=74: Selected seed 195 with value = 0.6206
+t: 74	 action: [ 0.127 -0.297 -0.027 -0.052  0.06   0.149 -0.991]
+t: 75	 action: [ 0.128 -0.321  0.013 -0.028  0.031  0.133 -1.003]
+t: 76	 action: [ 0.093 -0.356 -0.018 -0.022  0.026  0.158 -0.988]
+t: 77	 action: [ 0.075 -0.345  0.029 -0.013  0.011  0.127 -1.012]
+t: 78	 action: [ 0.052 -0.414  0.014 -0.003  0.013  0.131 -0.989]
+t: 79	 action: [ 5.935e-02 -4.333e-01  2.320e-02 -2.038e-03 -9.886e-04  1.219e-01 -1.023e+00]
+t: 80	 action: [ 2.266e-02 -4.251e-01 -9.881e-03  2.537e-04 -1.314e-02  1.256e-01 -9.871e-01]
+t: 81	 action: [ 0.025 -0.41   0.02   0.001 -0.023  0.108 -1.021]
+t: 82	 action: [-0.018 -0.455  0.014 -0.007 -0.036  0.107 -1.009]
+t: 83	 action: [-0.028 -0.397  0.029  0.008 -0.049  0.08  -1.017]
+t: 84	 action: [-0.076 -0.447 -0.014  0.003 -0.06   0.093 -1.004]
+t: 85	 action: [-0.088 -0.38  -0.002  0.012 -0.066  0.071 -1.008]
+t: 86	 action: [-0.113 -0.498 -0.041  0.007 -0.073  0.08  -1.006]
+t: 87	 action: [-0.153 -0.44  -0.036  0.017 -0.073  0.066 -1.028]
+t: 88	 action: [-0.153 -0.468 -0.063  0.007 -0.093  0.072 -1.002]
+t: 89	 action: [-0.194 -0.403 -0.069  0.02  -0.078  0.063 -1.026]
+[07-31 00:44:34|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.955 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=90: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.6682
+INFO:cosmos_policy.experiments.robot.robot_utils:t=90: Selected seed 195 with value = 0.6682
+Query 1/1: Action query time = 0.955 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6682
+t=90: Selected seed 195 with value = 0.6682
+t: 90	 action: [ 4.141e-02 -3.117e-01 -1.222e-01 -1.091e-02  5.815e-04  7.431e-02 -9.870e-01]
+t: 91	 action: [ 0.042 -0.294 -0.085 -0.004 -0.001  0.071 -0.993]
+t: 92	 action: [-0.017 -0.306 -0.108 -0.007 -0.01   0.089 -0.986]
+t: 93	 action: [ 1.446e-04 -2.938e-01 -6.875e-02 -4.774e-04 -8.280e-03  7.957e-02 -1.010e+00]
+t: 94	 action: [-0.058 -0.312 -0.112 -0.003 -0.011  0.08  -0.985]
+t: 95	 action: [-0.085 -0.301 -0.076  0.002 -0.024  0.075 -1.023]
+t: 96	 action: [-0.141 -0.326 -0.137 -0.003 -0.023  0.097 -0.989]
+t: 97	 action: [-0.19  -0.296 -0.133  0.005 -0.032  0.082 -1.029]
+t: 98	 action: [-0.188 -0.375 -0.026 -0.021 -0.043  0.096 -0.993]
+t: 99	 action: [-0.265 -0.308 -0.075 -0.002 -0.055  0.088 -1.015]
+t: 100	 action: [-0.34  -0.368 -0.054 -0.023 -0.067  0.111 -0.98 ]
+t: 101	 action: [-0.357 -0.272 -0.107 -0.003 -0.079  0.104 -1.003]
+t: 102	 action: [-4.953e-01 -3.294e-01 -9.107e-02 -8.422e-04 -9.129e-02  1.225e-01 -9.886e-01]
+t: 103	 action: [-0.491 -0.284 -0.129  0.005 -0.093  0.102 -1.033]
+t: 104	 action: [-0.572 -0.28  -0.08  -0.003 -0.125  0.138 -0.972]
+t: 105	 action: [-0.524 -0.233 -0.107  0.004 -0.107  0.116 -1.022]
+[07-31 00:44:35|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.974 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=106: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.7409
+INFO:cosmos_policy.experiments.robot.robot_utils:t=106: Selected seed 195 with value = 0.7409
+Query 1/1: Action query time = 0.974 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7409
+t=106: Selected seed 195 with value = 0.7409
+t: 106	 action: [-0.171 -0.468 -0.267  0.008 -0.016  0.004 -0.988]
+t: 107	 action: [-0.163 -0.472 -0.299  0.024 -0.012  0.003 -1.012]
+t: 108	 action: [-0.185 -0.441 -0.339  0.014 -0.02  -0.001 -0.991]
+t: 109	 action: [-0.176 -0.436 -0.352  0.029 -0.016 -0.003 -1.016]
+t: 110	 action: [-1.847e-01 -4.015e-01 -3.514e-01  2.914e-02 -8.975e-03  4.080e-04 -9.898e-01]
+t: 111	 action: [-0.208 -0.378 -0.368  0.044 -0.007  0.004 -1.046]
+t: 112	 action: [-1.764e-01 -3.358e-01 -4.453e-01  3.067e-02 -1.130e-02 -1.923e-04 -9.876e-01]
+t: 113	 action: [-0.2   -0.33  -0.473  0.041 -0.011 -0.002 -1.036]
+t: 114	 action: [-0.169 -0.392 -0.373  0.036 -0.017  0.019 -0.991]
+t: 115	 action: [-0.141 -0.409 -0.443  0.045 -0.007  0.018 -1.021]
+t: 116	 action: [-0.16  -0.367 -0.54   0.043 -0.021  0.014 -0.998]
+t: 117	 action: [-0.137 -0.369 -0.599  0.043 -0.009  0.015 -1.03 ]
+t: 118	 action: [-0.179 -0.247 -0.821  0.053 -0.024  0.013 -0.999]
+t: 119	 action: [-0.206 -0.189 -0.827  0.049 -0.029  0.017 -1.058]
+t: 120	 action: [-0.167 -0.121 -0.936  0.039 -0.021  0.009 -0.998]
+t: 121	 action: [-0.205 -0.051 -0.917  0.039 -0.022  0.018 -1.065]
+[07-31 00:44:36|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.983 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=122: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.7238
+INFO:cosmos_policy.experiments.robot.robot_utils:t=122: Selected seed 195 with value = 0.7238
+Query 1/1: Action query time = 0.983 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7238
+t=122: Selected seed 195 with value = 0.7238
+t: 122	 action: [ 0.012 -0.218 -0.066 -0.01   0.012 -0.017 -1.005]
+t: 123	 action: [ 0.025 -0.207  0.001 -0.001  0.009 -0.031 -1.019]
+t: 124	 action: [-0.043 -0.261 -0.072 -0.006  0.004 -0.02  -1.002]
+t: 125	 action: [-0.005 -0.248 -0.021  0.008  0.009 -0.034 -1.024]
+t: 126	 action: [-0.087 -0.257 -0.078  0.004  0.003 -0.02  -0.99 ]
+t: 127	 action: [-0.044 -0.24  -0.042  0.014  0.004 -0.03  -1.046]
+t: 128	 action: [-0.14  -0.303 -0.096  0.012  0.003 -0.014 -0.989]
+t: 129	 action: [-0.117 -0.258 -0.07   0.02   0.003 -0.029 -1.043]
+t: 130	 action: [-0.147 -0.407 -0.097  0.004 -0.019  0.011 -0.992]
+t: 131	 action: [-0.175 -0.346 -0.084  0.02  -0.012  0.004 -1.025]
+t: 132	 action: [-0.249 -0.431 -0.209  0.008 -0.039  0.021 -0.988]
+t: 133	 action: [-0.271 -0.358 -0.196  0.019 -0.038  0.025 -1.022]
+t: 134	 action: [-0.383 -0.407 -0.236  0.013 -0.049  0.023 -0.978]
+t: 135	 action: [-0.401 -0.297 -0.309  0.027 -0.051  0.029 -1.043]
+t: 136	 action: [-0.476 -0.382 -0.377  0.018 -0.062  0.054 -0.971]
+t: 137	 action: [-0.478 -0.26  -0.458  0.028 -0.062  0.055 -1.043]
+[07-31 00:44:37|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.973 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=138: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.7451
+INFO:cosmos_policy.experiments.robot.robot_utils:t=138: Selected seed 195 with value = 0.7451
+Query 1/1: Action query time = 0.973 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7451
+t=138: Selected seed 195 with value = 0.7451
+t: 138	 action: [-0.09  -0.353 -0.146  0.006 -0.021 -0.027 -1.001]
+t: 139	 action: [-0.036 -0.376 -0.14   0.016 -0.029 -0.044 -1.023]
+t: 140	 action: [-0.136 -0.335 -0.18   0.009 -0.027 -0.035 -1.001]
+t: 141	 action: [-0.095 -0.352 -0.171  0.018 -0.023 -0.045 -1.026]
+t: 142	 action: [-0.145 -0.3   -0.163  0.014 -0.013 -0.041 -0.995]
+t: 143	 action: [-0.147 -0.291 -0.16   0.027 -0.02  -0.046 -1.054]
+t: 144	 action: [-0.172 -0.273 -0.212  0.013 -0.008 -0.035 -0.994]
+t: 145	 action: [-0.183 -0.271 -0.242  0.024 -0.008 -0.046 -1.046]
+t: 146	 action: [-0.213 -0.364 -0.237  0.024 -0.016  0.001 -1.006]
+t: 147	 action: [-0.189 -0.353 -0.268  0.027 -0.018 -0.008 -1.035]
+t: 148	 action: [-0.245 -0.372 -0.38   0.022 -0.017  0.005 -1.009]
+t: 149	 action: [-2.169e-01 -3.296e-01 -4.564e-01  2.228e-02 -2.211e-02 -1.032e-03 -1.032e+00]
+t: 150	 action: [-0.244 -0.265 -0.648  0.028 -0.02  -0.001 -1.005]
+t: 151	 action: [-0.257 -0.191 -0.675  0.035 -0.022 -0.006 -1.045]
+t: 152	 action: [-2.501e-01 -1.983e-01 -8.770e-01  1.715e-02 -1.428e-02  6.498e-04 -1.001e+00]
+t: 153	 action: [-0.261 -0.109 -0.842  0.024 -0.011  0.004 -1.054]
+[07-31 00:44:39|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.979 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=154: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.7336
+INFO:cosmos_policy.experiments.robot.robot_utils:t=154: Selected seed 195 with value = 0.7336
+Query 1/1: Action query time = 0.979 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7336
+t=154: Selected seed 195 with value = 0.7336
+t: 154	 action: [-0.062 -0.296 -0.026 -0.005 -0.011 -0.013 -1.   ]
+t: 155	 action: [-0.016 -0.266  0.027  0.007 -0.01  -0.022 -1.018]
+t: 156	 action: [-0.11  -0.289 -0.062 -0.004 -0.016 -0.01  -0.994]
+t: 157	 action: [-0.065 -0.269 -0.011  0.011 -0.003 -0.023 -1.023]
+t: 158	 action: [-0.135 -0.243 -0.054  0.004 -0.01  -0.01  -0.991]
+t: 159	 action: [-0.102 -0.224 -0.045  0.018 -0.003 -0.018 -1.051]
+t: 160	 action: [-0.177 -0.25  -0.103  0.007 -0.002 -0.006 -0.986]
+t: 161	 action: [-0.161 -0.221 -0.098  0.019  0.002 -0.016 -1.044]
+t: 162	 action: [-0.174 -0.383 -0.167  0.011 -0.014  0.011 -0.993]
+t: 163	 action: [-0.178 -0.338 -0.13   0.025 -0.011  0.011 -1.028]
+t: 164	 action: [-0.258 -0.411 -0.295  0.015 -0.019  0.019 -0.992]
+t: 165	 action: [-0.271 -0.34  -0.292  0.022 -0.02   0.028 -1.023]
+t: 166	 action: [-0.39  -0.339 -0.374  0.019 -0.024  0.019 -0.99 ]
+t: 167	 action: [-0.416 -0.238 -0.411  0.029 -0.021  0.026 -1.047]
+t: 168	 action: [-0.488 -0.312 -0.632  0.019 -0.021  0.045 -0.983]
+t: 169	 action: [-0.497 -0.182 -0.639  0.028 -0.015  0.048 -1.046]
+[07-31 00:44:40|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.971 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=170: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.7443
+INFO:cosmos_policy.experiments.robot.robot_utils:t=170: Selected seed 195 with value = 0.7443
+Query 1/1: Action query time = 0.971 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7443
+t=170: Selected seed 195 with value = 0.7443
+t: 170	 action: [-0.063 -0.313 -0.085  0.003 -0.014 -0.025 -1.005]
+t: 171	 action: [-0.01  -0.335 -0.079  0.013 -0.017 -0.038 -1.021]
+t: 172	 action: [-0.107 -0.316 -0.13   0.008 -0.018 -0.036 -1.006]
+t: 173	 action: [-0.073 -0.326 -0.113  0.016 -0.013 -0.041 -1.026]
+t: 174	 action: [-1.202e-01 -2.562e-01 -1.178e-01  9.509e-03  6.989e-04 -3.992e-02 -1.004e+00]
+t: 175	 action: [-0.131 -0.254 -0.162  0.023 -0.008 -0.041 -1.055]
+t: 176	 action: [-0.147 -0.231 -0.212  0.01   0.005 -0.037 -1.002]
+t: 177	 action: [-1.690e-01 -2.322e-01 -2.875e-01  2.001e-02  5.436e-04 -4.304e-02 -1.047e+00]
+t: 178	 action: [-0.196 -0.337 -0.236  0.026 -0.004 -0.002 -1.01 ]
+t: 179	 action: [-0.176 -0.327 -0.273  0.028 -0.006 -0.009 -1.038]
+t: 180	 action: [-0.208 -0.327 -0.408  0.026 -0.007  0.003 -1.016]
+t: 181	 action: [-0.186 -0.286 -0.466  0.023 -0.01  -0.002 -1.033]
+t: 182	 action: [-0.205 -0.226 -0.673  0.034 -0.005 -0.002 -1.011]
+t: 183	 action: [-0.221 -0.167 -0.69   0.034 -0.008 -0.006 -1.046]
+t: 184	 action: [-2.040e-01 -1.657e-01 -8.577e-01  1.850e-02 -2.545e-03 -5.422e-04 -1.010e+00]
+t: 185	 action: [-2.178e-01 -9.152e-02 -8.082e-01  2.083e-02 -1.012e-04  3.537e-03 -1.052e+00]
+[07-31 00:44:41|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.975 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=186: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.7050
+INFO:cosmos_policy.experiments.robot.robot_utils:t=186: Selected seed 195 with value = 0.7050
+Query 1/1: Action query time = 0.975 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7050
+t=186: Selected seed 195 with value = 0.7050
+t: 186	 action: [-0.066 -0.24  -0.025 -0.003 -0.007 -0.011 -0.998]
+t: 187	 action: [-0.036 -0.187  0.005  0.003 -0.003 -0.012 -1.006]
+t: 188	 action: [-0.117 -0.22  -0.054 -0.003 -0.004 -0.007 -0.987]
+t: 189	 action: [-8.519e-02 -1.801e-01 -2.664e-02  7.641e-03  4.054e-04 -1.229e-02 -1.015e+00]
+t: 190	 action: [-0.144 -0.167 -0.046  0.001 -0.004 -0.008 -1.   ]
+t: 191	 action: [-0.153 -0.139 -0.057  0.013 -0.002 -0.005 -1.045]
+t: 192	 action: [-0.18  -0.178 -0.083  0.003  0.003 -0.003 -0.989]
+t: 193	 action: [-0.187 -0.137 -0.094  0.015  0.003 -0.002 -1.042]
+t: 194	 action: [-0.156 -0.323 -0.159  0.012 -0.007  0.011 -0.997]
+t: 195	 action: [-0.154 -0.294 -0.101  0.025 -0.002  0.011 -1.023]
+t: 196	 action: [-0.244 -0.387 -0.275  0.016 -0.01   0.017 -0.992]
+t: 197	 action: [-0.241 -0.329 -0.225  0.022 -0.007  0.026 -1.019]
+t: 198	 action: [-0.355 -0.359 -0.329  0.008 -0.016  0.021 -1.004]
+t: 199	 action: [-0.403 -0.257 -0.348  0.028 -0.008  0.028 -1.046]
+t: 200	 action: [-0.443 -0.398 -0.514  0.006 -0.014  0.043 -0.993]
+t: 201	 action: [-0.48  -0.25  -0.534  0.027 -0.007  0.046 -1.046]
+[07-31 00:44:43|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.987 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=202: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.7530
+INFO:cosmos_policy.experiments.robot.robot_utils:t=202: Selected seed 195 with value = 0.7530
+Query 1/1: Action query time = 0.987 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7530
+t=202: Selected seed 195 with value = 0.7530
+t: 202	 action: [-0.142 -0.337 -0.18   0.01  -0.009 -0.003 -1.017]
+t: 203	 action: [-0.087 -0.34  -0.194  0.016 -0.012 -0.011 -1.028]
+t: 204	 action: [-0.128 -0.32  -0.212  0.012 -0.01  -0.007 -1.017]
+t: 205	 action: [-0.072 -0.301 -0.254  0.018 -0.015 -0.011 -1.026]
+t: 206	 action: [-0.109 -0.221 -0.246  0.011 -0.006 -0.007 -1.02 ]
+t: 207	 action: [-0.123 -0.174 -0.375  0.025 -0.019 -0.01  -1.055]
+t: 208	 action: [-0.094 -0.144 -0.482  0.009  0.002 -0.011 -1.016]
+t: 209	 action: [-0.118 -0.091 -0.661  0.024 -0.01  -0.012 -1.041]
+t: 210	 action: [-0.143 -0.198 -0.369  0.03   0.006 -0.008 -0.998]
+t: 211	 action: [-0.087 -0.198 -0.464  0.028  0.016 -0.022 -1.029]
+t: 212	 action: [-0.088 -0.181 -0.522  0.025  0.015 -0.013 -1.   ]
+t: 213	 action: [-0.048 -0.152 -0.583  0.025  0.022 -0.02  -1.023]
+t: 214	 action: [-0.129 -0.127 -0.633  0.015  0.023 -0.011 -1.011]
+t: 215	 action: [-0.148 -0.074 -0.675  0.024  0.025 -0.02  -1.055]
+t: 216	 action: [-0.089 -0.056 -0.711  0.005  0.031 -0.012 -1.006]
+t: 217	 action: [-0.115  0.022 -0.711  0.015  0.032 -0.014 -1.057]
+[07-31 00:44:44|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.968 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=218: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.7630
+INFO:cosmos_policy.experiments.robot.robot_utils:t=218: Selected seed 195 with value = 0.7630
+Query 1/1: Action query time = 0.968 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7630
+t=218: Selected seed 195 with value = 0.7630
+t: 218	 action: [-0.153 -0.335 -0.133  0.009 -0.022  0.003 -1.003]
+t: 219	 action: [-0.129 -0.336 -0.093  0.02  -0.024  0.002 -1.017]
+t: 220	 action: [-0.174 -0.407 -0.142  0.016 -0.024  0.007 -1.004]
+t: 221	 action: [-0.144 -0.368 -0.132  0.022 -0.027  0.009 -1.018]
+t: 222	 action: [-0.196 -0.371 -0.252  0.012 -0.02  -0.002 -1.009]
+t: 223	 action: [-0.24  -0.311 -0.322  0.033 -0.028  0.014 -1.054]
+t: 224	 action: [-0.223 -0.341 -0.518  0.015 -0.019  0.003 -1.005]
+t: 225	 action: [-0.252 -0.216 -0.647  0.038 -0.021  0.019 -1.041]
+t: 226	 action: [-1.522e-01  4.783e-02 -5.738e-01  3.180e-02 -8.492e-06  1.155e-02 -9.843e-01]
+t: 227	 action: [-0.135  0.086 -0.661  0.027  0.01   0.017 -1.008]
+t: 228	 action: [-0.143  0.189 -0.62   0.022  0.005  0.016 -0.986]
+t: 229	 action: [-0.115  0.215 -0.71   0.018  0.017  0.02  -1.01 ]
+t: 230	 action: [-0.214  0.238 -0.636  0.011  0.011  0.025 -1.   ]
+t: 231	 action: [-0.225  0.283 -0.688  0.024  0.007  0.029 -1.036]
+t: 232	 action: [-0.226  0.354 -0.587  0.003  0.018  0.036 -0.991]
+t: 233	 action: [-0.23   0.399 -0.613  0.013  0.015  0.033 -1.037]
+[07-31 00:44:45|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.980 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=234: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.7553
+INFO:cosmos_policy.experiments.robot.robot_utils:t=234: Selected seed 195 with value = 0.7553
+Query 1/1: Action query time = 0.980 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7553
+t=234: Selected seed 195 with value = 0.7553
+t: 234	 action: [-0.156 -0.349 -0.102  0.01  -0.019  0.002 -1.003]
+t: 235	 action: [-1.440e-01 -3.559e-01 -7.227e-02  2.494e-02 -1.784e-02 -6.033e-04 -1.016e+00]
+t: 236	 action: [-0.179 -0.41  -0.139  0.018 -0.019  0.006 -1.   ]
+t: 237	 action: [-0.161 -0.365 -0.128  0.027 -0.021  0.007 -1.017]
+t: 238	 action: [-0.201 -0.371 -0.215  0.014 -0.018 -0.003 -1.009]
+t: 239	 action: [-0.237 -0.307 -0.275  0.033 -0.026  0.009 -1.06 ]
+t: 240	 action: [-0.229 -0.363 -0.386  0.015 -0.013  0.002 -1.003]
+t: 241	 action: [-0.252 -0.249 -0.509  0.035 -0.019  0.016 -1.045]
+t: 242	 action: [-0.175 -0.216 -0.232  0.034 -0.013  0.006 -0.993]
+t: 243	 action: [-0.176 -0.211 -0.251  0.039 -0.008  0.007 -1.014]
+t: 244	 action: [-0.173 -0.204 -0.296  0.033 -0.006  0.008 -0.993]
+t: 245	 action: [-0.137 -0.195 -0.336  0.033  0.006  0.013 -1.017]
+t: 246	 action: [-1.905e-01 -1.935e-01 -4.530e-01  3.180e-02 -1.551e-04  6.796e-03 -1.006e+00]
+t: 247	 action: [-0.231 -0.16  -0.478  0.048  0.007  0.018 -1.044]
+t: 248	 action: [-0.197 -0.212 -0.463  0.023  0.011  0.021 -0.997]
+t: 249	 action: [-0.213 -0.14  -0.479  0.037  0.018  0.026 -1.044]
+[07-31 00:44:46|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.996 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=250: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.7997
+INFO:cosmos_policy.experiments.robot.robot_utils:t=250: Selected seed 195 with value = 0.7997
+Query 1/1: Action query time = 0.996 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7997
+t=250: Selected seed 195 with value = 0.7997
+t: 250	 action: [-0.233 -0.121 -0.429  0.024 -0.026  0.015 -0.994]
+t: 251	 action: [-0.227 -0.119 -0.488  0.031 -0.033  0.024 -1.014]
+t: 252	 action: [-0.293 -0.059 -0.501  0.033 -0.019  0.021 -1.001]
+t: 253	 action: [-0.249 -0.116 -0.56   0.036 -0.023  0.027 -1.013]
+t: 254	 action: [-0.305  0.01  -0.663  0.02  -0.018  0.027 -1.003]
+t: 255	 action: [-0.314  0.019 -0.698  0.033 -0.031  0.033 -1.045]
+t: 256	 action: [-0.346  0.122 -0.721  0.013 -0.01   0.033 -1.002]
+t: 257	 action: [-0.327  0.135 -0.821  0.03  -0.025  0.033 -1.034]
+t: 258	 action: [-0.19   0.545 -0.638  0.028  0.002  0.025 -0.981]
+t: 259	 action: [-0.21   0.554 -0.726  0.021  0.009  0.034 -1.008]
+t: 260	 action: [-0.203  0.662 -0.635  0.017  0.006  0.033 -0.99 ]
+t: 261	 action: [-0.197  0.622 -0.715  0.013  0.012  0.034 -1.011]
+t: 262	 action: [-0.285  0.722 -0.65   0.005  0.013  0.045 -0.996]
+t: 263	 action: [-0.29   0.676 -0.736  0.013  0.003  0.042 -1.033]
+t: 264	 action: [-2.794e-01  7.729e-01 -6.225e-01  4.160e-04  1.770e-02  5.010e-02 -9.936e-01]
+t: 265	 action: [-0.301  0.718 -0.662  0.006  0.006  0.042 -1.036]
+[07-31 00:44:48|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.975 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=266: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.6707
+INFO:cosmos_policy.experiments.robot.robot_utils:t=266: Selected seed 195 with value = 0.6707
+Query 1/1: Action query time = 0.975 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6707
+t=266: Selected seed 195 with value = 0.6707
+t: 266	 action: [-0.108 -0.068 -0.232 -0.007 -0.018  0.005 -0.987]
+t: 267	 action: [-1.231e-01 -2.265e-02 -2.278e-01 -5.300e-04 -1.145e-02 -4.950e-03 -9.873e-01]
+t: 268	 action: [-0.172 -0.038 -0.166 -0.005 -0.013  0.004 -0.978]
+t: 269	 action: [-1.625e-01 -3.447e-02 -1.290e-01  3.423e-04 -7.431e-03 -4.749e-03 -9.959e-01]
+t: 270	 action: [-0.186 -0.013 -0.121 -0.005 -0.011  0.002 -0.997]
+t: 271	 action: [-2.408e-01 -8.671e-03 -1.001e-01  6.669e-03 -1.383e-02 -9.996e-04 -1.032e+00]
+t: 272	 action: [-0.215 -0.029 -0.079 -0.003 -0.004  0.004 -0.986]
+t: 273	 action: [-0.237 -0.032 -0.039  0.006 -0.003  0.002 -1.03 ]
+t: 274	 action: [-1.040e-01 -2.117e-01  3.953e-03 -1.102e-04 -1.420e-03  1.299e-02 -9.880e-01]
+t: 275	 action: [-0.067 -0.186  0.023  0.008  0.003  0.005 -1.014]
+t: 276	 action: [-0.142 -0.282 -0.065  0.006 -0.004  0.015 -0.98 ]
+t: 277	 action: [-0.11  -0.238 -0.017  0.007  0.003  0.014 -1.009]
+t: 278	 action: [-2.415e-01 -2.749e-01 -9.456e-02  9.445e-04 -1.057e-02  1.935e-02 -1.002e+00]
+t: 279	 action: [-0.302 -0.243 -0.178  0.014 -0.003  0.019 -1.032]
+t: 280	 action: [-0.353 -0.305 -0.28  -0.001 -0.008  0.033 -0.995]
+t: 281	 action: [-4.176e-01 -2.429e-01 -3.624e-01  1.530e-02 -1.816e-04  2.963e-02 -1.031e+00]
+[07-31 00:44:49|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.973 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=282: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.7056
+INFO:cosmos_policy.experiments.robot.robot_utils:t=282: Selected seed 195 with value = 0.7056
+Query 1/1: Action query time = 0.973 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7056
+t=282: Selected seed 195 with value = 0.7056
+t: 282	 action: [-0.185 -0.16  -0.215 -0.003 -0.028  0.001 -0.981]
+t: 283	 action: [-0.212 -0.129 -0.225  0.008 -0.023 -0.004 -0.983]
+t: 284	 action: [-2.104e-01 -1.373e-01 -1.734e-01 -1.278e-03 -1.928e-02  5.003e-05 -9.828e-01]
+t: 285	 action: [-0.202 -0.149 -0.155  0.01  -0.009 -0.006 -0.997]
+t: 286	 action: [-0.211 -0.115 -0.176  0.001 -0.016 -0.003 -0.994]
+t: 287	 action: [-0.237 -0.13  -0.124  0.015 -0.009 -0.002 -1.035]
+t: 288	 action: [-0.215 -0.136 -0.138  0.001 -0.006 -0.003 -0.992]
+t: 289	 action: [-2.148e-01 -1.553e-01 -8.671e-02  1.628e-02  2.876e-03  1.983e-04 -1.034e+00]
+t: 290	 action: [-0.114 -0.28  -0.059  0.01  -0.005  0.007 -0.992]
+t: 291	 action: [-8.419e-02 -2.630e-01 -1.139e-02  1.823e-02  2.491e-03 -3.637e-04 -1.016e+00]
+t: 292	 action: [-0.146 -0.351 -0.105  0.016 -0.004  0.008 -0.991]
+t: 293	 action: [-0.117 -0.297 -0.069  0.018  0.004  0.006 -1.014]
+t: 294	 action: [-0.219 -0.328 -0.175  0.007 -0.009  0.005 -1.008]
+t: 295	 action: [-0.282 -0.285 -0.23   0.021 -0.003  0.011 -1.033]
+t: 296	 action: [-0.286 -0.35  -0.327  0.007 -0.004  0.011 -1.002]
+t: 297	 action: [-0.353 -0.274 -0.41   0.022  0.002  0.02  -1.034]
+[07-31 00:44:50|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.971 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=298: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.7552
+INFO:cosmos_policy.experiments.robot.robot_utils:t=298: Selected seed 195 with value = 0.7552
+WARNING:imageio_ffmpeg:IMAGEIO FFMPEG_WRITER WARNING: input image is not divisible by macro_block_size=16, resizing from (896, 284) to (896, 288) to ensure video compatibility with most codecs and players. To prevent resizing, make your input image divisible by the macro_block_size or set the macro_block_size to 1 (risking incompatibility).
+INFO:cosmos_policy.experiments.robot.robot_utils:Success: False
+INFO:cosmos_policy.experiments.robot.robot_utils:# episodes completed so far: 42
+INFO:cosmos_policy.experiments.robot.robot_utils:# successes: 22 (52.4%)
+
+
 84%|████████▍ | 42/50 [16:56<03:20, 25.12s/it]INFO:cosmos_policy.experiments.robot.robot_utils:
+Task: open the middle drawer of the cabinet
+INFO:cosmos_policy.experiments.robot.robot_utils:Starting episode 43...
+Query 1/1: Action query time = 0.971 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7552
+t=298: Selected seed 195 with value = 0.7552
+t: 298	 action: [-0.163 -0.334 -0.088  0.015 -0.019  0.002 -0.999]
+t: 299	 action: [-0.158 -0.352 -0.045  0.023 -0.017 -0.002 -1.015]
+t: 300	 action: [-0.194 -0.401 -0.113  0.024 -0.017  0.004 -0.998]
+t: 301	 action: [-0.183 -0.372 -0.101  0.024 -0.018  0.002 -1.014]
+t: 302	 action: [-0.202 -0.347 -0.213  0.015 -0.015 -0.003 -1.01 ]
+t: 303	 action: [-0.267 -0.306 -0.315  0.029 -0.025  0.005 -1.058]
+t: 304	 action: [-0.245 -0.321 -0.415  0.018 -0.011 -0.003 -1.006]
+t: 305	 action: [-0.287 -0.224 -0.583  0.031 -0.016  0.009 -1.043]
+t: 306	 action: [-0.214 -0.148 -0.286  0.033 -0.015  0.004 -0.984]
+t: 307	 action: [-0.219 -0.155 -0.327  0.036 -0.007  0.003 -1.005]
+t: 308	 action: [-0.177 -0.13  -0.279  0.023 -0.005  0.006 -0.982]
+t: 309	 action: [-0.134 -0.138 -0.351  0.027  0.008  0.007 -1.005]
+Saved rollout MP4 at path ./rollouts/None/2026_07_31-00_27_45--episode=42--success=False--task=open_the_middle_drawer_of_the_cabinet.mp4
+300 300 19 19
+Saved rollout MP4 at path ./rollouts/None/2026_07_31-00_27_45--with_future_img--episode=42--success=False--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: False
+# episodes completed so far: 42
+# successes: 22 (52.4%)
+
+Task: open the middle drawer of the cabinet
+Starting episode 43...
+[07-31 00:44:58|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.995 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=10: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.3701
+INFO:cosmos_policy.experiments.robot.robot_utils:t=10: Selected seed 195 with value = 0.3701
+Query 1/1: Action query time = 0.995 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3701
+t=10: Selected seed 195 with value = 0.3701
+t: 10	 action: [ 0.047 -0.105 -0.034  0.007  0.102  0.009 -1.001]
+t: 11	 action: [ 0.165 -0.072  0.023  0.011  0.131  0.026 -0.998]
+t: 12	 action: [ 0.187 -0.097 -0.007  0.002  0.15   0.023 -1.006]
+t: 13	 action: [ 0.365 -0.027  0.034  0.006  0.165  0.043 -1.012]
+t: 14	 action: [ 0.448 -0.055  0.032  0.005  0.167  0.043 -1.014]
+t: 15	 action: [ 0.554 -0.011  0.036 -0.003  0.163  0.039 -1.04 ]
+t: 16	 action: [ 0.576  0.005  0.033 -0.003  0.168  0.071 -1.014]
+t: 17	 action: [ 0.614  0.05   0.026 -0.016  0.158  0.059 -1.042]
+t: 18	 action: [ 0.6    0.059  0.038 -0.023  0.153  0.113 -1.02 ]
+t: 19	 action: [ 0.636  0.109  0.033 -0.025  0.145  0.113 -1.024]
+t: 20	 action: [ 0.617  0.073  0.011 -0.039  0.138  0.13  -1.019]
+t: 21	 action: [ 0.643  0.129  0.026 -0.037  0.132  0.128 -1.016]
+t: 22	 action: [ 0.613  0.083  0.03  -0.055  0.125  0.135 -1.01 ]
+t: 23	 action: [ 0.597  0.122  0.019 -0.06   0.107  0.132 -1.042]
+t: 24	 action: [ 0.596  0.108  0.005 -0.072  0.111  0.15  -1.011]
+t: 25	 action: [ 0.587  0.139  0.013 -0.076  0.103  0.147 -1.036]
+[07-31 00:45:00|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.969 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=26: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.4233
+INFO:cosmos_policy.experiments.robot.robot_utils:t=26: Selected seed 195 with value = 0.4233
+Query 1/1: Action query time = 0.969 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4233
+t=26: Selected seed 195 with value = 0.4233
+t: 26	 action: [ 0.442  0.055  0.013 -0.082  0.086  0.183 -1.006]
+t: 27	 action: [ 0.43   0.099  0.009 -0.075  0.083  0.182 -1.002]
+t: 28	 action: [ 0.381  0.082 -0.013 -0.09   0.078  0.198 -1.001]
+t: 29	 action: [ 0.382  0.119  0.015 -0.084  0.076  0.197 -1.004]
+t: 30	 action: [ 3.731e-01  6.135e-02 -7.479e-04 -1.011e-01  7.320e-02  2.232e-01 -9.908e-01]
+t: 31	 action: [ 0.335  0.109 -0.012 -0.088  0.064  0.21  -1.024]
+t: 32	 action: [ 0.324  0.09  -0.035 -0.107  0.072  0.241 -0.992]
+t: 33	 action: [ 0.306  0.115 -0.025 -0.096  0.069  0.227 -1.028]
+t: 34	 action: [ 0.258  0.049 -0.069 -0.11   0.08   0.257 -0.994]
+t: 35	 action: [ 0.277  0.078 -0.047 -0.107  0.077  0.243 -1.002]
+t: 36	 action: [ 0.224  0.044 -0.084 -0.116  0.084  0.269 -0.993]
+t: 37	 action: [ 0.244  0.067 -0.05  -0.112  0.082  0.255 -1.   ]
+t: 38	 action: [ 0.21   0.038 -0.103 -0.121  0.077  0.291 -0.987]
+t: 39	 action: [ 0.193  0.08  -0.091 -0.106  0.086  0.268 -1.028]
+t: 40	 action: [ 0.18   0.037 -0.12  -0.118  0.089  0.296 -0.989]
+t: 41	 action: [ 0.18   0.073 -0.091 -0.105  0.108  0.271 -1.025]
+[07-31 00:45:01|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.969 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=42: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.4771
+INFO:cosmos_policy.experiments.robot.robot_utils:t=42: Selected seed 195 with value = 0.4771
+Query 1/1: Action query time = 0.969 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4771
+t=42: Selected seed 195 with value = 0.4771
+t: 42	 action: [ 0.065  0.023 -0.081 -0.087  0.116  0.291 -0.976]
+t: 43	 action: [ 0.067  0.044 -0.057 -0.096  0.114  0.285 -0.984]
+t: 44	 action: [ 0.056  0.023 -0.098 -0.089  0.11   0.301 -0.966]
+t: 45	 action: [ 0.06   0.044 -0.064 -0.096  0.102  0.289 -0.984]
+t: 46	 action: [ 0.077  0.009 -0.078 -0.1    0.086  0.316 -0.972]
+t: 47	 action: [ 0.062  0.038 -0.066 -0.099  0.083  0.298 -1.002]
+t: 48	 action: [ 0.082  0.01  -0.096 -0.099  0.086  0.317 -0.967]
+t: 49	 action: [ 0.077  0.034 -0.085 -0.097  0.086  0.292 -1.009]
+t: 50	 action: [ 0.131 -0.033 -0.092 -0.077  0.105  0.281 -0.983]
+t: 51	 action: [ 0.149 -0.056 -0.105 -0.077  0.093  0.269 -0.996]
+t: 52	 action: [ 0.177 -0.062 -0.094 -0.073  0.108  0.259 -0.981]
+t: 53	 action: [ 0.197 -0.084 -0.092 -0.069  0.11   0.239 -0.99 ]
+t: 54	 action: [ 0.201 -0.095 -0.071 -0.068  0.118  0.253 -0.977]
+t: 55	 action: [ 0.241 -0.075 -0.078 -0.065  0.126  0.235 -1.026]
+t: 56	 action: [ 0.237 -0.124 -0.071 -0.055  0.134  0.226 -0.98 ]
+t: 57	 action: [ 0.269 -0.105 -0.058 -0.055  0.156  0.206 -1.018]
+[07-31 00:45:02|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.976 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=58: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.5546
+INFO:cosmos_policy.experiments.robot.robot_utils:t=58: Selected seed 195 with value = 0.5546
+Query 1/1: Action query time = 0.976 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5546
+t=58: Selected seed 195 with value = 0.5546
+t: 58	 action: [ 2.443e-01  7.067e-04 -5.462e-02 -3.999e-02  1.597e-01  2.314e-01 -1.003e+00]
+t: 59	 action: [ 0.266  0.016 -0.018 -0.043  0.161  0.196 -1.01 ]
+t: 60	 action: [ 0.285 -0.003 -0.044 -0.038  0.169  0.216 -1.002]
+t: 61	 action: [ 0.32  -0.023 -0.01  -0.036  0.17   0.179 -1.008]
+t: 62	 action: [ 0.368 -0.048 -0.019 -0.033  0.186  0.187 -1.014]
+t: 63	 action: [ 0.382 -0.058 -0.022 -0.03   0.192  0.164 -1.029]
+t: 64	 action: [ 0.434 -0.126 -0.024 -0.023  0.195  0.162 -1.012]
+t: 65	 action: [ 0.444 -0.122 -0.024 -0.025  0.202  0.147 -1.033]
+t: 66	 action: [ 0.479 -0.183 -0.032 -0.024  0.207  0.133 -1.028]
+t: 67	 action: [ 0.52  -0.156 -0.02  -0.004  0.219  0.102 -1.023]
+t: 68	 action: [ 0.518 -0.246 -0.04  -0.004  0.204  0.117 -1.02 ]
+t: 69	 action: [ 0.563 -0.222 -0.032  0.003  0.21   0.084 -1.008]
+t: 70	 action: [ 0.538 -0.326 -0.051  0.008  0.201  0.097 -1.023]
+t: 71	 action: [ 0.534 -0.331 -0.067  0.008  0.186  0.08  -1.032]
+t: 72	 action: [ 0.518 -0.363 -0.142  0.011  0.169  0.078 -1.019]
+t: 73	 action: [ 0.466 -0.364 -0.159  0.012  0.133  0.063 -1.021]
+[07-31 00:45:04|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.980 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=74: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.6096
+INFO:cosmos_policy.experiments.robot.robot_utils:t=74: Selected seed 195 with value = 0.6096
+Query 1/1: Action query time = 0.980 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6096
+t=74: Selected seed 195 with value = 0.6096
+t: 74	 action: [ 0.164 -0.46  -0.232  0.007  0.087  0.081 -1.028]
+t: 75	 action: [ 0.15  -0.421 -0.152  0.016  0.066  0.088 -1.037]
+t: 76	 action: [ 0.122 -0.432 -0.282  0.004  0.053  0.099 -1.014]
+t: 77	 action: [ 0.113 -0.351 -0.198  0.01   0.023  0.095 -1.031]
+t: 78	 action: [ 0.124 -0.395 -0.233  0.005  0.034  0.107 -1.01 ]
+t: 79	 action: [ 0.093 -0.359 -0.182  0.011  0.011  0.103 -1.053]
+t: 80	 action: [ 0.08  -0.359 -0.254  0.005  0.006  0.117 -1.005]
+t: 81	 action: [ 0.041 -0.298 -0.2    0.004 -0.003  0.097 -1.045]
+t: 82	 action: [ 0.046 -0.356 -0.141 -0.013 -0.02   0.09  -1.015]
+t: 83	 action: [ 0.039 -0.358 -0.083 -0.007 -0.024  0.084 -1.026]
+t: 84	 action: [-0.044 -0.364 -0.12  -0.007 -0.042  0.094 -1.01 ]
+t: 85	 action: [-0.037 -0.352 -0.057 -0.007 -0.042  0.081 -1.019]
+t: 86	 action: [-0.112 -0.429 -0.153  0.001 -0.058  0.1   -1.014]
+t: 87	 action: [-1.882e-01 -4.010e-01 -1.168e-01  4.429e-04 -5.950e-02  8.590e-02 -1.041e+00]
+t: 88	 action: [-0.212 -0.417 -0.152  0.002 -0.076  0.1   -1.011]
+t: 89	 action: [-0.279 -0.375 -0.123  0.002 -0.071  0.086 -1.039]
+[07-31 00:45:05|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.957 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=90: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.6899
+INFO:cosmos_policy.experiments.robot.robot_utils:t=90: Selected seed 195 with value = 0.6899
+Query 1/1: Action query time = 0.957 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6899
+t=90: Selected seed 195 with value = 0.6899
+t: 90	 action: [ 0.134 -0.217 -0.021 -0.029  0.028  0.035 -0.991]
+t: 91	 action: [ 1.357e-01 -2.088e-01 -2.650e-04 -1.495e-02  2.041e-02  4.388e-02 -1.018e+00]
+t: 92	 action: [ 0.075 -0.234  0.022 -0.016  0.003  0.057 -0.985]
+t: 93	 action: [ 0.059 -0.224  0.032 -0.007  0.003  0.056 -1.015]
+t: 94	 action: [-0.025 -0.235 -0.007 -0.012 -0.002  0.062 -0.996]
+t: 95	 action: [-0.093 -0.217 -0.024 -0.004 -0.036  0.061 -1.045]
+t: 96	 action: [-0.196 -0.266 -0.07  -0.005 -0.043  0.091 -0.999]
+t: 97	 action: [-0.281 -0.224 -0.126  0.002 -0.077  0.077 -1.035]
+t: 98	 action: [-0.337 -0.302 -0.104 -0.025 -0.083  0.104 -0.968]
+t: 99	 action: [-0.39  -0.216 -0.132 -0.006 -0.114  0.106 -1.004]
+t: 100	 action: [-0.487 -0.267 -0.148 -0.032 -0.126  0.116 -0.948]
+t: 101	 action: [-0.499 -0.187 -0.182 -0.007 -0.144  0.128 -0.991]
+t: 102	 action: [-0.62  -0.177 -0.175 -0.007 -0.167  0.135 -0.958]
+t: 103	 action: [-0.584 -0.162 -0.147 -0.001 -0.16   0.122 -1.021]
+t: 104	 action: [-0.622 -0.148 -0.148 -0.008 -0.202  0.149 -0.927]
+t: 105	 action: [-0.58  -0.122 -0.087 -0.004 -0.173  0.14  -1.01 ]
+[07-31 00:45:06|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.972 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=106: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.7791
+INFO:cosmos_policy.experiments.robot.robot_utils:t=106: Selected seed 195 with value = 0.7791
+Query 1/1: Action query time = 0.972 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7791
+t=106: Selected seed 195 with value = 0.7791
+t: 106	 action: [-0.094 -0.339 -0.113 -0.015 -0.003  0.01  -0.993]
+t: 107	 action: [-5.330e-02 -3.348e-01 -8.170e-02  5.522e-04  4.705e-03  1.119e-02 -1.012e+00]
+t: 108	 action: [-0.138 -0.351 -0.119 -0.011 -0.012  0.014 -0.987]
+t: 109	 action: [-0.11  -0.369 -0.069  0.006  0.003  0.014 -1.01 ]
+t: 110	 action: [-0.145 -0.39  -0.166  0.004 -0.017  0.013 -0.986]
+t: 111	 action: [-0.17  -0.378 -0.113  0.014 -0.021  0.025 -1.044]
+t: 112	 action: [-0.234 -0.414 -0.191  0.006 -0.02   0.031 -0.983]
+t: 113	 action: [-0.27  -0.385 -0.174  0.019 -0.026  0.03  -1.043]
+t: 114	 action: [-0.318 -0.46  -0.277  0.005 -0.031  0.077 -0.992]
+t: 115	 action: [-0.36  -0.46  -0.295  0.019 -0.028  0.077 -1.027]
+t: 116	 action: [-0.41  -0.441 -0.389  0.016 -0.043  0.098 -0.991]
+t: 117	 action: [-0.434 -0.422 -0.461  0.024 -0.044  0.097 -1.018]
+t: 118	 action: [-0.519 -0.388 -0.54   0.029 -0.045  0.112 -0.982]
+t: 119	 action: [-0.538 -0.371 -0.619  0.052 -0.045  0.102 -1.041]
+t: 120	 action: [-0.567 -0.31  -0.821  0.059 -0.051  0.126 -0.976]
+t: 121	 action: [-0.551 -0.244 -0.862  0.072 -0.036  0.118 -1.039]
+[07-31 00:45:07|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.979 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=122: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.7608
+INFO:cosmos_policy.experiments.robot.robot_utils:t=122: Selected seed 195 with value = 0.7608
+Query 1/1: Action query time = 0.979 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7608
+t=122: Selected seed 195 with value = 0.7608
+t: 122	 action: [-2.007e-02 -3.760e-01 -1.715e-01  3.280e-04 -2.154e-02 -8.769e-03 -1.030e+00]
+t: 123	 action: [ 0.002 -0.403 -0.202  0.01  -0.022 -0.032 -1.035]
+t: 124	 action: [-0.058 -0.387 -0.254  0.014 -0.029 -0.015 -1.027]
+t: 125	 action: [-0.048 -0.398 -0.262  0.027 -0.025 -0.033 -1.031]
+t: 126	 action: [-0.1   -0.388 -0.285  0.03  -0.022 -0.028 -1.02 ]
+t: 127	 action: [-0.14  -0.367 -0.313  0.042 -0.019 -0.037 -1.064]
+t: 128	 action: [-0.129 -0.356 -0.366  0.051 -0.027 -0.025 -1.019]
+t: 129	 action: [-0.171 -0.335 -0.351  0.051 -0.021 -0.036 -1.054]
+t: 130	 action: [-0.1   -0.412 -0.398  0.045 -0.056 -0.016 -1.035]
+t: 131	 action: [-0.079 -0.365 -0.351  0.034 -0.053 -0.025 -1.034]
+t: 132	 action: [-0.08  -0.405 -0.424  0.048 -0.055 -0.01  -1.037]
+t: 133	 action: [-0.033 -0.326 -0.408  0.038 -0.048 -0.021 -1.023]
+t: 134	 action: [-0.072 -0.273 -0.566  0.058 -0.046 -0.019 -1.029]
+t: 135	 action: [-0.044 -0.253 -0.482  0.056 -0.012 -0.026 -1.054]
+t: 136	 action: [-0.051 -0.203 -0.788  0.058 -0.026 -0.013 -1.028]
+t: 137	 action: [-0.029 -0.128 -0.766  0.055  0.011 -0.02  -1.052]
+[07-31 00:45:09|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.962 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=138: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9533
+INFO:cosmos_policy.experiments.robot.robot_utils:t=138: Selected seed 195 with value = 0.9533
+Query 1/1: Action query time = 0.962 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9533
+t=138: Selected seed 195 with value = 0.9533
+t: 138	 action: [ 0.049  0.433 -0.933  0.026 -0.007 -0.018 -1.004]
+t: 139	 action: [ 0.036  0.451 -0.912  0.013 -0.015 -0.027 -1.008]
+t: 140	 action: [ 0.006  0.571 -0.901  0.005  0.002 -0.006 -1.011]
+t: 141	 action: [ 0.019  0.648 -0.885 -0.005 -0.007 -0.017 -1.018]
+t: 142	 action: [-0.061  0.71  -0.897  0.003  0.01  -0.021 -1.006]
+t: 143	 action: [-0.035  0.657 -0.892  0.004 -0.014 -0.023 -1.043]
+t: 144	 action: [-0.096  0.829 -0.877 -0.019  0.016 -0.007 -1.013]
+t: 145	 action: [-0.075  0.808 -0.885 -0.013 -0.011 -0.014 -1.051]
+t: 146	 action: [-0.045  0.814 -0.863 -0.008  0.009 -0.007 -0.991]
+t: 147	 action: [-0.035  0.792 -0.838 -0.017  0.009 -0.017 -1.019]
+t: 148	 action: [-0.085  0.853 -0.846 -0.024  0.016  0.006 -1.003]
+t: 149	 action: [-0.053  0.826 -0.827 -0.023  0.007 -0.008 -1.015]
+t: 150	 action: [-0.143  0.911 -0.86  -0.028  0.014  0.001 -0.995]
+t: 151	 action: [-0.142  0.881 -0.849 -0.02  -0.003 -0.005 -1.052]
+t: 152	 action: [-0.165  0.918 -0.844 -0.04   0.02   0.003 -1.004]
+t: 153	 action: [-0.16   0.883 -0.836 -0.026 -0.001  0.003 -1.056]
+[07-31 00:45:10|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.983 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=154: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9932
+INFO:cosmos_policy.experiments.robot.robot_utils:t=154: Selected seed 195 with value = 0.9932
+WARNING:imageio_ffmpeg:IMAGEIO FFMPEG_WRITER WARNING: input image is not divisible by macro_block_size=16, resizing from (896, 284) to (896, 288) to ensure video compatibility with most codecs and players. To prevent resizing, make your input image divisible by the macro_block_size or set the macro_block_size to 1 (risking incompatibility).
+INFO:cosmos_policy.experiments.robot.robot_utils:Success: True
+INFO:cosmos_policy.experiments.robot.robot_utils:# episodes completed so far: 43
+INFO:cosmos_policy.experiments.robot.robot_utils:# successes: 23 (53.5%)
+
+
 86%|████████▌ | 43/50 [17:13<02:39, 22.73s/it]INFO:cosmos_policy.experiments.robot.robot_utils:
+Task: open the middle drawer of the cabinet
+INFO:cosmos_policy.experiments.robot.robot_utils:Starting episode 44...
+Query 1/1: Action query time = 0.983 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9932
+t=154: Selected seed 195 with value = 0.9932
+t: 154	 action: [-7.781e-02  9.222e-01 -6.955e-01 -1.185e-02 -4.072e-04  6.528e-03 -9.866e-01]
+t: 155	 action: [-0.08   0.907 -0.703 -0.022  0.002  0.009 -1.005]
+t: 156	 action: [-0.083  0.934 -0.68  -0.012 -0.002  0.007 -0.991]
+t: 157	 action: [-0.073  0.916 -0.687 -0.02  -0.001  0.008 -1.014]
+t: 158	 action: [-0.106  0.96  -0.66  -0.026  0.005  0.006 -0.983]
+t: 159	 action: [-0.133  0.949 -0.647 -0.017 -0.003  0.013 -1.031]
+t: 160	 action: [-0.125  0.973 -0.637 -0.027  0.004  0.01  -0.986]
+t: 161	 action: [-0.129  0.944 -0.623 -0.016 -0.004  0.011 -1.036]
+t: 162	 action: [-0.083  0.933 -0.669 -0.014 -0.003  0.008 -0.986]
+t: 163	 action: [-7.012e-02  9.240e-01 -6.728e-01 -2.012e-02  4.607e-07  6.606e-03 -1.008e+00]
+Saved rollout MP4 at path ./rollouts/None/2026_07_31-00_27_45--episode=43--success=True--task=open_the_middle_drawer_of_the_cabinet.mp4
+154 154 10 10
+Saved rollout MP4 at path ./rollouts/None/2026_07_31-00_27_45--with_future_img--episode=43--success=True--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: True
+# episodes completed so far: 43
+# successes: 23 (53.5%)
+
+Task: open the middle drawer of the cabinet
+Starting episode 44...
+[07-31 00:45:16|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.975 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=10: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.3420
+INFO:cosmos_policy.experiments.robot.robot_utils:t=10: Selected seed 195 with value = 0.3420
+Query 1/1: Action query time = 0.975 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3420
+t=10: Selected seed 195 with value = 0.3420
+t: 10	 action: [ 0.223  0.035  0.009 -0.001  0.051  0.013 -0.999]
+t: 11	 action: [ 0.348  0.083  0.055 -0.018  0.075  0.022 -0.996]
+t: 12	 action: [ 0.526  0.078  0.021 -0.013  0.086  0.033 -1.016]
+t: 13	 action: [ 0.647  0.115  0.074 -0.022  0.115  0.037 -1.014]
+t: 14	 action: [ 0.688  0.073  0.054 -0.026  0.101  0.042 -1.021]
+t: 15	 action: [ 0.752  0.117  0.07  -0.026  0.103  0.04  -1.048]
+t: 16	 action: [ 0.797  0.098  0.048 -0.037  0.105  0.081 -1.024]
+t: 17	 action: [ 0.816  0.129  0.063 -0.035  0.105  0.055 -1.05 ]
+t: 18	 action: [ 0.807  0.114  0.057 -0.042  0.046  0.12  -1.034]
+t: 19	 action: [ 0.828  0.096  0.057 -0.048  0.045  0.111 -1.029]
+t: 20	 action: [ 0.807  0.094  0.04  -0.053  0.03   0.133 -1.033]
+t: 21	 action: [ 0.826  0.099  0.025 -0.06   0.015  0.119 -1.025]
+t: 22	 action: [ 0.784  0.089  0.043 -0.061  0.028  0.153 -1.013]
+t: 23	 action: [ 0.758  0.092  0.019 -0.061  0.01   0.139 -1.052]
+t: 24	 action: [ 0.723  0.102  0.015 -0.075  0.015  0.166 -1.015]
+t: 25	 action: [ 0.69   0.111  0.015 -0.076  0.003  0.146 -1.045]
+[07-31 00:45:17|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.985 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=26: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.3888
+INFO:cosmos_policy.experiments.robot.robot_utils:t=26: Selected seed 195 with value = 0.3888
+Query 1/1: Action query time = 0.985 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3888
+t=26: Selected seed 195 with value = 0.3888
+t: 26	 action: [ 0.421  0.026 -0.018 -0.071  0.04   0.21  -1.01 ]
+t: 27	 action: [ 0.413  0.053 -0.033 -0.067  0.041  0.216 -1.003]
+t: 28	 action: [ 0.329  0.038 -0.065 -0.084  0.048  0.235 -1.004]
+t: 29	 action: [ 0.329  0.07  -0.076 -0.081  0.052  0.237 -1.001]
+t: 30	 action: [ 0.285  0.044 -0.102 -0.111  0.052  0.26  -1.005]
+t: 31	 action: [ 0.243  0.086 -0.155 -0.101  0.053  0.245 -1.029]
+t: 32	 action: [ 0.231  0.062 -0.15  -0.118  0.067  0.279 -1.002]
+t: 33	 action: [ 0.209  0.095 -0.194 -0.111  0.08   0.261 -1.027]
+t: 34	 action: [ 0.147  0.033 -0.157 -0.097  0.105  0.273 -1.008]
+t: 35	 action: [ 0.178  0.028 -0.18  -0.087  0.117  0.248 -1.006]
+t: 36	 action: [ 0.156  0.026 -0.199 -0.1    0.126  0.277 -1.004]
+t: 37	 action: [ 0.195  0.015 -0.2   -0.09   0.14   0.252 -1.008]
+t: 38	 action: [ 0.167  0.016 -0.194 -0.105  0.125  0.281 -1.001]
+t: 39	 action: [ 0.175  0.041 -0.222 -0.091  0.127  0.25  -1.036]
+t: 40	 action: [ 0.168  0.009 -0.24  -0.098  0.143  0.276 -0.999]
+t: 41	 action: [ 0.179  0.02  -0.243 -0.091  0.14   0.245 -1.037]
+[07-31 00:45:18|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.986 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=42: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.4715
+INFO:cosmos_policy.experiments.robot.robot_utils:t=42: Selected seed 195 with value = 0.4715
+Query 1/1: Action query time = 0.986 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4715
+t=42: Selected seed 195 with value = 0.4715
+t: 42	 action: [ 0.151  0.029 -0.132 -0.09   0.14   0.28  -0.992]
+t: 43	 action: [ 0.167  0.055 -0.131 -0.088  0.145  0.265 -0.992]
+t: 44	 action: [ 0.154  0.031 -0.147 -0.082  0.15   0.283 -0.991]
+t: 45	 action: [ 0.184  0.054 -0.121 -0.079  0.154  0.266 -1.   ]
+t: 46	 action: [ 0.172  0.027 -0.159 -0.088  0.161  0.278 -1.   ]
+t: 47	 action: [ 0.18   0.045 -0.141 -0.08   0.172  0.258 -1.033]
+t: 48	 action: [ 0.172  0.025 -0.18  -0.074  0.174  0.274 -0.998]
+t: 49	 action: [ 0.188  0.041 -0.155 -0.071  0.186  0.253 -1.037]
+t: 50	 action: [ 0.17  -0.019 -0.157 -0.05   0.21   0.245 -1.007]
+t: 51	 action: [ 0.198 -0.017 -0.175 -0.035  0.22   0.225 -1.013]
+t: 52	 action: [ 0.217 -0.053 -0.148 -0.042  0.223  0.229 -1.008]
+t: 53	 action: [ 0.251 -0.045 -0.153 -0.029  0.23   0.203 -1.012]
+t: 54	 action: [ 0.224 -0.068 -0.136 -0.038  0.218  0.212 -1.005]
+t: 55	 action: [ 0.252 -0.053 -0.11  -0.032  0.218  0.191 -1.05 ]
+t: 56	 action: [ 0.256 -0.094 -0.141 -0.03   0.227  0.188 -1.008]
+t: 57	 action: [ 0.273 -0.084 -0.125 -0.025  0.218  0.171 -1.044]
+[07-31 00:45:19|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.982 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=58: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.5635
+INFO:cosmos_policy.experiments.robot.robot_utils:t=58: Selected seed 195 with value = 0.5635
+Query 1/1: Action query time = 0.982 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5635
+t=58: Selected seed 195 with value = 0.5635
+t: 58	 action: [ 0.124 -0.058 -0.091 -0.045  0.232  0.239 -0.999]
+t: 59	 action: [ 0.128 -0.084 -0.084 -0.022  0.22   0.223 -0.997]
+t: 60	 action: [ 0.134 -0.083 -0.056 -0.03   0.213  0.237 -1.004]
+t: 61	 action: [ 0.158 -0.118 -0.048 -0.011  0.192  0.209 -1.009]
+t: 62	 action: [ 0.187 -0.167 -0.038 -0.022  0.193  0.219 -1.007]
+t: 63	 action: [ 0.218 -0.182 -0.041 -0.003  0.171  0.2   -1.028]
+t: 64	 action: [ 0.21  -0.242 -0.049 -0.008  0.161  0.206 -1.009]
+t: 65	 action: [ 0.25  -0.235 -0.059  0.002  0.137  0.181 -1.028]
+t: 66	 action: [ 0.21  -0.329 -0.089 -0.011  0.145  0.19  -1.023]
+t: 67	 action: [ 0.233 -0.313 -0.086  0.009  0.107  0.155 -1.021]
+t: 68	 action: [ 0.206 -0.359 -0.104  0.003  0.104  0.184 -1.021]
+t: 69	 action: [ 0.223 -0.337 -0.099  0.013  0.057  0.147 -1.018]
+t: 70	 action: [ 0.191 -0.41  -0.123  0.006  0.065  0.166 -1.017]
+t: 71	 action: [ 0.197 -0.405 -0.079  0.014  0.034  0.13  -1.033]
+t: 72	 action: [ 0.164 -0.406 -0.14   0.008  0.023  0.155 -1.016]
+t: 73	 action: [ 0.131 -0.396 -0.083  0.015  0.008  0.124 -1.027]
+[07-31 00:45:21|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.974 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=74: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.6501
+INFO:cosmos_policy.experiments.robot.robot_utils:t=74: Selected seed 195 with value = 0.6501
+Query 1/1: Action query time = 0.974 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6501
+t=74: Selected seed 195 with value = 0.6501
+t: 74	 action: [ 0.078 -0.366  0.03  -0.013  0.041  0.15  -0.991]
+t: 75	 action: [ 6.549e-02 -3.783e-01  3.767e-02  4.094e-04  1.829e-02  1.402e-01 -1.002e+00]
+t: 76	 action: [ 0.055 -0.38   0.003  0.004  0.016  0.161 -0.986]
+t: 77	 action: [ 0.051 -0.371  0.038  0.008  0.005  0.133 -1.011]
+t: 78	 action: [ 0.023 -0.398 -0.001  0.004  0.008  0.141 -0.99 ]
+t: 79	 action: [ 0.029 -0.435  0.016  0.015 -0.003  0.137 -1.025]
+t: 80	 action: [-0.004 -0.377 -0.02   0.004 -0.011  0.138 -0.987]
+t: 81	 action: [ 0.004 -0.387 -0.006  0.014 -0.018  0.118 -1.019]
+t: 82	 action: [-0.052 -0.438  0.002 -0.002 -0.039  0.113 -1.006]
+t: 83	 action: [-0.071 -0.363  0.019  0.013 -0.048  0.087 -1.015]
+t: 84	 action: [-0.107 -0.42  -0.017  0.005 -0.055  0.101 -0.999]
+t: 85	 action: [-0.124 -0.339 -0.013  0.015 -0.061  0.078 -1.006]
+t: 86	 action: [-0.145 -0.458 -0.043  0.007 -0.067  0.085 -1.004]
+t: 87	 action: [-0.183 -0.387 -0.038  0.02  -0.065  0.072 -1.028]
+t: 88	 action: [-0.181 -0.426 -0.051  0.008 -0.079  0.077 -0.998]
+t: 89	 action: [-0.212 -0.351 -0.058  0.02  -0.067  0.067 -1.025]
+[07-31 00:45:22|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.988 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=90: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.7083
+INFO:cosmos_policy.experiments.robot.robot_utils:t=90: Selected seed 195 with value = 0.7083
+Query 1/1: Action query time = 0.988 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7083
+t=90: Selected seed 195 with value = 0.7083
+t: 90	 action: [ 0.03  -0.324 -0.007  0.004 -0.002  0.079 -0.991]
+t: 91	 action: [ 0.033 -0.353 -0.023  0.013 -0.014  0.078 -0.995]
+t: 92	 action: [-0.041 -0.336 -0.07   0.007 -0.016  0.091 -0.986]
+t: 93	 action: [-0.03  -0.36  -0.068  0.018 -0.02   0.081 -1.009]
+t: 94	 action: [-0.084 -0.35  -0.11   0.005 -0.018  0.078 -0.988]
+t: 95	 action: [-0.112 -0.377 -0.123  0.02  -0.029  0.082 -1.025]
+t: 96	 action: [-0.181 -0.367 -0.161  0.014 -0.029  0.09  -0.986]
+t: 97	 action: [-0.223 -0.351 -0.218  0.023 -0.035  0.082 -1.024]
+t: 98	 action: [-0.271 -0.409 -0.091 -0.004 -0.043  0.095 -0.997]
+t: 99	 action: [-0.307 -0.311 -0.129  0.007 -0.045  0.078 -1.016]
+t: 100	 action: [-0.37  -0.407 -0.111 -0.01  -0.057  0.105 -0.984]
+t: 101	 action: [-0.366 -0.285 -0.146  0.004 -0.058  0.094 -1.002]
+t: 102	 action: [-0.451 -0.36  -0.143  0.003 -0.066  0.093 -0.991]
+t: 103	 action: [-0.436 -0.283 -0.161  0.01  -0.062  0.079 -1.034]
+t: 104	 action: [-5.114e-01 -3.141e-01 -1.260e-01 -2.275e-05 -8.494e-02  1.069e-01 -9.766e-01]
+t: 105	 action: [-0.471 -0.245 -0.135  0.007 -0.071  0.096 -1.025]
+[07-31 00:45:23|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.981 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=106: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.7398
+INFO:cosmos_policy.experiments.robot.robot_utils:t=106: Selected seed 195 with value = 0.7398
+Query 1/1: Action query time = 0.981 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7398
+t=106: Selected seed 195 with value = 0.7398
+t: 106	 action: [-0.079 -0.296 -0.171 -0.007  0.013 -0.017 -1.004]
+t: 107	 action: [-0.041 -0.353 -0.133  0.005  0.006 -0.033 -1.033]
+t: 108	 action: [-0.128 -0.323 -0.241  0.002 -0.001 -0.031 -1.003]
+t: 109	 action: [-1.127e-01 -3.521e-01 -1.920e-01  1.392e-02 -1.414e-04 -3.731e-02 -1.030e+00]
+t: 110	 action: [-0.117 -0.369 -0.254  0.018  0.012 -0.015 -1.001]
+t: 111	 action: [-0.179 -0.328 -0.28   0.034 -0.003 -0.027 -1.056]
+t: 112	 action: [-0.159 -0.338 -0.366  0.015  0.003 -0.019 -0.999]
+t: 113	 action: [-0.209 -0.272 -0.411  0.032 -0.004 -0.031 -1.05 ]
+t: 114	 action: [-0.134 -0.382 -0.385  0.017 -0.029  0.014 -1.006]
+t: 115	 action: [-0.109 -0.343 -0.421  0.027 -0.026  0.012 -1.03 ]
+t: 116	 action: [-0.131 -0.354 -0.54   0.024 -0.033  0.015 -1.014]
+t: 117	 action: [-0.093 -0.289 -0.582  0.025 -0.031  0.015 -1.031]
+t: 118	 action: [-0.102 -0.188 -0.815  0.033 -0.032  0.011 -1.005]
+t: 119	 action: [-0.108 -0.101 -0.779  0.037 -0.029  0.017 -1.055]
+t: 120	 action: [-0.09  -0.091 -0.904  0.022 -0.024  0.013 -1.009]
+t: 121	 action: [-0.109  0.01  -0.854  0.029 -0.017  0.023 -1.062]
+[07-31 00:45:25|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.965 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=122: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.7344
+INFO:cosmos_policy.experiments.robot.robot_utils:t=122: Selected seed 195 with value = 0.7344
+Query 1/1: Action query time = 0.965 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7344
+t=122: Selected seed 195 with value = 0.7344
+t: 122	 action: [-0.025 -0.235 -0.058 -0.016 -0.003 -0.006 -0.994]
+t: 123	 action: [ 8.386e-03 -2.192e-01  2.397e-02 -9.919e-03  5.205e-04 -1.220e-02 -1.006e+00]
+t: 124	 action: [-0.075 -0.268 -0.064 -0.01  -0.008 -0.006 -0.991]
+t: 125	 action: [-2.377e-02 -2.590e-01  1.026e-02  1.059e-03  5.308e-04 -1.451e-02 -1.015e+00]
+t: 126	 action: [-0.106 -0.261 -0.049  0.003 -0.005 -0.005 -0.983]
+t: 127	 action: [-0.05  -0.258 -0.007  0.009 -0.004 -0.007 -1.043]
+t: 128	 action: [-0.159 -0.311 -0.071  0.008 -0.002 -0.001 -0.979]
+t: 129	 action: [-0.114 -0.267 -0.026  0.016 -0.003 -0.005 -1.038]
+t: 130	 action: [-0.157 -0.434 -0.09   0.003 -0.025  0.02  -0.987]
+t: 131	 action: [-0.165 -0.385 -0.06   0.02  -0.018  0.02  -1.016]
+t: 132	 action: [-0.254 -0.452 -0.198  0.007 -0.043  0.033 -0.984]
+t: 133	 action: [-0.255 -0.395 -0.172  0.019 -0.042  0.04  -1.013]
+t: 134	 action: [-0.376 -0.46  -0.215  0.013 -0.05   0.046 -0.981]
+t: 135	 action: [-0.373 -0.34  -0.295  0.029 -0.05   0.047 -1.042]
+t: 136	 action: [-0.48  -0.429 -0.379  0.018 -0.06   0.071 -0.973]
+t: 137	 action: [-0.462 -0.291 -0.489  0.033 -0.055  0.07  -1.038]
+[07-31 00:45:26|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.981 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=138: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.7517
+INFO:cosmos_policy.experiments.robot.robot_utils:t=138: Selected seed 195 with value = 0.7517
+Query 1/1: Action query time = 0.981 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7517
+t=138: Selected seed 195 with value = 0.7517
+t: 138	 action: [-0.076 -0.339 -0.195 -0.003 -0.017 -0.017 -1.001]
+t: 139	 action: [-0.03  -0.394 -0.158  0.012 -0.014 -0.036 -1.024]
+t: 140	 action: [-0.125 -0.343 -0.227  0.001 -0.019 -0.028 -0.996]
+t: 141	 action: [-0.093 -0.384 -0.195  0.017 -0.011 -0.038 -1.017]
+t: 142	 action: [-0.14  -0.337 -0.206  0.011 -0.007 -0.03  -0.989]
+t: 143	 action: [-0.161 -0.354 -0.199  0.026 -0.012 -0.038 -1.047]
+t: 144	 action: [-0.179 -0.325 -0.261  0.011 -0.003 -0.029 -0.986]
+t: 145	 action: [-0.213 -0.331 -0.297  0.027 -0.006 -0.039 -1.037]
+t: 146	 action: [-0.238 -0.403 -0.283  0.019 -0.034  0.005 -0.995]
+t: 147	 action: [-0.222 -0.387 -0.334  0.029 -0.033 -0.004 -1.022]
+t: 148	 action: [-0.268 -0.41  -0.449  0.026 -0.035  0.006 -0.999]
+t: 149	 action: [-2.537e-01 -3.708e-01 -5.350e-01  2.924e-02 -3.765e-02 -4.102e-05 -1.022e+00]
+t: 150	 action: [-2.701e-01 -2.938e-01 -7.181e-01  3.702e-02 -3.656e-02  6.750e-04 -9.926e-01]
+t: 151	 action: [-2.917e-01 -2.106e-01 -7.612e-01  4.611e-02 -3.351e-02 -4.538e-04 -1.034e+00]
+t: 152	 action: [-2.505e-01 -2.117e-01 -9.305e-01  3.474e-02 -2.624e-02  6.563e-04 -9.901e-01]
+t: 153	 action: [-0.283 -0.111 -0.908  0.043 -0.018  0.006 -1.048]
+[07-31 00:45:27|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.974 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=154: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.7196
+INFO:cosmos_policy.experiments.robot.robot_utils:t=154: Selected seed 195 with value = 0.7196
+Query 1/1: Action query time = 0.974 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7196
+t=154: Selected seed 195 with value = 0.7196
+t: 154	 action: [-0.056 -0.253 -0.021 -0.006 -0.005 -0.013 -0.998]
+t: 155	 action: [-1.170e-02 -2.036e-01  2.633e-02 -4.064e-03 -2.531e-04 -1.955e-02 -1.012e+00]
+t: 156	 action: [-0.109 -0.255 -0.052 -0.005 -0.007 -0.01  -0.994]
+t: 157	 action: [-6.270e-02 -2.222e-01 -4.400e-04  2.033e-03 -2.488e-04 -2.202e-02 -1.021e+00]
+t: 158	 action: [-0.136 -0.217 -0.03   0.002 -0.005 -0.011 -0.99 ]
+t: 159	 action: [-0.099 -0.19  -0.009  0.009 -0.003 -0.016 -1.048]
+t: 160	 action: [-1.832e-01 -2.435e-01 -6.278e-02  3.269e-03 -5.786e-04 -5.196e-03 -9.853e-01]
+t: 161	 action: [-0.155 -0.198 -0.031  0.013 -0.001 -0.015 -1.043]
+t: 162	 action: [-0.17  -0.355 -0.092  0.003 -0.022  0.015 -0.99 ]
+t: 163	 action: [-0.179 -0.304 -0.051  0.017 -0.018  0.012 -1.021]
+t: 164	 action: [-0.269 -0.386 -0.194  0.006 -0.035  0.025 -0.988]
+t: 165	 action: [-0.268 -0.337 -0.153  0.014 -0.036  0.03  -1.016]
+t: 166	 action: [-0.391 -0.387 -0.218  0.01  -0.039  0.029 -0.987]
+t: 167	 action: [-0.405 -0.287 -0.247  0.024 -0.039  0.032 -1.042]
+t: 168	 action: [-0.5   -0.381 -0.348  0.008 -0.046  0.054 -0.981]
+t: 169	 action: [-0.493 -0.269 -0.41   0.025 -0.043  0.053 -1.042]
+[07-31 00:45:28|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.973 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=170: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.7416
+INFO:cosmos_policy.experiments.robot.robot_utils:t=170: Selected seed 195 with value = 0.7416
+Query 1/1: Action query time = 0.973 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7416
+t=170: Selected seed 195 with value = 0.7416
+t: 170	 action: [ 0.09  -0.235 -0.023 -0.014  0.008 -0.007 -1.021]
+t: 171	 action: [ 0.102 -0.274  0.01  -0.014  0.002 -0.034 -1.037]
+t: 172	 action: [ 0.029 -0.275 -0.099 -0.002 -0.009 -0.026 -1.021]
+t: 173	 action: [ 5.037e-02 -3.043e-01 -5.519e-02  3.829e-05 -4.109e-03 -4.709e-02 -1.041e+00]
+t: 174	 action: [-8.183e-04 -2.958e-01 -1.185e-01  5.767e-03  4.077e-03 -2.803e-02 -1.018e+00]
+t: 175	 action: [-0.022 -0.28  -0.134  0.014 -0.01  -0.042 -1.062]
+t: 176	 action: [-0.05  -0.278 -0.251  0.005 -0.008 -0.038 -1.016]
+t: 177	 action: [-0.064 -0.247 -0.291  0.018 -0.013 -0.054 -1.06 ]
+t: 178	 action: [-1.144e-01 -3.115e-01 -2.683e-01  1.459e-02 -3.062e-02 -6.620e-05 -1.025e+00]
+t: 179	 action: [-0.09  -0.303 -0.274  0.019 -0.038 -0.011 -1.042]
+t: 180	 action: [-0.133 -0.313 -0.386  0.019 -0.041  0.003 -1.031]
+t: 181	 action: [-0.111 -0.292 -0.436  0.017 -0.047 -0.005 -1.041]
+t: 182	 action: [-1.181e-01 -2.515e-01 -6.313e-01  3.025e-02 -3.122e-02 -3.394e-04 -1.015e+00]
+t: 183	 action: [-0.115 -0.193 -0.635  0.04  -0.028 -0.005 -1.054]
+t: 184	 action: [-0.117 -0.186 -0.791  0.025 -0.024 -0.001 -1.016]
+t: 185	 action: [-0.108 -0.133 -0.752  0.035 -0.011  0.004 -1.062]
+[07-31 00:45:30|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.981 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=186: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.7147
+INFO:cosmos_policy.experiments.robot.robot_utils:t=186: Selected seed 195 with value = 0.7147
+Query 1/1: Action query time = 0.981 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7147
+t=186: Selected seed 195 with value = 0.7147
+t: 186	 action: [-5.032e-02 -2.385e-01 -2.940e-02 -4.882e-03 -2.696e-04 -1.401e-02 -1.002e+00]
+t: 187	 action: [-0.011 -0.192  0.009 -0.004  0.002 -0.018 -1.009]
+t: 188	 action: [-0.112 -0.232 -0.055 -0.004 -0.002 -0.012 -0.995]
+t: 189	 action: [-0.074 -0.2   -0.017  0.002  0.001 -0.02  -1.016]
+t: 190	 action: [-0.143 -0.191 -0.033  0.001 -0.001 -0.012 -0.998]
+t: 191	 action: [-0.126 -0.163 -0.019  0.009 -0.002 -0.014 -1.046]
+t: 192	 action: [-0.185 -0.21  -0.057  0.002  0.003 -0.005 -0.992]
+t: 193	 action: [-1.729e-01 -1.659e-01 -3.612e-02  1.086e-02  1.050e-04 -1.100e-02 -1.041e+00]
+t: 194	 action: [-0.165 -0.335 -0.079  0.004 -0.017  0.013 -0.995]
+t: 195	 action: [-0.167 -0.295 -0.043  0.017 -0.011  0.009 -1.02 ]
+t: 196	 action: [-0.258 -0.376 -0.176  0.006 -0.027  0.021 -0.993]
+t: 197	 action: [-0.26  -0.338 -0.141  0.015 -0.028  0.027 -1.015]
+t: 198	 action: [-0.371 -0.376 -0.215  0.005 -0.033  0.025 -0.995]
+t: 199	 action: [-0.405 -0.288 -0.248  0.024 -0.031  0.03  -1.042]
+t: 200	 action: [-0.484 -0.382 -0.357  0.004 -0.039  0.05  -0.989]
+t: 201	 action: [-0.5   -0.279 -0.415  0.024 -0.037  0.05  -1.042]
+[07-31 00:45:31|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.981 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=202: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.7449
+INFO:cosmos_policy.experiments.robot.robot_utils:t=202: Selected seed 195 with value = 0.7449
+Query 1/1: Action query time = 0.981 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7449
+t=202: Selected seed 195 with value = 0.7449
+t: 202	 action: [ 0.113 -0.204 -0.018 -0.015  0.01  -0.004 -1.02 ]
+t: 203	 action: [ 0.124 -0.245  0.008 -0.015  0.004 -0.028 -1.033]
+t: 204	 action: [ 0.056 -0.25  -0.096 -0.001 -0.004 -0.023 -1.022]
+t: 205	 action: [ 6.724e-02 -2.804e-01 -5.715e-02  3.522e-04 -4.293e-04 -3.888e-02 -1.039e+00]
+t: 206	 action: [ 0.017 -0.267 -0.117  0.005  0.01  -0.019 -1.02 ]
+t: 207	 action: [-0.012 -0.251 -0.136  0.013 -0.003 -0.033 -1.063]
+t: 208	 action: [-3.416e-02 -2.571e-01 -2.594e-01  5.622e-03 -1.032e-04 -2.962e-02 -1.018e+00]
+t: 209	 action: [-0.047 -0.218 -0.305  0.018 -0.005 -0.042 -1.062]
+t: 210	 action: [-0.092 -0.291 -0.239  0.015 -0.024 -0.002 -1.026]
+t: 211	 action: [-0.059 -0.282 -0.246  0.018 -0.032 -0.012 -1.04 ]
+t: 212	 action: [-0.107 -0.288 -0.35   0.018 -0.034  0.002 -1.032]
+t: 213	 action: [-0.079 -0.271 -0.399  0.017 -0.039 -0.006 -1.037]
+t: 214	 action: [-9.969e-02 -2.446e-01 -6.111e-01  2.984e-02 -2.265e-02  2.819e-04 -1.019e+00]
+t: 215	 action: [-0.102 -0.185 -0.61   0.037 -0.021 -0.003 -1.054]
+t: 216	 action: [-0.102 -0.19  -0.767  0.024 -0.018 -0.001 -1.02 ]
+t: 217	 action: [-0.097 -0.137 -0.72   0.032 -0.008  0.005 -1.059]
+[07-31 00:45:32|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.964 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=218: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.7157
+INFO:cosmos_policy.experiments.robot.robot_utils:t=218: Selected seed 195 with value = 0.7157
+Query 1/1: Action query time = 0.964 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7157
+t=218: Selected seed 195 with value = 0.7157
+t: 218	 action: [-0.056 -0.241 -0.025 -0.004 -0.001 -0.011 -1.   ]
+t: 219	 action: [-1.992e-02 -1.875e-01  5.711e-03 -1.909e-03  9.363e-04 -1.458e-02 -1.006e+00]
+t: 220	 action: [-0.117 -0.223 -0.051 -0.003 -0.002 -0.009 -0.989]
+t: 221	 action: [-8.168e-02 -1.849e-01 -1.930e-02  3.578e-03  5.140e-04 -1.592e-02 -1.013e+00]
+t: 222	 action: [-1.488e-01 -1.710e-01 -3.418e-02  9.126e-04 -2.585e-03 -8.678e-03 -9.982e-01]
+t: 223	 action: [-0.149 -0.142 -0.029  0.01  -0.003 -0.01  -1.045]
+t: 224	 action: [-0.189 -0.179 -0.057  0.002  0.003 -0.003 -0.987]
+t: 225	 action: [-1.864e-01 -1.421e-01 -4.773e-02  1.139e-02  3.928e-04 -6.091e-03 -1.040e+00]
+t: 226	 action: [-0.168 -0.313 -0.083  0.005 -0.014  0.013 -0.995]
+t: 227	 action: [-0.165 -0.285 -0.044  0.019 -0.008  0.01  -1.02 ]
+t: 228	 action: [-0.262 -0.368 -0.183  0.008 -0.022  0.021 -0.992]
+t: 229	 action: [-0.259 -0.336 -0.139  0.017 -0.021  0.028 -1.015]
+t: 230	 action: [-0.363 -0.359 -0.224  0.006 -0.029  0.025 -0.999]
+t: 231	 action: [-0.409 -0.28  -0.259  0.025 -0.024  0.031 -1.042]
+t: 232	 action: [-0.467 -0.386 -0.383  0.004 -0.031  0.05  -0.991]
+t: 233	 action: [-0.499 -0.281 -0.434  0.026 -0.026  0.051 -1.042]
+[07-31 00:45:33|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.974 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=234: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.7503
+INFO:cosmos_policy.experiments.robot.robot_utils:t=234: Selected seed 195 with value = 0.7503
+Query 1/1: Action query time = 0.974 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7503
+t=234: Selected seed 195 with value = 0.7503
+t: 234	 action: [ 1.245e-01 -1.845e-01  8.781e-04 -1.462e-02  8.900e-03 -3.583e-03 -1.015e+00]
+t: 235	 action: [ 0.142 -0.223  0.016 -0.015  0.003 -0.024 -1.026]
+t: 236	 action: [ 7.398e-02 -2.393e-01 -7.659e-02 -6.558e-04 -2.821e-03 -2.011e-02 -1.015e+00]
+t: 237	 action: [ 8.116e-02 -2.620e-01 -4.017e-02  2.225e-04 -5.665e-04 -3.154e-02 -1.034e+00]
+t: 238	 action: [ 0.032 -0.254 -0.099  0.004  0.011 -0.013 -1.021]
+t: 239	 action: [-0.003 -0.234 -0.119  0.013 -0.003 -0.025 -1.06 ]
+t: 240	 action: [-0.022 -0.257 -0.253  0.005  0.003 -0.021 -1.019]
+t: 241	 action: [-0.031 -0.203 -0.301  0.017 -0.002 -0.03  -1.056]
+t: 242	 action: [-0.078 -0.281 -0.197  0.014 -0.02  -0.004 -1.025]
+t: 243	 action: [-0.04  -0.262 -0.228  0.017 -0.026 -0.011 -1.041]
+t: 244	 action: [-0.091 -0.274 -0.306  0.015 -0.027  0.002 -1.028]
+t: 245	 action: [-0.06  -0.246 -0.378  0.014 -0.028 -0.005 -1.036]
+t: 246	 action: [-9.397e-02 -2.332e-01 -5.873e-01  2.212e-02 -1.554e-02  5.552e-04 -1.020e+00]
+t: 247	 action: [-9.900e-02 -1.714e-01 -6.042e-01  3.195e-02 -1.314e-02 -3.125e-04 -1.052e+00]
+t: 248	 action: [-9.640e-02 -1.860e-01 -7.411e-01  1.487e-02 -1.135e-02 -5.632e-04 -1.020e+00]
+t: 249	 action: [-0.094 -0.123 -0.699  0.025 -0.002  0.007 -1.057]
+[07-31 00:45:35|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.969 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=250: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.7140
+INFO:cosmos_policy.experiments.robot.robot_utils:t=250: Selected seed 195 with value = 0.7140
+Query 1/1: Action query time = 0.969 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7140
+t=250: Selected seed 195 with value = 0.7140
+t: 250	 action: [-0.08  -0.243 -0.037 -0.002 -0.007 -0.008 -0.997]
+t: 251	 action: [-0.046 -0.191 -0.012  0.002 -0.004 -0.009 -1.001]
+t: 252	 action: [-0.137 -0.213 -0.06  -0.002 -0.006 -0.004 -0.986]
+t: 253	 action: [-0.103 -0.178 -0.039  0.006 -0.002 -0.01  -1.01 ]
+t: 254	 action: [-0.17  -0.167 -0.049  0.001 -0.006 -0.005 -1.   ]
+t: 255	 action: [-0.181 -0.133 -0.056  0.013 -0.006 -0.003 -1.044]
+t: 256	 action: [-2.029e-01 -1.649e-01 -6.526e-02  2.486e-03  8.766e-04 -1.306e-03 -9.883e-01]
+t: 257	 action: [-2.028e-01 -1.284e-01 -7.050e-02  1.377e-02 -8.227e-05  2.117e-04 -1.040e+00]
+t: 258	 action: [-0.167 -0.305 -0.09   0.008 -0.013  0.012 -0.995]
+t: 259	 action: [-0.158 -0.281 -0.045  0.021 -0.006  0.01  -1.019]
+t: 260	 action: [-0.256 -0.368 -0.188  0.01  -0.018  0.018 -0.99 ]
+t: 261	 action: [-0.242 -0.333 -0.133  0.019 -0.014  0.026 -1.014]
+t: 262	 action: [-0.347 -0.356 -0.232  0.007 -0.025  0.022 -1.003]
+t: 263	 action: [-0.393 -0.276 -0.264  0.026 -0.018  0.029 -1.043]
+t: 264	 action: [-0.444 -0.408 -0.398  0.004 -0.024  0.045 -0.992]
+t: 265	 action: [-0.477 -0.285 -0.435  0.027 -0.017  0.048 -1.042]
+[07-31 00:45:36|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.982 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=266: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.7570
+INFO:cosmos_policy.experiments.robot.robot_utils:t=266: Selected seed 195 with value = 0.7570
+Query 1/1: Action query time = 0.982 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7570
+t=266: Selected seed 195 with value = 0.7570
+t: 266	 action: [ 0.113 -0.173  0.001 -0.014  0.007 -0.001 -1.013]
+t: 267	 action: [ 0.133 -0.207  0.012 -0.013  0.002 -0.017 -1.025]
+t: 268	 action: [ 6.746e-02 -2.289e-01 -7.037e-02 -4.780e-05 -2.864e-03 -1.762e-02 -1.010e+00]
+t: 269	 action: [ 0.076 -0.244 -0.033  0.002 -0.002 -0.023 -1.031]
+t: 270	 action: [ 0.022 -0.24  -0.082  0.004  0.01  -0.008 -1.022]
+t: 271	 action: [-0.003 -0.219 -0.1    0.014 -0.005 -0.015 -1.061]
+t: 272	 action: [-0.025 -0.251 -0.239  0.005  0.006 -0.015 -1.015]
+t: 273	 action: [-0.028 -0.192 -0.286  0.018 -0.002 -0.019 -1.055]
+t: 274	 action: [-0.071 -0.271 -0.173  0.015 -0.016 -0.003 -1.023]
+t: 275	 action: [-0.03  -0.247 -0.219  0.018 -0.021 -0.009 -1.038]
+t: 276	 action: [-0.08  -0.262 -0.293  0.016 -0.021  0.002 -1.025]
+t: 277	 action: [-0.052 -0.221 -0.374  0.015 -0.02  -0.002 -1.031]
+t: 278	 action: [-8.613e-02 -2.177e-01 -5.712e-01  2.187e-02 -1.104e-02  7.453e-04 -1.021e+00]
+t: 279	 action: [-0.095 -0.163 -0.597  0.03  -0.008  0.003 -1.05 ]
+t: 280	 action: [-8.747e-02 -1.720e-01 -7.348e-01  1.465e-02 -5.797e-03 -2.713e-04 -1.019e+00]
+t: 281	 action: [-0.089 -0.116 -0.7    0.023  0.002  0.011 -1.053]
+[07-31 00:45:37|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.978 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=282: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.7157
+INFO:cosmos_policy.experiments.robot.robot_utils:t=282: Selected seed 195 with value = 0.7157
+Query 1/1: Action query time = 0.978 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7157
+t=282: Selected seed 195 with value = 0.7157
+t: 282	 action: [-0.1   -0.237 -0.055 -0.002 -0.014 -0.005 -0.998]
+t: 283	 action: [-0.075 -0.182 -0.038  0.003 -0.011 -0.007 -1.   ]
+t: 284	 action: [-0.156 -0.196 -0.069 -0.001 -0.012 -0.002 -0.986]
+t: 285	 action: [-0.127 -0.162 -0.051  0.008 -0.006 -0.008 -1.008]
+t: 286	 action: [-0.18  -0.152 -0.068  0.002 -0.011 -0.003 -1.002]
+t: 287	 action: [-1.989e-01 -1.176e-01 -8.121e-02  1.522e-02 -1.011e-02  9.082e-04 -1.043e+00]
+t: 288	 action: [-2.105e-01 -1.449e-01 -7.546e-02  3.051e-03 -3.363e-03 -7.938e-04 -9.895e-01]
+t: 289	 action: [-0.216 -0.114 -0.084  0.016 -0.001  0.003 -1.038]
+t: 290	 action: [-0.168 -0.296 -0.09   0.01  -0.013  0.012 -0.994]
+t: 291	 action: [-0.152 -0.273 -0.047  0.023 -0.005  0.009 -1.015]
+t: 292	 action: [-0.248 -0.367 -0.187  0.012 -0.016  0.016 -0.989]
+t: 293	 action: [-0.225 -0.327 -0.134  0.02  -0.011  0.023 -1.011]
+t: 294	 action: [-0.322 -0.348 -0.232  0.007 -0.023  0.019 -1.005]
+t: 295	 action: [-0.372 -0.272 -0.263  0.027 -0.015  0.027 -1.041]
+t: 296	 action: [-0.397 -0.422 -0.401  0.005 -0.022  0.04  -0.995]
+t: 297	 action: [-0.44  -0.292 -0.432  0.027 -0.013  0.043 -1.042]
+[07-31 00:45:39|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.984 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=298: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.7599
+INFO:cosmos_policy.experiments.robot.robot_utils:t=298: Selected seed 195 with value = 0.7599
+WARNING:imageio_ffmpeg:IMAGEIO FFMPEG_WRITER WARNING: input image is not divisible by macro_block_size=16, resizing from (896, 284) to (896, 288) to ensure video compatibility with most codecs and players. To prevent resizing, make your input image divisible by the macro_block_size or set the macro_block_size to 1 (risking incompatibility).
+INFO:cosmos_policy.experiments.robot.robot_utils:Success: False
+INFO:cosmos_policy.experiments.robot.robot_utils:# episodes completed so far: 44
+INFO:cosmos_policy.experiments.robot.robot_utils:# successes: 23 (52.3%)
+
+
 88%|████████▊ | 44/50 [17:44<02:31, 25.24s/it]INFO:cosmos_policy.experiments.robot.robot_utils:
+Task: open the middle drawer of the cabinet
+INFO:cosmos_policy.experiments.robot.robot_utils:Starting episode 45...
+Query 1/1: Action query time = 0.984 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7599
+t=298: Selected seed 195 with value = 0.7599
+t: 298	 action: [ 0.084 -0.157 -0.014 -0.012  0.003 -0.001 -1.005]
+t: 299	 action: [ 0.094 -0.199 -0.009 -0.008 -0.002 -0.014 -1.022]
+t: 300	 action: [ 4.350e-02 -2.239e-01 -8.177e-02  6.263e-04 -3.905e-03 -1.612e-02 -1.001e+00]
+t: 301	 action: [ 0.058 -0.238 -0.049  0.004 -0.003 -0.019 -1.026]
+t: 302	 action: [ 0.006 -0.238 -0.084  0.004  0.011 -0.006 -1.016]
+t: 303	 action: [-0.01  -0.221 -0.104  0.015 -0.003 -0.011 -1.058]
+t: 304	 action: [-0.026 -0.254 -0.216  0.004  0.01  -0.012 -1.008]
+t: 305	 action: [-3.050e-02 -1.950e-01 -2.645e-01  1.830e-02  9.437e-04 -1.354e-02 -1.052e+00]
+t: 306	 action: [-0.059 -0.285 -0.145  0.017 -0.01  -0.004 -1.021]
+t: 307	 action: [-0.021 -0.255 -0.174  0.019 -0.013 -0.007 -1.04 ]
+t: 308	 action: [-0.064 -0.277 -0.253  0.017 -0.015  0.003 -1.022]
+t: 309	 action: [-4.124e-02 -2.304e-01 -3.183e-01  1.523e-02 -1.187e-02  5.850e-04 -1.032e+00]
+Saved rollout MP4 at path ./rollouts/None/2026_07_31-00_27_45--episode=44--success=False--task=open_the_middle_drawer_of_the_cabinet.mp4
+300 300 19 19
+Saved rollout MP4 at path ./rollouts/None/2026_07_31-00_27_45--with_future_img--episode=44--success=False--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: False
+# episodes completed so far: 44
+# successes: 23 (52.3%)
+
+Task: open the middle drawer of the cabinet
+Starting episode 45...
+[07-31 00:45:47|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.984 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=10: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.3332
+INFO:cosmos_policy.experiments.robot.robot_utils:t=10: Selected seed 195 with value = 0.3332
+Query 1/1: Action query time = 0.984 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3332
+t=10: Selected seed 195 with value = 0.3332
+t: 10	 action: [ 2.346e-01  2.137e-02 -4.045e-03  9.360e-04  2.748e-02  1.753e-02 -9.988e-01]
+t: 11	 action: [ 0.322  0.048  0.031 -0.013  0.048  0.027 -1.001]
+t: 12	 action: [ 0.522  0.064 -0.002 -0.016  0.058  0.039 -1.008]
+t: 13	 action: [ 0.633  0.097  0.035 -0.023  0.079  0.038 -1.008]
+t: 14	 action: [ 0.688  0.068  0.032 -0.029  0.074  0.047 -1.014]
+t: 15	 action: [ 0.761  0.117  0.023 -0.027  0.09   0.036 -1.05 ]
+t: 16	 action: [ 0.82   0.112  0.025 -0.047  0.094  0.074 -1.015]
+t: 17	 action: [ 0.831  0.137  0.02  -0.039  0.104  0.045 -1.051]
+t: 18	 action: [ 0.851  0.11   0.038 -0.052  0.095  0.094 -1.023]
+t: 19	 action: [ 0.875  0.1    0.03  -0.04   0.101  0.088 -1.026]
+t: 20	 action: [ 0.847  0.097  0.019 -0.059  0.089  0.106 -1.025]
+t: 21	 action: [ 0.871  0.086  0.005 -0.044  0.094  0.089 -1.022]
+t: 22	 action: [ 0.814  0.064  0.034 -0.06   0.088  0.109 -1.008]
+t: 23	 action: [ 0.783  0.066  0.006 -0.046  0.072  0.102 -1.057]
+t: 24	 action: [ 0.741  0.052  0.001 -0.061  0.083  0.121 -1.013]
+t: 25	 action: [ 0.711  0.056 -0.008 -0.052  0.071  0.104 -1.05 ]
+[07-31 00:45:48|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.957 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=26: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.4134
+INFO:cosmos_policy.experiments.robot.robot_utils:t=26: Selected seed 195 with value = 0.4134
+Query 1/1: Action query time = 0.957 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4134
+t=26: Selected seed 195 with value = 0.4134
+t: 26	 action: [ 0.482  0.045 -0.012 -0.086  0.046  0.202 -1.002]
+t: 27	 action: [ 0.465  0.063 -0.037 -0.086  0.045  0.205 -1.003]
+t: 28	 action: [ 0.384  0.04  -0.055 -0.091  0.057  0.221 -0.994]
+t: 29	 action: [ 0.376  0.058 -0.073 -0.094  0.056  0.22  -0.999]
+t: 30	 action: [ 0.337  0.042 -0.079 -0.11   0.054  0.242 -0.995]
+t: 31	 action: [ 0.297  0.065 -0.141 -0.103  0.053  0.228 -1.022]
+t: 32	 action: [ 0.271  0.04  -0.123 -0.113  0.071  0.256 -0.991]
+t: 33	 action: [ 0.245  0.063 -0.173 -0.107  0.077  0.239 -1.023]
+t: 34	 action: [ 0.19   0.032 -0.153 -0.101  0.107  0.261 -0.997]
+t: 35	 action: [ 0.205  0.029 -0.192 -0.096  0.104  0.243 -1.002]
+t: 36	 action: [ 0.194  0.026 -0.18  -0.103  0.12   0.262 -0.993]
+t: 37	 action: [ 0.218  0.026 -0.205 -0.096  0.123  0.241 -1.001]
+t: 38	 action: [ 0.2    0.02  -0.181 -0.11   0.123  0.27  -0.989]
+t: 39	 action: [ 0.203  0.047 -0.222 -0.096  0.116  0.243 -1.029]
+t: 40	 action: [ 0.209  0.015 -0.207 -0.104  0.137  0.264 -0.988]
+t: 41	 action: [ 0.221  0.04  -0.226 -0.092  0.136  0.235 -1.026]
+[07-31 00:45:49|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.964 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=42: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.4768
+INFO:cosmos_policy.experiments.robot.robot_utils:t=42: Selected seed 195 with value = 0.4768
+Query 1/1: Action query time = 0.964 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4768
+t=42: Selected seed 195 with value = 0.4768
+t: 42	 action: [ 0.137  0.02  -0.144 -0.076  0.167  0.266 -0.999]
+t: 43	 action: [ 0.139  0.043 -0.129 -0.076  0.173  0.253 -1.003]
+t: 44	 action: [ 0.134  0.018 -0.149 -0.066  0.178  0.267 -0.999]
+t: 45	 action: [ 0.152  0.035 -0.115 -0.061  0.183  0.249 -1.009]
+t: 46	 action: [ 0.163  0.012 -0.145 -0.07   0.186  0.262 -1.005]
+t: 47	 action: [ 0.162  0.032 -0.115 -0.066  0.198  0.245 -1.031]
+t: 48	 action: [ 0.164  0.007 -0.154 -0.056  0.198  0.255 -1.006]
+t: 49	 action: [ 0.17   0.019 -0.11  -0.054  0.215  0.236 -1.036]
+t: 50	 action: [ 0.167 -0.054 -0.142 -0.043  0.23   0.223 -1.012]
+t: 51	 action: [ 0.193 -0.061 -0.157 -0.022  0.241  0.205 -1.017]
+t: 52	 action: [ 0.215 -0.094 -0.118 -0.033  0.241  0.213 -1.013]
+t: 53	 action: [ 0.246 -0.1   -0.137 -0.015  0.244  0.185 -1.013]
+t: 54	 action: [ 0.236 -0.104 -0.105 -0.029  0.232  0.206 -1.011]
+t: 55	 action: [ 0.254 -0.108 -0.091 -0.02   0.226  0.184 -1.052]
+t: 56	 action: [ 0.269 -0.129 -0.105 -0.021  0.232  0.187 -1.013]
+t: 57	 action: [ 0.265 -0.145 -0.107 -0.013  0.217  0.166 -1.041]
+[07-31 00:45:50|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.973 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=58: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.5705
+INFO:cosmos_policy.experiments.robot.robot_utils:t=58: Selected seed 195 with value = 0.5705
+Query 1/1: Action query time = 0.973 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5705
+t=58: Selected seed 195 with value = 0.5705
+t: 58	 action: [ 0.093 -0.091 -0.11  -0.038  0.214  0.247 -0.987]
+t: 59	 action: [ 0.088 -0.109 -0.077 -0.02   0.208  0.233 -0.982]
+t: 60	 action: [ 0.096 -0.111 -0.049 -0.018  0.197  0.253 -0.992]
+t: 61	 action: [ 0.126 -0.147 -0.012 -0.007  0.182  0.229 -1.002]
+t: 62	 action: [ 0.143 -0.215 -0.022 -0.015  0.178  0.243 -0.99 ]
+t: 63	 action: [ 1.798e-01 -2.176e-01 -6.743e-03 -8.297e-04  1.563e-01  2.237e-01 -1.009e+00]
+t: 64	 action: [ 1.494e-01 -2.978e-01 -1.663e-02 -1.006e-04  1.513e-01  2.354e-01 -9.945e-01]
+t: 65	 action: [ 0.199 -0.281 -0.009  0.008  0.129  0.209 -1.012]
+t: 66	 action: [ 0.129 -0.395 -0.057  0.006  0.133  0.226 -1.003]
+t: 67	 action: [ 0.133 -0.389 -0.021  0.015  0.097  0.193 -1.017]
+t: 68	 action: [ 0.095 -0.449 -0.076  0.014  0.101  0.215 -1.005]
+t: 69	 action: [ 0.085 -0.417 -0.039  0.018  0.059  0.178 -1.015]
+t: 70	 action: [ 0.095 -0.484 -0.084  0.011  0.063  0.194 -0.999]
+t: 71	 action: [ 0.066 -0.465 -0.036  0.019  0.043  0.157 -1.027]
+t: 72	 action: [ 0.055 -0.45  -0.103  0.019  0.024  0.185 -1.004]
+t: 73	 action: [ 0.026 -0.436 -0.044  0.016  0.016  0.155 -1.02 ]
+[07-31 00:45:52|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.965 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=74: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.6660
+INFO:cosmos_policy.experiments.robot.robot_utils:t=74: Selected seed 195 with value = 0.6660
+Query 1/1: Action query time = 0.965 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6660
+t=74: Selected seed 195 with value = 0.6660
+t: 74	 action: [ 0.058 -0.401  0.032 -0.007  0.018  0.143 -0.984]
+t: 75	 action: [ 5.970e-02 -4.152e-01  4.436e-02 -2.737e-04  7.305e-03  1.356e-01 -9.994e-01]
+t: 76	 action: [ 2.826e-02 -4.193e-01  5.873e-04  5.692e-03 -6.550e-04  1.513e-01 -9.821e-01]
+t: 77	 action: [ 0.043 -0.405  0.043  0.01  -0.003  0.126 -1.007]
+t: 78	 action: [ 1.086e-02 -4.096e-01 -2.478e-04  5.998e-03  1.864e-03  1.269e-01 -9.828e-01]
+t: 79	 action: [ 0.007 -0.47   0.008  0.021 -0.003  0.131 -1.031]
+t: 80	 action: [-0.025 -0.397 -0.031  0.007 -0.015  0.124 -0.983]
+t: 81	 action: [-0.036 -0.414 -0.014  0.02  -0.014  0.111 -1.026]
+t: 82	 action: [-0.1   -0.428 -0.033  0.003 -0.047  0.096 -1.002]
+t: 83	 action: [-0.103 -0.363 -0.006  0.015 -0.052  0.076 -1.012]
+t: 84	 action: [-0.135 -0.404 -0.046  0.003 -0.059  0.092 -0.997]
+t: 85	 action: [-0.14  -0.331 -0.041  0.013 -0.064  0.07  -1.002]
+t: 86	 action: [-0.179 -0.395 -0.066  0.006 -0.062  0.072 -1.   ]
+t: 87	 action: [-0.199 -0.349 -0.059  0.018 -0.063  0.063 -1.033]
+t: 88	 action: [-0.193 -0.364 -0.068  0.005 -0.069  0.069 -0.995]
+t: 89	 action: [-0.216 -0.32  -0.077  0.014 -0.064  0.06  -1.03 ]
+[07-31 00:45:53|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.964 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=90: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.7623
+INFO:cosmos_policy.experiments.robot.robot_utils:t=90: Selected seed 195 with value = 0.7623
+Query 1/1: Action query time = 0.964 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7623
+t=90: Selected seed 195 with value = 0.7623
+t: 90	 action: [ 0.004 -0.191  0.03  -0.015 -0.006  0.047 -0.96 ]
+t: 91	 action: [ 0.028 -0.154  0.018 -0.007 -0.013  0.046 -0.97 ]
+t: 92	 action: [-0.059 -0.202  0.004 -0.006 -0.018  0.063 -0.969]
+t: 93	 action: [-0.036 -0.202  0.014  0.003 -0.014  0.054 -1.006]
+t: 94	 action: [-6.496e-02 -1.944e-01 -4.937e-02 -6.819e-04 -9.989e-03  6.297e-02 -9.791e-01]
+t: 95	 action: [-0.081 -0.242 -0.023  0.007 -0.018  0.051 -1.036]
+t: 96	 action: [-0.154 -0.243 -0.057 -0.002 -0.011  0.082 -0.981]
+t: 97	 action: [-0.168 -0.266 -0.052  0.011 -0.01   0.061 -1.035]
+t: 98	 action: [-0.219 -0.338 -0.008 -0.007 -0.002  0.092 -0.988]
+t: 99	 action: [-0.236 -0.274 -0.043  0.003  0.003  0.079 -1.015]
+t: 100	 action: [-0.288 -0.344 -0.052 -0.011 -0.014  0.108 -0.99 ]
+t: 101	 action: [-2.945e-01 -2.763e-01 -9.836e-02  2.438e-03  2.088e-04  9.887e-02 -1.010e+00]
+t: 102	 action: [-3.250e-01 -2.768e-01 -1.341e-01  9.625e-04 -1.685e-02  1.021e-01 -9.903e-01]
+t: 103	 action: [-0.314 -0.274 -0.189  0.011 -0.015  0.087 -1.042]
+t: 104	 action: [-0.372 -0.299 -0.195 -0.001 -0.034  0.119 -0.988]
+t: 105	 action: [-0.349 -0.267 -0.236  0.011 -0.022  0.105 -1.034]
+[07-31 00:45:54|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.967 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=106: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.8192
+INFO:cosmos_policy.experiments.robot.robot_utils:t=106: Selected seed 195 with value = 0.8192
+Query 1/1: Action query time = 0.967 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8192
+t=106: Selected seed 195 with value = 0.8192
+t: 106	 action: [-1.749e-01 -3.816e-01 -1.372e-01  3.540e-04 -1.440e-03  3.322e-02 -9.986e-01]
+t: 107	 action: [-0.175 -0.439 -0.129  0.017  0.001  0.042 -1.019]
+t: 108	 action: [-0.237 -0.346 -0.217  0.01  -0.014  0.046 -0.991]
+t: 109	 action: [-0.236 -0.388 -0.128  0.027 -0.016  0.054 -1.019]
+t: 110	 action: [-0.239 -0.423 -0.21   0.022 -0.01   0.054 -0.996]
+t: 111	 action: [-0.314 -0.431 -0.275  0.036 -0.022  0.053 -1.046]
+t: 112	 action: [-0.342 -0.266 -0.494  0.023 -0.02   0.063 -0.987]
+t: 113	 action: [-0.356 -0.246 -0.654  0.037 -0.033  0.058 -1.033]
+t: 114	 action: [-0.22  -0.092 -0.446  0.045 -0.029  0.067 -0.996]
+t: 115	 action: [-0.243 -0.126 -0.57   0.041 -0.016  0.067 -1.024]
+t: 116	 action: [-0.205  0.074 -0.709  0.045 -0.032  0.066 -0.997]
+t: 117	 action: [-0.25   0.106 -0.73   0.033 -0.013  0.068 -1.015]
+t: 118	 action: [-0.328  0.165 -0.812  0.044 -0.041  0.068 -1.   ]
+t: 119	 action: [-0.334  0.224 -0.837  0.033 -0.046  0.068 -1.043]
+t: 120	 action: [-0.378  0.345 -0.696  0.015 -0.04   0.07  -0.999]
+t: 121	 action: [-0.33   0.438 -0.656  0.013 -0.04   0.068 -1.04 ]
+[07-31 00:45:56|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.981 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=122: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.7895
+INFO:cosmos_policy.experiments.robot.robot_utils:t=122: Selected seed 195 with value = 0.7895
+Query 1/1: Action query time = 0.981 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7895
+t=122: Selected seed 195 with value = 0.7895
+t: 122	 action: [-0.211 -0.412 -0.224  0.007 -0.032  0.024 -0.999]
+t: 123	 action: [-0.21  -0.42  -0.22   0.019 -0.042  0.033 -1.018]
+t: 124	 action: [-0.274 -0.33  -0.256  0.014 -0.043  0.04  -0.992]
+t: 125	 action: [-0.272 -0.34  -0.293  0.028 -0.055  0.046 -1.018]
+t: 126	 action: [-0.296 -0.289 -0.398  0.029 -0.047  0.048 -0.998]
+t: 127	 action: [-0.331 -0.233 -0.531  0.044 -0.063  0.048 -1.042]
+t: 128	 action: [-0.34   0.02  -0.767  0.027 -0.054  0.066 -0.99 ]
+t: 129	 action: [-0.324  0.052 -0.874  0.038 -0.059  0.055 -1.033]
+t: 130	 action: [-0.293  0.189 -0.818  0.033 -0.049  0.066 -0.987]
+t: 131	 action: [-0.304  0.234 -0.873  0.02  -0.041  0.056 -1.023]
+t: 132	 action: [-0.298  0.469 -0.818  0.016 -0.042  0.064 -0.983]
+t: 133	 action: [-0.291  0.492 -0.838  0.009 -0.027  0.051 -1.02 ]
+t: 134	 action: [-0.399  0.599 -0.817  0.005 -0.047  0.062 -0.993]
+t: 135	 action: [-0.335  0.616 -0.853  0.005 -0.048  0.051 -1.045]
+t: 136	 action: [-3.637e-01  7.419e-01 -7.913e-01 -8.363e-04 -3.629e-02  6.357e-02 -9.881e-01]
+t: 137	 action: [-0.32   0.743 -0.762 -0.003 -0.031  0.048 -1.045]
+[07-31 00:45:57|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.981 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=138: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.7539
+INFO:cosmos_policy.experiments.robot.robot_utils:t=138: Selected seed 195 with value = 0.7539
+Query 1/1: Action query time = 0.981 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7539
+t=138: Selected seed 195 with value = 0.7539
+t: 138	 action: [-0.235 -0.349 -0.351 -0.004 -0.036  0.019 -0.984]
+t: 139	 action: [-0.257 -0.391 -0.348  0.01  -0.034  0.026 -1.012]
+t: 140	 action: [-0.27  -0.322 -0.358  0.004 -0.041  0.018 -0.98 ]
+t: 141	 action: [-0.288 -0.353 -0.307  0.021 -0.035  0.028 -1.017]
+t: 142	 action: [-0.309 -0.32  -0.418  0.015 -0.037  0.024 -0.977]
+t: 143	 action: [-0.335 -0.358 -0.365  0.029 -0.034  0.034 -1.035]
+t: 144	 action: [-0.336 -0.224 -0.473  0.017 -0.04   0.036 -0.97 ]
+t: 145	 action: [-0.335 -0.256 -0.433  0.032 -0.035  0.035 -1.03 ]
+t: 146	 action: [-0.274 -0.327 -0.347  0.025 -0.051  0.042 -0.988]
+t: 147	 action: [-0.274 -0.345 -0.396  0.032 -0.047  0.046 -1.021]
+t: 148	 action: [-0.268 -0.258 -0.436  0.04  -0.054  0.04  -0.989]
+t: 149	 action: [-0.284 -0.273 -0.495  0.035 -0.051  0.052 -1.026]
+t: 150	 action: [-0.434 -0.09  -0.763  0.037 -0.059  0.054 -0.984]
+t: 151	 action: [-0.412 -0.037 -0.807  0.036 -0.075  0.054 -1.044]
+t: 152	 action: [-0.45   0.05  -0.874  0.035 -0.057  0.056 -0.979]
+t: 153	 action: [-0.399  0.098 -0.872  0.03  -0.068  0.061 -1.045]
+[07-31 00:45:58|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.974 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=154: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.8280
+INFO:cosmos_policy.experiments.robot.robot_utils:t=154: Selected seed 195 with value = 0.8280
+Query 1/1: Action query time = 0.974 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8280
+t=154: Selected seed 195 with value = 0.8280
+t: 154	 action: [-0.409  0.302 -0.84   0.032 -0.057  0.084 -0.996]
+t: 155	 action: [-0.387  0.236 -0.891  0.03  -0.079  0.081 -1.003]
+t: 156	 action: [-0.453  0.462 -0.849  0.018 -0.049  0.087 -0.997]
+t: 157	 action: [-0.406  0.379 -0.889  0.023 -0.067  0.074 -1.002]
+t: 158	 action: [-0.52   0.563 -0.848  0.02  -0.058  0.104 -0.995]
+t: 159	 action: [-0.45   0.443 -0.863  0.027 -0.064  0.087 -1.027]
+t: 160	 action: [-0.478  0.649 -0.843  0.005 -0.048  0.098 -0.991]
+t: 161	 action: [-0.428  0.567 -0.851  0.016 -0.051  0.074 -1.024]
+t: 162	 action: [-0.366  0.741 -0.739  0.009 -0.027  0.087 -0.987]
+t: 163	 action: [-0.349  0.698 -0.767  0.002 -0.026  0.072 -1.013]
+t: 164	 action: [-0.346  0.828 -0.737  0.004 -0.012  0.08  -0.993]
+t: 165	 action: [-0.312  0.73  -0.728 -0.002 -0.01   0.06  -1.011]
+t: 166	 action: [-0.403  0.842 -0.747 -0.003 -0.019  0.082 -0.993]
+t: 167	 action: [-3.551e-01  7.807e-01 -7.255e-01  8.331e-04 -1.312e-02  6.586e-02 -1.032e+00]
+t: 168	 action: [-0.347  0.884 -0.738 -0.006 -0.002  0.078 -0.993]
+t: 169	 action: [-0.333  0.799 -0.66  -0.002 -0.005  0.056 -1.038]
+[07-31 00:45:59|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.979 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=170: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.6876
+INFO:cosmos_policy.experiments.robot.robot_utils:t=170: Selected seed 195 with value = 0.6876
+Query 1/1: Action query time = 0.979 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6876
+t=170: Selected seed 195 with value = 0.6876
+t: 170	 action: [-3.236e-02 -4.683e-01 -2.570e-02 -9.597e-05 -4.010e-02  3.359e-02 -9.910e-01]
+t: 171	 action: [-0.011 -0.472  0.01   0.005 -0.049  0.032 -1.003]
+t: 172	 action: [-0.067 -0.45  -0.078  0.006 -0.075  0.037 -0.992]
+t: 173	 action: [-0.057 -0.441 -0.011  0.012 -0.074  0.032 -1.003]
+t: 174	 action: [-0.094 -0.45  -0.117  0.008 -0.096  0.031 -0.988]
+t: 175	 action: [-0.123 -0.435 -0.072  0.019 -0.073  0.03  -1.019]
+t: 176	 action: [-0.139 -0.417 -0.186  0.017 -0.108  0.039 -0.989]
+t: 177	 action: [-0.155 -0.393 -0.126  0.024 -0.085  0.029 -1.019]
+t: 178	 action: [-0.167 -0.41  -0.117  0.01  -0.094  0.035 -0.985]
+t: 179	 action: [-0.177 -0.357 -0.084  0.017 -0.087  0.033 -1.005]
+t: 180	 action: [-0.141 -0.41  -0.144  0.013 -0.103  0.044 -0.976]
+t: 181	 action: [-0.149 -0.358 -0.123  0.016 -0.093  0.04  -0.994]
+t: 182	 action: [-0.184 -0.388 -0.171  0.011 -0.112  0.046 -0.989]
+t: 183	 action: [-0.16  -0.34  -0.162  0.024 -0.08   0.036 -1.026]
+t: 184	 action: [-0.152 -0.36  -0.229  0.017 -0.104  0.055 -0.981]
+t: 185	 action: [-0.14  -0.336 -0.22   0.024 -0.068  0.044 -1.024]
+[07-31 00:46:01|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.976 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=186: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.7412
+INFO:cosmos_policy.experiments.robot.robot_utils:t=186: Selected seed 195 with value = 0.7412
+Query 1/1: Action query time = 0.976 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7412
+t=186: Selected seed 195 with value = 0.7412
+t: 186	 action: [-1.469e-01 -3.802e-01 -3.265e-01  2.573e-04 -2.368e-02  1.830e-02 -9.875e-01]
+t: 187	 action: [-0.139 -0.438 -0.292  0.012 -0.027  0.016 -1.015]
+t: 188	 action: [-0.2   -0.358 -0.337  0.003 -0.03   0.013 -0.978]
+t: 189	 action: [-0.205 -0.424 -0.287  0.018 -0.019  0.015 -1.021]
+t: 190	 action: [-0.213 -0.415 -0.374  0.022 -0.02   0.017 -0.975]
+t: 191	 action: [-0.214 -0.42  -0.313  0.032 -0.014  0.024 -1.044]
+t: 192	 action: [-0.255 -0.385 -0.362  0.025 -0.014  0.018 -0.965]
+t: 193	 action: [-0.255 -0.38  -0.323  0.035 -0.006  0.025 -1.042]
+t: 194	 action: [-0.235 -0.385 -0.296  0.017 -0.017  0.037 -0.983]
+t: 195	 action: [-0.25  -0.411 -0.356  0.028 -0.019  0.047 -1.032]
+t: 196	 action: [-0.245 -0.382 -0.415  0.033 -0.025  0.046 -0.982]
+t: 197	 action: [-0.292 -0.392 -0.526  0.031 -0.026  0.061 -1.031]
+t: 198	 action: [-0.429 -0.286 -0.708  0.036 -0.031  0.062 -0.978]
+t: 199	 action: [-0.421 -0.214 -0.778  0.047 -0.039  0.066 -1.048]
+t: 200	 action: [-0.486 -0.106 -0.932  0.045 -0.04   0.075 -0.973]
+t: 201	 action: [-0.47  -0.027 -0.926  0.044 -0.042  0.079 -1.047]
+[07-31 00:46:02|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.979 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=202: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.7493
+INFO:cosmos_policy.experiments.robot.robot_utils:t=202: Selected seed 195 with value = 0.7493
+Query 1/1: Action query time = 0.979 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7493
+t=202: Selected seed 195 with value = 0.7493
+t: 202	 action: [-0.077 -0.405 -0.206  0.013 -0.049  0.005 -1.012]
+t: 203	 action: [-0.035 -0.417 -0.208  0.023 -0.056 -0.003 -1.028]
+t: 204	 action: [-0.105 -0.406 -0.253  0.023 -0.057  0.005 -1.007]
+t: 205	 action: [-0.053 -0.426 -0.284  0.029 -0.067  0.002 -1.027]
+t: 206	 action: [-0.121 -0.333 -0.415  0.039 -0.054  0.003 -1.009]
+t: 207	 action: [-0.132 -0.273 -0.518  0.053 -0.065  0.006 -1.047]
+t: 208	 action: [-0.133 -0.141 -0.777  0.041 -0.052  0.004 -1.003]
+t: 209	 action: [-0.137 -0.098 -0.878  0.055 -0.057  0.01  -1.038]
+t: 210	 action: [-0.102  0.035 -0.871  0.061 -0.017  0.024 -0.989]
+t: 211	 action: [-0.117  0.083 -0.906  0.038  0.001  0.024 -1.026]
+t: 212	 action: [-0.096  0.302 -0.897  0.031 -0.006  0.026 -0.989]
+t: 213	 action: [-0.138  0.371 -0.917  0.018  0.005  0.025 -1.032]
+t: 214	 action: [-0.259  0.448 -0.885  0.019  0.002  0.034 -1.004]
+t: 215	 action: [-0.244  0.528 -0.904  0.02  -0.002  0.029 -1.055]
+t: 216	 action: [-0.27   0.69  -0.869  0.007  0.013  0.041 -0.997]
+t: 217	 action: [-2.605e-01  7.416e-01 -8.539e-01  6.089e-03  3.043e-04  3.300e-02 -1.062e+00]
+[07-31 00:46:03|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.995 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=218: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.7524
+INFO:cosmos_policy.experiments.robot.robot_utils:t=218: Selected seed 195 with value = 0.7524
+Query 1/1: Action query time = 0.995 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7524
+t=218: Selected seed 195 with value = 0.7524
+t: 218	 action: [-7.041e-02 -2.810e-01 -2.032e-01 -6.225e-04 -6.728e-03  7.812e-03 -9.851e-01]
+t: 219	 action: [-0.069 -0.378 -0.196  0.015 -0.002  0.011 -1.016]
+t: 220	 action: [-0.134 -0.352 -0.251  0.009 -0.008  0.01  -0.982]
+t: 221	 action: [-1.140e-01 -4.108e-01 -2.186e-01  2.178e-02 -1.003e-03  1.674e-02 -1.020e+00]
+t: 222	 action: [-0.141 -0.317 -0.309  0.018 -0.005  0.007 -0.981]
+t: 223	 action: [-0.164 -0.357 -0.301  0.031 -0.008  0.021 -1.039]
+t: 224	 action: [-0.195 -0.345 -0.434  0.025 -0.006  0.019 -0.975]
+t: 225	 action: [-0.199 -0.328 -0.474  0.035 -0.005  0.027 -1.034]
+t: 226	 action: [-0.152 -0.342 -0.475  0.043 -0.02   0.025 -0.989]
+t: 227	 action: [-0.125 -0.341 -0.571  0.037 -0.012  0.032 -1.023]
+t: 228	 action: [-0.147 -0.241 -0.731  0.058 -0.021  0.028 -0.995]
+t: 229	 action: [-0.153 -0.143 -0.784  0.033 -0.014  0.045 -1.029]
+t: 230	 action: [-0.297 -0.166 -0.841  0.045 -0.028  0.039 -0.989]
+t: 231	 action: [-0.303  0.024 -0.87   0.037 -0.044  0.041 -1.045]
+t: 232	 action: [-0.331  0.16  -0.834  0.028 -0.024  0.045 -0.986]
+t: 233	 action: [-0.312  0.339 -0.848  0.029 -0.041  0.058 -1.046]
+[07-31 00:46:05|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.971 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=234: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.7588
+INFO:cosmos_policy.experiments.robot.robot_utils:t=234: Selected seed 195 with value = 0.7588
+Query 1/1: Action query time = 0.971 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7588
+t=234: Selected seed 195 with value = 0.7588
+t: 234	 action: [-0.053 -0.367 -0.104  0.006 -0.03   0.008 -1.007]
+t: 235	 action: [-0.019 -0.417 -0.092  0.023 -0.036  0.004 -1.029]
+t: 236	 action: [-0.091 -0.434 -0.099  0.017 -0.04   0.01  -1.006]
+t: 237	 action: [-0.053 -0.458 -0.111  0.026 -0.058  0.014 -1.028]
+t: 238	 action: [-0.115 -0.445 -0.204  0.032 -0.043  0.005 -1.005]
+t: 239	 action: [-0.143 -0.405 -0.301  0.046 -0.061  0.015 -1.05 ]
+t: 240	 action: [-0.174 -0.374 -0.518  0.034 -0.046  0.014 -1.004]
+t: 241	 action: [-0.199 -0.282 -0.696  0.058 -0.056  0.024 -1.041]
+t: 242	 action: [-0.068 -0.117 -0.778  0.073 -0.007  0.019 -0.993]
+t: 243	 action: [-0.057 -0.079 -0.872  0.05   0.007  0.023 -1.029]
+t: 244	 action: [-4.364e-02  1.279e-01 -8.617e-01  5.816e-02 -3.984e-04  2.319e-02 -9.957e-01]
+t: 245	 action: [-0.075  0.235 -0.903  0.032  0.007  0.031 -1.031]
+t: 246	 action: [-1.884e-01  2.518e-01 -8.384e-01  3.674e-02 -9.419e-05  2.841e-02 -1.004e+00]
+t: 247	 action: [-0.206  0.391 -0.912  0.035 -0.008  0.031 -1.054]
+t: 248	 action: [-0.248  0.59  -0.817  0.016  0.008  0.042 -1.002]
+t: 249	 action: [-0.243  0.675 -0.837  0.017 -0.005  0.044 -1.056]
+[07-31 00:46:06|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.983 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=250: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.7598
+INFO:cosmos_policy.experiments.robot.robot_utils:t=250: Selected seed 195 with value = 0.7598
+Query 1/1: Action query time = 0.983 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7598
+t=250: Selected seed 195 with value = 0.7598
+t: 250	 action: [-0.093 -0.331 -0.109  0.003 -0.017  0.001 -1.007]
+t: 251	 action: [-6.477e-02 -3.794e-01 -9.632e-02  2.254e-02 -1.971e-02  2.110e-04 -1.023e+00]
+t: 252	 action: [-0.122 -0.391 -0.144  0.013 -0.019  0.006 -1.004]
+t: 253	 action: [-0.088 -0.403 -0.123  0.026 -0.029  0.01  -1.021]
+t: 254	 action: [-0.139 -0.368 -0.197  0.022 -0.023  0.001 -1.004]
+t: 255	 action: [-0.154 -0.363 -0.215  0.036 -0.037  0.008 -1.045]
+t: 256	 action: [-0.178 -0.392 -0.363  0.021 -0.021  0.004 -1.001]
+t: 257	 action: [-0.191 -0.335 -0.463  0.039 -0.035  0.017 -1.034]
+t: 258	 action: [-0.106 -0.337 -0.383  0.046 -0.009  0.009 -0.999]
+t: 259	 action: [-0.085 -0.315 -0.531  0.043 -0.002  0.007 -1.027]
+t: 260	 action: [-0.105 -0.262 -0.708  0.061 -0.004  0.012 -1.005]
+t: 261	 action: [-0.099 -0.147 -0.798  0.041  0.006  0.019 -1.025]
+t: 262	 action: [-0.193 -0.162 -0.836  0.052 -0.009  0.008 -1.007]
+t: 263	 action: [-0.231 -0.057 -0.879  0.05  -0.008  0.012 -1.052]
+t: 264	 action: [-0.219  0.045 -0.821  0.034 -0.001  0.02  -1.006]
+t: 265	 action: [-0.239  0.278 -0.859  0.033 -0.001  0.029 -1.047]
+[07-31 00:46:07|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.972 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=266: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.7682
+INFO:cosmos_policy.experiments.robot.robot_utils:t=266: Selected seed 195 with value = 0.7682
+Query 1/1: Action query time = 0.972 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7682
+t=266: Selected seed 195 with value = 0.7682
+t: 266	 action: [-0.096 -0.332 -0.114  0.005 -0.028  0.004 -1.011]
+t: 267	 action: [-5.924e-02 -3.689e-01 -8.678e-02  1.921e-02 -3.490e-02 -3.514e-04 -1.028e+00]
+t: 268	 action: [-0.124 -0.42  -0.11   0.016 -0.037  0.007 -1.011]
+t: 269	 action: [-0.074 -0.41  -0.122  0.023 -0.05   0.007 -1.026]
+t: 270	 action: [-1.341e-01 -4.012e-01 -2.006e-01  1.987e-02 -3.465e-02  1.128e-05 -1.013e+00]
+t: 271	 action: [-0.151 -0.372 -0.28   0.037 -0.049  0.009 -1.052]
+t: 272	 action: [-0.18  -0.379 -0.52   0.026 -0.037  0.003 -1.011]
+t: 273	 action: [-0.188 -0.283 -0.667  0.049 -0.044  0.014 -1.04 ]
+t: 274	 action: [-0.081 -0.095 -0.717  0.054  0.002  0.01  -0.992]
+t: 275	 action: [-0.061 -0.044 -0.812  0.038  0.01   0.011 -1.017]
+t: 276	 action: [-0.064  0.116 -0.807  0.039  0.009  0.014 -0.995]
+t: 277	 action: [-0.069  0.195 -0.862  0.024  0.013  0.015 -1.021]
+t: 278	 action: [-0.193  0.19  -0.8    0.022  0.011  0.015 -1.007]
+t: 279	 action: [-0.2    0.32  -0.871  0.026  0.004  0.018 -1.044]
+t: 280	 action: [-0.223  0.488 -0.76   0.007  0.019  0.03  -1.003]
+t: 281	 action: [-0.222  0.588 -0.814  0.011  0.006  0.026 -1.048]
+[07-31 00:46:09|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.973 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=282: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.7598
+INFO:cosmos_policy.experiments.robot.robot_utils:t=282: Selected seed 195 with value = 0.7598
+Query 1/1: Action query time = 0.973 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7598
+t=282: Selected seed 195 with value = 0.7598
+t: 282	 action: [-0.117 -0.34  -0.081  0.007 -0.024 -0.001 -1.011]
+t: 283	 action: [-0.09  -0.358 -0.062  0.023 -0.028 -0.004 -1.024]
+t: 284	 action: [-0.14  -0.397 -0.108  0.017 -0.026  0.004 -1.011]
+t: 285	 action: [-0.112 -0.364 -0.093  0.026 -0.037  0.003 -1.024]
+t: 286	 action: [-0.158 -0.36  -0.159  0.019 -0.027 -0.003 -1.013]
+t: 287	 action: [-0.188 -0.32  -0.215  0.034 -0.041  0.003 -1.054]
+t: 288	 action: [-1.939e-01 -3.641e-01 -3.099e-01  1.800e-02 -2.515e-02 -7.039e-04 -1.010e+00]
+t: 289	 action: [-0.221 -0.276 -0.429  0.036 -0.038  0.01  -1.042]
+t: 290	 action: [-0.132 -0.257 -0.286  0.042 -0.007  0.003 -0.999]
+t: 291	 action: [-0.107 -0.253 -0.381  0.044 -0.007  0.003 -1.022]
+t: 292	 action: [-1.311e-01 -2.310e-01 -4.391e-01  4.747e-02 -9.462e-05  6.365e-03 -1.004e+00]
+t: 293	 action: [-0.098 -0.202 -0.516  0.04   0.007  0.01  -1.026]
+t: 294	 action: [-1.835e-01 -1.965e-01 -6.518e-01  4.485e-02  1.860e-03  9.507e-04 -1.009e+00]
+t: 295	 action: [-0.215 -0.166 -0.671  0.052  0.006  0.011 -1.048]
+t: 296	 action: [-0.193 -0.158 -0.704  0.033  0.012  0.014 -1.007]
+t: 297	 action: [-0.213 -0.057 -0.736  0.037  0.012  0.022 -1.044]
+[07-31 00:46:10|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.976 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=298: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.7718
+INFO:cosmos_policy.experiments.robot.robot_utils:t=298: Selected seed 195 with value = 0.7718
+WARNING:imageio_ffmpeg:IMAGEIO FFMPEG_WRITER WARNING: input image is not divisible by macro_block_size=16, resizing from (896, 284) to (896, 288) to ensure video compatibility with most codecs and players. To prevent resizing, make your input image divisible by the macro_block_size or set the macro_block_size to 1 (risking incompatibility).
+INFO:cosmos_policy.experiments.robot.robot_utils:Success: False
+INFO:cosmos_policy.experiments.robot.robot_utils:# episodes completed so far: 45
+INFO:cosmos_policy.experiments.robot.robot_utils:# successes: 23 (51.1%)
+
+
 90%|█████████ | 45/50 [18:16<02:15, 27.08s/it]INFO:cosmos_policy.experiments.robot.robot_utils:
+Task: open the middle drawer of the cabinet
+INFO:cosmos_policy.experiments.robot.robot_utils:Starting episode 46...
+Query 1/1: Action query time = 0.976 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7718
+t=298: Selected seed 195 with value = 0.7718
+t: 298	 action: [-0.122 -0.318 -0.165  0.007 -0.026  0.005 -1.005]
+t: 299	 action: [-0.081 -0.327 -0.143  0.019 -0.032  0.002 -1.023]
+t: 300	 action: [-0.162 -0.386 -0.177  0.015 -0.03   0.007 -1.008]
+t: 301	 action: [-0.11  -0.357 -0.197  0.022 -0.038  0.009 -1.021]
+t: 302	 action: [-1.774e-01 -3.217e-01 -2.991e-01  1.241e-02 -2.547e-02 -4.363e-04 -1.009e+00]
+t: 303	 action: [-0.204 -0.291 -0.345  0.034 -0.035  0.013 -1.05 ]
+t: 304	 action: [-0.223 -0.285 -0.604  0.018 -0.024  0.004 -1.007]
+t: 305	 action: [-0.233 -0.186 -0.702  0.041 -0.028  0.018 -1.039]
+t: 306	 action: [-0.128  0.075 -0.694  0.04   0.007  0.012 -0.987]
+t: 307	 action: [-0.117  0.132 -0.773  0.027  0.011  0.016 -1.012]
+t: 308	 action: [-0.126  0.291 -0.729  0.021  0.01   0.017 -0.99 ]
+t: 309	 action: [-0.117  0.313 -0.797  0.015  0.016  0.019 -1.017]
+Saved rollout MP4 at path ./rollouts/None/2026_07_31-00_27_45--episode=45--success=False--task=open_the_middle_drawer_of_the_cabinet.mp4
+300 300 19 19
+Saved rollout MP4 at path ./rollouts/None/2026_07_31-00_27_45--with_future_img--episode=45--success=False--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: False
+# episodes completed so far: 45
+# successes: 23 (51.1%)
+
+Task: open the middle drawer of the cabinet
+Starting episode 46...
+[07-31 00:46:18|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.977 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=10: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.3511
+INFO:cosmos_policy.experiments.robot.robot_utils:t=10: Selected seed 195 with value = 0.3511
+Query 1/1: Action query time = 0.977 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3511
+t=10: Selected seed 195 with value = 0.3511
+t: 10	 action: [ 0.026 -0.125 -0.034  0.01   0.01   0.003 -0.993]
+t: 11	 action: [ 0.143 -0.111  0.041  0.019  0.036  0.015 -0.987]
+t: 12	 action: [ 0.156 -0.17   0.004  0.007  0.056  0.019 -1.013]
+t: 13	 action: [ 0.312 -0.108  0.075  0.019  0.081  0.046 -1.018]
+t: 14	 action: [ 0.39  -0.152  0.08   0.004  0.084  0.037 -1.022]
+t: 15	 action: [ 0.46  -0.104  0.064  0.024  0.096  0.055 -1.051]
+t: 16	 action: [ 5.100e-01 -9.011e-02  9.463e-02 -6.775e-04  1.086e-01  8.392e-02 -1.023e+00]
+t: 17	 action: [ 0.529 -0.054  0.063  0.02   0.111  0.094 -1.046]
+t: 18	 action: [ 4.843e-01 -1.387e-01  6.912e-02  7.058e-04  8.690e-02  1.360e-01 -1.026e+00]
+t: 19	 action: [ 0.529 -0.089  0.085 -0.006  0.081  0.127 -1.016]
+t: 20	 action: [ 0.531 -0.083  0.036 -0.019  0.084  0.14  -1.022]
+t: 21	 action: [ 0.565 -0.01   0.047 -0.019  0.077  0.132 -1.012]
+t: 22	 action: [ 0.573 -0.017  0.037 -0.026  0.081  0.15  -1.012]
+t: 23	 action: [ 0.568 -0.013  0.018 -0.026  0.069  0.138 -1.048]
+t: 24	 action: [ 5.787e-01  2.349e-02  7.355e-04 -5.132e-02  8.311e-02  1.595e-01 -1.009e+00]
+t: 25	 action: [ 0.589  0.055  0.014 -0.056  0.083  0.145 -1.044]
+[07-31 00:46:19|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.995 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=26: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.4069
+INFO:cosmos_policy.experiments.robot.robot_utils:t=26: Selected seed 195 with value = 0.4069
+Query 1/1: Action query time = 0.995 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4069
+t=26: Selected seed 195 with value = 0.4069
+t: 26	 action: [ 0.511 -0.019  0.025 -0.025  0.041  0.176 -1.015]
+t: 27	 action: [ 0.526  0.004  0.026 -0.027  0.041  0.166 -1.012]
+t: 28	 action: [ 4.676e-01 -2.556e-04  1.744e-02 -3.494e-02  4.513e-02  1.845e-01 -1.015e+00]
+t: 29	 action: [ 0.481  0.028  0.024 -0.035  0.048  0.179 -1.016]
+t: 30	 action: [ 0.462  0.004  0.017 -0.05   0.06   0.206 -1.001]
+t: 31	 action: [ 4.175e-01  2.321e-02 -7.160e-04 -3.872e-02  6.109e-02  1.888e-01 -1.041e+00]
+t: 32	 action: [ 0.41   0.022  0.004 -0.064  0.07   0.215 -1.002]
+t: 33	 action: [ 0.381  0.046  0.003 -0.054  0.081  0.208 -1.042]
+t: 34	 action: [ 0.387  0.036 -0.01  -0.089  0.111  0.222 -1.009]
+t: 35	 action: [ 0.403  0.069 -0.004 -0.096  0.109  0.21  -1.008]
+t: 36	 action: [ 0.363  0.05  -0.038 -0.107  0.111  0.235 -1.01 ]
+t: 37	 action: [ 0.378  0.084 -0.027 -0.107  0.115  0.227 -1.003]
+t: 38	 action: [ 0.314  0.044 -0.03  -0.121  0.113  0.257 -0.993]
+t: 39	 action: [ 0.301  0.091 -0.057 -0.104  0.103  0.239 -1.031]
+t: 40	 action: [ 0.294  0.057 -0.062 -0.129  0.113  0.266 -0.997]
+t: 41	 action: [ 0.291  0.098 -0.075 -0.11   0.113  0.252 -1.026]
+[07-31 00:46:21|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.973 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=42: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.4627
+INFO:cosmos_policy.experiments.robot.robot_utils:t=42: Selected seed 195 with value = 0.4627
+Query 1/1: Action query time = 0.973 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4627
+t=42: Selected seed 195 with value = 0.4627
+t: 42	 action: [ 0.092  0.041 -0.059 -0.084  0.162  0.281 -0.979]
+t: 43	 action: [ 0.106  0.075 -0.028 -0.084  0.162  0.265 -0.977]
+t: 44	 action: [ 0.088  0.045 -0.075 -0.083  0.162  0.288 -0.982]
+t: 45	 action: [ 0.11   0.074 -0.036 -0.086  0.155  0.271 -0.999]
+t: 46	 action: [ 0.109  0.04  -0.092 -0.102  0.149  0.296 -0.985]
+t: 47	 action: [ 0.11   0.067 -0.065 -0.097  0.137  0.269 -1.009]
+t: 48	 action: [ 0.115  0.038 -0.121 -0.105  0.142  0.295 -0.988]
+t: 49	 action: [ 0.122  0.063 -0.092 -0.099  0.13   0.273 -1.024]
+t: 50	 action: [ 0.122  0.021 -0.126 -0.083  0.138  0.284 -0.988]
+t: 51	 action: [ 0.147  0.004 -0.15  -0.077  0.132  0.27  -0.994]
+t: 52	 action: [ 0.148  0.015 -0.147 -0.086  0.135  0.274 -0.985]
+t: 53	 action: [ 0.184 -0.002 -0.164 -0.076  0.126  0.261 -0.999]
+t: 54	 action: [ 0.173  0.003 -0.148 -0.096  0.122  0.281 -0.985]
+t: 55	 action: [ 0.208 -0.004 -0.158 -0.077  0.117  0.26  -1.018]
+t: 56	 action: [ 0.189 -0.001 -0.167 -0.094  0.118  0.264 -0.987]
+t: 57	 action: [ 0.219 -0.011 -0.162 -0.078  0.116  0.251 -1.018]
+[07-31 00:46:22|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.992 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=58: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.5395
+INFO:cosmos_policy.experiments.robot.robot_utils:t=58: Selected seed 195 with value = 0.5395
+Query 1/1: Action query time = 0.992 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5395
+t=58: Selected seed 195 with value = 0.5395
+t: 58	 action: [ 0.156 -0.032 -0.095 -0.05   0.185  0.214 -1.004]
+t: 59	 action: [ 0.183 -0.023 -0.044 -0.042  0.165  0.188 -0.992]
+t: 60	 action: [ 0.205 -0.029 -0.098 -0.054  0.18   0.217 -1.008]
+t: 61	 action: [ 0.251 -0.028 -0.064 -0.043  0.147  0.185 -1.008]
+t: 62	 action: [ 0.282 -0.051 -0.093 -0.05   0.164  0.21  -1.009]
+t: 63	 action: [ 0.304 -0.059 -0.096 -0.045  0.116  0.178 -1.027]
+t: 64	 action: [ 0.332 -0.104 -0.123 -0.047  0.15   0.2   -1.01 ]
+t: 65	 action: [ 0.357 -0.082 -0.152 -0.043  0.101  0.166 -1.04 ]
+t: 66	 action: [ 0.356 -0.153 -0.15  -0.041  0.129  0.159 -1.034]
+t: 67	 action: [ 0.37  -0.135 -0.175 -0.021  0.101  0.13  -1.02 ]
+t: 68	 action: [ 0.374 -0.218 -0.191 -0.029  0.1    0.152 -1.031]
+t: 69	 action: [ 0.393 -0.185 -0.22  -0.028  0.066  0.118 -1.013]
+t: 70	 action: [ 0.376 -0.259 -0.169 -0.016  0.094  0.143 -1.032]
+t: 71	 action: [ 0.357 -0.258 -0.201 -0.017  0.045  0.117 -1.035]
+t: 72	 action: [ 0.365 -0.304 -0.223 -0.009  0.059  0.133 -1.028]
+t: 73	 action: [ 0.303 -0.279 -0.256 -0.025  0.014  0.109 -1.029]
+[07-31 00:46:23|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.955 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=74: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.6103
+INFO:cosmos_policy.experiments.robot.robot_utils:t=74: Selected seed 195 with value = 0.6103
+Query 1/1: Action query time = 0.955 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6103
+t=74: Selected seed 195 with value = 0.6103
+t: 74	 action: [ 0.157 -0.334 -0.213 -0.001  0.1    0.108 -1.029]
+t: 75	 action: [ 0.13  -0.319 -0.147  0.006  0.074  0.115 -1.026]
+t: 76	 action: [ 0.119 -0.37  -0.312  0.002  0.066  0.131 -1.018]
+t: 77	 action: [ 0.093 -0.299 -0.228  0.007  0.032  0.124 -1.027]
+t: 78	 action: [ 0.131 -0.367 -0.291  0.002  0.041  0.132 -1.015]
+t: 79	 action: [ 0.079 -0.343 -0.23   0.01   0.011  0.133 -1.042]
+t: 80	 action: [ 0.089 -0.322 -0.326  0.002  0.005  0.145 -1.012]
+t: 81	 action: [ 0.036 -0.265 -0.249  0.004 -0.01   0.128 -1.041]
+t: 82	 action: [ 0.118 -0.328 -0.2   -0.025 -0.021  0.115 -1.011]
+t: 83	 action: [ 0.094 -0.301 -0.171 -0.018 -0.035  0.102 -1.023]
+t: 84	 action: [ 0.018 -0.298 -0.143 -0.023 -0.045  0.117 -1.002]
+t: 85	 action: [ 0.017 -0.29  -0.113 -0.017 -0.055  0.098 -1.014]
+t: 86	 action: [-0.084 -0.326 -0.164 -0.008 -0.062  0.128 -1.012]
+t: 87	 action: [-0.161 -0.319 -0.128 -0.012 -0.07   0.107 -1.039]
+t: 88	 action: [-0.22  -0.327 -0.116 -0.006 -0.082  0.13  -1.007]
+t: 89	 action: [-0.284 -0.302 -0.102 -0.009 -0.081  0.106 -1.031]
+[07-31 00:46:24|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.971 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=90: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.6515
+INFO:cosmos_policy.experiments.robot.robot_utils:t=90: Selected seed 195 with value = 0.6515
+Query 1/1: Action query time = 0.971 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6515
+t=90: Selected seed 195 with value = 0.6515
+t: 90	 action: [ 0.092 -0.248 -0.125 -0.016  0.025  0.061 -0.995]
+t: 91	 action: [ 0.092 -0.245 -0.076 -0.01   0.018  0.06  -1.014]
+t: 92	 action: [ 0.055 -0.255 -0.018 -0.01   0.008  0.075 -0.989]
+t: 93	 action: [ 5.503e-02 -2.453e-01 -3.033e-04 -6.698e-03  8.722e-03  6.839e-02 -1.013e+00]
+t: 94	 action: [-2.026e-02 -2.648e-01 -5.476e-03 -5.662e-03 -2.109e-04  6.529e-02 -9.998e-01]
+t: 95	 action: [-0.061 -0.249 -0.034 -0.001 -0.025  0.067 -1.038]
+t: 96	 action: [-0.158 -0.281 -0.07  -0.002 -0.031  0.084 -1.001]
+t: 97	 action: [-0.233 -0.247 -0.112  0.003 -0.056  0.076 -1.028]
+t: 98	 action: [-0.247 -0.333 -0.07  -0.023 -0.068  0.094 -0.965]
+t: 99	 action: [-0.328 -0.246 -0.1   -0.005 -0.092  0.096 -1.004]
+t: 100	 action: [-0.443 -0.299 -0.117 -0.022 -0.111  0.107 -0.942]
+t: 101	 action: [-0.461 -0.209 -0.151 -0.004 -0.122  0.114 -0.99 ]
+t: 102	 action: [-0.594 -0.225 -0.151 -0.003 -0.147  0.126 -0.962]
+t: 103	 action: [-0.563 -0.207 -0.151  0.002 -0.139  0.11  -1.017]
+t: 104	 action: [-0.637 -0.193 -0.144 -0.004 -0.179  0.137 -0.93 ]
+t: 105	 action: [-5.837e-01 -1.605e-01 -1.158e-01  4.362e-04 -1.479e-01  1.244e-01 -1.010e+00]
+[07-31 00:46:26|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.986 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=106: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.7501
+INFO:cosmos_policy.experiments.robot.robot_utils:t=106: Selected seed 195 with value = 0.7501
+Query 1/1: Action query time = 0.986 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7501
+t=106: Selected seed 195 with value = 0.7501
+t: 106	 action: [-0.121 -0.451 -0.25   0.006 -0.04   0.012 -1.008]
+t: 107	 action: [-0.1   -0.476 -0.271  0.019 -0.044  0.006 -1.023]
+t: 108	 action: [-0.147 -0.453 -0.288  0.01  -0.044  0.01  -1.001]
+t: 109	 action: [-0.137 -0.462 -0.297  0.023 -0.044  0.003 -1.02 ]
+t: 110	 action: [-0.16  -0.48  -0.295  0.027 -0.043  0.004 -0.994]
+t: 111	 action: [-0.179 -0.449 -0.294  0.04  -0.041  0.008 -1.045]
+t: 112	 action: [-0.191 -0.444 -0.331  0.037 -0.04   0.004 -0.988]
+t: 113	 action: [-0.211 -0.415 -0.325  0.044 -0.033  0.004 -1.041]
+t: 114	 action: [-0.203 -0.503 -0.385  0.036 -0.067  0.01  -1.008]
+t: 115	 action: [-1.916e-01 -4.480e-01 -4.019e-01  4.119e-02 -6.856e-02  4.182e-05 -1.027e+00]
+t: 116	 action: [-0.217 -0.505 -0.502  0.048 -0.062  0.009 -1.015]
+t: 117	 action: [-0.21  -0.446 -0.545  0.05  -0.067  0.001 -1.025]
+t: 118	 action: [-0.246 -0.324 -0.734  0.063 -0.058  0.002 -1.005]
+t: 119	 action: [-2.175e-01 -2.524e-01 -7.828e-01  7.526e-02 -3.418e-02  7.375e-05 -1.046e+00]
+t: 120	 action: [-2.023e-01 -1.715e-01 -9.410e-01  6.585e-02 -3.207e-02  1.004e-03 -1.005e+00]
+t: 121	 action: [-0.193 -0.098 -0.954  0.068 -0.006  0.006 -1.051]
+[07-31 00:46:27|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.974 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=122: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.7442
+INFO:cosmos_policy.experiments.robot.robot_utils:t=122: Selected seed 195 with value = 0.7442
+Query 1/1: Action query time = 0.974 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7442
+t=122: Selected seed 195 with value = 0.7442
+t: 122	 action: [-0.05  -0.274  0.046 -0.021 -0.04   0.007 -1.027]
+t: 123	 action: [-0.014 -0.335  0.063 -0.009 -0.045 -0.008 -1.027]
+t: 124	 action: [-0.074 -0.31   0.086 -0.004 -0.05   0.005 -1.02 ]
+t: 125	 action: [-0.044 -0.359  0.077  0.006 -0.055 -0.006 -1.023]
+t: 126	 action: [-8.811e-02 -3.825e-01  6.014e-02  1.367e-02 -3.318e-02 -3.776e-05 -1.018e+00]
+t: 127	 action: [-0.078 -0.365  0.027  0.025 -0.048 -0.01  -1.053]
+t: 128	 action: [-1.190e-01 -4.022e-01  2.549e-02  2.533e-02 -3.936e-02 -3.890e-04 -1.013e+00]
+t: 129	 action: [-0.118 -0.381 -0.035  0.037 -0.048 -0.008 -1.044]
+t: 130	 action: [-0.194 -0.432 -0.106  0.04  -0.047  0.002 -1.025]
+t: 131	 action: [-0.197 -0.422 -0.134  0.035 -0.064 -0.017 -1.033]
+t: 132	 action: [-0.175 -0.45  -0.279  0.052 -0.047 -0.002 -1.027]
+t: 133	 action: [-0.168 -0.389 -0.343  0.052 -0.058 -0.015 -1.022]
+t: 134	 action: [-0.193 -0.4   -0.463  0.073 -0.025 -0.012 -1.016]
+t: 135	 action: [-0.158 -0.32  -0.568  0.08  -0.012 -0.023 -1.054]
+t: 136	 action: [-0.134 -0.303 -0.773  0.076 -0.006 -0.015 -1.016]
+t: 137	 action: [-0.097 -0.171 -0.801  0.072  0.007 -0.02  -1.049]
+[07-31 00:46:28|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.964 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=138: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9616
+INFO:cosmos_policy.experiments.robot.robot_utils:t=138: Selected seed 195 with value = 0.9616
+Query 1/1: Action query time = 0.964 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9616
+t=138: Selected seed 195 with value = 0.9616
+t: 138	 action: [-0.144  0.608 -0.942  0.011 -0.009  0.015 -0.986]
+t: 139	 action: [-1.380e-01  6.651e-01 -9.799e-01 -8.108e-04 -1.140e-02  8.847e-03 -1.002e+00]
+t: 140	 action: [-1.840e-01  7.510e-01 -9.261e-01  1.002e-03  7.023e-05  1.446e-02 -9.887e-01]
+t: 141	 action: [-1.678e-01  7.900e-01 -9.575e-01 -1.130e-02  1.946e-04  1.229e-02 -1.003e+00]
+t: 142	 action: [-0.232  0.819 -0.924 -0.013  0.011  0.01  -0.985]
+t: 143	 action: [-0.204  0.839 -0.972 -0.008 -0.001  0.011 -1.033]
+t: 144	 action: [-0.223  0.878 -0.895 -0.031  0.018  0.013 -0.985]
+t: 145	 action: [-0.172  0.882 -0.948 -0.015 -0.001  0.013 -1.036]
+t: 146	 action: [-0.242  0.943 -0.874 -0.02   0.014  0.022 -0.975]
+t: 147	 action: [-0.224  0.927 -0.829 -0.027  0.015  0.018 -1.005]
+t: 148	 action: [-0.28   0.956 -0.871 -0.028  0.018  0.023 -0.976]
+t: 149	 action: [-0.236  0.923 -0.823 -0.025  0.013  0.022 -1.003]
+t: 150	 action: [-0.288  0.977 -0.863 -0.034  0.015  0.027 -0.977]
+t: 151	 action: [-0.294  0.949 -0.851 -0.024  0.004  0.022 -1.036]
+t: 152	 action: [-0.305  0.975 -0.853 -0.039  0.022  0.032 -0.974]
+t: 153	 action: [-0.306  0.938 -0.835 -0.021  0.005  0.027 -1.04 ]
+[07-31 00:46:30|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.967 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=154: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9994
+INFO:cosmos_policy.experiments.robot.robot_utils:t=154: Selected seed 195 with value = 0.9994
+WARNING:imageio_ffmpeg:IMAGEIO FFMPEG_WRITER WARNING: input image is not divisible by macro_block_size=16, resizing from (896, 284) to (896, 288) to ensure video compatibility with most codecs and players. To prevent resizing, make your input image divisible by the macro_block_size or set the macro_block_size to 1 (risking incompatibility).
+INFO:cosmos_policy.experiments.robot.robot_utils:Success: True
+INFO:cosmos_policy.experiments.robot.robot_utils:# episodes completed so far: 46
+INFO:cosmos_policy.experiments.robot.robot_utils:# successes: 24 (52.2%)
+
+
 92%|█████████▏| 46/50 [18:33<01:36, 24.10s/it]INFO:cosmos_policy.experiments.robot.robot_utils:
+Task: open the middle drawer of the cabinet
+INFO:cosmos_policy.experiments.robot.robot_utils:Starting episode 47...
+Query 1/1: Action query time = 0.967 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9994
+t=154: Selected seed 195 with value = 0.9994
+t: 154	 action: [-0.253  0.9   -0.803 -0.014  0.004  0.033 -0.969]
+t: 155	 action: [-0.251  0.857 -0.771 -0.026  0.004  0.035 -0.975]
+t: 156	 action: [-0.28   0.928 -0.817 -0.015  0.016  0.038 -0.979]
+t: 157	 action: [-0.276  0.868 -0.774 -0.026  0.011  0.036 -0.991]
+t: 158	 action: [-0.274  0.93  -0.788 -0.035  0.018  0.042 -0.97 ]
+t: 159	 action: [-0.321  0.892 -0.764 -0.027  0.008  0.039 -1.023]
+Saved rollout MP4 at path ./rollouts/None/2026_07_31-00_27_45--episode=46--success=True--task=open_the_middle_drawer_of_the_cabinet.mp4
+150 150 10 10
+Saved rollout MP4 at path ./rollouts/None/2026_07_31-00_27_45--with_future_img--episode=46--success=True--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: True
+# episodes completed so far: 46
+# successes: 24 (52.2%)
+
+Task: open the middle drawer of the cabinet
+Starting episode 47...
+[07-31 00:46:35|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.000 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=10: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.3568
+INFO:cosmos_policy.experiments.robot.robot_utils:t=10: Selected seed 195 with value = 0.3568
+Query 1/1: Action query time = 1.000 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3568
+t=10: Selected seed 195 with value = 0.3568
+t: 10	 action: [ 0.101 -0.039 -0.037  0.005  0.039  0.027 -1.027]
+t: 11	 action: [ 0.202  0.029  0.015 -0.001  0.07   0.057 -1.002]
+t: 12	 action: [ 0.257  0.027 -0.03   0.002  0.084  0.066 -1.028]
+t: 13	 action: [ 0.384  0.1    0.02  -0.006  0.105  0.084 -1.004]
+t: 14	 action: [ 0.401  0.051  0.008 -0.009  0.126  0.087 -1.024]
+t: 15	 action: [ 0.511  0.107  0.012 -0.013  0.123  0.082 -1.033]
+t: 16	 action: [ 0.523  0.09   0.004 -0.018  0.135  0.12  -1.019]
+t: 17	 action: [ 0.571  0.148  0.003 -0.024  0.133  0.111 -1.028]
+t: 18	 action: [ 0.53   0.114  0.047 -0.035  0.148  0.15  -1.026]
+t: 19	 action: [ 0.555  0.168  0.059 -0.039  0.151  0.161 -1.014]
+t: 20	 action: [ 0.529  0.125  0.038 -0.051  0.132  0.165 -1.022]
+t: 21	 action: [ 0.543  0.183  0.055 -0.054  0.127  0.174 -1.009]
+t: 22	 action: [ 0.53   0.167  0.052 -0.062  0.103  0.191 -1.003]
+t: 23	 action: [ 0.512  0.176  0.036 -0.072  0.082  0.182 -1.037]
+t: 24	 action: [ 0.505  0.192  0.025 -0.076  0.075  0.199 -1.001]
+t: 25	 action: [ 0.489  0.195  0.032 -0.079  0.062  0.194 -1.032]
+[07-31 00:46:37|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.974 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=26: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.3977
+INFO:cosmos_policy.experiments.robot.robot_utils:t=26: Selected seed 195 with value = 0.3977
+Query 1/1: Action query time = 0.974 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3977
+t=26: Selected seed 195 with value = 0.3977
+t: 26	 action: [ 0.488  0.041  0.011 -0.078  0.074  0.189 -1.014]
+t: 27	 action: [ 0.479  0.063  0.011 -0.076  0.072  0.176 -1.013]
+t: 28	 action: [ 0.454  0.028  0.005 -0.08   0.074  0.191 -1.007]
+t: 29	 action: [ 0.453  0.058  0.016 -0.081  0.069  0.179 -1.014]
+t: 30	 action: [ 0.468  0.03  -0.004 -0.093  0.061  0.202 -1.004]
+t: 31	 action: [ 0.429  0.053 -0.011 -0.088  0.051  0.184 -1.032]
+t: 32	 action: [ 0.437  0.028 -0.017 -0.093  0.065  0.201 -1.002]
+t: 33	 action: [ 0.413  0.049 -0.014 -0.092  0.061  0.188 -1.036]
+t: 34	 action: [ 0.413  0.026 -0.021 -0.09   0.069  0.211 -1.003]
+t: 35	 action: [ 0.416  0.022 -0.026 -0.095  0.062  0.194 -1.009]
+t: 36	 action: [ 0.389  0.019 -0.046 -0.093  0.081  0.213 -1.003]
+t: 37	 action: [ 0.381  0.019 -0.063 -0.095  0.083  0.195 -1.008]
+t: 38	 action: [ 0.359  0.006 -0.053 -0.095  0.095  0.215 -0.997]
+t: 39	 action: [ 0.325  0.021 -0.095 -0.096  0.102  0.2   -1.036]
+t: 40	 action: [ 0.325  0.003 -0.079 -0.091  0.115  0.213 -0.999]
+t: 41	 action: [ 0.307  0.013 -0.124 -0.092  0.13   0.2   -1.036]
+[07-31 00:46:38|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.968 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=42: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.4584
+INFO:cosmos_policy.experiments.robot.robot_utils:t=42: Selected seed 195 with value = 0.4584
+Query 1/1: Action query time = 0.968 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4584
+t=42: Selected seed 195 with value = 0.4584
+t: 42	 action: [ 0.14   0.044 -0.067 -0.08   0.141  0.276 -0.994]
+t: 43	 action: [ 0.145  0.066 -0.062 -0.085  0.14   0.265 -0.995]
+t: 44	 action: [ 0.163  0.036 -0.08  -0.081  0.148  0.279 -0.989]
+t: 45	 action: [ 0.181  0.057 -0.06  -0.079  0.148  0.262 -1.003]
+t: 46	 action: [ 0.203  0.029 -0.083 -0.09   0.145  0.281 -0.997]
+t: 47	 action: [ 0.212  0.048 -0.079 -0.082  0.148  0.259 -1.025]
+t: 48	 action: [ 0.23   0.017 -0.104 -0.081  0.159  0.272 -0.994]
+t: 49	 action: [ 0.242  0.036 -0.099 -0.075  0.168  0.249 -1.033]
+t: 50	 action: [ 0.202 -0.046 -0.119 -0.064  0.183  0.239 -1.006]
+t: 51	 action: [ 0.227 -0.06  -0.145 -0.052  0.189  0.223 -1.01 ]
+t: 52	 action: [ 0.233 -0.088 -0.134 -0.058  0.19   0.22  -1.004]
+t: 53	 action: [ 0.252 -0.103 -0.154 -0.044  0.196  0.199 -1.007]
+t: 54	 action: [ 0.239 -0.143 -0.123 -0.052  0.195  0.197 -1.005]
+t: 55	 action: [ 0.24  -0.132 -0.142 -0.046  0.196  0.18  -1.049]
+t: 56	 action: [ 0.246 -0.194 -0.153 -0.039  0.2    0.176 -1.006]
+t: 57	 action: [ 0.242 -0.189 -0.179 -0.037  0.2    0.167 -1.042]
+[07-31 00:46:39|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.967 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=58: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.5579
+INFO:cosmos_policy.experiments.robot.robot_utils:t=58: Selected seed 195 with value = 0.5579
+Query 1/1: Action query time = 0.967 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5579
+t=58: Selected seed 195 with value = 0.5579
+t: 58	 action: [ 0.134 -0.047 -0.118 -0.052  0.231  0.231 -0.998]
+t: 59	 action: [ 0.146 -0.049 -0.072 -0.039  0.221  0.205 -1.   ]
+t: 60	 action: [ 0.152 -0.058 -0.07  -0.048  0.22   0.234 -1.003]
+t: 61	 action: [ 0.194 -0.077 -0.04  -0.034  0.197  0.2   -1.013]
+t: 62	 action: [ 0.231 -0.081 -0.057 -0.037  0.202  0.22  -1.005]
+t: 63	 action: [ 0.253 -0.111 -0.053 -0.027  0.177  0.19  -1.033]
+t: 64	 action: [ 0.25  -0.172 -0.073 -0.022  0.181  0.205 -1.009]
+t: 65	 action: [ 0.284 -0.171 -0.082 -0.016  0.15   0.175 -1.037]
+t: 66	 action: [ 0.318 -0.289 -0.088 -0.01   0.165  0.166 -1.028]
+t: 67	 action: [ 0.339 -0.296 -0.084  0.006  0.146  0.132 -1.02 ]
+t: 68	 action: [ 0.307 -0.372 -0.117  0.007  0.134  0.159 -1.03 ]
+t: 69	 action: [ 0.313 -0.355 -0.112  0.014  0.104  0.121 -1.02 ]
+t: 70	 action: [ 0.25  -0.393 -0.13   0.008  0.112  0.137 -1.028]
+t: 71	 action: [ 0.218 -0.411 -0.134  0.016  0.071  0.111 -1.038]
+t: 72	 action: [ 0.2   -0.395 -0.174  0.016  0.07   0.119 -1.031]
+t: 73	 action: [ 0.158 -0.407 -0.146  0.017  0.029  0.102 -1.039]
+[07-31 00:46:40|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.979 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=74: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.6368
+INFO:cosmos_policy.experiments.robot.robot_utils:t=74: Selected seed 195 with value = 0.6368
+Query 1/1: Action query time = 0.979 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6368
+t=74: Selected seed 195 with value = 0.6368
+t: 74	 action: [ 0.083 -0.353 -0.004 -0.018  0.06   0.13  -0.997]
+t: 75	 action: [ 0.097 -0.408  0.028 -0.006  0.04   0.125 -1.017]
+t: 76	 action: [ 0.055 -0.394 -0.058 -0.004  0.029  0.136 -0.992]
+t: 77	 action: [ 0.066 -0.398  0.002  0.003  0.012  0.117 -1.023]
+t: 78	 action: [ 0.028 -0.394 -0.044  0.003  0.022  0.123 -0.989]
+t: 79	 action: [ 0.041 -0.469 -0.032  0.014  0.007  0.126 -1.039]
+t: 80	 action: [-0.01  -0.396 -0.11   0.002 -0.003  0.123 -0.99 ]
+t: 81	 action: [ 0.007 -0.412 -0.087  0.013 -0.004  0.11  -1.039]
+t: 82	 action: [-3.066e-02 -4.537e-01 -7.147e-02  6.808e-04 -3.527e-02  1.025e-01 -1.011e+00]
+t: 83	 action: [-0.033 -0.408 -0.033  0.009 -0.042  0.081 -1.021]
+t: 84	 action: [-7.610e-02 -4.363e-01 -8.316e-02  3.748e-04 -5.115e-02  1.002e-01 -1.004e+00]
+t: 85	 action: [-0.084 -0.373 -0.056  0.007 -0.051  0.076 -1.009]
+t: 86	 action: [-0.128 -0.416 -0.1    0.005 -0.052  0.089 -1.003]
+t: 87	 action: [-0.163 -0.391 -0.075  0.014 -0.05   0.072 -1.038]
+t: 88	 action: [-0.17  -0.391 -0.096  0.005 -0.061  0.088 -1.   ]
+t: 89	 action: [-0.209 -0.356 -0.076  0.012 -0.051  0.07  -1.034]
+[07-31 00:46:42|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.971 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=90: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.7779
+INFO:cosmos_policy.experiments.robot.robot_utils:t=90: Selected seed 195 with value = 0.7779
+Query 1/1: Action query time = 0.971 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7779
+t=90: Selected seed 195 with value = 0.7779
+t: 90	 action: [ 4.558e-02 -1.857e-01  1.567e-02 -2.345e-02  2.445e-04  4.382e-02 -9.688e-01]
+t: 91	 action: [ 0.052 -0.125  0.022 -0.014 -0.007  0.047 -0.982]
+t: 92	 action: [-0.008 -0.171  0.021 -0.013 -0.01   0.063 -0.975]
+t: 93	 action: [ 0.009 -0.152  0.028 -0.005 -0.007  0.055 -1.011]
+t: 94	 action: [-0.021 -0.138 -0.015 -0.005 -0.002  0.064 -0.983]
+t: 95	 action: [-0.047 -0.184 -0.009 -0.003 -0.014  0.054 -1.049]
+t: 96	 action: [-0.117 -0.207 -0.015 -0.004 -0.006  0.087 -0.987]
+t: 97	 action: [-0.145 -0.225 -0.034  0.003 -0.01   0.066 -1.043]
+t: 98	 action: [-0.211 -0.315  0.036 -0.008 -0.022  0.106 -0.99 ]
+t: 99	 action: [-0.25  -0.274 -0.011  0.001 -0.023  0.094 -1.009]
+t: 100	 action: [-0.314 -0.343 -0.006 -0.012 -0.036  0.128 -0.991]
+t: 101	 action: [-0.334 -0.292 -0.067  0.001 -0.031  0.118 -1.003]
+t: 102	 action: [-0.372 -0.311 -0.074  0.002 -0.037  0.129 -0.991]
+t: 103	 action: [-0.369 -0.294 -0.148  0.011 -0.042  0.11  -1.038]
+t: 104	 action: [-4.352e-01 -3.134e-01 -1.279e-01 -6.259e-04 -6.059e-02  1.478e-01 -9.859e-01]
+t: 105	 action: [-0.417 -0.272 -0.191  0.012 -0.042  0.129 -1.03 ]
+[07-31 00:46:43|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.976 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=106: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.8367
+INFO:cosmos_policy.experiments.robot.robot_utils:t=106: Selected seed 195 with value = 0.8367
+Query 1/1: Action query time = 0.976 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8367
+t=106: Selected seed 195 with value = 0.8367
+t: 106	 action: [-0.203 -0.251 -0.003 -0.022  0.008  0.025 -1.002]
+t: 107	 action: [-0.196 -0.301  0.022  0.002  0.013  0.032 -1.015]
+t: 108	 action: [-0.273 -0.276 -0.007 -0.007  0.007  0.041 -0.996]
+t: 109	 action: [-0.264 -0.301  0.011  0.014  0.017  0.044 -1.015]
+t: 110	 action: [-0.246 -0.284 -0.069  0.012  0.02   0.054 -0.999]
+t: 111	 action: [-0.323 -0.342 -0.066  0.026  0.015  0.045 -1.05 ]
+t: 112	 action: [-0.346 -0.292 -0.221  0.012  0.021  0.081 -0.995]
+t: 113	 action: [-0.374 -0.297 -0.322  0.035  0.023  0.057 -1.036]
+t: 114	 action: [-0.371 -0.339 -0.199  0.009  0.015  0.109 -0.997]
+t: 115	 action: [-0.367 -0.299 -0.372  0.023  0.013  0.105 -1.022]
+t: 116	 action: [-0.401 -0.276 -0.42   0.024  0.007  0.13  -0.999]
+t: 117	 action: [-0.369 -0.199 -0.613  0.032  0.014  0.128 -1.011]
+t: 118	 action: [-0.453 -0.165 -0.764  0.04   0.009  0.136 -0.997]
+t: 119	 action: [-0.455 -0.066 -0.88   0.056  0.008  0.123 -1.04 ]
+t: 120	 action: [-0.474 -0.116 -0.88   0.041 -0.004  0.154 -0.994]
+t: 121	 action: [-0.449  0.026 -0.918  0.047  0.006  0.141 -1.036]
+[07-31 00:46:44|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.966 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=122: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.8655
+INFO:cosmos_policy.experiments.robot.robot_utils:t=122: Selected seed 195 with value = 0.8655
+Query 1/1: Action query time = 0.966 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8655
+t=122: Selected seed 195 with value = 0.8655
+t: 122	 action: [-0.207 -0.019 -0.783  0.056 -0.053  0.063 -0.994]
+t: 123	 action: [-0.202 -0.069 -0.824  0.052 -0.065  0.063 -1.004]
+t: 124	 action: [-0.282  0.263 -0.854  0.055 -0.055  0.069 -0.998]
+t: 125	 action: [-0.257  0.238 -0.862  0.05  -0.06   0.056 -1.003]
+t: 126	 action: [-0.402  0.442 -0.864  0.049 -0.064  0.083 -1.   ]
+t: 127	 action: [-0.335  0.392 -0.838  0.031 -0.069  0.065 -1.027]
+t: 128	 action: [-0.408  0.597 -0.842  0.026 -0.063  0.079 -0.999]
+t: 129	 action: [-0.338  0.575 -0.819  0.015 -0.059  0.055 -1.029]
+t: 130	 action: [-0.3    0.721 -0.776  0.011 -0.043  0.065 -0.991]
+t: 131	 action: [-0.344  0.669 -0.763  0.012 -0.042  0.053 -1.022]
+t: 132	 action: [-0.321  0.797 -0.772  0.008 -0.037  0.064 -0.999]
+t: 133	 action: [-0.32   0.702 -0.758  0.006 -0.032  0.045 -1.012]
+t: 134	 action: [-0.446  0.82  -0.794  0.003 -0.042  0.066 -0.996]
+t: 135	 action: [-0.375  0.749 -0.743  0.003 -0.038  0.048 -1.04 ]
+t: 136	 action: [-0.388  0.84  -0.774 -0.001 -0.031  0.066 -0.998]
+t: 137	 action: [-3.466e-01  7.550e-01 -7.132e-01 -9.935e-04 -2.632e-02  4.328e-02 -1.041e+00]
+[07-31 00:46:45|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.005 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=138: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.7076
+INFO:cosmos_policy.experiments.robot.robot_utils:t=138: Selected seed 195 with value = 0.7076
+Query 1/1: Action query time = 1.005 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7076
+t=138: Selected seed 195 with value = 0.7076
+t: 138	 action: [-0.125 -0.401 -0.117  0.004 -0.075  0.005 -0.993]
+t: 139	 action: [-0.142 -0.474 -0.089  0.012 -0.077  0.005 -1.012]
+t: 140	 action: [-0.157 -0.414 -0.176  0.006 -0.082  0.01  -0.992]
+t: 141	 action: [-0.186 -0.454 -0.126  0.018 -0.079  0.01  -1.012]
+t: 142	 action: [-0.185 -0.455 -0.23   0.02  -0.088  0.004 -0.991]
+t: 143	 action: [-0.245 -0.492 -0.163  0.031 -0.067  0.011 -1.033]
+t: 144	 action: [-0.221 -0.447 -0.264  0.03  -0.085  0.011 -0.992]
+t: 145	 action: [-0.264 -0.443 -0.206  0.033 -0.072  0.014 -1.031]
+t: 146	 action: [-0.216 -0.419 -0.236  0.022 -0.082  0.019 -0.999]
+t: 147	 action: [-0.234 -0.41  -0.179  0.028 -0.084  0.016 -1.018]
+t: 148	 action: [-0.218 -0.418 -0.281  0.023 -0.083  0.023 -1.002]
+t: 149	 action: [-0.227 -0.38  -0.241  0.024 -0.084  0.021 -1.014]
+t: 150	 action: [-0.235 -0.398 -0.424  0.037 -0.096  0.02  -1.001]
+t: 151	 action: [-0.232 -0.383 -0.355  0.038 -0.081  0.021 -1.045]
+t: 152	 action: [-0.221 -0.35  -0.561  0.032 -0.09   0.027 -1.003]
+t: 153	 action: [-0.206 -0.345 -0.429  0.03  -0.073  0.026 -1.044]
+[07-31 00:46:47|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.985 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=154: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.8470
+INFO:cosmos_policy.experiments.robot.robot_utils:t=154: Selected seed 195 with value = 0.8470
+Query 1/1: Action query time = 0.985 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8470
+t=154: Selected seed 195 with value = 0.8470
+t: 154	 action: [-0.276  0.083 -0.793  0.039 -0.051  0.063 -0.992]
+t: 155	 action: [-0.251  0.04  -0.828  0.038 -0.066  0.061 -1.002]
+t: 156	 action: [-0.319  0.34  -0.841  0.038 -0.052  0.067 -0.997]
+t: 157	 action: [-0.283  0.298 -0.869  0.036 -0.062  0.051 -1.004]
+t: 158	 action: [-0.437  0.449 -0.831  0.039 -0.056  0.081 -0.997]
+t: 159	 action: [-0.356  0.376 -0.831  0.029 -0.063  0.063 -1.024]
+t: 160	 action: [-0.415  0.582 -0.822  0.021 -0.055  0.076 -0.995]
+t: 161	 action: [-0.354  0.551 -0.836  0.018 -0.055  0.049 -1.025]
+t: 162	 action: [-0.32   0.67  -0.772  0.007 -0.045  0.068 -0.988]
+t: 163	 action: [-0.349  0.614 -0.765  0.006 -0.041  0.05  -1.02 ]
+t: 164	 action: [-0.335  0.75  -0.785  0.002 -0.038  0.065 -0.998]
+t: 165	 action: [-0.328  0.66  -0.768  0.002 -0.029  0.043 -1.013]
+t: 166	 action: [-4.595e-01  7.702e-01 -8.044e-01 -5.652e-04 -4.655e-02  6.912e-02 -9.962e-01]
+t: 167	 action: [-0.394  0.704 -0.759  0.003 -0.041  0.046 -1.038]
+t: 168	 action: [-0.4    0.799 -0.796 -0.005 -0.033  0.066 -0.998]
+t: 169	 action: [-0.366  0.726 -0.733 -0.002 -0.028  0.04  -1.039]
+[07-31 00:46:48|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.977 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=170: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.7015
+INFO:cosmos_policy.experiments.robot.robot_utils:t=170: Selected seed 195 with value = 0.7015
+Query 1/1: Action query time = 0.977 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7015
+t=170: Selected seed 195 with value = 0.7015
+t: 170	 action: [-0.138 -0.404 -0.121  0.004 -0.071  0.007 -0.992]
+t: 171	 action: [-0.153 -0.465 -0.089  0.011 -0.075  0.007 -1.011]
+t: 172	 action: [-0.165 -0.418 -0.179  0.007 -0.083  0.012 -0.992]
+t: 173	 action: [-0.19  -0.448 -0.126  0.017 -0.082  0.012 -1.012]
+t: 174	 action: [-0.19  -0.453 -0.227  0.018 -0.094  0.005 -0.991]
+t: 175	 action: [-0.237 -0.483 -0.167  0.029 -0.074  0.012 -1.033]
+t: 176	 action: [-0.219 -0.445 -0.264  0.029 -0.093  0.014 -0.992]
+t: 177	 action: [-0.245 -0.438 -0.215  0.031 -0.081  0.015 -1.031]
+t: 178	 action: [-0.205 -0.437 -0.231  0.021 -0.09   0.021 -0.998]
+t: 179	 action: [-0.213 -0.413 -0.177  0.028 -0.091  0.017 -1.017]
+t: 180	 action: [-0.2   -0.438 -0.28   0.023 -0.09   0.027 -1.   ]
+t: 181	 action: [-0.2   -0.393 -0.244  0.024 -0.093  0.022 -1.011]
+t: 182	 action: [-0.222 -0.424 -0.382  0.033 -0.105  0.023 -1.   ]
+t: 183	 action: [-0.202 -0.395 -0.332  0.037 -0.087  0.021 -1.041]
+t: 184	 action: [-0.203 -0.372 -0.507  0.029 -0.098  0.029 -1.002]
+t: 185	 action: [-0.179 -0.363 -0.397  0.029 -0.079  0.027 -1.04 ]
+[07-31 00:46:49|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.986 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=186: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.8268
+INFO:cosmos_policy.experiments.robot.robot_utils:t=186: Selected seed 195 with value = 0.8268
+Query 1/1: Action query time = 0.986 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8268
+t=186: Selected seed 195 with value = 0.8268
+t: 186	 action: [-0.365  0.174 -0.788  0.025 -0.049  0.054 -0.988]
+t: 187	 action: [-0.339  0.11  -0.83   0.024 -0.064  0.057 -1.001]
+t: 188	 action: [-0.399  0.402 -0.828  0.023 -0.049  0.061 -0.994]
+t: 189	 action: [-0.36   0.338 -0.868  0.021 -0.059  0.046 -1.006]
+t: 190	 action: [-0.506  0.446 -0.811  0.027 -0.05   0.072 -0.99 ]
+t: 191	 action: [-0.418  0.344 -0.801  0.021 -0.055  0.058 -1.023]
+t: 192	 action: [-0.47   0.57  -0.812  0.012 -0.049  0.071 -0.989]
+t: 193	 action: [-0.413  0.529 -0.823  0.012 -0.048  0.043 -1.023]
+t: 194	 action: [-0.342  0.628 -0.756  0.005 -0.046  0.072 -0.989]
+t: 195	 action: [-0.365  0.56  -0.747  0.008 -0.047  0.051 -1.017]
+t: 196	 action: [-0.349  0.705 -0.776 -0.001 -0.04   0.068 -1.   ]
+t: 197	 action: [-0.347  0.613 -0.756  0.005 -0.031  0.044 -1.012]
+t: 198	 action: [-0.483  0.73  -0.796 -0.001 -0.048  0.073 -0.995]
+t: 199	 action: [-0.425  0.657 -0.744  0.006 -0.049  0.046 -1.04 ]
+t: 200	 action: [-0.422  0.761 -0.793 -0.006 -0.036  0.068 -0.998]
+t: 201	 action: [-0.399  0.687 -0.723  0.001 -0.032  0.04  -1.039]
+[07-31 00:46:51|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.998 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=202: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.6962
+INFO:cosmos_policy.experiments.robot.robot_utils:t=202: Selected seed 195 with value = 0.6962
+Query 1/1: Action query time = 0.998 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6962
+t=202: Selected seed 195 with value = 0.6962
+t: 202	 action: [-0.133 -0.415 -0.103  0.004 -0.066  0.007 -0.993]
+t: 203	 action: [-0.149 -0.465 -0.076  0.01  -0.069  0.006 -1.013]
+t: 204	 action: [-0.155 -0.431 -0.164  0.007 -0.084  0.013 -0.993]
+t: 205	 action: [-0.181 -0.447 -0.113  0.016 -0.078  0.011 -1.013]
+t: 206	 action: [-0.181 -0.455 -0.212  0.017 -0.1    0.005 -0.992]
+t: 207	 action: [-0.226 -0.479 -0.162  0.025 -0.075  0.012 -1.033]
+t: 208	 action: [-0.204 -0.448 -0.258  0.029 -0.104  0.017 -0.993]
+t: 209	 action: [-0.23  -0.435 -0.21   0.028 -0.083  0.016 -1.031]
+t: 210	 action: [-0.191 -0.441 -0.225  0.022 -0.099  0.022 -0.997]
+t: 211	 action: [-0.194 -0.411 -0.168  0.028 -0.095  0.018 -1.016]
+t: 212	 action: [-0.187 -0.446 -0.28   0.024 -0.1    0.028 -0.999]
+t: 213	 action: [-0.183 -0.393 -0.234  0.024 -0.096  0.023 -1.009]
+t: 214	 action: [-0.208 -0.427 -0.369  0.034 -0.116  0.022 -1.   ]
+t: 215	 action: [-0.189 -0.393 -0.314  0.035 -0.088  0.021 -1.038]
+t: 216	 action: [-0.193 -0.384 -0.484  0.031 -0.108  0.03  -1.002]
+t: 217	 action: [-0.173 -0.366 -0.373  0.028 -0.078  0.027 -1.038]
+[07-31 00:46:52|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.981 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=218: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.8147
+INFO:cosmos_policy.experiments.robot.robot_utils:t=218: Selected seed 195 with value = 0.8147
+Query 1/1: Action query time = 0.981 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8147
+t=218: Selected seed 195 with value = 0.8147
+t: 218	 action: [-0.347  0.305 -0.789  0.018 -0.049  0.053 -0.987]
+t: 219	 action: [-0.382  0.206 -0.821  0.018 -0.06   0.053 -1.002]
+t: 220	 action: [-0.41   0.529 -0.821  0.02  -0.049  0.059 -0.991]
+t: 221	 action: [-0.411  0.411 -0.845  0.014 -0.049  0.043 -1.008]
+t: 222	 action: [-0.497  0.531 -0.804  0.022 -0.047  0.067 -0.987]
+t: 223	 action: [-0.46   0.373 -0.778  0.019 -0.043  0.052 -1.024]
+t: 224	 action: [-0.484  0.623 -0.807  0.013 -0.043  0.07  -0.984]
+t: 225	 action: [-0.469  0.548 -0.807  0.011 -0.037  0.039 -1.024]
+t: 226	 action: [-0.41   0.533 -0.768  0.01  -0.05   0.076 -0.986]
+t: 227	 action: [-0.393  0.448 -0.766  0.016 -0.059  0.061 -1.009]
+t: 228	 action: [-0.417  0.622 -0.782  0.002 -0.043  0.075 -0.998]
+t: 229	 action: [-0.391  0.519 -0.766  0.012 -0.044  0.051 -1.013]
+t: 230	 action: [-0.54   0.631 -0.801  0.002 -0.052  0.077 -0.991]
+t: 231	 action: [-0.479  0.562 -0.775  0.013 -0.066  0.057 -1.035]
+t: 232	 action: [-0.486  0.678 -0.794 -0.005 -0.041  0.073 -0.993]
+t: 233	 action: [-0.474  0.595 -0.742  0.007 -0.048  0.047 -1.039]
+[07-31 00:46:53|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.988 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=234: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.6906
+INFO:cosmos_policy.experiments.robot.robot_utils:t=234: Selected seed 195 with value = 0.6906
+Query 1/1: Action query time = 0.988 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6906
+t=234: Selected seed 195 with value = 0.6906
+t: 234	 action: [-0.124 -0.428 -0.073  0.004 -0.06   0.008 -0.994]
+t: 235	 action: [-0.138 -0.46  -0.051  0.01  -0.065  0.007 -1.017]
+t: 236	 action: [-0.144 -0.445 -0.127  0.007 -0.083  0.014 -0.996]
+t: 237	 action: [-0.169 -0.445 -0.079  0.015 -0.078  0.013 -1.015]
+t: 238	 action: [-0.167 -0.458 -0.182  0.015 -0.109  0.006 -0.993]
+t: 239	 action: [-0.214 -0.477 -0.141  0.023 -0.086  0.012 -1.035]
+t: 240	 action: [-0.187 -0.448 -0.236  0.026 -0.118  0.019 -0.996]
+t: 241	 action: [-0.218 -0.434 -0.195  0.027 -0.096  0.017 -1.032]
+t: 242	 action: [-0.188 -0.434 -0.196  0.021 -0.11   0.021 -0.996]
+t: 243	 action: [-0.192 -0.406 -0.149  0.027 -0.099  0.018 -1.015]
+t: 244	 action: [-0.182 -0.439 -0.251  0.024 -0.11   0.028 -0.997]
+t: 245	 action: [-0.185 -0.39  -0.216  0.024 -0.099  0.023 -1.007]
+t: 246	 action: [-0.199 -0.428 -0.358  0.034 -0.127  0.023 -0.998]
+t: 247	 action: [-0.185 -0.401 -0.299  0.034 -0.085  0.021 -1.035]
+t: 248	 action: [-0.184 -0.393 -0.476  0.033 -0.117  0.03  -1.   ]
+t: 249	 action: [-0.174 -0.37  -0.353  0.028 -0.074  0.027 -1.036]
+[07-31 00:46:55|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.976 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=250: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.7627
+INFO:cosmos_policy.experiments.robot.robot_utils:t=250: Selected seed 195 with value = 0.7627
+Query 1/1: Action query time = 0.976 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7627
+t=250: Selected seed 195 with value = 0.7627
+t: 250	 action: [-0.189 -0.386 -0.265 -0.016 -0.026  0.013 -0.988]
+t: 251	 action: [-0.175 -0.444 -0.241  0.002 -0.013  0.009 -1.014]
+t: 252	 action: [-0.236 -0.373 -0.246 -0.003 -0.037  0.013 -0.983]
+t: 253	 action: [-0.23  -0.401 -0.183  0.013 -0.023  0.012 -1.019]
+t: 254	 action: [-0.246 -0.363 -0.28   0.012 -0.031  0.008 -0.987]
+t: 255	 action: [-0.272 -0.42  -0.2    0.024 -0.031  0.015 -1.04 ]
+t: 256	 action: [-0.31  -0.293 -0.362  0.009 -0.036  0.011 -0.98 ]
+t: 257	 action: [-0.312 -0.333 -0.369  0.026 -0.03   0.016 -1.032]
+t: 258	 action: [-0.334 -0.356 -0.338  0.019 -0.055  0.035 -0.99 ]
+t: 259	 action: [-0.344 -0.321 -0.469  0.027 -0.049  0.042 -1.022]
+t: 260	 action: [-0.343 -0.187 -0.596  0.033 -0.061  0.042 -0.989]
+t: 261	 action: [-0.344 -0.132 -0.733  0.028 -0.051  0.051 -1.022]
+t: 262	 action: [-0.516 -0.015 -0.85   0.031 -0.068  0.053 -0.99 ]
+t: 263	 action: [-0.464  0.077 -0.879  0.03  -0.071  0.052 -1.046]
+t: 264	 action: [-0.541  0.134 -0.92   0.022 -0.068  0.06  -0.982]
+t: 265	 action: [-0.455  0.261 -0.916  0.02  -0.071  0.06  -1.042]
+[07-31 00:46:56|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.981 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=266: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.8398
+INFO:cosmos_policy.experiments.robot.robot_utils:t=266: Selected seed 195 with value = 0.8398
+Query 1/1: Action query time = 0.981 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8398
+t=266: Selected seed 195 with value = 0.8398
+t: 266	 action: [-0.249 -0.101 -0.748  0.047 -0.058  0.067 -0.999]
+t: 267	 action: [-0.232 -0.138 -0.816  0.044 -0.069  0.064 -1.007]
+t: 268	 action: [-0.31   0.224 -0.87   0.045 -0.056  0.073 -1.001]
+t: 269	 action: [-0.273  0.214 -0.894  0.04  -0.06   0.06  -1.002]
+t: 270	 action: [-0.382  0.377 -0.903  0.044 -0.066  0.086 -1.001]
+t: 271	 action: [-0.335  0.363 -0.898  0.032 -0.072  0.066 -1.03 ]
+t: 272	 action: [-0.377  0.577 -0.867  0.015 -0.065  0.083 -1.   ]
+t: 273	 action: [-0.321  0.571 -0.882  0.012 -0.06   0.058 -1.028]
+t: 274	 action: [-0.36   0.694 -0.815  0.01  -0.045  0.072 -0.986]
+t: 275	 action: [-0.378  0.659 -0.845  0.001 -0.043  0.055 -1.021]
+t: 276	 action: [-0.376  0.788 -0.81   0.004 -0.036  0.066 -0.992]
+t: 277	 action: [-0.356  0.708 -0.827 -0.003 -0.03   0.045 -1.014]
+t: 278	 action: [-0.471  0.803 -0.823 -0.001 -0.042  0.066 -0.99 ]
+t: 279	 action: [-0.4    0.758 -0.826 -0.003 -0.036  0.047 -1.042]
+t: 280	 action: [-0.416  0.835 -0.808 -0.008 -0.028  0.062 -0.99 ]
+t: 281	 action: [-0.375  0.777 -0.782 -0.006 -0.025  0.041 -1.042]
+[07-31 00:46:57|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.969 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=282: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.7098
+INFO:cosmos_policy.experiments.robot.robot_utils:t=282: Selected seed 195 with value = 0.7098
+Query 1/1: Action query time = 0.969 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7098
+t=282: Selected seed 195 with value = 0.7098
+t: 282	 action: [-0.121 -0.427 -0.151  0.007 -0.081  0.005 -0.996]
+t: 283	 action: [-0.127 -0.488 -0.104  0.015 -0.079  0.005 -1.011]
+t: 284	 action: [-0.153 -0.435 -0.209  0.009 -0.088  0.01  -0.992]
+t: 285	 action: [-0.167 -0.461 -0.147  0.018 -0.082  0.009 -1.01 ]
+t: 286	 action: [-0.176 -0.473 -0.267  0.024 -0.098  0.003 -0.992]
+t: 287	 action: [-0.217 -0.495 -0.195  0.03  -0.076  0.011 -1.031]
+t: 288	 action: [-0.211 -0.461 -0.292  0.033 -0.091  0.009 -0.991]
+t: 289	 action: [-0.234 -0.444 -0.239  0.032 -0.078  0.014 -1.028]
+t: 290	 action: [-0.212 -0.436 -0.254  0.022 -0.083  0.021 -0.995]
+t: 291	 action: [-0.221 -0.416 -0.192  0.026 -0.08   0.016 -1.016]
+t: 292	 action: [-0.208 -0.44  -0.292  0.025 -0.08   0.027 -0.995]
+t: 293	 action: [-0.212 -0.394 -0.247  0.022 -0.08   0.023 -1.012]
+t: 294	 action: [-0.234 -0.424 -0.373  0.033 -0.092  0.022 -0.997]
+t: 295	 action: [-0.215 -0.392 -0.347  0.037 -0.076  0.024 -1.041]
+t: 296	 action: [-0.217 -0.378 -0.491  0.032 -0.084  0.033 -0.997]
+t: 297	 action: [-0.19  -0.362 -0.432  0.032 -0.067  0.031 -1.041]
+[07-31 00:46:59|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.987 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=298: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.8471
+INFO:cosmos_policy.experiments.robot.robot_utils:t=298: Selected seed 195 with value = 0.8471
+WARNING:imageio_ffmpeg:IMAGEIO FFMPEG_WRITER WARNING: input image is not divisible by macro_block_size=16, resizing from (896, 284) to (896, 288) to ensure video compatibility with most codecs and players. To prevent resizing, make your input image divisible by the macro_block_size or set the macro_block_size to 1 (risking incompatibility).
+INFO:cosmos_policy.experiments.robot.robot_utils:Success: False
+INFO:cosmos_policy.experiments.robot.robot_utils:# episodes completed so far: 47
+INFO:cosmos_policy.experiments.robot.robot_utils:# successes: 24 (51.1%)
+
+
 94%|█████████▍| 47/50 [19:04<01:18, 26.31s/it]INFO:cosmos_policy.experiments.robot.robot_utils:
+Task: open the middle drawer of the cabinet
+INFO:cosmos_policy.experiments.robot.robot_utils:Starting episode 48...
+Query 1/1: Action query time = 0.987 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8471
+t=298: Selected seed 195 with value = 0.8471
+t: 298	 action: [-0.258 -0.098 -0.741  0.045 -0.054  0.063 -0.993]
+t: 299	 action: [-0.246 -0.141 -0.795  0.041 -0.068  0.064 -1.005]
+t: 300	 action: [-0.35   0.231 -0.861  0.046 -0.055  0.072 -0.998]
+t: 301	 action: [-0.31   0.218 -0.888  0.039 -0.062  0.061 -1.002]
+t: 302	 action: [-0.433  0.351 -0.895  0.046 -0.066  0.088 -0.996]
+t: 303	 action: [-0.377  0.336 -0.898  0.032 -0.071  0.069 -1.029]
+t: 304	 action: [-0.441  0.552 -0.865  0.02  -0.067  0.087 -0.996]
+t: 305	 action: [-0.379  0.548 -0.891  0.016 -0.061  0.062 -1.027]
+t: 306	 action: [-0.381  0.695 -0.807  0.01  -0.046  0.081 -0.984]
+t: 307	 action: [-0.394  0.653 -0.825  0.004 -0.044  0.063 -1.02 ]
+t: 308	 action: [-0.389  0.788 -0.801  0.005 -0.036  0.077 -0.991]
+t: 309	 action: [-3.710e-01  6.968e-01 -8.103e-01 -3.227e-04 -2.900e-02  5.407e-02 -1.011e+00]
+Saved rollout MP4 at path ./rollouts/None/2026_07_31-00_27_45--episode=47--success=False--task=open_the_middle_drawer_of_the_cabinet.mp4
+300 300 19 19
+Saved rollout MP4 at path ./rollouts/None/2026_07_31-00_27_45--with_future_img--episode=47--success=False--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: False
+# episodes completed so far: 47
+# successes: 24 (51.1%)
+
+Task: open the middle drawer of the cabinet
+Starting episode 48...
+[07-31 00:47:07|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.988 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=10: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.3735
+INFO:cosmos_policy.experiments.robot.robot_utils:t=10: Selected seed 195 with value = 0.3735
+Query 1/1: Action query time = 0.988 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3735
+t=10: Selected seed 195 with value = 0.3735
+t: 10	 action: [ 0.037 -0.112 -0.041  0.013  0.064  0.008 -0.999]
+t: 11	 action: [ 0.121 -0.103  0.023  0.018  0.097  0.02  -0.992]
+t: 12	 action: [ 0.161 -0.123 -0.007  0.006  0.124  0.021 -1.002]
+t: 13	 action: [ 0.336 -0.059  0.05   0.014  0.144  0.04  -1.01 ]
+t: 14	 action: [ 0.411 -0.072  0.041  0.009  0.149  0.037 -1.012]
+t: 15	 action: [ 0.555 -0.03   0.053  0.007  0.146  0.037 -1.04 ]
+t: 16	 action: [ 0.56   0.004  0.06   0.003  0.157  0.07  -1.011]
+t: 17	 action: [ 0.627  0.037  0.057 -0.005  0.147  0.06  -1.042]
+t: 18	 action: [ 0.588  0.063  0.061 -0.021  0.157  0.114 -1.019]
+t: 19	 action: [ 0.629  0.115  0.063 -0.017  0.157  0.117 -1.022]
+t: 20	 action: [ 0.589  0.076  0.037 -0.039  0.146  0.13  -1.018]
+t: 21	 action: [ 0.634  0.136  0.05  -0.028  0.14   0.132 -1.019]
+t: 22	 action: [ 0.566  0.08   0.053 -0.051  0.126  0.141 -1.011]
+t: 23	 action: [ 0.58   0.123  0.039 -0.052  0.101  0.137 -1.044]
+t: 24	 action: [ 0.539  0.105  0.027 -0.067  0.104  0.157 -1.014]
+t: 25	 action: [ 0.565  0.142  0.028 -0.07   0.087  0.152 -1.04 ]
+[07-31 00:47:08|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.974 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=26: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.4166
+INFO:cosmos_policy.experiments.robot.robot_utils:t=26: Selected seed 195 with value = 0.4166
+Query 1/1: Action query time = 0.974 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4166
+t=26: Selected seed 195 with value = 0.4166
+t: 26	 action: [ 0.404  0.058  0.01  -0.075  0.087  0.188 -1.005]
+t: 27	 action: [ 0.401  0.101  0.012 -0.074  0.088  0.193 -1.   ]
+t: 28	 action: [ 0.344  0.085 -0.014 -0.085  0.082  0.207 -1.   ]
+t: 29	 action: [ 0.358  0.121  0.016 -0.083  0.083  0.209 -1.002]
+t: 30	 action: [ 0.352  0.067  0.003 -0.101  0.078  0.231 -0.991]
+t: 31	 action: [ 0.322  0.11  -0.01  -0.089  0.069  0.221 -1.024]
+t: 32	 action: [ 0.305  0.092 -0.026 -0.107  0.08   0.248 -0.991]
+t: 33	 action: [ 0.298  0.116 -0.016 -0.098  0.08   0.234 -1.028]
+t: 34	 action: [ 0.293  0.069 -0.027 -0.106  0.099  0.251 -0.993]
+t: 35	 action: [ 3.177e-01  1.013e-01  6.473e-04 -1.067e-01  1.019e-01  2.353e-01 -9.993e-01]
+t: 36	 action: [ 0.277  0.067 -0.032 -0.111  0.102  0.258 -0.992]
+t: 37	 action: [ 0.304  0.093  0.007 -0.113  0.106  0.24  -0.998]
+t: 38	 action: [ 0.262  0.054 -0.041 -0.121  0.097  0.27  -0.984]
+t: 39	 action: [ 0.255  0.099 -0.031 -0.11   0.105  0.249 -1.027]
+t: 40	 action: [ 0.242  0.057 -0.052 -0.12   0.106  0.268 -0.987]
+t: 41	 action: [ 0.247  0.093 -0.027 -0.112  0.122  0.246 -1.027]
+[07-31 00:47:09|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.977 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=42: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.4716
+INFO:cosmos_policy.experiments.robot.robot_utils:t=42: Selected seed 195 with value = 0.4716
+Query 1/1: Action query time = 0.977 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4716
+t=42: Selected seed 195 with value = 0.4716
+t: 42	 action: [ 0.108  0.03  -0.09  -0.096  0.126  0.271 -0.989]
+t: 43	 action: [ 0.116  0.054 -0.05  -0.096  0.122  0.265 -0.986]
+t: 44	 action: [ 0.112  0.024 -0.098 -0.098  0.12   0.282 -0.981]
+t: 45	 action: [ 0.132  0.047 -0.047 -0.096  0.109  0.267 -0.993]
+t: 46	 action: [ 0.142  0.017 -0.078 -0.108  0.091  0.289 -0.988]
+t: 47	 action: [ 0.143  0.037 -0.058 -0.099  0.085  0.272 -1.01 ]
+t: 48	 action: [ 0.16   0.011 -0.091 -0.105  0.089  0.289 -0.983]
+t: 49	 action: [ 0.168  0.022 -0.073 -0.098  0.084  0.265 -1.018]
+t: 50	 action: [ 0.203 -0.047 -0.095 -0.089  0.1    0.266 -0.989]
+t: 51	 action: [ 0.232 -0.059 -0.112 -0.079  0.084  0.251 -0.998]
+t: 52	 action: [ 0.228 -0.075 -0.106 -0.086  0.096  0.253 -0.985]
+t: 53	 action: [ 0.251 -0.08  -0.105 -0.073  0.09   0.236 -0.991]
+t: 54	 action: [ 0.239 -0.103 -0.081 -0.077  0.106  0.245 -0.984]
+t: 55	 action: [ 0.266 -0.079 -0.107 -0.069  0.108  0.226 -1.026]
+t: 56	 action: [ 0.251 -0.116 -0.094 -0.066  0.119  0.232 -0.984]
+t: 57	 action: [ 0.274 -0.098 -0.103 -0.061  0.134  0.213 -1.018]
+[07-31 00:47:10|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.990 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=58: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.5452
+INFO:cosmos_policy.experiments.robot.robot_utils:t=58: Selected seed 195 with value = 0.5452
+Query 1/1: Action query time = 0.990 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5452
+t=58: Selected seed 195 with value = 0.5452
+t: 58	 action: [ 0.233 -0.043 -0.03  -0.042  0.138  0.216 -1.007]
+t: 59	 action: [ 0.284 -0.058  0.004 -0.036  0.135  0.176 -1.014]
+t: 60	 action: [ 0.302 -0.085 -0.019 -0.037  0.144  0.199 -1.004]
+t: 61	 action: [ 0.362 -0.093  0.007 -0.031  0.145  0.165 -1.011]
+t: 62	 action: [ 0.401 -0.141  0.002 -0.03   0.158  0.182 -1.013]
+t: 63	 action: [ 0.424 -0.129 -0.02  -0.029  0.157  0.154 -1.028]
+t: 64	 action: [ 4.670e-01 -1.963e-01 -7.018e-04 -2.283e-02  1.659e-01  1.606e-01 -1.011e+00]
+t: 65	 action: [ 0.473 -0.166 -0.02  -0.025  0.174  0.143 -1.033]
+t: 66	 action: [ 0.493 -0.233 -0.012 -0.017  0.188  0.131 -1.024]
+t: 67	 action: [ 0.532 -0.18  -0.01   0.004  0.196  0.109 -1.025]
+t: 68	 action: [ 0.52  -0.27  -0.033 -0.004  0.192  0.125 -1.02 ]
+t: 69	 action: [ 0.566 -0.217 -0.05   0.005  0.195  0.1   -1.009]
+t: 70	 action: [ 0.537 -0.286 -0.062  0.003  0.19   0.109 -1.017]
+t: 71	 action: [ 0.525 -0.266 -0.132  0.002  0.17   0.096 -1.03 ]
+t: 72	 action: [ 0.532 -0.306 -0.196  0.004  0.168  0.099 -1.014]
+t: 73	 action: [ 4.801e-01 -2.695e-01 -2.968e-01 -3.691e-04  1.353e-01  9.004e-02 -1.023e+00]
+[07-31 00:47:12|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 1.000 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=74: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.6142
+INFO:cosmos_policy.experiments.robot.robot_utils:t=74: Selected seed 195 with value = 0.6142
+Query 1/1: Action query time = 1.000 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6142
+t=74: Selected seed 195 with value = 0.6142
+t: 74	 action: [ 0.187 -0.4   -0.425  0.004  0.045  0.106 -1.027]
+t: 75	 action: [ 0.176 -0.312 -0.387  0.002  0.024  0.11  -1.026]
+t: 76	 action: [ 0.14  -0.378 -0.471  0.003  0.029  0.126 -1.016]
+t: 77	 action: [ 1.325e-01 -2.760e-01 -4.287e-01  2.676e-04  1.284e-02  1.167e-01 -1.023e+00]
+t: 78	 action: [ 0.151 -0.338 -0.389 -0.001  0.024  0.123 -1.009]
+t: 79	 action: [ 0.128 -0.279 -0.298 -0.004  0.009  0.121 -1.046]
+t: 80	 action: [ 0.107 -0.304 -0.35  -0.005  0.007  0.132 -1.007]
+t: 81	 action: [ 0.072 -0.245 -0.252 -0.009  0.001  0.114 -1.042]
+t: 82	 action: [ 0.123 -0.299 -0.157 -0.035 -0.006  0.112 -1.009]
+t: 83	 action: [ 0.092 -0.289 -0.1   -0.026 -0.015  0.104 -1.024]
+t: 84	 action: [ 0.013 -0.285 -0.064 -0.026 -0.027  0.113 -1.005]
+t: 85	 action: [ 0.015 -0.287 -0.026 -0.02  -0.04   0.101 -1.019]
+t: 86	 action: [-0.078 -0.322 -0.114 -0.015 -0.065  0.136 -1.012]
+t: 87	 action: [-0.155 -0.321 -0.077 -0.017 -0.071  0.114 -1.038]
+t: 88	 action: [-0.228 -0.347 -0.091 -0.007 -0.093  0.137 -1.012]
+t: 89	 action: [-0.302 -0.319 -0.084 -0.009 -0.093  0.115 -1.037]
+[07-31 00:47:13|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.999 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=90: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.6879
+INFO:cosmos_policy.experiments.robot.robot_utils:t=90: Selected seed 195 with value = 0.6879
+Query 1/1: Action query time = 0.999 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6879
+t=90: Selected seed 195 with value = 0.6879
+t: 90	 action: [ 0.095 -0.255 -0.054 -0.013  0.004  0.061 -0.994]
+t: 91	 action: [ 0.104 -0.265 -0.051 -0.009  0.004  0.07  -1.021]
+t: 92	 action: [ 0.03  -0.269 -0.041 -0.008 -0.026  0.082 -0.988]
+t: 93	 action: [-0.024 -0.272 -0.029 -0.007 -0.03   0.081 -1.016]
+t: 94	 action: [-0.124 -0.31  -0.062 -0.003 -0.039  0.071 -1.008]
+t: 95	 action: [-2.355e-01 -2.814e-01 -1.038e-01  1.125e-04 -6.865e-02  8.169e-02 -1.048e+00]
+t: 96	 action: [-0.347 -0.287 -0.123 -0.002 -0.096  0.095 -1.004]
+t: 97	 action: [-0.439 -0.259 -0.199  0.001 -0.109  0.092 -1.036]
+t: 98	 action: [-0.513 -0.279 -0.165 -0.036 -0.106  0.095 -0.962]
+t: 99	 action: [-0.52  -0.226 -0.175 -0.013 -0.122  0.1   -1.003]
+t: 100	 action: [-0.607 -0.249 -0.205 -0.04  -0.136  0.115 -0.953]
+t: 101	 action: [-0.612 -0.204 -0.195 -0.013 -0.14   0.122 -0.992]
+t: 102	 action: [-0.663 -0.187 -0.177 -0.015 -0.155  0.123 -0.943]
+t: 103	 action: [-0.641 -0.195 -0.132 -0.007 -0.145  0.116 -1.014]
+t: 104	 action: [-0.62  -0.181 -0.132 -0.016 -0.164  0.138 -0.924]
+t: 105	 action: [-0.543 -0.166 -0.053 -0.007 -0.134  0.132 -1.011]
+[07-31 00:47:14|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.976 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=106: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.7375
+INFO:cosmos_policy.experiments.robot.robot_utils:t=106: Selected seed 195 with value = 0.7375
+Query 1/1: Action query time = 0.976 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7375
+t=106: Selected seed 195 with value = 0.7375
+t: 106	 action: [-0.095 -0.349  0.084 -0.005 -0.046  0.017 -0.987]
+t: 107	 action: [-0.045 -0.35   0.102 -0.003 -0.032  0.018 -1.01 ]
+t: 108	 action: [-0.194 -0.373  0.024  0.003 -0.061  0.027 -0.986]
+t: 109	 action: [-0.172 -0.37   0.046  0.007 -0.047  0.025 -1.002]
+t: 110	 action: [-0.172 -0.399  0.013  0.004 -0.06   0.02  -0.993]
+t: 111	 action: [-0.196 -0.358 -0.002  0.014 -0.061  0.025 -1.045]
+t: 112	 action: [-0.235 -0.387 -0.067  0.008 -0.073  0.037 -0.993]
+t: 113	 action: [-0.255 -0.346 -0.126  0.02  -0.077  0.029 -1.036]
+t: 114	 action: [-0.24  -0.377 -0.113  0.006 -0.091  0.046 -0.973]
+t: 115	 action: [-0.207 -0.36  -0.074  0.018 -0.076  0.039 -1.002]
+t: 116	 action: [-0.23  -0.382 -0.178  0.014 -0.106  0.046 -0.984]
+t: 117	 action: [-0.217 -0.336 -0.136  0.026 -0.09   0.033 -0.995]
+t: 118	 action: [-0.234 -0.367 -0.184  0.027 -0.098  0.051 -0.981]
+t: 119	 action: [-0.21  -0.334 -0.17   0.049 -0.067  0.041 -1.037]
+t: 120	 action: [-0.201 -0.383 -0.191  0.042 -0.096  0.04  -0.987]
+t: 121	 action: [-0.194 -0.315 -0.189  0.064 -0.058  0.03  -1.039]
+[07-31 00:47:16|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.977 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=122: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.7413
+INFO:cosmos_policy.experiments.robot.robot_utils:t=122: Selected seed 195 with value = 0.7413
+Query 1/1: Action query time = 0.977 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7413
+t=122: Selected seed 195 with value = 0.7413
+t: 122	 action: [-0.025 -0.337 -0.24   0.006 -0.039 -0.021 -1.027]
+t: 123	 action: [-0.005 -0.349 -0.248  0.012 -0.045 -0.024 -1.032]
+t: 124	 action: [-0.035 -0.347 -0.253  0.012 -0.04  -0.022 -1.021]
+t: 125	 action: [-0.009 -0.365 -0.245  0.017 -0.038 -0.023 -1.028]
+t: 126	 action: [-0.074 -0.337 -0.243  0.023 -0.03  -0.025 -1.016]
+t: 127	 action: [-0.065 -0.335 -0.217  0.028 -0.035 -0.022 -1.055]
+t: 128	 action: [-0.089 -0.317 -0.284  0.031 -0.029 -0.018 -1.012]
+t: 129	 action: [-0.073 -0.33  -0.245  0.03  -0.03  -0.02  -1.047]
+t: 130	 action: [-0.028 -0.38  -0.361  0.038 -0.025 -0.021 -1.034]
+t: 131	 action: [-0.004 -0.322 -0.354  0.018 -0.027 -0.024 -1.033]
+t: 132	 action: [-0.03  -0.346 -0.51   0.046 -0.015 -0.01  -1.035]
+t: 133	 action: [ 0.002 -0.209 -0.54   0.022 -0.011 -0.018 -1.025]
+t: 134	 action: [-0.063 -0.181 -0.657  0.047 -0.009 -0.02  -1.03 ]
+t: 135	 action: [-0.031 -0.116 -0.737  0.035  0.007 -0.021 -1.052]
+t: 136	 action: [-0.072 -0.083 -0.879  0.048  0.011 -0.006 -1.029]
+t: 137	 action: [-0.039  0.037 -0.964  0.031  0.018 -0.012 -1.052]
+[07-31 00:47:17|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.962 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=138: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9503
+INFO:cosmos_policy.experiments.robot.robot_utils:t=138: Selected seed 195 with value = 0.9503
+Query 1/1: Action query time = 0.962 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9503
+t=138: Selected seed 195 with value = 0.9503
+t: 138	 action: [-0.055  0.504 -0.956  0.032  0.001  0.021 -0.993]
+t: 139	 action: [-0.055  0.564 -0.961  0.019  0.007  0.026 -1.005]
+t: 140	 action: [-0.112  0.736 -0.931  0.011  0.008  0.025 -0.99 ]
+t: 141	 action: [-0.103  0.778 -0.934  0.004  0.011  0.03  -1.003]
+t: 142	 action: [-0.159  0.837 -0.936  0.008  0.016  0.028 -0.995]
+t: 143	 action: [-0.17   0.827 -0.929 -0.002  0.007  0.032 -1.041]
+t: 144	 action: [-1.719e-01  9.318e-01 -9.078e-01  4.885e-04  2.197e-02  3.823e-02 -9.891e-01]
+t: 145	 action: [-0.17   0.915 -0.906 -0.011  0.011  0.033 -1.042]
+t: 146	 action: [-0.158  0.951 -0.871  0.004  0.015  0.045 -0.988]
+t: 147	 action: [-0.128  0.929 -0.853 -0.015  0.017  0.043 -1.011]
+t: 148	 action: [-1.670e-01  9.657e-01 -8.639e-01  6.298e-04  1.978e-02  4.944e-02 -9.841e-01]
+t: 149	 action: [-0.12   0.931 -0.842 -0.014  0.016  0.047 -1.005]
+t: 150	 action: [-0.165  0.972 -0.858 -0.006  0.016  0.055 -0.99 ]
+t: 151	 action: [-0.146  0.961 -0.849 -0.017  0.014  0.049 -1.042]
+t: 152	 action: [-0.167  0.973 -0.852 -0.008  0.021  0.057 -0.982]
+t: 153	 action: [-0.144  0.952 -0.831 -0.014  0.015  0.051 -1.042]
+[07-31 00:47:18|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.973 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=154: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9947
+INFO:cosmos_policy.experiments.robot.robot_utils:t=154: Selected seed 195 with value = 0.9947
+WARNING:imageio_ffmpeg:IMAGEIO FFMPEG_WRITER WARNING: input image is not divisible by macro_block_size=16, resizing from (896, 284) to (896, 288) to ensure video compatibility with most codecs and players. To prevent resizing, make your input image divisible by the macro_block_size or set the macro_block_size to 1 (risking incompatibility).
+INFO:cosmos_policy.experiments.robot.robot_utils:Success: True
+INFO:cosmos_policy.experiments.robot.robot_utils:# episodes completed so far: 48
+INFO:cosmos_policy.experiments.robot.robot_utils:# successes: 25 (52.1%)
+
+
 96%|█████████▌| 48/50 [19:22<00:47, 23.56s/it]INFO:cosmos_policy.experiments.robot.robot_utils:
+Task: open the middle drawer of the cabinet
+INFO:cosmos_policy.experiments.robot.robot_utils:Starting episode 49...
+Query 1/1: Action query time = 0.973 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9947
+t=154: Selected seed 195 with value = 0.9947
+t: 154	 action: [-0.193  0.926 -0.792 -0.006  0.012  0.035 -0.974]
+t: 155	 action: [-0.193  0.906 -0.818 -0.018  0.012  0.039 -0.982]
+t: 156	 action: [-0.211  0.958 -0.789 -0.007  0.015  0.037 -0.985]
+t: 157	 action: [-0.201  0.92  -0.803 -0.017  0.014  0.036 -0.989]
+t: 158	 action: [-0.211  0.969 -0.775 -0.015  0.023  0.046 -0.971]
+t: 159	 action: [-0.248  0.961 -0.768 -0.016  0.013  0.044 -1.021]
+t: 160	 action: [-0.237  0.988 -0.773 -0.015  0.024  0.05  -0.98 ]
+Saved rollout MP4 at path ./rollouts/None/2026_07_31-00_27_45--episode=48--success=True--task=open_the_middle_drawer_of_the_cabinet.mp4
+151 151 10 10
+Saved rollout MP4 at path ./rollouts/None/2026_07_31-00_27_45--with_future_img--episode=48--success=True--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: True
+# episodes completed so far: 48
+# successes: 25 (52.1%)
+
+Task: open the middle drawer of the cabinet
+Starting episode 49...
+[07-31 00:47:24|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.982 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=10: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.3595
+INFO:cosmos_policy.experiments.robot.robot_utils:t=10: Selected seed 195 with value = 0.3595
+Query 1/1: Action query time = 0.982 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3595
+t=10: Selected seed 195 with value = 0.3595
+t: 10	 action: [ 8.766e-02 -4.037e-02  7.370e-04  2.566e-03  1.234e-01  1.478e-02 -9.962e-01]
+t: 11	 action: [ 0.21  -0.013  0.054  0.004  0.148  0.031 -1.   ]
+t: 12	 action: [ 2.435e-01 -2.988e-02  3.931e-02 -9.016e-04  1.583e-01  3.313e-02 -1.005e+00]
+t: 13	 action: [ 0.398  0.022  0.081 -0.004  0.175  0.049 -1.014]
+t: 14	 action: [ 0.515 -0.021  0.089 -0.001  0.167  0.05  -1.008]
+t: 15	 action: [ 0.581  0.016  0.105 -0.005  0.162  0.044 -1.04 ]
+t: 16	 action: [ 0.615  0.008  0.094 -0.014  0.165  0.074 -1.01 ]
+t: 17	 action: [ 0.636  0.055  0.092 -0.02   0.157  0.064 -1.041]
+t: 18	 action: [ 0.613  0.04   0.074 -0.043  0.147  0.112 -1.013]
+t: 19	 action: [ 0.635  0.075  0.071 -0.041  0.135  0.111 -1.021]
+t: 20	 action: [ 0.614  0.038  0.041 -0.056  0.128  0.129 -1.014]
+t: 21	 action: [ 0.637  0.074  0.045 -0.056  0.121  0.129 -1.019]
+t: 22	 action: [ 0.576  0.035  0.058 -0.066  0.105  0.145 -1.003]
+t: 23	 action: [ 0.585  0.071  0.035 -0.072  0.087  0.138 -1.039]
+t: 24	 action: [ 0.556  0.03   0.024 -0.079  0.09   0.162 -1.006]
+t: 25	 action: [ 0.565  0.073  0.023 -0.088  0.08   0.155 -1.037]
+[07-31 00:47:25|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.965 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=26: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.4160
+INFO:cosmos_policy.experiments.robot.robot_utils:t=26: Selected seed 195 with value = 0.4160
+Query 1/1: Action query time = 0.965 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4160
+t=26: Selected seed 195 with value = 0.4160
+t: 26	 action: [ 0.465  0.028  0.037 -0.104  0.053  0.177 -1.   ]
+t: 27	 action: [ 0.459  0.063  0.015 -0.083  0.054  0.178 -1.002]
+t: 28	 action: [ 4.013e-01  2.564e-02 -9.518e-04 -1.138e-01  4.716e-02  1.917e-01 -1.000e+00]
+t: 29	 action: [ 0.409  0.072  0.014 -0.097  0.051  0.187 -1.003]
+t: 30	 action: [ 0.355  0.029  0.002 -0.132  0.044  0.207 -0.991]
+t: 31	 action: [ 0.33   0.073 -0.016 -0.111  0.039  0.196 -1.027]
+t: 32	 action: [ 0.292  0.034 -0.044 -0.137  0.048  0.218 -0.995]
+t: 33	 action: [ 0.291  0.077 -0.052 -0.12   0.056  0.204 -1.029]
+t: 34	 action: [ 0.3    0.017 -0.047 -0.128  0.088  0.198 -1.001]
+t: 35	 action: [ 0.323  0.023 -0.038 -0.119  0.091  0.184 -1.002]
+t: 36	 action: [ 0.296  0.003 -0.078 -0.132  0.101  0.199 -1.003]
+t: 37	 action: [ 0.328  0.016 -0.058 -0.127  0.109  0.179 -1.   ]
+t: 38	 action: [ 0.268 -0.017 -0.086 -0.135  0.106  0.212 -0.994]
+t: 39	 action: [ 0.292  0.017 -0.115 -0.128  0.127  0.194 -1.034]
+t: 40	 action: [ 0.255 -0.016 -0.11  -0.132  0.13   0.211 -0.999]
+t: 41	 action: [ 0.292  0.008 -0.122 -0.129  0.153  0.188 -1.032]
+[07-31 00:47:26|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.995 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=42: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.4676
+INFO:cosmos_policy.experiments.robot.robot_utils:t=42: Selected seed 195 with value = 0.4676
+Query 1/1: Action query time = 0.995 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4676
+t=42: Selected seed 195 with value = 0.4676
+t: 42	 action: [ 0.077 -0.008 -0.036 -0.092  0.003  0.275 -0.977]
+t: 43	 action: [ 0.104 -0.011  0.001 -0.08   0.012  0.267 -0.992]
+t: 44	 action: [ 0.048 -0.014 -0.049 -0.087 -0.003  0.293 -0.968]
+t: 45	 action: [ 0.068 -0.008 -0.003 -0.082  0.011  0.289 -0.99 ]
+t: 46	 action: [ 0.046 -0.015 -0.042 -0.099 -0.005  0.313 -0.966]
+t: 47	 action: [ 4.543e-02 -9.845e-04 -3.800e-02 -8.280e-02 -4.721e-03  2.982e-01 -1.009e+00]
+t: 48	 action: [ 0.033 -0.015 -0.052 -0.098 -0.008  0.325 -0.964]
+t: 49	 action: [ 0.035  0.002 -0.04  -0.085  0.003  0.308 -1.006]
+t: 50	 action: [ 0.06  -0.014 -0.053 -0.09   0.01   0.311 -0.97 ]
+t: 51	 action: [ 0.09  -0.014 -0.065 -0.088  0.015  0.302 -0.986]
+t: 52	 action: [ 0.07  -0.005 -0.064 -0.095  0.029  0.313 -0.967]
+t: 53	 action: [ 0.098 -0.022 -0.064 -0.093  0.037  0.297 -0.986]
+t: 54	 action: [ 0.079 -0.028 -0.047 -0.094  0.034  0.306 -0.966]
+t: 55	 action: [ 1.085e-01  4.896e-04 -5.908e-02 -9.139e-02  5.685e-02  2.976e-01 -1.015e+00]
+t: 56	 action: [ 0.099 -0.028 -0.06  -0.094  0.071  0.292 -0.965]
+t: 57	 action: [ 0.136 -0.012 -0.052 -0.09   0.121  0.278 -1.009]
+[07-31 00:47:28|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.987 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=58: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.5427
+INFO:cosmos_policy.experiments.robot.robot_utils:t=58: Selected seed 195 with value = 0.5427
+Query 1/1: Action query time = 0.987 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5427
+t=58: Selected seed 195 with value = 0.5427
+t: 58	 action: [ 0.103  0.025 -0.179 -0.091  0.1    0.296 -0.98 ]
+t: 59	 action: [ 0.117  0.053 -0.163 -0.087  0.123  0.263 -1.002]
+t: 60	 action: [ 0.122  0.025 -0.2   -0.094  0.151  0.292 -0.981]
+t: 61	 action: [ 0.121  0.054 -0.174 -0.084  0.177  0.254 -1.015]
+t: 62	 action: [ 0.152  0.012 -0.189 -0.092  0.183  0.273 -0.99 ]
+t: 63	 action: [ 0.151  0.045 -0.204 -0.078  0.217  0.24  -1.035]
+t: 64	 action: [ 0.195  0.008 -0.212 -0.087  0.222  0.248 -0.992]
+t: 65	 action: [ 0.222  0.023 -0.223 -0.076  0.246  0.217 -1.043]
+t: 66	 action: [ 0.325 -0.073 -0.232 -0.063  0.256  0.19  -1.019]
+t: 67	 action: [ 0.348 -0.08  -0.245 -0.043  0.277  0.142 -1.025]
+t: 68	 action: [ 0.426 -0.13  -0.233 -0.051  0.262  0.152 -1.01 ]
+t: 69	 action: [ 0.484 -0.123 -0.26  -0.029  0.27   0.096 -1.012]
+t: 70	 action: [ 0.512 -0.256 -0.155 -0.013  0.263  0.113 -1.01 ]
+t: 71	 action: [ 0.562 -0.241 -0.137 -0.017  0.253  0.082 -1.038]
+t: 72	 action: [ 0.55  -0.31  -0.127 -0.004  0.25   0.072 -1.007]
+t: 73	 action: [ 0.531 -0.281 -0.105 -0.007  0.223  0.049 -1.032]
+[07-31 00:47:29|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.980 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=74: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.6180
+INFO:cosmos_policy.experiments.robot.robot_utils:t=74: Selected seed 195 with value = 0.6180
+Query 1/1: Action query time = 0.980 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6180
+t=74: Selected seed 195 with value = 0.6180
+t: 74	 action: [ 0.193 -0.243 -0.061 -0.01   0.121  0.06  -1.009]
+t: 75	 action: [ 0.161 -0.243 -0.023 -0.007  0.113  0.049 -1.018]
+t: 76	 action: [ 0.103 -0.31  -0.074 -0.005  0.093  0.051 -1.006]
+t: 77	 action: [ 0.06  -0.313 -0.04  -0.004  0.081  0.041 -1.02 ]
+t: 78	 action: [ 0.083 -0.385 -0.058 -0.002  0.079  0.044 -1.006]
+t: 79	 action: [ 5.576e-02 -3.484e-01 -4.506e-02  1.906e-04  6.854e-02  3.789e-02 -1.041e+00]
+t: 80	 action: [ 0.032 -0.397 -0.069 -0.003  0.056  0.043 -1.004]
+t: 81	 action: [ 0.012 -0.375 -0.059 -0.002  0.049  0.033 -1.041]
+t: 82	 action: [ 0.011 -0.341 -0.045 -0.005  0.03   0.032 -1.009]
+t: 83	 action: [ 0.022 -0.357 -0.007  0.003  0.028  0.035 -1.02 ]
+t: 84	 action: [-0.049 -0.346 -0.044 -0.001  0.018  0.043 -1.009]
+t: 85	 action: [-0.022 -0.355 -0.005  0.003  0.02   0.044 -1.018]
+t: 86	 action: [-0.095 -0.407 -0.07   0.004  0.008  0.045 -1.002]
+t: 87	 action: [-0.117 -0.405 -0.035  0.007  0.01   0.04  -1.034]
+t: 88	 action: [-1.414e-01 -4.159e-01 -8.068e-02  4.950e-03 -5.608e-04  5.755e-02 -1.005e+00]
+t: 89	 action: [-0.163 -0.4   -0.051  0.006  0.008  0.051 -1.034]
+[07-31 00:47:30|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.974 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=90: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.6942
+INFO:cosmos_policy.experiments.robot.robot_utils:t=90: Selected seed 195 with value = 0.6942
+Query 1/1: Action query time = 0.974 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6942
+t=90: Selected seed 195 with value = 0.6942
+t: 90	 action: [ 0.084 -0.343 -0.212 -0.004  0.015  0.02  -1.008]
+t: 91	 action: [ 0.105 -0.361 -0.162  0.006  0.009  0.019 -1.023]
+t: 92	 action: [ 0.038 -0.357 -0.189  0.002  0.011  0.021 -1.   ]
+t: 93	 action: [ 0.062 -0.38  -0.146  0.011  0.008  0.019 -1.025]
+t: 94	 action: [ 0.028 -0.362 -0.174  0.003  0.004  0.016 -0.995]
+t: 95	 action: [ 0.029 -0.364 -0.151  0.011 -0.005  0.019 -1.049]
+t: 96	 action: [-0.034 -0.393 -0.236  0.012 -0.001  0.026 -0.991]
+t: 97	 action: [-0.036 -0.377 -0.261  0.017 -0.008  0.021 -1.042]
+t: 98	 action: [-0.124 -0.451 -0.179  0.005 -0.013  0.06  -1.004]
+t: 99	 action: [-0.155 -0.407 -0.187  0.013 -0.024  0.064 -1.023]
+t: 100	 action: [-0.241 -0.448 -0.247  0.008 -0.029  0.084 -0.999]
+t: 101	 action: [-0.246 -0.358 -0.27   0.013 -0.045  0.088 -1.015]
+t: 102	 action: [-0.341 -0.443 -0.285  0.006 -0.055  0.116 -0.993]
+t: 103	 action: [-0.367 -0.37  -0.314  0.022 -0.07   0.096 -1.038]
+t: 104	 action: [-0.413 -0.397 -0.304  0.007 -0.076  0.134 -0.984]
+t: 105	 action: [-0.409 -0.303 -0.319  0.02  -0.085  0.117 -1.032]
+[07-31 00:47:32|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.978 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=106: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.7428
+INFO:cosmos_policy.experiments.robot.robot_utils:t=106: Selected seed 195 with value = 0.7428
+Query 1/1: Action query time = 0.978 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7428
+t=106: Selected seed 195 with value = 0.7428
+t: 106	 action: [-0.064 -0.439 -0.236  0.002 -0.033  0.02  -1.007]
+t: 107	 action: [-0.043 -0.47  -0.249  0.015 -0.032  0.015 -1.027]
+t: 108	 action: [-0.102 -0.424 -0.26   0.004 -0.033  0.016 -0.994]
+t: 109	 action: [-0.086 -0.454 -0.291  0.019 -0.03   0.011 -1.021]
+t: 110	 action: [-0.096 -0.47  -0.288  0.021 -0.032  0.013 -0.994]
+t: 111	 action: [-0.127 -0.458 -0.272  0.034 -0.024  0.02  -1.045]
+t: 112	 action: [-0.162 -0.446 -0.311  0.031 -0.028  0.012 -0.983]
+t: 113	 action: [-0.192 -0.427 -0.313  0.04  -0.02   0.015 -1.041]
+t: 114	 action: [-0.205 -0.497 -0.329  0.033 -0.052  0.014 -1.005]
+t: 115	 action: [-0.217 -0.474 -0.36   0.038 -0.053  0.007 -1.028]
+t: 116	 action: [-0.251 -0.51  -0.424  0.044 -0.052  0.014 -1.003]
+t: 117	 action: [-0.275 -0.471 -0.508  0.044 -0.06   0.011 -1.024]
+t: 118	 action: [-0.321 -0.398 -0.643  0.069 -0.057  0.006 -0.999]
+t: 119	 action: [-0.309 -0.311 -0.764  0.087 -0.039  0.016 -1.047]
+t: 120	 action: [-0.328 -0.219 -0.897  0.082 -0.043  0.014 -0.995]
+t: 121	 action: [-0.327 -0.104 -0.953  0.09  -0.02   0.026 -1.051]
+[07-31 00:47:33|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.968 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=122: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.7398
+INFO:cosmos_policy.experiments.robot.robot_utils:t=122: Selected seed 195 with value = 0.7398
+Query 1/1: Action query time = 0.968 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7398
+t=122: Selected seed 195 with value = 0.7398
+t: 122	 action: [-0.03  -0.315  0.002 -0.011 -0.023  0.013 -1.017]
+t: 123	 action: [ 3.460e-03 -3.578e-01  1.467e-02 -6.217e-06 -2.548e-02  3.804e-03 -1.021e+00]
+t: 124	 action: [-4.151e-02 -3.159e-01  7.935e-03 -2.626e-04 -3.027e-02  1.175e-02 -1.009e+00]
+t: 125	 action: [-0.01  -0.378  0.012  0.011 -0.034  0.003 -1.015]
+t: 126	 action: [-0.033 -0.382 -0.027  0.012 -0.017  0.006 -1.01 ]
+t: 127	 action: [-0.042 -0.38  -0.024  0.025 -0.022  0.005 -1.047]
+t: 128	 action: [-0.094 -0.404 -0.069  0.025 -0.023  0.006 -1.004]
+t: 129	 action: [-0.099 -0.399 -0.121  0.036 -0.028  0.004 -1.043]
+t: 130	 action: [-0.181 -0.421 -0.188  0.033 -0.049  0.01  -1.017]
+t: 131	 action: [-1.859e-01 -4.129e-01 -2.470e-01  3.769e-02 -5.632e-02 -1.487e-04 -1.024e+00]
+t: 132	 action: [-0.178 -0.419 -0.366  0.048 -0.055  0.007 -1.015]
+t: 133	 action: [-0.212 -0.385 -0.444  0.057 -0.065 -0.002 -1.016]
+t: 134	 action: [-2.148e-01 -3.839e-01 -5.983e-01  8.338e-02 -4.549e-02 -5.476e-04 -1.008e+00]
+t: 135	 action: [-0.188 -0.304 -0.72   0.093 -0.033 -0.004 -1.041]
+t: 136	 action: [-0.17  -0.273 -0.877  0.096 -0.031 -0.003 -1.004]
+t: 137	 action: [-0.159 -0.161 -0.901  0.09  -0.016 -0.002 -1.041]
+[07-31 00:47:34|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.978 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=138: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9673
+INFO:cosmos_policy.experiments.robot.robot_utils:t=138: Selected seed 195 with value = 0.9673
+Query 1/1: Action query time = 0.978 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9673
+t=138: Selected seed 195 with value = 0.9673
+t: 138	 action: [-0.102  0.67  -0.919  0.012 -0.005 -0.008 -0.995]
+t: 139	 action: [-0.075  0.662 -0.914 -0.001 -0.022 -0.014 -1.011]
+t: 140	 action: [-1.251e-01  6.953e-01 -9.020e-01  4.328e-03 -8.539e-04 -1.353e-03 -9.977e-01]
+t: 141	 action: [-0.094  0.734 -0.897 -0.008 -0.016 -0.009 -1.009]
+t: 142	 action: [-0.15   0.803 -0.908 -0.001  0.005 -0.006 -0.991]
+t: 143	 action: [-0.123  0.758 -0.909 -0.005 -0.017 -0.008 -1.036]
+t: 144	 action: [-0.147  0.836 -0.887 -0.013  0.008 -0.003 -0.993]
+t: 145	 action: [-0.111  0.819 -0.891 -0.011 -0.016 -0.004 -1.041]
+t: 146	 action: [-0.066  0.888 -0.842  0.001  0.007  0.005 -0.98 ]
+t: 147	 action: [-0.035  0.851 -0.797 -0.012  0.005 -0.008 -1.015]
+t: 148	 action: [-0.092  0.89  -0.853 -0.01   0.011  0.006 -0.988]
+t: 149	 action: [-0.055  0.859 -0.813 -0.016  0.004 -0.004 -1.007]
+t: 150	 action: [-1.416e-01  9.396e-01 -8.635e-01 -1.034e-02  1.162e-02  3.557e-05 -9.789e-01]
+t: 151	 action: [-0.146  0.906 -0.853 -0.013 -0.003 -0.002 -1.041]
+t: 152	 action: [-1.583e-01  9.428e-01 -8.664e-01 -1.893e-02  1.711e-02  4.339e-04 -9.846e-01]
+t: 153	 action: [-0.17   0.902 -0.861 -0.016 -0.004  0.002 -1.045]
+[07-31 00:47:35|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.978 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=154: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.8897
+INFO:cosmos_policy.experiments.robot.robot_utils:t=154: Selected seed 195 with value = 0.8897
+Query 1/1: Action query time = 0.978 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8897
+t=154: Selected seed 195 with value = 0.8897
+t: 154	 action: [-0.152  0.18  -0.425  0.002 -0.023  0.043 -0.976]
+t: 155	 action: [-0.131  0.228 -0.379 -0.011 -0.008  0.041 -0.995]
+t: 156	 action: [-0.163  0.319 -0.397 -0.003 -0.024  0.033 -0.993]
+t: 157	 action: [-0.134  0.284 -0.318 -0.012 -0.013  0.024 -1.015]
+t: 158	 action: [-0.209  0.446 -0.24  -0.014 -0.009  0.042 -1.004]
+t: 159	 action: [-0.178  0.453 -0.127 -0.017 -0.015  0.036 -1.058]
+t: 160	 action: [-0.183  0.471 -0.163 -0.015 -0.008  0.031 -1.003]
+t: 161	 action: [-0.143  0.363 -0.06  -0.022 -0.015  0.018 -1.05 ]
+t: 162	 action: [-1.176e-01  3.540e-02 -9.589e-02  3.673e-04 -1.939e-02  3.565e-03 -1.005e+00]
+t: 163	 action: [-0.039  0.032 -0.037 -0.007 -0.007 -0.006 -1.031]
+t: 164	 action: [-9.072e-02  1.142e-02 -1.081e-01 -4.083e-03 -2.797e-02 -2.562e-04 -1.012e+00]
+t: 165	 action: [-0.014 -0.004 -0.043 -0.017 -0.016 -0.013 -1.026]
+t: 166	 action: [-0.108  0.028 -0.107 -0.003 -0.029 -0.005 -1.016]
+t: 167	 action: [-0.076  0.004 -0.04  -0.008 -0.029 -0.011 -1.047]
+t: 168	 action: [-0.052  0.035 -0.143 -0.01  -0.034 -0.011 -1.014]
+t: 169	 action: [-0.04   0.014 -0.074 -0.017 -0.041 -0.016 -1.049]
+[07-31 00:47:37|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.977 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=170: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9448
+INFO:cosmos_policy.experiments.robot.robot_utils:t=170: Selected seed 195 with value = 0.9448
+Query 1/1: Action query time = 0.977 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9448
+t=170: Selected seed 195 with value = 0.9448
+t: 170	 action: [-0.04   0.128 -0.29  -0.003 -0.04   0.05  -0.98 ]
+t: 171	 action: [ 0.019  0.173 -0.118 -0.018 -0.022  0.041 -0.998]
+t: 172	 action: [ 0.013  0.161 -0.063 -0.006 -0.046  0.035 -0.985]
+t: 173	 action: [ 0.067  0.127  0.095 -0.021 -0.046  0.021 -1.025]
+t: 174	 action: [-0.026  0.274  0.109 -0.017 -0.033  0.028 -1.004]
+t: 175	 action: [ 0.015  0.193  0.23  -0.035 -0.044  0.027 -1.054]
+t: 176	 action: [-0.002  0.24   0.104 -0.017 -0.028  0.017 -1.   ]
+t: 177	 action: [ 0.018  0.134  0.194 -0.028 -0.035  0.014 -1.051]
+t: 178	 action: [ 0.041 -0.003  0.075 -0.009 -0.015 -0.007 -1.008]
+t: 179	 action: [ 0.051  0.018  0.063 -0.02  -0.005 -0.015 -1.032]
+t: 180	 action: [ 0.018  0.043  0.015 -0.018 -0.018 -0.012 -1.009]
+t: 181	 action: [ 0.046  0.059  0.029 -0.026 -0.014 -0.022 -1.027]
+t: 182	 action: [-0.02   0.022  0.027 -0.013 -0.022 -0.015 -1.011]
+t: 183	 action: [-0.021  0.045  0.027 -0.017 -0.029 -0.017 -1.047]
+t: 184	 action: [-0.011  0.068 -0.022 -0.022 -0.02  -0.02  -1.01 ]
+t: 185	 action: [-0.024  0.092  0.003 -0.025 -0.039 -0.023 -1.052]
+[07-31 00:47:38|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.965 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=186: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9889
+INFO:cosmos_policy.experiments.robot.robot_utils:t=186: Selected seed 195 with value = 0.9889
+Query 1/1: Action query time = 0.965 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9889
+t=186: Selected seed 195 with value = 0.9889
+t: 186	 action: [ 0.099  0.192 -0.484 -0.005 -0.026  0.034 -0.991]
+t: 187	 action: [ 0.111  0.197 -0.21  -0.018 -0.011  0.032 -0.993]
+t: 188	 action: [ 0.083  0.263 -0.258 -0.014 -0.024  0.027 -0.993]
+t: 189	 action: [ 0.101  0.215 -0.028 -0.025 -0.013  0.019 -1.009]
+t: 190	 action: [ 0.057  0.295 -0.134 -0.023 -0.007  0.017 -1.004]
+t: 191	 action: [ 0.067  0.235  0.07  -0.027 -0.007  0.022 -1.047]
+t: 192	 action: [ 3.563e-02  2.822e-01 -6.654e-02 -2.438e-02 -9.904e-04  1.430e-02 -1.000e+00]
+t: 193	 action: [ 0.035  0.22   0.027 -0.025 -0.001  0.013 -1.041]
+t: 194	 action: [ 0.037  0.215  0.03  -0.02  -0.009  0.009 -0.992]
+t: 195	 action: [ 0.047  0.218  0.05  -0.032  0.003  0.012 -1.002]
+t: 196	 action: [ 0.026  0.246 -0.011 -0.027 -0.012  0.013 -0.999]
+t: 197	 action: [ 0.045  0.216  0.027 -0.033 -0.002  0.013 -1.01 ]
+t: 198	 action: [-8.298e-03  2.285e-01  1.294e-02 -2.947e-02 -9.939e-03  1.003e-03 -1.003e+00]
+t: 199	 action: [-0.016  0.244  0.034 -0.031 -0.016  0.012 -1.028]
+t: 200	 action: [-0.008  0.227 -0.019 -0.036 -0.009  0.005 -1.001]
+t: 201	 action: [-0.018  0.244  0.015 -0.033 -0.024  0.013 -1.04 ]
+[07-31 00:47:39|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.964 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=202: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9905
+INFO:cosmos_policy.experiments.robot.robot_utils:t=202: Selected seed 195 with value = 0.9905
+Query 1/1: Action query time = 0.964 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9905
+t=202: Selected seed 195 with value = 0.9905
+t: 202	 action: [ 0.117  0.113  0.067 -0.004  0.017  0.027 -1.009]
+t: 203	 action: [ 0.143  0.107  0.127 -0.014  0.027  0.023 -1.008]
+t: 204	 action: [ 0.103  0.162  0.076 -0.004  0.018  0.028 -1.002]
+t: 205	 action: [ 0.138  0.139  0.11  -0.013  0.025  0.022 -1.011]
+t: 206	 action: [ 0.113  0.149  0.085 -0.001  0.024  0.025 -1.002]
+t: 207	 action: [ 0.103  0.131  0.128 -0.007  0.022  0.023 -1.033]
+t: 208	 action: [ 0.098  0.164  0.056 -0.006  0.023  0.028 -0.999]
+t: 209	 action: [ 0.095  0.167  0.073 -0.008  0.019  0.022 -1.038]
+t: 210	 action: [ 7.728e-02  1.220e-01  7.461e-02  9.758e-04  1.414e-02  2.795e-02 -1.012e+00]
+t: 211	 action: [ 0.112  0.134  0.084 -0.013  0.021  0.021 -1.011]
+t: 212	 action: [ 0.08   0.159  0.056 -0.004  0.014  0.029 -1.004]
+t: 213	 action: [ 0.119  0.153  0.073 -0.016  0.018  0.023 -1.01 ]
+t: 214	 action: [ 0.068  0.158  0.058 -0.006  0.018  0.026 -1.006]
+t: 215	 action: [ 0.064  0.168  0.073 -0.01   0.009  0.022 -1.031]
+t: 216	 action: [ 0.071  0.167  0.038 -0.01   0.018  0.027 -0.999]
+t: 217	 action: [ 0.082  0.19   0.057 -0.013  0.008  0.023 -1.038]
+[07-31 00:47:40|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.977 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=218: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9948
+INFO:cosmos_policy.experiments.robot.robot_utils:t=218: Selected seed 195 with value = 0.9948
+Query 1/1: Action query time = 0.977 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9948
+t=218: Selected seed 195 with value = 0.9948
+t: 218	 action: [ 0.085  0.113  0.021  0.003  0.028  0.034 -1.007]
+t: 219	 action: [ 0.099  0.104  0.067  0.002  0.047  0.027 -1.005]
+t: 220	 action: [ 0.063  0.134  0.015  0.002  0.033  0.037 -0.999]
+t: 221	 action: [ 0.079  0.117  0.05   0.001  0.048  0.026 -1.008]
+t: 222	 action: [ 0.072  0.122  0.025  0.003  0.036  0.031 -1.001]
+t: 223	 action: [ 0.053  0.12   0.056  0.006  0.045  0.026 -1.03 ]
+t: 224	 action: [ 0.05   0.117  0.007 -0.001  0.036  0.035 -0.997]
+t: 225	 action: [ 0.038  0.14   0.029  0.005  0.045  0.025 -1.036]
+t: 226	 action: [ 0.054  0.082  0.021  0.008  0.03   0.037 -1.007]
+t: 227	 action: [ 0.083  0.104  0.038  0.002  0.044  0.024 -1.007]
+t: 228	 action: [ 0.048  0.12   0.013  0.002  0.03   0.037 -0.999]
+t: 229	 action: [ 7.188e-02  1.210e-01  3.366e-02 -3.672e-05  4.379e-02  2.588e-02 -1.007e+00]
+t: 230	 action: [ 0.04   0.098  0.014  0.005  0.034  0.032 -1.001]
+t: 231	 action: [ 0.036  0.13   0.032  0.005  0.038  0.023 -1.028]
+t: 232	 action: [ 0.032  0.112  0.003 -0.004  0.034  0.033 -0.994]
+t: 233	 action: [ 0.036  0.151  0.022  0.003  0.04   0.025 -1.035]
+[07-31 00:47:42|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.975 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=234: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9994
+INFO:cosmos_policy.experiments.robot.robot_utils:t=234: Selected seed 195 with value = 0.9994
+Query 1/1: Action query time = 0.975 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9994
+t=234: Selected seed 195 with value = 0.9994
+t: 234	 action: [ 0.168  0.362 -0.187  0.002  0.009  0.049 -1.008]
+t: 235	 action: [ 1.767e-01  2.902e-01 -8.178e-02  7.052e-04  2.185e-02  2.763e-02 -1.004e+00]
+t: 236	 action: [ 0.106  0.303 -0.074  0.003  0.016  0.043 -1.007]
+t: 237	 action: [ 1.225e-01  2.347e-01 -1.608e-02 -6.231e-04  2.429e-02  2.258e-02 -1.008e+00]
+t: 238	 action: [ 0.12   0.249  0.013  0.005  0.019  0.032 -1.009]
+t: 239	 action: [ 0.11   0.214  0.061  0.004  0.023  0.022 -1.042]
+t: 240	 action: [ 0.073  0.204 -0.021  0.002  0.023  0.032 -1.01 ]
+t: 241	 action: [ 0.065  0.188  0.015  0.002  0.026  0.019 -1.042]
+t: 242	 action: [ 0.057  0.175 -0.036  0.006  0.019  0.032 -1.013]
+t: 243	 action: [ 8.786e-02  1.945e-01 -1.003e-02  8.485e-04  2.650e-02  1.974e-02 -1.005e+00]
+t: 244	 action: [ 5.351e-02  2.065e-01 -4.696e-02 -6.008e-04  2.010e-02  3.158e-02 -1.009e+00]
+t: 245	 action: [ 0.086  0.2   -0.014 -0.003  0.026  0.021 -1.007]
+t: 246	 action: [ 0.035  0.154 -0.027  0.001  0.024  0.021 -1.012]
+t: 247	 action: [ 0.031  0.196  0.007  0.003  0.02   0.017 -1.036]
+t: 248	 action: [ 0.031  0.166 -0.036 -0.005  0.025  0.022 -1.009]
+t: 249	 action: [ 0.042  0.201  0.002 -0.001  0.021  0.018 -1.042]
+[07-31 00:47:43|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.967 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=250: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9985
+INFO:cosmos_policy.experiments.robot.robot_utils:t=250: Selected seed 195 with value = 0.9985
+Query 1/1: Action query time = 0.967 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9985
+t=250: Selected seed 195 with value = 0.9985
+t: 250	 action: [ 0.248  0.329 -0.322  0.004  0.014  0.048 -1.007]
+t: 251	 action: [ 0.27   0.271 -0.118  0.005  0.022  0.026 -1.012]
+t: 252	 action: [ 0.173  0.294 -0.12   0.005  0.023  0.038 -1.008]
+t: 253	 action: [ 0.2    0.221 -0.012  0.005  0.025  0.016 -1.016]
+t: 254	 action: [ 1.934e-01  2.673e-01 -5.541e-04  5.191e-03  2.597e-02  2.750e-02 -1.013e+00]
+t: 255	 action: [ 0.166  0.214  0.082  0.007  0.022  0.018 -1.063]
+t: 256	 action: [ 0.12   0.204 -0.022  0.007  0.032  0.025 -1.018]
+t: 257	 action: [ 0.1    0.175  0.021  0.009  0.03   0.012 -1.056]
+t: 258	 action: [ 0.055  0.113 -0.028  0.019  0.032  0.023 -1.018]
+t: 259	 action: [ 7.936e-02  1.392e-01 -2.024e-04  1.130e-02  3.168e-02  1.272e-02 -1.012e+00]
+t: 260	 action: [ 0.061  0.161 -0.053  0.006  0.035  0.023 -1.016]
+t: 261	 action: [ 0.099  0.161 -0.016  0.005  0.033  0.012 -1.013]
+t: 262	 action: [ 0.026  0.108 -0.031  0.016  0.038  0.015 -1.023]
+t: 263	 action: [ 0.022  0.155  0.006  0.013  0.028  0.011 -1.052]
+t: 264	 action: [ 0.033  0.142 -0.046  0.002  0.04   0.015 -1.019]
+t: 265	 action: [ 0.049  0.174 -0.002  0.007  0.033  0.011 -1.055]
+[07-31 00:47:44|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.980 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=266: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9818
+INFO:cosmos_policy.experiments.robot.robot_utils:t=266: Selected seed 195 with value = 0.9818
+Query 1/1: Action query time = 0.980 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9818
+t=266: Selected seed 195 with value = 0.9818
+t: 266	 action: [ 0.222  0.086 -0.18   0.002  0.028  0.033 -1.013]
+t: 267	 action: [ 0.246  0.107  0.019  0.007  0.04   0.021 -1.019]
+t: 268	 action: [ 0.19   0.152 -0.052  0.006  0.039  0.022 -1.014]
+t: 269	 action: [ 0.216  0.13   0.045  0.01   0.042  0.01  -1.021]
+t: 270	 action: [ 0.21   0.19   0.005  0.005  0.04   0.021 -1.023]
+t: 271	 action: [ 0.17   0.143  0.088  0.01   0.037  0.016 -1.079]
+t: 272	 action: [ 0.149  0.168 -0.005  0.009  0.047  0.015 -1.026]
+t: 273	 action: [ 0.113  0.139  0.036  0.015  0.047  0.008 -1.068]
+t: 274	 action: [ 0.04   0.063 -0.025  0.027  0.044  0.019 -1.029]
+t: 275	 action: [ 0.043  0.074  0.015  0.016  0.046  0.011 -1.02 ]
+t: 276	 action: [ 0.031  0.103 -0.059  0.016  0.052  0.018 -1.026]
+t: 277	 action: [ 0.057  0.094 -0.007  0.012  0.052  0.01  -1.02 ]
+t: 278	 action: [ 0.004  0.072 -0.04   0.027  0.053  0.016 -1.034]
+t: 279	 action: [-0.007  0.099  0.01   0.019  0.047  0.013 -1.063]
+t: 280	 action: [ 0.011  0.112 -0.065  0.016  0.058  0.015 -1.028]
+t: 281	 action: [ 0.019  0.122 -0.001  0.014  0.055  0.012 -1.067]
+[07-31 00:47:46|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.978 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=282: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9282
+INFO:cosmos_policy.experiments.robot.robot_utils:t=282: Selected seed 195 with value = 0.9282
+Query 1/1: Action query time = 0.978 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9282
+t=282: Selected seed 195 with value = 0.9282
+t: 282	 action: [ 0.243  0.032 -0.25   0.003  0.025  0.036 -1.01 ]
+t: 283	 action: [ 0.264  0.083 -0.03   0.011  0.037  0.028 -1.017]
+t: 284	 action: [ 0.225  0.128 -0.15   0.007  0.036  0.026 -1.016]
+t: 285	 action: [ 0.24   0.13  -0.01   0.016  0.04   0.014 -1.024]
+t: 286	 action: [ 0.26   0.2   -0.118  0.003  0.04   0.026 -1.03 ]
+t: 287	 action: [ 0.193  0.158  0.002  0.012  0.032  0.022 -1.093]
+t: 288	 action: [ 0.181  0.174 -0.089  0.009  0.047  0.018 -1.035]
+t: 289	 action: [ 0.113  0.143 -0.015  0.018  0.041  0.01  -1.078]
+t: 290	 action: [ 0.009  0.053 -0.104  0.025  0.038  0.025 -1.036]
+t: 291	 action: [ 0.012  0.057 -0.035  0.021  0.04   0.02  -1.024]
+t: 292	 action: [-0.033  0.084 -0.133  0.021  0.05   0.024 -1.033]
+t: 293	 action: [-0.019  0.073 -0.065  0.018  0.051  0.017 -1.024]
+t: 294	 action: [-0.051  0.052 -0.117  0.029  0.052  0.026 -1.044]
+t: 295	 action: [-0.083  0.073 -0.037  0.024  0.045  0.021 -1.065]
+t: 296	 action: [-0.069  0.088 -0.135  0.023  0.06   0.025 -1.039]
+t: 297	 action: [-0.078  0.091 -0.045  0.021  0.054  0.019 -1.072]
+[07-31 00:47:47|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.978 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=298: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.8424
+INFO:cosmos_policy.experiments.robot.robot_utils:t=298: Selected seed 195 with value = 0.8424
+WARNING:imageio_ffmpeg:IMAGEIO FFMPEG_WRITER WARNING: input image is not divisible by macro_block_size=16, resizing from (896, 284) to (896, 288) to ensure video compatibility with most codecs and players. To prevent resizing, make your input image divisible by the macro_block_size or set the macro_block_size to 1 (risking incompatibility).
+INFO:cosmos_policy.experiments.robot.robot_utils:Success: False
+INFO:cosmos_policy.experiments.robot.robot_utils:# episodes completed so far: 49
+INFO:cosmos_policy.experiments.robot.robot_utils:# successes: 25 (51.0%)
+
+
 98%|█████████▊| 49/50 [19:53<00:25, 25.78s/it]INFO:cosmos_policy.experiments.robot.robot_utils:
+Task: open the middle drawer of the cabinet
+INFO:cosmos_policy.experiments.robot.robot_utils:Starting episode 50...
+Query 1/1: Action query time = 0.978 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8424
+t=298: Selected seed 195 with value = 0.8424
+t: 298	 action: [ 0.238  0.008 -0.216  0.008  0.025  0.035 -1.012]
+t: 299	 action: [ 0.266  0.027 -0.027  0.016  0.036  0.035 -1.018]
+t: 300	 action: [ 0.269  0.091 -0.186  0.018  0.038  0.035 -1.016]
+t: 301	 action: [ 0.262  0.09  -0.051  0.025  0.04   0.024 -1.027]
+t: 302	 action: [ 0.308  0.167 -0.144  0.003  0.044  0.036 -1.036]
+t: 303	 action: [ 0.212  0.119 -0.041  0.018  0.034  0.03  -1.095]
+t: 304	 action: [ 0.247  0.165 -0.17   0.014  0.054  0.034 -1.038]
+t: 305	 action: [ 0.137  0.118 -0.108  0.025  0.044  0.021 -1.08 ]
+t: 306	 action: [ 0.031  0.028 -0.284  0.027  0.048  0.041 -1.04 ]
+t: 307	 action: [ 0.02   0.016 -0.214  0.028  0.046  0.035 -1.032]
+t: 308	 action: [-0.039  0.046 -0.323  0.026  0.056  0.042 -1.04 ]
+t: 309	 action: [-0.061  0.04  -0.258  0.024  0.055  0.032 -1.025]
+Saved rollout MP4 at path ./rollouts/None/2026_07_31-00_27_45--episode=49--success=False--task=open_the_middle_drawer_of_the_cabinet.mp4
+300 300 19 19
+Saved rollout MP4 at path ./rollouts/None/2026_07_31-00_27_45--with_future_img--episode=49--success=False--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: False
+# episodes completed so far: 49
+# successes: 25 (51.0%)
+
+Task: open the middle drawer of the cabinet
+Starting episode 50...
+[07-31 00:47:55|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.995 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=10: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.3633
+INFO:cosmos_policy.experiments.robot.robot_utils:t=10: Selected seed 195 with value = 0.3633
+Query 1/1: Action query time = 0.995 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3633
+t=10: Selected seed 195 with value = 0.3633
+t: 10	 action: [ 0.207 -0.02   0.069  0.003  0.113  0.01  -0.994]
+t: 11	 action: [ 0.322 -0.003  0.12  -0.003  0.136  0.022 -0.989]
+t: 12	 action: [ 0.429  0.006  0.105 -0.006  0.139  0.026 -1.008]
+t: 13	 action: [ 0.526  0.021  0.164 -0.007  0.155  0.044 -1.018]
+t: 14	 action: [ 0.584  0.002  0.132 -0.014  0.138  0.036 -1.016]
+t: 15	 action: [ 0.617  0.03   0.15  -0.008  0.132  0.045 -1.048]
+t: 16	 action: [ 0.641  0.013  0.125 -0.028  0.132  0.076 -1.016]
+t: 17	 action: [ 0.658  0.045  0.123 -0.016  0.122  0.067 -1.053]
+t: 18	 action: [ 0.63   0.015  0.095 -0.024  0.083  0.124 -1.026]
+t: 19	 action: [ 0.646  0.031  0.082 -0.028  0.079  0.112 -1.019]
+t: 20	 action: [ 0.621  0.023  0.062 -0.042  0.071  0.135 -1.028]
+t: 21	 action: [ 0.634  0.058  0.043 -0.038  0.072  0.12  -1.015]
+t: 22	 action: [ 0.593  0.028  0.068 -0.054  0.065  0.145 -1.008]
+t: 23	 action: [ 0.56   0.058  0.03  -0.049  0.058  0.13  -1.043]
+t: 24	 action: [ 0.538  0.035  0.03  -0.076  0.064  0.159 -1.011]
+t: 25	 action: [ 0.517  0.09   0.021 -0.065  0.072  0.139 -1.04 ]
+[07-31 00:47:56|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.971 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=26: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.3812
+INFO:cosmos_policy.experiments.robot.robot_utils:t=26: Selected seed 195 with value = 0.3812
+Query 1/1: Action query time = 0.971 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.3812
+t=26: Selected seed 195 with value = 0.3812
+t: 26	 action: [ 0.5    0.038  0.04  -0.063  0.142  0.137 -1.01 ]
+t: 27	 action: [ 0.467  0.084  0.036 -0.053  0.14   0.145 -1.008]
+t: 28	 action: [ 0.419  0.053  0.039 -0.071  0.157  0.16  -1.007]
+t: 29	 action: [ 0.388  0.098  0.016 -0.063  0.152  0.165 -1.009]
+t: 30	 action: [ 0.363  0.053  0.018 -0.09   0.164  0.186 -1.002]
+t: 31	 action: [ 0.31   0.103  0.009 -0.07   0.164  0.176 -1.037]
+t: 32	 action: [ 0.275  0.062  0.007 -0.097  0.173  0.212 -1.003]
+t: 33	 action: [ 0.237  0.103  0.006 -0.086  0.18   0.204 -1.034]
+t: 34	 action: [ 0.21   0.036 -0.007 -0.094  0.208  0.234 -0.996]
+t: 35	 action: [ 0.213  0.067 -0.001 -0.084  0.227  0.244 -0.996]
+t: 36	 action: [ 0.191  0.043 -0.026 -0.097  0.212  0.253 -0.992]
+t: 37	 action: [ 0.189  0.078 -0.013 -0.086  0.225  0.264 -0.994]
+t: 38	 action: [ 0.163  0.043 -0.028 -0.096  0.204  0.281 -0.988]
+t: 39	 action: [ 0.156  0.099 -0.037 -0.082  0.2    0.274 -1.024]
+t: 40	 action: [ 0.162  0.047 -0.045 -0.095  0.199  0.29  -0.987]
+t: 41	 action: [ 0.162  0.107 -0.042 -0.081  0.193  0.284 -1.021]
+[07-31 00:47:57|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.968 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=42: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.4396
+INFO:cosmos_policy.experiments.robot.robot_utils:t=42: Selected seed 195 with value = 0.4396
+Query 1/1: Action query time = 0.968 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4396
+t=42: Selected seed 195 with value = 0.4396
+t: 42	 action: [ 0.261  0.032 -0.011 -0.098  0.066  0.226 -1.007]
+t: 43	 action: [ 0.264  0.065 -0.002 -0.087  0.064  0.216 -1.003]
+t: 44	 action: [ 0.256  0.03  -0.008 -0.101  0.054  0.236 -1.006]
+t: 45	 action: [ 0.257  0.066  0.012 -0.094  0.053  0.231 -1.006]
+t: 46	 action: [ 0.295  0.037  0.017 -0.102  0.055  0.245 -1.002]
+t: 47	 action: [ 0.305  0.057 -0.01  -0.099  0.053  0.226 -1.023]
+t: 48	 action: [ 0.314  0.032  0.013 -0.104  0.05   0.247 -1.004]
+t: 49	 action: [ 3.258e-01  5.196e-02  9.147e-04 -1.031e-01  5.666e-02  2.375e-01 -1.027e+00]
+t: 50	 action: [ 3.008e-01  7.261e-04 -2.992e-02 -9.178e-02  5.331e-02  2.473e-01 -9.985e-01]
+t: 51	 action: [ 0.321  0.023 -0.011 -0.087  0.05   0.241 -0.997]
+t: 52	 action: [ 3.222e-01  7.135e-05 -5.520e-02 -9.140e-02  6.066e-02  2.525e-01 -9.950e-01]
+t: 53	 action: [ 0.344  0.02  -0.032 -0.091  0.059  0.242 -0.99 ]
+t: 54	 action: [ 0.322  0.009 -0.038 -0.087  0.059  0.254 -0.995]
+t: 55	 action: [ 0.369  0.042 -0.049 -0.086  0.068  0.24  -1.023]
+t: 56	 action: [ 0.341  0.007 -0.073 -0.083  0.076  0.25  -0.994]
+t: 57	 action: [ 0.383  0.039 -0.096 -0.085  0.089  0.236 -1.018]
+[07-31 00:47:59|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.976 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=58: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.5285
+INFO:cosmos_policy.experiments.robot.robot_utils:t=58: Selected seed 195 with value = 0.5285
+Query 1/1: Action query time = 0.976 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5285
+t=58: Selected seed 195 with value = 0.5285
+t: 58	 action: [ 0.25   0.006 -0.085 -0.076  0.062  0.248 -0.998]
+t: 59	 action: [ 0.265  0.033 -0.05  -0.084  0.068  0.221 -1.01 ]
+t: 60	 action: [ 0.271  0.006 -0.11  -0.07   0.084  0.257 -1.001]
+t: 61	 action: [ 0.286  0.042 -0.06  -0.078  0.099  0.224 -1.025]
+t: 62	 action: [ 0.3   -0.012 -0.099 -0.069  0.087  0.251 -1.   ]
+t: 63	 action: [ 0.283  0.004 -0.085 -0.068  0.087  0.217 -1.041]
+t: 64	 action: [ 0.336 -0.03  -0.125 -0.056  0.11   0.249 -1.002]
+t: 65	 action: [ 3.325e-01  4.619e-04 -9.701e-02 -6.100e-02  1.206e-01  2.080e-01 -1.046e+00]
+t: 66	 action: [ 0.363 -0.054 -0.154 -0.04   0.139  0.227 -1.007]
+t: 67	 action: [ 0.386 -0.051 -0.143 -0.027  0.151  0.186 -1.023]
+t: 68	 action: [ 0.387 -0.084 -0.145 -0.035  0.148  0.221 -1.002]
+t: 69	 action: [ 0.438 -0.088 -0.137 -0.022  0.159  0.17  -1.013]
+t: 70	 action: [ 0.405 -0.174 -0.103 -0.017  0.163  0.203 -1.004]
+t: 71	 action: [ 0.412 -0.148 -0.092 -0.018  0.163  0.164 -1.049]
+t: 72	 action: [ 0.409 -0.217 -0.109 -0.009  0.165  0.187 -1.003]
+t: 73	 action: [ 0.402 -0.204 -0.12  -0.011  0.154  0.148 -1.034]
+[07-31 00:48:00|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.974 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=74: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.5938
+INFO:cosmos_policy.experiments.robot.robot_utils:t=74: Selected seed 195 with value = 0.5938
+Query 1/1: Action query time = 0.974 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5938
+t=74: Selected seed 195 with value = 0.5938
+t: 74	 action: [ 1.576e-01 -3.685e-01 -2.136e-01  4.590e-04  1.310e-01  9.852e-02 -1.001e+00]
+t: 75	 action: [ 0.169 -0.387 -0.17   0.014  0.118  0.081 -1.02 ]
+t: 76	 action: [ 0.12  -0.392 -0.244 -0.002  0.102  0.089 -0.991]
+t: 77	 action: [ 0.112 -0.388 -0.193  0.009  0.088  0.069 -1.028]
+t: 78	 action: [ 0.102 -0.46  -0.248  0.004  0.082  0.085 -0.997]
+t: 79	 action: [ 0.073 -0.427 -0.221  0.016  0.056  0.07  -1.05 ]
+t: 80	 action: [ 0.06  -0.428 -0.249  0.002  0.059  0.077 -0.993]
+t: 81	 action: [ 0.035 -0.382 -0.248  0.01   0.041  0.06  -1.051]
+t: 82	 action: [ 1.957e-02 -4.016e-01 -1.984e-01 -5.319e-04  3.371e-02  7.459e-02 -9.971e-01]
+t: 83	 action: [ 0.034 -0.378 -0.176  0.001  0.032  0.058 -1.017]
+t: 84	 action: [-0.025 -0.373 -0.195 -0.003  0.021  0.072 -0.994]
+t: 85	 action: [ 0.013 -0.329 -0.164 -0.003  0.023  0.056 -1.021]
+t: 86	 action: [-6.855e-02 -3.831e-01 -1.918e-01  6.525e-04  1.929e-02  6.989e-02 -9.918e-01]
+t: 87	 action: [-0.049 -0.37  -0.166  0.002  0.012  0.051 -1.037]
+t: 88	 action: [-1.281e-01 -3.393e-01 -1.864e-01 -7.366e-04  1.077e-02  6.568e-02 -9.946e-01]
+t: 89	 action: [-0.127 -0.323 -0.166 -0.001  0.008  0.053 -1.036]
+[07-31 00:48:01|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.984 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=90: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.6513
+INFO:cosmos_policy.experiments.robot.robot_utils:t=90: Selected seed 195 with value = 0.6513
+Query 1/1: Action query time = 0.984 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6513
+t=90: Selected seed 195 with value = 0.6513
+t: 90	 action: [-0.015 -0.321 -0.165 -0.007  0.002  0.034 -1.001]
+t: 91	 action: [ 1.115e-02 -3.226e-01 -1.000e-01  1.232e-05  8.021e-03  3.663e-02 -1.019e+00]
+t: 92	 action: [-0.068 -0.324 -0.15  -0.01  -0.008  0.041 -0.996]
+t: 93	 action: [-0.051 -0.305 -0.089 -0.005  0.005  0.036 -1.021]
+t: 94	 action: [-0.111 -0.327 -0.148 -0.006 -0.002  0.026 -0.999]
+t: 95	 action: [-0.152 -0.291 -0.127  0.003 -0.01   0.033 -1.048]
+t: 96	 action: [-0.238 -0.297 -0.213 -0.007 -0.014  0.04  -1.   ]
+t: 97	 action: [-3.026e-01 -2.595e-01 -2.262e-01 -5.295e-04 -2.122e-02  3.816e-02 -1.039e+00]
+t: 98	 action: [-0.444 -0.304 -0.203 -0.032 -0.067  0.069 -0.989]
+t: 99	 action: [-0.443 -0.277 -0.232 -0.011 -0.076  0.066 -1.014]
+t: 100	 action: [-0.543 -0.262 -0.261 -0.035 -0.086  0.093 -0.98 ]
+t: 101	 action: [-0.519 -0.246 -0.275 -0.013 -0.084  0.087 -1.003]
+t: 102	 action: [-0.638 -0.257 -0.252 -0.009 -0.086  0.102 -0.966]
+t: 103	 action: [-6.096e-01 -2.332e-01 -1.938e-01  1.376e-04 -7.867e-02  8.273e-02 -1.036e+00]
+t: 104	 action: [-0.61  -0.25  -0.219 -0.012 -0.096  0.121 -0.954]
+t: 105	 action: [-0.553 -0.207 -0.132 -0.006 -0.07   0.1   -1.027]
+[07-31 00:48:02|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.996 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=106: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.6920
+INFO:cosmos_policy.experiments.robot.robot_utils:t=106: Selected seed 195 with value = 0.6920
+Query 1/1: Action query time = 0.996 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6920
+t=106: Selected seed 195 with value = 0.6920
+t: 106	 action: [-0.212 -0.326 -0.189 -0.013 -0.072  0.118 -0.973]
+t: 107	 action: [-2.417e-01 -3.288e-01 -1.955e-01 -8.322e-04 -7.656e-02  1.174e-01 -9.873e-01]
+t: 108	 action: [-0.321 -0.295 -0.176 -0.009 -0.089  0.123 -0.979]
+t: 109	 action: [-3.218e-01 -3.205e-01 -1.697e-01  4.626e-04 -7.858e-02  1.180e-01 -1.001e+00]
+t: 110	 action: [-0.31  -0.318 -0.144 -0.003 -0.077  0.133 -0.957]
+t: 111	 action: [-0.299 -0.308 -0.098 -0.001 -0.086  0.126 -1.023]
+t: 112	 action: [-0.363 -0.308 -0.086 -0.004 -0.088  0.143 -0.965]
+t: 113	 action: [-3.307e-01 -2.833e-01 -4.566e-02 -4.040e-04 -8.142e-02  1.273e-01 -1.031e+00]
+t: 114	 action: [-0.305 -0.38   0.035 -0.034 -0.089  0.164 -0.992]
+t: 115	 action: [-0.261 -0.381  0.022 -0.014 -0.098  0.141 -1.007]
+t: 116	 action: [-0.319 -0.377  0.031 -0.033 -0.098  0.16  -0.993]
+t: 117	 action: [-0.293 -0.358  0.002 -0.011 -0.104  0.146 -1.   ]
+t: 118	 action: [-0.359 -0.348  0.008 -0.006 -0.107  0.18  -0.979]
+t: 119	 action: [-3.357e-01 -3.286e-01 -1.699e-02  9.629e-04 -1.072e-01  1.535e-01 -1.029e+00]
+t: 120	 action: [-0.37  -0.35  -0.03  -0.005 -0.138  0.177 -0.98 ]
+t: 121	 action: [-0.352 -0.323 -0.097  0.004 -0.11   0.153 -1.029]
+[07-31 00:48:04|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.965 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=122: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.7210
+INFO:cosmos_policy.experiments.robot.robot_utils:t=122: Selected seed 195 with value = 0.7210
+Query 1/1: Action query time = 0.965 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7210
+t=122: Selected seed 195 with value = 0.7210
+t: 122	 action: [-0.283 -0.344 -0.13  -0.016 -0.063  0.107 -0.99 ]
+t: 123	 action: [-0.299 -0.351 -0.132 -0.001 -0.07   0.111 -1.002]
+t: 124	 action: [-0.349 -0.31  -0.116 -0.012 -0.081  0.117 -0.994]
+t: 125	 action: [-3.605e-01 -3.102e-01 -1.171e-01  5.846e-04 -7.228e-02  1.157e-01 -1.006e+00]
+t: 126	 action: [-0.333 -0.324 -0.103 -0.002 -0.06   0.141 -0.972]
+t: 127	 action: [-0.31  -0.314 -0.064  0.005 -0.063  0.131 -1.031]
+t: 128	 action: [-0.364 -0.28  -0.049 -0.002 -0.068  0.158 -0.982]
+t: 129	 action: [-0.306 -0.262 -0.006  0.006 -0.057  0.139 -1.029]
+t: 130	 action: [-0.299 -0.412 -0.01  -0.012 -0.065  0.184 -0.991]
+t: 131	 action: [-0.271 -0.348 -0.066 -0.016 -0.057  0.158 -1.005]
+t: 132	 action: [-0.307 -0.374 -0.051 -0.01  -0.064  0.181 -0.992]
+t: 133	 action: [-0.293 -0.34  -0.101 -0.014 -0.053  0.168 -0.993]
+t: 134	 action: [-0.32  -0.295 -0.104 -0.005 -0.057  0.205 -0.984]
+t: 135	 action: [-0.3   -0.265 -0.225 -0.003 -0.054  0.173 -1.017]
+t: 136	 action: [-0.351 -0.294 -0.269 -0.003 -0.06   0.206 -0.983]
+t: 137	 action: [-0.331 -0.259 -0.448  0.003 -0.044  0.18  -1.022]
+[07-31 00:48:05|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.982 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=138: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.7701
+INFO:cosmos_policy.experiments.robot.robot_utils:t=138: Selected seed 195 with value = 0.7701
+Query 1/1: Action query time = 0.982 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7701
+t=138: Selected seed 195 with value = 0.7701
+t: 138	 action: [-0.313 -0.278 -0.091 -0.014 -0.03   0.08  -0.972]
+t: 139	 action: [-0.298 -0.301 -0.152 -0.008 -0.035  0.093 -1.003]
+t: 140	 action: [-0.353 -0.288 -0.119 -0.004 -0.052  0.103 -0.974]
+t: 141	 action: [-0.352 -0.295 -0.169 -0.001 -0.05   0.107 -1.007]
+t: 142	 action: [-0.39  -0.301 -0.172  0.006 -0.038  0.109 -0.963]
+t: 143	 action: [-0.373 -0.274 -0.181  0.011 -0.058  0.107 -1.026]
+t: 144	 action: [-0.404 -0.32  -0.261  0.016 -0.055  0.137 -0.969]
+t: 145	 action: [-0.38  -0.261 -0.291  0.02  -0.056  0.124 -1.016]
+t: 146	 action: [-0.358 -0.442 -0.273  0.02  -0.037  0.2   -0.955]
+t: 147	 action: [-0.376 -0.388 -0.488  0.021 -0.048  0.187 -0.969]
+t: 148	 action: [-0.323 -0.375 -0.43   0.03  -0.037  0.21  -0.962]
+t: 149	 action: [-0.305 -0.312 -0.683  0.029 -0.037  0.199 -0.962]
+t: 150	 action: [-0.334 -0.196 -0.743  0.049 -0.029  0.204 -0.973]
+t: 151	 action: [-0.304 -0.174 -0.847  0.055 -0.024  0.186 -0.983]
+t: 152	 action: [-0.28  -0.112 -0.832  0.046 -0.035  0.204 -0.975]
+t: 153	 action: [-0.257 -0.103 -0.848  0.043 -0.016  0.196 -0.998]
+[07-31 00:48:06|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.957 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=154: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.8352
+INFO:cosmos_policy.experiments.robot.robot_utils:t=154: Selected seed 195 with value = 0.8352
+Query 1/1: Action query time = 0.957 sec
+t=154: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8352
+t=154: Selected seed 195 with value = 0.8352
+t: 154	 action: [-0.316 -0.353 -0.237  0.002 -0.026  0.129 -0.958]
+t: 155	 action: [-0.286 -0.358 -0.413  0.018 -0.035  0.131 -0.997]
+t: 156	 action: [-0.34  -0.326 -0.352  0.021 -0.051  0.149 -0.959]
+t: 157	 action: [-0.334 -0.32  -0.531  0.039 -0.054  0.135 -1.007]
+t: 158	 action: [-0.373 -0.27  -0.614  0.043 -0.043  0.137 -0.959]
+t: 159	 action: [-0.35  -0.289 -0.711  0.046 -0.037  0.137 -1.011]
+t: 160	 action: [-0.373 -0.201 -0.885  0.063 -0.06   0.16  -0.957]
+t: 161	 action: [-0.35  -0.216 -0.914  0.055 -0.038  0.141 -1.011]
+t: 162	 action: [-0.302 -0.23  -0.682  0.078 -0.019  0.215 -0.952]
+t: 163	 action: [-0.282 -0.153 -0.809  0.091 -0.022  0.204 -0.954]
+t: 164	 action: [-0.254  0.023 -0.778  0.065 -0.024  0.218 -0.963]
+t: 165	 action: [-0.217 -0.011 -0.796  0.077 -0.022  0.203 -0.974]
+t: 166	 action: [-0.265  0.068 -0.723  0.047 -0.06   0.195 -0.964]
+t: 167	 action: [-0.239  0.058 -0.697  0.035 -0.04   0.192 -0.987]
+t: 168	 action: [-0.253  0.161 -0.503  0.014 -0.073  0.194 -0.97 ]
+t: 169	 action: [-0.219  0.144 -0.4    0.003 -0.044  0.19  -1.012]
+[07-31 00:48:08|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.978 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=170: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.8123
+INFO:cosmos_policy.experiments.robot.robot_utils:t=170: Selected seed 195 with value = 0.8123
+Query 1/1: Action query time = 0.978 sec
+t=170: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8123
+t=170: Selected seed 195 with value = 0.8123
+t: 170	 action: [-0.355 -0.344 -0.207  0.001 -0.033  0.141 -0.959]
+t: 171	 action: [-0.322 -0.338 -0.3    0.002 -0.047  0.136 -0.988]
+t: 172	 action: [-0.365 -0.291 -0.268  0.005 -0.058  0.162 -0.963]
+t: 173	 action: [-0.342 -0.288 -0.392  0.013 -0.059  0.143 -0.998]
+t: 174	 action: [-0.398 -0.195 -0.475  0.021 -0.052  0.154 -0.963]
+t: 175	 action: [-0.364 -0.221 -0.564  0.02  -0.05   0.144 -1.007]
+t: 176	 action: [-0.368 -0.109 -0.752  0.036 -0.073  0.169 -0.964]
+t: 177	 action: [-0.318 -0.106 -0.862  0.025 -0.048  0.147 -1.007]
+t: 178	 action: [-0.303 -0.21  -0.556  0.048 -0.027  0.202 -0.955]
+t: 179	 action: [-0.275 -0.129 -0.671  0.049 -0.029  0.195 -0.957]
+t: 180	 action: [-0.26   0.014 -0.626  0.031 -0.041  0.208 -0.965]
+t: 181	 action: [-0.211 -0.018 -0.682  0.029 -0.038  0.199 -0.972]
+t: 182	 action: [-0.252  0.072 -0.606  0.029 -0.072  0.191 -0.966]
+t: 183	 action: [-0.235  0.104 -0.634  0.03  -0.058  0.189 -0.989]
+t: 184	 action: [-0.245  0.135 -0.459  0.008 -0.087  0.196 -0.967]
+t: 185	 action: [-0.194  0.17  -0.41   0.009 -0.056  0.191 -1.004]
+[07-31 00:48:09|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.977 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=186: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.8099
+INFO:cosmos_policy.experiments.robot.robot_utils:t=186: Selected seed 195 with value = 0.8099
+Query 1/1: Action query time = 0.977 sec
+t=186: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8099
+t=186: Selected seed 195 with value = 0.8099
+t: 186	 action: [-3.761e-01 -3.241e-01 -2.394e-01  3.244e-04 -3.494e-02  1.461e-01 -9.584e-01]
+t: 187	 action: [-3.380e-01 -3.150e-01 -3.155e-01  4.960e-05 -5.205e-02  1.408e-01 -9.862e-01]
+t: 188	 action: [-0.372 -0.242 -0.303  0.004 -0.058  0.164 -0.967]
+t: 189	 action: [-0.34  -0.246 -0.414  0.008 -0.064  0.143 -0.998]
+t: 190	 action: [-0.401 -0.148 -0.496  0.015 -0.056  0.157 -0.966]
+t: 191	 action: [-0.365 -0.182 -0.569  0.014 -0.055  0.146 -1.007]
+t: 192	 action: [-0.351 -0.043 -0.727  0.024 -0.079  0.166 -0.968]
+t: 193	 action: [-0.301 -0.054 -0.837  0.017 -0.056  0.144 -1.008]
+t: 194	 action: [-0.308 -0.121 -0.534  0.038 -0.033  0.194 -0.956]
+t: 195	 action: [-0.273 -0.097 -0.628  0.033 -0.038  0.188 -0.96 ]
+t: 196	 action: [-0.276  0.04  -0.586  0.02  -0.051  0.198 -0.969]
+t: 197	 action: [-0.223 -0.007 -0.635  0.016 -0.051  0.188 -0.977]
+t: 198	 action: [-0.281  0.098 -0.58   0.019 -0.089  0.183 -0.97 ]
+t: 199	 action: [-0.269  0.107 -0.591  0.023 -0.074  0.181 -0.994]
+t: 200	 action: [-0.268  0.144 -0.491  0.003 -0.103  0.188 -0.971]
+t: 201	 action: [-0.213  0.163 -0.424  0.006 -0.069  0.179 -1.006]
+[07-31 00:48:10|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.967 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=202: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.7541
+INFO:cosmos_policy.experiments.robot.robot_utils:t=202: Selected seed 195 with value = 0.7541
+Query 1/1: Action query time = 0.967 sec
+t=202: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7541
+t=202: Selected seed 195 with value = 0.7541
+t: 202	 action: [-3.972e-01 -1.605e-01 -3.137e-01 -2.962e-04 -7.317e-02  1.359e-01 -9.563e-01]
+t: 203	 action: [-0.373 -0.143 -0.296 -0.005 -0.094  0.137 -0.981]
+t: 204	 action: [-0.427 -0.067 -0.412  0.005 -0.103  0.151 -0.97 ]
+t: 205	 action: [-4.099e-01 -1.018e-01 -3.439e-01  7.636e-04 -1.068e-01  1.388e-01 -9.977e-01]
+t: 206	 action: [-0.487  0.019 -0.482  0.008 -0.115  0.159 -0.958]
+t: 207	 action: [-0.422 -0.007 -0.344  0.003 -0.122  0.14  -1.012]
+t: 208	 action: [-0.452  0.019 -0.515  0.003 -0.136  0.17  -0.967]
+t: 209	 action: [-0.366  0.022 -0.41   0.004 -0.113  0.14  -1.016]
+t: 210	 action: [-0.331  0.053 -0.302  0.003 -0.074  0.222 -0.93 ]
+t: 211	 action: [-0.308  0.038 -0.338 -0.003 -0.093  0.204 -0.95 ]
+t: 212	 action: [-0.309  0.111 -0.267 -0.004 -0.083  0.222 -0.948]
+t: 213	 action: [-0.248  0.087 -0.299 -0.009 -0.095  0.206 -0.963]
+t: 214	 action: [-0.337  0.198 -0.198 -0.002 -0.129  0.215 -0.953]
+t: 215	 action: [-0.271  0.17  -0.167 -0.005 -0.114  0.197 -0.986]
+t: 216	 action: [-0.302  0.164 -0.19  -0.008 -0.138  0.215 -0.953]
+t: 217	 action: [-0.209  0.157 -0.168 -0.01  -0.094  0.198 -1.003]
+[07-31 00:48:11|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.963 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=218: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.7005
+INFO:cosmos_policy.experiments.robot.robot_utils:t=218: Selected seed 195 with value = 0.7005
+Query 1/1: Action query time = 0.963 sec
+t=218: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7005
+t=218: Selected seed 195 with value = 0.7005
+t: 218	 action: [-0.424 -0.242 -0.227 -0.012 -0.078  0.084 -0.946]
+t: 219	 action: [-0.441 -0.265 -0.224 -0.002 -0.072  0.087 -0.97 ]
+t: 220	 action: [-0.466 -0.232 -0.215 -0.011 -0.097  0.101 -0.963]
+t: 221	 action: [-0.482 -0.27  -0.154 -0.004 -0.082  0.096 -0.989]
+t: 222	 action: [-0.47  -0.245 -0.107 -0.001 -0.087  0.099 -0.946]
+t: 223	 action: [-4.429e-01 -2.267e-01 -6.895e-02 -1.946e-04 -1.018e-01  8.714e-02 -1.020e+00]
+t: 224	 action: [-0.463 -0.242 -0.037 -0.006 -0.1    0.113 -0.959]
+t: 225	 action: [-0.392 -0.219 -0.003 -0.003 -0.091  0.096 -1.024]
+t: 226	 action: [-0.341 -0.341  0.078 -0.035 -0.108  0.151 -0.984]
+t: 227	 action: [-0.278 -0.37   0.091 -0.014 -0.104  0.131 -1.002]
+t: 228	 action: [-0.292 -0.347  0.081 -0.023 -0.119  0.157 -0.992]
+t: 229	 action: [-0.245 -0.361  0.082 -0.01  -0.098  0.138 -1.   ]
+t: 230	 action: [-0.31  -0.321  0.099  0.003 -0.102  0.163 -0.983]
+t: 231	 action: [-0.247 -0.344  0.081  0.005 -0.082  0.139 -1.032]
+t: 232	 action: [-0.286 -0.347  0.031  0.004 -0.111  0.165 -0.988]
+t: 233	 action: [-0.264 -0.361 -0.002  0.007 -0.069  0.141 -1.029]
+[07-31 00:48:13|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.967 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=234: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.7093
+INFO:cosmos_policy.experiments.robot.robot_utils:t=234: Selected seed 195 with value = 0.7093
+Query 1/1: Action query time = 0.967 sec
+t=234: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7093
+t=234: Selected seed 195 with value = 0.7093
+t: 234	 action: [-0.31  -0.338 -0.167 -0.004 -0.062  0.147 -0.979]
+t: 235	 action: [-0.313 -0.403 -0.162  0.012 -0.06   0.145 -0.993]
+t: 236	 action: [-3.446e-01 -3.294e-01 -1.091e-01 -3.843e-04 -7.723e-02  1.519e-01 -9.814e-01]
+t: 237	 action: [-0.35  -0.387 -0.105  0.016 -0.072  0.148 -1.   ]
+t: 238	 action: [-0.304 -0.348 -0.077  0.002 -0.058  0.148 -0.962]
+t: 239	 action: [-0.259 -0.36  -0.029  0.015 -0.065  0.143 -1.025]
+t: 240	 action: [-3.208e-01 -3.209e-01 -2.223e-02  1.630e-04 -6.586e-02  1.559e-01 -9.674e-01]
+t: 241	 action: [-0.254 -0.322  0.009  0.016 -0.061  0.147 -1.025]
+t: 242	 action: [-0.279 -0.43   0.005 -0.005 -0.055  0.177 -0.989]
+t: 243	 action: [-0.234 -0.403 -0.058  0.003 -0.069  0.155 -1.008]
+t: 244	 action: [-2.853e-01 -3.823e-01 -3.347e-02 -6.150e-04 -5.581e-02  1.757e-01 -9.918e-01]
+t: 245	 action: [-0.258 -0.371 -0.073  0.004 -0.065  0.158 -0.998]
+t: 246	 action: [-0.285 -0.332 -0.06   0.004 -0.046  0.191 -0.975]
+t: 247	 action: [-0.237 -0.318 -0.131  0.015 -0.046  0.163 -1.028]
+t: 248	 action: [-0.313 -0.33  -0.205  0.005 -0.052  0.188 -0.978]
+t: 249	 action: [-0.275 -0.308 -0.335  0.02  -0.041  0.162 -1.027]
+[07-31 00:48:14|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.982 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=250: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.7297
+INFO:cosmos_policy.experiments.robot.robot_utils:t=250: Selected seed 195 with value = 0.7297
+Query 1/1: Action query time = 0.982 sec
+t=250: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7297
+t=250: Selected seed 195 with value = 0.7297
+t: 250	 action: [-0.468 -0.337 -0.175 -0.013 -0.085  0.097 -0.975]
+t: 251	 action: [-0.498 -0.347 -0.182 -0.004 -0.078  0.113 -1.004]
+t: 252	 action: [-0.455 -0.329 -0.165 -0.008 -0.101  0.112 -0.978]
+t: 253	 action: [-4.964e-01 -3.112e-01 -1.445e-01  8.245e-05 -8.505e-02  1.180e-01 -1.005e+00]
+t: 254	 action: [-4.312e-01 -2.923e-01 -1.568e-01 -3.195e-04 -7.773e-02  1.136e-01 -9.489e-01]
+t: 255	 action: [-0.366 -0.294 -0.152  0.004 -0.075  0.119 -1.03 ]
+t: 256	 action: [-0.387 -0.294 -0.182  0.002 -0.086  0.128 -0.957]
+t: 257	 action: [-0.318 -0.271 -0.19   0.013 -0.063  0.124 -1.021]
+t: 258	 action: [-0.308 -0.367 -0.216  0.011 -0.039  0.183 -0.988]
+t: 259	 action: [-0.297 -0.322 -0.298  0.014 -0.044  0.168 -1.003]
+t: 260	 action: [-0.299 -0.327 -0.307  0.019 -0.031  0.182 -0.984]
+t: 261	 action: [-0.284 -0.31  -0.455  0.025 -0.027  0.168 -0.994]
+t: 262	 action: [-0.292 -0.312 -0.688  0.066 -0.025  0.196 -0.983]
+t: 263	 action: [-0.285 -0.276 -0.794  0.103 -0.008  0.166 -1.016]
+t: 264	 action: [-0.318 -0.318 -0.871  0.087 -0.031  0.186 -0.979]
+t: 265	 action: [-0.314 -0.244 -0.891  0.106 -0.01   0.164 -1.02 ]
+[07-31 00:48:15|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.981 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=266: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.8944
+INFO:cosmos_policy.experiments.robot.robot_utils:t=266: Selected seed 195 with value = 0.8944
+Query 1/1: Action query time = 0.981 sec
+t=266: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8944
+t=266: Selected seed 195 with value = 0.8944
+t: 266	 action: [-0.28  -0.494 -0.682  0.056 -0.046  0.03  -1.   ]
+t: 267	 action: [-0.251 -0.522 -0.815  0.086 -0.068  0.021 -1.009]
+t: 268	 action: [-0.258 -0.467 -0.88   0.095 -0.042  0.034 -1.   ]
+t: 269	 action: [-0.255 -0.476 -0.878  0.097 -0.055  0.021 -1.01 ]
+t: 270	 action: [-0.224 -0.35  -1.063  0.118 -0.026  0.016 -0.997]
+t: 271	 action: [-0.226 -0.257 -1.003  0.111 -0.032  0.015 -1.038]
+t: 272	 action: [-0.128 -0.172 -1.014  0.076 -0.015  0.017 -0.992]
+t: 273	 action: [-0.143 -0.111 -0.993  0.078 -0.008  0.011 -1.033]
+t: 274	 action: [-0.215  0.014 -0.921  0.039 -0.029 -0.028 -0.989]
+t: 275	 action: [-0.226  0.079 -0.887  0.031 -0.018 -0.017 -1.015]
+t: 276	 action: [-0.179  0.312 -0.942  0.018 -0.034 -0.01  -0.997]
+t: 277	 action: [-1.913e-01  3.522e-01 -8.579e-01  8.716e-04 -2.031e-02 -4.739e-03 -1.016e+00]
+t: 278	 action: [-0.179  0.463 -0.955 -0.004 -0.032 -0.004 -0.987]
+t: 279	 action: [-0.209  0.471 -0.895 -0.008 -0.029 -0.007 -1.046]
+t: 280	 action: [-0.161  0.723 -0.915 -0.027 -0.03   0.009 -0.991]
+t: 281	 action: [-0.207  0.662 -0.833 -0.019 -0.027  0.007 -1.051]
+[07-31 00:48:16|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.978 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=282: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.8398
+INFO:cosmos_policy.experiments.robot.robot_utils:t=282: Selected seed 195 with value = 0.8398
+Query 1/1: Action query time = 0.978 sec
+t=282: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8398
+t=282: Selected seed 195 with value = 0.8398
+t: 282	 action: [-0.487 -0.361 -0.195 -0.028 -0.027  0.025 -0.984]
+t: 283	 action: [-0.486 -0.377 -0.209 -0.016 -0.028  0.029 -1.008]
+t: 284	 action: [-0.502 -0.412 -0.233 -0.007 -0.069  0.03  -0.981]
+t: 285	 action: [-0.53  -0.397 -0.301 -0.003 -0.062  0.029 -1.005]
+t: 286	 action: [-0.503 -0.455 -0.419  0.009 -0.082  0.02  -0.972]
+t: 287	 action: [-0.499 -0.386 -0.514  0.02  -0.062  0.028 -1.026]
+t: 288	 action: [-0.482 -0.505 -0.771  0.028 -0.097  0.032 -0.974]
+t: 289	 action: [-0.489 -0.389 -0.799  0.034 -0.056  0.026 -1.023]
+t: 290	 action: [-0.436 -0.451 -0.751  0.046 -0.087  0.039 -0.997]
+t: 291	 action: [-0.422 -0.379 -0.844  0.053 -0.074  0.034 -1.003]
+t: 292	 action: [-0.329 -0.35  -0.949  0.054 -0.073  0.039 -0.998]
+t: 293	 action: [-0.31  -0.236 -0.961  0.055 -0.061  0.025 -0.993]
+t: 294	 action: [-0.308 -0.223 -1.024  0.057 -0.085  0.042 -0.992]
+t: 295	 action: [-0.261 -0.083 -0.985  0.052 -0.048  0.026 -1.037]
+t: 296	 action: [-0.174  0.037 -0.936  0.016 -0.057  0.041 -0.987]
+t: 297	 action: [-0.163  0.174 -0.89   0.012 -0.03   0.02  -1.045]
+[07-31 00:48:18|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.979 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=298: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.8930
+INFO:cosmos_policy.experiments.robot.robot_utils:t=298: Selected seed 195 with value = 0.8930
+WARNING:imageio_ffmpeg:IMAGEIO FFMPEG_WRITER WARNING: input image is not divisible by macro_block_size=16, resizing from (896, 284) to (896, 288) to ensure video compatibility with most codecs and players. To prevent resizing, make your input image divisible by the macro_block_size or set the macro_block_size to 1 (risking incompatibility).
+INFO:cosmos_policy.experiments.robot.robot_utils:Success: False
+INFO:cosmos_policy.experiments.robot.robot_utils:# episodes completed so far: 50
+INFO:cosmos_policy.experiments.robot.robot_utils:# successes: 25 (50.0%)
+
+
100%|██████████| 50/50 [20:24<00:00, 27.38s/it]
100%|██████████| 50/50 [20:24<00:00, 24.48s/it]
+INFO:cosmos_policy.experiments.robot.robot_utils:Current task success rate: 0.5
+INFO:cosmos_policy.experiments.robot.robot_utils:Current total success rate: 0.5
+
 10%|█         | 1/10 [20:27<3:04:04, 1227.18s/it]INFO:cosmos_policy.experiments.robot.robot_utils:Using default initial states
+Query 1/1: Action query time = 0.979 sec
+t=298: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8930
+t=298: Selected seed 195 with value = 0.8930
+t: 298	 action: [-0.399 -0.419 -0.772  0.058 -0.03   0.033 -0.998]
+t: 299	 action: [-0.376 -0.434 -0.856  0.076 -0.052  0.026 -1.006]
+t: 300	 action: [-0.349 -0.36  -0.932  0.076 -0.026  0.034 -1.01 ]
+t: 301	 action: [-0.325 -0.341 -0.919  0.081 -0.044  0.024 -1.007]
+t: 302	 action: [-0.226 -0.187 -1.062  0.099 -0.02   0.019 -0.992]
+t: 303	 action: [-0.203 -0.131 -0.991  0.097 -0.027  0.021 -1.03 ]
+t: 304	 action: [-0.102 -0.026 -1.005  0.056 -0.004  0.016 -0.997]
+t: 305	 action: [-0.106 -0.014 -0.957  0.062 -0.003  0.012 -1.027]
+t: 306	 action: [-2.244e-01  8.727e-02 -9.001e-01  3.281e-02 -8.618e-03 -8.373e-04 -9.913e-01]
+t: 307	 action: [-0.227  0.185 -0.885  0.031  0.003  0.008 -1.008]
+t: 308	 action: [-0.2    0.376 -0.92   0.014 -0.012  0.017 -1.002]
+t: 309	 action: [-0.209  0.452 -0.866  0.004 -0.006  0.018 -1.009]
+Saved rollout MP4 at path ./rollouts/None/2026_07_31-00_27_45--episode=50--success=False--task=open_the_middle_drawer_of_the_cabinet.mp4
+300 300 19 19
+Saved rollout MP4 at path ./rollouts/None/2026_07_31-00_27_45--with_future_img--episode=50--success=False--task=open_the_middle_drawer_of_the_cabin.mp4
+Success: False
+# episodes completed so far: 50
+# successes: 25 (50.0%)
+Current task success rate: 0.5
+Current total success rate: 0.5
+Using default initial states
+
+
  0%|          | 0/50 [00:00<?, ?it/s]INFO:cosmos_policy.experiments.robot.robot_utils:
+Task: put the bowl on the stove
+INFO:cosmos_policy.experiments.robot.robot_utils:Starting episode 1...
+
+Task: put the bowl on the stove
+Starting episode 1...
+[07-31 00:48:27|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.974 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=10: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.4688
+INFO:cosmos_policy.experiments.robot.robot_utils:t=10: Selected seed 195 with value = 0.4688
+Query 1/1: Action query time = 0.974 sec
+t=10: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.4688
+t=10: Selected seed 195 with value = 0.4688
+t: 10	 action: [ 1.027e-01  6.518e-02 -1.804e-03  5.879e-03  8.979e-03 -3.873e-05 -1.024e+00]
+t: 11	 action: [ 0.248  0.102  0.012  0.008  0.005 -0.005 -1.019]
+t: 12	 action: [ 3.729e-01  2.111e-01  8.478e-03  3.359e-03  1.419e-02 -9.987e-04 -1.028e+00]
+t: 13	 action: [ 0.48   0.275  0.025  0.003  0.006 -0.005 -1.023]
+t: 14	 action: [ 0.607  0.336  0.028  0.001  0.017 -0.001 -1.031]
+t: 15	 action: [ 0.709  0.422  0.014  0.005  0.009 -0.005 -1.05 ]
+t: 16	 action: [ 0.778  0.486  0.032 -0.003  0.023 -0.003 -1.024]
+t: 17	 action: [ 8.343e-01  5.319e-01  1.921e-02  2.753e-04  9.529e-03 -5.176e-03 -1.052e+00]
+t: 18	 action: [ 0.823  0.549  0.026 -0.005  0.022  0.004 -1.031]
+t: 19	 action: [ 0.842  0.566  0.027 -0.012  0.017 -0.003 -1.028]
+t: 20	 action: [ 8.623e-01  5.837e-01  2.493e-04 -1.724e-02  1.864e-02  4.411e-03 -1.031e+00]
+t: 21	 action: [ 8.789e-01  5.830e-01 -3.362e-03 -1.533e-02  1.662e-02 -6.835e-04 -1.029e+00]
+t: 22	 action: [ 0.887  0.589 -0.051 -0.011  0.018  0.003 -1.011]
+t: 23	 action: [ 0.892  0.577 -0.033 -0.008  0.006 -0.002 -1.043]
+t: 24	 action: [ 8.790e-01  5.667e-01 -1.661e-01 -1.494e-02  1.301e-02  1.865e-04 -1.015e+00]
+t: 25	 action: [ 8.933e-01  5.062e-01 -1.834e-01 -9.325e-03  5.024e-03  3.751e-04 -1.052e+00]
+[07-31 00:48:28|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.962 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=26: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.5660
+INFO:cosmos_policy.experiments.robot.robot_utils:t=26: Selected seed 195 with value = 0.5660
+Query 1/1: Action query time = 0.962 sec
+t=26: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.5660
+t=26: Selected seed 195 with value = 0.5660
+t: 26	 action: [ 0.903  0.503 -0.212  0.007  0.013  0.008 -1.036]
+t: 27	 action: [ 0.822  0.45  -0.286 -0.005  0.009  0.003 -1.034]
+t: 28	 action: [ 0.737  0.375 -0.329  0.01   0.004  0.01  -1.042]
+t: 29	 action: [ 0.565  0.244 -0.431  0.002  0.004  0.001 -1.037]
+t: 30	 action: [ 3.976e-01  1.383e-01 -5.679e-01  8.517e-04  1.935e-03  4.412e-04 -1.031e+00]
+t: 31	 action: [ 2.661e-01  5.031e-02 -6.865e-01  1.602e-02 -1.681e-03 -8.950e-05 -1.057e+00]
+t: 32	 action: [ 1.373e-01  1.654e-03 -8.571e-01  3.803e-03 -5.872e-03  3.160e-04 -1.040e+00]
+t: 33	 action: [ 0.052 -0.003 -0.94   0.018 -0.01  -0.003 -1.06 ]
+t: 34	 action: [-0.052 -0.018 -0.887  0.008 -0.036  0.002 -1.04 ]
+t: 35	 action: [-0.122 -0.079 -0.952  0.002 -0.032 -0.008 -1.031]
+t: 36	 action: [-0.221 -0.075 -0.934  0.008 -0.046  0.002 -1.043]
+t: 37	 action: [-2.816e-01 -1.050e-01 -1.010e+00  5.403e-04 -3.861e-02 -9.290e-03 -1.032e+00]
+t: 38	 action: [-3.178e-01 -1.556e-01 -9.267e-01  1.699e-03 -4.957e-02 -4.952e-04 -1.040e+00]
+t: 39	 action: [-0.35  -0.063 -0.972  0.008 -0.044 -0.011 -1.042]
+t: 40	 action: [-4.184e-01 -1.396e-01 -9.280e-01  1.421e-04 -4.556e-02  1.401e-04 -1.037e+00]
+t: 41	 action: [-0.41  -0.066 -0.952  0.006 -0.038 -0.01  -1.047]
+[07-31 00:48:29|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.973 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=42: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.6636
+INFO:cosmos_policy.experiments.robot.robot_utils:t=42: Selected seed 195 with value = 0.6636
+Query 1/1: Action query time = 0.973 sec
+t=42: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.6636
+t=42: Selected seed 195 with value = 0.6636
+t: 42	 action: [-0.26   0.011 -1.021  0.023 -0.009  0.008 -1.051]
+t: 43	 action: [-0.232  0.027 -0.915  0.012 -0.006  0.01  -1.031]
+t: 44	 action: [-0.193  0.058 -0.885  0.005 -0.003  0.008 -1.05 ]
+t: 45	 action: [-1.407e-01  8.304e-02 -7.850e-01  5.714e-04  3.249e-03  1.116e-02 -1.032e+00]
+t: 46	 action: [-0.158  0.105 -0.676 -0.012  0.008  0.002 -1.037]
+t: 47	 action: [-0.151  0.152 -0.707 -0.004  0.006  0.005 -1.05 ]
+t: 48	 action: [-0.135  0.141 -0.518 -0.023  0.012  0.003 -1.042]
+t: 49	 action: [-1.883e-01  1.402e-01 -5.759e-01 -9.700e-03  1.345e-02 -7.689e-04 -1.046e+00]
+t: 50	 action: [-0.22   0.051 -0.595 -0.007  0.018  0.003 -1.231]
+t: 51	 action: [-0.313  0.03  -0.516 -0.01   0.021  0.015 -1.156]
+t: 52	 action: [-0.234  0.029 -0.46  -0.013  0.019  0.007  0.985]
+t: 53	 action: [-0.209 -0.007 -0.373 -0.01   0.03   0.002  1.029]
+t: 54	 action: [-0.272  0.008 -0.338 -0.026  0.036 -0.004  1.113]
+t: 55	 action: [-0.214  0.018 -0.256 -0.008  0.027  0.007  1.161]
+t: 56	 action: [-0.23  -0.007 -0.193 -0.022  0.031 -0.005  1.002]
+t: 57	 action: [-0.149 -0.01  -0.094 -0.007  0.029 -0.003  1.04 ]
+[07-31 00:48:31|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.955 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=58: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.7204
+INFO:cosmos_policy.experiments.robot.robot_utils:t=58: Selected seed 195 with value = 0.7204
+Query 1/1: Action query time = 0.955 sec
+t=58: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7204
+t=58: Selected seed 195 with value = 0.7204
+t: 58	 action: [-0.08  -0.038 -0.15  -0.023  0.02   0.007  0.98 ]
+t: 59	 action: [ 6.634e-03 -4.961e-02 -4.000e-02 -2.622e-02  4.225e-02 -8.659e-04  1.017e+00]
+t: 60	 action: [-1.019e-02 -3.036e-02  6.378e-02 -9.194e-03  3.564e-02 -5.162e-04  9.742e-01]
+t: 61	 action: [ 0.015 -0.039  0.219 -0.019  0.053 -0.005  1.013]
+t: 62	 action: [ 0.017  0.002  0.361 -0.012  0.062 -0.003  0.99 ]
+t: 63	 action: [ 0.047  0.017  0.535 -0.018  0.058 -0.007  1.015]
+t: 64	 action: [ 0.059  0.015  0.736 -0.004  0.054 -0.012  0.988]
+t: 65	 action: [ 0.06   0.042  0.766 -0.011  0.049 -0.017  1.021]
+t: 66	 action: [ 0.096 -0.014  0.868 -0.001  0.041 -0.009  0.978]
+t: 67	 action: [ 0.053  0.011  0.893  0.006  0.039 -0.013  1.008]
+t: 68	 action: [ 0.117 -0.032  0.86  -0.004  0.032 -0.008  0.973]
+t: 69	 action: [ 0.045 -0.079  0.839  0.013  0.035 -0.008  1.022]
+t: 70	 action: [ 0.052 -0.138  0.843  0.008  0.03  -0.005  0.989]
+t: 71	 action: [-1.226e-02 -2.067e-01  7.582e-01  2.469e-02  3.582e-02 -6.937e-04  1.012e+00]
+t: 72	 action: [-0.029 -0.287  0.594  0.01   0.017 -0.005  0.991]
+t: 73	 action: [-8.260e-02 -4.044e-01  3.473e-01  3.219e-02  2.584e-02  2.174e-04  1.024e+00]
+[07-31 00:48:32|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.982 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=74: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.7782
+INFO:cosmos_policy.experiments.robot.robot_utils:t=74: Selected seed 195 with value = 0.7782
+Query 1/1: Action query time = 0.982 sec
+t=74: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.7782
+t=74: Selected seed 195 with value = 0.7782
+t: 74	 action: [ 0.027  0.119  0.078  0.009  0.009 -0.006  0.983]
+t: 75	 action: [-0.017  0.116  0.007  0.013  0.001 -0.007  1.011]
+t: 76	 action: [-0.007  0.163 -0.079  0.007  0.005 -0.011  0.957]
+t: 77	 action: [-1.452e-01  1.508e-01 -1.437e-01  2.030e-02 -8.200e-04 -4.931e-03  9.872e-01]
+t: 78	 action: [-0.15   0.113 -0.153  0.007  0.004 -0.002  0.974]
+t: 79	 action: [-2.688e-01  1.007e-01 -1.712e-01  2.642e-02 -7.101e-03  7.014e-04  1.011e+00]
+t: 80	 action: [-0.316  0.184 -0.264  0.01  -0.004 -0.006  0.952]
+t: 81	 action: [-0.385  0.134 -0.363  0.028 -0.007  0.002  0.999]
+t: 82	 action: [-0.364  0.038 -0.417  0.021  0.011  0.034  0.94 ]
+t: 83	 action: [-0.465 -0.024 -0.462  0.019 -0.001  0.043  1.002]
+t: 84	 action: [-0.385  0.041 -0.463  0.011  0.012  0.042  0.981]
+t: 85	 action: [-0.459 -0.021 -0.455  0.012 -0.001  0.049  1.052]
+t: 86	 action: [-0.403  0.048 -0.475  0.003 -0.013  0.039  0.991]
+t: 87	 action: [-0.453  0.036 -0.49  -0.01  -0.01   0.046  1.051]
+t: 88	 action: [-0.36   0.071 -0.44   0.003 -0.026  0.033  1.007]
+t: 89	 action: [-0.379  0.045 -0.364 -0.019 -0.016  0.048  1.08 ]
+[07-31 00:48:33|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.959 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=90: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.8155
+INFO:cosmos_policy.experiments.robot.robot_utils:t=90: Selected seed 195 with value = 0.8155
+Query 1/1: Action query time = 0.959 sec
+t=90: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8155
+t=90: Selected seed 195 with value = 0.8155
+t: 90	 action: [-0.016  0.021  0.05   0.003  0.018 -0.004  1.   ]
+t: 91	 action: [-4.019e-02 -4.348e-02  2.083e-02  1.267e-04  2.182e-03 -1.260e-02  1.028e+00]
+t: 92	 action: [-3.759e-02  2.616e-02 -3.918e-02 -2.235e-04  2.090e-02 -1.063e-02  9.937e-01]
+t: 93	 action: [-0.118 -0.022 -0.113  0.006  0.008 -0.01   1.03 ]
+t: 94	 action: [-0.149 -0.004 -0.044  0.007  0.021  0.001  1.019]
+t: 95	 action: [-2.151e-01 -4.714e-02 -5.233e-02  1.992e-02 -2.237e-03 -5.908e-04  1.051e+00]
+t: 96	 action: [-0.27   0.012 -0.18   0.011  0.022 -0.001  1.007]
+t: 97	 action: [-3.158e-01 -3.715e-03 -3.210e-01  2.169e-02  2.208e-03  8.866e-04  1.054e+00]
+t: 98	 action: [-0.285  0.013 -0.452  0.004  0.046  0.01   0.969]
+t: 99	 action: [-0.39  -0.054 -0.488  0.006  0.006  0.028  1.016]
+t: 100	 action: [-3.096e-01 -4.396e-03 -4.748e-01  7.035e-04  4.269e-02  7.496e-03  9.864e-01]
+t: 101	 action: [-3.810e-01 -5.757e-02 -4.747e-01  3.192e-04  4.790e-03  2.746e-02  1.059e+00]
+t: 102	 action: [-0.289 -0.003 -0.424 -0.003  0.013  0.018  1.015]
+t: 103	 action: [-0.346 -0.031 -0.469 -0.017 -0.005  0.035  1.071]
+t: 104	 action: [-0.228 -0.027 -0.336 -0.003 -0.01   0.004  1.013]
+t: 105	 action: [-0.241 -0.047 -0.301 -0.021 -0.027  0.025  1.061]
+[07-31 00:48:34|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.975 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=106: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9033
+INFO:cosmos_policy.experiments.robot.robot_utils:t=106: Selected seed 195 with value = 0.9033
+Query 1/1: Action query time = 0.975 sec
+t=106: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9033
+t=106: Selected seed 195 with value = 0.9033
+t: 106	 action: [-0.091  0.024  0.094 -0.058 -0.032 -0.004  1.007]
+t: 107	 action: [-0.114 -0.017  0.144 -0.035 -0.003 -0.006  1.04 ]
+t: 108	 action: [-0.154  0.027  0.263 -0.032 -0.019 -0.013  1.015]
+t: 109	 action: [-2.247e-01 -4.439e-02  2.449e-01 -2.511e-02 -1.026e-04 -8.054e-03  1.036e+00]
+t: 110	 action: [-2.189e-01  4.130e-04  3.815e-01 -1.990e-02  2.410e-03 -1.297e-02  1.014e+00]
+t: 111	 action: [-0.3   -0.025  0.329 -0.015 -0.006 -0.006  1.055]
+t: 112	 action: [-3.443e-01 -4.435e-03  3.724e-01  8.846e-04  2.491e-02 -2.095e-02  1.020e+00]
+t: 113	 action: [-3.363e-01 -6.829e-02  2.891e-01 -1.898e-05  3.721e-02 -1.106e-02  1.054e+00]
+t: 114	 action: [-2.687e-01  4.274e-02  3.402e-02  4.893e-04  7.680e-02 -1.234e-02  1.164e+00]
+t: 115	 action: [-0.251 -0.001  0.067  0.001  0.067 -0.022  0.912]
+t: 116	 action: [-0.143  0.03   0.061 -0.002  0.08  -0.025  0.083]
+t: 117	 action: [-0.059 -0.017  0.095  0.004  0.056 -0.036 -0.944]
+t: 118	 action: [-1.256e-01  2.934e-02 -9.499e-04  8.961e-04  7.461e-02 -8.933e-03 -1.159e+00]
+t: 119	 action: [-0.098 -0.022  0.074 -0.013  0.019 -0.02  -1.041]
+t: 120	 action: [-0.057  0.012  0.125  0.002  0.057 -0.016 -1.131]
+t: 121	 action: [-0.058 -0.014  0.241 -0.009  0.007 -0.023 -1.024]
+[07-31 00:48:36|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.965 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=122: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.8950
+INFO:cosmos_policy.experiments.robot.robot_utils:t=122: Selected seed 195 with value = 0.8950
+Query 1/1: Action query time = 0.965 sec
+t=122: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.8950
+t=122: Selected seed 195 with value = 0.8950
+t: 122	 action: [-5.226e-02 -4.869e-04 -1.734e-02  4.299e-03  2.143e-02 -4.571e-02  1.019e+00]
+t: 123	 action: [-4.776e-02 -7.769e-02 -3.299e-02  9.729e-04  1.517e-02 -4.306e-02  1.024e+00]
+t: 124	 action: [-0.023 -0.016 -0.055  0.001  0.025 -0.046  1.012]
+t: 125	 action: [-0.039 -0.063 -0.07   0.009  0.013 -0.042  1.018]
+t: 126	 action: [-0.078 -0.083 -0.061  0.008  0.04  -0.047  1.014]
+t: 127	 action: [-0.069 -0.116 -0.041  0.012  0.003 -0.04   1.012]
+t: 128	 action: [-0.079 -0.068 -0.117  0.003  0.033 -0.053  1.   ]
+t: 129	 action: [-0.06  -0.066 -0.1    0.007  0.002 -0.044  1.009]
+t: 130	 action: [-0.064  0.036 -0.249  0.002  0.025 -0.026  1.183]
+t: 131	 action: [-0.118  0.055 -0.251  0.006  0.006 -0.034  1.061]
+t: 132	 action: [-0.04   0.064 -0.09  -0.003  0.007 -0.037  1.16 ]
+t: 133	 action: [-0.084  0.039  0.001 -0.002  0.003 -0.047 -1.029]
+t: 134	 action: [-0.045  0.058 -0.067 -0.005 -0.005 -0.054 -1.169]
+t: 135	 action: [-0.068  0.092  0.026 -0.011 -0.01  -0.053 -1.109]
+t: 136	 action: [-0.009  0.055  0.143 -0.007 -0.02  -0.061 -1.155]
+t: 137	 action: [-0.044  0.088  0.276 -0.01  -0.023 -0.053 -1.046]
+[07-31 00:48:37|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1: Action query time = 0.974 sec
+INFO:cosmos_policy.experiments.robot.robot_utils:t=138: Current base seed: 195
+INFO:cosmos_policy.experiments.robot.robot_utils:Query 1/1 (seed 195): Predicted value = 0.9438
+INFO:cosmos_policy.experiments.robot.robot_utils:t=138: Selected seed 195 with value = 0.9438
+Query 1/1: Action query time = 0.974 sec
+t=138: Current base seed: 195
+Query 1/1 (seed 195): Predicted value = 0.9438
+t=138: Selected seed 195 with value = 0.9438
+t: 138	 action: [-0.085  0.009 -0.437  0.002  0.058 -0.024  1.025]
+t: 139	 action: [-0.006  0.042 -0.288 -0.003  0.042 -0.033  1.044]
+t: 140	 action: [-2.164e-02  2.155e-02 -1.657e-01 -1.998e-04  4.339e-02 -4.226e-02  1.163e+00]
+t: 141	 action: [ 0.004  0.035 -0.004 -0.008  0.026 -0.06   0.998]
+t: 142	 action: [ 0.052 -0.004  0.037 -0.009  0.046 -0.037  1.025]
+t: 143	 action: [ 0.051  0.036  0.073 -0.021  0.018 -0.039  1.024]
+t: 144	 action: [ 0.083  0.015  0.176 -0.006  0.032 -0.06  -1.161]
+t: 145	 action: [ 0.07   0.078  0.253 -0.021  0.007 -0.062 -1.105]
+t: 146	 action: [ 6.703e-02  5.344e-02  2.433e-01 -2.039e-03 -3.719e-04 -3.767e-02 -1.031e+00]
+t: 147	 action: [ 0.047  0.044  0.285 -0.009  0.005 -0.043 -1.038]
+t: 148	 action: [ 0.048  0.042  0.244 -0.005 -0.016 -0.043 -1.031]
+t: 149	 action: [ 0.031  0.03   0.289 -0.007  0.001 -0.046 -1.042]
+t: 150	 action: [ 0.042  0.019  0.253 -0.005 -0.013 -0.051 -1.049]
+t: 151	 action: [-0.003  0.066  0.28  -0.007 -0.015 -0.044 -1.042]
+t: 152	 action: [ 0.037  0.018  0.221 -0.01  -0.021 -0.053 -1.036]
+t: 153	 action: [-0.012  0.056  0.257 -0.006 -0.017 -0.043 -1.05 ]
+[07-31 00:48:38|INFO|cosmos_policy/_src/imaginaire/modules/res_sampler.py:210:fori_loop] fori_loop: 0